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WO2003067869A2 - Procede de determination de position utilisant des emetteurs de pseudo-signaux de television portatifs - Google Patents

Procede de determination de position utilisant des emetteurs de pseudo-signaux de television portatifs Download PDF

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Publication number
WO2003067869A2
WO2003067869A2 PCT/US2003/002959 US0302959W WO03067869A2 WO 2003067869 A2 WO2003067869 A2 WO 2003067869A2 US 0302959 W US0302959 W US 0302959W WO 03067869 A2 WO03067869 A2 WO 03067869A2
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WO
WIPO (PCT)
Prior art keywords
signal
television
synchronization
digital
data
Prior art date
Application number
PCT/US2003/002959
Other languages
English (en)
Other versions
WO2003067869A3 (fr
Inventor
James J. Spilker, Jr.
Matthew Rabinowitz
Original Assignee
Rosum Corporation
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 Rosum Corporation filed Critical Rosum Corporation
Priority to AU2003207777A priority Critical patent/AU2003207777A1/en
Publication of WO2003067869A2 publication Critical patent/WO2003067869A2/fr
Publication of WO2003067869A3 publication Critical patent/WO2003067869A3/fr

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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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
    • 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
    • G01S5/0205—Details
    • G01S5/0221—Receivers
    • 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
    • G01S5/0009—Transmission of position information to remote stations
    • G01S5/0018—Transmission from mobile station to base station
    • G01S5/0036—Transmission from mobile station to base station of measured values, i.e. measurement on mobile and position calculation on base station
    • 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
    • G01S5/0009—Transmission of position information to remote stations
    • G01S5/0045—Transmission from base station to mobile station
    • G01S5/0054—Transmission from base station to mobile station of actual mobile position, i.e. position calculation on base station
    • 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
    • G01S5/0205—Details
    • G01S5/021—Calibration, monitoring or correction
    • 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
    • G01S5/0205—Details
    • G01S5/0226—Transmitters
    • 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
    • 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
    • G01S5/145—Using a supplementary range measurement, e.g. based on pseudo-range 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
    • G01S19/254—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to Doppler shift of satellite signals
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
    • G01S19/256—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to timing, e.g. time of week, code phase, timing offset
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
    • G01S19/258—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to the satellite constellation, e.g. almanac, ephemeris data, lists of satellites in view
    • 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
    • G01S5/0205—Details
    • G01S5/0215—Interference
    • 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
    • G01S5/0205—Details
    • G01S5/0218—Multipath in signal reception
    • 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
    • G01S5/0205—Details
    • G01S5/0236—Assistance data, e.g. base station almanac

Definitions

  • the present invention relates generally to position determination using broadcast television signals, and particularly to position determination using components of broadcast television signals transmitted by portable transmitters.
  • the invention features an apparatus comprising a receiver adapted to receive a plurality of broadcast signals; a signal processor adapted to determine a position based on the received plurality of broadcast signals; a signal generator adapted to generate a ranging signal comprising a known component of a television signal; and a transmitter adapted to broadcast a signal comprising the ranging signal and a position signal comprising a description of the position.
  • a receiver adapted to receive a plurality of broadcast signals
  • a signal processor adapted to determine a position based on the received plurality of broadcast signals
  • a signal generator adapted to generate a ranging signal comprising a known component of a television signal
  • a transmitter adapted to broadcast a signal comprising the ranging signal and a position signal comprising a description of the position.
  • the known component of the television signal represents at least one of the group comprising a synchronization code, found in an American Television Standards Committee (ATSC) digital television signal, comprising at least one of the group comprising a Field Synchronization Segment within an ATSC data frame, and a Synchronization Segment within a Data Segment within an ATSC data frame; a scattered pilot carrier found in a Japanese Integrated Services Digital Broadcasting-Terrestrial (ISDB-T) signal; a scattered pilot carrier found in a European Telecommunications
  • ATSC American Television Standards Committee
  • ISDB-T Japanese Integrated Services Digital Broadcasting-Terrestrial
  • the plurality of broadcast signals comprises at least one of a broadcast television signal; and a satellite positioning system signal.
  • the signal processor derives a time synchronization signal from the plurality of broadcast signals, further comprising a clock adapted to provide a clock signal in accordance with the synchronization signal; and wherein the signal generator generates the known component of the television signal in accordance with the clock signal.
  • the signal processor derives the time synchronization signal from a global positioning system (GPS) signal.
  • the position signal comprises digital data
  • the ranging signal comprises a plurality of digital television (DTV) frames, each frame comprising a plurality of data segments, and wherein the signal processor is further adapted to encode the digital data as codewords; and the transmitter is further adapted to replace data segments within the DTV frames with the codewords.
  • the transmitter is further adapted to transmit the ranging signal over a plurality of television channels.
  • the invention features a method, apparatus, and computer-readable media. It comprises receiving a plurality of broadcast signals; determining a position based on the received plurality of broadcast signals; generating a ranging signal comprising a known component of a television signal; and broadcasting a signal comprising the ranging signal and a position signal comprising a description of the position.
  • Particular implementations can include one or more of the following features.
  • the known component of the television signal represents at least one of the group comprising a synchronization code, found in an American Television Standards Committee (ATSC) digital television signal, comprising at least one of the group comprising a Field Synchronization Segment within an ATSC data frame, and a Synchronization Segment within a Data Segment within an ATSC data frame; a scattered pilot carrier found in a Japanese Integrated Services Digital Broadcasting-Terrestrial (ISDB-T) signal; a scattered pilot carrier found in a European Telecommunications Standards Institute (ETSI) Digital Video Broadcasting - Terrestrial (DVB-T) signal; and a signal, found in an analog television signal, comprising at least one of the group comprising a horizontal synchronization pulse, a horizontal blanking pulse, a horizontal blanking pulse and a horizontal synchronization pulse, a chirp-type signal, and a vertical interval test signal.
  • ATSC American Television Standards Committee
  • the plurality of broadcast signals comprises at least one of a broadcast television signal; and a satellite positioning system signal.
  • Implementations comprise deriving a time synchronization signal from the plurality of broadcast signals; providing a clock signal in accordance with the synchronization signal; and generating the known component of the television signal in accordance with the clock signal.
  • Deriving a time synchronization signal comprises deriving the time synchronization signal from a global positioning system (GPS) signal.
  • the position signal comprises digital data and the ranging signal comprises a plurality of digital television (DTV) frames, each frame comprising a plurality of data segments, and implementations comprise encoding the digital data as codewords; and replacing data segments within the DTV frames with the codewords.
  • DTV digital television
  • Implementations comprise transmitting the ranging signal over a plurality of television channels.
  • FIG. 1 depicts an example implementation that includes a user terminal that communicates over an air link with an optional base station.
  • FIG. 2 illustrates an operation of the implementation of FIG. 1.
  • FIG. 3 depicts the geometry of a position determination using three transmitters.
  • FIG. 4 is a block diagram of the architecture of a PTT according to one implementation.
  • FIG. 5 is a flowchart of a process performed by PTT according to one implementation.
  • FIG. 6 shows a receiver capable of processing both television signals
  • GPS signals for position determination according to one embodiment.
  • the leading digit(s) of each reference numeral used in this specification indicates the number of the drawing in which the reference numeral first appears.
  • the term “server” generally refers to an electronic device or mechanism
  • the term “message” generally refers to an electronic signal representing a digital message.
  • the term “mechanism” refers to hardware, software, or any combination thereof. These terms are used to simplify the description that follows.
  • the servers and mechanisms described herein can be implemented on any standard general-purpose computer, or can be implemented as specialized devices.
  • Broadcast television signals can be used to determine the position of a user terminal.
  • Techniques for determining the position of a user terminal using the American Television Standards Committee (ATSC) digital television (DTV) signal are disclosed in commonly-owned copending U.S. Non-provisional Patent Application Serial No. 09/887,158, "Position Location using Broadcast Digital Television Signals," by James J. Spilker and Matthew Rabinowitz, filed June 21, 2001, the disclosure thereof incorporated by reference herein in its entirety.
  • Techniques for determining the position of a user terminal using the European Telecommunications Standards Institute (ETSI) Digital Video Broadcasting-Terrestrial (DVB-T) signal are disclosed in commonly-owned copending U.S. Provisional Patent Application Serial No.
  • Suitable components within the ATSC digital television signal include synchronization codes such as the Field Synchronization Segment within an ATSC data frame and the Synchronization Segment within a Data Segment within an ATSC data frame.
  • Suitable components within the ETSI DVB-T and ISDB-T digital television signals include scattered pilot carriers.
  • Suitable components within the NTSC analog television signal include the horizontal synchronization pulse, the horizontal blanking pulse, the horizontal blanking pulse and horizontal synchronization pulse taken together, the ghost canceling reference signal, the vertical interval test signal, and other chirp-type signals.
  • Positioning techniques using television signals should revolutionize the technology of navigation and position location.
  • the ubiquitous availability of television signals allows for coverage anywhere that television is available.
  • time-gated delay-lock loops it is possible to use television signals for positioning even beyond those areas where television reception is available. Details are provided in, for example, U.S. Non-provisional Patent Application Serial No. 10/054,262, "Time-Gated Noncoherent Delay Lock Loop Tracking of Digital Television Signals," by James J. Spilker, Jr. and Matthew Rabinowitz, filed January 22, 2002.
  • a multiplicity of strong television signals will not be available due to less than adequate television availability, severe building attenuation, a severe multipath environment, or other causes.
  • television signals can provide very good positioning information on the horizontal plane, there may be situations, such as determining the position of police and firemen in a building, where precise vertical information is necessary as well.
  • a portable pseudo- television transmitter In cases where a multiplicity of strong television signals are not available, for example, in a building, one or more pseudo-television transmitters can be brought to the site to provide additional signals for precise positioning.
  • each portable pseudo-television transmitter has the ability to determine its position precisely using television-signal positioning techniques, GPS positioning techniques, or other standard positioning techniques.
  • the pseudo-television transmitters can contain television monitor units similar to those described in U.S. Provisional Patent Applications Serial No. 60/293,812, "DTV Monitor System Unit (MSU)," by James J. Spilker and Matthew Rabinowitz, filed May 25, 2001, the disclosure thereof incorporated herein by reference in its entirety.
  • the PTTs have many applications, for example, for emergency location of firemen or other emergency personnel in a building or other environment.
  • the PTTs can be mounted on fire trucks or other emergency vehicles.
  • One or more of the PTTs can be hand-carried to the entrance to the building or facility of operation.
  • An emergency location handset (also referred to herein as a "user terminal") carried by emergency personnel receives signals from the small rugged PTTs that are carried in the emergency vehicles or placed at convenient locations at the base of the site.
  • the user terminal can also use other signals, such as those provided by broadcast TV transmitters and satellite positioning systems such as GPS, to determine its position.
  • the emergency location handset recovers pseudo-ranges from each of these transmitters, and then relays these measurements to an emergency location processor (also referred to herein as a "location server") that can also be located at the emergency site if desired.
  • the emergency location processor then displays the location of each of the emergency handsets in both horizontal position and in height or building floor.
  • the leader of the emergency team not only can communicate with each of the emergency handsets but also can see a display in three dimensions of the locations of each of the handsets.
  • the PTTs can transmit at much lower power than a conventional TV transmitter and can use specially assigned TV frequencies in the Channel 60 or above frequency range, for example.
  • the PTTs can use television channels that are not already allotted to television stations in a given area.
  • the power transmitted by the PTTs can be greatly reduced relative to that needed by commercial TV transmitters for several reasons.
  • the PTTs are much closer to the emergency personnel; instead of 50 miles away they might only be 500 feet away, a factor of 500 in distance or in power even for a 4 th -power equation, a factor of 6.25 x l ⁇ '° or 107.9 dB power reduction. Even a square law power relationship yields a factor of 53.9 dB.
  • the square law performance would reduce the power required to 4w.
  • the PTT signal can carry continuous repeats of the known components useful for ranging, such as the DTV field synchronization signal, instead of only once per 313 segments. This allows another factor of 313 reduction in power.
  • an example implementation 100 includes a user terminal 102 that communicates over an air link with an optional base station 104.
  • user terminal 102 is a wireless telephone and base station 104 is a wireless telephone base station.
  • base station 104 is part of a mobile MAN (metropolitan area network) or WAN (wide area network).
  • user terminal 102 communicates directly with a location server 110, and base station 104 is not needed.
  • FIG. 1 is used to illustrate various aspects of the invention but the invention is not limited to this implementation.
  • the phrase "user terminal” is meant to refer to any object capable of implementing the position location techniques described herein. Examples of user terminals include PDAs, mobile phones, cars and other vehicles, and any object which could include a chip or software implementing the position location techniques described herein. Further, the term “user terminal” is not intended to be limited to objects which are "terminals” or which are operated by "users.”
  • FIG. 2 illustrates an operation of implementation 100.
  • User terminal 102 receives a plurality of broadcast signals (step 202).
  • the broadcast signals include one or more ranging signals transmitted by one or more pseudo-television transmitters (PTT) 118.
  • PTT pseudo-television transmitters
  • each ranging signal broadcast by a PTT 118 includes a known component of a television signal.
  • the position of user terminal 102 is determined based only upon the PTT ranging signals. However, if other suitable signal are available, they can be used as well.
  • the broadcast signals received by user terminal 102 can also include one or more DTV signals transmitted by one or more DTV transmitters 106 and one or more analog TV signals transmitted by one or more TV transmitters 105.
  • user terminal 102 can determine its position based on these types of signals.
  • User terminal 102 can scan over the available channels and acquire signals from PTTs 1 18 alone or in conjunction with standard, fixed, terrestrial television towers. Having acquired a signal, user terminal 102 determines whether the signal includes a signal component matching one of the known components the user terminal can use for ranging.
  • a location server 110 tells user terminal 102 of the best DTV channels to monitor.
  • user terminal 102 exchanges messages with location server 110 by way of base station 104.
  • user terminal 102 selects DTV channels to monitor based on the identity of base station 104 and a stored table correlating base stations and DTV channels.
  • user terminal 102 can accept a location input from the user that gives a general indication of the area, such as the name of the nearest city; and uses this information to select DTV channels for processing.
  • user terminal 102 scans available DTV channels to assemble a fingerprint of the location based on power levels of the available DTV channels.
  • User terminal 102 compares this fingerprint to a stored table that matches known fingerprints with known locations to select DTV channels for processing. This selection is based on the power levels of the DTV channels, as well as the directions from which each of the signals are arriving, so as to minimize the dilution of precision (DOP) for the position calculation. Similar methods can be used to select TV channels for use in position determination.
  • DOP dilution of precision
  • User terminal 102 determines a pseudo-range between the user terminal
  • Each pseudo-range represents the time difference (or equivalent distance) between a time of transmission from a transmitter of a component of the broadcast signal and a time of reception at the user terminal 102 of the component, as well as a clock offset at the user terminal.
  • User terminal 102 transmits the pseudo-ranges to location server 110.
  • location server 110 is implemented as a general-purpose computer executing software designed to perform the operations described herein.
  • location server 110 is implemented as an ASIC (application-specific integrated circuit).
  • location server 110 is implemented within or near base station 104. Location server 110 can also be implemented as a portable unit, to be transported by emergency vehicles and crews.
  • the broadcast signals are also received by a plurality of monitor units
  • Each monitor unit 108 can be implemented as a small unit including a transceiver and processor, and can be mounted in a convenient location such as a utility pole, transmitters 105 and 106, or base stations 104. In one implementation, monitor units 108 are implemented on satellites. Monitor unit 108 can also be implemented as a portable unit, to be transported by emergency vehicles and crews. [0036] Each monitor unit 108 measures, for each of the received signals, a time offset between the local clock of the transmitter of the signal and a reference clock. In one implementation the reference clock is derived from GPS signals.
  • a reference clock permits the determination of the time offset for each transmitter when multiple monitor units 108 are used, because each monitor unit 108 can determine the time offset with respect to the reference clock. Thus, offsets in the local clocks of the monitor units 108 do not affect these determinations.
  • no external time reference is needed.
  • a single monitor unit receives signals from all of the same transmitters as does user terminal 102. In effect, the local clock of the single monitor unit functions as the time reference.
  • each time offset is modeled as a fixed offset.
  • each time offset is modeled as a second order polynomial fit of the form [0039]
  • Offset a + b ⁇ t - T) + c ⁇ t - Tf (1)
  • each measured time offset is transmitted periodically to the location server using the Internet, a secured modem connection, as part of DTV broadcast data, or the like.
  • the location of each monitor unit 108 is determined using GPS receivers.
  • Location server 110 receives information describing the phase center (i.e., the location) of each TV transmitter 105 and DTV transmitter 106 from a database 112.
  • the phase center of each transmitter is measured by using monitor units 108 at different locations to measure the phase center directly.
  • One approach to doing this is to use multiple time-synchronized monitor units at known locations.
  • Each PTT 118 determines its location, as described below, and broadcasts information describing the position.
  • Location server 110 can receive the PTT position information directly from the PTTs 118, or from some other device such as phase center database 112.
  • location server 110 receives weather information describing the air temperature, atmospheric pressure, and humidity in the vicinity of user terminal 102 from a weather server 114.
  • location server 110 determines tropospheric propagation velocity from the weather information using techniques such as those disclosed in B. Parkinson and J. Spilker, Jr. Global Positioning System-Theory and Applications, AIAA, Washington, DC, 1996, Vol. 1 , Chapter 17 Tropospheric Effects on GPS by J. Spilker, Jr.
  • Location server 110 can also receive from base station 104 information which identifies a general geographic location of user terminal 102. For example, the information can identify a cell or cell sector within which a cellular telephone is located. This information is used for ambiguity resolution, as described below.
  • Location server 110 determines a position of user terminal 102 based on the pseudo-ranges and a location and clock offset of each of the transmitters (step 206).
  • FIG. 3 depicts the geometry of a position determination using three transmitters 302.
  • Transmitter 302A is located at position (xl, yl). The range between user terminal 102 and transmitter 302A is rl.
  • Transmitter 302B is located at position (x2, y2). The range between user terminal 102 and transmitter 302B is r2.
  • Transmitter 302N is located at position (x3, y3). The range between user terminal 102 and transmitter 302N is r3.
  • Location server 110 may adjust the value of each pseudo-range according to the tropospheric propagation velocity and the time offset for the corresponding transmitter 302.
  • Location server 110 uses the phase center information from database 112 to determine the position of each transmitter 302.
  • User terminal 102 makes three or more pseudo-range measurements to solve for three unknowns, namely the position (x, y) and clock offset T of user terminal
  • the techniques disclosed herein are used to determine position in three dimensions such as longitude, latitude, and altitude, and can include factors such as the altitude of the transmitters.
  • pr3 r3 +T (4)
  • X represents the two-dimensional vector position (x, y) of user terminal 102
  • XI represents the two-dimensional vector position (xl, yl) of transmitter 302A
  • X2 represents the two-dimensional vector position (x2, y2) of transmitter 302B
  • X3 represents the two-dimensional vector position (x3, y3) of transmitter 302N.
  • the position can be transmitted directly to portable receivers carried by emergency crews.
  • techniques for projecting the measurements at the user terminal 102 to a common instant in time are described. Note that this is not necessary if the clock of the user terminal 102 is stabilized or corrected using a signal from the cellular base station, a transmitter 105, 106, or a PTT 118.
  • the user clock offset can be considered to be a function of time, T(t).
  • T(t) For a small time interval, ⁇ , the clock offset, T(t), can be modeled by a constant and a first order term. Namely, [0068]
  • the pseudo-range measurements may be described as: [0072]
  • the user terminal 102 commences with an additional set of pseudo-range measurements at some time ⁇ after the initial set of measurements.
  • prl(tl + ⁇ ) rl +T(tl)+ — ⁇ (2c) dt
  • pr2(t2+ A) r2 +T(t2)+ — ⁇ (3c) dt
  • prN(tN+ A) rN + T(tN) + — ⁇ (4c) dt
  • the user terminal 102 projects all the pseudo-range measurements to some common point in time so that the effect of the first order term is effectively eliminated. For example, consider if some common reference time tO is used. Applying equations (2b-4b) and (2c-4c) it is straightforward to show that we can project the measurements to a common instant of time as follows: [0088]
  • prl (tO) prl (tl) + [prl(tl + A) - prl (tl)J (t0-tl)/ (2d)
  • pr2(t0) pr2(t2)+ [pr2(t2+A) -pr2(t2)](t0-t2)/A (3d)
  • prN(tO) prN(tN) + [prN(tN+ A) - prN(tN)] (t0-tN)/ A (4d)
  • user terminal 102 does not compute pseudo- ranges, but rather takes measurements of the received signals that are sufficient to compute pseudo-range, such as a segment of the correlator output, and transmits these measurements to location server 110.
  • Location server 110 then computes the pseudo- ranges based on the measurements, and computes the position based on the pseudo- ranges, as described above.
  • the position of user terminal 102 is computed by user terminal 102.
  • all of the necessary information is transmitted to user terminal 102.
  • This information can be transmitted to user terminal by location server 110, base station 104, one or more transmitters 105, 106, PTTs 1 18, or any combination thereof.
  • User terminal 102 measures the pseudo-ranges and solves the simultaneous equations as described above. This implementation is now described.
  • User terminal 102 receives the time offset between the local clock of each transmitter and a reference clock. User terminal 102 also receives information describing the phase center of each transmitter from database 112.
  • User terminal 102 receives the tropospheric propagation velocity computed by location server 110.
  • user terminal 102 receives weather information describing the air temperature, atmospheric pressure, and humidity in the vicinity of user terminal 102 from weather server 114, and determines tropospheric propagation velocity from the weather information using conventional techniques.
  • User terminal 102 can also receive from base station 104 information which identifies the rough location of user terminal 102. For example, the information can identify a cell or cell sector within which a cellular telephone is located. This information is used for ambiguity resolution, as described below.
  • User terminal 102 receives signals from a plurality of transmitters including at least one PTT 118 and determines a pseudo-range between the user terminal 102 and each transmitter. User terminal 102 then determines its position based on the pseudo- ranges and the phase centers of the transmitters. [0103] In any of these of the implementations, should only two transmitters be available, the position of user terminal 102 can be determined using the two transmitters and the offset T computed during a previous position determination. The values of T can be stored or maintained according to conventional methods. This assumes, of course, that the local clock is stable enough over the period of time since T was computed. [0104] In one implementation, base station 104 determines the clock offset of user terminal 102. In this implementation, only two transmitters are required for position determination. Base station 104 transmits the clock offset Tto location server 110, which then determines the position of user terminal 102 from the pseudo-range computed for each of the transmitters.
  • FIG. 4 is a block diagram of the architecture of a PTT 118 according to one implementation.
  • PTT 118 includes a receive antenna 402, receiver 404, a signal processor 406, a signal generator 408, a clock 410, a transmitter 412, and a transmit antenna 414.
  • antennas 402 and 414 can be implemented as a single unit.
  • FIG. 5 is a flowchart of a process 500 performed by PTT 118 according to one implementation. Process 500 is described with reference to FIG.
  • Antenna 402 receives a plurality of broadcast signals that are useful for position determination (step 502).
  • Receiver 404 downconverts the received signals to intermediate frequency (IF) or baseband for processing.
  • Signal processor 406 computes the position of the PTT 118 based on the received signals (step 504), for example according to methods described above for user terminal 102.
  • the signals used for position determination can include DTV signals, TV signals, signals transmitted by other PTTs, satellite positioning system signals such as global positioning system (GPS) signals and other types of signals useful for position determination.
  • Signal processor 406 provides a position signal (pos) to transmitter 412 that contains information describing the position of PTT 118.
  • Signal processor 406 also generates a time synchronization signal (sync) based on the received signals, and provides the time synchronization signal to clock 410.
  • the timing signal is obtained from a GPS signal.
  • Clock 410 generates a clock signal based on the time synchronization signal (that is, clock 410 synchronizes using the time synchronization signal).
  • clock 410 is a very accurate clock employing rubidium standard.
  • Signal generator 508 generates a ranging signal (rng) in accordance with the clock signal (step 506).
  • the ranging signal includes a known component of a television signal.
  • the known component in the ranging signal can include synchronization codes such as the Field Synchronization Segment within an ATSC data frame and the Synchronization Segment within a Data Segment within an ATSC data frame, scattered pilot carriers within the ETSI DVB-T and ISDB-T digital television signals, and the horizontal synchronization pulse, the horizontal blanking pulse, the horizontal blanking pulse and horizontal synchronization pulse taken together, the ghost canceling reference signal, and the vertical interval test signal within the NTSC analog television signal.
  • PTTs 118 broadcast one or more types of television signal that can be received by user terminals 102 within the appropriate area.
  • PTTs 118 can broadcast signals similar to the ATSC digital television specification, the ETSI - DVB digital television specification, ISDB-T digital television specification, the NTSC analog television specification, and/or the NTSC analog television specification with or without the embedded GCR signal.
  • Each of the PTTs operating in a single area can use different codes so they can share a single channel.
  • PTTs 118 broadcast only those known components of the television signal that are useful for position location. These signals can include known PN sequences, chirp signals, or synchronization codes, as described above.
  • PTTs 118 transmit continuously repeated field synchronization signals, and modulate the sign of each block field synchronization word or set of words, thus providing a bi-phase modulation of the field synchronization segments each with duration of approximately 77 microseconds.
  • This form of data modulation can carry data rates of approximately 129,326 bps or any sub-multiple thereof.
  • the field synchronization can be bi-phase modulated once every frame of 313 segments to obtain a 41 bps data stream. This data stream can be coded with rate l A or other coding to improve error rate performance.
  • PTTs 118 broadcast over many channels simultaneously, thereby increasing the bandwidth of the broadcast signal and increasing the resistance to multipath, further ensuring that a user terminal 102 inside the area would be able to determine its position using the signals.
  • These extra-wide bandwidth signals can contain similar types of synch codes, chirp signals, and/or PN sequences as the standard, on-channel versions, except that the chipping rate (or clocking rate) of these known signals can be considerably increased.
  • multiple PTTs 118 share a single TV frequency channel by assigning a different time slot to each PTT.
  • Each of four PTTs 118 could, for example, transmit for a 20% duty factor leaving the remaining time percentage of 20% for guard time between transmissions.
  • GPS pseudolites also use such time gating of the transmissions so as to avoid the near/far signal level problem.
  • Transmitter 412 transmits over antenna 414 a signal comprising the ranging signal and a position signal comprising a description of the position (step 508). These signals are used to determine the position of the user terminal, as described above. Transmitter 412 can broadcast the position signal within or along with the ranging signal. For example, a pseudo-television transmitter can broadcasting a signal similar to the PN sequence used for the field synchronization segment in the ATSC DTV standard, and can modulate these transmissions by changing the sign of subsequent field synchronization segments. These known components can be transmitted at 100% duty factor, or with time gaps in between the known components, which may be filled with other data, as is done in the ATSC DTV standard.
  • the position information is inserted as data into one or more of the frames in an ATSC-type broadcast.
  • the position information comprises digital data
  • the ranging signal comprises a plurality of digital television (DTV) frames.
  • Each frame comprises a plurality of data segments.
  • Signal processor 406 encodes the digital data as codewords.
  • Transmitter 412 replaces one or more of the data segments within the DTV frames with the codewords.
  • the position information is modulated into a chirp- type signal by, for example, changing the sign on the chirp pattern.
  • FIG. 6 shows a receiver 600 capable of processing both television signals and GPS signals for position determination according to one embodiment.
  • Receiver 600 can replace receiver 404 and signal processor 406 in PTT 118 of FIG. 4.
  • a TV antenna 602 receives the TV signals, including signals generated by TV transmitters 105, DTV transmitters 106, and other PTTs 118.
  • the same antenna can be used for both the GPS and the TV signal.
  • This antenna can be coupled to a tuning circuit in order to resonate at the different frequencies.
  • this antenna can have two feeds, one which outputs a signal in the GPS band and one which outputs a signal in the TV band, with a switch determining which feed outputs to the LNA in the receiver front end.
  • a low noise amplifier and RF filter 604 amplifies and filters the received TV signals.
  • the RF filter is tunable over the range of at least 450 MHz to 700 MHz, or the band for whatever set of TV signals is selected.
  • the low noise amplifier includes an automatic gain control function.
  • a mixer 606 combines the resulting signal with the output of a frequency synthesizer 608 to up-convert the signal to an IF frequency where a narrow bandwidth SAW filter 610 can be employed.
  • a switch 612 passes the TV signal to SAW filter 610.
  • the IF frequency is the GPS LI frequency of 1575.42 MHz.
  • Other implementations use the L2 frequency of 1227.6 MHz, which will shortly have a new civil signal, or the new L5 signal in the 1.1 GHz region.
  • a different IF frequency can be used and the GPS signal as well as the TV signal will initially be up-converted or down-converted before bandpass filtering.
  • Amixer 614 combines the filtered signal with the output of a local oscillator
  • IF frequency 44 MHz, a standard TV IF frequency.
  • Filter/ ADC 618 then filters and digitizes the signal. The signal can then be IF sampled at, for example, 27 Msps using a 10 bit ADC. The digitized signal is fed to a processor 624 for processing.
  • a controller 626 controls filter/amplifier 604, frequency synthesizer 608, and switch 612.
  • a GPS antenna 620 receives the GPS signals.
  • a low noise amplifier and RF filter 622 amplifies and filters the received GPS signals.
  • Switch 612 passes the GPS signal to SAW filter 610.
  • Mixer 614 combines the filtered signal with the output of a local oscillator 616 to down-convert the filtered signal to a convenient IF or baseband frequency.
  • Filter/ ADC 618 filters and digitizes the signal. The signal can then be IF sampled at, for example, 27 Msps using a 10 bit ADC.
  • the digitized signal is fed to processor 624 for processing.
  • the entire RF section is fabricated as a single integrated circuit, with the exception of the SAW or similar high selectivity bandpass filter, and processor 624 is fabricated as a separate integrated circuit.
  • processor 624 is fabricated as a separate integrated circuit.
  • GPS satellites 120 transmit an almanac which gives approximate satellite orbits and velocities as well as clock offsets and other factors for up to 32 GPS satellites.
  • the entire almanac of information for 32 satellites comprises only 1 KB of information.
  • user terminal 102 can estimate the Doppler information for the GPS satellites 120 in view, and their corresponding PN codes, quite easily to much greater precision than needed for initial acquisition by a noncoherent delay lock tracking loop for
  • location server 110 periodically downloads to the
  • PTT the GPS almanac data via an air link.
  • PTT 118 computes GPS satellite Doppler from
  • GPS satellite almanac data Based on its approximate position (within 100 km or so), PTT 118 can determine which GPS satellites 120 are visible at any given time. Monitor stations 108 collect the almanac data for all GPS satellites, and transfer them to PTT 118. PTT 118 then determines satellite visibility and Doppler.
  • the GPS system updates the almanac data about once a week.
  • the GPS satellite Doppler ranges from -5,500 to +5,500 Hz (at 1.575420 GHz). A typical GPS receiver only needs Doppler to within 500 Hz.
  • PTT 118 can compute Doppler to within 1 Hz with almanac data that is a week old. Therefore, assuming that the monitor stations 108 always have the latest almanac data, monitor stations 108 need to upload fresh almanac data to PTT 118 only once a week.
  • Satellite ID 6 bits (to account for PRN 1-32)
  • GPS “assistance data” can be delivered in two ways: short message cell broadcast (SMCB) and radio resource location protocol (RRLP) messages in the control channels.
  • SMCB can be used for almanac, ephemeris, ionospheric, and DGPS correction data.
  • the contents of these messages are described in GSM spec 04.35, section 4.2. These messages might be available to battery pack accessories on some PTTs 118, since the protocol is based on a form of SMS.
  • RRLP messages can carry everything a SMCB message can carry, but can also carry "acquisition assistance" information, which includes code offsets and Doppler data. These messages are described in GSM spec 04.31, annex A.4.2.4. These messages would generally not be available to a battery pack accessory.
  • monitor stations 108 upload satellite Doppler to
  • monitor stations 108 keep the almanac data and compute GPS satellite visibility and Doppler estimates.
  • monitor stations 108 use their own location (instead of the PTT 118 location, which neither the monitor station nor the PTT 118 knows at the time) in the estimation.
  • One Hertz resolution of the Doppler is adequate (considering the uncertainty due to the local oscillator in the PTT 118).
  • the maximum numbers of Doppler sets is the number of visible satellites, not the number of satellites in constellation. The number of bits required for every contact is:
  • Satellite ID 6 bits (to account for PRN 1-32)
  • Doppler 14 bits (to account for +/- 5,500 Hz in 1-Hz resolution)
  • the invention can be implemented in digital electronic circuitry, or in computer hardware, firmware, software, or in combinations of them.
  • Apparatus of the invention can be implemented in a computer program product tangibly embodied in a machine-readable storage device for execution by a programmable processor; and method steps of the invention can be performed by a programmable processor executing a program of instructions to perform functions of the invention by operating on input data and generating output.
  • the invention can be implemented advantageously in one or more computer programs that are executable on a programmable system including at least one programmable processor coupled to receive data and instructions from, and to transmit data and instructions to, a data storage system, at least one input device, and at least one output device.
  • Each computer program can be implemented in a high-level procedural or object-oriented programming language, or in assembly or machine language if desired; and in any case, the language can be a compiled or interpreted language.
  • Suitable processors include, by way of example, both general and special purpose microprocessors. Generally, a processor will receive instructions and data from a readonly memory and/or a random access memory.
  • a computer will include one or more mass storage devices for storing data files; such devices include magnetic disks, such as internal hard disks and removable disks; magneto-optical disks; and optical disks.
  • Storage devices suitable for tangibly embodying computer program instructions and data include all forms of non-volatile memory, including by way of example semiconductor memory devices, such as EPROM, EEPROM, and flash memory devices; magnetic disks such as internal hard disks and removable disks; magneto-optical disks; and CD-ROM disks. Any of the foregoing can be supplemented by, or incorporated in, ASICs (application-specific integrated circuits) .
  • ASICs application-specific integrated circuits

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

L'invention concerne un dispositif, un procédé et des supports lisibles par un ordinateur. Le dispositif comprend un récepteur conçu pour recevoir une pluralité de signaux transmis ; un processeur de signaux conçu pour déterminer une position sur la base de la pluralité de signaux reçus ; un générateur de signaux conçu pour produire un signal de mesure de la distance comprenant une composante donnée d'un signal de télévision ; et un émetteur conçu pour transmettre un signal comprenant le signal de mesure de la distance et un signal de position comprenant une description de la position.
PCT/US2003/002959 2002-02-01 2003-01-31 Procede de determination de position utilisant des emetteurs de pseudo-signaux de television portatifs WO2003067869A2 (fr)

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AU2003207777A AU2003207777A1 (en) 2002-02-01 2003-01-31 Using television signals to provide localized position

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2426648A (en) * 2006-06-22 2006-11-29 Guttorm Opshaug Position location apparatus using terrestrial television signals
CN102096085A (zh) * 2009-12-09 2011-06-15 南开大学 一种cttb信号与卫星信号相结合的定位方法

Citations (3)

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Publication number Priority date Publication date Assignee Title
US5510801A (en) * 1994-03-01 1996-04-23 Stanford Telecommunications, Inc. Location determination system and method using television broadcast signals
US6147642A (en) * 1998-06-05 2000-11-14 Decisionmark Corp. Method and apparatus for limiting access to satellite communication signals
US6181921B1 (en) * 1994-08-19 2001-01-30 Seiko Epson Corporation Broadcasting station data detector and broadcast receiver for moving body that search a channel map based on location

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5510801A (en) * 1994-03-01 1996-04-23 Stanford Telecommunications, Inc. Location determination system and method using television broadcast signals
US6181921B1 (en) * 1994-08-19 2001-01-30 Seiko Epson Corporation Broadcasting station data detector and broadcast receiver for moving body that search a channel map based on location
US6147642A (en) * 1998-06-05 2000-11-14 Decisionmark Corp. Method and apparatus for limiting access to satellite communication signals

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2426648A (en) * 2006-06-22 2006-11-29 Guttorm Opshaug Position location apparatus using terrestrial television signals
GB2426648B (en) * 2006-06-22 2009-11-04 Guttorm Opshaug Pseudo television transmitters for position location
CN102096085A (zh) * 2009-12-09 2011-06-15 南开大学 一种cttb信号与卫星信号相结合的定位方法

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