KR20130113481A - Wide area positioning system - Google Patents

Abstract

The positioning system and method include a network of transmitters that broadcast a positioning signal comprising range signals and positioning system information. The range signal includes information used to measure the distance to the transmitter broadcasting the range signal. A reference sensor array comprising at least one reference sensor unit is located at a known location. The remote receiver includes an atmospheric sensor that collects atmospheric data at the position of the remote receiver. The positioning application is coupled to the remote receiver and uses the atmospheric data and reference data from the reference sensor arrayer to generate a reference pressure estimate at the position of the remote receiver. The positioning application calculates the position of the remote receiver using information derived from at least one of the positioning signal and the satellite signal, which are signals of the reference pressure estimation and satellite-based positioning signal system. Position includes altitude.

Description

Wide area positioning system {WIDE AREA POSITIONING SYSTEM}

Related application

This application claims the benefit of US patent application Ser. No. 61 / 413,170, filed November 12, 2010.

This application is a partial continuing application of US Patent Application No. 12 / 557,479, filed September 10, 2009.

Field of technology

The present invention generally relates to positioning systems. More particularly, the present invention relates to a wide area positioning system.

Positioning systems such as Global Positioning System (GPS) have been in use for many years. However, these conventional positioning systems may have degraded performance in poor signal conditions.

Figure 1 is a block diagram of a wide area positioning system in an embodiment.
2 is a block diagram of a synchronized beacon, in an embodiment.
3 is a block diagram of a positioning system using a repeater configuration, in an embodiment.
4 is a block diagram of a positioning system using a repeater configuration, in an alternative embodiment.
5 illustrates tower synchronization, in an embodiment.
6 is a block diagram of a well controlled GPS PPS generator in an embodiment.
7 is a well controlled GPS oscillator in an embodiment.
8 shows, in an embodiment, a signal diagram for counting the time difference between a signal that causes the PPS and the analog section of the transmitter to transmit data.
9 is a block diagram of a differential WAPS system, in an embodiment.
10 illustrates visual transmission in a common view manner in an embodiment.
11 illustrates a two-way visual transmission in an embodiment.
12 is a block diagram of a receiver unit in an embodiment.
13 is a block diagram of an RF module in an embodiment.
14 illustrates signal upconversion and / or signal downconversion in an embodiment.
FIG. 15 is a block diagram of a receiver system, in an embodiment, having a plurality of receive chains, one of which may be temporarily used to receive and process WAPS signals.
16 is a block diagram illustrating clock sharing in a positioning system, in an embodiment.
17 is a block diagram of an auxiliary conveyor from WAPS to GNSS receiver in an embodiment.
18 is a block diagram illustrating transmission of assistance information from a GNSS receiver to a WAPS receiver in an embodiment.
19 is an exemplary configuration in which, in an embodiment, WAPS assistance information is provided from a WAPS server.
20 is a flowchart for estimating the fastest arrival path at h [n], in an embodiment.
21 is a flowchart for estimating a reference correlation function in an embodiment.
22 is a flowchart for estimating noise sub-space in an embodiment.
23 is a flowchart for estimating the noise sub-space in an alternative embodiment.
24 is a flow chart for estimating noise sub-space in another alternative embodiment.
25 is a flowchart for estimating the noise sub-space in another alternative embodiment.
FIG. 26 is a flowchart for estimating noise sub-space in another alternative embodiment. FIG.
27 is a block diagram of a reference altitude pressure system in an embodiment.
28 is a block diagram of a WAPS including a reference altitude pressure system in an embodiment.
29 is a block diagram of hybrid position estimation using range measurements from various systems, in an embodiment.
30 is a block diagram of hybrid position estimation using position estimation from various systems, in an embodiment.
31 is a block diagram of hybrid position estimation using a combination of range estimation and position estimation from various systems in an embodiment.
32 is a flowchart for determining a hybrid position solution in an embodiment, wherein position / speed estimation from a WAPS / GNSS system corrects the drift bias of the sensor when the quality and / or speed estimation of the GNSS / WAPS position is good. It is fed back to help.
FIG. 33 is a flowchart for determining a hybrid position solution, in an embodiment, wherein sensor parameters (such as bias, scale, and drift) are estimated as part of position / velocity calculation in a GNSS and / or WAPS unit without explicit feedback. .
34 is a flowchart for determining a hybrid position solution, in an embodiment, wherein sensor calibration is remote from the individual position calculation units.
35 is a flowchart for a hybrid position solution, in an embodiment, wherein sensor parameter estimates are made as part of the state of the individual position calculation units.
36 illustrates information exchange between WAPS and another system, in an embodiment.
FIG. 37 is a block diagram illustrating the exchange of location, frequency estimation and time estimation between an FM receiver and a WAPS receiver in an embodiment.
FIG. 38 is a block diagram illustrating exchanging location, time estimate, and frequency estimate between a WLAN / BT transceiver and a WAPS receiver in an embodiment.
FIG. 39 is a block diagram illustrating exchanging location estimation, time estimation, and frequency estimation between a cellular transceiver and a WAPS receiver in an embodiment.
40 illustrates a parallel complex correlator architecture in an embodiment.
FIG. 41 illustrates, in an embodiment, a 32-bit shift register execution derived from a 16-bit shift register primitive with parallel random access read capability.
42 illustrates the speed of the shift operation and the readout operation in the embodiment.
43 shows a structure for an adder tree that executes a 1023 x n-bit adder in an embodiment.
44 is a block diagram of session key setup, in an embodiment.
45 is a flowchart for encryption in an embodiment.
46 is a block diagram of a security architecture for encryption in an alternative embodiment.

Systems and methods are described to determine the position of the receiver. The positioning system of an embodiment includes a transmitter network that includes a transmitter that broadcasts a positioning signal. The positioning system includes a remote receiver for capturing and tracking positioning signals and / or satellite signals. The satellite signal is a signal of a satellite-based positioning system. The first mode of the remote receiver uses terminal-based positioning in which the remote receiver calculates the position using the positioning signal and / or the satellite signal. The positioning system includes a server connected to a remote receiver. The second mode of operation of the remote receiver includes network-based positioning where the server calculates the position of the remote receiver from the positioning signal and / or the satellite signal, wherein the remote receiver receives a positioning signal and / Receives the signal and transmits it to the server.

A method for determining a position of an embodiment includes receiving at a remote receiver at least one of a positioning signal and a satellite signal. The positioning signal is received from a transmitter network comprising a plurality of transmitters. The satellite signal is received from a satellite-based positioning system. The method includes determining a position of a remote receiver using one of terminal-based positioning and network-based positioning. The terminal-based positioning includes calculating the position of the remote receiver at a remote receiver using at least one of a positioning signal and a satellite signal. The network-based positioning includes calculating the position of the remote receiver at a remote server using at least one of a positioning signal and a satellite signal.

In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the systems and methods described and to explain them. However, those skilled in the art will appreciate that these embodiments may be practiced without one or more of the specific details, or with other configurations, systems, or the like. In other instances, well-known structures or acts are not shown or described in the detailed description in order to avoid obscuring aspects of the disclosed embodiments.

Figure 1 is a block diagram of a wide area positioning system in an embodiment. A positioning system (also referred to herein as a wide area positioning system (WAPS) or "system") is a receiver unit (and optional) that captures and tracks a network of synchronized beacons, beacons and / or global positioning system (GPS) satellites. A server that includes a location calculation engine (including the location computation engine) and tower indexes, billing interfaces, and proprietary encryption algorithms (and, optionally, a location search calculation engine). It includes. The system operates in an authorized / unlicensed band of operations and transmits dedicated waveforms for location and navigation purposes. The WAPS system can be used with other positioning systems for a better location solution, or the WAPS system can be used to support other positioning systems. In the context of this document, a positioning system is to find one or more latitude, longitude and altitude coordinates.

In this document, whenever 'GPS' is mentioned, it is a broader sense of global navigation satellite system (GNSS), which is Galileo and compass / as well as other existing satellite positioning systems such as Glonass. It may include future positioning systems such as Compass / Beidou.

2 is a block diagram of a synchronized beacon, in an embodiment. Synchronized beacons (also referred to herein as beacons) of an embodiment form a CDMA network, each beacon having a pseudo random number with good cross-correlation properties such as a gold code sequence with a data stream of embedded auxiliary data. Pseudo Random Number (PRN) sequence is transmitted. Alternatively, the sequence from each beacon transmitter may be staggered in time to a separate slot in the TDMA format.

In terrestrial positioning systems, one of the major challenges to overcome is a near-far problem, where at a receiver, a remote transmitter will be disturbed by a nearby transmitter. To address this issue, the beacon of the embodiment uses a combination of CDMA and TDMA techniques where the local transmitter uses a separate slot (TDMA) (and optionally another code (CDMA)) to alleviate near-wave problems. . Furthermore, while using different CDMA codes, the transmitter may be using the same TDMA slot. This allows wide-area expansion of the system. TDMA slots may be deterministic or random with respect to guaranteed near-wave performance, providing good average near-wave performance. In addition, the carrier signal is also offset by some Hertz (eg, part of the number of gold code iterations to improve cross-correlation), which can resolve any 'near-wave' issues by improving the cross-correlation performance of the code. have. When both towers use the same TDMA slot but use different codes, cross-correlation in the receiver can be further rejected by using interference cancellation of stronger signals before detecting weaker signals.

Another important parameter in TDMA systems is the TDMA slotting period (also called TDMA frame). Specifically, in a WAPS system, the TDMA frame period is the time period between two consecutive slots of the same transmitter. The TDMA frame period is determined by the product of the number of transmitter slots required for positioning in the coverage area and the TDMA slot period. The sensitivity need not be limited by one TDMA slot, but the TDMA slot period is determined by the sensitivity condition. One exemplary configuration may use 1 second for the TDMA frame period and 100 ms for the TDMA slot period.

In addition, the beacon of the embodiment may use a preamble containing auxiliary data, or the information may be used for channel estimation and / or forward error detection and / or correction to help make data robust . Ancillary data of an embodiment includes, but is not limited to, one or more of the following: The auxiliary data includes accurate system time at the rising or falling edge of the pulse waveform, geocode data (latitude, longitude and altitude) of the tower, geocode information around the tower and various areas within the area. Index of the sequence used by the transmitter, clock timing correction for the transmitter (optional) and neighboring transmitters, local climate correction (optional), relationship of WAPS timing to GNSS time (optional), pseudo distance resolution ( an urban environment, a quasi-urban environment, an indication of a rural environment (optional), and an offset from the index to the gold code sequence of the PN sequence to support the receiver within pseudorange resolution. In the transmitted transmission data frame, the included region includes information that damages one or a series of receivers for security and / or permission management reasons.

The transmission waveform timings of the transmissions from the various beacons and towers of the embodiment are synchronized to a common timing reference. Alternatively, the timing difference between transmissions from the various towers should be known and transmitted. The ancillary data is repeated except for the timing message to be incremented at regular intervals, at intervals determined by the number and size of data blocks. The ancillary data may be encrypted using a dedicated cryptographic algorithm, as described in detail herein. In addition, the spreading code may be encrypted for additional security. The signal is up-converted and broadcast at a predetermined frequency. The end-to-end delay at the transmitter is precisely calibrated to ensure a differential delay between beacons of less than about 3 nanoseconds. Using differential WAPS receivers in the surveyed location listening for a series of transmitters, find the relative clock correction for the transmitter.

와 관련된 최소화는 제약을 가진 주어진 커버리지 영역에 있고, 상기 제한은 커버리지 체적에 있다(커버리지 체적의 하한

및

과, 커버리지 체적의 상한

및

을 가진,

,

). 최소화될 함수는

로 기재될 수 있다. 또한, 최소화될 함수는 커버리지 영역(R_j)의 중요도(즉, 필요한 질적 성능)에 따라 가중될 수 있다.

The tower arrangement of the embodiment is optimized for coverage and positioning accuracy. The deployment of the tower will be arranged to receive the best location in the network and three or more signals from the tower at the edge of the network and the geometric dilution of precision at each of these locations (GDOP) Lt; RTI ID = 0.0 > threshold. ≪ / RTI > A software program that performs RFplanning studies will be increased to include analysis of GDOP in and around the network. GDOP is a function of receiver position and transmitter position. One way to incorporate GDOP into network planning is to prepare for optimization as follows. The minimized function is the volume integral of the square of the GDOP of the coverage volume. Volumetric integration refers to the (x, y, z) coordinates of the receiver position. n transmitter position coordinates

Is in a given coverage area with a constraint, and the limitation is in the coverage volume (the lower limit of the coverage volume

And

And the upper limit of the coverage volume

And

≪ / RTI &

,

). The function to be minimized is

. ≪ / RTI > In addition, the function to be minimized may be weighted according to the importance of the coverage area R _j (i. E., The required quality performance).

)를 출력할 것이다.Additional constraints on the tower coordinate position may be based on the position of an already available tower within a given area. In general, coordinatization of all coordinates is done in a local-level coordinate system with an average east as the positive number x, an average north as the positive number y, and an average vertical as the positive z. The software that decomposes the limited minimum problem is an optimized transmitter position (< RTI ID = 0.0 >

).

This technique can be applied to a wide area network (such as a city) or a local deployment (such as a mall). In one exemplary configuration, the network of transmitters is at a distance of approximately 30 km with a triangular / hexagonal arrangement around each metropolitan area. Each tower can emit up to a maximum power in the range of effective isotropic radiated power (EIRP) of approximately 20 W to 1 kW through the corresponding antenna. In yet another embodiment, the towers can be deployed and transmitted at power levels as low as 1 W. The frequency band of operation includes any authorized or unlicensed band within the radio spectrum. The transmit antennas of the embodiments include a forward-directional antenna or a plurality of antennas / arrays that can assist with diversity, sectoring, and the like.

Adjacent towers can be differentiated using different sequences with superior cross-correlation properties to transmit or alternatively using the same sequence at different times to transmit. These discrimination skills can be combined and applied only in a given geographic area. For example, the same sequence can be reused across the network in different geographic areas.

The local towers may be located in a given geographic area to increase the wide area network towers of the embodiment. In use, the local tower can improve the accuracy of the position. Local towers can be deployed in an environment such as a campus or in an environment away from a few tens of meters to a few kilometers for public security needs.

The towers may be placed at various heights (rather than the same height) to facilitate better qualitative altitude estimation in the location solution. Another way to add different heights to the tower, as well as transmitters with different heights at different latitudes / longitudes, is to use multiple WAPS transmitters (with different code sequences) at different heights in the same physical tower (with the same latitude and longitude) ). Note that different code sequences on the same physical tower may use the same slot, since transmitters on the same tower do not cause near-wave problems.

The WAPS transmitter may be located on an existing or new tower used as one or more other systems (e.g., a cellular tower). The WAPS transmitter deployment costs can be minimized by sharing the same physical tower or point.

To improve performance in a local area (e.g., a warehouse or mall), additional towers may be placed in that area to increase the number of transmitters used for wide coverage. Alternatively, a repeater may be placed in the area of interest to lower the overall transmitter installation cost.

Note that the transmit beacon signal used with the positioning discussed above need not be exclusively a transmitter installed for WAPS, and that other systems originally synchronized in time or synchronization may be signals from an increased system via an additional timing module . Alternatively, the signal may come from a system in which relative synchronization can be determined via the reference receiver. These systems may, for example, already evolve or may be newly developed with additional synchronization capabilities. An example of such a system could be a digital TV and analog TV or a broadcast system such as MediaFlo.

When a WAPS network is configured, some transmission points may be better in the network than others determined by design or by field measurements (clutter, height of the beacon above power level). This beacon can be identified to the receiver directly or indirectly by the coded data bits, which indicates the "quality" of the beacon, and then the receiver weights the received signal from this beacon use.

3 is a block diagram of a positioning system using a repeater configuration, in an embodiment. The repeater configuration

1) Common WAPS receive antenna (antenna 1)

2) RF power amplifier and splitter / switch connected to various WAPS transmitter antennas (local antennas 1-4)

3) Includes the components of the WAPS user receiver.

Antenna 1 receives an acknowledgment signal, amplifies it, and distributes (switches) it to local antenna 1-4. (Preferably) switching is done in some way so that there is no overlap (collision) of transmissions from different repeaters at the user receiver. The collision of transmissions can be prevented through the use of a guard interval. The amount of cable delay known from the switch to the transmit antenna can be estimated by adding a delay amount at the repeater-amplifier transmitter to equalize the overall amount of delay for all local repeaters, or by estimating from a particular repeater by the amount of cable delay at the user- By adjusting the time of arrival. When TDMA is used in a wide area WAPS network, the repeater slot switching rate is selected to occur in each repeater slot in each wide slot (each slot will include one wide WAPS tower). One exemplary arrangement would use the same repeater slot period as a plurality of wide-area TDMA frame periods. Specifically, if the wide-area TDMA frame is 1 second, the repeater slot can be a constant second. This configuration is the simplest, but due to the RF signal distribution on the cable, it is only appropriate for deployment in a small, limited area. The user WAPS receiver uses the arrival time-difference when calculating the location and listening to the repeater tower to operate under a stationary (or quasi-stationary) estimate during the repeater slotting period. The fact that transmission from the repeater is automatically detected by the fact that each WAPS tower signal represents the same timing difference (jump) from one repeater slot to the next.

4 is a block diagram of a positioning system using a repeater configuration, in an alternative embodiment. In this configuration, each repeater includes a WAPS repeater-receiver and an associated coverage-enhancement WAPS transmitter (e.g., may be room-temperature) with a local antenna. The WAPS repeater receiver must be able to extract WAPS system timing information as well as the WAPS data stream corresponding to one wide area WAPS transmitter. The WAPS system timing and data corresponding to one wide area WAPS transmitter is delivered to the corresponding local area WAPS transmitter and the local area WAPS transmitter can retransmit the WAPS signal (e.g., using the same slot as another code). The transmitter may include additional data such as latitude, longitude and altitude of the local antenna in the data transmission. In this configuration, the operation of the WAPS user receiver (range measurement and position measurement) may be apparent to the fact that the signal comes from a repeater. Note that the transmitter used in the repeater is less expensive than the entire WAPS beacon in that the transmitter used in the repeater does not need to have a GNSS timing unit to extract the GNSS timing.

Depending on the operating mode of the receiver unit, a terminal-based positioning or network-based positioning is provided in the system. In terminal-based positioning, the receiver unit calculates the position of the user with respect to the receiver itself. This is useful for applications such as turn-by-turn direction, geo-fencing, and the like. In network-based positioning, the receiver unit receives a signal from a tower and communicates or transmits the received signal to a server to calculate the location of the user. This is useful for applications such as asset tracking and management by E911 and central servers. Location calculations at the server can be done in near real time or post-processing with data from many sources (eg, GNSS, differential WAPS, etc.) to improve accuracy on the server. Alternatively, the WAPS receiver provides and obtains information from a server (similarly, for example, a Secure User Place Server (SUPL)) to facilitate network-based positioning.

The towers of the embodiments maintain synchronization with one another, either by themselves or using network-based synchronization. 5 illustrates, in an embodiment, tower synchronization. The following parameters are used to describe the aspect of synchronization.

System transmitter time = t _{WAPS - tx}

Absolute time reference = t _{WAPS _ abs}

Time adjustment = Δ _system = t _{WAPS - tx} - t _{WAPS _ abs}

Note that it is not important to synchronize the WAPS system time to an absolute time reference. However, all WAPS transmitters are synchronized to a common WAPS system time (i.e., relative timing synchronization of all WAPS transmitters). The timing correction of each transmitter for the WAPS system time (if any) should be calculated. Timing correction should be possible for the receiver either via direct air WAPS support transmissions or some other means of communication. The support may be communicated to the WAPS receiver via, for example, broadcast data from a cellular (or other) modem or system (e.g., iridium or digital TV or media flow or broadcast channel of a cellular system). Alternatively, the timing correction may be sent to the server and used to calculate the position at the server. The description of the tower synchronization in the embodiment will be described later.

In network-based synchronization, the towers are synchronized with each other in the local area. Generally, synchronization between towers, as described in detail herein, is accomplished by the use of any type of modulation on a spread using a carrier and / or spreading code for better time resolution Modulating the carrier thereby modulating the carrier) and synchronizing to the pulse edge on the receiver.

In its own synchronous mode of operation, the towers are synchronized using all local timing references. The timing reference may be, for example, one of a GPS receiver, a high precision clock source (e.g., circular), a local time source (e.g., a well-regulated GPS clock), and other networks of reliable clock sources. The use of signals from precisely time-synchronized XM satellite radio, LORAN, eLORAN, TV signals, etc. can be used as a coarse timing reference to towers. As an example in one embodiment, FIG. 6 is a block diagram of a PPS pulse source from a GPS receiver used to fine tune an accurate and stable timing source such as rubidium, cesium or hydrogen master in an embodiment. . Alternatively, as shown in FIG. 7, a well controlled GPS rubidium clock oscillator can be used.

Referring to Figure 6, the time constant of the PLL of the correct clock source is set to a sufficiently large number (e.g., in the range of 0.5-2 hours), which results in better short term stability (or equivalent short term GPS PPS change). GPS-PPS provides long term stability and wider 'coarse' synchronization. The transmitter system continuously monitors these two PPS pulses (from the GPS unit and the correct clock source) and reports any anomalies. Anomalies may exist after two PPS circles have been locked for a few hours, one of the PPS circles leaving another source with a given time-threshold determined by the tower network administrator. The third local clock source may be used to detect anomalies. In case of anomalous behavior, a PPS signal indicating correct behavior is selected by the transmitter system and reported back to the monitoring station. Also, the instantaneous time difference between the PPS input and the PPS output of the correct time source (as reported by the time source) can be sent to the server to be used when broadcasted or post processed by the transmitter.

In a transmitter system, the time difference between the rising edge of the PPS pulse input and the rising edge of the signal causing the analog section of the transmitter to transmit data is measured using internally generated high speed clock. 8 shows a signal diagram for counting the time difference between the PPS signal and the signal that causes the analog section of the transmitter to transmit data, in an embodiment. The coefficient, which means the difference, is sent to each receiver as part of the data stream. The use of a highly stable clock reference, such as a rubidium clock (this clock is stable over hours / days), allows the system to store this correction for each tower on the device in the event that the device no longer modulates certain tower data / Transmission. This correction data can also be sent to the device via a communication medium if one is possible. The correction data from the tower may be monitored by a receiver mounted on a tower that listens to a reference receiver or other tower broadcast, and may be communicated to a central server. The tower may also periodically send this count information to a central server, which can spread this information over a communication link to devices near their towers. Alternatively, the server may transmit information from the tower (e.g., within the local) to the surrounding towers so that this information may be broadcast as support information for the surrounding towers. Support information for the surrounding towers may include the location for the surrounding towers (because the towers are static) and timing correction information.

As with the transmitter timing correction of the embodiment, when true PPS is available, it can be used to estimate multipath biasing and accurate real range. The receiver estimates the range using, for example, a sample of the signal from the ADC. The receiver of the embodiment uses the high-speed clock to determine the difference between the occurrence of the PPS and the first edge of the sample ADC clock. This allows to estimate the real range of the receiver more accurately than the sample clock resolution of the ADC by allowing the receiver to modify the difference between when the estimated PPS is generated and when the ADC samples the data based on the ADC sample . In the context discussed in this paragraph, the PPS speaks an aligned pulse or the edge of the pulse is known as an offset from a standard timing basis, such as a GPS pulse-per-second (PPS) timing.

In another embodiment, the wide-area differential positioning system can be used to correct timing errors from the tower. 9 is a block diagram of a differential WAPS system, in an embodiment. The reference receiver (located at the pre-illuminated position) is used to receive signals from all nearby towers. Although the principle of differential GPS is applied to this method, it is unusual to address the effects of non-line-of-sight in the case of terrestrial waves. The pseudorange (code phase) measurement of the reference receiver for each tower is time-tagged and sent to the server. The received code phase-based range measured for towers j and i in the reference receiver may be described as follows.

는 송신 타워 j 지리적 범위에 대한 기준 수신기이고, dt _ref 와 dt ^j 는 각각 공통 기준 시간(즉, GPS 시간)에 대하여 각각의 안테나를 참조한 기준 수신기와 송신 클럭 오프셋이며, c 는 광속이고,

는 측정 잡음이다.here,

Where dt _ref and dt ^j are the reference receiver and the transmitted clock offset referencing each antenna for a common reference time (i.e., GPS time), c is the speed of light,

Is the measurement noise.

The clock timing difference, dt ⁱ - dt ^j , between the towers ( i and j ) is calculated by subtracting the two equations and using the known geographic range from the reference receiver to the transmit tower. This can eliminate timing differences between transmitters in rover / mobile station measurements. When the clock used in the transmitting tower relatively stable one, better time difference - there are ⁽ⁱ dt dt ^j) averaging over time (averaging over time) to obtain the estimate it may be used.

Also, the pseudorange measurements of the rover / mobile station are time tagged and sent to the server. The received code phase-based range measured at the rover / mobile station is

일 수 있다.

Lt; / RTI >

If the two equations are subtracted and rearranged, the result is

이다.

와

는 측정된 양이고, 양(dt ⁱ - dt ^j )은 기준 수신기 측정으로부터 계산된다. 각각의

와

는 수신기의 알려지지 않은 좌표와 송신 타워(i와 j)의 알려진 좌표의 측면에서 기재될 수 있다. 3개의 범위 측정으로, 상기와 같이 2개의 범위 차이 방정식이 형성되어서 2-차원 위치 솔루션을 얻을 수 있고, 4개의 범위 측정으로, 상기와 같이 3개의 범위 차이 방정식이 형성되어서 3-차원 위치를 얻을 수 있다. 추가 측정으로, 적어도 2차 솔루션이 사용되어 잡음 양

과

의 효과를 최소화하는데 사용될 수 있다.

to be.

Wow

Is the measured quantity, and the quantity ( dt ⁱ - dt ^j ) is calculated from the reference receiver measurement. Each

Wow

May be described in terms of the unknown coordinates of the receiver and the known coordinates of the transmit tower ( i and j ). With the three range measurements, two range difference equations are formed as described above to obtain a two-dimensional position solution, and with four range measurements, three range difference equations are formed as described above to obtain a three-dimensional position . As an additional measure, at least a second solution is used to determine the amount of noise

and

Can be used to minimize the effect of the < / RTI >

Alternatively, the timing difference correction may be sent back to the mobile station to correct for errors in the original position and to facilitate position calculations at the mobile station. The difference correction can be applied to many transmitters, as observed by both the reference and the mobile station. The method conceptually allows the system to operate without tower synchronization or alternatively to compensate for residual clock errors in a roughly synchronized system.

Another approach is the standalone timing approach, as opposed to the differential approach described above. One way to set up timing synchronization is to receive DGPS corrections from a DGPS reference receiver in the same area by having a GPS timing receiver in each transmit tower within a particular area. A DGPS reference receiver installed at a known location sees its own clock as a reference clock, finds corrections for pseudo-range measurements, and GPS relays the track to the satellite. Generally, DGPS correction for a particular GPS satellite includes total errors due to satellite position and clock error, and ionospheric and convective layer delay amounts. This total error would be the same for any pseudo-range measurements made by other GPS receivers in the neighborhood of the DGPS reference receiver (usually within a range of about 100 Km in radius at the center of the DGPS receiver) This is because the line-in-sight between the receiver and the GPS satellites does not change significantly in the direction of this neighbor. Accordingly, a GPS receiver using a DGPS correction sent by a DGPS reference receiver for a particular GPS satellite uses the correction to remove the overall error in the pseudo-range measurement for that satellite. However, in the process, the clock bias of the DGPS reference receiver associated with the GPS time will be added to the pseudo-range measurement. However, since this clock bias is common to all DGPS pseudo-range corrections, the effect on the timing solution of the various GPS receivers will be a common bias. However, this common bias does not give a relative timing error in the timing of various GPS receivers. In particular, if these GPS receivers are timing GPS receivers (in known locations), all of them are synchronized to the clock of the DGPS reference receiver. If these GPS timing receivers drive various songcannies, the transmissions are also synchronized.

Instead of using the correction values from the DGPS reference receiver, similar corrections sent by the Wide Area Augmentation System (WAAS) satellites are used by the GPS timing receiver to synchronize the transmissions of the transmitter driven by the GPS timing receiver. The advantage of WAAS is that the reference time is GPS time itself as it is maintained by a series of precise atomic clocks rather than a DGPS reference system.

Another approach to achieving accurate time synchronization between towers over wide area is to use a time transfer technique to set the timing between pairs of towers. One technique that can be applied is called the "common view visual transmission". 10 shows, in an embodiment, a time-lapse view transmission in the ascending view mode. A GPS receiver in a transmitter with a view of a common satellite is used for this purpose. The code phase and / or carrier phase measurements from the respective towers to the common view satellite are periodically (at least every second) time-tagged by the GPS receiver and sent to the server when this measurement is analyzed.

은

GPS code observable

silver

은

과 동일한 수신기-위성 지리적 범위이고,

은 신호 수신 시간에서 수신기 안테나 위치이며,

은 신호 송신 시간에서 위성 위치를 나타내고,

와

은 각각 전리층 지연량과 대류층 지연량이고,

과

은 수신기 하드웨어 그룹 지연량과 위성 하드웨어 그룹 지연량이다. 변수

는 안테나, 상기 안테나와 수신기를 연결하는 케이블 및 수신기 자체의 지연량의 효과를 포함한다. 더구나, dt _p 와 dt ⁱ 는 각각 GPS 시간과 관련된 수신기 클럭 오프셋과 위성 클럭 오프셋이고, c 는 광속이고,

은 측정 잡음이다.. ≪ / RTI > here,

silver

Satellite geographical range < RTI ID = 0.0 >

Is the position of the receiver antenna at the signal reception time,

Represents the satellite position in the signal transmission time,

Wow

Are respectively an ionospheric delay amount and a convection layer delay amount,

and

Is the receiver hardware group delay and the satellite hardware group delay. variable

An antenna, a cable connecting the antenna and the receiver, and an effect of the delay amount of the receiver itself. Further, dt _p and dt ⁱ are the receiver clock offset and satellite clock offset, respectively, associated with the GPS time, c is the speed of light,

Is the measurement noise.

)을 계산하고, 이는

와 같이, 두 개의 수신기("p"와 "q"로 불리움)에서 동시에 측정된 코드 관측들 사이의 차이이다. 단일차이 관측을 계산하는데, 위성의 클럭 에러뿐만 아니라 위성의 그룹 지연량도 상쇄된다. 또한, 상기 방정식에서, 대류층과 전리층 변화는 상쇄된다(또는 가령, 수신기 분리가 클 경우에 모델링될 수 있음). 수신기들 사이의 그룹 지연량이 교정되고 나면, 수신기 클럭들 사이의 원하는 시간 차이 c( dt _p - dt _q )는 방정식으로부터 찾을 수 있다. 복수의 시간 및 위성 측정에 걸친 단일차이 추정된 시간 차이의 질을 더욱 개선하는데 결합될 수 있다.The common view method of time transfer is a single difference code observation (

), ≪ / RTI >

(Referred to as "p" and "q " In calculating a single difference observation, not only the clock error of the satellite but also the amount of group delay of the satellite is canceled. Also, in this equation, the convective and ionospheric variations are canceled (or, for example, can be modeled if the receiver separation is large). Once the amount of group delay between receivers has been calibrated, the desired time difference c ( dt _p - dt _q ) between receiver clocks can be found from the equation. Can be combined to further improve the quality of a single difference estimated time difference across multiple time and satellite measurements.

으로 기재될 수 있다. 초기 위상 모호성(phase ambiguity)와 정수 모호성(integer ambiguity)가 상기 방정식에 존재하기 때문에, 위상 단일 차이는 시각 전송을 직접 결정하는데 사용될 수 없다. 코드와 위상 관측의 결합된 사용은 코드로부터의 시간 차이에 대한 절대 정보와 캐리어 위상으로부터의 시간 차이의 진화에 대한 정확한 정보의 이점을 가질 수 있도록 한다. 캐리어 위상 단일 차이 내의 에러 변화는 우수한 시각 전송 추적을 야기하는 코드 위상 단일 차이보다 현저히 우수하다.In a similar manner, a single difference carrier phase equation for time transmission of the common view method

. ≪ / RTI > Since the initial phase ambiguity and the integer ambiguity exist in the above equation, the phase single difference can not be used to directly determine the time transmission. The combined use of code and phase observations makes it possible to have the advantage of the absolute information on the time difference from the code and the correct information on the evolution of the time difference from the carrier phase. The error variation within the carrier phase single difference is significantly better than the code phase single difference causing good time transmission tracking.

The resulting per-tower error for a given satellite is sent back to the tower for correction and applied to the tower, sent to the receiver via a communication link for further correction by the receiver, or broadcast with a different timing correction from the tower . In a specific example, measurements from the tower are post-processed to provide better positioning accuracy. A multi-channel timing receiver that produces carrier phase measurements from a single channel GPS timing receiver or C / A code measurement and / or from other satellite systems such as Galileo / Gonas from L1 and / or L2, For example. In a plurality of channel systems, information from a plurality of satellites in the common view system is simultaneously captured by the receiver.

An alternative mechanism in the "common view perspective transmission" is that different timing GPS receivers in the local area (each supplying the corresponding transmitter) use only a common satellite within a timing pulse derivation (e.g., one pulse per second) Or UTC) seconds of the timing pulse to be aligned. Using a common view satellite ensures that common errors in timing pulses (e.g., common GPS satellite position and clock errors and ionospheric delay and convective layer delay compensation errors) draw errors in timing pulses by approximately the same magnitude And the relative error in the timing pulse is reduced. In positioning, since only relative timing errors are critical, no server-based timing error correction is required. However, the server can give commands to various GPS receivers, and GPS satellites are used to obtain timing pulses on the GPS receiver.

와 같이 기재될 수 있고, 여기서,

와

은 타워의 송신기 지연량이고,

와

는 타워의 수신기 지연량이다. 송신기 지연량과 수신기 지연량이 교정되고나서 시간차이가 추정될 수 있다.An alternative method of time transmission is the "two-way time transmission" technique. 11 shows, in an embodiment, a two-way time transmission. Two towers are assumed to be used for time for each other. Transmissions from each of the two transmitters begin with a PPS pulse, and a time interval counter starts at the receive section of the transmit tower (WAPS receiver). The received signal is used to stop the time interval counter on both sides. The results from the time interval counter are sent to the WAPS server via a data modem link where these results are compared with the transmission time and an error in timing between the two towers can be calculated. Thus, the number of towers can be expanded. In this method, the counter measurement ? T _i in tower _i and the measurement ? T _j in tower _j And the time difference dt _ij between the clocks at i and j is

, ≪ / RTI > where < RTI ID =

Wow

Is the transmitter delay amount of the tower,

Wow

Is the receiver's delay in the tower. The time difference can be estimated after the transmitter delay amount and the receiver delay amount are corrected.

와 같은 범위 측정을 사용하여, 수신기의 지연량, 위성 클럭 에러 및 전리층/대류층 에러를 설명한 후에, GPS 시간 dt _p 에 관한 로컬 클럭의 시간 보정치가 계산된다. 수신기의 지연량

은 그룹 지연량의 측정에 의해 교정될 수 있다. GPS 위성 네비게이션 메세지로부터(복조를 통하거나 서버로부터 얻은)의 정보는 위성 타이밍 보정치를 계산하는데 사용될 수 있고, 이는 dt _i 와

의 효과를 제거한다. 마찬가지로, 대류층 지연량 효과와 이온층 지연량 효과는 외부 모델로부터의 보정치를 사용하여 최소화된다. 전리층 보정은 가령 WAAS 메세지로부터 얻을 수 있다. 대안적으로, 클럭과 전리층/대류층 보정치의 조합은 사용 가능할 때, 의사 거리에 대한 RTCM DGPS 보정치로부터 얻을 수 있다.As well as the time transmission between towers, the timing of the tower with respect to the GPS time can be found by the GPS timing receiver used in the time transmission of the common view method.

, A time correction of the local clock with respect to the GPS time dt _p is calculated after describing the amount of delay of the receiver, the satellite clock error and the ionosphere / convection layer error. The amount of delay of the receiver

Can be corrected by measuring the group delay amount. From the GPS satellite navigation information in the message (via the demodulator or obtained from the server) it may be used to calculate the satellite timing correction value, and _i which dt

Eliminate the effect. Similarly, the convective layer delay amount effect and the ion layer delay amount effect are minimized using the correction value from the external model. The ionospheric correction can be obtained, for example, from a WAAS message. Alternatively, the combination of clock and ionospheric / convective layer correction values can be obtained from the RTCM DGPS correction for the pseudorange when available.

In addition, an offset relative to the GPS time can be sent as part of the data from the tower. This allows any WAPS receiver that captures the WAPS signal to support the correct GPS time and frequency to significantly reduce the GNSS receiver ' s GNSS search requirement.

In an embodiment of the system, the broadcast transmitter may be used for ad hoc to provide local indoor positioning. For example, in a fire-security application, a WAPS transmitter may be installed in more than one broadcast station (e.g., a fire truck). The towers are synchronized with each other by one of the many means previously described and a broadcast signal. The bandwidth and chipping rate can be scaled based on spectrum usage validity and accuracy requirements at the time of use. The receiver can inform the device of the system parameters via the communication link.

12 is a block diagram of a receiver unit in an embodiment. The beacon signal is received at the antenna of the receiver unit, down-converted, demodulated, decoded and delivered to the positioning engine. The receiver provides all the information to reconstruct the signal correctly. The receive antenna may be a full-directional antenna, or alternatively may be a plurality of antennas / arrays providing diversity or the like. In yet another embodiment, mixing and downconversion may be done in the digital domain. Each receiver unit includes or uses a computer with a unique hardware identification number and a private key generated. Typically, each receiver unit stores some of the last points in the non-volatile memory and may later be consulted remotely for some last stored point. Based on the availability of the spectrum in a given area, the transmitter and the receiver can be tuned to the available bandwidth, change the chip rate, and filter the bandwidth for better accuracy and multipath resolution.

In one embodiment, digital baseband processing of the received signal is implemented using a commercially available GPS receiver by multiplexing / feeding the signal from a GPS RF section with a WAPS RF module. 13 is a block diagram of a receiver with a WAPS RF module, in an embodiment. The RF module includes, in some cases, one or more low noise amplifiers (LNAs), filters, down-converters, and AD converters. In addition to these configurations, the signals can be further tuned to accommodate the input requirements of additional processing on the chip or the GPS receiver using a custom ASIC or FPGA or DSP or microprocessor. Signal conditioning includes digital filtering for in-band noise or out-of-band noise (such as ACI-to-ambient channel interference), relaying the baseband frequency of the input to the GPS IC from the frequency of the repeater or WAPS receiver, , Automatic signal control (AGC) for controlling the digital signal strength to control the WAPS frontend, and so on. In particular, frequency relaying is a very useful feature as it allows the WAPS RF module to work with commercially available GPS receivers. In yet another embodiment, the entire RF front end chain, including the signal conditioning circuitry for the WAPS system, may be incorporated into an existing GPS datarion including a GPS RF chain.

In another embodiment, if access to the digital baseband input is not possible, the signal may be up-converted / down-converted to a GPS band in any band and delivered to the RF section of the GPS receiver. 14 illustrates signal up-conversion and / or down-conversion, in an embodiment.

In yet another embodiment, multiple RF chains or tunable RF chains may be added to both the transmitter and the receiver of the WAPS system to use the highest efficient frequency operation in a given area. The choice of frequency can be determined by cleanliness, such as spectrum, propagation requirements, and so on.

Similarly, the WAPS may temporarily use the receive chain in a receiver system that includes multiple receive channels. For example, a wideband CDMA (W-CDMA) receiver system includes two receive chains to improve receive diversity. Thus, when WAPS is used in a W-CDMA receiver system, one of the two original receive chains of W-CDMA can be used temporarily to receive and process the WAPS signal. 15 is a block diagram of a receiver system having a plurality of receive chains, in an embodiment, wherein one of the receive chains may be temporarily used to receive and process WAPS signals. In this example, the diversity receive chain may be used temporarily to receive and process the WAPS signal. Alternatively, the GPS receive chain may be used temporarily to receive and process the WAPS signal.

The radio front-end can be shared between WAPS and another application. Some of the front ends can be shared, and some can be used as mutually exclusive bases. For example, if the die / system already has a tuner front-end (such as a NTSC or ATSC or DVB-H, system of media plugs) with antennas, the TV tuner radio and antenna may be shared with the WAPS system . TV tuner radios and antennas can operate on a mutually exclusive basis in that the system receives TV signals or WAPS signals at any time. In yet another embodiment, if it is easy to add a WAPS RF section to such a system, the antenna may be shared between the TV tuner and the WAPS system, allowing both systems to operate simultaneously. If the system / die has a radio such as an FM radio, the RF front-end can be modified to accommodate the WAPS system and FM radio, and these radios can operate on a mutually exclusive basis. A similar modification can be made for the system, which can be done for systems with some RF front-ends operating at near frequencies close to the WAPS RF band.

The clock source reference used in GNSS sub-systems such as crystal, crystal oscillator (XO), voltage controlled temperature compensated crystal oscillator (VCTCXO), digital-controlled crystal oscillator (DCXO), temperature compensated crystal oscillator (TCXO) And may be shared to provide a reference clock to the WAPS receiver. This sharing can be done on die or off-chip. Alternatively, the TCXO / VCTXO used by any other system on the cellular phone may be shared with the WAPS system. 16 is a block diagram illustrating clock sharing in a positioning system, in an embodiment. Note that the transceiver or processor system block may refer to various systems. A transceiver system that shares a clock with a WAPS system may be a modem transceiver (e.g., a cellular or WLAN or BT modem) or a receiver (e.g., a GNSS, FM or DTV receiver). These transceiver systems can selectively control VCTCXO or DCXO for frequency control. Note that the transceiver system and the WAPS system may be integrated into one die or may be separate dice and not affect clock sharing. The processor may be any CPU system (e.g., an ARM sub-system, a digital signal processor system) that uses a clock source. In general, when the VCTCXO / DCXO is shared, the frequency correction applied by the other system can be delayed as much as possible to facilitate WAPS operation.

Specifically, the frequency update within the maximum aggregation time used for the WAPS receiver may be limited to allow better performance (i.e., minimization of SNR losses) for the WAPS receiver. Information about the state of the WAPS receiver (specifically, the level of integration used, the capture and tracking status of the WAPS system) may be exchanged with other systems for better control of frequency updates. For example, the frequency update may be stopped during the WAPS acquisition phase, or the frequency update may be scheduled when the WAPS receiver is in a sleep state. The communication may be in the form of a control signal or, alternatively, in the form of a message exchanged between the transceiver system and the WAPS system.

WAPS broadcasts broadcast signals and messages from the tower, so that the baseband hardware of conventional GPS receivers need not be modified to support both WAPS and conventional GPS systems. The significance of this is that although the WAPS system has only a half of the available bandwidth of the GPS C / A system (which affects the chip rate), the WAPS broadcast signal is within the bounds of the commercial grade C / A code GPS receiver Lt; / RTI > Based on the signal availability, the algorithm will determine that the GPS signal should be used to determine the location or WAPS signal, or a combination thereof, should be used to obtain the most accurate location.

The data transmitted from the top of the gold code on the WAPS system can be used to send supplementary information to the GNSS in the case of hybrid GNSS-WAPS usage scenarios. This assistance may be in the form of SV orbit parameters (eg, ephemeris and almanac). In addition, aids can be specialized for SV visible in the local area.

Also, the timing information obtained from the WAPS system can be used as a fine time to support the GNSS system. Because the WAOS system timing is aligned at the GPS (or GNSS) time, aligning the bits of the code and bits of the WAPS signal and reading the data stream from any tower provides coarse knowledge of GNSS time. In addition, the location solution (the receiver's clock bias is a by-product of the location solution) accurately determines the WAPS system time. If the WAPS system time is known, the fine time it supports can be provided to the GNSS receiver. Timing information may be transmitted using a single hardware signal pulse whose edges are bound to the internal time base of the WAPS. Note that the WAPS system time maps directly to GPS time (more generally, the timebase of the GNSS system is directly related to GNSS time). When GNSS receives this edge, it can latch its internal GNSS timebase coefficients. Alternatively, the GNSS system can generate a pulse, the edge of which is aligned with the internal time base, and the WAPS system must be able to latch its internal WAPS tie base. The WAPS receiver may then send a message with this information to the GNSS receiver and have the GNss receiver map its time base to the WAPS time base.

Likewise, frequency estimation for the local clock can be used to provide frequency support for the GNSS receiver. Note that the frequency estimate from the WAPS receiver may be used to refine the frequency estimate of the GNSS receiver regardless of whether it shares a common clock. When two receivers have separate clocks, the additional calibration hardware or software block is required to measure the clock frequency of one system for the other system. The hardware or software block may be in the WAPS receiver section or the GNSS receiver section. The frequency estimate from the WAPS receiver can then be used to refine the frequency estimate of the GNSS receiver.

In addition, the information that can be sent from the WAPS system to the GNSS system may include an estimate of the location. The estimate of the location may be approximated (e.g., as determined by the PN code of the WAPS tower), or more accurately approximated based on the actual position estimate in the WAPS system. The location estimation possible from the WAPS system, in combination with another estimate of the position from another system (e.g., a course position estimate from positioning of the cellular ID basis), provides a more accurate estimate of the position that can be used to better support the GNSS system . 17 is a block diagram of an auxiliary conveyor from WAPS to GNSS receiver in an embodiment.

In addition, the GNSS receiver improves the performance of frequency and GNSS time estimates for WAPS receivers, WAPS receivers in terms of location quality by providing Time-To-First-Fix (TTFF) You can help. By way of example, FIG. 18 is a block diagram illustrating transmission of assistance information from a GNSS receiver to a WAPS receiver in an embodiment. Note that the GNSS system may also be replaced by a LORN, e-LORN or similar terrestrial positioning system. The location estimate may be partial (e.g., high or 2-D position), or complete (e.g., 3-D position) or raw range / pesudo-range data. The range / pseudo-range data is provided with the location of the SV (or means for calculating the location of the SV, such as the SV orbit parameter) to enable the use of this range information in the hybrid solution. All locations that support information are provided along with a metric that indicates their quality. When providing GNSS time information (which may be sent to the WAPS system using a hardware signal), the offset of the GNSS time (if any) for GPS time is provided to activate the use of the WAPS receiver. The frequency estimate is provided as an estimate of the clock frequency along a confidence metric (e.g., indicating the estimated quality estimating the maximum expected error of the estimate). This is sufficient when the GNSS system and the WAPS system share the same clock circle. When the GNSS system and the WAPS system use separate clocks, the GNSS clock is also provided to the WAPS system so that the WAPS system can be calibrated (i.e., estimating the relative clock bias of the WAPS to the GNSS clock) or, alternatively, Providing the clock to the GNSS system, and the GNSS system provides a calibration estimate (i. E., An estimate of the relative clock bias of the WAPS to the GNSS clock).

To improve the sensitivity and TTFF of the WAPS receiver, auxiliary information (such as others decoded from information sent by the tower) may be provided to the WAPS receiver from the WAPS server by other communication media (cellular phone, WiFi, SMS, etc.) . Since the "almanac" information is already available, the work of the WAPS receiver is simplified (without the need for bit alignment or decoding) only because the time required for the receiver to align to the transmit waveform is required. Eliminating the need to decode data bits reduces the TTFF, thus reducing power since the receiver does not need to supply voltage to decode all the bits in succession. 19 is an exemplary configuration in which, in an embodiment, WAPS assistance information is provided from a WAPS server.

Beacons can be added to the receiver to further improve local positioning. The beacon may include a low power RF transmitter that periodically transmits a waveform with a signature based on the device ID. For example, the signature may be a code that uniquely identifies the transmitter. Relevant receivers will be able to find the transmitter's location with higher accuracy through signal energy peak detection or direction detection, such as scanning in all directions, using signals from multiple antenna elements to determine the direction of signal arrival. .

Of the multipath signal Resolution

Multiple path revolutions are important in positioning systems. A wireless channel has arbitrary phase and amplitude and is often characterized by a series of randomly varying configurations of multiple paths. For accurate positioning, it is necessary for the receiver algorithm to decompose a line-of-site (LOS) path (if present) (first arriving path) or a first arriving path (which does not need an LOS configuration). Conventional methods are often implemented as follows. (1) the received signal is cross-correlated with the transmitted pseudo-random sequence (e.g., the Gold code sequence, which is known in the receiver). (2) The receiver finds the first peak of the cross-correlation function, which is the result, and estimates the timing of the first route that arrives at the same timing as the timing indicated by the position of this peak. If the lowest multipath separation is much larger than the reciprocal of the unavailable available bandwidth, then the method will effectively be implemented. The bandwidth is valuable, and the way in which multiple paths with the smallest bandwidth can be decomposed is highly desirable to improve the efficiency of the system.

Depending on the channel environment (including multiple paths and signal strength), an appropriate method of obtaining the fastest arrival path estimate is used. For the highest resolution, a high-resolution method is used, while for a reasonable performance at low SNR, a more conventional method of directly using certain properties of the correlation peak sample and the correlation function around the peak is applied.

으로 주어진 속도 f_s에서 샘플링된 양자화된 수신 신호 y[n]를 상정하라. 여기서, y[n]은 전송된 의사-랜덤 시퀀스 x[n]과 유효 채널

의 콘볼루션인 수신된 신호이고, h _tx [n]은 송신 필터이며, h _rx [n]는 수신 필터이고, h[n]은 복수 경로 채널이다.

Suppose a quantized received signal y [n] sampled at a given rate f _s . Here, y [n] is the transmitted pseudo-random sequence x [n]

Is the convolution of the received signal, h _tx [n] is a transmit filter, h _rx [n] is the receive filter, h [n] is a multipath channel.

One way to find the peak position is by peak interpolation using values around the apparent peak position. The interpolation method may be quadratic using one value on either side of the peak, or use a higher-order polynomial using two or more samples around the peak, or use a best fit for the actual pulse shape. In the case of quadratic interpolation, the quadrature is fitted to the peak values and values just around the peak. The secondary peak determines the peak position used to determine the range. The method is very robust and is very well performed at low SNR.

An alternative embodiment may use a value other than the peak position as the reference position. Note that while the DLL uses the peak position as the reference position in the correlation function, the method uses the peak and the other point as references. The method is motivated by the fact that the early edge of the correlation peak is less affected by multiple paths than the trailing edge. For example, a 75% point of a chip Tc from a peak on a correlation function (not channel effected) may be used as a reference point. In this case, a portion of the interpolated z [n] function that matches this 75% point is selected and the peak drops 25% of Tc from this point. A method based on another alternative peak correlation function may use a peak shape (such as a measure of peak distortion, e.g., a peak width). Starting at the peak location and based on the shape of the peak, the correction for the peak location is determined to estimate the earliest arrival path.

High-resolution methods are a type of effective multi-path resolution method that uses Eigen-space decomposition to find multi-path configurations. Methods such as MUSIC and ESPIRIT are this kind of resolution scheme. These are very powerful schemes, as they can decompose much more efficiently than conventional methods, given the same bandwidth, in connection with the construction of multiple spaced apart paths. The earliest time of arriving method attempts to directly estimate the arrival time of the fastest route instead of deducing the peak position from the peak value. The following assumes that the coarse-acquisiton of the transmitted signal is already available at the receiver and that the beginning of the pseudo-random sequence has been largely known at the receiver.

20 is a flowchart for estimating the fastest arrival path at h [n], in an embodiment. The method for determining the fastest path includes, but is not limited to, the operations described below.

로 기재된다. 이 방정식은

로 다시 기재될 수 있다. 여기서,

는 의사-랜덤 시퀀스의 자기상관 함수(autocorrelation function)이다.1. Correlate the received sample y [n] with the transmission sequence x [n] to obtain a result z [n]. When a cross-correlation is described as a convolution,

Lt; / RTI > This equation

. ≪ / RTI > here,

Is an autocorrelation function of a pseudo-random sequence.

2. Find the first peak of z [n] and mark it with n _peaks . The left side of the peak of z [n] is taken as wL sample and the right side of the peak of z [n] is taken as wR sample, and this vector is expressed in pV.

의 피크의 왼쪽과 오른쪽 각각에 존재하도록 선택하는 것이다. wL과 wR의 선택에서 또 다른 생각은 충분히 상관되지 않은 잡음 샘플을 선택하여 잡음 부분-공간(noise sub-space)과 관련하여 충분한 정보를 얻는 것이다. 또한, 정수 wL과 wR은 모든 가능한 복수 경로 구성, 특히 파-아웃(far-out) 복수 경로 구성을 분해하는데 도움을 주는 왼쪽 사이드(즉, wL을 선택하여)를 포함하기 위하여 선택되어야 한다. f_sT_c 이상의 너무 많은 샘플을 포함하는 것은 pV 벡터에 도입된 잡음의 양을 증가시켜서 축소시켜야한다. 시뮬레이션과 실험을 통하여 wL과 wR에 대한 종래세트의 값은 각각 3f_sT_c 와 3f_sT_c 이다. z[n](및 그 다음에 pV)가 채널 효과 h[n], 송신 필터 h_tx[n], 수신 필터 h_rx[n] 및 의사-랜덤 시퀀스의 자기상관 함수

를 포함한다는 것을 주목하라. 채널에서 가장 빠른 도착 경로를 추정하기 위하여, 다른 효과는 제거될 필요가 있다. 많은 경우에, 송신 및 수신 펄스-모양은 최고의 잡음 성능을 위해 매치되나, 이 알고리즘이 작동하기에 제한이 요구되지는 않는다. 기준 상관 함수는

와 같이 정의되고, 이는 추정될 필요가 있고, pV가 가장 빠른 도착 경로의 추정을 위해 사용되기 전에 제거된다.The vector pV represents a useful part of the cross-correlation result z [n]. In the ideal case, there is no channel distortion, it will be sufficient to determine the timing of the received signal when the channel BW is not limited, and selected as _{wL = wR = f s T c} . In the presence of a limited BW, when the pseudo-random code x [n] is a sequence of + 1 / -1, the optimal way to select wL and wR is to use them as a non-zero value A value greater than the selected threshold is selected)

Lt; RTI ID = 0.0 > left < / RTI > and right respectively. Another idea in choosing wL and wR is to select enough noise samples that are not sufficiently correlated to obtain sufficient information regarding the noise sub-space. Also, the integers wL and wR should be selected to include all possible multipath configurations, particularly the left side (i.e., selecting wL) to help break down the far-out multipath configurations. f _s T _c Containing too many samples should be reduced by increasing the amount of noise introduced into the pV vector. Through simulations and experiments, the values of the conventional set for wL and wR are 3f _s T _c and 3f _s T _c, respectively. z [n] (and then pV) is calculated by the channel effect h [n], the transmit filter h _tx [n], the receive filter h _rx [n], and the autocorrelation function of the pseudo-

≪ / RTI > In order to estimate the fastest arrival path in the channel, other effects need to be eliminated. In many cases, the transmit and receive pulse-shapeds are matched for the best noise performance, but no restriction is required for this algorithm to work. The reference correlation function

It needs to be estimated, and is removed before pV is used for estimation of the fastest arrival path.

가 이후에 추정된다.3. Reference correlation function

Is estimated afterwards.

의 유용한 샘플을 포함한다. 도 21은 실시예에서, 기준 상관 함수를 추정하기 위한 흐름도이다.One way to obtain the reference cross-correlation is as follows. Perform steps 1-2 in the 'ideal' channel (so-called "cable link" to obtain the corresponding peak vector pV _Ref .) PV _Ref is the reference correlation function

≪ / RTI > 21 is a flowchart for estimating a reference correlation function in an embodiment.

The "cable-link" method is used to transmit modulated signals from the receiver front-end (through the power-amplifier and transmit antenna) to the receiver front-end . Note that an 'ideal' channel may have some delay or attenuation, but no other distortion should be added, and a high SNR. For best performance, the 'cable' criterion needs to be generated separately for each pseudo-random sequence, since it has different correlation functions and therefore has different criteria. It is also important to select the PRN appropriately for the best autocorrelation function (specifically, their proximity in the autocorrelated side-lobe should be very much suppressed relative to the peak) Will yield the best overall performance of the timing-resolution method, since a mistake will occur for multiple paths if it is not sufficiently attenuated.

Assuming that the transmit filter response is controlled, a calibration of the response to the cable link will be required per receiver at the time of production. If the receiver filter characteristics are controlled (e.g., a large number of receivers), the calibration on the cable link of the response may be further reduced to a single calibration measurement for the receiver set.

를 결정하기 위한 대안적인 방법은 각각의 구성

, htx[n] 및 hrx[n]을 분석적으로 계산하고, 이들을 콘볼루션하여 기준 상관 함수

에 도달한다. 이 방법은 송신 및 수신 필터 임펄스 응답이 실제 실행에서 제어될 수 있는 한도에 의존한다.Reference correlation function

An alternative method for determining < RTI ID = 0.0 >

, htx [n] and hrx [n] are analytically calculated and convoluted to calculate a reference correlation function

Lt; / RTI > This method relies on the extent to which the transmit and receive filter impulse responses can be controlled in actual implementation.

4. In the estimation of pV, the SNR is improved by continuous averaging over a plurality of gold codes and even a plurality of bits. Aberration over a plurality of bits may be continuously performed after a determination of the individual bit being transmitted. In other words, decision feedback is used before integration over the bits. Equivalently improved SNR can be obtained by performing averaging on the first-order cross-correlation function estimates.

5. Compute the fast Fourier transform (FFT) of the lengths N _fft and pV _Ref of pV with the zero padding of N _fft - (wL + wR) to obtain the length N _fft vectors pV _Freq and pV _{Ref , Freq} Respectively. Optimal values for Nfft are obtained by verifying the degradability of multiple paths through simulations using both synthesized and actually measured channels. The conventional value of Nfft is found in 4096 Directors.

를 계산하여 채널 h[n]의 주파수 도메인 추정(잡음으로 손상된)을 얻는다. 수신된 시퀀스 y[n]가 Nos(즉,+/-1/Tc로 밴드-제한된 송신 펄스 모양에 대한

)에 의하여 오버샘프되고, 송신 및 수신 펄스-모양 필터가 완전히 BW = 1/Tc로 밴드-제한된다면, 이제, H_full[k]의 DC 주위의

양성 및 음성 샘플은 실제 채널, H_real[k]의 추정에 대하여 정확히 논-제로(즉, 사용가능)이다. 우리의 연구로부터, 우리는 DC의 양 사이드 상의

샘플(여기서, α>1는 송신기, 수신기 및 자기상관 함수

에서 사용되는 실제 펄스-모양 필터에 기초하여 선택됨)은 레졸루션 알고리즘의 최고의 성능을 위해 선택되어야 한다고 결론 지었다.

의 주파수 천이 밴드를 포함하는 것은 잡음 증가를 유발하고, α는 선택된 샘플에서 이들 주파수를 제거하는데 충분히 크게 선택된다. 그러나, α를 너무 크게 선택하는 것은 신호 정보의 손실을 유발할 것이다. 작은 초과 대역폭을 가진 올림 코사인 필터(raised cosine filter) 모양에 기초한 실제 밴드-제한된 함수에 대하여, α = 1.25의 바람직한 선택이 실행에서 사용되어 왔다.6.

To obtain a frequency domain estimate (impaired by noise) of the channel h [n]. If the received sequence y [n] is Nos (i. E., For transmit pulse shape with band-limited to + / - 1 /

) And the over-Northampton, transmit and receive pulse by-shaped filter is fully band BW = 1 / Tc - if the limit, now _full of H [k] of the ambient DC

Positive and negative samples are exactly non-zero (i.e., usable) for the estimation of the _real channel, _Hreal [k]. From our study, we found that both sides of DC

Sample, where > 1 is the transmitter, receiver and autocorrelation function

Selected on the basis of the actual pulse-shape filter used in the algorithm) should be selected for the best performance of the resolution algorithm.

Including a frequency transition band of s results in an increase in noise, and α is chosen large enough to remove these frequencies from the selected sample. However, choosing too large a will cause loss of signal information. For an actual band-limited function based on the shape of a raised cosine filter with a small excess bandwidth, the preferred choice of a = 1.25 has been used in practice.

7. If the DC configuration of H _full [k] is index 0, then the reduced H vector, H [], is defined as:

8. Construct a matrix P from the reduced channel estimate vector H [k].

Here, 1 < M < 2N is a parameter, and () denotes a conjugate of a complex number.

로 정의한다. M이 너무 작게 선택되면(1에 가깝게), R의 고유값이 합계로 매우 제한되고, 그 결과, 고-레졸루션 알고리즘은 신호와 잡음 사이를 기술할 수 없다. M이The estimated covariance matrix R of the reduced channel estimate vector H [k]

. If M is chosen too small (close to 1), the eigenvalues of R are very limited in total, so that the high-resolution algorithm can not describe between the signal and the noise. M is

If too large (close to 2N), the covariance matrix estimate R is not reliable as the amount of averaging in obtaining the covariance is inaccurate, and the covariance matrix R obtained is rank-deficient. Thus, the value of M is a good middle of the allowed range, that is, M = N is a good choice. It was also experimentally confirmed.

9. Perform singular value decomposition (SVD) on R such as R = UDV. Where U is a matrix of left singular vectors, V is a matrix of right singular vectors, and D is a diagonal matrix of singular values.

10. Construct a vector of sorted singular values sV, such as diagonal elements of D, sorted by sV = descending order.

은 잡음에 대응된다. 잡음 특이값의 벡터를 sV_noise로 정의한다.11. The next important step is to separate the signal and noise subspaces. In other words, the index ns of the vector sV is selected,

Corresponds to noise. The noise specific value vector is defined as sV _noise .

There are several ways to find the expression for the basis vector of the noise subspace-space by separating the singular values corresponding to the noise subspace.

보다 작은 모든 특이값(여기서, T₁은 신호 대 잡음비(가령, 칩 상의 SNR)의 함수인 문턱값, T₁ = f(SNR)).a)

All the smaller singular values (wherein, T ₁ is the threshold function of the signal-to-noise ratio (e. G., SNR on the _{chip), T 1 = f (SNR} )).

22 is a flowchart for estimating noise sub-space in an embodiment.

보다 작은 모든 특이값(여기서, L은 지연-확산(가령, N/2)보다 크게 선택될 수 있는 파라미터이고, T₂는 실험적으로 결정된 또 다른 문턱값이다(일반적으로 값은 1000일 수 있음).b)

(Where L is a parameter that can be selected to be greater than delay-spread (e.g., N / 2), and T ₂ is another experimentally determined threshold (typically the value can be 1000) .

23 is a flowchart for estimating the noise sub-space in an embodiment.

Another method involves determining the noise subspace by repeatedly estimating the SNR for the different partitions of the noise and signal-plus-noise subspaces, and stepping to include another estimate of the SNR. 24 is a flow chart for estimating noise sub-space in another alternative embodiment.

  1) Estimation of SNR is as follows.

에 의해 표현된다고 가정하고, 잡음 분산은

로 계산한다.i. The noise is

, And the noise variance is expressed by

Calculate

으로 계산한다.ii. The signal power is

.

iii. Estimation of SNR:

  2) An alternative estimate of SNR is obtained through other methods (eg SNR on chip). One way to directly estimate the SNR is as follows.

   i. The received data sample (after frequency error rejection and resampling and code decorrelation for Tc-spaced samples) is Xi (where Xi is chip-spaced starting at the interpolated peak position). Is given by

로 추정된다.ii. The signal

Is estimated.

로 추정된다.iii. The noise is

Is estimated.

로 추정된다.iv. SNR

Is estimated.

와 같은 잡음 특이값을 선택한다.3) It satisfies the following conditions

And a noise-specific value such as &lt; RTI ID = 0.0 &gt;

d) Another method involves determining noise subspace by repeatedly estimating the SNR for different partitions of noise and signal subspaces using c) 1) and selecting part n _start .

25 is a flowchart for estimating the noise sub-space in another alternative embodiment.

 e) FIG. 26 is a flow chart for estimating noise sub-space in another alternative embodiment.

를 정의한다. 그리고 나서, 첫 번째 wLen 특이 값은 유효 신호-플러스-노이즈 부분공간 또는 잡음 부분공간 특이값을 나타낸다(특이값의 나머지는 상관된 잡음과 신호 및 양자화 효과를 나타낸다).One)

. Then, the first wLen singular value represents the effective signal plus-plus-noise subspace or noise subspatial singularity (the remainder of the singular value represents correlated noise and signal and quantization effects).

  2) The estimation of SNR is calculated as follows.

에 의해 나타난다고 가정하고, 잡음 분산은

로 계산한다.i. The noise is

, And the noise variance is

Calculate

로 계산한다.ii. The signal power is

Calculate

iii. Estimation of SNR:

를 정의한다. 그리고 나서, winLen까지 n_start는 잡음 특이값을 나타낸다.

의 일반적인 값은 10이다.3)

. Then, up to winLen, n _start represents the noise singular value.

A typical value of 10 is.

12. To create a VN, select the corresponding right-singular vector, ie, all vectors of V that correspond to the noise-specific values and make the noise subspace matrix VN.

13. Estimation of the arrival time of the first route:

 a) Definition

의 값의 범위를 위한

를 계산한다. 탐색의 레졸루션

은 요구되는 만큼 작게 선택될 수 있다. 예로서,

와

여서, τ는 [-5, 5]의 범위에서 0.05단계로 탐색된다.b)

For the range of values of

. Search resolution

Can be selected as small as required. As an example,

Wow

Thus, τ is searched in 0.05 steps in the range of [-5, 5].

를 제어하는 것이 가능하다. 예를 들어, 지연-확산이 크다면,

은 크게 선택될 수 있고(가령, 10), 지연-확산이 작다면,

은 작게 선택될 수 있다(가령, 4).14. The peak of Ω (τ) provides the position of the channel impulse relative to the _cos peak (n _peak ). Theoretically, the first peak will correspond to the LOS path. Based on information about the propagation environment that can be encrypted in transmission from the base station,

Can be controlled. For example, if the delay-spread is large,

(E.g., 10), and if the delay-spread is small,

Can be chosen small (e. G., 4).

Combinations of methods:

Apart from the stand-alone methods discussed above, other combinations of methods are possible. The combination of schemes based on SNR on the chip is an effective method. The following describes a list of combination schemes that may actually be realized.

1. For chip SNR less than chip SNRRef, choose noise singular value by choosing 12 (d). Otherwise, choose 12 (a).

2. Chip SNRRefqhek For large chip SNR, 12 (d) is selected to select the noise singular value, and the peak position is estimated. Or use a direct peak estimation technique (e.g., peak interpolation, peak shape) starting from the cross-correlation function z [n].

3. For chip SNR less than chip SNRRef, choose 12 (e) to select noise singular value. Otherwise, select 12 (a).

A typical value of the chip SNRRef is 10 dB.

Calculation of Positions

로 주어진다.The location of the receiver unit is determined by the positioning engine available on the terminal unit or server. The receiver can use range measurement from the system or combine any measurements from other signals of system ranging and opportunity. A sufficient set of range measurements results in a provided position fix, which is a measurement derived from a known location. In 3D space, the range equation

.

The location of the transmitter is given by given by _{(x i, y i, z} i), the unknown location of the mobile unit at some local coordinate frame (Y X,, Z). Three or more transmitters produce three or more range measurements, which are used to calculate the fix. The measurement also has an additional period of receiver time bias because the receiver time is not synchronized with the WAPS timing.

과 같은 솔루션을 위해 필요한 정보를 제공한다.This equation is later referred to as the "pseudorange measurement equation". Note that the time bias is generic because the transmitter is timing synchronized. The pseudo range must be modified for transmitter timing correction, which is possible from the embedded data stream in transmission from each transmitter. This delta time bias creates a new unknown parameter, so at least four measurements are used in the solution. The barometric altimeter measurement

And provides the information needed for such a solution.

One way to solve these nonlinear simultaneous equations is to linearize the problem at an arbitrary initial point, and iteratively finds corrections to this initial position and leads to the final solution.

로 사용된다.Using this initial guess for the X, Y, Z solution, the center of the transmitter

.

를 형성하는 것으로 가정한다.The final position solution

. &Lt; / RTI &gt;

에 대한 테일러 시리즈로 확장될 수 있다.The geometric range is

Can be extended to the Taylor series.

로 계산되고, 편도함수는

으로 주어진다.Here, the estimated range is

, And the one-way function is

.

In this embodiment, four unknown and four linear equations are shown. Additional range estimates will produce more rows in the matrix. The result is the same as the following set.

. 바로미터 측정없이 추가 측정이 상기 매트릭의 행 1에서 3과 마차가지로 추가 행이 하나 추가되는 것을 주목하라. 이 추가 측정은 수신기의 고도의 측정을 활성화 시킨다. 알려지지 않은 수 보다 더 많은 측정이 가능할 때, 솔루션은

로 주어진 A의 의사역행렬(pseudoinverse)에 기초하고, 최소 자승 솔루션(least squre solution)은

으로 주어진다는 것을 주목하라. 측정의 품질이 동일하지 않을 경우, 최소 자승 센스(least square sense)에서 방정식 Ax=b를 푸는 적합한 방법은 각각의 방정식으로부터 에러에 대한 SNR에 가중치 비례(weight proportional)를 사용하는 것이다. 이는

와 함께 솔루션

를 야기한다. 대각선 가중화 매트릭스 W는 측정의 잡음 분산에 대한 가중치 비례에 의해 형성된다. 이들 방정식의 솔루션은 X, Y, Z에 대한 델타 보정과 델타 타임 추정을 생산한다.The last row of the observation matrix represents the barometric altimeter measurement. A 1 in the third column represents the same time bias for all three ranges. These equations are of the form Ax = b. solution

. Note that no additional measurement is added to the metric row 1 through 3, without the barometric measurement. This additional measurement activates the elevation measurement of the receiver. When more measurements than the unknown number are possible,

Based on the pseudoinverse of A, given by &lt; RTI ID = 0.0 &gt; A &lt;

. If the quality of the measurements is not the same, a suitable way to solve the equation Ax = b in the least square sense is to use a weight proportional to the SNR for the error from each equation. this is

Solution with

. The diagonal weighted matrix W is formed by weighting proportional to the noise variance of the measurement. The solution of these equations produces delta correction and delta time estimates for X, Y, Z.

This completes the first iteration of the method. The updated position and time bias estimates change the initial guess, and the algorithm continues until the delta parameter is below some threshold. A typical stopping point will be the threshold value (for example, 1 meter) below the delta value for the reference.

The system of linearized equations in GPS solves the algorithm using the least squares and initial guess for the user's location to converge to the end-user location. The linearization is based on the basic assumption that the distance between the satellite position and the user position is greater than the distance between the user position on the earth and the assumed position. For the same set of equations in a terrestrial environment (with a small geometry), the initial guess can be based on the center (as described above), and the point is that the received signal comes from the strongest transmitter, Lt; RTI ID = 0.0 &gt; closed &lt; / RTI &gt; If the initial guess is the center or the received signal is a point close to the strongest transmitter, the initial guess is improved using the least squares method. If the initial guess is obtained by a direct method of giving a closed form solution by a sequence of formulas without repeating, then the initial solution itself is the final solution, and the individual solutions weighted by using the expected error Is improved by using least squares only when there are more measurements (and therefore equations) than unknowns (obtained from parameters such as signal strength and embossing). Moreover, if the sequence of measurements is processed in time, the solution obtained as described above is transferred to a Kalman filter to obtain the ultimate solution "trajectory &quot;.

와 같이 정의된다.Another approach to overcome the linearization problem in the terrestrial case involves formulating an equation set such as a non-linear minimization problem (specifically, a weighted non-linear least-squares problem). Specifically, the non-linearization objective function to be minimized is

Respectively.

으로 수정된다.The weight W _t is inversely proportional to the SNR of the measured range R _i . The best estimate of the receiver location is obtained with a set of (X, Y, Z, DELTA t) that minimizes the objective function. Supporting a barometer or other altitude is an objective function

.

Position solutions based on this method are more stable and robust, especially under small geometric terrestrial system configurations.

In this configuration, small changes in the receiver coordinates significantly change the observation matrix and sometimes lead to lack of convergence of the linearized iteration. Convergence or divergence to a local minimum is often caused by residual bias in the measurement, which may affect the shape of the objective function and thus local minimization may exist. Residual bias is very common in indoor / urban canyon environments. The non-linear formulation makes the position algorithm robust against the measurement bias as well as overcoming the small geometric linearization problem.

One approach to minimizing the function f to obtain the optimizers X, Y, Z is to use a general algorithm (e.g., differential evolution) to find the global minimization of the function. The use of this algorithm allows the solution to avoid local minimization that occurs in small geo-terrestrial positioning when multi-path biasing is present in the range measurement.

로 주어진다.Regardless of whether the linear least-squares or non-linearized least-squares method is used to solve the pseudo-range measurement equation, it is important that the quality metric is provided with the position estimate. The position quality metric should be a function of the pseudo-range measurement equation residual, the geometry of the tower relative to the estimated position as well as the quality of the measurement. The pseudo-range measurement residual for the i-th tower measurement is

.

로 주어진다.Average weighted rms pseudo-range residuals are

.

의 대각선 원소로부터

로 정의된다.HDOP, VDOP, PDOP

From diagonal elements of

.

로 정의된다. 여기서, f는 일반적으로 그 인수의 비-선형 단조 감수 함수이다. 함수 f는 신호BW와 수신기 BW의 함수로서 특정 수신기 구성에서 분석적으로 파생될 수 있고, 테이블 맵핑 SNR로서의 시뮬레이션에서 범위 에러까지 찾을 수 있다.The pseudo-range root-mean-square (RMS) error at a particular SNR is

. Where f is generally a non-linear monotonic supervision function of the argument. The function f can be analytically derived in a particular receiver configuration as a function of the signal BW and the receiver BW and can be found in the range error in the simulation as the table mapping SNR.

로 정의된다. 마찬가지로, 고도와 3-D 포지션에 대한 품질 메트릭은

으로 정의된다.The quality metric for the 2-D position is

. Similarly, quality metrics for altitude and 3-D positions

.

Quality &lt; RTI ID = 0.0 &gt; asms &lt; / RTI &gt; For example, a value of 3 is used to obtain 95% confidence, while a value of 1 is used to obtain 68% confidence.

Another method of positioning using a WAPS system involves the use of WAPS reference receivers in other schemes. As discussed in the context of timing synchronization, shown in the "Differential Wide Area Positioning System", reference receiver measurements and time-stamped with the longitude, latitude and altitude of WAPS towers and reference receivers are shown at specific time-stamps Can be used to determine the timing delta between WAPS tower transmissions. Once the timing delta between the transmitters is known, the range equation can be reduced back to having a common time bias. The WAPS receiver can then prevent demodulation of the WAPS data stream (e.g., extract timing correction from the data stream). The WAPS receiver measurements can be sent to the server and then the position can be calculated at the server or, alternatively, the reference receiver measurements can be passed back to the WAPS receiver, and the position can be calculated there. The latitude, longitude, and altitude of the WAPS tower are assumed to be already known / available in the position calculation. When the WAPS data stream is secure, this differential system can eliminate the need to extract data from the secure data stream for timing correction.

Another alternative method for obtaining positioning from a WAPS system uses the RSSI finger-printing technique. A database of WAPS tower transmit power / location and RSSI level is set for a given target area based on training measurements within the area where positioning is required. Note that the RSSI database is also incremented with the Angle of Arrival (AOA), which allows the solution to be opened. The WAPS receiver RSSI measurements (and possible AOA measurements) are used to find this database to obtain location estimates. An alternative method of using the WAPS RSSI measurement is to convert the measurement to a range estimate using a propagation model (or a simple extrapolation / interpolation technique), and then use a tri-lateration to convert the position . RSSI measurements of these finger-printing techniques can be replaced by other measurements that can be converted into ranges.

An alternative way to calculate a position using a WAPS infrastructure is to use the blind method to obtain positioning from the WAPS system without using the conventional knowledge of the WAPS tower location. In this way, the approximate location of the WAPS towers can be determined by measuring the RSSI from many angles around the WAPS tower in a field measurement (e.g., GNSS tagged location, and then using the weighted average based on the RSSI of these locations, By estimating the tower location). One of the RSSI fingerprinting methods is then used to determine the position (e.g., as described in the paragraph above).

An alternative way to calculate a position using a WAPS infrastructure can be used to calculate the position offline. The position calculation may optionally include storing a sample segment of the WAPS signal from the WAPS receiver (e.g., the stored data may be I data at the low IF or IQ data at the baseband), along with the approximate position and WAPS time tag There is a relationship. Note that it is enough to store enough samples to capture the signal. The sample is then processed at a later time to calculate the range for the search, acquisition and WAPS towers. The method can use offline data to find timing correction information that can be stored in the tower location and in a central database on the server. The method of offline position calculation provides the ability to sustain WAPS positioning at the expense of only memory on the device. Another advantage of this method is that the time to save the WAPS IQ data is very short, the application needed to tag the position is fast and easy, but the exact position is not immediately required. One possible application for this method may be geo-tagging of photographs.

로 기재될 수 있다.Another approach to positioning uses carrier phase measurements as well as code phase measurements described above. The carrier phase measurement

. &Lt; / RTI &gt;

로 기재될 수 있다.Various techniques can be used to resolve the integer ambiguity N in the carrier phase measurement. Carrier phase measurements, multi-frequency and / or other methods of measurement can be used to resolve ambiguities. The carrier phase measurement at time _tk can then provide an accurate tracking of the position starting from the correct initial position. Carrier phase measurements at future times

. &Lt; / RTI &gt;

Ni does not change as long as the carrier phase measurement does not have a cycle slip (i. E. The signal should not be tracked with continuous phase locking), and the new location is calculated using the least squares. Alternatively, these measurements may be used in a color filter to update the new position state. If phase fixation is lost, a new value of integer ambiguity needs to be computed.

Another approach uses differential positioning associated with a reference receiver, as described above. Differential positioning can be done using code measurements or carrier measurements or a combination of both. One difference observable is computed for the code phase and the carrier phase minus the measurements of the same tower from the reference receiver r and the receiver s.

Note that any timing errors at the transmitter do not appear in these quantities, thus allowing position solutions even when the system is asynchronous or incompletely synchronized. Also, since the amount of delay of the convection layer is likely to be correlated in a local region with a short reference value (i.e., the distance between the reference receiver r and the receiver s), the error of the convection layer delay amount in the measurement is almost eliminated. The communication channel is used to send from the reference receiver r to the receiver s for position calculation. Or alternatively, receiver s and receiver r need to communicate with the server for position and range coverage calculations.

In any position solution method, the height of the receiver can be determined by placing in a topographic map or directly in metric sensing. By placing on a map, the user's location during trilateration can be limited to terrain based on the terrain database and the height of the determined user. In addition, the height of the user can be limited to any height above the terrain. For example, based on the tallest building in the area, the maximum altitude on the terrain can be limited. This type of restriction can improve the quality of the height solution (eg by eliminating obscure solutions that are sometimes produced when using biased range measurements).

In addition, if indoor building maps are available, information (subject to possible user location related limitations) can be used to support position solutions. For example, physical constraints can be used to limit the user's motion model, thereby improving the quality of tracking the Kalman position filter. Another use of building maps is to determine / estimate the quality of range measurements of a particular tower based on the physical environment from tower to interior location. Better estimates of range quality can be used to weight position calculations leading to better position estimates.

When using the metric sensor directly, the calibrated immediate metric sensor can be used to measure the air pressure differential as the receiver terminal moves up and down the altitude. This is compared to an average value to determine the calibration value for various elevations or the height of the receiver.

In the calculation of the position solution, additional measurements greater than the minimum of three measurements required for the two-dimensional position are possible.

Receiver integrity monitoring based on verifying consistency of measurements is used to eliminate "outlier" measurements. "Outlier" measurements may be due to channel effects such as loss of timing synchronization or multiple paths at the transmitter.

An altimeter-based approach to determining altitude

The WAPS system of the embodiment includes an altimeter (pressure sensor) for supporting user altitude determination. The only information available from the pressure sensor is atmospheric pressure at the time and place of measurement. In order to convert this to a high estimate of the sensor, many additional parts of the information are required. There is a standard formula related to the pressure on altitude, based on the weight of the air column, as follows:

Where z ₁ and z ₂ are two altitudes, P ₁ and P ₂ are the pressure at that altitude, and T is the temperature of the air (in K). R = 287.052 m ² / Ks ² is the gas constant, and g = 9.80665 m / s ² is the gravitational acceleration. Note that this formula provides relative information that determines the altitude difference for the pressure difference. Typically this formula is used together with z ₂ = 0, and P ₂ is the atmospheric pressure. Since the pressure of the sea surface changes significantly with the weather and the location, the sea surface pressure needs to add the temperature and the pressure in the area where the altitude is determined. It was found that when applying the standard atmospheric pressure condition (T = 15 ° C and P = 101,325 Pa), the atmospheric pressure decreased by 12.01 Pa with increasing 1 m altitude.

Accordingly, in order to determine the altitude according to the resolution of 1 m, the sea surface pressure should be more precisely known and more detailed than 36 Pa. Also, since T is measured in Kelvin temperature, it is desirable to note that a 3 DEG C (or K) error in temperature corresponds to a high approximately 1% error. This can be important when deciding a higher altitude than the sea surface, and when attempting to disassemble the upstairs from a towering building. Accordingly, in order to determine the altitude with a resolution of 1 m, a pressure sensor with high precision and high resolution is needed. In order to fit into a mobile device, these sensors must be low cost, low power and small size. Note that the commercial weather grade sensor does not provide this level of accuracy or resolution, and is not updated at the rate required to determine the altitude.

The key to determining altitude to 1 m accuracy is to have a system that is sufficiently localized and sufficiently accurate to provide reference pressure information. It should be able to provide measurements close to unknown locations in temperature, distance and time to capture the changing weather changes, and finally be accurate enough. Accordingly, the altitude for determining the system of the embodiment includes, but is not limited to, the following elements. A mobile sensor that determines the pressure and temperature at unknown locations with sufficient accuracy, the pressure and temperature at a known location with sufficient accuracy, and an array of reference sensors close enough to the unknown location, all reference sensor data, An interpolation-based estimation algorithm that inputs sensor location and other incremental information and produces an accurate reference pressure estimate at a location of interest within the WAPS network, a communication link between the reference sensor and the mobile sensor to provide reference information in a sufficiently timely manner. Each of these elements is described in detail below.

27 is a block diagram of a reference altitude pressure system in an embodiment. Generally, the reference altitude pressure system or reference system includes at least a reference sensor array comprising a set of reference sensor units. Each set of reference sensor units includes at least one reference sensor unit located at a known location. In addition, the system includes a standby sensor that collects waiting data at the position of the remote receiver, or it includes a connected remote receiver. The positioning application running on the processor is connected to the remote receiver or is part of the remote receiver. The positioning application produces a reference pressure estimate at the position of the remote receiver using the atmospheric data and the reference data from the reference sensor unit of the reference sensor array. The positioning application calculates the altitude of the remote receiver using the reference pressure estimate.

More particularly, the reference elevation pressure system includes a mobile sensor that has sufficient accuracy and determines pressure and temperature at a known location, and the mobile sensor is or is connected to a remote receiver. The system includes a reference sensor array, said reference sensor array comprising at least one reference sensor for accurately determining pressure and temperature at known locations, said reference sensor being suitable for the location of the remote receiver. The reference sensor unit communicates with a remote receiver and / or an intermediate device (e.g., a repeater, etc.) to provide reference information. The system includes, in an embodiment, a positioning application, which is an interpolation-based estimation algorithm for inputting all reference sensor data, reference sensor location and other incremental information, and producing a relatively accurate reference pressure estimate at the location of interest. The positioning application may be a configuration of a remote receiver, a host of a remote server or other processing device, and may be distributed between the remote receiver and the remote processing device.

28 is a block diagram of a WAPS including a reference altitude pressure system in an embodiment. As described herein, a WAPS includes a receiver unit (and optionally a location calculation engine) and a tower index, which collects and tracks a network of synchronized beacons, beacons and / or global positioning system (GPS) A billing interface, a dedicated encryption algorithm (and, optionally, a location calculation engine). The system operates in an authorized / unlicensed operating band and transmits dedicated waveforms for location and navigation. The WAPS system can be used in conjunction with other positioning systems or sensor systems to provide a more accurate location solution. Note that the altitude of the remote receiver calculated using the reference pressure estimate can be implicitly used in any position location system, such as altitude estimation, or explicitly to support position calculation.

One exemplary system integrates a reference elevation pressure system into the WAPS. Generally, an integrated system includes a terrestrial transmitter network, and the terrestrial transmitter network includes a transmitter for broadcasting a positioning signal, the positioning signal including at least one ranging signal and positioning system information. The range signal includes information used to measure the distance to the transmitter that broadcasts the range signal. The system includes a reference sensor array including at least one reference sensor unit positioned at a known location. The remote receiver includes or is coupled to a standby sensor that collects standby data at the position of the remote receiver. The positioning application running on the processor is connected to or configured with a remote receiver. The positioning application produces a reference pressure estimate at the position of the remote receiver using the atmospheric data and reference data from the reference sensor unit set of the reference sensor array. The positioning application calculates the position of the remote receiver, which includes altitude and uses a reference pressure estimate and information derived from the at least one positioning signal and the satellite signal, wherein the positioning signal and the satellite signal are received by a satellite- Signal.

More specifically, the integrated system includes mobile sensors that determine pressure and temperature at unknown locations with sufficient accuracy. The mobile sensor is connected to, or is not limited to, the configuration of the remote receiver. The system includes a reference sensor array, wherein the reference sensor array includes at least one reference sensor unit, the reference sensor unit accurately determining pressure and temperature at a known location, and the known location is the location of the remote receiver Do. The reference sensor unit communicates with a remote receiver and / or an intermediate device (e.g., server, repeater, etc., not shown) to provide reference information. The reference sensor unit may be juxtaposed with one or more WAPS transmitters, and / or separately located at other known locations. The system includes, in an embodiment, a positioning application, which is an interpolation-based estimation algorithm for inputting all reference sensor data, reference sensor location and other increment information, and producing a relatively accurate reference pressure estimate at the location of interest . The positioning application may be a configuration of a remote receiver, a host of a remote server or other processing device, and may be distributed between the remote receiver and the remote processing device.

As mentioned above, the mobile sensor can determine the pressure with resolution and accuracy, which must be much finer than 36Pa. Many pressure sensors have built-in temperature sensors to provide compensation for non-ideal sensor performance, but because of the self-heating effect, these sensors may not provide a sufficiently accurate measurement of the outside air temperature have. Even if accurate sensors are not available, these sensors can be used for altitude estimation at the bottom if sensors with appropriate resolution are available. The mobile sensor of the embodiment determines the reference pressure data with a resolution of less than about 36 Pascals and determines the temperature data with a resolution of about 3 degrees Celsius or less.

These sensors have inherent short-term and long-term stability problems, which can be corrected by modern filtering techniques and averaged over several samples. Each sensor also has an offset, for example, with a temperature change that needs to be calibrated or compensated by a look-up table.

With sufficient calibration, these sensors must provide the required accuracy. In addition, some sensors may be sensitive to high speed motion. When speed or acceleration is found, some empirical laws can be used to limit the use of pressure information. However, high speed is rarely found in an indoor environment. When moving at high speed, GPS positioning and map data generally provide sufficient vertical position information.

It should also be noted that the sensor must be mounted in such a way that it is exposed to outside air, but not exposed to wind, drafts or other air movement. Mounting or internal positioning on a typical consumer product should produce acceptable results. The battery compartment and connections provide an indirect path for the outside air to reach the sensor, while preventing direct air movement. However, the waterproofing device will require special preparation to provide a sensor that approaches the outside.

The reference sensor can be deployed in a very small volume and in a dedicated position to obtain relatively good accuracy in the reference system and make it possible to place a volume of overall error allocation in the mobile sensor. Existing markets for absolute pressure sensors, such as weather altimeters and aircraft altimeters, do not have the same high accuracy requirements as the application of the embodiment. In a reference application, embodiments use a plurality of sensors for improved accuracy and for redundancy by averaging their measurements. In addition, the sensor can be packaged to limit the temperature range, the sensor is exposed, and preferably the sensor is calibrated for this limited temperature range.

The reference system should average other individual filter measurements to improve accuracy on a time scale of approximately seconds to minutes. The height of the reference sensor must be accurately measured at the 'centimeter' level. The outside air temperature shall be continuously measured and recorded. The sensor should be exposed to outside air to measure air pressure, but not to the wind, vent, or other effective air movement (the partition or other packaging is used to guide air along an indirect path to the sensor). The sensor should not be sealed to a waterproof closure, since it prevents measurement of external air pressure. The reference sensor of the embodiment determines the reference pressure data with a resolution of less than about 36 pascals and determines the temperature with a resolution of about 3 degrees Celsius or less.

The embodiment activates interpolation-based reference pressure estimation. Considering pressure measurement and temperature measurement at each WAPS transmitter tower, as well as tow location and other incremental information, the embodiment predicts the sea surface pressure at the mobile user location as a reference value for user height estimation. Thus, an atmospheric pressure surface gradient model is created, and pressure measurements at each tower location are provided as sample data for local modification of the model. Thus, this estimation algorithm corrects the reference pressure accuracy compared at the user location, such as a direct measurement captured at the beacon tower.

The description of the formula for this interpolation method is described below. In one of the WAPS networks, considering a given reference barometric pressure sensor at n transmitter towers, an equivalent sea level pressure is estimated based on the reference sensor output. This is done in two steps, but is not limited thereto.

을 사용하여 계산되고, 여기서, g는 중력 가속도 상수이고, R은 공기에 대한 특정 기체 상수이다. 두 번째 단계로서, WAPS 네트워크의 모든 n 개의 송신 로케이션에서의 등가적인 해면기압을 계산하고, WAPS로 사용자의 경도 정보 x₀와 경도 정보 y₀를 얻은 후에, 등가적인 해면 압력은 사용자 로케이션 P0에서 공식

으로 추정되고, 여기서, W_i = W_i(x₀,y₀,x_i,y_i)는 사용자 로케이션과 기준 위치 i 로케이션에 의존하는 가중치 함수이다.As a first step, considering the reference height sensor h _i (in meters), pressure p _i (in pascals) and temperature T _i (in Kelvin) of the reference sensor in the transmitter tower i, _i (in Pascal) is the longitude x _i in the location and the latitude y _i (in degrees)

, Where g is the gravitational acceleration constant and R is the specific gas constant for the air. As a second step, after calculating equivalent surface pressure at all n transmission locations of the WAPS network and obtaining the user's hardness information x ₀ and hardness information y ₀ with WAPS, the equivalent sponge pressure is calculated at the user location P 0

, Where &lt; RTI ID = 0.0 &gt; W _i = W _i (x ₀ , y ₀ , x _i , y _i ) is a weight function that depends on user location and reference location i location.

The communication link of the embodiment provides the information used by the mobile sensor. The embodiment broadcasts a pressure that is updated once every few seconds to several minutes, but is not limited thereto.

If the reference system rarely broadcasts the reference information, then the mobile unit performs at least one of the following: It is also possible to continuously monitor the broadcast to receive and store the last information, to prepare for the next broadcast before the next broadcast, to wait for the next broadcast before calculating the new altitude, Quot; pull " or query. A full approach of the embodiment minimizes system bandwidth rather than having a reference system that broadcasts information. However, the pool uses two-way communication between the reference system and mobile A good compromise to minimize monitoring by the mobile while lowering the waiting period is the time it takes to update the measurement, since it is necessary to determine which reference position was queried, With a reference system that broadcasts the data more frequently All.

The embodiment includes two possible approaches to information content. The first approach has a mobile that performs all calculations, in which case the information sent by the criterion includes, but is not limited to: This means that the height of the reference sensor with 0.1-0.2 m accuracy and the measured temperature of the reference position (after any filtering), the pressure of air measured at the reference position with 1 Pa accuracy (filtering, sensor temperature compensation, After local calibration) and reliability measurements.

Alternatively, the reference position can be used for its temperature and pressure measurements to calculate the equivalent sea level pressure. If this approach is used, the list of broadcast information includes, but is not limited to: This is a measure of reliability, with a reference location (hardness and latitude) with a 1 meter accuracy, a height of the reference sensor with an accuracy of 0.1-0.2 meters, equivalent sea surface pressure (with 1 Pa accuracy) calculated at the reference location.

The embodiment also reduces the bits of the transmitted data, but broadcasts each part of the data for some known constant. For example, the reference location may be relatively close to the mobile location, leaving only the integer part of latitude and fractional degrees to fulfill the role. Likewise, it is generally about 10 ⁵ pascals, but the air pressure varies from standard atmospheric pressure to several thousand Pa. Thus, the embodiment broadcasts offsets from standard atmospheric pressure to reduce bandwidth compared to broadcasting absolute pressure.

The longitude and latitude obtained from GPS or similar systems are not particularly useful in urban applications. Instead, the database is required to map longitude and latitude to distance addresses. Elevation has similar limitations in vertical dimensions. A useful parameter is the layer on which the person is. This can be precisely determined from the altitude information if it is approaching the height of each floor of the database and the building at ground level altitude. For buildings as low as about three stories high, ground elevation can be known from mapping or similar databases and layer height estimates. For larger buildings, more precise information on floor height is required

This presents an opportunity to implement smart learning algorithms. For example, one assumes that the cell phone will be carried at 1 m to 2 m from the floor. Thus, the system of the embodiment can accumulate the altitude of many cell phones in a building, where the data is expected to be in the 1.5 m cluster from each layer. With sufficient data, the reliability of the height of each layer in the building can be increased. Accordingly, the database can be learned and refined over time. These algorithms are more complex in buildings with sloped or middle stories between the layers, but still produce useful data for most buildings.

The sensor offset and partially different parameters can be calibrated at the time of manufacture. This is a known good sensor that provides reference information and is possible by cycling the sensor over a range of temperatures and pressures. These calibration parameters slowly travel with their lifetime. Thus, the embodiment updates the calibration progressively over time using algorithms (e.g., the algorithm recognizes when the sensor is stopped at a known height and updates the calibration table under these conditions).

In addition to general applications for determining a person's location, a silk-yer may include special applications that use more accurate relative altitude information that does not require absolute altitude information. For example, looking for a fallen firefighter in a building is not as important as absolute location, but it requires the location of a fallen person in relation to a known rescue group. In relative positioning, additional accuracy can be enabled by having additional manual steps at the beginning of the application. For example, all firefighters may initiate a tracker at a known location, such as a building entrance, before entering. Their position on the point, and thus their relative to each other, can be determined quite accurately over a period of time, even though the absolute altitude is not precise and the weather-related pressure does not fully compensate. Similarly, shopping-related applications that require more accuracy than are available from absolute measurements can be executed by the user pressing a button at a known point in the mall. Then, their position on the point is determined quite accurately for a certain period of time.

Alternatively, mobile beacons can be used on a local basis to provide more accuracy in certain locations. For example, a shopping mall can have its own reference sensor, providing more accuracy in the mall. Likewise, a fire truck can be equipped with a reference sensor to provide local reference information in a fire situation.

The low cost pressure sensor has a problem in that it has an offset from the calibration record. Experiments show that this offset is steady on a weekly to hourly scale. However, this offset is likely to slowly drift over a period of many months to years. Although this offset is easy to measure and compensate in manufacturing, the compensation is unlikely to be accurate for the lifetime of the product. Therefore, a means of recalibration is needed in this area.

The sensor of the embodiment is at a known altitude and can be recalibrated if the atmospheric pressure is known. The embodiment identifies the actual situation in which the sensor is at a known altitude. For example, if the sensor is on a device with GPS capability, the GPS satellites will be received with a high signal strength, and the GPS derived altitude should be very accurate. In an excellent signal situation, accumulations derived from GPS altitude over time provide estimates of the corrections required for sensor calibration.

Likewise, the sensor system can learn the user's habits and use this information to correct later corrections. For example, if a user keeps her phone in one place at night, the sensor can start tracking altitude at a specific time such as late night at this location. Initially, these values will be stored and stored as true altitudes at that location. After a few months, if the sensor determines that it is the same location at the same time of the night, it can start tracking deviations from the previously determined true altitude. These deviations can then be slowly accumulated to create corrections to the calibration. Because these approaches also use the current atmospheric pressure information, they use the reference pressure measurements provided by the WAPS network.

이다. 높이는 종래적으로, 지구 표면으로부터 떨어진 플러스 방향의 움직으로 측정되기 때문에, 마이너스 사인이 부가된 것을 주목하라. 또한, 알고리즘은 이것이 자연로그이기 때문에, 'ln'에 대해 보정되었다. 이 공식(해면상 높이 z)은 그 포인트에서의 대기 온도(T)와 압력(P)와 그 포인트 아래의 해면기압(P₀)에 관한 것이다.The standard procedure for determining altitude from pressure records involves switching measurements at the reference location for the equivalent sea surface pressure and then using the unknown altitude of the pressure sensor. The standard formula is

to be. Note that the height is conventionally subtracted because it is measured by moving in the plus direction away from the earth's surface. Also, the algorithm was calibrated against 'ln' because this is a natural logarithm. This formula (speckle height z) relates to the atmospheric temperature (T) and pressure (P) at that point and the sea surface pressure (P ₀ ) below that point.

An additional problem with applying this formula is that the height is directly proportional to the temperature (the precisely unknown measured quality). This means that a 1% error in temperature can cause a 1% error in height. If used near the sea surface, this would not be a big problem. However, this formula can be large when trying to decompose bottom surface altitudes if a 1% error in height is applied in high buildings and especially in high altitude areas such as Denver. For example, the altitude of Denver is about 1608 m. Thus, a 1% error in temperature can cause an error of 16 m above sea level. It is almost five stories high.

로 일반화될 수 있다. 여기서, z₁과 z₂는 임의의 두 고도이고, P₁과 P₂는 그들 고도에서의 압력이다. z₂가 0으로 설정되는 종래의 상황에서, P₂는 해면기압으로 된다.One way to avoid this sensitivity to temperature accuracy is to recognize that the formula is actually a relative formula. This formula

. &Lt; / RTI &gt; Where z ₁ and z ₂ are any two elevations, and P ₁ and P ₂ are the pressures at their altitudes. In the conventional situation where z ₂ is set to zero, P ₂ becomes the sea surface pressure.

Instead of using the sea surface as a reference point, any comfortable altitude is used. For example, an average altitude of the city may be appropriate, or an average altitude of a reference sensor used to collect pressure data may be utilized. As long as the reference altitude is used to keep the height difference small, the effect of the temperature error will be minimal. The only requirement is that all devices involved in the system should know that the reference altitude is used.

이다. 이 공식은 해면과 관심 포인트 간의 일정한 온도에서, 공기 기둥이 있다고 가정한다. 따라서, 사용된 해면기압은 가상 구조물이고, 관심 포인트가 실제 해면과 가까이 있지 아니할 수 있기 때문에, 해면에서의 실제 압력일 필요는 없다.The standard formula related to the elevation (z) of the point on Earth, the atmospheric temperature (T) and pressure (P) at that point and the sea surface pressure (P ₀ )

to be. This formula assumes an air column at a constant temperature between the sea surface and the point of interest. Thus, since the sea surface pressure used is a virtual structure and the point of interest may not be close to the actual sea surface, it need not be the actual pressure at sea level.

The standard procedure for determining the elevation of an object is a two-step procedure. The pressure is determined by measuring the temperature and pressure at a known high point and then inverting this formula to solve for P ₀ . Next, the temperature and pressure at the unknown elevation point are measured, and this formula is applied to determine the unknown altitude.

What is implied in this step is that, assuming that only the parameters of interest are the height of another object on the same horizontal location, using measurements in the aeronautical field for the standard, such as a typical aircraft approaching the aeronautical field. In general, those who are interested in height determination for other purposes have extended this concept to determine the height around the general location of the reference location, but not directly above it. This extension assumes that the barometric pressure does not change between the surrounding location of interest and the reference location.

Thus, there are three assumptions in this procedure. The first assumption is that the temperature is constant from the reference location to the virtual sea level point below it. The second assumption is that the temperature is constant from the point of interest to the underlying virtual sea level point. The third assumption is that the atmospheric pressure is the same at the reference location and point of interest. However, since the sea surface pressure depends on the temperature, the assumption that the sea surface pressure is the same in both locations means that the temperatures are the same in these locations. Thus, if different temperatures are measured at the reference location and point of interest, one of these assumptions is violated. Measurements show that even at distances over a few kilometers, differences in temperature and pressure can be important in determining altitude.

The assumption of constant temperature over the altitude change at a given location is part of the equilibrium model for the atmosphere and is probably necessary. The only alternative would be the entire dynamic model of the atmosphere, including the effects of wind, surface heating, convection and turbulence. The atmospheric data suggests that at least a large distance scale, a constant temperature model, is a very good approximation at altitudes below 1 km. At higher elevations, a linear lapse rate is sometimes applied.

The embodiment relaxes the assumption of constant sea surface pressure between the reference location and the point of interest. The first approach of the embodiment considers the sea surface pressure to be the reference location determined as described above, but applies the ideal gas law to convert it from the standard temperature to the sea surface pressure. The sea surface pressure at this standard temperature is then assumed to be the same at the point of interest. The temperature at the new location will be used to convert it to the sea level pressure for the location, and then apply the formula to determine the altitude.

The second approach of the embodiment uses a network of reference locations to determine the equivalent changes in sea level pressure with horizontal location in real time. These multiple measurements are then combined to determine an optimal estimate of the sea surface pressure at the point of interest. There are at least two ways to determine an optimal estimate. This is the weighted average approach, where the weighting is a function of the horizontal distance from the specific reference point to the point of interest. The other is a least square fit to create the secondary surface, which is best suited to calculate the barometric pressure at the reference location and can be used to interpolate the estimate of the barometric pressure at the point of interest.

The two approaches described above can also be combined. That is, at each reference location, the barometric pressure at standard temperature is determined, and these data are combined at one point of interest using one of the techniques to produce an optimal estimate of the barometric pressure at standard temperature.

Additionally, if an altimeter is used, embodiments may recognize sudden movement at a pressure, such as a window opening in a car, by changing the state of the air conditioner (e.g., turn on), by application level data into the hardware or software of the filter, Location data and altimeter data.

An anemometer can also be used in the beacon to determine the direction of wind flow, which is considered an indication of the atmospheric pressure gradient. Anemometers with a compass can be used to accurately determine the direction and level of wind flow, which can be used to correct and / or filter our deformation in the user's sensor.

The height per floor of a given building can be determined by various methods including, but not limited to, walking the building through the stairs and collecting information (slope, etc.) about each floor. In addition, the degree of electron can be used to determine the relative height of each layer.

If height is estimated based on WAPS or altimeter, information such as terrain, building height, surrounding building height, etc., is used to limit the height solution.

If an average pressure is known at a given location with historical reference pressure data collected from the reference sensor over a long period of time (day, month, year), then based on the pressure at that location (without calibration or user input) Can be used to determine height as expected.

In one embodiment, the height of the user may be calculated on the remote server by using data from the user's sensor and combining the data with data from the reference sensor. In this way, other information, such as building information, crowd-sourced information, etc., can also be used to determine the user's exact altitude.

If the user is close to another user whose height is known, the information can be used to determine the height of the unknown user.

In one embodiment of the network, the reference sensor need not be located with a WAPS beacon. A fine or course grid of independent sensors with data associated with the server can be used to measure the reference pressure. The central server may direct the reference pressure information to the mobile or a transmitter having data that needs to be sent to the mobile as part of the WAPS data stream.

In yet another embodiment, the WAPS system uses a simple beacon (supplemental beacon) that provides additional sensor information, such as pressure, temperature, in a smaller area such as a building. This transmission may be synchronous or asynchronous to the main WAPS timing beacon. Additionally, a supplemental beacon may upload sensor data to a central server, which may be spread from the central server to a mobile unit, or may transmit data via a predetermined set of PR codes (which may be demodulated by a WAPS mobile receiver).

The reference pressure network can be optimized based on accuracy requirements and historical pressure change data for a given local area. For example, if it is a very accurate measurement, the reference sensor may be deployed in a building or mall.

The WAPS beacon network with reference pressure data forms a closed network of precise pressure and temperature measurements over short time intervals and can be used by other applications such as geotechnics.

The rate of change of pressure combined with data from other sensors can be used to determine the vertical velocity, which can be used to determine if a user has gone through an elevator. This is very useful in emergency situations and / or application tracking.

For sensors with a resolution lower than that required to estimate the floor height, averaging the pressure measurements over time under stationary conditions can be used to obtain user heights based on reference data.

hybrid Positioning  And exchange information with other systems

The system of the embodiment may be combined with any &quot; signal of opportunity &quot; to provide positioning. Examples of signals of opportunity include, but are not limited to, one or more of the following: These include signals from systems such as GPS receivers, Galileo, Glonass, analog or digital TV signals, media flows, Wi-Fi, FM signals, WiMax, cellular (UMTS, LTE, CDMA, GSM ...), Bluetooth and LORAN and e -LORAN receiver.

Regardless of the signal type, the signal of opportunity provides a proxy for range measurements such as range measurement or signal strength. This proxy for scope is appropriately weighted and combined to obtain estimates for the location. The weighting may be based on the signal-to-noise ratio (SNR) of the received signal or, alternatively, the receiver's environment (knowledge of city, suburban, rural environment from the ancillary data, 5 metrics are used to define the metric. This is generally done in such an environment where the system of the embodiment is not available or signal convergence is limited. When using the SNR for a particular measurement weighting, the weighting is simply the inverse of the SNR (or other function that provides a low weighting to the signal with low SNR) so that the optimal combination of WAPS measurements as well as other system measurements It is possible to obtain a position. The final positioning solution can be achieved by measuring the range from additional sources to combine with the WAPS range measurements and by deriving a position solution for longitude, latitude and altitude, or by measuring the position from additional sources / And providing an optimized location solution that uses a combination of these location measurements based on position quality metrics from disparate systems. Various configurations for obtaining a hybrid solution using WAPS measurement / WAPS position estimation are shown in FIGS. 29, 30, and 31. All of the architectures described below can be selected for use depending on the hardware and software partitioning of the system.

29 is a block diagram of hybrid position estimation using range measurements from various systems, in an embodiment. Range measurements (with associated range quality metrics) are used from GNSS and other position systems and are combined into a single optimal position solution by a hybrid position engine. This architecture is optimal in terms of using available data, thus obtaining the best position estimate of the data.

30 is a block diagram of hybrid position estimation using position estimation from various systems, in an embodiment. In addition to position quality, independent position estimation from various systems is used to select one with the highest quality. Because different positioning systems are very far apart, this architecture is the easiest and most integrated to implement.

31 is a block diagram of hybrid position estimation using a combination of range estimation and position estimation from various systems in an embodiment. For example, position estimation from a WLAN positioning system can be compared to position estimates in range measurements from the GNSS system and the WAPS system to arrive at the best solution.

Pressure sensors, such as accelerometers and inertial navigation sensors (INS) such as gyros, magnetic sensors such as electronic compasses, and altimeters, provide information about the WAPS system for use in tracking mode (loose coupling Or to provide a location that supports raw sensor measurements.

The accelerometer can be used in the receiver of the embodiment to determine the frequency for updating the position reported to the server. The combination of position solution and sequence of accelerometer measurements is used to detect the stop position, uniform velocity and / or other motion. This movement data or information determines the frequency of the update so that if the number of epochs of updates is relatively high, for example if there is non-constant motion, and if the receiver is stationary or stationary for a predetermined period of time, Can be reduced to save power.

The sensor or position measurement can be combined with a position solution in a position filter (such as a Kalman filter). Two types of tight coupling, in which sensor measurements are combined with GNSS and WAPS measurements in a WAPS hybrid position engine, are shown in FIGS. 32 and 33. 32 is a flowchart for determining a hybrid position solution, in an embodiment, wherein position / speed estimation from a WAPS / GNSS system corrects the drift bias of the sensor when the quality and / or speed estimation of the GNSS / WAPS position is good. It is fed back to help. This architecture simplifies algorithm formulation by partitioning into algorithm calibration parts and position calibration parts of the algorithm. However, the drawback of this method is that it is complex to determine when it is a good time to recalibrate the sensor using WAPS / GNSS estimates.

FIG. 33 is a flowchart for determining a hybrid position solution, in an embodiment, wherein sensor parameters (such as bias, scale, and drift) are estimated as part of position / velocity calculation in a GNSS and / or WAPS unit without explicit feedback. . For example, the sensor parameters may be included as part of the state vector of the Kalman filter used to track the position / velocity of the receiver. This architecture provides an optimal solution in that information is used in one combined filter for updating position parameters and sensor parameters.

34, 35, where the selection unit selects a position estimate from the GNSS engine or from the WAPS engine. Note that the selection unit may be part of a WAPS or GNSS position unit. 34 is a flowchart for determining a hybrid position solution, in an embodiment, wherein sensor calibration is remote from the individual position calculation units. 35 is a flowchart for a hybrid position solution, in an embodiment, wherein sensor parameter estimates are made as part of the state of the individual position calculation units.

In general, since the selection uses information from one system, the sub-combining method is worse than the whet coupling method. Among the small and tight coupling methods, the method of using the range together with the sensor measurement for determining the position parameter and the sensor parameter in one optimum filter is superior to the case where the sensor parameter and the position are separately calculated. As a result, the preferred method in terms of performance is a tightly coupled system with nested sensor parameter estimates. However, depending on the hardware / software platform segmentation, one or more of these methods may be easily implemented and selected for that reason.

In addition, the information may be exchanged on a different transceiver system than the WAPS system on the same platform (such as a cell phone, laptop, PND). For example, the transceiver system may be a Bluetooth transceiver, a WLAN transceiver, an FM receiver / transmitter, a digital or analog TV system, a media flow, a satellite communication system such as XM radio iridium, a cellular modem such as GSM / UMTS / cdma2000 lx / EVDO, Transceiver. 36 illustrates information exchange between WAPS and another system, in an embodiment. The exchange of information between systems can improve the performance of the system. Since the WAPS system time is aligned to the GPS time, the WAPS system can provide good quality time estimation and frequency estimation to other systems. Time estimation and frequency estimation on WAPS can reduce WAPS acquisition search space in code and frequency. The WAPS system may also provide location information to other transceiver systems. Likewise, if another system has available location information (partial position, e.g., altitude or 2-D position, or full position, e.g. 3-D position or range / pseudo-range / pseudo-difference) A location quality metric for the WAPS system may or may not be provided. The range / pseudo-range data is provided with the location of the transmitter (or other means for calculating range from transmitter location to arbitrary receiver location) to enable the use of range information in the hybrid solution. The range differences for the two transmitters are provided together for the location of the two transmitters. The WAPS system will use the information to support its location solution. Alternatively, the location information may be provided in the form of a range (or pseudo-range) from a known transmitter to a receiver. These ranges (or pseudo-ranges) will combine with the WAPS range by a positioning algorithm to calculate the hybrid position.

Examples of specific systems and information that can be exchanged between them are shown in FIGS. 37, 38, and 39.

FIG. 37 is a block diagram illustrating the exchange of location, frequency estimation and time estimation between an FM receiver and a WAPS receiver in an embodiment. Location estimation from the WAPS system may be provided to the FM receiver. This location estimate can be used, for example, to automatically determine an active FM radio station in the local area. The FM signal may also include RDS (Radio Data Service) transmissions. If the location of the FM station is included in the RDS / RBDS data-stream (e.g., giving the location and navigation (LN) feature, providing the city and state name and providing the DGPS navigation data) The information may be used to provide location support to the WAPS receiver. Frequency estimation from the WAPS system can be readily used to reduce the FM receiver tuning the time for a particular station. In other respects, the estimated frequency quality at the FM receiver is based on the FM radio station transmission quality. The time estimate in the WAPS system is based on GPS time and the time can be sent to the FM receiver to support timing alignment. The clock time (CT) feature on the RDS / RBDS transmission can be used to determine the timing for the RDS data stream and can be sent to the WAPS receiver.

FIG. 38 is a block diagram illustrating exchanging location, time estimate, and frequency estimate between a WLAN / BT transceiver and a WAPS receiver in an embodiment. In general, these WLAN / BT transceivers do not have accurate frequency estimates, and as a result, the frequency estimation is very costly, so that the transmission of this estimate from the WLAN / BT transceiver to the WAPS receiver may have a limited value. In the opposite direction, the WAPS frequency estimation can reduce the time for frequency acquisition on the WLAN system. For example, timing information extracted from a timestamp on a wireless LAN AP (access point) beacon may be sent to the WAPS system to support WAPS acquisition. Note that some criterion of WLAN timing for GPS time is needed to make it useful for WAPS systems. Likewise, if the WLAN / BT system has a possible location estimate (partial position, e.g., altitude or 2-D position, or full position, e.g. 3-D position or range / pseudo-range / pseudo-difference) The information may or may not be provided with a location quality metric for the WAPS system. WLAN position estimation can be simplified to the geographic location of the surrounding serving AP or other "auditory" AP. In addition, the WLAN position estimate may be partial, e.g., an altitude estimate based on the floor of the AP in question. In addition, the WLAN location information may be a range difference estimate for known transmitter AP locations (e.g., the WLAN system may use round trip time measurements to determine range estimates) or range difference estimates between two transmitting APs.

FIG. 39 is a block diagram illustrating exchanging location estimation, time estimation, and frequency estimation between a cellular transceiver and a WAPS receiver in an embodiment. (Partial or complete or range / range-difference) from the cellular system (TDOA, AFLT or other small cellular signal FL or RL based positioning method) may be provided to the WAPS system, Will use these measurements. The frequency estimation from the frequency tracking loop of the cellular modem may be provided to the WAPS system to reduce the frequency search space, thereby improving the WAPS acquisition time (i.e., TTFF). In addition, temporal estimation from the cellular system may be provided to the WAPS system to reduce the code search space or to support bitmaps and frame alignment. For example, systems synchronized to GPS time, such as cdma2000 / lx EVDO, provide fine time estimates for WAPS systems, while asynchronous (transmit not finely synchronized to time scales such as GPS) Can be provided.

Because the WAPS system time is aligned to the GPS time, the WAPS system can provide superior quality timing estimates and frequency estimates to other systems, even on the same platform. For example, the WAPS system provides timing information for a pico / femto-cell BTS through a single pulse signal with a periodic hardware signal, such as pps (pulses per second) aligned with the GPS super-boundary, or a related GPS time Can be used.

As described below, the spectrum used by the WAPS system of an embodiment may include an authorized or unlicensed band or frequency. Alternatively, the WAPS system may use the "White Space" spectrum. The blank spectrum is defined as any spectrum that the WAPS system is free to detect or determine in the local area (not limited to the TV margins) and transmit the location beacon in that spectrum. The transmitter of the embodiment can use a spectrum-sensing technique to communicate with a central database that senses unused spectra and / or coordinates the geo-location (which can be easily obtained from the GPS timing receiver) and the spectrum. The receiver may listen to these beacons, including spectral-sensing techniques, or in other embodiments, be known by tuning the frequency using a communication medium. The WAPS system may be suitable for dynamic margin availability or quota. The WAPS system can be continuously broadcast in this spectrum, or it can be shared with other systems while being controlled by a central control server for the spectrum. The chip rate and data rate of the WAPS system configuration can be dynamically modified to match the accuracy requirements and / or signal power and bandwidth availability at any given time. The system parameters may be sensed by a receiver or communicated to a receiver via a communication medium. The transmitter may form a local network (in the case of spectrum availability in a wider geographical area) or may form a continuous network.

In addition, the transmitter of the embodiment can coexist with other networks on the same transmission system in a time-sharing manner. For example, the same spectrum can be used in a time-sharing manner between location and smart grid applications. The transmitter is a broadcast transmitter that uses the highest available power level and can dynamically adjust the power level based on what is required by the spectrum sensing or central control server. The receiver can use spectrum sensing or be communicated by the communication parameters of the system parameters (which can also be blank space spectrum) and the wake up time at that time.

Based on spectrum availability, the WAPS system of the embodiment can use one channel of TV margins (6 MHz bandwidth), or multiple frequency bands for better multipath resolution if multiple channels are available. If adjacent channels are available, channel bonding (e.g., coupling of adjacent channels) may be used. Increased bandwidth can be used for better multipath resolutions, higher chip rates for higher accuracy, and so on. Alternatively, the available bandwidth may be used under FDMA to help resolve near-wave problems and / or multipath resolutions.

In more than one margin band, the margin transmission / reception of the WAPS waveform may enable better and faster integer ambiguity resolution for WAPS carrier phase measurements. This results in relatively higher accuracy (less than approximately one wavelength) for single point positioning using WAPS.

The margin bandwidth can also be used as a communication channel in WAPS (if a reference receiver is used) between the reference receiver in the examined location and the receiver in the discovered position.

The WAPS system of the authorized band is available in the wide area network, and the space based on the local network of the towers can be used to increase the location accuracy of the WAPS receiver. The receiver may be designed to listen to both frequencies at the same time, or may be designed to be tuned to the appropriate frequency by switching between frequency or allowed band and blanking band.

The margin band can also be used to send auxiliary information to the WAPS, GPS or AGPS system for location assistance and other auxiliary information such as clock bias, satellite position estimate (ephemeris), and the like.

When a plurality of widely separated frequencies are available, the WAPS system is designed to take advantage of diversity in frequency and can provide better multipath performance.

Correlator  Execution

을 사용하여 계산되고, 여기서 x[n]은 복소 입력(complex input), gcref[k]는 PRN 기준 파형이며, corrsum[n]은 상관기로부터의 복소 출력(complex output)이다. 도 37은 홀수와 짝수의 샘플이 동일한 승산기(multiplier)와 가산기 트리(adder tree)를 공유하는 한 최적화를 도시한다.In any CDMA receiver (or receiver that uses pseudo-random code as part of the transmit bitstream), the correlation of the received signal and its PRN code is important. The more parallel the correlation is, the faster the time to capture the channel. A brute force implementation of a parallel complex correlator architecture for a signal using a maximum length sequence of length 1023 and an input signal oversampled at 2 × is shown in FIG. 40. Odd and even samples correspond to 2x oversampled data. The shift register is shifted at the speed of 'clk'. The PRN generator generates a reference PRN and is shifted at a rate of clk / 2. The correlation sum in each cycle is given by equation

, Where x [n] is the complex input, gcref [k] is the PRN reference waveform, and corrsum [n] is the complex output from the correlator. Figure 37 shows an optimization as long as odd and even samples share the same multiplier and adder tree.

The execution as shown above requires a 2046 * 2 * n-bit input flip-flop for the shift register, an adder that adds the 1 x n-input multiplier of 1023 and the 1023 result. As an example, if the input bit width is a 2-bit sample, a 1 x 2 1023 multiplier is needed and three 1023 multiplications will be added in one clock cycle. This can be a cumbersome exercise in terms of area, timing and power in hardware. In particular, in FPGA implementations, the execution of the multiplicators and adders in the boot force may not be able to perform a given limited solution.

The embodiment includes a new approach to this implementation, which has the advantage of a possible structure in the field of FPGAs. Modern FPGAs contain several configurable logic blocks (CLBs) that execute logic and store elements. In addition, a look-up table that forms an important part of the CLB can be reprogrammed with a shift register with a built-in serial shift, but with parallel random access to the storage element. This implementation can also be used as an effective approach to calculating correlations in ASIC execution and as an easy migration path from an FPGA (used in prototyping) to an ASIC (for mass production).

Looking at the shift register execution, a particular FPGA has a shift register primitive that is mapped onto the CLB. Some FPGAs have a 16-bit shift register, but some have a 32-bit shift register mapping. FIG. 41 illustrates 32-bit shift register execution derived from 16-bit shift register primitives with parallel random access write capability. In this exemplary implementation, a 16-bit shift register group primitive is used to construct a 32-bit shift register. 32 of these 32-bit shift registers are connected in series to form a 1024-bit shift register. As shown in Fig. 42, the shift operation occurs at the 'clk' speed, and the read operation occurs 32 times at the clock speed.

Also, the adder tree can be complicated to implement a 1023 x n-bit adder. In the case of a specific FPGA, a 48-bit DSP slice is available, which can be used as a 1023 x n-bit continuous adder. The hardware structure for this execution is shown in FIG. The 32 values from the 32 groups of shift registers are divided into 4 groups of 8 additions. In this example, a two-bit input is used. Each 8-digit adder produces a 10-bit output, which is aligned in a 12-bit group of 48-bit adders. Room enables the growth of addition. After 32 cycles, the 1024 bit sum is obtained by adding the four groups of 12-bit adders together with one 14-bit sum.

Encryption and security

Overhead information in the system of the embodiment may be encrypted using a cryptographic algorithm. This allows the user to use the system, to be used for billing for the use of the system, and to provide a means to control information security. The key can be applied to decode the signal. The key can be obtained using a PC, a wireless network, a hardware dongle, or burnt in a nonvolatile memory of the device in a manner that is inaccessible by unintended sources.

The encryption of an embodiment provides data security and authentication. The guaranteed key configuration using a password is a transmitter, a receiver, and a server communication. Transmitter authentication can clearly identify the transmitter and the malicious transmitter can be rejected. Receiver authentication is to allow only authenticated receivers to use the transmitted information. The receiver authorization is that only authorized receivers (authenticated receivers) should be allowed to operate. The server communication is encrypted and the communication between the receiver and the server and between the transmitter and the server is stabilized. Also, user data protection is encrypted because locations that track user databases must block unauthorized access.

The encryption method of the embodiment can be classified into two types, namely symmetric key cryptography and asymmetric key cryptography. Symmetric key cryptography provides authentication and cryptography, while asymmetric key cryptography provides authentication of a user's private key, since the public key is available to anyone. The symmetric key cipher of the data is ten times faster than the given similarity method. 3DES and AES are examples of symmetric key memo methods. The combination of the two methods is used as part of the encryption architecture of the embodiment.

An over-the-air (OTA) broadcast message may include a general broadcast message or a system message. Typical broadcast messages include specific data for each transmitter, such as location information, transmitter timing coefficients, and other pertinent information to assist the receiver in determining its location. The system message is used to configure the desired one-way information exchange with a cryptographic key, a specific set of active / inactive receivers or receivers.

The general format of the message of the embodiment includes a message type (parity ECC protected), an encrypted message, and an encrypted message ECC. The ECC for the encrypted message is calculated after the message is encrypted.

OTA broadcasts include frames transmitted periodically (possibly every second). Depending on the channel data rate, the message may be split into a plurality of frames (partialized). Each frame includes a frame type and frame data. The frame type (parity protected) indicates whether this is the first frame of the message or a continuous frame. In addition, it can display low-level format frames that can be used for other purposes. The frame data is essentially a segmented message or a low-level data frame.

The OTA system message may be encrypted by the session key or by the private key of the sender, depending on the type of system message. The OTA generic broadcast message is encrypted using a symmetric key algorithm with the session key, as described below, by the transmitter and receiver. This provides mutual authentication (the transmitter authenticates by the receiver) so that the authenticated receiver can decode the OTA broadcast. The session key is known to all transmitters and receivers and changes periodically. The key change message is encrypted using the last several session keys and enables a receiver that was not active in a certain time period to be synchronized with the current session key.

Also, the OTA broadcast is encrypted by the private key of the transmitter. The receiver uses the associated public key to unambiguously identify the authenticity of the transmitter. If the session key is compromised, this mechanism ensures that unauthorized transmitters can not be executed.

44 is a block diagram of session key setup, in an embodiment. Each receiver is provided with a unique device ID and a device specific key. 45 is a flowchart of encryption in the embodiment. The WAPS system data server maintains a database of device ID / device specific key pairs. The receiver initialization settings between the receiver and the WAPS data server are made possible using special data connections (GPRS / USB / modem, etc.) to the receiver type. This connection is encrypted using the device specific key after the device identifies the device by the device ID. During this initialization, the current session key, the transmitter public key and the grant period (i.e., the period the receiver is granted) are exchanged. The receiver initialization settings may be performed when the receiver either loses the current session key (initial power up) or the session key is not synchronized (extended power off). The session key is periodically updated, and the new key used for the update is encrypted using the old N key.

The OTA data rate may be inadequate for a unique mechanism to authorize the receiver. However, the system message protocol of the embodiment supports device ID identification and device ID range-based receiver authorization.

The corrupted session key requires all receivers to be re-initialized. Therefore, session key storage should not be tampered with in the device. The session key (i.e., any attached storage) stored outside the device secret boundary will be encrypted using the device's secure key.

The corrupted session key can not be used to impersonate the transmitter, since the sender periodically sends authentication information using the private key. Therefore, the private key of the transmitter should never be damaged.

In alternative embodiments, the key shown in FIG. 46 may be passed directly from the WAPS server to the receiver via a communication link or bypassed through a third application or service provider. The key can have any validity period. The key may be made available per application basis or per device basis based on contractual agreements with the customer. Each time a position request is made by an application on the receiver or by an application on the network, the key is validated for validity before retrieving the position or parameter to calculate the position from the WAPS engine. The exchange of keys and information to the WAPS server can occur using a proprietary protocol or through standard protocols such as OMA SUPL.

The security architecture of the system can be implemented as a combination of the architectures shown in FIGS. 4 and 46.

The parameter sensor can be integrated into the receiver of the WAPS system to time tag and / or location tag measurements from the sensor. The parameter sensor may include, but is not limited to, a temperature sensor, a humidity sensor, a weight sensor, and a sensor for the type of scanner. For example, an X-ray detector may be used to determine whether a device including a tracked receiver or a tracked receiver passes through an X-ray machine. The time of the X-ray event and the location of the X-ray machine are tagged by the detector. Other parameter sensors may also be integrated into the WAPS system for time tag and location tag measurements from the sensors.

The user may be charged for the system for each person or asset, per user, per application on the device, hourly, daily, weekly, monthly and yearly.

The location and height of the receiver unit may be sent to a network server using any application or communication protocol on the terminal. Alternatively, the range measurement may be sent over the communication protocol to the network. The communication protocol may be a standard serial or a different standard for the application on the terminal or a standard or dedicated wireless protocol for the server. A possible way to join or connect the server via a standard protocol involves sending an SMS message to another phone connected to the server, or alternatively, through a wireless data service to the web server. The sent information includes one or more latitude / longitude, height (if possible), and timestamp. The application or terminal unit on the server can initiate a position fix. The user's location may be communicated directly from the server or by an application on the server.

An independent WAPS stand-alone system with a GPS receiver can be used to determine the location of the device. The WAPS system alone or integrated WAPS and GPS and / or other positioning systems may be used to exist with media storage cards (such as an SD card) on the media card. The WAPS system alone or integrated WAPS and GPS and / or other positioning systems may coexist on a cellular phone Subscriber Identity Module (SIM) card so that the SIM card can be tracked.

carrier Phase  accurate Positioning

One way to increase WAPS system performance (up to 1 m) that will further improve accuracy is to implement a carrier phase positioning system, as described below. The beacon is prepared as a general WAPS transmitter. In this way, it may be desirable (but not required) not to use TDMA slotting to enable easy continuous phase tracking. If TDMA is not used, the near-wave problem can be overcome through interference cancellation and increased dynamic range at the receiver. A WAPS receiver to support this method can measure and continuously time-stamp code and carrier phases for all visible satellites. There is also a reference receiver capable of making similar measurements of the code and carrier phases in a known and investigated location continuous manner. The measurements from the WAPS receiver and the reference receiver may be combined to calculate the position on the device or server. The configuration of such a system will be the same as the differential WAPS system.

Carrier phase measurements are more accurate than code phase measurements, but include unknown constants of the carrier phase cycle, called integer ambiguities. However, there is a way to find an integer ambiguity called ambiguity resolution. In the present specification, one approach will be considered, one that repeatedly solves for the user receiver position and uses an extension of the local minimum search algorithm to use measurements in multiple epochs for improved accuracy.

Consider carrier phase measurements at the user receiver at the first of a single epoch as follows.

Where d is the clock bias, r is the range, e is the measurement error and subscript u represents the user receiver, k is the transmitter number, .

The range is given in terms of the user position p ^u and the transmitter position p ^(k) as follows.

In order to eliminate the error in the information of the transmitter clock bias, we consider another receiver at a known position (called the reference receiver) using the corresponding carrier phase equation.

Here, subscript r denotes the reference receiver, and subtracting (2) from (1)

를 얻는다. 이는

로 기재되고, 여기서,

이다.

Get this is

Lt; RTI ID = 0.0 &gt;

to be.

Since dt _u r is not the portion of interest, it can be eliminated by differentiation (5) with respect to the different values of the index k, so that a so-called second derivative observation equation can be obtained.

, 여기서,

이다.

, here,

to be.

을 통하여 알려지지 않은 사용자 위치 p_u에서의 방정식이고,

여기서,

이다.Then, Equation (6)

Lt; RTI ID = 0.0 &gt; p _u , &lt; / RTI &gt;

here,

to be.

In general, the transmitter l used in the second derivative is one of the transmitters and is referred to as 1 for causing the equation of the matrix for convenience. The matrix is as follows.

or

으로 놓고, 여기서,Equation (10) is the non-parametric equation at the unknown user position pu. The local minimum search algorithm operates on a linear equation, and (10) is linearized and iteratively solved as follows. In the iteration m, the approximation to p _u is

, &Lt; / RTI &gt;

와

Wow

여기서,

here,

, 여기서 l(k)는 라인-오브-사이트 행 백터

이다.

, Where l (k) is the line-of-site row vector

to be.

와 같이 기재되고, 여기서,

및

이다.Then equation (10)

, &Lt; / RTI &gt;

And

to be.

로서 사용된다. 반복은 Δp_u이 수렴을 결정하기에 충분히 작아질 때까지 연속적이다. 반복의 초기에는,

이 솔루션에 기초한 코드 위상으로부터 취할 수 있다.Equation (13) is linear at x = Δp _u and is solved for Δp _u using the local minimum search algorithm given below. Using the resulting solution of Δp _u, equation (11) is used in obtaining the repeated m p _u, so, p _u is obtained in the next iteration (m + 1)

Used as The iteration is continuous until Δp _u is small enough to determine convergence. At the beginning of the repetition,

Can be taken from the code phase based on this solution.

를 2차 미분 캐리어 위상 에러 벡터의 공분산으로 놓는다. 아래와 같이 얻어진다. 단일 미분 관측량에서 에러의 분산

은

이고, 여기서

과

는 각각 캐리어 위상 에러 분산이고, 이는 송신기 k에 독립적인 것으로 가정된다.

의 분산은

이고,

와

의 교차-분산은

이며, 이는 공통 항

의 분산이다. 따라서,Now, consider solving equation (13).

As a covariance of the second-order differential carrier phase error vector. It is obtained as follows. Variance of errors in single differential measurements

silver

, Where

and

Are each a carrier phase error variance, which is assumed to be independent of transmitter k.

The dispersion of

ego,

Wow

The cross-dispersion of

, Which is a common term

. therefore,

이고, 여기서 G^L은 G의 좌역원이고,

The weighted least squares solution of (13)

, Where G ^L is the left inverse of G,

이며 이는 N의 함수이고, 로컬 최소 탐색은 N에 대하여 가중화된 정규 자스을 최소화하도록 시도한다. 여기서 N은

이고, 여기서,

및

이다. Then the rest of the vector is

, Which is a function of N, and the local minimum search attempts to minimize the normalized weight that is weighted against N. [ Where N is

Lt; / RTI &gt;

And

to be.

를 푸는 것을 생각한다. 그리고 나서,

와

인데, 이는 W가 멱등원(idempotent)

이기 때문이다. 따라서, N에(17), under the constraint that N is an integer,

. Then the,

Wow

This is because W is an idempotent,

. Therefore,

The search for is limited to this N, which satisfies (18).

Once N is relaxed, an estimate of x = Δp _u is obtained from equation (15). Matrixes G and G ^L , respectively dimension (n-1) × 3 and 3 × (n-1), have rank 3, where (n-1)> 3, and (n-1) × (n-1) ) Matrices S and W will be lacking from the entire source of (n-1) by 3.

, 여기서,

는 직교-법선 행렬(ortho-normal matrix)

이고, R은 상삼각(upper triangular)이어서,

이고,

이다.Using the QR decomposition of W for equation (18) (LU decomposition can also be used),

, here,

Is an ortho-normal matrix,

And R is an upper triangular,

ego,

to be.

의 솔루션은 정수값으로 3차원박스 내의 N₂에 대하여 탐색함으로서, (21)로부터의 N₁을 얻음으로서 및 (17)에서 c(N)을 최소화하는 N을 선택함에 의하여 얻어진다. N₂에 대한 탐색은 이전 반복으로부터 N₂의 값의 중심이 된다. N의 나중 파트인 0번째 반복에서의 N2는

의 부분 파트로서 얻는다.

는 솔루션에 기초한 코드 페이즈이다. 3차원 탐색 박스의 크기는 솔루션에 기초한 코드 페이즈의 불확실성에 의존한다. 이 박스는 더 작은 서브-박스로 나뉘어질 수 있고, 각각의 더 작은 크기의 서브-박스는 초기의

로서 시도될 수 있다.therefore,

Is obtained by selecting N that minimizes c (N) in (17) by obtaining N ₁ from (21) by searching for N ₂ in the three-dimensional box as an integer value. Searching for the N ₂ is the center of the value of N ₂ from the previous iteration. N2 in the 0th iteration, the latter part of N,

Lt; / RTI &gt;

Is a solution-based code phase. The size of the 3D search box depends on the uncertainty of the code phase based on the solution. This box can be divided into smaller sub-boxes, and each smaller sub-box can be divided into an initial

Lt; / RTI &gt;

이다.The method used a single epoch (instantaneous) of the measurements to determine the position. The description below describes an extension to a single epoch method. Multiple epoch measurements are close enough in time to ignore user receiver movement. In addition, the integer ambiguity of the initial epoch remains the same for subsequent epochs, and is not introduced to subsequent epochs with new and unknown integer ambiguities. Since the transmitter location is fixed (unlike the GNSS case, the satellite transmitter's motion is line-of-site converted to give independent equations), multiple epoch measurements do not give independent equations. Thus, multiple epoch measurements do not help resolve integer ambiguities such as float ambiguity (unlike GNSS case, the number of independent equations is greater than the number of unknown ambiguities plus three position coordinates). However, multiple epoch measurements allow more carrier phase measurement errors and still allow for successful ambiguity resolution. In the case of multiple epochs, equation (13)

to be.

After development for a single epoch case as in the above equation, the problem is reduced to the problem of finding N,

, 여기서,

이다.

, here,

to be.

, 여기서,

을

(LU 분해도 사용될 수 있음)의 QR 분해와 상기와 같이 (19) 내지 (21)의 다음 방정식을 사용한다. 다시 말하면, N이 풀린 후에, x = Δp_u 의 추정은 방정식 (15)로부터 얻는다. x = Δp_u의 이 추정이 작다면, 방정식 (11)의 반복이 정지되어 사용자 포지션 p_u를 얻는다. 일반적으로, x의 각 구성은 크기 le-6보다 작다면, 그리고 나서, 수렴이 고표되고, 반복은 정지된다.To solve (23) for N,

, here,

of

(LU decomposition can also be used) and the following equations (19) to (21) are used as described above. In other words, after N has been solved, an estimate of x = Δp _u is obtained from equation (15). If this estimate of x = Δp _u is small, the iteration of equation (11) is stopped and the user position p _u is obtained. Generally, if each configuration of x is smaller than the size le-6, then convergence is marked and the iteration is stopped.

로서 (10)으로부터 얻어진 나머지에 기초하여 행해진다. 각 에포크에 대한 나머지의 절대값의 최대치가

보다 작고, 수렴된 솔루션은 솔루션으로 받아들여지고, 아니면 탐색은 새로운 서브-박스를 선택함에 의하여 계속된다. 일반적으로, 확인 테스트의 척도 요소 κ는 5로 선택될 수 있다. 솔루션이 확인되면, 상기 기술된 차동 WAPS 시스템은 1 m 보다 우수하거나 근접한 정확성을 달성할 수 있다.The next step is to check if the converged user position p _u is correct. this is

Is based on the remainder obtained from (10). The maximum value of the absolute value of the remainder for each epoch is

A smaller, converged solution is accepted as a solution, or the search continues by selecting a new sub-box. In general, the scale factor κ of the confirmatory test can be chosen to be 5. Once the solution is identified, the differential WAPS system described above can achieve accuracy greater than or close to 1 m.

This differential WAPS carrier phase system may be overlaid or stand-alone above the top of a conventional WAPS system through the addition of a reference receiver. A differential WAPS carrier phase system can be used to achieve high accuracy positioning in any local target area (e.g., mall, warehouse, etc.).

In a W-CDMA system, two receive chains are used to improve receive diversity. If WAPS is present with W-DCMA, one of the receive chains may be used temporarily to receive and process the WAPS signal. In some cases of W-CDMA and CDMA architectures, while processing of the W-CDMA / CDMA signal is temporarily stopped, the entire receive chain is reused to receive the WAPS signal by turning the receiver into the WAPS band and processing the WAPS signal . In some other embodiments in which the GSM receive chain is multiplexed with the W-CDMA receive chain, the receiver may be more time-shared and used for WAPS reception.

In order to conserve power after a signal has been determined from which tower for position determination in a WAPS or other TDMA system, most of the receivers of the embodiment will detect the signal from the tower where no signal is detected and / Is turned off while not being used for position determination. Upon detecting a change in motion or position or a change in signal state, the receiver of the embodiment turns on for all slots to determine which slots can be used for the next set of position calculations.

Embodiments described herein include a positioning system, which includes a terrestrial transmitter comprising a plurality of transmitters for broadcasting a positioning signal comprising at least a range signal and positioning system information. The range signal is used to measure the distance of the transmitter branch that broadcasts the range signal. The system includes a reference sensor array that includes at least one reference sensor unit located at a known location. The system includes a remote receiver that includes an atmospheric sensor that collects atmospheric data at a location of the remote receiver. The system runs on a processor and includes a positioning application coupled with a remote receiver. The positioning application calculates the position of the remote receiver using information derived from at least one of the positioning data and the satellite signal, which is atmospheric data, reference data from the reference sensor unit set of the reference sensor array, and signals of the satellite-based positioning system. . Position includes altitude.

Embodiments described herein include a positioning system, the positioning system comprising a plurality of transmitters for broadcasting a positioning signal comprising at least a range signal and positioning system information, wherein the range signal broadcasts a range signal. And a reference sensor array comprising at least one reference sensor unit located at a known location, and an atmospheric sensor for collecting atmospheric data at a location of a remote receiver. A positioning receiver operating on a processor and coupled to the remote receiver, the positioning application being configured to provide atmospheric data, reference data from a set of reference sensor units of the reference sensor array and positioning signals, and satellite-based positioning systems. Calculate a position of the remote receiver using information derived from at least one of the satellite signals, which is a signal, the position comprising altitude.

Embodiments described herein include a positioning system, which includes a terrestrial transmitter comprising a plurality of transmitters for broadcasting a positioning signal comprising at least a range signal and positioning system information. The range signal is used to measure the distance of the transmitter branch that broadcasts the range signal. The system includes a reference sensor array that includes at least one reference sensor unit located at a known location. The system includes a remote receiver that includes an atmospheric sensor that collects atmospheric data at a location of the remote receiver. The system runs on a processor and includes a positioning application coupled with a remote receiver. The positioning application uses the atmospheric data and reference data from the reference sensor unit set of the reference sensor array to generate a reference pressure estimate at the position of the remote receiver. The positioning application calculates the position of the remote receiver using information derived from at least one of the positioning data and the satellite signal, which is atmospheric data, reference data from the reference sensor unit set of the reference sensor array, and signals of the satellite-based positioning system. . Position includes altitude.

Embodiments described herein include a positioning system, the positioning system comprising a plurality of transmitters for broadcasting a positioning signal comprising at least a range signal and positioning system information, wherein the range signal broadcasts a range signal. And a reference sensor array comprising at least one reference sensor unit located at a known location, and an atmospheric sensor for collecting atmospheric data at a location of a remote receiver. A positioning receiver operating on a processor and connected to the remote receiver, the positioning application comprising a reference pressure at a position of the remote receiver using atmospheric data, reference data from a reference sensor unit set of the reference sensor array. Generate an estimate and calculate a position of a remote receiver using information derived from at least one of the reference pressure estimate and a positioning signal and a satellite signal that is a signal of a satellite-based positioning system, the position comprising altitude; Include.

The positioning application of the embodiment is hosted at a remote receiver, which calculates the position.

The remote receiver of the embodiment is operated in a reduced-power state when no positioning signal is detected or used.

The remote receiver of an embodiment uses positioning signal sets from a plurality of transmitter sets to determine position, wherein the remote receiver is operated in a reduced-power state when no positioning signal set is detected or used.

In response to detecting at least one of a motion of a remote receiver of the embodiment, a change in position of the remote receiver, and a change in signal state of the positioning signal, the remote receiver changes from a reduced-power state to a full-power state.

The system of an embodiment includes a server coupled with a remote receiver, wherein the positioning application is hosted on a server, the server calculating a position.

The system of an embodiment includes a server coupled to a remote receiver, wherein the positioning application is distributed between the remote receiver and the server.

The first mode of operation of the remote receiver of an embodiment includes terminal-based positioning, in which the receiver calculates a position.

The second mode of operation of the remote receiver of the embodiment includes network-based positioning, in which the server calculates a position.

The known location of an embodiment is the location of a transmitter set of a plurality of transmitters.

The positioning application of the embodiment includes a pressure surface gradient model that uses reference data from a set of reference sensor units to generate an equivalent altitude pressure at the position of the remote receiver.

The positioning application of the embodiment uses equivalent altitude pressure as a reference value for generating altitude.

The positioning application of the embodiment uses the reference data from each reference sensor unit to generate an equivalent altitude pressure for each reference sensor unit of the reference sensor unit set.

The reference data of the embodiment includes pressure data, temperature data and location data of each reference sensor unit of the reference sensor unit set.

The positioning application of the embodiment uses the equivalent altitude pressure of each reference sensor unit of the set of reference sensor units and the longitude and latitude of the remote receiver to generate an equivalent reference altitude pressure at the position of the remote receiver.

The positioning application of the embodiment generates the altitude of the remote receiver using atmospheric data and an equivalent reference altitude pressure at the position of the remote receiver.

At least one reference sensor unit of an embodiment is located with at least one of the plurality of transmitters.

At least one reference sensor unit of an embodiment comprises a plurality of reference sensor units, wherein a first set of the plurality of reference sensor units is located with a first set of the plurality of transmitter units and a second set of the plurality of reference sensor units Is at a location different from that of the plurality of transmitters.

At least one reference sensor unit of an embodiment is at a location different from the locations of the plurality of transmitters.

The atmospheric sensor of the embodiment collects pressure data and temperature data at the position of the remote receiver.

The atmospheric sensor of the embodiment determines the pressure data with resolution in the range of less than approximately 36 Pascals.

The remote receiver of the embodiment senses the rate of change of the pressure data.

The positioning application of the embodiment uses the change rate to determine the vertical speed of the remote receiver.

The temperature data of an embodiment includes the outside air temperature at the position of the remote receiver, and the atmospheric sensor determines the temperature data with a resolution of approximately 3 degrees Celsius or less.

Each reference sensor unit of an embodiment includes at least one atmospheric reference sensor that collects reference pressure data and reference temperature data at a known location of the atmospheric reference unit.

At least one atmospheric reference sensor of the embodiment determines the reference pressure data with a resolution of approximately 2-36 Pascals.

The reference temperature data of an embodiment includes the outside air temperature at a known location, and the atmospheric reference sensor determines the temperature data with a resolution of approximately 3 degrees Celsius or less.

The atmospheric reference sensor of an embodiment is calibrated for a limited temperature range, which is determined based on the temperature at which the atmospheric reference sensor is exposed.

Each atmospheric reference sensor of an embodiment continuously collects reference pressure data and reference temperature data at known locations.

The atmospheric reference sensor of the embodiment is arranged to collect the reference pressure and the reference temperature in relatively stationary air.

The atmospheric reference sensor of the embodiment filters the reference pressure data and the reference temperature data.

The atmospheric reference sensor of the embodiment filters the reference pressure data and the reference temperature data using an adjustable time scale.

Each reference sensor unit of an embodiment includes a wind detector for determining wind data, wherein the wind data includes the direction and magnitude of the local wind.

The positioning application of the embodiment uses wind data to correct or filter out deformations in the atmospheric sensor.

At least one reference sensor unit of an embodiment comprises a plurality of atmospheric reference sensors.

The positioning system of the embodiment includes a communication link coupled between the reference sensor array and the remote receiver.

The reference sensor array of an embodiment broadcasts atmospheric reference data.

The reference sensor array of an embodiment broadcasts raw data of atmospheric reference data.

The reference sensor array of an embodiment broadcasts differential data of reference data.

Differential data of an embodiment is obtained for at least one constant value.

The differential data of an embodiment includes differential pressure data obtained with offset values of a standard atmosphere.

The remote receiver of the embodiment receives the reference data through broadcast.

The reference sensor array of an embodiment broadcasts reference data at multiple times per second.

The reference sensor array of an embodiment broadcasts reference data at multiple times per measurement.

The remote receiver of the embodiment determines the set of standby reference sensors to query and pulls reference data from the set of standby reference sensors over the communication link.

The positioning application of the embodiment processes the reference data and determines the equivalent reference altitude pressure of each reference sensor unit of the reference sensor unit set.

The reference data of an embodiment includes the location of each standby reference unit.

Locations of embodiments include longitude and latitude.

The location of an embodiment includes a height.

The reference data of an embodiment includes the measured outside air temperature from each atmospheric reference unit.

Reference data to the implementation includes a reliability measure.

Each reference sensor unit of an embodiment processes the reference data of the reference sensor unit and determines the equivalent reference altitude pressure of the reference sensor unit.

The reference data of an embodiment includes the location of each atmospheric reference sensor.

The location of the embodiment includes latitude and longitude.

The location of an embodiment includes a height.

The reference data of the examples include equivalent reference altitude pressures.

Reference data of an embodiment includes a reliability measure.

The altitude of an embodiment includes the measured altitude of each layer in at least one structure.

The positioning system of an embodiment includes a database coupled with a plurality of remote receivers including a remote receiver, the database comprising measured altitudes received from the plurality of remote receivers.

The positioning system of an embodiment includes a learning application coupled to a server, wherein the learning application processes the estimated altitudes of the plurality of remote receivers and modifies the database using the estimated altitudes.

At least one reference sensor unit of an embodiment includes at least one local reference sensor unit, the local reference sensor unit being close to at least one of a location and a structure.

The reference data of an embodiment includes data of at least one local reference sensor unit.

The positioning system of the embodiment automatically calibrates the atmospheric sensor of the remote receiver using the reference data accumulated over the specified time period.

The positioning system of the embodiment generates reference data accumulated by identification when the remote receiver is at a known location, accumulates deviations in atmospheric data corresponding to the known system, and corrects corrections from the accumulated deviations. It includes generating.

The positioning system of the embodiment automatically calibrates the atmospheric sensor of the remote receiver when the altitude and atmospheric pressure of the position of the remote receiver are known.

The position of the remote receiver of the embodiment is determined using the satellite signal.

The positioning system of the embodiment uses the reference altitude to determine altitude.

The reference altitude of the embodiment minimizes the altitude difference among the altitudes calculated using at least one of the atmospheric data and the reference data.

The reference altitude of the embodiment includes the average altitude of the atmospheric reference unit.

The reference altitude of the embodiment includes the average altitude of the area where the remote receiver is located.

The altitude of an embodiment includes an estimated altitude derived using local limit data.

Local restriction data of an embodiment includes terrain data of the terrain in the vicinity of the position of the remote receiver.

The local limit data of the embodiment includes the height of at least one structure in the vicinity of the location of the remote receiver.

The local restriction data of an embodiment includes the altitude of at least one other remote receiver in the vicinity of the location of the remote receiver.

The positioning application of the embodiment uses the atmospheric data, reference data and local limit data to determine altitude.

The positioning system of an embodiment includes a database coupled with a positioning application, the database including historical data measured over a period of time, wherein the historical data includes reference data of a reference sensor array and standby data of a plurality of remote receivers.

The positioning application of the embodiment uses historical data to determine altitude.

The positioning system of the embodiment includes optimizing at least one reference sensor unit of the reference sensor array using historical data.

The positioning system of the embodiment includes determining altitude by mitigating assumptions about a constant equivalent reference altitude pressure between the reference location of the reference sensor unit and the current position of the remote receiver.

The positioning system of an embodiment transitions from a first equivalent reference altitude pressure at a reference location to a second equivalent reference altitude pressure at a standard temperature, determining a local temperature at a current position, and using the local temperature to determine the first temperature. Converting from two equivalent reference altitude pressures to a third equivalent reference altitude pressure, and determining the altitude at the current position using the third equivalent reference altitude pressure.

The positioning system of an embodiment uses the reference data in each reference sensor unit of the reference sensor unit set to determine an equivalent reference altitude pressure deviation with the horizontal location, and the equivalent reference altitude pressure of the reference sensor unit set. Combining to determine an optimal estimate of the reference altitude pressure at the current position.

Determining an optimal estimate of an equivalent reference altitude pressure of an embodiment includes using a weighted average technique, where weighting is a function of the horizontal distance between the location of the reference sensor unit and the current position.

Determining an optimal estimate of an equivalent reference altitude pressure of an embodiment uses the least square method to generate a secondary surface that optimizes the barometric pressure calculated at each reference sensor unit in the reference sensor unit set, and n Interpolating an optimal estimate of the equivalent reference altitude pressure at the current position using the difference surface.

The positioning system of the embodiment converts from a first equivalent reference altitude pressure at each reference sensor unit of the reference sensor unit set to a second equivalent reference altitude pressure at standard temperature, and a second from each reference unit. Determining an optimal estimate of the equivalent reference altitude pressure at the current position by combining the equivalent reference altitude pressures.

Determining an optimal estimate of an equivalent reference altitude pressure of an embodiment includes using a weighted average technique, where weighting is a function of the horizontal distance between the location of the reference sensor unit and the current position.

Determining an optimal estimate of the equivalent reference altitude pressure of an embodiment uses the least square method to generate a secondary surface that optimizes the equivalent reference altitude pressure calculated at each reference sensor unit in the set of reference sensor units. Interpolating an optimal estimate of the barometric pressure at the current position using the nth order surface.

The remote receiver of an embodiment includes a high speed clock.

The remote receiver of an embodiment typically receives pulse edges from a time reference, while the remote receiver uses a high speed clock to determine the time difference between the pulse edge generation and the rising edge of the sample clock.

The remote receiver of the embodiment applies a correction for the estimated range based on the time difference, which correction improves the accuracy of the estimated range.

The remote receiver of an embodiment includes a correlator for correlating a received random signal with a pseudo random code, the correlator comprising a first shift register comprising a plurality of serial sets of parallel random access readable second shift registers.

Each set of the plurality of sets of second shift registers of an embodiment includes a plurality of serial shift register group primitives.

Each shift register group primitive of an embodiment includes an n-bit shift register group primitive.

Each shift register group primitive of an embodiment includes a 16-bit shift register group primitive.

Each set of second shift registers of an embodiment forms a 32-bit shift register.

The plurality of serial sets of the second shift register of the embodiment include a plurality of n-bit shift registers.

The plurality of series sets of the second shift register of the embodiment include 32 sets of the second shift register, wherein the first shift register is a 1024-bit shift register.

The shift operation of the first shift register of the embodiment occurs at the clock speed of the clock associated with the correlator.

The readout operation of the first shift register of the embodiment occurs at at least two speeds at the clock speed.

The readout operation of the first shift register of the embodiment occurs 32 times per clock speed.

The positioning system of the embodiment includes a plurality of serial adders coupled with the outputs of the plurality of serial sets of the second shift register.

A plurality of serial adders of an embodiment includes an adder tree, wherein the adder tree includes a wider bit-width adder primitive.

The plurality of serial adders of an embodiment includes adders each coupled to a plurality of serial sets of n-bit shift registers.

The plurality of serial adders of an embodiment includes a first adder coupled with the output of the first plurality of sets of the second shift register, a second adder coupled with the output of the second plurality of sets of the second shift register, and a third of the second shift register. A third adder coupled to the plurality of sets of outputs and a fourth adder coupled to the fourth plurality of sets of outputs of the second shift register.

The positioning system of the embodiment includes a terminal adder connected to the outputs of the plurality of serial adders.

The positioning system of the embodiment includes aligning the outputs of the plurality of serial adders in the plurality of serial groups in the terminal adder.

The output of the first adder of the embodiment is sorted in the first group in the terminal adder, the output of the second adder is sorted in the second group in the terminal adder, the output of the third adder is sorted in the third group in the terminal adder, The outputs of the fourth group are arranged in the fourth group in the terminal adder.

The terminal adder of the embodiment adds the contents of a plurality of sets to form a sum.

The remote receiver of the embodiment temporarily uses the original receive chain of the plurality of original receive chains of the remote receiver to capture at least one of the positioning signal and the satellite signal.

The plurality of original receive chains of an embodiment include a diversity receive chain that improves receive diversity.

The remote receiver of an embodiment includes a wide bandwidth receiver.

The remote receiver of an embodiment includes a wide bandwidth cellular band receiver.

The remote receiver of the embodiment temporarily or permanently uses the diversity receive chain to capture the positioning signal.

The positioning system of an embodiment includes a communication system coupled with at least one of the remote receiver and the plurality of transmitters, wherein the communication system is a cellular communication system.

A plurality of transmitters of an embodiment are synchronized, wherein each transmitter of the plurality of transmitters transmits a signal comprising a pseudorandom number sequence and auxiliary data.

The auxiliary data of an embodiment includes system time at the rising edge of the pulse of the waveform, system time at the falling edge of the pulse of the waveform, geocode data of a plurality of transmitters, geocode data of adjacent transmitters adjacent to the plurality of transmitters, and proximity of the plurality of transmitters. Index of the sequence used by at least one transmitter, clock timing correction at at least one transmitter, local atmospheric correction, relationship of WAPS time to GNSS time, indication of local environment to support remote receiver in pseudorange resolution, and At least one of an offset from the base index of the set of pseudorandom sequences, a list of pseudorandom number sequences from the set of transmitters, and a list of transmitters that use a particular pseudorandom number sequence.

The positioning application of the embodiment calculates the position of the remote receiver by formulating a set of equations as a non-linear objective function and producing an optimal estimate of the position as a set of position parameters that minimizes the objective function.

The positioning application of the embodiment formulates a set of linearized equations and solves the position of the remote receiver by solving the set of linearized equations using the least squares.

The positioning application of the embodiment calculates the position of the remote receiver using the approximate location of the transmitter set of the plurality of transmitters and the received signal strength (RSS) of the transmitter set.

The positioning application of the embodiment calculates the position of the remote receiver by storing a sample portion of the positioning signal of the remote receiver, and then processes the sample portion to search, capture, and calculate ranges for a plurality of transmitters.

The positioning application of the embodiment uses the received signal strength data of the remote receiver to calculate the position of the remote receiver.

The positioning application of the embodiment calculates the position of the remote receiver using at least one of carrier phase data and code phase data of the positioning signal.

The positioning application of the embodiment calculates the position of the remote receiver using differential positioning for at least one reference receiver.

The positioning application of the embodiment calculates the position of the remote receiver using at least one of a proxy for ranging and ranging from a signal of opportunity, wherein the signal of opportunity is a positioning system, a global navigation satellite system (GNSS). , Global positioning system (GPS), differential positioning system, radio signal, television signal, wireless network system, WiFi system, cellular system and Bluetooth system.

The positioning application of an embodiment calculates the final position of the remote receiver using range measurements from at least one additional signal source combined with range measurements determined using the positioning signal, wherein the final position is at least one of latitude, longitude, and height. It includes.

The positioning application of the embodiment calculates the optimized location solution of the remote receiver using the range measurement from at least one additional signal source and the position quality metric from the at least one additional signal source combined with the range measurement determined using the positioning signal. do.

The positioning application of the embodiment calculates the position of the remote receiver using hybrid positioning, wherein the hybrid positioning includes a measurement from a positioning signal and a measurement from at least one additional signal source.

The positioning system of the embodiment includes timing synchronization and corresponding correction information.

In a reference system of an embodiment, the reference system includes a reference sensor array comprising at least one set of reference sensor units, each set comprising at least one reference sensor unit located at a known location. A remote receiver comprising an atmospheric sensor for collecting atmospheric data in a positioning system, the positioning application being operated on a processor and coupled to the remote receiver, the positioning application being a reference from at least one reference sensor unit set of the ambient data and a reference sensor array. The data is used to generate a reference pressure estimate at the position of the remote receiver and to calculate the altitude of the remote receiver using the reference pressure estimate.

17. The positioning system of an embodiment, wherein the positioning system comprises a plurality of transmitters for broadcasting a positioning signal comprising at least a range signal and positioning system information, wherein the range signal measures a distance to a transmitter for broadcasting a range signal. And a remote receiver that captures at least one of a positioning signal and a satellite signal, wherein the satellite signal is a signal of a satellite-based positioning system, the first mode of operation of the remote receiver being positioned by the remote receiver. Terminal-based positioning for calculating a position of a remote receiver from at least one of a signal and a satellite signal, the remote receiver including a correlator for correlating a received signal with a pseudorandom code; The second mode of operation of the receiver is The server includes network-based positioning for calculating the position of the remote receiver from information derived from at least one of the positioning signal and the satellite signal, the remote receiver receiving information derived from at least one of the positioning signal and the satellite signal and sending the information to the server. Contains-sent.

The correlator of the embodiment includes a first shift register comprising a plurality of serial sets of second shift registers capable of parallel random access reads.

The plurality of serial sets of each second shift register of an embodiment includes a plurality of serial shift register group primitives.

Each shift register group primitive of an embodiment includes an n-bit shift register group primitive.

Each shift register group primitive of an embodiment includes a 16-bit shift register group primitive.

Each set of second shift registers of an embodiment forms a 32-bit shift register.

The plurality of serial sets of the second shift register of the embodiment include a plurality of n-bit shift registers.

The plurality of series sets of the second shift register of the embodiment include 32 sets of the second shift register, wherein the first shift register is a 1024-bit shift register.

The shift operation of the first shift register of the embodiment occurs at the clock speed of the clock coupled with the correlator.

The readout operation of the first shift register of the embodiment occurs at at least two speeds at the clock speed.

The readout operation of the first shift register of the embodiment occurs 32 times per clock speed.

The positioning system of the embodiment includes a plurality of serial adders coupled with the outputs of the plurality of serial sets of the second shift register.

A plurality of serial adders of an embodiment includes an adder tree, wherein the adder tree includes a wider bit-width adder primitive.

The plurality of serial adders of an embodiment includes adders each coupled to a plurality of serial sets of n-bit shift registers.

The plurality of serial adders of an embodiment includes a first adder coupled with the output of the first plurality of sets of the second shift register, a second adder coupled with the output of the second plurality of sets of the second shift register, and a third of the second shift register. A third adder coupled to the plurality of sets of outputs and a fourth adder coupled to the fourth plurality of sets of outputs of the second shift register.

The positioning system of the embodiment includes a terminal adder connected to the outputs of the plurality of serial adders.

The positioning system of the embodiment includes aligning the outputs of the plurality of serial adders in the plurality of serial groups in the terminal adder.

The output of the first adder of the embodiment is sorted in the first group in the terminal adder, the output of the second adder is sorted in the second group in the terminal adder, the output of the third adder is sorted in the third group in the terminal adder, The outputs of the fourth group are arranged in the fourth group in the terminal adder.

The terminal adder of the embodiment adds the contents of a plurality of sets to form a sum.

17. The positioning system of an embodiment, wherein the positioning system comprises a plurality of transmitters for broadcasting a positioning signal comprising at least a range signal and positioning system information, wherein the range signal measures a distance to a transmitter for broadcasting a range signal. And a remote receiver that captures at least one of a positioning signal and a satellite signal, wherein the satellite signal is a signal of a satellite-based positioning system, the first mode of operation of the remote receiver being positioned by the remote receiver. A terminal-based positioning that calculates a position of a remote receiver from at least one of a signal and a satellite signal, the remote receiver operating in a reduced-power state when no positioning signal is detected; A second operating module of the receiver And network-based positioning, wherein the server calculates the position of the remote receiver from information derived from at least one of the positioning signal and the satellite signal, the remote receiver receiving information derived from at least one of the positioning signal and the satellite signal and Sent to

The positioning application of the embodiment is hosted at a remote receiver, which calculates the position.

The remote receiver of the embodiment is operated in a reduced-power state when no positioning signal is detected or used.

The remote receiver of an embodiment uses positioning signal sets from a plurality of transmitter sets to determine position, wherein the remote receiver is operated in a reduced-power state when no positioning signal set is detected or used.

In response to detecting at least one of a motion of a remote receiver of the embodiment, a change in position of the remote receiver, and a change in signal state of the positioning signal, the remote receiver changes from a reduced-power state to a full-power state.

In a positioning system of an embodiment, the positioning system comprises a plurality of transmitters for broadcasting a positioning signal comprising at least a range signal and positioning system information, wherein the range signal measures a distance to a transmitter for broadcasting a range signal. Information used, and a remote receiver for capturing at least one of a positioning signal and a satellite signal, the satellite signal being a signal of a satellite-based positioning system, the first mode of operation of the remote receiver being the positioning signal of the remote receiver. And terminal-based positioning for calculating a position of the remote receiver from at least one of the satellite signals, the remote receiver including a high speed clock, and a server coupled with the receiver, wherein the second mode of operation of the receiver is that At least one of positioning and satellite signals Network-based positioning for calculating the position of the remote receiver from information derived from one, the remote receiver receiving and transmitting information derived from at least one of the positioning signal and the satellite signal to a server.

The remote receiver of an embodiment typically receives pulse edges from a time reference, while the remote receiver uses a high speed clock to determine the time difference between the pulse edge generation and the rising edge of the sample clock.

The remote receiver of the embodiment applies a correction for the estimated range based on the time difference, which correction improves the accuracy of the estimated range.

17. The positioning system of an embodiment, wherein the positioning system comprises a plurality of transmitters for broadcasting a positioning signal comprising at least a range signal and positioning system information, wherein the range signal measures a distance to a transmitter for broadcasting a range signal. And information used to capture at least one of a positioning signal and a satellite signal, wherein the remote receiver is configured to capture at least one of the positioning signal and the satellite signal; Temporarily using the original receive chain of the remote receiver, wherein the first mode of operation of the remote receiver comprises terminal-based positioning where the remote receiver calculates the positioning of the remote receiver from at least one of a positioning signal and a satellite signal; Book connected with receiver The second mode of operation of the receiver comprises network-based positioning in which the server calculates the position of the remote receiver from information derived from at least one of the positioning signal and the satellite signal, the remote receiver comprising at least one of the positioning signal and the satellite signal Receive information derived from and send it to the server.

The remote receiver of the embodiment temporarily uses the original receive chain of the plurality of original receive chains of the remote receiver to capture at least one of the positioning signal and the satellite signal.

A plurality of original receive chains of an embodiment includes a diversity receive chain that improves receive diversity.

The remote receiver of an embodiment includes a wide bandwidth receiver.

The remote receiver of an embodiment includes a wide bandwidth cellular band receiver.

The remote receiver of the embodiment temporarily or permanently uses the diversity receive chain to capture the positioning signal.

The system described herein to use position / timing accuracy may be used in one or more of the following applications in both local and wide area, but is not limited to the applications described below. This means that ad hoc position determinations (eg, "mobile" transmitter sets) for asset tracking, person tracking, dog tracking, fire security, mobile advertising, and public security applications can be moved to a location (eg, a fire location). ) And these transmitters form a local network to provide location signals to a set of receivers around them, military applications (e.g., the transmitters can be deployed ad hoc over the ground or over the air to obtain accurate indoor position), Adjustable bandwidth for applications that can provide bandwidth to meet accuracy needs, container tracking and vehicles moving containers around indoor environments, geo-tagging, geo-fencing, E911 applications, pharmaceutical applications , Femto-cell, pallet tracking for other applications requiring pallet tracking (femto-cell), provide timing for femto-cells, timing receivers, location for security applications that authenticate both indoor and outdoor based on location, homing applications (e.g., tracking dogs / assets using WAPS) And pedestrian navigation to assets / dogs using mobile phones, integration with the WAPS system itself or other location technologies may be integrated into existing local area and / or wide area asset tracking and / or positioning systems.

Embodiments described herein include a positioning system, the positioning system comprising a transmitter network comprising a plurality of transmitters for broadcasting positioning signals, and a remote receiver for capturing and tracking at least one of positioning signals and satellite signals; The satellite signal is a signal of a satellite-based positioning system, the first mode of operation of the remote receiver comprising terminal-based positioning, wherein the remote receiver calculates the position of the remote receiver from at least one of the positioning signal and the satellite signal. And a second mode of operation of the server-remote receiver comprising network-based positioning by which the server calculates a position of the remote receiver from at least one of the positioning signal and the satellite signal, wherein the remote receiver comprises at least one of the positioning signal and the satellite signal. Receiving and standing It includes - a transfer function.

Embodiments described herein include a method of determining a position, the method comprising receiving at a remote receiver at least one of a positioning signal and a satellite signal, the positioning signal being received from a transmitter network comprising a plurality of transmitters and The satellite signal is received from a satellite-based positioning system, and determining a position of the remote receiver using one of the terminal-based positioning and the network-based location, wherein the terminal-based positioning comprises at least one of the positioning signal and the satellite signal. Calculating a position of the remote receiver at the remote receiver using a network, and network-based positioning includes calculating a position of the remote receiver at the remote server using at least one of a positioning signal and a satellite signal. Include.

The configurations described herein may be co-located or located in separate locations. The communication path includes any medium for combining configurations and for communicating or transferring files between configurations. The communication path includes a wireless connection, a wired connection, and a wireless / wired hybrid connection. The communication path also includes a local area network (LAN), a metropolitan area network (MAN), a wide area network (WAN), a dedicated network, an interoffice network or backend network and the Internet. In addition, the communication path includes removable fixed media such as floppy disks, hard disk drives and CD-ROM disks as well as flash RAM, USB connections, RS-232 connections, telephone lines, buses and e-mail messages.

Aspects of the systems and methods described herein may be implemented as application specific integrated circuits (ASICs) as well as field programmable gate arrays (FPGAs), programmable array logic PAL) devices, electrically programmable logic and storage devices, and programmable logic devices (PLDs) such as standard cell-based devices. Other possibilities for implementing the system and method include microcontrollers with memory (such as electrically erasable programmable read only memory (EEPROM)), embedded microprocessors, firmware software, and the like. Moreover, aspects of systems and methods include software-based circuit emulation, discrete logic (sequential or combination), customized devices, fuzzy logic, quantum devices, and hybrids of the device type Lt; / RTI &gt; microprocessor. Of course, the underlying device technology may be implemented using any suitable technology, including, for example, MOSFET technology such as CMOS technology, bipolar technology such as emitter-coupled logic (ECL), polymer technology (such as silicon- Structure), analog and digital mixing, and the like.

Any system, method, and / or other arrangement described herein may be implemented in any number of ways, including but not limited to thawing, register charging, logic configuration, transistor, layout geometry and / And / or described using the instructions implemented in the various computer-readable media. Computer-readable media on which such formatted data and / or instructions may be implemented may be embodied in a variety of forms (e.g., optical, magnetic or semiconductor storage media), non-volatile storage media, and wireless, But are not limited to, carrier waves that may be used to transmit such formatted data and / or instructions over the combination. Examples of the transmission of such formatted data and / or instructions by a carrier wave may be transmitted over the Internet and / or other computer networks via one or more data transfer protocols (e.g., HTTP, HTTPS, FTP, SMTP, WAP, , Download, e-mail, etc.). It is contemplated that such data, and / or instruction-based representations of the above-described configurations, received within a computer system via one or more computer-readable media may be used in conjunction with the execution of one or more other computer programs, (E. G., One or more processors). &Lt; / RTI &gt;

The word "comprises," " including, "and the like, unless the context clearly dictates otherwise, the word " exclusive or exhaustive sense " Should be interpreted as an inclusive sense. In other words, "including, but not limited to" In addition, each of the words using the singular or plural plural includes singular or plural plural. Also, the words "herein "," above ", "below ", and the like, when used in this application, refer to the instant application as a whole, rather than as a part of this application. When the word "or" is used with respect to a list of two or more items, the word covers all of the following description of the word (any item in this list, all items in the list and any combination of the lists).

The above description of embodiments of systems and methods is not intended to limit or even precisely match the systems and methods in the precise form disclosed. Although specific embodiments and examples of systems and methods are described herein with recourse, various equivalent modifications are possible within the scope of systems and methods, as recognized by those skilled in the art. The teachings of the systems and methods provided herein may be applied to other systems and methods as well as to the systems and methods described above. The elements or functions of the various embodiments described above may be combined to provide further embodiments. These and other variations may be applied to systems and methods in light of the above detailed description.

Generally, in the following description, terms used should not be construed as limiting the system and method to specific embodiments of the disclosed specification and claims, but should be construed to include all systems and methods operating under the claims. Accordingly, the systems and methods are not limited by the disclosure, and instead, the scope should be determined entirely by the claims. Whilst some aspects of the systems and methods are presented in some claim forms, the inventors contemplate various aspects of systems and methods that are in different claim forms. Accordingly, the inventor reserves the right to add claims after the filing of this application for the purpose of forming such additional claims for other aspects of the system and method.

Claims (162)

In a positioning system, the positioning system,
A terrestrial transmitter comprising a plurality of transmitters for broadcasting a positioning signal comprising at least a range signal and positioning system information, said range signal comprising information used to measure a distance to a transmitter for broadcasting a range signal;
A reference sensor array comprising at least one reference sensor unit located at a known location;
A remote receiver comprising an atmospheric sensor for collecting atmospheric data at a location of the remote receiver;
A positioning application running on a processor and coupled to the remote receiver, the positioning application comprising at least one of atmospheric data, reference data and a positioning signal from a reference sensor unit set of the reference sensor array and a satellite signal that is a signal of a satellite-based positioning system; Calculate the position of the remote receiver using information derived from the position including altitude.
Positioning system. In a positioning system, the positioning system,
A terrestrial transmitter comprising a plurality of transmitters for broadcasting a positioning signal comprising at least a range signal and positioning system information, said range signal comprising information used to measure a distance to a transmitter for broadcasting a range signal;
A reference sensor array comprising at least one reference sensor unit located at a known location;
A remote receiver comprising an atmospheric sensor for collecting atmospheric data at a location of the remote receiver;
A positioning application running on a processor and coupled with the remote receiver, the positioning application generates atmospheric reference pressure estimates at the position of the remote receiver using atmospheric data, reference data from a reference sensor unit set of the reference sensor array, Calculate a position of the remote receiver using information derived from at least one of a pressure estimation and positioning signal and a satellite signal that is a signal of the satellite-based positioning system, the position comprising altitude.
Positioning system. 3. The method of claim 2,
The positioning application is hosted at a remote receiver, the remote receiver calculating the position. The method of claim 3, wherein
Wherein the remote receiver is operated in a reduced-power state when no positioning signal is detected or used. 5. The method of claim 4,
The remote receiver uses a set of positioning signals from a plurality of transmitter sets to determine position, the remote receiver being operated in a reduced-power state when the positioning signal set is not detected or used. Positioning system. The method of claim 5, wherein
In response to detecting at least one of a motion of the remote receiver, a change in position of the remote receiver, and a change in signal state of the positioning signal, the remote receiver changes from a reduced-power state to a full-power state. Positioning system. 3. The method of claim 2,
The positioning system comprises a server coupled to the remote receiver, the positioning application being hosted on a server, the server calculating a position. 3. The method of claim 2,
The positioning system includes a server coupled to the remote receiver, wherein the positioning application is distributed between the remote receiver and the server. The method of claim 8,
And the first mode of operation of the remote receiver comprises terminal-based positioning by which the receiver calculates a position. The method of claim 8,
And wherein said second mode of operation of said remote receiver comprises network-based positioning wherein said server calculates a position. 3. The method of claim 2,
The known location is a location of a transmitter set of a plurality of transmitters. 3. The method of claim 2,
The positioning application includes a pressure surface gradient model that uses reference data from a set of reference sensor units to generate an equivalent altitude pressure at a position of a remote receiver. 13. The method of claim 12,
And said positioning application uses an equivalent altitude pressure as a reference value for generating altitude. 13. The method of claim 12,
And the positioning application uses reference data from each reference sensor unit to generate an equivalent altitude pressure for each reference sensor unit in the reference sensor unit set. 15. The method of claim 14,
The reference data comprises pressure data, temperature data and location data of each reference sensor unit of the reference sensor unit set. The method of claim 15,
And the positioning application generates an equivalent reference altitude pressure at the position of the remote receiver using the equivalent altitude pressure of each reference sensor unit of the reference sensor unit set and the longitude and latitude of the remote receiver. 17. The method of claim 16,
And the positioning application generates altitude of the remote receiver using atmospheric data and an equivalent reference altitude pressure at the position of the remote receiver. 3. The method of claim 2,
At least one reference sensor unit is located with at least one of the plurality of transmitters. 3. The method of claim 2,
The at least one reference sensor unit comprises a plurality of reference sensor units, wherein the first set of the plurality of reference sensor units is located with the first set of the plurality of transmitter units and the second set of the plurality of reference sensor units Positioning system at a location different from the transmitter's location. 3. The positioning system of claim 2, wherein the at least one reference sensor unit is at a location different from the locations of the plurality of transmitters. 3. The method of claim 2,
The atmospheric sensor collects pressure data and temperature data at a position of a remote receiver. 22. The method of claim 21,
The atmospheric sensor determines pressure data with a resolution in the range of less than approximately 36 Pascals. 22. The method of claim 21,
And said remote receiver senses the rate of change of the pressure data. 24. The method of claim 23,
And the positioning application uses the change rate to determine the vertical speed of the remote receiver. 22. The method of claim 21,
The temperature data includes the outside air temperature at the position of the remote receiver and the atmospheric sensor determines the temperature data with a resolution of approximately 3 degrees Celsius or less. 3. The method of claim 2,
Each reference sensor unit comprises at least one atmospheric reference sensor that collects reference pressure data and reference temperature data at a known location of the atmospheric reference unit. The method of claim 26,
At least one atmospheric reference sensor determines reference pressure data with a resolution of approximately 2-36 Pascals. The method of claim 26,
The reference temperature data includes external air temperature at a known location, and the atmospheric reference sensor determines the temperature data with a resolution of approximately 3 degrees Celsius or less. The method of claim 26,
The atmospheric reference sensor is calibrated for a limited temperature range, wherein the limited temperature range is determined based on the temperature at which the atmospheric reference sensor is exposed. The method of claim 26,
Each atmospheric reference sensor is configured to continuously collect reference pressure data and reference temperature data at a known location. The method of claim 26,
The atmospheric reference sensor is arranged to collect a reference pressure and a reference temperature in relatively stationary air. The method of claim 26,
The atmospheric reference sensor is a positioning system, characterized in that to filter the reference pressure data and the reference temperature data. 33. The method of claim 32,
The atmospheric reference sensor filters the reference pressure data and the reference temperature data using an adjustable time scale. The method of claim 26,
Each reference sensor unit comprises a wind detector for determining wind data, the wind data comprising a direction and magnitude of a local wind. 35. The method of claim 34,
And the positioning application uses wind data to correct or filter out deformations in the atmospheric sensor. The method of claim 26,
At least one reference sensor unit comprises a plurality of atmospheric reference sensors. 3. The method of claim 2,
And said positioning system comprises a communication link coupled between said reference sensor array and said remote receiver. 39. The method of claim 37,
And said reference sensor array broadcasts atmospheric reference data. The method of claim 38,
And the reference sensor array broadcasts raw data of atmospheric reference data. The method of claim 38,
And the reference sensor array broadcasts differential data of reference data. 41. The method of claim 40,
The differential data is obtained for at least one constant value. 41. The method of claim 40,
Wherein said differential data comprises differential pressure data obtained with an offset value of a standard atmosphere. The method of claim 38,
And the remote receiver receives the reference data through broadcast. The method of claim 38,
And the reference sensor array broadcasts reference data at a plurality of times per second. The method of claim 38,
And a reference sensor array broadcasts reference data at a plurality of times per measurement. 39. The method of claim 37,
Wherein the remote receiver determines a set of atmospheric reference sensors to query and pulls reference data from the set of atmospheric reference sensors over a communication link. 3. The method of claim 2,
The positioning application processes reference data and determines an equivalent reference altitude pressure of each reference sensor unit of the reference sensor unit set. 49. The method of claim 47,
The reference data comprises a location of each standby reference unit. 49. The method of claim 48,
And the location comprises a longitude and a latitude. 49. The method of claim 48,
And the location comprises a height. 49. The method of claim 47,
The reference data comprises the measured outside air temperature from each atmospheric reference unit. 49. The method of claim 47,
Wherein said reference data comprises a reliability measure. 3. The method of claim 2,
Each reference sensor unit processes reference data of the reference sensor unit and determines an equivalent reference altitude pressure of the reference sensor unit. 54. The method of claim 53,
The reference data comprises the location of each atmospheric reference sensor. 55. The method of claim 54,
And the location comprises latitude and longitude. 55. The method of claim 54,
And the location comprises a height. 54. The method of claim 53,
Wherein said reference data includes an equivalent reference altitude pressure. 54. The method of claim 53,
Wherein said reference data comprises a reliability measure. 3. The method of claim 2,
The altitude comprises a measured altitude of each layer in at least one structure. 60. The method of claim 59,
The positioning system includes a database coupled with a plurality of remote receivers including a remote receiver, the database comprising measured altitudes received from the plurality of remote receivers. 64. The method of claim 60,
The positioning system includes a learning application coupled to a server, wherein the learning application processes the estimated altitudes of the plurality of remote receivers and modifies the database using the estimated altitudes. 3. The method of claim 2,
At least one reference sensor unit comprises at least one local reference sensor unit, said local reference sensor unit being close to at least one of a location and a structure. 63. The method of claim 62,
And said reference data comprises data of at least one local reference sensor unit. 3. The method of claim 2,
Positioning system, characterized by automatically calibrating the atmospheric sensor of a remote receiver using reference data accumulated over a specified time period. 65. The method of claim 64,
The positioning system generates reference data accumulated by identification when the remote receiver is at a known location, accumulates deviations in atmospheric data corresponding to the known system, and generates corrections corrected from the accumulated deviations. Positioning system comprising a. 3. The method of claim 2,
The positioning system comprises automatically calibrating the atmospheric sensor of the remote receiver when the altitude and atmospheric pressure of the position of the remote receiver are known. 67. The method of claim 66,
Positioning of the remote receiver is determined using satellite signals. 3. The method of claim 2,
Positioning system, characterized in that using the reference altitude to determine the altitude. 69. The method of claim 68,
And a reference altitude is to minimize an altitude difference among altitudes calculated using at least one of atmospheric data and reference data. 70. The method of claim 69,
The reference altitude comprises an average altitude of the atmospheric reference unit. 70. The method of claim 69,
The reference altitude comprises an average altitude of the area in which the remote receiver is located. 3. The method of claim 2,
The altitude comprises an estimated altitude derived using local limit data. 73. The method of claim 72,
The local restriction data comprises terrain data of the terrain in the vicinity of the position of the remote receiver. 73. The method of claim 72,
The local restriction data comprises the height of at least one structure in the vicinity of the position of the remote receiver. 73. The method of claim 72,
The local restriction data comprises an altitude of at least one other remote receiver in the vicinity of the location of the remote receiver. 73. The method of claim 72,
Positioning application, characterized in that the altitude determination using the atmospheric data, reference data and local limit data. 3. The method of claim 2,
The positioning system includes a database associated with a positioning application, the database including historical data measured over a period of time, wherein the historical data includes reference data from a reference sensor array and standby data from a plurality of remote receivers. Positioning system. 78. The method of claim 77,
Positioning application, characterized in that using the historical data to determine the altitude. 78. The method of claim 77,
The positioning system comprises optimizing at least one reference sensor unit of the reference sensor array using historical data. 3. The method of claim 2,
The positioning system includes determining altitude by mitigating assumptions about a constant equivalent reference altitude pressure between the reference location of the reference sensor unit and the current position of the remote receiver. 81. The system of claim 80, wherein the positioning system is
Converting from the first equivalent reference altitude pressure at the reference location to a second equivalent reference altitude pressure at the standard temperature,
Determining a local temperature at a current position and using the local temperature to convert from a second equivalent reference altitude pressure to a third equivalent reference altitude pressure, and
Determining altitude at the current position using a third equivalent reference altitude pressure. 81. The system of claim 80, wherein the positioning system is
Using the reference data in each reference sensor unit of the reference sensor unit set to determine a deviation of the equivalent reference altitude pressure with the horizontal location, and
Determining an optimal estimate of the reference altitude pressure at the current position by combining an equivalent reference altitude pressure of the set of reference sensor units. 83. The method of claim 82,
Determining an optimal estimate of the equivalent reference altitude pressure includes using a weighted average technique, wherein the weighting is a function of the horizontal distance between the location of the reference sensor unit and the current position. Positioning system. 83. The method of claim 82,
Determining an optimal estimate of the equivalent reference altitude pressure comprises using a least square method to generate a secondary surface that optimizes the barometric pressure calculated at each reference sensor unit in the reference sensor unit set and the nth surface. And interpolating an optimal estimate of the equivalent reference altitude pressure at the current position using. 81. The system of claim 80, wherein the positioning system is
Converting from the first equivalent reference altitude pressure at each reference sensor unit of the reference sensor unit set to a second equivalent reference altitude pressure at standard temperature, and
Determining an optimal estimate of the equivalent reference altitude pressure at the current position by combining a second equivalent reference altitude pressure from each reference unit. 86. The method of claim 85,
Determining an optimal estimate of the equivalent reference altitude pressure includes using a weighted average technique, wherein the weighting is a function of the horizontal distance between the location of the reference sensor unit and the current position. Positioning system. 86. The method of claim 85,
Determining an optimal estimate of the equivalent reference altitude pressure comprises using a least square method to generate a secondary surface that optimizes the equivalent reference altitude pressure calculated at each reference sensor unit in the reference sensor unit set; interpolating an optimal estimate of the barometric pressure at the current position using the nth order surface. 3. The method of claim 2,
And the remote receiver comprises a high speed clock. 90. The method of claim 88,
The remote receiver typically receives a pulse edge from a time reference, wherein the remote receiver uses a high speed clock to determine the time difference between the generation of the pulse edge and the rising edge of the sample clock. 90. The method of claim 89,
The remote receiver applies a correction for the estimated range based on the time difference, wherein the correction improves the accuracy of the estimated range. 3. The method of claim 2,
The remote receiver comprises a correlator for correlating the received signal with a pseudo random code, wherein the correlator comprises a first shift register comprising a plurality of serial sets of parallel random access readable second shift registers; system. 92. The method of claim 91,
Each set of the plurality of sets of second shift registers comprises a plurality of serial shift register group primitives. 93. The method of claim 92,
Each shift register group primitive includes an n-bit shift register group primitive. 93. The method of claim 93,
Wherein each shift register group primitive comprises a 16-bit shift register group primitive. 93. The method of claim 92,
Each set of second shift registers forms a 32-bit shift register. 93. The method of claim 92,
And the plurality of serial sets of the second shift registers comprise a plurality of n-bit shift registers. 96. The method of claim 96,
And wherein the plurality of serial sets of the second shift registers comprise 32 sets of second shift registers, wherein the first shift register is a 1024-bit shift register. 98. The method of claim 97,
Positioning operation of the first shift register occurs at a clock speed of a clock coupled with the correlator. 98. The method of claim 98,
Positioning system, characterized in that the readout operation of the first shift register occurs at at least two speeds at the clock speed. 107. The positioning system of claim 99, wherein the readout operation of the first shift register occurs 32 times per clock speed. 96. The method of claim 96,
The positioning system comprises a plurality of serial adders coupled with the outputs of the plurality of serial sets of the second shift register. 102. The method of claim 101,
A plurality of serial adders comprising an adder tree, the adder tree comprising a wider bit-width adder primitive. 102. The method of claim 101,
And the plurality of serial adders comprise adders each coupled to a plurality of serial sets of n-bit shift registers. 104. The method of claim 103,
The plurality of serial adders includes a first adder coupled with the output of the first plurality of sets of the second shift register, a second adder coupled with the output of the second plurality of sets of the second shift register, and a third plurality of third shift registers. And a fourth adder coupled to the output of the set and a fourth adder coupled to the output of the fourth plurality of sets of the second shift register. 102. The method of claim 101,
The positioning system comprises a terminal adder coupled to the outputs of the plurality of serial adders. 105. The method of claim 105,
The positioning system comprises aligning the outputs of the plurality of serial adders in the plurality of serial groups in the terminal adder. 107. The method of claim 106,
The output of the first adder is sorted in the first group in the terminal adder, the output of the second adder is sorted in the second group in the terminal adder, and the output of the third adder is sorted in the third group in the terminal adder, and the fourth The output of the group is arranged in a fourth group in the terminal adder. 107. The method of claim 106,
And the terminal adder adds up the contents of a plurality of sets to form a sum. 3. The method of claim 2,
And the remote receiver temporarily uses an original receive chain of the plurality of original receive chains of the remote receiver to acquire at least one of the positioning signal and the satellite signal. 108. The method of claim 109,
And the plurality of original receive chains comprises a diversity receive chain that improves receive diversity. 112. The method of claim 110,
And said remote receiver comprises a wide bandwidth receiver. 111. The method of claim 111,
And the remote receiver comprises a wide bandwidth cellular band receiver. 112. The method of claim 110,
The remote receiver temporarily or permanently using a diversity reception chain to capture a positioning signal. 3. The method of claim 2,
The positioning system includes a communication system coupled with at least one of the remote receiver and the plurality of transmitters, the communication system being a cellular communication system. 3. The method of claim 2,
Wherein the plurality of transmitters are synchronized, wherein each transmitter of the plurality of transmitters transmits a signal comprising a pseudorandom number sequence and ancillary data. 116. The method of claim 115,
The ancillary data includes system time at the rising edge of the pulse of the waveform, system time at the falling edge of the pulse of the waveform, geocode data of a plurality of transmitters, geocode data of adjacent transmitters adjacent to the plurality of transmitters, and at least one adjacent of the plurality of transmitters. The index of the sequence used by the transmitter of the clock, the clock timing correction at at least one transmitter, the local atmospheric correction, the relationship of the WAPS time to the GNSS time, the indication of the local environment and the pseudorandom to support the remote receiver in pseudorange resolution. And at least one of an offset from a base index of the set of sequences, a list of pseudorandom number sequences from the set of transmitters, and a list of transmitters using a particular pseudorandom number sequence. 3. The method of claim 2,
Wherein the positioning application calculates the position of the remote receiver by formulating a set of equations as a non-linear objective function and producing an optimal estimate of the position as a set of position parameters that minimizes the objective function. 3. The method of claim 2,
The positioning application formulates a set of linearized equations and calculates the position of the remote receiver by solving the set of linearized equations using the least squares. 3. The method of claim 2,
And the positioning application calculates the position of the remote receiver using the approximate location of the transmitter set of the plurality of transmitters and the received signal strength (RSS) of the transmitter set. 3. The method of claim 2,
The positioning application calculates a position of the remote receiver by storing a sample portion of the positioning signal of the remote receiver, and then processes the sample portion to search, capture, and calculate ranges for a plurality of transmitters. . 3. The method of claim 2,
And the positioning application calculates a position of the remote receiver using the received signal strength data of the remote receiver. 3. The method of claim 2,
And the positioning application calculates a position of the remote receiver using at least one of carrier phase data and code phase data of the positioning signal. 3. The method of claim 2,
And the positioning application calculates the position of the remote receiver using differential positioning for at least one reference receiver. 3. The method of claim 2,
The positioning application calculates the position of the remote receiver using at least one of a proxy for ranging and ranging from a signal of opportunity, the signal of opportunity being a positioning system, a global navigation satellite system (GNSS), Positioning system, characterized in that it is received from a global positioning system (GPS), a differential positioning system, a radio signal, a television signal, a wireless network system, a WiFi system, a cellular system and a Bluetooth system. 3. The method of claim 2,
The positioning application calculates a final position of the remote receiver using range measurements from at least one additional signal source in combination with range measurements determined using a positioning signal, the final position being at least one of latitude, longitude, and height. Positioning system comprising a. 3. The method of claim 2,
The positioning application calculates an optimized location solution of the remote receiver using the position measurement from at least one additional signal source and the position quality metric from the at least one additional signal source combined with the range measurement determined using the positioning signal. Positioning system, characterized in that. 3. The method of claim 2,
Wherein said positioning application uses hybrid positioning to calculate a position of a remote receiver, said hybrid positioning comprising a measurement from a positioning signal and a measurement from at least one additional signal source. 3. The method of claim 2,
And the positioning system includes timing synchronization and corresponding correction information. In the reference system, the reference system,
A reference sensor array comprising at least one set of reference sensor units, each set comprising at least one reference sensor unit located at a known location; and
A remote receiver comprising an atmospheric sensor for collecting atmospheric data at a position of the remote receiver;
A positioning application running on a processor and coupled with the remote receiver, the positioning application generates reference pressure estimates at the position of the remote receiver using atmospheric data and reference data from at least one set of reference sensor units of the reference sensor array; Calculate the altitude of the remote receiver using the reference pressure estimate.
Reference system. In a positioning system, the positioning system,
A terrestrial transmitter comprising a plurality of transmitters for broadcasting a positioning signal comprising at least a range signal and positioning system information, said range signal comprising information used to measure a distance to a transmitter for broadcasting a range signal;
A remote receiver for capturing at least one of a positioning signal and a satellite signal, the satellite signal being a signal of a satellite-based positioning system, the first mode of operation of the remote receiver being the remote receiver from at least one of a positioning signal and a satellite signal Terminal-based positioning for computing a position of the remote receiver, wherein the remote receiver comprises a correlator that correlates a pseudorandom code with a received signal;
A server coupled with the receiver, the second mode of operation of the receiver including network-based positioning, wherein the server calculates the position of the remote receiver from information derived from at least one of a positioning signal and a satellite signal, the remote receiver being coupled with the positioning signal; Receiving and transmitting information derived from at least one of the satellite signals to a server;
Positioning system. 124. The method of claim 130,
And the correlator comprises a first shift register comprising a plurality of serial sets of second shift registers capable of parallel random access reads. 132. The method of claim 131,
And the plurality of serial sets of each second shift register comprises a plurality of serial shift register group primitives. 133. The method of claim 132,
Each shift register group primitive includes an n-bit shift register group primitive. 133. The method of claim 133,
Wherein each shift register group primitive comprises a 16-bit shift register group primitive. 133. The method of claim 132,
Each set of second shift registers forms a 32-bit shift register. 133. The method of claim 132,
And the plurality of serial sets of the second shift registers comprise a plurality of n-bit shift registers. 136. The method of claim 136,
And wherein the plurality of serial sets of the second shift registers comprise 32 sets of second shift registers, wherein the first shift register is a 1024-bit shift register. 138. The method of claim 137,
Positioning operation of the first shift register occurs at a clock speed of a clock coupled with the correlator. 136. The method of claim 138,
Positioning system, characterized in that the readout operation of the first shift register occurs at at least two speeds at the clock speed. 144. The method of claim 139,
A readout operation of the first shift register occurs 32 times per clock speed. 136. The method of claim 136,
The positioning system comprises a plurality of serial adders coupled with the outputs of the plurality of serial sets of the second shift register. 143. The method of claim 141,
A plurality of serial adders comprising an adder tree, the adder tree comprising a wider bit-width adder primitive. 143. The method of claim 141,
And the plurality of serial adders comprise adders each coupled to a plurality of serial sets of n-bit shift registers. 143. The method of claim 143,
The plurality of serial adders includes a first adder coupled with the output of the first plurality of sets of the second shift register, a second adder coupled with the output of the second plurality of sets of the second shift register, and a third plurality of third shift registers. And a fourth adder coupled to the output of the set and a fourth adder coupled to the output of the fourth plurality of sets of the second shift register. 143. The method of claim 141,
The positioning system comprises a terminal adder coupled to the outputs of the plurality of serial adders. 145. The method of claim 145,
The positioning system comprises aligning the outputs of the plurality of serial adders in the plurality of serial groups in the terminal adder. 146. The method of claim 146 wherein
The output of the first adder is sorted in the first group in the terminal adder, the output of the second adder is sorted in the second group in the terminal adder, and the output of the third adder is sorted in the third group in the terminal adder, and the fourth The output of the group is arranged in a fourth group in the terminal adder. 146. The method of claim 146 wherein
And the terminal adder adds up the contents of a plurality of sets to form a sum. In a positioning system, the positioning system,
A terrestrial transmitter comprising a plurality of transmitters for broadcasting a positioning signal comprising at least a range signal and positioning system information, said range signal comprising information used to measure a distance to a transmitter for broadcasting a range signal;
A remote receiver that captures at least one of a positioning signal and a satellite signal, the satellite signal being a signal of a satellite-based positioning system, the first mode of operation of the remote receiver being the remote receiver from at least one of the positioning signal and the satellite signal Terminal-based positioning for calculating a position of the remote receiver, wherein the remote receiver operates in a reduced-power state when no positioning signal is detected;
A server coupled with the receiver, the second mode of operation of the receiver including network-based positioning, wherein the server calculates the position of the remote receiver from information derived from at least one of a positioning signal and a satellite signal, the remote receiver being coupled with the positioning signal; Receiving and transmitting information derived from at least one of the satellite signals to a server;
Positioning system. 155. The method of claim 149,
The positioning application is hosted at a remote receiver, the remote receiver calculating the position. 155. The method of claim 150,
Wherein the remote receiver is operated in a reduced-power state when no positioning signal is detected or used. 155. The method of claim 151,
The remote receiver uses a set of positioning signals from a plurality of transmitter sets to determine position, the remote receiver being operated in a reduced-power state when the positioning signal set is not detected or used. Positioning system. 153. The method of claim 152,
In response to detecting at least one of a motion of the remote receiver, a change in position of the remote receiver, and a change in signal state of the positioning signal, the remote receiver changes from a reduced-power state to a full-power state. Positioning system. In the positioning system, the positioning system,
A terrestrial transmitter comprising a plurality of transmitters for broadcasting a positioning signal comprising at least a range signal and positioning system information, said range signal comprising information used to measure a distance to a transmitter for broadcasting a range signal;
A remote receiver that captures at least one of a positioning signal and a satellite signal, the satellite signal being a signal of a satellite-based positioning system, the first mode of operation of the remote receiver being the remote receiver from at least one of the positioning signal and the satellite signal Terminal-based positioning for calculating a position of the remote receiver, wherein the remote receiver comprises a high speed clock;
A server coupled with the receiver, the second mode of operation of the receiver including network-based positioning, wherein the server calculates the position of the remote receiver from information derived from at least one of a positioning signal and a satellite signal, the remote receiver being coupled with the positioning signal; Receiving and transmitting information derived from at least one of the satellite signals to a server;
Positioning system. 156. The method of claim 154,
The remote receiver typically receives a pulse edge from a time reference, wherein the remote receiver uses a high speed clock to determine the time difference between the generation of the pulse edge and the rising edge of the sample clock. The method of claim 155,
The remote receiver applies a correction for the estimated range based on the time difference, wherein the correction improves the accuracy of the estimated range. In a positioning system, the positioning system,
A terrestrial transmitter comprising a plurality of transmitters for broadcasting a positioning signal comprising at least a range signal and positioning system information, said range signal comprising information used to measure a distance to a transmitter for broadcasting a range signal;
A remote receiver for capturing at least one of a positioning signal and a satellite signal, the remote receiver temporarily using an original receive chain of the plurality of original receive chains of the remote receiver to capture at least one of the positioning signal and the satellite signal; The first mode of operation of the remote receiver comprises terminal-based positioning wherein the remote receiver calculates a positioning of the remote receiver from at least one of a positioning signal and a satellite signal;
A server coupled with the receiver, the second mode of operation of the receiver including network-based positioning, wherein the server calculates the position of the remote receiver from information derived from at least one of a positioning signal and a satellite signal, the remote receiver being coupled with the positioning signal; Receiving and transmitting information derived from at least one of the satellite signals to a server;
Positioning system. 155. The method of claim 157,
And the remote receiver temporarily uses an original receive chain of the plurality of original receive chains of the remote receiver to acquire at least one of the positioning signal and the satellite signal. 153. The method of claim 158,
And the plurality of original receive chains comprises a diversity receive chain that improves receive diversity. 159. The method of claim 159,
And said remote receiver comprises a wide bandwidth receiver. 161. The method of claim 160,
And the remote receiver comprises a wide bandwidth cellular band receiver. 159. The method of claim 159,
The remote receiver temporarily or permanently using a diversity reception chain to capture a positioning signal.

Images