Networked navigation and ranging methods

摘要

A system and method for calculating a range delay is presented. A method begins by transmitting a first message at a first transmit time at a lower layer of a first node to a second node. A first service primitive is sent is sent to an upper layer associated with the first node with the first transmit time. A second message is received at the lower layer containing a first receive time of the first message at the second node. A second receive time of the second message is determined and sent with a second service primitive with the first receive time to the upper layer. A range delay is calculated in the upper layer based on one or more of the first transmit time, the first receive time and the second receive time.

主权项

1. A method for calculating a range delay comprising:
transmitting a first message at a lower layer of a first node to a second node, wherein the first message is transmitted at a first transmit time; sending a first service primitive with the first transmit time, wherein the first service primitive is sent to an upper layer associated with the first node; receiving a second message at the lower layer of the first node containing a first receive time of the first message at the second node and optionally containing a second transmit time of the second message from the second node; determining at the lower layer of the first node a second receive time of the second message; sending a second service primitive with the first receive time of the first message at the second node and the second receive time of the second message at the first node to the upper layer associated with the first node; calculating a range delay in the upper layer based, at least in part, on one or more of the first transmit time, the first receive time, the second transmit time, and the second receive time; and sending a transmit service primitive from the upper layer to the lower layer instructing the lower layer to send the first message, wherein the lower layer sends the first message responsive to the transmit service primitive; and wherein the first node and the second node are radios and wherein the transmitting the first message further comprises: transmitting the first message out of an antenna at the first node.