I IIIII IIIIIIII Ill lllll lllll lllll lllll lllll lllll lllll lllll 111111111111111111
`lJ S008068984 82
`
`r12) United States Patent
`Smith et al.
`
`r10) Patent No.:
`c 45) Date of Patent:
`
`US 8.068,984 B2
`NoY. 29, 2011
`
`(54) TRIPLY REDl11'DA'IIT 11' H:GRATED
`.\I.\YIG.\TIO.\I .\.\ID .\SSET VISIBILITY
`SYSTEVI
`
`175) [nventors: Stephen F. Smith, Luudon. TN (US);
`.James A. Moore. Powell. TN (!JS)
`mi Assignee: UT-Battelle, LLC. Oak Ridge. TN (lJS 1
`
`l * ) Noti1x:
`
`Subj1ecl lo any disclaimer. the term uf Lhis
`patent is extended nr adjusted under 35
`U.S.C. 154(bJ by Gl8 days.
`
`(21) Appl. No.: 11/583,373
`
`(22) Filed:
`
`Oct. 17, 2006
`
`(65)
`
`Prior Publication Data
`us 2008/00<)1350 i\ 1
`
`\pr. 17, 2008
`
`(51)
`
`Int.('!.
`GOJC 21/00
`(52) U.S. Cl. ...... .
`
`(2006.01)
`701/2D; 701/220: 455/456.1;
`455/560
`(58) Field of('Jassification Search . ... .. .....
`701/21 \
`701220. 214; 342/450; 455i45(i.l. 457,
`455/:i(,(): (}()/(' 2 //()()
`See applii.:alion Jlle for cumplete seard1 history.
`
`(56)
`
`References Cited
`
`\J.S. PA.TINT norHMFNTS
`:, l 9/l8 Kline
`3.372 .. N'i A
`, 1'191 Pickeitct al.
`5.212.7l'i A
`5.402.348 /\
`J'l<J()5 De La Salle cl al.
`5.668.775 A
`9 1997 Ilallcland
`~ l'llJ ~ Grebnev el al.
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`6308.IJ77 Kl
`l O 200 I \\al sh
`l O 2002 Anton ct al
`6.466.200 R 1
`3 200.l Tmnb,lil
`G.S:l9JOG D2
`G.556.942 GI
`4200.l Smith
`22004 Seal
`6.693.511 131
`
`(),925.135 H2
`6,972.719 Bl*
`/l,971.145 Bl
`7,092,440 Bl
`I32
`15 B2 ''
`7,299,014 R2 '"
`7,194,'.lXl B2
`7,4 l J,492 D2 ,:,
`7,468,6<)4 B2 .,,
`,479.927 B2 ''
`
`'.142'450
`
`~/2005
`Smith el al.
`Swope ct al.
`12/2005
`Smith ct al.
`1.li'.'005
`Dress. Jr. d al.
`8/2006
`Gilmour et al.
`12/2006
`... .......
`(iollu er al
`7/2007
`" 340. 539. Ll
`11/2007
`Kates ...
`4W415
`mom;
`lfans011 ct al.
`..... 340 539.13
`~/2008 Gm;nbcrg
`12/2008 Shoa.rinejad ........... 342. 357.42
`112009 Scarpelli ....
`,43'702
`I Cll11tinued)
`
`FOREIGN P.\TINT DOCUMENTS
`10104015 A * 4 11')98
`
`JP
`
`OTIILR PUl3LIC.-'1..1IONS
`
`Rcv0lutionary New \lavigation System Combines I\Iultiplc Tech(cid:173)
`nologi,:s for R(1bust11css. Reliability. Frost S: SuJliv,m, frdrnical
`Insights, Oct. 2X. 2005 (pp. 4).
`
`(Continued)
`
`( · To
`Primarr Fxaminer -Tmn
`,lg<:nl, ur Pinn Brinks !Iofer Gibon &
`(74) ,Utumcy.
`J ,ione
`
`ABSTRACT
`(571
`Methods and apparatus are described for a navigation svstem.
`A method includes providing a global positioning system fix
`having a pluralitv of tracking parameters; providing a theater
`positioning system fix: monitoring the plurality nf tracking
`par,am:ters for predetermined rnnditions; and. when the pre(cid:173)
`determined conditions nrc met, sending ,1 nntifying sigmil mid
`switcl1ing tu the theater positioning system fix as a primary
`
`tix .. \n r1ppi!rat11s inclmles a system contrnller: a global posi(cid:173)
`tioning syskm re1.:eiver coupled to the svstem controller: a
`nidio frequency lncming receiver coupled to the system con(cid:173)
`troller; ,md an operator interface coupled lo the system con(cid:173)
`troller.
`
`25 Claims, 18 Drawing Sheets
`
`SEArlCH
`SEARCH
`
`IPR2020-01192
`Apple EX1048 Page 1
`
`

`

`US 8,068,984 B2
`Png:c 2
`
`U.S. P:\TINT DOCUMFNTS
`12'2009 Thomas ct al
`7.6:16.061 Bl
`7.840.352 I32 ,:
`ll 2010 Strelow el al.
`12 2002 'fornbLtll
`2002/0193946 Al
`2003/00184.lO Al*
`J 2003 Ladctto ct al.
`200.l/Ol l 9S68 Al
`6 200.l Menard
`2oovo12n20 Al
`7200.l Matz ct al.
`2003/0144795 Al,:,
`7'2003 Lin
`2004/0064252 Al
`4 2004 KirklanJ Ill al.
`11 2004 Choi et al. ..
`1004i02l6SOIJ Al''
`, 2006 Campbell et al
`200610069469 Al''
`2006/0122775 Al''
`G 2006 Suchrcn
`200G/Ol •J3r3 Al
`8 2006 Ag~e d al.
`2006/0240839 Al
`lO 2006 Chm el al.
`2006/02'iWl4 Al
`11 2006 Fasley et al.
`2006/0287816 Al* 1? 2006 Bardsley ct al
`2007/0018811 Al*
`12007 Gollu
`J 2007 Morgan dal.
`2007/0073481 Al''
`9 2007 Ganguly et al.
`200711J2 l 17'! 1 Al
`2007/0241 X~(i Al* 10 2007 Hrecding
`l '.' 2007 l\lcltzcr ct al.
`2ormon60'.'8 A I
`200S/000479G Al,:
`12008 Schull ct al.
`() 2008 Lurnwcc d al.
`2008/01295'!1 Al
`6 2008 Masson ...
`21JOX/Ol40316 Al''
`
`O!Ht-:R PUHi ICAllONS
`
`'°""
`
`701 214
`.... 71Jl 2 l7
`
`...... 701.2 lJ
`.. 701 220
`701 200
`.. 701 4
`101 no
`
`701 209
`340/539.13
`701.2:0
`
`l40/'i:N.13
`
`701 201
`
`701 220
`
`Dostcrt. K., "Frequency-Hopping Sprcad-Spcctrnm Modulation for
`Digital Comnmnicalions over Ekd1kal Power Lines," IJ·.1::E, vol. X,
`No.4, 19,JO.pp. 700-710.
`
`Ilut,dl, Capt S. T, "Relating the Hadamard Variance tc, MCS Kal(cid:173)
`m,w Filler C!l,ck Lstirnalio11;· 19'!5, pp. 291-JOJ.
`T.,,, Shenrn,n C. et al, ''Rroarlcasting Data frnrn an SRAS Reference
`Network 01 .;r using LORAN." Stanford University, Department of
`Aen,nautics and Astronautics, http: lwasas stanford edw-\rn1lisher(cid:173)
`man I0NL\IN2000.pdt; pp 1-10.
`Marvin K. Simon. "Bandwi<lLh-Ellicirnt Digital Modulation with
`Application to Deep-Space C\,mrnunicati<ms"--John Wiley & Sons .
`Inc. 2003, pp 125-185.
`Jfobert C. Dixon. "Spread Spectrum Syskms With Cununercial
`Applications" - John Wiley & Sons. Inc .. 'I hird 1-clition 1994. pp
`lS-32, 85-112, 500-503.
`Elliott]) Kaplan, Hditut, "l nderslanding GPS Princ·iplcs and Appli(cid:173)
`cations"· -.\rtech Jfouse Inc, 19%: pp. 1l).~2. 54.
`Mohindcr S. Grewal, Lawrence R. Weill, and .\ngus P. Andrews
`"C;Jobal P0siti0ning Syskm,, Inertial \Javigati0n, and lnkgra(cid:173)
`ti0n"-.lohn Wiley & Sons, Inc. 2001, pp 9-2X.
`"Streaming SIMD Extensions Jmcrsc of4x4''
`Ma1 1999, pp. 1-10.
`Mark A. kuckncr, "I earning from Data with l ,ocali7cd Regression
`and Differential Fvoluti0n" Dissertation, The 1TniYersity of Ten(cid:173)
`ncssc.:. Kn0x1 illc. May 2003, pp. 1-183.
`R van der Metwe and h. \\an, Sigma-Point Kalma.n h.lters for
`Probabilistic lnfcrc,nce in Dynamic State-Space t-fodcls, Proceed(cid:173)
`ings of lh0 Wurkshop on AJvaiKcs in Mad1inc Learning, :v!ontrcaL
`Canada, Jun. 2003; 27 pages.
`
`Intel Corporation.
`
`* cited hy exmniner
`
`IPR2020-01192
`Apple EX1048 Page 2
`
`

`

`U.S. Patent
`
`Nov. 29, 2011
`
`Sheet 1 of 18
`
`US 8,068,984 B2
`
`SEARCH
`SEARCH
`
`FIG. 1
`
`MICROCANTILEVER
`SENSOR ARRAY
`(OPTIONAL)
`205
`
`202
`
`THEATER (TPS) RF
`LOCATING RECEIVEH
`
`203 MIL-SPEC ADAPTIVE
`GPS RECEIVER
`
`LOW-POWER INS
`
`(INERTIAL SENSOR
`+ SENSOR ARRAY)
`
`204
`
`SYSTEM CONTROLLER
`SENSOR TELEMETRY
`
`GPS/INS/RF INTEGRATION
`POWER MANAGEMENT
`
`OPERATOR INTERFACE
`QoS MONITORING
`PRECISION TIMEBASE
`
`/ ,
`
`OPERATOR .
`
`INTERFACE
`206
`
`201
`
`FIG. 2
`
`GOOD GPS
`FIX REGION
`303
`
`/
`
`/
`
`/',..
`
`"
`"
`301 7
`
`\
`-
`\
`L __ _J
`
`I
`
`FIG. 3
`
`IPR2020-01192
`Apple EX1048 Page 3
`
`

`

`0 -. -00
`('t, -N
`rJ;_ -;;
`
`•
`rJ)
`•
`C:
`
`FIG. 4
`
`DATA (TO PC)
`
`COUNT
`
`19
`
`INTERFACE
`FIFO AND
`
`../
`
`19
`405
`
`COUNTER
`
`404
`
`FAST
`
`COUNT
`
`LATCH
`
`LATCH
`
`LATCH
`
`LATCH
`
`LATCH
`
`402{ LATCH
`
`(FROM PC)
`
`STEERING SIGNAL
`
`DETECTORS
`
`PHASE
`
`OSCILLATOR
`DRISCOLL
`MASTER
`
`#6
`
`OSCILLATOR
`DRISCOLL
`
`10.000 MHz
`
`ASSET OUTPUT
`
`403
`
`D
`
`D
`
`D
`
`D
`
`D
`
`DRISCOLL
`
`DRISCOLL
`
`DRISCOLL
`
`0"11SCOLL
`
`#5
`
`#4
`
`#3
`
`#2
`
`#1
`
`OSCILLATOR OSCILL.~TOR OSCILLATOR OSCILLATOR OSCILLATOR
`
`4011 DRIS~DLL
`
`IPR2020-01192
`Apple EX1048 Page 4
`
`

`

`U.S. Patent
`
`Nov. 29, 2011
`
`Sheet 3 of 18
`
`US 8,068,984 B2
`
`CONTROLLER AND
`MASTER OSCILLATOR
`500
`
`FIG. 5
`
`99% POWER BW
`
`601
`
`TPS "A"
`
`80 kHz
`
`90
`
`100
`
`110
`
`1 ?O kHz
`
`FIG. 6A
`
`99.9% POWER BW
`
`"3.3 MHz"
`TPS SIGNAL
`
`3.25 MHz
`
`3.3145 MHz
`
`FIG. 6B
`3.38 MHz
`
`~ 99.9% POWER BW
`
`"2.45 GHz"
`TPS
`
`FIG. 6C
`
`2409-±-s.1
`
`2450 MHz
`
`2475-J:-5.1
`
`IPR2020-01192
`Apple EX1048 Page 5
`
`

`

`FIG. 6D
`
`AND DISPLAY
`
`CENTRAL PROCESSOR r----~~--~--___j
`
`TX 4
`
`----------------l
`
`TX 2
`
`TX3
`
`SIGNAL FLOW DIAGRAM
`
`TAG/ TRANSPONDER LOCATION
`
`TX 1
`
`IPR2020-01192
`Apple EX1048 Page 6
`
`

`

`U.S. Patent
`
`Nov. 29, 2011
`
`Sheet 5 of 18
`
`us 8,068,984 82
`
`FIG. 7
`
`/
`
`701
`
`701
`
`~
`
`IAI
`
`(10-1 OOkW)
`
`FTG. 16
`
`1sw
`o
`tGw
`CORRELATOR OUTPUTS VS DELAY
`
`IN
`
`1601
`
`MAIN (GW)
`CORRELATOR
`
`1603
`
`CANCEL
`
`PROCESSING OUl
`LOGIC
`
`SECONDARY
`,,....-----i CORRELATOR---~~
`
`1602
`
`IPR2020-01192
`Apple EX1048 Page 7
`
`

`

`N
`~
`......
`QO
`"' \Q
`QO
`O",
`0
`QO
`~
`('.""'.'.'.l
`
`0 -. -
`('t, -Q'\
`rJ;_ -
`
`;;
`
`00
`
`•
`rJ)
`•
`C:
`
`0 BB
`
`I_BB
`
`907
`
`907
`
`FIG. 9
`
`905
`
`LPF
`
`LPF
`
`905
`
`ADC
`
`\...
`903
`
`902
`
`LIMITER
`
`RF AMPLIFIER/
`
`'--.
`901
`
`LPF
`
`DAC
`
`806
`
`805
`
`FIG. 8
`
`SHAPING
`
`PULSE
`
`GENERATOR
`
`PN CODE
`
`80i
`
`GENERATOR
`
`PACKET
`
`802
`
`SHAPING
`PULSE
`
`GENERATOR
`
`PN CODE
`
`801,
`
`IPR2020-01192
`Apple EX1048 Page 8
`
`

`

`0 -......
`
`--l
`
`00
`
`FIG. JO
`
`1007
`
`DATA
`
`DECODER
`
`DATA
`
`PHASE
`
`PN PHASE
`
`1004
`
`CONVERTER
`TO POLAR
`
`RECTANGULAR
`
`DETECTOR
`EARLY-LATE
`
`MAGNITUDE
`
`1005
`
`1003
`
`CORRELATOR
`
`Q BB .---------
`
`DELAY_LOCK LOOP
`
`COLL,-----'-----(cid:173)
`1002
`
`CORRELATOR
`
`I BB r--~-----
`1001
`
`-----
`
`LOOP
`
`DELAY-LOCK TOLL
`
`1006
`
`IPR2020-01192
`Apple EX1048 Page 9
`
`

`

`U.S. Patent
`
`Nov. 29, 2011
`
`Sheet 8 of 18
`
`US 8,068,984 B2
`
`IPR2020-01192
`Apple EX1048 Page 10
`
`

`

`U.S. Patent
`
`Nov. 29, 2011
`
`Sheet 9 of 18
`
`us 8,068,984 82
`
`NO
`
`SELECT ALGORITHM 30 VS 20
`
`COORDINATE
`CONVERSION LLH2ECEF
`
`CALCULATE
`STRAIGHT-LINE DISTANCE
`
`CONVERT TO
`GREAT-CIRCLE DISTANCE
`
`MULTIPLY BY ASFs (PROPAGATION
`CORRECTION OVER GROUND)
`
`POSITIONING
`
`ALGORITHM (N-R/KF)
`
`COORDINATE
`CONVERSION ECEF2LLH
`
`DISPLAY USER POSITION
`
`FIG. 12
`
`1201
`
`1202
`
`1203
`
`1204
`
`1205
`
`1206
`
`1207
`
`1208
`
`IPR2020-01192
`Apple EX1048 Page 11
`
`

`

`U.S. Patent
`
`Nov. 29, 2011
`
`Sheet 10 of 18
`
`1301
`
`INITIAL ESTIMATE
`
`- ---
`
`UPDATE
`6.gp = ip-ip
`t.xx1t.xy1t.xz1
`t.xx2t.xy2t.xz2
`
`H=
`
`1302
`
`1303
`
`1304 ·
`
`p = P.+6. pX STEPSIZE
`1+1
`I
`LSI
`
`NO
`
`NO OUTPUT
`ERROR FLAG
`
`OUTPUT USER POSITION
`
`FIG. 13
`
`IPR2020-01192
`Apple EX1048 Page 12
`
`

`

`U.S. Patent
`
`Nov. 29, 2011
`
`Sheet 11 of 18
`
`us 8,068,984 82
`
`NO
`
`1401
`
`INITIAL ESTIMATE
`
`UPDATE
`_..,. ...,... ..,.....
`D.gp = tp-Sp
`I
`H2D OR H30
`
`KF=PHT(HPH T+R)1
`P=P-KFxHxP
`P=(P+PT)/2
`
`1402
`
`1403
`
`1404
`
`NO
`
`NO OUTPUT
`ERROR FLAG
`
`OUTPUT USER POSITION
`
`FIG. 14
`
`IPR2020-01192
`Apple EX1048 Page 13
`
`

`

`-N
`
`0 _, -00
`
`
`
`•
`rJ)
`•
`C:
`
`FIG. 15
`
`-(2ND CORRELATORS)
`
`MEASUfl.EMENTS WITH VDOPs SIMILAR TO GPS (-3))
`3-D TPS REC FIVER PROCESSES SKY-WAVE COMPONENTS TO GET VERTICAl
`
`------
`
`BASIC TPS RANGI: Ml:ASURl:Ml:NTS ARE (X.Y)) ONLY (2-0 POSITIONING)
`
`BASIC TPS SIGNALS ARE GROUND-WAVE PROPAGATED (MAIN CORRELATORS)
`
`-----
`
`HEIGHT -110km
`
`IPR2020-01192
`Apple EX1048 Page 14
`
`

`

`0
`N
`~
`N
`~
`0
`7,
`
`--
`
`~
`~
`~
`•
`rJ)
`•
`C:
`
`("I:) =
`
`~
`
`('t, --l.iJ
`rJ;_ -;;
`
`N
`~
`......
`QO
`"' \Q
`QO
`O",
`0
`QO
`~
`('.""'.'.'.l
`
`0
`
`-0
`
`0 _,
`
`FTG. 17
`
`0
`0
`0
`
`0
`0
`0
`
`GAIN
`
`1703
`
`CARRIER
`
`SYNCHRONIZATION
`
`0
`0
`0
`
`1701
`
`REMODULATOR
`
`DATA
`
`DEMODULATOR
`
`CORRELATOR #3
`
`DATA -CHANNEL #3
`
`1702
`
`CODE #3
`
`GAIN
`
`GAIN
`
`CARRIER
`
`SYNCHRONIZATION
`
`REMODULATOR
`
`DATA
`
`DEMODULATOR
`
`1701
`
`CORRELATOR #2
`
`1702
`
`CODE #2
`
`CARRIER
`
`SYNCHRONIZATION
`
`REMODULATOR
`
`DATA
`
`DEMODULATOR
`
`1701
`
`CORRELATOR #1
`
`IN
`
`DATA CHANNEL #1
`
`1702
`
`CODE #1
`
`IPR2020-01192
`Apple EX1048 Page 15
`
`

`

`U.S. Patent
`
`Nov. 29, 2011
`
`Sheet 14 of 18
`
`us 8,068,984 82
`
`1801
`
`TPS SIGNALS IN
`
`1802
`
`TPS MULTICHANNEL
`nECEIVER FRONT-END
`
`12-24 CHANNEL
`
`1803
`
`CHIP DEMODULATOR
`(CO-S rATS PLL)
`
`CHIPS
`
`PHASE
`FEEDBACK
`
`SIGNAL
`STRENGTH;
`NOISE LEVELS
`1810
`
`LOOP
`STATISTICS
`BIASES
`1811
`
`1804
`
`CODE CORRELATORS
`(3/5/7 - STEP DU)
`
`DATA BITS
`
`1805
`
`DATA DECODERS
`
`1809
`CORRELATION
`PEAK SHAPE
`CORRELATION
`AMPLITUDE
`
`1806 PRT DATA
`12-24
`
`STATUS
`
`SIGNAL QUALITY ASSESSMENT
`
`1808
`
`1807 PSEUDORANGE/TIME/QUALITY
`DATA VALIDATION
`
`0-24
`
`1812 VALID FIX DATA OUT AND
`STATUS INFORMATION
`
`TO TRINAV PROCESSING
`
`FIG. 18
`
`IPR2020-01192
`Apple EX1048 Page 16
`
`

`

`U.S. Patent
`
`NoY. 29, 2011
`
`Sheet 15 of 18
`
`US 8,068,984 B2
`
`1901 "-POWER-UP
`
`INITITIALIZE TRINAV UNIT
`
`INITITIALIZE GPS, TPS. INS MODULES
`
`~..,,1904
`
`ACQUIRE GPS, TPS, INS FIXES
`
`1902
`
`1903
`
`1905
`
`REPEAT
`CYCLE
`1916
`
`NO
`
`ERROR! SET
`STATUS DATA
`
`1912
`
`1914 -
`
`1915
`
`OUTPUT LASl GOOD FIX, TIME,
`STATUS MESSAGES TO USER
`
`INTERFACE (DISPLAY)
`
`STORE ALL DATA FOR PROCESSING
`UPDATES TPS AND INS RECALIBRATION
`
`FIG. 19
`
`IPR2020-01192
`Apple EX1048 Page 17
`
`

`

`U.S. Patent
`
`Nov. 29, 2011
`
`Sheet 16 of 18
`
`2001-'-POWER-ON
`i
`TRINAV
`START
`/"--2012
`
`2002
`
`2003
`"-
`
`OBTAIN INITIAL NORTH VIA MAGNETIC
`COMPASS LOCAL GRAVITY VERTICAl
`VIA EQUATE OR INCLINOMETER
`
`2004"- NMZ-N 1,z
`
`2005
`
`~
`
`OBTAIN TPS FIX (2-0 OR 30)
`
`R
`EPEAT
`C
`YCLI::
`
`2006
`"-
`
`INPUT TPS TX COORDINATES
`
`V 2011
`ROT AT[ TPS ORTHOGONAL ANTENNA
`2007 "~ ASSEMBLY VIA MECHANICAL OR ELECTRONIC
`MEANS TO FIND DIRECTIONAL-PATTERN
`NULLS; IE, ORIENTATIONS TO TPS TXs
`
`2008 "i
`
`ESTABLISH TRUE NORTH
`FROM TPS TX VECTORS
`
`2009 ../
`
`COMPARE WITH MAGNETIC NORTH
`STORE DECLINATION CORRECTION
`
`2010 J
`
`OUTPUT NORTH AND VERTICAL
`REFERENCES TO TRINAV INS SUBSYSTEM
`
`FIG. 20
`
`2100
`\
`TX1-~~,
`
`FIG. 21
`
`TX2----~
`
`TX3----------.
`
`21~1 '-------------------
`
`~~F
`21~2 I ______________ ~~F
`
`2103
`~~\~'--------OFF
`
`ON
`
`IPR2020-01192
`Apple EX1048 Page 18
`
`

`

`LOGIC
`DATA
`
`DEMODULATOR
`
`TPS
`
`230 7
`
`)
`
`2306
`
`2305
`
`REMODULATOR -
`+
`
`LORAN
`
`DECODER
`LORAN-C
`
`2304
`
`2302
`
`'----'+,I
`
`2310
`
`\------------------------------------,
`
`\...
`2303
`
`2201
`
`NARROW
`
`'---------~---
`
`STANDARD
`
`.-----'-----
`
`•
`rJ)
`•
`C:
`
`2300
`
`2202
`
`"-2203
`
`FIG. 22
`
`1
`
`I OUTPUT
`I
`: TPS/LORAN
`I
`I
`I
`
`DATA
`
`FIG. 23
`
`LORAN. DATA. FIX, TIME
`
`2309
`
`L---------------------------------------------------J
`:
`I
`I
`NOISE LIMITER
`I
`1 RF AMPLIFIER AND
`I
`: 2301
`I
`I
`I
`r-------------
`
`IPR2020-01192
`Apple EX1048 Page 19
`
`

`

`U.S. Patent
`
`Nov. 29, 2011
`
`Sheet 18 of 18
`
`US 8,068,984 B2
`
`FIG. 24A
`2400 2404 2405
`
`\"
`
`~I
`_...,
`
`(/
`l"lt-
`
`1
`
`FIG. 24B
`
`2410
`~
`
`FIG. 24C
`
`I
`
`I
`
`2430
`~
`
`FIG. 24D
`2435 2434
`"" /
`--i r- 2433
`2431
`
`2425 2424
`"' /
`2420
`.........
`~
`2422 - J ! 2421
`i '°'1:
`\,----/"'
`S /
`G
`/
`_,..., R J. /
`'~'I(cid:173)
`.,,,.-_
`~~
`__.__,...
`
`1,
`
`'
`
`I
`
`I
`
`I
`
`I
`
`I
`
`I
`
`i..
`I -~
`
`2426
`
`z
`
`FIG. 25
`
`X
`
`y
`
`IPR2020-01192
`Apple EX1048 Page 20
`
`

`

`US 8,068,984 B2
`
`1
`TRIPLY REDUNDANT INTEGRATED
`NAVIGATION AND ASSET VISIBILITY
`SYSTEM
`
`STATEMENT AS TO RIGHTS TO INVENTIONS
`MADE UNDER FEDERALLY-SPONSORED
`RESEARCH OR DEVELOPMENT
`
`This invention was made with United States Goverlllllent
`support under prime contract No. DE-AC05-000R22725 to
`UT-Battelle, L.L.C. awarded by the Department of Energy.
`The Government has certain rights in this invention.
`
`10
`
`BACKGROUND INFORMATION
`
`2
`tracking parameters; providing a Theater Positioning System
`fix; monitoring the plurality of tracking parameters for pre(cid:173)
`determined conditions; and, when the predetermined condi(cid:173)
`tions are met, sending a notifying signal and switching to the
`Theater Positioning System fix as a primary fix. According to
`another embodiment of the invention, a machine comprises: a
`system controller; a Global Positioning System receiver
`coupled to the system controller; a radio frequency locating
`receiver coupled to the system controller; and an operator
`interface coupled to the system controller.
`These. and other, embodiments of the invention will be
`better appreciated and understood when considered in con(cid:173)
`junction with the following description and the accompany-
`15 ing drawings. It should be understood, however. that the fol(cid:173)
`lowing description, while indicating various embodiments of
`the invention and numerous specific details thereof, is given
`by way of illustration and not of limitation. Many substitu(cid:173)
`tions, modifications, additions and/or rearrangements may be
`20 made within the scope of an embodiment of the invention
`without departing from the spirit thereof, and embodiments of
`the invention include all such substitutions, modifications,
`additions and/or rearrangements.
`
`1. Field of the Invention
`Embodiments of the invention relate generally to the field
`of communication systems. More particularly, an embodi(cid:173)
`ment of the invention relates to navigation systems, and meth(cid:173)
`ods of performing navigation.
`2. Discussion of the Related Art
`Prior art navigation systems, such as the Global Position(cid:173)
`ing System (GPS), are known to those skilled in the art. For
`instance, a conventional global positioning system consists of
`more than two dozen GPS satellites broadcasting precise 25
`timing signals by radio to GPS receivers, allowing them to
`accurately determine their location (longitude, latitude, and
`altitude) anywhere on Earth.
`A problem with this technology has been the lack of reli(cid:173)
`ability in thick foliage, rough terrain, and urban areas. There- 30
`fore, what is required is a solution that provides navigation
`systems able to reliably function under such conditions.
`Another problem with this teclmology has been the long
`time required to obtain a new fix, as well as susceptibility to
`multipath effects, jamming, or spoofing signals. Therefore, 35
`what is also required is a solution that provides a quicker and
`more robust fix, able to detect multipath.jamming or spoofing
`induced errors.
`One unsatisfactory approach, in an attempt to solve the
`above-discussed problems involves the use of narrow corr- 40
`elator spacing to reduce noise and multipath effects. How(cid:173)
`ever, a disadvantage of this approach is that it does not sub(cid:173)
`stantially improve time-to-first-fix, nor does it improve
`reliability in areas where GPS signals cannot penetrate.
`Heretofore, the requirements of reliable signals in difficult 45
`terrain, quick time-to-first-fix, and robustness of the fix
`referred to above have not been fully met. What is needed is
`a solution that simultaneously solves this all of these prob(cid:173)
`lems.
`
`BRIEF DESCRIPTION OF THE DRAWINGS
`
`The drawings accompanying and forming part of this
`specification are included to depict certain embodiments of
`the invention. A clearer conception of embodiments of the
`invention, and of the components combinable with, and
`operation of systems provided with, embodiments of the
`invention, will become more readily apparent by referring to
`the exemplary, and therefore nonlimiting, embodiments illus(cid:173)
`trated in the drawings, wherein identical reference numerals
`(if they occur in more than one view) designate the same
`elements. Embodiments of the invention may be betterunder-
`stood by reference to one or more of these drawings in com(cid:173)
`bination with the description presented herein. It should be
`noted that the features illustrated in the drawings are not
`necessarily drawn to scale.
`FIG. 1 shows a functional overview of one embodiment of
`the invention.
`FIG. 2 shows one embodiment of the apparatus of the
`invention.
`FIG. 3 shows the resistance to spoofing signals of the
`invention.
`FIG. 4 shows a precision timing apparatus used by the
`invention.
`FIG. 5 shows one arrangement of a precision timing appa-
`50 ratus of the invention.
`FIG. 6A shows one possible frequency allocation used by
`one embodiment of the invention.
`FIG. 68 shows one possible frequency allocation used by
`another embodiment of the invention.
`FIG. 6C shows one possible frequency allocation used by
`another embodiment of the invention.
`FIG. 6D shows one basic configuration of an indoor line(cid:173)
`of-sight TPS scheme used by the invention.
`FIG. 7 shows one basic configurationofa TPS scheme used
`by the invention.
`FIG. 8 shows the block diagram of a transmitting system
`used by the invention.
`FIG. 9 shows the block diagram of a receiving system used
`by the invention.
`FIG. 10 shows a schematic of the decoder and loop con(cid:173)
`troller parts of the receiver.
`FIG.11 shows a picture of the hardware of a TPS receiver.
`
`SUMMARY OF THE INVENTION
`
`55
`
`There is a need for the following embodiments of the
`invention. Of course, the invention is not limited to these
`embodiments.
`According to an embodiment of the invention, a process
`comprises: providing a plurality of transmitters distributed
`throughout a desired coverage area; locking the plurality of
`transmitters to a common timing reference; transmitting a
`signal from each of the plurality of transmitters. According to 60
`another embodiment of the invention, a machine comprises: a
`plurality of transmitters distributed throughout a desired cov(cid:173)
`erage area; wherein each of the plurality of transmitters com(cid:173)
`prises a packet generator; and wherein the plurality of trans(cid:173)
`mitters are locked to a collll11011 timing reference. According 65
`
`to an embodiment of the invention, a process comprises:
`providing Global Positioning System fix having a plurality of
`
`IPR2020-01192
`Apple EX1048 Page 21
`
`

`

`US 8,068,984 B2
`
`DESCRIPTION OF PREFERRED
`EMBODIMENTS
`
`4
`3
`FIG. 12 shows an overall TPS radiolocation algorithm
`year of publication, within parentheses or brackets. Full cita-
`tions for these, and other, publications may be found at the
`lnputs: (5 TX positions relative delays) LUI: Longitude-
`end of the specification immediately preceding the claims
`Latitude-Height ECEF: Earth-Centered-Earth-Fixed ASFs:
`after the section heading References. The disclosures of all
`Additional Secondary Factors typically 1.001502253.
`FIG. 13 shows a Newton-Raphson filter method flow dia-
`these publications in their entireties are hereby expressly
`incorporated by reference herein for the purpose of indicating
`gram Inputs: ( 5 TX positions relative delays).
`FIG. 14 shows an Extended Kalman Filter method flow
`the background of embodiments of the invention and illus-
`trating the state of the art.
`diagram Inputs: (5 TX positions relative delays).
`FIG. 15 shows 3-D TPS signal propagation.
`The below-referenced U.S. patent and U.S. patent applica-
`FIG. 16 shows a 3-D TPS receiver block diagram. Basic 10 tiondiscloseembodimentsthatareusefulforthepurposesfor
`receiver exploits CDMA nature ofTPS signals via multiple
`which they are intended. The entire contents ofU.S. Pat. No.
`correlators and spreading codes (1 each). 3-D TPS RX uses
`7,092,440, issued Aug. 15, 2006; U.S. Pat. No. 6,973,145,
`dual cross-coupled correlators per TX code (both grmmd and
`issued Dec. 6, 2005; U.S. Pat. No. 6,925,135, issued Aug. 2,
`sky-wave components). GW correlation time delay is used to
`2005; and U.S. Pat. No. 6,556,942, issued Apr. 29, 2003, are
`"window" the SW signal for better SIR. RX processor forces 15 hereby expressly incorporated by reference herein for all
`SW (X,Y) solution to match more stable GW values: then the
`purposes. The entire contents of U.S. Ser. No. 10/840,092,
`rough Z coordinate is computed. TPS, much as GPS, can be
`filed May 6, 2004 are hereby expressly incorporated by ref-
`greatly improved via use of differential locating techniques (1
`erence herein for all purposes.
`or more receivers distributed around area of interest). Effec-
`The invention can include a fault-tolerant, three-part [i.e., 3
`tive height ofionosphere (mostly E layer) varies from -100 to 20 navigation sourees] personnel/asset location system combin-
`120 km for 100 kHz to about 5 MHz.
`ing a military-quality GPS unit, an advanced low-power Iner-
`FIG. 17 shows a block diagram of a TPS interference-
`tial Navigation System (Sensor+custom ORNL electronics),
`canceling receiver.
`and a robust wide-area RF location scheme designated as the
`FIG.18 shows a flow chart of the basic operation of the TPS
`Theater Positioning System (TPS). Internal to the unit is a
`receiver unit.
`25 precision timing, processing, and control module to perform
`FIG.19 shows a flow chart of the navigation processing of
`the integration of the position and time data from the 3 navi-
`the overall TRINAV user unit.
`gation subsystems ( e.g., from space, terrestrial, and autono-
`FIG. 20 shows a flow chart for the setup and orientation of
`mous sources) and provide a composite display for the user.
`the inertial navigation system (INS) component ofTRINAV.
`Additional functions of the control module are to assess sig-
`FIG. 21 shows the "on-off' duty cycling of three TPS 30 nal quality and unit health, manage unit power, and to inte-
`transmitters to mitigate the normal near-far problem with
`grate additional, optional devices such as envirolll1lental sen-
`CDMA systems and expand the operational TPS dynamic
`sors, electronic compass (for magnetic-north headings),
`range.
`inclinometer (to determine the local gravity vertical vector),
`FIG. 22 shows the comparison of standard versus narrow
`barometer (to measure local atmospheric pressure and, thus,
`correlator waveforms to improve skywave rejection in the LF 35 the inferred altitude). One very useful form of the TRINAV
`TPS receiver.
`system incorporates a quartz oscillator array ("EQUATE"
`FIG. 23 provides a block diagram of a combined LF TPS/
`[ described later]) which can both keep accurate time and
`LORAN-C receiver, using the basic interference-canceling
`measure both linear and rotational accelerations (and veloci-
`principles of the receiver architecture depicted in FIG. 17.
`ties) experieneed by the TRINAVuserunit and thus also serve
`FIG. 24 provides conceptual correlation waveforms in the 40 as a medium-grade but very low-cost, low-power INS sub-
`TPS receiver for reception cases of (a) non-inverted, delayed
`system.
`skywave versus groundwave signals; (b) inverted, delayed
`The principal version of the TPS makes use of a new
`skywave; ( c) non-inverted, early sk"Ywave; and ( d) inverted,
`spread-spectrum RF system transmitting in the same low-
`delayed skywave.
`frequency (LF) range as the highly reliable and col11Illercially
`FIG. 25 shows details of a directional, ferrite-rod TPS 45 proven LORAN-C (-80-120 kHz). In its initial configuration,
`receiving antenna/flux-gate sensor.
`TPS was implemented as a four-band spread signal, with two
`main components at the band edges (80-90 kHz and 110-120
`kHz) to minimize their impact on existing LORAN signals,
`and two lower-power secondary components overlapping the
`50 principal 90-110 kHz region (where ~99% of the LORAN
`power resides). Alternatively or additionally, other frequency
`bands ( e.g., in the MF or HF regions) may also be utilized for
`smalleroperational areas or where the size of typical 100-kHz
`transmitting antennas is undesirable. A currently deployed
`55 version of TPS for the Army uses a single spread-spectrum
`signal at roughly 3.3 MHz, which is intended for testing and
`training areas about 10-30 square miles in size. The novel
`TPS RF modulation scheme, although principally direct-se(cid:173)
`quence (DS) in nature, can also be frequency-modulated
`60 using a special hopping protocol, making it very difficult to
`intercept or jam as well as making it highly noise-resistant.
`These features are especially important in urban areas. The
`special hybrid spread-spectrum technique utilized will be
`described later in detail.
`The TPS portion of the invention makes use of modem
`solid-state modular transmitting hardware that can be
`deployed either within or external to the theater of operations.
`
`Embodiments of the invention and the various features and
`advantageous details thereof are explained more fully with
`reference to the nonlimiting embodiments that are illustrated
`in the accompanying drawings and detailed in the following
`description. Descriptions of well known starting materials,
`processing techniques, components and equipment are omit(cid:173)
`ted so as not to unnecessarily obscure the embodiments of the
`invention in detail. It should be understood, however, that the
`detailed description and the specific examples, while indicat(cid:173)
`ing preferred embodiments of the invention, are given by way
`of illustration only and not by way of limitation. Various
`substitutions, modifications, additions and/or rearrangements
`within the spirit and/or scope of the underlying inventive
`concept will become apparent to those skilled in the art from
`this disclosure.
`Within this application several publications are referenced
`by Arabic numerals, or principal author's name followed by
`
`65
`
`IPR2020-01192
`Apple EX1048 Page 22
`
`

`

`US 8,068,984 B2
`
`5
`Transmit power levels can therefore be determined by the
`actual placement of the transmitters. Depending upon the
`transmit power levels (many tens of kilowatts or higher),
`ranges in excess of 1,000 km can definitely be obtained in the
`100-kHz region, with reduced spans at higher frequencies
`(e.g., 3.3 MHz) due to the higher ground-wave propagation
`losses. The TPS signals are highly effective in foliage, rough
`terrain, and in urban areas. These ground-wave signals can
`complement GPS satellite signals and provide accurate posi(cid:173)
`tion location in GPS-denied or degraded environments. These
`new signals of the invention can also permit the wide-area,
`real-time distribution of precision timing, tactical operational
`information and DGPS corrections via the embedded TPS
`navigation data stream. In addition, the TPS signals can be
`employed within the receiver to validate GPS position in
`order to dynamically detect multipath, jamming, or spoofing(cid:173)
`induced errors in the GPS fix. The longer intrinsic RF wave(cid:173)
`lengths used in TPS will also facilitate more reliable position
`solutions in fast-movers and further serve to mitigate the
`cycle-ambignity errors sometimes encountered with GPS.
`These units can also be networked for data reachback using
`ORNL's LPI/LPD hybrid spread-spectrum signaling proto(cid:173)
`col, which synergistically combines direct-sequence modu(cid:173)
`lation with coordinated frequency/time hopping to provide an
`extremely robust, secure, power-efficient data link having
`excellent multiple-access properties.
`The basic operation of the integrated system is represented
`in FIG. 1. In the usual operating mode, GPS (102) serves as
`the principal positioning source. An ongoing internal system
`software routine continually examines the received GPS and
`TPS signal qualities (as represented by data integrity, track(cid:173)
`ing-loop error magnitudes and variances, loop lock states,
`continuity of position fixes, internal RF /IF AGC values, and
`front-end overload indicators). If for any reason GPS loses
`lock or exhibits sudden changes in loop tracking parameters
`(and thus the fix becomes suspect), the software automati(cid:173)
`cally switches to tracking the TPS (101) position solution
`(nonnally horizontal-plane only). Continuity of the fix is
`assured, since during the nonnal TPS tracking process, the
`TPS and GPS position data are continually compared. As long
`as the recent and current GPS signal quality is good as deter(cid:173)
`mined by various statistical properties of the received GPS
`signals from each satellite (more on this process is discussed
`later), the TPS fix will be automatically adjusted to overlay
`the GPS values. This is generally done to provide an ongoing
`in situ calibration of the TPS signal propagation delay figures
`and thus "drag" the TPS fix in to match the GPS. If GPS
`suddenly fails to provide a clean or continuous fix, the TPS
`value will track the last good GPS coordinates. Thus, the
`invention can provide a "bumpless" transfer, which will be
`transparent to the user. Once GPS signal integrity is restored
`for at least a few seconds and a new lock with good quality is
`satisfactorily obtained, the TRINAV unit will smoothly revert
`to the GPS fix and return to nonnal operation. In the event that
`GPS is jammed or otherwise unavailable for an extended
`period, TPS will be employed in a standalone mode to derive
`the unit's fix, with a warning to the user that fix accuracies
`may be reduced. Since in virtually all instances the accuracy
`ofTPS is controlled by the estimates of the TPS signal propa(cid:173)
`gation speed over varying paths (land/water), soil types and
`moisture content, and terrain features (mountains, hills, can(cid:173)
`yons, etc.), the unit can improve TPS accuracy by carrying
`stored constants for characterizing the area and optimally
`correcting these variations. As previously mentioned, these
`constants will be continually and automatically updated for
`the area of operation using the valid GPS fix data during times
`of normal operation. As also mentioned earlier, a specific
`
`6
`advantage of the inventive concept lies in the use ofTPS as an
`anti-spoofing detector for GPS. For instance, if the TPS (pre(cid:173)
`sumed stable) and GPS planar fixes do not essentially coin(cid:173)
`cide (i.e., where the GPS solution is considerably off from the
`TPS fix), this could be an indicator of GPS receiver problems
`or the presence of a spoofing signa