Navigation and positioning system and method using uncoordinated beacon signals

• US 5,173,710 A
• Filed: 08/15/1991
• Issued: 12/22/1992
• Est. Priority Date: 08/15/1991
• Status: Expired due to Term

• Current Assignee: Terrapin Corporation
• Original Assignee: Terrapin Corporation
• Inventors: Kelley, David C., Berglund, Victor P., Rackley, David T.
• Primary Examiner(s): Blum, Theodore M.
• Application Number:
  US07/745,154
• Time in Patent Office: 495 Days
• Field of Search: 342/457, 342/463, 342/394, 342/442
• US Class Current: 342/463
• CPC Class Codes: G01S 5/0009 Transmission of position information to remote stations involving assistance data G01S5/0236
• CPC Class Codes: G01S 5/0063 of measured values, i.e. measurement on base station and position calculation on mobile
• CPC Class Codes: G01S 5/009 Transmission of differential positioning data to mobile
• CPC Class Codes: G01S 5/10 Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements , e.g. omega or decca systemsG01S5/12 takes precedence ; beacons and receivers cooperating therewith G01S1/306, G01S1/308
• CPC Class Codes: G01S 5/14 Determining absolute distances from a plurality of spaced points of known location

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.

Claims

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 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.

2. The positioning system of claim 1, said second receiver including a single, frequency scanning radio signal receiver for sequentially receiving selected beacon signals at a multiplicity of distinct carrier frequencies;

said phase-detection circuitry including a single digital phase-locked loop, coupled to said frequency scanning radio signal receiver, which receives said beacon signal and generates a phase error signal;

said computation means including phase computation means, coupled to said phase-detection circuitry, for integrating said phase error signal while said second receiver is receiving each said selected beacon signal, and generating a distinct phase and frequency value for each said selected beacon signal;

said computation means further including software means for performing a predefined position computation using said generated phase and frequency values and said broadcast phase and frequency data received from said first receiver.

3. The positioning system of claim 1, said second receiver including memory means storing transmitter position data indicating the positions of said multiplicity of transmitters;

said computation means including software means for performing a predefined position computation using said stored transmitter position data to generate a position value for said second receiver which is consistent with said stored transmitter position data.

4. The positioning system of claim 1, wherein said beacon signal transmitted by each of said transmitters comprises an FM radio station sub-carrier signal having a frequency of approximately 19 KHz.

5. The positioning system of claim 1, wherein said beacon signal transmitted by each of said transmitters comprises a sub-carrier signal on a radio station carrier signal, said sub-carrier having a frequency between 1 KHz and 100 KHz.

6. The positioning system of claim 1,

said computation means including

(A) phase adjustment means for adjusting said detected phases in accordance with said detected frequencies so as to represent said detected phases at a common time relative to said second time reference signal prior to computing said coordinate values and time adjustment value;

and

(B) memory means for storing transmitter position data indicating positions of said transmitters with respect to a predefined coordinate system; and

(C) means for performing a predefined position computation using said stored transmitter position data to generate a position value in said predefined coordinate system for said second receiver.

7. The positioning system of claim 1, said first receiver including a first clock generator that generates said first time reference signal.

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.

9. The combination of claim 8, said second receiver including a single, frequency scanning radio signal receiver for sequentially receiving selected beacon signals at a multiplicity of distinct carrier frequencies;

said phase-detection circuitry including a single digital phase-locked loop, coupled to said frequency scanning radio signal receiver, which receives said beacon signal and generates a phase error signal;

said computation means including phase computation means, coupled to said phase-detection circuitry, for integrating said phase error signal while said second receiver is receiving each said selected beacon signal, and generating a second set of phase and frequency values comprising a distinct phase and frequency value for each said selected beacon signal;

said computation means further including software means for performing a predefined position computation using said second set of phase and frequency values and said first set of phase and frequency data received from said first receiver.

10. The combination of claim 8, said computation means including

memory means storing transmitter position data indicating the positions of said multiplicity of transmitters;

and

position computation means for performing a predefined position computation using said stored transmitter position data to generate a position value for said second receiver which is consistent with said stored transmitter position data.

11. The combination of claim 8,

said second receiver receiving at least four of said beacon signals and detecting the phases and frequencies of said at least four beacon signals at the location of said second receiver at times determined with reference to said second time reference signal;

and

said coordinate values computed by computation means comprising a three-dimensional set of coordinate values defining said second receiver'"'"'s position with respect to a predefined three-dimensional coordinate system.

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.

13. The method of claim 12, including storing transmitter position data indicating the positions of said multiplicity of transmitters;

said computing step including performing a predefined position computation using said stored transmitter position data to generate a position value for said mobile unit which is consistent with said stored transmitter position data.

14. The method of claim 12,

at said mobile unit'"'"'s location, receiving at least four of said beacon signals;

said detecting step including detecting the phases and frequencies of said at least four beacon signals at the location of said mobile unit at times determined with reference to said second time reference signal; and

said computing step including computing a three-dimensional set of coordinate values defining said mobile unit'"'"'s location with respect to a predefined three-dimensional coordinate system.

15. The method of claim 12, including

generating said first time reference signal at said known location.

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.

17. The method of claim 16, including storing transmitter position data indicating the positions of said multiplicity of transmitters;

said computing step including performing a predefined position computation using said stored transmitter position data to generate a position value for said mobile unit which is consistent with said stored transmitter position data.

18. The method of claim 16,

at said mobile unit'"'"'s location, receiving at least four of said beacon signals;

said detecting step including detecting the phases and frequencies of said at least four beacon signals at the location of said mobile unit at times determined with reference to said second time reference signal; and

said computing step including computing a three-dimensional set of coordinate values defining said mobile unit'"'"'s location with respect to a predefined three-dimensional coordinate system.

19. The method of claim 16, including

generating said first time reference signal at said known location.

20. 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 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.

21. The positioning system of claim 20, said first receiver including a first clock generator that generates said first time reference signal.

22. The positioning system of claim 20,

said second receiver receiving at least four of said beacon signals and detecting the phases and frequencies of said at least four beacon signals at the location of said second receiver at times determined with reference to said second time reference signal;

and

said coordinate values computed by computation means comprising a three-dimensional set of coordinate values defining said second receiver'"'"'s position with respect to a predefined three-dimensional coordinate system.