LORAN-C navigation apparatus

Abstract

LORAN-C navigation apparatus is disclosed wherein digital circuitry and a microprocessor .[.is.]. .Iadd.are .Iaddend.used to automatically identify LORAN transmitting stations and .[.makes.]. .Iadd.make .Iaddend.standard hyberbolic navigation measurements. The equipment operator manually enters the group repetition rate into the apparatus for a LORAN-C chain covering the area within which the navigation apparatus is being operated. Initially, the apparatus searches all incoming signals .Iadd.as they are received .Iaddend.until signals from a master station are received regularly at the stored group repetition rate. The apparatus then closely determines the time of arrival of signals from the secondary stations of the selected LORAN-C chain before changing to a fine search mode in which the exact time of arrival of the secondary station signals is determined; the phase code of the received signals is checked to determine if the received signal is a ground or sky wave, and a determination is made if there is a defective secondary station blink code. The time difference of arrival measurements are then output visually to be plotted in a well known manner on a LORAN-C chart to locate the position of the craft upon which the apparatus is located.

I claim: 
     
       1. A navigation receiver-indicator providing navigation information by receiving and measuring differences in the time of arrival of coded radio signals received from a plurality of navigation transmitters, in groups of transmitters, comprising: means for selecting a group of transmitters to be used for said time difference of arrival measurements,   first logic means processing said radio signals as they are received for determining when received signals are properly coded indicating they are from said navigation transmitters,   and providing output indications of same,   processor means storing and analyzing said output indications from said first logic means to determine when received radio signals are from transmitters of a group of transmitters selected using said selecting means, and   second logic means enabled by and functioning with said processor means after said processor means has determined that received radio signals are from said selected group of transmitters to calculate the time of reception of subsequently received radio signals and then to analyze said last-mentioned radio signals to thereby locate a specific point of said last-mentioned radio signals used by said processor means to accurately measure the difference in time .Iadd.of .Iaddend.arrival of said radio signals from individual transmitters of said selected group of transmitters and provide a visual output of said measurements to provide navigation information.   
     
     
       2. The invention in accordance with claim 1 wherein said processor means receives feedback information from said second logic means that enables said processor means to revise said calculated time of radio signal reception to accurately make said time difference measurements. 
     
     
       3. The invention in accordance with claim 2 wherein a plurality of said output indications for said selected stations are stored within said processor means which is programmed to take an average of said output indications to calculate the time of reception of said radio signals subsequently received from each of said selected group of transmitting stations. 
     
     
       4. The invention in accordance with claim 3 wherein said feedback signals received by said processor means from said second logic means are stored in said processor means which takes an average of said feedback signals to properly determine if said calculated time of arrival of said radio signals is correct or needs revision before making said radio signal time difference of arrival measurements to obtain said navigation information. 
     
     
       5. The invention in accordance with claim 4 wherein said transmitters are arranged in groups consisting of one master transmitting station and a plurality of secondary transmitting stations, wherein the radio signals transmitted by each of said master and secondary stations comprises a series of pulses in a pulse train with the pulse train transmitted by a master station differing from the pulse train transmitted by a secondary station to distinguish the two types of stations, wherein said time difference of signal arrival measurements are always made between the time of arrival of signals from a master station and selected ones of said secondary stations, and wherein said first logic means comprises, a multistage shift register used for storing pulses of the pulse chains as they are received from said master and secondary station transmitters, and   third logic means connected to various of said stages of said shift register to analyze a pulse chain stored therein to determine if it is from a master or a secondary station and provide an appropriate indication of said analysis to said processor means.   
     
     
       6. The invention in accordance with claim 5 wherein individual pulses of said transmitted pulse trains are phase coded, phase codes for different master and secondary transmitting stations being stored in said processor means, and phase code correction apparatus is provided wherein said phase codes for the sequentially received signals from master and secondary stations of said selected group of transmitters are input to said correction apparatus and used to remove the phase coding from said sequentially received signals before utilizing said received radio signals to make said time difference of arrival measurements. 
     
     
       7. The invention in accordance with claim 6 wherein the transmitters of each group of navigation transmitters all transmit their pulse trains at a predetermined repetitive rate peculiar to each group and wherein said selecting means is manually operable to indicate the repetitive rate of a selected group of transmitters to said processor means which utilizes said rate indication to first identify signals received from said selected group of transmitters and then to calculate the subsequent time of reception of said radio signals from said selected group .Iadd.of .Iaddend.transmitters. 
     
     
       8. The invention in accordance with claim 7 wherein said navigation receiver-indicator further comprises, a display functioning with said processor means to provide a visual display of said time difference of signal arrival measurements used for navigation, and   means for indicating to said processor means particular ones of said secondary stations with respect to which said time difference of signal arrival measurements should be made.   
     
     
       9. The invention in accordance with claim 6 wherein said processor means generates an enable timing signal upon calculating the time of reception of subsequently received radio signals from a selected group of navigation transmitters and wherein said second logic means comprises means enabled by said enable timing signal for generating timing signals which cause samples of any received signals to be input to said processor means which stores a plurality of said samples and amplitude averages same for analyzation to determine if said calculated time of signal reception is correct to locate said specific point of said radio signals from which said time difference of signal arrival measurements are made to derive navigation information. 
     
     
       10. The invention in accordance with claim 9 wherein said processor means generates an enable timing signal upon calculating the time of reception of subsequently received radio signals, and wherein said timing signal generating means comprises: first timing means enabled by said enable timing signal to provide a first timing signal causing a first sample of any signals received by said navigation receiver to be input to said processor means which stores a plurality of said first signal samples and amplitude averages same, said average being zero when said signal samples are taken outside of said pulses.   second timing means enabled by said enable timing signal to provide a second timing signal causing a second sample of any received signals to be input to said processor means which stores a plurality of said second samples and amplitudes averages same, said second sample average being other than zero when said second sample is taken during receipt of any one of said pulses, and   third timing means enabled by said enable timing signal to provide a third timing signal causing a third sample of any received signals to be input to said processor means which stores a plurality of said third samples and amplitude averages same, said third sample average being other than zero when said third sample is taken during any one of said pulses, and from said first, second and third samples said processor means determines if said calculated time of arrival of said radio signals is correct and said processor means revises said calculated time until predetermined pulse parameters are located from which said specific point may be located to make said time difference of signal arrival measurements.   
     
     
       11. The invention in accordance with claim 1 wherein said processor means stores the results of the analyzation of said radio signals made by said second logic means for a plurality of samples and said processor means is programmed to derive signal to noise ratio information from stored plurality of stored samples. 
     
     
       12. The invention in accordance with claim 11 wherein said processor means stores said analyzation samples as binary zeros and ones with pure noise input to said navigation receiver-indicator resulting in an equal number of binary zeros and ones from said plurality of samples and pure signals from said navigation transmitters input to said receiver-indicator resulting in all binary ones from said plurality of samples, and responsive to the number of zeros and ones in said plurality of samples, said microprocessor means causes a visual output to be given indicating said signal to noise ratio. 
     
     
       13. A method for deriving position information for navigation purposes by making measurements of the time period between receipt of periodic signals in pulse trains from a selected first or master transmitting station and selected ones of a plurality of secondary transmitting stations associated with said master station in a navigation system comprising the steps of: analyzing the makeup of each pulse train as it is being received to determine if it is from a master or secondary station,   storing an indication of the time of receipt of each pulse train along with an indication whether it is from a master or secondary station, said stored indications being used to identify said selected master station and its associated secondary stations,   calculating the time of receipt of signals subsequently received from said selected master station and said secondary stations after determining which periodic signals are received therefrom,   analyzing each signal received at the indicated times of arrival from said selected master station and said secondary stations to determine if the indicated time of arrival is correct and to modify said indicated times of arrival if necessary to locate a specific point in each of said periodic signals.   measuring the difference in time of arrival between the specific point of each of the periodic signals received from said master station and each of the selected secondary stations, and   providing an output reflecting said time difference of signal arrival measurement used for navigation purposes.   
     
     
       14. The method of deriving position information for navigation purposes in accordance with claim 13 wherein said step of calculating the time of receipt of said signals comprises the step of analyzing said stored indications of time of receipt of pulse trains by averaging the stored time indications for said selected master station and its associated secondary stations to determine the average of the time of arrival of said signal pulse trains. 
     
     
       15. The method of deriving position information for navigation purposes in accordance with claim 13 further comprising the step of checking phase coding of each pulse of the signal pulse trains received from each of the selected master stations and its associated secondary stations with stored phase code information to determine if the received pulse train from each of the master and secondary stations is a sky wave reflected from the ionosphere which pulse train is to be disregarded.   
     
     
       16. The method of deriving navigational position information in accordance with claim 15 further comprising the steps of removing the phase coding from the pulses of said pulse trains received from said selected master station and its associated secondary stations prior to storing the indication of time of receipt of each pulse train in order to achieve accurate measurements of the time period between receipt of signals from said selected master station and each of said selected secondary stations.   
     
     
       17. The method of deriving position information for navigation purposes in accordance with claim 13 further comprising the steps of storing the polarity characteristic at a discrete point on each of said periodic signals received from said selected master station and from its associated secondary stations for a plurality of samples, and   providing an indication of the number of times a particular polarity occurs in said plurality of samples from each of said last mentioned stations to provide an indication of the signal to noise ratio of said signals received from said last-mentioned stations. .Iadd.   
     
     
       18.  A navigation receiver-indicator providing navigation information by receiving and measuring differences in the time of arrival of coded radio signals received from a plurality of navigation transmitters, in groups of transmitters, each of said coded radio signals comprising a train of discrete radio frequency pulses having a known pulse repetition rate, the transmission of said pulse trains from each of said navigation transmitters in a given group being repeated at a known group repetition interval, said receiver-indicator comprising: means for selecting a group of transmitters to be used for said time difference of arrival measurements,   first logic means processing said radio signals as they are received for determining when received signals are properly coded indicating they are from said navigation transmitters, said first logic means comprising   shifter register means,   means for continuously shifting radio signals as they are received through said shift register means,   said shift register means having a sufficient length to contain a window time sample of duration at least as long as that of one of said pulse trains from one of said navigation transmitters,   said shift register means further including a set of output terminals spaced apart by the known pulse repetition rate of the pulses in said pulse trains from said navigation transmitters, and   decoding means connected to said output terminals and providing an output indication whenever the signals contained in said shift register means correspond to said coded radio signals from one of said navigation transmitters,   processor means storing and analyzing said output indications from said first logic means to determine when received radio signals are from transmitters of a group of transmitters selected using said selecting means, and   second logic means enabled by and functioning with said processor means after said processor means has determined that received radio signals are from said selected group of transmitters to calculate the time of reception of subsequently received radio signals and then to analyze said last-mentioned radio signals to thereby locate a specific point of said last-mentioned radio signals used by said processor means to accurately measure the difference in time of arrival of said radio signals from individual transmitters of said selected group of transmitters and provide a visual output of said measurements to provide navigation information. .Iaddend. .Iadd.19. The invention in accordance with claim 18 wherein said first logic means further includes   limiter means for converting each pulse of said pulse trains from said navigation transmitters as they are received to corresponding binary digital signals, and wherein said shifting means continuously shifts said binary digital signals through said shift register means. .Iaddend. .Iadd.20. The invention in accordance with claim 19 wherein each of said pulse trains comprises a plurality of cycles of a radio frequency carrier of fixed frequency, and wherein said shifting means shifts said binary digital signals through said shift register means at a rate at least equal to said fixed carrier frequency. .Iaddend. .Iadd.21. The invention in accordance with claim 19 wherein said decoding means comprises logic gate means responsive to the time coincidence of binary digital signals on each of said output terminals for providing said output indication. .Iaddend. .Iadd.22. The invention in accordance with claim 19 wherein said shift register means includes a plurality of stages connected in series, each of said stages including a plurality of binary digit storage locations and one of said output terminals. .Iaddend. .Iadd.23. The invention in accordance with claim 18 wherein the individual pulses of said pulse trains are phase coded with the pulse phase codes being different for different ones of said navigation transmitters in a group, and wherein said first logic means further includes means for inverting the signals on selected ones of said output terminals prior to the application thereof to said decoding means. .Iaddend. .Iadd.24. A method for deriving position information for navigation purposes by making measurements of the time period between receipt of periodic signals in pulse trains from a selected first or master transmitting station and selected ones of a plurality of secondary transmitting stations associated with said master station in a navigation system, each of said pulse trains comprising a plurality of discrete radio frequency pulses having a known pulse repetition rate, comprising the steps of:   analyzing the makeup of each pulse train as it is being received to determine if it is from a master or secondary station, said analyzing step including the steps of   continuously shifting the pulses of said pulse train as they are received through shift register means of sufficient length to contain a window time sample of duration at least as long as that of one of said pulse trains from one of said secondary transmitting stations,   extracting a plurality of outputs from said shift register means at points spaced apart by the known pulse repetition rate of the pulses in said pulse trains from said master and secondary transmitting stations, and   decoding said outputs to provide an output indication whenever said pulse train contained in said shift register means corresponds to one from said master or secondary transmitting stations,   storing an indication of the time of receipt of each pulse train along with an indication whether it is from a master or secondary station, said stored indications being used to identify said selected master station and its associated secondary stations,   calculating the time of receipt of signals subsequently received from said selected master station and said secondary stations after determining which periodic signals are received therefrom,   analyzing each signal received at the indicated times of arrival from said selected master station and said secondary stations to determine if the indicated time of arrival is correct and to modify said indicated times of arrival if necessary to locate a specific point in each of said periodic signals,   measuring the difference in time of arrival between the specific point of each of the periodic signals received from said master station and each of the selected secondary stations, and   providing an output reflecting said time difference of signal arrival measurement used for navigation purposes. .Iaddend. .Iadd.25. The method of deriving position information for navigation purposes in accordance with claim 24 wherein said analyzing step further includes the step of   converting each pulse of said pulse trains as they are received to corresponding binary digital signals, and wherein said shifting step comprises the step of continuously shifting said binary digital signals through said shift register means. .Iaddend. .Iadd.26. The method of deriving position information for navigation purposes in accordance with claim 25 wherein each pulse of said pulse trains comprises a plurality of cycles of a radio frequency carrier of fixed frequency, and wherein said shifting step comprises the step of shifting said binary digital signals through shift register means at a rate at least equal to said fixed carrier frequency. .Iaddend. .Iadd.27. The method of deriving position information for navigation purposes in accordance with claim 25 wherein said decoding step comprises the step of providing said output indication in response to the time coincidence of binary digital signals on each of said outputs from said shift register means. .Iaddend. .Iadd.28. The method of deriving position information for navigation purposes in accordance with claim 24 wherein the individual pulses of said pulse trains are phase coded with the pulse phase codes being different for said master and secondary stations in said system, and wherein said analyzing step further includes the step of inverting the signals at selected ones of said outputs from said shift register means prior to the operation of said decoding step. .Iaddend. .Iadd.29. A navigation receiver providing navigation information by receiving and measuring differences in the time of arrival of radio frequency pulse trains periodically transmitted by a plurality of navigation transmitters in a group, the individual pulses in each of said pulse trains having a known pulse repetition rate, said receiver comprising:   means for analyzing pulse trains as they are received to determine when a given pulse train being received is from one of said transmitters, said analyzing means including   shift register means,   means for continuously shifting the pulses of said pulse trains as they are received through said shift register means, said shift register means having a sufficient length to contain a window time sample of duration at least as long as that of one of said pulse trains from one of said transmitters,   means for extracting a plurality of outputs from said shift register means at points spaced apart by the known pulse repetition rate, and   means for decoding said outputs to provide an output indication whenever the pulse train contained in said shift register means corresponds to one from said transmitters; and   processor means for processing said output indications from said analyzing means to measure the difference in the time of arrival of said pulse trains from individual ones of said transmitters in said group. .Iaddend.   
     
     
        .Iadd.30.  The invention in accordance with claim 29 wherein said analyzing means further includes means for converting each pulse of said pulse trains from said transmitters as they are received to corresponding binary digital signals, and wherein said shifting means continuously shifts said binary digital signals through said shift register means. .Iaddend. .Iadd.31. The invention in accordance with claim 30 wherein each pulse of said pulse trains comprises a plurality of cycles of a radio frequency carrier of fixed frequency, and wherein said shifting means shifts said binary digital signals through said shift register at a rate at least equal to said fixed carrier frequency. .Iaddend. .Iadd.32. The invention in accordance with claim 30 wherein said decoding means comprises logic gate means responsive to the time coincidence of binary digital signals at each of said outputs from shift register means for providing said output indication. .Iaddend. .Iadd.33. The invention in accordance with claim 30 wherein said shift register means includes a plurality of stages connected in series, each of said stages including a plurality of binary digit storage locations, and wherein said extracting means extracts an output from each of said stages. .Iaddend. .Iadd.34. The invention in accordance with claim 29 wherein the individual pulses of said pulse trains are phase coded with the pulse phase codes being different for different ones of said transmitters in said group, and wherein said analyzing means further includes means for inverting selected ones of said outputs from said shift register means prior to the application thereof to said decoding means. .Iaddend. .Iadd.35. A method of providing navigation information by receiving and measuring differences in the time of arrival of radio frequency pulse trains periodically transmitted by a plurality of navigation transmitters in a group, the individual pulses in each of said pulse trains having a known pulse repetition rate, said method comprising the steps of:   analyzing pulse trains as they are received to determine when a given pulse train being received is from one of said transmitters, said analyzing step including the steps of continuously shifting the pulses of said pulse trains as they are received through shift register means of sufficient length to contain a window time sample of duration at least as long as that of one of said pulse trains from one of said transmitters,   extracting a plurality of outputs from said shift register means at points spaced apart by the known pulse repetition rate, and   decoding said outputs from said shift register means to provide an output indication whenever said pulse train contained in said shift register means corresponds to one from said transmitters; and     processing said output indications to measure the difference in the time of arrival of said pulse trains from individual ones of said transmitters in   
     
     
        said group. .Iaddend. .Iadd.36.  The method in accordance with claim 35 wherein said analyzing step further includes the step of converting each pulse of said pulse trains as they are received to corresponding binary digital signals, and wherein said shifting step comprises the step of continuously shifting said binary digital signals through said shift register means. .Iaddend. .Iadd.37. The method in accordance with claim 36 wherein each pulse of said pulse trains comprises a plurality of cycles of a radio frequency carrier of fixed frequency, and wherein said shifting step comprises the step of shifting said binary digital signals through said shift register means at a rate at least equal to said fixed carrier frequency. .Iaddend. .Iadd.38. The method in accordance with claim 36 wherein said decoding step comprises the step of providing said output indication in response to the time coincidence of binary digital signals at each of said outputs from said shift register means. .Iaddend. .Iadd.39. The method in accordance with claim 35 wherein the individual pulses of said pulse are phase coded with the pulse phase codes being different for different ones of said transmitters in said group, and wherein said analyzing step further includes the step of inverting selected ones of said outputs from said shift register means prior to the operation of said decoding step..Iaddend.