Method and apparatus for navigation through predetermined loitering paths

A system for navigating an object through a loitering path, comprising;

• a central-station transmitter which transmits omnidirectional timing signals for use in determining range;
• a receiver carried by the navigated object for receiving said timing signals;
• range-determining means carried by the navigated object for producing range signals from said received central-station timing signals;
• heading control means carried by the navigaged object for controlling the heading thereof;
• a computer carried by the navigated object programmed to produce from said range signals heading signals effective to navigate the object through a predetermined closed-loop loitering path spatially related to said central-station;
• means for continuously inputting the range signals produced by said range-determining means into said computer;
• and means for applying said heading signals from said computer to the heading control means to thereby navigated the object through said predetermined closed-loop loitering path.