United States Patent
`
`[19]
`
`5,923,294
`Jul. 13, 1999
`Bacelon et al.
`[45] Date of Patent:
`
`
`[11] Patent Number:
`
`US005923294A
`
`[54] NAVIGATION SYSTEM ALLOWING REAL-
`TIME COORDINATION OF THE
`DISPLACEMENT OF MOBILES
`TRAVELLING OUT OF DIRECT LINE OF
`SIGHT
`Inventors: Olivier Bacelon,Paris, GérardAuger,
`Campagne sur Oise; Claude Michel,
`Asnieres,all of France
`
`[75]
`
`[73] Assignee: Thomas - CSF, Paris, France
`
`7/1990 Augeretal. .
`4,945,312
`4/1994 Michalonetal. .
`5,307,509
`5/1994 Sass weceescsscesceseeeeseseeeeeees 342/357
`5,317,321
`5,353,134 10/1994 Michelet al.
`.
`5,379,140
`1/1995 Michel etal. .
`5,386,308
`1/1995 Michel etal. .
`S116633
`Sito08 NSSeee 342/897
`5,579,165
`11/1996 Micheletal. .
`5,675,112 10/1997 Giry etal. .
`5,689,269
`11/1997 NOIris oo. eee eceteeceeceeeee ee 342/357
`:
`.
`:
`Primary Examiner—Gregory C. Issing
`Attorney, Agent, or Firm—Oblon, Spivak, McClelland,
`Maier & Neustadt, P.C.
`[7]
`ABSTRACT
`A navigation system having a terminal provided at each
`mobile station. Each terminal includesa locator for locating
`a mobile station, a display for displaying its travel relative
`to the reference direction, an indicator to indicate a common
`reference direction to both mobile stations with the indicator
`PCT Pub. No: WO97/01104
`being coupledto the display, a travel data communicator and
`PCTPub.Date: Jan. 9, 1997
`a processor to process data from the indicator, the locator
`.
`oo ,
`and the communicator and display it on the display. At least
`Foreign Application Priority Data
`[30]
`one of the two mobilestations further includes a display for
`Jun. 23, 1995
`[FR]
`France wscesssessssssssssseessssseeeee 95 07586
`displaying the travel of the second mobilestationrelative to
`,
`the first and an input unit for inputting a predetermined angle
`[SD]
`Tint, C0e occccceeeeeeccccseessseesecsssssnneeeeeees GOIS 3/02
`for defining how the direction of travel of the second mobile
`[52] US. Ce ce eeeeeseesencenencsssucesensesennensenenses 342/457
`[58] Field of Search o....cccccsecsseseseees 342/357, 457._station should be corrected relative to the new direction of
`travel of the first mobile station. The correction is transmit-
`
`[21] Appl. No.:
`[22]
`PCTFiled:
`:
`[86]
`PCT No.:
`§ 371 Date:
`
`08/973,744
`Jun. 21, 1996
`.
`21,
`PCT/FR96/00975
`Dec. 22, 1997
`
`§ 102(e) Date: Dec. 22, 1997
`
`[87]
`
`[56]
`
`References Cited
`US. PATENT DOCUMENTS
`
`ted to the second mobile station by the travel data commu-
`nicator of the first and second mobilestations.
`
`4,731,724
`
`3/1988 Michel etal. .
`
`20 Claims, 3 Drawing Sheets
`
`bee J
`
`1
`I
`I
`I
`I
`I
`I
`|
`I
`|
`|
`|
`|
`{
`I
`
`II
`
`|
`|I
`
`ItI
`
`I
`I
`I
`|
`I
`I
`I
`|
`|
`|
`|
`|
`|
`|
`{
`
`
`
`FACILITY FOR
`INPUTTING AN
`
`
`INGLE @
`
`oA
`MOBILE A
`
`Jog
`
`I|
`||
`;
`
`|
`
`FORDEX.1011, p. 1
`
`FORD EX. 1011, p. 1
`
`

`

`U.S. Patent
`
`Jul. 13, 1999
`
`Sheet 1 of 3
`
`5,923,294
`
`
`
`FORDEX. 1011, p. 2
`
`FORD EX. 1011, p. 2
`
`

`

`U.S. Patent
`
`Jul. 13, 1999
`
`Sheet 2 of 3
`
`5,923,294
`
` FIG. 3
`
`FIG. F
`
`|_— DIRECTION
`|
`FOLLOWED BY B
`
`|_— OLD DIRECTION
`|
`FOLLOWED BY B
`
`NEW DIRECTION
`TO BE FOLLOWED
`BY B
`
`6
`
`|
`|
`
`FIGL.Sa
`
`6
`
`FIG. Sb
`
`FORDEX.1011, p. 3
`
`FORD EX. 1011, p. 3
`
`

`

`U.S. Patent
`
`Jul. 13, 1999
`
`Sheet 3 of 3
`
`5,923,294
`
`LCD SCREEN
`
`MICROPROCESSOR <5M0|i
`
`ee
`
`¥< ©
`
`O
`
`11
`
`IT
`
`13
`
`INTERFACE
`MANAGEMENT
`
`10
`
`FIC. 6
`
`NEW DIRECTION
`TO BE FOLLOWED
`
`BY B
`
`FORDEX. 1011, p. 4
`
`FORD EX. 1011, p. 4
`
`

`

`5,923,294
`
`2
`BRIEF DESCRIPTION OF THE DRAWINGS
`
`Other advantages and characteristics of the present inven-
`tion will emerge more clearly on reading the description
`which follows and the appended figures which represent:
`FIG. 1, a functional diagram of the navigation system
`according to the invention,
`FIG. 2, an example of display, by the mobile A, of its
`means of display of the system according to the invention,
`FIG. 3, an example of display, by the mobile B, of its
`means of display of the system according to the invention,
`FIG. 4, an example of orientation of the meansof display
`of the mobile A with respect
`to North and to the new
`direction of progress of the mobile B.
`FIGS. 5a and 5b, the illustration of the method used by the
`mobile A to input the new direction to be followed by the
`mobile B,
`FIG. 6, an architecture of a wrist terminal according to the
`invention, borne by the mobile A, and
`FIG. 7, an illustration of the input of a new angle of
`orientation on the wrist terminal of the mobile A.
`
`DISCUSSION OF THE PREFERRED
`EMBODIMENTS
`
`10
`
`15
`
`20
`
`25
`
`1
`NAVIGATION SYSTEM ALLOWING REAL-
`TIME COORDINATION OF THE
`DISPLACEMENT OF MOBILES
`TRAVELLING OUT OF DIRECT LINE OF
`SIGHT
`
`BACKGROUND OF THE INVENTION
`
`1. Field of the Invention
`
`invention relates to a navigation system
`The present
`allowing real-time coordination of the displacement of at
`least two mobilestravelling out of direct line of sight. A first
`mobile regularly indicates to a second distant mobile the
`new direction of progress to be followed, and does so
`without using any visible or audible transmission system.
`The present invention applies more particularly to the
`context of an infantry combatant on the battle field. It
`enables, for example, a group leader, continuously aware of
`the position of the members of the combat group, to coor-
`dinate their displacementas a function of his own displace-
`ment.
`
`2. Discussion of the Background
`Knownsystemscurrently use either means of direct voice
`transmission, radio means for example, or visual means, via
`gestures, sets of lights, smokesignals,flags, etc.
`These various meansare not, on the one hand, completely
`stealthy, and on the other hand, may quickly run into
`difficulty on account of the relief of the terrain and/or the
`meteorological conditions.
`
`SUMMARYOF THE INVENTION
`
`The objective of the present invention is to alleviate the
`aforesaid drawbacks.
`
`To this end, the subject of the invention is a navigation
`system allowing real-time coordination of the displacement
`of at least two distant mobiles travelling out of direct line of
`sight, characterized in that it includes a terminal arranged on
`each mobile respectively, each terminal including:
`a means of location of the mobile,
`a means of display of its progress with respect
`commonreference direction,
`a means which indicates to the two mobiles a common
`
`to a
`
`reference direction and is coupled to the display means,
`a means of communication of progress data, and
`a means of processing the information delivered by the
`means which indicates to the two mobiles the common
`
`reference direction, the locating means and the communi-
`cation meansso as to display them on the display means,
`and in that at least one of the two mobiles furthermore
`includes:
`
`a meansof display of the progress of the second mobile
`with respect thereto, and
`a facility for inputting a specified angle defining the
`correction to be made to the direction of progress of the
`second mobile with respect to the new progressofthefirst
`mobile,
`this correction being transmitted to the second
`mobile by way of the communication means respective to
`the first and second mobiles.
`
`A functional diagram of a system according to the inven-
`tion is illustrated diagrammatically in FIG. 1.
`The system according to the invention includes, arranged
`on the mobile A and the mobile B respectively:
`a means of location, 1A, 1B,
`a means of display 2A, 2B,
`a means, for example a magnetometer, 3A, 3B indicating
`to the two mobiles A and B a commonreference direction,
`for example North, and which is coupled to the means of
`display 2A, 2B,
`a computer 4A, 4B receiving the information output by
`the means of location 1A, 1B and by the magnetometer 3A,
`3B, and
`a means of communication 5A, 5B of the data exchanged
`between mobiles A and B, which is coupled to the computer
`4A, 4B.
`One of the two mobiles, for example A, regarded as the
`leader of the combat group in respect of a combatant
`application, furthermore includesa facility 6 for inputting an
`angle 0, receiving the information output by the magnetom-
`eter 3A. The angle 0 defines the correction to be made to the
`direction of progress of the mobile B so as to align with that
`imposed by A.
`The system according to the invention can use various
`transmission media 7 for exchanging mobiles position and
`progress information such as for example hertzian, infrared,
`ultrasound transmission, etc.
`the mobile A
`FIG. 2 illustrates an example of what
`displays on the screen of its display means 2A. This screen
`is in this example of rectangular shape and quadrilled to
`form four identical rectangles. The centre of the screen
`displays the position of the mobile A,
`the upper right
`rectangle displays the position of the mobile B with respect
`to A as well as its progress depicted by an arrow, obtained
`on the basis of the last position received, of the speed or of
`The system according to the invention has the advantage
`the last progress indication received byBat the time of its
`of combining easily implemented meansof location, com-
`confirmation by B. The upper left rectangle displays the
`munication and display, and furnishes a navigation system
`direction of North.
`whose man/machine interface is ergonomic and user-
`friendly, and especially well suited to the context in which
`the mobiles are pedestrians.
`
`30
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`35
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`40
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`45
`
`50
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`55
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`60
`
`65
`
`As illustrated by FIG. 3, the mobile B displays on its
`display means 2B an arrow shown dashed in the figure,
`
`FORDEX. 1011, p. 5
`
`FORD EX. 1011, p. 5
`
`

`

`5,923,294
`
`3
`indicating its new direction of progress, given with respect
`to North; the new direction forming an angle 0, with the
`direction of North.
`
`As the mobile B has a magnetometer 3B coupled to its
`means of display 2B, B displays its new direction of
`progress 0, as a function of the position of the screen ofits
`meansof display 2B with respect to North, without worrying
`about the orientation 6, with respect to North of the means
`of display 2B, as illustrated in FIG. 4.
`The mobile A knowsthe position of B obtained by the
`meansof location 1B of B and transmitted by the means of
`communication 5B. The meansof display 2B of B displays
`its last direction of progress received via the means of
`communication 5A and 5B and confirmed or displayed by
`itself.
`
`The method used by A to indicate to B its new direction
`of progress is as follows illustrated briefly by FIGS. 5a and
`5b: A has a magnetometer 3A. When A wishes to transmit
`to B a new direction of progress 0 with respect to the old
`one,
`it manually swivels the arrow associated with the
`direction of displacementof B by the angle 0, by wayofits
`angle 0 inputfacility 6, so as to bringit to the corresponding
`value and then triggers transmission.
`The new direction of progress @ desired by A is
`transmitted, via the means of communication 5A and 5B
`respective to the two mobiles A and B, to the means 2B of
`display of B.
`B then acknowledgesits new direction of progress which
`is returned to A, via the communication means 5B and 5A
`respective to the two mobiles B and A.
`The relative location of the mobile B with respect to the
`mobile A can be afforded by a satellite location system such
`as GPS, standing for “Global Positioning System”, in dif-
`ferential mode (typical accuracy of between 2 and 5 m).
`The locating means 1A and 1Brespective to A and B are
`for example both equipped with a GPS receiver which
`regularly delivers their position; the communication means
`of A, 5A,thus enables A to receive, by way of the means 5B
`of communication of B, the position of B and thus to deduce
`therefrom the relative position of B with respect to A.
`The communication means 5A and 5B respective to A and
`B consist for example of radio sets with a built-in 9600 bit/s
`modem. The information exchanged is transmitted for
`example at the following rate and throughput:
`B transmits its position every second, i.e. 100 bytes or 800
`bits maximum, and
`A transmits a new direction every second maximum,Le.
`10 bytes or 80 bits maximum.
`A protocol of random access type or of the TDMAaccess
`type, standing for “Time-Division Multiple Access”, makes
`it possible to ensure the transmission of this information.
`Finally, the display means 2A, 2B consist for example, of
`wrist
`terminals with a specific utilization depending on
`whetherit is for mobile A or B.
`
`In a variant of the system according to the invention, the
`locating means 1A and 1B include a direction-finding and
`distance-measuring system. The latter can for example be
`built into the modem of the communication means 5A and
`5B.
`FIG. 6 illustrates the architecture of a wrist terminal of a
`
`system according to the invention and makes it possible to
`understand the operation thereof described below. This
`terminal is borne by the mobile A.
`The terminal or watch is composed for example of:
`
`10
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`15
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`20
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`25
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`30
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`35
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`40
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`45
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`
`4
`an LCD screen 8 compatible with the size of the wrist,
`three input buttons, 9i
`an RS232 type interface 10 by way of which the send/
`receive of messages are transmitted to the communication
`means 5A,5B respective to A and B.
`The reception of messages brings about the display of
`information on the screen 8.
`
`Moreover, the following facilities are built into the watch:
`a magnetometer 11 which makesit possible to ascertain
`the direction of the watch with respect to North,
`a supply in the form of a disposable battery, not
`represented, and
`a processing unit 12, a microprocessor for example.
`The buttons 9i form part of the input facility 6, not
`represented in this figure. When a button 9/ is activated, an
`interface 13 manages the reboundsso as to avoid interfer-
`ence phenomena.An interrupt request IT is then dispatched
`to a module 14 termed the “IT vectorization module”.
`
`The module 14 manages the simultaneous arrival of
`several ITs at the microprocessor 12 by analysing a table of
`inter-IT priorities.
`When the IT is received by the microprocessor 12, an
`IT-dependent program is initiated either by dispatching a cue
`to the RS232 interface 10 heading for the other terminal; or
`by displaying one or more specified icons on the screen 8.
`Whena messageis received by the RS232interface 10, an
`IT is dispatched to the microprocessor 12 which triggers a
`procedure enabling one or more corresponding icons to be
`displayed on the screen 8.
`The display data of the screen 8 are transmitted to the
`screen by way of specific addressing interfaces 15.
`The magnetometer 11 delivers an analogue signal which
`is converted into a digital signal by an analogue/digital
`converter 16 and the microprocessor 12 reads cyclically—
`every 100 ms for example—the angle delivered by the
`magnetometer 11.
`The display is triggered by the microprocessor 12.
`Depending on the icon to be displayed,
`it will fetch the
`pixels to be activated from a ROM memory17,standing for
`“Read Only Memory”. If for one and the same display
`several icons are to be superimposed, the operator must not
`see a scintillation phenomenon.
`FIG. 7 illustrates the input of the new direction to be
`followed by the mobile A in respect of the mobile B for a
`compass/watch type terminal;
`the mobile A swivels the
`watch by the desired angle with respect to North.
`Possible variants adapted to the system according to the
`invention without departing from the scope of the present
`invention are given below by way of example:
`of the transmission means used (hertzian, infrared, etc.)
`of the type of display means (pad computer) and of the
`wayofrestoring this display to the mobile (projection on the
`visor of a helmet in the case of a pedestrian)
`of the means employed by A to display the direction of
`progress followed by B
`and of the locating means (beacon-based, GPS, relative
`location by direction-finding and distance-measurement,
`etc.).
`Moreover, the display system of B can be replaced by a
`sound indication (speech synthesis, multidimensional sound,
`etc.).
`FIG. 7 illustrates a terminal of the compass/watch type 18
`on whichis displayed an arrow giving the direction of North.
`
`FORDEX.1011, p. 6
`
`FORD EX. 1011, p. 6
`
`

`

`5,923,294
`
`to a
`
`5
`The mobile A swivels its watch by the desired angle with
`respect to North so as to reach the new direction to be
`followed and inputs this new direction, by way of the
`pushbutton 19 for the transmission of this new direction
`towards the mobile B.
`Weclaim:
`1. Navigation system allowing real-time coordination of
`the displacement of at least two distant mobiles travelling
`out of directline of sight, characterized in that it includes a
`terminal arranged on each mobile respectively, each termi-
`nal including:
`a means of location of the mobile,
`a means of display of its progress with respect
`commonreference direction,
`a means which indicates to the two mobiles a common
`reference direction and is coupled to the display means,
`a means of communication of progress data, and
`a means of processing the information delivered by the
`means whichindicates to the two mobiles the common
`reference direction, the locating means and the com-
`munication meansso as to display the information on
`the display means,
`and in that at least one of the two mobiles furthermore
`includes:
`a meansofdisplay of the progress of the second mobile
`with respect thereto, and
`a facility for inputting a specified angle defining a
`correction to be madeto the direction of progress of
`the second mobile with respect to a new progress of
`the first mobile, this correction being transmitted to
`the second mobile by way of the communication
`means respective to the first and second mobiles.
`2. System according to claim 1, characterized in that the
`means of display of each terminal includes a screen on
`whichare displayed the positions of the mobiles with respect
`to the commonreference direction.
`3. System according to claim 1, characterized in that the
`screen of the terminal including the facility for inputting a
`specified angle, displays cyclically the relative position of
`the two mobiles and an indication of the progress of the
`second mobile.
`4. System according to claim 1, characterized in that the
`screens of each terminal are liquid crystal screens whose
`size is compatible with the size of the wrist.
`5. System according to claim 1, characterized in that the
`facility for inputting an angle consists of the display screen
`itself and which,on the basis ofthe last direction of progress
`of the second mobile and of the commonreference direction,
`is oriented by a specified angle so as to make the direction
`of progress of the second mobile correspond with a new
`direction of progress imposed bythe first mobile.
`6. System according to claim 1, characterized in that the
`means of communication of each mobile includes a modem
`for hertzian-mode send/receive.
`7. System according to claim 1, characterized in that the
`locating means of each mobile includes a direction-finding
`and distance-measuring system.
`
`10
`
`15
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`20
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`35
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`40
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`45
`
`50
`
`55
`
`6
`8. System according to claim 6, characterized in that the
`direction-finding and distance-measuring system 1s built into
`the modem.
`
`9. System according to claim 1, characterized in that the
`locating means of each mobile includes a differential-mode
`satellite location system.
`10. System according to claim 2, characterized in that the
`screen of the terminal including the facility for inputting a
`specified angle, displays cyclically the relative position of
`the two mobiles and an indication of the progress of the
`second mobile.
`
`11. System according to claim 2, characterized in that the
`screens of each terminal are liquid crystal screens whose
`size is compatible with the size of the wrist.
`12. System according to claim 3, characterized in that the
`screens of each terminal are liquid crystal screens whose
`size is compatible with the size of the wrist.
`13. System according to claim 2, characterized in that the
`facility for inputting an angle consists of the display screen
`itself and which,on the basis ofthe last direction of progress
`of the second mobile and of the commonreference direction,
`is oriented by a specified angle so as to make the direction
`of progress of the second mobile correspond with a new
`direction of progress imposed bythe first mobile.
`14. System according to claim 3, characterized in that the
`facility for inputting an angle consists of the display screen
`itself and which,on the basis ofthe last direction of progress
`of the second mobile and of the commonreference direction,
`is oriented by a specified angle so as to make the direction
`of progress of the second mobile correspond with a new
`direction of progress imposed bythe first mobile.
`15. System according to claim 4, characterized in that the
`facility for inputting an angle consists of the display screen
`itself and which,on the basis ofthe last direction of progress
`of the second mobile and of the commonreference direction,
`is oriented by a specified angle so as to make the direction
`of progress of the second mobile correspond with a new
`direction of progress imposed bythe first mobile.
`16. System according to claim 2, characterized in that the
`means of communication of each mobile includes a modem
`for hertzian-mode send/receive.
`17. System according to claim 3, characterized in that the
`means of communication of each mobile includes a modem
`for hertzian-mode send/receive.
`18. System according to claim 4, characterized in that the
`means of communication of each mobile includes a modem
`for hertzian-mode send/receive.
`19. System according to claim 5, characterized in that the
`means of communication of each mobile includes a modem
`for hertzian-mode send/receive.
`20. System according to claim 2, characterized in that the
`locating means of each mobile includes a direction-finding
`and distance-measuring system.
`
`FORDEX.1011, p. 7
`
`FORD EX. 1011, p. 7
`
`

`

`
`“UNITED STATES PATENT AND TRADEMARK OFFICE
`CERTIFICATE OF CORRECTION
`
`: 5,923,294
`PATENT NO.
`: July 13, 1999
`DATED
`INVENTOR(S) : Olivier Bacelon, et al.
`
`It is certified that error appears in the above-identified patent and that said Letters Patentis hereby
`corrected as shown below:
`
`
`
`
`
`
`Onthetitle page, item [73], the assignee’s name should be:
`
`--Thomson - CSF--
`
`Signed and Sealed this
`
`Sixteenth Day of May, 2000
`
`Q. TODD DICKINSON
`
`
`
`
`
`
`
`
`
`Attesting Officer
`Director of Patents and Trademarks
`
`
`FORDEX.1011, p. 8
`
`FORD EX. 1011, p. 8
`
`