Doppler-aided positioning, navigation, and timing using broadcast television signals

• US 8,125,389 B1
• Filed: 10/20/2009
• Issued: 02/28/2012
• Est. Priority Date: 10/20/2008
• Status: Active Grant

• Current Assignee: Skyhook Holding, Inc. (Liberty Broadband Corp.)
• Original Assignee: TruePosition Incorporated
• Inventors: Opshaug, Guttorm, Do, Ju-Yong, Rubin, Dimitri
• Primary Examiner(s): Issing, Gregory C
• Application Number:
  US12/582,051
• Time in Patent Office: 861 Days
• Field of Search: 342/458, 342/464, 342/387
• US Class Current: 342/458
• CPC Class Codes: G01S 19/10 providing dedicated supplementary positioning signals
• CPC Class Codes: G01S 19/52 Determining velocity

Abstract

Methods having corresponding apparatus and tangible computer-readable media comprise: determining a plurality of first pseudoranges based on a plurality of respective wireless television signals received by an apparatus and a clock signal generated by the apparatus, wherein each of the first pseudoranges represent a difference between a time of transmission of the respective wireless television signal from a respective transmitter and a time of reception of the respective wireless television signal at the apparatus and a time offset of the clock signal; determining a plurality of first estimates of frequency offsets of the wireless television signals received by the apparatus; and determining a first estimate of a location of the apparatus based on the first pseudoranges, the first frequency offsets of the wireless television signals, and locations of the transmitters.

Claims

1. An apparatus comprising:

a clock module configured to generate a clock signal;

a pseudorange measurement module configured to determine a plurality of first pseudoranges based on the clock signal and a plurality of respective wireless television signals received by an apparatus, wherein each of the first pseudoranges represents a difference between a time of transmission of the respective wireless television signal from a respective transmitter and a time of reception of the respective wireless television signal at the apparatus and a time offset of the clock signal;

a frequency offset measurement module configured to determine a plurality of first estimates of frequency offsets of the wireless television signals received by the apparatus based on the clock signal;

an estimation module configured to determine a first estimate of a location of the apparatus based on the first pseudoranges, the first frequency offsets of the wireless television signals, and locations of the transmitters; and

a receiver module configured to receive indications of times of transmission of the wireless television signals and measurements of the frequencies of the wireless television signals, wherein the measurements of the frequencies of the wireless television signals are determined at one or more monitor units receiving the wireless television signals at known locations;

wherein the pseudorange measurement module is further configured to determine the plurality of first pseudoranges based on the clock signal, the plurality of respective wireless television signals received by the apparatus, and the times of transmission of the wireless television signals;

wherein the frequency offset measurement module is further configured to determine the plurality of first estimates of the frequency offsets of the wireless television signals received by the apparatus based on the clock signal and the measurements of the frequencies of the wireless television signals; and

wherein the estimation module comprises;

a pseudorange processing module configured to determine a first interim estimate of the location of the apparatus, and a first interim estimate of the time offset of the clock signal, based on the first pseudoranges; and

a Doppler processing module configured to determine a first interim estimate of the velocity of the apparatus, and a first interim estimate of the frequency offset of the clock signal, based on the first estimates of the frequency offsets of the wireless television signals.

2. The apparatus of claim 1, wherein the estimation module further comprises:

a hybrid module configured to determine the first estimate of the location of the apparatus based on the first interim estimate of the location of the apparatus, the first interim estimate of the time offset of the clock signal, the first interim estimate of the velocity of the apparatus, and the first interim estimate of the frequency offset of the clock signal.

3. The apparatus of claim 2:

wherein the hybrid module is further configured to determine a first estimate of the time offset of the clock signal, a first estimate of the velocity of the apparatus, and a first estimate of a frequency offset of the clock signal based on the first interim estimate of the location of the apparatus, the first interim estimate of the time offset of the clock signal, the first interim estimate of the velocity of the apparatus, and the first interim estimate of the frequency offset of the clock signal.

4. The apparatus of claim 3:

wherein the pseudorange measurement module is further configured to determine a plurality of second pseudoranges based on the wireless television signals received by the apparatus;

wherein the frequency offset measurement module is further configured to determine a plurality of second estimates of the frequency offsets of the wireless television signals received by the apparatus; and

wherein the estimation module is further configured to determine a second estimate of the location of the apparatus based on the second pseudoranges, the second estimates of the frequency offsets of the wireless television signals, the locations of the transmitters, the first estimate of the location of the apparatus, the first estimate of the time offset of the clock signal, the first estimate of the velocity of the apparatus, and the first estimate of the frequency offset of the clock signal.

5. The apparatus of claim 4:

wherein the pseudorange processing module is further configured to determine a second interim estimate of the location of the apparatus, and a second interim estimate of the time offset of the clock signal, based on the second pseudoranges, the second estimates of the frequency offsets of the wireless television signals, the locations of the transmitters, the first estimate of the location of the apparatus, the first estimate of the time offset of the clock signal, the first estimate of the velocity of the apparatus, and the first estimate of the frequency offset of the clock signal; and

wherein the Doppler processing module is further configured to determine a second interim estimate of the velocity of the apparatus, and a second interim estimate of the frequency offset of the clock signal, based on the second pseudoranges, the second estimates of the frequency offsets of the wireless television signals, the locations of the transmitters, the first estimate of the location of the apparatus, the first estimate of the time offset of the clock signal, the first estimate of the velocity of the apparatus, and the first estimate of the frequency offset of the clock signal.

6. The apparatus of claim 5:

wherein the hybrid module is further configured to determine the second estimate of the location of the apparatus based on the second interim estimate of the location of the apparatus, the second interim estimate of the time offset of the clock signal, the second interim estimate of the velocity of the apparatus, and the second interim estimate of the frequency offset of the clock signal.

7. A method comprising:

determining a plurality of first pseudoranges based on a plurality of respective wireless television signals received by an apparatus and a clock signal generated by the apparatus, wherein each of the first pseudoranges represents a difference between a time of transmission of the respective wireless television signal from a respective transmitter and a time of reception of the respective wireless television signal at the apparatus and a time offset of the clock signal, wherein determining a plurality of first pseudoranges comprises;

receiving indications of times of transmission of the wireless television signals, and receiving measurements of frequencies of the wireless television signals, wherein the measurements of the frequencies of the wireless television signals are determined at one or more monitor units receiving the wireless television signals at known locations;

determining a plurality of first estimates of frequency offsets of the wireless television signals received by the apparatus, wherein the first estimates of frequency offsets are based on the clock signal and the measurements of the frequencies of the wireless television signals; and

determining a first estimate of a location of the apparatus based on the first pseudoranges, the first frequency offsets of the wireless television signals, and locations of the transmitters, wherein determining a first estimate of a location comprises;

determining a first interim estimate of the location of the apparatus based on the first pseudorange, determining a first interim estimate of the time offset of the clock signal based on the first pseudorange, determining a first interim estimate of the velocity of the apparatus based on the first estimate of the frequency offset of the wireless television signal, and determining a first interim estimate of the frequency offset of the clock signal based on the first estimate of the frequency offset of the wireless television signal.

8. The method of claim 7, further comprising:

determining the first estimate of the location of the apparatus based on the first interim estimate of the location of the apparatus, the first interim estimate of the time offset of the clock signal, the first interim estimate of the velocity of the apparatus, and the first interim estimate of the frequency offset of the clock signal.

9. The method of claim 8, further comprising:

determining a first estimate of the time offset of the clock signal, a first estimate of the velocity of the apparatus, and a first estimate of a frequency offset of the clock signal based on the first interim estimate of the location of the apparatus, the first interim estimate of the time offset of the clock signal, the first interim estimate of the velocity of the apparatus, and the first interim estimate of the frequency offset of the clock signal.

10. The method of claim 9, further comprising:

determining a plurality of second pseudoranges based on the wireless television signals received by the apparatus;

determining a plurality of second estimates of the frequency offsets of the wireless television signals received by the apparatus; and

determining a second estimate of the location of the apparatus based on the second pseudoranges, the second estimates of the frequency offsets of the wireless television signals, the locations of the transmitters, the first estimate of the location of the apparatus, the first estimate of the time offset of the clock signal, the first estimate of the velocity of the apparatus, and the first estimate of the frequency offset of the clock signal.

11. The method of claim 10, further comprising:

determining a second interim estimate of the location of the apparatus, a second interim estimate of the time offset of the clock signal, a second interim estimate of a velocity of the apparatus, and a second interim estimate of the frequency offset of the clock signal based on the second pseudorange, the second estimate of the frequency offset of the wireless television signal, the location of the transmitter, the first estimate of the location of the apparatus, the first estimate of the time offset of the clock signal, the first estimate of the velocity of the apparatus, and the first estimate of the frequency offset of the clock signal.

12. The method of claim 11, further comprising:

determining the second estimate of the location of the apparatus based on the second interim estimate of the location of the apparatus, the second interim estimate of the time offset of the clock signal, the second interim estimate of the velocity of the apparatus, and the second interim estimate of the frequency offset of the clock signal.

13. Tangible computer-readable media embodying instructions executable by a computer to perform a method comprising:

determining a plurality of first pseudoranges based on a plurality of respective wireless television signals received by an apparatus and a clock signal generated by the apparatus, wherein each of the first pseudoranges represents a difference between a time of transmission of the respective wireless television signal from a respective transmitter and a time of reception of the respective wireless television signal at the apparatus and a time offset of the clock signal, wherein determining a plurality of first pseudoranges comprises;

receiving indications of times of transmission of the wireless television signals, and receiving measurements of frequencies of the wireless television signals, wherein the measurements of the frequencies of the wireless television signals are determined at one or more monitor units receiving the wireless television signals at known locations;

determining a plurality of first estimates of frequency offsets of the wireless television signals received by the apparatus, wherein the first estimates of frequency offsets are based on the clock signal and the measurements of the frequencies of the wireless television signals; and

determining a first estimate of a location of the apparatus based on the first pseudoranges, the first frequency offsets of the wireless television signals, and locations of the transmitters, wherein determining a first estimate of a location comprises;

determining a first interim estimate of the location of the apparatus based on the first pseudorange, determining a first interim estimate of the time offset of the clock signal based on the first pseudorange, determining a first interim estimate of the velocity of the apparatus based on the first estimate of the frequency offset of the wireless television signal, and determining a first interim estimate of the frequency offset of the clock signal based on the first estimate of the frequency offset of the wireless television signal.

14. The tangible computer-readable media of claim 13, wherein the method further comprises:

determining the first estimate of the location of the apparatus based on the first interim estimate of the location of the apparatus, the first interim estimate of the time offset of the clock signal, the first interim estimate of the velocity of the apparatus, and the first interim estimate of the frequency offset of the clock signal.

15. The tangible computer-readable media of claim 14, wherein the method further comprises:

determining a first estimate of the time offset of the clock signal, a first estimate of the velocity of the apparatus, and a first estimate of a frequency offset of the clock signal based on the first interim estimate of the location of the apparatus, the first interim estimate of the time offset of the clock signal, the first interim estimate of the velocity of the apparatus, and the first interim estimate of the frequency offset of the clock signal.

16. The tangible computer-readable media of claim 15, wherein the method further comprises:

determining a plurality of second pseudoranges based on the wireless television signals received by the apparatus;

determining a plurality of second estimates of the frequency offsets of the wireless television signals received by the apparatus; and

determining a second estimate of the location of the apparatus based on the second pseudoranges, the second estimates of the frequency offsets of the wireless television signals, the locations of the transmitters, the first estimate of the location of the apparatus, the first estimate of the time offset of the clock signal, the first estimate of the velocity of the apparatus, and the first estimate of the frequency offset of the clock signal.

17. The tangible computer-readable media of claim 16, wherein the method further comprises:

determining a second interim estimate of the location of the apparatus, a second interim estimate of the time offset of the clock signal, a second interim estimate of a velocity of the apparatus, and a second interim estimate of the frequency offset of the clock signal based on the second pseudorange, the second estimate of the frequency offset of the wireless television signal, the location of the transmitter, the first estimate of the location of the apparatus, the first estimate of the time offset of the clock signal, the first estimate of the velocity of the apparatus, and the first estimate of the frequency offset of the clock signal.

18. The tangible computer-readable media of claim 17, wherein the method further comprises:

determining the second estimate of the location of the apparatus based on the second interim estimate of the location of the apparatus, the second interim estimate of the time offset of the clock signal, the second interim estimate of the velocity of the apparatus, and the second interim estimate of the frequency offset of the clock signal.