Navigation and positioning system and method using uncoordinated beacon signals
First Claim
1. A positioning system, comprising:
- a multiplicity of transmitters, at known fixed locations, each of which transmits a beacon signal having a phase that is un-synchronized with the phases of the beacon signals of the other transmitters;
each of said beacon signals having a frequency which is approximately equal to a predetermined target frequency;
a first receiver, at a known location relative to the locations of said multiplicity of transmitters, which (A) receives said beacon signals, (B) determines the phases and frequencies of said beacon signals at times determined with reference to a first time reference signal, and (C) broadcasts phase and frequency data representing said beacon signal phases and frequencies;
said broadcast phase and frequency data including time data representing when, relative to said first time reference signal, said beacon signals attained said beacon signal phases;
a second receiver, at an unknown location, which receives said broadcast phase and frequency data from said first receiver and at least three of said beacon signals, said second receiver includinga local clock generator, un-synchronized with said first time reference signal, that generates a second time reference signal,phase detection circuitry for detecting, at times determined with reference to said second time reference signal, the phases and frequencies of said beacon signals at the location of said second receiver, andcomputation means for computing, based on said broadcast phase and frequency data and said detected phases and frequencies, coordinate values defining said second receiver'"'"'s position and a time adjustment value for bringing said second time reference signal into alignment with said first time reference signal, said time adjustment value further relating said detected phases to said broadcast phase data in accordance with a predefined set of simultaneous equations.
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Accused Products
Abstract
A positioning system uses a multiplicity of commercial broadcast stereo FM radio signal transmitters, at known fixed locations, each of which transmits a beacon signal having a phase that is un-synchronized with the phases of the beacon signals of the other transmitters. All the beacon signals have a frequency approximately equal to a 19 KHz. A fixed position observer unit, positioned at a known location, receives the beacon signals from all the transmitters in the vicinity, determines their relative phases, and broadcasts data representing these relative phases. Mobile units, at unknown locations, receive these broadcast values, as well as beacon signals from at least three radio transmitters. Each mobile unit includes phase detection circuitry that detects the phases of the beacon signals at the mobile receiver'"'"'s current position. This is accomplished using a single radio signal receiver. A digital phase-locked loop, coupled to the radio signal receiver, generates a phase error signal for each beacon signal. The phase error signals are then used to compute a distinct phase value for each beacon signal. In the preferred embodiment, each mobile receiver includes a computer for computing its location based on the broadcast relative phase values and the detected phases. In another embodiment the position computations for many mobile receivers are performed at a central data processing station.
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Citations
22 Claims
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1. A positioning system, comprising:
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a multiplicity of transmitters, at known fixed locations, each of which transmits a beacon signal having a phase that is un-synchronized with the phases of the beacon signals of the other transmitters;
each of said beacon signals having a frequency which is approximately equal to a predetermined target frequency;a first receiver, at a known location relative to the locations of said multiplicity of transmitters, which (A) receives said beacon signals, (B) determines the phases and frequencies of said beacon signals at times determined with reference to a first time reference signal, and (C) broadcasts phase and frequency data representing said beacon signal phases and frequencies;
said broadcast phase and frequency data including time data representing when, relative to said first time reference signal, said beacon signals attained said beacon signal phases;a second receiver, at an unknown location, which receives said broadcast phase and frequency data from said first receiver and at least three of said beacon signals, said second receiver including a local clock generator, un-synchronized with said first time reference signal, that generates a second time reference signal, phase detection circuitry for detecting, at times determined with reference to said second time reference signal, the phases and frequencies of said beacon signals at the location of said second receiver, and computation means for computing, based on said broadcast phase and frequency data and said detected phases and frequencies, coordinate values defining said second receiver'"'"'s position and a time adjustment value for bringing said second time reference signal into alignment with said first time reference signal, said time adjustment value further relating said detected phases to said broadcast phase data in accordance with a predefined set of simultaneous equations. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. In a positioning system which makes use of a multiplicity of transmitters, at known fixed locations, each of which transmits a beacon signal having a phase that is un-synchronized with the phases of the beacon signals of the other transmitters;
- each of said beacon signals having a frequency which is approximately equal to a predetermined target frequency;
the combination comrpising; a first receiver, at a known location relative to the locations of said multiplicity of transmitters, which (A) receives said beacon signals, (B) determines the phases and frequencies of said beacon signals relative to each other, and (C) generates a first set of phase and frequency data representing said beacon signal phases;
said first receiver including a first clock generator that generates a first time reference signal;
said broadcast phase and frequency data including time data representing when, relative to said first time reference signal, said beacon signals attained said beacon signal phases;a second receiver, at an unknown location, which receives at least three of said beacon signals, said second receiver including a local clock generator, un-synchronized with said first clock generator, that generates a second time reference signal, and phase detection circuitry for detecting, at times determined with reference to said second time reference signal, the phases and frequencies of said beacon signals at the location of said second receiver; and computation means, coupled to said second receiver for receiving from said second receiver values corresponding to said detected beacon signal phases and frequencies, coupled to said first receiver for receiving said first set of phase and frequency data, and including means for computing, based on said first set of phase and frequency values and said detected beacon signal phases and frequencies, coordinate values defining said second receiver'"'"'s position and a time adjustment value for bringing said second time reference signal into alignment with said first time reference signal, said time adjustment value further relating said detected phases to said broadcast phase data in accordance with a predefined set of simultaneous equations. - View Dependent Claims (9, 10, 11)
- each of said beacon signals having a frequency which is approximately equal to a predetermined target frequency;
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12. A method of determining a mobile unit'"'"'s position with respect to the positions of a multiplicity of transmitters that are positioned known fixed locations, wherein each transmitter transmits a beacon signal having a phase that is un-synchronized with the phases of the beacon signals of the other transmitters;
- each of said beacon signals having a frequency which is approximately equal to a predetermined target frequency;
the steps of the method comprising; at a known location relative to the locations of said multiplicity of transmitters, receiving said beacon signals, determining the phases and frequencies of said beacon signals at times determined with reference to a first time reference signal, and broadcasting data representing said beacon signal phases and frequencies, said broadcast data including time data representing when, relative to said first time reference signal, said beacon signals attained said beacon signal phases; at a mobile unit'"'"'s location, receiving said broadcast phase data and at least three of said beacon signals, generating a second time reference signal that is un-synchronized with said first time reference signal, detecting, at times determined with reference to said second time reference signal, the phases and frequencies of said beacon signals at the location of said mobile unit, and computing based on said broadcast data and said detected phases and frequencies, coordinate values defining said mobile unit'"'"'s location and a time adjustment value for bringing said second time reference signal into alignment with said first time reference signal, said time adjustment value further relating said detected phases to said broadcast phase data in accordance with a predefined set of simultaneous equations. - View Dependent Claims (13, 14, 15)
- each of said beacon signals having a frequency which is approximately equal to a predetermined target frequency;
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16. A method of determining a mobile unit'"'"'s position with respect to the positions of a multiplicity of transmitters that are positioned known fixed locations, wherein each transmitter transmits a beacon signal having a phase that is un-synchronized with the phases of the beacon signals of the other transmitters;
- each of said beacon signals having a frequency which is approximately equal to a predetermined target frequency;
the steps of the method comprising; at a known location relative to the locations of said multiplicity of transmitters, receiving said beacon signals, determining the phases and frequencies of said beacon signals at times determined with reference to a first time reference signal, and generating phase and frequency data representing said beacon signal phases and frequencies, said generated phase and frequency data including time data representing when, relative to said first time reference signal, said beacon signals attained said beacon signal phases; at a mobile unit'"'"'s location, receiving said at least three of said beacon signals, generating a second time reference signal that is un-synchronized with said first time reference signal, and detecting, at times determined with reference to said second time reference signal, the phases and frequencies of said beacon signals at the location of said mobile unit; and receiving said generated phase and frequency data, receiving values corresponding to said beacon signal phases and frequencies detected at said mobile unit'"'"'s location, and computing based on said received phase and frequency data and said phases and frequencies detected at said mobile unit'"'"'s location, coordinate values defining said mobile unit'"'"'s location and a time adjustment value for bringing said second time reference signal into alignment with said first time reference signal, said time adjustment value further relating said phases detected at said mobile unit'"'"'s location to said received phase data in accordance with a predefined set of simultaneous equations. - View Dependent Claims (17, 18, 19)
- each of said beacon signals having a frequency which is approximately equal to a predetermined target frequency;
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20. A positioning system, comprising:
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a multiplicity of transmitters, at known fixed locations, each of which transmits a beacon signal having a phase that is un-synchronized with the phases of the beacon signals of the other transmitters;
each of said beacon signals having a frequency which is approximately equal to a predetermined target frequency;a first receiver, at a known location relative to the locations of said multiplicity of transmitters, which (A) receives said beacon signals, (B) determines the phases and frequencies of said beacon signals at times determined with reference to a first time reference signal, and (C) broadcasts phase and frequency data representing said beacon signal phases and frequencies;
said broadcast phase and frequency data including time data representing when, relative to said first time reference signal, said beacon signals attained said beacon signal phases;a second receiver, at an unknown location, which receives at least three of said beacon signals, said second receiver including; a local clock generator, un-synchronized with said first time reference signal, that generates a second time reference signal; and phase detection circuitry for detecting, at times determined with reference to said second time reference signal, the phases and frequencies of said received beacon signals at the location of said second receiver; and position computation means which receives said broadcast phase and frequency data from said first receiver and said phases and frequencies detected by said second receiver, said position computing means including means for computing, based on said broadcast phase and frequency data and said detected phases and frequencies, coordinate values defining said second receiver'"'"'s position and a time adjustment value for bringing said second time reference signal into alignment with said first time reference signal, said time adjustment value further relating said detected phases to said broadcast phase data in accordance with a predefined set of simultaneous equations. - View Dependent Claims (21, 22)
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Specification