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A method for obtaining integer ambiguity solutions based on externally provided constraints, e.g., altitude. Such constraints are useful in reducing the computational burden created by the search problem, and using constraints is particularly more effective when a more limited number of satellite vehicles are visible than is ordinarily the case. The constraints are exercised in a search algorithm. As the branches of the integer ambiguity search tree are traversed, an additional test is used to determine if the current search candidate is compatible with such external constraint. Because a three-dimensional position is associated with each search candidate, the branch clipping is straightforward. The ambiguity candidates are each only acceptable if their locations in space are within a confidence region bound set determined from the external constraint. Any sensor that can provide any combination of x, y, or z position information that is better than that obtainable from GPS code phase is a candidate source of such external constraints.
1. A recursive method for building a search tree and a short-list of the best phase-ambiguity candidates for a real-time kinematic satellite navigation receiver, the method comprising:
implementing a program loop through an L1 carrier phase search window;
calculating a set of ionospheric residuals using an L2 phase measurement;
checking if an ionospheric residual is less than a threshold value;
computing a set of checked ionospheric residuals and accumulating a residual variance;
checking if a worst candidate is greater than said residual variance but less than an acceptable variance;
checking if a candidate location is compatible with a position restraint provided by an external constraint input; and
entering a next level of recursion to process a next satellite.
2. The method of claim 1, further comprising the step of:
deriving any initial estimates of L1 carrier phase ambiguities with a least squares estimation using carrier phase and pseudorange observations.
3. The method of claim 1, further comprising the step of:
testing if at least four double difference ambiguities from five satellites have converged to a predefined level.
4. The method of claim 1, further comprising the step of:
constructing said search window about a set of real-valued ambiguity estimates obtained from a least squares estimation; and
evaluating an L1 ambiguity by computing the ionospheric residual from an L2 carrier phase.
5. The method of claim 1, further comprising the step of:
locating a set of L1 waveforms in space and accumulating a tally of measurement residuals and residual variance.
6. The method of claim 1, further comprising the step of:
comparing a search candidate variance with an acceptable value derived from empirical experimentation, wherein if said candidate variance exceeds an acceptable threshold, then another L1 ambiguity candidate is considered in a recursive program loop.
7. The method of claim 1, further comprising the step of:
after making a set of entries in said search tree, testing a search candidate variance to see if it exceeds the worst value in said search table, wherein branches of said search tree are pruned before sub-branches are ever considered, and wherein computational loading is reduced.
8. The method of claim 1, further comprising the step of:
using position constraint information to test a three-dimensional location of a current search candidate location to see if it is compatible before proceeding to a deeper level of recursion to enable processing of a next search satellite.
9. The method of claim 1, further comprising the step of:
testing if all the available satellite ambiguities have been considered, and if so, a current ambiguity candidate is inserted into said search tree, and wherein any incorrect candidates will diverge as indicated by a rapid increase in the residual variance, and a correct candidate will converge.
10. A method for initializing a real-time kinematic (RTK) system for use with the global positioning system (GPS), the method comprising:
using a reference station including a GPS satellite navigation receiver and measurement means to obtain single or dual carrier frequency code and phase measurements from a relative location;
using a rover unit including a GPS satellite navigation receiver and measurement means to obtain single or dual carrier frequency code and phase measurements from a movable vehicle and outputting resulting position determinations;
double-differencing a combined set of four observables taken at both the reference station and the rover from each signal from a satellite to eliminate satellite-common and receiver-common clock errors;
pruning candidates from a search tree according to an externally provided position constraint that defines at least one of x, y, and z positions in space; and
resolving any carrier-phase integer ambiguities left from the step of pruning candidates with an integer search means for searching carrier frequency phase and code measurements, wherein a unique solution for whole-cycle carrier phase ambiguity is provided to a positioning determining means with centimeter-level accuracy and on-the-fly initialization.
11. The method of claim 10, further comprising the step of:
robotic control means connected to the rover unit for adjusting a mechanism according to a comparison between said position determinations and a predetermined construction model.
This application is a continuation-in-part of U.S. patent application Ser. No. 08/644,422, filed May 10, 1996, now U.S. Pat. No. 5,602,741, by Nicholas Charles TALBOT, et al., which was, in turn, a continuation of U.S. patent application Ser. No. 08/199,387, filed Feb. 18, 1994 now U.S. Pat. No. 5,519,620, by Nicholas Charles TALBOT, et al., and such are incorporated herein by reference. A related U.S. Pat. No. 5,471,218, issued to one of the present inventors, Nicholas C. Talbot, on Nov. 28, 1995, and is incorporated herein by reference.
1. Field of the Invention
The invention relates generally to navigation systems and industrial control systems and more specifically to combinations of navigation and industrial controls that provide centimeter accuracy in the positioning and movement of operating machinery and robots.
2. Description of the Prior Art
When originally conceived, the global positioning system (GPS) that was made operational by the United States Government was not foreseen as being able to provide centimeter-level position accuracies. Such accuracies are now commonplace.
Extremely accurate GPS receivers depend on phase measurements of the radio carriers that they receive from various orbiting GPS satellites. Less accurate GPS receivers simply develop the pseudoranges to each visible satellite based on the time codes being sent. Within the granularity of a single time code, the carrier phase can be measured and used to compute range distance as a multiple of the fundamental carrier wavelength. GPS signal transmissions are on two synchronous, but separate, carrier frequencies "L1" and "L2", with wavelengths of nineteen and twenty-four centimeters, respectively. Thus within nineteen or twenty-four centimeters, the phase of the GPS carrier signal will change 360�.
However, the number of whole cycle (360�) carrier phase shifts between a particular GPS satellite and the GPS receiver must be resolved. At the receiver, every cycle will appear the same. Therefore there is an "integer ambiguity". The computational resolution of the integer ambiguity has traditionally been an intensive arithmetic problem for the computers used to implement GPS receivers. The traditional approaches to such integer ambiguity resolution have prevented on-the-fly solution measurement updates for moving GPS receivers with centimeter accurate outputs. Very often, such highly accurate GPS receivers have required long periods of motionlessness to produce a first and subsequent position fix.
A prior art method for precision attitude determination and kinematic positioning is described by Hatch, in U.S. Pat. No. 4,963,889, comprises the steps of determining the approximate initial relative position of a secondary antenna that is freely movable with respect to a reference antenna; making carrier phase measurements based on the reception of "N" number of satellites, where N is the minimum number of satellites needed to compute the relative position of the secondary antenna; deriving from the carrier phase measurements an initial set of potential solutions for the relative position, wherein the initial set of potential solutions all fall within a region of uncertainty defined by a sphere having a radius equal to the maximum distance between the two antennas, and wherein multiple potential solutions arise because of whole-cycle ambiguity of the carrier signal; making redundant carrier phase measurements based on the reception of a carrier signal from an additional satellite (N+1); and eliminating false solutions from the initial set of potential solutions, based on a comparison of the redundant carrier phase measurements with the initial set of potential solutions, to reduce the number of potential solutions to close to one, whereby the number of potential solutions is not increased by use of the redundant carrier phase measurements.
"Deriving from the carrier phase measurements an initial set of potential solutions" means that the initial set is derived from just two satellites. The rest of the Hatch specification explains why N is exactly two in the case of attitude determination. Planar intersections of wave fronts are formed from the two satellites, thus obtaining a collection of parallel lines. The intersection points of these lines and a baseline sphere are determined, producing the initial set of potential solutions. For example, as explained at column 12, line 35 of Hatch, there are 188 points or potential solutions in the initial set. In the Hatch method, "eliminating false solutions from the initial set of potential solutions," means eliminating 187 of those 188 points. The idea of potential solutions refers to the initial set of 188 points.
Hatch forms an initial collection of around 188 potential solutions using just two satellites, and then uses phase measurements of the remaining satellites to whittle away at that the small initial collection, leaving only one candidate solution if phase measurements are accurate enough. Hatch avoids having to deal with large numbers of integer combinations.
Donald Knight, in U.S. Pat. No. 5,296,861, titled "METHOD AND APPARATUS FOR MAXIMUM LIKELIHOOD ESTIMATION DIRECT INTEGER SEARCH IN DIFFERENTIAL CARRIER PHASE ATTITUDE DETERMINATION SYSTEMS", and incorporated herein by reference, describes a method of reducing the mathematical intensity of integer ambiguity resolution.
Aside from making carrier phase measurements and determining a region of uncertainty, Hatch's method is essentially a two-step method, which is a way to avoid the problem of large numbers. The essence of the Knight patent is to do the opposite, plunging into a sea of possible solutions, even if there are trillions of them, and finding the single, best solution out of the entire product space of possibilities.
If ten different whole cycle values can be added to the first difference phase measurements from each of four satellites, then Knight defines 104 or 10,000 possible acceptable solutions. Knight then finds the one-and-only solution out of 10,000 that matches the measured phase data better than all 9,999 other combinations. If eight satellites are available (which does happen), then Knight finds the single best solution out of 108 or 100 million possibilities. If two antenna pairs are present, then the number becomes (108)2 =1016. Thus whereas Hatch uses a two-step method of avoiding large numbers, Knight provides a practical method for finding the single best solution in a solution space with thousands or millions of possibilities. Hatch even suggests that the Knight approach is incorrect. For example, at column 8, Line 63, Hatch states: "if ten different whole cycle values can be added to the first differences from each of the four satellites, then one might expect 103 or 10,000 possible solutions within the uncertainty region . . . Indeed, some authors have defined the number of possible acceptable solutions in exactly this fashion."
Knight describes a method that is more computationally intensive than Hatch's, and has proven to be reliable and workable in commercially-viable applications. Hatch's method avoids the problem of large numbers, and does best under conditions in which the problem of large numbers does not exist, e.g., under conditions where the myriad of possible solutions collapse into a handful. In the real world, conditions are usually not optimum, which would require the corresponding equipment that uses Hatch's method to be more complex, in order to achieve the same results as the present invention's.
Hatch's two-step method includes preliminary steps involving making carrier phase measurements, and then numbering them one through N, followed by an (N+1)th measurement. It could be expected that any similar apparatus will make carrier phase measurements, and the basic idea of interferometry is conventional, regardless of how the carrier phase measurements are numbered. Such preliminary steps define which carrier phase measurements are involved in generating an initial set of potential solutions, and which carrier phase measurement is defined to be the redundant measurement for eliminating potential solutions. As applied to attitude determination, the step of determining the approximate relative position of the secondary antenna equates to measuring the distance between the antennas, and noticing that the secondary antenna has to lie on a sphere centered at the main antenna.
Hatch's method involving a "plurality N of satellites" is not the same as a "plurality of satellites". As applied to attitude determination, N is exactly two. As applied to kinematic surveying, N is exactly four. Hatch makes this explicit in FIG. 7, blocks 58 and 62, and states at column 12, line 3, "The first computations to be performed in an attitude determination application are to compute the entire set of potential solutions based on the carrier phase measurements from two satellites." One of the significant features of the method described is the use of only two of the satellites to determine the set of potential solutions, rather than more than two satellites. Hatch explains that only a plurality of N=2 satellites are required " . . . in the attitude determination application, . . . there is! only a two dimensional uncertainty region corresponding to the surface . . . Thus only two satellites are needed to define all the potential solutions that can exist on the two dimensional uncertainty region . . . The attitude detection application is a two dimensional uncertainty problem, requiring two satellites to define all of the potential solutions . . . The final broad step in the method of the invention is eliminating false potential solutions based on redundant information from additional satellites, i.e. additional to the minimum two . . . satellites required to define all of the potential solutions."
The phrases "initial set", "initial set of potential solutions" and "possible solution", refer specifically to the result obtainable by applying the first step of Hatch's two-step method. This "initial set of potential solutions" is to be generated from the received carrier signals of two and only two satellites, since the teaching is that "only two satellites are required to define all of the potential solutions."
The notion of "potential solutions" is thus restricted to 188 points, or to some such number in a similar example, but certainly not 10,000 solutions. It is also very clear that "eliminating false solutions from the initial set of potential solutions" means eliminating 187 points out of 188 points.
Hatch contends that it is not necessary to consider 10,000 possible solutions, because "the uncertainty region is two dimensional" and the measurements from any two satellites span the region of uncertainty. Using two satellites results in a collection of only 188 possibilities. Hatch contends that the correct solution is one of those 188 points, and that those 188 points are the only possibilities, that those other myriad of possibilities do not exist.
The "initial set of potential solutions" of Hatch cannot be extended to cover an entire product space of 10,000 solutions, because the essence of the two-step method is avoiding the problem of large numbers. Hatch proposes reducing the dimensionally of the solution space to the bare minimum and declares that the right answer has to lie within that reduced solution space, and that only the first measurements corresponding in number to the bare dimensionally are required to determine all the possible solutions.
Knight does not include an initial set. The method of Knight is to search for the right answer somewhere among 10,000 possibilities and finds the single best match out of such possibilities. There is no reason to stop and look at 188 possibilities when the remainder of 10,000 possibilities have to be searched. Furthermore, those 188 possibilities defined by Hatch do not resemble anything in Knight. Knight does not involve deriving from the carrier phase measurements an initial set of potential solutions for the relative position. Furthermore, Hatch generates those 188 points using a nonlinear operation on the carrier phase measurements of two satellites, something that Knight does not.
Hatch eliminates false solutions from the initial set of potential solutions, whereby the number of potential solutions is not increased by use of the redundant carrier phase measurements. Knight does not deal with Hatch's "initial set", whether to create it or eliminate from it. Most of the time, in a commercially-viable apparatus, the right solution will not be found in such an initial set.
If carrier phases could be measured perfectly, without radio reflections, reception noise, non-common antenna phase center motion, temperature sensitive drifts and other corruption of the measured phase data, then the attitude determination problem really would be two-dimensional. The right solution for position of the secondary antenna might then be found within Hatch's initial set of 188 potential solutions. Determining the right solution would be a simple matter of eliminating 187 false solutions by comparison with the third carrier phase measurement. As long as phase measurement errors are small enough, the two-step method based on near perfect measurements is satisfactory. Though there is some small perturbation in computed results, the right answer comes out in the end most of the time. Phase measurement errors of about two degrees RMS are usually tolerable.
Only one whole cycle value results in a surface that passes closer to a specific potential solution than any other whole cycle value. The problem is that phase measurements contain error, and geometric considerations amplify this error when measurements are processed in a computing apparatus. There is only one surface that passes closer to a specific potential solution than any other, but unfortunately, the surface that passes closest is often the wrong surface. Another surface farther away may be the right one. Not only can the surface be in the wrong place due to measurement error, Hatch's potential solution may be in the wrong place as well, due to error effects that are worse for the potential solution than the surface.
The supposed potential solution is actually a computational result that is often badly perturbed by phase measurement error combined with geometrical dilution of precision. A scissors effect can amplify measurement errors that distort the planes. Subsequently, the formation of intersections of lines with a sphere introduces a nonlinear operation on noisy data which greatly amplifies some of the errors. Hatch actually chooses the two satellites closest together in order to form an initial set with fewer than 188 points, whereas considerations of error sensitivity would dictate the opposite.
Hatch teaches that only one of the whole cycle values passes closer to a specific potential solution than any other. The two-step Hatch method prescribes that only the closest whole cycle value (from the additional satellite data) is selected for each of the potential solutions whereby the number of potential solutions is not increased. At some point, as phase measurement errors are increased, corresponding to less favorable operating conditions, the prescription begins picking the wrong whole cycle values a significant fraction of the time. Using Hatch's method, there is no way to pursue any option but the closest, and processing a phase measurement with the wrong whole cycle value added to it further accelerates the deterioration of computed results.
By comparison, all of the whole cycle values are tried as possibilities in the Knight method. An integer combination that looks very poor initially becomes more attractive as the solution progresses, eventually finishing as the best possible solution out of 10,000 or more. Every possible integer combination is pursued until, taken as a whole, it can be decided that the combination under development is less likely than another combination that has been completely finished and weighed with all satellite data included. The Knight method does not minimize the solution space dimensionally to the bare minimum and then restricts attention to an "initial set of solutions" obtained with only the data of the first measurements corresponding to that bare dimensionally. Most of the time, under real world conditions, the right answer simply is not to be found. The job of finding the right solution cannot be accomplished by avoiding the problem of large numbers.
Benjamin W. Remondi, reported the status of differential GPS (DGPS) accuracy and on-the-fly (OTF) kinematic GPS (KGPS) in a paper titled, "On-The-Fly Kinematic GPS Results Using Full-Wavelength Dual-Frequency Carrier Ranges".
The carrier phase ambiguity resolution problem has been the focus of a great deal of attention from research communities. In essence, the integer number of carrier cycles that existed between GPS receiver and satellite at the time that the signal was acquired must be determined. Direct range measurements, combined with the satellite geometry, allow the correct integer carrier phase ambiguities to be determined for a plurality of satellites tracked at two or more sites. Ambiguity resolution techniques that only use GPS measurements have become computationally efficient. The use of additional sensors such as a laser level, electronic distance meter, a compass, a tape, etc., provide valuable constraints that limit the number of possible integer ambiguities that need to be considered in a search for the correct set. For example see, INTEGRATED TERRESTRIAL SURVEY AND SATELLITE POSITIONING SYSTEM, filed Jul. 1, 1993, and issued as U.S. Pat. No. 5,471,218.
A method for carrier phase ambiguity resolution is described by Benjamin W. Remondi in U.S. Pat. No. 5,442,363, which was filed Aug. 4, 1994, and was issued Aug. 15, 1995. Such Patent was filed after the parent case in the present Application. The method described by Remondi was previously described in broader terms in "Kinematic GPS Results Without Static Initialization" NOAA Technical Memo NOS-55, May 1991. Such method takes advantage of the dual-frequency carrier phase data and L1 code data to obtain centimeter-level results. Such technique works best when full-cycle carrier phase data is available on L1 and L2 bands and when precise C/A-code is measured, although the claim is made that the method can work with single-frequency data too.
The code and the carrier phase are simultaneously measured at the reference and rover stations. Single-difference code and carrier phase measurements are formed between the stations and all the visible satellites. The time interval is set long enough to maximize the filtering time constant, but still short enough so that the ionospheric divergence is not too great. A reference code epoch is chosen so that the single-difference ranges can be adjusted to one another. Single-difference carrier phase is used to adjust the code ranges to the reference code epoch. An averaged code measurement is then formed from all the code observations in a time window. A best estimate rover location relative to the reference station can be determined from four or more averaged code values. Such best estimate forms the center of a search volume that is then constructed. A variety of methods are given for generating the search space. The Hatch method of using the minimum number of phase intersections to generate the search candidates is then used for L1 and L2 phase candidate locations. The L1 and L2 space points will be coincident with one another if they are correct, the incorrect candidates are culled. All this assumes that the ionospheric disturbance is not too great, and such is not a valid assumption for long baselines. The L1 and L2 space points that agree within a threshold maximum are accepted for the next stage. Triple difference processing is used to propagate the potential L1 and L2 ambiguity candidates. The L1, L2, and ionospheric-free residuals are studied, and accumulated statistics are generated. A ratio test is used to discern the two best candidates from a list. If sufficient separation cannot be achieved before a best candidate can be accepted, the process is repeated.
The prior art methods, particularly those described by Hatch, are weak when the satellite constellation geometry is poor, and positions corresponding to the L1 and L2 bands have to be computed to generate L1/L2 candidates. Remondi's use of height constraints to reduce the search space was conventional when he adopted it. The Remondi method is best suited to post-processing applications because the averaging needed for the starting point calculations can be generated from a block of stored data.
It is preferable to accumulate past data in the filter and not store in memory.
It is therefore an object of the present invention to provide an on-the-fly real-time kinematic system.
It is a further object of the present invention to provide a remote-controlled servo system with centimeter accuracy for industrial applications.
It is another object of the present invention to provide an apparatus that provides high frequency on-the-fly real-time kinematic updates.
Briefly, a system embodiment of the present invention comprises a fixed and a roving pair of four-observable GPS receivers and a communication link between them for double differencing code and carrier measurements. For a moving RTK application, the reference station location does not have to be fixed or exactly known. In fact autonomous GPS to 100 m is acceptable, as long as the reference-to-rover baseline length is short (<5 km). Carrier phase integer ambiguities are resolved efficiently by searching the simultaneous narrow-lane intersections of both the L1 and L2 wave fronts propagated by the GPS satellites being tracked. External constraint information, such as elevation, is additionally used to speed up the resolution of integer ambiguity. Data between the reference station and the rover is communicated in compressed form at a regular time interval, e.g., once a second at each epoch, and demi-measurements of carrier phase are obtained at a more frequent rate, e.g., ten times a second, and used to propagate solutions between epochs.
An advantage of the present invention is that a system is provided that does not require reference point initialization, but rather can initialize itself on-the-fly.
Another advantage of the present invention is that a system is provided that has centimeter level position accuracies.
A further advantage of the present invention is that a system is provided that outputs real-time kinematic position solutions in local coordinate formats.
These and other objects and advantages of the present invention will no doubt become obvious to those of ordinary skill in the art after having read the following detailed description of the preferred embodiment which is illustrated in the drawing figures.
FIG. 1 is a schematic diagram of a GPS-based on-the-fly real-time kinematic system embodiment of the present invention;
FIG. 2 is a diagram representing the whole-cycle carrier phase wave fronts of signals propagated by three GPS satellites and their resulting interference pattern and intersections;
FIG. 3 is a block diagram of the reference station and rover of FIG. 1;
FIG. 4 is a block diagram of a vehicle remote control system embodiment of the present invention;
FIG. 5 is a flowchart of an ambiguity search method embodiment of the present invention; and
FIG. 6 is diagram of a search tree used as an example to explain the method of FIG. 5.
FIG. 1 illustrates a on-the-fly (OTF) real-time kinematic (RTK) system embodiment of the present invention, referred to by the general reference numeral 10. System 10 comprises a reference station 12 and a rover 14. On-the-fly ambiguity resolution techniques are used to enable the acquisition of integer phase ambiguities while rover 14 is moving. Such OTF ambiguity resolution avoids the phase continuity requirement of prior art kinematic positioning systems.
A first through third satellite vehicle (SV1-SV3) 16-18 transmit pseudo random number (PRN) codes on two carrier frequencies L1 and L2 (1575.42 MHz and 1227.60 MHz) that are approximately nineteen and twenty-four centimeters in wavelength. Satellite vehicles 16-18 represent the satellite vehicles that may be accessible to reference station 12 and rover 14, e.g., the global positioning system (GPS) satellites operated by the United States Government.
Reference station 12 and rover 14 are three-observable or four-observable type GPS receivers. A three-observable GPS receiver can track L1 code, L1 carrier phase and L2 carrier phase. A four-observable GPS receiver can measure both carrier phase and code on both L1 and L2 frequencies. Reference station 12 communicates its observations to rover 14 via a data link 19. Four-observable measurements are preferred over three-observable receivers. Four-observable measurements provide a wealth of information that can be exploited during data reduction. The present invention is not limited to four-observable measurements, but also includes three-observable measurement. Dual-frequency phase combinations, such as "wide-lane" (eighty-six centimeter wavelength) and ionosphere-free observables are two such conventional phase combinations. A precision code (P-code) carried on the L2 carrier may periodically be encrypted to a secret "Y-code". When encryption is active, reference station 12 and rover 14 switch to a mode in which four observables are maintained by full-cycle L1 and L2 phase measurements, precise L1 coarse acquisition (C/A) code and cross-correlated Y-code data. The cross-correlation technique relies on the fact that both the L1 and L2 Y-codes are identical, although the Y-code itself is not necessarily known. The difference in group delay between the L1 and L2 signals is precisely determined by a cross-correlation technique. The cross-correlation observation is added to the L1 C/A-code observable to derive an L2 range measurement which is used in a variety of ways during data reduction. Enhanced cross-correlation techniques may also be employed, which rely on the knowledge that the Y-code is generated by combining the P-code with a W-code which has a chipping rate less than the P-code. Alternatively, receivers which have access to the Y-code crypto-keys, and can directly track Y-code may be used.
Since dual-frequency GPS receivers are more complex and typically more expensive than single or dual frequency receivers, and since three-observable or four-observable measurements are not strictly required in every instance, alternative embodiments of the present invention may substitute single or dual frequency, e.g., L1 code and phase or L1 and L2, measurement. Such single-frequency receivers may be used in reference station 12 and the rover 14.
In FIG. 1, each of a plurality of transmitted signals 20-25 comprise a combination of the L1 and L2 carriers. The transmission of signals 20 and 21 includes a satellite clock error that results in a ranging distance error 26. The transmission of signals 22 and 23 includes a satellite clock error that results in a ranging distance error 28. Similarly, the transmission of signals 24 and 25 includes a satellite clock error that results in a ranging distance error 30. Reference station 12 introduces a receiver clock error that results in a ranging distance error 32 common to satellite vehicles 16-18. Rover 14 also introduces a receiver clock error that results in a ranging distance error 34 that is common to satellite vehicles 16-18. Conventional double-differencing techniques are used in rover 14 to subtract out errors 26, 28, 30, 32 and 34 to yield PRN and phase measurements which have greatly reduced satellite-common and receiver-common errors.
Each signal 20-25 has an unknown number of whole-cycle carrier phase transitions between each satellite vehicle 16-18 and the reference station 12 and the rover 14. An interference pattern that results at various observation points amongst these signals 20-25 is used to identify the otherwise ambiguous signal intersections.
FIG. 2 illustrates, in simplified two-dimensional form, the carrier wave fronts generated by three satellites SV1-SV3. At carrier frequency L1, each wave front is separated from the next by nineteen centimeters. PRN code measurements are too coarse to sort out which wave front is which within any one given neighborhood of wave fronts. The wave fronts are thus ambiguous and represent the well-known carrier phase integer ambiguity problem. The wave fronts from two satellite vehicles, e.g., SV1 and SV2, intersect at a number of points, represented by points 50-58. Without more, each of points 50-58 is indistinguishable from the other. Using the wave fronts from a third satellite vehicle, e.g., SV3, only the intersections represented by points 50, 55 and 57 are coincident with all three wave fronts. A fourth satellite vehicle's wave fronts could be used to resolve between even these intersections to uniquely identify the best solution to the integer ambiguity problem.
System 10 uses both L1 and L2 wave fronts simultaneously to reduce the number of visible satellite vehicles necessary to solve the integer ambiguity problem and to yield high quality results where the best solution is widely separated from the second best solution. The search through the solution tree described by the Knight method is thus shortened and simplified, making OTF operation feasible. In FIG. 2, the grid of wave fronts shown would be supplemented by a second, superimposed grid with a different separation distance between adjacent wave fronts. For L1 and L2, one such grid has the wave fronts separated by approximately nineteen centimeters and the other grid has its wave fronts separated by twenty-four centimeters. This provides a larger number of wave front intersections, but reduces the number of intersection points that are coincident for all the visible satellite vehicles. The search for the unique solution is thus simplified because the number of potential candidates is reduced.
System 10 also provides integer ambiguity solutions based on externally provided constraints, e.g., altitude. For example, given that FIG. 2 is drawn in the vertical plane with respect to the earth, an altitude 60 when used as a constraint, can be used to select point 50 from the field of points 50, 55 and 57 as a unique solution to the integer ambiguity problem. Such constraints are useful in reducing the computational burden created by the search problem, and using constraints is particularly more effective when a more limited number of satellite vehicles are visible than is ordinarily the case.
The constraints can be exercised in the search algorithm. As the branches of the integer ambiguity search tree are traversed, an additional test is used to determine if the current search candidate is compatible with such external constraint. Because a three-dimensional position is associated with each search candidate, the branch pruning can be relatively straightforward. The ambiguity candidate is acceptable only if its location in space is within a confidence region bound set when using the external constraint. Any sensor that can provide x, y, or z position information that is better than that obtainable from GPS code phase is a candidate source of external constraints. For example, the horizontal plane of a leveled laser-plane surveyor's instrument can provide a high-confidence height constraint. The pivot point of a cabin for a large earthmoving machine could be determined by resection of three or more position fixes for a point that swings about the pivot on a constant radius. The swing point and swing arc radius could further be used to constrain search candidate locations if initialization was subsequently lost.
Real-time kinematic positioning provides for the precise estimation of the location of a stationary or moving rover relative to a reference site. A reference site is established at a point whose location need not exactly be known relative to the satellite coordinate datum. A reference satellite receiver collects carrier phase, code measurements and data to the satellites at a regular interval, e.g., once every second or epoch. Time-tagged measurements and additional information is transmitted to one or more roving units via a modem/radio or telephone etc. At a rover unit, the reference station data is merged with locally collected satellite measurements at the lowest common measurement update rate (e.g., every second). There is a finite delay in the position solution that is computed from the raw reference and rover stations. The solution delay is a function of the radio/modem bandwidth, any delays in the reference station measurement system and the rover station measurement and position update systems.
The solution latency has minimal impact for a static situation where the reference and rover are stationary. However, when the rover is attempting to navigate while moving, the solution latency causes the displayed position to lag the actual location of the user.
In addition to the solution latency, the measurement update rate used in a system governs how often the user position will be updated. For high precise/dynamic applications, a fast update rate of ten to fifty Hertz is desirable. The bandwidth of the datalink between the reference and rover sites places a limit on the measurement update rate of the system. Even with a data compression algorithm, a maximum update rate is reached.
FIG. 3 illustrates the construction of reference station 12 and rover 14. Reference station 12 inputs the signals 20, 22 and 24 (both L1 and L2) into a downconverter 70. A correlator 72 extracts information from an intermediate frequency signal produced by the downconverter 70 and feeds such carrier and code information out to a PRN code measurement unit 74 and a carrier phase measurement unit 76. The epoch, which occurs at one second intervals, is used to trigger the four-observable measurements related to signals represented by signals 20, 22 and 24, and to time tag such measurements in a time tag unit 78. Time-tagged data is then fed to a data compression unit 80 for radio transmission out by a transmitter 82. The compression of data and obtaining of measurements at each one second epoch keep the volume of data required to be carried by the data link 19 to rover 14 to a reasonable level. For example, a 2400 baud channel can be used to carry the information obtained by the reference station 12.
The rover 14 receives signals represented by signals 21, 23 and 25 and produces an intermediate frequency composite from them in a downconverter 90. A correlator 92 extracts information from the intermediate frequency that is supplied to a PRN code measurement unit 94 and a carrier phase measurement 96. Four observables for each signal 21, 23 and 25 are provided to a double differencing unit 98 at the one second epoch rate. A radio receiver (or datalink subsystem) 100 receives the data from the reference station 12 over data link 19 and a data decompression unit 102 extracts the original time-tagged data. Double differencing unit 98 combines the measurements taken at both the reference station 12 and the rover 14 to eliminate clock errors 26, 28, 30 32 and 34 (FIG. 1). Unbiased measurements are then made available to a propagation unit 104 at a demi-measurement rate of ten per second.
Once a pair of main measurement epochs has been obtained, as identified by their respective time tags, a demi-measurement propagation process can begin. All of the demi-epochs in the rover 14 are used to propagate forward a last main measurement update obtained at an epoch. Demi-measurement updates are more frequent than the main measurement updates and therefore closely track the current rover position. In this way, the demi-measurement propagation reduces solution latency and also gives the user a more continuous location estimate.
Demi-measurement propagation introduces some small errors into the user position. GPS has an intentional dither on the civilian signals. Dithering is typically on the order of one centimeter per second squared. As long as the main epoch updates are obtained every second, and the main epoch solution latency is less than one second, the demi-measurement propagation errors should be less than 0.5�1.0 cm/s2, times the current dilution of precision (DOP). Under normal conditions, errors of two centimeters or less would be experienced.
FIG. 3 further illustrates an integer resolution unit 106 that uses the four observables of L1 and L2 code and phase from the visible satellite vehicles 16-18 to quickly determine a unique solution to the integer ambiguity problem. A height constraint unit 107 connected to the integer resolution unit 106 reduces the search space of ambiguous carrier phase integers by introducing at least one of an elevation, separation, distance and orientation constraint. A navigation computer 108 is used to solve the position of rover 14 to within a few centimeters on-the-fly ten times a second. A datum transformer 110 is used to convert from other formats, such as WGS-84, to a local coordinate format, e.g., northern-east-elevation (NEE) format so that the precise measurements obtained will conform to the datums used in local topographic maps, for example. An ellipsoid-to-geoid converter 112 corrects for variations in the geoid-spheroid separation that might exist in the geographical area of use.
FIG. 4 illustrates a remote vehicle control system 120 which comprises a remote controlled vehicle 122, a remote control unit 124 and a reference station 126. A radio link 128 provides GPS signal measurement data to a rover 130. Reference station 126, radio link 128 and rover 130 are similar in construction and function to reference station 12, data link 19 and rover 14 illustrated in FIGS. 1 and 3. OTF-RTK local coordinate data is communicated near continuously over a radio link 132 to a controller 134. A mathematical model 136 provides guidance plan information for vehicle 122. For example, such information may be the flight path for a plane when vehicle 122 is an airplane, or the information may be the model extracted from a topographic survey of a coal seam in the earth when the vehicle 122 is an open-pit coal excavator. The controller 134 compares the math model information to the position information and issues a servo control signal 138 to a servo unit 140. Such control may be automatic, and include proportional plus integral plus differential (PID) control. A camera 142 provides a video representation of the area surrounding vehicle 122 over a radio link 144 to a monitor (CRT) 146.
The remote vehicle control system 120 may be incorporated into an earth moving and grading system, e.g., as described by Clegg, in U.S. Pat. No. 4,807,131, and incorporated herein by reference. Essentially, the laser equipment disclosed by Clegg is replaced by the elements of system 10, illustrated in FIG. 1 of the present specification. Such a configuration allows robotic control at the rover unit which can adjust a mechanism according to a comparison between GPS position determinations and a predetermined construction model. Such construction models include placements for bridge pilings, coal seam excavation in open-pit mines, and unmanned vehicles.
FIG. 5 represents a recursive method embodiment of the present invention for building a search tree and a short-list of the best phase-ambiguity candidates, and is referred to herein by the general reference numeral 150. FIG. 6 represents a search tree of L1 ambiguities and a companion search table with an ordered list of the pruned candidates is provided in Table I.
TABLE I______________________________________ ResidualSV1 SV2 SV3 Variance______________________________________ 0 0 0 0.005 0 0 -1 0.015-1 0 +1 0.065-1 +1 +1 0.085______________________________________
The method 150 includes a step 152 that tests to see if the last search satellite has been handled. If so, a step 154 adds the search candidate that was developed to a list of candidates and a return is made to the calling program. Otherwise, a step 156 implements a loop through the L1 search window. A step 158 calculates the ionospheric residuals using the L2 phase. A step 160 checks to see if the ionospheric residual is less than a threshold value, if not, control loops back to step 156. Otherwise, a step 162 computes the residuals and accumulates the residual variance. A step 164 checks to see if the worst candidate is greater than the residual variance but less than the acceptable variance, if not control loops back to step 156. Otherwise, a step 166 checks to see if the candidate location is compatible with the position constraint, if not the control loops back to step 156. Otherwise, a step 168 causes the next level of recursion to be entered to process the next satellite and then control passes back up to step 152.
The initial estimates of the L1 carrier phase ambiguities are derived with a least squares estimation using carrier phase and pseudorange observations. A test is made prior to calling the search function (method 150), to see if at least four double difference ambiguities from five satellites have converged to a suitable level. Such convergence is typically achieved with one minutes worth of data collected every second.
For purposes of describing the method, it can be assumed that only three satellites are needed to generate the ambiguity search candidates. A recursive search, e.g., the method 150, is used to build the search tree, e.g., FIG. 6, by looping through a search window of potential integer L1 ambiguity candidates, as represented by step 156. The search window is constructed about the real-valued ambiguity estimates obtained from a least squares estimation. For example, a search window of 0, +1, and -1 is used in FIG. 6, but a much larger window would be used in actual practice. The L1 ambiguity is evaluated by computing the ionospheric residual from the L2 carrier phase, but such step 160 is not essential to the present invention to build the search list. However, such step 160 is preferably included because it enhances the discrimination and pruning of poor ambiguity candidates. The ionospheric residual will be very near zero for baseline lengths under ten kilometers. FIG. 2 shows a grid of L1 waveforms that is effectively overlaid by another grid of L2 wavefronts by a step 160 in FIG. 5. This permits discriminating many more invalid ambiguity candidates than could be done with L1 wavefronts and geometry alone. In step 162, the location of the L1 waveforms in space can be constructed and an accumulated tally is made of the measurement residuals and the residual variance. In step 164 the search candidate variance is compared with an acceptable value derived from empirical experimentation. If the candidate variance exceeds an acceptable threshold, then another L1 ambiguity candidate is considered in the loop. Once entries are made in the search table, e.g., Table I, it is possible to also test the search candidate variance to see if it exceeds the worst value in the search table. Thus branches of the search tree can be pruned before sub-branches are ever considered. Such pruning reduces the computational loading.
When position constraint information is available, e.g., the external constraint 107 (FIG. 3), the search candidate location can be tested to see if it is compatible, as in step 166. If steps 160, 164 and 166 all provide true results, then a deeper level of recursion is entered to enable processing of the next search satellite, as in step 168. In FIG. 6, satellite SV1 is processed first and L1 ambiguity "0" is found to be acceptable. In the next level of recursion, SV2 is considered and L1 ambiguity "0" is also accepted. At the final level of recursion, the L1 ambiguity value is "0".
The step 152 tests to see if all the satellite ambiguities have been considered. If so, the ambiguity candidate is inserted into the search table. In the example, Table I, the first search entry in the search table will be 0, 0, 0 with the residual variance of 0.005. The next search table entry corresponds to 0, 0, -1, and so on. The search table candidate with the smallest residual variance is deemed the best one and subsequent epochs of data are used to process the search candidates. The incorrect candidates will diverge, e.g., the residual variance will rapidly increase, while the correct candidate will converge.
Although the present invention has been described in terms of the presently preferred embodiment, it is to be understood that the disclosure is not to be interpreted as limiting. Various alterations and modifications will no doubt become apparent to those skilled in the art after having read the above disclosure. Accordingly, it is intended that the appended claims be interpreted as covering all alterations and modifications as fall within the true spirit and scope of the invention.
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How to Crochet Jewelry: 10 Free Crochet Patterns
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A twisted spiral peyote rope is a beautiful piece all on it's own. It makes gorgeous bracelets, but also works wonderfully as a pendant like in this Twisted Peyote Spiral Necklace. Learn how to make your own twisted spiral jewelry.
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Material Handler/Chemical Unloader
Job Duties and Responsibilities:
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Must be able to fully understand and comprehend and strictly adhere to both oral and ...
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Los Angeles
Maintenance Mechanic
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El Segundo
Chemical Mixer / Blender
Position: Chemical Mixer / Blender
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Chemical Mixer / Blender are responsible for mixing raw materials to create finished products according to batch tickets.
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Sets up and start all mixing tanks and blenders.
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Santa Fe Springs
Electrical Service Department Manager (Apartment Buildings)
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Oversee Service Department - Dispatcher and Techs.
Walk and bid small jobs for apartment buildings and condominiums, some commercial, some residential.
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Purchasing/Production Control Assistant Manager [Electronics]
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Required ...
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Licensed Roofer - Free Estimate and Consultation.
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Specialist on repair.
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Electrical Foreman (Apartment Buildings)
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Apartment Maintenance Technician
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Apprentice Engineer
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Warehouse Manager
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|Live Scores
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|Showing 1-20
Australia news
Former captains stand by Clarke
Nov 6, 2014: A chorus of former Australian captains stood staunchly behind the incumbent Michael Clarke after he faced questions about his leadership upon his return home from a dreadful Test series defeat
Australia news
Ponting signs with ESPNcricinfo
Nov 3, 2014: Ricky Ponting has joined ESPNcricinfo to provide his unique and piercing insights on world cricket for the Australian summer, the 2015 World Cup and the Ashes tour that follows
Ponting leads another Australian juggernaut
Oct 31, 2014: His belligerent innings left India hapless in the 2003 final
IPL 2014 newsfile
Apr 27, 2014: A round-up of IPL-related news on April 27, 2014
Australia news
Sydney controversy ended Symonds' career - Ponting
Feb 13, 2014: Ricky Ponting, the former Australia batsman, has criticised Cricket Australia for its handling of the race row in the aftermath of the Sydney Test and said that it led to a premature end to Andrew Symonds' Test career
Dec 9, 2013: After Darren Bravo's superb effort in Dunedin, a look at some other famous match-saving innings in Tests
Nov 25, 2013: After the emotion of Sachin Tendulkar's last Test, a look at some farewells that didn't go quite so well
Nov 21, 2013: Thinking the Australian team unlikeable is a habit people slipped into. There comes a time for eyes to be readjusted
Australia news
England exam for Ponting's pupil
Nov 4, 2013: Alex Doolan, the Tasmania batsman, has taken full advantage of his proximity to Ricky Ponting during the 2012-13 Sheffield Shield to observe and infer as much as he can from the Australian batting great
Australia news
Nov 4, 2013: Shane Warne has accused Ricky Ponting of being motivated by "jealousy" in criticising his Australian captaincy successor Michael Clarke
At the Close of Play
Oct 31, 2013: The former Australia captain's biography is a doorstop that offers a detailed and honest account of his career
Australia news
Play best batsman at No. 3 - Ponting
Oct 25, 2013: On the eve of a home Ashes summer, Ricky Ponting believes Michael Clarke, as Australia's best batsman, should be coming out to bat at No. 3
'I always tried to think about being a leader, no matter where I was at'
Oct 25, 2013: Ricky Ponting talks about imposing himself on the bowler, batting to win, and turns the spot on his strengths and weaknesses
Australia news
Ponting attacks CA's lack of foresight
Oct 22, 2013: Ricky Ponting has expressed outrage at being told by CA chief executive James Sutherland, during the 2011 SCG Test against England, that "no one ever spends money when they are going well", a statement he feels captures the current plight of cricket in th
Australia news
Ponting moves on from Monkeygate
Oct 22, 2013: Ricky Ponting, the former Australia captain, has buried the hatchet with the concerned players involved over the Monkeygate scandal of 2008, and has derided Cricket Australia over catering to the interests of the BCCI over the welfare of one of their play
Australia news
Oct 13, 2013: Ricky Ponting has revealed the doubts he harboured about Michael Clarke before his ascension to the Australian captaincy, saying his deputy did not contribute as much as desired
Australia news
Ponting sees potential in Australia's team
Aug 17, 2013: Ricky Ponting sees potential in the current Australia team, despite their disappointing Ashes against England
Jul 27, 2013: Trying to catch one of his final innings in the game became a matter of urgency, of getting to say a proper goodbye
The Investec Ashes 2013
Jul 23, 2013: Ricky Ponting has dealt out heavy criticism of Cricket Australia for rolling out reams of Big Bash League hype in the hours after the Test team's 347-run humiliation at Lord's.
Surrrey v Essex, FLt20, South Group, The Oval
Jul 15, 2013: Ricky Ponting hit a masterly 65, his highest score in the Friends Life t20, but it was not enough to prevent Essex from ending Surrey's run of four successive victories with an eight-wicket triumph
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Pakistan should not welcome Amir back
The serene team culture cultivated by Misbah and his men shouldn't be allowed to be disrupted by a player with a tainted past
'I don't blame Arjuna for my early retirement'
Former Sri Lanka batsman Asanka Gurusinha talks about playing and coaching in Australia, and tactics during the 1996 World Cup
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Mahela Jayawardene reflects on his Test career, and the need to bridge the gap between international and club cricket in Sri Lanka
November games need November prices
An early start to the international season, coupled with costly tickets, have kept the Australian public away from the cricket
Rohit's record, and captains' equal scores
Also, scoring a hundred and opening the bowling, the youngest Australian player, and scoreless in three Tests
Pakistan should not welcome Amir back (181)
The serene team culture cultivated by Misbah and his men shouldn't be allowed to be disrupted by a player with a tainted past
November games need November prices (85)
An early start to the international season, coupled with costly tickets, have kept the Australian public away from the cricket
'I'm a bit disappointed not to get that Test average up to 50' (58)
Mahela Jayawardene reflects on his Test career, and the need to bridge the gap between international and club cricket in Sri Lanka
A crisis that defines the age (40)
Never mind cricket's absence from free-to-air TV - changes in social attitudes, the demands of work, and an individualistic age are all contributing to a decline in participation
Misbah's Pakistan or Imran's Pakistan? (36)
Pakistan have notched up some fine wins under Misbah-ul-Haq's leadership, but they haven't yet achieved consistent results outside the UAE


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Ray Rice through the years
Ray Rice, of New Rochelle, is a star running back for the Super Bowl XLVII champion Baltimore Ravens. Rice has had a successful football career, playing for New Rochelle High School, graduating from Rutgers University and was drafted by the Ravens in the second round of the 2008 NFL Draft.
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Button-Up Knit Shirt
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Inmate wins right to Kosher jail meals
01/01/2013 // West Palm Beach , Florida , US // JusticeNewsFlash // Justice News Flash // (press release)
Beaumont, Texas – A Texas inmate has won an appeal regarding his right to receive free kosher jail meals. As reported by the UK Daily Mail, the 5th Circuit Court of Appeals in New Orleans has determined that Max Moussazadeh, an Orthodox Jew who is serving a prison sentence in connection with a 1993 fatal shooting, has a right to be served free Kosher meals while in prison in accordance with his religious beliefs.
Moussazadeh, 35, filed the initial lawsuit in 2005, after being denied by the State of Texas access to a Kosher meal plan. His case was reportedly dismissed by a lower court prior to being reversed by the federal appeals court.
Luke Goodrich, deputy general counsel for the Becket Fund for Religious Liberty, which aided in the legal defense of Moussazadeh, is quoted in the report as stating of the case, "Even prisoners retain their human rights, and the state cannot sacrifice those rights on the altar of bureaucratic convenience."
Justice News Flash delivers the latest in Texas legal news.
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Buying a new mid range PC
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We are a small business and so far have managed on laptops alone but are thinking of taking on staff and want to buy a PC for the office. Any advice on what would be a good mid range PC preferably with a large monitor>
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I suggest that you take a look at these Dell machines
You can customise the computer to suit your needs.
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Posted September 28, 2011 at 9:01AM
you should post what 's the price range you will burden .or just get the site that is posted above ,that will be easily to choose from !
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Posted October 12, 2011 at 1:49PM
for monitors go for viewsonic input accessories - logitech CPU choose dell
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and virulent outbreaks, local or pandemic, increases with each decade; as a
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Photos of Leonardo DiCaprio, David Beckham, Tobey Maguire, and Other Celebrities at LA Lakers Game
The Lakers Star-Studded Front Row Kicks Off NBA Season
The LA Lakers helped kick off the NBA season last night with their celebrity cheering section out in full force. David Beckham was front and center as usual to support his fellow professional athletes, but this time without his pint-size fans, while longtime Lakers lovers Leonardo DiCaprio and Kevin Connolly enjoyed a guys night out. Denzel Washington and his wife joked around with Governor Schwarzenegger, while Tobey Maguire watched intently. The Lakers handily defeated the Portland Trailblazers to start off a season that they and all their star fans hope is full of wins like that one.
To see a lot more photos including Jack Nicholson, Tobey Maguire, and Adam Levine, just read more.
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- Hilary Duff reveals what Lizzie McGuire would be doing now — Us Weekly
- Lauren Conrad is planning a Pinterest-perfect Thanksgiving — HuffPost Celebrity
- Gwyneth Paltrow praises Jennifer Lopez's backside — Lainey Gossip
- Are there nude photos of Kevin Federline floating around? — Dlisted
- Reese Witherspoon and Nicole Kidman are coming to TV — ET
- Ryan Reynolds opens up about his father's Parkinson's disease — JustJared
- Bella Thorne stirs up trouble in her TV guest-starring role — Hollywood Tuna
- A former boy band member strips down for Out magazine — Pink Is the New Blog
- How Katherine Heigl used John Mayer to get engaged — The Superficial
- Is Dean McDermott leaving True Tori? — I'm Not Obsessed


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[CENTER]...sunbuns99 November 22nd, 2014 09:24 PM
[COLOR=#000000][FONT=Times]...sunbuns99 November 22nd, 2014 09:23 PM
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As I sat across the table from him, I wondered what it was like to hear the secret confessions of those who felt guilty or sinful. I imagined that the confessions of the young were different than...sixthson November 22nd, 2014 01:54 PM
by Rob Boyte November 1997
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Time for breakfast.
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Featured Training
Beyond Emotional Intelligence: Using Social Intelligence to Build Dynamic Teams
Social Intelligence, how we handle ourselves in relationship with others, is now recognized and appreciated as an essential leadership quality. Whether leading the team, or working within the team, those with higher levels of Social Intelligence are able to help move their organizations forward by encouraging and supporting everyone inside the organization, which results in dynamic and synergistic teams. At the same time, these individuals are able to encourage and support crucial partnerships outside of the organization. In this highly interactive workshop, we will explore key components of Social Intelligence, and build skills that will help us move our organization, our teams, our outside partnerships, and ourselves forward.
This workshop builds on the Personal Competencies of the Emotional Intelligence framework developed by Daniel Goldman. It is highly recommended that workshop attendees have a foundational, working understanding of the personal competencies of Emotional Intelligence, in order to absorb the full benefits of this workshop. Suggested learning resources will be provided for those new to the Emotional Intelligence personal competencies when you sign up.
When: Tuesday, October 21 from 9:00am to 11:00am, UC 331
Facilitator: Brooke Corr has over 33 years of business management, hiring, training, and team building experience. In 1989 she helped create The Market at the University of Montana, which she led for 17 years. From 2004 until 2013 she was the Human Resource Director of The Bookstore at the University of Montana. She has been a facilitator and trainer for the National Coalition Building Institute since 1999, and holds a certificate in Advanced Mediation. She has been facilitating interactive workshops for over 25 years and is the owner of Kaleidoscope Consulting. Kaleidoscope Consulting specializes in Customer Service Training, Interactive Workshops and Mediation Services.
Exceptional Customer Service: Raising our Bar
Being an Exceptional Customer Service Provider comes with many challenges. Chief among these is: "How can I improve?" In this highly interactive workshop, we will explore the nature of exceptional service and pinpoint opportunities where each of us can improve our communication, actions, and follow through with our customers. We will also explore and problem-solve situations where it becomes difficult to provide exceptional service.
When: Tuesday, October 7 from 9:00am to 11:00am, UC 331
Facilitator: Brooke Corr has over 33 years of business management, hiring, training, and team building experience. In 1989 she helped create The Market, which she led for 17 years. From 2004 until 2013 she was the Human Resource Director of The Bookstore at the University of Montana. She has been a facilitator for the National Coalition Building Institute since 1999, and holds a certificate in Advanced Mediation. She has been facilitating interactive workshops for over 25 years and is the owner of Kaleidoscope Consulting. Kaleidoscope Consulting specializes in Customer Service Training, Interactive Workshops and Mediation Services.
Working Styles
Misunderstandings and conflicts occur at work even under the best circumstances. This workshop will give you an insight into the way you and others work and think. By learning to identify the strengths and limitations of different working styles, you can begin to appreciate that differences can optimize your ability to perform. Through understanding how different people are motivated, you can become more effective and improve communication and interpersonal relationships.
Facilitator: Cindy Boies is the Training and Development Manager in Human Resource Services.
Human Resource Services provides presentations on special topics six times a year.
Transitioning from Management to Leadership: Thriving Through Organizational and Personal Change
Everyone is confronted by change originating from organizational transitions and personal challenges. Change is very difficult to manage because every transition makes everything new and renders past knowledge and experience less relevant. A different set of skills and perspectives must be employed to address change. This workshop will explore the shifts in responsibility and focus that managers need to adopt to become leaders.
When: Thursday, October 9 from 9:00am to 11:00am, UC 330/331
Facilitator: Dr. Jerry Evans earned his Ph.D. from The Claremont Graduate University School of Behavioral and Organizational Studies. He currently teaches in the areas of Management Information Systems, Operations Management and Quantitative Methods. His research areas include IT leadership, IT strategy and information systems evaluation. Additionally, Dr. Evans is active in consulting in the business and professional community and serves on the Board of Governors of Leadership Montana. He recently taught executive educations classes in Beijing and Shanghai China for the Peter F. Drucker Academy.
New employees: Your attendance at the orientation session is mandatory. The University of Montana policy requires all new staff, supervisors, administrators and faculty to attend.
Onboarding/Welcome U
Engaging UM employees from day one to help them THRIVE
Human Resource Services has recently made changes to the onboarding and personnel hiring paperwork processes for newly hired employees on campus. We refer to the new employee onboarding process as "Welcome U". Join us for a one hour, informative session on the new on-line electronic personnel hiring forms and other changes to welcoming new employees to campus.
Facilitators: Cindy Boies and Marcie Briggs from Human Resource Services
Special Topics
How to Use Social Media to Promote What You're Doing
Social media is a powerful tool for marketing university programs. In this workshop, campus experts will teach you how to use social media to promote your college, school, department or group. You'll learn how to build an audience in social media via both content and advertising. The majority of the session will focus on Facebook, Twitter and Instagram. Bring your questions, examples and ideas as this will be a very interactive workshop.
When: Thursday, October 23 from 9:00am to 10:30am, UC 330/331
Facilitators: Mario Schulzke is the AVP of Marketing at the University of Montana, where he oversees all things marketing, digital and branding. In a prior life, he did the same for clients big and small across America.
Kyle Pucko is the Digital Marketing Manager for the University of Montana. In the social media space, Kyle uses advertising to promote relevant stories to the right audience.
Project Management: Not Just for Project Managers Anymore
Project managers aren't the only people who need project management skills. This workshop will focus on skills and tools to utilize in the management of successful projects in your department. Projects require organizations to commit considerable time, staff, and other resources in order to be completed. Participants will be exposed to the traditional and agile project management methods as well as software tools like Microsoft Project, Excel, and Trello that can be used to plan, manage, monitor, control, and support projects. This workshop is designed to help employees utilize project management techniques and resources to complete projects on time and on budget.
When: Thursday, October 2 from 9:00am to 11:00am, UC 330/331
Facilitator: Shawn Clouse is a Professor of Management Information Systems (MIS) in the School of Business Administration at the University of Montana. He earned an MBA and his doctorate in Higher Education and Technology Leadership from the University of Montana. Shawn completed a Post-Doc in MIS at Washington State University. He teaches courses on networking, e-Commerce, project management, systems analysis & design, multimedia development, and integrated business simulation. His research interests include information privacy, website usability, utilizing technology for teaching and learning, and the technology issues related to e-Commerce and business processes. Shawn has 22 years of administration and technology management experience at UM and has facilitated the completion of many large projects in the Gallagher Business Building. He has consulted with various organizations on business and technology issues and recently completed a term as chair of the Missoula Chamber of Commerce board.
Leading and Supervising Staff for Success
A supervisor's role is to insure that effective performance management is part of the daily work environment through training, balanced feedback, coaching and, when needed, disciplinary processes. In this session you will learn: some tips and tools for successful performance management; UM specific processes for managing staff; how to help an employee who is struggling to meet performance expectations before it becomes a larger issue; managing concerns that rise to the level of potential discipline; and knowledge about the staff collective bargaining agreements such as Weingarten rights. Recommended for anyone who supervises staff.
When: Wednesday, October 29 from 9:00am to 11:30am, UC 330/331
Facilitator: Sara Drake is the Associate Director of Human Resource Services and oversees Employee and Labor Relations. Sara has over 25 years of management/leadership experience, is a trained mediator and has been with The University of Montana since 1995.
Why Do They Do What They Do: Managing Employee Performance
Trying to figure out why someone you work with is exhibiting poor work performance? Is it attitude or ability? Is there anything you can do to help him/her perform at a higher level? This workshop is designed to help supervisors tackle these questions and take the appropriate steps to coaching and motivating employees toward improved performance.
When: Wednesday, September 24 from 9:00am to 11:00am, UC 332/333
Facilitator: Bambi Douma joined the School of Business Administration at the University of Montana in 2003 after completing her Ph.D. in Management at The University of Arizona. She teaches several different courses for SOBA, including Leadership & Motivation and Management & Organizational Behavior. Since arriving at UM, she has consulted with and spoken at various organizations throughout the state on leadership development and employee performance management, most recently with Leadership Montana.
MUS Wellness Webinars
The Montana University System Wellness Program offers webinars led by their nutrition and exercise specialists that focus on a variety of general health and wellness topics. Webinars are usually shown monthly or bimonthly during the lunch hour, and are a great way to increase your education over lunch. Watch alone or invite your coworkers and turn it into an office event!


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After her recent run-ins with Australian paparazzi during her down time, Katy Perry gave local press the cold shoulder at the 2014 ARIA Awards red carpet this evening at The Star in Sydney.
TheFIX can exclusively reveal that the visiting international pop star snubbed all media outlets with no interviews, despite being the biggest name at tonight's ceremony (along with One Direction).
And while her 1D pals will sing at the awards, the 30-year-old has refused to perform, opting just to present one of the shiny statues.
A source told TheFIX that Katy didn't want to perform because it's "her night off" from her Australian Prismatic tour. So all her fans at home watching on TV will have to be content with a "hi-and-bye" kind of appearance on the ARIAs broadcast on Ten. Unless you buy a ticket to one of her concerts, of course.
However, Katy happily took selfies with a few lucky fans and took a spin in the ARIAs' 360-degree red carpet booth. And she even had a cuddle and flirty chuckle with Niall Horan from 1D! Nine caught the moment on camera:
But Katy's obvs had enough of the Australian media after paparazzi followed her to a nudist beach in Sydney last weekend.
The singer singled out paparazzo Jamie Fawcett on Twitter, telling her 60million followers that she has images of his "tiny penis" and "large gut". She also warned Australian outlets not to post "unauthorised photos of me in a bikini from these disgusting/perverted old men".
Jamie Fawcett, who was accused of bugging Nicole Kidman's home in 2005, has issued a letter to Katy demanding that she remove the allegedly defamatory posts from Twitter.
View slideshow: No undies everywhere! It's the year of the sheer on the 2014 ARIA Awards red carpet
One Direction fever has well and truly hit Oz… and our fave Aussie celebs have officially caught the bug.
As the Brit boy band made their way through the crowds of screaming teenage girls at the 2014 ARIA Awards, pop artists and reality stars on the red carpet looked a little flustered by their presence… which led to some pretty intense fangirling.
But don't take our word for it! Check out all the action on the red carpet above.
And while most celebs were overwhelmed by the crazy 1D fans, fellow boy band 5 Seconds of Summer were just "p----- off" they had to walk the red carpet before their UK rivals.
"They think it's a f------ joke," an insider told TheFIX. "They have been pretty p----- off about it.
"They were one of the first ones to walk which shouldn't have happened either."
Can't we all just got along, lads?
See-through style, bronzed bodies and weird pom-poms: The 2014 ARIA Awards red carpet


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If Pakistan's civilian and military agencies do not learn to work in tandem, the institutional imbalance in civil-military relations will persist.
Analyses and coverage of events from Pakistan and around the globe
Commentaries from our writers
Book, film and art reviews, as well as news and interviews
The scores and the stories on and off the field
The glitz and glamour of Pakistan's style scene
Home Pretty Home ChenOne Home collection targets all those looking for sophistication in both apparel and furnishings under one roof. More... (0)
Ladies, Know Your Rights Inner Wheel Club Karachi Metropolitan has launched a handbook that provides information on rights, laws and support on issues faced by Pakistani women. More... (0)
Classic meets contemporary Copper and Steel's collection offers a refreshing range of contemporary pieces. More... (0)
Another Desi Edition Five million rupees and a cookbook contract is what awaits the very first winner of MasterChef Pakistan. More... (0)
Life After Death The evening centred on the first screening of the Hum TV-produced docudrama, Zindagi, about Pakistan's very first deceased organ donor – Naveed Anwar. More... (0)
And We Have a Winner! The Pakistan Idol journey comes to an end, but what a ride it has been. More... (0)
Celebrating Excellence The 21st Century Business and Economics Club hosted its first get together for Karachi's elite business community earlier in September. More... (0)
Nightcrawler is yet another Jake Gyllenhaal picture in which profound content is merged beautifully with an outstanding performance by the actor.
According to the myth of private sector superiority, the private sector is efficient and dynamic, while the public sector is wasteful and slow. But a closer look tells a different story.
Young children sent to jail along with their mothers, who have been imprisoned for assorted crimes, straddle a strange divide between two worlds.
Unless and until Pakistan is allowed to go through at least three to five election cycles, a stable and functioning democracy will not take root in the country.
Rebel Angel captures the meteoric life of the nova that was Asim Butt.
It began as the dream of an idealistic young group, but the PPP began to unravel even before it had attained maturation.
The spread of Islamism in the West has had an unusual effect on the youth in North America, where liberal Islamists, many of them women, have turned it into a quest for social justice and identity.


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Bang Po beach Bungalow Rental Photos and Description
Fantastic location right on the beach / in absolute agreement like - 2 bedroom Quiet beach
ONLY for ANIMAL LOVERS!
We support the animal protection groups on Koh Samui!
Beautiful beach bungalow in a fantastic location right on the beach of Bang Por. Even from the bed you can look out over the sea to the neighboring island of Koh Phangan enjoy. An indescribable atmosphere to expect from us. The sandy beach is ideal for morning walks on the beach about 3km long. From the lowest of the three terraces you can almost jump into the sea. Our bungalow was set up by us very romantic and individual. The equipment consists Western standards, such as real glass shower, hot water in the bathroom, the latest air conditioning, shower on the beach, TV, microwave, induction plate, coffee maker, kettle, SONY music system with MP3 / USB connection, safe etc.
NEW: New WINTER GARDEN, now 2 rooms, thus Sleeps 2 adults and 2 children!
With large sliding doors that open to the beach and terrace!
Fast WLAN - Internet included!
- Suitability:
- Long-term Renters Welcome
- children welcome
- non smoking only
- pets considered
- suitable for elderly or infirm


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FISH / Cytogenetic Technologist
FISH and Cytogenetic technologists' opportunity!!! Relocation package offered!! Are you looking for a new challenge? Been thinking about moving to Florida? Do you enjoy and thrive in the oncology and molecular field? This opportunity should get your consideration!!
Nov 25 -
Winter Park - Medical & healthcare
UBC Reimbursement Specialist Lead
POSITION SUMMARY: The primary goal of this position is to provide high quality customer service while supporting the Insurance Reimbursement Specialists for any escalation issue and provide guidance on how to handle future escalations. The Lead works closely with the ...
Nov 25 -
Lake Mary - Everything else
Hypergrowth Pharma Company Hiring Derm Sales Executives Nationwide Now
Our Pharmacy continues to add value for patients and physicians with the ability to dispense compounded medication. These include personalized treatments for ENT, Dermatology, Wound/ Scar creams, and GI.
Traditional oral pain management ...
Nov 24 -
Orlando - Medical & healthcare
Hyper Growth Pharma Company Hiring ENT Sales Executives Nationwide Now
Informatics Analyst
To learn more and to be considered for an interview please email your resume to website link for direct review
If you do not have access to your resume via your phone there is EASY ACCESS FROM YOUR DESKTOP OR LAPTOP APPLY ON LINE AT : WWW.HCNhealthcare.com
Job ...
Jr. Recruiter
Company Profile:
LabAnswer is the leading laboratory informatics consultancy. LabAnswer helps companies to strategize, architect, implement, and support scientific data management and laboratory automation projects.
LabAnswer has developed the people, processes, ...
Nov 18 -
Orlando - IT & software
Vice President Pharmacy Solutions
Please read below as to the qualifications of this position in detail at the bottom. If you qualify, and are interested, please reply to this ad and attach a copy of your resume.
Job Description
Vice President, Pharmacy Solutions (Specialty)
Position ...
Nov 12 -
Orlando - Medical & healthcare
HCC - Risk Adjustment Coding - Orlando, FL
Job Description:
Reviews medical record information to identify, collect, assess, monitor, and document claims and encounter coding information as it pertains to Hierarchical Condition Categories (HCC). Evaluates clinical documentation to determine all appropriate ICD-9-CM ...
Nov 7 -
Orlando - Medical & healthcare
Outpatient Coder - Orlando, FL
Job Description:
Reviews clinical documentation to extract data and apply appropriate ICD-9/ICD-10, CPT, and HCPCS codes for billing purposes. Applies expertise of medical terminology, anatomy, and physiology to analyze patient charts for relevant data. Utilizes mastery of, ...
Inpatient Coder - Orlando, FL
Job Description:
Analyzes clinical documentation to identify and apply the accurate ICD-9-CM diagnosis and procedure codes for each chart. Employs working knowledge of anatomy, physiology, medical terminology, surgical technology, disease processes, and pharmacology in ...
Compound Pharmacy Sales Representative - Experienced (R)
Interviewing For an Experienced Compound Pharmacy Representative to work with a seasoned Regional Marketing Manager
(Excellent Compensation Package) Not another "Me Too" Compounder
Many ads out there; this is the one of the best compounding pharmacies in the country, all ...
Nov 5 -
Sanford - Medical & healthcare
Nov 5 -
Kissimmee - Medical & healthcare
Nov 5 -
Deltona - Medical & healthcare
NEW Histology Supervisor Opening (1 hr from Orlando, FL)
NEW Histology Supervisor opening at a top-ten cancer facility in Florida! This 200-bed cancer facility is ranked nationally in its cancer specialty and is high performing in five other specialties. This facility is dedicated to the prevention and cure of cancer with an ...
Oct 29 -
Orlando - Medical & healthcare
Compound Pharmacy Representative - Experienced Only
Interviewing For An Experienced Compound Pharmacy Representative
(Excellent Compensation Package) Not Another "Me Too" Compounder
Please read job description and only apply if you meet all qualifications
Our client is an independently owned, highly specialized ...
Oct 23 -
Orlando - Medical & healthcare
Online Academic Coach (Virtual, Part-Time, in all disciplines)
Instructional Connections, Inc. is a fully integrated provider of high quality instructional support services to colleges and universities that offer online courses and degree programs. Universities work collaboratively with Instructional Connections to deliver high quality ...
Oct 8 -
Orlando - Education & training
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