CA2554417A1 - Ultra wide band navigation system with mobile base stations - Google Patents

Ultra wide band navigation system with mobile base stations Download PDF

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Publication number
CA2554417A1
CA2554417A1 CA002554417A CA2554417A CA2554417A1 CA 2554417 A1 CA2554417 A1 CA 2554417A1 CA 002554417 A CA002554417 A CA 002554417A CA 2554417 A CA2554417 A CA 2554417A CA 2554417 A1 CA2554417 A1 CA 2554417A1
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CA
Canada
Prior art keywords
target
location
base stations
step comprises
calculating
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CA002554417A
Other languages
French (fr)
Other versions
CA2554417C (en
Inventor
Ka C. Cheok
G. Edzko Smid
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jadi Inc
Original Assignee
Jadi, Inc.
Ka C. Cheok
G. Edzko Smid
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Jadi, Inc., Ka C. Cheok, G. Edzko Smid filed Critical Jadi, Inc.
Publication of CA2554417A1 publication Critical patent/CA2554417A1/en
Application granted granted Critical
Publication of CA2554417C publication Critical patent/CA2554417C/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0284—Relative positioning
    • G01S5/0289—Relative positioning of multiple transceivers, e.g. in ad hoc networks
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0284—Relative positioning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/14—Determining absolute distances from a plurality of spaced points of known location
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management

Abstract

The present invention relates to a method of determining the location of a target. The method includes initializing a set of base stations to determine their location relative to each other. At the target, the time of arrival of at least one signal from each of the plurality of base stations is measured.
From this, the location of the target relative to the plurality of base stations may be directly calculated using a closed solution. In one embodiment, a time of arrival technique is used and in another embodiment a time difference of arrival technique is used. Preferably an ultra-wide band frequency is utilized.

Claims (20)

1. A method of determining the location of a target, comprising:
initializing a plurality of base stations to determine their relative location to each other;
measuring, at the target, the time of arrival of at least one signal from each of the plurality of base stations;
calculating directly the location of the target relative to the plurality of base stations using a closed solution, where the plurality of base stations is at three when a time of arrival technique is used and wherein the plurality of base stations is at least four when a time difference of arrival technique is used.
2. The method of claim 1, wherein the target calculates it own position.
3. The method of claim 1, wherein each of the base stations is a mobile base station.
4. The method of claim 1, wherein the initializing step comprises using a time of arrival technique to determine the location of each base station.
5. The method of claim 1, further comprising initializing the base stations to determine their global geographic location.
6. The method of claim 1, wherein the measuring and calculating steps are repeated at least 50 times a sec.
7. The method of claim 1, wherein the measuring and calculating steps are repeated at least 200 times a sec.
8. The method of claim 1, wherein the calculating step comprises using a time of arrival technique to calculate the location of the target.
9. The method of claim 1, wherein the calculating step comprises using a time difference of arrival technique to calculate the location of the target.
10. The method of claim 1, wherein the measuring step comprises transmitting a unique PN
code from each base station.
11. The method of claim 1, wherein the measuring step comprises using a UWB
signal with a chiprate between about 0.1 and about 10 Gbits.sec.
12. The method of claim 1, wherein the measuring step comprises using a DS-CDMA
communication scheme.
13. The method of claim 1, wherein the measuring step comprises oversampling the received signal between about 0.3 and about 30 gigs-samples/sec.
14. The method of claim 1, wherein the measuring step comprises oversampling with a digital sampler or an analog-to-digital converter.
15. The method of claim 1 wherein the calculating step yields a location of the target with a resolution between about 0.01 and about 1.0 meter.
16. The method of claim 1 wherein the calculating step yields a location of the target with an accuracy between about 0.01 and about 1.0 meter.
17. A system for determining the location of a receiver, comprising:
at least three base stations and at least one target for a TOA technique and at least four base stations and a target for a TDOA technique, each base station comprising at least one GHF UWB transmitter, wherein at least one base station and the target are mobile and wherein the target is capable of calculating its location using a closed form solution based.
18. The system of claim 17, wherein the target is an unmanned ground vehicle comprising a mine sweeper.
19. The system of claim 17, wherein the target is an unmanned aerial vehicle comprising an aerial drone.
20. The system of claim 17, wherein the target is an unmanned sea vehicle.
CA2554417A 2004-02-17 2005-02-17 Ultra wide band navigation system with mobile base stations Expired - Fee Related CA2554417C (en)

Applications Claiming Priority (7)

Application Number Priority Date Filing Date Title
US54523804P 2004-02-17 2004-02-17
US60/545,238 2004-02-17
US61512104P 2004-10-01 2004-10-01
US60/615,121 2004-10-01
US63727604P 2004-12-17 2004-12-17
US60/637,276 2004-12-17
PCT/US2005/004936 WO2005081012A1 (en) 2004-02-17 2005-02-17 Ultra wide band navigation system with mobile base stations

Publications (2)

Publication Number Publication Date
CA2554417A1 true CA2554417A1 (en) 2005-09-01
CA2554417C CA2554417C (en) 2010-11-23

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Application Number Title Priority Date Filing Date
CA2554417A Expired - Fee Related CA2554417C (en) 2004-02-17 2005-02-17 Ultra wide band navigation system with mobile base stations

Country Status (5)

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US (3) US7403783B2 (en)
EP (1) EP1721186A1 (en)
KR (1) KR100917940B1 (en)
CA (1) CA2554417C (en)
WO (1) WO2005081012A1 (en)

Cited By (1)

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