WO1999061932A1 - Navigation and guidance system - Google Patents

Navigation and guidance system Download PDF

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Publication number
WO1999061932A1
WO1999061932A1 PCT/FR1999/001220 FR9901220W WO9961932A1 WO 1999061932 A1 WO1999061932 A1 WO 1999061932A1 FR 9901220 W FR9901220 W FR 9901220W WO 9961932 A1 WO9961932 A1 WO 9961932A1
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WO
WIPO (PCT)
Prior art keywords
beacons
level
users
navigation
transmitter
Prior art date
Application number
PCT/FR1999/001220
Other languages
French (fr)
Inventor
Daniel Hernandez
Original Assignee
Centre National D'etudes Spatiales
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Centre National D'etudes Spatiales filed Critical Centre National D'etudes Spatiales
Publication of WO1999061932A1 publication Critical patent/WO1999061932A1/en

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/0009—Transmission of position information to remote stations

Definitions

  • the present invention relates to a navigation system.
  • the field of the invention is that of the determination by equipment, mobile or not, of its position with respect to one or more benchmarks.
  • equipment can be a mobile such as an airplane, a boat, a land vehicle, or also a fixed equipment.
  • the position of such equipment can be determined by: • measuring the distance to fixed points of known position;
  • this determination can be:
  • radionavigation system The definition of a radionavigation system is given in the book entitled “Space vehicle techniques and technologies” (space technology course, volume I, Cepadues - Editions, 1994, module 6, “Radiolocation, Radionavigation", pages 567 to 634).
  • Such a system is composed of a user segment, a ground segment and a reference network broadcasting reference information.
  • the user segment consists of fixed or mobile equipment using radio signals emitted or repeated by the elements of the reference network. These mobiles can be on earth or in orbit. Network elements can be beacons or transponders, whether these elements are on the ground or in orbit.
  • These references should be located as perfectly as possible. If these references are in orbit, a space radiolocation system is used to find out the reference information, such as the orbital parameters. This information is then retransmitted to the references, via the ground control segment. This operation constitutes an update of the references. The references in turn distribute this information to the user segment (navigation message). References are maintained in operation by the ground control segment.
  • the present invention relates to a navigation system comprising transmitting devices used by users to determine their position, in which each transmitting device itself determines its own position from the position of known position beacons before automatically starting to broadcast.
  • a signal containing the position of said transmitting device, allowing users to position themselves, characterized in that it comprises a set of aerial or space ground beacons distributed in several levels:
  • level 0 “master” beacons, with a position known with precision
  • the invention also relates to a navigation system in which the transmission of each level 1 or 2 transmitter is automatically interrupted if this transmitter receives more than a predetermined number (for example 8 to 10) of transmitters of the same level or lower level.
  • a predetermined number for example 8 to 10.
  • the present invention relates to a navigation system having, in all possible configurations, a high instantaneous accuracy of location.
  • the system of the invention comprises a set of beacons distributed in several levels: • level 0: “master” beacons, of known position with precision;
  • At level 3 are the passive users of the system.
  • the “master” beacons, level 0 are used to initialize the deployment of the network and make it possible to “force” the synchronization of the network, avoiding that, by a phenomenon of progressive drift, biases affect the network which is thus “ anchored "to the ground.
  • the “master” beacons not only have a known position with rigor, but also the information which they disseminate is constantly checked, for example by an independent witness beacon.
  • Level 1 beacons in that they are fixed, also behave a bit like “anchors” but the reliability of the positions they broadcast is not constantly checked (there are, for example, clock). It is the same for the level tags
  • beacons are mobile and that their movement is not known to the user, it is more difficult to test the validity of the information disseminated.
  • These mobiles, or level 2 beacons, integrated into the supply of the service can be ocean-going boats, airplanes, satellites.
  • the service in question is available, via airplanes, satellites, ground-based transmitters which are by example built into cell phone transmitters or that are airport beacons.
  • the level 1 beacons in turn emit their position allowing other beacons to position themselves.
  • Step by step a network of transmitters of known position is thus created at all times, the density of which can be thought to contribute to the security of the system, a failure of a transmitter does not in fact remove the service in its visibility circle, any area generally being covered by many more transmitters than necessary. In areas with low density, high seas, large deserts ..., the number of level 1 beacons and
  • the system of the invention differs from known systems in that it includes equipment, mobile or not, which automatically determines their position relative to the beacons from which they receive the radioelectric emissions (including optical) and begin to transmit in their turn signals which include their calculated positions in particular, allowing the other beacons and the passive users to locate themselves in relation to them.
  • the level 1 and 2 beacons emitting their position the system of the invention is not “discreet” in the event of a "crisis". It is possible to destroy beacons for example by being guided on the position which they diffuse. However, the system of the invention is “self-healing”. Thus, if a new level 1 or 2 beacon is introduced into the area, it instantly offers the service: it is localized by reference to the other beacons it receives and then transmits in turn.
  • the receiver 11 receives the signals coming from beacons of known position, via the antenna 10;
  • the computer 12 makes it possible to determine the position of the beacon and to develop the signal to be transmitted
  • the transmitter 13 broadcasts through the transmission antenna 14 a navigation signal comprising the position of the beacon.
  • An exemplary embodiment of the system of the invention comprises: • a network of ground reference beacons; • pseudoliths (fixed beacons) in the airport area and co-located with telephone, radio or television transmitters;
  • the transmission is carried out at high frequency in spectra spread by pseudo-random code (PN), each transmitter having a different code.
  • PN pseudo-random code
  • beacons it is possible in case of necessity to install beacons in a given area, in a simple way (for example by parachuting, deposition by helicopter ).
  • a deposited beacon initiates the process by taking stock (by determining its own position) from the satellites and pre-existing beacons it receives. Then this tag starts to transmit.
  • step by step to establish, from a rear base comprising beacons, a network of beacons on the intervention area.
  • beacons The necessary density of beacons depends on the scope of the emission of these beacons. If distance measurement is used for positioning, it is generally necessary to receive more than three beacons to determine a position (user or beacon on the ground), that is to say a positioning in two dimensions or "2D". However, some interference may occur if there are too many simultaneous transmissions in the same area.
  • level 2 or even level 1 transmitters automatically cut their emissions if they receive signals from more than n transmitters (for example from 8 to 10).

Abstract

The invention concerns a navigation and guidance system comprising transmitting devices operated by the users for determining their position wherein each transmitting device itself determines its own position from the position of beacons with known position before starting to broadcast automatically a signal for the users to find their position.

Description

SYSTEME DE NAVIGATION NAVIGATION SYSTEM
DESCRIPTIONDESCRIPTION
Domaine techniqueTechnical area
La présente invention concerne un système de navigation.The present invention relates to a navigation system.
Le domaine de l'invention est celui de la détermination par un équipement, mobile ou non, de sa position par rapport à un ou plusieurs repères. Un tel équipement peut être un mobile tel qu'un avion, un bateau, un véhicule terrestre, ou également un équipement fixe.The field of the invention is that of the determination by equipment, mobile or not, of its position with respect to one or more benchmarks. Such equipment can be a mobile such as an airplane, a boat, a land vehicle, or also a fixed equipment.
Etat de la technique antérieureState of the art
De façon classique la détermination de la position d'un tel équipement peut être réalisée par : • une mesure de distance à des points fixes de position connue ;Conventionally, the position of such equipment can be determined by: • measuring the distance to fixed points of known position;
• une mesure angulaire par rapport à des points fixes de position connue (par exemple à l'aide d'un sextant) ; • une reconnaissance de paysage ;• an angular measurement with respect to fixed points of known position (for example using a sextant); • landscape recognition;
• une intégration de déplacement à partir d'une position connue (par exemple à l'aide d'un gyroscope odomètre) .• integration of movement from a known position (for example using an odometer gyroscope).
Par exemple, cette détermination peut être :For example, this determination can be:
• celle d'une balise qui reçoit un signal provenant de quatre satellites GPS/Navstar ; après calcul de la distance de cette balise aux satellites GPS, on peut alors calculer la position de celle-ci ; • celle d'un bateau qui peut calculer sa position en mesurant les angles qui séparent trois phares .• that of a beacon which receives a signal from four GPS / Navstar satellites; after calculating the distance from this beacon to GPS satellites, we can then calculate its position; • that of a boat which can calculate its position by measuring the angles which separate three headlights.
La définition d'un système de radionavigation est donnée dans l'ouvrage intitulé « Techniques et technologies des véhicules spatiaux » (cours de technologie spatiale, tome I, Cepadues - Editions, 1994, module 6, « Radiolocalisation, Radionavigation », pages 567 à 634) .The definition of a radionavigation system is given in the book entitled "Space vehicle techniques and technologies" (space technology course, volume I, Cepadues - Editions, 1994, module 6, "Radiolocation, Radionavigation", pages 567 to 634).
Un tel système est composé d'un segment utilisateur, d'un segment sol et d'un réseau de référence diffusant des informations de référence. Le segment utilisateur est constitué par des équipements fixes ou mobiles utilisant les signaux radioélectriques émis ou répétés par les éléments du réseau de référence. Ces mobiles peuvent être sur terre ou en orbite. Les éléments du réseau peuvent être des balises ou des transpondeurs, que ces éléments soient au sol ou en orbite. Ces références doivent être localisées le plus parfaitement possible. Si ces références sont en orbite, un système de radiolocalisation spatiale est utilisé pour en connaître les informations de référence, telles que les paramètres orbitaux. Ces informations sont ensuite retransmises aux références, par l'intermédiaire du segment sol de contrôle. Cette opération constitue une mise à jour des références. Les références diffusent à leur tour ces informations à destination du segment utilisateur (message de navigation) . Le maintien en opération des références est effectué par le segment sol de contrôle. Exposé de l'inventionSuch a system is composed of a user segment, a ground segment and a reference network broadcasting reference information. The user segment consists of fixed or mobile equipment using radio signals emitted or repeated by the elements of the reference network. These mobiles can be on earth or in orbit. Network elements can be beacons or transponders, whether these elements are on the ground or in orbit. These references should be located as perfectly as possible. If these references are in orbit, a space radiolocation system is used to find out the reference information, such as the orbital parameters. This information is then retransmitted to the references, via the ground control segment. This operation constitutes an update of the references. The references in turn distribute this information to the user segment (navigation message). References are maintained in operation by the ground control segment. Statement of the invention
La présente invention concerne un système de navigation comprenant des dispositifs émetteurs utilisés par les usagers pour déterminer leur position, dans lequel chaque dispositif émetteur détermine lui- même sa propre position à partir de la position de balises de position connue avant de se mettre automatiquement à diffuser un signal, contenant la position dudit dispositif émetteur, permettant aux usagers de se positionner, caractérisé en ce qu'il comporte un ensemble de balises terrestres aériennes ou spatiales réparties en plusieurs niveaux :The present invention relates to a navigation system comprising transmitting devices used by users to determine their position, in which each transmitting device itself determines its own position from the position of known position beacons before automatically starting to broadcast. a signal, containing the position of said transmitting device, allowing users to position themselves, characterized in that it comprises a set of aerial or space ground beacons distributed in several levels:
• niveau 0 : balises « maître », de position connue avec précision ;• level 0: “master” beacons, with a position known with precision;
• niveau 1 : balises fixes ;• level 1: fixed beacons;
• niveau 2 : balises mobiles.• level 2: mobile beacons.
L'invention concerne également un système de navigation dans lequel l'émission de chaque émetteur de niveau 1 ou 2 est automatiquement interrompue si cet émetteur reçoit plus d'un nombre prédéterminé (par exemple de 8 à 10) d'émetteurs de même niveau ou de niveau inférieur.The invention also relates to a navigation system in which the transmission of each level 1 or 2 transmitter is automatically interrupted if this transmitter receives more than a predetermined number (for example 8 to 10) of transmitters of the same level or lower level.
La présente invention a pour objet un système de navigation présentant, dans toutes les configurations possibles, une grande précision instantanée de localisation.The present invention relates to a navigation system having, in all possible configurations, a high instantaneous accuracy of location.
Brève description des dessinsBrief description of the drawings
La figure illustre schématiquement les éléments d'une balise. Exposé détaillé de modes de réalisationThe figure schematically illustrates the elements of a tag. Detailed description of embodiments
Le système de l'invention comprend un ensemble de balises réparties en plusieurs niveaux : • niveau 0 : balises « maître », de position connue avec précision ;The system of the invention comprises a set of beacons distributed in several levels: • level 0: “master” beacons, of known position with precision;
• niveau 1 : balises fixes ;• level 1: fixed beacons;
• niveau 2 : balises mobiles.• level 2: mobile beacons.
Au niveau 3 se trouvent les utilisateurs passifs du système.At level 3 are the passive users of the system.
Les balises « maître », de niveau 0, servent à initialiser le déploiement du réseau et permettent de « forcer » la synchronisation du réseau, en évitant que, par un phénomène de dérive progressive, des biais n'affectent le réseau qui est ainsi « ancré » au sol. Les balises « maître » non seulement sont de position connue avec rigueur, mais encore l'information qu'elles diffusent est vérifiée en permanence, par exemple par une balise témoin indépendante. Les balises de niveau 1, en ce qu'elles sont fixes, se comportent également un peu comme des « ancres » mais la fiabilité des positions qu'elles diffusent n'est pas vérifiée en permanence (il y a par exemple des dérives d'horloge). II en est de même pour les balises de niveauThe “master” beacons, level 0, are used to initialize the deployment of the network and make it possible to “force” the synchronization of the network, avoiding that, by a phenomenon of progressive drift, biases affect the network which is thus “ anchored "to the ground. The “master” beacons not only have a known position with rigor, but also the information which they disseminate is constantly checked, for example by an independent witness beacon. Level 1 beacons, in that they are fixed, also behave a bit like “anchors” but the reliability of the positions they broadcast is not constantly checked (there are, for example, clock). It is the same for the level tags
2, mais en plus du fait que ces balises sont mobiles et que leur déplacement n'est pas connu par l'utilisateur, il est plus difficile de faire des tests de validité de l'information diffusée. Ces mobiles, ou balises de niveau 2, intégrés dans la fourniture du service, peuvent être des bateaux de haute mer, des avions, des satellites.2, but in addition to the fact that these beacons are mobile and that their movement is not known to the user, it is more difficult to test the validity of the information disseminated. These mobiles, or level 2 beacons, integrated into the supply of the service, can be ocean-going boats, airplanes, satellites.
A l'intérieur des terres, le service considéré est disponible, via des avions, des satellites, des émetteurs fixes au sol qui sont par exemple intégrés aux émetteurs de téléphones cellulaires ou qui sont des balises d'aéroport.Inland, the service in question is available, via airplanes, satellites, ground-based transmitters which are by example built into cell phone transmitters or that are airport beacons.
Les balises « maître », de niveau 0, qui sont positionnées de façon précise, diffusent, tout d'abord, par voie radioelectrique un signal qui contient leur position et leur identification.The “master” beacons, level 0, which are precisely positioned, broadcast, first of all, by radio, a signal which contains their position and their identification.
Les balises de niveau supérieur, et d'abord les balises de niveau 1, reçoivent ce signal et peuvent alors calculer leurs propres positions.Higher level beacons, and first level 1 beacons, receive this signal and can then calculate their own positions.
Les balises de niveau 1 émettent à leur tour leur position permettant à d'autres balises de se positionner .The level 1 beacons in turn emit their position allowing other beacons to position themselves.
Il en est de même alors pour les balises d'ordre 2.It is the same then for the order 2 tags.
Les utilisateurs passifs calculent leur position mais ne réémettent pas.Passive users calculate their position but do not reissue.
De proche en proche, on constitue ainsi un réseau d'émetteurs de position connue à chaque instant dont on peut penser que la densité contribue à la sécurité du système, une panne d'un émetteur ne supprimant pas, en effet, le service dans son cercle de visibilité, toute zone étant généralement couverte par beaucoup plus d'émetteurs que nécessaire. Dans les zones à faible densité, haute mer, grands déserts..., le nombre de balises de niveau 1 etStep by step, a network of transmitters of known position is thus created at all times, the density of which can be thought to contribute to the security of the system, a failure of a transmitter does not in fact remove the service in its visibility circle, any area generally being covered by many more transmitters than necessary. In areas with low density, high seas, large deserts ..., the number of level 1 beacons and
2 peut ne pas être très grand. Il en résulte éventuellement une dégradation de la qualité du service, comme par exemple une moins grande précision instantanée de localisation, souvent acceptable compte tenu justement de la faible densité des mobiles.2 may not be very large. This may result in a degradation of the quality of service, such as less instantaneous accuracy of location, often acceptable given the low density of mobiles.
Le système de l'invention se distingue des systèmes connus en ce qu'il comprend des équipements, mobiles ou non, qui déterminent automatiquement leur position par rapport aux balises dont ils reçoivent les émissions radioélectriques (y compris optiques) et se mettent à émettre à leur tour des signaux qui comprennent notamment leurs positions calculées, permettant aux autres balises et aux utilisateurs passifs de se localiser par rapport à elles.The system of the invention differs from known systems in that it includes equipment, mobile or not, which automatically determines their position relative to the beacons from which they receive the radioelectric emissions (including optical) and begin to transmit in their turn signals which include their calculated positions in particular, allowing the other beacons and the passive users to locate themselves in relation to them.
Les balises de niveau 1 et 2 émettant leur position, le système de l'invention n'est pas « discret » en cas de « crise ». Il est possible de détruire des balises par exemple en se guidant sur la position qu'elles diffusent. Cependant le système de l'invention est « autocicatrisant ». Ainsi, si une nouvelle balise de niveau 1 ou 2 est introduite dans la zone, elle offre instantanément le service : elle se localise par référence aux autres balises qu'elle reçoit puis émet à son tour.The level 1 and 2 beacons emitting their position, the system of the invention is not "discreet" in the event of a "crisis". It is possible to destroy beacons for example by being guided on the position which they diffuse. However, the system of the invention is “self-healing”. Thus, if a new level 1 or 2 beacon is introduced into the area, it instantly offers the service: it is localized by reference to the other beacons it receives and then transmits in turn.
La figure illustre schématiquement les éléments d'une balise. Celle-ci comprend successivement une antenne réception 10, un récepteur 11, un calculateur 12, un émetteur 13 et une antenne émission 14.The figure schematically illustrates the elements of a tag. This successively comprises a reception antenna 10, a receiver 11, a computer 12, a transmitter 13 and a transmission antenna 14.
En fonctionnement :Operating :
• le récepteur 11 reçoit les signaux provenant de balises de position connue, via l'antenne 10 ;• the receiver 11 receives the signals coming from beacons of known position, via the antenna 10;
• le calculateur 12 permet de déterminer la position de la balise et d'élaborer le signal à transmettre ;• the computer 12 makes it possible to determine the position of the beacon and to develop the signal to be transmitted;
• l'émetteur 13 diffuse à travers l'antenne d'émission 14 un signal de navigation comprenant la position de la balise.• the transmitter 13 broadcasts through the transmission antenna 14 a navigation signal comprising the position of the beacon.
Un exemple de réalisation du système de l'invention comprend : • un réseau de balises de référence au sol ; • des pseudolithes (balises fixes) en zone aéroportuaire et co-localisés avec les émetteurs de téléphone, radio ou télévision ;An exemplary embodiment of the system of the invention comprises: • a network of ground reference beacons; • pseudoliths (fixed beacons) in the airport area and co-located with telephone, radio or television transmitters;
• un réseau de satellites dont l'orbite est déterminée de façon précise par utilisation de ses balises de référence (par exemple la constellation des satellites GPS/Navstar ou des satellites Glonass) ;• a network of satellites whose orbit is precisely determined by using its reference beacons (for example the constellation of GPS / Navstar satellites or Glonass satellites);
• des avions de ligne, des navires de haute mer. L'émission est réalisée en hyperfréquence en spectres étalés par code pseudoaléatoire (PN) , chaque émetteur disposant d'un code différent.• airliners, ocean-going vessels. The transmission is carried out at high frequency in spectra spread by pseudo-random code (PN), each transmitter having a different code.
Il est possible en cas de nécessité d'installer dans une zone donnée des balises, de façon simple (par exemple par parachutage, dépôt par hélicoptère...). Une balise déposée initialise le processus en faisant le point (en déterminant sa propre position) à partir des satellites et des balises préexistantes qu'elle reçoit. Puis cette balise se met à émettre.It is possible in case of necessity to install beacons in a given area, in a simple way (for example by parachuting, deposition by helicopter ...). A deposited beacon initiates the process by taking stock (by determining its own position) from the satellites and pre-existing beacons it receives. Then this tag starts to transmit.
En cas de « projection » de forces militaires ou civiles, il est possible de proche en proche d'établir, à partir d'une base arrière comprenant des balises, un réseau de balises sur la zone d' intervention.In the event of a “projection” of military or civil forces, it is possible, step by step, to establish, from a rear base comprising beacons, a network of beacons on the intervention area.
La densité nécessaire de balises dépend de la portée de l'émission de ces balises. Si la mesure de distance est utilisée pour effectuer le positionnement, il faut en général recevoir plus de trois balises pour déterminer une position (utilisateur ou balise au sol) , c'est-à-dire un positionnement en deux dimensions ou « 2D ». Cependant, un certain brouillage peut intervenir s'il y a trop d'émissions simultanées sur une même zone.The necessary density of beacons depends on the scope of the emission of these beacons. If distance measurement is used for positioning, it is generally necessary to receive more than three beacons to determine a position (user or beacon on the ground), that is to say a positioning in two dimensions or "2D". However, some interference may occur if there are too many simultaneous transmissions in the same area.
Pour éviter un tel inconvénient, dans le système de l'invention les émetteurs de niveau 2, voire de niveau 1 coupent automatiquement leurs émissions s'ils reçoivent des signaux provenant de plus de n émetteurs (par exemple de 8 à 10) . To avoid such a drawback, in the system of the invention, level 2 or even level 1 transmitters automatically cut their emissions if they receive signals from more than n transmitters (for example from 8 to 10).

Claims

REVENDICATIONS
1. Système de navigation comprenant des dispositifs émetteurs utilisés par les usagers pour déterminer leur position, dans lequel chaque dispositif émetteur détermine lui-même sa propre position à partir de la position de balises de position connue avant de se mettre automatiquement à diffuser un signal permettant aux usager de se positionner, caractérisé en ce qu'il comporte un ensemble de balises terrestres, aériennes ou spatiales réparties sur plusieurs niveaux :1. Navigation system comprising transmitting devices used by users to determine their position, in which each transmitting device itself determines its own position from the position of known position beacons before automatically starting to broadcast a signal allowing users to position themselves, characterized in that it comprises a set of land, air or space beacons distributed over several levels:
• niveau 0 : balises « maître » de position connue avec précision ; • niveau 1 : balises fixes ;• level 0: “master” beacons of precisely known position; • level 1: fixed beacons;
• niveau 2 : balises mobiles.• level 2: mobile beacons.
2. Système de navigation selon la revendication 1, dans lequel l'émission de chaque émetteur de niveau 1 ou 2 est automatiquement interrompue si cet émetteur reçoit plus d'un nombre prédéterminé d' émetteurs de même niveau ou de niveau inférieur.2. The navigation system as claimed in claim 1, in which the transmission of each level 1 or 2 transmitter is automatically interrupted if this transmitter receives more than a predetermined number of transmitters of the same or lower level.
3. Système selon la revendication 2, dans lequel ce nombre prédéterminé est compris entre 8 et 10. 3. The system of claim 2, wherein this predetermined number is between 8 and 10.
PCT/FR1999/001220 1998-05-26 1999-05-25 Navigation and guidance system WO1999061932A1 (en)

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FR9806606A FR2779233B1 (en) 1998-05-26 1998-05-26 NAVIGATION SYSTEM
FR98/06606 1998-05-26

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US7107065B2 (en) 2000-02-02 2006-09-12 Nokia Corporation Position acquisition

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US5119341A (en) * 1991-07-17 1992-06-02 The United States Of America As Represented By The Secretary Of The Air Force Method for extending GPS to underwater applications
GB2298099A (en) * 1995-02-20 1996-08-21 Micromill Electronics Ltd Position or orientation determination
FR2741159A1 (en) * 1995-11-14 1997-05-16 Centre Nat Etd Spatiales GLOBAL RADIOLOCATION AND SPATIAL RADIONAVIGATION SYSTEM, BEACON, AND RECEIVER IMPLEMENTED IN SUCH A SYSTEM

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Publication number Priority date Publication date Assignee Title
US5119341A (en) * 1991-07-17 1992-06-02 The United States Of America As Represented By The Secretary Of The Air Force Method for extending GPS to underwater applications
GB2298099A (en) * 1995-02-20 1996-08-21 Micromill Electronics Ltd Position or orientation determination
FR2741159A1 (en) * 1995-11-14 1997-05-16 Centre Nat Etd Spatiales GLOBAL RADIOLOCATION AND SPATIAL RADIONAVIGATION SYSTEM, BEACON, AND RECEIVER IMPLEMENTED IN SUCH A SYSTEM

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7107065B2 (en) 2000-02-02 2006-09-12 Nokia Corporation Position acquisition
US7272404B2 (en) 2000-02-02 2007-09-18 Nokia Corporation Position acquisition

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FR2779233B1 (en) 2007-06-01

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