TW202331291A - Situational awareness (sa) in radio silence (spatial awareness) - Google Patents
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Description
行動特用網路(MANET；例如，「網狀網路」)在此項技術中被視為不具有預定義網路拓撲之可快速部署之自組態無線網路。假設一MANET中之各通信節點能夠自由移動。另外，一MANET內之各通信節點可需要轉發(中繼)資料封包訊務。一MANET內之資料封包路由及遞送可取決於數種因素，包含但不限於網路內之通信節點數目、通信節點近接性及行動性、功率要求、網路頻寬、使用者訊務要求、時序要求及類似物。Mobile ad hoc networks (MANETs; eg, "mesh networks") are considered in this technology to be rapidly deployable self-configuring wireless networks with no predefined network topology. Assume that each communication node in a MANET can move freely. Additionally, each communication node within a MANET may need to forward (relay) data packet traffic. The routing and delivery of data packets within a MANET may depend on several factors including, but not limited to, the number of communication nodes in the network, communication node proximity and mobility, power requirements, network bandwidth, user traffic requirements, timing requirements and the like.
歸因於此高動態、低基礎設施之通信系統中固有之有限網路覺知，MANET面臨許多挑戰。鑑於可變空間之廣泛範圍，挑戰在於基於此有限資訊做出良好決策。例如，在具有固定拓撲之靜態網路中，協定可遍及網路傳播資訊以判定網路結構，但在動態拓撲中，此資訊快速變得過時且必須定期再新。已提出定向系統係MANET之未來，但此未來尚未實現。除了拓撲因素之外，快速移動平台(例如，相對於彼此移動之通信節點)亦歸因於各組節點之間之相對徑向速度而經歷一頻率都卜勒頻移(例如，偏移)。此都卜勒頻移通常限制可由一行動網路內之一節點達成之一接收靈敏度位準。MANETs face many challenges due to the limited network awareness inherent in this highly dynamic, low-infrastructure communication system. Given the wide scope of the variable space, the challenge is to make good decisions based on this limited information. For example, in a static network with a fixed topology, protocols can propagate information throughout the network to determine the network structure, but in a dynamic topology, this information quickly becomes outdated and must be refreshed periodically. Orientation systems have been proposed as the future of MANETs, but this future has not yet been realized. In addition to topological factors, rapidly moving platforms (eg, communication nodes moving relative to each other) also experience a frequency Doppler shift (eg, offset) due to the relative radial velocity between the various sets of nodes. This Doppler shift typically limits the level of receive sensitivity that can be achieved by a node within a mobile network.
在電信中，無線電靜止係其中一區域中之一些或全部固定或行動節點出於安全或保全原因被要求停止發射之一狀態。In telecommunications, radio inactivity is a condition in which some or all fixed or mobile nodes in an area are required to cease transmitting for safety or security reasons.
一種系統可包含一發射器節點及一接收器節點。各節點可包含：一通信介面，其包含至少一個天線元件；及一控制器，其可操作地耦合至該通信介面，該控制器包含一或多個處理器，其中該控制器具有自身節點速度及自身節點定向之資訊。該發射器節點及該接收器節點之各節點可相對於彼此運動。各節點可經時間同步以應用與該節點自身相對於一共同參考系之運動相關聯之都卜勒校正。在該發射器節點將信號發射至該接收器節點之前且在該接收器節點從該發射器節點接收該等信號之前，該共同參考系對於該發射器節點及該接收器節點可係已知的。該接收器節點可經組態以處於一減少放射狀態。A system may include a transmitter node and a receiver node. Each node may comprise: a communication interface comprising at least one antenna element; and a controller operably coupled to the communication interface, the controller comprising one or more processors, wherein the controller has its own node speed And information about its own node orientation. Each of the transmitter node and the receiver node are movable relative to each other. Each node can be time synchronized to apply Doppler corrections associated with the node's own motion relative to a common reference frame. The common reference frame may be known to the transmitter node and the receiver node before the transmitter node transmits signals to the receiver node and before the receiver node receives the signals from the transmitter node . The receiver node can be configured to be in a reduced emissions state.
在一進一步態樣中，一種方法可包含：提供一發射器節點及一接收器節點，其中該發射器節點及該接收器節點之各節點經時間同步，其中該發射器節點及該接收器節點之各節點相對於彼此運動，其中該發射器節點及該接收器節點之各節點包括包含至少一個天線元件之一通信介面，其中該發射器節點及該接收器節點之各節點進一步包括可操作地耦合至該通信介面之一控制器，該控制器包含一或多個處理器，其中該控制器具有自身節點速度及自身節點定向之資訊；至少基於該時間同步，由該發射器節點對該發射器節點自身相對於一共同參考系之運動應用都卜勒校正；及至少基於該時間同步，由該接收器節點對該接收器節點自身相對於該共同參考系之運動應用都卜勒校正，其中在該發射器節點將信號發射至該接收器節點之前且在該接收器節點從該發射器節點接收該等信號之前，該共同參考系對於該發射器節點及該接收器節點係已知的。該接收器節點可經組態以處於一減少放射狀態。In a further aspect, a method may include providing a transmitter node and a receiver node, wherein each of the transmitter node and the receiver node are time synchronized, wherein the transmitter node and the receiver node wherein each node of the transmitter node and the receiver node includes a communication interface comprising at least one antenna element, wherein each node of the transmitter node and the receiver node further includes an operatively a controller coupled to the communication interface, the controller comprising one or more processors, wherein the controller has information of own node speed and own node orientation; applying Doppler correction to the motion of the receiver node itself relative to a common reference frame; and applying Doppler correction by the receiver node to the motion of the receiver node itself relative to the common reference frame based at least on the time synchronization, wherein The common reference frame is known to the transmitter node and the receiver node before the transmitter node transmits signals to the receiver node and before the receiver node receives the signals from the transmitter node. The receiver node can be configured to be in a reduced emissions state.
此[發明內容]僅被提供為對在[實施方式]及圖式中充分描述之標的物之一介紹。[發明內容]不應被視為描述本質特徵，亦不應被用於判定發明申請專利範圍之範疇。此外，應理解，前述[發明內容]及以下[實施方式]兩者僅為實例及說明性的，且不必限制所主張之標的物。This [Summary of the Invention] is provided only as an introduction to one of the subject matter fully described in the [Embodiment Modes] and drawings. [Content of the invention] should not be regarded as describing the essential features, nor should it be used to determine the scope of the scope of the patent application for the invention. In addition, it should be understood that both the aforementioned [Summary of the Invention] and the following [Implementation Mode] are examples and illustrations only, and do not necessarily limit the claimed subject matter.
相關申請案之交叉參考Cross References to Related Applications
本申請案係關於以下美國專利申請案且主張其等之優先權：This application is related to and claims priority to the following U.S. patent applications:
(a) 2021年4月16日申請之美國專利申請案第17/233,107號，該案之全部內容以引用的方式併入本文中；(a) U.S. Patent Application Serial No. 17/233,107, filed April 16, 2021, which is incorporated herein by reference in its entirety;
(b)2022年4月13日申請之PCT專利申請案第PCT/US22/24653號，其主張2021年4月16日申請之美國專利申請案第17/233,107號之優先權，該等案之全部內容以引用的方式併入本文中；(b) PCT Patent Application No. PCT/US22/24653, filed April 13, 2022, which claims priority to U.S. Patent Application No. 17/233,107, filed April 16, 2021, of which The entire content is incorporated herein by reference;
(c) 2021年8月20日申請之美國專利申請案第17/408,156號，其主張2021年4月16日申請之美國專利申請案第17/233,107號之優先權，該等案之全部內容以引用的方式併入本文中；(c) U.S. Patent Application No. 17/408,156, filed August 20, 2021, which claims priority to U.S. Patent Application No. 17/233,107, filed April 16, 2021, the entire contents of which Incorporated herein by reference;
(d) 2021年12月3日申請之美國專利申請案第17/541,703號，該案之全部內容以引用的方式併入本文中，其主張以下申請案之優先權： 1. 2021年8月20日申請之美國專利申請案第17/408,156號，該案之全部內容以引用的方式併入本文中；及 2. 2021年4月16日申請之美國專利申請案第17/233,107號，該案之全部內容以引用的方式併入本文中； (d) U.S. Patent Application No. 17/541,703, filed December 3, 2021, which is incorporated herein by reference in its entirety, which claims priority to the following applications: 1. U.S. Patent Application Serial No. 17/408,156, filed August 20, 2021, which is incorporated herein by reference in its entirety; and 2. U.S. Patent Application No. 17/233,107, filed April 16, 2021, which is incorporated herein by reference in its entirety;
(e) 2021年11月23日申請之美國專利申請案第17/534,061號，該案之全部內容以引用的方式併入本文中；(e) U.S. Patent Application Serial No. 17/534,061, filed November 23, 2021, which is incorporated herein by reference in its entirety;
(f) 2022年5月20日申請之美國專利申請案第63/344,445號，該案之全部內容以引用的方式併入本文中；(f) U.S. Patent Application Serial No. 63/344,445, filed May 20, 2022, which is incorporated herein by reference in its entirety;
(g) 2022年7月5日申請之美國專利申請案第17/857,920號，該案之全部內容以引用的方式併入本文中；(g) U.S. Patent Application Serial No. 17/857,920, filed July 5, 2022, which is incorporated herein by reference in its entirety;
(h) 2022年8月23日申請之美國專利申請案第63/400,138號，該案之全部內容以引用的方式併入本文中；及(h) U.S. Patent Application Serial No. 63/400,138 filed August 23, 2022, which is incorporated herein by reference in its entirety; and
(i) 2022年9月8日申請之美國專利申請案第17/940,898號，該案之全部內容以引用的方式併入本文中。(i) U.S. Patent Application Serial No. 17/940,898 filed September 8, 2022, which is incorporated herein by reference in its entirety.
在詳細說明本發明之一或多項實施例之前，應理解，該等實施例在其等之應用中不限於在以下描述中闡述或在圖式中繪示之組件或步驟或方法之構造及配置之細節。在實施例之以下詳細描述中，可闡述數種特定細節以提供本發明之一更透徹理解。然而，受益於本發明之一般技術者將明白，可在不具有一些此等特定細節之情況下實踐本文中揭示之實施例。在其他例項中，可不詳細描述眾所周知之特徵以避免不必要地複雜化本發明。Before describing in detail one or more embodiments of the present invention, it should be understood that these embodiments are not limited in their application to the construction and arrangement of components or steps or methods set forth in the following description or shown in the drawings the details. In the following detailed description of the embodiments, several specific details may be set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one of ordinary skill having the benefit of this disclosure, that the embodiments disclosed herein may be practiced without some of these specific details. In other instances, well known features have not been described in detail to avoid unnecessarily complicating the present invention.
如本文中使用，一元件符號之後之一字母旨在指涉可類似但不一定相同於帶有相同元件符號之一先前描述元件或特徵之特徵或元件之一實施例(例如，1、1a、1b)。此速記表示法僅為方便起見而使用，且不應被解釋為以任何方式限制本發明，除非明確相反規定。As used herein, a letter following an element number is intended to refer to an embodiment of a feature or element that may be similar, but not necessarily identical, to a previously described element or feature with the same element number (e.g., 1, 1a, 1b). This shorthand notation is used for convenience only and should not be construed as limiting the invention in any way unless expressly stated to the contrary.
此外，除非明確相反規定，否則「或」指代一包含性或且不指代一排他性或。例如，一條件A或B由以下任一者滿足：A為真(或存在)且B為假(或不存在)，A為假(或不存在)且B為真(或存在)以及A及B兩者皆為真(或存在)。Furthermore, unless expressly stated to the contrary, "or" designates an inclusive or and does not denote an exclusive or. For example, a condition A or B is satisfied by any of the following: A is true (or exists) and B is false (or does not exist), A is false (or does not exist) and B is true (or exists) and A and B Both are true (or exist).
另外，可採用「一」或「一個」之使用來描述本文中揭示之實施例之元件及組件。此僅為方便起見而進行，且「一」及「一個」旨在包含「一個」或「至少一個」，且單數亦包含複數，除非明顯具有另外含義。Additionally, the use of "a" or "an" may be used to describe elements and components of the embodiments disclosed herein. This is done for convenience only and "a" and "an" are intended to include "one" or "at least one" and the singular also includes the plural unless it is obvious that it is meant otherwise.
最終，如本文中使用，對「一項實施例」、「在實施例中」或「一些實施例」之任何參考意謂結合該實施例描述之一特定元件、特徵、結構或特性包含於本文中揭示之至少一項實施例中。在說明書中之不同位置出現之片語「在一些實施例中」不一定皆指代相同實施例，且實施例可包含本文中明確描述或固有存在之一或多個特徵，或兩個或更多個此等特徵連同可能不一定在本發明中明確描述或固有存在之任何其他特徵之任何組合或子組合。Finally, as used herein, any reference to "one embodiment," "in an embodiment," or "some embodiments" means that a particular element, feature, structure, or characteristic described in connection with the embodiment is included herein In at least one embodiment disclosed in. The appearances of the phrase "in some embodiments" in various places in the specification are not necessarily all referring to the same embodiment, and an embodiment may include one or more features, or two or more features, either expressly described or inherently present herein. Any combination or subcombination of a plurality of these features together with any other features which may not necessarily be explicitly described or inherently present in the present invention.
廣而言之，本文中揭示之發明概念之實施例係關於一種用於在無線電靜止期間達成狀況覺知之方法及系統，其包含一發射器節點及一接收器節點，其等可經時間同步以應用與該節點自身相對於一共同參考系之運動相關聯之都卜勒校正。在實施例中，一主要節點(例如，高價值資產)可經組態以在一無線電靜止週期期間停止無線電發射，但次要節點(例如，消耗性資產)可被容許發射。就此而言，在實施例中，一主要節點可獲得次要節點之狀況覺知，同時維持其自身之無線電靜止，藉此降低被不利節點偵測到或定位之一風險。Broadly speaking, embodiments of the inventive concepts disclosed herein relate to a method and system for achieving situational awareness during radio inactivity, comprising a transmitter node and a receiver node, which can be time synchronized to Doppler corrections associated with the node's own motion relative to a common frame of reference are applied. In an embodiment, a primary node (eg, a high value asset) may be configured to cease radio transmission during a period of radio inactivity, but a secondary node (eg, a consumable asset) may be allowed to transmit. In this regard, in embodiments, a primary node can gain situational awareness of secondary nodes while maintaining its own radio quiescence, thereby reducing the risk of being detected or located by unfavorable nodes.
此外，實施例可利用空間覺知(例如，都卜勒調零)方法，包含使發射器及接收器節點時間同步以應用都卜勒校正。例如，都卜勒調零方法之實例包含但不限於在以下申請案中揭示之方法及任何其他描述：2021年4月16日申請之美國專利申請案第17/233,107號，其之全部內容以引用的方式併入本文中；及2022年7月5日申請之美國專利申請案第17/857,920號，其之全部內容以引用的方式併入本文中。在實施例中，都卜勒調零方法容許諸如但不限於相對快速及/或高效地偵測發射器節點且判定發射器節點屬性(例如，發射器節點速率、發射器節點方位、發射器節點相對於接收器節點之相對方位、發射器節點相對於接收器節點之相對距離及類似物)之益處。Furthermore, embodiments may utilize space aware (eg, Doppler nulling) methods, including time synchronizing transmitter and receiver nodes to apply Doppler correction. For example, examples of Doppler nulling methods include, but are not limited to, the methods disclosed and any other descriptions in: U.S. Patent Application Serial No. 17/233,107, filed April 16, 2021, the entire contents of which are incorporated herein by reference; and US Patent Application Serial No. 17/857,920, filed July 5, 2022, the entire contents of which are incorporated herein by reference. In an embodiment, the Doppler nulling method allows, for example, but not limited to, relatively fast and/or efficient detection of transmitter nodes and determination of transmitter node attributes (e.g., transmitter node velocity, transmitter node orientation, transmitter node relative orientation to the receiver node, relative distance of the transmitter node to the receiver node, and the like).
一些其他通信協定(例如，典型通信方法)可需要高於都卜勒調零方法之一信雜比(SNR)。例如，與其他方法相比，都卜勒調零方法可容許使用相對更少功率(例如，瓦特)及一更弱信號，同時仍提供狀況覺知。為了提供狀況覺知，一些其他通信協定可需要發射器節點及接收器節點兩者之雙向通信，以便建立一通信鏈路且發送一發射節點之屬性(例如，位置資訊資料)，藉此打破接收節點之無線電靜止。Some other communication protocols (eg, typical communication methods) may require a signal-to-noise ratio (SNR) higher than one of the Doppler nulling methods. For example, the Doppler nulling method may allow the use of relatively less power (eg, watts) and a weaker signal than other methods, while still providing situational awareness. To provide situational awareness, some other communication protocols may require two-way communication between a transmitter node and a receiver node in order to establish a communication link and send an attribute of the transmitting node (e.g., location information data), thereby breaking the receiver node. Node's radio is static.
至少一些此等挑戰藉由本發明之實施例來解決。At least some of these challenges are addressed by embodiments of the present invention.
應注意，根據本發明之一或多項實施例，2022年7月5日申請之美國專利申請案第17/857,920號至少部分由圖1至圖7之至少一些圖解及下文之至少一些伴隨語言重現。就此而言，藉由參考圖1至圖7，可以一非限制性方式更佳地理解都卜勒調零方法及系統之至少一些實例。然而，此等實施例及實例僅出於闡釋性目的而提供，且不應被解釋為限制性。例如，在實施例中，發射器節點可為固定的而非移動的。It should be noted that U.S. Patent Application Serial No. 17/857,920, filed July 5, 2022, is reproduced at least in part from at least some of the illustrations of FIGS. now. In this regard, at least some examples of Doppler nulling methods and systems may be better understood in a non-limiting manner by referring to FIGS. 1-7 . However, these embodiments and examples are provided for illustrative purposes only and should not be construed as limiting. For example, in an embodiment, a transmitter node may be fixed rather than mobile.
此外，且僅出於導航本發明之目的而陳述且不被解釋為限制性，在圖1至圖7之後進一步論述可更直接關於無線電靜止之描述。Furthermore, and stated only for the purpose of navigating the present invention and not to be construed as limiting, a further discussion after FIGS. 1-7 may more directly relate to the description of radio stationary.
現參考圖1至圖7，在一些實施例中，一固定接收器可藉由在兩個維度中使用一都卜勒零掃描方法來判定一合作發射器之方向及速度向量。該方法之一益處係無需交換顯式位置資訊之空間覺知。其他益處包含發現、同步及都卜勒校正，此等對通信係重要的。一些實施例可將經協調發射器頻移與發射器之運動引發都卜勒頻移組合以產生可使用一固定接收器解析之獨有淨頻移信號特性以達成空間覺知。此外，一些實施例可包含一三維(3D)方法，其中接收器及發射器處於運動中。Referring now to FIGS. 1-7, in some embodiments, a fixed receiver can determine the direction and velocity vector of a cooperating transmitter by using a Doppler zero-scan method in two dimensions. One benefit of this approach is that spatial awareness does not require the exchange of explicit positional information. Other benefits include discovery, synchronization, and Doppler correction, which are important to communication systems. Some embodiments may combine coordinated transmitter frequency shifts with motion-induced Doppler shifts of the transmitters to produce unique net frequency shifted signal characteristics that can be resolved using a fixed receiver for spatial awareness. Additionally, some embodiments may include a three-dimensional (3D) approach where the receiver and transmitter are in motion.
一些實施例可使用在一共同參考系(例如，一共同慣性參考系，諸如地球，其可忽略地球之曲率)中執行之分析，且假定用於發射器及接收器之各者之通信系統由平台通知其自身之速度及定向。本文中描述之方法可用於發現及追蹤，但此處之論述集中於發現，其通常係最具挑戰性之態樣。Some embodiments may use analyzes performed in a common frame of reference (e.g., a common inertial frame of reference, such as the Earth, which negligible the curvature of the Earth), and assume that the communication systems for each of the transmitter and receiver are composed of The platform informs itself of its speed and orientation. The methods described in this article can be used for both discovery and tracking, but the discussion here focuses on discovery, which is often the most challenging aspect.
「都卜勒零」之含義可透過回顧不具有接收器運動之二維(2D)情況來部分說明，且接著可藉由回顧將接收器運動添加至2D情況，且接著在3D情況中包含接收器運動來闡述。The meaning of "Doppler zero" can be partially explained by reviewing the two-dimensional (2D) case without receiver motion, and then adding receiver motion to the 2D case by reviewing, and then including receiving in the 3D case To explain the movement of the device.
一通信信號之都卜勒頻移與發射器與接收器之間之徑向速度成比例，且任何顯著都卜勒頻移通常係系統設計者應考量之一障礙。相反地，一些實施例利用都卜勒效應以依由選定設計參數指示之解析度來區分方向。此外，當預定「零」方向掃描通過角度空間時，此等實施例使用淨頻移之輪廓。所得輪廓係正弦曲線，其具有提供發射器之速率之一振幅、當「零」方向與接收器對準時之一零淨頻移及指示發射器之速度之方向之一最小值。應注意，發射器無法同時校正全部方向上之都卜勒，因此信號特性在各方向上係不同的，且對於不同發射器速度亦係不同的。正是此等特性被接收器用於判定空間覺知。所接收信號具有可映射至發射器之方向及速度之時空特性。此方法利用一「零」之概念，其僅係發射器完美校正其自身都卜勒頻移之方向。相同「調零」協定在各節點上運行，且掃描通過全部方向。此處，吾人任意地但在一真實系統中繪示具有10度之離散連續步階之掃描；然而，應理解，任何適合度數步階大小皆可用於都卜勒零掃描。The Doppler shift of a communication signal is proportional to the radial velocity between the transmitter and receiver, and any significant Doppler shift is usually a hindrance that should be considered by the system designer. Conversely, some embodiments exploit the Doppler effect to distinguish directions depending on the resolution dictated by selected design parameters. In addition, these embodiments use a profile of net frequency shift as the predetermined "zero" direction is scanned through angular space. The resulting profile is a sinusoid with an amplitude providing the velocity of the transmitter, a zero net frequency shift when the "zero" direction is aligned with the receiver, and a minimum in direction indicating the velocity of the transmitter. It should be noted that the transmitter cannot correct Doppler in all directions simultaneously, so the signal characteristics are different in each direction and also different for different transmitter speeds. It is these characteristics that are used by the receiver to determine spatial awareness. The received signal has spatiotemporal properties that can be mapped to the direction and velocity of the transmitter. This method utilizes the notion of a "null", which is only the direction in which the transmitter perfectly corrects its own Doppler shift. The same "zeroing" protocol runs on each node and scans through all directions. Here we arbitrarily but in a real system show sweeps with discrete sequential steps of 10 degrees; however, it should be understood that any suitable degree step size may be used for the Doppler zero sweep.
如已提及，一些實施例之貢獻之一者係被動空間覺知。傳統地，鄰近節點之空間資訊(基於一全球定位系統(GPS)及/或陀螺儀及加速度計)可經由資料通信來學習。不幸地，經由資料通信之空間覺知(被稱為主動空間覺知)僅在通信已建立之後才係可能的，而非在發現該等鄰近節點時。僅在鄰近節點之信號已被發現、同步及都卜勒校正之後，資料通信才係可能的。相反地，在一些實施例中，本文中描述之被動空間覺知可僅使用與獲取相關聯之同步位元來執行。此程序可被視為實體層附加項，且與顯式資料傳送相比，通常需要低得多之頻寬。用於發現、同步及都卜勒校正之實體層附加項先前從未用於上層之拓撲學習。As already mentioned, one of the contributions of some embodiments is passive spatial awareness. Traditionally, spatial information of neighboring nodes (based on a Global Positioning System (GPS) and/or gyroscopes and accelerometers) can be learned via data communication. Unfortunately, spatial awareness via data communication (referred to as active spatial awareness) is only possible after communication has been established, not when the neighboring nodes are discovered. Data communication is only possible after the signals of neighboring nodes have been found, synchronized and Doppler corrected. Conversely, in some embodiments, the passive spatial awareness described herein can be performed using only sync bits associated with acquisition. This procedure can be considered a physical layer add-on and typically requires much lower bandwidth than explicit data transfers. Physical layer additions for discovery, synchronization and Doppler correction have never been used for topology learning in upper layers before.
傳統地，經由一系列資料封包交換(例如，招呼訊息傳遞及鏈路狀態通告)來收穫網路拓撲。被動空間覺知可完全消除招呼訊息傳遞，且提供超出招呼訊息傳遞之覆蓋範圍之一更寬區域拓撲。藉由利用被動空間覺知，高效行動特用網路(MANET)成為可能。實施例可改良一網路自身之運作。Traditionally, network topology is harvested through a series of data packet exchanges (eg, hello messaging and link state advertisement). Passive spatial awareness can completely eliminate hello messaging and provide a wider area topology beyond the coverage of hello messaging. By exploiting passive spatial awareness, highly efficient mobile ad hoc networks (MANETs) are possible. Embodiments may improve the operation of a network itself.
參考圖1，揭示一多節點通信網路100。多節點通信網路100可包含多個通信節點，例如，一發射器(Tx)節點102及一接收器(Rx)節點104。Referring to FIG. 1, a multi-node communication network 100 is disclosed. The multi-node communication network 100 may include a plurality of communication nodes, such as a transmitter (Tx) node 102 and a receiver (Rx) node 104 .
在實施例中，多節點通信網路100可包含此項技術中已知之任何多節點通信網路。例如，多節點通信網路100可包含一行動特用網路(MANET)，其中Tx及Rx節點102、104 (以及多節點通信網路內之每隔一個通信節點)能夠自由且獨立地移動。類似地，Tx及Rx節點102、104可包含此項技術中已知之可通信地耦合之任何通信節點。就此而言，Tx及Rx節點102、104可包含此項技術中已知之用於發射/收發資料封包之任何通信節點。例如，Tx及Rx節點102、104可包含但不限於無線電(諸如在一載具上或在一人身上)、行動電話、智慧型電話、平板電腦、智慧型手錶、膝上型電腦及類似物。在實施例中，多節點通信網路100之Rx節點104可各包含但不限於一各自控制器106 (例如，控制處理器)、記憶體108、通信介面110及天線元件112。(在實施例中，下文描述之Rx節點104之全部屬性、能力等可類似地應用於Tx節點102及多節點通信網路100之任何其他通信節點。)In an embodiment, the multi-node communication network 100 may comprise any multi-node communication network known in the art. For example, the multi-node communication network 100 may comprise a mobile ad hoc network (MANET) in which the Tx and Rx nodes 102, 104 (and every other communication node within the multi-node communication network) are able to move freely and independently. Similarly, Tx and Rx nodes 102, 104 may comprise any communicatively coupled communication nodes known in the art. In this regard, Tx and Rx nodes 102, 104 may comprise any communication nodes known in the art for transmitting/transceiving data packets. For example, Tx and Rx nodes 102, 104 may include, but are not limited to, radios (such as on a vehicle or on a person), mobile phones, smartphones, tablets, smart watches, laptops, and the like. In an embodiment, the Rx nodes 104 of the multi-node communication network 100 may each include, but are not limited to, a respective controller 106 (eg, control processor), memory 108 , communication interface 110 and antenna element 112 . (In an embodiment, all attributes, capabilities, etc. of the Rx node 104 described below are similarly applicable to the Tx node 102 and any other communication nodes of the multi-node communication network 100.)
在實施例中，控制器106至少為Rx節點104提供處理功能性，且可包含任何數目個處理器、微控制器、電路系統、場可程式化閘陣列(FPGA)或其他處理系統及用於儲存由Rx節點104存取或產生之資料、可執行碼及其他資訊之駐留或外部記憶體。控制器106可執行體現在一非暫時性電腦可讀媒體(例如，記憶體108)中之實施本文中描述之技術之一或多個軟體程式。控制器106不受限於形成其之材料或其中採用之處理機制，且因而，可經由(若干)半導體及/或電晶體(例如，使用電子積體電路(IC)組件)等實施。In an embodiment, controller 106 provides processing functionality for at least Rx node 104, and may include any number of processors, microcontrollers, circuitry, field programmable gate arrays (FPGAs), or other processing systems and for Resident or external memory that stores data, executable code, and other information accessed or generated by the Rx node 104. Controller 106 may execute one or more software programs embodied in a non-transitory computer-readable medium (eg, memory 108 ) that implement one or more of the techniques described herein. Controller 106 is not limited by the materials from which it is formed or the processing mechanisms employed therein, and thus, may be implemented via semiconductor(s) and/or transistors (eg, using electronic integrated circuit (IC) components), and the like.
在實施例中，記憶體108可為提供用以儲存與Rx節點104及/或控制器106之操作相關聯之各種資料及/或程式碼(諸如軟體程式及/或碼片段或用以指示控制器106及Rx節點104之可能其他組件執行本文中描述之功能性之其他資料)之儲存功能性之有形電腦可讀儲存媒體之一實例。因此，記憶體108可儲存資料，諸如用於操作Rx節點104 (包含其組件(例如，控制器106、通信介面110、天線元件112等)等)之一指令程式。應注意，雖然描述一單一記憶體108，但可採用廣泛多種類型及組合之記憶體(例如，有形、非暫時性記憶體)。記憶體108可與控制器106整合、可包括獨立記憶體或可為兩者之一組合。記憶體108之一些實例可包含可抽換式及不可抽換式記憶體組件，諸如隨機存取記憶體(RAM)、唯讀記憶體(ROM)、快閃記憶體(例如，一安全數位(SD)記憶卡、一迷你SD記憶卡及/或一微型SD記憶卡)、固態硬碟(SSD)記憶體、磁性記憶體、光學記憶體、通用串列匯流排(USB)記憶體裝置、硬碟記憶體、外部記憶體等。In an embodiment, the memory 108 may be provided for storing various data and/or program codes (such as software programs and/or code segments or used to indicate control One example of a tangible computer-readable storage medium that stores the functionality of the device 106 and possibly other components of the Rx node 104 (other data that perform the functionality described herein). Accordingly, memory 108 may store data, such as a program of instructions for operating Rx node 104 (including its components (eg, controller 106, communication interface 110, antenna element 112, etc.), etc.). It should be noted that while a single memory 108 is described, a wide variety of types and combinations of memory (eg, tangible, non-transitory memory) may be employed. The memory 108 may be integrated with the controller 106, may include a separate memory, or may be a combination of both. Some examples of memory 108 may include removable and non-removable memory components such as random access memory (RAM), read only memory (ROM), flash memory (e.g., a secure bit ( SD) memory card, a mini SD memory card and/or a micro SD memory card), solid state drive (SSD) memory, magnetic memory, optical memory, universal serial bus (USB) memory device, hard disk memory, external memory, etc.
在實施例中，通信介面110可操作地組態以與Rx節點104之組件通信。例如，通信介面110可經組態以從控制器106或其他裝置(例如，Tx節點102及/或其他節點)擷取資料，發射資料以儲存於記憶體108中，從記憶體中之儲存器擷取資料等。通信介面110亦可與控制器106通信地耦合以促進Rx節點104之組件與控制器106之間之資料傳送。應注意，雖然通信介面110被描述為Rx節點104之一組件，但通信介面110之一或多個組件可實施為經由一有線及/或無線連接通信地耦合至Rx節點104之外部組件。Rx節點104亦可包含及/或連接至一或多個輸入/輸出(I/O)裝置。在實施例中，通信介面110包含或耦合至一發射器、接收器、收發器、實體連接介面或其等之任何組合。In an embodiment, the communication interface 110 is operably configured to communicate with components of the Rx node 104 . For example, communication interface 110 may be configured to retrieve data from controller 106 or other devices (e.g., Tx node 102 and/or other nodes), transmit data for storage in memory 108, retrieve data from storage in memory Retrieve data etc. Communication interface 110 may also be communicatively coupled with controller 106 to facilitate data transfer between components of Rx node 104 and controller 106 . It should be noted that although communication interface 110 is described as a component of Rx node 104, one or more components of communication interface 110 may be implemented as external components communicatively coupled to Rx node 104 via a wired and/or wireless connection. Rx node 104 may also include and/or be connected to one or more input/output (I/O) devices. In an embodiment, the communication interface 110 includes or is coupled to a transmitter, receiver, transceiver, physical connection interface, or any combination thereof.
本文中經考慮，Rx節點104之通信介面110可經組態以使用此項技術中已知之任何無線通信技術(包含但不限於GSM、GPRS、CDMA、EV-DO、EDGE、WiMAX、3G、4G、4G LTE、5G、WiFi協定、RF、LoRa及類似物)通信地耦合至多節點通信網路100之額外通信節點(例如，Tx節點102)之額外通信介面110。It is contemplated herein that the communication interface 110 of the Rx node 104 may be configured to use any wireless communication technology known in the art, including but not limited to GSM, GPRS, CDMA, EV-DO, EDGE, WiMAX, 3G, 4G , 4G LTE, 5G, WiFi protocol, RF, LoRa, and the like) communicatively coupled to an additional communication interface 110 of an additional communication node (eg, Tx node 102 ) of the multi-node communication network 100 .
在實施例中，天線元件112可包含能夠***縱或以其他方式引導(例如，經由通信介面110)以相對於Rx節點104在一完整360度弧(114)中進行空間掃描之定向或全向天線元件。In an embodiment, antenna element 112 may comprise a directional or omnidirectional antenna element that can be steered or otherwise directed (e.g., via communication interface 110) to spatially scan a full 360-degree arc (114) relative to Rx node 104. antenna element.
在實施例中，Tx節點102及Rx節點104兩者皆可以一任意速率在一任意方向上移動，且可類似地相對於彼此移動。例如，Tx節點102可根據一速度向量116以一相對速度V Tx及一相對角方向(相對於一任意方向118之一角度α (例如，正東方))相對於Rx節點104移動；θ可為Rx節點相對於正東方之角方向。 In an embodiment, both Tx node 102 and Rx node 104 can move at an arbitrary rate in an arbitrary direction, and can similarly move relative to each other. For example, the Tx node 102 can move relative to the Rx node 104 according to a velocity vector 116 with a relative velocity V Tx and a relative angular direction (an angle α (e.g., due east) relative to an arbitrary direction 118); θ can be The angular orientation of the Rx node relative to due east.
在實施例中，Tx節點102可實施一都卜勒調零協定。例如，Tx節點102可調整其發射頻率以抵銷都卜勒頻率偏移，使得在一都卜勒調零方向120上(例如，在相對於任意方向118之一角度ϕ)不存在淨頻率偏移(例如，「都卜勒零」)。發射波形(例如，Tx節點102之通信介面110)可由平台(例如，控制器106)通知其速度向量及定向(例如，α、V T)，且可調整其發射頻率以移除在各都卜勒調零方向120及角度ϕ之都卜勒頻移。 In an embodiment, Tx node 102 may implement a Doppler nulling protocol. For example, Tx node 102 may adjust its transmit frequency to offset the Doppler frequency offset such that there is no net frequency offset in a Doppler-nulling direction 120 (e.g., at an angle ϕ relative to any direction 118). shift (for example, "Doppler zero"). The transmit waveform (e.g., communication interface 110 of Tx node 102) can be informed of its velocity vector and orientation (e.g., α, V T ) by the platform (e.g., controller 106), and its transmit frequency can be adjusted to remove Doppler frequency shift in direction 120 and angle ϕ of Le zeroing.
為了繪示一些實施例之態樣，吾人展示依據跨水平之零方向而變化一固定接收器之淨頻移之2D相依性，如圖1之一俯視圖中展示，其中接收器節點104係固定的，且相對於發射器自東方定位成θ，發射器節點102以速率 及自東方之方向α及掃描ϕ之一快照(其係「零」方向，在此圖像中例示性地展示為100度)移動。 To illustrate aspects of some embodiments, we show the 2D dependence of varying the net frequency shift of a fixed receiver as a function of the zero direction across the horizon, as shown in the top view of Figure 1, where receiver node 104 is fixed , and is positioned at θ from the east relative to the transmitter, the transmitter node 102 is at a rate And move in direction α from east and scan a snapshot of ϕ (which is the "zero" direction, illustratively shown as 100 degrees in this image).
都卜勒頻移係歸因於運動之一實體現象，且可被視為一頻道效應。在此實例中，發射器節點102係唯一移動物件，因此其係都卜勒頻移之唯一來源。由接收器節點104所見之歸因於發射器節點102運動之都卜勒頻移係：Doppler shift is a physical phenomenon due to motion and can be viewed as a channel effect. In this example, transmitter node 102 is the only moving object, and thus it is the only source of Doppler shift. The Doppler shift system seen by the receiver node 104 due to the motion of the transmitter node 102:
，其中c係光速 , where c is the speed of light
另一因素係當「零」方向與接收器方向對準時應精確補償都卜勒頻移之發射器頻率調整項。發射器節點102之工作係根據其自身速率( )及速度方向(α)來調整其發射頻率。該發射器頻率調整(∆f T)與至「零」方向上之速度投影(ф)成比例，且係： Another factor is the transmitter frequency adjustment that should accurately compensate for Doppler shift when the "null" direction is aligned with the receiver direction. Transmitter node 102 operates according to its own rate ( ) and speed direction (α) to adjust its emission frequency. The transmitter frequency adjustment (∆f T ) is proportional to the velocity projection (ф) in the "zero" direction and is:
由接收器所見之淨頻移係兩項之總和：The net frequency shift seen by the receiver is the sum of two terms:
假定速度向量及方向與∆f net之週期性量測相比緩慢地改變。在該等條件下，α、 及θ之未知參數(從接收器節點104之角度而言)係常數。 The velocity vector and direction are assumed to change slowly compared to the periodic measurements of Δf net . Under these conditions, α, The unknown parameters of and θ (from the perspective of the receiver node 104) are constants.
此外，假定接收器節點104具有解析傳入信號之頻率之一實施方案，如一般技術者將理解。Furthermore, it is assumed that the receiver node 104 has an implementation that resolves the frequency of the incoming signal, as will be understood by those of ordinary skill.
圖2A展示針對一固定接收器位於發射器之東方(θ=0)且具有1500米/秒(m/s)之一發射器速率之案例中依據「零」方向而變化之所得淨頻移。圖2B展示針對一固定接收器及針對具有一東方發射器節點速度方向(α=0)之若干方向之結果。頻移以百萬分率(ppm)為單位。如圖2A及圖2B中展示，無論速度方向或位置如何，振幅與發射器節點102之 之速率一致，當「零」角度在接收器方向上時(當ϕ=θ時)，淨頻移為零，且當「零」與發射器節點102之速度方向對準時(當ϕ=α時)，出現最小值。 Figure 2A shows the resulting net frequency shift as a function of the "zero" direction for the case of a fixed receiver located east of the transmitter (θ = 0) with a transmitter velocity of 1500 meters per second (m/s). Figure 2B shows the results for a fixed receiver and for directions with an east transmitter node velocity direction (α=0). Frequency shift is in parts per million (ppm). As shown in Figures 2A and 2B, regardless of velocity direction or position, the amplitude and transmitter node 102 The velocities are consistent, when the "zero" angle is in the direction of the receiver (when ϕ=θ), the net frequency shift is zero, and when the "zero" is aligned with the velocity direction of the transmitter node 102 (when ϕ=α ), the minimum value appears.
因此，接收器節點104可從該輪廓判定發射器節點102之速率、發射器節點102之航向，且發射器節點102之方向已知最多為兩個位置之一者(由於一些輪廓具有兩個零交叉點)。應注意，兩個曲線與y軸交叉兩次(圖2A中之0度及180度，及圖2B中之±90度)，因此最初在位置方向上存在一歧義例項。在此情況下，接收器節點104知道發射器節點102在接收器節點104之東方或西方。Thus, from this profile, the receiver node 104 can determine the velocity of the transmitter node 102, the heading of the transmitter node 102, and the direction of the transmitter node 102 is known to be at most one of two positions (since some profiles have two zeros intersection). Note that the two curves cross the y-axis twice (0 degrees and 180 degrees in Figure 2A, and ±90 degrees in Figure 2B), so initially there is an ambiguous instance in the position direction. In this case, the receiver node 104 knows that the transmitter node 102 is east or west of the receiver node 104 .
參考圖3，揭示一多節點通信網路100。多節點通信網路100可包含多個通信節點，例如，一發射器(Tx)節點102及一接收器(Rx)節點104。如圖3中展示，發射器節點102及接收器節點104兩者在兩個維度中運動。Referring to FIG. 3, a multi-node communication network 100 is disclosed. The multi-node communication network 100 may include a plurality of communication nodes, such as a transmitter (Tx) node 102 and a receiver (Rx) node 104 . As shown in FIG. 3, both the transmitter node 102 and the receiver node 104 move in two dimensions.
在圖3中描繪同時移動案例，其中接收器節點104亦以由速率 及方向β特性化之一般速度移動。用於移動接收器節點104之協定在接收器節點104之側上併入一頻率調整以亦補償接收器節點104之運動。方程式具有兩個額外項。一個係接收器之運動之一都卜勒項，且第二個係接收器之頻率補償。 The simultaneous mobility case is depicted in FIG. 3, where the receiver node 104 is also And general speed movement characterized by direction β. The protocol for moving the receiver node 104 incorporates a frequency adjustment on the receiver node 104 side to also compensate for receiver node 104 motion. The equation has two extra terms. One is a Doppler term for the motion of the receiver and the second is the frequency compensation of the receiver.
再者，都卜勒頻移係歸因於運動之一實體現象，且可被視為一頻道效應，但在此情況下，發射器節點102及接收器節點104兩者皆在移動，因此存在兩個都卜勒頻移項。由接收器所見之歸因於相對徑向速度之真實都卜勒頻移係：Again, the Doppler shift is due to a physical phenomenon of motion and can be viewed as a channel effect, but in this case both the transmitter node 102 and the receiver node 104 are moving, so there is Two Doppler shift terms. The true Doppler shift seen by the receiver due to the relative radial velocity is:
其他因素係當「零」方向與接收器方向對準時精確補償都卜勒頻移之發射器節點102及接收器節點104頻率調整項。發射器節點102之工作係根據其自身速率( )及速度方向(α)來調整發射器節點102之發射頻率。該發射器節點頻率調整與至「零」方向上之速度投影(ф)成比例，且係下文方程式中之第一項。 Other factors are transmitter node 102 and receiver node 104 frequency adjustments that accurately compensate for Doppler shift when the "null" direction is aligned with the receiver direction. Transmitter node 102 operates according to its own rate ( ) and velocity direction (α) to adjust the transmit frequency of the transmitter node 102. The transmitter node frequency adjustment is proportional to the velocity projection (ф) into the "zero" direction and is the first term in the equation below.
接收器節點104之工作係根據接收器節點104自身之速率( )及速度方向(β)來調整接收器節點頻率。該接收器節點頻率調整與至「零」方向上之速度投影(ф)成比例，且係下文方程式中之第二項。接收器節點頻率調整可在頻率解析演算法之前對接收信號進行，或可在演算法內進行。 The operation of the receiver node 104 is based on the speed of the receiver node 104 itself ( ) and velocity direction (β) to adjust the receiver node frequency. The receiver node frequency adjustment is proportional to the velocity projection (ф) into the "zero" direction and is the second term in the equation below. The receiver node frequency adjustment can be performed on the received signal prior to the frequency resolution algorithm, or can be performed within the algorithm.
由接收器所見之淨頻移係全部項之總和：The net frequency shift seen by the receiver is the sum of all terms:
再者，假定接收器節點104具有解析傳入信號之頻率之一實施方案，如此項技術中將理解。Again, it is assumed that the receiver node 104 has an implementation that resolves the frequency of the incoming signal, as will be understood in the art.
此外，假定速度向量及方向與∆f net之週期性量測相比緩慢地改變。再者，在此等條件下，未知參數(從接收器節點104之角度而言) α、 及θ係常數。 Furthermore, the velocity vector and direction are assumed to change slowly compared to the periodic measurements of Δf net . Again, under these conditions, the unknown parameters (from the perspective of the receiver node 104) α, and θ constants.
針對接收器節點位置θ及發射器節點及接收器節點速率( 及 )以及發射器節點及接收器節點速度方向(α及β)之若干案例情況，在圖4A及圖4B中展示二維(2D)移動接收器節點104方法之淨頻移。圖4A針對發射器節點102及接收器節點104以及接收器節點位置θ=0具有不同速率。圖4B針對發射器節點及接收器節點具有相同速率。類似地，此處存在三個概念需要注意： For the position of the receiver node θ and the velocity of the transmitter node and the receiver node ( and ) and some case cases of transmitter node and receiver node velocity directions (α and β), the net frequency shift of the two-dimensional (2D) moving receiver node 104 approach is shown in FIGS. 4A and 4B . FIG. 4A has different rates for transmitter node 102 and receiver node 104 and receiver node position θ=0. Figure 4B has the same rate for the transmitter node and the receiver node. Similarly, there are three concepts to note here:
*振幅與發射器節點102與接收器節點104之間之相對速度 一致。 *Amplitude versus relative velocity between transmitter node 102 and receiver node 104 unanimous.
*當「零」角度在接收器方向上時(當ϕ=θ時)，淨頻移為零。*When the "zero" angle is in the direction of the receiver (when ϕ=θ), the net frequency shift is zero.
*當「零」與相對速度方向對準時(當 時)，出現最小值。 *When "zero" is aligned with the direction of relative velocity (when ), the minimum value appears.
再者，存在具有位置θ之一初始雙點歧義性，但發射器節點102之速率及速度向量係已知的。Again, there is an initial two-point ambiguity with position [theta], but the velocity and velocity vector of the transmitter node 102 are known.
現參考圖5，雖然2D圖像更容易可視化，但相同原理適用於3D情況。圖5展示跨越具有不同錐體大小(錐體大小為全寬)之3D及2D空間所需之數個方向組。在深入方程式之前，當包含另一維度時，值得評論空間之大小。例如，當在先前實例中使用10度之一「空」步階大小時，在2D中跨越360度需要36個組。因此，若使用10度之一例示性偵測角度(例如，具有10度錐體之一定向天線)，則將需要36個組來覆蓋2D空間。可藉由計算一錐體相較於完整4π球面度之覆蓋率來運算3D分數覆蓋率。分數等於積分Referring now to Figure 5, while 2D images are easier to visualize, the same principles apply to the 3D case. Figure 5 shows several sets of directions needed to span 3D and 2D spaces with different cone sizes (the cone size is full width). Before diving into the equation, it's worth commenting on the size of the space when another dimension is included. For example, when using an "null" step size of 10 degrees in the previous example, 36 groups are required to span 360 degrees in 2D. Thus, using an exemplary detection angle of 10 degrees (eg, a directional antenna with a 10 degree cone), 36 groups would be required to cover the 2D space. 3D fractional coverage can be computed by computing the coverage of a cone compared to a full 4π steradians. points equal points
對於與發現時間相關之2D及3D情況兩者，在圖5中展示跨越空間之組之數目。除了窄錐體大小之外，對於3D情況，組之數目並不非常大(例如，在10度處約15倍，在20度處約7.3倍，在30度處約4.9倍)。除非系統受限於非常窄錐體大小，否則與一2D搜尋相比，3D搜尋之發現時間並非壓倒性的。The number of groups spanning space is shown in FIG. 5 for both 2D and 3D cases related to discovery time. Except for the narrow cone size, the number of groups is not very large for the 3D case (eg, about 15 times at 10 degrees, about 7.3 times at 20 degrees, about 4.9 times at 30 degrees). Unless the system is limited to very narrow cone sizes, the discovery time of a 3D search is not overwhelming compared to a 2D search.
現參考圖6，揭示一多節點通信網路100。多節點通信網路100可包含多個通信節點，例如，一發射器(Tx)節點102及一接收器(Rx)節點104。如圖6中展示，發射器節點102及接收器節點104兩者在三個維度中運動。Referring now to FIG. 6, a multi-node communication network 100 is disclosed. The multi-node communication network 100 may include a plurality of communication nodes, such as a transmitter (Tx) node 102 and a receiver (Rx) node 104 . As shown in FIG. 6, both the transmitter node 102 and the receiver node 104 move in three dimensions.
都卜勒調零之3D方法遵循2D方法，但為了簡單起見，其在此處用角度繪示且以向量方式運算。The 3D method of Doppler nulling follows the 2D method, but for simplicity it is drawn here with angles and operates as vectors.
在三個維度中，以對2個維度或3個維度皆有效之向量形式表達方程式係方便的。圖6展示3個維度中之幾何形狀，其中 係從發射器指向接收器之單位向量，且 係指向由協定定義之「零」方向之單位向量。 In three dimensions, it is convenient to express the equations in vector form valid for 2 or 3 dimensions. Figure 6 shows geometric shapes in 3 dimensions, where is the unit vector pointing from the transmitter to the receiver, and is the unit vector pointing in the "zero" direction defined by the convention.
由接收器節點104所見之歸因於相對徑向速度之真實都卜勒頻移係至 向量上之投影： The true Doppler shift seen by receiver node 104 due to relative radial velocity is given by Projection onto a vector:
調零協定歸因於發射節點頻率及接收器節點頻率至 方向上之速度投影來調整發射節點頻率及接收器節點頻率 Nulling agreement due to transmitting node frequency and receiver node frequency to Velocity projection in direction to adjust transmitter node frequency and receiver node frequency
由接收器節點104所見之淨頻移係全部項之總和：The net frequency shift seen by the receiver node 104 is the sum of all terms:
3D移動接收器節點104方法之淨頻移不容易用圖形展示，但可用數學方程式來檢測以得出有用結論。前兩項係都卜勒校正(DC)偏移，且後兩項係零相依項。由於 係自變數，因此當 及 平行時出現最大值，且當其等反平行時出現一最小值。此外，由振幅判定相對速率， The net frequency shift of the 3D mobile receiver node 104 approach is not easy to show graphically, but can be detected with mathematical equations to draw useful conclusions. The first two terms are Doppler corrected (DC) offsets, and the last two terms are zero dependent terms. because is an independent variable, so when and A maximum occurs when they are parallel, and a minimum occurs when they are antiparallel. In addition, the relative velocity is determined from the amplitude,
振幅= Amplitude =
最後，當 平行(即，在相同方向上平行，而非反平行)於 時，淨頻率為零。 Finally, when Parallel (that is, parallel in the same direction, not antiparallel) to , the net frequency is zero.
當 時 when hour
或當 時， or when hour,
對於3D情況：For 3D case:
*振幅與發射器節點102與接收器節點104之間之相對速度 一致。 *Amplitude versus relative velocity between transmitter node 102 and receiver node 104 unanimous.
*當「零」角度在接收器節點方向上時，( )時，淨頻移為零。 *When the "zero" angle is in the direction of the receiver node, ( ), the net frequency shift is zero.
*當「零」與相對速度方向對準時，出現最小值。*Minimum value occurs when "zero" is aligned with relative velocity direction.
仍參考圖6，在一些實施例中，系統(例如，多節點通信網路100)可包含一發射器節點102及一接收器節點104。發射器節點102及接收器節點104之各節點可包含：一通信介面110，其包含至少一個天線元件112；及一控制器，其可操作地耦合至通信介面，控制器106包含一或多個處理器，其中控制器106具有自身節點速度及自身節點定向之資訊。發射器節點102及接收器節點104可處於運動中(例如，在兩個維度中或在三個維度中)。發射器節點102及接收器節點104可經時間同步以應用與該節點自身相對於一共同參考系(例如，一共同慣性參考系(例如，運動中之一共同慣性參考系或一固定共同慣性參考系))之運動相關聯之都卜勒校正。在發射器節點102將信號發射至接收器節點104之前且在接收器節點104從發射器節點102接收信號之前，共同參考系對於發射器節點102及接收器節點104可係已知的。在一些實施例中，系統係包括發射器節點102及接收器節點104之一行動特用網路(MANET)。Still referring to FIG. 6 , in some embodiments, a system (eg, multi-node communication network 100 ) may include a transmitter node 102 and a receiver node 104 . Each of the transmitter node 102 and receiver node 104 may include: a communication interface 110 including at least one antenna element 112; and a controller operatively coupled to the communication interface, the controller 106 including one or more processor, wherein the controller 106 has the information of its own node speed and its own node orientation. Transmitter node 102 and receiver node 104 may be in motion (eg, in two dimensions or in three dimensions). The transmitter node 102 and the receiver node 104 may be time synchronized to apply a common reference frame (e.g., a common inertial reference frame in motion or a fixed common inertial reference frame) relative to the node itself. Department of)) motion-related Doppler correction. The common reference frame may be known to the transmitter node 102 and the receiver node 104 before the transmitter node 102 transmits a signal to the receiver node 104 and before the receiver node 104 receives the signal from the transmitter node 102 . In some embodiments, the system is a mobile ad hoc network (MANET) including the transmitter node 102 and the receiver node 104 .
在一些實施例中，發射器節點102及接收器節點104經由與獲取相關聯之同步位元進行時間同步。例如，同步位元可作為實體層附加項來操作。In some embodiments, the transmitter node 102 and receiver node 104 are time synchronized via sync bits associated with acquisition. For example, sync bits can be manipulated as physical layer additions.
在一些實施例中，發射器節點102經組態以根據發射器節點102之一自身速率及一自身速度方向來調整一發射頻率，以便執行一發射器側都卜勒校正。在一些實施例中，接收器節點104經組態以根據接收器節點104之一自身速率及一自身速度方向來調整接收器節點104之一接收器頻率，以便執行一接收器側都卜勒校正。在一些實施例中，經調整發射頻率之一調整量與至一都卜勒零方向上之一發射器節點102速度投影成比例，其中經調整接收器頻率之一調整量與至都卜勒零方向上之一接收器節點104速度投影成比例。在一些實施例中，接收器節點102經組態以判定發射器節點102與接收器節點104之間之一相對速率。在一些實施例中，接收器節點104經組態以判定發射器節點102運動之一方向及發射器節點102之一速度向量。在一些實施例中，當一合成向量平行於都卜勒零方向時，發生接收器節點104之一都卜勒校正之一最大淨頻移，其中合成向量等於接收器節點104之一速度向量減去發射器節點102之速度向量。在一些實施例中，當一合成向量反平行於都卜勒零方向時，發生接收器節點104之一都卜勒校正之一最小淨頻移，其中合成向量等於接收器節點104之一速度向量減去發射器節點102之速度向量。在一些實施例中，當從發射器節點102指向接收器節點之一向量平行於都卜勒零方向時，接收器節點104之一都卜勒校正之一淨頻移為零。In some embodiments, the transmitter node 102 is configured to adjust a transmit frequency according to an own velocity and an own velocity direction of the transmitter node 102 in order to perform a transmitter-side Doppler correction. In some embodiments, the receiver node 104 is configured to adjust a receiver frequency of the receiver node 104 according to an own velocity of the receiver node 104 and an own velocity direction in order to perform a receiver-side Doppler correction . In some embodiments, an adjustment of the adjusted transmit frequency is proportional to a velocity projection of the transmitter node 102 in a direction to a Doppler zero, wherein an adjustment of the adjusted receiver frequency is proportional to a Doppler zero. Direction is proportional to a receiver node 104 velocity projection. In some embodiments, the receiver node 102 is configured to determine a relative rate between the transmitter node 102 and the receiver node 104 . In some embodiments, the receiver node 104 is configured to determine a direction of motion of the transmitter node 102 and a velocity vector of the transmitter node 102 . In some embodiments, a maximum net frequency shift of the Doppler correction of the receiver node 104 occurs when a resultant vector equal to a speed vector of the receiver node 104 minus Velocity vector to transmitter node 102. In some embodiments, a minimum net frequency shift of the Doppler correction of the receiver node 104 occurs when a resultant vector is antiparallel to the Doppler null direction, where the resultant vector is equal to a velocity vector of the receiver node 104 The velocity vector of the transmitter node 102 is subtracted. In some embodiments, when a vector pointing from the transmitter node 102 to the receiver node is parallel to the Doppler zero direction, a net frequency shift of the Doppler correction of the receiver node 104 is zero.
現參考圖7，根據本文中揭示之發明概念之一方法700之一例示性實施例可包含以下步驟之一或多者。另外，例如，一些實施例可包含反覆、同時及/或循序執行方法700之一或多個例項。另外，例如，方法700之至少一些步驟可並行及/或同時執行。另外，在一些實施例中，方法700之至少一些步驟可非循序執行。Referring now to FIG. 7 , an exemplary embodiment of a method 700 according to the inventive concepts disclosed herein may include one or more of the following steps. Additionally, for example, some embodiments may include iterative, simultaneous, and/or sequential execution of one or more instances of method 700 . Additionally, for example, at least some steps of method 700 may be performed in parallel and/or simultaneously. Additionally, in some embodiments, at least some steps of method 700 may be performed out of sequence.
步驟702可包含提供一發射器節點及一接收器節點，其中發射器節點及接收器節點之各節點經時間同步，其中發射器節點及接收器節點之各節點處於運動中，其中發射器節點及接收器節點之各節點包括包含至少一個天線元件之一通信介面，其中發射器節點及接收器節點之各節點進一步包括可操作地耦合至通信介面之一控制器，該控制器包含一或多個處理器，其中控制器具有自身節點速度及自身節點定向之資訊。Step 702 may comprise providing a transmitter node and a receiver node, wherein each of the transmitter node and the receiver node are time synchronized, wherein each of the transmitter node and the receiver node is in motion, wherein the transmitter node and Each of the receiver nodes includes a communication interface comprising at least one antenna element, wherein each of the transmitter node and the receiver node further includes a controller operably coupled to the communication interface, the controller comprising one or more A processor, wherein the controller has information about its own node speed and its own node orientation.
步驟704可包含至少基於時間同步，由發射器節點對發射器節點自身相對於一共同參考系之運動應用都卜勒校正。Step 704 may comprise applying, by the transmitter node, a Doppler correction to the motion of the transmitter node itself relative to a common reference frame, based at least on time synchronization.
步驟706可包含至少基於時間同步，由接收器節點對接收器節點自身相對於共同參考系之運動應用都卜勒校正，其中在發射器節點將信號發射至接收器節點之前且在接收器節點從發射器節點接收信號之前，共同參考系對於發射器節點及接收器節點係已知的。Step 706 may comprise applying, by the receiver node, a Doppler correction to the motion of the receiver node itself relative to a common reference frame, based at least on time synchronization, where the signal is transmitted by the transmitter node to the receiver node and before the receiver node is from Before the transmitter node receives the signal, the common reference frame is known to the transmitter node and the receiver node.
此外，方法700可包含貫穿全文揭示之任何操作。Additionally, method 700 may include any of the operations disclosed throughout.
本文中論述之零掃描技術繪示用於從解析發射器節點102輻射之時空特性來進行空間覺知之一系統及一方法。此方法向接收器節點104通知發射器節點102與接收器節點104之間之相對速率以及發射器節點方向及發射器節點速度向量。此方法包含掃描通過全部方向，且當零方向與發射器節點方向對準時具有一高靈敏度(例如，低淨頻移)。此方法可在一高度靈敏獲取訊框上實施，該獲取訊框通常比容許具有相對低功率之超靈敏空間覺知之顯式資料傳送靈敏得多。The zero-scan technique discussed herein illustrates a system and a method for spatial awareness from resolving the spatio-temporal characteristics of emitter node 102 radiation. This method informs the receiver node 104 of the relative velocity between the transmitter node 102 and the receiver node 104 as well as the transmitter node direction and transmitter node velocity vector. This method involves scanning through all directions, and has a high sensitivity (eg, low net frequency shift) when the null direction is aligned with the transmitter node direction. This approach can be implemented on a highly sensitive acquisition frame, which is typically much more sensitive than explicit data transmission allowing ultra-sensitive spatial awareness with relatively low power.
現參考圖8至圖9B，可根據本發明之一或多項實施例達成減少放射期間之狀況覺知(例如，至少一個節點之無線電靜止)。Referring now to FIGS. 8-9B , situational awareness (eg, radio quiescence of at least one node) during reduced emissions may be achieved in accordance with one or more embodiments of the present invention.
出於本發明之目的，無線電靜止可意謂處於一無線電靜止狀態之一節點不允許任何輻射/發射，諸如可被稱為一完全停電(例如，無通信、無雷達及類似物)。然而，應注意，即使在無線電靜止期間，狀況覺知資料(例如，偵測、定位及類似物)有時仍可由處於此一無線電靜止狀態之節點獲取。例如，光學觀測(例如，人員之視線觀測、被動光學相機及類似物)可由處於無線電靜止之節點用於偵測其他節點(例如，飛機、船隻、UAV或任何其他系統)。此外，至少對於本發明之實施例，處於一無線電靜止狀態仍可容許從其他節點接收信號以獲取狀況覺知。就此而言，處於無線電靜止之一節點仍可獲知其他節點之位置及屬性(例如，速度、方位)。For purposes of the present invention, radio quiescence may mean that a node in a radio quiescence state does not allow any radiation/transmission, such as may be referred to as a total blackout (eg, no communication, no radar, and the like). It should be noted, however, that even during radio inactivity, situational awareness data (eg, detections, positioning, and the like) can sometimes still be acquired by nodes in such radio inactivity. For example, optical observations (eg, line-of-sight observations of people, passive optical cameras, and the like) can be used by nodes that are radio stationary to detect other nodes (eg, aircraft, ships, UAVs, or any other system). Furthermore, at least for embodiments of the present invention, being in a radio static state may still allow receiving signals from other nodes for situational awareness. In this regard, a node that is radio stationary may still know the location and properties (eg, velocity, bearing) of other nodes.
然而，在一減少放射狀態期間操作節點之一挑戰係，可難以在仍維持狀況覺知時維持安全性且使節點屬性(例如，識別、位置、速率)對不利監聽節點(例如，第三方節點、敵方戰鬥員及類似物)保密。例如，若完全不容許友好節點發射任何信號，則在一減少放射狀態期間識別友好節點(例如，盟軍UAV)可為不切實際的。However, one of the challenges of operating nodes during a reduced emission state is that it can be difficult to maintain security while still maintaining situational awareness and make node attributes (e.g., identity, location, velocity) sensitive to adverse listening nodes (e.g., third-party nodes). , enemy combatants and the like) are kept secret. For example, identifying friendly nodes (eg, allied UAVs) during a reduced emissions state may be impractical if friendly nodes are not permitted to transmit any signals at all.
本文中經考慮，容許次要節點(例如，消耗性及/或較低價值資產、UAV及類似物)在一減少放射狀態期間進行發射，同時減少(或消除)主要節點(例如，高價值資產、戰艦及類似物)之放射將提供狀況覺知，同時仍保護主要節點。It is contemplated herein to allow minor nodes (e.g., expendable and/or lower value assets, UAVs, and the like) to transmit during a reduced emissions state while reducing (or eliminating) major nodes (e.g., high value asset , battleships and the like) would provide situational awareness while still protecting major nodes.
此外，使用典型發射技術(例如，非都卜勒調零方法)發射屬性(例如，位置、速率、方位及類似物)之一挑戰係，此等技術可需要雙向鏈路(此可洩漏高價值資產之位置)。此外，或替代地，此等技術可需要相對高功率以增加信號之SNR及行進距離，此可增加一偵測可能性。另外，或替代地，來自此等技術之屬性(例如，位置資料)可需要更多頻寬及/或時間來發射。在實施例中，使用都卜勒調零方法可容許解決或減少上文陳述之其他技術之至少一些缺陷。例如，時間同步都卜勒調零掃描技術可容許使用非常低強度信號，其等容許一信號比典型通信技術之一信號行進得遠得多。此外，即使此一信號由一不利節點接收且識別為某類信號，一不利節點仍可受限於其判定發送信號之節點之屬性(例如，速率、方位)之能力，且藉此比經組態以使用都卜勒調零方法之主要節點具有更少狀況覺知。例如，主要節點可包含用於計算使用都卜勒調零通信協定發送信號之節點之屬性之一共同參考系及時間同步協定之知識，但不利節點不一定具有此知識。In addition, it is a challenge to transmit attributes (e.g., position, velocity, bearing, and the like) using typical transmission techniques (e.g., non-Doppler nulling methods), which can require bidirectional links (which can leak high-value location of the property). Additionally, or alternatively, these techniques may require relatively high power to increase the SNR and travel distance of the signal, which may increase a detection probability. Additionally, or alternatively, attributes from these technologies (eg, location data) may require more bandwidth and/or time to transmit. In an embodiment, using a Doppler nulling method may allow for solving or reducing at least some of the drawbacks of the other techniques stated above. For example, time-synchronized Doppler nulling scan techniques may allow the use of very low strength signals, which allow a signal to travel much farther than one of typical communication techniques. Furthermore, even if such a signal is received by an unfavorable node and identified as a certain type of signal, an unfavorable node may still be limited in its ability to determine attributes (e.g., speed, bearing) of the node sending the signal, and thereby compare Primary nodes that are in a state to use the Doppler nulling method are less situation aware. For example, dominant nodes may contain knowledge of a common reference frame and time synchronization protocol for computing properties of nodes sending signals using the Doppler-nulling communication protocol, but disadvantaged nodes do not necessarily have such knowledge.
出於本發明之目的，一減少放射狀態包含經組態以減少容許在減少放射狀態生效之一週期內使用之類型之發射之任何通信協定、限制、狀況、狀態、指令、命令或類似物。例如，可在減少放射之狀態期間施加對所容許信號(例如，發射)之類型、數目、功率位準或類似物之限制。For purposes of this invention, a reduced emissions state includes any communication protocol, restriction, condition, state, instruction, command, or the like configured to reduce emissions of the type permitted for the period in which the reduced emissions state is in effect. For example, restrictions on the type, number, power levels, or the like of allowed signals (eg, emissions) may be imposed during a state of reduced emissions.
根據本發明之實施例，可使用減少放射之任何狀態。在實施例中，一減少放射狀態包含但不限於無線電靜止、放射控制(EMCON)及類似物。Any state of reducing radiation may be used in accordance with embodiments of the present invention. In an embodiment, a reduced emission state includes, but is not limited to, radio quiescence, emission control (EMCON), and the like.
例如，EMCON可包含EMCON通信協定。例如，EMCON狀態可包含但不一定限於在軍事(例如，海軍)中使用之EMCON DELTA、EMCON CHARLIE、EMCON BETA及EMCON ALPHA狀態。在實施例中，EMCON DELTA可意謂無或最小放射限制，且可在正常操作期間使用。在實施例中，EMCON CHARLIE可意謂僅容許任務必需設備進行發射。例如，可關閉船舶特有之感測器以防止由不利節點之識別或分類。在實施例中，EMCON BETA可意謂比EMCON CHARLIE更多之限制，但仍可容許一些發射。在實施例中，EMCON ALPHA可意謂完全無線電靜止，使得不容許處於此一狀態之節點進行發射。For example, EMCON may contain the EMCON communication protocol. For example, EMCON states may include, but are not necessarily limited to, the EMCON DELTA, EMCON CHARLIE, EMCON BETA, and EMCON ALPHA states used in the military (eg, Navy). In an embodiment, EMCON DELTA may mean no or minimal radiation confinement and may be used during normal operation. In an embodiment, EMCON CHARLIE may mean that only mission essential equipment is allowed to launch. For example, ship-specific sensors may be turned off to prevent identification or classification by unfavorable nodes. In an embodiment, EMCON BETA may mean more restricted than EMCON CHARLIE, but some emissions may still be allowed. In an embodiment, EMCON ALPHA may mean complete radio silence such that a node in this state is not allowed to transmit.
圖8至圖9A展示處於各種狀態(包含基於EMCON之減少放射狀態)之一主要節點802及次要節點804。圖8至圖9A之至少一些者描繪係根據本發明之一或多項實施例。8-9A show a primary node 802 and a secondary node 804 in various states, including EMCON-based reduced emissions states. At least some of Figures 8-9A are depicted in accordance with one or more embodiments of the present invention.
出於本發明之目的，一主要節點802 (例如，高價值資產)可包含(或係)一接收節點、Rx節點及類似物，且反之亦然。出於本發明之目的，一次要節點(例如，消耗性資產)可包含(或係)一發射器節點、Tx節點及類似物，且反之亦然。For purposes of the present invention, a primary node 802 (eg, high-value asset) may include (or be) a receiving node, Rx node, and the like, and vice versa. For purposes of this disclosure, a secondary node (eg, consumable asset) may include (or be) a transmitter node, Tx node, and the like, and vice versa.
圖8展示處於一EMCON DELTA狀態之節點802、804之一示意性圖解。例如，當全部節點802、804被允許發射時，可由具有次要節點屬性之一主要節點802判定狀況覺知806。例如，可使用都卜勒調零方法來判定狀況覺知806。應注意，此一EMCON DELTA狀態之一優點可包含狀況覺知806 (例如，全部已知節點及該等節點之屬性之組)包含主要節點802對次要節點804之瞭解。然而，此一EMCON DELTA狀態之一缺點可包含第三方(例如，不利)節點可能夠截獲主要節點802之一信號，且藉此偵測到主要節點802。Figure 8 shows a schematic illustration of nodes 802, 804 in an EMCON DELTA state. For example, situation awareness 806 may be determined by one of the primary nodes 802 having a secondary node attribute when all nodes 802, 804 are allowed to transmit. For example, a Doppler nulling method may be used to determine situation awareness 806 . It should be noted that one advantage of such an EMCON DELTA state may include situation awareness 806 (eg, all known nodes and the set of attributes of those nodes) including primary node 802 knowledge of secondary nodes 804 . However, one disadvantage of such an EMCON DELTA state may include that a third party (eg, disadvantaged) node may be able to intercept a signal of the primary node 802 and thereby detect the primary node 802 .
圖9A展示處於一EMCON ALPHA狀態之主要節點802及次要節點804之一示意性圖解，其中沒有節點正在發射。此一EMCON ALPHA狀態之一優點可包含第三方(例如，不利)節點可能無法偵測到主要節點802及/或具有判定主要節點802之屬性之降低能力。然而，此一EMCON DELTA狀態之一缺點可包含主要節點802可具有次要節點804之有限狀況覺知808。Figure 9A shows a schematic illustration of a primary node 802 and a secondary node 804 in an EMCON ALPHA state in which no nodes are transmitting. An advantage of such an EMCON ALPHA state may include that third party (eg, disadvantaged) nodes may not be able to detect the primary node 802 and/or have a reduced ability to determine the attributes of the primary node 802 . However, one disadvantage of such an EMCON DELTA state may include that the primary node 802 may have limited situational awareness 808 of the secondary node 804 .
圖9B展示根據本發明之實例實施例之處於一EMCON ALPHA狀態之主要節點802及次要節點804之一示意性圖解，其中容許次要節點發射。具有次要節點發射之此一EMCON DELTA狀態之一優點可包含主要節點802可具有次要節點804之狀況覺知810，而第三方(例如，不利)節點可能無法偵測到主要節點802及/或具有判定主要節點802之屬性之降低能力。Figure 9B shows a schematic illustration of a primary node 802 and a secondary node 804 in an EMCON ALPHA state in which the secondary nodes are allowed to transmit, according to an example embodiment of the invention. An advantage of having such an EMCON DELTA state transmitted by the secondary node may include that the primary node 802 may have situation awareness 810 of the secondary node 804, while third party (e.g., disadvantaged) nodes may not be able to detect the primary node 802 and/or Or have the ability to reduce the attributes of the main node 802 .
在實施例中，由次要節點804 (例如，發射器節點)發射至主要節點802 (例如，接收器節點)之信號包含低偵測概率(LPD)信號。例如，次要節點804可利用單向LPD信標發射。In an embodiment, the signal transmitted by the secondary node 804 (eg, transmitter node) to the primary node 802 (eg, receiver node) includes a low probability of detection (LPD) signal. For example, the secondary node 804 may utilize unidirectional LPD beacon transmissions.
在實施例中，對於一EMCON CHARLIE狀態，其中任務必需設備可發射，但至少一些感測器被禁止發射，對於EMCON DELTA，優點及缺點可類似於圖8。例如，此一EMCON CHARLIE狀態之一缺點可包含第三方節點可能夠截獲主要節點802之一信號，且藉此偵測到主要節點802。In an embodiment, for an EMCON CHARLIE state, where mission essential equipment may fire, but at least some sensors are inhibited from firing, for EMCON DELTA, the advantages and disadvantages may be similar to FIG. 8 . For example, one disadvantage of this EMCON CHARLIE state may include that third party nodes may be able to intercept a signal of the primary node 802 and thereby detect the primary node 802 .
在實施例中，對於一EMCON BETA狀態，優點及缺點可取決於是否容許主要節點802發射位置資訊及此資訊是否可由一第三方節點使用。位置資訊可包含但不限於定位資訊/精確定位資訊(PLI/PPLI)，諸如可在軍事行動中使用。In an embodiment, for an EMCON BETA state, advantages and disadvantages may depend on whether the primary node 802 is allowed to transmit location information and whether this information can be used by a third-party node. Location information may include, but is not limited to, positioning information/precise positioning information (PLI/PPLI), such as may be used in military operations.
在實施例中，在容許發射位置資訊之一EMCON BETA狀態中，優點及缺點可類似於展示一EMCON DELTA狀態之圖8。例如，類似於圖8，容許PLI/PPLI之一EMCON BETA狀態之一缺點可包含第三方節點可能夠截獲主要節點802之一信號，且藉此偵測到主要節點802。In an embodiment, in an EMCON BETA state that allows transmission of position information, the advantages and disadvantages may be similar to FIG. 8 showing an EMCON DELTA state. For example, similar to FIG. 8 , a disadvantage of allowing an EMCON BETA state of PLI/PPLI may include that third party nodes may be able to intercept a signal of the primary node 802 and thereby detect the primary node 802 .
在實施例中，在不容許發射位置資訊之一EMCON BETA狀態中，優點及缺點可類似於展示不具有第二節點之發射之一EMCON ALPHA狀態之圖9A。例如，類似於圖9A，不容許位置資訊之一EMCON BETA狀態之一缺點可包含狀況覺知808不包含次要節點804之知識。In an embodiment, in an EMCON BETA state that does not allow transmission of location information, the advantages and disadvantages may be similar to FIG. 9A showing an EMCON ALPHA state that does not have transmission of the second node. For example, similar to FIG. 9A , a disadvantage of an EMCON BETA state that does not allow location information may include knowledge that situational awareness 808 does not include secondary node 804 .
至少一些實施例容許一高價值資產達成各種節點(例如，諸如UAV之各種資產之Tx節點，其可為較不重要價值之資產)之狀況覺知，同時避免偵測，使得此等節點之一網路可提供對高價值資產之相對高保護，同時仍向此等高價值資產提供狀況覺知。 結論 At least some embodiments allow a high value asset to achieve condition awareness of various nodes (e.g., Tx nodes of various assets such as UAVs, which may be assets of lesser value) while avoiding detection such that one of such nodes Networks can provide relatively high protection of high-value assets while still providing situational awareness to such high-value assets. in conclusion
應理解，本文中揭示之方法之實施例可包含本文中描述之一或多個步驟。此外，此等步驟可以任何所要順序實行，且兩個或更多個步驟可彼此同時實行。本文中揭示之兩個或更多個步驟可組合為一單一步驟，且在一些實施例中，一或多個步驟可作為兩個或更多個子步驟來實行。此外，除了本文中揭示之一或多個步驟之外，或作為本文中揭示之一或多個步驟之替代方案，可實行其他步驟或子步驟。It should be understood that embodiments of the methods disclosed herein may include one or more of the steps described herein. Furthermore, the steps can be performed in any desired order, and two or more steps can be performed concurrently with each other. Two or more steps disclosed herein may be combined into a single step, and in some embodiments, one or more steps may be performed as two or more sub-steps. Furthermore, other steps or sub-steps may be performed in addition to, or as an alternative to, one or more steps disclosed herein.
儘管已參考隨附圖式中繪示之實施例描述發明概念，然在不脫離發明申請專利範圍之範疇之情況下，可採用等效物且在本文中進行替換。本文中繪示及描述之組件僅係可用於實施發明概念之實施例之一系統/裝置及組件之實例，且可在不脫離發明申請專利範圍之範疇之情況下替換為其他裝置及組件。此外，本文中提供之任何尺寸、度數及/或數值範圍應被理解為非限制性實例，除非發明申請專利範圍中另有規定。While the inventive concepts have been described with reference to the embodiments illustrated in the accompanying drawings, equivalents may be employed and substitutions may be made herein without departing from the scope of the claimed invention. The components shown and described herein are only examples of systems/devices and components that can be used to implement the embodiments of the inventive concept, and can be replaced with other devices and components without departing from the scope of the patent application of the invention. Furthermore, any dimensions, degrees and/or numerical ranges provided herein should be understood as non-limiting examples unless otherwise specified in the claims.
100:多節點通信網路 102:發射器(Tx)節點 104:接收器(Rx)節點 106:控制器 108:記憶體 110:通信介面 112:天線元件 114:360度弧 116:速度向量 118:任意方向 120:都卜勒調零方向 700:方法 702:步驟 704:步驟 706:步驟 802:主要節點 804:次要節點 806:狀況覺知 808:有限狀況覺知 810:狀況覺知 100: multi-node communication network 102: Transmitter (Tx) node 104: Receiver (Rx) node 106: Controller 108: Memory 110: communication interface 112: Antenna element 114: 360 degree arc 116:Velocity vector 118:Any direction 120: Doppler zeroing direction 700: method 702: Step 704: Step 706: Step 802: Main node 804: Secondary node 806: Situation Awareness 808: Limited Situation Awareness 810: Situation Awareness
參考附圖描述[實施方式]。在描述及圖中之不同例項中使用相同元件符號可指示類似或相同項目。在以下[實施方式]及隨附圖式中揭示本發明之各種實施例或實例(「實例」)。圖式不必按比例。一般言之，所揭示程序之操作可以一任意順序執行，除非發明申請專利範圍中另有規定。[Embodiment] is described with reference to the drawings. The use of the same reference numbers in different instances in the description and drawings may indicate similar or identical items. Various embodiments or examples ("Examples") of the present invention are disclosed in the following [Embodiments] and the accompanying drawings. The drawings are not necessarily to scale. In general, the operations of the disclosed programs may be performed in any order, unless otherwise specified in the claims.
圖1係根據本發明之實例實施例之一行動特用網路(MANET)及其個別節點之一示意性圖解。Figure 1 is a schematic illustration of a mobile ad hoc network (MANET) and its individual nodes, according to an example embodiment of the invention.
圖2A係圖1之MANET內之頻移輪廓之一圖形表示。FIG. 2A is a graphical representation of a frequency shift profile within the MANET of FIG. 1. FIG.
圖2B係圖1之MANET內之頻移輪廓之一圖形表示。FIG. 2B is a graphical representation of a frequency shift profile within the MANET of FIG. 1. FIG.
圖3係根據本發明之實例實施例之一發射器節點及一接收器節點之一示意性圖解。Fig. 3 is a schematic illustration of a transmitter node and a receiver node according to an example embodiment of the invention.
圖4A係圖3之MANET內之頻移輪廓之一圖形表示。FIG. 4A is a graphical representation of a frequency shift profile within the MANET of FIG. 3. FIG.
圖4B係圖3之MANET內之頻移輪廓之一圖形表示。FIG. 4B is a graphical representation of a frequency shift profile within the MANET of FIG. 3. FIG.
圖5係用於覆蓋空間之組之一例示性圖表。Figure 5 is an exemplary diagram for one of the groups covering the space.
圖6係根據本發明之實例實施例之一發射器節點及一接收器節點之一示意性圖解。Figure 6 is a schematic illustration of a transmitter node and a receiver node according to an example embodiment of the invention.
圖7係繪示根據本發明之實例實施例之一方法之一流程圖。FIG. 7 is a flowchart illustrating a method according to an example embodiment of the invention.
圖8係處於一EMCON DELTA狀態之節點之一示意性圖解。Figure 8 is a schematic illustration of a node in an EMCON DELTA state.
圖9A係處於一EMCON ALPHA狀態之一主要節點及次要節點之一示意性圖解。Figure 9A is a schematic illustration of a primary node and a secondary node in an EMCON ALPHA state.
圖9B係根據本發明之實例實施例之具有次要節點發射之處於一EMCON ALPHA狀態之一主要節點及次要節點之一示意性圖解。9B is a schematic illustration of a primary node and a secondary node in an EMCON ALPHA state with secondary node transmissions, according to an example embodiment of the invention.
100:多節點通信網路 100: multi-node communication network
102:發射器(Tx)節點 102: Transmitter (Tx) node
104:接收器(Rx)節點 104: Receiver (Rx) node
Claims (20)
Applications Claiming Priority (16)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US17/534,061 | 2021-11-23 | ||
| US17/534,061 US11665658B1 (en) | 2021-04-16 | 2021-11-23 | System and method for application of doppler corrections for time synchronized transmitter and receiver |
| US17/541,703 US20220094634A1 (en) | 2019-11-27 | 2021-12-03 | System and method for spatial awareness network routing |
| US17/541,703 | 2021-12-03 | ||
| WOPCT/US22/24653 | 2022-04-13 | ||
| PCT/US2022/024653 WO2022221429A1 (en) | 2021-04-16 | 2022-04-13 | System and method for neighbor direction and relative velocity determination via doppler nulling techniques |
| US202263344445P | 2022-05-20 | 2022-05-20 | |
| US63/344,445 | 2022-05-20 | ||
| US17/857,920 | 2022-07-05 | ||
| US17/857,920 US20220342027A1 (en) | 2021-04-16 | 2022-07-05 | System and method for application of doppler corrections for time synchronized transmitter and receiver in motion |
| US202263400138P | 2022-08-23 | 2022-08-23 | |
| US63/400,138 | 2022-08-23 | ||
| US17/940,898 | 2022-09-08 | ||
| US17/940,898 US20230081728A1 (en) | 2019-11-27 | 2022-09-08 | System and method using passive spatial awareness for geo network routing |
| US17/941,907 | 2022-09-09 | ||
| US17/941,907 US20230379007A1 (en) | 2022-05-20 | 2022-09-09 | Situational awareness (sa) in radio silence (spatial awareness) |
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| TW202331291A true TW202331291A (en) | 2023-08-01 |
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| TW111144828A TW202331291A (en) | 2021-11-23 | 2022-11-23 | Situational awareness (sa) in radio silence (spatial awareness) |
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