Integrity monitoring of differential satellite positioning system signals

Claim 1

A method of determining the integrity of DSATPS signals formed at a reference SATPS station and used for correcting at least one of a set of K location parameters and a set of K velocity parameters of a mobile SATPS station (K=1, 2, 3, 4), the method comprising the steps of: providing an S ATPS reference station, numbered i, whose location coordinates are accurately known, and a plurality of selected SATPS satellites, numbered j=j1, j2, . . . , jM (M≧K); providing an SATPS signal integrity monitoring station, whose location coordinates are accurately known, spaced apart from the reference station by a distance of no more than about 1 km; allowing the reference station and the signal monitoring station to receive SATPS signals; determining the correction values PRC(t;i;j) RS and PRRC(t;i;j) RS for the pseudorange and pseudorange rate signals PR(t;i;j) RS and PRR(t;i;j) RS , respectively, as a function of time t associated with SATPS signals that are received by the reference station number i from satellite number j for j=j1, j2, . . . , jM; determining the pseudorange error values PRRE(t;i;j) SIM and the pseudorange rate error values PRRRE(t;i;j) SIM as a function of time t associated with SATPS signals that are received by the signal integrity monitoring station number i from satellite number j for j=j1, j2, . . . , jM; forming the difference values DPRE(t;i;j) SIM =PRC(t;i;j) RS -PRC(t;i;j) SIM and DRRE(t;i;j) SIM =PRRC(t;i;j) RS -PRRC(t;i;j) SIM ; comparing the magnitudes |DPRE(t;i;j) SIM | of the pseudorange residuals with selected threshold values DPRE(i;j) thr ; comparing the magnitudes |DRRE(t;i;j) SIM | of the pseudorange rate residuals with selected threshold values DPRRE(i;j) thr ; when at least one of the relations |DPRE(t;i;j) SIM |≦DPRE(i;j) thr and |DRRE(t;i;j) SIM |≦DRRE(i;j) thr is not valid for a satellite j, transmitting a signal indicating that the SATPS signals received from the satellite j cannot be used to help correct at least one of a set of K location parameters and a set of K velocity parameters for a mobile SATPS station using DSATPS signals from the reference station; and when the relations |DPRE(t;i;j) SIM |≦DPRE(i;j) thr and |DRRE(t;i;j) SIM |≦DRRE(i;j) thr are both valid for at least satellite j, transmitting a signal indicating that the SATPS signals received from the satellite j can be used to help correct at least one of a set of K location parameters and a set of K velocity parameters for a mobile SATPS station using DSATPS signals from the reference station.

Claim 2

A method of determining the integrity of DSATPS signals formed at a reference SATPS station and used for correcting at least one of a set of K location parameters and a set of K velocity parameters of a mobile SATPS station (K=1, 2, 3, 4), the method comprising the steps of: providing an S ATPS reference station, numbered i, whose location coordinates are accurately known, and a plurality of selected SATPS satellites, numbered j=j1, j2, . . . , jM (M≧K); providing an SATPS signal integrity monitoring station, whose location coordinates are accurately known, spaced apart from the reference station by a distance of no more than about 1 km; allowing the reference station and the signal monitoring station to receive SATPS signals; determining the correction values PRC(t;i;j) RS and PRRC(t;i;j) RS for the pseudorange and pseudorange rate signals PR(t;i;j) RS and PRR(t;i;j) RS , respectively, as a function of time t associated with SATPS signals that are received by the reference station number i from satellite number j for j=j1, j2, . . . , jM; determining the pseudorange error values PRRE(t;i;j) SIM and the pseudorange rate error values PRRRE(t;i;j) SIM as a function of time t associated with SATPS signals that are received by the signal integrity monitoring station number i from satellite number j for j=j1, j2, . . . , jM; forming the difference values DPRE(t;i;j) SIM =PRC(t;i;j) RS -PRC(t;i;j) SIM and DRRE(t;i;j) SIM =PRRC(t;i;j) RS -PRRC(t;i;j) SIM ; comparing the magnitudes |DPRE(t;i;j) SIM | of the pseudorange residuals with selected threshold values DPRE(i;j) thr ; comparing the magnitudes |DRRE(t;i;j) SIM | of the pseudorange rate residuals with selected threshold values DPRRE(i;j) thr ; when at least one of the relations |DPRE(t;i;j) SIM |≦DPRE(i;j) thr and |DRRE(t;i;j) SIM |≦DRRE(i;j) thr is not valid for a satellite j, transmitting a signal indicating that the SATPS signals received from the satellite j cannot be used to help correct at least one of a set of K location parameters and a set of K velocity parameters for a mobile SATPS station using DSATPS signals from the reference station; and when the relations |DPRE(t;i;j) SIM |≦DPRE(i;j) thr and |DRRE(t;i;j) SIM |≦DRRE(i;j) thr are both valid for at least satellite j, transmitting a signal indicating that the SATPS signals received from the satellite j can be used to help correct at least one of a set of K location parameters and a set of K velocity parameters for a mobile SATPS station using DSATPS signals from the reference station.

Claim 5

A method of determining the integrity of DSATPS signals formed at a reference SATPS station and used for monitoring at least one of a set of K location parameters and a set of K velocity parameters of a mobile S ATPS station (K=1, 2, 3, 4), the method comprising the steps of: providing an SATPS reference station, numbered i, whose location coordinates are accurately known, and a plurality of selected SATPS satellites, numbered j=j1, j2, . . . , jM (M≧K+1); providing an SATPS signal integrity monitoring station, whose location coordinates are accurately known, spaced apart from the reference station by a distance of no more than about 1 km; allowing the reference station and the signal monitoring station to receive SATPS signals; determining the correction values PRC(t;i;j) RS and PRRC(t;i;j) RS for the pseudorange and pseudorange rate signals PR(t;i;j) RS and PRR(t;i;j) RS , respectively, as a function of time t associated with SATPS signals that are received by the reference station number i from satellite number j for j=j1, j2, . . . , jM; determining the pseudorange error values PRRE(t;i;j) SIM and the pseudorange rate error values PRRRE(t;i;j) SIM as a function of time t associated with SATPS signals that are received by the signal integrity monitoring station number i from satellite number j for j=j1, j2, . . . , jM; forming the difference values DPRE(t;i;j) SIM =PRC(t;i;j) RS -PRC(t;i;j) SIM and DRRE(t;i;j) SIM =PRRC(t;i;j) RS -PRRC(t;i;j) SIM ; comparing the magnitudes |DPRE(t;i;j) SIM | of the pseudorange residuals with selected threshold values DPRE(i;j) thr ; comparing the magnitudes |DRRE(t;i;j) SIM | of the pseudorange rate residuals with selected threshold values DPRRE(i;j) thr ; when at least one of the relations |DPRE(t;i;j) SIM |≦DPRE(i;j) thr and |DRRE(t;i;j) SIM |≦DRRE(i;j) thr is not valid for a satellite j, transmitting a signal indicating that the SATPS signals received from the satellite j cannot be used for monitoring at least one of a set of K location parameters and a set of K velocity parameters for a mobile SATPS station using DSATPS signals from the reference station; and when the relations |DPRE(t;i;j) SIM |≦DPRE(i;j) thr and |DRRE(t;i;j) SIM |≦DRRE(i;j) thr are both valid for at least satellite j, transmitting a signal indicating that the SATPS signals received from the satellite j cart be used to help monitor at least one of a set of K location parameters and a set of K velocity parameters for a mobile SATPS station using DSATPS signals from the reference station.

Claim 6

A method of determining the integrity of DSATPS signals formed at a reference SATPS station and used for monitoring at least one of a set of K location parameters and a set of K velocity parameters of a mobile S ATPS station (K=1, 2, 3, 4), the method comprising the steps of: providing an SATPS reference station, numbered i, whose location coordinates are accurately known, and a plurality of selected SATPS satellites, numbered j=j1, j2, . . . , jM (M≧K+1); providing an SATPS signal integrity monitoring station, whose location coordinates are accurately known, spaced apart from the reference station by a distance of no more than about 1 km; allowing the reference station and the signal monitoring station to receive SATPS signals; determining the correction values PRC(t;i;j) RS and PRRC(t;i;j) RS for the pseudorange and pseudorange rate signals PR(t;i;j) RS and PRR(t;i;j) RS , respectively, as a function of time t associated with SATPS signals that are received by the reference station number i from satellite number j for j=j1, j2, . . . , jM; determining the pseudorange error values PRRE(t;i;j) SIM and the pseudorange rate error values PRRRE(t;i;j) SIM as a function of time t associated with SATPS signals that are received by the signal integrity monitoring station number i from satellite number j for j=j1, j2, . . . , jM; forming the difference values DPRE(t;i;j) SIM =PRC(t;i;j) RS -PRC(t;i;j) SIM and DRRE(t;i;j) SIM =PRRC(t;i;j) RS -PRRC(t;i;j) SIM ; comparing the magnitudes |DPRE(t;i;j) SIM | of the pseudorange residuals with selected threshold values DPRE(i;j) thr ; comparing the magnitudes |DRRE(t;i;j) SIM | of the pseudorange rate residuals with selected threshold values DPRRE(i;j) thr ; when at least one of the relations |DPRE(t;i;j) SIM |≦DPRE(i;j) thr and |DRRE(t;i;j) SIM |≦DRRE(i;j) thr is not valid for a satellite j, transmitting a signal indicating that the SATPS signals received from the satellite j cannot be used for monitoring at least one of a set of K location parameters and a set of K velocity parameters for a mobile SATPS station using DSATPS signals from the reference station; and when the relations |DPRE(t;i;j) SIM |≦DPRE(i;j) thr and |DRRE(t;i;j) SIM |≦DRRE(i;j) thr are both valid for at least satellite j, transmitting a signal indicating that the SATPS signals received from the satellite j cart be used to help monitor at least one of a set of K location parameters and a set of K velocity parameters for a mobile SATPS station using DSATPS signals from the reference station.

Claim 9

A method of determining the integrity of DSATPS signals formed at a reference SATPS station and used for correcting the clock bias and frequency offset parameters of a mobile SATPS station, the method comprising the steps of: providing an SATPS reference station, numbered i, whose location coordinates are accurately known, and a plurality of selected SATPS satellites, numbered j=j1, j2, . . . , jM (M≧1); providing an SATPS signal integrity monitoring station, whose location coordinates are accurately known, spaced apart from the reference station by a distance of no more than about 1 km; allowing the reference station and the signal monitoring station to receive SATPS signals; determining the pseudorange correction values PRC(t;i;j) RS and the pseudorange rate correction values PRRC(t;i;j) RS as a function of time t associated with SATPS signals that are received by the reference station number i from satellite number j for j=j1, j2, . . . , jM; determining the pseudorange error values PRRE(t;i;j) SIM and the pseudorange rate error values PRRRE(t;i;j) SIM as a function of time t associated with SATPS signals that are received by the signal integrity monitoring station number i from satellite number j for j=j1, j2, . . . , jM; forming the differences DPRE(t;i;j) SIM =PRC(t;i;j) RS -PRC(t;i;j) SIM and DPRRE(t;i;j) SIM =PRRC(t;i;j) RS -PRRC(t;i;j) SIM ; comparing the magnitudes |DPRE(t;i;j) SIM | of the pseudorange residuals with selected threshold values DPRE(i;j) thr ; comparing the magnitudes |DPRRE(t;i;j) SIM | of the pseudorange rate residuals with selected threshold values DPRRE(i;j) thr ; when the pairs of relations |DPRE(t;i;j) SIM |≦DPRE(i;j) thr and |DPRRE(t;i;j) SIM |≦DPRRE(i;j) thr are valid for no more than one of the satellites j, transmitting a signal indicating that the SATPS signals received from the satellite j cannot be used for correcting the clock bias and frequency offset parameters of a mobile SATPS station using DSATPS signals from the reference station; and when the pairs of relations |DPRE(t;i;j) SIM |≦DPRE(i;j) thr and |DPRRE(t;i;j) SIM |≦DPRRE(i;j) thr are valid for at least two of the satellites j, transmitting a signal indicating that the SATPS signals received from the satellite j can be used for correcting the clock bias and frequency offset parameters of a mobile SATPS station using DSATPS signals from the reference station.

Claim 10

A method of determining the integrity of DSATPS signals formed at a reference SATPS station and used for correcting the clock bias and frequency offset parameters of a mobile SATPS station, the method comprising the steps of: providing an SATPS reference station, numbered i, whose location coordinates are accurately known, and a plurality of selected SATPS satellites, numbered j=j1, j2, . . . , jM (M≧1); providing an SATPS signal integrity monitoring station, whose location coordinates are accurately known, spaced apart from the reference station by a distance of no more than about 1 km; allowing the reference station and the signal monitoring station to receive SATPS signals; determining the pseudorange correction values PRC(t;i;j) RS and the pseudorange rate correction values PRRC(t;i;j) RS as a function of time t associated with SATPS signals that are received by the reference station number i from satellite number j for j=j1, j2, . . . , jM; determining the pseudorange error values PRRE(t;i;j) SIM and the pseudorange rate error values PRRRE(t;i;j) SIM as a function of time t associated with SATPS signals that are received by the signal integrity monitoring station number i from satellite number j for j=j1, j2, . . . , jM; forming the differences DPRE(t;i;j) SIM =PRC(t;i;j) RS -PRC(t;i;j) SIM and DPRRE(t;i;j) SIM =PRRC(t;i;j) RS -PRRC(t;i;j) SIM ; comparing the magnitudes |DPRE(t;i;j) SIM | of the pseudorange residuals with selected threshold values DPRE(i;j) thr ; comparing the magnitudes |DPRRE(t;i;j) SIM | of the pseudorange rate residuals with selected threshold values DPRRE(i;j) thr ; when the pairs of relations |DPRE(t;i;j) SIM |≦DPRE(i;j) thr and |DPRRE(t;i;j) SIM |≦DPRRE(i;j) thr are valid for no more than one of the satellites j, transmitting a signal indicating that the SATPS signals received from the satellite j cannot be used for correcting the clock bias and frequency offset parameters of a mobile SATPS station using DSATPS signals from the reference station; and when the pairs of relations |DPRE(t;i;j) SIM |≦DPRE(i;j) thr and |DPRRE(t;i;j) SIM |≦DPRRE(i;j) thr are valid for at least two of the satellites j, transmitting a signal indicating that the SATPS signals received from the satellite j can be used for correcting the clock bias and frequency offset parameters of a mobile SATPS station using DSATPS signals from the reference station.

Claim 13

A method of determining the integrity of DSATPS signals formed at a reference SATPS station and used for monitoring the clock bias and frequency offset parameters of a mobile SATPS station, the method comprising the steps of: providing an SATPS reference station, numbered i, whose location coordinates are accurately known, and a plurality of selected SATPS satellites, numbered j=j1, j2, . . . , jM (M≧2); providing an SATPS signal integrity monitoring station, whose location coordinates are accurately known, spaced apart from the reference station by a distance of no more than about 1 km; allowing the reference station and the signal monitoring station to receive SATPS signals; determining the pseudorange correction values PRC(t;i;j) RS and the pseudorange rate correction values PRRC(t;i;j) RS as a function of time t associated with SATPS signals that are received by the reference station number i from satellite number j for j=j1, j2, . . . , jM; determining the pseudorange error values PRRE(t;i;j) SIM and the pseudorange rate error values PRRRE(t;i;j) SIM as a function of time t associated with SATPS signals that are received by the signal integrity monitoring station number i from satellite number j for j=j1, j2, . . . , jM; forming the differences DPRE(t;i;j) SIM =PRC(t;i;j) RS -PRC(t;i;j) SIM and DPRRE(t;i;j) SIM =PRRC(t;i;j) RS -PRRC(t;i;j) SIM ; comparing the magnitudes |DPRE(t;i;j) SIM | of the pseudorange residuals with selected threshold values DPRE(i;j) thr ; comparing the magnitudes |DPRRE(t;i;j) SIM | of the pseudorange rate residuals with selected threshold values DPRRE(i;j) thr ; when the pairs of relations |DPRE(t;i;j) SIM |≦DPRE(i;j) thr and |DPRRE(t;i;j) SIM |≦DPRRE(i;j) thr are valid for no more than one of the satellites j, transmitting a signal indicating that the SATPS signals received from the satellite j cannot be used for monitoring the clock bias and frequency offset parameters of a mobile SATPS station using DSATPS signals from the reference station; and when the pairs of relations |DPRE(t;i;j) SIM |≦DPRE(i;j) thr and |DPRRE(t;i;j) SIM |≦DPRRE(i;j) thr are valid for at least two of the satellites j, transmitting a signal indicating that the SATPS signals received from the satellite j can, be used for monitoring the clock bias and frequency offset parameters of a mobile SATPS station using DSATPS signals from the reference station.

Claim 14

A method of determining the integrity of DSATPS signals formed at a reference SATPS station and used for monitoring the clock bias and frequency offset parameters of a mobile SATPS station, the method comprising the steps of: providing an SATPS reference station, numbered i, whose location coordinates are accurately known, and a plurality of selected SATPS satellites, numbered j=j1, j2, . . . , jM (M≧2); providing an SATPS signal integrity monitoring station, whose location coordinates are accurately known, spaced apart from the reference station by a distance of no more than about 1 km; allowing the reference station and the signal monitoring station to receive SATPS signals; determining the pseudorange correction values PRC(t;i;j) RS and the pseudorange rate correction values PRRC(t;i;j) RS as a function of time t associated with SATPS signals that are received by the reference station number i from satellite number j for j=j1, j2, . . . , jM; determining the pseudorange error values PRRE(t;i;j) SIM and the pseudorange rate error values PRRRE(t;i;j) SIM as a function of time t associated with SATPS signals that are received by the signal integrity monitoring station number i from satellite number j for j=j1, j2, . . . , jM; forming the differences DPRE(t;i;j) SIM =PRC(t;i;j) RS -PRC(t;i;j) SIM and DPRRE(t;i;j) SIM =PRRC(t;i;j) RS -PRRC(t;i;j) SIM ; comparing the magnitudes |DPRE(t;i;j) SIM | of the pseudorange residuals with selected threshold values DPRE(i;j) thr ; comparing the magnitudes |DPRRE(t;i;j) SIM | of the pseudorange rate residuals with selected threshold values DPRRE(i;j) thr ; when the pairs of relations |DPRE(t;i;j) SIM |≦DPRE(i;j) thr and |DPRRE(t;i;j) SIM |≦DPRRE(i;j) thr are valid for no more than one of the satellites j, transmitting a signal indicating that the SATPS signals received from the satellite j cannot be used for monitoring the clock bias and frequency offset parameters of a mobile SATPS station using DSATPS signals from the reference station; and when the pairs of relations |DPRE(t;i;j) SIM |≦DPRE(i;j) thr and |DPRRE(t;i;j) SIM |≦DPRRE(i;j) thr are valid for at least two of the satellites j, transmitting a signal indicating that the SATPS signals received from the satellite j can, be used for monitoring the clock bias and frequency offset parameters of a mobile SATPS station using DSATPS signals from the reference station.

Claim 17

A method of determining the integrity of DSATPS signals formed at a reference station and used for monitoring a set of K location parameters for a mobile SATPS station (K=1, 2, 3), the method comprising the steps of: providing an SATPS reference station, numbered i, whose location coordinates are accurately known, and a :plurality of selected SATPS satellites, numbered j=j1, j2, . . . , jM (M≧K+1); providing an SATPS signal integrity monitoring station, whose location coordinates are accurately known, spaced apart from the reference station by a distance of no more than about 1 km; allowing the reference station and the signal monitoring station to receive SATPS signals and to determine their respective locations using the received SATPS signals; determining correction values PRC(t;i;j) RS as a function of time t for pseudorange signals PR(t;i;j) RS received by the reference station number i from satellite number j for j=j1, j2, . . . , jM; determining correction values PRC(t;i;j) SIM as a function of time t associated with the pseudorange signals PR(t;i;j) SIM received by the signal integrity monitoring station number i from satellite number j for j=j1, j2, . . . , jM; forming the differences DPRE(t;i;j) SIM =PRC(t;i;j) RS -PRC(t;i;j) SIM ; forming a (K+1)×M Jorgensen matrix H(t) that transforms pseudorange values received at an SATPS station from the M SATPS satellites into K location coordinates and clock bias for the SATPS station; forming an M×1 column matrix y whose entry at the position k=1, 2, . . . , M is the value DPRE(t;i;jk); forming an M×M first statistical covariance matrix R=Expectation [w w tr ], where w is an M×1 column matrix whose entry in the kth position (k=1, 2, . . . , M) is noise values associated with the pseudorange signal from satellite j=jk; forming an M×M second statistical covariance matrix S=I-R.sup.-1/2 H(H.sup.tr R.sup.-1 H).sup.-1 H.sup.tr R.sup.-1/2; forming an M×1 fault matrix f=S R -1/2y and a scalar value D=∥f∥ 2 =f tr f; comparing the value D with a selected threshold value D thr ; when D≦D thr , transmitting a signal indicating that the pseudorange correction values PRC(t;i;j) determined at the reference station can be used to correct a set of K location parameters for a mobile SATPS station that is located near the reference station; when D>D thr , forming the sequence of values τ j =f j 2 /S jj (j=1, 2, . . . , M), where f j is the jth entry in the fault matrix f and S jj is the jth diagonal entry in the covariance matrix S; forming the difference Δτ J1 ,J2 =τ J1 -τ J2 , where τ J1 and τ J2 are the largest and second largest values of τ j , respectively; forming the ratio R J1 ,J2 =2 log e (p J1 /p J2 ), where p j is an estimate of the probability that the jth value in the sequence {τ j } attains the value τ j , and comparing the difference Δτ J1 ,J2 with the ratio R J1 ,J2 ; when Δτ J1 ,J2 >R J1 ,J2, transmitting a signal indicating that the SATPS signals from the satellite number J1 are faulty and should be deleted from the computations of pseudorange parameters; and when Δτ J1 ,J2 ≦R J1 ,J2, transmitting a signal indicating that the pseudorange correction values PRC(t;i;j) determined at the reference station cannot be used to help correct location parameters for a mobile SATPS station that is receiving corrections from the reference station.

Claim 18

A method of determining the integrity of DSATPS signals formed at a reference station and used for monitoring a set of K location parameters for a mobile SATPS station (K=1, 2, 3), the method comprising the steps of: providing an SATPS reference station, numbered i, whose location coordinates are accurately known, and a :plurality of selected SATPS satellites, numbered j=j1, j2, . . . , jM (M≧K+1); providing an SATPS signal integrity monitoring station, whose location coordinates are accurately known, spaced apart from the reference station by a distance of no more than about 1 km; allowing the reference station and the signal monitoring station to receive SATPS signals and to determine their respective locations using the received SATPS signals; determining correction values PRC(t;i;j) RS as a function of time t for pseudorange signals PR(t;i;j) RS received by the reference station number i from satellite number j for j=j1, j2, . . . , jM; determining correction values PRC(t;i;j) SIM as a function of time t associated with the pseudorange signals PR(t;i;j) SIM received by the signal integrity monitoring station number i from satellite number j for j=j1, j2, . . . , jM; forming the differences DPRE(t;i;j) SIM =PRC(t;i;j) RS -PRC(t;i;j) SIM ; forming a (K+1)×M Jorgensen matrix H(t) that transforms pseudorange values received at an SATPS station from the M SATPS satellites into K location coordinates and clock bias for the SATPS station; forming an M×1 column matrix y whose entry at the position k=1, 2, . . . , M is the value DPRE(t;i;jk); forming an M×M first statistical covariance matrix R=Expectation [w w tr ], where w is an M×1 column matrix whose entry in the kth position (k=1, 2, . . . , M) is noise values associated with the pseudorange signal from satellite j=jk; forming an M×M second statistical covariance matrix S=I-R.sup.-1/2 H(H.sup.tr R.sup.-1 H).sup.-1 H.sup.tr R.sup.-1/2; forming an M×1 fault matrix f=S R -1/2y and a scalar value D=∥f∥ 2 =f tr f; comparing the value D with a selected threshold value D thr ; when D≦D thr , transmitting a signal indicating that the pseudorange correction values PRC(t;i;j) determined at the reference station can be used to correct a set of K location parameters for a mobile SATPS station that is located near the reference station; when D>D thr , forming the sequence of values τ j =f j 2 /S jj (j=1, 2, . . . , M), where f j is the jth entry in the fault matrix f and S jj is the jth diagonal entry in the covariance matrix S; forming the difference Δτ J1 ,J2 =τ J1 -τ J2 , where τ J1 and τ J2 are the largest and second largest values of τ j , respectively; forming the ratio R J1 ,J2 =2 log e (p J1 /p J2 ), where p j is an estimate of the probability that the jth value in the sequence {τ j } attains the value τ j , and comparing the difference Δτ J1 ,J2 with the ratio R J1 ,J2 ; when Δτ J1 ,J2 >R J1 ,J2, transmitting a signal indicating that the SATPS signals from the satellite number J1 are faulty and should be deleted from the computations of pseudorange parameters; and when Δτ J1 ,J2 ≦R J1 ,J2, transmitting a signal indicating that the pseudorange correction values PRC(t;i;j) determined at the reference station cannot be used to help correct location parameters for a mobile SATPS station that is receiving corrections from the reference station.

Claim 19

A method of determining the integrity of DSATPS signals formed at a reference station and used for monitoring a set of K velocity parameters for a mobile SATPS station (K=1, 2, 3), the method comprising the steps of: providing an SATPS reference station, numbered i, whose location coordinates are accurately known, and a plurality of selected SATPS satellites, numbered j=j1, j2, . . . , jM (M≧K+1); providing an SATPS signal integrity monitoring station, whose location coordinates are accurately known, spaced apart from the reference station by a distance of no more than about 1 km; allowing the reference station and the signal monitoring station to receive SATPS signals and to determine their respective locations using the received SATPS signals; determining correction values PRRC(t;i;j) RS as a function of time t for pseudorange rate signals PRR(t;i;j) RS received by the reference station number i from satellite number j for j=j1, j2, . . . , jM; determining correction values PRRC(t;i;j) SIM as a function of time t associated with the pseudorange rate signals PRR(t;i;j) SIM received by the signal integrity monitoring station number i from satellite number j for j=j1, j2, . . . , jM; forming the differences DPRRE(t;i;j) SIM =PRRC(t;i;j) RS -PRRC(t;i;j) SIM ; forming a (K+1)×M Jorgensen matrix H(t) that transforms pseudorange, rate values received at an SATPS station from the M SATPS satellites into K velocity coordinates and frequency offset for the SATPS station; forming an M×1 column matrix y whose entry at the position k=1, 2, M is the value DPRRE(t;i;jk); forming an M×M first statistical covariance matrix R=Expectation [w w tr ], where w is an M×1 column matrix whose entry in the kth position (k=1, 2, . . . , M) is noise values associated with the pseudorange rate signal from satellite j=jk; forming an M×M second statistical covariance matrix S=I-R.sup.-1/2 H(H.sup.tr R.sup.-1 H).sup.-1 H.sup.tr R.sup.-1/2; forming an M×1 fault matrix f=S R -1/2y and a scalar value D=∥f∥ 2 =f tr f; comparing the value D with a selected threshold value D thr ; when D≦D thr , transmitting a signal indicating that the pseudorange rate correction values PRRC(t;i;j) determined at the reference station can be used to correct a set of K velocity parameters for a mobile SATPS station that is located near the reference station; when D>D thr , forming the sequence of values τ j =f j 2 /S jj (j=1, 2, . . . , M), where f j is the jth entry in the fault matrix f and S jj is the jth diagonal entry in the covariance matrix S; forming the difference Δτ J1 ,J2 =τ J1 -τ J2 , where τ J1 and τ j2 are the largest and second largest values of τ j , respectively; forming the ratio R J1 ,J2 =2 log e (p J1 /p J2 ), where p j is an estimate of the probability that the jth value in the sequence {τ j } attains the value τ j , and comparing the difference Δτ J1 ,J2 with the ratio R J1 ,J2 ; when Δτ J1 ,J2 >R J1 ,J2, transmitting a signal indicating that the SATPS signals from the satellite number J1 are faulty and should be deleted from the computations of pseudorange rate parameters; and when Δτ J1 ,J2 ≦R J1 ,J2, transmitting a signal indicating that the pseudorange rate correction values PRRC(t;i;j) determined at the reference station cannot be used to help correct velocity parameters for a mobile SATPS station that is receiving corrections from the reference station.

Claim 20

A method of determining the integrity of DSATPS signals formed at a reference station and used for monitoring a set of K velocity parameters for a mobile SATPS station (K=1, 2, 3), the method comprising the steps of: providing an SATPS reference station, numbered i, whose location coordinates are accurately known, and a plurality of selected SATPS satellites, numbered j=j1, j2, . . . , jM (M≧K+1); providing an SATPS signal integrity monitoring station, whose location coordinates are accurately known, spaced apart from the reference station by a distance of no more than about 1 km; allowing the reference station and the signal monitoring station to receive SATPS signals and to determine their respective locations using the received SATPS signals; determining correction values PRRC(t;i;j) RS as a function of time t for pseudorange rate signals PRR(t;i;j) RS received by the reference station number i from satellite number j for j=j1, j2, . . . , jM; determining correction values PRRC(t;i;j) SIM as a function of time t associated with the pseudorange rate signals PRR(t;i;j) SIM received by the signal integrity monitoring station number i from satellite number j for j=j1, j2, . . . , jM; forming the differences DPRRE(t;i;j) SIM =PRRC(t;i;j) RS -PRRC(t;i;j) SIM ; forming a (K+1)×M Jorgensen matrix H(t) that transforms pseudorange, rate values received at an SATPS station from the M SATPS satellites into K velocity coordinates and frequency offset for the SATPS station; forming an M×1 column matrix y whose entry at the position k=1, 2, M is the value DPRRE(t;i;jk); forming an M×M first statistical covariance matrix R=Expectation [w w tr ], where w is an M×1 column matrix whose entry in the kth position (k=1, 2, . . . , M) is noise values associated with the pseudorange rate signal from satellite j=jk; forming an M×M second statistical covariance matrix S=I-R.sup.-1/2 H(H.sup.tr R.sup.-1 H).sup.-1 H.sup.tr R.sup.-1/2; forming an M×1 fault matrix f=S R -1/2y and a scalar value D=∥f∥ 2 =f tr f; comparing the value D with a selected threshold value D thr ; when D≦D thr , transmitting a signal indicating that the pseudorange rate correction values PRRC(t;i;j) determined at the reference station can be used to correct a set of K velocity parameters for a mobile SATPS station that is located near the reference station; when D>D thr , forming the sequence of values τ j =f j 2 /S jj (j=1, 2, . . . , M), where f j is the jth entry in the fault matrix f and S jj is the jth diagonal entry in the covariance matrix S; forming the difference Δτ J1 ,J2 =τ J1 -τ J2 , where τ J1 and τ j2 are the largest and second largest values of τ j , respectively; forming the ratio R J1 ,J2 =2 log e (p J1 /p J2 ), where p j is an estimate of the probability that the jth value in the sequence {τ j } attains the value τ j , and comparing the difference Δτ J1 ,J2 with the ratio R J1 ,J2 ; when Δτ J1 ,J2 >R J1 ,J2, transmitting a signal indicating that the SATPS signals from the satellite number J1 are faulty and should be deleted from the computations of pseudorange rate parameters; and when Δτ J1 ,J2 ≦R J1 ,J2, transmitting a signal indicating that the pseudorange rate correction values PRRC(t;i;j) determined at the reference station cannot be used to help correct velocity parameters for a mobile SATPS station that is receiving corrections from the reference station.

Claim 21

A method of determining the integrity of DSATPS signals formed at a reference,, SATPS station and used for correcting at least one of a set of K location parameters and a set of K velocity parameters of a mobile SATPS station (K=1, 2, 3, 4), the method comprising the steps of: providing an SATPS reference station, numbered i, whose location coordinates are accurately known, and a plurality of selected SATPS satellites, membered j=j1, j2, . . . , jM (M≧K); providing an SATPS signal integrity monitoring station, whose location coordinates and velocity coordinates (x(i) SIM ,known, y(i) SIM ,known, z(i) SIM ,known) and (v(i) x ,SIM,known, v(i) y ,SIM,known, v(i) z ,SIM,known) in a selected coordinate system are accurately known, spaced apart from the reference station by a distance of no more than about about 1 km; allowing the reference station and the signal monitoring station to receive SATPS signals; determining the location coordinates x(t;i) SIM , y(t;i) SIM , z(t;i) SIM and the velocity coordinates v(t;i) x ,SIM, v(t;i) y ,SIM, v(t;i) z ,SIM of the SIM station from the SATPS signals received from the satellites; forming the location difference values Δx(t;i) SIM =x(t;i) SIM -x(i) SIM ,known and Δy(t;i) SIM =y(t;i) SIM -y(i) SIM ,known and Δz(t;i) SIM =z(t;i) SIM -z(i) SIM ,known and the velocity difference values Δv(t;i) x ,SIM =v(t;i) x ,SIM -v(i) x ,SIM,known and Δv(t;i) y ,SIM =v(t;i) y ,SIM -v(i) y ,SIM,known and Δv(t;i) z ,SIM =v(t;i) z ,SIM -v(i) z ,SiM,known ; comparing the magnitudes |Δx(t;i) SIM |, |Δy(t;i) SIM |, and |Δz(t;i) SIM | with respective selected threshold values Δx(i) thr , Δy(i) thr and Δz(i) thr ; comparing the magnitudes |Δv(t;i) x ,SIM |, |Δv(t;i) y ,SIM | and |Δv(t;i) z ,SIM | with respective selected threshold values Δv(i) x ,thr, Δv(i) y ,thr and Δv(i) z ,thr ; when at least one of the relations |Δx(t;i) SIM |≦Δx(i) thr , |Δy(t;i) SIM |≦Δy(i) thr , |Δz(t;i) SIM |≦Δz(i) thr , |Δv(t;i) x ,SIM |≦Δv(i) x ,thr, |Δv(t;i) y ,SIM |≦Δv(i) y ,thr and |Δv(t;i) z ,SIM |≦Δv(i) z ,thr, is not valid, transmitting a signal indicating that the SATPS signals received from the satellites j=j1,j2, . . . , jM cannot be used to help correct at least one of a set of K location coordinates and a set of K velocity coordinates for a mobile SATPS station using DSATPS signals from the reference station; and when all the relations |Δx(t;i) SIM |≦Δx(i) thr , |Δy(t;i) SIM |≦Δy(i) thr , |Δz(t;i) SIM |≦Δz(i) thr , |Δv(t;i) x ,SIM |≦Δv(i) x ,thr, |Δv(t;i) y ,SIM |≦Δv(i) y ,thr and |Δv(t;i) z ,SIM |≦Δv(i) z ,thr, are valid, transmitting a signal indicating that the SATPS signals received from the satellites j=j1, j2, . . . , jM can be used to help correct at least one of a set of K location coordinates and a set of K velocity coordinates for a mobile SATPS station using DSATPS signals from the reference station.

Claim 22

A method of determining the integrity of DSATPS signals formed at a reference,, SATPS station and used for correcting at least one of a set of K location parameters and a set of K velocity parameters of a mobile SATPS station (K=1, 2, 3, 4), the method comprising the steps of: providing an SATPS reference station, numbered i, whose location coordinates are accurately known, and a plurality of selected SATPS satellites, membered j=j1, j2, . . . , jM (M≧K); providing an SATPS signal integrity monitoring station, whose location coordinates and velocity coordinates (x(i) SIM ,known, y(i) SIM ,known, z(i) SIM ,known) and (v(i) x ,SIM,known, v(i) y ,SIM,known, v(i) z ,SIM,known) in a selected coordinate system are accurately known, spaced apart from the reference station by a distance of no more than about about 1 km; allowing the reference station and the signal monitoring station to receive SATPS signals; determining the location coordinates x(t;i) SIM , y(t;i) SIM , z(t;i) SIM and the velocity coordinates v(t;i) x ,SIM, v(t;i) y ,SIM, v(t;i) z ,SIM of the SIM station from the SATPS signals received from the satellites; forming the location difference values Δx(t;i) SIM =x(t;i) SIM -x(i) SIM ,known and Δy(t;i) SIM =y(t;i) SIM -y(i) SIM ,known and Δz(t;i) SIM =z(t;i) SIM -z(i) SIM ,known and the velocity difference values Δv(t;i) x ,SIM =v(t;i) x ,SIM -v(i) x ,SIM,known and Δv(t;i) y ,SIM =v(t;i) y ,SIM -v(i) y ,SIM,known and Δv(t;i) z ,SIM =v(t;i) z ,SIM -v(i) z ,SiM,known ; comparing the magnitudes |Δx(t;i) SIM |, |Δy(t;i) SIM |, and |Δz(t;i) SIM | with respective selected threshold values Δx(i) thr , Δy(i) thr and Δz(i) thr ; comparing the magnitudes |Δv(t;i) x ,SIM |, |Δv(t;i) y ,SIM | and |Δv(t;i) z ,SIM | with respective selected threshold values Δv(i) x ,thr, Δv(i) y ,thr and Δv(i) z ,thr ; when at least one of the relations |Δx(t;i) SIM |≦Δx(i) thr , |Δy(t;i) SIM |≦Δy(i) thr , |Δz(t;i) SIM |≦Δz(i) thr , |Δv(t;i) x ,SIM |≦Δv(i) x ,thr, |Δv(t;i) y ,SIM |≦Δv(i) y ,thr and |Δv(t;i) z ,SIM |≦Δv(i) z ,thr, is not valid, transmitting a signal indicating that the SATPS signals received from the satellites j=j1,j2, . . . , jM cannot be used to help correct at least one of a set of K location coordinates and a set of K velocity coordinates for a mobile SATPS station using DSATPS signals from the reference station; and when all the relations |Δx(t;i) SIM |≦Δx(i) thr , |Δy(t;i) SIM |≦Δy(i) thr , |Δz(t;i) SIM |≦Δz(i) thr , |Δv(t;i) x ,SIM |≦Δv(i) x ,thr, |Δv(t;i) y ,SIM |≦Δv(i) y ,thr and |Δv(t;i) z ,SIM |≦Δv(i) z ,thr, are valid, transmitting a signal indicating that the SATPS signals received from the satellites j=j1, j2, . . . , jM can be used to help correct at least one of a set of K location coordinates and a set of K velocity coordinates for a mobile SATPS station using DSATPS signals from the reference station.

Claim 23

A method of determining the integrity of DSATPS signals formed at a reference SATPS station and used for correcting the clock bias and frequency offset parameters of a mobile SATPS station, the method comprising the steps of: providing an SATPS reference station, numbered i, whose location coordinates are accurately known, and a plurality of selected SATPS satellites, numbered j=j1, j2, . . . , jM (M≧1); providing an SATPS signal integrity monitoring station, whose location coordinates and velocity coordinates (x(i) SIM ,known, y(i) SIM ,known, z(i) SIM ,known) and (v(i) x ,SIM,known, v(i) y ,SIM,known, v(i) z ,SIM,known) in a selected coordinate system are accurately known, spaced apart from the reference station by a distance of no more than about about 1 km; allowing the reference station and the signal monitoring station to receive SATPS signals; determining the location coordinates x(t;i) SIM , y(t;i) SIM , z(t;i) SIM and the velocity coordinates v(t;i) x ,SIM, v(t;i) y ,SIM, v(t;i) z ,SIM of the SIM station from the SATPS signals received from the satellites; forming the location difference values Δx(t;i) SIM =x(t;i) SIM -x(i) SIM ,known and Δy(t;i) SIM =y(t;i) SIM -y(i) SIM ,known and Δz(t;i) SIM =z(t;i) SIM -z(i) SIM ,known and the velocity difference values Δv(t;i) x ,SIM =v(t;i) x ,SiM -v(i) x ,SIM,known and Δv(t;i) y ,SIM =v(t;i) y ,SIM =v(i) y ,SIM,known and Δv(t;i) z ,SIM =v(t;i) z ,SIM -v(i) z ,SIM,known ; comparing the magnitudes |Δx(t;i) SIM |, |Δy(t;i) SIM |, and |Δz(t;i) SIM | with respective selected threshold values Δx(i) thr , Δy(i) thr and Δz(i) thr ; comparing the magnitudes |Δv(t;i) x ,SIM |, |Δv(t;i) y ,SIM | and |Δv(t;i) z ,SIM | with respective selected threshold values Δv(i) x ,thr, Δv(i) y ,thr and Δv(i) z ,thr ; when at least one of the relations |Δx(t;i) SIM |≦Δx(i) thr , |Δy(t;i) SIM |≦Δy(i) thr , |Δz(t;i) SIM |≦Δz(i) thr , |Δv(t;i) x ,SIM |≦Δv(i) x ,thr, |Δv(t;i) y ,SIM |≦Δv(i) y ,thr and |Δv(t;i) z ,SIM |≦Δv(i) z ,thr, is not valid, transmitting a signal indicating that the SATPS signals received from the satellites j=j1, j2, . . . , jM cannot be used to help correct the clock bias and frequency offset parameters for a mobile SATPS station using DSATPS signals from the reference station; and when all the relations |Δx(t;i) SIM |≦Δx(i) thr , |Δy(t;i) SIM |≦Δy(i) thr , |Δz(t;i) SIM |≦Δz(i) thr , |Δv(t;i) x ,SIM |≦Δv(i) x ,thr, |Δv(t;i) y ,SIM |≦Δv(i) y ,thr and |Δv(t;i) z ,SIM |≦Δv(i) z ,thr, are valid, transmitting a signal indicating that the SATPS signals received from the satellites j=j1, j2, . . . , jM can be used to help correct the clock bias and frequency offset parameters for a mobile SATPS station using DSATPS signals from the reference station.

Claim 24

A method of determining the integrity of DSATPS signals formed at a reference SATPS station and used for correcting the clock bias and frequency offset parameters of a mobile SATPS station, the method comprising the steps of: providing an SATPS reference station, numbered i, whose location coordinates are accurately known, and a plurality of selected SATPS satellites, numbered j=j1, j2, . . . , jM (M≧1); providing an SATPS signal integrity monitoring station, whose location coordinates and velocity coordinates (x(i) SIM ,known, y(i) SIM ,known, z(i) SIM ,known) and (v(i) x ,SIM,known, v(i) y ,SIM,known, v(i) z ,SIM,known) in a selected coordinate system are accurately known, spaced apart from the reference station by a distance of no more than about about 1 km; allowing the reference station and the signal monitoring station to receive SATPS signals; determining the location coordinates x(t;i) SIM , y(t;i) SIM , z(t;i) SIM and the velocity coordinates v(t;i) x ,SIM, v(t;i) y ,SIM, v(t;i) z ,SIM of the SIM station from the SATPS signals received from the satellites; forming the location difference values Δx(t;i) SIM =x(t;i) SIM -x(i) SIM ,known and Δy(t;i) SIM =y(t;i) SIM -y(i) SIM ,known and Δz(t;i) SIM =z(t;i) SIM -z(i) SIM ,known and the velocity difference values Δv(t;i) x ,SIM =v(t;i) x ,SiM -v(i) x ,SIM,known and Δv(t;i) y ,SIM =v(t;i) y ,SIM =v(i) y ,SIM,known and Δv(t;i) z ,SIM =v(t;i) z ,SIM -v(i) z ,SIM,known ; comparing the magnitudes |Δx(t;i) SIM |, |Δy(t;i) SIM |, and |Δz(t;i) SIM | with respective selected threshold values Δx(i) thr , Δy(i) thr and Δz(i) thr ; comparing the magnitudes |Δv(t;i) x ,SIM |, |Δv(t;i) y ,SIM | and |Δv(t;i) z ,SIM | with respective selected threshold values Δv(i) x ,thr, Δv(i) y ,thr and Δv(i) z ,thr ; when at least one of the relations |Δx(t;i) SIM |≦Δx(i) thr , |Δy(t;i) SIM |≦Δy(i) thr , |Δz(t;i) SIM |≦Δz(i) thr , |Δv(t;i) x ,SIM |≦Δv(i) x ,thr, |Δv(t;i) y ,SIM |≦Δv(i) y ,thr and |Δv(t;i) z ,SIM |≦Δv(i) z ,thr, is not valid, transmitting a signal indicating that the SATPS signals received from the satellites j=j1, j2, . . . , jM cannot be used to help correct the clock bias and frequency offset parameters for a mobile SATPS station using DSATPS signals from the reference station; and when all the relations |Δx(t;i) SIM |≦Δx(i) thr , |Δy(t;i) SIM |≦Δy(i) thr , |Δz(t;i) SIM |≦Δz(i) thr , |Δv(t;i) x ,SIM |≦Δv(i) x ,thr, |Δv(t;i) y ,SIM |≦Δv(i) y ,thr and |Δv(t;i) z ,SIM |≦Δv(i) z ,thr, are valid, transmitting a signal indicating that the SATPS signals received from the satellites j=j1, j2, . . . , jM can be used to help correct the clock bias and frequency offset parameters for a mobile SATPS station using DSATPS signals from the reference station.

Claim 25

A method of determining the integrity of DSATPS signals formed at a reference SATPS station and used for correcting at least one of a set of K location parameters and a set of K velocity parameters of a mobile SATPS station (K=1, 2, 3, 4), the method comprising the steps of: providing an SATPS reference station, numbered i, whose location coordinates are accurately known, and a plurality of selected SATPS satellites, numbered j=j1, j2, . . . , jM (M>K); providing an SATPS signal integrity monitoring station, whose two-dimensional location coordinates and velocity coordinates (x(i) SIM ,known, y(i) SIM ,known) and (v(i) x ,SIM,known, v(i) y ,SIM,known) in a selected coordinate system are accurately known, spaced apart from the reference station by a distance of no more than about about 1 km; allowing the reference station and the signal monitoring station to receive SATPS signals; determining the location coordinates x(t;i) SIM and y(t;i) SIM and the velocity coordinates v(t;i) x ,SIM and v(t;i) y ,SIM of the SIM station from the SATPS signals received from the satellites; forming the location difference values Δx(t;i) SIM =x(t;i) SIM -x(i) SIM ,known and Δy(t;i) SIM =y(t;i) SIM -y(i) SIM ,known and the velocity difference values Δv(t;i) x ,SIM =v(t;i) x ,SIM -v(i) x ,SIM,known and Δv(t;i) y ,SIM =v(t;i) y ,SIM -v(i) y ,SIM,known ; comparing the magnitude [(Δx(t;i) SIM ) 2 +(Δy(t;i) SIM ) 2 ] 1/2 with a selected threshold value Δd(i) 2 ,thr ; comparing the magnitude [(Δv(t;i) x ,SIM) 2 +(Δv(t;i) y ,SIM) 2 ] 1/2 with a selected threshold value Δv(i) 2 ,thr ; when at least one of the relations [(Δx(t;i) SIM ) 2 +(Δy(t;i) SIM ) 2 ] 1/2 ≦Δd(i) 2 ,thr and [(Δv(t;i) x ,SIM) 2 +(Δv(t;i) y ,SIM) 2 ] 1/2< Δv(i) 2 ,thr is not valid, transmitting a signal indicating that the SATPS signals received from the satellites j=j1, j2, . . . , jM cannot be used to help correct at least one of a set of K location coordinates and a set of K velocity coordinates for a mobile SATPS station using DSATPS signals from the reference station; and when all the relations [(Δx(t;i) SIM ) 2 +(Δy(t;i) SIM ) 2 ] 1/2 ≦Δd(i) 2 ,thr and [(Δv(t;i) x ,SIM) 2 +(Δv(t;i) y ,SIM) 2 ] 1/2 ≦Δv(i) 2 ,thr is not valid, transmitting a signal indicating that the SATPS signals received from the satellites j=j1, j2, . . . , jM can be used to help correct at least one of a set of K location coordinates and a set of K velocity coordinates for a mobile SATPS station using DSATPS signals from the reference station.

Claim 26

A method of determining the integrity of DSATPS signals formed at a reference SATPS station and used for correcting at least one of a set of K location parameters and a set of K velocity parameters of a mobile SATPS station (K=1, 2, 3, 4), the method comprising the steps of: providing an SATPS reference station, numbered i, whose location coordinates are accurately known, and a plurality of selected SATPS satellites, numbered j=j1, j2, . . . , jM (M>K); providing an SATPS signal integrity monitoring station, whose two-dimensional location coordinates and velocity coordinates (x(i) SIM ,known, y(i) SIM ,known) and (v(i) x ,SIM,known, v(i) y ,SIM,known) in a selected coordinate system are accurately known, spaced apart from the reference station by a distance of no more than about about 1 km; allowing the reference station and the signal monitoring station to receive SATPS signals; determining the location coordinates x(t;i) SIM and y(t;i) SIM and the velocity coordinates v(t;i) x ,SIM and v(t;i) y ,SIM of the SIM station from the SATPS signals received from the satellites; forming the location difference values Δx(t;i) SIM =x(t;i) SIM -x(i) SIM ,known and Δy(t;i) SIM =y(t;i) SIM -y(i) SIM ,known and the velocity difference values Δv(t;i) x ,SIM =v(t;i) x ,SIM -v(i) x ,SIM,known and Δv(t;i) y ,SIM =v(t;i) y ,SIM -v(i) y ,SIM,known ; comparing the magnitude [(Δx(t;i) SIM ) 2 +(Δy(t;i) SIM ) 2 ] 1/2 with a selected threshold value Δd(i) 2 ,thr ; comparing the magnitude [(Δv(t;i) x ,SIM) 2 +(Δv(t;i) y ,SIM) 2 ] 1/2 with a selected threshold value Δv(i) 2 ,thr ; when at least one of the relations [(Δx(t;i) SIM ) 2 +(Δy(t;i) SIM ) 2 ] 1/2 ≦Δd(i) 2 ,thr and [(Δv(t;i) x ,SIM) 2 +(Δv(t;i) y ,SIM) 2 ] 1/2< Δv(i) 2 ,thr is not valid, transmitting a signal indicating that the SATPS signals received from the satellites j=j1, j2, . . . , jM cannot be used to help correct at least one of a set of K location coordinates and a set of K velocity coordinates for a mobile SATPS station using DSATPS signals from the reference station; and when all the relations [(Δx(t;i) SIM ) 2 +(Δy(t;i) SIM ) 2 ] 1/2 ≦Δd(i) 2 ,thr and [(Δv(t;i) x ,SIM) 2 +(Δv(t;i) y ,SIM) 2 ] 1/2 ≦Δv(i) 2 ,thr is not valid, transmitting a signal indicating that the SATPS signals received from the satellites j=j1, j2, . . . , jM can be used to help correct at least one of a set of K location coordinates and a set of K velocity coordinates for a mobile SATPS station using DSATPS signals from the reference station.

Claim 27

A method of determining the integrity of DSATPS signals formed at a reference SATPS station and used for correcting at least one of a set of K location parameters and a set of K velocity parameters of a mobile SATPS station (K=1, 2, 3, 4), the method comprising the steps of: providing an SATPS reference station, numbered i, whose location coordinates are accurately known, and a plurality of selected SATPS satellites, numbered j=j1, j2, . . . , jM (M≧K); providing an SATPS signal integrity monitoring station, whose location coordinates and velocity coordinates (x(i) SIM ,known, y(i) SIM ,known, z(i) SIM ,known,) and (v(i) x ,SIM,known, v(i) y ,SIM,known, v(i) z ,SIM,known,) in a selected coordinate system are accurately known, spaced apart from the reference station by a distance of no more than about about 1 km; allowing the reference station and the signal monitoring station to receive SATPS signals; determining the location coordinates x(t;i) SIM and y(t;i) SIM and z(t;i) SIM and the velocity coordinates v(t;i) x ,SIM and v(t;i) y ,SIM and v(t;i) z ,SIM of the SIM station from the SATPS signals received from the satellites; forming the location difference values Δx(t;i) SIM =x(t;i) SIM -x(i) SiM ,known, Δy(t;i) SIM =y(t;i) SIM -y(i) SIM ,known and Δz(t;i) SIM =z(t;i) SIM -z(i) SiM ,known and the velocity difference values Δv(t;i) x ,SIM =v(t;i) x ,SIM -v(i) x ,SIM,known and Δv(t;i) y ,SIM =v(t;i) y ,SIM -v(i) y ,SIM,known and Δv(t;i) z ,SIM =v(t;i) z ,SIM -v(i) z ,SIM,known ; comparing the magnitude [(Δx(t;i) SIM ) 2 +(Δy(t;i) SIM ) 2 +(Δz(t;i) SIM ) 2 ] 1/2 with a selected threshold value Δd(i) 3 ,thr ; comparing the magnitude [(Δv(t;i) x ,SIM) 2 +(Δv(t;i) y ,SIM) 2 +(Δv(t;i) z ,SIM) 2 ] 1/2 with a selected threshold value Δv(i) 3 ,thr; when at least one of the relations [(Δx(t;i) SIM ) 2 +(Δy(t;i) SIM ) 2 +(Δz(t;i) SIM ) 2 ] 1/2 ≦Δd(i) 3 ,thr and [(Δv(t;i) x ,SiM) 2 +(Δv(t;i) y ,SIM) 2 +(Δv(t;i) z ,SIM) 2 ] 1/2 ≦Δv(i) 3 ,thr is not valid, transmitting a signal indicating that the SATPS signals received from the satellites j=j1, j2, . . . , jM cannot be used to help correct at least one of a set of K location coordinates and a set of K velocity coordinates for a mobile SATPS station using DSATPS signals from the reference station; and when all the relations [(Δx(t;i) SIM ) 2 +(Δy(t;i) SIM ) 2 +(Δz(t;i) SIM ) 2 ] 1/2 ≦Δd(i) 3 ,thr and [(Δv(t;i) x ,SIM) 2 +(Δv(t;i) y ,SIM) 2 +(Δv(t;i) z ,SIM) 2 ] 1/2 ≦Δv(i) 3 ,thr are valid, transmitting a signal indicating that the SATPS signals received from the satellites j=j1, j2, . . . , jM can be used to help correct at least one of a set of K location coordinates and a set of K velocity coordinates for a mobile SATPS station using DSATPS signals from the reference station.

Claim 28

A method of determining the integrity of DSATPS signals formed at a reference SATPS station and used for correcting at least one of a set of K location parameters and a set of K velocity parameters of a mobile SATPS station (K=1, 2, 3, 4), the method comprising the steps of: providing an SATPS reference station, numbered i, whose location coordinates are accurately known, and a plurality of selected SATPS satellites, numbered j=j1, j2, . . . , jM (M≧K); providing an SATPS signal integrity monitoring station, whose location coordinates and velocity coordinates (x(i) SIM ,known, y(i) SIM ,known, z(i) SIM ,known,) and (v(i) x ,SIM,known, v(i) y ,SIM,known, v(i) z ,SIM,known,) in a selected coordinate system are accurately known, spaced apart from the reference station by a distance of no more than about about 1 km; allowing the reference station and the signal monitoring station to receive SATPS signals; determining the location coordinates x(t;i) SIM and y(t;i) SIM and z(t;i) SIM and the velocity coordinates v(t;i) x ,SIM and v(t;i) y ,SIM and v(t;i) z ,SIM of the SIM station from the SATPS signals received from the satellites; forming the location difference values Δx(t;i) SIM =x(t;i) SIM -x(i) SiM ,known, Δy(t;i) SIM =y(t;i) SIM -y(i) SIM ,known and Δz(t;i) SIM =z(t;i) SIM -z(i) SiM ,known and the velocity difference values Δv(t;i) x ,SIM =v(t;i) x ,SIM -v(i) x ,SIM,known and Δv(t;i) y ,SIM =v(t;i) y ,SIM -v(i) y ,SIM,known and Δv(t;i) z ,SIM =v(t;i) z ,SIM -v(i) z ,SIM,known ; comparing the magnitude [(Δx(t;i) SIM ) 2 +(Δy(t;i) SIM ) 2 +(Δz(t;i) SIM ) 2 ] 1/2 with a selected threshold value Δd(i) 3 ,thr ; comparing the magnitude [(Δv(t;i) x ,SIM) 2 +(Δv(t;i) y ,SIM) 2 +(Δv(t;i) z ,SIM) 2 ] 1/2 with a selected threshold value Δv(i) 3 ,thr; when at least one of the relations [(Δx(t;i) SIM ) 2 +(Δy(t;i) SIM ) 2 +(Δz(t;i) SIM ) 2 ] 1/2 ≦Δd(i) 3 ,thr and [(Δv(t;i) x ,SiM) 2 +(Δv(t;i) y ,SIM) 2 +(Δv(t;i) z ,SIM) 2 ] 1/2 ≦Δv(i) 3 ,thr is not valid, transmitting a signal indicating that the SATPS signals received from the satellites j=j1, j2, . . . , jM cannot be used to help correct at least one of a set of K location coordinates and a set of K velocity coordinates for a mobile SATPS station using DSATPS signals from the reference station; and when all the relations [(Δx(t;i) SIM ) 2 +(Δy(t;i) SIM ) 2 +(Δz(t;i) SIM ) 2 ] 1/2 ≦Δd(i) 3 ,thr and [(Δv(t;i) x ,SIM) 2 +(Δv(t;i) y ,SIM) 2 +(Δv(t;i) z ,SIM) 2 ] 1/2 ≦Δv(i) 3 ,thr are valid, transmitting a signal indicating that the SATPS signals received from the satellites j=j1, j2, . . . , jM can be used to help correct at least one of a set of K location coordinates and a set of K velocity coordinates for a mobile SATPS station using DSATPS signals from the reference station.