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Title: Radio navigation system
Claims: What is claimed is: 1. A radio navigation system for determining the position of a mobile station relative to a plurality of fixed stations, comprising: a first pair of fixed transmitting stations comprising a base station and a first relay station, a second pair of fixed transmitting stations comprising said base station and a second relay station, said base station comprising means for transmitting a continuous wave signal having a first predetermined frequency, said first relay station comprising a receiver for receiving signals broadcast by said base station, a modulatable transmitter for generating a first carrier signal having a frequency differing from one-half of said first predetermined frequency by an amount equal to one-half of a second predetermined frequency, means for doubling the frequency of said first carrier signal, means for mixing said doubled first carrier signal with the output of said receiver to derive a first modulating signal whose frequency is equal to said second predetermined frequency, and means for applying said first modulating signal to said transmitter, whereby said first relay station transmits said first carrier signal modulated by said first modulating signal, said second relay station comprising a receiver for receiving signals broadcast by said base station, a modulation transmitter for generating a second carrier signal having a frequency differing from one-half of said first predetermined frequency by an amount equal to one-half of a third predetermined frequency, means for doubling the frequency of said second carrier signal, means for mixing said doubled second carrier signal with the output of said receiver to derive a second modulating signal whose frequency is equal to said third predetermined frequency, and means for applying said second modulating signal to said transmitter, whereby said second relay station transmits said second carrier signal modulated by said second modulating signal, a mobile station, first means located at said mobile station for deriving a first position indicating signal indicative of the difference in the distances between said mobile station and each of said first pair of fixed transmitting stations, second means located at said mobile station for deriving a second position indicating signal indicative of the difference in the distances between said mobile station and each of said second pair of fixed transmitting stations, said mobile station including receiving means for receiving the signals transmitted by said transmitting stations and for deriving control signals from the signals so received to control said first means and said second means, summing means for adding said first and second position indicating signal indicative of a first line of position on which said mobile station is located, and difference means for subtracting one of said first and second position indicating signals from the other of said first and second position indicating signals to obtain a fourth position indicating signal indicative of a second line of position on which said mobile station is located. 2. The radio navigation system of claim 1 in which said mobile station includes a main receiver for receiving all of the signals transmitted by said base station and said relay stations, said main receiver comprising: a base receiver for receiving signals transmitted by said base station, a first relay receiver for receiving signals transmitted by said first relay station and for recovering said first carrier signal and said first modulating signal, means for doubling the frequency of said recovered first carrier signal and for mixing said doubled first carrier signal with the output signal of said base receiver, whereby a first control signal having said second predetermined frequency is derived, and recovered first modulating signal comprising a second control signal having said second predetermined frequency, a second relay receiver for receiving signals transmitted by said second relay station and for recovering said second carrier signal and said second modulating signal, means for doubling the frequency of said recovered second carrier signal and for mixing said doubled second carrier signal with the output signal of said base receiver, whereby a third control signal having said third predetermined frequency is derived, said recovered second modulating signal comprising a fourth control signal having said third predetermined frequency, and in which said first means comprises means for subtracting the phase of one of said first and second control signals from the phase of the other to derive said first position indicating signal and said second means comprises means for subtracting the phase of one of said third and fourth control signals from the phase of the other to derive said second position indicating signal. 3. The radio navigation system of claim 2 in which: said summing means comprises means for mixing said first control signal and said fourth control signal to derive a fifth control signal whose frequency is equal to the sum of the frequencies of said first and fourth control signals, means for mixing said second control signal to obtain a sixth control signal whose frequency is equal to the sum of the frequencies of said second and third control signals, and means for subtracting the phase of one of said fifth and sixth control signals from the phase of the other to obtain said third position indicating signal, and said difference means comprises means for mixing said first and fourth control signals to derive a seventh control signal whose frequency is equal to the difference of the frequencies of said first and fourth control signals, means for mixing said second and third control signals to derive an eighth control signal whose frequency is equal to the difference of the frequencies of said second and third control signals, and means for subtracting the phase of one of said seventh and eighth control signals from the phase of the other to obtain said fourth position indicating signal. 4. The radio navigation system of claim 2 in which: said first means comprises a first phase meter indicating the difference in the phases of said first and second control signals, said second means comprises a second phase meter indicating the difference in the phases of said fourth and third control signals, said summing means comprises means for mechanically adding the shaft angles of the indicators of said first and second phase meters, and said difference means comprises means for mechanically subtracting the shaft angles of the indicators of said first and second phase meters. 5. The radio navigation system of claim 2 in which: said first means comprises a first phase meter indicating the difference in the phases of said first and second control signals, said second means comprising a second phase meter indicating the difference in the phases of said third and fourth control signals, said summing means comprising a first phase shifter, means for applying said second control signal to said first phase shifter, means for advancing said first phase shifter by the shaft angle of said second phase meter, and means for obtaining said third position indicating signal from the difference in the phases of said first control signal and the output signal of said first phase shifter, and said difference means comprises a second phase shifter, means for applying said fourth control signal to said second phase shifter, means for retarding said second phase shifter by the shaft angle of said first phase meter, and means for obtaining said fourth position indicating signal from the difference in the phases of said third control signal and the output signal of said second phase shifter. 6. A radio navigation system for determining the position of a mobile station relative to a plurality of fixed stations, comprising: a first pair of transmitting stations comprising a first base station and a first relay station, a second pair of fixed transmitting stations comprising a second base station and a second relay station, said first base station comprising means for transmitting a continuous wave signal having a first predetermined frequency, said first relay station comprising a receiver for receiving signals broadcast by said first base station, a modulatable transmitter for generating a first carrier signal having a frequency differing from one-half of said first predetermined frequency by an amount equal to one-half of a second predetermined frequency, means for doubling the frequency of said first carrier signal, means for mixing said doubled first carrier signal with the output of said receiver to derive a first modulating signal whose frequency is equal to said second predetermined frequency, and means for applying said first modulating signal to said transmitter, whereby said first relay station transmits said first carrier signal modulated by said first modulating signal, said second base station comprising means for transmitting a continuous wave signal having a third predetermined frequency, said second relay station comprising a receiver for receiving signals broadcast by said second base station, and modulatable transmitter for generating a second carrier signal having a frequency differing from one-half of said third predetermined frequency by an amount equal to one-half of a fourth predetermined frequency, means for doubling the frequency of said second carrier signal, means for mixing seaid doubled second carrier signal with the output of said receiver to derive a second modulating signal whose frequency is equal to said fourth predetermined frequency, and means for applying said second modulating signal to said transmitter, whereby said second relay station transmits said second carrier signal modulated by said second modulating signal, a mobile station, first means located at said mobile station for deriving a first position indicating signal indicative of the difference in the distances between said mobile station and each of said first pair of fixed transmitting stations, second means located at said mobile station for deriving a second position indicating signal indicative of the difference in the distances between said mobile station and each of said second pair of fixed transmitting stations, said mobile station including receiving means for receiving the signals transmitted by said transmitting stations and for deriving control signals from the signals so received to control said first means and said second means, summing means for adding said first and second position indicating signal indicative of a first line of position on which said mobile station is located, and difference means for subtracting one of said first and second position indicating signals from the other of said first and second position indicating signals to obtain a fourth position indicating signal indicative of a second line of position on which said mobile station is located. 7. The radio navigation system of claim 6 in which said mobile station includes a main receiving means for receiving all of the signals transmitted by said first and second base station and said first and second relay stations, said main receiving means comprising: a first base receiver for receiving signals transmitted by said first base station, a first relay receiver for receiving signals transmitted by said first relay station and for recovering said first carrier signal and said first modulating signal, means for doubling the frequency of said recovered first carrier signal and for mixing said doubled first carrier signal with the output signal of said first base receiver, whereby a first control signal having said second predetermined frequency is derived, said recovered first modulating signal comprising a second control signal having said second predetermined frequency, a second base receiver for receiving signals transmitted by said second base station, a second relay receiver for receiving signals transmitted by said second relay station and for recovering said second signal and said second modulating signal, means for doubling the frequency of said recovered second carrier signal and for mixing said doubled second carrier signal with the output signal of said second base receiver, whereby a third control signal having said fourth predetermined frequency is derived, said recovered second modulating signal comprising a fourth control signal having said fourth predetermined frequency, and in which said first means comprises means for subtracting the phase of one of said first and second control signals from the phase of the other to derive said first position indicating signal and said second means comprises means for subtracting the phase of one of said third and fourth control signals from the phase of the other to derive said second position indicating signal. 8. The radio navigation system of claim 7 in which: said summing means comprises means for mixing said first control signal and said fourth control signal to derive a fifth control signal whose frequency is equal to the sum of the frequencies of said first and fourth control signals, means for mixing said second control signal and said third control signal to obtain a sixth control signal whose frequency is equal to the sum of the frequencies of said second and third control signals, and means for subtracting the phase of one of said fifth and sixth control signals from the phase of the other to obtain said third position indicating signal, and said difference means comprises means for mixing said first and fourth control signals to derive a seventh control signal whose frequency is equal to the difference of the frequencies of said first and fourth control signals, means for mixing said second and third control signals to derive an eighth control signal whose frequency is equal to the difference of the frequencies of said second and third control signals, and means for subtracting the phase of one of said seventh and eighth control signals from the phase of the other to obtain said fourth position indicating signal. 9. The radio navigation system of claim 7 in which: said first means comprises a first phase meter indicating the difference in the phases of said first and second control signals, said second means comprises a second phase meter indicating the difference in the phases of said fourth and third control signals, said summing means comprises means for mechanically adding the shaft angles of the indicators of said first and second phase meters, and said difference means comprises means for mechanically subtracting the shaft angles of the indicators of said first and second phase meters. 10. The radio navigation system of claim 7 in which: said first means comprises a first phase meter indicating the difference in the phases of said first and second control signals, said second means comprises a second phase meter indicating the difference in the phases of said third and fourth control signals, said summing means comprises a first phase shifter, means for applying said second control signal to said first phase shifter, means for advancing said first phase shifter by the shaft angle of said second phase meter, and means for obtaining said third position indicating signal from the difference in the phases of said first control signal and the output signal of said first phase shifter, and said difference means comprises a second phase shifter, means for applying said fourth control signal to said second phase shifter, means for retarding said second phase shifter by the shaft angle of said first phase meter, and means for obtaining said fourth position indicating signal from the difference in the phases of said third control signal and the output signal of said second phase shifter. 11. A receiver for use in radio navigation system which includes a base station for transmitting a continuous wave signal having a first predetermined frequency, a first relay station comprising a first relay station receiver for receiving signals broadcast by said base station, a first modulatable transmitter for generating a first carrier signal having a frequency differing from one-half of said first predetermined frequency by an amount equal to one-half of a second predetermined frequency, means for doubling the frequency of said first carrier signal, means for mixing said doubled first carrier signal with the output of said first relay station receiver to derive a first modulating signal whose frequency is equal to said second predetermined frequency, and means for applying said first modulating signal to said first modulatable transmitter, whereby said first relay station transmits said first carrier signal modulated by said first modulating signal, and a second relay station comprising a second relay station receiver for receiving signals broadcast by said base station, a second modulatable transmitter for generating a second carrier signal having a frequency differing from one-half of said first predetermined frequency by an amount equal to one-half of a third predetermined frequency, means for doubling the frequency of said second carrier signal, means for mixing said doubled second carrier signal with the output of said second relay station receiver to derive a second modulating signal whose frequency is equal to said third predetermined frequency, and means for applying said second modulating signal to said second modulatable transmitter whereby said second relay station transmits said second carrier signal modulated by said second modulating signal, said receiver comprising: first means for deriving a first position indicating signal indicative of the difference in the distances between said receiver and said base station and said first relay station, second means for deriving a second position indicating signal indicative of the difference in the distances between said receiver and said base station and said second relay station, summing means for adding said first and second position indicating signals to obtain a third position indicating signal indicative of a first line of position on which said receiver is located, and difference means for subtracting one of said first and second position indicating signals from the other to obtain a fourth position indicating signal indicative of a second line of positions on which said receiver is located. 12. The receiver of claim 11 which includes a main receiver for receiving all of the signals transmitted by said base station and said relay stations, said main receiver comprising: a base receiver for receiving signals transmitted by said base station, a first relay receiver for receiving signals transmitted by said first relay station and for recovering said first carrier signal and said first modulating signal, means for doubling the frequency of said recovered first carrier signal and for mixing said doubled first carrier signal with the output signal of said base receiver, whereby a first control signal having said second predetermined frequency is derived, said recovered first modulating signal comprising a second control signal having said second predetermined frequency, a second relay receiver for receiving signals transmitted by said second relay station and for recovering said second carrier signal and said second modulating signal, means for doubling the frequency of said recovered second carrier signal and for mixing said doubled second carrier signal with the output signal of said base receiver, whereby a third control signal having said third predetermined frequency is derived, said recovered second modulating signal comprising a fourth control signal having said third predetermined frequency, and in which said first means comprises means for subtracting the phase of one of said first and second control signals from the phase of the other to derive said first position indicating signal and said second means comprises means for subtracting the phase of one of said third and fourth control signals from the phase of the other to derive said second position indicating signal. 13. The receiver of claim 12 which: said summing means comprises means for mixing said first control signal and said fourth control signal to derive a fifth control signal whose frequency is equal to the sum of the frequencies of said first and fourth control signals, means for mixing said second control signal and said third control signal to obtain a sixth control signal whose frequency is equal to the sum of the frequencies of said second and third control signals, and means for subtracting the phase of one of said fifth and sixth control signals from the phase of the other to obtain said third position indicating signal, and said difference means comprises means for mixing said first and fourth control signals to derive a seventh control signal whose frequency is equal to the difference of the frequencies of said first and fourth control signals, means for mixing said second and third control signals to derive an eighth control signal whose frequency is equal to the difference of the frequencies of said second and third control signals, and means for subtracting the phase of one of said seventh and eighth control signals from the phase of the other to obtain said fourth position indicating signal. 14. The receiver of claim 12 in which: said first means comprises a first phase meter indicating the difference in the phases of said first and second control signals, said second means comprises a second phase meter indicating the difference in the phases of said fourth and third control signals, said summing means comprises means for mechanically adding the shaft angles of the indicators of said first and second phase meters, and said difference means comprises means for mechanically subtracting the shaft angles of the indicators of said first and second phase meters. 15. The receiver of claim 12 in which: said first means comprises a first phase meter indicating the difference in the phases of said first and second control signals, said second means comprising a second phase meter indicating the difference in the phases of said third and fourth control signals, said summing means comprising a first phase shifter, means for applying said second control signal to said first phase shifter, means for advancing said first phase shifter by the shaft angle of said second phase meter, and means for obtaining said third position indicating signal from the difference in the phases of said first control signal and the output signal of said first phase shifter, and said difference means comprises a second phase shifter, means for applying said fourth control signal to said second phase shifter, means for retarding said second phase shifter by the shaft angle of said first phase meter and means for obtaining said fourth position indicating signal from the difference in the phases of said third control signal and the output signal of said second phase shifter. 16. A receiver for use in radio navigation system which includes a first base station for transmitting a continuous wave signal having a first predetermined frequency, a first relay station comprising a first relay station receiver for receiving signals broadcast by said first base station, a first modulatable transmitter for generating a first carrier signal having a frequency differing from one-half of said first predetermined frequency by an amount equal to one-half of a second predetermined frequency, means for doubling the frequency of said first carrier signal, means for mixing said doubled first carrier signal with the output of said first relay station receiver to derive a first modulating signal whose frequency is equal to said second predetermined frequency, and means for applying said first modulating signal to said first modulatable transmitter, whereby said first relay station transmits said first carrier signal modulated by said first modulating signal, a second base station for transmitting a continuous wave signal having a third predetermined frequency, and a second relay station comprising a second relay station receiver for receiving signals broadcast by said second base station, a second modulatable transmitter for generating a second carrier signal having a frequency differing from one-half of said third predetermined frequency by an amount equal to one-half of a fourth predetermined frequency, means for doubling the frequency of said second carrier signal, means for mixing said doubled carrier signal with the output of said second relay station receiver to derive a second modulating signal whose frequency is equal to said fourth predetermined frequency, and means for applying said second modulating signal to said second modulatable transmitter, whereby said second relay station transmits said second carrier signal modulated by said second modulating signal, said receiver comprising: first means for deriving a first position indicating signal indicative of the difference in the distances between said receiver and said first base station and said first relay station, second means for deriving a second position indicating signal indicative of the difference in the distances between said receiver and said second base station and said second relay station, summing means for adding said first and second position indicating signals to obtain a third position indicating signal indicative of a first line of position on which said receiver is located, and difference means for subtracting one of said first and second position indicating signals from the other to obtain a fourth position indicating signal indicative of a second line of position on which said receiver is located. 17. The receiver of claim 16 which includes a main receiving means for receiving all of the signals transmitted by said first and second base station and said first and second relay stations, said means receiving means comprising: a first base receiver for receiving signals transmitted by said first base station, a first relay receiver for receiving signals transmitted by said first relay station and for recovering said first carrier signal and said first modulating signal, means for doubling the frequency of said recovered first carrier signal and for mixing said doubled first carrier signal with the output signal of said first base receiver, whereby a first control signal having said second predetermined frequency is derived, said recovered first modulating signal comprising a second control signal having said second predetermined frequency, a second base receiver for receiving signals transmitted by said second base station, a second relay receiver for receiving signals transmitted by said second relay station and for receiving said second carrier signal and said second modulating signal, means for doubling the frequency of said recovered second carrier signal and for mixing said doubled second carrier signal with the output signal of said second base receiver, whereby a third control signal having said fourth predetermined frequency is derived, said recovered second modulating signal comprising a fourth control signal having said fourth predetermined frequency, and in which said first means comprises means for subtracting the phase of one of said first and second control signals from the phase of the other to derive said first position indicating signal and said second means comprises means for subtracting the phase of one of said third and fourth control signals from the phase of the other to derive said second position indicating signal. 18. The receiver of claim 17 in which: said summing means comprises means for mixing said first control signal and said fourth control signal to derive a fifth control signal whose frequency is equal to the sum of the frequencies of said first and fourth control signals, means for mixing said second control signal and said third control signal to obtain a sixth control signal whose frequency is equal to the sum of the frequencies of said second and third control signals, and means for subtracting the phase of one of said fifth and sixth control signals from the phase of the other to obtain said third position indicating signal, and said difference means comprises means for mixing said first and fourth control signals to derive a seventh control signal whose frequency is equal to the difference of the frequencies of said first and fourth control signals, means for mixing said second and third control signals to derive an eighth control signal whose frequency is equal to the difference of the frequencies of said second and third control signals, and means for subtracting the phase of one of said seventh and eighth control signals from the phase of the other to obtain said fourth position indicating signal. 19. The receiver of claim 17 in which: said first means comprises a first phase meter indicating the difference in the phase of said first and second control signals, said second means comprises a second phase meter indicating the difference in the phases of said fourth and third control signals, and summing means comprises means for mechanically adding the shaft angles of the indicators of said first and second phase meters, and and difference means comprises means for mechanically subtracting the shaft angles of the indicators of said first and second phase meters. 20. The receiver of claim 17 in which: said first means comprises a first phase meter indicating the difference in the phases of said first and second control signals, said second means comprising a second phase meter indicating the difference in the phases of said third and fourth control signals, and summing means comprising a first phase shifter, means for applying said second control signal to said first phase shifter, means for advancing said first phase shifter by the shaft angle of said second phase meter, and means for obtaining said third position indicating signal from the difference in the phases of said first control signal and the output signal of said first phase shifter, and said difference means comprises a second phase shifter, means for applying said fourth control signal to said second phase shifter, means for retarding said second phase shifter by the shaft angle of said first phase meter, and means for obtaining said fourth position indicating signal from the difference in the phases of said third control signal and the output signal of said second phase shifter. 21. A radio navigation system for determining the position of a mobile station relative to a plurality of fixed stations, comprising: a first pair of fixed transmitting stations comprising a first base station and a first relay station, a second pair of fixed transmitting stations comprising a second base station and a second relay station, a mobile station, first means located at said mobile station for deriving a first position indicating signal indicative of the difference in the distances between said mobile station and each of said first pair of fixed transmitting stations, second means located at said mobile station for deriving a second position indicating signal indicative of the difference in the distances between said mobile station and each of said second pair of fixed transmitting stations, said mobile station including receiving means for receiving the signals transmitted by said transmitting stations and for deriving control signals from the signals so received to control said first means and said second means, summing means for adding said first and second position indicating signal indicative of a first line of position on which said mobile station is located, and difference means for subtracting one of said first and second position indicating signals from the other of said first and second position indicating signals to obtain a fourth position indicating signal indicative of a second line of position on which said mobile station is located, the location of said base and relay stations forming a quadrilateral with said first base station and said first relay station being positioned at first diagonally opposed points of said quadrilateral and said second base station and said second relay station being positioned at second diagonally opposed points of said quadrilateral. Other info: Inventors: Hastings, Charles E. (Newport News, VA, US) Runion, William A. (Tabb, VA, US) Application Number: 096767 Filing Date: 1970-12-10 Publication_date: 1976-06-29 Assignee: Teledyne, Inc. (Los Angeles, CA) Primary Class(es): 342/394 Other Classes: US Patent Ref:
Other Refs: Primary Examiner: Farley, Richard A. Assistant Examiner: Buczinski, S. C. Attorney: Reagin; Ronald W. |
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