PULSED WIRELESS GPS-DENIED POSITIONING/NAVIGATION/TIMING SYSTEM

Abstract

This invention describes a Spatial Intelligence System that provide radio positioning/navigation with additional spatial data in support of automation, machine learning and inference-based systems. More specifically and in particular, the present invention, is such a radio positioning/navigation system that integrates, correlates with or obviates the need of the global navigation satellite systems (GNSS) with a Pulsed Wireless Location System (PWLS) to provide positioning/navigation/timing data either within a line-of-sight barrier using an ad-hoc coordinate system, a direct line of sight of GNSS beacon geographic coordinate system or a ad-hoc translation to geographic coordinate system. The system generically offers the ability to use a low cost tag or location device with anchor processing or a higher cost, higher capability tag or location device with local processing simultaneously.

Claims

1. System to determine the location and navigational movement of a tag/device on or near the surface of the earth comprising: at least three anchors, each anchor located at an arbitrary geographical location indoors or outdoors, each anchor listening for pulsed location data and signals from distinct source transceiver/processor tags/devices, listening for pulsed location data and signals from adjacent said anchors and transmitting pulsed location data and signals to other said anchors and/or transceiver/processor tags/devices, a transceiver/processor associated with each said anchor comprising, a first transceiver for receiving said pulsed location data and signals from a single or multiplicity of source transceiver/processor anchors or source transceiver/processor tags/devices, and for transmitting pulsed location data and signals to a single or multiplicity of source transceiver/anchor anchors or source transceiver/anchor tags/devices and forwarding processed pulsed location data and signals to a central server for calculation, consumption and storage, a processor coupled to said first transceiver to measure and calculate the location/distance of source transceiver/processor tag's/device's pulsed location data and signals, or other transceiver/processor anchors and prepare for relay to a central server for calculation, consumption and storage, a tag/device be located on or near the surface of the earth either listening for pulsed location data and signals from said anchors or transmitting for pulsed location data and signals too said anchors, a transceiver/processor associated with each said tag/device unit, said transceiver/processor comprising, a first transceiver for receiving pulsed location data and signals from said anchors and/or transmitting pulsed location data and signals, a processor coupled to said first transceiver to measure and calculate the location/distance of source transceiver/processor anchors pulsed location data and signals, or generate pulsed location data and signals for transceiver/processor anchors, a central cloud-based, local based or anchor colocated transceiver/processor/storage element for reception of location data from said anchors, multi-lateration calculation of and storage of location solutions for application or user data consumption.

2. The apparatus of claim 1 wherein a first antenna exterior to or interior to a line-of-sight barrier collects data for the transceiver/processor transmitted by said anchors or tags/devices,

3. The apparatus of claim 1 wherein each of said at least three anchors is ground based and mounted at an elevation, at least one of said at least three anchors disposed at an elevation different from the others of said anchors.

4. The apparatus of claim 1 wherein each of said at least three anchors is utilized for location in two dimensions, one or more additional anchors utilized for three dimensions.

5. System to determine the location and navigational movement of a tag/device on or near the surface of the earth comprising: at least three anchors, each anchor located at a surveyed geographical location, each anchor listening for pulsed location data and signals from distinct source transceiver/processor tags/devices, listening for pulsed location data and signals from adjacent said anchors and transmitting pulsed location data and signals to other said anchors and/or transceiver/processor tags/devices, a transceiver/processor associated with each said anchor comprising, a first transceiver for receiving said pulsed location data and signals from a single or multiplicity of source transceiver/anchor anchors or source transceiver/processors tags/devices, and for transmitting pulsed location data and signals to a single or multiplicity of source transceiver/processors anchors or source transceiver/processors tags/devices and forwarding processed pulsed location data and signals to a central server for calculation, consumption and storage, a processor coupled to said first transceiver to measure and calculate the location/distance of source transceiver/processor tag's/device's pulsed location data and signals, or other transceiver/processor anchors and prepare for relay to a central server for calculation, consumption and storage, a tag/device be located on or near the surface of the earth either listening for pulsed location data and signals from said anchors or transmitting for pulsed location data and signals too said anchors, a transceiver/processor associated with each said tag/device unit, said transceiver/processor comprising, a first transceiver for receiving pulsed location data and signals from said anchors and/or transmitting pulsed location data and signals, a processor coupled to said first transceiver to measure and calculate the location/distance of source transceiver/processor anchors pulsed location data and signals, or generate pulsed location data and signals for transceiver/processor anchors, a central cloud-based, local based or anchor colocated transceiver/processor/storage element for reception of location data from said anchors, multi-lateration calculation of and storage of location solutions for application or user data consumption.

6. System to determine the location and navigational movement of a tag/device on or near the surface of the earth comprising: a system of earth-orbiting satellites, each satellite transmitting distinct time and position data identifiable with said satellite, at least three anchors, each anchor located at a global coordinate location, each anchor listening for pulsed location data and signals from distinct source transceiver/processor tags/devices, listening for pulsed location data and signals from adjacent said anchors, listening to GNSS satellites location data and signals and transmitting pulsed location data and signals to other said anchors and/or transceiver/processor tags/devices, a transceiver/processor associated with each said anchor comprising, a first transceiver for receiving said pulsed location data and signals from a single or multiplicity of source transceiver/processors anchors or source transceiver/processors tags/devices, and for transmitting pulsed location data and signals to a single or multiplicity of source transceiver/processors anchors or source transceiver/processors tags/devices and forwarding processed pulsed location data and signals to a central server for calculation, consumption and storage, a GNSS receiver for receiving and analyzing said distinct time and position data transmitted by at least three of said earth-orbiting satellites, a processor coupled to said first transceiver to measure and calculate the location/distance of source transceiver/processor tag's/device's pulsed location data and signals, or other transceiver/processor anchors and prepare for relay to a central server for calculation, consumption and storage, a tag/device be located on or near the surface of the earth either listening for pulsed location data and signals from said anchors or transmitting for pulsed location data and signals too said anchors, a transceiver/processor associated with each said tag/device unit, said transceiver/processor comprising, a first transceiver for receiving pulsed location data and signals from said anchors and/or transmitting pulsed location data and signals, a processor coupled to said first transceiver to measure and calculate the location/distance of source transceiver/processor anchors pulsed location data and signals, or generate pulsed location data and signals for transceiver/processor anchors, a central cloud-based, local based or anchor colocated transceiver/processor/storage element for reception of location data from said anchors, multi-lateration calculation of and storage of location solutions for application or user data consumption.

7. System to determine the location and navigational movement of a tag/device on or near the surface of the earth comprising: a system of earth-orbiting satellites, each satellite transmitting distinct time and position data identifiable with said satellite, at least three anchors, each anchor located at global coordinates location, each anchor listening for pulsed location data and signals from distinct source transceiver/processor tags/devices, listening for pulsed location data and signals from adjacent said anchors, listening to GNSS satellites location data and signals and transmitting pulsed location data and signals to other said anchors and/or transceiver/processor tags/devices, a transceiver/processor associated with each said anchor comprising, a first transceiver for receiving said pulsed location data and signals from a single or multiplicity of source transceiver/processors anchors or source transceiver/processors tags/devices, and for transmitting pulsed location data and signals to a single or multiplicity of source transceiver/processors anchors or source transceiver/processors tags/devices and forwarding processed pulsed location data and signals to a central server for calculation, consumption and storage, a processor coupled to said first transceiver to measure and calculate the location/distance of source transceiver/processor tag's/device's pulsed location data and signals, or other transceiver/processor anchors and prepare for relay to a central server for calculation, consumption and storage, a tag/device be located on or near the surface of the earth either listening for pulsed location data and signals from said anchors, listening for GNSS location data and signals or transmitting for pulsed location data and signals too said anchors, a transceiver/processor associated with each said tag/device unit, said transceiver/processor comprising, a first transceiver for receiving pulsed location data and signals from said anchors and/or transmitting pulsed location data and signals, a GNSS receiver for receiving and analyzing said distinct time and position data transmitted by at least three of said earth-orbiting satellites, a processor coupled to said first transceiver to measure and calculate the location/distance of source transceiver/processor anchors pulsed location data and signals, or generate pulsed location data and signals for transceiver/processor anchors, a central cloud-based, local based or anchor colocated transceiver/processor/storage element for reception of location data from said anchors, multi-lateration calculation of and storage of location solutions for application or user data consumption.

8. A method of synchronizing timing to ensure course multi-nanosecond accuracy generated by a anchor device wherein the at least one reference transmitter incorporates timing information in its pulsed location data and signals, said method comprising the steps of said other anchor; a) receiving and interpreting at least one anchor pulsed location signal b) updating a delay locked loop to maintain synchronization stability c) determining a relative differential timing between periodic transmitted signals and received signals to establish a propagation delay between said transmitter and said anchor device; d) Communicating relative anchor delays to anchors in range

9. A method of determining exacting distance by combining course timing accuracy with precision signal processing phase measurement of a known unique, spectrally rich pulse, said method comprising the steps of said other anchor or tag/device: a) Updating periodic course timing updates b) Receiving pulse information c) Aligning pulse with a known reference pulse d) Removing Carrier frequency and phase offset e) Computing fine propagation though multi-frequency phase comparison. f) Recording and forwarding information to other anchors, local or remote hosts

Description

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWING

[0045] FIG. 1 is a schematic representation of the present invention wherein location and time data is used by transceiver/processors to determine positioning/navigation information. Within the line-of-sight barrier the PWLS mobile device may transmit or receive pulsed transmissions from the PWLS anchors. The transceiver/processors may use a data link to communicate with another transceiver/processor, and/or optional host computer to provide enhanced information services. When operating in direct line of sight LOS of GNSS anchors the GNSS capability of the transceiver/processor can be used and shared with the PWLS system.

[0046] FIG. 2 is a block diagram of the transceiver/processor used in the present invention

DETAILED DESCRIPTION OF THE INVENTION

[0047] The present invention is now described with reference to the figures wherein like reference numbers denote like elements. The present invention is a system which can locate transceiver/processors 150 in real-time, with sub-meter accuracy when operating within a line-of-sight barrier 100 using PWLS anchors 130, 131, 132, 133. The PWLS anchors 130, 131, 132, 133 are shown outside or inside the line-of-sight barrier 100. In the present invention, positioning/navigation is accomplished using a transceiver/processor 150 which utilizes PWLS hardware but optionally standard and/or modified GNSS hardware. The PWLS and GNSS systems can be integrated and correlated using commercially available software with a data processor or cloud Processor. The data processor is part of the transceiver/processor 150 which is described fully in FIG. 2.

[0048] In describing the present invention, those skilled in the art and familiar with the instant disclosure of the present invention will recognize additions, deletions, modifications, substitutions, and other changes which will fall within the purview of the subject inventions and claims.

[0049] FIG. 1 illustrates the general configuration of the present invention of a positioning/navigation system which is operating within a line-of-sight barrier 100 utilizing PWLS anchors. The line-of-sight barrier 100 may be a solid or non-solid barrier. Examples of a solid line-of-sight barrier 100 include, but not limited to, the roof of a structure, a heavy tree canopy, steep and narrow canyon walls, the walls of tall buildings, or within any enclosure. Examples of non-solid line-of-sight barriers 100 would include, but are not limited to, atmospheric anomalies, magnetic fields, etc. The basic necessary elements of this system used to determine the positioning and navigational coordinates of a transceiver/processor 150 operating within a line-of-sight barrier 100 by using PWLS anchors 130, 131, 132, 133 accurately surveyed, relatively surveyed or arbitrary to locations relative to the user's choice of system coordinates, and transceiver/processors 150 operating within a line-of-sight 100 by using PWLS anchors 130, 131, 132, 133 and optionally transceiver/processors 150 operating in direct line of sight of GNSS anchors 101, 102, 103, 104.

[0050] These PWLS anchors 130, 131, 132, 133 may be located outside, or within a line-of-sight barrier 100. For clarity, the PWLS anchors 130, 131, 132, 133 are shown both located inside or outside the line-of-sight barrier 100, mounted on walls or poles. The PWLS anchors 130, 131, 132, 133 are arranged in a geometrical pattern that is important for accurate multi-lateration with either a two or three-dimensional positioning/navigation system, as applicable. Specifically, it should be noted that in a two-dimensional system the operating centers of the anchors can be located co-linear, and in a three-dimensional system the operating centers of the anchors are not all located co-linear or co-planar.

[0051] The transmission paths 140, 141, 142, 143 are the shortest distances from the fixed, known location, PWLS anchors 130, 131, 132, 133 to any transceiver/processor 150 which is operating within the line-of-sight barrier 100. The transceiver/processor 150 uses the positioning/navigation data received from the PWLS anchors 130, 131, 132, 133 to collect data for positioning and navigation.

[0052] This positioning and navigation data may be optionally transmitted via radio transmission path 410 to a host computer 420 for further analysis or use. Unlike GNSS systems, radiating PWLS signals simultaneously from multiple anchors is subject to a “near-far” problem. This problem arises because of the large variation of the user-to-broadcast beacon range. The broadcast power from PWLS anchors 130, 131, 132, 133 varies a great deal; it is inversely proportional to the square of the transceiver/processor's 150 distance from the broadcast anchors 130, 131, 132, 133, and can overwhelm incoming PWLS beacon signals. The PWLS system overcomes the ‘rear-far” problem by sequencing PWLS in Beacon transmitting versions of the invention or through multiple access methods in a Beacon receiving versions of the invention using anchors 130, 131, 132, 133 wirelessly communicating to processor resources 420.

[0053] An alternative and possibly preferred method of operation uses a transmission from the transceiver/processor 150 to the anchors 130,131,132,133. This enables a low power, low cost transceiver/processor 150. The anchors can communicate via 160,161,162 to anchor 131 for location determination or use access link 410 to utilize cloud/server resource 420.

[0054] PWLS anchors 130, 131, 132, 133 are selectively located at fixed, known or relative locations relative to the user's choice of system coordinates. The radio transmission paths 140, 141, 142, 143 are the shortest distances from the PWLS anchors 130, 131, 132, 133 to the transceiver/processor 150 which is operating within a line-of-sight barrier 100. In order to calculate the position of a transceiver/processor 150 operating within a line-of-sight barrier 100, normal vector geometry techniques are utilized by the PWLS portion of the transceiver/processor 150. The position/navigation solution of the transceiver/processor 150 operating within a line-of-sight barrier 100, is relative to the location of the PWLS anchors 130, 131, 132, 133. The solution may be output to any global or local co-ordinate system in any standard Cartesian X,Y,Z coordinates, latitude/longitude/altitude, or any other customized coordinate system.

[0055] The coordinates which represent position, or discreet locations, which can be averaged over time for navigation purposes, may be transferred via data link 410 to the optional host computer 420. The following are examples, but not limited to, the enhanced information services provided by the optional host computer 420: [0056] GIS maps for two- and/or three-dimensional positioning and navigational purposes. [0057] Database for positioning and navigational analysis.

[0058] Optionally, the system's accuracy and integrity can be verified and calibrated by comparing the transceiver/processors 150 calculated position to a fixed, known position at scheduled or random intervals when located in direct line of sight of GNSS anchors 101, 102, 103, 104, and within or without a line-of-sight barrier 100 when using PWLS anchors 130, 131, 132, 133.

[0059] While the present invention describes a system for providing integrated and correlated GNSS and PWLS data to transceiver/processor 150 operating either in direct line of sight of GNSS anchors 101, 102, 103, 104, or within a line-of-sight barrier 100 when using PWLS anchors 130, 131, 132, 133 it is contemplated that variations and modifications will be developed within the teaching of the present disclosure.

[0060] FIG. 2 illustrates the general configuration of a transceiver/processor 150 used in the present invention. The PWLS transceiver 153 portion of the transceiver/processor 150 receives PWLS beacon signals 130, 131, 132, 133 via radio transmission paths 140, 141, 142, 143 via transceiver antenna 151. The PWLS transceiver 153 processes the PWLS beacon signals 130, 131, 132, 133 received via radio transmission paths 140, 141, 142, 143 or initiates the transmission for the purpose of determining positioning/navigation data. This data if locally determined is transmitted to the solution software 155 for integrating and correlating or transmitting the data in coordination or not with the optional GNSS receiver data. The GNSS receiver 154 portion of the transceiver/processor 150 receives GNSS beacon signals 101, 102, 103, 104 via radio transmission paths 105, 106, 107, 108, 113 via GNSS receiver antenna 152. The GNSS receiver 154 processes the direct line of sight GNSS beacon signals 101, 102, 103, 104 via radio transmission paths 105, 106, 107 and 108. This data is transmitted to the solution software 155 for integrating and correlating with PWLS receiver 153 data. The solution software 155 integrates and correlates the PWLS and GNSS data, and transmits to an optional host computer via data link 410. The solution software 155 can be programmed to define a three-dimensional space which encompasses at a minimum the line-of-sight barrier 100. This space is continuously monitored by the transceiver/processor 150 and used to activate the PWLS transceiver 153 for use within a line-of-sight barrier 100, and to activate the GNSS receiver 154 indirect line of sight of GNSS anchors 101, 102, 103, 104.