U.S. patent application number 15/080294 was filed with the patent office on 2017-09-28 for method, apparatus, computer program, chip set, or data structure for correlating a digital signal and a correlation code.
The applicant listed for this patent is Focal Point Positioning Ltd.. Invention is credited to Nicolas Couronneau, Robert Mark Crockett, Ramsey Faragher.
Application Number | 20170279486 15/080294 |
Document ID | / |
Family ID | 59898205 |
Filed Date | 2017-09-28 |
United States Patent
Application |
20170279486 |
Kind Code |
A1 |
Faragher; Ramsey ; et
al. |
September 28, 2017 |
METHOD, APPARATUS, COMPUTER PROGRAM, CHIP SET, OR DATA STRUCTURE
FOR CORRELATING A DIGITAL SIGNAL AND A CORRELATION CODE
Abstract
A method, apparatus, computer program, data structure, signal
relating to: causing correlation of a digital signal provided by a
receiver with a motion-compensated correlation code, wherein the
motion-compensated correlation code is a correlation code that has
been compensated before correlation using one or more phasors
dependent upon an assumed or measured movement of the receiver.
Inventors: |
Faragher; Ramsey;
(Cambridge, GB) ; Couronneau; Nicolas; (Bristol,
GB) ; Crockett; Robert Mark; (Hertfordshire,
GB) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Focal Point Positioning Ltd. |
Cambridge |
|
GB |
|
|
Family ID: |
59898205 |
Appl. No.: |
15/080294 |
Filed: |
March 24, 2016 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
H03M 1/74 20130101; H04B
1/7073 20130101; H04B 1/711 20130101; H04B 1/709 20130101 |
International
Class: |
H04B 1/709 20060101
H04B001/709; H04B 1/711 20060101 H04B001/711 |
Claims
1.-8. (canceled)
9. A method comprising: causing correlation of a digital signal
provided by a receiver with a motion-compensated correlation code,
wherein the motion-compensated correlation code is a correlation
code that has been compensated before correlation using one or more
phasors dependent upon an assumed or measured movement of the
receiver; storing the motion-compensated correlation sequence for
future access in a local or remote addressable memory, indexed
based on the first movement; and causing or performing generation
of the motion-compensated correlation sequence dependent upon an
assumed or measured movement of a receiver during a time when the
digital signal is received by a receiver before storage of the
motion-compensated correlation sequence.
10. A method comprising: causing correlation of a digital signal
provided by a receiver with a motion-compensated correlation code,
wherein the motion-compensated correlation code is a correlation
code that has been compensated before correlation using one or more
phasors dependent upon an assumed or measured movement of the
receiver; at a first time, causing or performing storage of a
motion-compensated correlation sequence in an addressable memory;
at a later time, causing or performing addressing of the memory to
obtain the stored motion-compensated correlation sequence; causing
or performing motion-compensated correlation of a correlation code
and a digital signal using the obtained motion-compensated
correlation sequence; and causing or performing generation of the
motion-compensated correlation sequence dependent upon an assumed
or measured movement of a receiver during a time when the digital
signal is received by a receiver before storage of the
motion-compensated correlation sequence.
11.-13. (canceled)
14. A method comprising: causing correlation of a digital signal
provided by a receiver with a motion-compensated correlation code,
wherein the motion-compensated correlation code is a correlation
code that has been compensated before correlation using one or more
phasors dependent upon an assumed or measured movement of the
receiver; causing or performing correlation of a first digital
signal, received by a receiver during a first time, with a first
motion-compensated correlation sequence dependent upon a first
assumed or measured movement of a receiver during a first time;
causing or performing correlation of a second digital signal,
received by the receiver during a second time, non-overlapping with
the first time, with the first motion-compensated correlation
sequence; and causing or performing use of a second assumed or
measured movement of a receiver during the second time to cause
correlation of the second digital signal, received by the receiver
during the second time, with the first motion-compensated
correlation sequence.
15. A method comprising: causing correlation of a digital signal
provided by a receiver with a motion-compensated correlation code,
wherein the motion-compensated correlation code is a correlation
code that has been compensated before correlation using one or more
phasors dependent upon an assumed or measured movement of the
receiver; causing or performing correlation of a first digital
signal, received by a receiver during a first time, with a first
motion-compensated correlation sequence dependent upon a first
assumed or measured movement of a receiver during a first time; and
causing or performing correlation of a second digital signal,
received by the receiver during a second time, non-overlapping with
the first time, with a second motion-compensated correlation
sequence different to the first motion-compensated correlation
sequence and dependent upon an assumed or measured movement of the
receiver during the second time.
16.-17. (canceled)
18. A method comprising: causing correlation of a digital signal
provided by a receiver with a motion-compensated correlation code,
wherein the motion-compensated correlation code is a correlation
code that has been compensated before correlation using one or more
phasors dependent upon an assumed or measured movement of the
receiver; causing or performing correlation of a first digital
signal, received by a receiver during a first time, with a first
motion-compensated correlation sequence dependent upon a first
assumed or measured movement of a receiver during a first time;
causing or performing correlation of a second digital signal,
received by the receiver during a second time, non-overlapping with
the first time, with the first motion-compensated correlation
sequence; and causing or performing a comparison test comparing the
first movement and the second movement, wherein when it is
determined that the first movement and the second movement pass a
comparison test correlating the second digital signal with the
first motion-compensation sequence.
19.-22. (canceled)
23. A method comprising: causing correlation of a digital signal
provided by a receiver with a motion-compensated correlation code,
wherein the motion-compensated correlation code is a correlation
code that has been compensated before correlation using one or more
phasors dependent upon an assumed or measured movement of the
receiver, wherein the digital signal is a long digital signal, the
correlation code is a long correlation code, the motion-compensated
correlation code is a long motion-compensated correlation code and
wherein the long digital signal, the long correlation code and the
long motion-compensated correlation code have the same length and
the long correlation code is a concatenation of multiple ones of a
same first correlation code.
24.-27. (canceled)
28. An apparatus comprising: at least one processor; and at least
one memory including computer program code, the at least one memory
and the computer program code configured to, with the at least one
processor, cause the apparatus at least to perform the method
according to any one of claims 9, 10 14, 15 and 23.
29. (canceled)
30. An apparatus as claimed in claim 28, configured as a chip set,
application-specific integrated circuit or receiver.
31-40. (canceled)
Description
TECHNOLOGICAL FIELD
[0001] Embodiments of the present invention relate to a method,
apparatus, computer program, chip set, or data structure for
correlating a digital signal and a correlation code.
BACKGROUND
[0002] The correlation of a digital signal and a correlation code
is dependent upon the quality of the digital signal used. The
digital signal is typically received by a receiver via a
communications channel. As is well known, a communication channel
may introduce noise to a signal received through the communications
channel. As the noise increases the signal to noise ratio decreases
and it becomes more difficult to perform accurate correlation of
the received digital signal and a correlation code.
[0003] It would be desirable to provide an improved approach for
correlating a received digital signal and a correlation code.
BRIEF SUMMARY
[0004] According to various, but not necessarily all, embodiments
of the invention there are provided examples as claimed in the
appended claims.
BRIEF DESCRIPTION
[0005] For a better understanding of various examples that are
useful for understanding the brief description, reference will now
be made by way of example only to the accompanying drawings in
which:
[0006] FIG. 1 illustrates an example of a system for correlating a
digital signal and a correlation code;
[0007] FIG. 2 illustrates an example of the system for correlating
a digital signal and a correlation code that does not use
motion-compensated correlation based on a motion-compensated
correlation sequence;
[0008] FIG. 3 illustrates an example of a correlation system
suitable for use in a processing system of a system for
motion-compensated correlation of a digital signal and a
correlation code;
[0009] FIG. 4 illustrates an example of a motion-compensated
correlator;
[0010] FIG. 5 schematically illustrates an example of a method
performed by a motion-compensated phasor generator;
[0011] FIGS. 6A and 6B illustrate an example of a
motion-compensated correlation sequence storage system during a
write operation (FIG. 6A) and during a read operation (FIG. 6B) and
FIG. 6C illustrates a method performed by the motion-compensated
correlation sequence storage system;
[0012] FIG. 7A illustrates an example of a motion-compensated
correlation sequence (MCCS) re-use system;
[0013] FIG. 7B illustrates an example of a method;
[0014] FIG. 8 illustrates an example of a motion-compensated
correlator;
[0015] FIG. 9 illustrates an example of a long correlation code
generator;
[0016] FIG. 10 illustrates an example of a long digital signal
buffer;
[0017] FIG. 11 illustrates an example of a motion-compensated
correlator;
[0018] FIG. 12 illustrates an example of a motion-compensated
correlator;
[0019] FIG. 13 illustrates an example of a motion-compensated
correlation code generator;
[0020] FIGS. 14A and 14B illustrate different examples of a
receiver-motion module for producing a movement signal;
[0021] FIG. 15 illustrates an example of a record medium;
[0022] FIG. 16A illustrates an example of a controller;
[0023] FIG. 16B illustrates an example of a computer program;
[0024] FIG. 17 illustrates an example of a chip-set;
[0025] FIGS. 18A, 18B, 18C illustrates examples of a system,
comprising a remote device and a remote processing system, that
have different distributions of functions between the remote device
and the remote processing system;
DETAILED DESCRIPTION
[0026] One form of noise that can arise in a communications channel
arises from multi-path effects. A signal received at a receiver may
have arrived at the receiver via multiple different paths each of
which has different characteristics such as path length. The
multi-path signals received are therefore generally received at
different times and possibly with different attenuation
characteristics and phase. Each multi-path signal may therefore act
as noise in relation to each of the other multi-path signals. This
can be a significant problem in circumstances where multi-path
conditions are prevalent.
[0027] Even where multi-path conditions are not prevalent, noise
can arise from other sources such as for example clock drift at a
receiver, movement of the receiver causing Doppler shifts in
frequency, and timing misalignment between a transmitter and the
receiver, electromagnetic interference, and intentional
jamming.
[0028] The signal may also be attenuated by the environment, for
example obstructions in the propagation channel, degrading the
signal to noise ratio of the received signal.
[0029] It would be desirable to improve correlation of a digital
signal and a correlation code.
[0030] The inventors have realized that by performing a
motion-compensated correlation it is possible to significantly
improve the correlation of the received digital signal and a
correlation code. By, for example, performing motion-compensated
correlation along the direction of travel of a receiver, the
correlation between received digital signals and the correlation
code is significantly biased towards the correlation of a digital
signal received along the direction of travel of the receiver and
the correlation code. Therefore by compensating for movement of the
receiver in a particular direction the gain of signals received
from that particular direction is enhanced while the gain of
signals received not from that direction (i.e., reflected signals
arriving at the receiver from directions that are not toward the
transmitter) is decreased. Therefore by performing
motion-compensated correlation specifically along the line of sight
vector from the receiver to the transmitter the signal to noise
ratio of the received signals aligned with the direction of
motion-compensation is increased, and the accuracy of the
measurement of signal arrival time is improved. It is also
possible, by performing the motion-compensated correlation to
reduce or remove the effects of Doppler shift, including
compensating for any motion of the transmitter.
[0031] The inventors have created a new type of motion-compensated
correlation sequence (called a supercorrelator) that can be used to
perform motion-compensated correlation. The motion-compensated
correlation sequence may be stored and may be re-used.
[0032] A further advantage of using motion-compensated correlation
is that longer correlation periods can be used to improve
correlation gain. The use of longer correlation periods
significantly improves the correlation gain and so makes the
receiver significantly more sensitive.
[0033] A further advantage of motion-compensated correlation is the
ability to perform long coherent integrations while the receiver is
moving.
[0034] The following definitions will be used in this document:
[0035] A correlation code is a certain sequence of symbols that is
known to have specific autocorrelation properties.
[0036] A correlation sequence is a sequence of symbols that is
correlated with a digital signal during correlation. A symbol
represents an integer number of one or more bits. The correlation
sequence may be represented in the form of a sequence of real
numbers, or a sequence of complex numbers.
[0037] Motion-compensated correlation is correlation that uses a
motion-compensated correlation sequence.
[0038] A motion-compensated correlation sequence is a correlation
sequence that has been phase-compensated in dependence upon
movement (assumed or measured) of a receiver.
[0039] A motion-compensated correlation sequence is used in this
document to refer to either a motion-compensated phasor sequence or
a motion-compensated correlation code. In practice, the motion
compensated correlation sequence is constructed using a
motion-compensated phasor sequence.
[0040] A motion-compensated phasor sequence is a sequence of
phasors that have been phase-compensated in dependence upon
movement (assumed or measured) of a receiver.
[0041] A motion-compensated correlation code is a correlation code
that has been compensated by a sequence of phasors that have been
phase-compensated in dependence upon movement (assumed or measured)
of a receiver. A motion-compensated correlation code may, for
example, be formed by the combination of a correlation code and a
motion-compensated phasor sequence.
[0042] The phase compensation may optionally also take into account
any errors caused by instability of the local oscillator during the
time period associated with the correlation sequence. The phase
compensation may optionally also take into account the motion of
the transmitters, for example in the case of satellite-based
transmitters.
[0043] Motion compensation can be provided by direct measurements,
modelling/predicting/estimating behaviour, or through indirect
methods such as an optimisation process over a range of possible
velocities.
[0044] Coherent integration is the summation of sequences of
symbols in such a manner as to preserve the phase relationship of
the input sequence throughout, such that sections of the sequence
can be added together constructively in both amplitude and
phase.
[0045] FIG. 1 illustrates an example of a system 100 for
correlating a digital signal 222 and a correlation code 341. The
system 100 comprises a receiver system (receiver) 200 and
processing system 250.
[0046] The receiver 200 comprises an antenna or antennas 202 for
receiving signals 201 to produce an analogue signal 212. In this
example, but not necessarily all examples, the analogue signal 212
is amplified by a pre-amplifier 204, however this stage is
optional. Next the analogue signal 212, in this example but not
necessarily all examples, is down-converted by down-converter 210
to a lower frequency analogue signal. However, this stage is also
optional. The analogue signal 212 is then converted from analogue
form to digital form by analogue to digital converter 220 to
produce a digital signal 222. This is the received digital signal.
The received digital signal 222 is provided to processing system
250.
[0047] The processing system 250 comprises a correlation system 252
and also, in this example but not necessarily all examples,
comprises a control system 254. The correlation system 252
correlates the received digital signal 222 with a correlation code
341. The control system 254, if present, may be used to control the
correlation system 252.
[0048] FIG. 2 illustrates an example of the processing system 250
for correlating a digital signal 222 and a correlation code 341.
This example does not use motion-compensated correlation based on a
motion-compensated correlation sequence and is intended to
demonstrate the difference between motion-compensated correlation
using a motion-compensated correlation sequence and correlation
that is not motion-compensated because it does not use a
motion-compensated correlation sequence.
[0049] Initially a phase-adjustment module 260 adjusts the phase of
the received digital signal 222. This phase adjustment produces an
in-phase digital signal (I) and a quadrature phase digital signal
(Q). These complex digital signals are provided to a correlation
module 262 which correlates the phase-adjusted digital signals with
a correlation code 341. The results of the correlation module 262
are output from the correlation system 252 to the control system
254. The control system 254 uses the results of the correlation to
provide a closed loop phase adjustment signal 271 to the phase
adjustment module 260 and to provide a closed loop code adjustment
signal 273 to a code generation module 272 used to produce the
correlation code 341.
[0050] Code-phase alignment may be achieved by adjusting the
correlation code 341 using the closed loop code adjustment signal
273 which may, for example, form part of a delay locked loop.
Carrier-phase alignment may be achieved by adjusting the phase of
the received digital signal via the closed loop phase adjustment
signal 271 which may be part of a phase locked loop.
[0051] While signal to noise levels are sufficiently high and a
lock of the closed control loops is maintained, the closed control
loops automatically compensate for Doppler shift arising from
relative movement between the antenna 202 and a source of the
received digital signals 222. However, "lock" may be absent during
an acquisition phase, or lost due to temporary signal loss or due
to low signal to noise levels, for example.
[0052] The inventors have developed a new processing system 250,
illustrated in FIG. 3 that is suitable for use in a system as
illustrated in FIG. 1.
[0053] The new processing system provides improved correlation of
the received digital signal 222 and a correlation code 341 by using
motion-compensated correlation based upon a motion-compensated
correlation sequence.
[0054] It should be appreciated that the processing system 250 of
FIG. 3, in contrast to the processing system 250 of FIG. 2, uses
open loop control 350 to produce a motion-compensated correlation
code 322 used in a correlator 310 to correlate with the received
digital signal 222.
[0055] The processing system 250 illustrated in FIG. 3 may, for
example, be a permanent replacement to the processing system 250
illustrated in FIG. 2 or may be used on a temporary basis as an
alternative to the processing system 250 illustrated in FIG. 2.
[0056] The open loop control 350 of the processing system 250 in
FIG. 3 is based upon an assumed or measured movement 361 of the
receiver 200 and is not based upon feedback (closing the loop) from
the results of any correlation.
[0057] The processing system 250 for motion-compensated correlation
of a received digital signal 222 and a correlation code 341 may be
used for a number of different applications. It may, for example,
be used for time and/or frequency synchronization and/or channel
estimation and/or channel separation.
[0058] The correlation code 341 used may be application-specific.
For example, where the processing system 250 is part of a direct
sequence spread spectrum communication system such as a CDMA mobile
telecommunications receiver, the correlation code (chipping code)
is a pseudo-random noise code. For example, if the receiver 200 is
a receiver for a global navigation satellite system (GNSS) the
correlation code is a pseudo-random noise code, for example, a Gold
code. For example, if the receiver 200 is a receiver for a
communication system, the correlation code may be a training or
pilot symbol sequence such as those used in orthogonal frequency
division multiplexing (OFDM), long term evolution (LTE) and digital
video broadcasting (DVB) standards.
[0059] In some examples, the correlation code 341 may be dependent
upon an identity of a transmitter of the digital signal 222
separating the communication channel into different code divided
channels via code division multiple access.
[0060] In some circumstances the digital signal 222 is modulated
with data, for example navigation bytes in a GNSS system. However,
in other examples the digital signal 222 is not modulated with data
such as, for example, when it is a training or pilot sequence.
[0061] FIG. 3 illustrates an example of a correlation system 252
suitable for use in a processing system 250 of a system 100 for
motion-compensated correlation of a digital signal 222 and a
correlation code 341. The motion-compensated correlation system 252
provides a motion-compensated correlator 300 comprising a
correlator 310 and a motion-compensated correlation sequence
generator 320.
[0062] A receiver-motion module 360 which may or may not form part
of the motion-compensated correlator 300 provides a movement signal
361, indicative of movement of the receiver 200, to the
motion-compensated correlation sequence generator 320.
[0063] The motion-compensated correlation sequence generator 320
comprises a motion-compensated phasor generator 330 which receives
the movement signal 361 and produces a motion-compensated phasor
sequence 332.
[0064] The motion-compensated correlation sequence generator 320
additionally comprises a correlation code generator 340 which
produces a correlation code 341.
[0065] The motion-compensated correlation sequence generator 320
additionally comprises a combiner (mixer) 336 which combines the
motion-compensated phasor sequence 332 and the correlation code 341
to produce a motion-compensated correlation code 322.
[0066] The motion-compensated correlation code 322 is provided by
the motion-compensated correlation sequence generator 320 to the
correlator 310 which correlates the motion-compensated correlation
code 322 with the received digital signal 222 to produce the
correlation output 312.
[0067] The motion-compensated correlator 300 comprises an open loop
350 from the receiver-motion module 360 through the
motion-compensated correlation sequence generator 320 to the
correlator 310. There is no feedback resulting from the correlation
output 312 to the motion-compensated correlation sequence generator
320 and it is therefore an open loop system.
[0068] It will therefore be appreciated that the correlator 310
performs the following method: correlating a digital signal 222
provided by a receiver 200 with a motion-compensated correlation
code 322, wherein the motion-compensated correlation code 322 is a
correlation code 341 that has been compensated before correlation
using one or more phasors dependent upon an assumed or measured
movement of the receiver 200. The correlation code 341 is
compensated for movement of the receiver 200 before correlation by
combining the correlation code 341 with the motion-compensated
phasor sequence 332. The motion-compensated phasor sequence 332 is
dependent upon an assumed or measured movement of the receiver 200
during the time that the receiver 200 was receiving the digital
signal 222.
[0069] It will therefore be appreciated that the motion-compensated
correlation sequence generator 320 causes correlation of a digital
signal 222 provided by a receiver 200 with a motion-compensated
correlation code 322, wherein the motion-compensated correlation
code 322 is a correlation code 341 that has been compensated before
correlation using one or more phasors dependent upon an assumed or
measured movement of the receiver.
[0070] The use of an open loop 350 for controlling the
motion-compensated correlation has advantages, for example, it is
fast because the control is not based upon the result of a
preceding correlation. The use of the open loop control to perform
motion-compensated correlation enables the correlator 310 to
operate in situations where there is a low signal to noise
ratio.
[0071] Although in FIG. 3 receiver-motion module 360, the
motion-compensated correlation sequence generator 320 and the
correlator 310 are illustrated as part of the motion-compensated
correlator 300, in other examples only the correlator 310 may be
part of the correlation system with the motion-compensated
correlation code 322 being provided to the motion-compensated
correlator 300 by a motion-compensated correlation system generator
320 that is not part of motion-compensated correlator 300. In other
examples, only the correlator 310 and the motion-compensated
correlation sequence generator 320 may be part of the
motion-compensated correlator 300 with the receiver-motion module
360 providing the movement signal 361 to the motion-compensated
correlator 300.
[0072] Although in this example, the motion-compensated correlation
sequence generator 320 is illustrated as a single entity comprising
the motion-compensated phasor generator 330, the correlation code
generator 340 and the combiner (mixer) 336, it should be understood
that these may be components distinct from the motion-compensated
correlation sequence generator 320 or combined as components other
than those illustrated within the motion-compensated correlation
sequence generator 320.
[0073] It will be appreciated by those skilled in the art that the
motion-compensated correlator 300 illustrated in FIG. 3 is a
significant and remarkable departure from what has been done before
in that it adopts a counter-intuitive approach by modifying the
correlation code 341 before correlation even though those
correlation codes 341 may have been carefully designed for
excellent cross-correlation results.
[0074] The motion-compensated correlator 300 illustrated in FIG. 3
may be permanently functional or may be temporarily functional. For
example it may be functional during a satellite acquisition phase
in a GNSS receiver, and/or when there is signal loss and/or when
there are low signal to noise levels for example. The
motion-compensated correlator 300 may preserve the phase coherence
of the digital signal 222, thus allowing longer coherent
integration times.
[0075] FIG. 4 illustrates an example of the motion-compensated
correlator 300 illustrated in FIG. 3. This figure illustrates
potential sub-components of the correlator 310, and the
motion-compensated correlation sequence generator 320.
[0076] In this example the motion-compensated phasor generator 330
produces a motion-compensated phasor sequence 332 that comprises an
in-phase component I and a quadrature phase component Q. Both of
the in-phase component I and the quadrature phase component Q are
mixed 313 with the same correlation code 341 produced by the code
generator 340 to produce as the motion-compensated correlation code
322 an in-phase component I and a quadrature phase component Q. The
correlator 320 mixes 312 the in-phase component of the
motion-compensated correlation code 322 with the received digital
signal 222 and performs an integration and dump 314 on the result
to produce an in-phase correlation result 312. The correlator 310
mixes 312 the quadrature phase motion-compensated correlation code
322 with the same received digital signal 222 and performs an
integration and dump 314 on the result to produce the quadrature
phase correlation result 312.
[0077] It is important to note that the production of in-phase and
quadrature phase signals occurs within the motion-compensated
correlation code generator 320 when the motion-compensated phasor
sequence 332 is produced. The combination (mixing) of the
motion-compensated phasor sequence 332 with the correlation code
341 produces the motion-compensated correlation code 322 which is
correlated with the received digital signal 222 to produce the
correlation output 312.
[0078] The integration performed within the correlator 310 produces
a positive gain for those received digital signals 222 correlated
with the movement signal 361 used to produce the motion-compensated
phasor sequence 332. Those received digital signals 222 that are
not correlated with the movement signal 361 used to produce the
motion-compensated phasor sequence 332 have a poor correlation with
the motion-compensated correlation code 322. There is therefore a
differential gain applied by the motion-compensated correlator 300
to received digital signals 222 that are received in a direction
aligned with the movement of the movement signal 361 used to
produce the motion-compensated phase sequences 332 (increased gain)
compared to those received digital signals 222 that are received in
a direction not aligned with the movement of the movement signal
361. It will therefore be appreciated that the motion-compensated
correlator 300 significantly improves correlation performance in
multi-path environments.
[0079] FIG. 5 schematically illustrates an example of a method 400
performed by the motion-compensated phasor generator 330. At block
402, a velocity is determined. This velocity may be determined by
the motion-compensated phasor generator 330 from the movement
signal 361 provided by the receiver-motion module 360 or it may be
provided by the receiver-motion module 360. The velocity is the
velocity of the receiver 200 when receiving the digital signal 222
that is to be correlated. The velocity may be aligned along a
particular direction for example a line of sight to a transmitter
or a direction in which a strong signal is expected. At block 404 a
Doppler frequency shift is calculated using the velocity v to
determine a Doppler frequency shift. At block 406, the Doppler
frequency shift is integrated over time to determine a phase
correction value .DELTA..phi.(t). A phasor X(t) is determined at
block 408 according to the formulation exp(i.DELTA..phi.(t)).
[0080] By performing the method 400 for each time period tn,
corresponding to the sampling times of the digital signal 222
provided by the receiver 200, it is possible to generate a sequence
of phasors {X(tn)}. Each phasor has the same duration as a sample
of the digital signal 222 and there is the same number of phasors
X(tn) in a motion-compensated phasor sequence 332 as there are
samples of the digital signal 222 and samples of a correlation code
341. The correlation code 341 may be a series of sequential
correlation code words, concatenated to match the duration of the
digital signal 222 and the motion-compensated phasor sequence 332.
Each phasor X(t) represents a phase compensation based upon the
motion of the receiver at time t that is applied to a corresponding
sample of the correlation code 341. In this way, the correlation
code 341 becomes motion-compensated when the correlation code 341
is combined with the motion-compensated phasor sequence 332.
[0081] A phasor X(t) is a transformation in phase space and it is
complex valued, producing the in-phase component of the
motion-compensated phasor sequence 332 via its real value and the
quadrature phase component of the motion-compensated phasor
sequence 332 via its imaginary value. The phasor X(t) is a cyclic
phasor and may be expressed in a number of different ways, for
example as a clockwise rotation from the real axis or as an
anti-clockwise rotation from the imaginary axis. Although in this
example, the phasor X(t) has a constant amplitude within the
motion-compensated phasor sequence 332, in other examples, the
phasor may represent both a rotation and a change in amplitude
instead of just a rotation. However, in other examples, such as the
one illustrated, the phasor is for rotation only.
[0082] FIGS. 6A and 6B illustrate an example of a
motion-compensated correlation sequence storage system 420 during a
write operation (FIG. 6A) and during a read operation (FIG. 6B) and
FIG. 6C illustrates a method 470 performed by the
motion-compensated correlation sequence storage system 420. The
motion-compensated correlation sequence storage system 420
comprises a storage control module 426 which is configured to write
to and read from an addressable memory 430. The addressable memory
430 may, in some examples, be part of the motion-compensated
correlation sequence storage system 420 and in other examples it
may be separate from the motion-compensated correlation sequence
storage system 420.
[0083] In FIG. 6A, the storage control system 426 receives a
movement signal 361 and a motion-compensated correlation sequence
422. The storage control system 426 stores the motion-compensated
correlation sequence 422 in the addressable memory 430 in a data
structure 432 that is indexed by the movement signal 361. That is,
an index dependent upon the movement signal 361 may be used to
access and retrieve the motion-compensated correlation sequence 422
from the addressable memory 430.
[0084] It will be appreciated that FIG. 6A illustrates a write
operation where the storage control system 426 writes the
motion-compensated correlation sequence 422 to a memory so that it
can be accessed at any later time via an index dependent upon the
motion information 361 that corresponds to the motion index
associated with the stored motion-compensated correlation sequence
422.
[0085] FIG. 6B illustrates an example of a read access performed by
the storage control system 426. The storage control system 426 in
this example receives movement signal 361 and uses this to produce
an index 436 that is sent to the addressable memory 430. If the
addressable memory 430 stores a data structure 422 that is
associated with the received index then it returns that
motion-compensated correlation sequence 422 via a reply signal 438
to the storage control system 426. The storage control system 426
provides the returned motion-compensated correlation sequence 422
to the motion-compensated correlation sequence generator 320 which
uses the returned motion-compensated correlation sequence to
provide a motion-compensated correlation code 322.
[0086] It should be appreciated that in some instances the
motion-compensated correlation sequence may be a motion-compensated
phasor sequence 332.
[0087] It should be appreciated that in some examples the
motion-compensated correlation sequence may be a motion-compensated
correlation code 322.
[0088] FIG. 6C illustrates an example of a method 470 in which at a
first time, at block 472, the method 470 stores a
motion-compensated correlation sequence in an addressable memory
430. Then, at a later time, at block 474, the method 470 causes
addressing of the memory to obtain the stored motion-compensated
correlation sequence; and then at block 476, the method 470, causes
motion-compensated correlation of a correlation code and a digital
signal using the obtained motion-compensated correlation sequence
422.
[0089] The motion-compensated correlation sequence 422 is a
correlation sequence that has been phase-compensated in dependence
upon movement (assumed or measured) of the receiver 200. The
motion-compensated correlation sequence 422 may be a
motion-compensated phasor sequence 332 comprising a sequence of
phasors that have been phased-compensated in dependence upon
movement (assumed or measured) of the receiver 200. The
motion-compensated correlation sequence 422 may be a
motion-compensated correlation code 322 being a correlation code
341 that has been compensated by a sequence of phasors that have
been phased-compensated in dependence upon movement (assumed or
measured) of the receiver 200.
[0090] In this example, the motion-compensated correlation sequence
422 is stored within a data structure 432 in the memory 430. In
some examples the data structure 432 may be generated by the
motion-compensated correlation sequence generator 320 and provided
to the motion-compensated correlation sequence storage system 420
for storage in accordance with the example illustrated in FIG. 6A.
However, it is possible for the motion-compensated correlation
storage system 420 to obtain the data structure 432 via a different
mechanism. For example, the data structure 432 may be provided
separately or pre-stored within the storage control system 426 or
memory 430.
[0091] The data structure 432 is an addressable data structure
addressable for read access using a motion-dependent index as
described in relation to FIG. 6B. Where the data structure 432
comprises a motion-compensated correlation sequence 422 that is a
motion-compensated correlation code 322, then the
motion-compensated correlation code 322 may be based upon a
reference or standard correlation code, for example, produced by a
defined process, e.g., a Gold code or Barker code with defined
cross-correlation characteristics. The reference or standard
correlation code has been combined with a motion-compensated phasor
sequence 332 to produce the motion-compensated correlation code
322.
[0092] FIG. 7A illustrates an example of a motion-compensated
correlation sequence (MCCS) re-use system 450.
[0093] The MCCS re-use system 450 receives as an input the movement
signal 361 which is used to determine whether a current in use
motion-compensated correlation sequence 422 should be re-used for
motion-compensated correlation of a received digital signal 222
(re-use current MCCS block 460), and/or whether a previously
used/stored motion-compensated correlation sequence 422 should be
re-used/used for motion-compensated correlation of a received
digital signal 222 (MCCS access block 462) and/or whether a new
motion-compensated correlation sequence 422 should be generated for
motion-compensated correlation of a received digital signal 222
(MCCS generation block 464) and/or whether motion-compensated
correlation of a received digital signal 222 should be suspended
(MCCS suspend block 466).
[0094] The MCCS re-use system 450 determines if and what
motion-correlation should be performed on a received digital signal
222 using the movement signal 361 which indicates movement of the
receiver 200 while it was receiving the digital signal 222 that is
to be correlated.
[0095] While in this example the MCCS re-use system 450 comprises a
re-use current MCCS block 460, a MCCS access block 462, a MCCS
generation block 464 and a MCCS suspend block 466, in some
examples, the MCCS re-use system 450 comprises mores blocks. In
some examples, the MCCS re-use system 450 comprises only a sub-set
of the blocks 460, 462, 464, 466, which may be any sub-set of one
or more blocks 460, 462, 464, 466.
[0096] The MCCS re-use system 450 processes the movement signal 361
in MCCS re-use control block 452 to perform one or more tests to
determine which of the blocks 460, 462, 464, 466 should be used.
For example the MCCS re-use control block 452 may perform a
receiver-movement analysis test to determine which of the blocks
460, 462, 464, 466 should be used. For example the re-use control
block 452 may perform a receiver-movement comparison test comparing
the movement of the receiver 200 represented by the input movement
signal 361 with a previous movement of the receiver associated with
a motion-compensated correlation sequence 422 to determine which of
the blocks 460, 462, 464, 466 should be used.
[0097] In some but not necessarily all examples, if the input
movement signal 361 is determined to represent an assumed or
measured movement of the receiver 200 that is the same as or
corresponds to the immediately preceding movement of the receiver
200 then it may be determined by the re-use control block 452 that
the trajectory of the receiver 200 is invariant (repeated) and the
currently used motion-compensated correlation sequence 422 may be
re-used via the re-use current MCCS block 460.
[0098] In some but not necessarily all examples, if the input
movement signal 361 is determined to represent an assumed or
measured movement of the receiver 200 that is the same as or
corresponds to an assumed or measured movement of the receiver 200
for which there exists a stored motion-compensated correlation
sequence 422 associated with that receiver movement then it is
determined by the MCCS re-use control block 452 that there is a
receiver trajectory for which there exists a stored
motion-compensated correlation sequence 422 and that stored
motion-compensated correlation sequence 422 is accessed in the
addressable memory 430 and used via the MCCS access block 462. The
accessed stored motion-compensated correlation sequence 422 may be
a previously used and/or previously generated motion-compensated
correlation sequence 422.
[0099] The MCCS re-use control block 452 may determine that it is
not desirable or possible to use a current/previous/stored
motion-compensated correlation sequence 422. For example, the MCCS
re-use control block 452 may determine not to use the re-use
current MCCS block 460 and not to use the MCCS access block
462.
[0100] If the MCCS re-use control block 452 determines that it is
still desirable to use motion-compensated correlation then the MCCS
re-use control block 452 causes generation of a new
motion-compensated correlation sequence 422 via the MCCS generation
block 464. The newly generated motion-compensated correlation
sequence 422 is then used for motion-compensated correlation and
may, in addition, be stored for future access by the
motion-compensated correlation sequence storage system 420 as
previously described.
[0101] If, however, the MCCS re-use control block 452 determines
that conditions are not suitable for motion-compensated
correlation, then motion-compensated correlation is suspended at
the MCCS suspend block 466 and correlation is performed between the
received digital signal 222 and the correlation code 341 without
the use of a motion-compensated phasor sequence 332 determined from
assumed or measured movement of the receiver 200 via open loop
control 350.
[0102] FIG. 7B illustrates a method 480 comprising at block 482,
causing or performing correlation of a first digital signal 222,
received by a receiver 200 during a first time, with a first
motion-compensated correlation sequence 422 dependent upon a first
assumed or measured movement of the receiver 200 during the first
time; and at block 484 causing or performing correlation of a
second digital signal 222, received by a receiver 200 during a
second time, non-overlapping with the first time, with the first
motion-compensated correlation sequence.
[0103] A second assumed or measured movement of the receiver 200
during the second time may be used to access the first
motion-compensated correlation sequence 222 from an addressable
memory 430.
[0104] In another example, the method 480 may at block 486
additionally comprise: causing or performing correlation of a third
digital signal 222, received by the receiver 200 during the third
time, non-overlapping with the first time and the second time, with
the accessed first motion-compensated correlation sequence (block
460 or block 462 in FIG. 7A). The method 480 may comprise causing
or performing use of a third assumed or measured movement of a
receiver 200 during the third time to access the first
motion-compensated correlation sequence from an addressable memory
(block 462 in FIG. 7A).
[0105] In another example, the method 480 may at block 488
comprise: causing or performing correlation of a third digital
signal 222, received by the receiver 200 during a third time,
non-overlapping with the first time and the second time, with a
second motion-compensated correlation sequence 422 different to the
first motion-compensated correlation sequence 422 and dependent
upon an assumed or measured movement of the receiver 200 during the
third time (block 462 or block 464 in FIG. 7A). The method 480 may
comprise causing or performing generation of the second
motion-compensated correlation sequence 422 dependent upon an
assumed or measured movement of a receiver during the third time
(block 464 in FIG. 7A).
[0106] The method 480 may comprise causing or performing a
comparison test comparing the first assumed or measured movement
and the third assumed or measured movement of the receiver 200.
When it is determined that the first movement and the third
movement pass a comparison test, the method 480 may cause or
perform correlating the third digital signal, received at the
receiver during the third time, with the first motion-compensation
sequence. When it is determined that the first movement and the
third movement do not pass a comparison test, the method 480 may
cause or perform correlating the third digital signal, received at
the receiver during the third time, with the second
motion-compensation sequence.
[0107] The method 480 may comprise causing or performing a
comparison test comparing the first assumed or measured movement
and a fourth assumed or measured movement of the receiver during a
fourth time during which a fourth digital signal 222 is received
(not shown in FIG. 7B). When it is determined that the first
movement and the fourth movement do not pass a comparison test, the
method 480 may cause or perform correlating the fourth digital
signal with a motion-compensated correlation sequence dependent
upon the fourth movement or with the correlation code 341. When it
is determined that the first movement and the fourth movement pass
a comparison test, the method 480 may cause or perform correlating
the fourth digital signal with the first motion-compensated
correlation sequence.
[0108] Where the first motion-compensated correlation sequence 422
is a first motion-compensated correlation code 322, that is a
correlation code 341 compensated by a first motion-compensated
phasor signal, the second motion-compensated correlation sequence
422 may be the same correlation code 341 compensated by a second,
different motion-compensated phasor signal.
[0109] Where the first motion-compensated correlation sequence 422
is a first motion-compensated phasor sequence 332, the second
motion-compensated correlation sequence 422 is a second, different
motion-compensated phasor sequence. However, the first
motion-compensated phasor sequence 332 and the second
motion-compensated phasor sequence 332 may be used to compensate
the same correlation code 341 to produce different
motion-compensated correlation codes 322.
[0110] In this way, it may be possible to re-use an existing
motion-compensated correlation sequence 422 for an extended period
of time. In the case of static signal sources, such as terrestrial
radio transmitters, or geostationary satellites, the period of time
may be without bound. For moving transmitters, such as GNSS
satellites, the reusability will decrease over time, as the Doppler
shift of the signal changes relative to the one recorded in the
MCCS. In this instance the sequences may be reusable for perhaps
for as long as 10 or more seconds. Where the correlation code 341
has a length of 1 ms., that is a duration of longer than 10,000
periods of the correlation code 341.
[0111] It will be appreciated that the storage of the
motion-compensated correlation sequence 422 for re-use may
significantly reduce a computational load required to perform
motion-compensated correlation.
[0112] As described in relation to FIG. 7A, the motion-compensated
correlation sequence re-use system 450 may intelligently decide
whether or not to perform motion-compensated correlation and, if it
is to perform motion-compensated correlation, whether it is to
generate a new motion-compensated correlation sequence 422 or
whether it should re-use a motion-compensated correlation sequence
422 and, if it should re-use a motion-compensated correlation
sequence 422, whether it should re-use the currently used
motion-compensated correlation sequence 422 or whether it should
re-use a stored motion-compensated correlation sequence 422. The
re-use of a motion-compensated correlation sequence 422 is
particularly advantageous where the receiver 200 is often involved
in the same motion whether on a continual or intermittent basis.
For example, if a pedestrian is walking with a particular direction
and with a particular gait this may be detected and used as a
movement signal 361 to determine whether or not to re-use a
motion-compensated correlation sequence 422. Particular
well-defined triggers in the motion data, such as the heel strike
of pedestrian walking motion, can be used to mark the beginning of
reusable sections of motion-compensated correlation sequences, and
to detect the moments in the future when the sections can be
reused. Other aspects can be tested for similarity, such as compass
heading, orientation, speed, etc. It would therefore be possible to
re-use a motion-compensated correlation sequence 422 while a person
is walking in the same direction while they maintain the same
trajectory, i.e., the same bearing and walking speed. A detection
of a change in the bearing, the stride length, the gait or the
stride rate may cause an interrupt at the re-use system 450 which
may then switch from using the re-use current MCCS block 460, to
using one or the other blocks 462, 464, 466.
[0113] FIG. 8 illustrates a motion-compensated correlator 300
comprising a motion-compensated correlation sequence (MCCS) system
500 comprising a motion-compensated correlation sequence (MCCS)
storage system 420, a motion-compensated correlation sequence
(MCCS) re-use system 450 and a motion-compensated correlation
sequence (MCCS) generator 320, all as previously described. The
system 500 uses the re-use system 450 to determine whether or not
to perform motion-compensated correlation and if it is to perform
motion-compensated correlation then whether it is to generate a new
motion-compensated correlation sequence 422 or to re-use a
motion-compensated correlation sequence 422. If it is to re-use a
stored motion-compensated correlation sequence then the re-use
system 450 provides the movement signal 361 received by the system
500 to the storage system 420 which performs a read access on a
addressable memory 430 to obtain the motion-compensated correlation
sequence 422. The motion-compensated correlation sequence 422 read
from the memory 430 is provided to the motion-compensated
correlation sequence generator 320 if it is a motion-compensated
phasor sequence to produce a motion-compensated correlation code
322 for the correlator 310 or is provided directly to the
correlator 310 if it is a motion-compensated correlation code 322.
When a new motion-compensated correlation sequence 422 is required
to be generated, the re-use system 450 controls the
motion-compensated correlation sequence generator 320 to generate a
motion-compensated correlation sequence 422 and to use that
sequence for correlation of the digital signal 222. The generated
motion-compensated correlation sequence 422 may then be provided to
the storage system 420 for storage in the addressable memory
430.
[0114] FIG. 9 illustrates an example of a correlation code
generator 340 that provides a correlation code 341 that may be used
for motion-compensated correlation as described above. The
correlation code 341 is a long correlation code as described below.
A short code generator 470 produces a correlation code 341'. A long
code generator 472 concatenates the correlation code 341' multiple
times to produce the long correlation code 341. The long
correlation code may be stored in a buffer memory 474 that is of
sufficient size to temporarily store a concatenation of multiple
correlation codes 341'. FIG. 10 illustrates an example of a long
digital signal buffer 480 that temporarily stores a received
digital signal 222 that may be used for motion-compensated
correlation as described above. This is a buffer memory 474 that is
of sufficient size to temporarily store received digital signal 222
that has a duration as long as the long correlation code 341.
[0115] The digital signal 222 is a long digital signal, the
correlation code 341 is a long correlation code, the
motion-compensated correlation code 322 is a long
motion-compensated correlation code.
[0116] The long digital signal 222, the long correlation code 341
and the long motion-compensated correlation code 322 have the same
length. Each having a duration greater than a length of the
correlation code word e.g., greater than 1 ms for GPS or greater
than 4 ms for GALILEO. For example, the duration may be N*1 ms or
M*4 ms where N, M are natural numbers greater than 1. It may in
some examples be possible to change the duration, for example, in
dependence upon confidence of receiver motion measurement. It may
in some examples be possible to increase and/or decrease N or M. It
may in some examples be possible to select between having a
duration N*1 ms or M*4 ms. A longer duration increases correlation
time providing better gain.
[0117] The long correlation code 341 is a concatenation of multiple
ones of a same first correlation code 341'.
[0118] The first correlation code 341' may be a standard or
reference code e.g., a Gold code, Barker code or a similar that has
a fixed period T and predetermined cross-correlation
properties.
[0119] A long motion-compensated correlation sequence 422 may be
referred to as a supercorrelation sequence. A supercorrelation
sequence may be a long motion-compensated phasor sequence or a long
motion-compensated correlation code (phasor adjusted).
[0120] FIG. 11 illustrates an example of a motion-compensated
correlator 300 comprising a motion-compensated correlation sequence
(MCCS) system 500 optionally comprising a motion-compensated
correlation sequence (MCCS) storage system 420, optionally
comprising a motion-compensated correlation sequence (MCCS) re-use
system 450 and comprising multiple motion-compensated correlation
sequence (MCCS) generators 320.
[0121] Each of the multiple motion-compensated correlation code
generators 320 generates a long motion-compensated correlation code
322 which is a long correlation code 341 that has been compensated,
before correlation, using the same long motion-compensated phasor
sequence 332 dependent upon an assumed or measured movement of the
receiver 200.
[0122] A first one of the multiple motion-compensated correlation
code generators 320 produces an early long motion-compensated
correlation code 322 which is a long correlation code 341 that has
been compensated, before correlation, using the same long
motion-compensated phasor sequence 332 dependent upon an assumed or
measured present movement of the receiver 200 and time shifted to
be early.
[0123] A second one of the multiple motion-compensated correlation
code generators 320 produces a present (prompt) long
motion-compensated correlation code 322 which is a long correlation
code 341 that has been compensated, before correlation, using the
same long motion-compensated phasor sequence 332 dependent upon an
assumed or measured present movement of the receiver 200.
[0124] A third one of the multiple motion-compensated correlation
code generators 320 produces a late long motion-compensated
correlation code 322 which is a long correlation code 341 that has
been compensated, before correlation, using the same long
motion-compensated phasor sequence 332 dependent upon an assumed or
measured present movement of the receiver 200 and time shifted
late.
[0125] Each of the early long motion-compensated correlation code,
present (prompt) long motion-compensated correlation code and late
long motion-compensated correlation code are separately correlated
with the same long digital signal 222.
[0126] The motion-compensated correlator 300 is suitable for use in
a global navigation satellite system (GNSS) where the received
digital signal 222 is transmitted by a GNSS satellite. The
motion-compensated correlator 300 may be part of a GNSS receiver
200.
[0127] In some but not necessarily all examples, down-conversion of
a received signal before analogue to digital conversion to create
the digital signal 222 occurs, in other examples it does not. Where
down-conversion of a received signal before analogue to digital
conversion to create the digital signal 222 occurs, in some but not
necessarily all examples, the down-conversion is independent of a
measured movement of the receiver 200 and is not controlled in
dependence upon the measured movement of a receiver 200 of the
received signal.
[0128] In some but not necessarily all examples a modulation
removal block 510 may remove any data that has been modulated onto
the signals being coherently integrated using the
motion-compensated correlator. An example of this is the removal of
the navigation bits from a received GNSS digital signal 222' to
produce the digital signal 222 processed by the motion-compensated
correlator 300.
[0129] In this example, the correlation code concatenated to
produce the long correlation code 341 is a chipping code (a
pseudorandom noise code). It may for example be a Gold code.
[0130] Each GNSS satellite may use a different long correlation
code 341 in some examples. Multiple motion-compensated correlators
300 may be provided and may be assigned to different satellites. A
motion-compensated correlator 300 then performs motion-compensated
correlation for the assigned GNSS satellite.
[0131] Referring back to FIG. 5, the velocity v may then be the
line of sight velocity of the receiver 200 towards the assigned
satellite. The motion-compensated correlator 300 then has selective
increased gain for the digital signals 222 received from that
satellite along the line of sight.
[0132] In some example, movement of the assigned satellite may be
compensated by using as the velocity v the line of sight relative
velocity between the receiver 200 and the assigned satellite. In
other examples, movement of the assigned satellite may be
compensated by using closed control loop as illustrated in FIG. 12.
Correlating the digital signal 222 provided by the receiver 200
with the long motion compensated correlation code 322 additionally
uses one or more closed control loops 610, 620 for maintenance of
code-phase alignment and/or carrier-phase alignment 620.
[0133] A control system 254 uses the results 312 of
motion-correlated correlation to provide a closed-loop control
signal 610 and/or a closed loop control signal 620.
[0134] A closed-loop control signal 610 controls a phase adjust
module 600 to adjust the phase of the motion-compensated
correlation codes 322 to maintain carrier phase alignment.
[0135] A closed-loop control signal 620 controls each of the
multiple motion-compensated correlation code generators 320 for the
satellite to maintain code phase alignment. FIG. 13 illustrates an
example of how motion-compensated correlation code generators 320
may maintain code-phase alignment via a closed loop control signal
620. A numerical controlled oscillator 632 receives the control
signal 620 and controls the long correlation code generator 340
using the short code generator 470 and a shift register 634 that
buffers the long correlation code 341 and simultaneously operates
as long code generator 472 and long code buffer 474 for the
multiple motion-compensated correlation code generators 320 used
for a particular satellite.
[0136] FIGS. 14A and 14B illustrate different examples of a
receiver-motion module 360 for producing a movement signal 361
indicative of a movement of the receiver 200 during a particular
time duration. The receiver-motion module 360 illustrated in FIG.
14A produces a movement signal 361 indicative of a measured
movement of the receiver 200. The receiver-motion module 360
illustrated in FIG. 14B produces a movement signal 361 indicative
of an assumed movement of the receiver 200.
[0137] The movement signal 361 may be a parameterized signal
defined by a set of one or more parameters.
[0138] The receiver-motion module 360 may, for example, be used to
determine a velocity of a pedestrian or a vehicle.
[0139] The receiver-motion module 360 that measures the receiver
movement as illustrated in FIG. 14A may have a local navigation or
positioning system that tracks motion of the receiver 200, such as
a pedestrian dead reckoning system, an inertial measurement system,
a visual tracking system, or a radio positioning system.
[0140] An inertial measurement system typically calculates velocity
by integrating acceleration measurements from inertial sensors such
as multi-axis accelerometers and gyroscopes.
[0141] A pedestrian dead reckoning system may detect a step from
for the example a heel strike, estimation step/stride length,
estimate a heading, and determine a 2D position.
[0142] A radio positioning system may, for example, use W-Fi
positioning and/or Bluetooth positioning.
[0143] The receiver-motion module 360 that assumes the receiver
movement, illustrated in FIG. 14B, may have a context detection
system that detects a context of the receiver 200 such as a
specific location at a specific time and determines a receiver
velocity on a past history of the receiver velocity for the same
context. A learning algorithm may be used to identify re-occurring
contexts when the receiver velocity is predictable and to then
detect that context to estimate the receiver velocity.
[0144] FIG. 15 illustrates an example of a record medium 700 such
as a portable memory device storing a data structure 432. The data
structure 432 comprises: a motion-compensated correlation sequence
422 that is a combination of a (long) correlation code 341 and a
(long) motion-compensated phasor sequence 332 or is a (long)
motion-compensated phasor sequence 332. The record medium 700 and
the data structure 432 enables transport of the motion-compensated
correlation sequence 422. The data structure 432 may be configured
as a data structure addressable for read access using a
motion-dependent index.
[0145] In some but not necessarily all examples, the long
motion-compensated correlation sequence 422 is a combination of a
long correlation code 341 and a long motion-compensated phasor
sequence 332 and the long correlation code 341 is a concatenation
of multiple ones of the same standard correlation code.
[0146] A controller 800 may be used to perform one or more of the
before described methods, the before described blocks and or all or
part of a motion-compensated correlator 300.
[0147] Implementation of a controller 800 may be as controller
circuitry. The controller 800 may be implemented in hardware alone,
have certain aspects in software including firmware alone or can be
a combination of hardware and software (including firmware).
[0148] As illustrated in FIG. 16A the controller 800 may be
implemented using instructions that enable hardware functionality,
for example, by using executable computer program instructions 710
in a general-purpose or special-purpose processor 810 that may be
stored on a computer readable storage medium (disk, memory etc) to
be executed by such a processor 810.
[0149] The processor 810 is configured to read from and write to
the memory 820. The processor 810 may also comprise an output
interface via which data and/or commands are output by the
processor 810 and an input interface via which data and/or commands
are input to the processor 810.
[0150] The memory 820 stores a computer program 710 comprising
computer program instructions (computer program code) that controls
the operation of all or part of a motion-compensated correlator 300
when loaded into the processor 810. The computer program
instructions, of the computer program 710, provide the logic and
routines that enables the apparatus to perform the methods
illustrated in FIGS. 3 to 18 The processor 810 by reading the
memory 820 is able to load and execute the computer program
710.
[0151] An apparatus comprising the controller may therefore
comprise:
[0152] at least one processor 810; and at least one memory 820
including computer program code 710 the at least one memory 820 and
the computer program code 710 configured to, with the at least one
processor 810, cause the apparatus at least to perform:
[0153] (i) causing correlation of a digital signal 222 provided by
a receiver 200 with a motion-compensated correlation code 322,
wherein the motion-compensated correlation code 322 is a
correlation code 341 that has been compensated before correlation
using one or more phasors 332 dependent upon an assumed or measured
movement of the receiver 200; and/or
[0154] (ii) at a first time, causing or performing storing a
motion-compensated correlation sequence 422 in an addressable
memory 430;
[0155] at a later time, causing or performing addressing the memory
430 to obtain the stored motion-compensated correlation sequence
422; and
[0156] causing or performing motion-compensated correlation of a
correlation code 341 and a digital signal 222 using the obtained
motion-compensated correlation sequence 422; and/or
[0157] (iii) causing or performing correlation of a first digital
signal 222, received by a receiver 200 during a first time, with a
first motion-compensated correlation sequence 422 dependent upon a
first assumed or measured movement of a receiver 200 during the
first time; and
[0158] causing or performing correlation of a second digital signal
222, received by the receiver 200 during a second time,
non-overlapping with the first time, with the first
motion-compensated correlation sequence 422; and/or
[0159] (iv) causing or performing correlation of a long digital
signal with a long correlation code, wherein the long digital
signal and the long correlation code are the same length and the
long correlation code is a concatenation of a same first
correlation code, wherein the long correlation code has been
motion-compensated before correlation, using one or more phasors
dependent upon an assumed or measured movement of the receiver.
[0160] As illustrated in FIG. 16B, the computer program 710 may
arrive at the apparatus 800 via any suitable delivery mechanism
700. The delivery mechanism 700 may be, for example, a
non-transitory computer-readable storage medium, a computer program
product, a memory device, a record medium such as a compact disc
read-only memory (CD-ROM) or digital versatile disc (DVD) or solid
state memory, an article of manufacture that tangibly embodies the
computer program 710. The delivery mechanism may be a signal
configured to reliably transfer the computer program 710. The
apparatus 800 may propagate or transmit the computer program 710 as
a computer data signal.
[0161] Although the memory 820 is illustrated as a single
component/circuitry it may be implemented as one or more separate
components/circuitry some or all of which may be
integrated/removable and/or may provide
permanent/semi-permanent/dynamic/cached storage.
[0162] Although the processor 810 is illustrated as a single
component/circuitry it may be implemented as one or more separate
components/circuitry some or all of which may be
integrated/removable. The processor 810 may be a single core or
multi-core processor.
[0163] References to `computer-readable storage medium`, `computer
program product`, `tangibly embodied computer program` etc., or a
`controller`, `computer`, `processor` etc., should be understood to
encompass not only computers having different architectures such as
single/multi-processor architectures and sequential (Von
Neumann)/parallel architectures but also specialized circuits such
as field-programmable gate arrays (FPGA), application specific
circuits (ASIC), signal processing devices and other processing
circuitry. References to computer program, instructions, code etc.,
should be understood to encompass software for a programmable
processor or firmware such as, for example, the programmable
content of a hardware device whether instructions for a processor,
or configuration settings for a fixed-function device, gate array
or programmable logic device etc.
[0164] As illustrated in FIG. 17, a chip set 840 may be configured
to provide functionality of the controller 800, for example, it may
provide all or part of a motion-compensated correlator 300.
[0165] The blocks illustrated in the FIGS. 3 to 18 may represent
steps in a method and/or sections of code in the computer program
710. The illustration of a particular order to the blocks does not
necessarily imply that there is a required or preferred order for
the blocks and the order and arrangement of the block may be
varied. Furthermore, it may be possible for some blocks to be
omitted.
[0166] The components of an apparatus or system required to perform
one or more of the before described methods, the before described
blocks and or all or part of a motion-compensated correlator 300,
need not be collocated, and data may be shared between components
via one or more communication links.
[0167] FIG. 18A illustrates one example of a system comprising a
remote device 1000 and a remote processing system 2000. The remote
device 1000 comprises the receiver 200 and the receiver motion
module 360. The receiver motion module 360 comprises receiver
motion sensors that provide receiver motion sensor data as the
movement signal 361. The remote device 1000 is physically distant
from the remote processing system 2000 comprising the controller
800. The remote device 1000 and the remote device 2000 communicate
via communications link(s) 1500. The communications link(s) 1500
may comprise of, for example, wireless communications (e.g., WFi,
BLE, Cellular Telephony, Satellite comms), cabled communications
(e.g., Ethernet, landline telephone, fibre optic cable), physical
storage media that may be transported between components (e.g.,
solid state memory, CD-ROM) or any combination thereof.
[0168] The digital signal 222 is provided by the remote device 1000
to the remote processing system 2000 via the communications link(s)
1500. The receiver motion sensor data is provided as movement
signal 361 by the remote device 1000 to the remote processing
system 2000 via the communications link(s) 1500.
[0169] The controller 800 of the remote processing system 2000
comprises the motion-compensated correlator 300 comprising the
correlator 310 and the motion-compensated correlation sequence
generator 320.
[0170] The motion-compensated correlation sequence generator 320
generates the motion-compensated correlation sequence 322 from
processing of the movement signal 361, and the correlator 310
performs motion-compensated correlation of the digital signal 222
using the motion-compensated correlation sequence 322 to produce
correlation result 312.
[0171] The motion-compensated correlation sequence generator 320,
may optionally be part of a motion-compensated correlation sequence
(MCCS) system 500 and the motion-compensated correlation sequence
322 may optionally be stored by a motion-compensated correlation
sequence storage system 420 in an addressable memory 430 of the the
remote processing system 2000 for re-use.
[0172] In some but not necessarily all examples, the correlation
result 312 is returned to the remote device 1000 via the
communications link(s) 1500.
[0173] In some but not necessarily all examples, the
motion-compensated correlation sequence 322 is returned to the
remote device 1000 via the communications link(s) 1500.
[0174] In some but not necessarily all examples, the controller 800
performs additional post-processing of the correlation results 312
to derive higher-value outputs 801 (e.g., GNSS pseudoranges or
position fixes from GNSS signals) that are transferred to the
remote device 1000 via communications link(s) 1500.
[0175] FIG. 18B illustrates another example of a system comprising
a remote device 1000 and a remote processing system 2000. The
remote device 1000 comprises the receiver 200 and the receiver
motion module 360. The receiver motion module 360 comprises
receiver motion sensors that provide receiver motion sensor data as
the movement signal 361. The remote device 1000 is physically
distant from the remote processing system 2000 comprising the
controller 800. The remote device 1000 and the remote device 2000
communicate via communications link(s) 1500. The communications
link(s) 1500 may comprise of, for example, wireless communications
(e.g., WiFi, BLE, Cellular Telephony, Satellite comms), cabled
communications (e.g., Ethernet, landline telephone, fibre optic
cable), physical storage media that may be transported between
components (e.g., solid state memory, CD-ROM) or any combination
thereof.
[0176] The receiver motion sensor data is provided as movement
signal 361 by the remote device 1000 to the remote processing
system 2000 via the communications link(s) 1500.
[0177] Part of the motion-compensated correlator 300 (correlator
310) is in the remote device 1000 and part (motion-compensated
correlation sequence generator 320) is in the remote processing
system 2000.
[0178] The motion-compensated correlation sequence generator 320 in
the remote processing system 2000 generates a motion-compensated
correlation sequence 322 from processing of the received movement
signal 361. The motion-compensated correlation sequence 322 is
transferred from the remote processing system 2000 to the remote
device 100 via the communications link(s) 1500.
[0179] The digital signal 222 is not provided by the remote device
1000 to the remote processing system 2000 via the communications
link(s) 1500. Instead it is provided to the correlator 310 in the
remote device 1000. The correlator 310 performs motion-compensated
correlation of the digital signal 222 using the transferred
motion-compensated correlation sequence 322 to produce correlation
result 312.
[0180] At the remote device 1000, the motion-compensated
correlation sequence 322 may optionally be stored by a
motion-compensated correlation sequence storage system 420 in an
addressable memory 430 of the remote processing system 1000 for
re-use.
[0181] In a variation of the above described examples, the receiver
motion module 360 may be configured to processes the receiver
motion sensor data to derive a measured or assumed receiver motion
value that is provided as movement signal 361. This processed
movement signal 361 may be passed to the remote processing system
2000 instead of the raw receiver motion sensor data, removing the
need for the remote processing system 2000 to calculate the
receiver motion from the receiver motion sensors data.
[0182] In a variation of the above described examples, the receiver
motion module 360 may not be located at the remote device 1000, but
may be located elsewhere, for example, at the remote processing
system 2000 or elsewhere.
[0183] FIG. 18C illustrates another example of a system comprising
a remote device 1000 and a remote processing system 2000. This
system is similar to that illustrated in FIG. 18A, however, the
correlation results 312 (and/or higher value outputs 801) are not
provided to the remote device 1000. The correlation results 312
(and/or higher value outputs 801) are utilised/stored at the remote
processing system 2000, or are provided to remote third-party
clients 3000 via communications link(s) 2500 for further
use/processing/storage.
[0184] It should be understood that the above examples may be
further modified to include a plurality of remote devices 1000,
and/or a plurality of remote processing systems 2000 and/or a
plurality of remote third party clients 3000, all connected by a
plurality of communications links 1500/2500.
[0185] The receiver 200 and the motion-compensated correlator 300
previously described and illustrated may, for example, be used for
GNSS systems, radio systems (e.g., OFDM, DVB-T, LTE), sonar
systems, laser systems, seismic systems etc.
[0186] The term `causing or performing` as it appears in the claims
may mean to cause but not perform, to perform but not cause or to
cause and perform.
[0187] If an entity causes an action it means removal of the entity
would mean that the action does not occur. If an entity performs an
action the entity carries out the action.
[0188] The interconnection of items in a Figure indicates
operational coupling and any number or combination of intervening
elements can exist (including no intervening elements).
[0189] Where a structural feature has been described, it may be
replaced by means for performing one or more of the functions of
the structural feature whether that function or those functions are
explicitly or implicitly described.
[0190] As used here `hardware module` refers to a physical unit or
apparatus that excludes certain parts/components that would be
added by an end manufacturer or a user.
[0191] A motion-compensated correlator 300 may be a hardware
module. A motion-compensated correlation sequence generator 320 may
be or may be part of a hardware module. A motion-compensated phasor
generator 330 may be or may be part of a hardware module. A
correlation code generator 340 may be or may be part of a hardware
module. A receiver-motion module 360 may be or may be part of a
hardware module. A correlator 310 may be or may be part of a
hardware module. A motion-compensated correlation sequence storage
system 420 may be or may be part of a hardware module. A (MCCS)
re-use system 450 may be or may be part of a hardware module. A
motion-compensated correlation sequence (MCCS) system 500 may be or
may be part of a hardware module.
[0192] The term `comprise` is used in this document with an
inclusive not an exclusive meaning. That is any reference to X
comprising Y indicates that X may comprise only one Y or may
comprise more than one Y. If it is intended to use `comprise` with
an exclusive meaning then it will be made clear in the context by
referring to "comprising only one . . . " or by using
"consisting".
[0193] In this brief description, reference has been made to
various examples. The description of features or functions in
relation to an example indicates that those features or functions
are present in that example. The use of the term `example` or `for
example` or `may` in the text denotes, whether explicitly stated or
not, that such features or functions are present in at least the
described example, whether described as an example or not, and that
they can be, but are not necessarily, present in some of or all
other examples. Thus `example`, `for example` or `may` refers to a
particular instance in a class of examples. A property of the
instance can be a property of only that instance or a property of
the class or a property of a sub-class of the class that includes
some but not all of the instances in the class. It is therefore
implicitly disclosed that a features described with reference to
one example but not with reference to another example, can where
possible be used in that other example but does not necessarily
have to be used in that other example.
[0194] Although embodiments of the present invention have been
described in the preceding paragraphs with reference to various
examples, it should be appreciated that modifications to the
examples given can be made without departing from the scope of the
invention as claimed.
[0195] Features described in the preceding description may be used
in combinations other than the combinations explicitly
described.
[0196] Although functions have been described with reference to
certain features, those functions may be performable by other
features whether described or not.
[0197] Although features have been described with reference to
certain embodiments, those features may also be present in other
embodiments whether described or not.
[0198] Whilst endeavoring in the foregoing specification to draw
attention to those features of the invention believed to be of
particular importance it should be understood that the Applicant
claims protection in respect of any patentable feature or
combination of features hereinbefore referred to and/or shown in
the drawings whether or not particular emphasis has been placed
thereon.
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