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公开(公告)号：US07693659B2
公开(公告)日：2010-04-06
申请号：US11190640
申请日：2005-07-27
IPC分类号： G01C21/00
CPC分类号： G01S19/54 , G01C21/165 , G01S19/50
摘要： A satellite navigation system using multiple antennas for providing the position of multiple fiduciary points on an object even when fewer than four satellites are visible to some or all the antennas. Satellite signals from the multiple antennas are fed into at least one receiver. The receiver or receivers utilize constraint information, which is independent of the satellite signals. These external constraints are used to augment the signals received from the satellites, to obtain the position solution for each antenna. In a preferred embodiment, a common reference clock is used to provide an external constraint. Examples of other external constraints that can be used in the current invention are distance between the antennas, inertial measurement of attitude, rotational or linear position sensors, etc.
摘要翻译： 一种使用多个天线的卫星导航系统，用于在物体上提供多个受信点的位置，即使对于一些或所有天线可见少于四颗卫星。 来自多个天线的卫星信号被馈送到至少一个接收机。 接收机或接收机利用独立于卫星信号的约束信息。 这些外部约束用于增加从卫星接收的信号，以获得每个天线的位置解。 在优选实施例中，使用公共参考时钟来提供外部约束。 可以在本发明中使用的其他外部约束的示例是天线之间的距离，姿态的惯性测量，旋转或线性位置传感器等。
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公开(公告)号：US07027918B2
公开(公告)日：2006-04-11
申请号：US10408496
申请日：2003-04-07
CPC分类号： G01S19/54 , G01C21/165 , G01S19/50
摘要： A satellite navigation system using multiple antennas for providing the position of multiple fiduciary points on an object even when fewer than four satellites are visible to some or all the antennas. Satellite signals from the multiple antennas are fed into at least one receiver. The receiver or receivers utilize constraint information, which is independent of the satellite signals. These external constraints are used to augment the signals received from the satellites, to obtain the position solution for each antenna. In a preferred embodiment, a common reference clock is used to provide an external constraint. Examples of other external constraints that can be used in the current invention are distance between the antennas, inertial measurement of attitude, rotational or linear position sensors, etc.
摘要翻译： 一种使用多个天线的卫星导航系统，用于在物体上提供多个受信点的位置，即使对于一些或所有天线可见少于四颗卫星。 来自多个天线的卫星信号被馈送到至少一个接收机。 接收机或接收机利用独立于卫星信号的约束信息。 这些外部约束用于增加从卫星接收的信号，以获得每个天线的位置解。 在优选实施例中，使用公共参考时钟来提供外部约束。 可以在本发明中使用的其他外部约束的示例是天线之间的距离，姿态的惯性测量，旋转或线性位置传感器等。
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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：US07468697B2
公开(公告)日：2008-12-23
申请号：US11499827
申请日：2006-08-04
IPC分类号： G01S3/02
CPC分类号： G01S13/87 , G01S5/0289 , G01S7/003 , G01S13/74
摘要： A precise positioning method and system is disclosed for allowing an array of ground transmitters to self-survey their relative location at centimeter-level accuracy by transmitting, amongst the ground transmitters in the array, bi-directional ranging signals associated with a wideband code modulation with a chipping rate faster than 30 MHz.
摘要翻译： 公开了一种精确的定位方法和系统，用于通过在阵列中的地面发射机之间传输与宽带码调制相关联的双向测距信号，允许地面发射机阵列以厘米级精度自我测量它们的相对位置， 芯片速度比30 MHz快。
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公开(公告)号：US07385554B2
公开(公告)日：2008-06-10
申请号：US11515547
申请日：2006-09-05
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基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：US07345627B2
公开(公告)日：2008-03-18
申请号：US11506587
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.
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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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9.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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公开(公告)号：US07511667B2
公开(公告)日：2009-03-31
申请号：US11360359
申请日：2006-02-22
CPC分类号： G01S19/11
摘要： A precise positioning method and system is disclosed wherein at least one ground transmitter is used for transmitting a ranging signal with code modulation. The at least one ground transmitter is configured to receive a signal from at least one satellite and a second ground transmitter. The at least one ground transmitter measures a code phase of the received signals. The measured code phase information is communicated to a rover that is associated with a user. The rover can determine the user's precise position based on the measured code and/or carrier phase information and a clock correction model.
摘要翻译： 公开了一种精确的定位方法和系统，其中使用至少一个地面发射机来发射具有码调制的测距信号。 所述至少一个地面发射机被配置为从至少一个卫星和第二地面发射机接收信号。 所述至少一个地面发射机测量接收信号的码相位。 所测量的代码相位信息被传送到与用户相关联的流动站。 流动站可以基于测量的代码和/或载波相位信息和时钟校正模型来确定用户的精确位置。
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