MULTI-BEAM MULTI-BAND PROTECTED COMMUNICATION SYSTEM

Information

  • Patent Application
  • 20230370153
  • Publication Number
    20230370153
  • Date Filed
    May 10, 2022
    2 years ago
  • Date Published
    November 16, 2023
    a year ago
  • Inventors
    • Molchanov; Pavlo Anatoliyovich (Las Cruces, NM, US)
Abstract
Multi-beam, multi-band, multi-function, non-scanning, non-switching system which can simultaneous be applied for communication, navigation, control, surveillance, data link. Antenna system with multiple overlap fixed beams provides simultaneous full/hemi-sphere covering without scanning or switching beams and provides higher data rates, reliability, and speed of communication. Automatic gain control and direction adjustment in each channel allows to use system in harsh urban or mountains conditions even on motion payload. Antenna system coupled with transmitters and receiver chains arranged as transceiver modules which can be distributed on ground, airborne, sea carrier/satellite or swarm of carriers or satellites and provides better protection against spoofing and EMP.
Description
OTHER PUBLICATIONS



  • 1. Stephen Harman, “Holographic Radar Development”, Microwave Journal, Aveillant Ltd., Cambridge, UK, February 2021.

  • 2. Stephen E. Lipsky, “Microwave Passive Direction Finder”, SciTech Publishing Inc. Raleigh, NC 27613, 2004.

  • 3. Pavlo A. Molchanov, Ashok Gorwara, “Fly Eye Radar Concept”. IRS2017. International Radar Symposium, Prague, July 2017.



PRIOR ART

Wide channel bandwidths and relatively large beamwidths making satellite-based communication systems more suited to point-to-point trunking service rather than to end user connectivity [U.S. Pat. No. 6,272,317 B1]. The wide area coverage and constrained flexibility of these systems makes any attempt to serve many small users both inefficient and costly (Prior Art FIG. 1). Such systems provide connection with a plurality of communications satellites each having uplink and downlink antennas capable of receiving and transmitting a plurality of signals utilizing a plurality of beams having fixed spot beams and scanned spot beams to a plurality of spot coverage areas and a plurality of scanned spot areas respectively at a predetermined range of frequencies. The plurality of satellites each have receiving and transmitting beam forming networks coupled to the uplink and downlink antennas respectively. The antennas have adjacent reconfigurable receiving and transmitting antenna elements. Advantage of the invention is that the satellite system allows the use of both fixed and scanned spot beams from the same satellite and same antenna. The invention allows fixed coverage over high traffic area while allowing scanned beams to be quickly moved between areas not requiring a dedicated fixed beam. Such communication network consists lot of separate systems which large and costly. Moreover, system not covering entire sky any time and cannot exclude media influence in separate communication channel, Monopulse method with application reference beams can help to solve this problem.


System for changing antenna direction to satellite (PRIOR ART FIG. 2) presented in patent (U.S. Pat. No. 10,903,898 B1). A system comprises a computer including a processor and a memory. The memory stores instructions executable by the processor such that the computer is programmed to change a satellite antenna direction from a first sky segment to a second sky segment, to change the satellite antenna direction to return to the first sky segment upon updating segment blockage status data including a location and a score of the second sky segment, and to change the satellite antenna direction to a third sky segment based at least in part on the segment blockage status data. Changing antenna direction to another sky segment can lead to loos of part of transmitting/receiving information and decreasing data rate.


The multi-beam antenna communication system presented in (PRIOR ART FIG. 3) comprises a plurality of rings of single beam reflectors, each reflector having its own feed, wherein the plurality of rings is substantially concentric or nested and disposed on separate planes such that the reflectors of adjacent rings are substantially interleaved. (U.S. Pat. No. 6,388,634 B1). System cannot provide full sphere covering area.


Multibeam non-scanning antenna system applied in radar system for detection incoming munition proposed by Stephen A. Harman [1]. System consists staring antenna array and beam covering. Application of 360 degree staring antenna array instead scanning antenna array provides wider area of observation and holographic technology with beamforming of receiving signals decreasing time of processing.


Lipsky S. E. in U.S. Pat. No. 4,257,047 (1981) proposed an antenna array consists plurality of fixed, narrow beamwidth antennas, geographically oriented to provide omnidirectional coverage, as set of antennas is selected. It presents an explanation of the monopulse method for microwave direction finding with two pairs of directional antennas, positioned by azimuth and elevation boresight [2]. Direction finding by way of amplitude comparison methods can provide a root mean square (RMS) accuracy smaller than 2° in 100 ns after a direct wave arrives. High accuracy phase measurements provide high accuracy and fast direction finding. But most important, that monopulse method do not required long time, from millisecond for small amount operations to tens of seconds, computer calculations and can provide critical information about targets position, speed, and identity.


Array of directional antennas with overlap antenna patterns and multi-channel signal's processing provides higher direction-finding accuracy, direction adjustment possibility and faster signals processing [3].


BACKGROUND OF THE INVENTION

Present invention related to electric communication technique, ground and satellite-based stations. More particularly, the present invention relates to arrangements for interconnecting multiple systems, for construction, operations control, administration, maintenance.


Anthony Noerpel in U.S. Pat. No. 10,051,487 B2 from Aug. 14, 2018 “Method and system for orientating a phased array antenna” proposed to make receive planar phased array antenna divided into segments, for example, four, or more, symmetric segments. The sub-array signals from the four quadrants are combined to derive azimuth and elevation difference signals. When the array is nominally pointed at a known location that is transmitting a known signal, the azimuth and elevation difference signal levels may be used to estimate an array pointing or platform attitude error in the azimuth and elevation directions. In exemplary embodiments, this pointing error estimation process does not interfere with the primary purpose of the array, for example, to receive user traffic over beams pointed at cells in a cell coverage area. Pointing error estimation performed simultaneously with the reception of user data. The present teachings are applicable to satellite systems at different altitudes from Low Earth Orbit (LEO) to Geosynchronous Earth Orbit (GEO); to mobile, portable and aeronautical satellite terminals; to high altitude platforms or unmanned aircraft carrying a communications payload; to automated/motorized antenna positioners.


Pointing phase array antennas based on phase control, which directly connected with frequency. It means, that bandwidth of antenna array will be in trade with antenna gain. Increasing number of communication channels will lead to decrease gain in each channel.


David Alan Roos in patent “Method and apparatus for beam selection for multibeam, multi-satellite communications” U.S. Pat. No. 9,716,547 B2 from Jul. 25, 2017 proposed multi-satellite communication system, comprising an antenna, receiver, and transmitter, and a processing module configured to calculate a normalized distance metric for the plurality of user spot beams of a first and second satellite, select the user spot beam with the lowest normalized distance metric, and determine which of the at least first or second satellite is transmitting the selected user spot beam. Network includes determining the coverage area of a first beam pattern of a first satellite; identifying a number of high traffic regions within the coverage area of the first beam pattern; determining which user spot beams of the first beam pattern cover the identified high traffic regions; determining the normalized distance metrics for the identified user spot beams for each high traffic region; and designing a second beam pattern of a second satellite such that at least one center of a user spot beam of the second beam pattern have a lower normalized distance metric relative to the high traffic regions than the user spot beams of the first beam pattern.


But calculation of a normalized distance metric for the plurality of user spot beams taking some time, which can lead to decreasing data rate and loos of some useful communication information.


Presented by Satyajit Roy in U.S. Pat. No. 10,903,898 B1 from Jan. 26, 2021 “Changing antenna direction based on satellite blockage detection” system comprises a computer including a processor and a memory. The memory stores instructions executable by the processor such that the computer is programmed to change a satellite antenna direction from a first sky segment to a second sky segment, to change the satellite antenna direction to return to the first sky segment upon updating segment blockage status data including a location and a score of the second sky segment, and to change the satellite antenna direction to a third sky segment based at least in part on the segment blockage status data. Changing antenna direction to another sky segment can lead to loos of part of transmitting/receiving information. System comprises a computer that is programmed to change a satellite antenna direction from a first sky segment to a second sky segment, to change the satellite antenna direction to return to the first sky segment upon updating segment blockage status data including a location and a score of the second sky segment, and to change the satellite antenna direction to a third sky segment based at least in part on the segment blockage status data. The score may be at least one of fully blocked, medium blocked, low blocked, or unblocked. The segment blockage status data may further include a type of blockage including at least one of a building, a vegetation, or a weather condition.


Processing of executable instructions by processor will take some time, which can delay communication. Changing antenna direction to another sky segment by switching can lead to loos of part of transmitting/receiving information. Monopulse continuously system covering entire sky can increase data rate and quality and speed of communication.


SUMMARY OF THE INVENTION

An objective of the present invention is development of multi-beam, multi-band, multi-function, non-scanning, non-switching system which can simultaneous be applied for communication, navigation, control, surveillance, data-link. Antenna system with multiple overlap fixed beams can provide simultaneous full/hemi-sphere covering without scanning or switching beams and provides higher data rates, reliability, and speed of communication. Automatic gain control and direction adjustment in each channel will allow to use system in harsh urban or mountains conditions. Antenna system coupled with transmitters and receiver chains arranged as transceiver modules can be distributed on ground, airborne, sea carrier/satellite or swarm of carriers or satellites and provides better protection against spoofing and EMP.


Multi-beam multi-band protected communication system using satellites in constellation in Low Earth (LEO), Medium Earth (MEO), Geostationary (GEO) orbits consists plurality of fixed beams antennas covering areas of satellites use. Fixed beams of neighboring antennas are overlap in quadrature or multi-axes directions and simultaneous continuous covering entire area of possible satellites using. Each fixed beam antenna coupled with separate transceiver chain comprising transmitter and receiving chain. Plurality of said fixed beams antennas coupled with transceiver chains arranged as transceiver modules distributed by some order on carrier/satellite, vehicle or distributed between swarm or constellation of carriers/satellites to cover subdivided sector of possible satellites using area. Each transceiver module covering subdivided sector of entire area of possible satellites using and comprising of monopulse processor for simultaneous multi-axis processing of all signals in receiving chains as ratio of amplitudes and/or phase shift of signals for adjustment signals to decrease pointing error to transmitter and one-iteration adapting to decrease media influence to communication channels parameters by phase shift in set of neighboring antennas with overlap fixed beams. Each transceiver module comprising analog-to digital converter and also connected to signal processor with memory for storing executable instructions and for separate processing of amplitudes, phases, frequency components shift of signals in receiving chains and transmitters. Fixed beam antennas coupled to separate receiving chains, transmitters and monopulse processor inside said transceiver module are connected to signal processor by digital interface, arranged as universal serial bus (USB) or microwave and/or fiber optic waveguides. Each transceiver module comprising separate Automatic Gain Control (AGC) means, comprising signal detector and adjustable amplifier coupled to receiver chain, and as minimum one transmitter power amplifier, wherein output of signal detector connected to control input of transmitter power amplifier and adjustable amplifier in receiver chain. All transmitters, receiver chains, monopulse processor and signal processor connected with synchronization means by digital interface.


In another embodiment communication system comprising transceiver modules and signal processor arranged for simultaneous transmitting, receiving and processing signals on a few different frequencies (multi-frequency signals) and comprising corresponding arranged antennas and filtering means in each transmitter and receiving chain.


In another embodiment communication system comprising transceiver modules and signal processor arranged for simultaneous transmitting, receiving and processing different modes signals, such as communication, navigation, control (multi-mode signals) and comprising corresponding arranged antennas and filtering means in each transmitter and receiving chain.


In another embodiment communication system comprising transceiver modules and signal processor arranged for adjustment communication direction based on return signals status data based on at least one specified cycle time or a priority of user data being communicated via subarray of neighboring antennas with overlap fixed beams.





BRIEF DESCRIPTION OF DRAWINGS

PRIOR ART FIG. 1 illustrates of the satellite communication system including plurality of fixed spot beams and scanned spot beams.


PRIOR ART FIG. 2 shows known system, comprising computer including processor programmed to change a satellite antenna direction.


PRIOR ART FIG. 3 shows multi-beam antenna communication system with antenna arranged as multi-beam reflector antenna array.



FIG. 1 illustrates multi-beam multi-band satellite communication system which can be applied for different mode of communication, EMP protection and satellites signals spoofing.



FIG. 2 diagrammatically illustrates distribution of transceiver modules around perimeter of vehicle.



FIG. 3 illustrates distribution of directional antennas on satellites reflectors with concave and convex surfaces.



FIG. 4 shows two-axis (a) and three-axis (b) distribution of directional antennas within transceiver module.



FIG. 5 shows first embodiment of transceiver module with array of directional antennas covering subdivided sector.



FIG. 6 shows second embodiment of transceiver module based on Software Defined Radio (SDR) and array of directional antennas covering subdivided sector.



FIG. 7 shows two arrays designed with directional antennas with different frequency bands.





DETAILED DESCRIPTION OF THE INVENTION

First embodiment of multi-beam multi-band protected satellite communication system which can be applied for different mode of communications, protection from EMP and satellites signals spoofing diagrammatically illustrates in FIG. 1. System comprising array of directional antennas 101 distributed around perimeter of vehicle 102. Fixed beams of neighboring antennas 103 are overlap in quadrature or multi-axes directions and simultaneous continuous covering entire area of possible satellites using. Proposed communication system can provide different modes of communication with ground vehicles 104, airborne vehicles 105, satellites in constellation in Low Earth (LEO) 106, Medium Earth (MEO) 107, Geostationary (GEO) orbits 108. Overlap directional antennas provides high accuracy direction to GPS satellites and can be used for GPS satellites spoof protection 109 by comparing signal source position with real space direction. Distribution of directional antennas around vehicle perimeter provides additional protection against high power electromagnetic pulse 110. Vehicle body provides additional shield covering for antennas not directed to EMP source.


In proposed communication system plurality of fixed beams antennas coupled with transceiver chains and arranged as transceiver modules 201, which distributed around vehicle 202 perimeter as shown in FIG. 2. Overlap fixed beams of directional antennas 203 of one transceiver module covering subdivided sector 204 and all transceiver module covering entire area of possible satellites using. Transceiver modules arranged around perimeter of vehicle can provide addition protection of vehicle against firearm hitting 205.



FIG. 3 illustrates distribution of directional antennas on satellites reflectors with concave (a) and convex (b) surfaces.



FIG. 4 shows two-axis (a) and three-axis (b) distribution of directional antennas within transceiver module.


First embodiment of transceiver module illustrated as diagram in FIG. 5. Each fixed beam antenna 501 coupled with separate transceiver chain comprising transmitter 502 and receiving chain 503, 504. Plurality of said fixed beams antennas coupled with transceiver chains arranged as transceiver modules 505 distributed by some order on carrier/satellite, vehicle or distributed between swarm or constellation of carriers/satellites to cover subdivided sector of possible satellites using area as it shown in FIG. 1. Each transceiver module covering subdivided sector 506 of entire area of possible satellites using and comprising of monopulse processor 507 for simultaneous multi-axis processing of all signals in receiving chains as ratio of amplitudes and/or phase shift of signals for adjustment signals to decrease pointing error to transmitter and one-iteration adapting to decrease media influence to communication channels parameters by phase shift in set of neighboring antennas with overlap fixed beams. Each transceiver module comprising analog-to digital converter and also connected to signal processor 508 with memory 509 for storing executable instructions and for separate processing of amplitudes, phases, frequency components shift of signals in receiving chains and transmitters. Fixed beam antennas coupled to separate receiving chains 503, 504, transmitters 502 and monopulse processor 507 inside said transceiver module 505 are connected to signal processor by digital interface 510, arranged as universal serial bus (USB) or microwave and/or fiber optic waveguides. Each transceiver module comprising separate Automatic Gain Control (AGC) means, comprising signal detector 511 and adjustable low noise amplifier 512 coupled to receiver chain, and as minimum one transmitter power amplifier, wherein output of signal detector connected to control input of transmitter 507 power amplifier and adjustable amplifier in receiver chain 512. All transmitters 502, receiver chains 503, 504, monopulse processor 502 and signal processor 508 comprised Analog to Digital Converters (ADC) 514 connected with synchronization means 513 by digital interface 515.



FIG. 6 shows second embodiment of transceiver module based on Software Defined Radio (SDR) and array of directional antennas covering subdivided sector. In second embodiment of transceiver module 601 comprising transceiver chain 602, wherein each fixed beam antenna 603 coupled with separate low noise amplifier and SDR 605. Plurality of said fixed beams antennas 603 coupled with transceiver chains 602 arranged as transceiver modules 601 distributed by some order on carrier/satellite, vehicle or distributed between swarm or constellation of carriers/satellites to cover subdivided sector of possible satellites using area as it shown in FIG. 1. Each transceiver module covering subdivided sector 606 of entire area of possible satellites using and comprising of monopulse processor 607 connected to analog to digital converter 608 for simultaneous multi-axis processing of all signals in receiving chains as ratio of amplitudes and/or phase shift of signals for adjustment signals to decrease pointing error to transmitter and one-iteration adapting to decrease media influence to communication channels parameters by phase shift in set of neighboring antennas with overlap fixed beams. Each transceiver module 601 also connected to signal processor 609 with memory 610 for storing executable instructions and for separate processing of amplitudes, phases, frequency components shift of signals in receiving chains and transmitters. Fixed beam antennas coupled to separate transceiver receiving chains 602 and monopulse processor 607 inside said transceiver module 601 are connected to signal processor 609 by digital interface 611, arranged as universal serial bus (USB) or microwave and/or fiber optic waveguides. Each transceiver module 601 comprising separate Automatic Gain Control (AGC) means, comprising signal detector 612 and adjustable low noise amplifier 604 coupled to transceiver chain 602, wherein output of signal detector connected to control input of transmitter 607 power amplifier and adjustable amplifier in low noise amplifier 604. All transceiver chains 602, monopulse processor 607 and signal processor 609 connected with synchronization means 613 by digital interface 614.


REFERENCE NUMBERS






    • 101—directional antenna


    • 102—vehicle


    • 103—fixed beam (antenna pattern with fixed angle of view)


    • 104—vehicle


    • 105—airborne vehicle


    • 106—LEO


    • 107—MEO


    • 108—GEO


    • 109—spoofing GPS satellite connection


    • 110—EMP


    • 201—transceiver module


    • 202—vehicle


    • 203—overlap fixed beams


    • 204—subdivided sector


    • 205—transceiver modules arranged around perimeter of vehicle


    • 501—directional antennas with overlap antenna patterns


    • 502—X,Y axis transmitters


    • 503—X axis receiver chains


    • 504—Y axis receiver chains


    • 505—transceiver module


    • 506—covered space sector


    • 507—monopulse processor


    • 508—signal processor


    • 509—memory


    • 510—digital interface


    • 511—directional antennas with overlap antenna patterns


    • 512—detector


    • 513—synchronization means


    • 514—analog to digital converter


    • 515—digital interface


    • 601—transceiver module


    • 602—X,Y axis transceivers


    • 603—directional antennas


    • 604—low noise amplifier


    • 605—SDR


    • 606—covered space sector


    • 607—monopulse processor


    • 608—analog to digital converter


    • 609—signal processor


    • 610—memory


    • 611—digital interface


    • 612—detector


    • 613—synchronization means


    • 614—digital interface


    • 701—directional antennas design





OPERATION

The plurality of fixed beams antennas covering entire areas of using satellites in constellation in Low Earth (LEO), Medium Earth (MEO), Geostationary (GEO) orbits. Fixed beams of neighboring antennas are overlapping in quadrature or multi-axes directions. Each fixed beam antenna coupled with separate transceiver chain is using as separate transmitting and receiving channels. Plurality of said fixed beams antennas coupled with transceiver chains arranged as transceiver modules distributed by some order on carrier/satellite, vehicle or distributed between swarm or constellation of carriers/satellites to cover subdivided sector of possible satellites using area. Each transceiver module covering subdivided sector of entire area of possible satellites using is comprising of monopulse processor for simultaneous multi-axis processing of all signals in receiving chains as ratio of amplitudes and/or phase shift of signals for adjustment signals to decrease pointing error to transmitter and one-iteration adapting to decrease media influence to communication channels parameters by phase shift in set of neighboring antennas with overlap fixed beams. Each transceiver module comprising analog-to digital converter connected to signal processor with memory for storing executable instructions and for separate processing of amplitudes, phases, frequency components shift of signals in receiving chains and transmitters. Fixed beam antennas coupled to separate receiving chains, transmitters and monopulse processor inside said transceiver module are connected to signal processor by digital interface to transmit or receive communication signals by using universal serial bus (USB) or microwave and/or fiber optic waveguides. Automatic Gain Control (AGC) means in each transceiver module detecting received signals and adjusting level of signals by amplifier coupled to receiver chain, and transmitter power amplifier, wherein output signal transforming to control input of transmitter power amplifier and adjustable amplifier in receiver chain. Synchronization means providing synchronization of all transmitters, receiver chains, monopulse processor and signal processor connected by digital interface.


The time of signals processing is significantly decreased because signals from all satellites and other communication nodes processing simultaneously, even compare to processing digitally by switching virtual beamforming receiving signals. For example, a scanning system typically processes only one beam at a time, holographic staring systems processes signals by switching virtual beams and monopulse system processing all beams simultaneously.


Also, holographic systems transmitting more powerful signals, since a scanning system contains a high gain antenna on both transmit and receive, and in monopulse system transmitting power spreading inside relative wide space sector. From another side, high gain antennas in monopulse systems provides better gain and sensitivity than holographic systems, where usually applied array of omnidirectional antennas, which need provide wide area of observation for each antenna array element, and virtual set of receiving signals antennas activated for very short time for one separate node. Practically monopulse system will provide same gain and sensitivity of antennas, as scanning system with similar directional antenna.


Monopulse systems can be continuous waves or pulsed [3].


Monopulse method provides better beam pointing accuracy of 2-3 orders then scanning systems. Synchronizing of signals directly in antennas provide high accuracy amplitude and phase measurement. Non scanning antenna array is phase/frequency independent and can be multi-frequency, multi-function. All receiving chains using ratio of amplitudes, phases and relative frequency components shift of signals for multi-axis signal processing. Monopulse means with overlap fixed beams can consist filters and processing means for separation clutter signals, background noise, compensate moving errors.

Claims
  • 1. Multi-beam multi-band communication system using satellites in constellation in Low Earth (LEO), Medium Earth (MEO), Geostationary (GEO) orbits comprising plurality of fixed beams antennas covering areas of satellites use wherein: subarray of neighboring fixed beams antennas are overlapping in quadrature or multi-axes directions and simultaneously continuously covering entire area of possible satellites using;each fixed beam antenna coupled with separate transceiver chain comprising transmitter and receiving chain;plurality of said fixed beams antennas coupled with transceiver chains arranged as transceiver modules distributed by some order on carrier/satellite, vehicle or distributed between swarm or constellation of carriers/satellites to cover subdivided sector of possible satellites using area;each transceiver module covering subdivided sector of entire area of possible satellites using and comprising of monopulse processor for simultaneous multi-axis processing of all signals in receiving chains as ratio of amplitudes and/or phase shift of signals for adjustment signals to decrease pointing error to transmitter and one-iteration adapting to decrease media influence to communication channels parameters by phase shift in set of neighboring antennas with overlap fixed beams;each transceiver module comprising analog-to digital converter and also connected to signal processor with memory for storing executable instructions and for separate processing of amplitudes, phases, frequency components shift of signals in receiving chains and transmitters;fixed beam antennas coupled to separate receiving chains, transmitters and monopulse processor inside said transceiver module are connected to signal processor by digital interface, arranged as universal serial bus (USB) or microwave and/or fiber optic waveguides;each transceiver module comprising separate Automatic Gain Control (AGC) means, comprising signal detector and adjustable amplifier coupled to receiver chain, and as minimum one transmitter power amplifier, wherein output of signal detector connected to control input of transmitter power amplifier and adjustable amplifier in receiver chain;all transmitters, receiver chains, monopulse processor and signal processor connected with synchronization means by digital interface.
  • 2. Communication system of claim 1, wherein transceiver modules and signal processor are arranged for simultaneous transmitting, receiving, and processing signals on a few different frequencies (multi-frequency signals) and comprising corresponding arranged antennas and filtering means in each transmitter and receiving chain.
  • 3. Communication system of claim 1, wherein transceiver modules and signal processor are arranged for simultaneous transmitting, receiving, and processing different modes signals, such as communication, navigation, control (multi-mode signals) and comprising corresponding arranged antennas and filtering means in each transmitter and receiving chain.
  • 4. Communication system of claim 1, wherein transceiver modules and signal processor are arranged for adjustment communication direction based on return signals status data based on at least one specified cycle time or a priority of user data being communicated via subarray of neighboring antennas with overlap fixed beams.
REFERENCES CITED

U.S. Pat. No. 6,272,317 B1Aug. 7, 2001Sam W. HoustonU.S. Pat. No. 6,388,634 B1May 14, 2002ParthasarathyRamanujamU.S. Pat. No. 10,051,487 B2Aug. 14, 2018Anthony NoerpelU.S. Pat. No. 6,628,919 B1Sep. 30, 2003Charles CurelloU.S. Pat. No. 9,716,547 B2Jul. 15, 2017David Alan RoosU.S. Pat. No. 10,903,898 B1Jan. 26, 2021Satyajit RayUS 20140035783 A1Feb. 6, 2014Pavlo A. Molchanov