System and method for positioning in configured environments

Technical field

The invention generally relates to a system and method for positioning (locating) remote assets (property), and more particularly, to a system and method for operating in a local environment where a global satellite navigation system (ΟΝ88) is not available.

State of the art

The Global Positioning System (CP8) has significantly changed the way you navigate, track your location, and time synchronize around the world. With thirty-two satellites in orbit, the CP8 provides a continuous positioning service at almost any place where signals can be received. With the advent of low-cost location sensors using CP8, with an accuracy of several meters, there is a proliferation of this technology in major infrastructures, including power supply, communications, transportation and military. The importance of this opportunity as a national means cannot be overestimated and is underlined by the fact that many other nations are now either using or developing their own ΟΝ88. including Russia, Japan, China and the European Community.

Despite its many advantages, the ΟΝ88 has one major drawback: the signals from satellite-based navigation systems are usually very weak when they reach the positioning receiver. In some cases, like the CP8, it is a key part of its design, but it is actually difficult to use powerful transmitters in orbit. These weak signals make it difficult to use positioning receivers in environments with obstacles, such as indoors, since obstructions will tend to reduce signal strength and make it useless for positioning or, at least, significantly impair all measurement capabilities.

While significant efforts have been made to overcome these limitations, in particular L55151sb CP8 and Ηφ1ι-8οη5ίΙίνίΙν CP8, in a practical sense, positioning with level measurement in environments with obstacles using ΟΝ88 is not feasible for widespread use. To provide positioning in an obstructed environment, another class of positioning technologies has been developed, known as real-time positioning systems (BT8), which derive from radio frequency identification (ΚΗϋ) technology.

Using a variety of ranking methods, for example, the difference in arrival time (ΤΌΟΑ), the received signal intensity (R88), a stationary reader and marking of the ground mark, CT8 offers a number of possibilities for determining location and accuracy. The most advanced and versatile systems tend to use ΤΌΟΑ and can offer location accuracy within a few meters. Some of these systems even require submeter accuracy, although this tends to be in carefully controlled environments.

Although promising, KT8 systems are very expensive to install and operate. When high accuracy is needed, the cost and complexity of the equipment can make this almost impractical with the exception of a few limited applications. CT8 offers a number of solutions that can be tailored to fit a variety of applications; however, compared to the relative simplicity and wide availability of location based on ΟΝ88, they are all less in demand.

Additionally, for combined applications requiring positioning both in the local area with obstacles and the global area without obstacles, the possibilities are extremely limited, since neither ΟΝ88 nor KT8 can satisfy the requirements alone. The combined CTL8 and K88 systems are not practical due to the fact that they are largely incompatible and difficult to integrate and, as a result, very expensive. Several attempts have been made to adapt the OP8 receiver technology as a product, using pseudoliths to provide CT8 capabilities. Although attractive in concept, these solutions are at best too expensive and energy-consuming to be practically implemented for use in many of the CTL8 applications, and at worst they are illegal to work in much of the world, as they tend to impede the normal operation of the OP8.

Accordingly, there is a need for a cost-effective, high-precision positioning technology that works equally well in environments with obstacles using locally deployed reference points of beacons and can use reference points ΟΝ88, such as the OP8 satellite, for global environments without obstacles.

- 1 013169

Definitions

The following definitions of certain terms are useful in providing a basis for describing preferred and alternative embodiments of the present invention.

Almanac means information describing a configuration, current physical condition, or predicted future physical state of a reference point or physical state sensor. This information can be internally generated by the core network processor or provided by an external source (for example, a CP8 receiver for an OP8 almanac and an accuracy ephemeris). Typically, the almanac information has an applicability time and is stored in a format that makes it relatively convenient for assessing physical condition.

Almanac correction means adjustments to almanac information. These adjustments are usually adjustments to one or more elements of the almanac and are more compact in size compared to a complete record of the almanac, thereby reducing memory and bandwidth requirements.

Configuration data means information that defines the configuration of the system and its relation to external reference points. Configuration data includes specifications for reference points, coordinate system transformations, and external time transformation data. System information may also include attributes of protection, registration of a physical state sensor, and specification of integrity efficiency criteria.

The reference reference point of a coordinate system means a known or accepted location in a reference system with a coordinate system that is determined to an accuracy better than the accuracy of the system requirements of the end-user’s efficiency.

Differential measurable quantities mean measurable quantities that are formed whenever measured quantities from two or more interceptors are differentiated, obtaining a differential measurement that effectively cancels systematic errors due to uncertainties in the physical state of the emitter. It should be noted that there are 1, 2 and higher differentiated (difference) values. The preferred embodiment typically utilizes the first differences.

Emitter means any object that generates radiation of energy.

Energy emission means structured or unstructured energy distributed in a transmission medium that can be intercepted and processed. Structured emissions include any emissions whose characteristics are known and are deterministic and predictable in some way. Unstructured emissions are anything that is not considered structured and usually has random characteristics.

Interceptor means any object capable of intercepting at least one radiation of energy.

Location sensor means a physical state sensor configured to generate measurable quantities useful for position determination.

A navigation processor means a physical state estimator configured to process measurable values ​​for at least one physical location sensor, resulting in an assessment of the physical state of the physical location sensor. Assessment of physical condition can be carried out by any number of means. The preferred embodiment uses a combination of stochastic estimation methods, including the least squares method, Kalman filtering (Ka1tap), and mixed methods.

A measurable quantity means measuring the intercepted energy propagated in a transmission medium between emitters and interceptors.

Physical state means physical characteristics relative to the coordinate system of a device consisting of at least one or more of the following: position, orientation, synchronization, and time derivatives. Position and orientation can be one-, two- or three-dimensional. A position is a linear distance measurement along one or more axes. Orientation is a measurement of angular rotation about an axis. Synchronization is a measurement of time. Temporary derivatives - time derivatives of primary physical characteristics.

Assessment of the physical condition or OFS (P8E) means the calculated assessment of the physical condition obtained from measurable quantities.

The physical state evaluation unit means an element of the system that processes measurable quantities at predetermined predetermined configuration data, obtaining an assessment of the physical condition.

Physical state sensor means a system element that is used to perceive a physical state. The physical state sensor may be an energy interceptor or emitter depending on the configuration.

Reference point means a system element that acts as a reference point for measuring the position of one or more position sensor (s). The reference point element can be either a radiator or a receiver of energy propagated in a certain transmission medium. They can

- 2 013169 to be placed at known reference points within the coordinate system. Reference points can also be moving, or an external reference point, for example, quasars, if possible, satellite signals, and any other energy emitter. The main characteristic of a reference point is that one or more physical characteristics are known prior to assessing the relative physical state between the reference point and the physical state sensor.

Range signal means structured energy radiation specially designed to have the appropriate characteristics to be useful in measuring the distance between the emitter and the interceptor.

Range transmitter or K.8T means transmitter that transmits a range measurement signal. It can be a global navigation satellite, a local beacon, or any transmitter that provides a signal that can be used as a ranging signal.

Reference network processor means a physical state estimator configured to evaluate the physical state of at least one reference point relative to the second reference point and then use the resulting physical state information to update almanac and correction information and other relevant configuration data for the system.

Reference 8CT means a spectral compressor and translator, which is designated as a reference point in the system.

A spectral compressor and a translator or 8CT means a physical state sensor configured as an interceptor that processes intercepted radiation of energy using at least one method of compression over the spectrum to form measurable quantities that can be used to assess the physical condition.

Spectral compression means the process of extracting changing physical characteristics in the form of the amplitude, phase, and time derivatives of intercepted energy as it propagates through the transmission medium, regardless of the storage of information content that is potentially modulated in energy emissions. The extraction process uses at least one or more of the known physical characteristics of the radiation of energy and the emitter to convert content with a broadband spectrum into a narrow-band mode that preserves the physical characteristics. The conversion of broadband spectral content can be performed without regard to the modulated information content, allowing to obtain an effective process gain that produces a high signal to noise ratio to extract physical characteristics.

A system controller means a system element (usually software) that is responsible for coordinating the system operations that control configuration, calibration, and coordinating the flow of information to other elements in the system. The system controller implements the synchronization and control functions necessary to coordinate other system functions in order to provide some efficiency and quality of service. It should be noted that these functions can be physically implemented in a single controller or distributed / shared in a group of controllers depending on the specific implementation requirements.

Time reference means an external signal that provides information on external time and frequency, which is useful for synchronizing the time and frequency reference of a system. One of the most common external time references is universal synchronized time (Greenwich Mean Time) (ITS) and CP8 time, which allow you to associate the system’s time and frequency references with these indicated systems.

Transmission medium means any medium capable of distributing energy in some form; environments include free space, liquids, solids and gases.

SUMMARY OF THE INVENTION

The present invention provides a system and method for determining the physical state and main position of a physical state sensor with respect to known reference points, which may include both global navigation satellites (e.g., global positioning system (CP8)) and local beacons, so that proper coverage is provided even when the global navigation satellite system (ΟΝ88) is not available or otherwise has obstacles. The invention provides a system and method for a beacon-based local area location system using RF (or other signals) to provide ranging signals to one or more location sensors.

An exemplary embodiment of a system according to the present invention for providing physical state information within a configured medium includes at least one emitter that radiates energy within the transmission medium; at least one interceptor that receives energy propagated through the transmission medium from the emitter, the interceptor being configured to process the received radiation using spectrum compression to form a set of measurable quantities suitable for assessing the physical condition. The system transmits a set of measurable quantities to the physical state assessment unit, which is the config

- 3 013169 is designed to determine an element of the relative physical state between the interceptor and the emitter based on a set of measurable values ​​received from the interceptor. The system then reports a specific element of the relative physical state based on a set of measurable values ​​received from the interceptor.

An exemplary embodiment of the method of the present invention for providing physical state information within a configured medium includes the steps of radiating energy from at least one emitter through a propagation medium; interception of energy radiation in the interceptor; processing the received energy radiation using spectrum compression to form a set of measurable quantities associated with this radiation; transmission of a set of measurable quantities to the physical condition assessment unit; receiving configuration data related to the deployment and configuration of the emitter and interceptor within the configured environment; determining an element of the relative physical state between the interceptor and the emitter based on a set of measurable quantities and configuration data; and transmitting an element of a relative physical state.

The resulting alternative embodiments of the present invention overcome the disadvantages associated with modern systems and methods, and provide a cost-effective, easy to implement, and rapidly deployable system with a fully autonomous method for assessing physical condition using either local area beacons and / or ΟΝ88 global area satellites such as in CP8.

Brief Description of the Drawings

Preferred and alternative embodiments of the present invention are described in detail below with reference to the following drawings.

FIG. 1 is a logical diagram of a system showing components of the invention, including ranging transmitters, spectral compressors and translators, and processing components for determining a physical condition using intercepted energy, in accordance with an embodiment of the present invention.

FIG. 2A shows the integration of the invention with existing communication assets (means) in accordance with an embodiment of the present invention.

FIG. 2B illustrates components of a spectral compressor and translator integrated with a physical state processor in accordance with an embodiment of the present invention.

FIG. 2C and 2Ό illustrate block level components for a spectral compressor and translator integrated with communications in accordance with an embodiment of the present invention.

FIG. 2E and 2E show additional block level integration scenarios for the spectral compressor and translator in accordance with an embodiment of the present invention.

FIG. 3 illustrates a logic diagram for a scenario in which the invention is combined in a hybrid mode with ΟΝ88 signals in accordance with an embodiment of the present invention.

FIG. 4A illustrates details of a ranging signal transmitter in accordance with an embodiment of the present invention.

FIG. 4B illustrates the generation of a ranging signal in P8T in accordance with an embodiment of the present invention.

FIG. 5A illustrates the functionality of a spectral compressor and translator in accordance with an embodiment of the present invention.

FIG. 5B illustrates the functionality of a channel processor component for 8CT in accordance with an embodiment of the present invention.

FIG. 6 illustrates a physical state assessment unit that converts observable data into physical state elements in accordance with an embodiment of the present invention.

FIG. 7 illustrates a combined filtering process for generating an anchor point correction data set in accordance with an embodiment of the present invention.

FIG. 8A and 8B illustrate the difference between differential relative and absolute positioning in accordance with an embodiment of the present invention.

FIG. 9 illustrates a three-dimensional positioning deployment scenario in accordance with an embodiment of the present invention.

FIG. 10 illustrates a deployment scenario in which both P8T and ΟΝ88 signals are available for hybrid positioning in accordance with an embodiment of the present invention.

FIG. 11 illustrates the application of the invention for search and rescue operations in accordance with an embodiment of the present invention.

FIG. 12 illustrates a logical diagram of a system illustrating components of the invention including an emitter, an interceptor, and a physical state estimator

- 4 013169 for determining physical states using intercepted energy, in accordance with an embodiment of the present invention.

FIG. 13A illustrates a method for providing physical state information within a configured environment in accordance with an embodiment of the present invention.

FIG. 13B illustrates a method for intercepting and processing energy radiation to provide physical state information within a configured environment in accordance with an embodiment of the present invention.

FIG. 13C illustrates a method for processing narrowband data using a peak detector in accordance with an embodiment of the present invention.

FIG. 13Ό illustrates a method for processing narrowband data using a phase tracking loop in accordance with an embodiment of the present invention.

FIG. 13E illustrates a method for processing narrowband data using cross-correlation in accordance with an embodiment of the present invention.

Detailed Description of a Preferred Embodiment

There are situations in which the implementation of ΟΝ88 to determine the physical state of a certain sensor is impractical, since satellite signals are either too weak, obstructed (obstacles), or containing interference accidentally or intentionally. Such situations can take place in a confined space, for example, within the metal structure of a warehouse, underground / gravel, or possibly environments with muffled ΟΝ88.

As a brief overview, the present invention uses a set of beacons, which although at low transmitter power (<1 μW) provides a signal stream that is 40-60 dB more powerful than ΟΝ88 signals, and thus the physical state of the sensor can be determined in cases where ΟΝ88 is either absent or unreliable in the context of a configured environment, or, in other words, an environment, in which it is possible to deploy a set of beacons in a way that provides maximum flexibility for the system operator. The set of beacons uses spectrum spreading methods without the need for time and frequency synchronization, while at the same time achieving sufficiently stable frequency control to identify the beacon individually by its frequency offset. Such sets of beacons can occur in terrestrial, marine, air or space environments.

For example, in a terrestrial situation, when interference, accidentally or intentionally, makes the OP8 (type ΟΝ88) inaccessible, the deployment of radio beacons on unmanned aerial vehicles, IAU (BVTS), a balloon or rockets / parachutes can be used. Spectrum compression modes are preferably used in the ΟΝ88 Digitally Selected Sensors with extended dynamic range to allow residual height interference. In this embodiment, spectral compression data ΟΝ88 is transmitted in a downlink or, alternatively, is embedded in a beacon spectrum. In this way, the dynamic physical state of these airborne beacons can be determined.

Beacons are devices that emit an inaccurately limited signal structure that are configured to simplify the overall design, to minimize the cost of an interceptor, minimize data mixing requirements, and simplify physical condition assessment units. The concept of these beacons is not limited to working in any modality of radiation. In alternative embodiments, these beacons operate in several physical areas, such as electromagnetic (RF, optical or nuclear, X-ray and gamma radiation) and acoustic (through water, air or solid materials).

Beacon modulation in a preferred embodiment uses broadband unsuppressed carrier suppression to realize the simultaneous reception of code division multiple access (CEMA) signals from many beacons. Modulation from all beacons may or may not be phase coherent or time synchronized between a complete set of beacons. The state of synchronization and coherence of the signal of the population is a problem of choice, which must be made specific desired configuration, and a question regarding the cost and flexibility of the equipment of the remote receiver.

The preferred structure philosophy is a combination of three-segment satellite navigation architecture and ΟΝ88 receiving methodology with spectrum compression. The structure of the broadband RF signal minimizes the spectral density and the possibility of mutual interference with other RF equipment, which may be in the region, as well as limiting the possibility of introducing interference into the system system according to the invention. This is preferably done by expanding the signal spectrum over the maximum allowed range, approximately 20 MHz, using predetermined boundaries of the 18M bands, for example, centered at 915 MHz, 2.4 GHz and 5.8 GHz in accordance with current US regulations.

System and method overview.

A preferred embodiment provides a local area location system and a methodology that provides highly accurate positioning

- 5 013169 sti (centimeters, if required), ease of operation and low-cost implementation to achieve ubiquity of use. More specifically, the present invention mixes three methods: radio astronomy spatial geodesy, broadband (spread spectrum) communications, and non-linear signal processing from CP8.

Radio astronomy, such as spatial geodesy with ultra-long base interferometry (UVB1), uses the concept of an array of incoherent radio emission sources, usually quasars, to serve as a reference frame for determining three-dimensional vector separation between two or more radio telescopes.

Broadband (spread spectrum) CEMA exchanges use a direct-sequence pseudo-random noise (ΡΚΝ, SSS) generation method using a linear digital generator with a shift register with taps in the feedback circuit. ΡΚΝ Generators use an internal frequency source to control the timing of the shift register, which serves to suppress the carrier signal and expand the signal to reduce spectral density. This provides the simultaneous benefits of channel reuse, relative immunity to in-band interference and low probability of detection and interception.

The use of the non-linear signal OP8 provides the basis for the resulting methodology, known as spectrum compression, which minimizes costs in terms of developing custom chips / firmware and DC power consumption. A typical CP8 receiver operates by a priori knowing the ΡΡΝ-code sequence that each satellite uses to expand the spectrum of the carrier signal to which telemetry is modulated. This, in turn, allows the CP8 receiver to retrieve a navigation message that includes the time and frequency synchronization state of each satellite so that the internal processor of the OP8 receiver displays (receives) its position and speed in an autonomous manner. By way of comparison, OP8 spectrum compression methods obtain phase-varying data types from a plurality of synchronized satellites without any knowledge of the RKA code sequence used to expand the spectrum of carrier signals.

The structure of the set of beacons avoids the need for time and frequency synchronization, while still functioning as a coordinate system for determining the physical state. In their simplest form, beacons form an incoherent antenna array of low-power RF signals with a very low spectral density in order to avoid mutual interference with other systems in the same spectral region, most likely the 18M bands. An incoherent array of radio beacons is suitable for use in a differential relative positioning (positioning) approach for UBWTs. Radio beacons and location sensors depend on quartz reference frequency sources no better than those used in low-cost digital wrist watches, with a frequency accuracy and stability of approximately 10 parts per million (PPM). There is no telemetry extraction in the spectrum compression methodology. As a result, beacons differ from each other in their designated frequency offsets relative to the nominal repetition rate of the elements of the RCA signal sequence.

The location sensors (determinations) are independent of the processing of the cross-correlation signals of known RKA-code sequences in order to obtain a pseudo-range measurement. Spectral compression methods allow the collection of measurable quantities with a mixed phase to determine the location obtained from non-linear processing through delay and multiplication, which restores the repetition rate of the signal elements of each beacon.

Each of the beacons preferably uses the same RKA sequence. In a preferred embodiment, the RKA code has a maximum length, meaning that it has an autocorrelation function that is zero for all shift values, except zero shift, or a value equal to the code length given by 2^P-1, where η is the number of stages of the shift register.

When processing calibration of all non-repeating pairs of basis vectors between beacons, the present invention combines N beacons into the equivalent of a geodetic network setup with dimension n / 2x (n-1) combinations. For example, with six beacons configured to receive or transmit in accordance with the calibration methods described in the present invention, there will be fifteen unique basis vectors in the network. Network-based calculations lead to data processing benefits, especially when there is RF multipath pollution; for example, multipath pollution should be specific to each of the base vectors, and not systematic across the network. Thus, the network configuration obtained as a result of the present invention is effective in obtaining the best estimate of the true physical state of the beacon and ensures good quality with respect to the accuracy of individual measurements when applied to measurements made by location sensors. These network assessments can be used to continuously monitor the integrity of configuration data, making the system self-calibrating and able to control unexpected changes in the physical conditions of beacons relative to the overall internal coordinate system. In the present invention

- 6 013169 the physical state of the location sensor can be estimated as part of the network or after applying the network settings as adjustments in accordance with the a priori information of the beacon almanac.

As an example, various alternative embodiments of the present invention are discussed below and illustrate, in particular, the scope and applicability of this technology.

A centralized processing unit that receives measurable spectrum compression values ​​for one or more location sensors and reference points allows you to (evaluate) the physical state of the selected location sensors and reference points.

The placement of radio beacons can be somewhat arbitrary, since they themselves can act as a location sensor that positions itself in the network in calibration mode after deployment. In this embodiment, vertical, in addition to horizontal, arrangement of at least one beacon device is used to achieve three-dimensional positioning.

The positioning system may be based on existing communication ranges without interference. This embodiment uses any system that exists to increase its capabilities without requiring the existence of a particular communication network.

Simultaneous observation of the beacon signals from the sensor determining the location of the reference point and from the second sensor determining the location at which a differential signal is generated, which removes the total displacement in time. In this embodiment, synchronization requirements are reduced without sacrificing full measurement accuracy, while at the same time providing an inexpensive generator implementation. CEMA signals are separated by their signal element repetition rate ΡΚΝ with sufficient separation for unique identification. There is no need for a frequency standard better than an accuracy of 1 PPM, such as a temperature compensated crystal oscillator (TLCO). In an alternative embodiment, positioning with meter level accuracy is achievable by means of low cost generators that have an accuracy of approximately 50 PPM, although a proportionally greater separation between the repetition frequencies of the beacon signal elements will be necessary.

Each beacon transmits a broadband (spread spectrum) modulated SEMA (Code Division Multiple Access) signal over a plurality of channels that are essentially overlapping, but each beacon has a slightly different repetition rate for its signal generator ΡΚΝ (pseudo-random noise) sequence.

This processing approach does not require coordination of the beacon reference frequency, phase coherence, or time synchronization between multiple beacon blocks.

Range measurement signals within a specific RF range are modulated by a sequence of shift registers with taps in a feedback circuit with a very long period (of the order of hundreds of days), allowing hundreds of simultaneous beacons operating from the generation of a given code. Each beacon is biased in time within this long sequence so that it only provides its part of the sequence in the interval of 1 day. In one alternative embodiment, an approximately three-second repeating ΡΡΝ code sequence is used in all beacons that have a signal element repetition rate of 10.23 MHz, with each beacon starting at an arbitrary time. This embodiment utilizes the fact that there is little chance of ever having two identical start events that coincide and remain within 50 ns. The identification information of a particular beacon in a configured environment is indicated by the repetition rate of the signal ΡΚΝ sequence elements. For example, a shift of 125 Hz above the nominal repetition rate of 10.23 MHz signal elements may correspond to a beacon shifted to the north-east location of the ceiling in the corner of a large warehouse.

The location sensor within the area of ​​the local positioning system defined by the beacons, which will compress the SAMA signals using spectrum compression methods, restores the frequency of the signal elements of a particular received beacon. Each beacon will use two or three ΡΚΝ channels with different signal element rates (for example, 10.23 MHz, 1.023 MHz and 0.1023 MHz, corresponding to ambiguity wavelengths of approximately 29 m, 293 m and 2.93 km, respectively) to provide resolution of phase ambiguities of the next highest repetition rate of signal elements. Frequency biases, signal element repetition rates and channels - all are configurable based on a given application, device environment and accuracy requirements, and are fully configurable. In a preferred embodiment, the location sensor uses PPT (FFT) processing to determine the amplitude, frequency, and phase for each of these three channels from the received signal of each beacon. An alternative embodiment may also extract amplitude, frequency, and phase using a series of cascades of phase locked loop, one for each beacon on each channel.

With a sufficiently high signal to noise ratio, the only additional channel is 102.3 kHz

- 7 013169 may be sufficient to resolve the ambiguity of 29.3 m from this channel 10.23 MHz. For example, in a receiver operating in the mode of delay and multiplication with spectral compression, which reaches a signal to noise ratio of amplitude 100 to 1, the phase noise should be 0.01 rad or 0.6 ° or 1.6 milli-periods or 5 m. Accuracy in 5 m, obtained from a channel with a signal element repetition rate of 102.3 kHz, will reliably resolve an ambiguity of 29.3 m. The channel ambiguity of 102.3 kHz will have an ambiguity of 2.93 km, but for the physical space, where the separation between the remote user module is also less than 1.4 km, there is no ambiguity. In an alternative embodiment, a third channel, possibly with 1.023 kHz with an ambiguity of 293 km and a phase accuracy of 500 m, can be used to resolve the ambiguities of 2.93 km from a ΡΡΝ generator with a signal element repetition rate of 102.3 kHz.

This technology has application for K.Tb8 applications, in which location sensors are placed in assets (property) to be monitored, and additionally in applications, such as barcode scanners, in which the scanner module itself acts as a location sensor and correlates the position with barcode identification information of a given property.

These and other embodiments of the present invention provide some or all of the following advantages.

The ability to arbitrarily place beacons and for them to be able to determine their own locations, thereby reducing the cost and complexity of installing and using the system.

The ability to eliminate the requirement for time and frequency synchronization, for example, between tags and readers in other systems. This greatly reduces the complexity and cost of deploying this system. This flexibility opens wide possibilities for deployment in non-standard configured environments, for example, accidents, when search and rescue missions require a timely response.

The use of a distributed architecture in which the calculation and processing of data occurs when appropriate. In one embodiment of the present invention, this occurs at a central location with data transmitted from individual modules. In an alternative embodiment, this occurs in the receiving module itself. The ability of the present invention to dynamically determine calculation algorithms allows for a simple and relatively inexpensive implementation of sensors, where appropriate, or more complex and expensive sensors with full location capabilities, if appropriate for other applications.

The ability to perform location determination in a hybrid local area and a global area in the same platform, i.e. local positioning performed when ΟΝ88 signals are unavailable, or if ΟΝ88 signals are available, data processing at the same time.

The use of software-defined radio architecture that allows the simultaneous processing of ΟΝ88 or other possible signals without significant changes in hardware or software implementation.

Preferred system architecture.

In the present invention, functional components comprising a physical state determination system for configured environments can be implemented in a variety of ways to optimize performance. FIG. 1 illustrates the logical functions of the present invention without considering a specific implementation or deployment scenario. This diagram shows the basic blocks and relationships between data typical of a preferred implementation of the present invention.

More specifically, with reference to FIG. 1, a preferred embodiment of the present invention is described below. Starting with a plurality of transmitters (K.8T) 101 positioning signals, the system performs many transmissions 108 of the positioning signal, which are simultaneously received by one or more spectral compressors and translators (8CT) 103. K.8T preferably transmit one or more positioning signals to the environment, usually free space, through an RF signal, possibly in the Ι8Μ bands, although it is also possible in other environments, such as through an acoustic signal through water, soil, rock or building materials . These alternative signals preferably have characteristics that can be optimally configured for a particular environment. Each 8CT 103 receives signals from a plurality of P8T 101 and processes the signals to generate measurable quantities 110 containing information useful for assessing the current physical state of 8CT (for example, position, speed, and time). One or more of these 8CTs is designated (s) as reference 8CT 104, whose measurable values ​​111 are used to calibrate and control the system.

Continuing with reference to FIG. 1, measurable values ​​110 from 8CT are transmitted to the navigation processor 105 together with reference measurable values ​​111 and almanac and correction data 112 via communication means. In a preferred embodiment of the invention, there is no need to physically combine the navigation processor and the 8CT functions, since data exchanges between the unit

- 8 013169 mi are relatively minimal and can be processed through one or more forms of exchanges, for example, Ефегпек ^ 802 (802.11), 21 §Ье (802.15.4), or any exchange medium capable of transmitting data. The navigation processor 105 uses these measurable quantities, which may include measurable values ​​118 and 111, with almanac / correction data 112 to determine a physical condition score 118 that includes at least one of: position, spatial orientation, clock and temporary derivatives for the specified period (s). Periods can be time indicated in measurable quantities, or past or future periods if the navigation processor uses a suitable model to propagate state variables forward or backward in time. A physical condition score 118 may be communicated to any interested party as determined by a particular implementation of the system.

System controller 102 serves to coordinate and control system functions. It receives measurable quantities 111 from one or more reference 8CT 111 through a communication signal. This information may include an optional external time reference 116 and optional data of the reference coordinate system 117, which are preferably collected and transmitted to function blocks 106 and 107 in order to create a system configuration and calibration information of past, current and future physical state and configuration. The system configuration data 115 is used by the system controller to configure and configure the plurality of B8T 101s via a communication signal 119. An exchange 119 between the system controller 111 and the B8T 101 is optional in environments where the B8T 101 location signal transmissions 108 are intercepted by at least one 8C reference, allowing the system to determine the physical state of the B8T 101 using the processor 107 of the core network. The core network processor 107 uses the collected measurable quantities and a priori information about the system configuration to calculate the physical state of all B8T 101 and 8C reference 104 in the system relative to each other. These physical states preferably consist of estimates of position, speed (usually zero), synchronization and synchronization parameters (offset, frequency, etc.), as well as B8T transmission characteristics, which are combined to form almanac data 114 and corrections. Almanac and correction data 114 for one or more periods is stored in a database 106, which is preferably configured to provide this data upon request. In alternative embodiments, the almanac and corrections data format 114 allows for the efficient calculation of future states through one or more propagation models. Almanac and corrections are used by both the system controller 102 and the navigation processor 105, as described above. In a preferred embodiment of the present invention, the almanac and correction data 114 contains both the estimated state vectors for each B8T and the reference 8CT, as well as additional coefficients for the propagation model, which allows the almanac and correction data to be used successfully in the future. The ability to distribute almanac data and corrections to the future depends on the quality of the V8T / 8ST reference generators, the required accuracy and complexity of the propagation model.

Configuration of integrated wireless data transmissions.

The preferred embodiment of the present invention allows to reduce the cost of production and the complexity of modules that implement the function of 8CT, while maximizing flexibility and efficiency. An additional advantage of the present invention is achieved by integrating system functionality with wireless data transmission functions, which allows the sharing of digital signal processing and RF input circuits. As described in more detail below, the 8CT function of the present invention significantly reduces complexity and thus cost compared to most wireless data receivers. Through the implementation of 8CT functions as an extension of communication functions, the ability to determine the physical state is added at a small additional cost. Additionally, integration with wireless data transmission occurs naturally by combining the functions of sending / receiving data in a system controller.

FIG. 2A shows the integration of the present invention with a mesh-based wireless data network of the type Kscie (802.15.4). The 8CT 103 and the wireless data transceiver 204 are combined to form the 8CT communication module 201. In its simplest form, module 201 is a tag (1ad). capable of perceiving VEGO and physical condition. The beacon module 202 preferably consists of a B8T 101, 8CT 104 and a wireless data transceiver 204. Many beacon modules are deployed in the physical domain to provide both ranging signals 108 for positioning (positioning) and infrastructure 205 and 206 of the communications system. The integration of the 8CT 104 with the beacon module enables each beacon module to act as a reference 8 CT, collecting measurable values ​​from other beacon modules deployed within the range. Through this combined transmission of the positioning signal and the collection of measurable quantities, the system facilitates the collection of information necessary to determine its own configuration using the core network processor 107. In one embodiment, a system controller 102, a navigation processor 105, a core network processor 107, and a database 106 are combined to form a system unit

- 9 013169

203 management, which centralizes complex data processing and management functions. The system control unit 203 is preferably connected to the wireless data network 205 via one or more beacon modules using a communication signal 207. For wireless data networks supporting meshing, the beacon modules 202 become nodes in the wireless data networks 205 and 206. Deployment of the mesh network effectively simplifies the installation of a positioning system, allowing each beacon module 202 to coordinate with the system control unit 203 through other beacon modules without requiring the installation of other communication media (e.g., EFGSPS. In a preferred embodiment of the present invention, the system control unit is physically connected to one or more beacon modules through an EFGPSE connection that provides robustness and reduced cost advantages. For greater mobility and flexibility, the communication signal 207 can be performed by connecting the wireless data transceiver 204 directly to the system control unit 203.

After deployment, if integrated with a wireless data network (shown in FIG. 2A), the present invention can also be used for a number of data network applications between communication devices 208 and network services 209 external to the system. As described in more detail below, communication requirements for the present invention minimize the need for communication resources, leaving most of the bandwidth available for other activities. In a preferred embodiment, the system control unit 203 is a gateway for network services for accessing devices in wireless data networks 205 and 206. Wireless data networks 205 and 206 can be protected by data encryption and other means of protection, so that only a registered user is able to access and use the gateway infrastructure with a beacon module 202 and a system control unit 203 for transmitting information between devices and services.

FIG. 2B shows a further embodiment 8C of the communication module 201, where the navigation processor 105 is integrated directly with the functional units 8CT 103 and the wireless data transceiver 204. This configuration allows the calculation of the 8CT state vector 118 in this module in situations where almanac and correction data 112 is available from the system. Almanac and correction data 112 is delivered to the 8CT communication module 201 a priori or on demand, as requested by the module 201. In an alternative embodiment, the module 201 may request measurable values ​​from one or more reference 8CTs. to determine the complete differential solution. Similar to the configuration in FIG. 2A, the semi-autonomous configuration described in FIG. 2B, may use physical condition assessments determined by the system control unit as necessary. For example, this feature may be useful in situations where the navigation processor 105 is unavailable due to limited power resources.

FIG. 2C shows an additional embodiment 8C of a communication module 201, in which a machine-machine interface (ΜΜΙ) 235 is integrated with basic functions 8 8C and functions 204 of a wireless data transceiver to provide an assessment of the physical state of 8CT (P8E) 118 and data transmission 233 for external devices 234. This configuration is common for an authorized location peripheral communications device, where external device 234 includes a custom driver program that allows it to access the 8C functions of communication module 201 to determine physical state and communication. This configuration is an inexpensive implementation with respect to the complexity of the 8CT communication module. In this embodiment, measurable quantities 111 are processed by the system control unit 203, which returns the resulting physical condition score 118. This information is relayed by the 8CT communication module 201 to the external device 234 via через 235.

FIG. 2Ό illustrates an alternative embodiment of 8CT communication module 201, where both the navigation processor 105 and ΜΜΙ 235 are integrated with basic 8CT functions 103 and 204 functions of a wireless data transceiver to provide semi-autonomous positioning capability. Similar to the embodiment shown in FIG. 2B, this embodiment is capable of determining an assessment of the physical state 8CT (P8E) 118 in situations where the system control unit 203 provides the corresponding almanac and correction data 112. As with FIG. 2C, 8CT, communication module 201 provides P8E 118 and data 233 to an external device 234.

FIG. 2E shows an alternative embodiment 8CT of a communication module 201 with an external device 234, where the navigation processor 105 is located on an external device. In this case, the external device has sufficient processing capability to perform the navigation processing function, which can significantly simplify the 8CT communication module 201, including the 8CT functions 103, the wireless data transceiver functions 204, and the 235 функции function, thus requiring less power. The system control unit 203 provides almanac and correction data 112 and / or processing of measurable quantities 111 to form P8E 118 as required by external device 234 in cases where the device prefers to block function

- 10 013169 tion of its own navigation processor 105.

FIG. 2E shows an alternative embodiment of a beacon module 202, where the ΟΝ88 sensor capability can be provided using the 240 function of a separate 0Ν88 sensor. For example, a separate CP8 receiver with a correlating C / A code can be integrated with the beacon module, providing a direct source of synchronization and geodetic location information about the module, linking the local time and coordinate system to universal synchronized time (ITS) and the 1984 world geodetic system (^ 08-84). CP8 integrated beacon module is important as a reference point ^ 08-84 and while facilitating the deployment of the present invention in large areas outdoors, where efficiency can be significantly improved by using the present invention simultaneously with 0P8.

The integration of the present invention with a wireless data network, for example, as illustrated in the previous series of drawings, provides the flexibility to configure more optimal implementations for specific applications. One example is when a beacon module is configured without integrating 8CT or a wireless data transceiver. This simplified beacon transmits a ranging signal in accordance with the configuration data downloaded prior to use. These beacons can be deployed at known locations in order to improve positioning efficiency when additional communications infrastructure is not required. This simplified embodiment of a beacon is substantially less expensive to create than a more fully integrated alternative.

Integrated with ΟΝ88 configuration.

The present invention can be easily adapted to simultaneously support ranging signals from ΟΝ88, as well as local signals transmitted by multiple K8Ts. FIG. 3 illustrates a logical functional block diagram where 0-888 perception is combined with the present invention. The functions of the present invention, indicated above as 102, 103, 105, 106 and 107, are extended to support the reception, processing and control of additional measurable quantities and almanac data necessary for processing CH88 ranging signals. In this embodiment, the 8CT 103 receives both ΟΝ88 303 and P8T 101 at the same time on two dedicated channels, where each is configured to support specific characteristics such as a location signal (any of K.8T or ΟΝ88, such as OP8). 8CT generates measurable quantities 110 and marks this data with channel configuration data so that the information can be easily processed by the navigation processor 105. The navigation processor is preferably expanded to support the simultaneous processing of both K.8T and ΟΝ88 measurable data. Measured quantities can be processed in a local coordinate system or in some fixed ground coordinate system, such as HUS8-84. As with implementations that do not support ΟΝ88, the navigation processor generates one or more assessments of 118 physical conditions for each of the 8ST sets of measurable quantities.

In order to support processing of measurable values ​​of ,88, system control functions including components 102, 106, and 107 in FIG. 3 are expanded to control information of the ΟΝ88 constellation, such as satellite orbits, synchronization information, status, etc. The information of the set ΟΝ88 and measurable quantities 301 is collected by the reference receiver ΟΝ88 302 or provided by some external source (not shown) and is presented through a communication signal 304 to a system controller that formats these data for internal use and stores them in the database 106. The almanac and corrections data 112 submitted to the navigation processor are expanded to include information regarding the ΟΝ88 set and current ΟΝ88 measurable corrections in addition to the P8T almanac information and corrections already filed. In cases where the ΟΝ88 receiver is part of the beacon module described above (Fig. 2E), both the information of the set of beacons and the information of measurable quantities ΟΝ88 can be used by the processor 107 of the reference network to further clarify the location of the beacons and ultimately increase the precision of the system and accuracy.

Location signal transmission.

While there are many positioning signal structures that can be used to implement the present invention, a preferred embodiment of the present invention focuses on selecting signals that satisfy the following criteria: (1) include the necessary accuracy requirements; (2) can be easily generated; (3) can be configured to transmit in a variety of RF or acoustic modes; (4) resistant to multipath and noise; and (5) they have low interference characteristics compared to other K.8T ranging signals in the field of energy emission. In a preferred embodiment, direct-sequence code division multiple access (SIMA) spreading is the preferred method for generating positioning signals, where the pseudo-random noise (RCT) sequence is the maximum length code selected due to its low cross-correlation and autocorrelation properties .

- 11 013169

In a preferred embodiment, the beacon transmissions include code orthogonality so that significant intermodulation interference does not occur in the delay and multiplication function of the spectral compressor. These code properties are available from Gold codes in CP8. but usually limited to 32 or 34 code sets. However, alternative approaches to code modulation are possible. eg. the structure of ΟΡ8 P (Y) channel is structured. using a very long code sequence of 267 days. which has a signal repetition rate of 10.23 MHz. In the Ρ (Υ) example of a channel, seven-day segments of this very long code are assigned to each satellite of the population. moreover, the entire set of satellites resets the phase of the code sequence to its initial state at midnight every Saturday. This Ρ (Υ) code has the properties of orthogonality of the code. so code autocorrelation is zero everywhere. except for the case. when the code offset is zero or a multiple of 267 days. In the present invention, any long code with minimal autocorrelation. including generating Ρ (Υ) code. can be configured. after which the segments are assigned to each of the beacons.

Many beacons can work at random times and cross-correlation between these beacons. essentially. equal to zero. For example. a pseudo-random noise (ΡΚΝ) sequence generator with a shift register with 25 taps in the feedback loop will have a code length of approximately 34 million code elements. Assuming a signal element repetition rate of 10.23 MHz. should take 3.3 seconds. to repeat this code.

FIG. 4A shows a logical functional block diagram of a ranging signal transmitter (K.8T) 101. which implements signal generation functions. described above. K.8T uses a multi-channel range signal generator 406. to generate a specific ranging signal in accordance with the required characteristics. This signal is then used. to modulate the 404 intermediate frequency. generated by the signal synthesizer 405. Depending on the configuration, the resulting signal is filtered by 408 (to permit transmission of either the upper range or low range or both) and transmitted to the digital-to-analog converter 410. The resulting analog signal is converted with increasing frequency 411 into the RF range. using frequency. generated by the synthesizer 409 signal.

The RF signal converted with increasing frequency is passed through a high-pass filter 412. amplify 413 and transmit. The K.8T controller controls the specific configuration of the 403 K.8T module. Each of the functions of the modules is preferably programmable. which provides the advantage of enhanced flexibility. K.8T can be programmed to transmit a number of different structures of the ranging signal at different RF frequencies. This logical structure for the transmitter of the ranging signal has many possible options, depending on the specific implementation project and the required optimizations. The preferred embodiment for K.8T is to balance the cost. accuracy and flexibility.

FIG. 4B shows logical function blocks for multi-channel ranging signal generator 406. In this embodiment of the present invention, the generator has two programmable channels 432 and 436. which control a digital phase shift key modulator with quadrature signals (OP8K). modulating IF signal. generated by a digital signal synthesizer 433. The output of the modulator is a spread spectrum digital signal 438. frequency centered. Each channel (432 and 436) preferably comprises a digital clock generator 434. which is programmable in frequency and phase. which controls the 435 ΡΡΝ sequence generator. A sequence generator может can be programmed for many different code sequences of maximum length and offsets within the sequence. The first channel 432 is preferably selected as the coarse channel and the second channel 436 as the exact channel. Channels 433. 434 and 436 are tied to a conventional external reference oscillator. to guarantee phase coherence. A controller 430 controls the configuration of the generator and provides a simplified interface 431 for configuring the function.

Range signal processing.

FIG. 5A and 5B illustrate the internal functions of 8CT 103. described above. and are a preferred embodiment for processing measurable positioning signals. necessary to determine the physical condition. In this embodiment of the present invention, the 8CT processes the ranging signals with spreading in a straight sequence. such as K.8T 101 ranging signals and ranging signals. transmitted by ΟΝ88 satellites (for example, ΟΡ8 C / A and transmissions Ρ (Υ) b1 / b2) simultaneously. The way. shown in the illustrated example. uses spectrum compression techniques. which allow you to compress appropriately structured ranging signals into measurable quantities (for example, amplitude. frequency. phase and timing) without requiring complex methods for processing cross-correlation signals. which are common in conventional spread spectrum communication systems. If there is one channel, the spectrum compression method allows simultaneous compression of all positioning signals with common characteristics into a set of measurable

- 12 013169 larvae. 8CT can preferably implement multiple channels, allowing multiple types of ranging signals to be compressed into the same or different ranges simultaneously. Through this mechanism, the functional unit is able to receive and process both K.8T and ΟΝ88 ranging signals simultaneously without loss of continuity when the 8CT moves from one medium to another.

Although spectrum compression is the preferred embodiment for processing intercepted emissions, an alternative embodiment of the present invention can use similar cross-correlation methods, such as OP8, to form co-phase measurable quantities for beacons and ΟΝ88 satellites. The use of these types of sensors necessary for the formation of such codephase measurable quantities can be more complicated and expensive to implement; however, in some applications, such an alternative methodology may be desirable if, for example, needs require the sensor to be able to decode the information embedded in the transmission of the ranging signal.

In FIG. 5A, suitably structured ranging signals or any suitable energy radiation are intercepted by a spectral compressor translator (8CT) in an RF antenna 504, which is connected to an input stage 501 8CT, which consists of a low noise amplifier (ΕΝΑ) 503 and a conversion stage 502 with decreasing RF frequency. If necessary, multiple input stages 501 may be implemented to support multiple ranges. For example, 8CT can be configured to support a single K8T / 18M band centered at 915 MHz, and an OP8 L1 band centered at 1575.42 MHz, or the L2 band centered at 1227.6 MHz. The output of input stage (s) 501 is an analog signal that is supplied to analog-to-digital conversion (ADC) stage 505, which provides a digital output signal of an intermediate frequency (IF). As described in more detail below, it is preferable that the ADC has a sufficient dynamic range to provide many beacons with very different signal levels. The digitized IF signal 506 is transmitted to one or more channel processors 507 8CT, which form measurable values ​​513 for processing a physical state (for example, navigation). Both the input RF stage (s) 501 and the channel processor (s) 507 8CT are controlled and synchronized by the controller 508 8CT. This controller 8CT transmits control messages 509 to the RF controller 501 and to the channel processor (s) 507 8CT via channel configuration messages 510. A plurality of 8ST channel processors can be used to completely capture all available measurable positioning values ​​provided by ranging signals.

For example, an 8CT configured to operate in both the 18M band and the OP8 L1 can use five 8ST channel processors assigned to one of the following ranging signals: 18M K.8T coarse channel, 18M K.8T accuracy channel, OR8 L1 channel C / A, OP8 b1 Ρ (Υ) channel and OP8 b2 Ρ (Υ) channel. Each of these channels generates measurable values ​​if an assigned ranging signal is present.

FIG. 5B describes the preferred functionality of the channel processor 507 8CT. The channel processor 8CT is controlled by a channel data capture and control function block 524 that receives synchronization information 530. The digital intermediate frequency signal 506 is first processed by an anti-alias filter 521 to remove spurious or out-of-band signals. The filtered output of 521 is sent through a delay and multiplication process 522. The delay and multiplication 522 splits the filtered digital intermediate-frequency signal 506 into two components, one of which is in-phase and the other delayed by an interval equivalent to half the repetition rate of the signal elements with an extended beacon modulation spectrum (for example, 49 ns for an accurate channel of 10.23 MHz and 5 μs for 0.1 MHz coarse channel). The delayed signal is mixed (multiplied) by the in-phase version of the signal 521, which restores the repetition frequencies of the signal elements of all beacons 101. These recovered signals are passed through a filter / converter with decreasing frequency of the main frequency band 523, where they are temporarily stored in buffer 525. The buffered data is processed by fast Fourier transform 526, and the peaks corresponding to the identified beacon signals are identified by a peak detector 527. The measurable values ​​from signal 529 of each beacon consist of amplitude, frequency and phase, as well as observation time.

Spectrum compression of the OP8 signals is used because each satellite broadcasts a unique P (code number so that the cross-correlation of each ΡΚ.N sequence is essentially zero. Since the Earth rotates and the satellites are in orbits with a period of twelve hours, there is Doppler shift along the line of sight of the receiver From a rough knowledge of the time and orbits of OP8, one can predict which Doppler shift is associated with each individual satellite. The codeless operation, for example, which is described in the patent I84797677, allows the restoration of the repetition rate of the signal elements of each of the satellites through the operation of delay and multiplication in relation to the broadband signal from all satellites. Using fast Fourier transform processing (GGT, FFT), each resulting spectral line is then associated with

- 13 013169 critical satellite.

The present invention provides a method for detecting a signal that is affordable compared to buffering a captured previously detected broadband signal and transmitting to detect cross-correlation, which is the UVB1 approach or processing the previously detected cross-correlation of conventional spread spectrum systems. The digital properties of ΡΚΝ sequences are such that they do not have autocorrelation matches, except when the codes almost coincide (within half the time of a signal element). For example, if the repetition rate of the elements of the signal is 10.23 MHz, the codes are sure to be aligned within the interval of 49 ns to create an interference situation. The same ΡΡΝ sequences can be transmitted by all beacons provided that they do not share the same start time ΡΚΝ of the sequence and the frequency of the signal elements. None of these conditions should probably be achieved with arbitrary initial conditions and low-cost free-running reference generators.

Accordingly, in the delay and multiplication detection approach of the present invention, each of the spread spectrum beacons is preferably compressed into a spectral line at a frequency of the beacon elements of the signal. In order to avoid folding the spectral lines of the frequency of the signal elements into the same frequency (for example, 10.23 MHz), each beacon has its own frequency offset value, either higher or lower than the nominal value of 10.23 MHz. The magnitude of the offset is controlled by the accuracy of the reference frequency available in the beacons. For example, using a reference oscillator with 2PPM accuracy, the frequency is expected to be within +/- 20 Hz at 10.23 MHz. Considering that adjacent beacon channels may have a similar error possibly with the opposite sign, an additional protective strip is required for each beacon. For example, channel spacing of 50 Hz can be considered an adequate separation, given that adjacent channels of the beacon can move in opposite directions in the algebraic sense, and then the beacons can be separated by only 10 Hz. The frequency offset pattern is set to (50 HzhZ), where N is odd.

In an alternative embodiment of the present invention, for high accuracy and robustness, a conventional cross-correlation signal processing scheme may be used in conjunction with the spectrum compression techniques described herein. In this embodiment, spectrum compression provides a means for acquiring physical state information necessary to allow fast correlation fixing for correlation channels without searching. Given the use of very long code sequences and the reuse of the same sequence offsets in time, the spectrum compression method described in this invention minimizes the need for complex search methods. By introducing cross-correlation capabilities, especially for the accuracy channel, the present invention takes advantage of improved signal-to-noise ratio and access to phase and carrier frequency data, which in some applications (e.g., aircraft precision landing systems) may be required capabilities. However, with the introduction of correlation tracking, the cost of the receiver sensor increases significantly and can limit its use compared to an implementation that uses only spectrum compression.

Processing navigation data.

Prevention of systems achieving with high accuracy in time and frequency the phase coherence of reception elements is achieved by the present invention, preferably forcing all FTZs to observe all beacons for the same relative interval. In this embodiment, the PPT time sequence gives one spectral line for each received beacon signal.

By differentiating measurable quantities from known reference FTAs. the specific phase and frequency displacements of all the beacons are in phase canceled in this separate processing of differentiated data in favor of a single phase displacement and angular velocity (frequency offset) of a particular FTA relative to the reference FTA. In one example with four or more beacons well distributed geometrically around both the reference and remote 8CT, the physical state relative to the physical state of the reference FTA can be determined.

In an alternative embodiment, equivalent results obtained in the above approaches can be achieved, generating almanac and correction information in a central reference location by the processor of the reference network or by assessing the physical state of each beacon with respect to at least one reference FTA and then applying pre-computed almanac information and correction during the assessment of the physical state at given measurable values ​​from the FTA. This approach is preferred when the applicability time for the almanac data and corrections is longer than the difference between the almanac time and the period for which the measurable values ​​of the second FTA are collected. The applicability time is a function of the stability of the KBT and reference FTA generators, the system configuration and the required system efficiency. In a distributed architecture approach, physically evaluating

- 14 013169 state navigation processor can take place in the 8CT, K8T-beacon or in any other convenient location, such as a control processor.

FIG. 6 illustrates an embodiment of a navigation processor that processes measurable values ​​generated by 8CT and generates physical condition estimates. The method according to this embodiment includes controlling a feedback loop in which decisions of one period are submitted to the next. A priori state information 611 is used to initialize the 8CT state vector 601, providing the best estimate of the physical state parameters for this 8CT. The 8CT state vector 601 is preferably also initialized by the 8CT dynamic model 602, which contains information on the time-varying state parameters, such as the time and frequency displacement rate, and by deriving the estimated state 606 from a previous period, as calculated by the Kalman stabilized filter 605. The updated state vector 601 is transmitted as an estimate of 118 physical state, which in turn is used to initialize the dynamic model 860CT and model 604 observations K8T. The K8T observation model 604 creates the state change elements required for the Kalman filter, and also creates residuals 610 or the difference between the observed and calculated values ​​that are filtered in the Kalman filter 605. The K8T observation model 604 controls whether the data are processed in a differential sense with 8CT measurable quantities 110 that are difference with the observations 111 of the 8CT reference, or if the measurable values ​​110 8CT are corrected by combining them with the correction factors 112 determined by the reference network. If ΟΝ88 data is available, since 8CT has an unobstructed view of the sky, processing continues in the mixed approach in the Kalman filter 605 with residuals 610 calculated in the equivalent model 603 ΟΝ88 of observations. In these examples, measurable values ​​of 110 8CT contain both K8T data and ΟΝ88 satellite data, and these measurable values ​​of 8CT are used in the 603 ΟΝ88 observation model.

Backbone network.

FIG. 7 illustrates an embodiment of a reference network that generates updated almanac and reference point correction data (for example, beacons or ΟΝ88 satellites) for use by the system in the subsequent assessment of the physical condition for other 8CTs. The input to the core network process is a priori information 705 of the system configuration, which is the best representation of the state of the system. Actual measurable values ​​113 8CT and data 112 of the almanac are used to disseminate elements of the physical state. They are all preferably used to initialize a zone processing filter 700, which determines the physical state including the position of the beacons, and generates almanac data 114 and corrects the data for a complete network of beacons within a given zone. As required to optimize the effective calibration and control of the system, zones can be defined so that a group of several K8Ts and reference 8CTs is located close to each other. Zone-based configuration and management extends configuration flexibility and reduces processing overhead in backbone processing. In the zone processing filter 700, a single navigation processor 105 or multiple navigation processors generate physical state assessment updates for all 8CTs. Multiple processors can be combined in the sense of combined filtering, in which multiple navigation processors 105 simultaneously process data sets that have overlapping data sets. These multiple ratings are combined by a filter combiner 702, which creates a composite rating. The combiner filter 702 itself may be a Kalman filter or another state estimation filter, or may be based on the statistical process of combining. The core network processor may also be responsible for calibrating the network, essentially by determining the physical state of all the reference points, and reporting them in an updated state 706. Calibration correction elements are preferably formatted and stored in the database by the almanac correction formatting unit 703 and are available for use elsewhere in the system.

In one embodiment of the present invention, zone calibration may be performed by selectively changing the operating mode of the K8T beacon. First, the K8T beacon transmits a ranging signal; however, from time to time it may interrupt its transmission so that it can receive signals using the integrated 8C reference. When operating as a receiver, the K8T beacon listens for other transmitting beacons in the area. Within each zone, a plurality of beacons can periodically listen to other beacons within the aggregate so as to generate additional measurable quantities that add power to the estimates generated by the reference network filter. The core network filter processes this data to update the current almanac state configuration for each beacon. Several methods for controlling the operating mode of a beacon (or transmission or reception) are possible and should balance the accuracy of calibrating the efficiency of the entire system. In a preferred embodiment, enough beacons can be deployed so that it is possible to calibrate and use the system at the same time without adversely affecting efficiency or the required accuracy. Long period on

- 15 013169 initial calibration may be required when deploying the system for the first time and adding new zones. In these cases, a calibration template can be used where many of the B8T beacons cycle from transmission to reception so that many independent measurements can be made so that systematic errors are reduced. After calibration, the system is checked and continuously calibrated using the on-the-fly method to update the generator state factors and confirm the placement of the beacons. Monitoring also provides useful data to determine the overall health and accuracy of the system.

Ways to handle the physical condition.

FIG. 8 illustrates two methods for determining the physical state of 8CT, a priori set of almanac information and corrections, and measurable values ​​from the reference 8CT. In FIG. 8A, measurable values ​​from the reference 8CT 805 are used to calculate the real-time correction 807, which, when applied to correct the estimated physical condition, should be the actual state, as determined by the almanac for the reference 8CT 805. The vector correction is used to calculate the physical state correction for each B8T 801, 802, 803, which is then used to correct the physical state assessment process for the 8CT-B 804. An alternative but equivalent form using a differential (differential) estimate is shown in FIG. 8B. The measurable values ​​generated by the reference 8CT 820 are differentiated from the measurable values ​​generated by 8CT-B 821, which are used to calculate the relative physical state 822. Summing the relative physical state to the reference physical state for 8CT 820 forms the physical state for 8CT-B 821.

For systems where the unmodeled error is negligible, these two methods are essentially equivalent; however, the differential method of FIG. 8B should tend to be more accurate when the unmodeled error is significant due to the attenuation of the common-mode error contribution signal for each B8T. The standalone method of FIG. 8A may be less accurate, but has the advantage of better scalability, since it is not necessary to process measurable values ​​for the reference 8CTs with each physical condition estimate. Instead, they can be calculated once and formatted in correction, which are easily applied to the subsequent processing, as long as they are applied during the time of applicability.

Deployment Configurations.

FIG. 9 illustrates an illustrative example of three-dimensional positioning in which 8CT modules are arranged by intercepting radiation from a B8T. hosted in a non-coplanar configuration. In this embodiment, the reference 8CT 904 intercepts emissions from the B8T 901, 902, and 905, which are in the same horizontal plane. Additionally, emissions are intercepted by 8CT 904 from B8T 906, which is located in a plane below the reference 8CT 904. Additionally, the second 8CT 903 intercepts emissions from four B8T 901, 902, 905 and 906. The fact that the beacons are not necessarily located in the same plane as the 8CT sensors allows vertical and horizontal location of the 8CT of modules 903 and 904, leading to a three-dimensional position with a given preferred geometry.

FIG. 10 illustrates one possible deployment scenario according to the present invention, using both locally deployed B8Ts along with ΟΝδδ satellites to provide an assessment of the physical condition in both ΟΝδδ obstructed and obstacle-free cases containing three working environments: obstructed by ΟΝδδ obstacles, semi-obstructed obstacles ΟΝδδ medium and obstacle-free ΟΝδδ medium with boundary zone. FIG. 10 illustrates a smooth transition from a solution for a global area outdoors using ΟΝδδ to a system throughout the local area where ΟΝδδ satellite signals are completely obstructed. Although simplified to a 2-dimensional illustration for the purpose of disclosing the invention, this illustration of an embodiment of the present invention is equally applicable to three-dimensional deployment. The physical state contains two position state parameters: horizontal offset and vertical offset.

δST-Α 1007 works in an environment obstructed by obstacles, receiving estimates of the physical condition using intercepted radiation from the KDT 1005, 1006 and 1008 in the manner described above. Satellite signals 1002 ΟΝδδ are either absorbed or reflected by structure 1013 so that the signal level in δCT 1007 is too weak to provide useful measurable quantities. The reference receiver ΟΝδδ 1003 is deployed on the structure 1013 in order to collect the totality and corrections of measurable quantities that are stored in a database (not shown) for subsequent use by navigation processors (not shown).

The following situation in FIG. 10 is a medium, half-obstructed by ΟΝδδ obstacles, where δСТ 1009 receives signals from ΟΝδδ and КДТ. In this example, an insufficient number of satellites (only two) are visible to obtain estimates of the physical condition; ranging signals of satellite 1001 are blocked to be visible by structure 1013. Using the present invention, δί.® 1009 intercepts radiation from the KDT 1006, 1008 and 1010 to determine the location and with the addition of two visible ΟΝδδ satellites. This greatly improves accuracy and precision.

- 16 013169 assessment of physical condition. Information from the constellation of satellites collected by the reference receiver ΟΝ88 1003 provides information on the orbit of the satellites used to assess the physical condition using measurable values ​​of 6Ν88. Accordingly, this embodiment of the present invention provides the benefits of increasing coverage of 6-888 in semi-obstructed environments.

The obstacle-free environment 6–88 of FIG. 10 presents 8CT 1011. In this example, 6–88 provides adequate coverage (represented by three satellites here, although additional satellites may be present) to assess the physical condition. Only one K8T 1010 is visible, which is not enough to form the used assessment of the physical condition through one of it. 8CT 1011 collects measurable data from ΟΝ88 and K8T and uses a wireless network (not shown) to process the measurable quantities into an estimate of the physical condition.

Alternative applications of the present invention.

This section presents specific applications of the system to illustrate some of the many expected applications of this technology. All of these applications are possible with a preferred embodiment of the present invention; they only illustrate alternatives briefly described by the present invention, and are not intended to mean an exceptional set of possible applications.

Application when scanning an integrated barcode.

An alternative embodiment of the present invention provides for the integration of a 8CT communication module with a barcode scanner. When the barcode associated with an object is scanned, the time and position are maintained as a record of the last known place and time when this object was observed. For inventory and warehouse logistics, this application of the present invention allows for three-dimensional internal tracking of elements with virtually no expense for marking an object with its own 8CT communication module. Bar code scans with labeled positions offer an alternative approach to implementing a complete tracking system определения and positioning, where the size and / or value of the tracked asset does not justify the additional cost.

Use of integrated passive tag reader ΚΡΙΌ.

An alternative embodiment of the present invention provides for the integration of 8CT with a passive tag reader ΚΡΙΌ. When the tag reader ΚΡΙΌ detects a passive tag ΚΡΙΌ, the location of the reader during this detection is associated with the scanned data stream ΚΡΙΌ to provide an approximate location for the tag ΚΡΙΌ.

Further, a further improved estimate of the position of the tag ΚΡΙΌ can be determined by combining information regarding the relative power of the measured tag data with the location and spatial location of the tag reader.

Applications for internal / external logistics.

An alternative embodiment of the present invention provides logistics benefits in multimodal transport, engineering and construction. Such applications benefit from real-time tracking and the management of assets moving to and from obstructed environments. For example, a Ζί ^ όοο or ΟΝ88 solution, integrated as described in the present invention, allows widespread use of this technology in positioning and exchanging assets across a limited area in three dimensions.

The present invention is also uniquely suited for this given application with its inherent capabilities of self-configuration and calibration. The 8CT communication module, no larger than a cell phone, can be used to quickly examine many points, faster than is possible with theodolite technology or 6–88 alone. Additionally, when the laser level is operated in a similar manner, the communication module 8CT can determine the horizontal and vertical alignment of any building component to a sub-centimeter level with respect to any desired reference point.

For site logistics, such a cell-phone-sized device (potentially also supporting voice) can provide real-time tracking of people and assets across the entire construction site, including locations where the ΟΝ88-based solution is unreliable or completely unavailable. With integrated telemetry, the system becomes a powerful tool for coordinating and monitoring the actions of a construction site. With support for the mesh network, construction sites of virtually any shape and size can be easily reached and managed centrally without the ongoing expense of a global wireless solution (for example, 68M / 6P8).

Healthcare Applications.

Alternative embodiments of the present invention can easily be applied in the field of medicine. For example, 8CT communication module, integrated or with Ζί§όοο. or ^ νίΕί, can provide real-time monitoring of patients and assets. I control

- 17 013169 The patient and patient care staff needs the ability to locate doctors, nurses, patients and mobile equipment within the hospital. Patients with severe mental illness are very worried if they move outside the geo-highlighted area, and the alarm indication system can be activated in such situations to limit the patient's further movement and ensure that the patient is located by staff. Patients outside the facility can also be easily detected - it is critical if they spend significant time outside the designated areas, for example, during emergency management or in situations where the number of patients exceeds the number of places in the hospital. Additionally, with support from signals ΟΝ88, 8CT, the communication module can notify administrators when patients leave the boundaries of a medical institution without permission or discharge. This is especially useful for tracking Alzheimer's patients.

Alternatively, another embodiment for medical applications is to provide selected employees with a portable счит reader equipped with 8CT so that the approximate location of the passive tags can be determined by sampling for a given case. In this embodiment, employees can continue their normal activities when an equipped 8CT reader regularly polls passive tags ΚΡΙΌ, any received responses can be marked with the current time and location, as calculated according to the present invention.

Commercial location applications.

Using the combined capabilities for simultaneous processing of both ΟΝ88 signals and signals of the local K8T region, the present invention allows commercial applications of location determination with high accuracy both in obstructed areas and in places where ΟΝ88 services are usually provided (for example, outdoors).

An alternative embodiment of the present invention is to equip consumer communication devices such as cell phones and other mobile devices with 8CT functions, so that location can be determined both in large geographic areas and in limited areas such as a shopping center. An equipped 8CT communication device can be used to identify an individual’s location, providing location-specific content relevant to the individual’s exact location. At the lowest cost, the present invention performs both positioning in the global area and positioning in the local area at the same time, providing information on accuracy and positioning, where one 6-8 is incapable of functioning. Unlike modern commercial location applications using услугδδ / network location services, this alternative embodiment according to the present invention allows an individual to be accurately determined with an accuracy of the order of a meter indoors and outdoors. Additionally, the present invention can seamlessly transition from positioning in a local area to ΟΝ88 of a global area without losing a zone. For example, for a given storage, which has an expanded array of K8T-beacon modules for the purpose of (determining) a position, information regarding the selection of goods and services in close proximity can be delivered to an individual equipped with an 8CT mobile phone; this information may include advertisements, product information, coupons, purchase statistics, and estimates. Additionally, in this embodiment, a communication system already supported in the device can be used to transport location-related content.

Application for emergency services.

In a situation like after Katrina in New Orleans, where there were no regional communications systems for survival, the present invention with its integrated communications infrastructure can provide a telemetry network and accurately track the first transponders, vehicles, equipment, and other key mobile assets. In this embodiment, the communication module 8CT is integrated with UNR & P25 and R25 to form a robust location determination of the local area and the global area and a communication management solution. This embodiment allows real-time monitoring of lifeguards when they enter buildings during search and recovery and provides for regional outdoor monitoring (via ΟΝ88). An accident indication may be triggered if there is no lack of movement of the first responder, which may be indicative of an emergency.

Applications for air search and rescue services (8ΑΚ).

An alternative embodiment of the present invention can be used for search and rescue operations. In one example, two 8CT communication devices can be deployed in an on-board environment (or free pilots or one pilot and one towed module). Each 8CT communication device is configured to process 6–88 signals simultaneously with K8T ranging signals. The beacon module is deployed with a victim whose location must be determined. The beacon module transmits K8T signal

- 18 013169 rhenium range, which can be taken as official expenses. In some situations, this victim may be deep in the forest, hidden in the snow, or in some obstructed environment that interferes with the normal use of the ΟΝ88 sensors.

The ground segment (08) consists of a pair of ILU controllers of these airborne platforms and a two-way exchange subsystem Ζφόοο. which controls airborne operations and extracts measurable 8CT values ​​from the ILU. The ground segment also has a regular ΟΝ88 receiver, which allows the collection of information about the orbit and time ΟΝ88. The ground processor accepts straight lines of communication, determines the dynamic separation of the base vectors between 8CT communication devices, the phase difference of the beacon, and receives crossed hyperboloids, which gives the terrestrial location of the beacon, which is associated with the victim under the ruins (that is, an avalanche or a destroyed structure )

These ILUs can be very small model aircraft, which can be considered consumable assets, depending on the circumstances. A minimum of two ILS flying in the area of ​​interest are sufficient to enable the beacon to be found with an accuracy of several meters after several minutes of flight over the general area of ​​interest. When the 8LV group arrives in the common area indicated by the airborne segment, the wearable-type 8CT receiver, as described in the present invention, can be used in full power detection mode, which will provide control with an accuracy level of up to a meter to dig out and carry out actual rescue operations.

FIG. 11 illustrates an alternative embodiment in which the present invention is used for search and rescue operations. In this embodiment, the emitter 1104 B8T of the signal is placed with an asset or a person who must be tracked and whose location must be determined in the event that search or rescue is required. The B8T radio beacon generates ranging signals 1101 that are intercepted by 8CT modules 1102 and 1103 located on unmanned aerial vehicles or other flying platforms. Using the methods described above, the measurement values ​​of the range measurements 1106 and 1107 between the flying platforms 1102 and 1103 and the asset 1104, the location of which must be determined, are determined. The ILU 1102 and 1103 also simultaneously receive data from a plurality of satellites 1101 ΟΝ88, which can be used for autonomous positioning at the point in time when they intercept B8T ranging signals 1101. Each range measurement, combined with the location of the observers 8CT, forms a hyperbolic arc of the possible location of the emitter. For example, if the location of the ILU 1102 is known from ΟΝ88 data 1101, and the range 1106 is determined between the ILU 1102 and the emitter 1104, we can say that the emitter is located on the hyperbolic arc of position 1108. Simultaneous observation of the second such arc 1109 can be used to determine the location of the emitter 1104, which lies on one of two possible intersections of these arcs 1108 and 1109. In search and rescue operations, one of these two intersection points can generally be rejected as lying outside the plane and the asset whose location is determined.

Coast station support and near navigation.

An alternative embodiment of the present invention includes towing and towing operations at sea and while approaching locks. The beacon allows the use of phase-stable ΟΝ88 sensors in tow at the entrance to the gateway and at many points on the barge (s).

The tug will provide the reference signal of the beacon (possibly in the Ι8Μ range of 2.4 GHz), for phase synchronization with ΟΝ88 barge sensors. The tug also has a 915 MHz Ι8Μ band receiver for receiving the primary reference signal from the gateway, if available. The gateway also has a ΟΝ88 receiver, controlled by the gateway's reference source, which broadcasts signals to the tug and other vessels as needed. ΟΝ88 sensor data is also captured using the same shore reference signal generator. The gateway reference signal at 915 MHz can be used for phase synchronization of the tug sensor ΟΝ88 and then a 2.4 GHz tug reference beacon for phase synchronization with a plurality of ΟΝ88 sensors on barges. If the tugboat is outside the range of this shore-based reference signal of the 915 MHz gateway, the tug's internal reference signal is the source for the in-phase antenna array of ΟΝ88 barge sensors. Data from all ΟΝ88 sensors from the shore, barge and tug are collected and processed in tow. This phase-coherent array is processed in real time with an accuracy better than 30 cm, and in the geocentric coordinate system \ US8 84 geo-referenced to the Earth. On board the tugboat, position and speed information, depending on the situation, may be available when controlled from the tugboat bridge . This inexpensive architecture allows the formation of a possible system that is unattainable by other means.

Orbital operations - the parent satellite with orbiting daughter satellites.

An alternative embodiment of the present invention includes relative positioning of a daughter satellite in a space that is co-orbital with another primary satellite at heights where сигналы88 signals are not available. Small nanopower radio beacons are placed in the parent satellite at known possible locations. These locations of known radio beacons form a coordinate system for determining the location of sub-satellites. All these beacons are time synchronized and phase coherent with respect to the internal time and the source of the reference frequency of the parent satellite. The daughter satellite moves almost in the vicinity of the parent satellite. The measurable quantities are the phase ranges from the various beacon signals reaching the daughter satellite. Measured values ​​may be associated with feedback from the parent satellite for processing. Four or more measurable quantities are required to evaluate the three-dimensional position of the daughter satellite and to synchronize the daughter internal source of the time reference. Depending on the separation distance between the parent / child (devices), the parameter ΟΌΘΡ will be significant, since the child device tends to view this set of beacons as a point source at a distance of about twenty times the maximum separation between the beacons on the parent satellite. To maximize the separation of beacons of five meters in the parent satellite and with a range accuracy of several millimeters in the daughter satellite, the three-dimensional position of the daughter satellite relative to the mother satellite can be estimated with an accuracy of approximately 20 cm per 100 m of separation between these satellites.

Inexpensive three-dimensional Earth survey system.

An alternative embodiment of the present invention can be used for low-cost Earth survey systems. Use a common beacon for phase synchronization with all ΟΝ88 sensors that transmit their 8CT data to the central processor. The central processor has satellite orbits and ΟΝ88 time. Pseudorange and carrier phase data types provide millimeter accuracy for kilometer-wide operations. Systematic errors due to multipath interference will be sources of error limiting for this method and can be mitigated with special ΟΝ88 antennas. On short baselines, usually included in the structure of a local region, atmospheric errors from the troposphere and ionosphere will be in-phase self-quenching errors. Surveillance system designs are possible that can reduce the cost of a multi-instrument system by 70-90% relative to currently available instruments.

A system for ensuring the accuracy of take-off / landing on board an aircraft with a rotor.

An alternative embodiment of the present invention can be used to determine the location during take-off and landing of the rotor aircraft when operating in on-board environments. Conventional ΟΡ8-based tracking systems contain significant limitations for such applications due to the inability of a conventional ΟΡ8 receiver to decode a 50 bit per second navigation data stream, and because of the potential for interference from other on-board navigation and communications systems. The technology of the present invention mitigates these concerns by placing K8T beacons on a ship’s superstructure and 8CT receivers on an airplane. This system and method does not require decoding the data stream to determine the position of the beacon for operation, and the frequency of operation can be adjusted to minimize interference with other systems. Additionally, the fast update period according to the present invention processes the relevant dynamics of both the ship and the aircraft.

Aircraft increased accuracy approach from 6 с88.

An alternative embodiment of the present invention can be used for an approach to increase aircraft accuracy and touchdown operations. The local K8T network is located around the runways of the landing strip. On-board aircraft 8CT devices recover beacon data and use this data to improve positioning from 6–88 or other means. This data can be processed in a combined solution, and there is no interference between the K8T beacon system and 6–88 systems, because the P8T frequencies are customizable. This application can be applied to ground landing runways and to airborne applications, such as deploying a fighter aircraft from a marine aircraft carrier. The frequent update period, available with the K8T beacon and 8ST receiver, processes critical dynamic data from such an aircraft.

Another alternative embodiment of the present invention is to provide quick placement and the ability to recover the aircraft without confidence about signals 6–88. This embodiment may function without confidence regarding 6-888 signals. available to support air operations. The reference 8CT on the runway provides calibration data for the K8T radio beacon, which are connected by a reverse link to the aircraft. The aircraft receives calibration data from ground beacons and reference stations and processes the position and speed of the aircraft relative to the ground system from several beacons around the runway. In this configuration, each aircraft has its own navigation processor and remains in silent radiation mode.

The accuracy of determining the horizontal position of the system should be limited by calibrating the position of the P8T beacon with a distance of about 10 cm. Since these K8T beacons will tend to be planar, a horizontal decrease in accuracy (ΗΌΘΡ, GTS) should

- 20 013169 to be reliable about one; however, the vertical BOR (CT) for the aircraft should be within a factor of 10-20. Since the system has high accuracy up to several centimeters, the vertical assessment of the accuracy of the aircraft should be within a meter over a wide range of heights when the aircraft approaches a runway. Placing one or more K8T beacons off-plane with the rest of the beacons will improve the accuracy of the vertical estimates. As a backup solution, when the aircraft arrives at an altitude of approximately 5 m, the acoustic K8T can be activated with 8CT in acoustic mode, which will provide a height accuracy of several centimeters and with a low probability of detection, which will allow the aircraft to emit a light signal for landing.

The aircraft can also carry three beacon receivers to provide the ability to determine the orientation in space. These spatial orientation antennas can be located on the underside of the aircraft, possibly at each wingtip and at the rear end of the fuselage. The aircraft processor will calculate the phase difference of the arrival of the signal from each beacon and will be able to determine the orientation in the space of the aircraft with an accuracy of several degrees depending on the specific geometry of the aircraft relative to ground beacons.

Terrestrial monitoring and tracking system at the airport.

An alternative embodiment of the present invention can be used for airport ground systems for monitoring and tracking. In this application, the present invention should function inside buildings, such as hangars, and in areas with obstacles where one ΟΝ88 navigation would be unreliable. When an aircraft that has been locked up for a considerable period of time leaves the hangar, it may take a significant amount of time for ΟΝ88 receivers to begin to determine location. This application transmits position and time data to such receivers, and thus extends the detection of invasion on the runway and changing information to avoid conflicts. Additionally, this application allows centralized monitoring and secure deployment of a database of monitored assets.

Authentication of local area location.

In another alternative embodiment of the present invention, the signals transmitted by 8CT can be used to authenticate the location of 8CT by processing the observed data captured by 8CT together with measurable reference 8CT values ​​to determine if 8CT is in the a priori known location of 8CT. The measurable values ​​collected by the 8CT to be authenticated contain useful information unique to the location (location characteristic (signature)), which can be authenticated by observing the current state of the K.8T array using the 8C reference and the observed errors in the location signature. The fact that the K.8T set is not synchronized and incoherent in phase in their frequency of signal elements ΡΚΝ relative to each other requires continuous calibration of the K.8T array, but with this introduces a defense attribute in which the adversary cannot sufficiently predict various the phase of the code or the repetition rate of signal elements in order to achieve submeter accuracy. The reference 8CT, which is supposed to be protected, will perceive and report what actually takes place with the K8T array. This is a very useful attribute because these unpredictable features make the present invention a way to implement location authentication in environments with difficult ΟΝ88. Additionally, the ability of the present invention to process ΟΝ88 signals can also provide location signature data obtained through ΟΝ88.

Design Considerations.

An analysis of the transmit power levels, battery consumption, identification and differentiation of the beacon signals and other characteristics was performed for the preferred embodiments. They are detailed in the following sections, which are provided solely to demonstrate the present implementation of various and alternative embodiments of the present invention.

Consideration of the design of the beacon V8T / 8ST receiver.

The rough value of the noise floor of the channel receiver, assuming that the low-noise amplifier has a noise of 3 dB, should be: noise power KTV = (1.38x10^-23 W / Hz-K) (300 Kelvin) (2x10⁶ Hz) = 8.2x10^-15= -140 dBW = -110 dBm.

Consider a power of 0.1 μW (1 x 10^-7 W) a beacon at a distance of 3 km.

The flow from the beacon at a distance B, P_hess= Р / (4р1Б²); R_hess= (1x10^-7 W) / 4p1 (3000)²= 9x10^-16 W = -150 dBW = -120 dBm.

Beacon signal power = -120 dBm.

After ΕΝΑ (low-noise amplifier), 8ΝΚ = -120 - (- 110) = - 10 dB.

The delay and multiplication processor (B & M) calculates the square of the signal and noise so that 8ΝΚ B & M = -20 dB.

- 21 013169

Assuming that a beacon with a signal element repetition rate of 1.023 MHz and an 8ST EET processor with a time series of 1 s have a bandwidth of 1.0 Hz and an effective value of the process gain, Op = 2 MHz / 1 Hz = 63 dB.

Full 8ΝΚ system power = 63 dB-20 dB = 43 dB or 22 dBV amplitude 8ΝΚ = 140: 1.

The EET estimate of phase noise is a reciprocal of the voltage of 8ΝΚ, so phase noise = 7x10^-3 rad = 0.4 ° = 1 milli-period.

A beacon with a signal element repetition rate of ΡΚΝ 1.023 MHz, 293 m wavelength. Accuracy of 1 milli-period will provide 30 cm accuracy of phase measurement of the coarse channel.

Let us now consider that the value of the receiver noise floor noise, assuming that the low-noise amplifier has a noise of 3 dB, should be: noise power KTV = (1.38x10^-23 W / Hz-K) (300 Kelvin) (20x10⁶ Hz) = 82x10^-15= -130dBW = -100dBm.

Consider a power of 0.1 μW (1 x 10^-7 W) a beacon at a distance of 3 km.

The flow from the beacon at a distance of Ό, P_hess= P / (4 pJ²); R_hess= (1x10^-7 W) / 4p1 (3000)²= 9x10^-16 W = -150 dBW = -120 dBm.

Beacon signal power = -120 dBm. After ΕΝΑ 8ΝΚ = -120 - (- 100) = - 20 dB.

The delay and multiplication processor (Ό & Μ) calculates the squared signal and noise so that 8ΝΚ Ό & Μ = -40 dB.

Assuming that a beacon with a signal element repetition rate of 10.23 MHz and an 8ST EET processor with a time series of 1 s have a bandwidth of 1.0 Hz and an effective value of the process gain, 6p = 20 MHz / 1 Hz = 73 dB.

Full 8ΝΚ system power = 73 dB-40 dB = 33 dB or 16.5 dBV amplitude 8ΝΚ = 50: 1.

The EET estimate of phase noise is a reciprocal of the voltage of 8ΝΚ, so phase noise = 2x10^-2 rad = 1.2 ° = 3.2 millipers.

A beacon with a signal element repetition rate of ΡΒΝ 10.23 MHz, 29.3 m wavelength. An accuracy of 3.2 milli-period will provide 9 cm accuracy of phase measurement of the exact channel.

Battery Requirements.

The requirements for the power of the beacon will be determined by the digital circuit and not the smallest power of 0.1 μW transmitted by the beacon. The beacon will require approximately 40 mW, assuming a logic of 1.8 V. Consider a 3.3 V lithium-manganese battery with a capacity of 1500 mAh with a voltage falling to 1.5 V for 50 hours or about two days. The power source can also be rechargeable batteries from the sun, in an outdoor situation or from a normal building’s mains power supply with battery backup to ensure continuous operation.

Beacon Identification Information.

The identification information of the beacon will be carried out by its frequency offset from the nominal 1,023 MHz coarse frequency following the channel signal elements with multiples of 5 Hz spacing offsets between the beacons. Thus, for hundreds of beacons, the processor will have a full search interval of +/- 250 Hz with a center of 1.023 MHz. Once a specific beacon frequency has been identified, the processor will consult the registry database to determine which person or asset has been assigned the identified tag.

Similar to the exact channel, the identification information of the beacon will be carried out by its frequency offset from the nominal 10.23 MHz repetition frequency of the channel signal elements with multiples of 50 Hz diversity offsets between the beacons. Thus, for hundreds of beacons it will have a full search interval of +/- 2500 Hz with a center of 10.23 MHz. Once a specific beacon frequency has been identified, the processor will look at the registry database to determine which location, person, or asset has been assigned the identified tag.

Implementation for Ι8Μ range.

In an alternative embodiment, an RF implementation is described with each beacon transmitting a plurality of phase coherent channels with signals spread out in a straight sequence. For example, in order to achieve positioning within a limited environment where the receiver device has an a priori known location within 500 m, there is a channel with a signal frequency of 1.023 kHz (wavelength 3 km). With a location sensor that implements a delay and multiplication operation with spectrum compression and a resulting signal to noise ratio with an amplitude of 20 to 1, the phase noise should be 0.05 rad or 2.8 ° or 7.9 milli-periods or 24 m.

For the second channel with 8ΝΚ equal to 20, and a repetition rate of the signal elements of 1.023 MHz, the phase measurement accuracy is 2.4 m. For the third channel with 8ΝΚ .. equal to 20, and the repetition rate of the signal elements of 10.23 MHz, the phase measurement accuracy is 24 cm. For the fourth channel with 8ΝΚ, equal to 20, and a signal element repetition rate of 102.3 MHz, phase accuracy of 2 cm.

An estimated 8ΝΕ of 20 is very moderate and an effective 8ΝΕ of 100 can be more reasonable. In this case, a higher signal channel with a frequency of signal elements

- 22 013169

10.23 MG c will give an accuracy of 5 cm. In accordance with the current KM standards in the USA, the ranges are:

5725-5875 MHz (150 MHz from the center frequency 5800 MHz)

2400-2500 MHz (100 MHz from the center frequency 2450 MHz)

902-928 MHz in area 2 (26 MHz from the center frequency of 915 MHz)

The locations of the beacon can be expressed in the \ U8C 84 coordinate system in order to maintain a coordinate system consistent with ΟΝ88. Thus, the resulting assessments of the physical state can express positions in the structure of ΟΝ88, as if they had clean lines of sight at ΟΝ88 satellites.

Location app in a large area.

In an alternative embodiment, the application relates to an area defined by 100x100 m (10,000 square meters, 110,000 square feet). The maximum horizontal distance by which the positioning sensor can be removed from the beacon is approximately 141 m. Consider the structure of a spectrum compression system with an accuracy of 3 cm for intercepted phase measurement. At a maximum repetition rate of 10.23 MHz signal elements, the wavelength is 29, 3m. An accuracy of 3 cm requires a phase measurement accuracy of 0.1% of the period (0.36 °) or 6.3 mrad. A phase accuracy of 6 mrad requires 8ΝΚ160 EET of amplitude or 44 dB of signal power.

Data transfer considerations for the present invention.

In an alternative embodiment, various test cases may be described.

Test case: KTAS 2002 Beskodovy 6Ν88 topographer.

The receiver's own noise, assuming a low-noise amplifier with a noise of 1.5 dB, should be equal to: noise power KTV = (1.38x10^-23 W / Hz-K) (120 Kelvin) (2x10⁶ Hz) = 3.3x10^-15= -145 dBW = -115 dBm.

Channel power 6P8 C / A = -130 dBm. After ΕΝΑ 8ΝΚ = -130 - (- 115) = - 15 dB.

The delay and multiplication processor calculates the squared signal and noise so that 8ΝΚ Ό & Μ = -30 dB.

An EET processor with a 40 second time series has a range width of 0.025 Hz, an effective process gain, 6p = 2 MHz / 0.025 Hz = 79 dB.

The full 8ΝΚ of the system = 79-30 = 49 dB or 25 dBV, the amplitude is 8ΝΚ = 316: 1 in good agreement with the actual efficiency of the C / A channel of the CTAC 2002 product Beskodovy 6Ν88 topograph.

Almost remote deterioration in a warehouse environment.

In an alternative embodiment, near-remote degradation in a warehouse environment may be described.

In the closest range, 1 nanowatt beacon can be within 10 meters of a remote receiver.

The flow from the beacon at a distance of Ό, P_GEU = Rht (g / (4pYu²), R_hess= (1x10^-9 W) / 4p1 (10)²= 8x 10^-13 W = -121 dBW = -91 dBm.

A beacon at a distance of 141 m will represent -114 dBm, while a beacon at a distance of 10 m will represent -91 dBm. Thus, the problem of near-removal is the absolute value of -91 dBm minus -114 dBm = 23 dB. With a 12-bit analog-to-digital conversion, the receiver will have a dynamic range of 72 dB and allows 49 dB of boundary to accommodate other relatively more powerful in-band signals that can shift the noise level.

The simplicity of the receiver.

The advantage of using the spread spectrum approach for beacons is to radiate the least amount of power, reducing the DC power requirements for beacons that can be battery powered to operate for long periods of time. The use of spectrum spreading provides a high level of resistance to strong signals in the frequency band, which otherwise could represent significant interference with the modality of conventional signals.

Generalized system architecture and method

The above descriptions of various embodiments of this system and related methods for assessing physical state in configured environments show wide applicability to a wide variety of applications. The system and method disclosed and described above can be summarized in the following description of the generalized architecture, which reduces the system to its canonical form, essentially composed of emitters, interceptors that implement compression on the spectrum, and the unit for assessing the physical state, and cover the majority, if not all, possible execution architectures.

The form also discloses that, with the proper structure and construction, a preferred embodiment of the present invention can be easily adapted to support a wide range of applications, configurations, and environments.

FIG. 12 illustrates the canonical form of a preferred embodiment of the present invention detailing the essential relationships between the essential elements of a system. At least one or more emitters 1201 are known to a system that emits energy that travels through transmission medium 1206. These emissions are intercepted by at least one

- 23 013169 interceptor 1202 and are processed by at least one of the compression methods for the spectrum of the spectral compressor 1205. The resulting measurable quantities 1207 from at least one interceptor are transmitted by at least some means of communication to the block 1203 assessment of physical condition. Configuration data 1208 and measurable quantities 1207 are processed by this physical condition estimator to determine one or more elements of a relative physical condition assessment 1209 between at least one emitter 1201 and interceptor 1202. Measured values ​​1207 from a plurality of emitters can be used to simultaneously evaluate a plurality of elements of a physical state, which may include a position along the X, Υ and / or Ζ axis, orientation relative to some axis, offset of the synchronization signal, and potentially any time derivatives.

The determination of an absolute physical condition score 1209 requires the designation of at least one emitter or interceptor as a reference point, which has some aspect of its physical state, known prior to the assessment of the relative physical state. The definition of absolute physical state 1209 is the addition of a relative physical state to a priori physical states determined by reference points.

One or more reference points defined within configuration data 1208 may be processed all together to form a local coordinate system for location information and synchronization. Preferably, all physical condition estimates 1209 are reported within this coordinate system. Additionally, reference points may be associated 1210 and 1211 with a reference coordinate system 1204 within configuration data 1208. Through these associations, the estimates defined in the internal coordinate system can be converted to an external coordinate system.

For example, in indoor applications, a plurality of beacons (e.g., emitters 1201) are first calibrated so that a combination of configuration data and system calibration data makes it possible to set the beacons as reference points for assessing the physical condition of the location sensor (e.g., interceptor 1202). The location of these reference points is then determined in the external coordinate system \ UO8-84. This can be done in any number of ways, through research or through direct measurement by location sensors supporting the reception of ΟΝ88 ranging signals. With these definitions of external reference references, a transformation matrix can be defined that transforms from the internal coordinate system to the external coordinate system \ УО8-84. In a preferred embodiment, three non-collinear anchor points associated with external reference points are used to establish a three-dimensional transformation. Once this is done, the resulting physical state estimate for the location sensor can be reported in an external coordinate system. Reporting a time period in internal and external time frames, such as universal synchronized time (ITS), can be performed in the same way, using time at reference points relative to an external time coordinate system.

Some emitters may be known to the system, but not controlled by this system and considered external. OP8 satellites, quasars, communication satellites, television stations and autonomous radio beacons are all examples of reference points, whose existence can be known and controlled, but not controlled by the system.

In the same way, to determine the canonical form of the system’s structural diagram, the associated canonical form is determined for a method for determining the physical state in configured environments. FIG. 13A shows a generalized method for determining physical state in configured environments using spectrum compression. Starting at step 1301, at least one emitter emits broadband energy 1305 to the propagation medium. These emissions are intercepted and processed in step 1302 by at least one interceptor that generates measurable quantities 1306. Processing 1302 employs at least one spectral compression technique. Measured values ​​1306 from at least one interceptor are processed in step 1303 to determine the estimated relative physical state 1307 between the at least one emitter and the interceptor. These estimated relative physical states are transmitted at 1304, resulting in a physical state message 1308 that is used externally. This reported physical state can also be used to update 1310 the configuration data of the system 1309, providing a means for calibrating and adjusting the system in response to changes in the state of various interceptors and emitters. As determined by the configuration data, the physical state 1308 can be reported either with respect to a reference point, in an internally defined coordinate system, or in an external coordinate system, as determined by an externally provided transformation matrix.

All changes can be obtained from this method, and thus it serves to further explain the essential processes when operating in all embodiments of the present invention. An important benefit of this generalized method is that the processing is determined without regard to execution. Limitations of physical location and communication between elemental processing

- 24 013169 the main elements 1302, 1303 and 1304 are simply a function of the logical architecture of the system in which the method is implemented. The various physical locations of the processing means may provide some optimizations as required. Processing units 1302, 1303, and 1304 are most often physically organized to minimize communication bandwidth and reduce power requirements for a location sensor, as described above.

FIG. 13B illustrates in more detail the interception and processing element 1302 of FIG. 13A. Broadband energy emissions 1305 are intercepted in step 1311, resulting in intercepted broadband emissions 1314, over which some non-linear operation 1312 is performed that generates narrowband data 1315 containing varying physical characteristics necessary to perform an assessment of the physical condition. Processing is then performed at block 1313, in which these useful, changing physical characteristics are retrieved. They lead to measurable values ​​1306 for the interceptor for at least one period. These measurable quantities may comprise at least one or more varying physical characteristics between the interceptor and the at least one emitter. For compression over the spectrum, they are most often represented as the frequency, amplitude and phase for each intercepted radiation with an extended spectrum and for each case of applying the nonlinear method. Each different implementation of the non-linear operation forms a channel for which a plurality of broadband intercepts can be observed at 1306. Specific nonlinear operations on intercepted broadband emissions 1314 at step 1312 for an interceptor may include, but are not limited to: squaring, where 1314 is multiplied by itself; delay and multiplication, where 1314 is multiplied by the delay version of itself, and the delay value is determined by one of the known or assumed physical characteristics of the spread spectrum energy radiation (for example, the repetition rate of the signal elements of the modulating SEM spectrum expansion function функции); synthesis of a frequency band, where 1314 is selected in two different ranges of a particular frequency band and frequency offset so that when multiplied together they form the only resulting narrow-band data, where the frequency offset, frequency band are a function of the physical characteristics of the energy spectrum spread spectrum; differentiation, where 1314 is the difference with itself, giving an approximate first derivative; and decimation, where 1314, the sampling frequency decreases, resulting in a narrow-band output signal that is part of the spread spectrum energy radiation. For differentiation, additional derivatives can be obtained by further differentiating the previous derivative in 1314. For decimation, the decimated output signal may use overlay or down-conversion and low-pass filtering to limit the narrow-band data to a range of interest that contains the required physical characteristics.

FIG. 13C shows one embodiment of a narrowband data processing element 1313 in FIG. 13B. For narrowband data 1315, a fast Fourier transform (EET) is applied, resulting in a 1315 frequency-space transformation (amplitude, frequency, and phase). This data is then processed by a peak detector, which preferably extracts amplitude, frequency and phase for peak values ​​that satisfy some of the requirements that are determined by configuration data 1309. Typically, peaks are selected that satisfy a certain threshold value (for example, a signal-to-noise ratio of amplitude 5) and a frequency range (for example, should be between -10 and 50 Hz). The selected peaks for each channel are grouped to form measurable values ​​1306 that contain frequency, amplitude, and phase values ​​for at least one period.

FIG. 13Ό illustrates an alternative embodiment of the narrowband data processing element 1313 in FIG. 13B. The narrowband data 1315 processes at least one or more phase tracking loops 1322 that are configured to track the signals corresponding to the expected frequencies contained in the narrowband data. Each tracking loop 1322 provides a frequency, phase, and signal to noise ratio estimate, together forming a set of measurable values ​​1306 for at least one period. Various types of phase tracking loops can be implemented depending on the requirements of a particular application. Often, the tracking loop must be implemented with some kind of means that promotes the transmission rate, allowing a very narrow frequency band after detection, which can increase the integration time, leading to better signal to noise ratio and measurement accuracy.

FIG. 13E illustrates another alternative embodiment of the narrowband data processing element 1313 in FIG. 13B. The narrowband data 1315 from at least two interceptors is selected in step 1331, generating narrowband data 1335 from the first interceptor and narrowband data 1336 from the second interceptor. Narrowband data 1336 is delayed in time relative to 1335 by the amount indicated by the configuration data and / or the value determined by the physical conditions of the emitters, the first interceptor and the second interceptor. The resulting narrowband data is then mutually correlated, obtaining correlation data 1337 that indicate the maximum and minimum correlation values ​​as a function of time. This data is then processed through 1334 detection of maximum correlation peaks, which leads to extraction from

- 25 013169 changing physical characteristics between the first and second interceptor. Step 1334 may be implemented in a number of ways. but the most common ways are. to use delay synchronized loops or to detect PPT / correlation peaks. similar to those in FIG. 13 C. Measurable. formed in step 1334 are usually a frequency. phase and signal to noise ratio.

Although a preferred embodiment of the invention has been illustrated and described. as noted above. many changes can be made without departing from the essence and scope of the invention. Respectively. The scope of the invention is not limited to the disclosure of a preferred embodiment. Instead of this. the invention should be fully defined by the claims. which is given below.