Geographical navigation using multipath wireless navigation signals

• US 20020089450A1
• Filed: 12/21/2001
• Published: 07/11/2002
• Est. Priority Date: 12/22/2000
• Status: Active Grant

• Current Assignee: Charles Stark Draper Laboratory Incorporated
• Original Assignee: Charles Stark Draper Laboratory Incorporated
• Inventors: Gustafson, Donald E., Elwell, John M. Jr., Dowdle, John R.
• Granted Patent: US 6,693,592 B2
• Time in Patent Office: Days
• US Class Current: 342/453
• CPC Class Codes: G01S 19/22 Multipath-related issues
• CPC Class Codes: G01S 19/428 using multipath or indirect path propagation signals in position determination
• CPC Class Codes: G01S 19/47 the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
• CPC Class Codes: G01S 5/0273 using multipath or indirect path propagation signals in position determination
• CPC Class Codes: H04W 64/00 Locating users or terminals or network equipment for network management purposes, e.g. mobility management
• CPC Class Codes: H04W 64/006 with additional information processing, e.g. for direction or speed determination

Abstract

A wireless navigational system and process utilize multipath wireless signals normally discarded from the navigation solution to enhance navigational performance under a range of operational scenarios. A relationship between the receiver'"'"'s location and one or more multipath signals is established, facilitating subsequent navigation using the multipath signal(s).

Claims

1. A method of navigating using a multipath wireless signal, the method comprising the steps of:

providing navigation information indicative of a geographical location;

receiving a multipath navigation signal;

relating the multipath signal to the geographical location; and

navigating using the multipath signal based on the relationship.

2. The method of claim 1 wherein the navigation information is provided by a direct-path wireless navigation signal transmitted from a wireless source, the relating step comprising determining a relationship between the multipath signal and the direct-path signal.

3. The method of claim 2 wherein at least one of the multipath signal and the direct-path signal is of insufficient strength to permit navigation based thereon, the navigation step comprising combining the multipath signal and the direct-path signal to provide a navigation solution.

4. The method of claim 2 wherein the relating step further comprises the step of determining multipath parameters relating the multipath signal to the direct-path signal, the multipath parameters, when processed with the multipath signal, facilitating determination of a current location.

5. The method of claim 4 wherein the multipath parameters are determined according to steps comprising:

determining a first path delay, corresponding to a direct-path distance to the wireless, source multiplied by a propagation velocity; and

determining a second path delay, corresponding to a multipath distance to the wireless source, multiplied by the propagation velocity, the multipath parameters being related to the first and the second path delays.

6. The method of claim 5 wherein the step of determining a path delay comprises the steps of:

Time shifting a replica of a received signal;

correlating the received signal with the time-shifted replica thereof; and

determining a time-shift value resulting in a relative maximum correlation of the received signal with the time-shifted stored representation of the received signal.

7. The method of claim 2 wherein the direct-path wireless navigation signal is transmitted according to a wireless network protocol.

8. The method of claim 7 wherein the wireless network protocol is a Bluetooth protocol.

9. The method of claim 1 wherein the navigation information is provided by a direct-path wireless navigation signal transmitted from a wireless source, the relating step comprising shifting the direct-path signal and correlating the shifted direct-path signal with the multipath signal.

10. The method of claim 1 wherein the navigation information is provided by a known starting location and an estimation of a current location based on the starting location.

11. The method of claim 1 wherein the navigation information comprises general location information.

12. The method of claim 1 wherein the wireless multipath signal is generated by a Global Positioning System (GPS) transmitter.

14. The apparatus of claim 13 wherein the receiver comprises circuitry configured to receive a spread-spectrum signal.

15. The apparatus of claim 14 wherein the spread-spectrum signal is a code-division-multiple-access (CDMA) signal.

16. The apparatus of claim 13 wherein the receiver is configured to receive the wireless multipath signal from a GPS transmitter.

17. The apparatus of claim 13 wherein the relating circuitry comprises a correlator interactive with the geographical location circuitry and the receiver, the correlator providing an output indicative of a relationship between the geographical location and the received wireless multipath navigation signal.

18. The apparatus of claim 17 wherein the correlator is part of a tracking loop filter.

19. The apparatus of claim 13 further comprising a storage element for storing a representation of the multipath navigation signal.

20. The apparatus of claim 13 wherein the navigating circuitry comprises a processor in communication with the relating circuitry, the processor (i) processing a relating-circuitry output relating the multipath navigation signal to the geographic location and (ii) determining a current location using the wireless multipath navigation signal based on the relationship.

21. The apparatus of claim 13 wherein the navigation information is provided by a direct-path wireless navigation signal transmitted from a wireless source, the receiver being configured to receive the direct-path wireless navigation signal.

22. The apparatus of claim 21 wherein the relating circuitry establishes a relationship between the received multipath signal with the received direct-path signal.

23. The apparatus of claim 22 wherein the relating circuitry determines multipath parameters relating the multipath signal to the direct-path signal, the multipath parameters, when processed with the multipath signal, facilitating determination of a current location.

24. The apparatus of claim 23 wherein the relating circuitry comprises a rake filter.

25. The apparatus of claim 23 wherein the relating circuitry comprises:

circuitry for determining a first path delay corresponding to a direct-path distance to the wireless source multiplied by a propagation velocity; and

circuitry for determining a second path delay corresponding to a multipath distance to the wireless source multiplied by the propagation velocity,

the multipath parameters relating the first path delay to the second path delay.

26. The apparatus of claim 25 wherein the circuitry for determining the first and second path delays comprises:

circuitry for time shifting a stored representation of a received signal;

circuitry for correlating the received signal with the time-shifted stored representation thereof; and

circuitry for determining a time-shift value corresponding to a relative maximum correlation of the received signal with the time-shifted stored representation of the received signal.

27. The apparatus of claim 26 wherein the time-shifting circuitry comprises a delay device providing a delayed output.

28. The apparatus of claim 27 wherein the delay device comprises a tapped-delay line.

29. The apparatus of claim 27 wherein the delay device comprises a shift register.

30. The apparatus of claim 21 wherein at least one of the multipath signal and the direct-path signal is of insufficient strength to permit navigation based thereon, the navigation circuitry comprising circuitry for combining the received multipath signal and the received direct-path signal to provide a navigation solution.

31. The apparatus of claim 13 wherein the geographical-location circuitry determines the geographical location from a known starting location and an estimation of a current location based on the starting location.

13. An apparatus for navigating using a multipath wireless signal, the apparatus comprising:

circuitry for providing a geographical location;

a receiver receiving a wireless multipath navigation signal;

circuitry for relating the multipath signal to the geographical location; and

circuitry for navigating using the multipath signal based on the relationship.