TW202349024A - Doppler-nulling for directional networks (spatial awareness) - Google Patents

Doppler-nulling for directional networks (spatial awareness) Download PDF

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TW202349024A
TW202349024A TW112118662A TW112118662A TW202349024A TW 202349024 A TW202349024 A TW 202349024A TW 112118662 A TW112118662 A TW 112118662A TW 112118662 A TW112118662 A TW 112118662A TW 202349024 A TW202349024 A TW 202349024A
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node
receiver
transmitter
doppler
common reference
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TW112118662A
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Chinese (zh)
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威廉 Ｂ 索兒司比
艾力克 Ｊ 羅倫
宅珍 權
詹姆斯 Ａ 史提芬斯
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美商羅克韋爾柯林斯公司
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Priority claimed from US17/857,920 external-priority patent/US20220342027A1/en
Priority claimed from US17/957,881 external-priority patent/US20230379033A1/en
Priority claimed from US17/990,491 external-priority patent/US20240106742A1/en
Priority claimed from US18/130,285 external-priority patent/US20230379008A1/en
Application filed by 美商羅克韋爾柯林斯公司 filed Critical 美商羅克韋爾柯林斯公司
Publication of TW202349024A publication Critical patent/TW202349024A/en

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W56/00—Synchronisation arrangements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
    • G01S13/522—Discriminating between fixed and moving objects or between objects moving at different speeds using transmissions of interrupted pulse modulated waves
    • G01S13/524—Discriminating between fixed and moving objects or between objects moving at different speeds using transmissions of interrupted pulse modulated waves based upon the phase or frequency shift resulting from movement of objects, with reference to the transmitted signals, e.g. coherent MTi
    • G01S13/5242—Discriminating between fixed and moving objects or between objects moving at different speeds using transmissions of interrupted pulse modulated waves based upon the phase or frequency shift resulting from movement of objects, with reference to the transmitted signals, e.g. coherent MTi with means for platform motion or scan motion compensation, e.g. airborne MTI
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
    • G01S13/522—Discriminating between fixed and moving objects or between objects moving at different speeds using transmissions of interrupted pulse modulated waves
    • G01S13/524—Discriminating between fixed and moving objects or between objects moving at different speeds using transmissions of interrupted pulse modulated waves based upon the phase or frequency shift resulting from movement of objects, with reference to the transmitted signals, e.g. coherent MTi
    • G01S13/5248—Discriminating between fixed and moving objects or between objects moving at different speeds using transmissions of interrupted pulse modulated waves based upon the phase or frequency shift resulting from movement of objects, with reference to the transmitted signals, e.g. coherent MTi combining a coherent MTI processor with a zero Doppler processing channel and a clutter mapped memory, e.g. MTD (Moving target detector)
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S13/589—Velocity or trajectory determination systems; Sense-of-movement determination systems measuring the velocity vector
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/74—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
    • G01S13/76—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein pulse-type signals are transmitted
    • G01S13/765—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein pulse-type signals are transmitted with exchange of information between interrogator and responder
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/28—Details of pulse systems
    • G01S7/2813—Means providing a modification of the radiation pattern for cancelling noise, clutter or interfering signals, e.g. side lobe suppression, side lobe blanking, null-steering arrays
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/66—Radar-tracking systems; Analogous systems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/1851—Systems using a satellite or space-based relay
    • H04B7/18513—Transmission in a satellite or space-based system

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Signal Processing (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

A system is disclosed. The system may include a receiver or transmitter node. The receiver or transmitter node may include a communications interface with a directional antenna element and a controller. The controller may include one or more processors and have information of own node velocity and own node orientation relative to a common reference frame. The receiver or transmitter node may be time synchronized to apply Doppler corrections associated with the receiver or transmitter node's own motions relative to the common reference frame. The common reference frame may be known to the receiver or transmitter node prior to the receiver node or transmitter receiving signals from a source.

Description

用於定向網路(空間覺知)之都卜勒調零Used for directional network (spatial awareness) capital Buhler zeroing

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，可需要一MANET內之各通信節點來轉發(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 without predefined network topologies. It is assumed that each communication node in a MANET can move freely. Additionally, communication nodes within a MANET may be required 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 within 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，協定可貫穿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，但此未來之潛能尚未完全實現。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 vast 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. Directional systems have been proposed as the future of MANETs, but the potential of this future has not yet been fully 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 sets of nodes. This Doppler shift typically limits the level of receive sensitivity that can be achieved by a node within a mobile network.

定向射頻(RF)網路通常花費大量時間掃描可存在潛在RF網路信號之實體空間。由於基於掃描之精確程度，此掃描可為一漫長程序，所以通常有必要犧牲其他潛在重要系統效能度量(例如，掃描區域之大小、信號之數量/密度及波束寬度、靈敏度、範圍及/或類似物)來確保及時探索效能。Directional radio frequency (RF) networks often spend a lot of time scanning physical spaces where potential RF network signals may exist. Since this scan can be a lengthy process depending on the accuracy of the scan, it is often necessary to sacrifice other potentially important system performance metrics (e.g., size of scan area, number/density of signals and beamwidth, sensitivity, range, and/or similar objects) to ensure timely exploration efficiency.

根據本發明之一或多項闡釋性實施例揭示一種系統。在一項闡釋性實施例中，該系統可包含一接收器或發射器節點。在另一闡釋性實施例中，該接收器或發射器節點可包含與一定向天線元件及一控制器之一通信介面。在另一闡釋性實施例中，該控制器可包含一或多個處理器，且具有相對於一共同參考系之自身節點速度及自身節點定向之資訊。在另一闡釋性實施例中，該接收器或發射器節點可經時間同步以應用與該接收器或發射器節點自身相對於該共同參考系之運動相關聯之都卜勒校正。在另一闡釋性實施例中，在該接收器節點或發射器從一源接收信號之前，該共同參考系對於該接收器或發射器節點可為已知的。A system is disclosed in accordance with one or more illustrative embodiments of the invention. In one illustrative embodiment, the system may include a receiver or transmitter node. In another illustrative embodiment, the receiver or transmitter node may include a communication interface with a directional antenna element and a controller. In another illustrative embodiment, the controller may include one or more processors and have information about self-node velocity and self-node orientation relative to a common reference frame. In another illustrative embodiment, the receiver or transmitter node may be time synchronized to apply a Doppler correction associated with the motion of the receiver or transmitter node itself relative to the common reference frame. In another illustrative embodiment, the common reference frame may be known to the receiver or transmitter node before the receiver node or transmitter receives a signal from a source.

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] is provided merely as an introduction to the subject matter that is fully described in [Embodiments] and the drawings. The [Invention Summary] should not be regarded as describing essential features, nor should it be used to determine the scope of patent applications for the invention. Furthermore, it should be understood that both the foregoing [Summary of the Invention] and the following [Embodiments] are examples and illustrative 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 relates 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 No. 17/233,107, filed on April 16, 2021, the entire contents of which are incorporated herein by reference.

(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 on April 13, 2022, claims priority to U.S. Patent Application No. 17/233,107, filed on April 16, 2021. The entire contents are 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 on August 20, 2021, which claims priority to U.S. Patent Application No. 17/233,107 filed on April 16, 2021, the entire contents of such cases 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：(d) U.S. Patent Application No. 17/541,703 filed on December 3, 2021, the entire content of which is incorporated herein by reference, claims priority to the following applications:

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U.S. Patent Application No. 17/408,156, filed on August 20, 2021, the entire contents of which are incorporated herein by reference; and

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；U.S. Patent Application No. 17/233,107, filed on April 16, 2021, the entire contents of which are incorporated herein by reference;

(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 No. 17/534,061 filed on November 23, 2021, the entire contents of which are incorporated herein by reference;

(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 No. 63/344,445 filed on May 20, 2022, the entire contents of which are incorporated herein by reference;

(g) 2022年7月05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 No. 17/857,920 filed on July 5, 2022, the entire content of which is incorporated herein by reference;

(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；(h) U.S. Patent Application No. 63/400,138 filed on August 23, 2022, the entire contents of which are incorporated herein by reference;

(i) 2022年9月08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 No. 17/940,898 filed on September 8, 2022, the entire content of which is incorporated herein by reference;

(j) 2022年9月9日申請之美國專利申請案第17/941,907號，該案之全部內容以引用的方式併入本文中；(j) U.S. Patent Application No. 17/941,907, filed on September 9, 2022, the entire contents of which are incorporated herein by reference;

(k) 2022年9月30日申請之美國專利申請案第17/957,881號，該案之全部內容以引用的方式併入本文中；及(k) U.S. Patent Application No. 17/957,881 filed on September 30, 2022, the entire contents of which are incorporated herein by reference; and

(l) 2022年11月18日申請之美國專利申請案第17/990,491號，該案之全部內容以引用的方式併入本文中。(l) U.S. Patent Application No. 17/990,491, filed on November 18, 2022, the entire contents of which are incorporated herein by reference.

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 one or more embodiments of the present invention are described in detail, it is to be understood that these embodiments are not limited in their application to the construction and arrangement of the components or steps or methods set forth in the following description or illustrated in the drawings. details. In the following detailed description of the embodiments, several specific details are set forth to provide a thorough understanding of the invention. However, one of ordinary skill in the art having the benefit of this disclosure will understand that the embodiments disclosed herein may be practiced without some of these specific details. In other instances, well-known features may not have been described in detail to avoid unnecessarily complicating the 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 a reference number is intended to refer to a feature or an embodiment of an element that may be similar but not necessarily identical to one of the previously described elements or features bearing the same reference 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)及A以及B皆為真(或存在)。Furthermore, unless expressly stated to the contrary, "or" refers to an inclusive or and does not refer to 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 Both B 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 employed 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 includes the plural unless it is obvious 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 different places in the specification are not necessarily all referring to the same embodiment, and the embodiments may include one or more features, or two or more, that are expressly described or inherently present herein. Any combination or sub-combination of a plurality of these features together with any other features that may not necessarily be explicitly described or inherently present in the invention.

廣而言之，本文中揭示之發明概念之實施例係關於用於使用定向天線元件(例如，電子掃描天線(ESA))之都卜勒調零來達成狀況覺知之方法及系統。例如，至少一個節點(例如，其可發射信號及/或接收信號)可利用一定向(而非全向)天線元件來改良效能。實施例可利用時間同步掃描序列(以及方向性)來改良諸如信雜比、信號獲取時間、獲得周圍節點之屬性之狀況覺知之速率、範圍及類似物之度量。在一些實施例中，使用同步掃描序列，使得在一同步序列期間之任何時間點，多個系統之全部發射角度指向相同方向，以及全部接收角度指向相反方向。就此而言，若一脈衝恰好被發送朝向一特定系統，則該特定系統之接收角度將瞄準發送脈衝之相反方向，使得接收角度經組態以接收脈衝。此一組態可極大地改良在一相對短時間段內、在相對大範圍內、在相對大量雜訊/干擾及類似物內偵測相對大量節點之能力。在一些實施例中，使用一所接收信號之一計算淨頻移之一零值或近零值(例如，或類似物，諸如一零交叉點)以使用所接收信號之一到達時間來判定源(例如，Tx節點)與接收節點之間之一方位角。藉由將方位角與從信號之峰值振幅增益之一角度判定之另一方位角估計組合(例如，平均化)，可使方位角更精確。Broadly speaking, embodiments of the inventive concepts disclosed herein relate to methods and systems for achieving situation awareness using Doppler nulling of directional antenna elements (eg, electronically scanned antennas (ESA)). For example, at least one node (eg, that can transmit signals and/or receive signals) may utilize a directional (rather than omnidirectional) antenna element to improve performance. Embodiments may utilize time synchronized scan sequences (and directionality) to improve metrics such as signal-to-noise ratio, signal acquisition time, rate of obtaining situational awareness of attributes of surrounding nodes, range, and the like. In some embodiments, a synchronized scan sequence is used such that at any point in time during a synchronized sequence, all transmit angles of multiple systems point in the same direction, and all receive angles point in opposite directions. In this regard, if a pulse happens to be sent toward a particular system, the receive angle for that particular system will be aimed in the opposite direction from which the pulse was sent, such that the receive angle is configured to receive the pulse. This configuration can greatly improve the ability to detect a relatively large number of nodes within a relatively short period of time, over a relatively large area, within a relatively large amount of noise/interference and the like. In some embodiments, one of the received signals is used to calculate a zero or near-zero value of the net frequency shift (eg, or the like, such as a zero crossing point) to determine the source using one of the received signal arrival times. (e.g., Tx node) and the receiving node. The azimuth angle can be made more accurate by combining (eg, averaging) the azimuth angle with another azimuth angle estimate determined from an angle of the signal's peak amplitude gain.

一些其他通信協定(例如，典型通信方法)可需要高於定向都卜勒調零方法之一信雜比(SNR)或掃描次數。例如，與其他方法相比，定向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。Some other communication protocols (eg, typical communication methods) may require a higher signal-to-noise ratio (SNR) or number of scans than the directional Doppler nulling method. For example, directional Doppler nulling methods may allow the use of relatively less power (eg, watts) and a weaker signal than other methods, while still providing situation awareness.

應注意，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(或全部)圖解及下文圖1至圖7之至少一些(或全部)對應語言重現。例如，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。此等實施例及實例出於闡釋性目的而提供，且不應被解釋為必然限制性。例如，在實施例中，發射器節點可為固定的而非移動的，及/或反之亦然。It should be noted that U.S. Patent Application No. 17/857,920 filed on July 5, 2022 is at least partially illustrated by at least some (or all) of Figures 1 to 7 and at least some (or all) of Figures 1 to 7 below. The corresponding language is reproduced. For example, at least some examples of Doppler zeroing methods and systems may be better understood in a non-limiting manner by referring to FIGS. 1-7 . These examples and examples are provided for illustrative purposes and should not be construed as necessarily limiting. For example, in embodiments, a transmitter node may be stationary rather than mobile, and/or vice versa.

此外，且僅出於導航本發明之目的而陳述(且當比較應用之間之差異時，可節省時間)，且不應被解釋為限制性，可與不一定僅從美國專利申請案第17/857,920號重現之其他語言更直接相關之描述包含圖1至圖7之後之論述及圖。Furthermore, and is stated solely for the purpose of navigating the present invention (and to save time when comparing differences between applications), and is not to be construed as limiting, may and may not necessarily be derived solely from U.S. Patent Application No. 17 More directly relevant descriptions in other languages reproduced in No. 857,920 include the discussion and figures following Figures 1 to 7.

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上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。其他益處包含探索、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 Figures 1-7, in some embodiments, a stationary 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 spatial awareness without the need to exchange explicit positional information. Other benefits include exploration, synchronization and Doppler correction, which are important for communications. Some embodiments may combine the coordinated transmitter frequency shift with the Doppler shift induced by the motion of the transmitter to produce a unique net frequency shift signal characteristic that can be resolved using a fixed receiver to achieve spatial awareness. Additionally, some embodiments may include a three-dimensional (3D) approach in which 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探索及追蹤，但此處之論述集中於探索，其通常係最具挑戰性之態樣。Some embodiments may use analysis performed in a common reference frame (eg, a common inertial reference frame such as the Earth, which can ignore the curvature of the Earth) and assume that the communication system for each of the transmitter and receiver is given by The platform informs itself of its speed and orientation. The methods described in this article can be used for both exploration and tracking, but the discussion here focuses on exploration, 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 explained in part by looking back at the two-dimensional (2D) case without receiver motion, and then by looking back at adding receiver motion to the 2D case, and then including reception in the 3D case Explain the movement of the machine.

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度之一振幅、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率之方向之一最小值。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，且諸如經由一協定之一掃描序列掃描通過全部方向。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 communications signal is proportional to the radial velocity between the transmitter and receiver, and any significant Doppler shift is usually an obstacle that system designers should consider. In contrast, some embodiments utilize the Doppler effect to differentiate directions at a resolution dictated by selected design parameters. Additionally, these embodiments use a profile of net frequency shift when a predetermined "zero" direction is scanned through angular space. The resulting contour is a sinusoid with an amplitude that provides the velocity of the transmitter, a net frequency shift of zero when the "zero" direction is aligned with the receiver, and a minimum in the direction that indicates 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 all directions and are also different for different transmitter speeds. It is these characteristics that the receiver uses to determine spatial awareness. The received signal has spatiotemporal characteristics that can be mapped to the direction and velocity of the transmitter. This method utilizes the concept of a "zero", which is simply the direction in which the transmitter perfectly corrects its own Doppler shift. The same "zero" protocol is run on each node and scans through all directions, such as through a protocol scan sequence. Here, we illustrate the scan with discrete successive steps of 10 degrees arbitrarily but in a real system; however, it should be understood that any suitable degree step size can be used for Doppler zero scans.

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，而非在探索該等鄰近節點時。僅在鄰近節點之信號已被探索、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。用於探索、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 through data communications. Unfortunately, spatial awareness via data communication (referred to as active spatial awareness) is only possible after communication has been established, not while exploring such nearby nodes. Data communication is only possible after the signals from neighboring nodes have been explored, synchronized and Doppler corrected. Conversely, in some embodiments, the passive spatial awareness described herein may be performed using only synchronization bits associated with acquisition. This procedure can be considered a physical layer add-on and typically requires much lower bandwidth than explicit data transfer. Entity layer add-ons for exploration, synchronization and Doppler correction have never before been used for topology learning in upper layers.

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 status advertisements). Passive spatial awareness completely eliminates hello messaging and provides 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 Figure 1, a multi-node communication network 100 is disclosed. The multi-node communication network 100 may include multiple 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一其他通信節點)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 embodiments, multi-node communication network 100 may include any multi-node communication network known in the art. For example, the multi-node communication network 100 may include a mobile ad hoc network (MANET) in which the Tx and Rx nodes 102, 104 (as well as every other communication node within the multi-node communication network) can move freely and independently. Similarly, Tx and Rx nodes 102, 104 may include any communicatively coupled communication nodes known in the art. In this regard, Tx and Rx nodes 102, 104 may include any communication node known in the art for transmitting/receiving 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, a control processor), memory 108, communication interface 110, and antenna element 112. (In embodiments, all attributes, capabilities, etc. of the Rx node 104 described below may be similarly applied to the Tx node 102 and any other communication node 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 embodiments, 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 transistor(s) (eg, using electronic integrated circuit (IC) components) or 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 embodiments, memory 108 may be provided to store various data and/or code associated with the operation of Rx node 104 and/or controller 106 (such as software programs and/or code fragments or to instruct control). An example of a tangible computer-readable storage medium that stores functionality is the processor 106 and possibly other components of the Rx node 104 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 although a single memory 108 is described, a wide variety of types and combinations of memory (eg, tangible, non-transitory memory) may be employed. Memory 108 may be integrated with controller 106, may include independent memory, or may be a combination of either. 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 digital ( 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, hardware 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, communication interface 110 is operatively configured to communicate with components of 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 the data for storage in memory 108, from a storage in memory Retrieve information, 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 embodiments, 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，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。It is contemplated herein that the communication interface 110 of the Rx node 104 may be configured to communicatively couple to additional communication nodes of the multi-node communication network 100 (eg, the Tx node 102 ) using any wireless communication technology known in the art. Communication interface 110 includes but is not limited to GSM, GPRS, CDMA, EV-DO, EDGE, WiMAX, 3G, 4G, 4G LTE, 5G, WiFi protocol, RF, LoRa and the like.

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(或甚至小於一完整360度弧)進行空間掃描之定向或全向天線元件。In embodiments, antenna element 112 may include components that can be manipulated or otherwise directed (eg, via communication interface 110 ) to be in a full 360 degree arc (114) (or even less than a full 360 degree) relative to Rx node 104 arc) directional or omnidirectional antenna elements for spatial scanning.

在實施例中，Tx節點102及Rx節點104之一者或兩者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 embodiments, one or both Tx node 102 and Rx node 104 may move in any direction at any rate and may similarly move relative to each other. For example, the Tx node 102 may 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 relative to an arbitrary direction 118 (eg, due east)); θ may be The Rx node is relative to the angle of 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 embodiments, Tx node 102 may implement a Doppler nulling protocol. For example, the 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., the communication interface 110 of the Tx node 102) can be informed by the platform (e.g., the controller 106) of its velocity vector and orientation (e.g., α, VT ), and its transmit frequency can be adjusted to remove the The Doppler frequency shift occurs when the zeroing direction is 120° and the angle ϕ is adjusted.

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之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以一速率 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 the net frequency shift of a fixed receiver as a function of the zero direction across the horizontal plane, as shown in the top view of Figure 1-1, where the receiver node 104 is fixed , and relative to the transmitter positioned θ from the east, the transmitter node 102 moves at a rate and moving from the east direction α and a snapshot of the scan 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 attributed to motion and can be considered a channel effect. In this example, transmitter node 102 is the only moving object and therefore the only source of Doppler shift. The Puller frequency shift seen by the receiver node 104 due to the motion of the transmitter node 102 is:

，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 term that should accurately compensate for the Doppler shift when the "null" direction is aligned with the receiver direction. The transmitter node 102 operates according to its own rate ( ) and speed direction (α) to adjust its emission frequency. The transmitter frequency adjustment (Δf T ) is proportional to the velocity projection (ф) in the direction to "zero" 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 measurement of Δf net . Under these conditions, α, The unknown parameters of and θ are constants (from the perspective of the receiver node 104).

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 one of ordinary skill will understand.

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 several directions with an east transmitter node velocity direction (α=0). Frequency shift is measured in parts per million (ppm). As shown in Figures 2A and 2B, regardless of velocity direction or location, the amplitude is related to the relationship between the transmitter node 102 and When the "zero" angle is in the direction of the receiver (when ϕ=θ), the net frequency shift is zero, and when the "zero" angle 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。Therefore, the receiver node 104 can determine from the contour 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 locations (since some contours have two zeros). intersection). It should be noted that both 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 instance of ambiguity 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 Figure 3, a multi-node communication network 100 is disclosed. The multi-node communication network 100 may include multiple communication nodes, such as a transmitter (Tx) node 102 and a receiver (Rx) node 104. As shown in Figure 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亦以由一速率 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 Figure 3, where the receiver node 104 also moves at a rate And general speed movement characterized by direction β. The protocol for moving the receiver node 104 incorporates a frequency adjustment on the side of the receiver node 104 to also compensate for the movement of the receiver node 104 . The equation has two extra terms. One is a Doppler term of 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：Furthermore, Doppler shift is due to the physical phenomenon of motion and can be considered 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 system due to the relative radial velocity as seen by the receiver:

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 the Doppler shift when the "null" direction is aligned with the receiver direction. The transmitter node 102 operates according to its own rate ( ) and speed direction (α) to adjust the transmission frequency of the transmitter node 102. The transmitter node frequency adjustment is proportional to the velocity projection (ф) in the direction to "zero" 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 rate of the receiver node 104 itself ( ) and velocity direction (β) to adjust the receiver node frequency. This receiver node frequency adjustment is proportional to the velocity projection (ф) in the direction to "zero" and is the second term in the equation below. Receiver node frequency adjustment can be performed on the received signal before the frequency resolution algorithm, or it 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。當速度向量或方向改變更快時，例如，若此改變係歸因於加速度之緩慢改變，則此改變可被追蹤。 Furthermore, the velocity vector and direction are assumed to change slowly compared to the periodic measurement of Δf net . Furthermore, under these conditions, the unknown parameters (from the perspective of the receiver node 104) α, and θ are constants. When the velocity vector or direction changes faster, for example, if the change is due to a slow change in acceleration, this change can be tracked.

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 receiver node position θ and the transmitter node and receiver node rates ( and ) and several case scenarios of transmitter node and receiver node velocity directions (α and β), the net frequency shift of the two-dimensional (2D) method of moving the receiver node 104 is shown in Figures 4A and 4B. Figure 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 consistent.

*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 relative speed direction (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 θ, 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「零」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, although 2D images are easier to visualize, the same principles apply in the 3D case. Figure 5 shows several sets of directions required to span 3D and 2D space with different cone sizes (cone size is full width). Before diving into the equations, it is worth commenting on the size of space when another dimension is included. For example, when using a "zero" step size of 10 degrees in the previous example, 36 groups were required to span 360 degrees in 2D. Therefore, if an exemplary detection angle of 10 degrees is used (eg, a directional antenna with a 10 degree cone), 36 groups would be needed to cover the 2D space. 3D fractional coverage can be calculated by calculating the coverage of a cone compared to a full 4π steradian. Score equals points

對於與探索時間相關之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倍，在30度處約5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搜尋之探索時間並非壓倒性的。The number of groups spanning space is shown in Figure 5 for both the 2D and 3D cases in relation to exploration time. Apart from the narrow cone size, the number of groups is not very large for the 3D case (e.g. ~15x at 10 degrees, ~7x at 20 degrees, ~5x at 30 degrees). Unless the system is limited to very narrow cone sizes, the exploration 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 Figure 6, a multi-node communication network 100 is disclosed. The multi-node communication network 100 may include multiple communication nodes, such as a transmitter (Tx) node 102 and a receiver (Rx) node 104. As shown in Figure 6, both transmitter node 102 and 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 plotted here as angles and operates as vectors.

在三個維度上，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 that is valid for either 2 or 3 dimensions. Figure 6 shows the geometric shape in three dimensions, where is the unit vector pointing from the transmitter to the receiver, and is a unit vector pointing in the "zero" direction defined by the agreement.

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 due to the relative radial velocity seen by the receiver node 104 is 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 The zeroing agreement is due to the transmit node frequency and the receiver node frequency to Velocity projection in the direction to adjust the transmit 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，相對速率由振幅判定， The net frequency shift of the 3D moving receiver node 104 method is not easy to display graphically, but can be detected using mathematical equations to draw useful conclusions. The first two terms are Doppler correction (DC) offsets, and the last two terms are zero-dependent terms. due to is an independent variable, so when and A maximum value occurs when they are parallel, and a minimum value occurs when they are antiparallel. Furthermore, 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 (i.e., 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 the 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 consistent.

*當「零」角度在接收器節點方向上時( )，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。*The minimum value occurs when "zero" is aligned with the 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 transmitter node 102 and receiver node 104 may include a communication interface 110 including at least one antenna element 112, and a controller operably coupled to the communication interface, controller 106 including one or more Processor, wherein the controller 106 has information about 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 use the node itself relative to a common reference frame, such as a common inertial reference frame in motion or a fixed common inertial reference. Doppler correction is associated with the motion of )). The common reference frame may be known to transmitter node 102 and receiver node 104 before transmitter node 102 transmits a signal to receiver node 104 and before receiver node 104 receives a signal from transmitter node 102 . In some embodiments, the system is a mobile ad hoc network (MANET) including transmitter node 102 and receiver node 104 .

在一些實施例中，應用與接收器節點自身相對於共同參考系之運動相關聯之都卜勒校正係基於一共同參考頻率。例如，一共同參考頻率可藉由一節點自身之運動來調整以抵消關於零角之運動。在發射及/或接收信號之前，此共同參考頻率可為各節點所知。在一些實施例中，計算由接收器節點104看到之淨頻率改變係基於共同參考頻率。例如，淨頻率改變可為信號之一量測頻率與共同參考頻率之間之一差異。In some embodiments, applying a Doppler correction associated with the motion of the receiver node itself relative to a common reference frame is based on a common reference frequency. For example, a common reference frequency can be adjusted by the movement of a node itself to cancel the movement about the zero angle. This common reference frequency can be known to each node before transmitting and/or receiving signals. In some embodiments, calculation of the net frequency change seen by receiver node 104 is based on a common reference frequency. For example, the net frequency change may be a difference between one of the measured frequencies of the signal and a common reference frequency.

出於論述接收器節點104之目的，一「源」通常指代一所接收信號之一源、多個信號之多個源、多個信號之一單一源及/或類似物。例如，一源可為一發射器節點102，其經組態以應用如在本文中及在主張及/或以引用的方式併入優先權之應用中揭示之都卜勒校正。就此而言，一接收器節點104可判定源之一或多個屬性(例如，接收器節點104與源之間之方位、源之速度之方位、速度之振幅/速率、範圍及類似物)。在一些實施例中，接收器節點104及源(例如，發射器節點102)經組態以使用一相同、相容及/或類似都卜勒校正、協定、共同參考系、共同參考頻率、時間同步及/或類似物，使得接收器節點104可判定源之各種屬性。應注意，在一些實施例中，此等之一或多者可提前已知，此後判定，作為協定之部分包含為固定變數值，及/或作為協定之部分動態(即時)判定。例如，該協定可判定應在特定環境中使用特定共同參考系，諸如在陸地上使用GPS座標且在海洋之特定區域上使用一軍艦信標發射器共同參考系位置(其可為行動的)，其可隨著一節點之一位置改變而即時動態改變。For purposes of discussing receiver node 104, a "source" generally refers to a source of received signals, multiple sources of signals, a single source of multiple signals, and/or the like. For example, a source may be a transmitter node 102 configured to apply the Doppler correction as disclosed herein and in the applications claimed and/or incorporated by reference. In this regard, a receiver node 104 may determine one or more properties of the source (eg, the orientation between the receiver node 104 and the source, the orientation of the source's velocity, the amplitude/rate of the velocity, range, and the like). In some embodiments, receiver node 104 and source (eg, transmitter node 102) are configured to use an identical, consistent, and/or similar Doppler correction, agreement, common reference frame, common reference frequency, time Synchronization and/or the like allows the receiver node 104 to determine various properties of the source. It should be noted that in some embodiments, one or more of these may be known in advance, determined later, included as fixed variable values as part of the agreement, and/or determined dynamically (on the fly) as part of the agreement. For example, the agreement may determine that a specific common reference frame should be used in a specific environment, such as using GPS coordinates on land and a warship beacon transmitter common reference frame position (which may be mobile) over a specific area of the ocean, It can change dynamically on the fly as one of the positions of a node changes.

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 the receiver node 104 are time synchronized via synchronization bits associated with acquisition. For example, synchronization bits can operate 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 based on a self-velocity and a self-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 based on 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, the adjusted transmit frequency is proportional to a transmitter node 102 velocity projection in a direction to a Doppler zero, wherein the adjusted receiver frequency is proportional to a Doppler zero The direction in which one of the receiver nodes 104 is projected is proportional to the velocity. In some embodiments, receiver node 102 is configured to determine a relative rate between transmitter node 102 and receiver node 104 . In some embodiments, receiver node 104 is configured to determine a direction of motion of transmitter node 102 and a velocity vector of 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 is parallel to the Doppler null direction, where the resultant vector is equal to the velocity vector of the receiver node 104 minus the velocity vector of the receiver node 104 Go to the velocity vector of emitter node 102. In some embodiments, a minimum net frequency shift of a Doppler correction of a 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 Subtract the velocity vector of emitter node 102. In some embodiments, when a vector pointing from the transmitter node 102 to the receiver node is parallel to the Doppler null direction, the net frequency shift of a Doppler correction for 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 Figure 7, an exemplary embodiment of a method 700 in accordance with the inventive concepts disclosed herein may include one or more of the following steps. Additionally, for example, some embodiments may include executing one or more instances of method 700 iteratively, simultaneously, and/or sequentially. 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 non-sequentially.

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 include providing a transmitter node and a receiver node, wherein each of the transmitter node and the receiver node is 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 including 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 including one or more Processor, where 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 include applying a Doppler correction by the transmitter node to its own motion 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 include applying, by the receiver node, a Doppler correction to the motion of the receiver node itself relative to the common reference frame, based at least on time synchronization, before the transmitter node transmits the signal to the receiver node and before the receiver node transmits the signal 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 analyzing the spatiotemporal 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 the transmitter node velocity vector. This method involves scanning through all directions and has a high sensitivity (eg, low net frequency shift) when the zero direction is aligned with the transmitter node direction. This method can be implemented on a highly sensitive acquisition frame, which is typically much more sensitive than explicit data transfer allowing for ultra-sensitive spatial awareness with relatively low power.

此語句可標誌著對應於(至少部分)重現之圖1至圖7之(至少部分)從美國專利申請案第17/857,920號重現之語言之結束。然而，應注意，此段落係非限制性的，且可已進行改變及添加或刪除語言，且並非全部上文語言或對應圖皆必須從美國專利申請案第17/857,920號重現。This statement may mark the end of language reproduced (at least in part) from US Patent Application No. 17/857,920 corresponding to (at least in part) the reproduced Figures 1-7. It should be noted, however, that this paragraph is non-limiting and may have been changed and language added or deleted, and not all of the above language or corresponding figures must be reproduced from US Patent Application No. 17/857,920.

定向射頻(RF)網路通常必須花費顯著時間掃描可存在潛在RF網路信號之實體空間。例如，在方位角及仰角上掃描球形空間之一系統可需要許多離散時間間隔來完成任務。一般言之，一接收器在各空間扇區內停留有限時間量來尋找一所要信號；因此，總探索時間變成停留時間乘以接收器搜尋整個實體空間所需之離散時間間隔之數目。由於掃描可為一漫長程序，所以通常有必要犧牲其他重要系統效能度量來確保及時探索效能。Directional radio frequency (RF) networks typically must spend significant time scanning physical spaces where potential RF network signals may exist. For example, a system scanning a spherical space in azimuth and elevation may require many discrete time intervals to complete the task. Generally speaking, a receiver stays within each sector of space for a finite amount of time looking for a desired signal; therefore, the total search time becomes the dwell time multiplied by the number of discrete time intervals required for the receiver to search the entire physical space. Because scanning can be a lengthy process, it is often necessary to sacrifice other important system performance metrics to ensure timely exploration performance.

定向都卜勒調零可為用於減少定向網路內之探索時間之一實現技術，藉此亦容許改良其他效能度量。由於顯著改良之探索時間，定向都卜勒調零亦可為低偵測概率(LPD)定向網路之實現技術。Directional Doppler nulling can be one implementation technique used to reduce exploration time within directional networks, thereby also allowing for improvements in other performance metrics. Due to significantly improved exploration time, directional Doppler nulling can also be an implementation technology for low probability of detection (LPD) directional networks.

當使用都卜勒調零時，不一定需要發射顯式位置資訊(例如，使用雙向高頻寬通信之GPS座標)及/或速度資訊以獲得此資訊。在實施例中，經由至少基於一節點之一速度在一天線指向之各方向上之都卜勒校正最小化都卜勒(或「調零」) (例如，此可同樣適用於發射器及接收器)。此外，每當天線指向彼此時，節點之間之改良通信變得可能。在實施例中，至另一節點之範圍可從使用精確定義之發射時間間隔來判定，因為各節點中之發射時間對於發射器及接收器兩者而言可為先驗已知的。利用經由都卜勒調零協定已知之節點之間之方位角、範圍及相對速度，可精確地探索及追蹤另一節點之位置，而無需使用任何顯式資料傳送(例如，WiFi、藍牙、更長範圍之類似頻寬航太通信協定及/或類似物)。When using Doppler nulling, it is not necessarily necessary to transmit explicit position information (e.g., GPS coordinates using two-way high-bandwidth communication) and/or velocity information to obtain this information. In an embodiment, Doppler is minimized (or "zeroed") via Doppler corrections in all directions of an antenna pointing based at least on a velocity of a node (e.g., this may apply equally to transmitters and receivers device). Furthermore, improved communication between nodes becomes possible whenever the antennas are pointed toward each other. In embodiments, the range to another node may be determined from using a precisely defined transmission time interval, since the transmission time in each node may be known a priori to both the transmitter and the receiver. Using the azimuth, range, and relative velocity between nodes known via the Doppler nulling protocol, the location of another node can be accurately explored and tracked without using any explicit data transfer (e.g., WiFi, Bluetooth, etc. Long range similar bandwidth aerospace communications protocols and/or the like).

對都卜勒調零之深雜訊添加(例如，美國專利申請案第17/534,061號)可為終端提供使用非常低功率跨長距離同步之一可行機制，因此最小化一網路外接收器觀察發射器之可能性或對一網路外接收器之干擾。Deep noise addition to Doppler nulling (e.g., U.S. Patent Application No. 17/534,061) may provide a viable mechanism for terminals to synchronize across long distances using very low power, thus minimizing an out-of-network receiver Observe the possibility of transmitter or interference to an off-network receiver.

在具有都卜勒調零之實施例中(即，在至少一些實施例中)，發射終端(例如，Tx節點102)及接收終端兩者最初可使用相當寬波束，以便促進終端探索且建立一初始終端至終端鏈路。在實施例中，接著可窄化波束以容許在較高增益較小點波束覆蓋範圍內具有增加的發射器有效各向同性輻射功率(EIRP)之高資料速率通信。就此而言，本發明之一優點係都卜勒調零可支援高增益窄高度聚焦天線波束之相對精確天線指向。因此，與通常用於及時初始探索及獲取之一更寬波束相比，窄點波束型樣可達成更長距離上之更高資料速率通信。In embodiments with Doppler nulling (i.e., in at least some embodiments), both transmitting terminals (eg, Tx node 102) and receiving terminals may initially use relatively wide beams in order to facilitate terminal exploration and establish a Initial terminal-to-terminal link. In embodiments, the beam may then be narrowed to allow high data rate communications with increased transmitter effective isotropic radiated power (EIRP) within higher gain smaller spot beam coverage. In this regard, one advantage of the present invention is that Doppler nulling can support relatively precise antenna pointing of high-gain narrow highly focused antenna beams. Therefore, a narrow spot beam pattern enables higher data rate communications over longer distances compared to a wider beam typically used for timely initial exploration and acquisition.

在實施例中，都卜勒調零技術容許各平台(例如，節點)校正自身平台之都卜勒。一般言之，在至少一些實施例中，利用定向都卜勒調零，在平台之間交換位置及速度資訊係不必要的；因此，需要較少空間信號附加項來維持通信，需要較少信號追蹤資源，且在追蹤中存在減少(或零)固有時滯。可從週期性都卜勒調零脈衝中辨別相對位置資訊，此實現平台之間之精確天線指向。In an embodiment, the Doppler nulling technique allows each platform (eg, node) to calibrate its own platform Doppler. Generally speaking, in at least some embodiments, with directional Doppler nulling, the exchange of position and velocity information between platforms is unnecessary; therefore, less space signal overhead is required to maintain communication, and fewer signals are required Track resources with reduced (or zero) inherent lag in tracking. Relative position information can be discerned from periodic Doppler nulling pulses, enabling precise antenna pointing between platforms.

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其他描述(例如，至少一些理論及數學基礎)：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；2021年11月23日申請之美國專利申請案第17/534,061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。本發明之實施例可使用定向系統來擴展都卜勒調零以達成相對大效率改良(例如，更低功率要求、更遠範圍、更快探索時間及/或類似物)。Examples of Doppler zeroing methods include, but are not limited to, the methods and other descriptions (e.g., at least some theoretical and mathematical basis) disclosed in: U.S. Patent Application No. 17/233,107, filed April 16, 2021 No. 17/534,061, filed on November 23, 2021, the entire contents of which are incorporated herein by reference; and July 2022 U.S. Patent Application No. 17/857,920, filed on March 5, the entire contents of which are incorporated herein by reference. In embodiments, the Doppler nulling method allows for relatively fast and/or efficient detection of transmitter nodes and determination of transmitter node properties (e.g., transmitter node velocity, transmitter node orientation, transmitter node relative orientation with respect to the receiver node, relative distance of the transmitter node with respect to the receiver node, and the like). Embodiments of the invention may use a directional system to extend Doppler nulling to achieve relatively large efficiency improvements (eg, lower power requirements, longer range, faster exploration times, and/or the like).

由於都卜勒調零不一定需要一顯式數位資料資訊傳送，所以定向都卜勒調零可容許使用少於依賴於顯式數位資料傳送之更習知技術可能所使用之能量來探索分散在整個大實體空間中之網路節點。Since Doppler nulling does not necessarily require an explicit digital data transfer, directional Doppler nulling may allow exploration of dispersed areas using less energy than may be used by more conventional techniques that rely on explicit digital data transfer. Network nodes in the entire large physical space.

此外，在不具有數位資訊之節點至節點傳送之情況下，與利用數位資料來交換位置及速度資訊之習知系統相比，都卜勒調零可提供一數量級信號偵測改良。在一些實施例中，就距離而言，此等效能改良對應於有利於都卜勒調零方法之約三倍(或更多)之一範圍增加。Furthermore, in the absence of node-to-node transmission of digital information, Doppler nulling provides an order of magnitude improvement in signal detection compared to conventional systems that utilize digital data to exchange position and velocity information. In some embodiments, this performance improvement corresponds to a range increase of approximately three times (or more) in terms of distance in favor of the Doppler nulling method.

數量級效能差分可對應於都卜勒調零之一約10 dB優勢，其可用於顯著加快網路路由。替代地，當無需三倍範圍優勢時，探索功率可降低10 dB，同時仍保持後續數位資料傳送所需之完整系統範圍。探索期間之較低功率發射意謂在不存在網路節點之方向上之較少干擾以及由敵對系統偵測到探索信號之較少機會。The order of magnitude performance difference can correspond to a Doppler nulling advantage of about 10 dB, which can be used to significantly speed up network routing. Alternatively, when the triple range advantage is not required, the exploration power can be reduced by 10 dB while still maintaining the full system range required for subsequent digital data transfer. Lower power transmission during exploration means less interference in directions where network nodes are not present and less chance of detection of the exploration signal by hostile systems.

在實施例中，為了達成一偵測時間改良，一10 dB功率優勢可分佈在10倍探索空間上(即，使用一更寬發射波束)；因此，容許在一習知系統所需時間之僅10%內進行探索。在探索及獲取之後，定向發射波束接著可快速窄化以支援在相同距離上之更高速資料傳送。In an embodiment, to achieve a detection time improvement, a 10 dB power advantage can be spread over 10 times the search space (i.e., using a wider transmit beam); thus allowing for only the time required in a conventional system Explore within 10%. After exploration and acquisition, the directional transmit beam can then be quickly narrowed to support higher speed data transmission over the same distance.

在實施例中，定向都卜勒調零容許一定向網路中之各節點補償其自身之個別都卜勒頻移，無論在發送方向上還是在接收方向上。此係比要求發射器或接收器校正全部系統都卜勒更簡單之一配置。In an embodiment, directional Doppler nulling allows each node in a directional network to compensate for its own individual Doppler shift, both in the transmit and receive directions. This is a simpler configuration than requiring the transmitter or receiver to calibrate Doppler for the entire system.

在實施例中，具有都卜勒調零之定向系統可在一些約束下操作，因為所接收信號可較不可能保持高於雜訊位準，惟發射天線及接收天線通常指向彼此之方向除外。因此，最大信號強度可僅週期性地用於預期接收器處。幸運地，經由本發明之實施例，天線方向性可與都卜勒調零組合以能夠在都卜勒調零掃描期間發射天線及接收天線通常指向彼此時增加靈敏度。在掃描期間之此等時刻，節點之間之通信變得可能。In embodiments, directional systems with Doppler nulling may operate under some constraints because the received signal may be less likely to remain above the noise level, except in the direction in which the transmit and receive antennas are typically pointed toward each other. Therefore, maximum signal strength may only be used periodically at the intended receiver. Fortunately, through embodiments of the present invention, antenna directivity can be combined with Doppler nulling to enable increased sensitivity when the transmit and receive antennas are typically pointed toward each other during Doppler nulling scans. At these moments during scanning, communication between nodes becomes possible.

參考圖10，根據本發明之一或多項實施例繪示天線增益1002對角度(例如，一信號之接收角度)之一角分佈之一圖形表示1000。例如，繪示一接收器節點104及/或發射器節點102之天線方向性之一對準。如下文針對圖11所描述，一峰值天線增益1004方位角(例如，第一方位角)可用於判定方位角，且與都卜勒調零方法方位角(例如，第二方位角)組合以達成一更精確方位角。Referring to FIG. 10 , a graphical representation 1000 of an angular distribution of antenna gain 1002 versus angle (eg, the angle at which a signal is received) is shown in accordance with one or more embodiments of the invention. For example, an alignment of the antenna directivity of a receiver node 104 and/or a transmitter node 102 is shown. As described below with respect to Figure 11, a peak antenna gain 1004 azimuth angle (eg, a first azimuth angle) can be used to determine the azimuth angle and combined with a Doppler nulling method azimuth angle (eg, a second azimuth angle) to achieve A more precise azimuth.

圖10展示一單一發射或接收天線元件跨360度之天線增益1002。組合指向彼此之一接收器節點及發射器節點兩者之天線增益將導致天線增益1002之分貝加倍。因此，以此方式，與全向(未對準)天線或僅一個對準天線相比，對準兩個定向天線提供一通常所要高天線增益。然而，使用其他習知方法對準天線通常需要耗時且低效之掃描模式，且可不導致一精確/狹窄方位角估計。Figure 10 shows the antenna gain 1002 across 360 degrees for a single transmit or receive antenna element. Combining the antenna gains of both the receiver node and the transmitter node pointing toward each other will result in a doubling of the antenna gain 1002 in decibels. Thus, in this way, aligning two directional antennas provides a generally desirable high antenna gain compared to an omnidirectional (misaligned) antenna or just one aligned antenna. However, aligning the antenna using other conventional methods often requires time-consuming and inefficient scanning patterns and may not result in an accurate/narrow azimuth estimate.

圖11展示根據本發明之一或多項實施例之淨頻移點1104及包含基於淨頻移點1104之一零交叉點1106之一頻移輪廓1102 (例如，函數)之一圖形表示1100。11 shows a graphical representation 1100 of a net frequency shift point 1104 and a frequency shift profile 1102 (eg, a function) based on a zero crossing point 1106 of the net frequency shift point 1104, in accordance with one or more embodiments of the invention.

一般言之，在實施例中，與通常僅可使用定向天線指向達成之一相當不精確振幅峰值1004相比，都卜勒調零可用於產生一更清晰定義及/或更快之方位角估計，如由圖11中所見之零交叉點1106展示。天線增益1002之一平滑曲線之峰值1004通常比兩條線之一零交叉點/相交點更難以精確定位。零交叉點1106在約110度與零交叉。在實施例中，零交叉點1106可單獨使用及/或與來自天線指向之振幅峰值1004組合使用以提供比單獨使用天線指向更精確之節點之間之方位角之一指示。Generally speaking, in embodiments, Doppler nulling can be used to produce a more clearly defined and/or faster azimuth estimate than a rather imprecise amplitude peak 1004 that can typically be achieved using only directional antenna pointing. , as shown by the zero crossing point 1106 seen in Figure 11. The peak 1004 of a smooth curve of antenna gain 1002 is generally more difficult to pinpoint than the zero crossing/intersection point of one of the two lines. Zero crossing point 1106 crosses zero at approximately 110 degrees. In embodiments, zero-crossing point 1106 may be used alone and/or in combination with amplitude peaks 1004 from antenna pointing to provide a more accurate indication of the azimuth angle between nodes than antenna pointing alone.

在實施例中，都卜勒調零可容許判定淨頻移點1104。考量一靜態接收器節點104之一非限制性案例。在此一案例中，一淨頻移點1104可為指示一(已知)共同參考頻率與一所接收脈衝之一經量測頻率之間之一差異之一值。參見例如圖8中之脈衝804。概念上，若發射器節點102恰好將脈衝完美地引導至接收器節點104且應用與發射器節點102自身之運動相關聯之一都卜勒校正以抵消脈衝上之真實世界實體引發之都卜勒效應，則此差異可為零(即，當靜態接收器之經量測脈衝頻率=共同參考頻率時，等於零)。此外，若共同參考系隨著時間亦係靜態的，且若脈衝接近於瞄準接收器104 (例如，在6度內)，則淨頻移點1104可具有「接近零」之一值。圖11中之標記點1104係「近零」淨頻移點1104。例如，此等點1104可用於產生一函數，諸如擬合至點1104之一線性線或任何其他函數(例如，正弦函數)。接著，此一函數可用於使用此項技術中已知之任何內插方法來求解(例如，內插)零交叉點1106。就此而言，諸如「零相關值」之一或多個淨頻移點1104包括：「零」、「零交叉點」1106及/或「近零」值/函數或類似物可用於判定接收器節點102與一源(例如，發射器節點102)之間之一方位角(θ)。In an embodiment, Doppler nulling may allow determination of the net frequency shift point 1104. Consider the non-limiting case of a static receiver node 104. In this case, a net frequency shift point 1104 may be a value indicative of a difference between a (known) common reference frequency and a measured frequency of a received pulse. See, for example, pulse 804 in Figure 8. Conceptually, if the transmitter node 102 happens to direct the pulse perfectly to the receiver node 104 and applies a Doppler correction associated with the motion of the transmitter node 102 itself to cancel the real-world entity-induced Doppler on the pulse effect, this difference can be zero (that is, equal to zero when the measured pulse frequency of the static receiver = the common reference frequency). Furthermore, if the common reference frame is also static over time, and if the pulse is close to aiming at the receiver 104 (eg, within 6 degrees), the net frequency shift point 1104 may have a value "near zero." Marked point 1104 in Figure 11 is the "near zero" net frequency shift point 1104. For example, the points 1104 can be used to generate a function, such as a linear line fitted to the points 1104 or any other function (eg, a sine function). This function can then be used to solve (eg, interpolate) the zero crossing point 1106 using any interpolation method known in the art. In this regard, one or more net frequency shift points 1104 such as "zero correlation value" including: "zero", "zero crossing point" 1106 and/or "near zero" values/functions or the like may be used to determine the receiver An azimuth angle (θ) between node 102 and a source (eg, transmitter node 102).

在實施例中，可使用淨頻移點1104來產生函數/斜率1102。例如，該函數可為一正弦函數、使用此項技術中已知之任何擬合函數擬合至淨頻移點1104之一線性函數或類似物。In embodiments, the net frequency shift point 1104 may be used to generate the function/slope 1102. For example, the function may be a sine function, a linear function fitted to the net frequency shift point 1104 using any fitting function known in the art, or the like.

藉由使用一零交叉函數/斜率1102，支援粗略天線指向角度增量之間之一連續內插，且因此與連續天線位置處之單獨信號振幅相比，可達成一更精確方位角指示。可使用幾個(例如，2個或更多個)點1104來判定一零交叉點1106之一(有限段)可容許僅使用幾個樣本點1104來重建/外推/曲線擬合一整個都卜勒淨頻率輪廓1102。在實施例中，可使用三個或更多個資料點1104從近似頻移輪廓1102導出方位及差動速度兩者。(應注意，在一些實施例中，此三個資料點要求可暗示後續天線波束之間之覆蓋範圍中之一些重疊。通常需要至少三個點來近似計算一曲線，但一曲線之更大數目個資料點可為可用的。)By using a zero-crossing function/slope 1102, a continuous interpolation between coarse antenna pointing angle increments is supported, and therefore a more accurate azimuth indication can be achieved compared to individual signal amplitudes at successive antenna positions. Several (e.g., 2 or more) points 1104 may be used to determine a zero-crossing point 1106. One of the (finite segments) may allow reconstruction/extrapolation/curve fitting of an entire system using only a few sample points 1104. Buller net frequency profile 1102. In embodiments, three or more data points 1104 may be used to derive both the orientation and differential velocity from the approximate frequency shift profile 1102 . (It should be noted that in some embodiments, this three data point requirement may imply some overlap in coverage between subsequent antenna beams. Typically at least three points are needed to approximate a curve, but a larger number for a curve data points may be available.)

圖8係根據本發明之一或多項實施例之一掃描序列802之複數個脈衝804之一基於時間之圖形表示800。例如，可使用各種方向(例如，2D、3D)上之任何數量之脈衝804。應注意，該序列可為增量的(例如，10度、20度、30度等)、偽隨機的(例如，由全部節點根據一協定先驗已知之一隨機模式；10度、240度、40度等)及/或類似物。8 is a time-based graphical representation 800 of a plurality of pulses 804 of a scan sequence 802 in accordance with one or more embodiments of the invention. For example, any number of pulses 804 in various directions (eg, 2D, 3D) may be used. It should be noted that the sequence can be incremental (for example, 10 degrees, 20 degrees, 30 degrees, etc.), pseudo-random (for example, a random pattern known a priori by all nodes according to an agreement; 10 degrees, 240 degrees, 40 degrees, etc.) and/or the like.

在實施例中，複數個脈衝804之數量通常在2與300之間。(應注意，類似於尼奎斯特(Nyquist)準則，此處重建正弦波所需之最小點數目大於2。出於實際目的，在一單一循環內之快速獲取需要三個脈衝。樣本數目之上限雖然在技術上係無限的，但如同任何其他過取樣系統，在一兩個數量級之後展現遞減回波。因此，每循環之樣本數目之一實際上限約為300。)例如，數量可為32，如展示。在另一實例中，數量可根據固定序列模式及/或根據任何協定變數(例如，所要接收器節點之類型(例如，無人機、飛機、蜂巢式裝置等)、發射器節點之類型、位置、當日時間及/或類似物)而變化。例如，不同類型之裝置可經組態以使用不同掃描序列/協定。藉由另一實例，一序列可在使用較低數量之寬波束與接著使用較高品質之窄波束之間循環。應注意，此等實例係非限制性的，且可基於任何方法在任何時間使用任何掃描序列(或掃描序列之子集)。In an embodiment, the number of pulses 804 is typically between 2 and 300. (It should be noted that, similar to the Nyquist criterion, the minimum number of points required to reconstruct the sine wave here is greater than 2. For practical purposes, fast acquisition in a single cycle requires three pulses. The number of samples is The upper limit, although technically infinite, like any other oversampling system, exhibits diminishing echoes after an order or two. Therefore, a practical upper limit on the number of samples per cycle is about 300.) For example, the number could be 32 , as shown. In another example, the number may be based on a fixed sequence pattern and/or based on any protocol variables (e.g., type of receiver node desired (e.g., drone, aircraft, cellular device, etc.), type of transmitter node, location, time of day and/or the like). For example, different types of devices may be configured to use different scan sequences/protocols. By way of another example, a sequence may cycle between using a lower number of wide beams and then using a higher quality narrow beam. It should be noted that these examples are non-limiting and any scan sequence (or subset of scan sequences) may be used at any time and based on any method.

一般言之，片語「信號對應於脈衝804之至少一部分」及類似物意謂信號(例如，從天線元件接收之波形等)對應於用於產生信號之一掃描序列802之一組理論脈衝804之至少一部分(例如，可與其配對，及/或基於其產生)。例如，若一源(例如，發射器節點102)及接收器節點104兩者同步至一掃描序列802，則接收器節點104可經組態以將(所接收)信號解析為可映射掃描序列802之脈衝804/與掃描序列802之脈衝804配對之脈衝804。此處，該組理論脈衝804之一「部分」意謂不一定接收全部脈衝804。Generally speaking, the phrase "the signal corresponds to at least a portion of the pulse 804" and the like means that the signal (e.g., a waveform received from an antenna element, etc.) corresponds to a set of theoretical pulses 804 of a scan sequence 802 used to generate the signal. (e.g., may be paired therewith and/or generated based thereon). For example, if a source (eg, transmitter node 102 ) and receiver node 104 are both synchronized to a scan sequence 802 , receiver node 104 may be configured to parse the (received) signal into a mappable scan sequence 802 Pulse 804 of/Pulse 804 paired with pulse 804 of scan sequence 802. Here, a "portion" of the set of theoretical pulses 804 means that not all pulses 804 are necessarily received.

「時間同步」及類似物可意謂各節點覺知一掃描序列802之一循環內之一絕對時間，使得一所接收脈衝804之任何到達時間可映射至其在掃描序列之一圖形表示800中之位置或類似物(例如，沿著圖11之水平軸映射)。例如，一控制器可追蹤一絕對同步時間及一本端接收時間，使得本端接收時間可被轉換為絕對同步時間。如圖8及圖11中展示，可使用此一對應關係來判定一發射角度(例如，Φ1、Φ2、Φ3……)。此到達時間同步不一定完全準確或可預測。例如，掃描序列可包含脈衝804之任一側上之發射器節點及接收器節點時間不確定性(誤差)裕度806、810及/或一傳播時間裕度812 (例如，考量節點之間之範圍差異)。藉由使用時間裕度，各所接收脈衝804可更精確地與圖8之掃描序列802中繪示之正確對應脈衝804配對。"Time synchronization" and the like may mean that each node is aware of an absolute time within a cycle of a scan sequence 802 such that any arrival time of a received pulse 804 can be mapped to its representation in a graphical representation 800 of the scan sequence. position or the like (e.g., mapped along the horizontal axis of Figure 11). For example, a controller can track an absolute synchronization time and a local reception time, so that the local reception time can be converted into an absolute synchronization time. As shown in FIG. 8 and FIG. 11 , this corresponding relationship can be used to determine a launch angle (for example, Φ1, Φ2, Φ3...). This arrival time synchronization is not necessarily completely accurate or predictable. For example, the scan sequence may include transmitter node and receiver node time uncertainty (error) margins 806, 810 and/or a propagation time margin 812 on either side of the pulse 804 (e.g., accounting for the range differences). By using the timing margin, each received pulse 804 can be more accurately paired with the correct corresponding pulse 804 illustrated in scan sequence 802 of FIG. 8 .

在一些實施例中，實例參數可容許至多約300英里(例如，200英里或更多，290英里或更多)之一範圍之一可靠空間覺知。例如，此等參數可包含：水平掃描完整360度之32個脈衝804之一數量；100微秒(µsec)之一脈衝寬度808；1,000 µsec之發射器節點及接收器節點時間不確定性(誤差)裕度806、810。其他所判定(例如，導出)參數可包含：1,610 µsec之一傳播延遲；5,710 µsec之一脈衝重複時間間隔；1.75%之一脈衝工作循環；及對應於0.20秒之一持續時間814之每秒五次掃描(例如，各掃描係約360度之一掃描循環)之一數量。In some embodiments, example parameters may allow for reliable spatial awareness within a range of up to about 300 miles (eg, 200 miles or more, 290 miles or more). For example, these parameters may include: a number of 32 pulses 804 to scan a full 360 degrees horizontally; a pulse width 808 of 100 microseconds (µsec); a transmitter node and receiver node timing uncertainty (error) of 1,000 µsec ) margin 806, 810. Other determined (e.g., derived) parameters may include: propagation delay of 1,610 µsec; pulse repetition time interval of 5,710 µsec; pulse duty cycle of 1.75%; and five times per second corresponding to a duration of 0.20 sec. A number of scans (eg, each scan is one scan cycle of approximately 360 degrees).

在一些實例中，持續時間814可小於一秒及/或大於一秒。In some examples, duration 814 may be less than one second and/or greater than one second.

圖9A係根據本發明之一或多項實施例之多個系統100 (例如，100a、100b、100c、100d)之一示意性圖解900。各系統100經組態以諸如經由一或多個定向天線元件來發射及接收。在某種意義上，各系統100可包括一發射器節點及一接收器節點(例如，102a、104a；102b、104b；102c、104c；102d、104d)，其等可為相同節點。若系統100經時間同步，則各系統100經組態以根據一掃描序列802沿著與其他系統100之各者相關聯之一接收角度從每一其他系統接收複數個所接收脈衝804，藉此增加有效天線增益。理論上，若各系統100經時間同步，且期望具有其他時間同步系統之空間覺知，則系統100可藉由僅根據掃描序列802搜尋信號來更有效地改良可接收脈衝之天線增益，從而大大減少搜尋信號之角度/空間。以此方式，各系統將僅在一方向上搜尋信號，同時來自該方向之節點將相互發射，從而改良效率、範圍且減少由較低效掃描技術產生之雜訊。Figure 9A is a schematic illustration 900 of a plurality of systems 100 (eg, 100a, 100b, 100c, 100d) in accordance with one or more embodiments of the invention. Each system 100 is configured to transmit and receive, such as via one or more directional antenna elements. In a sense, each system 100 may include a transmitter node and a receiver node (eg, 102a, 104a; 102b, 104b; 102c, 104c; 102d, 104d), which may be the same node. If the systems 100 are time synchronized, each system 100 is configured to receive a plurality of received pulses 804 from each of the other systems 100 along a reception angle associated with each of the other systems 100 according to a scan sequence 802 , thereby increasing Effective antenna gain. In theory, if the systems 100 are time synchronized and it is desired to have the spatial awareness of other time synchronized systems, the system 100 can more effectively improve the antenna gain that can receive pulses by searching for signals based only on the scan sequence 802, thus greatly Reduce the angle/space to search for signals. In this way, each system will search for signals in only one direction, and nodes from that direction will transmit to each other, improving efficiency, range, and reducing noise produced by less efficient scanning techniques.

圖9B係圖9A在一後續時間步階之一示意性圖解920，其中不同系統100b、100c之一特定發射角度804b及接收角度904c經對準或接近對準(例如，在一可偵測波束寬度內)。Figure 9B is a schematic illustration 920 of Figure 9A at a subsequent time step, in which specific transmit angles 804b and receive angles 904c of different systems 100b, 100c are aligned or nearly aligned (e.g., in a detectable beam within the width).

在實施例中，各系統100經時間同步以利用一共同掃描序列802，使得各系統之接收角度904a至904d (例如，零Rx)及發射角度804a至804d (例如，零Tx角度Φ)將在掃描序列802中之特定步驟對準。例如，如展示，在掃描序列802之一些或整個執行期間，全部系統100之接收角度904a至904d可相對於發射角度804a至804d相反。如先前關於圖10所描述，歸因於對準，此可容許兩倍有效天線增益。In an embodiment, each system 100 is time synchronized to utilize a common scan sequence 802 such that each system's receive angle 904a-904d (eg, zero Rx) and transmit angle 804a-804d (eg, zero Tx angle Φ) will be at Specific steps in scan sequence 802 are aligned. For example, as shown, the receive angles 904a - 904d of the entire system 100 may be opposite relative to the transmit angles 804a - 804d during some or all executions of the scan sequence 802 . As previously described with respect to Figure 10, this may allow twice the effective antenna gain due to alignment.

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, these steps may be performed in any desired order, and two or more steps may be performed concurrently with each other. Two or more steps disclosed herein can be combined into a single step, and in some embodiments, one or more steps can 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 of the 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。Although 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 invention as claimed. The components illustrated and described herein are merely examples of systems/devices and components that may be used to implement embodiments of the inventive concept, and may be substituted with other devices and components without departing from the scope of the invention as claimed. Furthermore, any dimensions, degrees, and/or numerical ranges provided herein are to be understood as non-limiting examples unless otherwise specified in the patentable scope of the invention.

100:多節點通信網路 100a至100d:系統 102:發射器(Tx)節點 102a至102d:發射器(Tx)節點 104:接收器(Rx)節點 104a至104d: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 800:圖形表示 802:掃描序列 804:脈衝 804a至804d:發射角度 806:發射器節點時間不確定性(誤差)裕度 808:脈衝寬度 810:接收器節點時間不確定性(誤差)裕度 812:傳播時間裕度 814:持續時間 900:示意性圖解 904a至904d:接收角度 1000:圖形表示 1002:天線增益 1004:峰值天線增益 1102:頻移輪廓 1104:淨頻移點 1106:零交叉點 100:Multi-node communication network 100a to 100d: System 102: Transmitter (Tx) node 102a to 102d: Transmitter (Tx) nodes 104: Receiver (Rx) node 104a to 104d: Receiver (Rx) nodes 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 800: Graphical representation 802:Scan sequence 804:Pulse 804a to 804d: launch angle 806: Transmitter node time uncertainty (error) margin 808: Pulse width 810: Receiver node timing uncertainty (error) margin 812: Propagation time margin 814:Duration 900: Schematic illustration 904a to 904d: receiving angle 1000: Graphical representation 1002: Antenna gain 1004: Peak antenna gain 1102: Frequency Shift Contour 1104: Net frequency shift point 1106:Zero crossing point

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[Embodiments] will be described with reference to the drawings. The use of the same reference symbols in different instances in the description and drawings may identify similar or identical items. Various embodiments or examples ("Examples") of the present invention are disclosed in the following [Embodiments] and the accompanying drawings. Figures are not necessarily to scale. Generally speaking, the operations of the disclosed program may be performed in any order, unless otherwise specified in the patentable scope of the invention.

圖1係根據本發明之實例實施例之一簡化行動特用網路(MANET)中之兩個節點及其個別節點之一示意性圖解。FIG. 1 is a schematic diagram of two nodes and their individual nodes in a simplified mobile ad hoc network (MANET) according to an example embodiment of the present invention.

圖2A係圖1之MANET內之頻移輪廓之一圖形表示。Figure 2A is a graphical representation of the frequency shift profile within the MANET of Figure 1.

圖2B係圖1之MANET內之頻移輪廓之一圖形表示。Figure 2B is a graphical representation of the frequency shift profile within the MANET of Figure 1.

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。Figure 3 is a schematic illustration of a transmitter node and a receiver node according to an example embodiment of the present invention.

圖4A係圖3之MANET內之頻移輪廓之一圖形表示。Figure 4A is a graphical representation of the frequency shift profile within the MANET of Figure 3.

圖4B係圖3之MANET內之頻移輪廓之一圖形表示。Figure 4B is a graphical representation of the frequency shift profile within the MANET of Figure 3.

圖5係用於覆蓋空間之組之一圖表。Figure 5 is one of the diagrams used to cover 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 present 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 present invention.

圖8係根據本發明之一或多項實施例之一掃描序列之複數個脈衝之一基於時間之圖形表示。Figure 8 is a time-based graphical representation of a plurality of pulses of a scan sequence in accordance with one or more embodiments of the invention.

圖9A係根據本發明之一或多項實施例之多個系統之一示意性圖解，該等系統經時間同步以利用一共同掃描序列，使得各系統之接收角度及發射角度將對準。9A is a schematic illustration of a plurality of systems that are time synchronized to utilize a common scan sequence such that the receive angles and transmit angles of each system are aligned, in accordance with one or more embodiments of the present invention.

圖9B係根據本發明之一或多項實施例之圖9A在一隨後時間步階之一示意性圖解，其中不同系統之一特定發射角度及接收角度經對準。Figure 9B is a schematic illustration of Figure 9A at a subsequent time step with specific transmit angles and receive angles of different systems aligned, in accordance with one or more embodiments of the present invention.

圖10係根據本發明之一或多項實施例之天線增益對角度之一角分佈之一圖形表示。Figure 10 is a graphical representation of an angular distribution of antenna gain versus angle in accordance with one or more embodiments of the invention.

圖11係根據本發明之一或多項實施例之淨頻移點及包含基於淨頻移點之一零交叉點之一頻移輪廓之一圖形表示。Figure 11 is a graphical representation of a net frequency shift point and a frequency shift profile including a zero crossing point based on the net frequency shift point, in accordance with one or more embodiments of the present invention.

100a至100d:系統 100a to 100d: System

804a至804d:發射角度 804a to 804d: launch angle

900:示意性圖解 900: Schematic illustration

904a至904d:接收角度 904a to 904d: receiving angle

Claims (20)

一種系統，其包括： 一接收器節點，其包括： 一通信介面，其包括一定向天線元件；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，其中該控制器具有相對於一共同參考系之自身節點速度及自身節點定向之資訊； 其中該接收器節點經時間同步以應用與該接收器節點自身相對於該共同參考系之運動相關聯之都卜勒校正， 其中在該接收器節點從一源接收信號之前，該共同參考系對於該接收器節點係已知的。 A system that includes: A receiver node including: a communications interface including a directional antenna element; and a controller operably coupled to the communication interface, the controller including one or more processors, wherein the controller has information about its own node velocity and its own node orientation relative to a common reference frame; wherein the receiver node is time synchronized to apply a Doppler correction associated with the motion of the receiver node itself relative to the common reference frame, Wherein the common reference frame is known to the receiver node before the receiver node receives a signal from a source. 如請求項1之系統，其中該系統經組態以基於該等信號判定一或多個淨頻移點。The system of claim 1, wherein the system is configured to determine one or more net frequency shift points based on the signals. 如請求項2之系統，其中該一或多個淨頻移點之該判定係基於該接收器節點所知之一掃描序列，其中該等信號對應於該掃描序列之複數個脈衝之至少一部分。The system of claim 2, wherein the determination of the one or more net frequency shift points is based on a scan sequence known to the receiver node, wherein the signals correspond to at least a portion of a plurality of pulses of the scan sequence. 如請求項3之系統，其中該接收器節點經組態以基於該掃描序列內之一特定脈衝之一到達時間來判定該特定脈衝之一發射角度。The system of claim 3, wherein the receiver node is configured to determine a transmission angle of a specific pulse within the scan sequence based on an arrival time of the specific pulse. 如請求項3之系統，其中該掃描序列之該複數個脈衝之一數量係至少2。The system of claim 3, wherein one of the plurality of pulses of the scanning sequence is at least 2. 如請求項3之系統，其中該複數個脈衝經組態以在方位角或仰角之至少一者上跨越一完整360度。The system of claim 3, wherein the plurality of pulses are configured to span a full 360 degrees in at least one of azimuth or elevation. 如請求項3之系統，其中該掃描序列之一個循環之一持續時間小於一秒。Such as the system of claim 3, wherein the duration of one cycle of the scanning sequence is less than one second. 如請求項2之系統，其中該系統經組態以判定該接收器節點與該源之間之一方位角，其中該方位角係基於與該一或多個淨頻移點相關聯之一零相關值，其中該零相關值包括以下之至少一者： 基於該一或多個淨頻移點之一函數之一零交叉點；或 該一或多個淨頻移點之一零值及/或近零值。 The system of claim 2, wherein the system is configured to determine an azimuth angle between the receiver node and the source, wherein the azimuth angle is based on a zero associated with the one or more net frequency shift points Correlation value, wherein the zero correlation value includes at least one of the following: A zero crossing point based on a function of the one or more net frequency shift points; or The one or more net frequency shift points have a zero value and/or a near-zero value. 如請求項8之系統，其中該系統經組態以在該接收器節點與該源之間之該方位角之方向上窄化由該系統發射之一新信號之一波束寬度，且與該源建立一雙向通信鏈路。The system of claim 8, wherein the system is configured to narrow the beamwidth of a new signal transmitted by the system in the direction of the azimuth between the receiver node and the source, and is consistent with the source Establish a two-way communication link. 如請求項2之系統，其中該系統經組態以判定該接收器節點與該源之間之一方位角，其中該方位角係基於一第一方位角及一第二方位角，其中該第一方位角係基於該等信號之天線增益之一角分佈，且其中該第二方位角係基於基於該等信號判定之該一或多個淨頻移點。The system of claim 2, wherein the system is configured to determine an azimuth angle between the receiver node and the source, wherein the azimuth angle is based on a first azimuth angle and a second azimuth angle, wherein the third azimuth angle One azimuth angle is based on an angular distribution of antenna gains for the signals, and wherein the second azimuth angle is based on the one or more net frequency shift points determined based on the signals. 如請求項2之系統，其中該一或多個淨頻移點係基於該系統所知之一共同參考頻率與該等信號之一或多個經量測頻率之間之一差異。The system of claim 2, wherein the one or more net frequency shift points are based on a difference between a common reference frequency known to the system and one or more measured frequencies of the signals. 一種系統，其包括：  一發射器節點，其包括： 一通信介面，其包括一定向天線元件；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，其中該控制器具有相對於一共同參考系之自身節點速度及自身節點定向之資訊； 其中該發射器節點經時間同步以應用與該發射器節點自身相對於該共同參考系之運動相關聯之都卜勒校正， 其中在該發射器節點發射信號之前，該共同參考系對於該發射器節點係已知的。 A system including: A transmitter node including: a communications interface including a directional antenna element; and a controller operably coupled to the communication interface, the controller including one or more processors, wherein the controller has information about its own node velocity and its own node orientation relative to a common reference frame; wherein the transmitter node is time synchronized to apply a Doppler correction associated with the motion of the transmitter node itself relative to the common reference frame, Wherein the common reference frame is known to the transmitter node before the transmitter node transmits the signal. 如請求項12之系統，其中該等都卜勒校正之該應用包括基於一共同參考頻率應用該等都卜勒校正。The system of claim 12, wherein the application of the Doppler corrections includes applying the Doppler corrections based on a common reference frequency. 如請求項12之系統，其中該系統經組態以根據一掃描序列沿著複數個發射角度發射該等信號之複數個所發射脈衝，其中該等都卜勒校正之該應用包括基於各所發射脈衝之一發射角度將該等都卜勒校正應用於該複數個所發射脈衝。The system of claim 12, wherein the system is configured to transmit a plurality of transmitted pulses of the signals along a plurality of transmission angles according to a scan sequence, wherein the application of the Doppler corrections includes a A launch angle applies the Doppler corrections to the plurality of transmitted pulses. 如請求項14之系統，其中該複數個脈衝之一數量係至少2。The system of claim 14, wherein one of the plurality of pulses is at least 2. 如請求項14之系統，其中該複數個脈衝經組態以在方位角或仰角之至少一者上跨越360度。The system of claim 14, wherein the plurality of pulses are configured to span 360 degrees in at least one of azimuth or elevation. 如請求項14之系統，其中該掃描序列之一持續時間小於一秒。The system of claim 14, wherein one of the scan sequences lasts less than one second. 如請求項14之系統，其中針對所接收信號，該系統經時間同步以經由經組態以接收該等所接收信號之一天線元件將與該發射器節點自身相對於該共同參考系之運動相關聯之該等都卜勒校正應用於該等所接收信號。The system of claim 14, wherein the system is time synchronized for received signals to correlate with the movement of the transmitter node itself relative to the common reference frame via an antenna element configured to receive the received signals. The associated Doppler corrections are applied to the received signals. 如請求項18之系統，其中該系統經組態以根據該掃描序列沿著複數個接收角度接收該等所接收信號之複數個所接收脈衝。The system of claim 18, wherein the system is configured to receive a plurality of received pulses of the received signal along a plurality of reception angles according to the scanning sequence. 如請求項19之系統，其中在該掃描序列之一執行期間，該等接收角度相對於該等發射角度相反。The system of claim 19, wherein during execution of one of the scanning sequences, the receiving angles are opposite to the transmitting angles.
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