IP Library › Granted Patent US 12,289,131
Granted Patent B2
US 12,289,131 · App. 18/324,830 · Granted Apr 29, 2025

Wide area positioning system

Inventors: Arun Raghupathy (Bangalore, IN); Ganesh Pattabiraman (Saratoga, CA); Subramanian S. Meiyappan (San Jose, CA); Hari Sankar (Santa Clara, CA)
Assignee: NextNav, LLC
H04B1/7087G01S1/08G01S5/10G01S19/11G01S19/24G01S19/42G01S19/46H04B1/709H04B7/2618H04W72/0446H04W72/30H04W72/51H04B2201/7073H04W56/005
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Quick Facts
Patent No.
US 12,289,131
App. No.
18/324,830
Granted
Apr 29, 2025
Kind
B2
Abstract

Systems and methods are described for determining position of a receiver. The positioning system comprises a transmitter network including transmitters that broadcast positioning signals. The positioning system comprises a remote receiver that acquires and tracks the positioning signals and/or satellite signals. The satellite signals are signals of a satellite-based positioning system. A first mode of the remote receiver uses terminal-based positioning in which the remote receiver computes a position using the positioning signals and/or the satellite signals. The positioning system comprises a server coupled to the remote receiver. A second operating mode of the remote receiver comprises network-based positioning in which the server computes a position of the remote receiver from the positioning signals and/or satellite signals, where the remote receiver receives and transfers to the server the positioning signals and/or satellite signals.

Claims (96)

1. A positioning system comprising:

a server that receives a plurality of cross-correlation functions that are based on a plurality of positioning signals that are broadcast from a terrestrial transmitter network to a receiver;

wherein:

for each positioning signal of the plurality of positioning signals, a cross-correlation function of the plurality of cross-correlation functions was generated by cross-correlating one or more signal samples extracted from that positioning signal with a reference sequence corresponding to that positioning signal;

the server determines a vector of cross-correlation samples from each cross-correlation function by selecting a first set of cross-correlation samples on a first side of a peak of the cross-correlation function and a second set of cross-correlation samples on a second side of the peak of the cross-correlation function;

the server identifies, for each of the positioning signals, a time of arrival estimate corresponding to an earliest arriving signal path of one or more signal paths corresponding to that positioning signal using a time of arrival measurement method that uses the vector of cross-correlation samples;

the server estimates a first position of the receiver based on the time of arrival estimate; and

the server identifies the time of arrival estimate corresponding to the earliest arriving signal path by generating a reference vector from a correlation function determined by a calculated function or a measurement in a channel environment that has low noise and separable or no multipath components.

2. The positioning system of claim 1 , wherein:

the server selects uncorrelated noise samples to obtain information regarding a noise sub-space.

3. The positioning system of claim 1 , wherein:

the server identifies the time of arrival estimate for each of the positioning signals by applying the time of arrival measurement method to the vector of cross-correlation samples corresponding to that positioning signal.

4. The positioning system of claim 1 , wherein:

each vector of cross-correlation samples includes the peak of the cross-correlation function.

5. The positioning system of claim 1 , wherein:

each vector of cross-correlation samples includes the first set of cross-correlation samples on the first side of the peak of the cross-correlation function and the second set of cross-correlation samples on the second side of the peak of the cross-correlation function.

6. The positioning system of claim 1 , wherein:

each reference sequence is a pseudorandom sequence.

7. The positioning system of claim 1 , wherein:

the time of arrival measurement method is based on at least one of a MUSIC algorithm, an ESPRIT algorithm, or an Eigen-space decomposition method.

8. A positioning system comprising:

a server that receives a plurality of cross-correlation functions that are based on a plurality of positioning signals that are broadcast from a terrestrial transmitter network to a receiver;

wherein:

for each positioning signal of the plurality of positioning signals, a cross-correlation function of the plurality of cross-correlation functions was generated by cross-correlating one or more signal samples extracted from that positioning signal with a reference sequence corresponding to that positioning signal;

the server determines a vector of cross-correlation samples from each cross-correlation function by selecting a first set of cross-correlation samples on a first side of a peak of the cross-correlation function and a second set of cross-correlation samples on a second side of the peak of the cross-correlation function;

the server identifies, for each of the positioning signals, a time of arrival estimate corresponding to an earliest arriving signal path of one or more signal paths corresponding to that positioning signal using a time of arrival measurement method that uses the vector of cross-correlation samples;

the server estimates a first position of the receiver based on the time of arrival estimate; and

the server identifies the time of arrival estimate corresponding to the earliest arriving signal path by:

generating a frequency domain estimate of a channel;

generating a reduced channel estimate vector from the frequency domain estimate of the channel;

defining an estimated covariance matrix of the reduced channel estimate vector; and

performing singular value decomposition on the estimated covariance matrix.

9. A positioning system comprising:

a server that receives a plurality of cross-correlation functions that are based on a plurality of positioning signals that are broadcast from a terrestrial transmitter network to a receiver;

wherein:

for each positioning signal of the plurality of positioning signals, a cross-correlation function of the plurality of cross-correlation functions was generated by cross-correlating one or more signal samples extracted from that positioning signal with a reference sequence corresponding to that positioning signal;

the server determines a vector of cross-correlation samples from each cross-correlation function by selecting a first set of cross-correlation samples on a first side of a peak of the cross-correlation function and a second set of cross-correlation samples on a second side of the peak of the cross-correlation function;

the server identifies, for each of the positioning signals, a time of arrival estimate corresponding to an earliest arriving signal path of one or more signal paths corresponding to that positioning signal using a time of arrival measurement method that uses the vector of cross-correlation samples;

the server estimates a first position of the receiver based on the time of arrival estimate; and

the server identifies the time of arrival estimate corresponding to the earliest arriving signal path by:

generating a vector of sorted singular values; and

using the vector of sorted singular values to separate signal and noise subspaces.

10. A positioning system comprising:

a server that receives a plurality of cross-correlation functions that are based on a plurality of positioning signals that are broadcast from a terrestrial transmitter network to a receiver;

wherein:

for each positioning signal of the plurality of positioning signals, a cross-correlation function of the plurality of cross-correlation functions was generated by cross-correlating one or more signal samples extracted from that positioning signal with a reference sequence corresponding to that positioning signal;

the server determines a vector of cross-correlation samples from each cross-correlation function by selecting a first set of cross-correlation samples on a first side of a peak of the cross-correlation function and a second set of cross-correlation samples on a second side of the peak of the cross-correlation function;

the server identifies, for each of the positioning signals, a time of arrival estimate corresponding to an earliest arriving signal path of one or more signal paths corresponding to that positioning signal using a time of arrival measurement method that uses the vector of cross-correlation samples;

the server estimates a first position of the receiver based on the time of arrival estimate; and

the server identifies the time of arrival estimate corresponding to the earliest arriving signal path by generating a noise subspace matrix.

11. A positioning system comprising:

a server that receives a plurality of cross-correlation functions that are based on a plurality of positioning signals that are broadcast from a terrestrial transmitter network to a receiver;

wherein:

for each positioning signal of the plurality of positioning signals, a cross-correlation function of the plurality of cross-correlation functions was generated by cross-correlating one or more signal samples extracted from that positioning signal with a reference sequence corresponding to that positioning signal;

the server determines a vector of cross-correlation samples from each cross-correlation function by selecting a first set of cross-correlation samples on a first side of a peak of the cross-correlation function and a second set of cross-correlation samples on a second side of the peak of the cross-correlation function;

the server identifies, for each of the positioning signals, a time of arrival estimate corresponding to an earliest arriving signal path of one or more signal paths corresponding to that positioning signal using a time of arrival measurement method that uses the vector of cross-correlation samples;

the server estimates a first position of the receiver based on the time of arrival estimate; and

the server determines the first position of the remote receiver based on a non-linear objective function and a best estimate of the first position as a set of position parameters that minimize the objective function.

12. A positioning system comprising:

a server that receives a plurality of cross-correlation functions that are based on a plurality of positioning signals that are broadcast from a terrestrial transmitter network to a receiver;

wherein:

for each positioning signal of the plurality of positioning signals, a cross-correlation function of the plurality of cross-correlation functions was generated by cross-correlating one or more signal samples extracted from that positioning signal with a reference sequence corresponding to that positioning signal;

the server determines a vector of cross-correlation samples from each cross-correlation function by selecting a first set of cross-correlation samples on a first side of a peak of the cross-correlation function and a second set of cross-correlation samples on a second side of the peak of the cross-correlation function;

the server identifies, for each of the positioning signals, a time of arrival estimate corresponding to an earliest arriving signal path of one or more signal paths corresponding to that positioning signal using a time of arrival measurement method that uses the vector of cross-correlation samples;

the server estimates a first position of the receiver based on the time of arrival estimate; and

the server determines the first position of the receiver based on a solution to a set of linearized equations using a least squares method.

13. A positioning system comprising:

a server that receives a plurality of cross-correlation functions that are based on a plurality of positioning signals that are broadcast from a terrestrial transmitter network to a receiver;

wherein:

for each positioning signal of the plurality of positioning signals, a cross-correlation function of the plurality of cross-correlation functions was generated by cross-correlating one or more signal samples extracted from that positioning signal with a reference sequence corresponding to that positioning signal;

the server determines a vector of cross-correlation samples from each cross-correlation function by selecting a first set of cross-correlation samples on a first side of a peak of the cross-correlation function and a second set of cross-correlation samples on a second side of the peak of the cross-correlation function;

the server identifies, for each of the positioning signals, a time of arrival estimate corresponding to an earliest arriving signal path of one or more signal paths corresponding to that positioning signal using a time of arrival measurement method that uses the vector of cross-correlation samples;

the server estimates a first position of the receiver based on the time of arrival estimate; and

the time of arrival measurement method is based on at least one of a signal space separation method, a noise space separation method, a singular value decomposition method, or a covariance estimation method.

14. A positioning system comprising:

a server that receives a plurality of cross-correlation functions that are based on a plurality of positioning signals that are broadcast from a terrestrial transmitter network to a receiver;

wherein:

for each positioning signal of the plurality of positioning signals, a cross-correlation function of the plurality of cross-correlation functions was generated by cross-correlating one or more signal samples extracted from that positioning signal with a reference sequence corresponding to that positioning signal;

the server determines a vector of cross-correlation samples from each cross-correlation function by selecting a first set of cross-correlation samples on a first side of a peak of the cross-correlation function and a second set of cross-correlation samples on a second side of the peak of the cross-correlation function;

the server identifies, for each of the positioning signals, a time of arrival estimate corresponding to an earliest arriving signal path of one or more signal paths corresponding to that positioning signal using a time of arrival measurement method that uses the vector of cross-correlation samples;

the server estimates a first position of the receiver based on the time of arrival estimate; and

the server identifies the time of arrival estimate corresponding to the earliest arriving signal path by:

generating a reference vector from a correlation function determined by a calculated function or a measurement in a channel environment that has low noise and separable or no multipath components;

improving a signal-to-noise ratio in the vector of cross-correlation samples by coherently averaging across at least one of a plurality of pseudorandom code frames and a plurality of bits;

calculating a Fourier Transform of the vector of cross-correlation samples;

generating a frequency domain estimate of a channel using the Fourier Transform of the vector of cross-correlation samples and a Fourier Transform of the reference vector;

generating a reduced channel estimate vector from the frequency domain estimate of the channel;

defining an estimated covariance matrix of the reduced channel estimate vector;

performing singular value decomposition on the estimated covariance matrix;

generating a vector of sorted singular values;

using the vector of sorted singular values to separate signal and noise subspaces;

generating a noise subspace matrix; and

using the noise subspace matrix to identify the time of arrival estimate corresponding to the earliest arriving signal path.

15. The positioning system of claim 1 , wherein:

the first side of the peak of the cross-correlation function is left of the peak of the cross-correlation function; and

the second side of the peak of the cross-correlation function is right of the peak of the cross-correlation function.

Assignments (2)
SECURITY INTEREST Recorded Apr 1, 2025
From: NEXTNAV INC.; NEXTNAV HOLDINGS, LLC; NEXTNAV INTERMEDIATE HOLDCO, LLC; PROGENY LMS, LLC; COMMLABS, INC.
To: GLAS TRUST COMPANY LLC
Reel/Frame 070691/0909 →
ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded May 26, 2023
From: RAGHUPATHY, ARUN; PATTABIRAMAN, GANESH; MEIYAPPAN, SUBRAMANIAN S; SANKAR, HARI
To: NEXTNAV, LLC
Reel/Frame 063778/0506 →
Continuity (10)
Continuation 17446583 · Aug 31, 2021
Continuation 16784080 · Feb 6, 2020
Continuation 15661073 · Jul 27, 2017
Continuation 14721936 · May 26, 2015
Continuation 14138412 · Dec 23, 2013
Continuation 13412487 · Mar 5, 2012
Continuation 12557479 · Sep 10, 2009
Provisional Application 61163020 · Mar 24, 2009
Provisional Application 61095856 · Sep 10, 2008
Related Publication 20230308130A1 · Sep 28, 2023
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