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US 6,271,788 B1Granted
Network of equivalent ground transmitters
AssigneeTrimble Navigation Limited
InventorsHarold Lewis Longaker, Leonid Sheynblat
Life of this patent
Estimating the term…
Abstract
A system for differential navigation of an autonomous vehicle in the location with the limited visibility of the sky is disclosed. The system employs a plurality of satellites, a plurality of ground transmitters, and a base station. Different configurations for the minimum number of the satellites and the minimum number of ground transmitters are disclosed.
Claims27
A system for determining a position of an object, said system receiving position signals from a plurality of position units at known locations, each said position unit having a clock with a known clock bias and a known clock drift, said system comprising:
- a plurality of ground transmitters, each of said plurality of ground transmitters being configured to generate ground transmitter position signals that provide position information to the object, each of said plurality of ground transmitters including a clock with an unknown clock bias and an unknown clock drift, and each of said plurality of ground transmitters having a known position;
- and
- a base station configured to receive said position signals from each said position units, said base station being further configured to receive said ground transmitter position signals from each of said plurality of ground transmitters, said base station having an unknown clock bias, an unknown clock drift, and a known position, and said base station being further configured to calculate a differential correction data signal based on said position signals and said ground transmitter position signals and to transmit the differential correction data signal to said object;
- and
- wherein said object receives the position signals from each of said plurality of positioning units, the ground transmitter position signals from each of said ground transmitters, and the differential correction data signal from said base station, said object calculating its position based on said received signals.
2 more elements
A system for determining a position of an object, comprising:
- a plurality of ground transmitters, each of said ground transmitters being configured to generate position signals that provide position information to the object, each of said ground transmitters including a clock with an unknown clock bias and an unknown clock drift, and each of said ground transmitters having a known position;
- a base station configured to receive said position signals from each of said plurality of ground transmitters, said base station having an unknown clock bias, an unknown clock drift, and a known position, said base station being configured to calculate a differential correction data signal based on said position signals, and said base station being configured to transmit the differential correction data signal to said object;
- and
- said object receiving the ground transmitter position signals from each of said ground transmitters and the differential correction data signal from said base station, and said object calculating its position based on said received signals.
1 more element
A method comprising:
- a base station calculating a differential correction data signal based upon received position signals from at least one of a plurality of position units and ground transmitter position signals from at least one of a plurality of ground transmitters, said position signals being modulated by a predetermined code;
- said base station transmitting the differential correction data signal to an object's location;
- said object receiving the position signals from said at least one position unit;
- said object receiving the ground transmitter position signals from said at least one ground transmitter;
- said object receiving the differential correction data signal from said base station;
- and
- said object determining a position of said object.
4 more elements
A method comprising:
- generating position signals from at least one of a plurality of ground transmitters for providing position information at an object's location, said position signals being modulated by a predetermined code;
- receiving, by a base station, the position signals from said at least one ground transmitter;
- said base station calculating a differential correction data signal by said base station;
- said base station transmitting the differential correction data signal to said object;
- said object receiving the position signals from said at least one ground transmitter;
- said object receiving the differential correction data signal from said base station;
- and
- said object determining a position of said object.
5 more elements
A method comprising:
- receiving a first position signal from an orbiting satellite;
- receiving a second position signal from a ground transmitter;
- computing a differential correction signal corresponding to the first position signal and the second position signal;
- transmitting the differential correction signal to an object;
- and
- determining a position of said object.
3 more elements
A device for assisting in the determination of a position of an object, said device being configured to receive position signals from at least one position unit having a known location, each position unit having a clock with a known clock bias and a known clock drift;
- said device being further configured to receive ground transmitter position signals from at least one ground transmitter, each ground transmitter having a known position, a clock with an unknown clock bias, and unknown clock drift and a known position;
- and said device being further configured to calculate a differential correction data signal based on the position signals and ground transmitter position signals and transmit the differential correction data signal to the object.
Dependencies are inferred from the claim text.