US 11,719,830 B2
RTK vector phase locked loop architecture
Scott M. Martin, Auburn, AL (US); David M. Bevly, Auburn, AL (US); Richard G. Keegan, Palos Verdes Estates, CA (US); and Stephen F. Rounds, San Clemente, CA (US)
Assigned to Deere & Company, Moline, IL (US); and Auburn University c/o Office of Innovation Advancement and Commercialization, Auburn, AL (US)
Filed by Deere & Company, Moline, IL (US); and Auburn University c/o Office of Innovation Advancement and Commercialization, Auburn, AL (US)
Filed on Apr. 5, 2021, as Appl. No. 17/222,418.
Application 17/222,418 is a continuation of application No. 16/157,934, filed on Oct. 11, 2018, granted, now 10,969,496.
Claims priority of provisional application 62/576,044, filed on Oct. 23, 2017.
Prior Publication US 2021/0311206 A1, Oct. 7, 2021
Int. Cl. G01S 19/44 (2010.01); G01S 19/41 (2010.01); G01S 19/51 (2010.01); G01S 19/42 (2010.01); G01S 19/43 (2010.01); G01S 19/25 (2010.01)
CPC G01S 19/44 (2013.01) [G01S 19/256 (2013.01); G01S 19/41 (2013.01); G01S 19/423 (2013.01); G01S 19/43 (2013.01); G01S 19/51 (2013.01)] 32 Claims
OG exemplary drawing
 
1. A method for navigating a mobile object according to signals from satellites, the method comprising:
at a mobile object,
receiving satellite navigation signals from a plurality of satellites;
receiving base data from a stationary base station;
generating, from the received satellite navigation signals, satellite navigation data for the mobile object, the satellite navigation data for the mobile object including code phase estimates and carrier phase estimates for the plurality of satellites, wherein the mobile object comprises a system that includes a first receiver;
in accordance with the code phase estimates and carrier phase estimates, computing position, velocity and time estimates for the mobile object; and
performing a navigation function for the mobile object in accordance with the computed position, velocity and time estimates for the mobile object;
wherein
the mobile object includes a plurality of channels configured to track signals received by the mobile object from a corresponding number of satellites, each channel associated with a respective satellite;
generating code phase estimates for the plurality of satellites includes performing a Vector Delay Locked Loop (VDLL) computation process that drives, with signal updates, a code NCO (numerically controlled oscillator) for each channel of the plurality of channels; and
generating carrier phase estimates for the plurality of satellites includes performing a Real-Time-Kinematics Vector Phase Locked Loop (RTK-VPLL) computation process that drives, with signal updates, a carrier NCO (numerically controlled oscillator) for each channel of the plurality of channels.