FI20010419A - Yksinkertaistettu vastaanotin, joka on varustettu rotaattorilla, paikannusta varten - Google Patents

Yksinkertaistettu vastaanotin, joka on varustettu rotaattorilla, paikannusta varten Download PDF

Info

Publication number
FI20010419A
FI20010419A FI20010419A FI20010419A FI20010419A FI 20010419 A FI20010419 A FI 20010419A FI 20010419 A FI20010419 A FI 20010419A FI 20010419 A FI20010419 A FI 20010419A FI 20010419 A FI20010419 A FI 20010419A
Authority
FI
Finland
Prior art keywords
search data
fine
rotator
position determination
simplified receiver
Prior art date
Application number
FI20010419A
Other languages
English (en)
Swedish (sv)
Other versions
FI114578B (fi
Inventor
Gilbert C Sih
Qiuzhen Zou
Inyup Kang
Ian J Fevrier
Original Assignee
Qualcomm Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Qualcomm Inc filed Critical Qualcomm Inc
Publication of FI20010419A publication Critical patent/FI20010419A/fi
Application granted granted Critical
Publication of FI114578B publication Critical patent/FI114578B/fi

Links

Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04BTRANSMISSION
    • H04B1/00Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
    • H04B1/69Spread spectrum techniques
    • H04B1/707Spread spectrum techniques using direct sequence modulation
    • H04B1/7073Synchronisation aspects
    • H04B1/7075Synchronisation aspects with code phase acquisition
    • H04B1/7077Multi-step acquisition, e.g. multi-dwell, coarse-fine or validation
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S1/00Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13Receivers
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13Receivers
    • G01S19/24Acquisition or tracking or demodulation of signals transmitted by the system
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13Receivers
    • G01S19/24Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/29Acquisition or tracking or demodulation of signals transmitted by the system carrier including Doppler, related
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13Receivers
    • G01S19/23Testing, monitoring, correcting or calibrating of receiver elements
    • G01S19/235Calibration of receiver components
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13Receivers
    • G01S19/24Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/25Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13Receivers
    • G01S19/24Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/25Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
    • G01S19/254Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to Doppler shift of satellite signals
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13Receivers
    • G01S19/24Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/25Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
    • G01S19/256Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to timing, e.g. time of week, code phase, timing offset
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13Receivers
    • G01S19/35Constructional details or hardware or software details of the signal processing chain
    • G01S19/36Constructional details or hardware or software details of the signal processing chain relating to the receiver frond end
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04BTRANSMISSION
    • H04B2201/00Indexing scheme relating to details of transmission systems not covered by a single group of H04B3/00 - H04B13/00
    • H04B2201/69Orthogonal indexing scheme relating to spread spectrum techniques in general
    • H04B2201/707Orthogonal indexing scheme relating to spread spectrum techniques in general relating to direct sequence modulation
    • H04B2201/70715Orthogonal indexing scheme relating to spread spectrum techniques in general relating to direct sequence modulation with application-specific features

Landscapes

  • 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)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Circuits Of Receivers In General (AREA)
  • Input Circuits Of Receivers And Coupling Of Receivers And Audio Equipment (AREA)
  • Burglar Alarm Systems (AREA)
  • Structure Of Receivers (AREA)
  • Preliminary Treatment Of Fibers (AREA)
  • Auxiliary Devices For And Details Of Packaging Control (AREA)
  • Air Bags (AREA)
FI20010419A 1998-09-09 2001-03-02 Yksinkertaistettu vastaanotin, joka on varustettu rotaattorilla, paikannusta varten FI114578B (fi)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US09/150,092 US6181911B1 (en) 1998-09-09 1998-09-09 Simplified receiver with rotator for performing position location
US15009298 1998-09-09
US9920281 1999-09-03
PCT/US1999/020281 WO2000014568A1 (en) 1998-09-09 1999-09-03 Simplified receiver with rotator for performing position location

Publications (2)

Publication Number Publication Date
FI20010419A true FI20010419A (fi) 2001-03-02
FI114578B FI114578B (fi) 2004-11-15

Family

ID=22533103

Family Applications (2)

Application Number Title Priority Date Filing Date
FI20010419A FI114578B (fi) 1998-09-09 2001-03-02 Yksinkertaistettu vastaanotin, joka on varustettu rotaattorilla, paikannusta varten
FI20040465A FI20040465A (fi) 1998-09-09 2004-03-29 Yksinkertaistettu vastaanotin, joka on varustettu rotaattorilla, paikannusta varten

Family Applications After (1)

Application Number Title Priority Date Filing Date
FI20040465A FI20040465A (fi) 1998-09-09 2004-03-29 Yksinkertaistettu vastaanotin, joka on varustettu rotaattorilla, paikannusta varten

Country Status (15)

Country Link
US (1) US6181911B1 (fi)
EP (1) EP1118013B1 (fi)
JP (1) JP4860816B2 (fi)
KR (1) KR100896157B1 (fi)
CN (1) CN1317094A (fi)
AT (1) ATE440295T1 (fi)
AU (1) AU755996B2 (fi)
BR (1) BR9913550A (fi)
CA (1) CA2339979A1 (fi)
DE (1) DE69941297D1 (fi)
FI (2) FI114578B (fi)
ID (1) ID29224A (fi)
IL (2) IL141705A0 (fi)
MX (1) MXPA01002492A (fi)
WO (1) WO2000014568A1 (fi)

Families Citing this family (40)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6968737B2 (en) * 1997-01-02 2005-11-29 Lucent Technologies Inc. Position determining system using transmitted position information
US6366599B1 (en) 1998-03-16 2002-04-02 Trimble Navigation Limited Fast acquisition of spread-spectrum signals by dynamically varying spacing of search bins
US6324227B1 (en) * 1998-09-09 2001-11-27 Qualcomm Incorporated Receiver for performing position location with efficient rotator
DE19907235A1 (de) * 1999-02-19 2000-09-14 Daimler Chrysler Ag GPS-Navigationssystem für Raumfahrtanwendungen
US6704348B2 (en) 2001-05-18 2004-03-09 Global Locate, Inc. Method and apparatus for computing signal correlation at multiple resolutions
US6606346B2 (en) * 2001-05-18 2003-08-12 Global Locate, Inc. Method and apparatus for computing signal correlation
US9020756B2 (en) * 1999-04-23 2015-04-28 Global Locate, Inc. Method and apparatus for processing satellite positioning system signals
US6301545B1 (en) * 1999-04-30 2001-10-09 Sirf Technology, Inc. Global positioning system tag system
US20040143392A1 (en) 1999-07-12 2004-07-22 Skybitz, Inc. System and method for fast acquisition reporting using communication satellite range measurement
US8255149B2 (en) 1999-07-12 2012-08-28 Skybitz, Inc. System and method for dual-mode location determination
GB9929328D0 (en) * 1999-12-10 2000-02-02 Nokia Mobile Phones Ltd Data processing
US6850557B1 (en) * 2000-04-18 2005-02-01 Sirf Technology, Inc. Signal detector and method employing a coherent accumulation system to correlate non-uniform and disjoint sample segments
US6922546B1 (en) 2000-05-03 2005-07-26 Lucent Technologies Inc. GPS signal acquisition based on frequency-domain and time-domain processing
EP1323271A4 (en) * 2000-08-09 2004-06-16 Skybitz Inc SYSTEM AND METHOD FOR FAST ACQUISITION OF CODE PHASE AND CARRIER FREQUENCY IN A GPS RECEIVER
AU2001288963A1 (en) * 2000-09-18 2002-04-02 Skybitz, Inc System and method for fast code phase and carrier frequency acquisition in gps receiver
JP4531333B2 (ja) 2001-02-06 2010-08-25 エヌエックスピー ビー ヴィ Gps信号の逆拡散方法
US7769076B2 (en) * 2001-05-18 2010-08-03 Broadcom Corporation Method and apparatus for performing frequency synchronization
US6891880B2 (en) * 2001-05-18 2005-05-10 Global Locate, Inc. Method and apparatus for performing signal correlation
US7567636B2 (en) * 2001-05-18 2009-07-28 Global Locate, Inc. Method and apparatus for performing signal correlation using historical correlation data
US7006556B2 (en) 2001-05-18 2006-02-28 Global Locate, Inc. Method and apparatus for performing signal correlation at multiple resolutions to mitigate multipath interference
US6819707B2 (en) * 2001-05-18 2004-11-16 Global Locate, Inc. Method and apparatus for performing signal correlation using historical correlation data
US7995682B2 (en) * 2001-05-18 2011-08-09 Broadcom Corporation Method and apparatus for performing signal processing using historical correlation data
US7190712B2 (en) * 2001-05-18 2007-03-13 Global Locate, Inc Method and apparatus for performing signal correlation
US7164736B2 (en) * 2001-06-22 2007-01-16 Sirf Technology, Inc. Synthesizing coherent correlation sums at one or multiple carrier frequencies using correlation sums calculated at a course set of frequencies
US6775319B2 (en) 2001-08-16 2004-08-10 Motorola, Inc. Spread spectrum receiver architectures and methods therefor
WO2003084086A1 (en) * 2002-03-28 2003-10-09 Nokia Corporation Method for determining the correlation between a received beacon signal and a reconstructed signal
US7283047B2 (en) 2003-08-01 2007-10-16 Spectrum Tracking Systems, Inc. Method and system for providing tracking services to locate an asset
US7336696B2 (en) * 2003-12-12 2008-02-26 Nokia Siemens Networks Oy Acquisition of a code modulated signal
US7760139B1 (en) * 2006-10-06 2010-07-20 Massachusetts Institute Of Technology GPS based attitude reference system
JP2009002659A (ja) 2007-06-19 2009-01-08 Seiko Epson Corp コヒーレント積算増進回路、測位回路、電子機器、コヒーレント積算増進方法、測位方法、プログラム、及び記憶媒体
JP2011133424A (ja) 2009-12-25 2011-07-07 Seiko Epson Corp 受信信号積算方法及び受信装置
US9489845B2 (en) 2011-04-08 2016-11-08 Fleetmatics Development Limited System and method for providing vehicle and fleet profiles and presentations of trends
EP2774094A1 (en) * 2011-10-31 2014-09-10 Fleetmatics Irl Limited A system and method for tracking and alerting for vehicle speeds
EP2842108B1 (en) 2012-04-27 2022-07-06 Verizon Connect Ireland Limited System and method for tracking driver hours and timekeeping
US10267643B2 (en) 2013-09-16 2019-04-23 Verizon Connect Ireland Limited System and method for automated correction of geofences
US9881272B2 (en) 2013-09-16 2018-01-30 Fleetmatics Ireland Limited Vehicle independent employee/driver tracking and reporting
US9754428B2 (en) 2013-09-16 2017-09-05 Fleetmatics Ireland Limited Interactive timeline interface and data visualization
US9313616B2 (en) 2013-09-16 2016-04-12 Fleetmatics Development Limited System and method for automated identification of location types for geofences
WO2021162613A1 (en) * 2020-02-14 2021-08-19 Telefonaktiebolaget Lm Ericsson (Publ) Systems and methods for supporting coherent transmissions in a non-terrestrial network
WO2023043818A2 (en) * 2021-09-14 2023-03-23 DC-001, Inc. dba Spartan Radar Methods and systems for processing radar signals to determine relative position and motion of nearby objects

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5101416A (en) * 1990-11-28 1992-03-31 Novatel Comunications Ltd. Multi-channel digital receiver for global positioning system
US5134407A (en) * 1991-04-10 1992-07-28 Ashtech Telesis, Inc. Global positioning system receiver digital processing technique
US5225842A (en) * 1991-05-09 1993-07-06 Navsys Corporation Vehicle tracking system employing global positioning system (gps) satellites
JPH05281330A (ja) * 1992-04-01 1993-10-29 Pioneer Electron Corp Gps受信機の衛星電波捕捉方法
US5420592A (en) 1993-04-05 1995-05-30 Radix Technologies, Inc. Separated GPS sensor and processing system for remote GPS sensing and centralized ground station processing for remote mobile position and velocity determinations
US5534875A (en) * 1993-06-18 1996-07-09 Adroit Systems, Inc. Attitude determining system for use with global positioning system
US5402347A (en) * 1993-07-22 1995-03-28 Trimble Navigation Limited Satellite search methods for improving time to first fix in a GPS receiver
US5444450A (en) * 1993-08-11 1995-08-22 Motorola, Inc. Radio telecommunications system and method with adaptive location determination convergence
US5502446A (en) * 1994-05-02 1996-03-26 Trimble Navigation Limited GPS-based automatic target reporting and finding network and components
US5874914A (en) 1995-10-09 1999-02-23 Snaptrack, Inc. GPS receiver utilizing a communication link
EP0880713B2 (en) * 1995-10-09 2011-01-26 Snaptrack, Inc. Combined gps positioning system and communications system utilizing shared circuitry
US5973643A (en) * 1997-04-11 1999-10-26 Corsair Communications, Inc. Method and apparatus for mobile emitter location
JP3752052B2 (ja) * 1997-04-15 2006-03-08 日本無線株式会社 コード位相捕捉回路

Also Published As

Publication number Publication date
JP4860816B2 (ja) 2012-01-25
IL141705A0 (en) 2002-03-10
ID29224A (id) 2001-08-16
US6181911B1 (en) 2001-01-30
EP1118013A1 (en) 2001-07-25
CA2339979A1 (en) 2000-03-16
BR9913550A (pt) 2001-10-09
JP2002524748A (ja) 2002-08-06
ATE440295T1 (de) 2009-09-15
EP1118013B1 (en) 2009-08-19
AU5908299A (en) 2000-03-27
IL141705A (en) 2006-12-10
FI114578B (fi) 2004-11-15
AU755996B2 (en) 2003-01-02
MXPA01002492A (es) 2002-04-10
WO2000014568A1 (en) 2000-03-16
KR100896157B1 (ko) 2009-05-11
FI20040465A (fi) 2004-03-29
KR20010053630A (ko) 2001-06-25
CN1317094A (zh) 2001-10-10
DE69941297D1 (de) 2009-10-01

Similar Documents

Publication Publication Date Title
FI20010419A (fi) Yksinkertaistettu vastaanotin, joka on varustettu rotaattorilla, paikannusta varten
ID30099A (id) Metoda dan peralatan untuk memperoleh sinyal-sinyal sistem penempatan satelit
NO20012360D0 (no) Mobilapparat og fremgangsmåte for mottak og bearbeidelse av programledsagende data
WO1998025157A3 (en) An improved gps receiver utilizing a communication link
ATE418079T1 (de) Signaldetektor mit korrelationsanalyse von nichteinheitlichen und getrennten abtastsegmenten
CA2359662A1 (en) Method and apparatus for measurement processing of satellite positioning system (sps) signals
MXPA00010141A (es) Metodo y aparato para determinar el tiempo en un sistema de posicionamiento de satelite.
FI20010417A (fi) Vastaanotin paikantamiseen tehokkaalla rotaattorilla
HK1140266A1 (en) Method and system for using altitude information in a satellite positioning system
EA200301071A1 (ru) Система измерения расстояния для определения информации о расстоянии до космического аппарата
DK1493040T3 (da) Placering af mobile kommunikationsstationer, -fremgangsmåder og -systemer
DE69904957D1 (de) Positionsbestimmung mit geringem speicherplatz
AU5405099A (en) Method for detecting the supply quality in a telecommunication network and corresponding mobile telecommunication terminal
BR9906608A (pt) Receptor de informações, método de recepção de informações e sistema de transmissão / recepção de informações
FR2863814B1 (fr) Procede de mise a jour du biais d'horloge existant entre une station bts d'un reseau gsm et les satellites d'un systeme gps
SE0000579D0 (sv) Anordning och metod för positionsbestämning och debitering av mottagare

Legal Events

Date Code Title Description
FG Patent granted

Ref document number: 114578

Country of ref document: FI

MM Patent lapsed