An enhanced LOng RAnge Navigation (eLORAN) system may include a plurality of eLORAN stations, each having an eLORAN antenna and an eLORAN transmitter that may transmit data over an eLORAN data channel and may transmit a series of eLORAN navigation RF pulses. An eLORAN control station may generate station specific eLORAN data and non-station specific eLORAN data, divide the non-station specific eLORAN data into non-specific eLORAN data subsets, and cause each eLORAN station to transmit the station specific eLORAN data and a corresponding non-station specific eLORAN data subset over the eLORAN data channel in a manner to optimize data throughput.

Disclosed herein are a method and system for positioning an autonomous vehicle on a navigation map. The method includes positioning the autonomous vehicle on the navigation map, including receiving the navigation map, an approximate position and an approximate orientation of the autonomous vehicle on the navigation map, and an environmental field of view (FOV) of the autonomous vehicle and determining a first road boundary based on the navigation map and the approximate position of the autonomous vehicle, and a second road boundary based on the environmental FOV and the approximate orientation of the autonomous vehicle, further determining at least one of an angular deviation and a lateral deviation between the first road boundary and the second road boundary, and positioning the autonomous vehicle on the navigation map by minimizing at least one the angular deviation and the lateral deviation.

A long range navigation system may include radio frequency (RF) transmitter stations at fixed geographical locations, each having an RF transmitter and an RF modulator coupled to the RF transmitter, and configured to generate a direct sequence spread spectrum (DSSS) RF signal being spectrally shaped so that 99% of power from the RF transmitter is within the frequency range of 90-110 KHz. Movable RF receiver units each include an RF receiver and a demodulator coupled to the RF receiver configured to demodulate the DSSS RF signal to determine a position of the movable RF receiver unit.

A long range navigation system may include radio frequency (RF) transmitter stations at fixed geographical locations, each having an RF transmitter and an RF modulator coupled to the RF transmitter, and configured to generate a direct sequence spread spectrum (DSSS) RF signal being spectrally shaped so that 99% of power from the RF transmitter is within the frequency range of 90-110 KHz. Movable RF receiver units each include an RF receiver and a demodulator coupled to the RF receiver configured to demodulate the DSSS RF signal to determine a position of the movable RF receiver unit.

An enhanced LOng RAnge Navigation (eLORAN) system may include a plurality of eLORAN transmitter stations, and at least one eLORAN receiver device. The eLORAN receiver device may include an eLORAN receive antenna, an eLORAN receiver coupled to the eLORAN receive antenna, and a controller coupled to the eLORAN receiver. The controller may be configured to cooperate with the eLORAN transmitter stations to determine an eLORAN receiver position and receiver clock error corrected from additional secondary factor (ASF) data, the ASF data based upon different geographical positions and different times for each different geographical position.

An enhanced LOng RAnge Navigation (eLORAN) system may include a plurality of eLORAN transmitter stations, and at least one eLORAN receiver device. The eLORAN receiver device may include an eLORAN receive antenna, an eLORAN receiver coupled to the eLORAN receive antenna, and a controller coupled to the eLORAN receiver. The controller may be configured to cooperate with the eLORAN transmitter stations to determine an eLORAN receiver position and receiver clock error corrected from additional secondary factor (ASF) data, the ASF data based upon different geographical positions and different times for each different geographical position.

A method for determining properties associated with a graph is disclosed herein. The graph includes a plurality of nodes and a plurality of connections between the nodes. The method comprises receiving global positioning system (GPS) data points for a plurality of GPS tracks associated with the graph. The method further comprises mapping the GPS data points for each of the plurality of the GPS tracks to the graph by determining an activity track based on the GPS track, the activity track including a plurality of nodes from the graph and at least one connection between the nodes. Additionally, the method comprises creating a path matrix including a plurality of values, each value in the path matrix associated with (i) one of the plurality of connections between nodes of the graph and (ii) one of the determined activity tracks.

Methods and devices are presented for synchronizing positioning signals in a kinematic location network. In particular, methods and devices are presented for synchronizing a unique positioning signal generated by a positioning-unit device to a reference positioning signal generated by a reference transmitter, where the positioning-unit device and the reference transmitter are moving relative to each other. In certain embodiments the reference transmitter or the positioning-unit device, or both, self-monitor trajectory data comprising one or more of location, velocity or acceleration, e.g. using inertial navigation systems, and broadcast that data in their positioning signals. The trajectory data enables estimation of Doppler shifts and propagation delays associated with the positioning signals, allowing measurement and correction of clock drift for synchronization of the positioning signals.

Methods and devices are presented for synchronizing positioning signals in a kinematic location network. In particular, methods and devices are presented for synchronizing a unique positioning signal generated by a positioning-unit device to a reference positioning signal generated by a reference transmitter, where the positioning-unit device and the reference transmitter are moving relative to each other. In certain embodiments the reference transmitter or the positioning-unit device, or both, self-monitor trajectory data comprising one or more of location, velocity or acceleration, e.g. using inertial navigation systems, and broadcast that data in their positioning signals. The trajectory data enables estimation of Doppler shifts and propagation delays associated with the positioning signals, allowing measurement and correction of clock drift for synchronization of the positioning signals.

An enhanced LOng RAnge Navigation (eLORAN) system may include a plurality of eLORAN stations, each having an eLORAN antenna and an eLORAN transmitter that may transmit data over an eLORAN data channel and may transmit a series of eLORAN navigation RF pulses. An eLORAN control station may generate station specific eLORAN data and non-station specific eLORAN data, divide the non-station specific eLORAN data into non-specific eLORAN data subsets, and cause each eLORAN station to transmit the station specific eLORAN data and a corresponding non-station specific eLORAN data subset over the eLORAN data channel in a manner to optimize data throughput.