CN101604010B - Calibration and correction system for satellite position location systems - Google Patents

Abstract

To provide accurate and quick position measurements in a practical mobile position location system, the GPS receiver is calibrated, a frequency error in the next time period is predicted using a first frequency locked to an externally transmitted signal, and a second frequency is generated by a GPS oscillator. To predict the error in the next time period, several measurements are made over time, error estimations are made, an error function is approximated responsive to the set of error estimations. This predicted error is then used to correct the GPS receiver in the next time period. In one implementation, a multiple function portable device is disclosed for providing cellular communication using a network of cellular stations that operate at predefined ideal cellular frequencies, and also for providing position location using GPS satellites that transmit GPS signals at a predefined GPS frequency.

Description

The calibration and the corrective system that are used for global position system

Present patent application is to be on Dec 10th, 2003 applying date, and right of priority is the dividing an application of No. 200380105804.8 patented claim (PCT/US2003/039495) on Dec 13rd, 2002 the earliest.

Related application

The application requires the U.S. Provisional Patent Application No.60/433 of submission on Dec 13rd, 2002,138 right of priority.

Invention field

The present invention relates to a kind of through using wireless signal to calculate the apparatus and method of the position of mobile device, like gps system.

Technical background

Use the network of a plurality of satellites based on the existing location technology of GPS, these satellites transmit on predetermined GPS frequency in known time.Ground GPS receiver is measured the time of arrival from the signal of each aerial satellite of the sky that can " be seen ".The definite position of the time of arrival of signal and satellite and be used to triangulation is carried out in the position of this GPS receiver from definite time of each satellite emission signal.The GPS receiver of standard comprises local oscillator, and it is used for receiving from the Satellite GPS signal.

To very responsive from obtaining of the signal of gps satellite to the change of frequency in the local oscillator of GPS receiver.Several factors can cause and make obtaining of gps signal become difficult.With low relatively power emission gps signal, and gps satellite is in the Earth's orbit.Before gps signal arrived ground, its initial low-power had been greatly diminished, a little less than this makes signal very.The result is even if the local frequency of GPS receiver departs from the GPS frequency a little, to receive gps signal so effectively and also will become difficult and consuming time.

In the communication system that much comprises the GPS receiving system, have a main local oscillator, be called as " reference local oscillator ".The output signal of this reference local oscillator is fed in one or more frequency synthesizer circuits successively, and said frequency synthesizer circuit produces the other signal that is on other frequencies successively, and this other signal is provided for each circuit in this system.As an example, as far as the GPS receiving system, using its specified output frequency is common as the reference local oscillator of 16.368MHz.The output of this oscillator is fed to frequency synthesizer circuit usually; This this reference frequency of frequency synthesizer circuit use produces and is near the local frequency of 1575.42MHz, uses this local frequency at the lower frequency changer circuit that is being used for the input gps signal converts near base band subsequently.Equally, the output of this reference oscillator can be used for synthetic sampling clock, and its frequency is generally the multiple of 1.023MHz, and wherein, this sampling clock is used as the part to the digitizer of sampling near the gps signal after the conversion of base band.Equally, in the cell phone receiver, the oscillation frequency of reference oscillator (depends on design) in 10MHz to the 20MHz scope of being everlasting, and this oscillation frequency is used to produce other frequency, so that signal is carried out down coversion and sampling.

In some cases, as far as gps system, adopt like United States Patent(USP) No. 5,841, the transmitting frequency calibration method that discloses in 396,6,421,002 grade is favourable.In one approach, measure the average frequency of cellular local oscillator (VCTCXO), then, use this average frequency to calibrate the frequency error of the oscillator of GPS receiver.This VCTCXO usually by frequency lock to the highly stable cellular signal that is received.Another kind method is that this GPS oscillator frequency is locked onto cellular local oscillator.If the short-term stability of this cell phone oscillator is poor, the performance of a kind of method in back can be affected so.The stability of this kind cell phone oscillator depends on many factors, moves like Cell Phone Design and platform.

There is performance issue sometimes in said calibration steps, comprising:

(A) frequency that causes owing to the heating/refrigeration relevant " competition (racing) " problem with the cellular telephone transmitter ON/OFF;

(B) change of frequency that still causes owing to the voltage fluctuation relevant with the cellular telephone transmitter ON/OFF; And

(C) because other heating/refrigeration situation that environmental impact causes.

Though static or with the platform that moves relative to low speed (like walking speed) in, above-mentioned calibration measurement method can be worked fully,, the fast frequency fluctuation of viewed cellular oscillator can cause the deterioration of calibration performance in automobile-used.That is to say, because cellular oscillator is arrived network by frequency lock, so the rapid fluctuations in the frequency of the cellular signal that is received can cause very big calibration error.For example, when vehicle passed through this base station then near base station in service sector, such rapid fluctuations will take place.In this short time, the frequency of observed direct pilot signal from this cell base station can be in about one second or several seconds from big positive Doppler frequency (as+100Hz) change to apace big negative Doppler frequency (as-100Hz).Quick variation in the cellular carriers frequency that is received in conjunction with opening or closing of cellular telephone transmitter, can cause the degradation in efficiency of frequency lock calibration steps.

Summary of the invention

In order in the running fix equipment of reality, to provide accurately and position measurement fast; The GPS receiver is calibrated through in response to the frequency error in the second frequency next time cycle of prediction (period) of first frequency that locks onto the external emission signal and the generation of GPS oscillator by a kind of system described herein.Specifically, this calibration system is carried out the measurement of relative time for several times, estimates the error in each the measurement, is similar to out an error function, and the error of next time cycle of prediction.Then, in the next time cycle, use this predicated error to proofread and correct the GPS receiver.

Disclose a kind of use external emission signal (not being gps signal) and calibrated and proofread and correct the method and apparatus of the GPS receiver in the mobile device, wherein this external emission signal has predetermined accurate carrier frequency.In order to be received in the gps signal of launching on the predetermined GPS frequency, said method comprises: in response to this accurate carrier frequency, produce the first frequency signal; And generation is used to the second frequency signal of handling gps signal in the GPS receiver.For example, first frequency can be the subharmonic of the frequency that receives of cellular receiver, and second frequency can directly be produced by the reference GPS oscillator in the GPS receiver, perhaps, and can be by obtaining with reference to the GPS oscillator.Said calibration steps comprises: estimate the error between first and second frequencies in the cycle very first time; For at least one other time cycle, repeat this estimation of error step, so that an estimation of error set to be provided; In response to this estimation of error set, be similar to out the error function of second frequency; And use this function that is similar to out, predict the error in the next time cycle.Produce a correction signal, and, in the next time cycle, the oscillator in this GPS receiver is proofreaied and correct, to handle gps signal in response to this predicated error.

Usually, said calibration steps comprises: in a plurality of time cycles, and the ratio of duplicate measurements second and first frequency, and, for each time cycle, this ratio and a predetermined number are compared, with respectively to each time cycle evaluated error.Said error prediction step generally includes: through gathering in response to said estimation of error; Mathematical function of match; As to this estimation of error set average, use this estimation of error set to carry out mathematics homing method producing the least mean square fit of this estimation of error set, thereby confirm the frequency error and the time relation of second frequency.

In disclosed certain methods, said aligning step comprises: proofread and correct the GPS local oscillator, this GPS local oscillator provides second frequency converting predetermined intermediate frequency at the gps signal on this GPS frequency.And in disclosed additive method, this GPS receiver comprises digital processing system, and this digital processing system comprises digital local oscillator, and said aligning step comprises that correction should the numeral local oscillator.

In a kind of realization, a kind of multifunctional portable equipment is disclosed, a plurality of cellular basestations that its use is operated on the predetermined ideal honeycomb frequency provide cellular communication, and, also use the gps satellite of emission gps signal on predetermined GPS frequency that the location is provided.This multifunctional portable equipment comprises: cellular communication system, it comprises first local oscillator, this first local oscillator produce be used for to a plurality of cellular basestations between communicate by letter and carry out the first frequency of demodulation; Gps system, it comprises second local oscillator, this second local oscillator produces second frequency to handle said gps signal; Error prediction and corrective system are used in response to the measured value in first and second frequencies of a plurality of previous time in the cycle, the error in the next time cycle of prediction, and this system produces the correction signal of next time cycle also in response to this predicated error; And a local oscillator in this gps system, be used to receive correction signal, and response therewith, in the next time cycle, handle said gps signal.

The accompanying drawing summary

In order to understand the present invention more fully, below with reference to accompanying drawing, embodiment is described in detail, wherein:

Fig. 1 is the user's of a plurality of cellular basestations, gps satellite and a hand-held mobile device such as cell phone a skeleton view;

Fig. 2 is a block scheme that includes the mobile device among the communication and the embodiment of positioning system;

Fig. 3 is the block scheme of an embodiment of communication system, positioning system and error prediction and calibration system;

Fig. 4 is the block scheme of another embodiment of communication system, positioning system and error prediction and calibration system;

Fig. 5 is illustrated in the process flow diagram that is performed predicated error among the embodiment and produces the series of steps of correction signal;

Fig. 6 A is the diagram that the typical frequencies of cellular oscillator frequency and GPS oscillator frequency in the example changes;

Fig. 6 B is to use the diagram of ratio of GPS oscillator frequency and cellular oscillator frequency of the frequency observations of Fig. 6 A;

Fig. 6 C is to use the diagram of estimation of error of the ratio of Fig. 6 B;

Fig. 6 D is the diagram that the frequency correction that is similar to out according to the estimation of error among Fig. 6 C is shown;

Fig. 7 is by near the diagram of instant+100Hz to-linear gradient that the 100Hz frequency hopping obtains estimation;

Fig. 8 be illustrate one wherein the cell base station tower be approximately 15 meters, highly be approximately the diagram that the linear gradient of 15 meters example is estimated apart from highway; With

Fig. 9 is the synoptic diagram that the linear gradient of the random frequency data of normal distribution is estimated.

Detailed Description Of The Invention

Present invention is described below in conjunction with accompanying drawing, in the accompanying drawings, and the same or analogous parts of identical numeral.

Term and letter abbreviations table

In detailed description, use following term and letter abbreviations:

Base station: launch the station of accurate carrier frequency, such as the base station in the cellular phone network;

Calibration: the processing procedure of predicting the error of Future Time about the sum of errors of measuring the current time;

Proofread and correct: about the method that the error of in the calibration process process, predicting is compensated;

CDMA: CDMA;

FSK: frequency shift keying;

GPS: GPS; Though often being used, term GPS representes american global positioning system; This term implication and method of all devices described herein here is applicable to other GPSs equally well, like the European Galileo system of Muscovite Glonass system and planning.In some systems, with term global position system (SPS) replacement term GPS;

GSM: global system for mobile communications;

Mobile device: the portable equipment that carries by its position user to be determined usually like cell phone and so on;

Multifunctional equipment: equipment with two kinds or more multioperation function (like gps system and cellular communication system);

Pilot signal: a kind of signal, utilize pseudo-random sequence that it is modulated usually, this signal is launched by cellular basestation, is used for communicating by letter with remote equipment foundation.Though term " pilot tone " is in the environment that is usually used in CDMA Cellular System, this term can be applicable to every other cellular communication system here equally widely;

Accurate carrier frequency: but a kind of from the high predicted of external source emission, highly accurate frequency; Accurately carrier frequency can perhaps be obtained from the signal of external source emission, like United States Patent(USP) No. 6 directly by the external source emission; That kind disclosed in 421,002.

Argument table

Following table has been listed some variablees of discussing here:

Variable Describe

δ f: the difference between (honeycomb or GPS frequency) ideal frequency and the actual frequency;

f _c: actual cellular oscillator frequency (for example first oscillator frequency);

f _C0: desirable cellular oscillator frequency (for example accurate carrier frequency);

f _g: GPS oscillator frequency (for example second oscillator frequency);

f _g ^*: the GPS hybrid frequency that provides by frequency synthesizer among embodiment;

f _G0: desirable GPS oscillator frequency

f ₁: the initial GPS oscillator frequency (for example 16.368MHz) during time t=0;

f ₂: the initial cellular oscillator frequency (for example 19.2MHz) during time t=0;

R: the measurement ratio between first and second oscillator frequencies;

R ₀: the ideal ratio between cellular oscillator frequency and the GPS oscillator frequency;

S: convergent-divergent (scale) factor that is used as correction signal among embodiment.

Said as background parts, can be used for synthesizing other frequencies that (or more generally, " obtaining ") uses from the reference frequency of reference local oscillator in this system.For ease of description some embodiment here, use a technical term " local oscillator " or " oscillator ", in one embodiment, this term and reference local oscillator are synonyms.But other embodiment can be associated with term " local oscillator " or " oscillator " for example and from then on plant any oscillator signal that obtains with reference to local oscillator via the frequency synthesis process.Because the average frequency of the signal that this kind obtained has a kind of known relationship with respect to the frequency of reference oscillator, so it is understandable method and apparatus of the present invention being applied in any one of these oscillators outputs.Therefore, in the present invention described, term " local oscillator " or " oscillator " are defined as widely comprised that reference oscillator or its frequency are any oscillators that obtains from reference oscillator.Equally, when using a technical term " oscillator frequency ", the frequency of the reference oscillator that refers to or its frequency are the frequencies of any oscillator of obtaining from reference oscillator.In a kind of multi-functional communications equipment such as the unit equipment of cellular telephone transceiver and GPS receiver, possibly have two or more reference oscillators, for example, one is used for cell phone circuit, and one is used for the GPS circuit.Using a technical term, GPS local oscillator and cell phone local oscillator are next to be distinguished between different oscillator chains.

The frequency that should also be noted that reference oscillator can change a little, wherein, in order to compensate the various errors with respect to ideal frequency, can control this frequency in some way.For example, in cell phone, be very common as frequency reference with voltage controlled temperature compensated crystal oscillator (VCTCXO).Here, the using compensation process, in compensation process, the highly stable cellular signal that is received is used for measuring and proofreading and correct the error of VCTCXO frequency.In addition, temperature measuring circuit is used to compensate the frequency error that causes owing to the ambient stable fluctuation.

General introduction

Described in background technology; Quick variation in the cellular oscillator frequency that is received can cause the degradation in efficiency of calibration steps; Opening or closing of quick variation in the cellular oscillator frequency that is wherein received and cellular telephone transmitter is consistent; In said calibration steps, use the outside accurately carrier frequency of observing to calibrate the GPS local oscillator by the local oscillator of cellular system.Use system described herein,, can improve calibration the GPS oscillator through observe the change of frequency of the local frequency in cell phone and/or the gps system in the time cycle at long enough.As described here, can carry out the frequency comparison procedure termly, at a distance from being 0.5 to 1.0 second, gather therebetween thereby produce an observations.Then, use as curve fitting technique such as linear (or more high-order) recurrences, these observationss (for example 10 to 20 up-to-date observationss) are used for the rate of change and the time relation of definite frequency.This process can produce an error prediction; Then this error prediction is used for calibrating the local oscillator of gps system; This will eliminate the error that is caused by the fast frequency saltus step, such as, when the mobile device in the vehicle can take place when the cell base station+100 to-100Hz frequency hopping.

Here the method and apparatus that discloses can be used for the situation of GPS oscillator frequency with respect to time drift.Therefore, it is the function of time that the various sum of errors of discussing are here proofreaied and correct, for example, and as the quick result who changes of environment temperature.As described here, subsequently a plurality of this kind measured values (at least two) are used to predict following GPS oscillator frequency and time relation, therefore can be used for the drift of this oscillator is proofreaied and correct.Usually, in the short relatively time cycle (as 30 seconds), these drifts suitably are modeled as the linear function of time, and in the longer time cycle, curve of order 2 match (or more match of high-order) maybe be more suitable.Curve fitting to measuring error described herein can be used for this GPS oscillator drift is compensated.

Describe

Fig. 1 shows a kind of environment of the present invention of realizing.In shown environment; GPS receiver and cell phone are realized in a mobile unit together; But it is obvious that, and the present invention also can be used in the other system; In said other system, the frequency that is locked into first oscillator of an accurate carrier frequency can be used for calibrating second oscillator.

Fig. 1 is referred to as a plurality of cellular basestations of 10 shown in being, be referred to as the user's 12 of a gps satellite of 11 and a handheld mobile device 14 skeleton view.As the more detailed description that combines Fig. 2 to carry out, mobile device 14 can comprise communication system and the positioning system such as gps system such as cell phone.User 12 for example can be as shown in the figure walking, perhaps also can move in automobile or in the public transportation system.

Cellular basestation 10 comprises the cellular basestation of any amount, and this cellular basestation is as the part of the communication network that is connected with this mobile device.Said cellular basestation is connected to cellular infrastructure network (infrastructure network) 15; Cellular infrastructure network 15 provide and a plurality of other communication networks between communication service, said other communication networks such as be public telephone system 16, like the computer network 17 of the Internet and so on and other communication systems shown in 18.The cellular infrastructure network provides communication service usually; This communication service makes cellular telephone subscribers be connected with another phone through using telephone system 16; But; Also can use these cellular basestations and other equipment to communicate and/or be used for that other are communication objective, be connected as carrying out the Internet with handheld personal digital assistants (PDA).

In one embodiment, cellular basestation 10 is parts of cdma communication network, but in other embodiments, can use the communication network of other types, like the GSM network.In cdma system, each cellular basestation is launched the pseudo-random sequence that is used for only this cellular basestation of sign termly.This pseudo-random sequence is a series of bits that are used to lock receiver.In the CDMA term, this pseudo-random sequence is called as " pilot signal ", and as employed that kind here, term " pilot signal " can be used for any cellular system and cdma system.For example, the various synchronizing signals that provide by the GSM cellular basestation.On predetermined, point-device frequency, from cellular basestation emission CDMA and GSM signal, wherein said predetermined, point-device frequency is provided at the accurate carrier frequency among the embodiment described herein.

Gps satellite 11 comprises the satellite of any amount, and they are used for the GPS receiver is positioned.These satellites with communicate based on the GPS communication system 19 on ground, this GPS communication system 19 provides control function for gps system.These satellites are synchronized the while to send wireless signal termly.When the GPS receiver detects these signals, gps system calculate detected gps signal from separately satellite transmits to the required time quantum of this receiver.This hypothesis GPS receiver has local clock accurately.But as long as receive four or more a plurality of this kind signal simultaneously, this clock also can be set by received gps signal self.

Fig. 2 is the block scheme of an embodiment that comprises the mobile device 14 of communication system and positioning system.Fig. 2 shows the cellular communication system 22 that is connected with antenna 21.Cellular communication system 22 comprises and is used for communicating and/or detecting with cellular basestation suitable equipment, the hardware and software from the signal of cellular basestation, automatic frequency control (AFC) system 24 that it comprises local oscillator 23 and local oscillator 23 is locked onto the cellular basestation frequency.In the ideal case, this frequency is f _CoAs stated, though under the control of AFC, local oscillator can be locked into the cellular basestation frequency that is received, owing to move the actual honeycomb frequency f that local oscillator produces such as mobile device _cMaybe with desirable base station frequency f _CoDifferent.In other words, the base station frequency of being launched maybe be not synchronous well with actual local frequency.Cellular communication system 22 is coupled to error prediction and calibration system 30, allows thus to transmit such as honeycomb local frequency f _cAnd so on data, this local frequency f _cBe used for error prediction, describe in detail like other places.

In one embodiment, cellular communication system 22 comprises and is suitable for the cdma communication system that the cdma network with the base station communicates that still, in other embodiments, this cellular communication system can comprise the network of another type such as GSM.

Mobile device control system 25 is connected with positioning system 27 with communication system 22.This mobile device control system 25 comprises any suitable structure, like microprocessor, storer, other hardware, firmware and software, thinks that the system that is connected with this control system 25 provides the appropriate control function.Control system 25 is connected to user interface 26, and this user interface 26 comprises any assembly that is suitable for user interactions, like keyboard, the microphone/speaker that is used for voice communications services and the display such as the back of the body bright formula (backlit) LCD display.The mobile device control system 25 that is connected to positioning system 27 provides suitable function with user interface 26 for the GPS receiver, like control user input and display result.

Positioning system 27 is gps system in this embodiment, and it is connected to be received in the gps signal of desirable GPS frequency or near emission with gps antenna 28.Gps system 27 comprises any suitable hardware and software that is used to receive and handle gps signal, and carries out and use suitable location algorithm to confirm the necessary any calculating in position.The example of gps system and is described with reference to Fig. 3 and Fig. 4 shown in Fig. 3 and 4.Other examples of gps system are disclosed in the United States Patent(USP) No. 5,841,396,6,002,363,6,421,002 of Norman F.Krasner.Gps system 27 comprises one or more local oscillators 29, and said local oscillator 29 is used for the gps signal from gps satellite is carried out down coversion.

Gps system 27 is coupled to error prediction and calibration system 30, can be used for thus transmitting such as GPS oscillator frequency f _gAnd so on data.As other local that kind of describing in detail in this instructions, with GPS oscillator frequency f _gWith the cellular oscillator frequency f _cUse together, carry out error prediction and produce a correction signal, this correction signal is provided for gps system 27.

With reference now to Fig. 3,, the embodiment of the difficult 30a of system in positioning system 27a, communication system 22a and error prediction and school has been shown in Fig. 3.Through specify the realization of above-mentioned parts to the additional lowercase (as add " a " formation " 21a " to " 21 ") of reference marker previously discussed.

Communication system 22a comprises a radio modem 32 with an AFC circuit, and this AFC channel frequency locks onto the signal of communication that is received, thereby the f of the cellular oscillator frequency output on the circuit 33 is provided _c, this cellular oscillator frequency output f _cBe provided for error prediction and calibration system 30a.

Positioning system 27a in this embodiment comprises GPS RF-IF low-converter 34, and this GPSRF-IF low-converter 34 receives gps signals and is converted into and is in intermediate frequency f on the circuit 35 _IFOn signal.Intermediate frequency (IF) signal is offered A/D converter 36, then, should numeral output offer GPS digital processing system 37, GPS digital processing system 37 is used to receive this digital signal and in one way it is handled, thus the locating information of providing.

The frequency synthesis f that RF-IF low-converter 34 provides the gps signal that is received and frequency synthesizer 38 _g ^*Combination.The result of the combined treatment in the low-converter is one and is in intermediate frequency f _IFOn signal.For example, if expectation is that IF is 0, this frequency synthesizer must provide a frequency that equates with the frequency of the gps signal that is received so.But, if the frequency synthesis f that frequency synthesizer provides _g ^*The frequency that is not equal to the gps signal that is received, intermediate frequency f so _IFBe not 0 just, but a certain amount of difference is arranged.If intermediate frequency f _IFEnough big with the GPS frequency difference of expection, obtaining gps signal so possibly very difficultly perhaps even maybe.

GPS local oscillator 39 is coupled to frequency synthesizer 38 provides GPS local frequency f _g, frequency synthesizer 38 synthetic local frequency f _gSo that frequency synthesis f to be provided _g ^*, this frequency synthesis f subsequently _g ^*Be used to handle gps signal by low-converter 34.Because frequency synthesis f _g ^*Confirm intermediate frequency f _IF, and this frequency synthesis is by GPS oscillator frequency f _gSynthesize, so, the local frequency f of GPS oscillator _gIn any variation all can influence intermediate frequency f _IFBecause the multiplier characteristic, this effect possibility highly significant: typical frequency synthesizer possibly multiply by 100 times or more with local frequency.Therefore, local frequency f _gIn any error will be exaggerated f will be provided _g ^*, and the error of this amplification can make intermediate frequency f _IFObviously different with its desired value.

In order to observe and to predict the error in the local oscillator and come the GPS receiver is calibrated with respect to gps signal, error prediction and calibration system 30a receive GPS local frequency f through circuit 40 from GPS local oscillator 39 _g, and the cellular oscillator frequency on the receiving lines 33.Frequency comparison circuit 41 is kept watch on these two frequencies; And regularly its measured value is offered subsequent conditioning circuit; For example; This frequency comparison circuit can be in these two frequencies of Fixed Time Interval inside counting the number of cycles of each frequency, and these numbers are directly offered supervision and prognoses system 42 as the error of the function of time.Alternatively, the number that frequency comparison circuit 41 can count of zero point of crossing (zero crossing), it equals 2 times of number of cycles, and because number of comparisons is double, so accuracy will improve.Can come periodically to provide the quantity of being counted with any suitable form, said suitable form for example is ratio or the difference on the frequency δ f between original count (raw count), these two frequencies.Also can use various frequency comparative approach, such as which method of using frequency spectrum analysis method, such as fast fourier transform method etc.

Supervision and prognoses system 42 as the error of the function of time are coupled to frequency comparison circuit 41, to receive the measured value of these two frequencies.Usually, regularly measure and provide measured value, as per half second or per 1 second.Supervision and prognoses system 42 as the error of the function of time comprise any suitable hardware or software, and can comprise analog or digital equipment.For example, can come digitally to realize system 42 through comprising microprocessor, storer, firmware and/or software, so that the function of its expection to be provided.More go through like what carry out with reference to Fig. 5 to 9, for example, the error of each measurement is estimated and stored to error surveillance receive frequency measured value, gathers to confirm a mathematical function in response to an estimation of error then.According to this function, calculate the error prediction value in the next time interval with any suitable form.

This error prediction value is offered frequency correction produce circuit 43, frequency correction produces circuit 43 and is created in the correction signal on the circuit 44.In one embodiment, the form of correction signal is zoom factor S.Correction signal is offered GPS local oscillator 39, and GPS local oscillator 39 is adjusted the GPS local frequency f of output in response to this _gThereby, proofread and correct predicated error.

With reference now to Fig. 4,, Fig. 4 illustration positioning system 27 another embodiment with error prediction and calibration system 30.In Fig. 4, a lot of assemblies are similar with the assembly among Fig. 3, still, alternative as shown in Figure 3 correction signal offered GPS local oscillator 39, and the correction signal on the circuit 45 is offered the digital oscillator 46 among the digital processing system 37a.In Fig. 4, digital processing system 37a comprises the digital down converter 47 with digital oscillator 46 couplings, to assist GPS low-converter 34 demodulation gps signals.Digital down converter 47 utilizes the frequency of digital oscillator 46 that it is carried out digitized combined from A/D converter 35 receiving digital signals, and generation is in digital intermediate frequency f _IFDOn conversion after digitized signal.Then, GPS digital processing system 48 receives the digitized signal after the conversion, the gps signal of attempting to obtain wherein and being comprised, and it is carried out proper process.

Should be noted in the discussion above that in the embodiment of Fig. 4, GPS local oscillator 39 is not coupled to error correction circuit 30b, and therefore do not lock onto the cellular oscillator frequency.On the contrary, the GPS local oscillator has been allowed to normal change of frequency, and this change of frequency has the intermediate frequency f of change from the signal of GPS low-converter _IFEffect.Use digital local oscillator 46 and digital down converter 47, with intermediate frequency f _IFConvert a new frequency f into _IFD, its this correction signal of response is proofreaied and correct intermediate frequency f _IFIn error.Therefore, in the embodiment of Fig. 4, correction signal can be different from the correction signal among the embodiment of Fig. 3 in form, because they are used for controlling different elements.In addition, except that the error correction adjustment, the correction signal among arbitrary embodiment can comprise the adjustment that other are suitable.

Referring now to Fig. 5, Fig. 5 illustration the process flow diagram that is performed predicated error and the series of steps that produces correction signal in the one embodiment of the invention.Be used to provide the general introduction of error prediction and bearing calibration with reference to the following discussion of Fig. 5.Also describe the various aspects of this method in detail in other places, as with reference to figure 6A to 6D, 7,8 and 9.

In 51, begin an observation interval (cycle).

In 52, observe the frequency of GPS oscillator and honeycomb local oscillator.In one embodiment, through comparing the difference between these two frequencies, the frequency of observing GPS oscillator and local oscillator.In another embodiment, the ratio that compares these two frequencies.

In 53, when observation finishes at interval, carry out frequency measurement.For example, if this observation relates to the frequency ratio of observing between GPS oscillator signal and the local oscillator signals, so, with this average frequency ratio (such as through calculating) of observing at interval as measured value.Then, the observation process turns back to 51, with begin next at interval and repeat the observation and the measurement of each subsequent cycle.Usually regularly measure for example per 0.5 second to 2 seconds interval.

In 54, frequency measurement is used to estimate the frequency error of its each time cycle.Frequency error estimation process in 54 comprises the frequency ratio in this cycle and a constant predetermined amount compared, for example, because the ratio of GPS and desirable honeycomb frequency is a constant predetermined amount R ₀So,, through considering the difference between the observation ratio between constant predetermined amount and this two frequencies, can estimate measuring error.

In 55, after evaluated error, error is stored in the suitable position, such as the storer of realizing with digital form.For example, error surveillance 42 (Fig. 3 and 4) can comprise a database, is used to store the relevant information of the estimation of error of a plurality of time cycles.

In 56, select an estimation of error set, so that for next step provides data, this next step is the approximation to function step.Can select this set in advance, make it comprise a plurality of up-to-date estimation of error, like 10 to 20 up-to-date estimation of error.

In 57, use this estimation of error to gather to be similar to a function.For example, can use following method to be similar to out a mathematical function: such as the said estimation of error in the said set is averaged; Use the estimation of error in the said set to carry out the linear Return Law; Perhaps, use the estimation of error in the said set to calculate the lowest mean square curve.

In 58, use this approximate function, confirm the predict frequency error in the next time interval.For example, can directly use this approximate function to predict the frequency error in the next time interval.

In 59, use institute's predicted frequency error, produces one and be applied to the correction signal on the suitable local oscillator in the next one time interval.For example, in the realization of Fig. 3, correction signal is provided for GPS local oscillator 39, and in the realization of Fig. 4, correction signal is provided for digital local oscillator 46.

Frequency error in GPS oscillator and the cell phone king oscillator

With reference now to Fig. 6 A, 6B, 6C and 6D.Analyze in the face of the frequency error under two kinds of situation down: for situation 1, the influence that platform moves is assumed to be minimum, and the degree of accuracy of base station transmitter carrier frequency is assumed to be near ideal, is just in time followed the tracks of by the cell phone oscillator; The difference of situation 2 is, supposes to exist in the cell phone oscillator to change.

For ease of reference; Be called as the cell phone king oscillator by frequency lock to the oscillator of the cellular phone signal that is received (or signal); Its frequency is called as " honeycomb with reference to " or " cellular oscillator " frequency, and the oscillator that is used to drive the GPS circuit is called as " GPS with reference to " or " GPS oscillator ".

Fig. 6 A is the diagram that the typical frequencies of cellular oscillator frequency and GPS oscillator frequency changes under nervous situation (stressed condition) in one example.Shown in Fig. 6 A, the cellular oscillator frequency f _cFrom its initial value f ₂Beginning increases, meanwhile, and GPS oscillator frequency f _gFrom its initial value f ₁Beginning increases, but speed is faster.This is very typical, because main frequency error often is present in the GPS oscillator in the cellular oscillator.

Fig. 6 B is to use GPS oscillator frequency and the ratio of cellular oscillator frequency and the diagram of time relation of the frequency observations of Fig. 6 A.Can find out that therefrom this ratio is the function of these two frequencies, but is played a leading role by the GPS oscillator frequency usually.Although this ratio is expressed as the GPS oscillator frequency divided by the cellular oscillator frequency, also can use its inverse (being that the cellular oscillator frequency is divided by the GPS oscillator frequency).In other places going through of relevant frequency measurement and ratio calculation is provided also.

Fig. 6 C is to use the diagram of the estimation of error of the ratio among Fig. 6 B.In Fig. 6 C, carry out estimation of error at per 1 second mid point at interval.In other embodiments, other suitable points can be used for estimation of error.In addition, in certain embodiments, can frequency of utilization measure and/or set that calibration correction is calculated in error correction, in curve fitting process, be similar to out a function then with it.

Fig. 6 D is the diagram of the frequency correction curve that is similar to out according to the estimation of error among Fig. 6 C.Below a process that is used to produce this frequency correction curve will be described in more detail.The unit that should be noted in the discussion above that the y axle is nondimensional " the GPS oscillator frequency correction factor ", and the zoom factor that this provides to the GPS oscillator frequency is used to compensate its error.

Situation 1: desirable cellular oscillator, nonideal GPS oscillator

Suppose that the mobile oscillator (cellular oscillator) that locks onto cellular basestation has first frequency f _cAnd the mobile oscillator (GPS oscillator) that is used to drive the GPS circuit has second frequency f _gSuppose to be write as:

f _g＝f _g0+δf (1)

Wherein, f _G0Be desirable GPS frequency, this is the GPS oscillator frequency of expectation, and δ f is defined as the difference between desirable GPS frequency and the actual GPS oscillator frequency.Fig. 6 A shows an example of cellular oscillator frequency and GPS oscillator frequency.

Desirable GPS frequency has specific ratio with respect to desirable honeycomb frequency:

R ₀＝f _g0/f _c0 (2A)

If suppose the cellular oscillator frequency f _cBe desirablely (promptly to suppose f _c=f _C0), then:

R ₀＝f _g0/f _c (2B)

Fig. 6 B shows an example of the ratio of the observations calculating of using among Fig. 6 A.In other embodiments, also can sample and similarly handle, wherein, measure the ratio of cellular oscillator frequency and GPS reference oscillator frequencies, that is, and calculated value f _c/ f _g, but not R (referring to (3)).

In one example, desired GPS oscillator frequency f _G0Possibly be 16.368MHz, and f _c(desirable) possibly be 19.2MHz, in this case, and R ₀=0.8525.Fig. 6 C is through producing the diagram that ratio illustrates the error measure of consecutive intervals:

R＝f _g/f _c＝(f _g0+δf)/f _c＝R ₀+δf/f _c (3)

Because known R ₀So, can it be deducted (be described below, for example operate and measure this ratio) from this ratio, remaining error ratio delta f/f through the frequency of utilization attribute _cCertainly, knowing f _cAfter, just can confirm δ f.

In one embodiment, in order to proofread and correct the GPS error, can produce frequency f with one _G0Amount to GPS oscillator frequency f _gCarry out convergent-divergent, that is to say, hope to find a zoom factor S, it is S=f _G0/ f _gThen, this zoom factor is calculated as:

S＝f _g0/f _g＝f _g0/(f _g0+δf)＝1/(1+δf/f _g0)＝(1-δf/f _g0-(δf/f _g0) ²-...) (4)

≈(1-δf/f _g0)

Wherein, the approximate value of back is followed such fact: the slight error in this oscillator frequency very little usually (10 and 100PPM between).In one example it is calculated, shown in Fig. 6 D.We find that from the purpose of practical application, the modification of GPS frequency is the factor (1-δ f/f _G0).Should be noted in the discussion above that symbol and error ratio correction opposite (referring to equality (3)) that zoom factor is proofreaied and correct.

Situation 2: nonideal cellular oscillator and GPS oscillator

Here, for the GPS oscillator, we are write as:

f _g＝f _g0+δf _g

For cellular oscillator, we are write as:

f _c＝f _c0+δf _c

Wherein, f _G0And f _C0Be desirable GPS oscillator frequency and cellular oscillator frequency, δ f _gWith δ f _cIt is the error that exists in each oscillator.

Usually, these errors are as the function of time and change.After the analysis of carrying out like above-mentioned situation 1, the ratio that obtains these two frequencies is:

R＝f _g/f _c＝(f _g0+δf _g)/(f _c0+δf _c)＝f _g0/f _c0(1+δf _g/f _g0)/(1+δf _c/f _c0)

≈R ₀(1+δf _g/f _g0)(1-δf _c/f _c0)

≈R ₀(1+δf _g/f _g0-δf _c/f _c0) (5)

＝R ₀+δf _g/f _c0-δf _cf _g0/f _c0 ²

Wherein, we have ignored more higher order term, because δ is f _c/ f _C0With δ f _g/ f _C0Very little, so this ignoring is effective.Check (5), discovery is basic identical with (2), and difference is last-δ f _cf _G0/ f _C0 ², because we suppose δ f _cNot 0, so last is not 0.We see that also the cellular oscillator error is directly proportional with the ratio of these two errors with respect to the ratio of the influence of GPS oscillator error, promptly with δ f _c/ δ f _gBe directly proportional.Therefore, for example, if cellular oscillator error (representing with Hertz) is identical for 10% and these two nominal oscillator frequency of GPS oscillator error, so, the influence of cellular oscillator error will be since the influence that the GPS oscillator causes self 1/10.

When using one only to compensate the GPS oscillator error based on the formula of preceding two amounts on the right side of (5), error will appear.That is to say, owing to can't measure δ f usually _cTherefore, suppose that it is 0 (although in some cases, on average can cause for a long time the short term variations in this amount very little).If δ is f _cBe 0, similar with (4), will be (1-δ f for the calculating of the correction zoom factor of this situation _g/ f _G0).But, can find out that from (5) residual error (deducts R ₀Afterwards) be+δ f _g/ f _C0-δ f _cf _G0/ f _C0 ², rather than amount+δ f _g/ f _C0That therefore, we use is incorrect zoom factor (1-δ f _g/ f _G0δ f _c/ f _C0), rather than correct zoom factor (1-δ f _g/ f _G0).Therefore, last is an error term.This error term of this amount and second ratio are-(δ f _c/ δ f _g) (f _G0/ f _C0).Usually, back one is approximately 1, therefore, and error ratio-(δ f _c/ δ f _g) confirm the residual error that obtains after the compensation process.

Frequency measurement

In one embodiment, the frequency of utilization attribute handles calculated rate ratio, wherein, cellular oscillator as " time reference (timebase) ", is used as frequency to be counted with the GPS oscillator.Generally, count the cycle of the fixed qty of this time reference, to produce a time interval.

For example, if the cellular oscillator frequency is nominally 19.2MHz, so, count the time interval that 19.2 hundred ten thousand cycles will produce 1 second.At this moment in the interbody spacer, the number of the zero cross point of the number of count cycle or GPS oscillator.Number at the GPS cycle oscillator of this inside counting in 1 second is directly proportional with the GPS oscillator frequency.In fact, for this concrete example, the number of cycles of inside counting was the estimation with the GPS oscillator frequency of HZ metering at interval at 1 second.Because zero cross point is approximately the twice of complete cycle in any interval, improved degree of accuracy can be provided so the zero cross point of this oscillator counted.

Above-mentioned a kind of alternative method is that the GPS oscillator is used as time reference, promptly produces the counting interval, counts the zero cross point of this cellular oscillator or the number in cycle then.Obviously, this ratio is directly proportional with the frequency inverse of GPS oscillator frequency, and promptly the cycle with the GPS oscillator frequency is directly proportional.This method also is called as counting method reciprocal, or counting backward technique, and preceding a kind of method then is called as direct method.

When the GPS oscillator frequency surpassed the cellular oscillator frequency, direct count method was superior to counting method reciprocal usually, and on the contrary, when the cellular oscillator frequency surpassed the GPS oscillator frequency, counting method reciprocal was superior to direct count method usually.

In another embodiment, can obtain the more accurate method of calculated rate ratio, cost is complicated more.Error main source is due to the fact that the count number of a time interval internal oscillator is that unit quantizes with one-period or half period in the aforementioned calculation process, and this depends on the method for use.Can adopt several method to reduce the influence of this time quantization.In one approach, be substituted in the period of time T fill order's frequency counting and handle, in each adjacent period T/M, carry out once, carry out M counting processing altogether and do not stop counter.Each count number at interval will be obtained in this M the interval, and an available linear regression process (supposing that frequency drift is linear) is come to this number set carrying out match, to confirm the least mean square fit of this frequency.With respect to the processing of using length as the time interval of T, this method will reduce by one owing to the RMS error that quantification (even other noise sources) causes and approximate M greatly ^1/2Amount.

In another embodiment, can with from the clock of frequency source to be measured as ASH, and it is being sampled (for example, in the N that equals this time reference time of a clock period) in the time of confirming by this time reference.Data to acquisition like this are carried out Fourier analysis, on the frequency relevant with the frequency place of this reference clock, produce a spectral line.Can use various insertion technology that this frequency is estimated accurately.This method also provides the performance of the improvement that is higher than the monospace counting method.

Also can use other frequency estimating methods, but net result is that the frequency ratio of cellular oscillator and GPS oscillator is estimated.

The linear recurrence example that is used for approximate function

Be an example of method that is similar to out the function of frequency error and time below.For example, can carry out frequency calibration termly and handle, maybe be with 1 second interval.Use linear (or even more high-order) to return, the estimation of error set be used for confirming frequency change rate and time relation curve this will trend towards eliminating frequency hopping fast, as take place when driving through cellular basestation+100-extremely-frequency hopping of 100Hz.

If nearest m estimation of error comprises the set that is used for confirming frequency drift distribution plan (profile), so, in one example, provide least mean-square error match as follows to linear drift:

${\hat{f}}_1=\frac{\underset{n}{\mathrm{\Σ}}{y}_n(n-\stackrel{\‾}{n})}{\underset{n}{\mathrm{\Σ}}n(n-\stackrel{\‾}{n})}---\left(6A\right)$

$\hat{{\mathrm{<figure-callout\; id="0"\; label="f"\; filenames="H2009101413956E00062.png,H2009101413956E00082.png"\; state="\{\{state\}\}">f</figure-callout>}}_0}=\stackrel{\&OverBar;}{y}-\hat{{\mathrm{<figure-callout\; id="1"\; label="f"\; filenames="H2009101413956E00062.png"\; state="\{\{state\}\}">f</figure-callout>}}_1}\stackrel{\&OverBar;}{n}---\left(6B\right)$

Wherein, y _nBe the set of M frequency measurement, the variance of each measured value is σ ², n is the measurement number of times,

Be estimation with respect to the linear frequency of time response,

Be with this m frequency measurement in the estimation of the corresponding frequency of first measured value.The average of last line expression corresponding amount.If there is RMS error/amplitude measurements σ at random, then the measurement square error of (6) is:

$\mathrm{<figure-callout\; id="1"\; label="Var\; f"\; filenames="H2009101413956E00062.png"\; state="\{\{state\}\}">Var</figure-callout>}\stackrel{}{f_{}}\widehat{{}_1}=\frac{{\mathrm{\&sigma;}}^2}{\underset{n}{\mathrm{\&Sigma;}}{(n-\stackrel{\&OverBar;}{n})}^2}---\left(7A\right)$

$\mathrm{<figure-callout\; id="0"\; label="Var\; f"\; filenames="H2009101413956E00062.png,H2009101413956E00082.png"\; state="\{\{state\}\}">Var</figure-callout>}\stackrel{}{f_{}}\widehat{{}_0}=\frac{{\mathrm{\&sigma;}}^2}{m}---\left(7B\right)$

In the embodiment of a multi-mode equipment, the quantization step of measurement is 1/2 cycle of the correction signal (for example, from cellular oscillator) that provided.If this signal is 19MHz, so, 1 second measures quantization step at interval is 1/38e6=2.6 * 10 ^-8If error evenly distributes on this step-length, so, the RMS error of measuring in the frequency at interval in 1 second has only $2.6\&times;{10}^{-8}/\sqrt{12}=7.6\&times;{10}^{-9},$ This is corresponding to the 12.0Hz on the GPS L1 frequency.Can find out that from (7B) if handle 12 such measured values, the RMS frequency error will approximately be 3.45Hz so.In addition, the error that obtains frequency slope from (7A) is 0.084 times of RMS error/measured value, or 0.084 * 7.6 * 10 ^-9=6.35 * 10 ^-10Hz/ second.This is corresponding to the about 1.0Hz/ second on the GPS L1 frequency.Obviously, use the calibration steps of 12 measured values can produce frequency slope measurement preferably.We find that this calibration steps itself is enough to provide definite frequency shift (FS) and the required frequency measurement degree of accuracy of GPS oscillator change rate.Can not provide in linear slope model under the situation of accurate match, the match of secondary slope is normally suitable.Particularly, under those situation, the quadratic regression method of replacement (6) can be worked better.

Certainly, in certain embodiments, above-mentioned error maybe be main by cellular oscillator but not the decision of the error in the GPS oscillator.But for cdma system, cellular oscillator is followed the tracks of a cellular signal, and this cellular signal is realized the long-time stability that match with the caesium standard basically.In gsm system, cellular signal is also highly stable, is synchronized with a high-quality TCXO.Usually, the main source of the error in the cellular oscillator is related with the platform mobile phase.

An advantage of method described herein is that normal change of frequency is limited by the Doppler frequency related with this vehicle mobile phase usually and defines.Therefore, following discussion is moved the adverse effect to estimating with analysis platform.

In some cases, when using linear homing method as discussed above, can go wrong.Suppose that uncorrected GPS local oscillator shows frequency error and the time relation curve is linearity.If someone observes this error in the time of M time cycle, so, the correction that obtains will be the line shape function that a constant adds a time.Therefore, at time cycle M+1, the GPS local oscillator after the correction will show very little error.So (being included in the slight error of time cycle M+1) carried out linear recurrence if someone uses the front M error of a time cycle then, then can obtain wrong result.A solution of this problem is for each time cycle (M+1, M+2 etc.), to calculate the GPS local frequency that when not carrying out frequency correction, exists.Because the set that the GPS local frequency that only need add up is proofreaied and correct deducts them then from current oscillator is set, to obtain uncorrected frequency, so this is to understand very easily.Then, with these not emending frequency be applied in the regression process of linear (or more high-order).Avoid the additive method of above-mentioned influence to be the method based on closed loop correction process, wherein, the part of current measuring error is fed to a wave filter, and wherein the current correction to this oscillator control is represented in the output of this wave filter.

Owing to move the tracking error that causes

Combine Fig. 7,8 and 9 now, explain the vehicle in the environment that uses error calibrating method described herein is moved the analysis of carrying out.Motion should be the result of car speed; Under walking speed, like 1.0 meter per seconds, the maximum doppler frequency on the L1 frequency has only 5.3Hz, and it is uncommon significantly quickening.So little Doppler frequency can be ignored to the influence of tracking performance.

Because the fast frequency saltus step that vehicle causes near cell tower

Fig. 7 illustrates the diagram the to-linear slope estimation that the 100Hz frequency hopping is caused by approximate instant+100Hz.Particularly, in Fig. 7,,, in a second, change to-100Hz from+100Hz as that kind of being calculated to the GPS frequency from the observed Doppler frequency of cell tower.For example, if cellular base station towers nestles up its highway of getting on the car and just passing through with about 42 miles per hours, so this phenomenon will take place.Certainly, for hot-short more, Doppler frequency maybe be higher.But cell tower is much far away from highway usually, therefore, does not often observe the flip-flop of this kind frequency, and on the contrary, more possible is to observe the Doppler frequency that possibly in the several seconds, smoothly change.This more situation of reality is analyzed briefly.

Suppose to use the processing of describing in the previous section, and use 12 calibration measurement and linear regression fit.According to top hypothesis, if do not use linear regression fit, possibly observe maximal value is the 200Hz/ fast frequency change of second.Yet, the smooth effect of linear recurrence has been shown in Fig. 7.

In order to obtain the curve of Fig. 7, under the situation that does not have additional noise or any other linear slope, use the set of 12 measured values, carry out continuous (running) estimation as the frequency slope of the function of time.As can be seen from the figure, the maximum error during slope is estimated approximately is-25.1Hz.

If exist+100 to arrive-saltus step of 100Hz and additional linear slope (for example because oscillator drift), so, evaluated error is still same as shown in Figure 7.In an experiment, analyze the performance loss of 25Hz frequency slope error, and the SNR of output loss comes to light and only is approximately the 0.6dB of the typical set that is used for using during high sensitivity is followed the tracks of.The discussion of previous section also shows, compares with this error, and the quantification correlated error during slope is estimated is inappreciable.

Fig. 8 illustrates the more diagram of the linear slope estimation of reality, wherein, about 15 meters of cellular base station towers apart from highway, it highly is approximately 15 meters, and Vehicle Speed is 60 miles per hours (27 meter per seconds).This is the low cell tower near highway.This causes in the time several seconds Doppler drift to-142 from+142Hz.Resulting linear slope is estimated as shown in Figure 8.Also hypothesis only is used for AFC measurement (promptly not utilizing the pilot signal weighting of other reflections) from the direct pilot signal of cell tower.If other pilot signal is arranged, can improve this situation usually.Under the situation of single pilot signal, can find out that the worst condition of error estimates to be approximately 34.2Hz.Analysis shows that the deterioration of the output SNR of this situation is approximately 1.13dB.

Because the random fluctuation that the pilot tones variable power causes

Combine the cell tower situation of Fig. 8 analysis to be expected to be worst-case conditions in most cases above.The situation of other care comprises like this some situations, in these situations, receives several pilot signals and with its combination, with control AFC loop.One or other such pilot signals mainly are presented as the function of time, cause the AFC drift.But, can be contemplated that this drifting in fast in the serious urban environment is very common, wherein car speed is expected to be usually far below top and analyzes.In addition, trend towards causing to reduce the average influence of frequency slope drift as the AFC random fluctuation of the function of time.

Fig. 9 is the synoptic diagram that the linear slope of the random frequency data of description normal distribution is estimated.Suppose that the influence that vehicle moves causes the AFC frequency in [50Hz, 50Hz] scope, to be moved about, random value of per second.So, the simulation in this situation is carried out 1000 seconds produces frequency slope as shown in Figure 9 and estimates.The analysis of using the linear recurrence of 12 measured values in front that this simulation is carried out shows the RMS slope evaluated error of 4.2Hz, and this is consistent with (7A) for the prediction of this situation, and prediction (7A) is 4.18Hz.So little error causes ignoring performance loss.

3, further comment on and improve

Can use the various modifications of above-mentioned linear recurrence to come further to improve The above results.For example, can carry out special filtering to the calibration sampling.In above-mentioned a kind of scheme, the function of frequency and time is a step function basically, and therefore, if this step function is differentiated, the result will be a very big pulse, can be via suitable threshold technique with this pulse elimination.Further integrated operation produces the calibration sampling, and its frequency step function is removed.Can study additive method based on specific " pattern " of identification calibration value and time relationship, wherein said specific " pattern " is associated with the situation of expectation probably.In addition, should be appreciated that system described herein is applicable to any positioning system usually, like the European Galileo system of Muscovite Glosnass system, planning, GPS and any other global position system of the U.S..

In view of these instructions, it should be recognized by those skilled in the art that and under the prerequisite that does not depart from spirit of the present invention or protection domain, to realize other embodiment.The present invention is only limited following claims, and when combining above-mentioned instructions and accompanying drawing to consider, these claims comprise all this kind embodiment and modifications.

Claims (25)

1. a calibration and the method for proofreading and correct the GPS receiver in the mobile device, this method comprises:

First local oscillator frequencies is locked onto first signal of reception;

Compare the frequency of said first local oscillator in the cycle very first time and second time cycle and the frequency of GPS local oscillator;

Based on said comparison, estimate the error in the said cycle very first time and said second time cycle, estimate to confirm a grouping error;

Calculate the error prediction value in the next time interval; And

Based on said error prediction value, during the said next time interval, for the digital local oscillator in the said GPS receiver generates correction signal;

Adjust the frequency of the said digital local oscillator in the said GPS receiver based on said correction signal, with the error of the estimation in the frequency that compensates said GPS local oscillator output.

2. the method for claim 1, wherein said first local oscillator of frequency lock comprises:

The reference oscillator of cellular communication system is locked onto first signal that is received.

3. the method for claim 1, wherein said first local oscillator of frequency lock comprises:

The voltage controlled temperature compensated crystal oscillator (VCTCXO) of cellular communication system is locked onto first signal that is received.

4. the method for claim 1, first signal that is wherein received comprises:

Signal from the cellular basestation reception.

5. method as claimed in claim 4, the wherein said said signal that receives from said cellular basestation comprises:

The pilot signal that receives from the cdma cellular station.

6. method as claimed in claim 4, the wherein said said signal that receives from said cellular basestation comprises:

Signal from the reception of GSM cellular station.

7. the method for claim 1, wherein said GPS local oscillator comprises:

Be used for the RF-IF low-converter and different with the oscillator of said GPS receiver local oscillators.

8. the method for claim 1, the frequency of the frequency of wherein more said first local oscillator and said GPS local oscillator comprises:

In the said cycle very first time and said second time cycle, the periodicity of each is counted in said first local oscillator and the GPS local oscillator.

9. the method for claim 1, the frequency of the frequency of wherein more said first local oscillator and said GPS local oscillator comprises:

In the said cycle very first time and said second time cycle, the number of the zero cross point of each is counted in said first local oscillator and the GPS local oscillator.

10. the method for claim 1, the frequency of the frequency of wherein more said first local oscillator and said GPS local oscillator comprises:

Confirm the ratio of frequency of frequency and the said GPS local oscillator of said first local oscillator.

11. the method for claim 1, the frequency of the frequency of wherein more said first local oscillator and said GPS local oscillator comprises:

Confirm frequency poor of frequency and the said GPS local oscillator of said first local oscillator.

12. the method for claim 1 estimates that wherein said error comprises:

The frequency ratio and the predetermined constant of the frequency of the frequency of said first local oscillator and said GPS local oscillator are compared; And

Confirm the poor of said predetermined constant and said frequency ratio.

13. the method for claim 1 is wherein calculated said error prediction value and is comprised:

Estimate to be similar to out function based on said grouping error; And

Confirm said error prediction value based on the said time interval and said function.

14. method as claimed in claim 13 wherein is similar to out said function and comprises:

Estimation of error in the said grouping error estimation averages.

15. method as claimed in claim 13 wherein is similar to out said function and comprises:

Utilize the estimation of error in the said grouping error estimation to carry out linear regression.

16. method as claimed in claim 13 wherein is similar to out said function and comprises:

Utilize the estimation of error in the said grouping error estimation to calculate the lowest mean square curve.

17. the method for claim 1, the wherein said cycle very first time comprises:

A plurality of adjacent time cycles,

Wherein obtain some single countings in said a plurality of adjacent time cycles each.

18. a calibration and the method for proofreading and correct the GPS receiver in the mobile device, this method comprises:

The honeycomb reference oscillator frequencies is locked onto the signal that receives from cellular basestation;

Relatively in each in the cycle very first time and second time cycle, the frequency of the frequency of said honeycomb reference oscillator and GPS local oscillator is to generate in the said cycle very first time and said second time cycle frequency measurement in each;

Based on said frequency measurement, estimate the error in the said cycle very first time and said second time cycle, estimate to confirm a grouping error;

Estimate to be similar to out function based on said grouping error;

Calculate the error prediction value in the next time interval based on said function; And

Based on said error prediction value, during the said time interval, for said GPS local oscillator generates correction signal.

19. a portable multifunctional equipment is used to utilize the network that comprises the cellular station that works in predetermined honeycomb frequency that cellular communication is provided, also being used to be utilized in the gps satellite of being scheduled to GPS frequency emission gps signal provides the location, and this portable multifunctional equipment comprises:

Cellular communication system comprises the honeycomb reference oscillator, this honeycomb reference oscillator be used to produce to the network of said cellular station between communicate by letter and carry out the frequency of demodulation;

Gps system comprises the GPS local oscillator, and this GPS local oscillator produces and is coupled the frequency of handling said gps signal; And

Be connected to the error prediction and the calibration system of said honeycomb reference oscillator and said GPS local oscillator; The frequency of the more said honeycomb reference oscillator of said error prediction and calibration system and the frequency of said GPS local oscillator; Confirm grouping error estimation; Use this grouping error to estimate to be similar to a function; Use this function be similar to confirm the predict frequency error in the next one time interval, use said predict frequency error to produce one and be applied to the correction signal on the said GPS local oscillator in the next one time interval.

20. portable multifunctional equipment as claimed in claim 19, wherein said error prediction and calibration system comprise:

Frequency comparison circuit;

Error is kept watch on and prediction circuit; And

The frequency correction generative circuit.

21. portable multifunctional equipment as claimed in claim 20, wherein said frequency comparison circuit:

To regular time at interval in said honeycomb reference oscillator and the said GPS local oscillator amount of cycles of each count; And

Said quantity is offered said error keeps watch on and prediction circuit.

22. portable multifunctional equipment as claimed in claim 20, wherein said frequency comparison circuit:

To regular time at interval in said honeycomb reference oscillator and the said GPS local oscillator number of the zero cross point of each count; And

Said number is offered said error to be kept watch on and prediction circuit.

23. portable multifunctional equipment as claimed in claim 20, wherein said frequency comparison circuit offers said error with the ratio of the frequency of the frequency of said honeycomb reference oscillator and said GPS local oscillator and keeps watch on and prediction circuit.

24. portable multifunctional equipment as claimed in claim 20, wherein said frequency comparison circuit offers said error with the difference of the frequency of the frequency of said honeycomb reference oscillator and said GPS local oscillator and keeps watch on and prediction circuit.

25. portable multifunctional equipment as claimed in claim 20, wherein said frequency correction generative circuit generate correction signal as zoom factor.

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