# US 2014/0152500 A1 · Satellite positioning method, satellite pesudorange calculation apparatus and satellite pesudorange calculation method

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- Number: US 2014/0152500 A1
- Document ID: US20140152500A1
- Status: Published application
- Kind: A1
- Application number: 13/714,749
- Filed: 2012-12-14
- Published: 2014-06-05
- Earliest claimed: 2012-12-05
- Assignees: Institute for Information Industry
- Applicants: Institute for Information Industry
- Inventors: Chih-Hung LI; He-Sheng WANG; EMERY JOU; Shu-Min CHUANG; Shan-Yaun YANG; Chih-Min HSU
- Web page: https://patentgrep.com/patent/US20140152500A1

## CPC

- G01S 19/30: code related {(G01S19/246 takes precedence)}
- G01S 19/42: Determining position
- G01S 11/02: using radio waves (G01S19/00 takes precedence)
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES

## Abstract

A satellite positioning method, a satellite pesudorange calculation apparatus and a satellite pesudorange calculation method thereof are provided. The satellite pesudorange calculation apparatus is used for calculating a pesudorange between a satellite and a satellite positioning receiving device, wherein the pesudorange includes an integer code value and a decimal code value. The satellite pesudorange calculation apparatus comprises a receiver and a processor electrically connected with the receiver. The receiver is configured to receive a code phase from a satellite signal acquisition unit, and the processor is configured to calculate the decimal code value according to the code phase. The receiver is further configured to define an approximation position and calculate the integer code value according to the approximate position and the decimal code value. The satellite positioning method is used for positioning the satellite positioning receiving device.

## Claims

### Claim 1

A satellite pesudorange calculation apparatus, being configured to calculate a pesudorange between a satellite and a satellite positioning receiving device, and the pesudorange comprising an integer code value and a decimal code value, the satellite pesudorange calculation apparatus comprising:
a receiver, being configured to receive a code phase from a satellite signal acquisition unit; and
a processor electrically connected with the receiver, being configured to execute the following operations:
calculating the decimal code value according to the code phase;
defining an approximation position; and
calculating the integer code value according to the approximation position and the decimal code value.

### Claim 2 (depends on 1)

The satellite pesudorange calculation apparatus as claimed in claim 1, wherein the processor is further configured to execute the following operations:
performing a linearization processing on the approximation position;
calculating a unit vector matrix from the approximation position to the satellite on the basis of the linearization processing;
calculating an estimated decimal code value of the pesudorange according to the unit vector matrix and the decimal code value; and
approximating the estimated decimal code value to the decimal code value by means of an iteration algorithm to calculate the integer code value.

### Claim 3 (depends on 2)

The satellite pesudorange calculation apparatus as claimed in claim 2, wherein the processor executes the following operations by means of the iteration algorithm:
defining a square error between the estimated decimal code value and the decimal code value;
defining a cost function of the integer code value according to the square error; and
searching for a minimum value of the square error through iteration according to the cost function to calculate the integer code value.

### Claim 4 (depends on 1)

The satellite pesudorange calculation apparatus as claimed in claim 1, wherein the approximation position falls within a range visible to the satellite.

### Claim 5

A satellite pesudorange calculation method for calculating a pesudorange between a satellite and a satellite positioning receiving device, the pesudorange comprising an integer code value and a decimal code value, the satellite pesudorange calculation method comprising the following steps of:
(a) enabling a receiver of the satellite positioning receiving device to receive a code phase from a satellite signal acquisition unit of the satellite positioning receiving device;
(b) enabling a processor, which is electrically connected to the receiver, of the satellite positioning receiving device to calculate the decimal code value according to the code phase;
(c) enabling the processor to define an approximation position; and
(d) enabling the processor to calculate the integer code value according to the approximation position and the decimal code value.

### Claim 6 (depends on 5)

The satellite pesudorange calculation method as claimed in claim 5, wherein the step (d) further comprises the following steps of:
(d1) enabling the processor to perform a linearization processing on the approximation position;
(d3) enabling the processor to calculate a unit vector matrix from the approximation position to the satellite on the basis of the linearization processing;
(d5) enabling the processor to calculate an estimated decimal code value of the pesudorange according to the unit vector matrix and the decimal code value; and
(d7) enabling the processor to calculate the integer code value by approximating the estimated decimal code value to the decimal code value through an iteration algorithm.

### Claim 7 (depends on 6)

The satellite pesudorange calculation method as claimed in claim 6, wherein the step (d7) further comprises the following steps of:
(d71) enabling the processor to define a square error between the estimated decimal code value and the decimal code value;
(d73) enabling the processor to define a cost function of the integer code value according to the square error; and
(d75) enabling the processor to search for a minimum value of the square error through iteration according to the cost function to calculate the integer code value.

### Claim 8 (depends on 5)

The satellite pesudorange calculation method as claimed in claim 5, wherein the approximation position falls within a range visible to the satellite.

### Claim 9

A satellite positioning method for positioning a satellite positioning receiving device, the satellite positioning receiving device having a pesudorange from each of a plurality of satellites respectively, and each of the pesudoranges comprising an integer code value and a decimal code value, the satellite positioning method comprising the following steps of:
(a) enabling a receiver of the satellite positioning receiving device to receive a code phase of one of the satellites from a satellite signal acquisition unit of the satellite positioning receiving device;
(b) enabling a processor, which is electrically connected to the receiver, of the satellite positioning receiving device to calculate the decimal code value according to the code phase;
(c) enabling the processor to define an approximation position;
(d) enabling the processor to calculate the integer code value according to the approximation position and the decimal code value;
(e) repeating the step (a) to step (d) to obtain the pesudoranges between the satellites and the satellite positioning receiving device respectively; and
(f) enabling a position calculation unit, which is electrically connected to the processor, of the satellite positioning receiving device to position the satellite positioning receiving device according to the pesudoranges.

### Claim 10 (depends on 9)

The satellite positioning method as claimed in claim 9, wherein the step (d) further comprises the following steps of:
(d1) enabling the processor to perform a linearization processing on the approximation position;
(d3) enabling the processor to calculate a unit vector matrix from the approximation position to the satellite on the basis of the linearization processing;
(d5) enabling the processor to calculate an estimated decimal code value of the pesudorange according to the unit vector matrix and the decimal code value;
(d7) enabling the processor to calculate the integer code value by approximating the estimated decimal code value to the decimal code value through an iteration algorithm.

### Claim 11 (depends on 10)

The satellite positioning method as claimed in claim 10, wherein the step (d7) further comprises the following steps of:
(d71) enabling the processor to define a square error between the estimated decimal code value and the decimal code value;
(d73) enabling the processor to define a cost function of the integer code value according to the square error; and
(d75) enabling the processor to search for a minimum value of the square error through iteration according to the cost function to calculate the integer code value.

### Claim 12 (depends on 9)

The satellite positioning method as claimed in claim 9, wherein the approximation position falls within a range visible to the satellite.