Method and system for performing location determination based on sequence of pulses

1. A surface-based transmitter system for assisting determination of vehicle location, the system comprising:

a set of radio frequency (RF) transmitter nodes that, when deployed at different respective locations, are configured to output a sequence of respective RF pulses with a predefined inter-pulse delay between each pair of consecutive RF pulses in the sequence,

wherein the predefined inter-pulse delay is longer than 1 microsecond;

wherein the set of RF transmitter nodes includes at least a first RF transmitter node, a second RF transmitter node, a third RF transmitter node, and a fourth RF transmitter node, which are configured to output a first RF pulse, a second RF pulse, a third RF pulse, and a fourth RF pulse, respectively, of the sequence of RF pulses;

wherein the set of RF transmitter nodes is further configured to transmit the sequence of respective RF pulses in a series of respective non-overlapping time slots;

wherein each RF transmitter node of the set of RF transmitter nodes is configured to output a respective RF pulse at a beginning of a respective time slot, and to further output a respective data signal in the respective time slot after outputting the respective RF pulse;

wherein the respective data signal encodes at least one of the following: a respective node identifier for the RF transmitter node, or a respective clock value that indicates when the respective RF pulse is outputted by the RF transmitter node; and

wherein each RF transmitter node of the set of RF transmitter nodes is further configured to output the respective data signal after a predefined range gate delay has elapsed since the outputting of the respective RF pulse, and

wherein each RF transmitter node of the set of RF transmitter nodes is further configured to output the respective data signal with a lower transmission power than a transmission power of the respective RF pulse.

2. The system of claim 1 , wherein the predefined inter-pulse delay is at least 10 microseconds.

3. The system of claim 2 , wherein each RF pulse of the sequence of RF pulses has at least one of: a bandwidth that is greater than or equal to 1 GHz, or a duration that is shorter than or equal to 1 nanosecond.

4. The system of claim 1 , wherein at least the first RF transmitter node is configured to output the first RF pulse at a predefined time.

5. The system of claim 1 , wherein each RF pulse of the sequence of RF pulses is outputted in an omnidirectional or hemispherical pattern.

6. The system of claim 1 , wherein the second RF transmitter node, the third RF transmitter node, and the fourth RF transmitter node are each configured to detect: (a) the first RF pulse outputted by the first RF transmitter node, and (b) a reply pulse outputted by a vehicle in an environment of the system in response to the first RF pulse, or a reflection of the first RF pulse off of the vehicle; and

wherein the RF transmitter system is further configured to determine a location of the vehicle based on: (a) when the first RF pulse is detected by the second transmitter node, the third RF transmitter node, and the fourth RF transmitter node, and (b) when the reflection of the first RF pulse or when the reply pulse is detected by the first RF transmitter node, the second RF transmitter node, the third RF transmitter node, and the fourth RF transmitter node.

7. The system of claim 1 , wherein at least the first RF transmitter node is configured to:

detect the second RF pulse, the third RF pulse, and the fourth RF pulse outputted by the second RF transmitter node, the third RF transmitter node, and the fourth RF transmitter node, respectively;

detect a first reply pulse, a second reply pulse, a third reply pulse, and a fourth reply pulse, which are outputted by a vehicle in an environment of the system in response to the first RF pulse, the second RF pulse, the third RF pulse, and the fourth RF pulse, respectively;

determine a location of the vehicle based on when the second RF pulse, third RF pulse, and fourth RF pulse are detected by the first RF transmitter node, and based on when the first reply pulse, the second reply pulse, the third reply pulse, and the fourth reply pulse are detected by the first RF transmitter node.

8. The system of claim 7 , wherein the first RF transmitter node is further configured to:

determine, based on the second reply pulse, the third reply pulse, and the fourth reply pulse, indirect path propagation times that measure respective amounts of time for the second RF pulse, the third RF pulse, or the fourth RF pulse to propagate to the vehicle, plus respective amounts of time for the second reply pulse, the third reply pulse, and the fourth reply pulse to propagate to the first RF transmitter node from the vehicle,

determine respective propagation time differences between the indirect path propagation times and direct path propagation times, wherein the direct path propagation times measure respective amounts of time taken by the second RF pulse, the third RF pulse, and the fourth RF pulse to directly reach the first RF transmitter node,

wherein the location of the vehicle is determined based on the indirect path propagation times and the propagation time differences.

9. The system of claim 1 , wherein at least the first RF transmitter node is further configured to:

detect the second RF pulse, the third RF pulse, and the fourth RF pulse outputted by the second RF transmitter node, the third RF transmitter node, and the fourth RF transmitter node, respectively;

detect a first reflection, a second reflection, a third reflection, and a fourth reflection of the first RF pulse, the second RF pulse, the third RF pulse, and the fourth RF pulse, respectively, off of a vehicle in an environment of the system;

determine a location of the vehicle based on when the second RF pulse, the third RF pulse, and the fourth RF pulse are detected by the first RF transmitter node, and based on when the first reflection, second reflection, third reflection, and fourth reflection are detected by the first RF transmitter node.

10. The system of claim 1 , wherein the set of RF transmitter nodes is further configured to:

detect an interrogation pulse from a vehicle in an environment of the system, wherein the interrogation pulse is a pulse for requesting the outputting of the sequence of respective RF pulses, and

output the sequence of respective RF pulses after different delay periods, respectively, have elapsed since detection of the interrogation pulse by the set of RF transmitter nodes.

11. The system of claim 1 , further comprising a surface-based control node having a communication link to the set of RF transmitter nodes,

wherein the control node is configured to output one or more synchronization signals that reach the set of RF transmitter nodes at a same time via the communication link, and

wherein each RF transmitter node of the set of RF transmitter nodes is further configured, in response to detecting the one or more synchronization signals at the same time as the other RF transmitter nodes, to output a respective RF pulse after waiting a respective delay period different from delay periods used by other RF transmitter nodes of the set of RF transmitter nodes.

12. The system of claim 1 , further comprising a surface-based control node having a communication link to the set of RF transmitter nodes,

wherein the control node is configured to output a sequence of synchronization signals that reach the set of RF transmitter nodes at a series of different times separated by the predefined inter-pulse delay, and

wherein the RF transmitter nodes are configured, in response to detecting a respective synchronization signal of the sequence of synchronization signals, output a respective RF pulse immediately or after waiting a common delay period used by the set of RF transmitter nodes.

13. The system of claim 1 , wherein the set of RF transmitter nodes are communicatively coupled as a series of RF transmitter nodes via a daisy chain communication link, and

wherein each RF transmitter node of the set of RF transmitter nodes is configured, if a synchronization signal is received from a previous RF transmitter node in the series of RF transmitter nodes, to output a respective RF pulse in response to the synchronization signal, and to relay the synchronization signal to a next RF transmitter node in the series of RF transmitter nodes after waiting a delay period since detecting the synchronization signal from a previous RF transmitter node, wherein the delay period is equal to or based on the predefined inter-pulse delay.