IL250459B2 - Navigation systems and methods - Google Patents

Navigation systems and methods

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Publication number
IL250459B2
IL250459B2 IL250459A IL25045917A IL250459B2 IL 250459 B2 IL250459 B2 IL 250459B2 IL 250459 A IL250459 A IL 250459A IL 25045917 A IL25045917 A IL 25045917A IL 250459 B2 IL250459 B2 IL 250459B2
Authority
IL
Israel
Prior art keywords
signals
clock
navigation
localization network
relationship
Prior art date
Application number
IL250459A
Other languages
Hebrew (he)
Other versions
IL250459B1 (en
IL250459A0 (en
Inventor
Cohen Hanoch
Original Assignee
Israel Aerospace Ind Ltd
Cohen Hanoch
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 Israel Aerospace Ind Ltd, Cohen Hanoch filed Critical Israel Aerospace Ind Ltd
Priority to IL250459A priority Critical patent/IL250459B2/en
Publication of IL250459A0 publication Critical patent/IL250459A0/en
Priority to PCT/IL2018/050119 priority patent/WO2018142408A1/en
Publication of IL250459B1 publication Critical patent/IL250459B1/en
Publication of IL250459B2 publication Critical patent/IL250459B2/en

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Classifications

    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/05—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing aiding data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/10—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Navigation (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Description

navigation systems and methods technical field The presently disclosed subject matter relates to a solution for determining navigation data. background In the prior art, it is known to determine navigation data (such as position data) of a device based on signals received from a localization network (such as GPS signals).There is now a need to propose new methods and systems for determining navigation data. general description In accordance with certain aspects of the presently disclosed subject matter, there is provided a navigation device, configured to communicate with at least one first device comprising a first clock with a first clock bias and configured to receive first signals from at least a first localization network, the navigation device comprising at least a second clock with a second clock bias, at least a receiver configured to receive second signals from a second localization network, and at least a signal generator synchronized with the second clock, and configured to generate a synchronization signal and send it to said first device, wherein data representative of reception of the synchronization signal by the first device provides information on a relationship between the first clock bias and the second clock bias, for calculating navigation data of the first device based at least on the first signals, the second signals and said relationship.According to some embodiments, the navigation data are calculated by a processing unit of the navigation device, or by a processing unit of the first device, or by a processing unit in communication with the navigation device and/or the first device. According to some embodiments, the navigation device and the first device are located at the same position, or at a distance less than a predefined threshold, or at a known distance. According to some embodiments, the navigation data comprise at least two position data, and the first signals are provided by two emitters of the first localization network and the second signals are provided by at least one emitter of the second localization network, or the first signals are provided by one emitter of the first localization network and the second signals are provided by at least two emitters of the second localization network. According to some embodiments, the navigation data comprise at least three position data, and the first signals are provided by three emitters of the first localization network and the second signals are provided by at least one emitter of the second localization network, or the first signals are provided by two emitters of the first localization network and the second signals are provided by at least two emitters of the second localization network, or the first signals are provided by one emitter of the first localization network and the second signals are provided by at least three emitters of the second localization network. According to some embodiments, the navigation device comprises a frequency analyser, configured to measure the frequency of a signal produced by the first device, and a processing unit configured to determine, based at least on the measurement provided by the frequency analyser, a relationship between a first clock drift of the first clock and a second clock drift of the second clock. According to some embodiments, the processing unit is configured to calculate navigation data of the first device based at least on the first signals, the second signals, and the relationship between the first clock drift of the first clock and the second clock drift of the second clock. According to some embodiments, the processing unit is configured to calculate navigation data of the first device at first period of time based at least on the first signals, the second signals, and the relationship between the first clock bias and the second clock bias, and calculate navigation data of the first device at a second period of time based at least on the first signals, the second signals, and the relationship between the first clock drift of the first clock and the second clock drift of the second clock.These embodiments can be combined according to any of their possible technical combination.In accordance with some aspects of the presently disclosed subject matter, there is provided a navigation system comprising at least one first device comprising a first clock with a first clock bias, and at least a receiver configured to receive first signals from at least a first localization network, a navigation device comprising at least a second clock with a second clock bias, at least a receiver configured to receive second signals from a second localization network, and at least a signal generator synchronized with the second clock, and configured to generate a synchronization signal and send it to said first device, wherein the navigation system is configured, by a processing unit to calculate a relationship between the first clock bias and the second clock bias based on data representative of the reception of the synchronization signal by the first device, for calculating navigation data of the first device based at least on the first signals, the second signals and said relationship.According to some embodiments, the navigation system is further configured to calculate navigation data of the first device based at least on the first signals, the second signals and said relationship. According to some embodiments, the navigation device and the first device are located at the same position, or at a distance less than a predefined threshold, or at a known distance. According to some embodiments, the navigation device is in compliance with at least some of the embodiments described above.These embodiments can be combined according to any of their possible technical combination.In accordance with some aspects of the presently disclosed subject matter, there is provided a navigation device, configured to communicate with at least one first device comprising a first clock with a first clock drift, and configured to receive first signals from at least a first localization network, the navigation device comprising at least a second clock with a second clock drift, at least a receiver configured to receive second signals from a second localization network, and at least a frequency analyser, configured to measure the frequency of a signal produced by the first device, and a processing unit configured to determine, based at least on the measurement provided by the frequency analyser, a first relationship between the first clock drift and the second clock drift, for determining navigation data of the first device based at least on the first signals, the second signals and said first relationship.According to some embodiments, the processing unit is configured to receive data indicative of a relationship between a first clock bias of the first clock and a second clock bias of the second clock at an initial time. According to some embodiments, the navigation data comprise at least two position data, and the first signals are provided by two emitters of the first localization network and the second signals are provided by at least one emitter of the second localization network, or the first signals are provided by one emitter of the first localization network and the second signals are provided by at least two emitters of the second localization network. According to some embodiments, the navigation data comprise at least three position data, and the first signals are provided by three emitters of the first localization network and the second signals are provided by at least one emitter of the second localization network, or the first signals are provided by two emitters of the first localization network and the second signals are provided by at least two emitters of the second localization network, or the first signals are provided by one emitter of the first localization network and the second signals are provided by at least three emitters of the second localization network. According to some embodiments, the navigation device comprises at least a signal generator synchronized with the second clock, and configured to generate a synchronization signal and send it to said first device, wherein data representative of the reception of the synchronization signal by the first device provides information on a second relationship between a first clock bias of the first clock and a second clock bias of the second clock, for calculating navigation data of the first device based at least on the first signals, the second signals, said first relationship and/or said second relationship.In accordance with some aspects of the presently disclosed subject matter, there is provided a navigation system comprising at least one first device comprising a first clock with a first clock drift, and at least a receiver configured to receive first signals from at least a first localization network, a navigation device comprising at least a second clock with a second clock drift, at least a receiver configured to receive second signals from a second localization network, and at least a frequency analyser, configured to measure the frequency of a signal produced by the first device, and a processing unit configured to determine, based at least on the measurement provided by the frequency analyser, a first relationship between the first clock drift and the second clock drift, for determining navigation data of the first device based at least on the first signals, the second signals and said first relationship. According to some embodiments, the navigation device and the first device are located at the same position, or at a distance less than a predefined threshold, or at a known distance. According to some embodiments, the navigation device is in compliance with at least some of the embodiments described above.These embodiments can be combined according to any of their possible technical combination.In accordance with some aspects of the presently disclosed subject matter, there is provided a device comprising a processing unit, and a first clock with a first clock bias, and wherein the device is configured to receive first signals from at least a first localization network, and to communicate with a navigation device comprising at least a second clock with a second clock bias, at least a receiver configured to receive second signals from a second localization network, and at least a signal generator synchronized with the second clock, and configured to generate a synchronization signal and send it to said device, wherein the processing unit is configured to determine a relationship between the first clock bias and the second clock bias based at least on data representative of the reception of the synchronization signal by the device, for calculating navigation data of the device based at least on the first signals, the second signals and said relationship.In accordance with some aspects of the presently disclosed subject matter, there is provided a device comprising a processing unit, and a first clock with a first clock drift, and wherein the device is configured to receive first signals from at least a first localization network, and to communicate with a navigation device comprising at least a second clock with a second clock drift, at least a receiver configured to receive second signals from a second localization network, and at least a frequency analyser, configured to measure the frequency of a signal produced by the device, and wherein the processing unit is configured to determine, based at least on the measurement provided by the frequency analyser, a first relationship between the first clock drift and the second clock drift, for determining navigation data of the first device based at least on the first signals, the second signals and said first relationship.According to some embodiments, the navigation device and the first device are located at the same position, or at a distance less than a predefined threshold, or at a known distance. According to some embodiments, the navigation device is in compliance with at least some of the embodiments described above.In accordance with some aspects of the presently disclosed subject matter, there is provided a method of determining navigation data of a first device comprising a first clock with a first clock bias and configured to receive first signals from at least a first localization network, the method comprising generating a synchronization signal with a signal generator of a navigation device, said navigation device comprising a second clock with a second clock bias and being configured to receive second signals from a second localization network, wherein the signal generator is synchronized with the second clock, sending said synchronization signal to the first device, determining, based on data representative of the reception of the synchronization signal by the first device, a relationship between the first clock bias and the second clock bias, for calculating navigation data of the first device based at least on the first signals, the second signals and said relationship.According to some embodiments, the navigation data comprise at least two position data, and the first signals are provided by two emitters of the first localization network and the second signals are provided by at least one emitter of the second localization network, or the first signals are provided by one emitter of the first localization network and the second signals are provided by at least two emitters of the second localization network. According to some embodiments, the navigation data comprise at least three position data, and the first signals are provided by three emitters of the first localization network and the second signals are provided by at least one emitter of the second localization network, or the first signals are provided by two emitters of the first localization network and the second signals are provided by at least two emitters of the second localization network, or the first signals are provided by one emitter of the first localization network and the second signals are provided by at least three emitters of the second localization network. According to some embodiments, the method further comprises measuring, by a frequency analyser, the frequency of a signal produced by the first device, and determining, based at least on the measurement provided by the frequency analyser, a relationship between a first clock drift of the first clock and a second clock drift of the second clock. According to some embodiments, the method comprises determining navigation data of the first device based at least on the first signals, the second signals, and the relationship between the first clock drift of the first clock and the second clock drift of the second clock. According to some embodiments, the method comprises determining navigation data of the first device at a first period of time based at least on the first signals, the second signals, and the relationship between the first clock bias and the second clock bias, and determining navigation data of the first device at a second period of time based at least on the first signals, the second signals, and the relationship between the first clock drift of the first clock and the second clock drift of the second clock.These embodiments can be combined according to any of their possible technical combination.In accordance with some aspects of the presently disclosed subject matter, there is provided a method of determining navigation data of a first device comprising a first clock with a first clock drift and configured to receive first signals from at least a first localization network, the method comprising measuring, by a frequency analyser of a navigation device comprising a second clock drift and being configured to receive second signals from a second localization network, a signal produced by the first device, and determining, based at least on the measurement provided by the frequency analyser, a first relationship between the first clock drift and the second clock drift, for determining navigation data of the first device based at least on the first signals, the second signals and said first relationship.According to some embodiments, the navigation device comprises at least a signal generator synchronized with the second clock, and is configured to generate a synchronization signal and send it to said first device, and the method comprises determining, based on data representative of the reception of the synchronization signal by the first device, information on a second relationship between a first clock bias and a second clock bias, for calculating navigation data of the first device based at least on the first signals, the second signals, said first relationship and/or said second relationship. According to some embodiments, the navigation data are determined by a processing unit of the device or of the navigation device.In accordance with some aspects of the presently disclosed subject matter, there is provided a non-transitory storage device readable by a machine, tangibly embodying a program of instructions executable by the machine to perform a method of determining navigation data of a first device comprising a first clock with a first clock bias and configured to receive first signals from at least a first localization network, the method comprising instructing a signal generator of a navigation device to generate a synchronization signal, said navigation device comprising a second clock with a second clock bias and being configured to receive second signals from a second localization network, wherein the signal generator is synchronized with the second clock, instructing the navigation device to send said synchronization signal to the first device, determining, based on data representative of the reception of the synchronization signal by the first device, a relationship between the first clock bias and the second clock bias, for calculating navigation data of the first device based at least on the first signals, the second signals and said relationship.In accordance with some aspects of the presently disclosed subject matter, there is provided a non-transitory storage device readable by a machine, tangibly embodying a program of instructions executable by the machine to perform a method of determining navigation data of a first device comprising a first clock with a first clock drift and configured to receive first signals from at least a first localization network, the method comprising instructing a frequency analyser of a navigation device to measure the frequency of a signal produced by the first device, wherein the navigation device comprises a second clock drift and is configured to receive second signals from a second localization network, and determining, based at least on the measurement provided by the frequency analyser, a first relationship between the first clock drift and the second clock drift, for determining navigation data of the first device based at least on the first signals, the second signals and said first relationship.According to some embodiments, the proposed solution provides a navigation system which is able to benefit from signals emitted by multiple localization systems.According to some embodiments, the proposed solution enables a low cost device to benefit from precise navigation data.According to some embodiments, the proposed solution maintains the calculation of navigation data of a device even if some of the emitters of the localization system, with which the device is configured communicate, are not operable.According to some embodiments, the proposed solution offers a more reliable and precise navigation solution.According to some embodiments, the proposed solution can be beneficial for reducing power consumption.According to some embodiments, the proposed solution can be used for determining navigation data of existing devices, even if it is not possible or if it is not desired to change the configuration of these existing devices. brief description of the drawings In order to understand the invention and to see how it can be carried out in practice, embodiments will be described, by way of non-limiting examples, with reference to the accompanying drawings, in which:- Fig. 1illustrates a device in communication with a localization network;- Fig. 2illustrates an embodiment in which a navigation device is configured tocommunicate with the device of Fig. 1 ;- Fig. 3illustrates an embodiment of a method of determining navigation data ofthe device; - Fig. 4illustrates an embodiment of a method of determining a relationship between the first clock bias and the second clock bias;- Fig. 5illustrates an embodiment of a system which can be used for determining navigation data of the device;- Fig. 6illustrates an embodiment of a method of determining navigation data of the device;- Fig. 7illustrates another embodiment in which a navigation device can be configured to communicate with the device of Fig. 1 ;- Fig. 8illustrates another embodiment of a method of determining navigation data of the device;- Fig. 9illustrates another embodiment in which a navigation device can be configured to communicate with the device of Fig. 1 ;- Fig. 10illustrates another method of determining navigation data of the device.
DETAILED DESCRIPTION In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the invention. However, it will be understood by those skilled in the art that the presently disclosed subject matter may be practiced without these specific details. In other instances, well-known methods have not been described in detail so as not to obscure the presently disclosed subject matter.Unless specifically stated otherwise, as apparent from the following discussions, it is appreciated that throughout the specification discussions utilizing terms such as "sending", "determining", "calculating", "receiving", "instructing" or the like, refer to the action(s) and/or process(es) of a processor that manipulate and/or transform data into other data, said data represented as physical, such as electronic, quantities and/or said data representing the physical objects.The term "processing unit" covers any computing unit or electronic unit that may perform tasks based on instructions stored in a memory, such as a computer, a server, a chip, a processor, etc .It encompasses a single processor or multiple processors, which may be located in the same geographical zone or may, at least partially, be located in different zones and may be able to communicate together.
The term "non-transitory memory" as used herein should be expansively construed to cover any volatile or non-volatile computer memory suitable to the presently disclosed subject matter.Embodiments of the presently disclosed subject matter are not described with reference to any particular programming language. It will be appreciated that a variety of programming languages may be used to implement the teachings of the presently disclosed subject matter as described herein. Fig. 1represents a device 100comprising a processing unit 101and a first clock 103 . The first clock 103has a first clock bias CB1.The clock bias of a clock can be due e.g. to delays introduced by electronics present in the clock and/or in the device, and/or by delays introduced by the clock and/or by uncertainties on parameters of the components of the device and/or of the clock.According to some embodiments, the first clock bias CB1(t) can be expressed as such:CB1(t)= CB1(t0) + CD1.tIn this formula, CB1(t0) is the first clock bias at an initial time t0 and CD1 is the first clock drift of the first clock 103 .This formula is a possible way to model the first clock bias but other models can be used.The device 100further comprises a communication unit 104 , for receiving (and, if necessary, sending) data. The communication unit 104can comprise e.g. an antenna.The device 100can be configured to receive first signals from a plurality of emitters 106(in some embodiments, these emitters can also receive data) of at least a first localization network 105 . The first localization network 105can be for example a GNSS network (such as the GPS network), or a cellular network (e.g. 3G/4G). Other localization networks can be used. The signals provided by the localization networks can be e.g. RF signals.A localization network can include a network of emitters which provide a signal or a plurality of signals to a device, for determining the position of the device based on said signals.Thus, the first signals can be used by the device 100to determine its navigation data (such as position data, inertial data, velocity data, etc.).

Claims (20)

1./Amended November 17, 20 CLAIMS 1. A navigation device, configured to communicate with at least one first device comprising a first clock with a first clock bias and configured to receive first signals from at least a first localization network, the navigation device comprising: - at least a second clock with a second clock bias, - at least a receiver configured to receive second signals from a second localization network, and - at least a signal generator o synchronized with the second clock, and o configured to generate a synchronization signal and send it to said first device, wherein the synchronization signal simulates a signal transmitted by the first localization network, wherein data representative of reception of the synchronization signal by the first device provides information on a relationship between the first clock bias and the second clock bias, for calculating navigation data of the first device based at least on the first signals, the second signals and said relationship.
2. The navigation device of claim 1, wherein the navigation data are calculated by a processing unit of the navigation device, or by a processing unit of the first device, or by a processing unit in communication with the navigation device and/or the first device.
3. The navigation device of any of claims 1 or 2, wherein the navigation device and the first device are located at the same position, or at a distance less than a predefined threshold, or at a known distance.
4. The navigation device of any of claims 1 to 3, wherein the navigation data comprise at least two position data, and - the first signals are provided by two emitters of the first localization network and the second signals are provided by at least one emitter of the second localization network, or - the first signals are provided by one emitter of the first localization network and the second signals are provided by at least two emitters of the second localization network.
5. The navigation device of any of claims 1 to 3, wherein the navigation data comprise at least three position data, and 250459/Amended November 17, 20 - the first signals are provided by three emitters of the first localization network and the second signals are provided by at least one emitter of the second localization network, or - the first signals are provided by two emitters of the first localization network and the second signals are provided by at least two emitters of the second localization network, or - the first signals are provided by one emitter of the first localization network and the second signals are provided by at least three emitters of the second localization network.
6. The navigation device of any of claims 1 to 5, further comprising: - a frequency analyser, configured to measure the frequency of a signal produced by the first device, and - a processing unit configured to determine, based at least on the measurement provided by the frequency analyser, a relationship between a first clock drift of the first clock and a second clock drift of the second clock.
7. The navigation device of claim 6, wherein the processing unit is configured to calculate navigation data of the first device based at least on: - the first signals, - the second signals, and - the relationship between the first clock drift of the first clock and the second clock drift of the second clock.
8. The navigation device of any of claims 6 or 7, wherein the processing unit is configured to: - calculate navigation data of the first device at first period of time based at least on: o the first signals, o the second signals, and o the relationship between the first clock bias and the second clock bias, and - calculate navigation data of the first device at a second period of time based at least on: o the first signals, o the second signals, and 250459/Amended November 17, 20 o the relationship between the first clock drift of the first clock and the second clock drift of the second clock.
9. A navigation system comprising: - at least one first device o comprising a first clock with a first clock bias, and o at least a receiver configured to receive first signals from at least a first localization network, - a navigation device comprising o at least a second clock with a second clock bias, o at least a receiver configured to receive second signals from a second localization network, and o at least a signal generator  synchronized with the second clock, and  configured to generate a synchronization signal and send it to said first device, wherein the synchronization signal simulates a signal transmitted by the first localization network, wherein the navigation system is configured, by a processing unit: - to calculate a relationship between the first clock bias and the second clock bias based on data representative of the reception of the synchronization signal by the first device, for calculating navigation data of the first device based at least on the first signals, the second signals and said relationship.
10. The navigation system of claim 9, further configured to calculate navigation data of the first device based at least on the first signals, the second signals and said relationship.
11. The navigation system of any of claims 9 or 10, wherein the navigation device and the first device are located at the same position, or at a distance less than a predefined threshold, or at a known distance.
12. The navigation system of any of claims 9 to 11, wherein the navigation device is in compliance with any of claims 4 to 8.
13. A device comprising: - a processing unit, and - a first clock with a first clock bias, and 250459/Amended November 17, 20 wherein the device is configured to receive first signals from at least a first localization network, and to communicate with a navigation device comprising: - at least a second clock with a second clock bias, - at least a receiver configured to receive second signals from a second localization network, and - at least a signal generator o synchronized with the second clock, and o configured to generate a synchronization signal and send it to said device, wherein the synchronization signal simulates a signal transmitted by the first localization network, wherein the processing unit is configured to determine a relationship between the first clock bias and the second clock bias based at least on data representative of the reception of the synchronization signal by the device, for calculating navigation data of the device based at least on the first signals, the second signals and said relationship.
14. A method of determining navigation data of a first device comprising a first clock with a first clock bias and configured to receive first signals from at least a first localization network, the method comprising: - generating a synchronization signal with a signal generator of a navigation device, said navigation device comprising a second clock with a second clock bias and being configured to receive second signals from a second localization network, wherein the signal generator is synchronized with the second clock, wherein the synchronization signal simulates a signal transmitted by the first localization network, - sending said synchronization signal to the first device, - determining, based on data representative of the reception of the synchronization signal by the first device, a relationship between the first clock bias and the second clock bias, for calculating navigation data of the first device based at least on the first signals, the second signals and said relationship.
15. The method of claim 14, wherein the navigation data comprise at least two position data, and 250459/Amended November 17, 20 - the first signals are provided by two emitters of the first localization network and the second signals are provided by at least one emitter of the second localization network, or - the first signals are provided by one emitter of the first localization network and the second signals are provided by at least two emitters of the second localization network.
16. The method of claim 14, wherein the navigation data comprise at least three position data, and - the first signals are provided by three emitters of the first localization network and the second signals are provided by at least one emitter of the second localization network, or - the first signals are provided by two emitters of the first localization network and the second signals are provided by at least two emitters of the second localization network, or - the first signals are provided by one emitter of the first localization network and the second signals are provided by at least three emitters of the second localization network.
17. The method of any of claims 14 to 16, further comprising: - measuring, by a frequency analyser, the frequency of a signal produced by the first device, and - determining, based at least on the measurement provided by the frequency analyser, a relationship between a first clock drift of the first clock and a second clock drift of the second clock.
18. The method of claim 17, comprising determining navigation data of the first device based at least on: - the first signals, - the second signals, and - the relationship between the first clock drift of the first clock and the second clock drift of the second clock.
19. The method of any of claims 17 or 18, comprising: - determining navigation data of the first device at a first period of time based at least on: o the first signals, 250459/Amended November 17, 20 o the second signals, and o the relationship between the first clock bias and the second clock bias, and - determining navigation data of the first device at a second period of time based at least on: o the first signals, o the second signals, and o the relationship between the first clock drift of the first clock and the second clock drift of the second clock.
20. A non-transitory storage device readable by a machine, tangibly embodying a program of instructions executable by the machine to perform a method of determining navigation data of a first device comprising a first clock with a first clock bias and configured to receive first signals from at least a first localization network, the method comprising: - instructing a signal generator of a navigation device to generate a synchronization signal, said navigation device comprising a second clock with a second clock bias and being configured to receive second signals from a second localization network, wherein the signal generator is synchronized with the second clock, wherein the synchronization signal simulates a signal transmitted by the first localization network, - instructing the navigation device to send said synchronization signal to the first device, - determining, based on data representative of the reception of the synchronization signal by the first device, a relationship between the first clock bias and the second clock bias, for calculating navigation data of the first device based at least on the first signals, the second signals and said relationship.
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