Patent Application
20220244347
Transmitters of radio waves (e.g., ground based radio waves) are sometimes used to broadcast signals for positioning, navigation, or timing. An example system for transmitting such signals is Long-Range Navigation (LORAN) and variations thereon.
The purpose and advantages of the examples of the present disclosure will be apparent to one of skill in the art from the detailed description in conjunction with the following appended drawings.
In the following detailed description, reference is made to the accompanying drawings, which form a part hereof, and in which are shown, by way of illustration, specific examples of examples in which the present disclosure may be practiced. These examples are described in sufficient detail to enable a person of ordinary skill in the art to practice the present disclosure. However, other examples enabled herein may be utilized, and structural, material, and process changes may be made without departing from the scope of the disclosure.
The illustrations presented herein are not meant to be actual views of any particular method, system, device, or structure, but are merely idealized representations that are employed to describe the examples. In some instances, similar structures or components in the various drawings may retain the same or similar numbering for the convenience of the reader; however, the similarity in numbering does not necessarily mean that the structures or components are identical in size, composition, configuration, or any other property.
The following description may include examples to help enable one of ordinary skill in the art to practice the disclosed examples. The use of the terms “exemplary,” “by example,” and “for example,” means that the related description is explanatory, and though the scope of the disclosure is intended to encompass the examples and legal equivalents, the use of such terms is not intended to limit the scope of an example of this disclosure to the specified components, steps, features, functions, or the like.
It will be readily understood that the components of the examples as generally described herein and illustrated in the drawings could be arranged and designed in a wide variety of different configurations. Thus, the following description of various examples is not intended to limit the scope of the present disclosure, but is merely representative of various examples. While the various aspects of the examples may be presented in the drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
Furthermore, specific implementations shown and described are only examples and should not be construed as the only way to implement the present disclosure unless specified otherwise herein. Elements, circuits, and functions may be shown in block diagram form in order not to obscure the present disclosure in unnecessary detail. Additionally, block definitions and partitioning of logic between various blocks is exemplary of a specific implementation. It will be readily apparent to one of ordinary skill in the art that the present disclosure may be practiced by numerous other partitioning solutions. For the most part, details concerning timing considerations and the like have been omitted where such details are not necessary to obtain a complete understanding of the present disclosure and are within the abilities of persons of ordinary skill in the relevant art.
Those of ordinary skill in the art will understand that information and signals may be represented using any of a variety of different technologies and techniques. Some drawings may illustrate signals as a single signal for clarity of presentation and description. It will be understood by a person of ordinary skill in the art that the signal may represent a collection of signals, wherein the collection may have a variety of bit widths and the present disclosure may be implemented on any number of data signals including a single data signal.
The various illustrative logical blocks, modules, and circuits described in connection with the examples disclosed herein may be implemented or performed with a general purpose processor, a special purpose processor, a digital signal processor (DSP), an Integrated Circuit (IC), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general-purpose processor (may also be referred to herein as a host processor or simply a host) may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration. A general-purpose computer including a processor is considered a special-purpose computer while the general-purpose computer is configured to execute computing instructions (e.g., software code, without limitation) related to the examples.
The examples may be described in terms of a process that is depicted as a flowchart, a flow diagram, a structure diagram, or a block diagram. Although a flowchart may describe operational acts as a sequential process, many of these acts can be performed in another sequence, in parallel, or substantially concurrently. In addition, the order of the acts may be re-arranged. A process may correspond to a method, a thread, a function, a procedure, a subroutine, a subprogram, other structure, or combinations thereof. Furthermore, the methods disclosed herein may be implemented in hardware, software, or both. If implemented in software, the functions may be stored or transmitted as one or more instructions or code on computer-readable media. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another.
Any reference to an element herein using a designation such as “first,” “second,” and so forth does not limit the quantity or order of those elements, unless such limitation is explicitly stated. Rather, these designations may be used herein as a convenient method of distinguishing between two or more elements or instances of an element. Thus, a reference to first and second elements does not mean that only two elements may be employed there or that the first element must precede the second element in some manner. In addition, unless stated otherwise, a set of elements may include one or more elements.
As used herein, the term “substantially” in reference to a given parameter, property, or condition means and includes to a degree that one of ordinary skill in the art would understand that the given parameter, property, or condition is met with a small degree of variance, such as, for example, within acceptable manufacturing tolerances. By way of example, depending on the particular parameter, property, or condition that is substantially met, the parameter, property, or condition may be at least 90% met, at least 95% met, or even at least 99% met.
Long Range Navigation (LORAN or just “Loran”) signals, developed in the 1950's, are ranging signals of broadcast radio frequency (RF) groundwaves at low frequencies, typically between 90 and 110 kilohertz (kHz), that can be used for positioning, navigation, and/or timing (“PNT”). Such ranging signals can travel more than 1,000 miles, through air, structures, earth, and water and can be up to 10,000 times more powerful than, as a non-limiting example, Global Positioning System (GPS) signals. Loran technology (and more specifically, an intermediate technology called “Loran-C”) was upgraded in the 1990's resulting in enhanced Loran (“eLoran”) navigation systems. Among other things, eLoran navigation systems include transmitter sites synchronized to Coordinated Universal Time (UTC), use of Time of Transmission (TOT) control rather than System Area Monitor (SAM) control used by Loran navigation systems, addition of a Loran Data Channel (LDC) to a ranging signal to provide time, improved positioning accuracy, and increased integrity.
A typical broadcast of an eLoran-type ranging signal is a pulse train of eLoran-type pulses of oscillating signals (e.g., pulses of oscillating signals having an envelope associated with eLoran). A pulse envelope of each pulse in the pulse train includes a leading edge that begins at a first point of rest (i.e., zero or negligible energy of the oscillating signal) and rises until it reaches a point of maximum amplitude (the “peak” of the pulse), and a tail edge that begins at the peak and falls until it reaches a second point of rest. In a standard eLoran pulse, a portion of the pulse defined substantially during part of the leading edge is used for phase tracking (in standard eLoran, typically the sixth zero crossing by the oscillating signal) to encode timing information into a pulse and more specifically for PNT. A receiver may use a positioning technique (including, as non-limiting examples, multilateration position estimation, or hyperbolic position estimation calculations) to recover PNT information based on received eLoran-type ranging signals. Additionally, in some cases eLoran signals may be used to encode data.
Transmitters in a standard eLoran configuration known to the inventors of this disclosure may be located hundreds and sometimes over a thousand miles apart. Each transmitter may stand hundreds of feet tall (e.g., 625 feet above local ground level).
Notwithstanding the opportunities in eLoran, funding for implementation of an eLoran navigation system was reduced in the United States of America in favor of GPS systems in the 2010's and, only several transmitter towers remain standing today.
The inventors of this disclosure appreciate, generally, an over-dependence on GPS for PNT. The availability of inexpensive GPS jammers and signal spoofers raises vulnerability concerns, especially for critical infrastructure, key resources, and safety-of-life applications. Accordingly, there is recognition by industry and government entities of a need for a complement/back-up navigation system for GPS—if not, in some environments or for some applications, a replacement.
To provide a suitable backup or replacement for GPS, the inventors of this disclosure appreciate a need for: access control for eLoran PNT services; support for different levels of PNT service; increased data transfer rate (as compared to conventional eLoran) to provide additional, one-way (i.e., unidirectional) communication capability; and improved immunity to jamming and spoofing attacks.
One or more examples relate, generally, to encoding information indicative of a specific transmitter in a pulse group of a ranging signal. More specifically, one or more examples relate to encoding information indicative of a transmitter in an inter-pulse interval of the pulse group.
Additionally or alternatively, one or more examples relate, generally, to arranging information transmissions to decrease the impact of burst errors at a receiver, and in various examples more specifically, according to an algorithm selected to improve the efficacy of forward error correction (FEC) techniques including those that use Reed-Solomon FEC blocks for error correction.
Additionally or alternatively, one or more examples relate, generally, to transmitting ranging signals according to a pulse-phase-signature schedule known to certain recipients of the signal. As a non-limiting example, transmitting ranging signals according to the pulse-phase-signature schedule may counter, at least partially, attempts to spoof a ranging signal.
Additionally or alternatively, one or more examples relate to delaying transmission of ranging signals according to a dithering schedule such that recipients of the ranging signals may be limited in their ability to use the ranging signals without the dithering schedule. For example, PNT information calculated based on delayed ranging signals may be inaccurate. And, in contrast, a receiver in possession of the dithering schedule may be able to correct for the delays.
One or more examples relate generally to decoding information from a pulse group of a ranging signal. The information may be indicative of a specific transmitter, e.g., the transmitter that transmitted the ranging signal. Thus, one or more examples may relate to identifying a transmitter responsive to information encoded in the pulse groups. More specifically, one or more examples may relate to identifying a transmitter responsive to an inter-pulse interval of a pulse group. Identifying the transmitter may aid in calculating PNT information. Additionally or alternatively, identifying the transmitter may be useful in validating the ranging signals.
Additionally or alternatively, one or more examples relate to identifying pulses of epochs according to a pulse-ordering scheme. The pulses may be ordered in an epoch of the ranging signal according to the pulse ordering scheme to, among other things, decrease the impact of burst errors.
Additionally or alternatively, one or more examples relate to validating a ranging signal by comparing phases of pulses of the ranging signal to a pulse-phase signature. Validating the ranging signal may at least partially counter against attempts to spoof ranging signals.
Additionally or alternatively, one or more examples relate to correcting delays added to ranging signals. For example, ranging signals may have been delayed according to a dithering schedule. One or more examples relate to calculating times of transmission of such ranging signals that account for the delay. For example, one or more examples may use the dithering schedule to correct for delays in ranging signals that were added to the ranging signals according to the dithering schedule.
One or more examples relate generally to receiving a privatized ranging signal (e.g., as described herein, e.g., with regard to dithering) and to receiving a non-privatized ranging signal (e.g., a ranging signal without dithering) (A privatized ranging signal may be alternatively referred to herein as a “private” ranging signal.) (A non-privatized ranging signal may be alternatively referred to herein as a “public” ranging signal.) Such examples may relate to determine a location (e.g., a location of a receiver of the private ranging signal and/or the public ranging signal) responsive to one or both of the privatized ranging signal and the public ranging signal.
As a non-limiting example, a receiver may be capable of determining a location of the receiver responsive to either or both of a public ranging signal and a privatized ranging signal. For example, a receiver may determine whether a received ranging signal exhibits dithering or not (which may be an indication of whether the ranging signal is a public ranging signal or a private ranging signal). Responsive to the ranging signal not exhibiting dithering, the receiver may determine a location of the receiver responsive to the ranging signal. Responsive to the ranging signal exhibiting dithering, the receiver may account for the dithering and may determine a location of the receiver responsive to the ranging signal, while taking the dithering into account.
As a non-limiting example, a receiver may determine that a ranging signal exhibits dithering responsive to comparing the ranging signal to a transmission schedule. For example, a receiver may determine an estimated time of transmission of a ranging signal responsive to a time of arrival of the ranging signal at the receiver and an estimated distance between the receiver and an estimated location of the transmitter. (The estimated location of the transmitter may be based on known locations of transmitters. The estimated location of the transmitter may further be based on a transmitter identifier (e.g., as described herein).) The receiver may compare the estimated time of transmission with a transmission schedule. Based on a high degree of correlation between the estimated time of transmission and times in the transmission schedule, the receiver may determine that the ranging signal does not exhibit dithering, which may mean that the ranging signal is a public ranging signal. Based on a low degree of correlation between the estimated time of transmission and times in the transmission schedule, the receiver may determine that the ranging signal exhibits dithering, which may mean that the ranging signal is a private ranging signal.
As another non-limiting example, a receiver may determine that a ranging signal exhibits dithering responsive to comparing the ranging signal to several epoch's worth of the ranging signal. For example, the receiver may compare a time of arrival of a first epoch's worth of the ranging signal with a second epoch's worth of the ranging signal. Based on the second epoch's worth of the ranging signal being received an epoch's duration after the first epoch's worth of the ranging signal, the receiver may determine that the ranging signal does not exhibit dithering, which may mean that the ranging signal is a public ranging signal. Based on the second epoch's worth of the ranging signal being received more or less than an epoch's duration after the first epoch's worth of the ranging signal, the receiver may determine that the ranging signal exhibits dithering, which may mean that the ranging signal is a private ranging signal. In such determinations motion of the receiver may be taken into account.
As a non-limiting example of taking dithering into account, responsive to determining that a ranging signal exhibits dithering, a receiver may determine a dithering interval i.e., a duration by which the ranging signal was delayed. (The dithering interval may vary each epoch. Thus, determining a dithering interval may include determining a dithering interval for the current epoch.) The dithering interval may be determined by obtaining the dithering interval from a dithering schedule. The dithering schedule may include a dithering interval for multiple epoch numbers. For example, the dithering schedule may include dithering intervals for all epochs (e.g., a repeating schedule counting from epoch 1 to some number, then restarting at 1). In some examples, the dithering schedule may be indexable by an epoch number. After determining a dithering interval, the dithering interval may be taken into account when determining a location of the receiver. For example, the dithering interval may be added to or subtracted from a time of transmission of the ranging signal. Alternatively, the dithering interval may be added to or subtracted from a time of flight of the ranging signal.
While examples may be discussed herein in the context of eLoran PNT systems, a person having ordinary skill in the art will appreciate that this is just an example of an environment in which disclosed examples may be deployed and implemented; and use with other environments does not exceed the scope of this disclosure.
As used herein, the term “ranging signal” means a signal provided (e.g., broadcast) by a transmitter that may be useable to determine PNT information. Additionally, as used herein a “ranging signal” may be used for transmission of data including time information and/or a message. Additionally or alternatively, a “data signal” may be used for transmission of data including time information and/or a message. A ranging signal may include ranging pulses to be used to determine range and/or position information. A ranging signal and/or a data signal may include data pulses to transmit data, and/or timing pulses to transmit time information. As used herein the terms “ranging pulse” and like terms may refer to pulses that may be used for determining range and/or position information. As used herein the terms “data pulse” and “data-message pulse” may refer to pulses that may encode data. As used herein the terms “time pulse,” “timing pulse,” “time-message pulse,” and “timing-message pulse” may refer to pulses that may encode timing information.
As used herein, the term “pulse group” means two or more pulses generated by a same transmitter within the same group repetition interval.
As used herein, “inter-pulse interval” means a duration of time defined between the start (i.e., starting time) of successive pulses of a pulse group.
As used herein, “group repetition interval” means a duration of time defined between the start (i.e., starting time) of successive pulse groups from the same transmitter.
As used herein, the terms “broadcast cycle” and “epoch” refer to two or more pulse groups not necessarily generated by a same transmitter. In some instances, the term “broadcast cycle” may be used as a shorthand to refer to the duration of a broadcast cycle. A number of pulse groups per broadcast cycle will typically be defined in a specification. As a non-limiting example, in an eLoran-based system, the number of pulse groups per broadcast cycle may be defined based on a number of desired bits for a message. In such a case, the number of pulse groups per broadcast cycle is based on the number of pulse groups for a desired number of bits for a message.
A duration of an epoch 116 generally corresponds to a time during which pulse groups (e.g., PG1 of TX1102, PG1 of TX2104, PG1 of TX3106, PG2 of TX1108, PG2 of TX2110, PG2 of TX3112, and additional pulse groups (e.g., from the first, second, and third transmitters)) may be/are transmitted. The duration of an epoch, such as epoch 116, may be related to a desired number of pulse groups per epoch, and a number of transmitters per geographical area or group of transmitters (which may be referred to in the art as a “chain”). As illustrated by
Notably, any suitable markers may be used to define a group repetition interval or a nominal emission delay without exceeding the scope of this disclosure, such as peaks, beginning of leading edges, pre-specified zero crossings, or combinations thereof, without limitation. As non-limiting examples, peaks of first or last pulses of the respective pulse groups, a beginning of a leading edge of the first or last pulses of the respective pulse groups, pre-specified zero-crossings of oscillating signals of the first or last pulses of the respective pulse groups, and combinations thereof, may be used to define the group repetition interval or the nominal emission delay. Unless otherwise stated, the marker used to define intervals in examples is the beginning of the leading edge of the pulses of interest. In some cases, an end of a tail edge may not be used as a marker because the tail may ring out.
In various examples, a respective inter-pulse interval 128 of a first transmitter (e.g., TX1) may be different than a respective inter-pulse interval 128 of another transmitter (e.g., TX3). For example, the duration of an inter-pulse interval 128 may be indicative of the transmitter from which the pulse group emanated. For example, a respective inter-pulse interval 128 of TX1 may be unique (or unique within a geographical region) to TX1. And, a respective inter-pulse interval 128 of TX3 may be unique (or unique within a geographical region) to TX3. Thus, an inter-pulse interval of a pulse group may be indicative of the transmitter from which the pulse group emanated. Thus, in various examples, a transmitter may be configured to transmit pulses (e.g., within a pulse group) separated by an inter-pulse interval 128 that is indicative of the transmitter.
In various examples, a pre-specified nominal inter-pulse interval may be known to a transmitter and a receiver, and an offset from the pre-specified nominal inter-pulse interval may be used to encode and decode a transmitter identifier.
The ranging pulse 148 may be encoded with timing information, e.g., a point in the pulse may be indicative of a timing event. As a non-limiting example, the fourth zero crossing (e.g., zero crossing 140) may be used by a receiver as an indication of a timing event e.g., for positioning, navigation, or timing for a positioning technique (including, as non-limiting examples, multilateration or hyperbolic position estimation calculations). Additionally, the ranging pulse 148 may be encoded with data. As a non-limiting example, the ranging pulse 148 may be frequency modulated to encode data. As a non-limiting example, following zero crossing 140, the ranging pulse 148 may be frequency modulated in two different time sections, e.g., the ranging pulse 148 may be frequency modulated to a first frequency from about 50 microseconds to about 128 microseconds and to a second frequency from about 140 microsecond to about 218 microseconds. Additional description regarding encoding data in frequency of pulses is given with regard to
Table 1 provides additional detail regarding the phases during the duration illustrated in
The ranging pulses are used, generally, to extract the time of arrival of the pulse. A receiver may use the time of arrival of the pulse to determine a range (e.g., a distance from the receiver to the transmitter), which may be used to determine a location of the receiver.
Template pulses are used, generally, to associate ranging pulses with specific symbols. A set of template pulses may include one ranging pulse for each symbol encoded by the different ranging pulses (e.g., 16 in the example illustrated in
Time-message pulses may collectively encode timing information (e.g., by frequency modulating one or more portions of each of the pulses). As a non-limiting example, a transmitter may be configured to keep a count of epochs, e.g., as an “epoch number” and may transmit the epoch number encoded in the timing-message pulses of each epoch. The time-message pulses may include one or more error-correction bits, e.g., according to a Reed-Solomon error-correction scheme. As an example of encoding timing information, the epoch number may be a 32-bit number and the 28 time-message pulses of an epoch may collectively encode the epoch number and the one or more error-correction bits. For example, each time-message pulse may encode 4 bits of the epoch number (e.g., each pulse may encode one of the 16 symbols described with regard to
Data-message pulses may collectively encode a data message (e.g., by intra-pulse frequency modulating one or more portions of each of the pulses, without limitation). Data-message pulses may communicate a message, e.g., from a system operator of a LORAN system to user of a LORAN receiver. Non-limiting examples of information transmitted via data-message pulses include differential corrections, almanac information on transmitters and differential monitors, or messages, including, as non-limiting examples, emergency alerts or weather alerts. The data-message pulses may further include one or more error-correction-message pulses, e.g., an FEC block according to a Reed-Solomon error-correction scheme. For example, each data-message pulse may encode 4 bits of the data message (e.g., each pulse may encode one of the 16 symbols described with regard to
As a non-limiting example,
During each epoch, a transmitter may be configured to transmit all of the pulses of the epoch according to a pulse-ordering scheme such as pulse-ordering scheme 200. By arranging the different types of pulses 206 according to pulse-ordering scheme 200, a receiver may be able to determine which pulses are of which type. Thus, for example, a receiver may be able to determine which pulses are template pulses, time-message pulses, and data-message pulses based on the pulse position. Further, the template pulses may be ordered so that a receiver may identify the symbol based on the order of the template pulse. Similarly, the time-message pulses or data-message pulses may be ordered such that the receiver may identify a type of a pulse based on the pulse position.
Moreover, by arranging the different types of pulses 206 according to pulse-ordering scheme 200, a transmitter may decrease the impact of errors that may result from repetitive or burst interference (e.g., from another transmitter). As a non-limiting example, if a series of two or more adjacent (in time) pulses is received with a high degree of interference, e.g., as a result of a nearby transmitter or lightning, the impact on the total information encoded in the pulse groups of the epoch may be decreased because different types of pulses 206 may be impacted as a result of the variability introduced by the pulse-ordering scheme. By decreasing an impact of burst errors on any particular type of pulse, error correction (e.g., Reed-Solomon error correction) may be enabled to function more effectively. Accordingly, one aspect of a pulse-ordering scheme is that groups of pulses of the same types may be separated by pulses of different types, e.g., to decrease a number of pulses of the same type that are broadcast in series.
In various examples, the epoch number in time-message pulses or data in the data-message pulses may be encrypted. For example, the epoch number, encoded into the time-message pulses, may be encrypted prior to encoding. As another example, the data message, encoded into the data-message pulses, may be encrypted prior to encoding. A single encrypted data message may span one or more epochs. Encryption of the epoch number or data message may be such that the epoch number or data message may be indecipherable without an encryption key. Thus, a recipient of all of the pulses of an epoch, and in possession of the pulse-ordering scheme 200, but not in possession of the encryption key, may be able to recover the symbols encoded by the time-message pulses or the data-message pulses, but may not be able to decrypt the epoch number or the data.
Alternatively, in various examples, the timing information may not be encrypted, e.g., the timing information may be transmitted in the clear. Not encrypting the timing information may enable a receiver of the time-message pulses to obtain timing information, e.g., an epoch number, without possessing an encryption key. Allowing a receiver to obtain the epoch number without an encryption key may allow the receiver to obtain information (e.g., more accurate timing information by correcting dither, which will be described in more detail below).
However, transmitting the timing information in the clear may leave the timing information vulnerable to spoofing. In various examples, the timing information may be transmitted in the clear (e.g., in time-message pulses) and second timing information may be transmitted, encrypted, in data-message pulses. The second timing information may be encrypted and thus, less vulnerable to spoofing than the timing information transmitted in the clear.
Further, the second timing information may include additional timing information not included in the timing information, e.g., a leap-second count. Including the additional timing information in the second timing information, transmitted, encrypted, in data-message pulses, may allow receivers in possession of the encryption key to obtain more detailed or more accurate timing information than is obtainable by receivers not in possession of the encryption key. Further, including the additional timing information in the second timing information may allow the timing information of the time-message pulses to not include the additional timing information, which may allow the number of time-message pulses to be reduced or the time-message pulses to include additional error-correction bits.
Additionally, or alternatively, one or more examples relate, generally, to controlling usability of ranging signals to limit accurate use of the ranging signals to certain recipients by adding a time offset (called a “dither offset,” dithering offset,” or just “dither”) that a specific recipient with a dither correction can correct for prior to using the ranging signals. As a non-limiting example, controlling usability may facilitate privatization of the ranging signals and a navigation system using the same.
The pulse groups of Epoch 1 are illustrated without dithering. For example, the first pulse group of the first transmitter (“PG1 of TX1”) is illustrated as beginning at nominal epoch start time 302A, i.e., PG1 of TX1 was not dithered (delayed or advanced) from nominal epoch start time 302A. The second pulse group of the first transmitter (“PG2 of TX1”) starts at group-repetition interval 310 after nominal epoch start time 302A. Also, the first pulse group of the second transmitter (“PG1 of TX2”) starts at nominal second-pulse-group start time 304A, i.e., PG1 of TX2 was not dithered from nominal second-pulse-group start time 304A. Also, PG2 of TX2 starts at group repetition interval 314 after nominal second-pulse-group start time 304A. In various examples, group repetition interval 310 may be the same or a different duration as group repetition interval 314.
The pulse groups of Epoch 2 are delayed by delay offset 312 from nominal epoch start time 302B. For example, PG1 of TX1 of Epoch 2 is delayed from nominal epoch start time 302B by delay offset 312. Similarly, PG1 of TX2 of Epoch 2 is delayed from nominal second-pulse-group start time 304B by delay offset 312. Likewise, all pulse groups of Epoch 2 are delayed by delay offset 312. The timing of pulse groups (e.g., dithered or un-dithered) applies equally to all pulses of the pulse groups. For example, all of the pulses of PG1 of TX1 of Epoch 2 are delayed by delay offset 312. Despite the delay of Epoch 2, a subsequent epoch begins at nominal subsequent-epoch start time 320B and not at nominal subsequent-epoch start time 320B plus delay offset 312. To prevent pulses from different epochs from being transmitted at the same time, in various examples, the delay offset 312 may be selected to be shorter than half of a nominal duration between the end of a last pulse of a last pulse group of an epoch and the beginning of a first pulse of a first pulse group of a subsequent epoch.
The pulse groups of Epoch 3 are advanced by advance offset 318. For example, PG1 of TX1 of Epoch 3 is advanced from nominal epoch start time 302C by advance offset 318. Similarly, PG1 of TX2 of Epoch 3 is advanced from nominal second-pulse-group start time 304C by advance offset 318. Likewise, all pulse groups of Epoch 3 are advanced by advance offset 318. Despite this advance, a subsequent epoch nominally would begin at nominal subsequent-epoch start time 320C and not after nominal subsequent-epoch start time 320C minus advance offset 318. To prevent pulses of different epochs from being transmitted at the same time, in various examples, the advance offset 318 may be selected to be shorter than a half of nominal duration between the end of a last pulse of a last pulse group of an epoch and the beginning of a first pulse of a first pulse group of a subsequent epoch.
The term “chain-level-dithering interval” may refer to a time interval by which all pulses of all pulse groups of all transmitters of a group of transmitters (which may be referred to as a chain) are delayed or advanced (relative to a nominal timing). A chain-level-dithering interval (e.g., delay offset 312 or advance offset 318) may apply for the duration of an epoch. In subsequent epochs, the pulse groups of all transmitters of a group of transmitters may be delayed or advanced by a different chain-level-dithering interval, or by none at all. Chain-level dithering is the dithering of a chain of transmitters by a chain-level-dithering interval over an epoch.
As an example of dithering,
Third emission delay 406 is delayed relative to second emission delay 404 by a nominal emission delay (e.g., 20,000 microseconds). Similarly, second emission delay 404 is delayed relative to first emission delay 402 by the nominal emission delay.
In various examples, a change in dithering of a chain (i.e., a change in dithering of all of the pulses of all of the pulse groups transmitted by a chain of transmitters) over time may follow a trend. For example,
In addition to chain-level dithering, individual transmitters may individually dither timing of pulse groups. For example,
However,
Also,
The term “transmitter-level-dithering interval” may be a time interval by which all pulse groups of a particular transmitter are delayed or advanced (relative to a nominal timing or relative to a nominal timing and a chain-level dither). A transmitter-level-dithering interval may apply for the duration of an epoch. In subsequent epochs, the pulse groups of the particular transmitter may be delayed or advanced by a different transmitter-level-dithering interval. In some cases, all pulse groups of each transmitter of each epoch may be delayed by a different transmitter-level-dithering interval, or by no transmitter-level-dithering interval. As an example of using a different transmitter-level-dithering interval each epoch,
As an example of dithering,
In various examples, a change in dithering of a transmitter (i.e., a change in dithering of all of the pulses of all of the pulse groups transmitted by a transmitter) over time may follow a trend. For example, the dither offsets 602 may have several random values and may follow a ramp between the several random values. For example,
Additionally, in various examples, a magnitude of change caused by a chain-level-dithering interval over time may be larger or smaller (e.g., by an order of magnitude or more) than a magnitude of change caused by a transmitter-level-dithering interval over the same time. For example, a magnitude of change caused by the dither offsets 400 of
Additionally, in various examples, the duration of a ramp of chain-level dithering may be different (e.g., by an order of magnitude or more) than a duration of a ramp of transmitter-level-dithering interval. For example, the chain-level-dither offsets (which chain-level dither offsets
The magnitude of the chain-level-dithering interval and/or the transmitter-level-dithering interval may be selected to be smaller than a default duration between pulse groups (or epochs). For example, the chain-level-dithering interval and the transmitter-level-dithering interval may be selected such that even if a chain and transmitter were delayed during a first epoch, and the chain and transmitter were advanced during the next epoch, an overlap of pulse groups would be avoided. As another example, the transmitter-level-dithering interval may be selected such that if pulses of a first transmitter were delayed, and pulses of a second transmitter were advanced, signals from the first and second transmitter would not overlap.
By dithering one or more pulse groups during one or more epochs (e.g., as illustrated by
In various examples, one or more of the transmitters may dither signals according to a dithering schedule. The dithering schedule may include a pre-defined dithering schedule, which is a schedule of dithering intervals (e.g., chain-level-dithering intervals or transmitter-level-dithering intervals) to apply to signals transmitted during a number of epochs. A receiver, in possession of the dithering schedule, may be able to correct for the effects of the dithering on the received signals and thereby accurately calculate positioning, navigation, or timing information. Receivers without the dithering schedule may be unable to accurately calculate positioning, navigation, or timing information from the dithered signals.
Transmitters or chains may privatize their signals, e.g., by making accurate use of the signals dependent on possession of the dithering schedule. An operator of the transmitters may sell the dithering schedule, e.g., on a subscription basis.
In one or more examples, multiple levels of service may be defined to allow for various levels of accuracy calculable at a receiver. As a non-limiting example, transmitters may include two or more instances of dithering and sell the dithering schedules separately. Additionally or alternatively, dithering schedules including different degrees of accuracy may be sold. Specific users receive two keys, and lower level users a single key. The dither could be the sum of two terms, specific users would have access to both terms (via their keys), and lower level users could only access a coarse term (via their key).
The dithering schedule may be encrypted or be usable only with a key such that a receiver must possess a key to utilize the dithering schedule. The dithering at a chain or transmitter may be related to the epoch number. As a non-limiting example, the dithering schedule may include dithering intervals for each epoch number. Thus, the dithering schedule may be indexable by epoch number. As an example, the dithering schedule may include a function (e.g., an encryption algorithm) that may accept as input the key and the epoch number and may return corrections for dithering for one or more transmitters for that epoch. A receiver may use the corrections to correct pulses received during the epoch. Thus, possession of both the epoch number and the key may be critical for the accurate calculation of PNT information.
In various examples, the magnitude of the chain-level dithering and/or the transmitter-level dithering may be selected according to a ramp such that a receiver may be able to decode an epoch number from transmissions without fully correcting the dithering. For example, a magnitude of the chain-level dithering or the transmitter-level dithering may be selected to be great enough to render location calculations inaccurate, yet, at the same time, because of the ramp, and the relatively small difference between dithering of individual pulse groups, a receiver may be able to decode an epoch number from the broadcast cycle. Thus, during initialization of a receiver, the receiver may be able to obtain an epoch number that can then be used with the dithering schedule to correct the pulses. Additionally or alternatively, the ramps in the magnitudes of chain-level dithering or the transmitter-level dithering may prevent or render it difficult to resolve the dithering by averaging over epochs. For example, if the transmitter-level dithering were random, each epoch, with a mean value of zero, a receiver could observe a number of epochs and average out the dithering.
In addition to chain-level dithering and/or transmitter-level dithering, in various examples, masking dithering may be applied. The masking dithering may be used to mask trends in dithering. In particular, in cases where chain-level dithering and/or transmitter-level dithering is applied according to a ramp, masking dithering may obscure the one or more ramps and/or make predicting dithering more difficult or improbable.
Masking dithering may include pseudo-random dithering applied to pulse groups (including to all pulses of the pulse group) independently each epoch. The masking dithering may employ different amounts of dithering each epoch independent of the dithering of prior epochs. For example, in contrast to dithering following a ramp, the masking dithering may be independent each epoch. Thus, the offset imparted by masking dithering may be relatively highly different between one epoch and the next compared with the offset imparted by masking dithering over many epochs. The relatively high degree of difference between offsets of subsequent epochs of masking dithering may mask the effects of chain-level dithering and/or transmitter-level dithering, which may follow a ramp. For example, in the absence of the masking dithering, a receiver, e.g., a receiver that is not in possession of the dithering schedule, may be able, over time to observe a ramp of the chain-level dithering and/or the transmitter-level dithering (assuming the chain-level dithering and/or the transmitter-level dithering are according to the ramp) and predict the dithering of future pulse groups. However, with the masking dithering applied, a receiver is less able to observe the ramp of either the chain-level dithering or the transmitter-level dithering (in other words, it may take longer for a receiver to be able to observe the ramps of the chain-level and/or transmitter-level dithering).
As an example of dithering,
In contrast to ramped dithering (e.g., as may be applied in chain-level dithering and/or transmitter-level dithering by utilizing a ramp), the masking dither is applied independently each epoch. The masking dither may be a pseudo-random dither (with a mean value of zero). However because the masking dither is independent each epoch, the masking dither does not cause any trend in the dither over time.
In various examples, masking dithering may change the timing of pulse groups by magnitudes (of timing) that are smaller or larger than (e.g., by an order of magnitude or more) the chain-level-dithering interval or the transmitter-level-dithering interval. For example, as illustrated in
As with the chain-level dithering and the transmitter-level dithering, the masking dithering may be included in the dithering schedule such that the masking dithering may be corrected for (e.g., by a receiver in possession of the dithering schedule) before calculating positioning, navigation, or timing information from the dithered signals.
Additionally or alternatively, one or more examples relate, generally, to providing for validation of pulse groups by encoding a signature in phases of pulses of pulse groups.
The zero-crossings of positive-phase-code pulse 802 and negative-phase-code pulse 808 may be the same, which may be relevant to timing, e.g., for positioning, navigation, or timing. Further, the frequency (or frequencies) of positive-phase-code pulse 802 and negative-phase-code pulse 808 may be the same. As such, positive-phase-code pulse 802 and negative-phase-code pulse 808 may encode, by frequency modulation and timing, the same information and be decoded in the same way.
Phases of pulses of a pulse group may be used to allow for validation of a signal (and consequently data) to increase security of a system. For example, phases of pulses of a pulse group may be encoded to prevent (or increase the difficulty of) spoofing a signal from a transmitter of the system. In other words, a system may use phase-encoding for anti-spoofing purposes.
As a non-limiting example, a transmitter may phase pulses of pulse groups such that the transmitted pulse groups match a pulse phase signature. The transmitter may change pulse phase signatures each epoch according to a pulse-phase-signature schedule. As a non-limiting example, a transmitter may transmit a first pulse group that matches a first pulse phase signature in a first epoch in accordance with the pulse-phase-signature schedule and transmit a second pulse group that matches a second pulse phase signature in a second epoch according to the pulse-phase-signature schedule.
A receiver, in possession of the pulse-phase-signature schedule may be able to verify that the transmitter transmitted the signal, e.g., by comparing phases of the received pulse groups to the pulse-phase-signature schedule. Further the pulse-phase-signature schedule may be related to the epoch number. As a non-limiting example, the pulse-phase-signature schedule may include pulse phase signatures indexable by the epoch number.
The pulse-phase-signature schedule may be encrypted such that a receiver must possess a key to utilize the pulse-phase-signature schedule. As an example, the pulse-phase-signature schedule may include a function that may accept as input the key and the epoch number and may return an expected pulse-phase-signature for the epoch. A receiver may compare received pulse phases to the expected pulse-phase signature to authenticate the received signal.
A number of techniques for encoding data have been described herein. Two or more of the techniques may be employed at the same time (e.g., to pulses of pulse groups of the same epoch).
As an example of two techniques being employed together, a pulse may encode information in frequencies of the pulse e.g., as described with regard to
As an example of two techniques being employed together, pulse groups of an epoch may be dithered (e.g., by chain-level dithering, transmitter-level dithering and/or masking dithering) e.g., as described with regard to
As an example of two techniques being employed together, pulses of a pulse group may be phase encoded to encode a signature e.g., as described with regard to
Controller 902 may be configured to receive data from, e.g., a control center. The data may include data for transmission, e.g., in data-message pulses (e.g., as described above with regard to
Additionally or alternatively, controller 902 may be configured to receive timing data, e.g., from a time standard. The timing data may include a time of day, a pulse-per-second signal, or a frequency reference.
Controller 902 may calculate features (e.g., timing, phase, or pulse shape) of signals (e.g., pulses in pulse groups of broadcast cycles) to be transmitted. Controller 902 may calculate the features such that the signals (in aggregate) are according to one or more examples. Controller 902 may provide instructions to transmitter 904 that may be indicative of the signals to be transmitted at transmitter 904.
As a non-limiting example, in various examples, controller 902 may provide transmitter 904 with an indication of a phase of a pulse to be transmitted. Additionally or alternatively, controller 902 may provide transmitter 904 with an indication of when to transmit a pulse (e.g., a pulse trigger).
Transmitter 904 may transmit signals, e.g., pulses in pulse groups of broadcast cycles. Transmitter 904 may transmit pulses according to the instructions from controller 902. Additionally or alternatively, transmitter 904 may transmit a pulse with a phase according to the indication of phase provided by controller 902. Additionally or alternatively, transmitter 904 may transmit pulses at times indicated by controller 902, e.g., based on receiving a pulse trigger from controller 902.
As a non-limiting example, controller 902 may determine an inter-pulse interval such that system 900 has a unique (or unique within a geographical area) inter-pulse interval for identifying transmitter 904, e.g., as described above with regard to
As another non-limiting example, controller 902 may determine an arrangement of different types of pulses in pulse groups of broadcast cycles, e.g., according to a pulse-ordering scheme, e.g., as described above with regard to
As another non-limiting example, controller 902 may calculate dither, e.g., according to a dithering schedule, e.g., as described above with regard to
As another non-limiting example, controller 902 may determine a phase encoding for phases of pulses of pulse groups of broadcast cycles, e.g., according to a pulse-phase-signature schedule, e.g., as described above with regard to
Each of controller 1002 and controller 1006 may be the same as, substantially similar to, and/or perform the same operations as controller 902 of
In some examples, controller 1002 and transmitter 1004 may be at a first location and controller 1006 and transmitter 1008 may be at a second location remote from the first location. Controller 1002 and transmitter 1004 may be a first transmitter (e.g., TX1 referenced with regard to
In some examples, controller 1002 and transmitter 1004 may be of the same chain as controller 1006 and transmitter 1008. For example, controller 1002 and transmitter 1004 may generate pulses offset according to first emission delay 402 of
At operation 1102, process 1100 receives instructions for generating a ranging signal.
At operation 1104, process 1100 transmits the ranging signal at least partially responsive to the instructions. In various examples, that ranging signal may be transmitted via a terrestrial transmitter for transmitting radio waves having encoded messaging information and timing information for one or more of positioning, navigation and timing.
The ranging signal may exhibit a first ranging pulse and a second ranging pulse of a pulse group (e.g., P1 and P2 of pulse group 152 of
At optional operation 1106, process 1100 receives further instructions for generating a further ranging signal.
At optional operation 1108, process 1100 optionally transmits the further ranging signal at least partially responsive to the further instruction. In various examples, process 1100 transmits the further ranging signal via a further terrestrial transmitter for transmitting radio waves having encoded messaging information and timing information for one or more of positioning, navigation and timing. In various examples, the further ranging signal exhibits a respective first ranging pulse and a respective second ranging pulse of a further pulse group and a further transmitter identifier encoded by modulating a further inter-pulse interval defined between a start of the respective first ranging pulse and a start of the respective second ranging pulse of the further pulse group.
At operation 1202, process 1200 receives an instruction for generating a ranging signal.
At operation 1204, process 1200 transmits the ranging signal at least partially responsive to the instruction. In various examples, process 1200 transmits the ranging signal via a terrestrial transmitter for transmitting radio waves having encoded messaging information and timing information for one or more of positioning, navigation and timing. In various examples, a pulse group may comprise a number of ranging pulses may be transmitted. First ranging pulses of the number of pulses may encode a first type of data (e.g., time-message pulses of
At operation 1302, process 1300 receives an instruction for generating a ranging signal.
At operation 1304, process 1300 transmits the ranging signal at least partially responsive to the instructions. In various examples, process 1300 may transmit the ranging signal via a terrestrial transmitter for transmitting radio waves having encoded messaging information and timing information for one or more of positioning, navigation and timing.
In various examples, the ranging signal may be a ranging signal exhibiting pulse groups and dithering. In various examples, dithering may be exhibited by offsetting start times of all of respective pulse groups of the ranging signal by a dithering interval (e.g., chain-level dithering, e.g., as described with regard to
At operation 1402, during a broadcast cycle of a terrestrial transmitter for transmitting radio waves having encoded messaging information and timing information for one or more of positioning, navigation and timing, process 1400 transmits, via the terrestrial transmitter, pulse groups of the broadcast cycle. Respective pulse groups of the broadcast cycle may include a number of ranging pulses. Each of the number of ranging pulses may have either a positive-going phase (e.g., as does positive-phase-code pulse 802 of
As an example, processor 1506 of receiver 1502 may determine timing information based on one or more pulses of a received signal. For example, receiver 1502 may detect and interpret a zero crossing of a pulse as an indication of a timing event, e.g., for positioning, navigation, and/or timing for a positioning technique (including, as non-limiting examples, multilateration or hyperbolic position estimation calculations). Processor 1506 may determine the position information based on a subset of pulses received, e.g., processor 1506 may determine the timing information based on ranging pulses e.g., as identified according to a pulse-ordering scheme 200 of
Processor 1506 may decode one or more symbols of one or more pulses. For example, processor 1506 may decode frequencies of pulses e.g., according to
Processor 1506 may identify and/or validate a transmitter of the received signal based on the received signal. For example, processor 1506 may measure one or more inter-pulse intervals (e.g., inter-pulse interval 128 of
As a non-limiting example, antenna 1504 may receive a ranging signal encoding timing information for one or more of positioning, navigation, and timing. The ranging signal may include a first pulse of a pulse group, a second pulse of the pulse group, and an inter-pulse interval between a start of the first pulse and a start of the second pulse. Processor 1506 may identify a transmitter of the ranging signal at least partially responsive to the inter-pulse interval. Memory 1508 may store a correlation between the inter-pulse interval and the transmitter. Processor 1506 may identify the transmitter responsive to the correlation.
Additionally or alternatively, receiver 1502 may possess (e.g., stored at memory 1508 of receiver 1502, without limitation) a pulse-ordering-scheme definition e.g., according to pulse-ordering scheme 200 of
Receiver 1502 may possess an encryption key (e.g., stored in memory 1508, without limitation) and may utilize the encryption key to decrypt data that was encrypted in data pulses and/or timing pulses. Decrypting timing information in timing pulses may give receiver 1502 access to additional timing information that receiver 1502 may use to increase accuracy of determined position information. Additionally or alternatively, the encryption key may be securely accessible to receiver 1502, e.g., retrieved by receiver 1502 over a secure link.
As a non-limiting example, antenna 1504 may receive a ranging signal encoding messaging information and timing information for one or more of positioning, navigation, and timing. The ranging signal may include a pulse group comprising a number of pulses, wherein first pulses of the number of pulses encode a first type of data and second pulses of the number of pulses encode a second type of data. Processor 1506 may identify the first pulses and the second pulses at least partially responsive to an order of the first pulses and the second pulses in the pulse group and a pre-specified pulse-ordering scheme. Memory 1508 may store the pre-specified pulse-ordering scheme.
Receiver 1502 may possess a dithering schedule (e.g., stored in memory 1508, without limitation). Additionally or alternatively, the dithering schedule may be securely accessible to receiver 1502, e.g., retrieved by receiver 1502 over a secure link. Using the dithering schedule, receiver 1502 may correct for the effects of dithering on the received signals. By correcting for the effects of dithering, receiver 1502 may increase accuracy of calculated positioning, navigation, or timing information. Receiver 1502 may correct for the effects of chain-level dithering, transmitter-level dithering, and/or masking dithering, e.g., chain-level dithering, transmitter-level dithering, and/or masking dithering as described with regard to
As a non-limiting example, antenna 1504 may receive a ranging signal encoding timing information for one or more of positioning, navigation, and timing. The ranging signal may include a pulse group, the pulse group delayed from a nominal-pulse-group-start time by a dithering interval. Processor 1506 may obtain a time of transmission of the pulse group. Processor 1506 may adjust the time of transmission to account for the dithering interval. Memory 1508 may store a dithering schedule and processor 1506 may determine the dithering interval at least partially responsive to the dithering schedule.
As an example, receiver 1502 may identify or verify a transmitter of a signal based, at least in part, on a pulse-phase signature of a pulse group. For example, receiver 1502 may determine a phase of one or more pulses of a pulse group. Receiver 1502 may compare the determined phases of the pulses to a pulse-phase-signature schedule which pulse-phase-signature schedule may be stored in memory 1508 at receiver 1502 and/or securely accessible to receiver 1502, e.g., retrieved by receiver 1502 over a secure link. Receiver 1502 may identify a transmitter that transmitted the signal based on a match between the measured phases of the pulses and pulse-phase signature in the pulse-phase-signature schedule. In such examples, the signal may have been transmitted according to the description above with regard to 8A-8C.
As a non-limiting example, antenna 1504 may receive a ranging signal encoding timing information for one or more of positioning, navigation, and timing. The ranging signal may include a pulse group including a number of pulses, each of the number of pulses exhibiting either a positive-going phase or a negative-going phase. Processor 1506 may validate a transmitter of the ranging signal by comparing phases of the number of pulses with a pulse-phase signature of the transmitter. Memory 1508 may store the pulse-phase signature.
As a non-limiting example, a signal 1602 may be a ranging signal to be transmitted at a transmitter antenna 1604 of a transmitter 1616. A signal 1606 may be the ranging signal, having been transmitted as a radio-frequency transmission, at transmitter antenna 1604. Signal 1606 may be received at an antenna 1610 of a receiver 1608. Receiver 1608, using a processor 1612, may generate data 1614 based on signal 1606. Data 1614 may include position, navigation, and/or timing information. Data 1614 may further include a message.
Signal 1702 may be a received signal including one or more blocks of data at one or more respective times. As a non-limiting example, signal 1702 may be a ranging signal including one or more pulses or pulse groups of one or more epochs. Signal 1702 may be an example of signal 1606 of
At signal acquisition 1704, signal 1702 may be acquired using a matched filter. As a non-limiting example, received signals at one or more frequencies may be compared to predetermined patterns of one or more matched filters to acquire digital samples representative of signal 1702. At signal acquisition 1704 a start time of an epoch may be determined. Further, because a duration of an epoch may be known, at signal acquisition 1704, a nominal start time of following epochs may also be determined. The epoch start time may be provided to template calculation 1708 and/or data decoding 1712 either directly from signal acquisition 1704 or the epoch start time may be included in information 1710 and/or information 1714.
Information 1706, provided to signal acquisition 1704, may be, or may include, information used to acquire the signal at signal acquisition 1704. Information 1706 may include one or more signal replicas, e.g., replicas of a portion of signal 1702 less unknown data (e.g., a message encoded by the signal and/or noise). The signal replicas may include replicas of one or more pulses and/or one or more pulse groups. In some examples, the signal replicas may include an epoch's worth of pulses. The signal replicas may be pre-calculated for the receiver to use to correlate with signal 1702 in order to acquire signal 1702. The signal replicas may be based at least in part on an inter-pulse interval, which inter-pulse interval may be unique with regard to a transmitter (e.g., as described with regard to
At template calculation 1708, receiver-side template pulses 1724 (alternatively referred to herein as “templates 1724”) may be obtained. The receiver-side template pulses may be obtained based on template pulses of the signal as acquired at signal acquisition 1704. The template pulses may be identified according to a pulse-ordering scheme (e.g., pulse-ordering scheme 200 of
Information 1710 may be, or may include, information used to calculate the receiver-side template pulses 1724 at template calculation 1708. Information 1710 may include epoch start times. Epoch start times may be, or may include, an index into a data vector. The data vector may relate to time.
At data decoding 1712, an epoch number 1716 and messages 1718 (including e.g., time messages, and/or data messages) may be decoded from the signal 1702. As a non-limiting example, according to a nominal inter-pulse interval, unique inter-pulse intervals (e.g., as described with regard to
According to a pulse-ordering scheme (e.g., pulse-ordering scheme 200 of
The determined symbols may be input into an error-correction algorithm, e.g., a Reed Solomon Forward Error Correction (FEC) algorithm, without limitation. If a number of errors is such that the error-correction algorithm is able correct the errors, the error-correction algorithm may return the correct message as messages 1718. If the error-correction algorithm rejects the time message during the acquisition phase, the receiver may not have successfully acquired the signal (e.g., at signal acquisition 1704). If the receiver did not successfully acquire the signal, subsequent data blocks of the signal may be acquired and the process may begin again.
One or more time-message pulses may be decoded into symbols and time-message bits. If the error-correction algorithm determines that the message does not have errors, or the error-correction algorithm determines has corrected the errors, the time-message bits may be parsed into an epoch number 1716 to be forwarded to signal validation 1720 and/or other associated time data.
At data decoding 1712, the epoch number 1716 may be combined with a cryptographic key 1722 (alternatively referred to herein as “key 1722”) to decrypt the data message. The data message may be parsed into information, such as but not limited to, differential corrections and/or a data message.
Information 1714 may include information used at data decoding 1712 to decode data from the acquired signal. Information 1714 may include a cryptographic key (e.g., used to decode the data message at data decoding 1712). Additionally or alternatively, information 1714 may include the pulse-ordering scheme. Additionally or alternatively, information 1714 may include the epoch start time.
At signal validation 1720, signal 1702 may be validated, e.g., based on a correspondence between phases of pulses of signal 1702 and a pulse-phase signature. In some examples signal validation 1720 may provide phase codes and/or epoch start time to template calculation 1708 (not shown).
As a non-limiting example, epoch number 1716 and key 1722 may be inputs to signal validation 1720. At signal validation 1720, an index of a look-up table of pulse-phase signatures may be determined (e.g., based at least in part on epoch number 1716). As a non-limiting example, epoch number 1716 and key 1722 may be used as input to a cryptographic algorithm (not shown) that returns an index of a look-up table of pulse-phase signatures. The look-up table may return a pulse-phase signature (responsive to epoch number 1716 and key 1722). If the phases of signal 1702 match the pulse-phase signature, signal 1702 may be validated.
In some examples, epoch number 1716, having been obtained (at data decoding 1712) by decoding a time message during an epoch when the unencrypted pulse-phase signature was transmitted, may be incremented, and used to return the pulse-phase signature of the next epoch of signal 1702. If this sequence was encrypted, the encrypted pulse-phase signature is correlated with the received signal 1702. If the correlation is sufficiently positive (e.g., meets or exceeds a predetermined threshold, without limitation), signal 1702 is authenticated, the receiver has successfully acquired, and transitions to the tracking phase.
Signal 1802 may be the same as, or substantially similar to, signal 1702 of
In addition to the operations described with regard to signal validation 1720, signal validation 1820 may provide phase codes to template calculation 1808, pulse formation 1818, and/or data decoding 1812. As a non-limiting example, at signal validation 1820, signal validation 1820 may validate signal 1802 at least partially responsive to a match between phases of signal 1802 and a pulse-phase signature of a table of valid pulse-phase signatures. Additionally or alternatively, the pulse-phase signature may be used at data decoding 1812 to wipe off the phase code prior to the demodulation process. Additionally or alternatively, pulse-phase signature may also be used at pulse formation 1818 to wipe off the phase code prior to generating the composite or average pulse.
Template calculation 1808 may be the same as, or substantially similar to, template calculation 1708 of
At time calculation 1816 a nominal time of transmission (TOT) of an epoch (e.g., a current epoch) of signal 1802 may be calculated. The nominal TOT may be the epoch number multiplied by the epoch duration plus the nominal emission delay for the particular station.
Additionally or alternatively, at time calculation 1816, dither may be corrected. As a non-limiting example, at time calculation 1816, dither may be accounted for and/or corrected when determining a TOT of signal 1802 for the relevant epoch. At time calculation 1816, one or more dithering offsets may be determined e.g., by indexing into a dithering schedule using epoch number 1806 (e.g., as described with regard to
At pulse formation 1818, a composite pulse may be formed. The composite pulse may be based on an average of two or more pulses. For example, in some situations, because of noise or other variances, it may be difficult or inaccurate to calculate a time of arrival of a pulse based on a single pulse. Thus, averaging several pulses to form a composite pulse may allow for more accurate calculation of a time of arrival of the composite pulse. With regard to the intra-pulse frequency modulation pulses described with regard to
At pulse formation 1818, the one or more pulses formed at pulse formation 1818 may be analyzed. As a non-limiting example, a pulse envelope (e.g., pulse envelope 144 of
At time-information calculation 1822, timing information may be calculated. As a non-limiting example, an offset between a local clock and coordinated universal time (UTC) may be determined. The timing information may be calculated based on signal 1802, (e.g., as analyzed at pulse formation 1818). As a non-limiting example, at time-information calculation 1822, timing information may be calculated at least partially responsive to a time of arrival of one or more of pulses of signal 1802 e.g., as identified at pulse formation 1818. In some cases, the time of arrival of one or more pulses may be refined or updated responsive to a determined offset between the local clock and UTC. Additionally or alternatively, the timing information may be calculated at time calculation 1822 based at least in part on differential corrections 1828, which differential corrections 1828 may have been determined at data decoding 1812. As a non-limiting example, at data decoding 1812, timing information may be decoded from time-message pulses. The timing information may include differential corrections. At time-information calculation 1822, the differential corrections may be applied. Additionally or alternatively, the time of transmission, e.g., after the effects of dithering have been corrected (which corrections may have occurred at time calculation 1816) may be used to calculate the timing information at time-information calculation 1822.
At PNT calculation 1824, PNT information 1826 may be calculated. PNT information 1826 may include a position of the receiver e.g., relative to one or more transmitters. PNT information 1826 may include a latitude and longitude of the receiver. PNT information 1826 may be calculated, at PNT calculation 1824, based at least in part on differences between times of transmissions of signals (including e.g., signal 1802) from two or more transmitters (which times of transmissions may have been calculated at time calculation 1816) and times of arrivals of the signals (which times of arrivals may have been calculated at pulse formation 1818 and/or which times of arrival may have been adjusted or refined at time-information calculation 1822). The PNT information 1826 may be calculated, at PNT calculation 1824, using a positioning technique (including, as non-limiting examples, multilateration position estimation, or hyperbolic position estimation calculations).
Additionally or alternatively, at PNT calculation 1824, the receiver may be used for monitoring, survey, or timing purposes. For example, the receiver may compare the received time of arrival to a predicted received time according to a standard model. The difference between the received time and the predicted received time can be used for signal monitoring, surveying, and/or for calculating differential correction information.
At operation 1902, receive a ranging signal encoding timing information for one or more of positioning, navigation, and timing may be received. The ranging signal may include a first pulse of a pulse group, a second pulse of the pulse group, and an inter-pulse interval between a start of the first pulse and a start of the second pulse. The ranging signal received at operation 1902 may be an example of the ranging signal transmitted at operation 1104 of
At operation 1904, a transmitter of the ranging signal may be identified at least partially responsive to the inter-pulse interval.
At optional operation 1906, which is optional, the transmitter of the ranging signal may be identified at least partially responsive to a correlation between the inter-pulse interval and the transmitter. The correlation may be stored in a memory at the receiver and/or may be securely accessible by the receiver.
At optional operation 1908, which is optional, a further ranging signal may be received. The further ranging signal may include a third pulse of a further pulse group, a fourth pulse of the further pulse group, and a further inter-pulse interval between a start of the third pulse and a start of the fourth pulse. The ranging signal received at optional operation 1908 may be an example of the ranging signal transmitted at optional operation 1108 of
At optional operation 1910, which is optional, a further transmitter of the further ranging signal may be identified at least partially responsive to the further inter-pulse interval.
At operation 2002, a ranging signal encoding messaging information and timing information for one or more of positioning, navigation, and timing may be received. The ranging signal may include a pulse group comprising a number of pulses, wherein first pulses of the number of pulses encode a first type of data and second pulses of the number of pulses encode a second type of data. The ranging signal received at operation 2002 may be an example of the ranging signal transmitted at operation 1204 of
At operation 2004, the first pulses and the second pulses may be identified at least partially responsive to an order of the first pulses and the second pulses in the pulse group and a pre-specified pulse-ordering scheme. Pulse-ordering scheme 200 of
In some examples, the number of pulses may include template pulses. At optional operation 2006, which is optional the template pulses may be identified at least partially responsive to an order of the template pulses in the pulse group and the pre-specified pulse-ordering scheme.
At optional operation 2008, which is optional, timing information may be decoded from the first pulses and a message may be decoded from the second pulses.
At optional operation 2010, which is optional, data of the second pulses may be decrypted to decode the message from the second pulses.
At optional operation 2012, which is optional, additional timing information may be decoded from the message of the second pulses.
At operation 2102, a ranging signal encoding timing information for one or more of positioning, navigation, and timing may be received. The ranging signal may include a pulse group, the pulse group delayed from a nominal-pulse-group-start time by a dithering interval. The ranging signal received at operation 2102 may be an example of the ranging signal transmitted at operation 1304 of
At operation 2104, a time of transmission of the pulse group may be obtained. For example, the time of transmission may be determined at least partially responsive to a transmission schedule. For example, a transmission schedule may include times for transmitters to transmit signals. The transmission schedule may times to broadcast signals each epoch. A receiver, in possession of the transmission schedule, using an epoch number (e.g., decoded from a pulse group) may determine a time of transmission of the signal.
At operation 2106, the time of transmission may be adjusted to account for the dithering interval.
At operation 2108, which is optional, the dithering interval may be determined at least partially responsive to a dithering schedule. The dithering schedule may be stored in a memory at the receiver and/or may be securely accessible by the receiver.
At operation 2110, which is optional, an epoch number may be decoded from timing pulses of the pulse group.
At operation 2112, which is optional, the dithering interval may be determined at least partially responsive to the epoch number and the dithering schedule.
At operation 2114, which is optional, a further ranging signal may be received. The further ranging signal may include a further pulse group the further pulse group delayed from a further nominal-pulse-group-start time by a further dithering interval.
At operation 2116, which is optional, the dithering interval and the further dithering interval may be determined at least partially responsive to the dithering schedule.
In some examples, the dithering interval and the further dithering interval may have the same duration e.g., at least partially responsive to a chain-level dithering.
In some examples, the dithering interval and the further dithering interval may have different durations e.g., at least partially responsive to a transmitter-level dithering and/or a masking dithering.
At operation 2118, which is optional, the time of transmission may be adjusted to account for a first duration of the dithering interval.
At operation 2120, which is optional, the time of transmission may be adjusted to account for a second duration of the dithering interval. As a non-limiting example, the first duration may be related to chain-level dithering and/or transmitter-level dithering and the second duration may be related to masking dithering.
At operation 2202, a ranging signal encoding timing information for one or more of positioning, navigation, and timing may be received. The ranging signal may include a pulse group including a number of pulses, each of the number of pulses exhibiting either a positive-going phase or a negative-going phase. The ranging signal received at operation 2202 may be an example of the ranging signal transmitted at operation 1402 of
At operation 2204, a transmitter of the ranging signal may be validated by comparing phases of the number of pulses with a pulse-phase signature of the transmitter. The pulse-phase signature may be stored in a memory at the receiver and/or may be securely accessible by the receiver.
Modifications, additions, or omissions may be made to any of process 1100 of
As used in the present disclosure, the terms “module” or “component” may refer to specific hardware implementations configured to perform the actions of the module or component or software objects or software routines that may be stored on or executed by general purpose hardware (e.g., computer-readable media, processing devices, without limitation) of the computing system. In various examples, the different components, modules, engines, and services described in the present disclosure may be implemented as objects or processes that execute on the computing system (e.g., as separate threads). While some of the system and methods described in the present disclosure are generally described as being implemented in software (stored on or executed by general purpose hardware), specific hardware implementations or a combination of software and specific hardware implementations are also possible and contemplated.
As used in the present disclosure, the term “combination” with reference to a plurality of elements may include a combination of all the elements or any of various different subcombinations of some of the elements. For example, the phrase “A, B, C, D, or combinations thereof” may refer to any one of A, B, C, or D; the combination of each of A, B, C, and D; and any subcombination of A, B, C, or D such as A, B, and C; A, B, and D; A, C, and D; B, C, and D; A and B; A and C; A and D; B and C; B and D; or C and D.
Terms used in the present disclosure and especially in the appended claims (e.g., bodies of the appended claims) are generally intended as “open” terms (e.g., the term “including” should be interpreted as “including, but not limited to,” the term “having” should be interpreted as “having at least,” the term “includes” should be interpreted as “includes, but is not limited to,” without limitation). As used herein, “each” means some or a totality. As used herein, “each and every” means a totality.
Additionally, if a specific number of an introduced claim recitation is intended, such an intent will be explicitly recited in the claim, and in the absence of such recitation no such intent is present. For example, as an aid to understanding, the following appended claims may contain usage of the introductory phrases “at least one” and “one or more” to introduce claim recitations. However, the use of such phrases should not be construed to imply that the introduction of a claim recitation by the indefinite articles “a” or “an” limits any particular claim containing such introduced claim recitation to examples containing only one such recitation, even when the same claim includes the introductory phrases “one or more” or “at least one” and indefinite articles such as “a” or “an” (e.g., “a” and/or “an” should be interpreted to mean “at least one” or “one or more”); the same holds true for the use of definite articles used to introduce claim recitations.
In addition, even if a specific number of an introduced claim recitation is explicitly recited, those skilled in the art will recognize that such recitation should be interpreted to mean at least the recited number (e.g., the bare recitation of “two recitations,” without other modifiers, means at least two recitations, or two or more recitations). Furthermore, in those instances where a convention analogous to “at least one of A, B, and C, without limitation” or “one or more of A, B, and C, without limitation” is used, in general such a construction is intended to include A alone, B alone, C alone, A and B together, A and C together, B and C together, or A, B, and C together, without limitation
Further, any disjunctive word or phrase presenting two or more alternative terms, whether in the description, claims, or drawings, should be understood to contemplate the possibilities of including one of the terms, either of the terms, or both terms. For example, the phrase “A or B” should be understood to include the possibilities of “A” or “B” or “A and B.”
Additional non-limiting examples of the disclosure include
Example 1: A device comprising: an antenna to receive a ranging signal encoding timing information for one or more of positioning, navigation, and timing, the ranging signal comprising a first pulse of a pulse group, a second pulse of the pulse group, and an inter-pulse interval between a start of the first pulse and a start of the second pulse; and a processor to identify a transmitter of the ranging signal at least partially responsive to the inter-pulse interval.
Example 2: The device according to Example 1, comprising a memory to store a correlation between the inter-pulse interval and the transmitter, wherein the processor is to identify the transmitter responsive to the correlation.
Example 3: The device according to any of Examples 1 and 2, wherein the antenna is to receive a further ranging signal comprising a third pulse of a further pulse group, a fourth pulse of the further pulse group, and a further inter-pulse interval between a start of the third pulse and a start of the fourth pulse and wherein the processor is to determine a further transmitter of the further ranging signal at least partially responsive to the further inter-pulse interval.
Example 4: The device according to any of Examples 1 through 3, wherein the processor is to determine a location of the device at least partially responsive to the ranging signal.
Example 5: A device comprising: an antenna to receive a ranging signal encoding messaging information and timing information for one or more of positioning, navigation, and timing, the ranging signal comprising a pulse group comprising a number of pulses, wherein first pulses of the number of pulses encode a first type of data and second pulses of the number of pulses encode a second type of data; and a processor to identify the first pulses and the second pulses at least partially responsive to an order of the first pulses and the second pulses in the pulse group and a pre-specified pulse-ordering scheme.
Example 6: The device according to Examples 5, comprising a memory to store the pre-specified pulse-ordering scheme.
Example 7: The device according to any of Examples 5 and 6, wherein the number of pulses comprises template pulses and the processor is to identify the template pulses at least partially responsive to an order of the template pulses in the pulse group and the pre-specified pulse-ordering scheme.
Example 8: The device according to any of Examples 5 through 7, wherein the processor is to decode timing information from the first pulses and the processor is to decode a message from the second pulses.
Example 9: The device according to any of Examples 5 through 8, wherein the processor is to decrypt data of the second pulses to decode the message from the second pulses.
Example 10: The device according to any of Examples 5 through 9, wherein the processor is to decode additional timing information from the message of the second pulses.
Example 11: The device according to any of Examples 5 through 10, wherein the processor to determine a location of the device at least partially responsive to the ranging signal.
Example 12: A device comprising: an antenna to receive a ranging signal encoding timing information for one or more of positioning, navigation, and timing, the ranging signal comprising a pulse group the pulse group delayed from a nominal-pulse-group-start time by a dithering interval; and a processor to: obtain a time of transmission of the pulse group; and adjust the time of transmission to account for the dithering interval.
Example 13: The device according to Example 12, comprising a memory to store a dithering schedule and wherein the processor is to determine the dithering interval at least partially responsive to the dithering schedule.
Example 14: The device according to any of Examples 12 and 13, wherein the processor is to: decode an epoch number from timing pulses of the pulse group; and determine the dithering interval at least partially responsive to the epoch number and the dithering schedule.
Example 15: The device according to any of Examples 12 through 14, wherein the antenna is to receive a further ranging signal, the further ranging signal comprising a further pulse group the further pulse group delayed from a further nominal-pulse-group-start time by a further dithering interval.
Example 16: The device according to any of Examples 12 through 15, comprising a memory to store a dithering schedule and wherein the processor is to determine the dithering interval and the further dithering interval at least partially responsive to the dithering schedule.
Example 17: The device according to any of Examples 12 through 16, wherein, according to the dithering schedule, the dithering interval and the further dithering interval have the same duration at least partially responsive to a chain-level dithering.
Example 18: The device according to any of Examples 12 through 17, wherein, according to the dithering schedule, the dithering interval and the further dithering interval have different durations at least partially responsive to a transmitter-level dithering.
Example 19: The device according to any of Examples 12 through 18, wherein the processor is to: adjust the time of transmission to account for a first duration of the dithering interval; and adjust the time of transmission to account for a second duration of the dithering interval.
Example 20: The device according to any of Examples 12 through 19, wherein the first duration of the dithering interval comprises one or both of a chain-level dithering and a transmitter-level dithering and wherein the second duration of the dithering interval comprises masking dithering.
Example 21: The device according to any of Examples 12 through 20, wherein the processor to determine a location of the device at least partially responsive to the ranging signal
Example 22: The device according to any of Examples 12 through 21, wherein the processor to determine a location of the device at least partially responsive to the adjusted time of transmission.
Example 23: A method comprising: receiving a ranging signal encoding timing information for one or more of positioning, navigation, and timing, the ranging signal comprising a pulse group including a number of pulses, each of the number of pulses exhibiting either a positive-going phase or a negative-going phase; and validating a transmitter of the ranging signal by comparing phases of the number of pulses with a pulse-phase signature of the transmitter.
Example 24: The method according to Example 23, comprising storing the pulse-phase signature in a memory.
Example 25: The device according to any of Examples 23 and 24, comprising: determining a location at least partially responsive to the ranging signal.
Example 26: A device comprising: an antenna to receive a first ranging signal encoding first timing information for one or more of positioning, navigation, and timing. The antenna to receive a second ranging signal encoding second timing information for one or more of positioning, navigation, and timing. The second ranging signal comprising a pulse group the pulse group delayed from a nominal-pulse-group-start time by a dithering interval. The device comprising a processor to determine a location of the device at least partially responsive to the first ranging signal. The device to determine the location of the device at least partially responsive to the second ranging signal.
Example 27: The device according to Examples 26, wherein the processor is to determine a time of transmission of the second ranging signal and to adjust the determined time of transmission to account for the dithering interval.
Example 28: The device according to any of Examples 26 and 27, wherein the processor is to determine the location of the device at least partially responsive to the adjusted determined time of transmission.
Example 29: The device according to any of Examples 26 through 28, wherein the processor is to determine that the pulse group of the second ranging signal has been delayed by the dithering interval.
Example 30: The device according to any of Examples 26 through 29, wherein the processor is to determine that the pulse group of the second ranging signal has been delayed by the dithering interval at least partially responsive to a transmission schedule.
Example 31: The device according to any of Examples 26 through 30, wherein the processor is to determine that the pulse group of the second ranging signal has been delayed by the dithering interval at least partially responsive to a comparison between a first time of arrival of the second ranging signal during a first epoch and a second time of arrival of the second ranging signal during a second epoch.
Example 32: The device according to any of Examples 26 through 31, wherein the processor is to determine a time of arrival of the second ranging signal at the antenna. Wherein the processor is to determine a time of transmission of the second ranging signal. Wherein the processor is to determine a time of flight of the second ranging signal at least partially responsive to the time of arrival, the time of transmission, and the dithering interval.
Example 33: The device according to any of Examples 26 through 32, wherein the processor is to determine the location of the device at least partially responsive to the time of flight.
Example 34: The device according to any of Examples 26 through 33, wherein the device comprises a clock and wherein the processor is to determine the time of arrival of the second ranging signal at least partially responsive to the clock.
Example 35: The device according to any of Examples 26 through 34, wherein the processor is to determine the time of transmission of transmission of the second ranging signal at least partially responsive to a predetermined transmission schedule.
Example 36: The device according to any of Examples 26 through 35, comprising a memory to store the predetermined transmission schedule.
Example 37: The device according to any of Examples 26 through 36, the processor is to receive the predetermined transmission schedule via a secure link.
Example 38: The device according to any of Examples 26 through 37, wherein the processor is to determine the time of transmission of the second ranging signal at least partially responsive to an epoch number encoded in the second ranging signal.
Example 39: The device according to any of Examples 26 through 38, wherein the processor is to decode the epoch number from the second ranging signal.
Example 40: The device according to any of Examples 26 through 39, wherein the processor is to determine the time of transmission of the second ranging signal at least partially responsive to the epoch number and a predetermined transmission schedule.
Example 41: The device according to any of Examples 26 through 40, wherein the processor is to determine the dithering interval at least partially responsive to a dithering schedule.
Example 42: The device according to any of Examples 26 through 41, comprising a memory to store the dithering schedule.
Example 43: The device according to any of Examples 26 through 42, wherein the processor is to receive the dithering schedule via a secure link.
Example 44: The device according to any of Examples 26 through 43, wherein the processor is to determine the dithering interval at least partially responsive to an epoch number encoded in the second ranging signal.
Example 45: The device according to any of Examples 26 through 44, wherein the processor is to determine the dithering interval at least partially responsive to the epoch number and a dithering schedule.
Example 45: A device comprising an antenna to receive one or both of: a first ranging signal and a second ranging signal. The first ranging signal encoding first timing information for one or more of positioning, navigation, and timing. The second ranging signal encoding second timing information for one or more of positioning, navigation, and timing. The second ranging signal comprising a pulse group the pulse group delayed from a nominal-pulse-group-start time by a dithering interval. The device comprising a processor to determine a location of the device at least partially responsive to the antenna receiving the first ranging signal. The processor to determine the location of the device at least partially responsive to the antenna receiving the second ranging signal.
Example 45: A device comprising an antenna to receive one or both of a first ranting signal and a second ranging signal. The first ranging signal encoding first timing information for one or more of positioning, navigation, and timing. The second ranging signal encoding second timing information for one or more of positioning, navigation, and timing. The second ranging signal comprising a pulse group the pulse group delayed from a nominal-pulse-group-start time by a dithering interval. The device comprising first logic to determine a location of the device at least partially responsive to the antenna receiving the first ranging signal. The device comprising second logic to determine the location of the device at least partially responsive to the antenna receiving the second ranging signal.
Example 45: A method comprising receiving one or both of a first ranging signal and a second ranging signal. The first ranging signal encoding first timing information for one or more of positioning, navigation, and timing. The second ranging signal encoding second timing information for one or more of positioning, navigation, and timing. The second ranging signal comprising a pulse group the pulse group delayed from a nominal-pulse-group-start time by a dithering interval. The method comprising one or both of: determining a location of the device at least partially responsive to receiving the first ranging signal and determining the location of the device at least partially responsive to receiving the second ranging signal.
While the present disclosure has been described herein with respect to certain illustrated examples, those of ordinary skill in the art will recognize and appreciate that the present invention is not so limited. Rather, many additions, deletions, and modifications to the illustrated and described examples may be made without departing from the scope of the invention as hereinafter claimed along with their legal equivalents. In addition, features from one example may be combined with features of another example while still being encompassed within the scope of the invention as contemplated by the inventor.
This application claims priority as a continuation-in-part to U.S. patent application Ser. No. 17/447,392, filed Sep. 10, 2021, which claims priority to U.S. Provisional Patent Application Ser. No. 63/198,476, filed Oct. 21, 2020. This application also claims priority to U.S. Provisional Patent Application Ser. No. 63/262,728, filed Oct. 19, 2021. This application also claims priority to U.S. Provisional Patent Application Ser. No. 63/262,729, filed Oct. 19, 2021. This application is being filed on the same day as a first U.S. patent application for “TRANSMISSION OF SIGNALS FOR RANGING, TIMING, AND DATA TRANSFER,” by Benjamin Peterson, Jeremy Warriner, and Richard Foster, a second U.S. patent application for “TRANSMISSION OF SIGNALS FOR RANGING, TIMING, AND DATA TRANSFER,” by Benjamin Peterson, Jeremy Warriner, and Richard Foster, a first U.S. patent application for “RECEPTION OF SIGNALS FOR RANGING, TIMING, AND DATA TRANSFER,” by Benjamin Peterson, Jeremy Warriner, and Richard Foster, and a second U.S. patent application for “RECEPTION OF SIGNALS FOR RANGING, TIMING, AND DATA TRANSFER,” by Benjamin Peterson, Jeremy Warriner, and Richard Foster. The disclosure of each of which is hereby incorporated herein in its entirety by this reference.
| Number | Date | Country | |
|---|---|---|---|
| 63198476 | Oct 2020 | US | |
| 63262728 | Oct 2021 | US | |
| 63262729 | Oct 2021 | US |
| Number | Date | Country | |
|---|---|---|---|
| Parent | 17447392 | Sep 2021 | US |
| Child | 17660015 | US |
