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公开(公告)号：US06643576B1
公开(公告)日：2003-11-04
申请号：US09993361
申请日：2001-11-15
申请人： Michael L. O Connor , Thomas Bell , Michael L. Eglington , Lars Leckie , Gregory M. Gutt , Kurt R. Zimmerman
发明人： Michael L. O Connor , Thomas Bell , Michael L. Eglington , Lars Leckie , Gregory M. Gutt , Kurt R. Zimmerman
IPC分类号： G06F700
CPC分类号： E02F9/205 , E02F9/2045 , G05D1/0212 , G05D1/0278 , G05D2201/0201 , G05D2201/0202 , G05D2201/021
摘要： A method for adjusting a desired trajectory of an automatically guided vehicle guidance system to match a physical constraint such as an obstacle or boundary. The method works around obstacles and boundaries as they occur, consistent with the original trajectory. The method is independent of the type of vehicle. The method may be used regardless of whether the vehicle is under automatic guidance, and the method has a low computational cost.
摘要翻译： 一种用于调整自动引导车辆引导系统的期望轨迹以匹配诸如障碍物或边界之类的物理约束的方法。 该方法围绕障碍物和边界发生，与原始轨迹一致。 该方法独立于车辆的类型。 可以使用该方法，而不管车辆是否处于自动引导下，并且该方法具有低的计算成本。
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公开(公告)号：US07339524B2
公开(公告)日：2008-03-04
申请号：US10909207
申请日：2004-07-30
申请人： Kurt R. Zimmerman , H. Stewart Cobb
发明人： Kurt R. Zimmerman , H. Stewart Cobb
IPC分类号： G01S3/02
摘要： In a local positioning system, a receiver is adapted for receiving signals from a land-based transmitter. The receiver includes an analog decorrelator for decorrelating the transmitted spread spectrum signals. A down converter connected with an antenna may be spaced away from other portions of the receiver. The down converter down converts received ranging signals and provides them to the remotely spaced receiver portions. A signal line connecting the down converter to the receiver may be operable to transmit any two or more of a reference signal provided to the down converter, the down converted intermediate frequency signals provided to the receiver, and power provided to the down converter. The receiver may be positioned adjacent to or as part of a land-based transmitter. By determining positions of two or more antennas, the location of the associated transmitter is determined.
摘要翻译： 在本地定位系统中，接收机适于接收来自陆基发射机的信号。 该接收机包括一个模拟解相关器，用于对发射的扩频信号进行去相关。 与天线连接的降压转换器可以与接收器的其它部分间隔开。 下变频器降低转换接收的测距信号并将其提供给远程间隔的接收机部分。 将下变频器连接到接收器的信号线可以用于发送提供给下变频器的参考信号，提供给接收机的下变频中频信号以及提供给下变频器的功率中的任何两个或多个。 接收器可以定位成与陆基发射器相邻或作为陆基发射器的一部分。 通过确定两个或更多个天线的位置，确定相关联的发射机的位置。
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公开(公告)号：US07271766B2
公开(公告)日：2007-09-18
申请号：US10909184
申请日：2004-07-30
摘要： In a local positioning system, augmentation of the land-based system is provided by receiving signals from a GNSS. The signals from the land-based positioning system have a code phase accuracy better than one wavelength of a carrier of the signals from the GNSS. Different decorrelation may be used for signals from a satellite than from a land-based transmitter, such as using a digital decorrelator for signals from the satellite and an analog decorrelator for signals from a land-based transmitter. The receivers may include both a GNSS antenna and a local antenna. The phase centers of the two antennas are within one wavelength of the GNSS signals from each other. The local antenna is sized for operation in the X or ISM-bands of frequencies. The GNSS antenna is a patch antenna where the microwave antenna extends away from the patch antenna in at least one dimension.
摘要翻译： 在本地定位系统中，通过从GNSS接收信号来提供陆基系统的增强。 来自陆上定位系统的信号的编码相位精度优于来自GNSS的信号的载波的一个波长。 不同的去相关可以用于来自卫星的信号，而不是来自基于陆地的发射机，例如对于来自卫星的信号使用数字解相关器和用于来自陆地发射机的信号的模拟去相关器。 接收机可以包括GNSS天线和本地天线。 两个天线的相位中心在GNSS信号的一个波长内。 本地天线的大小适合在X或ISM频段中运行。 GNSS天线是贴片天线，其中微波天线在至少一个维度上远离贴片天线延伸。
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公开(公告)号：US08125529B2
公开(公告)日：2012-02-28
申请号：US12368002
申请日：2009-02-09
摘要： Vehicles, such as vehicles in an open-pit mine, are visually tracked. The location of a vehicle is determined using radio frequency signals, such as pseudolite transmissions of ranging signals. The camera is steered based on the location. For example, multiple cameras are directed automatically on a vehicle based on the vehicle position. Images from a plurality of perspectives are provided to resolve or prevent a problem. The directing may include zooming for better viewing of vehicles at different distances from the camera. The directing may be incorporated into a vehicle management system, such as a dispatch system. For example, a user selects a vehicle from a list of managed vehicles or a displayed map, and the cameras are steered to view the selected vehicle based on the position of the vehicle.
摘要翻译： 车辆，如露天矿的车辆，被视觉上跟踪。 使用射频信号（例如测距信号的伪卫星传输）来确定车辆的位置。 摄像机根据位置进行控制。 例如，基于车辆位置，多个摄像机被自动地引导到车辆上。 提供多个视角的图像以解决或防止问题。 引导可以包括缩放以更好地观看与相机不同距离的车辆。 该指导可以被并入诸如调度系统的车辆管理系统中。 例如，用户从被管理车辆的列表或显示的地图中选择车辆，并且根据车辆的位置转向照相机以观看所选择的车辆。
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公开(公告)号：US20100201829A1
公开(公告)日：2010-08-12
申请号：US12368002
申请日：2009-02-09
IPC分类号： H04N5/232
摘要： Vehicles, such as vehicles in an open-pit mine, are visually tracked. The location of a vehicle is determined using radio frequency signals, such as pseudolite transmissions of ranging signals. The camera is steered based on the location. For example, multiple cameras are directed automatically on a vehicle based on the vehicle position. Images from a plurality of perspectives are provided to resolve or prevent a problem. The directing may include zooming for better viewing of vehicles at different distances from the camera. The directing may be incorporated into a vehicle management system, such as a dispatch system. For example, a user selects a vehicle from a list of managed vehicles or a displayed map, and the cameras are steered to view the selected vehicle based on the position of the vehicle.
摘要翻译： 车辆，如露天矿的车辆，被视觉上跟踪。 使用射频信号（例如测距信号的伪卫星传输）来确定车辆的位置。 摄像机根据位置进行控制。 例如，基于车辆位置，多个摄像机被自动地引导到车辆上。 提供多个视角的图像以解决或防止问题。 引导可以包括缩放以更好地观看与相机不同距离的车辆。 该指导可以被并入诸如调度系统的车辆管理系统中。 例如，用户从被管理车辆的列表或显示的地图中选择车辆，并且根据车辆的位置转向照相机以观看所选择的车辆。
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公开(公告)号：US07382318B2
公开(公告)日：2008-06-03
申请号：US11506625
申请日：2006-08-18
申请人： Kurt R. Zimmerman , H. Stewart Cobb
发明人： Kurt R. Zimmerman , H. Stewart Cobb
IPC分类号： G01S3/02
CPC分类号： G01S19/11 , G01S5/0009 , G01S19/36 , G01S19/37 , G01S19/41 , G01S19/44 , H01Q5/378 , H01Q5/40 , H01Q9/0414 , H01Q9/0464 , H01Q11/08
摘要： To provide sub-meter accuracy in a local positioning system, ranging signals with a high modulation rate of code, such as 30 MHz, or more are transmitted. Code phase measurements may be used to obtain the accuracy without requiring relative motion or real time kinematic processing. The ISM or X-band is used for the carrier of the code to provide sufficient bandwidth within available spectrums. The length of codes used is less than or about a longest length across the region of operation, such as less than 15 kilometers in an open pit mine. The spread spectrum codes from different land-based transmitters are transmitted in time slots pursuant to a time division multiple access scheme for an increase in dynamic range. To avoid overlapping of code from different transmitters, each time slot includes or is separated by a blanking period. The blanking period is selected to allow the transmitted signal to traverse a region of operation. Differential measurements of signals received at a base station and a mobile receiver may improve accuracy.
摘要翻译： 为了在本地定位系统中提供子计精度，发送具有诸如30MHz或更高的高调制码率的测距信号。 可以使用代码相位测量来获得精度，而不需要相对运动或实时运动学处理。 ISM或X波段用于代码的载体，以在可用频谱内提供足够的带宽。 使用的码的长度小于或大约在整个操作区域的最长长度，例如露天矿中不超过15公里。 根据时分多址方案，来自不同基于陆地的发射机的扩频码在时隙中传输以增加动态范围。 为了避免来自不同发射机的代码重叠，每个时隙包括或被消隐期分隔。 选择消隐周期以允许发送的信号穿过操作区域。 在基站和移动接收机处接收的信号的差分测量可以提高精度。
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公开(公告)号：US07342538B2
公开(公告)日：2008-03-11
申请号：US10909170
申请日：2004-07-30
申请人： Kurt R. Zimmerman
发明人： Kurt R. Zimmerman
IPC分类号： G01S3/02
CPC分类号： G01S19/07 , G01S5/009 , G01S19/04 , G01S19/11 , G01S19/32 , G01S19/37 , G01S19/41 , G01S19/44
摘要： In a local positioning system, the land-based transmitters include free running oscillators or oscillators free of clock synchronization with any remote oscillator. A reference receiver receives the ranging signals from different transmitters and generates timing offset information, such as code phase measurements. The timing offset information is then communicated back to transmitters. The temporal offset information indicates relative timing or phasing of the different transmitted ranging signals to the reference receiver. The transmitters then transmit the temporal offset information with the ranging signals, such as modulating the transmitted code by the timing offset information. A mobile receiver is operable to receive the ranging signals and timing offset information in a same communications path, such as on a same carrier. Position is determined with the temporal offset information and the ranging signals. The temporal offset information for the various transmitters allows the mobile receiver to more accurately determine position than in an unsynchronized system.
摘要翻译： 在本地定位系统中，陆基发射机包括与任何远程振荡器无时钟同步的自由运行振荡器或振荡器。 参考接收机接收来自不同发射机的测距信号，并产生定时偏移信息，如码相位测量。 定时偏移信息然后被传送回发射机。 时间偏移信息指示与参考接收机的不同发送的测距信号的相对定时或定相。 发射机然后用测距信号发送时间偏移信息，例如通过定时偏移信息调制发送的码。 移动接收机可操作以在相同的通信路径（例如在相同的载波上）接收测距信号和定时偏移信息。 位置由时间偏移信息和测距信号确定。 各种发射机的时间偏移信息允许移动接收机比非同步系统更准确地确定位置。
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18.发明授权公开(公告)号：US07339526B2
公开(公告)日：2008-03-04
申请号：US10909234
申请日：2004-07-30
申请人： Kurt R. Zimmerman
发明人： Kurt R. Zimmerman
CPC分类号： G01S19/44 , G01S5/009 , G01S19/04 , G01S19/07 , G01S19/11 , G01S19/32 , G01S19/37 , G01S19/41
摘要： In a local positioning system, the land-based transmitters include free running oscillators or oscillators free of clock synchronization with any remote oscillator. A reference receiver receives the ranging signals from different transmitters and generates timing offset information, such as code phase measurements. The timing offset information is then communicated back to transmitters. The temporal offset information indicates relative timing or phasing of the different transmitted ranging signals to the reference receiver. The transmitters then transmit the temporal offset information with the ranging signals, such as modulating the transmitted code by the timing offset information. A mobile receiver is operable to receive the ranging signals and timing offset information in a same communications path, such as on a same carrier. Position is determined with the temporal offset information and the ranging signals. The temporal offset information for the various transmitters allows the mobile receiver to more accurately determine position than in an unsynchronized system.
摘要翻译： 在本地定位系统中，陆基发射机包括与任何远程振荡器无时钟同步的自由运行振荡器或振荡器。 参考接收机接收来自不同发射机的测距信号，并产生定时偏移信息，如码相位测量。 定时偏移信息然后被传送回发射机。 时间偏移信息指示与参考接收机的不同发送的测距信号的相对定时或定相。 发射机然后用测距信号发送时间偏移信息，例如通过定时偏移信息调制发送的码。 移动接收机可操作以在相同的通信路径（例如在相同的载波上）接收测距信号和定时偏移信息。 位置由时间偏移信息和测距信号确定。 各种发射机的时间偏移信息允许移动接收机比非同步系统更准确地确定位置。
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公开(公告)号：US07339525B2
公开(公告)日：2008-03-04
申请号：US10909020
申请日：2004-07-30
申请人： Kurt R. Zimmerman , H. Stewart Cobb
发明人： Kurt R. Zimmerman , H. Stewart Cobb
IPC分类号： G01S3/02
CPC分类号： G01S19/11 , G01S5/0009 , G01S19/36 , G01S19/37 , G01S19/41 , G01S19/44 , H01Q5/378 , H01Q5/40 , H01Q9/0414 , H01Q9/0464 , H01Q11/08
摘要： To provide sub-meter accuracy in a local positioning system, ranging signals with a high modulation rate of code, such as 30 MHz, or more are transmitted. Code phase measurements may be used to obtain the accuracy without requiring relative motion or real time kinematic processing. The ISM or X-band is used for the carrier of the code to provide sufficient bandwidth within available spectrums. The length of codes used is less than or about a longest length across the region of operation, such as less than 15 kilometers in an open pit mine. The spread spectrum codes from different land-based transmitters are transmitted in time slots pursuant to a time division multiple access scheme for an increase in dynamic range. To avoid overlapping of code from different transmitters, each time slot includes or is separated by a blanking period. The blanking period is selected to allow the transmitted signal to traverse a region of operation. Differential measurements of signals received at a base station and a mobile receiver may improve accuracy.
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20.发明申请DISTRIBUTED RADIO FREQUENCY RANGING SIGNAL RECEIVER FOR NAVIGATION OR POSITION DETERMINATION 有权用于导航或位置确定的分布式无线电频率范围信号接收器公开(公告)号：US20090115658A1
公开(公告)日：2009-05-07
申请号：US10909243
申请日：2004-07-30
IPC分类号： G01S1/00
摘要： In a local positioning system, a receiver is adapted for receiving signals from a land-based transmitter. The receiver includes an analog decorrelator for decorrelating the transmitted spread spectrum signals. A down converter connected with an antenna may be spaced away from other portions of the receiver. The down converter down converts received ranging signals and provides them to the remotely spaced receiver portions. A signal line connecting the down converter to the receiver may be operable to transmit any two or more of a reference signal provided to the down converter, the down converted intermediate frequency signals provided to the receiver, and power provided to the down converter. The receiver may be positioned adjacent to or as part of a land-based transmitter. By determining positions of two or more antennas, the location of the associated transmitter is determined.
摘要翻译： 在本地定位系统中，接收机适于接收来自陆基发射机的信号。 该接收机包括一个模拟解相关器，用于对发射的扩频信号进行去相关。 与天线连接的降压转换器可以与接收器的其它部分间隔开。 下变频器降低转换接收的测距信号并将其提供给远程间隔的接收机部分。 将下变频器连接到接收器的信号线可以用于发送提供给下变频器的参考信号，提供给接收机的下变频中频信号以及提供给下变频器的功率中的任何两个或多个。 接收器可以定位成与陆基发射器相邻或作为陆基发射器的一部分。 通过确定两个或更多个天线的位置，确定相关联的发射机的位置。
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