Ranging system and method for determining the range of a vehicle from a plurality of reference points

• US 4,229,737 A
• Filed: 02/06/1978
• Issued: 10/21/1980
• Est. Priority Date: 02/06/1978
• Status: Expired due to Term

• Current Assignee: Cubic Western Data
• Original Assignee: Cubic Western Data
• Inventors: Jekel, Richard N., Sampson, Stephen R., Zupan, John T., Heldwein, Carl A.
• Primary Examiner(s): Tubbesing, T. H.
• Application Number:
  US05/875,421
• Time in Patent Office: 988 Days
• Field of Search: 343/6.5 R, 343/15, 343/112 D, 343/112 R, 343/6 R, 343/6.5 LC, 343/105 LS
• US Class Current: 342/46
• CPC Class Codes: G01S 13/876 Combination of several spaced transponders or reflectors of known location for determining the position of a receiver G01S13/874 takes precedence

Abstract

Systems and methods for determining the range from a vehicle to a plurality of reference points. In one system a mobile transceiver is located on the vehicle for transmitting a ranging interrogation signal pulse modulated on an RF carrier having a given frequency in response to a timing pulse and for receiving ranging response signal pulses modulated on RF carriers having the given frequency. A plurality of reference transponders are individually located at each of the plurality of reference points for receiving the timing pulse and the ranging interrogation signal pulse on a carrier having the given frequency and for responding thereto by transmitting a ranging response signal pulse on a carrier having the given frequency during an interval that is discrete from the intervals during which ranging response signal pulses are transmitted from the other reference transponders. Within a given time slot in relation to the timing pulse, a single ranging interrogation signal pulse is followed by a sequence of discrete ranging response signal pulses. A data processor determines and processes the phase of the received ranging response signal pulses in relation to the transmitted ranging interrogation signal pulse to determine the range from the vehicle to individual reference points, and processes the range determinations to determine the position of the vehicle by multilateration. The mobile transceiver, transponders, and transmitter each include an RF transmitter having a modulator circuit for modulating an RF carrier signal to have a predetermined shape envelope determined by the shape of a modulating signal.

Claims

1. A system for determining the range from a vehicle to a plurality of reference points, comprising

a reference transmitter for transmitting a timing pulse;

a mobile transceiver located on the vehicle for receiving the timing pulse and for transmitting a ranging interrogation signal pulse modulated on an RF carrier having a given frequency in response to the timing pulse, and for receiving ranging response signal pulses modulated on RF carriers having the given frequency;

a plurality of reference transponders, one of which is located at each of the plurality of reference points for receiving the timing pulse and the ranging interrogation signal pulse on a carrier having the given frequency and for responding thereto by transmitting a ranging response signal pulse on a carrier having the given frequency during an interval that is discrete from the intervals during which ranging response signal pulses are transmitted from the other reference transponders, wherein within a given time slot in relation to the timing pulse, a single ranging interrogation signal pulse is followed by a sequence of the discrete ranging response signal pulses; and

processing means located on the vehicle for determining and processing the phase of the received ranging response signal pulses in relation to the transmitted ranging interrogation signal pulse to determine the range from the vehicle to the individual reference points.

2. A system according to claim 1, further comprising

at least one additional mobile transceiver, wherein the mobile transceivers are respectively located on separate vehicles, for transmitting a ranging interrogation signal pulse modulated on an RF carrier having the given frequency in response to the timing pulse, and for receiving ranging response signal pulses modulated on RF carrier signals having the given frequency;

wherein the reference transmitter is adapted for transmitting the timing pulse at intervals exceeding the product of the time slot interval and the total number of mobile transceivers in the system; and

wherein each of the mobile transceivers is adapted for receiving the timing pulse and for responding thereto by transmitting its ranging interrogation signal pulse in a given time slot in relation to the timing pulse that is different than the time slot during which each of the other mobile transceivers transmits its ranging interrogation signal pulse, and wherein the ranging interrogation signal pulses transmitted by the different mobile transceivers following the timing pulse are separated from each other by one time slot.

3. A system according to claim 1, wherein the mobile transceiver comprises means for responding to the timing pulse by further transmitting a ranging interrogation signal pulse modulated on an RF carrier having a second frequency during a given time slot in relation to the timing pulse that is discrete from the time slot in which a ranging interrogation signal pulse is transmitted on a carrier having the given frequency, and for receiving ranging response signal pulses modulated on RF carriers having the second frequency, wherein the second frequency is offset from the given frequency by an amount in a range of from one-eighth to one-twentieth of the given frequency;

wherein each of the reference transponders comprises means for further receiving the ranging interrogation signal pulse on a carrier having the second frequency and for responding thereto by transmitting a ranging response signal pulse on a carrier having the second frequency during an interval that is discrete from the intervals during which ranging response signal pulses on carriers having second frequency are transmitted from the other reference transponders, wherein within the second ranging frequency time slot a single ranging interrogation signal pulse is followed by a sequence of the discrete ranging response signal pulses; and

wherein the processing means comprises means for further determining and processing the phase of the received ranging response signal pulses on carriers having the second frequency in relation to the transmitted ranging interrogation signal pulse on a carrier having the second frequency to determine the range from the vehicle to individual reference points, and for processing the range determinations at the given frequency in relation to the range determinations at the second frequency to resolve range ambiguities at multiples of the half-wavelength of the RF carrier having the given frequency.

4. A system according to claim 1, wherein the processing means comprises means for processing the range determinations to determine the position of the vehicle in relation to the reference points by multilateration.

5. A system according to claim 1, wherein the mobile transceiver and the reference transponders each includes an RF transmitter having a modulator circuit for modulating an RF carrier signal to have a predetermined shape envelope determined by the shape of a modulating signal, comprising

a balanced modulator for providing a modulated carrier signal;

a directional coupler for providing the modulated carrier signal to an antenna, and for receiving a reflected signal from the antenna;

a forward power detector connected to the directional coupler for detecting the amplitude of the modulated carrier signal provided to said antenna, and for providing a forward power output signal indicative thereof;

a reflected power detector connected to the directional coupler for detecting the amplitude of the reflected signal, and for providing a reflected power output signal indicative thereof; and

a difference amplifier for comparing a modulating signal having the predetermined shape with the sum of the forward power output signal and the reflected power output signal to produce a difference signal that is provided to the balanced modulator for modulation of the RF carrier signal.

6. A system according to claim 5, further comprising means for biasing the forward power detector to provide a relatively linear relationship between the forward power output signal and a low-level modulated carrier signal;

and

wherein the reflected power detector is not biased whereby no reflected power output signal is provided in response to a low-level reflected signal.

7. A system according to claim 6, wherein the difference amplifier comprises means for weighting the reflected power output signal more heavily than the forward power output signal when comparing the sum thereof with the modulating signal so that if an appreciable reflected signal is detected the amplitude of the difference signal provided to the modulator is reduced to protect the transmitter against high VSWR loads.

8. A ranging system, comprising

a reference transmitter located at one of a plurality of reference points for transmitting a timing pulse and a first ranging interrogation signal pulse modulated on an RF carrier having a given frequency;

a mobile receiver located on a first vehicle for receiving the timing pulse, ranging response signal pulses and the first ranging interrogation signal pulse modulated on RF carriers having the given frequency, wherein the response signal pulses and the first interrogation signal pulse are received in a given time slot in relation to the timing pulse;

a mobile transceiver located on a second vehicle for receiving the timing pulse and for transmitting a second ranging interrogation signal pulse modulated on an RF carrier having a given frequency in response to the timing pulse, and for receiving ranging response signal pulses modulated on RF carriers having the given frequency, wherein the second interrogation signal pulse is transmitted and the response signal pulses are received in a given time slot in relation to the timing pulse that is discrete from the given time slot in which the first interrogation signal pulse and the ranging response signal pulses are received by the mobile receiver;

a plurality of reference transponders, one of which is located at each of a plurality of the reference points for receiving the timing pulse and a said ranging interrogation signal pulse on a carrier having the given frequency and for responding thereto by transmitting a ranging response signal pulse on a carrier having the given frequency during an interval that is discrete from the intervals during which ranging response signal pulses are transmitted from the other reference transponders, wherein within a given time slot in relation to the timing pulse, a single ranging interrogation signal pulse is followed by a sequence of the discrete ranging response signal pulses;

first processing means located on the first vehicle for determining and processing the phase of the received ranging response signal pulses in relation to the received first ranging interrogation signal pulse to determine the differences in range from the first vehicle to the individual reference points; and

second processing means located on the second vehicle for determining and processing the phase of the received ranging response signal pulses in relation to the transmitted second ranging interrogation signal pulse to determine the range from the second vehicle to the individual reference points.

9. A system according to claim 8, further comprising

at least one additional mobile transceiver, wherein the mobile transceivers are respectively located on separate vehicles, for transmitting a second ranging interrogation signal pulse modulated on an RF carrier having the given frequency in response to the timing pulse, and for receiving ranging response signal pulses modulated on RF carrier signals having the given frequency;

wherein the reference transmitter is adapted for transmitting the timing pulse at intervals exceeding the product of the time slot interval and one plus the total number of mobile transceivers in the system; and

wherein each of the mobile transceivers is adapted for receiving the timing pulse and for responding thereto by transmitting its ranging interrogation signal pulse in a given time slot in relation to the timing pulse that is different than the time slot during which each of the other mobile transceivers transmits its ranging interrogation signal pulse, and wherein the second ranging interrogation signal pulses transmitted by the different mobile transceivers following the timing pulse are separated from each other by one time slot.

10. A system according to claim 8, wherein the mobile transceiver comprises means for responding to the timing pulse by further transmitting a ranging interrogation signal pulse modulated on an RF carrier having a second frequency during a given time slot in relation to the timing pulse that is discrete from the time slot in which a second ranging interrogation signal pulse is transmitted on a carrier having the given frequency, and for receiving ranging response signal pulses modulated on RF carriers having the second frequency, wherein the second frequency is offset from the given frequency by an amount in a range of from one-eighth to one-twentieth of the given frequency;

wherein each of the reference transponders comprises means for further receiving the ranging interrogation signal pulse on a carrier having the second frequency and for responding thereto by transmitting a ranging response signal pulse on a carrier having the second frequency during an interval that is discrete from the intervals during which ranging response signal pulses on carriers having second frequency are transmitted from the other reference transponders, wherein within the second ranging frequency time slot a single ranging interrogation signal pulse is followed by a sequence of the discrete ranging response signal pulses; and

wherein the second processing means comprises means for further determining and processing the phase of the received ranging response signal pulses on carriers having the second frequency in relation to the transmitted ranging interrogation signal pulse on a carrier having the second frequency to determine the range from the vehicle to individual reference points, and for processing the range determinations at the given frequency in relation to the range determinations at the second frequency to resolve range ambiguities at multiples of the half-wavelength of the RF carrier having the given frequency.

11. A system for determining the differences in range from a vehicle to a plurality of reference points, comprising

a reference transmitter located at one of the reference points for transmitting a timing pulse and a ranging interrogation signal pulse modulated on an RF carrier having a given frequency;

a mobile receiver located on the vehicle for receiving the timing pulse, ranging response signal pulses, and the ranging interrogation signal pulse modulated on RF carriers having the given frequency;

a plurality of reference transponders, one of which is located at each of the other reference points for receiving the timing pulse and the ranging interrogation signal pulse on a carrier having the given frequency and for responding thereto by transmitting a ranging response signal on a carrier having the given frequency during an interval that is discrete from the intervals during which ranging response signal pulses are transmitted from the other reference transponders, wherein within a given time slot in relation to the timing pulse a single ranging interrogation signal pulse is followed by a sequence of the discrete ranging response signal pulses; and

processing means located on the vehicle for determining and processing the phase of the received ranging response signal pulses in relation to the received ranging interrogation signal pulse to determine the differences in range from the vehicle to the individual reference points.

12. A system according to claim 11, wherein the reference transmitter comprises means for further transmitting a ranging interrogation signal pulse modulated on an RF carrier having a second frequency during a given time slot in relation to the timing pulse that is discrete from the time slot in which a ranging interrogation signal pulse is transmitted on a carrier having the given frequency, wherein the second frequency is offset from the given frequency by an amount in a range of from one-eighth to one-twentieth of the given frequency;

wherein the mobile receiver comprises means for further receiving ranging response signal pulses and the ranging interrogation signal pulse modulated on RF carriers having the second frequency;

wherein each of the reference transponders comprises means for further receiving the ranging interrogation signal pulse on a carrier having the second frequency and for responding thereto by transmitting a ranging response signal pulse on a carrier having the second frequency during an interval that is discrete from the intervals during which ranging response signal pulses on carriers having the second frequency are transmitted from the other reference transponders, wherein within the second ranging frequency time slot a single ranging response signal pulses; and

wherein the processing means comprises means for further determining and processing the phase of the received ranging response signal pulses on carriers having the second frequency in relation to the received ranging interrogation signal pulse on a carrier having the second frequency to determine the differences in range from the vehicle to individual reference points, and for processing the range difference determinations at the given frequency in relation to the range difference determinations at the second frequency to resolve range difference ambiguities at multiples of the half-wavelength of the RF carrier having the given frequency.

13. A system according to claim 11, wherein the processing means comprises means for processing the range difference determinations to determine the position of the vehicle in relation to the reference points by a hyperbolic principle.

14. A system according to claim 11, wherein the reference transmitter and the reference transponders each include an RF transmitter having a modulator circuit for modulating an RF carrier signal to have a predetermined shape envelope determined by the shape of a modulating signal, comprising

a balanced modulator for providing a modulated carrier signal;

a directional coupler for providing the modulated carrier signal to an antenna, and for receiving a reflected signal from the antenna;

a forward power detector connected to the directional coupler for detecting the amplitude of the modulated carrier signal provided to said antenna, and for providing a forward power output signal indicative thereof;

a reflected power detector connected to the directional coupler for detecting the amplitude of the reflected signal, and for providing a reflected power output signal indicative thereof; and

a difference amplifier for comparing a modulating signal having the predetermined shape with the sum of the forward power output signal and the reflected power output signal to produce a difference signal that is provided to the balanced modulator for modulation of the RF carrier signal.

15. A system according to claim 14, further comprising means for biasing the forward power detector to provide a relatively linear relationship between the forward power output signal and a low-level modulated carrier signal;

and

the reflected power detector is not biased, wherein no reflected power output signal is provided in response to a low-level reflected signal.

16. A system according to claim 15, wherein the difference amplifier comprising means for weighting the reflected power output signal more heavily than the forward power output signal when comparing the sum thereof with the modulating signal so that if an appreciable reflected signal is detected the amplitude of the difference signal provided by the modulator is reduced to protect the transmitter against high VSWR loads.

17. A method for determining the position of a vehicle in relation to a plurality of reference points, comprising the steps of

transmitting a timing pulse;

transmitting a ranging interrogation signal pulse from the vehicle in response to the timing pulse wherein the interrogation signal pulse is modulated on an RF carrier having a given frequency;

receiving the timing pulse and the ranging interrogation signal pulse at each of the plurality of reference points and responding thereto by transmitting a ranging response signal pulse modulated on an RF carrier having the given frequency during an interval that is discrete from the intervals during which ranging response signal pulses are transmitted from the other reference points, wherein within a given time slot in relation to the timing pulse, a single ranging interrogation signal pulse is followed by a sequence of the discrete ranging response signal pulses;

receiving the ranging response signal pulses at the vehicle;

determining and processing the phase of the received ranging response signal pulses in relation to the transmitted ranging interrogation signal pulse to determine the range from the vehicle to the individual reference points.

18. A method according to claim 17, further comprising the step of

processing the range determinations to determine the position of the vehicle in relation to the fixed reference points by multilateration.

19. A method according to claim 17, further comprising the steps of

transmitting a ranging interrogation signal pulse from at least one additional vehicle in response to the timing pulse, wherein each ranging interrogation signal pulse is modulated on an RF carrier having the given frequency;

transmitting the timing pulse at intervals exceeding the product of the time slot interval and the total number of vehicles from which ranging interrogation signal pulses are transmitted;

receiving the timing pulse and responding thereto by transmitting the ranging interrogation signal pulse from each vehicle in a given time slot in relation to the timing pulse that is different than the time slot which each of the ranging interrogation signal pulses is transmitted from the other vehicles and wherein the ranging interrogation signal pulses transmitted from the different vehicles following the timing pulse are separated from each other by one time slot.

20. A method according to claim 17, further comprising the steps of

transmitting a second ranging interrogation signal pulse from the vehicle in response to the timing pulse, wherein the second ranging interrogation signal pulse is modulated on an RF carrier having a second frequency during a given time slot in relation to the timing pulse that is discrete from the time slot in which a ranging interrogation signal pulse is transmitted on a carrier having the given frequency, wherein the second frequency is offset from the given frequency by an amount in a range of from one-eighth to one-twentieth of the given frequency;

receiving the ranging interrogation signal pulse on carriers having the second frequency at each of the plurality of fixed reference points, and responding thereto by transmitting a ranging response signal pulse on a carrier having the second frequency during an interval that is discrete from the intervals during which ranging response signal pulses on carriers having the second frequency are transmitted from the other reference points, wherein within the second ranging frequency time slot a single ranging interrogation signal pulse is followed by a sequence of the discrete ranging response signal pulses;

receiving the ranging response signal pulses modulated on RF carriers having the second frequency at the vehicle; and

determining and processing the phase of the received ranging response signal pulses on carriers having the second frequency in relation to the transmitted ranging interrogation signal pulse on a carrier having the second frequency to determine the range from the vehicle to the individual reference points; and

processing the range determinations at the given frequency in relation to the range determinations at the second frequency to resolve range ambiguities at multiples of the half-wavelength of the RF carrier having the given frequency.

21. A method for determining the differences in range from a vehicle in relation to a plurality of reference points, comprising the steps of

transmitting a timing pulse and a ranging interrogation signal pulse from one of the reference points, wherein the ranging interrogation signal pulse is modulated on an RF carrier having a given frequency;

receiving the timing pulse and the ranging interrogation signal pulse at each of the other reference points and responding thereto by transmitting a ranging response signal modulated on an RF carrier having the given frequency during an interval that is discrete from the intervals during which ranging response signal pulses are transmitted from the other reference points, wherein within a given time slot in relation to the timing pulse, a single ranging interrogation signal pulse is followed by a sequence of the discrete ranging response signal pulses; and

receiving the ranging response signal pulses at the vehicle;

receiving the ranging interrogation signal pulses at the vehicle; and

determining and processing the phase of the received ranging response signal pulses in relation to the received ranging interrogation signal pulse to determine the differences in range from the vehicle to the individual reference points.

22. A method according to claim 21, further comprising the step of

processing the range determinations to determine the position of the vehicle by a hyperbolic principle.

23. A method according to claim 21, further comprising the steps of

transmitting a second ranging interrogation signal pulse from the one reference point, wherein the second ranging interrogation signal pulse is modulated on an RF carrier having a second frequency during a given time slot in relation to the timing pulse that is discrete from the time slot in which a ranging interrogation signal pulse is transmitted on a carrier having the given frequency, wherein the second frequency is offset from the given frequency by an amount in a range of from one-eighth to one-twentieth of the given frequency;

receiving the ranging interrogation signal pulses on carriers having the second frequency at each of the other fixed reference points and responding thereto by transmitting a ranging response signal pulse modulated on an RF carrier having the second frequency during an interval that is discrete from the intervals during which ranging response signal pulses on carriers having the second frequency are transmitted from the other reference points, wherein within the second ranging frequency time slot a single ranging interrogation signal pulse is followed by a sequence of the discrete ranging response signal pulses;

receiving the ranging response signal pulses at the vehicle on carriers having the second frequency; and

receiving the ranging interrogation signal pulse at the vehicle on a carrier having the second frequency;

determining and processing the phase of the received ranging response signal pulses on carriers having the second frequency in relation to the received ranging interrogation signal pulse on a carrier having the second frequency to determine the differences in range from the vehicle to the individual reference points; and

processing the range difference determinations at the given frequency in relation to the range difference determinations at the second frequency to resolve range difference ambiguities at multiples of the half-wavelength of the RF carrier having the given frequency.