Network of non-cooperative integrated pseudolite/satellite base station transmitters

• US 6,473,032 B1
• Filed: 03/18/2001
• Issued: 10/29/2002
• Est. Priority Date: 03/18/2001
• Status: Expired due to Fees

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Trimble, Charles R.
• Primary Examiner(s): PHAN, DAO LINDA
• Application Number:
  US09/812,007
• Time in Patent Office: 590 Days
• Field of Search: 342/357.06, 342/357.09, 342/357.14, 342/463
• US Class Current: 342/357.41
• CPC Class Codes: G01S 19/11 wherein the cooperating elements are pseudolites or satellite radio beacon positioning system signal repeaters
• CPC Class Codes: G01S 19/43 using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
• CPC Class Codes: H04B 7/18513 Transmission in a satellite or space-based system
• CPC Class Codes: H04B 7/2125 Synchronisation

Abstract

A network of non-cooperative integrated pseudolite (PL)/satellite base station (SBS) transmitters covering an open area. The network comprises a first plurality (K) of integrated pseudolite/satellite base station (PL)₁/(SBS) transmitters, located in an open area A, and a second plurality (M) of non-cooperative integrated PL₂/SBS transmitters, located in an open area B. K and M are integers. Each PL transmitter is co-located with one SBS. Each SBS provides a satellite timing synchronization signal. Each integrated active (transmitting) PL/SBS transmitter transmits its position location as a part of its message. The first plurality (K) of integrated PL₁/SBS transmitters includes a substantially sufficient number of active integrated PL₁/SBS transmitters in order to fill out satellite shades of coverage and to substantially cover the area A. Each integrated PL₂/SBS transmitter continuously detects a plurality of ranging signals transmitted by each active integrated PL₁/SBS transmitter. Each integrated PL₂/SBS transmitter includes a processor including an algorithm comprising at least the following logic: each integrated PL₂/SBS transmitter does not transmit if the plurality of active integrated PL₁/SBS transmitters substantially covers the area B; and at least a plurality sub-of integrated PL₂/SBS transmitters starts transmitting, if a plurality of integrated PL₁/SBS transmitters does not substantially cover the open area B.

Claims

1. A network of non-cooperative integrated pseudolite (PL)/satellite base station transmitters covering an open area, said network comprising:

a first plurality (K) of integrated pseudolite/satellite base station (PL)₁/(SBS) transmitters, K being an integer, located in an open area A, each said PL₁ transmitter being co-located with one said SBS;

wherein each said SBS provides a satellite timing synchronization signal; and

wherein each said PL has a predetermined duty cycle; and

wherein each said integrated active/transmitting PL₁/SBS transmitter transmits its position location as a part of its message; and

wherein said first plurality (K) of integrated PL₁/SBS transmitters includes a substantially sufficient number K1 of active integrated PL₁/SBS transmitters in order to fill out satellite shades of coverage and to substantially cover said area A so that a first mobile navigation/positioning receiver located in said area A receives a substantially sufficient number of ranging signals for its navigation/positioning purposes including K1 ranging signals from said first plurality of PL₁/SBS transmitters;

K1 being an integer less or equal to K; and

a second plurality (M) of non-cooperative integrated PL₂/SBS transmitters, M being an integer, located in an open area B, each said PL₂ transmitter being co-located with one said SBS;

wherein each said SBS provides a satellite timing synchronization signal;

wherein each said active integrated PL₂/SBS transmitter transmits its position location as a part of its message;

wherein each said integrated PL₂/SBS transmitter continuously detects a plurality (K2) of ranging signals transmitted by each said active integrated PL₁/SBS transmitter;

K2 being an integer less or equal to K1;

each said integrated PL₂/SBS transmitter includes a processor including an algorithm comprising at least the following logic;

each said integrated PL₂/SBS transmitter does not transmit if said plurality (K2) of active integrated PL₁/SBS transmitters substantially covers said area B so that a second mobile navigation/positioning receiver located in said area B receives substantially sufficient number of ranging signals for its navigation/positioning purposes including K2 ranging signals from said first plurality of non-cooperative integrated PL₁/SBS transmitters;

at least a plurality (M1) of integrated PL₂/SBS transmitters starts transmitting, M1 being an integer less or equal to M, if a plurality (K3) of integrated PL₁/SBS transmitters does not substantially cover said open area B, K3 being an integer less or equal to K1, so that said second mobile navigation/positioning receiver located in said area B receives substantially sufficient number of ranging signals for its navigation/positioning purposes including M1 ranging signals from said second plurality of non-cooperative PL₂/SBS transmitters and including K3 ranging signals from said first plurality of non-cooperative integrated PL₁/SBS transmitters.

2. The network of non-cooperative integrated PL/SBS transmitters of claim 1, wherein each said SBS provides a self-surveying capability for one said pseudolite PL that is co-located and integrated with said SBS.

3. The network of non-cooperative integrated PL/SBS transmitters of claim 1, wherein each said integrated PL/SBS transmitter has been pre-surveyed, its position location has been determined and included as a part of a message of said integrated PL/SBS transmitter.

4. The network of non-cooperative integrated pseudolite (PL)/satellite base station transmitters of claim 1, wherein each said integrated PL/SBS transmitter further includes:

a satellite receiver configured to detect at least one signal transmitted by said network of non-cooperative integrated PL/SBS transmitters.

5. The network of non-cooperative integrated pseudolite (PL)/satellite base station transmitters of claim 1, wherein each said integrated PL/SBS transmitter further includes:

a split-spectrum pseudolite (SS-PL) configured to generate a split-spectrum sideband signal that minimizes interference with the reception of at least one satellite signal.

6. The network of non-cooperative integrated pseudolite (PL)/satellite base station transmitters of claim 1;

wherein each said satellite base station includes;

a GPS satellite receiver configured to receive at least one GPS satellite signal;

and wherein each said pseudolite (PL) further includes;

a GPS satellite receiver configured to detect at least one pseudolite signal.

7. The network of non-cooperative integrated pseudolite (PL)/satellite base station transmitters of claim 1;

wherein each said satellite base station includes;

a GLONASS satellite receiver configured to receive at least one GLONASS satellite signal;

and wherein each said pseudolite (PL) includes;

a GLONASS satellite receiver configured to detect at least one pseudolite signal.

8. The network of non-cooperative integrated pseudolite (PL)/satellite base station transmitters of claim 1;

wherein each said satellite base station includes;

a GLOBAL NAVIGATION SATELLITE SYSTEM (GNSS) satellite receiver configured to receive at least one GNSS satellite signal;

and wherein each said pseudolite (PL) includes;

a GNSS satellite receiver configured to detect at least one pseudolite signal.

9. The network of non-cooperative integrated pseudolite (PL)/satellite base station transmitters of claim 1;

wherein each said satellite base station includes;

a GALILEO satellite receiver configured to receive at least one GALILEO satellite signal;

and wherein each said pseudolite (PL) includes;

a GALILEO satellite receiver configured to detect at least one pseudolite signal.

10. The network of non-cooperative integrated pseudolite (PL)/satellite base station transmitters of claim 1;

wherein each said satellite base station includes;

a combined GPS/GALILEO satellite receiver configured to receive at least one GALILEO satellite signal and at least one GPS satellite signal;

and wherein each said pseudolite (PL) includes;

a combined GPS/GALILEO satellite receiver configured to detect at least one pseudolite signal.

11. A network of non-cooperative pseudolite (PL) transmitters covering an in-door area, said network comprising:

a first plurality (K) of pseudolite (PL)₁ transmitters, K being an integer, located in an in-door area A, wherein each said pseudolite (PL)₁ transmitter is locked to a satellite time;

wherein each said pseudolite (PL)₁ transmitter has a predetermined duty cycle;

wherein said first plurality (K) of pseudolite (PL)₁ transmitters includes a substantially sufficient number K1 of active/transmitting pseudolite (PL)₁ transmitters in order to substantially cover said in-door area A so that a first mobile navigation/positioning receiver located in said in-door area A receives a substantially sufficient number of ranging signals for its navigation/positioning purposes including K1 ranging signals from said first plurality of PL₁ transmitters;

K1 being an integer less or equal to K; and

a second plurality (M) of non-cooperative pseudolite (PL)₂ transmitters, M being an integer, located in an in-door area B;

wherein each said pseudolite (PL)₂ transmitter is locked to a satellite time; and

wherein each said pseudolite (PL)₂ transmitter continuously detects at least one ranging signal transmitted by at least one pseudolite PL transmitter;

each said pseudolite (PL)₂ transmitter includes a processor including an algorithm comprising at least the following logic;

said pseudolite (PL)₂ transmitter does not transmit if said plurality (K2) of pseudolite (PL)₁ transmitters substantially covers said area B so that a second mobile navigation/positioning receiver located in said area B receives substantially sufficient number of ranging signals for its navigation/positioning purposes including said K2 ranging signals from said first plurality of pseudolite (PL)₁ transmitters;

K2 being an integer less or equal to K1;

at least a plurality (M1) of pseudolite (PL)₂ transmitters starts transmitting, M1 being an integer less or equal to M, if a plurality (K3) of pseudolite (PL)₁ transmitters does not substantially cover said in-door area B, K3 being an integer less or equal to K1, so that a second mobile navigation/positioning receiver located in said area B receives substantially sufficient number of ranging signals for its navigation/positioning purposes, including M1 ranging signals from said second plurality of non-cooperative pseudolite (PL)₂ transmitters and including K3 ranging signals from said first plurality of non-cooperative pseudolite (PL)₁ transmitters.

12. The network of non-cooperative pseudolite (PL) transmitters covering an in-door area of claim 11, wherein each said (PL)₂ transmitter comprises a stationary (PL)₂ transmitter, and wherein each said (PL)₁ transmitter comprises a stationary (PL)₁ transmitter, and wherein said second mobile navigation/positioning receiver located in said area B includes a memory including a database including a set of position coordinates for each said (PL)₂ transmitter and for each said (PL)₁ transmitter, and wherein said first mobile navigation/positioning receiver located in said in-door area A includes a memory including a database including a set of position coordinates for each said PL₁ transmitter.

13. The network of non-cooperative pseudolite (PL) transmitters covering an in-door area of claim 11, wherein each said (PL)₂ transmitter is pre-surveyed, and wherein each said (PL)₁ transmitter is pre-surveyed.

14. The network of non-cooperative pseudolite (PL) transmitters covering an in-door area of claim 11,

wherein each said pseudolite (PL)₁ transmitter further includes:

a means for receiving a GPS satellite synchronization signal and for receiving a plurality of exact GPS satellite frequencies; and

a means for detecting at least one pseudolite signal;

and wherein each said pseudolite (PL)₁ transmitter further includes;

a means for receiving a GPS satellite synchronization signal and for receiving a plurality of exact GPS satellite frequencies; and

a means for detecting at least one pseudolite signal.

15. The network of non-cooperative pseudolite (PL) transmitters covering an in-door area of claim 14, wherein said means for receiving a GPS satellite synchronization signal and for receiving a plurality of exact GPS satellite frequencies further includes:

a cable coupled to an out-door GPS receiver.

16. The network of non-cooperative pseudolite (PL) transmitters covering an in-door area of claim 14, wherein said means for detecting at least one pseudolite signal further includes:

a GPS receiver.

20. The network of non-cooperative integrated (PL)₁/SBS transmitters and non-cooperative (PL)₂ transmitters of claim 16, wherein said means for detecting said at least one pseudolite signal further includes:

a GPS receiver.

17. A network of non-cooperative integrated pseudolite (PL)₁/SBS transmitters and non-cooperative pseudolite (PL)₂ transmitters covering an area comprising an open area A and an in-door area B, said network comprising:

a first plurality (K) of integrated (PL)₁/SBS transmitters, K being an integer, located in said open area A, each said PL₁ transmitter being co-located with one said SBS;

wherein each said SBS provides a satellite timing synchronization signal;

wherein each said PL₁ has a predetermined duty cycle;

wherein said first (K) plurality of integrated (PL)₁/SBS transmitters includes a substantially sufficient number K1 of transmitting/active integrated (PL)₁/SBS transmitters in order to fill out satellite shades of coverage and to substantially cover said area A, and wherein each said integrated (PL)₁/SBS transmitter transmits its position location as a part of its message in order to provide said substantially sufficient number K1 of ranging signals to a first mobile navigation/positioning receiver located in said area A for its navigation/positioning purposes;

K1 being an integer less or equal to K; and

a second plurality (M) of non-cooperative pseudolite (PL)₂ transmitters, M being an integer, located in an in-door area B, wherein each said pseudolite (PL)₂ transmitter is locked to a satellite time;

wherein each said (PL)₂ transmitter continuously detects a plurality (K2) of ranging signals transmitted by a plurality (K2) of integrated (PL)₁/SBS transmitters;

each said (PL)₂ transmitter includes a processor including an algorithm comprising at least the following logic;

each said (PL)₂ transmitter does not transmit if said plurality (K2) of integrated (PL)₁/SBS transmitters substantially covers said area B so that a second mobile navigation/positioning receiver located in said area B receives substantially sufficient number of ranging signals K2 from said first plurality of integrated (PL)₁/SBS transmitters for its navigation/positioning purposes;

K2 being an integer less or equal to K1;

at least a plurality (M1) of (PL)₂ transmitters starts transmitting, M1 being an integer less or equal to M, if a plurality (K3) of integrated (PL)₁/SBS transmitters does not substantially cover said in-door area B, K3 being an integer less or equal to K1;

so that a second mobile navigation/positioning receiver located in said area B receives substantially sufficient number of ranging signals for its navigation/positioning purposes, including M1 ranging signals from said second plurality of non-cooperative (PL)₂ transmitters and including K3 ranging signals from said first plurality of non-cooperative integrated (PL)₁/SBS transmitters.

18. The network of non-cooperative integrated (PL)₁/SBS transmitters and non-cooperative (PL)₂ transmitters of claim 17, wherein each said (PL)₂ transmitter further includes:

a means for receiving a GPS satellite synchronization signal and for receiving a plurality of exact GPS satellite frequencies; and

a means for detecting at least one pseudolite signal.

19. The network of non-cooperative integrated (PL)₁/SBS transmitters and non-cooperative (PL)₂ transmitters of claim 18, wherein said means for receiving said GPS satellite synchronization signal and for receiving said plurality of exact GPS satellite frequencies further includes:

a cable coupled to an out-door GPS receiver.

21. A method for using a network of non-cooperative integrated pseudolite (PL)/satellite base station transmitters and non-cooperative pseudolite (PL) transmitters to cover an area comprising an open area A and an in-door area B, said network comprising a first plurality (K) of integrated pseudolite (PL)₁/SBS transmitters located in an open area A and a second plurality (M) of non-cooperative M pseudolite (PL)₂ transmitters located in an in-door area B;

K being an integer;

M being an integer, said method comprising the steps of;

locking each said (PL)₂ transmitter to a satellite time;

providing a substantially sufficient number M1 of ranging signals to a second mobile navigation/positioning receiver located in said area B for its navigation/positioning purposes;

M1 being an integer less or equal to M;

wherein each said (PL)₂ transmitter transmits its position location as a part of its message;

providing a satellite timing synchronization signal to each said integrated (PL)₁/SBS transmitter;

continuously detecting a plurality M2 of ranging signals transmitted by a plurality M2 of (PL)₂ transmitters by each said integrated (PL)₁/SBS transmitter;

M2 being an integer less or equal to M1;

starting transmitting by at least K1 number of integrated (PL)₁/SBS transmitters, K1 being an integer less or equal to K, if said plurality M2 of ranging signals transmitted by said plurality M2 of (PL)₂ transmitters does not substantially cover said out-door area A; and

providing a substantially sufficient number of ranging signals to a first mobile navigation/positioning receiver located in said area A for its navigation/positioning purposes, including M2 ranging signals from said second plurality of non-cooperative (PL)₂ transmitters and including K1 ranging signals from said first plurality of non-cooperative integrated (PL)₁/SBS transmitters.

22. The method of claim 21, wherein said step of providing said substantially sufficient number of ranging signals to said first mobile navigation/positioning receiver located in said area A for its navigation/positioning purposes further includes the steps of:

(A) detecting a first request-to-turn-in signal from said first mobile navigation/positioning receiver moved in said area A, said first mobile navigation/positioning receiver including a SBS including a satellite transceiver;

(B) turning on a first integrated (PL)¹₁/SBS transmitter from said first plurality of K integrated (PL)₁/SBS transmitters;

(C) detecting a second request-to-turn-in signal from said first mobile navigation/positioning receiver located in said area A, if said second mobile navigation/positioning receiver is lacking a sufficient number of ranging signals including said plurality of available satellite signals, including said plurality (M2) of ranging signals from said first plurality of non-cooperative (PL)₂ transmitters, and including a pseudolite signal from said first integrated (PL)¹₁/SBS transmitter for its navigation/positioning purposes;

(D) turning on a second integrated (PL)²₁/SBS transmitter from said first plurality of K integrated (PL)₁/SBS transmitters; and

(E) repeating said steps (C-D) until said first mobile navigation/positioning receiver receives a substantially sufficient number of ranging signals for its navigation/positioning purposes including said K1 number of ranging signals from said first plurality of integrated (PL)₁/SBS transmitters.

23. The method of claim 21, wherein said step of providing said substantially sufficient number of ranging signals to said first mobile navigation/positioning receiver located in said area A for its navigation/positioning purposes further includes the steps of:

(A) turning on a first integrated (PL)¹₁/SBS transmitter from said first plurality of K integrated (PL)₁/SBS transmitters;

(B) continuously detecting a number of transmitting (PL)₁ transmitters from said second (M) plurality of (PL)₂ transmitters;

(C) if said number of transmitting (PL)₂ transmitters from said second (M) plurality of (PL)₁ transmitters is less than M1, turning on a second integrated (PL)²₁/SBS transmitter from said first plurality of K integrated (PL)₁/SBS transmitters; and

(D) repeating said steps (B-C) until said number of transmitting (PL)₁ transmitters from said second (M) plurality of (PL)₂ transmitters becomes equal to M1.

24. The method of claim 23, wherein said step (D) of repeating said steps (B-C) further includes the step of:

resuming said steps (B-C) if at least one said transmitting (PL)₂ transmitter from said second (M) plurality of (PL)₂ transmitters stops transmitting.

25. The method of claim 21 further including the step of:

providing by each said SBS a self-surveying capability for one said pseudolite PL that is co-located and integrated with said SBS.

26. The method of claim 21 further including the steps of:

pre-surveying each said PL transmitter;

determining its position location; and

including said position location as a part of a message of said PL transmitter.

27. The method of claim 21, further including the steps of:

pre-surveying each said PL transmitter;

determining its position location; and

pre-programing said second rover with the position locations of each said PL transmitter.

28. A method for utilizing by a first plurality (M) of non-cooperative pseudolite (PL)₁ transmitters a plurality of signals transmitted by a second plurality (K) of integrated pseudolite (PL)₂/SBS transmitters;

said first plurality (M) of non-cooperative pseudolite (PL)₁ transmitters being located in an in-door area A;

said second plurality (K) of integrated pseudolite (PL)₂/SBS transmitters being located in an open area B;

M being an integer;

K being an integer;

said method comprising the steps of;

providing a satellite timing synchronization signal to each said integrated (PL)₂/SBS transmitter;

continuously detecting a plurality K1 of ranging signals transmitted by a plurality K1 of said integrated (PL)₂/SBS transmitters;

K1 being an integer less or equal to K; and

providing a substantially sufficient number of ranging signals to a first mobile navigation/positioning receiver located in said in-door area A for its navigation/positioning purposes, including said K1 ranging signals from said plurality K1 of said integrated (PL)₂/SBS transmitters.

29. The method of claim 28 further including the step of:

providing by each said SBS a self-surveying capability for one said pseudolite PL that is co-located and integrated with said SBS.

30. The method of claim 28 further including the steps of:

pre-surveying each said integrated (PL)₂/SBS transmitter;

determining its position location; and

including said position location as a part of a message of said integrated (PL)₂/SBS transmitter.

31. A method for utilizing by a first plurality (M) of non-cooperative integrated pseudolite (PL)₁/SBS transmitters a plurality of signals transmitted by a second plurality (K) of integrated pseudolite (PL)₂/SBS transmitters;

said first plurality (M) of non-cooperative integrated pseudolite (PL)₁/SBS transmitters being located in an open area A;

said second plurality (K) of integrated pseudolite (PL)₂/SBS transmitters being located in an open area B;

M being an integer;

K being an integer;

said method comprising the steps of;

providing a satellite timing synchronization signal to each said integrated (PL)₂/SBS transmitter;

continuously detecting a plurality K1 of ranging signals transmitted by a plurality K1 of said integrated (PL)₂/SBS transmitters;

K1 being an integer less or equal to K; and

providing a substantially sufficient number of ranging signals to a first mobile navigation/positioning receiver located in said open area A for its navigation/positioning purposes, including said K1 ranging signals from said plurality K1 of said integrated (PL)₂/SBS transmitters.

32. The method of claim 31 further including the step of:

providing by each said SBS a self-surveying capability for one said pseudolite PL that is co-located and integrated with said SBS.

33. The method of claim 31 further including the steps of:

pre-surveying each said integrated (PL)₂/SBS transmitter;

determining its position location; and

including said position location as a part of a message of said integrated (PL)₂/SBS transmitter.

34. A network of non-cooperative integrated pseudolite (PL)/satellite base station transmitters covering an open area, said network comprising:

a first integrated (PL)/SBS transmitting means covering an open area A; and

a second integrated (PL)/SBS transmitting means covering an open area B;

wherein each said PL transmitter is co-located with one said SBS; and

wherein each said SBS provides a satellite timing synchronization signal; and

wherein each said active integrated PL/SBS transmitting means transmits its position location as a part of its message;

wherein a first mobile navigation/positioning receiver located in said open area A receives a substantially sufficient number of ranging signals including a plurality of ranging signals generated by said first integrated (PL)/SBS transmitting means;

and wherein a second mobile navigation/positioning receiver located in said open area B receives a substantially sufficient number of ranging signals including a plurality of ranging signals generated by said first integrated (PL)/SBS transmitting means and including a plurality of ranging signals generated by said second integrated (PL)/SBS transmitting means;

and wherein each said second integrated PL/SBS transmitting means continuously detects a plurality of ranging signals transmitted by each said first active integrated PL/SBS transmitting means in order to optimize a number of second integrated PL/SBS transmitting means in said area B.

35. A network of non-cooperative integrated pseudolite (PL)/satellite base station transmitters and pseudolite (PL) transmitters covering an area comprising an open area A and an in-door area B, said network comprising:

a first integrated (PL)/SBS transmitting means covering said open area A; and

a second (PL) transmitting means covering said in-door area B;

wherein each said integrated PL transmitter is co-located with one said SBS; and

wherein each said SBS provides a satellite timing synchronization signal;

and wherein each said (PL) transmitting means is locked to a satellite time; and

wherein each said active integrated PL/SBS transmitting means transmits its position location as a part of its message; and

wherein each said PL transmitting means transmits its position location as a part of its message;

wherein a second mobile navigation/positioning receiver located in said in-door area B receives a substantially sufficient number of ranging signals including a plurality of ranging signals generated by said second (PL) transmitting means;

and wherein a first mobile navigation/positioning receiver located in said open area A receives a substantially sufficient number of ranging signals including a plurality of ranging signals generated by said second (PL) transmitting means and including a plurality of ranging signals generated by said first integrated (PL)/SBS transmitting means;

and wherein each said first integrated PL/SBS transmitting means continuously detects a plurality of ranging signals transmitted by each said second PL transmitting means in order to optimize a number of first integrated PL/SBS transmitting means in said open area A.