Classifications

• • H—ELECTRICITY
  • H04—ELECTRIC COMMUNICATION TECHNIQUE
  • H04B—TRANSMISSION
  • H04B1/00—Details 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
  • H04B1/69—Spread spectrum techniques
  • H04B1/707—Spread spectrum techniques using direct sequence modulation
• • H—ELECTRICITY
  • H04—ELECTRIC COMMUNICATION TECHNIQUE
  • H04J—MULTIPLEX COMMUNICATION
  • H04J13/00—Code division multiplex systems
  • H04J13/0007—Code type
  • H04J13/0022—PN, e.g. Kronecker
• • 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

Definitions

• Embodiments of the invention relate to signals, systems and methods such as, for example, modulation, navigation and positioning signals, systems methods and receivers adapted to receive and process the same.
• Satellite Positioning Systems rely on the passive measurement of ranging signals broadcast by a number of satellites, or ground-based or airborne equivalents, in a specific constellation or group of constellations.
• An on-board clock is used to generate a regular and usually continual series of events, often known as 'epochs', whose time of occurrence is coded into, or at least associated with, a random or pseudo-random code (known as a spreading code).
• a spreading code a random or pseudo-random code
• the spectrum of the output signal is spread over a frequency range determined by a number of factors including the rate of change of the spreading code elements and the waveform used for the spreading signal.
• the spreading waveform is rectangular, of constant chipping rate, and has a (sine) 2 function power spectrum, prior to filtering by transmission circuitry.
• the ranging signals are modulated onto a carrier signal for transmission to passive receivers.
• Applications are known that cover land, airborne, marine and space use.
• binary phase shift keying is employed to modulate the carrier signal, which, itself, has a constant magnitude.
• at least two such signals are modulated onto the same carrier in phase quadrature.
• the resulting carrier signal retains its constant envelope but has four phase states depending upon the two independent input signals.
• the two modulating signals do not need to have the same carrier magnitude. It is possible for a constant carrier magnitude of the combined signal to be maintained by appropriate selection of corresponding phases other than ⁇ /2 radians.
• the GPS operates using a number of frequencies such as, for example, Ll, L2 and L5, which are centred at 1575.42 MHz, 1227.6 MHz and 1176.45 MHz respectively.
• Ll, L2 and L5 which are centred at 1575.42 MHz, 1227.6 MHz and 1176.45 MHz respectively.
• Each of these signals is modulated by respective spreading signals.
• a Coarse Acquisition (CA) code signal emitted by the GPS Satellite Navigation System is broadcast on the Ll frequency of 1575.42MHz with a spreading code rate (chip rate) of 1.023MHz.
• the CA code signal has a rectangular spreading waveform, is binary phase shift keyed on to the carrier, and is categorised as BPSK-Rl.
• the GPS signal structure is such that the signal broadcast by the satellites on the Ll frequency has a second component in phase quadrature, which is known as the precision code (P(Y) code) and made available to authorised users only.
• P(Y) code is BPSK modulated with a spreading code at 10.23MHz with a magnitude that is 3dB lower in signal power than the CA code transmission. Consequently, the Q component has a magnitude that is 0.7071 (-3dB) of the magnitude of the I component.
• the phase angles of these states of these signals are ⁇ 35.265° in relation to the ⁇ 1 axis (phase of the CA code signal as specified in ICD GPS 200C).
• the P code is a function of or is encrypted by the Y code.
• the Y code is used to encrypt the P code.
• the Ll signal, containing both I & Q components, and the L2 signal can be represented, for a given satellite, i, as
• B p is the amplitude of the L2 signal
• ⁇ 2 are the Ll and L2 carrier frequencies
• p,(t) represents the P(Y) ranging code and is a pseudo-random sequence with a chip rate of 10.23 Mcbps.
• the P code has a period of exactly 1 week, taking values of +1 and -1 ;
• c,(t) represents the CA ranging code and is a 1023 chip Gold code, taking values of +1 and -1 ; and d;(t) represents the data message, taking values of +1 and -1.
• M-code a third military signal
• a satellite constellation typically comprises 24 or more satellites often in similar or similarly shaped orbits but in a number of orbital planes.
• the transmissions from each satellite are on the same nominal carrier frequency in the case of code division access satellites (such as GPS) or on nearby related frequencies such as GLONASS.
• the satellites transmit different signals to enable each one to be separately selected even though several satellites are simultaneously visible.
• the signals from each satellite, in a CDMA system like GPS, are distinguished from one another by means of the different spreading codes and/or differences in the spreading code rates, that is, the p;(t) and c ; (t) sequences. Nevertheless, there remains significant scope for interference between the signals transmitted by the satellites.
• the power spectrum for the CA code has maximum power at the carrier frequency Ll and zeros at multiples of the fundamental frequency, 1.023MHz, of the CA code. Therefore, it will be appreciated that zeros occur either side of the carrier frequency at ⁇ 1.023MHz, +2.046MHz etc.
• the power spectrum for a the P(Y) code has a maximum amplitude centred on the Ll and L2 frequencies, with zeros occurring at multiples of +10.23MHz as is expected with a sine function waveform.
• BOC Binary Offset Carrier
• Standard BOC modulation is well-known.
• the combination of a portion of a binary spreading code with a binary subcarrier signal produces the BOC signal used to modulate a carrier such as, for example, Ll.
• the BOC signal is formed by the product of a binary sub-carrier (known as the spreading symbol modulation), which is rectangular square wave, and the spreading symbols (the sequence of spreading code elements).
• the BOC spreading symbol modulation can be represented as, for example, c i (t) ⁇ sign(sin(2 ⁇ f s t)), where f s is the frequency of the subcarrier.
• BOC(f s f c ) denotes Binary Offset Carrier modulation with a subcarrier frequency off s and a code rate (or chipping rate) off c .
• Using binary offset carriers results in the following exemplary signal descriptions of the signals emitted from the satellite:
• a m , A g and B m are amplitudes
• m,(t) is the spreading code for the in-phase (cosine) component of the signal
• g,(t) is the spreading code for the quadrature (sine) component of the signal
• sci m (t) represents the sub-carrier signal for m,(t);
• sc, g (t) represents a subcarrier signal for g,(t);
• ⁇ i and ⁇ 2 are designated as Ll and L2 carrier frequencies.
• the embodiment expressed above uses a single component on the in- phase and a single component on the quadrature phase for the Ll signal.
• the L2 signal comprises a single component.
• the Ll and/or L2 signals may use one or more components.
• BOC signals are typically rectangular or square waves.
• alternatives have been proposed that involve more complex spreading symbol modulation utilising multiple signal levels as can be appreciated from, for example, International patent application PCT/GB2004/003745, and "Performance of GPS Galileo Receivers Using m-PSK BOC Signals", Proceedings of Institute of Navigation Conference, 2003. 9-12 September 2003, Portland, Oregon, USA, Pratt, A. R., Owen J. I. R cited above.
• CBOC Composite BOC
• This technique assigns a specific spreading symbol modulation, drawn from a defined alphabet of such modulation waveforms, one to every spreading code element (or time slot - quantised by code element). Through the process of selecting which BOC modulation is used in which time slot, the relative proportions of each spreading symbol modulation component can be controlled. Only binary versions of this arrangement are known although it will be clear to those skilled in the art that multi-level equivalent arrangements are also possible that involve both time multiplexed techniques to determine which spreading symbol modulation is used in each time slot and the use of an alphabet of spreading symbol modulations that are multi-level and may be a combination of basic BOC spreading symbol waveforms. Such combinations may be in exemplary realisations either additive or multiplicative or some other means for combining the base modulation waveforms.
• Multiplexed BOC A proposal has been made for several satellite navigation systems to use a common modulation spectrum so that the signals/services maintain a degree of interoperability as can be appreciated from, for example, Hein, G. W. et al, MBOC: The New Optimized Spreading Modulation for GALILEO Ll OS and GPS LlC, Conference Record, IEEE PLANS/IoN National Technical Meeting, San Diego, April 2006, Session C5 Paper 7.
• the common spectrum does not require different satellite navigation systems to emit waveforms that are identical.
• the disclosed common spectrum known as multiplex BOC or MBOC, may be attained by either a time multiplex technique or by the superposition (addition) of the required BOC components.
• TMBOC time multiplex technique, using binary offset carriers, has become known as TMBOC
• composite BOC or by its initial letters, CBOC.
• FIG. 2 shows a pair of signals 200.
• An overall BOC signal or subcarrier 202 comprises a number 204 to 208 of bursts of a first spreading symbol modulation A, each burst of which has the duration of one chip of the spreading code. There may be several successive chips with this modulation.
• the overall MBOC 202 also comprises at least one burst 210 of a second, distinct, spreading symbol modulation B with similar characteristics but having a different carrier offset frequency.
• the depicted MBOC 202 also comprises a third spreading symbol modulation burst 212, which is identified as modulation type C with yet a further carrier offset frequency.
• each of these modulation bursts has a BOC characteristic but with a common chip rate.
• the carrier signal and spreading symbol modulation Prior to transmission from a navigation satellite, the carrier signal and spreading symbol modulation are further modulated by a spreading code 214. It can be appreciated that only an exemplary number of chips, chip n to chip n+4, of the complete spreading code are illustrated.
• the relative magnitude of the components is determined by the proportion of time (in units of code sequence elements or chips) devoted to each. In the example of figure 2, the proportion allotted to the first spreading symbol modulation A is 3/5, to B is 1/5 and to C is 1/5, provided that this pattern were to continue ad infinitum.
• FIG. 3 provides an illustration 300 of the waveform produced using this method.
• First 302 and second 304 BOC components or waveforms are illustrated.
• the relative magnitudes of the two components 302 and 304 are controlled through the amplitudes of each of the BOC components.
• the first 302 BOC is the base-line BOC waveform, which is a BOC(I 3 I) waveform.
• the second waveform 304 illustrated a BOC(5,1) waveform.
• a number of chips, chip n to chip n+4, of a spreading code 306 is illustrated.
• CBOC waveform 308 resulting from the additive combination of the first and second waveforms 302 and 304 is shown. It can be appreciated that CBOC waveform 308 comprises first and second components reflecting, respectively, their relationship to the first 302 and second 304 BOCs. The second component 310 is reduced in magnitude compared with the first component. For the 2 component CBOC waveform 308 shown, the resulting signal waveform has 4 levels. In general, a CBOC waveform has 2 n levels when derived from n BOC waveforms. Depending upon the relative amplitudes, it is possible that some of these levels may coincide.
• the conventional means of identifying the characteristics of binary offset carrier modulation is through 2 parameters n and m.
• the modulation is denoted BOC(n,m), in which n applies to the frequency of the offset carrier and m refers to the chipping rate.
• the parameters m and n are usually associated with a GPS-like signal in which the master satellite clock oscillates at 10.23MHz or some multiple or fraction thereof. The parameters may then take on the meanings expressed by:
• Offset carrier frequency n x 1.023MHz
• phase of the spreading symbol modulation is identical at the transition to each code element (chip). For example, if the BOC spreading symbol modulation has a positive transition at the beginning of a specific code element, having the value +1, and a negative transition at the beginning of a specific code element, having the value -1, then these phase assignments may be applied to each spreading symbol in the complete sequence.
• PSD power spectral density
• both a data-bearing signal and a 'so- called' pilot signal which does not carry a data message.
• the data message is transmitted at a lower rate than the spreading code.
• the spreading code rate is 1.023MHz whilst the data message is transmitted at 50 bits per second.
• both the pilot and data signals are transmitted although not necessarily at the same power levels.
• the two spreading symbol modulation components are BOC(I 3 I) and BOC(6,1)
• the data-bearing signal carrying a proportion ⁇ of the total power
• the pilot signal carrying a proportion (1- ⁇ ) of the total power
• Equation (2) maintains the combined PSD for both pilot and data-bearing signals in accordance with the required MBOC PSD.
• the selection of parameters to provide for power division is more complex.
• the equations that follow show the complexity associated with the control of the CBOC power spectral density. It is assumed that there are at least two components in the composite BOC spectrum. For illustrative purposes, the equations below are constructed for 2 components. However, those skilled in the art will recognise that more than 2 components may be used.
• Equation (3) shows the complex spectrum, H n , m ( ⁇ ), for values of (2n/m) that are even. This corresponds to (n/m) complete cycles of the binary offset carrier in each spreading code symbol.
• Equation (3-1) shows the complex spectrum, H ⁇ S ⁇ ,m ( ⁇ ), for values of (2n/m) that are even. This corresponds to (n/m) complete cycles of the binary offset carrier in each spreading code symbol.
• PSD power spectral density
• each spreading symbol has a spectrum containing, for a 2 component case, a portion ⁇ of a BOC(n,m) component and a portion ⁇ of a BOC(k,m) component. Notice that both components have the same spreading code (chip) frequency (same duration of spreading code element).
• the composite complex spectrum, S c ( ⁇ ) is then:
• ⁇ c ( ⁇ ) S c * ( ⁇ ) - S c ( ⁇ )
• Equation (6) clearly shows the differences in PSDs of the composite BOC (additive waveforms) and time multiplex approaches.
• the power spectral density, ⁇ TM (CO), for the time multiplex of BOC(n,m) and BOC(k,m) spreading symbol components, if the proportions are ⁇ 2 and ⁇ 2 is:
• ⁇ m ( ⁇ ) a 2 - ⁇ ltim ( ⁇ ) + ⁇ 2 - ⁇ kim ( ⁇ ) (7)
• the time multiplex sequence comprises ⁇ 2 /( ⁇ 2 + ⁇ 2 ) chips with a power spectral density of ⁇ n _ m ( ⁇ ) and ⁇ 2 /( ⁇ 2 + ⁇ 2 ) chips with a power spectral density of ⁇ k,m ( ⁇ ).
• the difference between the PSDs for CBOC and TMBOC techniques reside in the presence of the cross spectral terms in the CBOC PSD, ⁇ Cross ( ⁇ ):
• the situation is exacerbated when, for example, there are 3 components forming the composite signal.
• the components are interspersed amongst the code elements in suitable numbers to establish the contributory proportions required from each in the power spectral density to be transmitted (more correctly at the time of signal generation as there are transmission filters in the satellites that control out of band emissions).
• a typical example has the proportions ⁇ 2 , ⁇ 2 , ⁇ 2 for signals with each of three PSD's as equation (9) below illustrates.
• ⁇ TM ( ⁇ ) a 2 ⁇ ⁇ ⁇ ,m ( ⁇ ) + ⁇ 1 ⁇ ⁇ Km ( ⁇ ) + ⁇ 2 • ⁇ ; _ m ( ⁇ ) (9)
• embodiments of the present invention provide a method of generating a signal comprising the steps of generating at least first and second portions of the signal; the first portion being derived from, or at least having characteristics of, at least first respective portions of at least first and second signals having a first phase state and the second portion being derived from, or having characteristics of, at least second respective portions of said at least first and second signals having a second phase state that is complementary to the first phase state.
• the composite complex spectrum for the combination of the two modulating subcarriers comprises at least substantially reduced, and preferably substantially eliminated, cross spectral terms.
• This allows, for example, the spectrum of a modulating subcarrier such as, for example, a composite BOC signal, to have substantially the same power spectral density (PSD) as a different modulating subcarrier such as, for example, a time division multiplex BOC when considered in terms of whether or not the power spectra of both comprise cross spectral terms.
• PSD power spectral density
• a further embodiment provides a method of generating a CBOC waveform or spreading modulation waveform from first and second BOC waveforms, the CBOC waveform having a predetermined power spectral density comprising at least reduced cross spectral terms of the power spectral densities of the first and second BOC waveforms averaged over at least two predetermined time intervals such as, for example, at least two chips; the method comprising the steps of arranging for the states of the first and second BOC signals over a subsequent predetermined time interval of the at least two predetermined time intervals to be complementary to the states of the first and second BOC signals over a current predetermined time interval of the at least two predetermined time intervals.
• a signal generator comprising means to generate at least a subsequent portion of a signal relative to at least a current portion of a signal; the current portion being derived from, or at least having characteristics of or associated with, at least current respective portions of at least first and second signals having a first phase state, the means to generate comprising means to combine at least subsequent portions of the at least first and second signals having a phase state that is complementary to the first phase state.
• An embodiment provides a signal generator for generating a CBOC waveform from first and second BOC waveforms, the CBOC waveform having a predetermined power spectral density comprising at least reduced cross spectral terms of the power spectral densities of the first and second BOC waveforms averaged over at least two predetermined time intervals; the generator comprising means to arrange for the states of the first and second BOC signals over a subsequent predetermined time interval of the at least two predetermined time intervals to be complementary to the states of the first and second BOC signals over a current predetermined time interval of the at least two predetermined time intervals.
• Embodiments provide a signal comprising at least a subsequent portion of the signal relative to at least a current portion of the signal; the current portion being derived from, or having characteristics of or associated with, at least current respective portions of at least first and second signals having a first phase state such that the phase state of at least subsequent portions of the at least first and second signals associated with said at least a subsequent portion is complementary to the first phase state.
• Embodiments of the present invention can be realised in the form of hardware, software or a combination thereof.
• an aspect of embodiments of the present invention provides a computer program comprising executable instructions for implementing a method, system, apparatus, generator or generating a signal according to embodiments of the invention.
• a computer program can be stored using any form of storage such as, for example, optically or magnetically readable media, chips, ROMs, PROMs and other volatile or non-volatile devices.
• embodiments of the present invention provide machine-readable storage storing such a computer program.
• a second method is used to eliminate the cross spectral term in equation 6. This has the same effect as the other methods but is an alternative implementation.
• the cross spectral term, ⁇ cro s s ( ⁇ ) ; ca n be set to zero if the following condition is met:
• receiver architectures are identified for processing transmitted signals identified herein. Embodiments can be realised that have a single channel to processes all signal components substantially simultaneously. Alternatively, or additionally, embodiments can be realised that have multiple channels so that the individual signal components are processed separately by respective channels. One skilled in the art will realise that such processing may not necessarily be optimised to provide the maximum signal to noise ratio.
• figure 1 illustrates a transmitter or signal generator
• FIG 2 depicts a known time division multiplexed binary offset carrier (MBOC);
• figure 3 shows a known composite binary offset carrier (CBOC).
• figure 4 shows a CBOC signal according to an embodiment of the present invention
• figure 5 illustrates a conventional schematic system for generating a CBOC waveform
• figure 6 depicts a schematic system for generating a CBOC waveform according to an embodiment of the present invention
• figure 7 depicts a schematic system to generate a CBOC waveform according to embodiments of the present invention that uses the spreading code epoch to control phase inversion;
• figure 8 depicts a variant of the schematic system for generating a CBOC waveform as illustrated in figure 7;
• figure 9 shows a further embodiment of a schematic system for generating a spreading symbol modulation waveform according to an embodiment
• figure 10 illustrates a still further embodiment of a schematic system for generating a CBOC waveform.
• the transmitter 100 comprises means 102, that is, a generator, for generating or selecting ranging codes for transmission.
• means 102 that is, a generator, for generating or selecting ranging codes for transmission.
• ranging codes may be generated by, for example, shift register implementations.
• An alternative to generation by means of a shift register may be through replaying the sequence of code states comprising the code sequence from a memory device adapted to continuously replay such sequences.
• the ranging code selection and/or generation means 102 is illustrated as producing g,(t) and m,(t). These codes are fed to respective mixers 104 and 106.
• the mixers 104 and 106 are arranged to combine the ranging codes with subcarriers according to embodiments of the present invention.
• Respective subcarrier generators 108 and 110 generate the subcarriers.
• a data signal, d,(t) is also preferably mixed with the ranging codes and subcarriers.
• the duration of one bit of the data signal is normally an integer multiple of the code repetition interval. For example, in GPS CA code, it is 20 times the 1 ms code repetition interval, that is, the data rate is 50 bps.
• the mixed signals 112 and 114 are fed to a further pair of mixers 116 and 118, where they are mixed with in- phase and quadrature phase signals produced via an oscillator and phase shifter assembly 120 and 121.
• the further mixed signals 122 and 124 are combined, via a combiner 126, and are output for subsequent up conversion by an appropriate up converter 128.
• the output from the up converter 128 is fed to a high-power amplifier 130 and then filtered by an appropriate filter 133 for subsequent transmission by, for example, a satellite or other device arranged to emit or transmit the ranging codes.
• the operation of the invention involves the sequencing of the relative phases of the binary offset carrier generators for the additive combining method in such a way as to provide a variety of different power spectral densities, one for each phase assignment.
• Such an assignment is, in the first instance, valid for the duration of a single code element or chip. Over the duration of several code elements, or over the complete code sequence, each possible phase assignment (and corresponding power spectrum) is generated a pre-defined number of times.
• the resulting power spectral density corresponds to the average PSD of all those generated. Therefore, it is possible to cancel the signals arising from the cross spectral terms in the resulting composite BOC spectrum.
• This operation can be performed with as many components as required in the composite BOC spectrum.
• the average PSD may be arranged to be identical with that of the time multiplex arrangement of the BOC spreading symbol modulation.
• phase assignments for ⁇ and ⁇ as follows in table 1.
• the product of ⁇ and ⁇ is identified as a 'phase assignment operator.
• ⁇ c 0.5 ⁇ S c ++ (CD) ⁇ S c++ ( ⁇ ) + 0.5 • S c+ _ ( ⁇ ) ⁇ S c ⁇ _ ( ⁇ )
• the phase assignment of the BOC generators controls the resulting spectrum.
• the resulting cross spectral term is cancelled.
• the PSD of the composite BOC additive combination
• the PSD of the composite BOC is composed just of the PSD's of each of the constituents only, and in whatever proportions ( ⁇ , ⁇ ) are required. If required, a portion of the cross power spectral term could be retained through changing the proportions of the positive and negative phase assignment operator.
• phase of the BOC generators is made at the instant corresponding to the centre of the spreading code symbol modulation.
• the phase assignment is common to the complete spreading symbol. It corresponds to a common direction of the signal transition at the central instant of a spreading symbol as illustrated in figure 3 at 312 to 320.
• the spectrum of the output for a combined code and data state of ⁇ +1 ⁇ , phase state of ⁇ +1 ⁇ is
• H c ( ⁇ ) a ⁇ n H n,m ( ⁇ ) + ⁇ k H kim ( ⁇ )
• ⁇ c ( ⁇ ) ( ⁇ - ⁇ n Hl ( ⁇ ) + ⁇ ⁇ ⁇ .H ⁇ )) ⁇ (a ⁇ ⁇ n H n,m ( ⁇ ) + /? • ⁇ k H Km ( ⁇ )) and where, as before, (13)
• a first embodiment uses a phase alternation approach whereby the initial phase of one of the B0C(n,m) and BOC(k,m) signals is alternated for each chip of the spreading code signal.
• the averaging interval is just 2 code chips as there will have been one chip where the spectrum has the characteristic of ⁇ cC ⁇ ) or ⁇ " c(( ⁇ ) and one chip with the spectrum of ⁇ +" c ( ⁇ ) or ⁇ +" c( ⁇ ).
• FIG 4 there is shown a number of waveforms 400 for generating a CBOC waveform 402 having a power spectral density with substantially zero cross spectral terms that usually arise when combining a first BOC(n,m) waveform 404 and a second BOC(k,m) waveform 406.
• the first BOC of waveform 404 is a BOC (1, 1).
• the second BOC waveform 406 is a BOC (5, 1).
• other BOC waveforms can be used to realise embodiments of the present invention such as, for example, those described in the above referenced technical papers and international patent application.
• Embodiments of the invention are not limited to either BOC(I 5 I) or BOC(5,1).
• BOC(6,1) will be used instead of BOC(5,1).
• Figure 4 comprises a number of the dotted lines 408 to 416 that represent pre-determinable points of the waveforms 404 and 406. It can be appreciated that, for the purposes of illustration only, the dotted lines 408 to 416 are shown as being at the midpoint of the BOC chips. It can be appreciated that the negative going transition within the first chip, chip n, is coincidental with a negative going transition within the first chip period of the second BOC waveform 406.
• such an alignment and agreement of transitions of the BOC waveforms 404 and 406 at the pre-determinable points, that is, the midpoints in the present embodiment, is such that the waveforms are said to be in phase or to have the same phase state or condition. Therefore, a negative going transition of the first BOC waveform 404 coinciding with a negative going transition of the second BOC waveform406 are said to be in phase or to have a (- , -) phase state or condition. The converse is also true, that is, coincident positive going transitions are also said to be in phase or to have a (+, +) phase state or condition.
• phase states (+, +) and (-, -) are substantially identical.
• Coincidence between a positive going transition of the first BOC waveform 404 and a negative going transition of the second BOC waveform 406 are such that the first and second BOC waveforms 404 and 406 are said to be out of phase or in anti-phase.
• the corresponding phase state or condition is (+, -).
• a negative going transition of the first BOC waveform 404 and a positive going transition of the second BOC waveform 406 are said to have a phase state or condition (-, +) and the first and second BOC waveforms 404 and 406 are said to be out of phase or in anti-phase.
• signals according to a first embodiment of the present invention are arranged such that the cross spectral terms of the power spectrum of the summation of the first 404 and second 406 BOC waveforms for a number of given chips period are cancelled or averaged out by ensuring that the cross spectral terms of the power spectrum of the summation of the first 404 and second BOC waveforms of a subsequent chip period are complementary, that is, have phases arranged to at least reduce the effects of, and, preferably, to cancel substantially entirely, the former cross spectral terms. This is achieved by ensuring that the first 404 and second 406 BOC waveforms of the subsequent chip period have the opposite phase state or condition to the phase state or condition of the BOC waveforms 404 and 406 of an earlier chip period.
• the second BOC waveform 406 such that the waveform shown in 418 results.
• the phase states or conditions alternate between in phase, that is, (+, +), and out of phase or anti-phase, that is, (+, -). Therefore, combining the first of BOC waveform 404 and the modified second BOC waveform 418 produces the composite
• BOC waveform 402 with a desirable power spectral density.
• CBOC does not contain cross spectral terms relating to the first BOC waveform 404 and the second BOC waveform 406. Therefore, it can be appreciated that the power spectral density of the CBOC waveform 402 substantially corresponds to that of an MBOC signal.
• FIG. 5 shows a schematic system 500 for producing a composite BOC signal 502 according to the prior art.
• a pair of BOC waveforms 504 and 506, BOC (n,m) and BOC (k,m), optionally scaled, via sealers 508 and 510, prior to combining, are combined using an adder 512.
• a multiplier 514 is used to combine the BOC subcarrier 502 (CBOC) with a spreading code 516.
• the power contributions of the pair of BOC waveforms are controlled by the sealers 508 and 510 using coefficients ⁇ and (1- ⁇ ).
• FIG. 6 there is shown a schematic system 600 for producing a CBOC waveform or spreading symbol modulation waveform according to an embodiment of the present invention.
• the system 600 comprises a pair of BOC waveform generators 602 and 604 for producing respective BOC waveforms, B0C(n,m) 606 and B0C(k,m) 608.
• the waveforms 606 and 608 are scaled, via sealers 610 and 612 or some appropriate means, according to desired power contributions of the BOC waveforms 606 and 608 to the composite waveform 614, that is, to the CBOC waveform 614.
• the inversion or change of phase state or condition of the BOC waveforms 606 and 608 is controlled by appropriate selection of the coefficients ⁇ and ⁇ together with respective multipliers
• the system 600 illustrated represents the general case. In practice, only one of the BOC waveforms will be inverted at any one time and, accordingly, the first coefficient, ⁇ , for example, can generally be fixed or set to +1.
• the BOC waveforms 624 and 626 having selected phases are combined via an adder 628 to produce the CBOC waveform 614.
• the CBOC waveform 614 is multiplied, via a multiplier 630, with a spreading waveform 632 produced via a spreading waveform generator 634.
• the spreading code generator 634 is driven by an oscillator or code chipping rate generator 636.
• Embodiments of the present invention can be realised in which at least one of the ⁇ and ⁇ generators are responsive to the code generator clock chipping rate 638 or multiples thereof.
• FIG 7 there is shown a schematic system 700 for producing a CBOC waveform or spreading symbol modulation waveform according to an embodiment of the present invention.
• the system is substantially similar to that described with reference to figure 6, but for the phase inversion or phase state/condition being controlled by or being responsive to the spreading waveform/code epochs.
• the system 700 comprises a pair of BOC waveform generators 702 and 704 for producing respective BOC waveforms, B0C(n,m) 706 and BOC(k,m) 708.
• the waveforms 706 and 708 are scaled, via sealers 710 and 712 or some appropriate means, according to desired power contributions of the BOC waveforms 706 and 708 to the composite waveform 714, that is, to the CBOC waveform 714.
• the inversion or change of phase state or condition of the BOC waveforms 706 and 708 is controlled by appropriate selection of the coefficients ⁇ and ⁇ together with respective multipliers
• the system 700 illustrated represents the general case. In practice, only one of the BOC waveforms will be inverted at any one time and, accordingly, for example, the first coefficient, ⁇ , can generally be fixed or set to +1.
• the BOC waveforms 724 and 726 having selected phases are combined via an adder 728 to produce the CBOC waveform 714.
• the CBOC waveform 714 is multiplied, via a multiplier 730, with a spreading code 732 produced via a spreading code generator 734.
• the spreading code generator 734 is driven by an oscillator 736.
• the spreading code has an associated plurality of regularly spaced epochs 738.
• the sign, that is, ⁇ +1 ,-1 ⁇ , of ⁇ is changed at the start of every code period, that is, every epoch, or code chip period.
• the duration of the states of ⁇ correspond to the duration of a code element or chip.
• the phase of the sign alternation can be set to occur other than at the start of every code period.
• the state of ⁇ changes at multiples or fractions of the code period.
• FIG 8 there is depicted a schematic system 800 for generating a CBOC waveform according to an embodiment of the present invention.
• the system 800 is the linear system equivalent to that depicted in, and described with reference to, figure 7.
• Two BOC waveforms 802 and 804 are generated via respective BOC waveform generators 806 and 808.
• the waveforms 802 and 804 are optionally scaled, via sealers 810 and 812, according to desired respective power contributions to the CBOC waveform 814.
• the scaled BOC waveforms 816 and 818 are multiplied, via respective multipliers 820 and 822, by the ⁇ and ⁇ coefficients according to desired relative phases or phase states over at least a current chip, or other interval, as compared a phase state or condition of the BOC waveforms of over a previous chip or other interval.
• the resulting waveforms 824 and 826 are multiplied, via respective multipliers 828 and 830, by spreading waveforms 832 and 834 generated by respective spreading waveform generators 836 and 838.
• the CBOC waveform 814 is produced by summing the waveforms 840 and 842 using a combiner 844.
• a second preferred embodiment may be realised by understanding that the combination of the spreading code generator 838 and the ⁇ generator can be replaced by a new spreading code generator producing sequence B, as opposed to sequence A. Accordingly, the combination of the ⁇ coefficient, multiplier 822, spreading waveform generator 838 and multiplier 830 can be replaced by a corresponding spreading code generator 846 as is shown in figure 8.
• the (+,+) and (- ,-) phase states do not need to balance the number of (+,-) and (-,+) phase states.
• the desired proportion of the cross spectral terms is influenced by the level of imbalance.
• FIG 9 there is shown a schematic system 900 for producing a spreading symbol modulation waveform according to an embodiment of the present invention.
• the system is substantially similar to that described with reference to figure 6, but for the phase inversion or phase state/condition being controlled by or being responsive to the data symbol period or multiples or fractions thereof.
• the system 900 comprises a pair of BOC waveform generators 902 and 904 for producing respective BOC waveforms, B0C(n,m) 906 and BOC(k,m) 908.
• the waveforms 906 and 908 are scaled, via sealers 910 and 912 or some appropriate means, according to desired power contributions of the BOC waveforms 906 and 908 to the composite waveform 914, that is, to the spreading symbol modulation waveform 914.
• the inversion or change of phase state or condition of the BOC waveforms 906 and 908 is controlled by appropriate selection of the coefficients ⁇ and ⁇ together with respective multipliers 916 and 918 and generators 920 and 922. It will be appreciated that the system 900 illustrated represents the general case. In practice, only one of the BOC waveforms will be inverted at any one time and, accordingly, for example, the first coefficient, ⁇ , can generally be fixed or set to +1.
• the BOC waveforms, having selected or determined phases, 924 and 926 are combined via an adder 928 to produce the CBOC wavefo ⁇ n 914.
• the CBOC waveform 914 is multiplied, via a multiplier 930, with a spreading code 932 produced via a spreading code generator 934.
• the spreading code generator 934 is driven by an oscillator 936.
• the sign, that is, ⁇ +1,-1 ⁇ , of ⁇ is changed every data symbol period or multiples or fractions thereof.
• the waveform resulting combination of the CBOC waveform 914 and the spreading waveform 932 is multiplied by a data signal 940 using a multiplier 942 to produce a combination of the CBOC waveform, the spreading code signal and the data signal.
• embodiments can be realised that employ a separate code sequence for the B0C(n,m) and BOC(k,m) spreading symbol modulation.
• the duration of the code sequence is identical for the two spreading symbol modulations in this example but this is not necessary.
• one of the spreading code generators has a period that is a multiple of the period of other spreading code generator.
• the lengths of the spreading code sequences do not have a rational number relationship.
• the spreading codes are normally selected from the same family but this is also not a necessity. In order to cause the average spectrum to exhibit substantially zero cross spectral terms, the two codes should have characteristics of independent random sequences so that their mutual cross correlation (at zero time offset) is substantially zero.
• the averaging time for the spectrum for the embodiments described with reference to figure 9 is the duration of the code sequence. If the two code generators have different sequence lengths, then a suitable averaging time can usually be found. In the limit, this would be a duration such that both of the sequences had returned to their respective starting positions (having a sequence length that is the lowest common multiple of the divisors of the individual sequence lengths). However, substantially acceptable results can usually be obtained for shorter intervals than the longest common multiple of the 2 code sequences.
• the system 1000 illustrated in figure 10 comprises first and second BOC waveform generators 1002 and 1004 producing respective BOC waveforms 1006 and 1008.
• the BOC waveforms, BOC(n,m) and BOC(k,m), are optionally scaled to determine their respective power contributions to the CBOC waveform 1010.
• the scaled waveforms 1012 and 1014 are combined, via respective multipliers 1016 and 1018, with respective spreading codes 1020 and 1022 produced via respective spreading code generators 1024 and 1026.
• the BOC waveforms, used as spreading symbol modulation waveforms, 1028 and 1030 are combined with respective data signals 1032 and 1034 to produce the overall combined spreading symbol, code symbol and data modulation waveform. This used as the base-band modulation for up-conversion to the desired carrier frequency for transmission. However, it is a condition that the data signals are sufficiently random to influence, and preferably eliminate, the cross spectral terms within the combined complex power spectrum.
• Embodiments can be realised in which variable modulus signal and constant signal envelopes are used. It will be appreciated that any constraints that are aimed at preserving unitary or constant magnitude of (I 2 +Q 2 ) I/2 need not necessary apply if a variable modulus signal envelope is desired or is acceptable.
• Figure 11 shows an embodiment of a receiver 1100 adapted to process the signals arising from the transmission of multiplexed binary offset carrier signals.
• the signals transmitted from each satellite in the visible constellation are received at an antenna 1102, and are processed in an RF processor 1104, which amplifies, filters and frequency changes the signals as is known in the prior art.
• the output 1106 of the RF processor is connected to a digitiser 1108 that produces digitised received signal samples 1110.
• the digitised received signal samples 1110 are applied in the exemplary embodiment to a correlation processor 1112, which correlates the digitised received signal samples 1110 with a group of replica signals 1114, produced by a signal replica generator 1116, in a correlation bank 1118.
• the specific form of the replica signals 1114 depends on the type of signals being received and the chosen option for subsequent processing.
• a multi-level replica signal may be used combining a residual carrier signal, a code signal and the binary subcarrier modulation.
• the code and binary subcarrier modulation are provided in early, prompt, very early, late and very late forms and with carrier signal versions being in both in-phase and quadrature relationship with a receiver carrier reference oscillator (not shown) that forms part of the signal replica generator , 1104.
• the signal replica generator 1116 also included in the signal replica generator 1116, in addition to the carrier replica generator, are a code replica generator and a sub-carrier replica generator.
• the outputs of the individual elements of the replica generator are combined to form the said composite binary offset carrier signal.
• an embodiment of a composite binary offset carrier signal can be realised as a time multiplexed signal whereby separate parts of the modulation are transmitted in a time sequence.
• One realisation of such a signal has two portions of a multilevel modulation waveform transmitted in a specific time sequence. Specific embodiments of such signals are shown in figure 12, where each signal has two components of the multilevel modulation waveform.
• the first of the replica waveforms 1202 is a tertiary spreading symbol consisting of the levels 0, +1, 0, -1, 0 in sequence.
• the vertical dashed lines indicate the boundaries between separate code elements.
• the second waveform 1204 is illustrative of a 5- level spreading symbol having the levels 0, +1, +2, +1, 0, -1, -2, -1, 0 for each spreading symbol.
• the code element assignments are identical with those in 1202.
• the third waveform 1206 in figure 12 represents a time multiplexed version of the second spreading symbol waveform 1204.
• the first 2 code elements are shown as tertiary waveforms and are representative of the ⁇ +1, 0, -1 ⁇ components in waveform 1202.
• the third code element in the third waveform 1206 is representative of the outer levels of waveform 1204 at ⁇ +2, -2 ⁇ but are transmitted after the first 2 code elements in the third code element position and with a -1 code element assignment.
• the fourth waveform 1208 in figure 12 is a replica based on the time multiplexing of two Binary Offset Carrier signals, BOC(n,m) and BOC(k,l).
• the first 2 code elements are illustrated with a BOC(1,1) spreading symbol whilst the subsequent two code elements are illustrated with a BOC(2,2) spreading symbol.
• the code assignments for code elements 3 and 4 are -1 and +1 respectively.
• the code element duration is not the same for each component in waveform 1208, at a rate of m x 1.023 MHz and 1 x 1.023MHz whilst the sub- carrier components are at different offsets from the carrier signal of n x 1.023MHz and k x 1.023MHz respectively.
• An exemplary replica signal is formed with these parts occupying different non-overlapping time segments of the transmitted waveform.
• the replica waveform follows an identical format in one embodiment.
• Alternative embodiments employ the same general receiver format of figure 11, but split the components of the signal so that these are carried via separate connections to the correlator processor 1112, and the correlator bank 1118.
• the replica signal components are generated continuously and are gated in time so that the replica signal generator 1116 only has signal outputs at the times corresponding those that are appropriate for each component. These signals may be binary, tertiary or have some other number of amplitude levels depending upon the complexity of the transmitted signal format.
• the additional processing step in the signal generator converting the continuous signals at the time of generation to the output format required uses a time gate that allows passage of the signal at the time when it is required and prevents passage to the output otherwise.
• the signals may have the time gate removed, so that the signal components are continuously available at the input to the correlation processor.
• the performance of a receiver using the continuous replica versions of the composite signal may have sub- optimum performance but may offer savings in receiver complexity.
• embodiments of the present invention have been described with reference to the Ll and L2 frequencies, embodiments are not limited to such arrangements. Embodiments can be realised in which other frequencies or frequency bands can be used according to the requirements of the system using the invention. For example, the lower L band (ie E5a and E5b), the middle (ie E6) and upper L-band (ie E2-L1-E1) can also benefit from embodiments of the present invention. It will be appreciated that such embodiments may use signals having at least three components rather than the two components described above.
• the number of half cycles of a subcarrier per chip of a code can be at least one of odd, even, an integer multiple or a non-integer multiple of the chip, that is, there is a rational number relationship between the number of subcarrier half cycles and the chip duration.
• Embodiments of the present invention described above have focused on the transmission side of the invention, that is, upon the generation, modulation and transmission of signals such as, for example, spreading symbol modulation waveforms, composite signals, composite BOC signals, and ranging codes combined with a subcarrier or subcarriers and the like.
• signals such as, for example, spreading symbol modulation waveforms, composite signals, composite BOC signals, and ranging codes combined with a subcarrier or subcarriers and the like.
• signals such as, for example, spreading symbol modulation waveforms, composite signals, composite BOC signals, and ranging codes combined with a subcarrier or subcarriers and the like.
• a converse system, method, apparatus and receiver are required to receive and process the signals.
• designing an appropriate receiver is merely the converse of the transmit operations. Therefore, embodiments of the present invention also relate to systems, methods, apparatuses and receivers for processing signals such as those described above.
• embodiments have been described with to equal length spreading codes.
• embodiments are not limited thereto.
• one of the spreading code generators has a period that is a multiple or sub-multiple of the spreading code period of another spreading code generator.
• embodiments can be realised in which the lengths of the spreading code sequences do not have a rational number relationship.
• the lengths of the spreading code sequences may be prime numbers, products of prime numbers or multiples of either.

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