Abstract:
A system and method for determining the position of people and/or objects, whether mobile or stationary, is presented herein. The system uses fixed and/or portable FM transmitters to transmit synchronized signals. These signals are acquired by a Receiver device which uses the signal timing to perform Time Difference of Arrival calculations to determine the Receiver&#39;s location. Then, using some arbitrary communications method, such as wireless communications, the Receiver device can forward its location to some arbitrary type of application system.

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
   This nonprovisional patent application claims benefit and priority under 35 U.S.C. § 119(e) of the filing of U.S. Provisional Patent Application Ser. No. 60/680,865, filed May 16, 2005, titled: “Method and apparatus for tracking and reporting the location of people or objects in a local area”, U.S. Provisional Patent Application Ser. No. 60/673,025, filed, Apr. 21, 2005, titled: “Method and apparatus for relative location determination of people or objects in a local area” and U.S. Provisional Patent Application Ser. No. 60/682,666, filed, May 20, 2005, titled: “Method and apparatus for absolute location determination of people or objects in a defined area” all by the present inventors. 

   BACKGROUND OF THE INVENTION 
   1. Field of the Invention 
   This invention relates to location determination of one or more wireless devices. 
   2. Prior Art 
   Location determination technology—the ability to identify the location of electronic devices—has evolved toward more accurate location determination. The evolution of this technology has been driven by the need to solve several important problems, such as the location of emergency service workers (emergency rescue/fire personnel), the location of people who are in danger (such as users of E-911 cellular service), and accurate indoor location determination. 
   Unfortunately, large steel and concrete buildings, subways and large malls may be difficult or even impossible to cover using traditional wide area location technologies, because low signal-to-noise ratio and signal multipath effects in these environments often decrease tracking accuracy or even prevent signal acquisition. 
   Multiple story buildings pose additional obstacles for tracking, as they require three-dimensional positioning. Even if the longitude and latitude of an individual in a fifty-story building were known with great accuracy, that knowledge would be insufficient because the emergency team may have to search every floor. For an accuracy of 200 meters, the location fix may cover many multi-story buildings. Under these conditions, a rescue team could spend hours just searching for the caller. 
   Present techniques for locating electronic devices (e.g., cellular phone, PDA or computer, etc.) in both indoor and outdoor environments (such as shopping malls, urban canyons, or office buildings) require either: 1) satellite (global positioning signals “GPS”) signals; or 2) GPS and assistance via cellular signals to penetrate building structures, when required; or 3) triangulation using the cellular system, or 4) some use of broadcast and/or RF signaling, or 5) some combination of these techniques. 
   Presently, two major approaches to GPS precision location dominate. The first, a mostly outdoor location fix technology, is the satellite vehicle-based Global Positioning System that receives a feeble code division multiple access “CDMA-like” signal from several satellites in which a receiver (using complex search routines and hardware) determines its position via the delay calculated using the received GPS signal phase, the GPS almanac and ephermis. This procedure takes several minutes in weak signal environments. The second is a system that extends the above system through use of additional information supplied via a cellular wireless network. 
   Snaptrack has disclosed a ‘communication’ system for providing GPS aiding information useful in the above second system (e.g., see U.S. Pat. Nos. 5,841,396 and 5,874,914). Communication systems require two-way signaling and information transfer. The concept is known as Assisted GPS. The SnapTrack implementation uses a communication system to send the GPS almanac, ephermis, and transfer of time from the base station to the mobile. In one mode, intermediate results are returned to the base station (and network) for further processing. With these quantities (GPS hints), the correlating receiver knows what and when to look for the appropriate satellites and can add the successive correlations of several tens of measurements, effectively pulling the feeble buried signal out of the thermal noise. 
   MeshNetworks has disclosed a method for location determination based upon range measurements between the portable device to be located and several fixed reference stations (see U.S. Pat. Nos. 6,768,730 and 6,728,545). This invention uses these range measurements to solve simultaneous (spherical) equations to obtain a 3-dimensional location. The accuracy of this approach is suspect, due to the fact the RF transmission is performed at (relatively) low power and is not reliable at great distances or indoor environments. 
   Hall, et al., has disclosed a Method and apparatus for geolocating a wireless communications device whereby the time difference of arrival for a signal received at two or more receiving sites as transmitted from a wireless communications device, is determined by a frequency domain technique. To determine the mobile location based on the determined time difference of arrival values, a seed or initial location is first assumed for the wireless communications device and the distance difference of arrival (the time difference of arrival multiplied by the speed of light) is calculated. The calculated time difference of arrival is then used to adjust the distance difference of arrival by continuously iterating the position of the wireless communications device until the calculated distance of arrival and the calculated time difference of arrival (as multiplied by the speed of light) are within a predetermined margin. 
   Many location determination inventions (too numerous to explicitly reference herein) have been disclosed based on Time Difference of Arrival, Time of Arrival, Enhanced-Observed Time Difference of Arrival (E-OTD), Angle of Arrival (obtaining multiple Lines-of-Bearing and solving for their intersection), and range measurements (solving for intersecting arcs or spheres). These are often combined or augmented with GPS technology. Most of these employ existing cellular infrastructure and/or other technologies which operate at frequencies too high for reliable penetration of indoor environments. 
   FM and other broadcast signals represent an improvement over higher frequency GPS/cellular RF signals in that they have been proven to penetrate the concrete, steal, and glass of the typical urban structure. 
   The Rosum Corporation has disclosed a method and apparatus for determining the position of a user terminal (e.g., see U.S. Pat. No. 6,859,173) by using a combination of broadcast signals and cellular radio signals. The method determines a first pseudo-range between the user terminal and the television signal transmitter based on a known component of the broadcast television signal; it determines a second pseudo-range between the user terminal and the mobile telephone base station based on a known component of the mobile telephone signal; and it determines a position of the user terminal based on the first and second pseudo-ranges, a location of the television signal transmitter, and a location of the mobile telephone base station; wherein the mobile telephone signal is selected from the group consisting of a EDGE (Enhanced Data Rates for Global System for Mobile Communications (GSM) Evolution) signal; a Code-Division Multiple Access 2000 (cdma2000) signal; and a Wideband Code-Division Multiple Access (WCDMA) signal. 
   Trimble has disclosed an invention addressing the location of emergency service workers (e.g., see U.S. Pat. No. 5,552,772) whereby they use a wide array of location determination methods, one of which is a set of unsynchronized FM sub-carrier signals to perform range measurements or TDOA measurements. To obtain TDOA measurements from unsynchronized signals, the invention specifies the existence of an independent “observer module” that observes the difference in synchronization between the various reference stations and informs the receiver of the differences. The receiver then uses the synchronization difference values, combined with TDOA measurements, to derive its location. 
   Trimble has disclosed a portable hybrid location determination system describing an apparatus and method for determining the present location of a mobile user that carries the apparatus inside or outside buildings and structures within a region R. The apparatus includes a radio location determination (LD) signal module that receives radiowaves from at least three radio LD signal sources, such as FM carrier or subcarrier signals, and an outdoor LD signal module that receives outdoor LD signals from at least three other satellite-based or ground-based outdoor LD signal sources, such as GPS, GLONASS or Loran-C signal sources. The radio LD signals and outdoor LD signals are used to (1) determine the location of the radio LD module, (2) determine the location of the outdoor LD module and (3) determine an indicium representing signal strength or signal quality for the radio LD signals and for the outdoor LD signals. The radio LD signal indicium and the outdoor LD signal indicium are compared with threshold values for these indicia, and at most one of the radio LD module location and the outdoor LD module location is selected as the present location of the apparatus user. The radio LD module and the outdoor LD module can be combined in a hybrid portable LD system, or the two modules can be separated from and move independently of each other. 
   Texas Instruments has disclosed an invention addressing the location of cellular telephones (and other potential applications) by the use of broadcast signals, such as AM, FM, non-DTV, etc. (see U.S. Pat. No. 6,806,830). In this disclosure, both synchronized and unsynchronized broadcast signals are used. For unsynchronized signals, TI also uses an independent “observer module” to measure the deviation from synchronization. A drawback is that the solution may not provide sufficient geographic dispersion of the broadcast stations to obtain reliably accurate fixes. Further, this solution will not provide reliably accurate 3-d fixes because the probable location of the transmission stations does not provide the necessary angular geometry to accurately measure elevation. 
   There continues to exist a need in the art for a method and apparatus for location determination of people or object that addresses the problems cited above, such as poor indoor location performance, RF signal degradation, and the introduction of errors due to weak signal or multipath. Specifically, it would be desirable to have an method and apparatus that performs reliable and accurate 3-dimensional location determination for both indoor and outdoor locations. Such a method and apparatus may be used in cellular telephone networks (in support of E-911 or other location-based services), by emergency first responders (fire, rescue, police, swat, etc.), or for any other location determination application. 
   SUMMARY OF THE INVENTION 
   Presented herein is a location determination apparatus, method and system that is an improvement upon existing location determining techniques. The invention enables precision indoor and outdoor location determination through the use of synchronized FM or other terrestrial RF signals (e.g. one way, wide area) transmitted from multiple transmitter stations and received by a receiving device which uses the synchronized signals to measure the time difference of arrival between each pair of transmitters, formulates a hyperbolic equation for each pair of signals, and simultaneously solves the equations to determine the 2-dimensional and/or 3-dimensional location of the receiving device. 
   Each transmitter node transmits a synchronized pulse that includes information about the transmitter—such as position of the node, and a designation as a Master or Slave of a set of transmitter nodes. The time interval between each transmitted pulse is the same amongst all transmitter nodes. 
   This invention provides for synchronization of the transmitter node signals using a variety of methods. Two examples are: 1) attached to each transmitter node is a precision GPS timing device that enables synchronization with all other transmitter nodes based on GPS time; and/or; 2) there is designated a “master” transmitter node that sends synchronization information to the (slave) transmitter nodes. 
   The invention also provides reliable, accurate location determination when the transmissions from each of the transmitter nodes are out of phase (un-synchronized). In addition, the invention facilitates the portability of transmitter nodes, which may enhance the angular geometry of the transmissions relative to the receiving device, resulting in enhanced 3-D location determination in virtually any rural, suburban, or urban region. 
   The invention provides the capability to position transmitter nodes virtually anywhere, thus enhancing angular geometry and location accuracy. 

   
     BRIEF DESCRIPTION OF THE DRAWINGS 
       FIG. 1  illustrates time difference of arrival plots using transmissions from three transmitter nodes to obtain location information on a single receiver node. 
       FIG. 2  illustrates time difference of arrival plots using transmissions from three transmitter nodes to obtain location information on multiple receiver nodes. 
       FIG. 3  illustrates a block diagram of the BT node—the illustration includes all optional components. 
       FIG. 4  illustrates a block diagram describing the primary components of a receiver (RC) node. 
       FIG. 5  illustrates an example of this invention in a cellular network. 
       FIG. 6  illustrates an example of this invention in an emergency first-responder scenario. 
       FIG. 7  illustrates a system  10 , which is a preferred embodiment of the invention. 
       FIG. 8  illustrates a system  20 , which is another embodiment of the invention. 
       FIG. 9  illustrates a system  30 , which is another embodiment of the invention. 
       FIG. 10  illustrates a system  40 , which is another embodiment of the invention. 
       FIG. 11  illustrates a system  50 , which is another embodiment of the invention. 
       FIG. 12  illustrates a system  60 , which is another embodiment of the invention. 
       FIG. 13  illustrates a system  70 , which is another embodiment of the invention. 
       FIG. 14  illustrates a system  80 , which is another embodiment of the invention. 
       FIG. 15  illustrates a system  90 , which is another embodiment of the invention. 
       FIG. 16  illustrates a system  95 , which is another embodiment of the invention. 
       FIG. 17  illustrates a block diagram of an alternative embodiment of the BT node with a transmitter  206 , processor  207 , Precision Location-Determination Device  209 , and High-Precision Timing Source  208 . 
       FIG. 18  illustrates a block diagram of an alternative embodiment of the BT node with a transmitter  206 , processor  207 , Precision Location-Determination Device  209 , and Receiver  210 . 
       FIG. 19  illustrates a block diagram of an alternative embodiment of the BT node  200  with a transmitter  206 , processor  207 , and High-Precision Timing Source  208 . 
       FIG. 20  illustrates a block diagram of an alternative embodiment of the BT node  200  with a transmitter  206 , processor  207 , and Receiver  210 . 
       FIG. 21  illustrates a block diagram of an alternative embodiment of the Location Processor Node. 
       FIG. 22  illustrates a block diagram of an alternative embodiment of the Location Processor Node. 
       FIG. 23  is a block diagram illustrating an embodiment of a method according to the present invention. 
       FIG. 24  is a flow chart of an embodiment of a method for locating an object according to the present invention. 
       FIGS. 25A-B  are a flow chart of a method for relative position location according to an embodiment of the present invention. 
       FIGS. 26  A-B are a flow chart of another method for relative position location according to an embodiment of the present invention. 
   

   DETAILED DESCRIPTION 
   This present invention may utilize three or more geographically-dispersed transmitter nodes (hereinafter called a “BT node”). Each BT node may consist of an FM transmitter, a high-precision timing source (optional), high-precision location determination device (optional), FM receiver (optional), and computer processor, according to embodiments of the present invention. See  FIG. 3  for a block diagram of an embodiment of a BT node. 
   The present invention may also include one or more Receiver nodes (hereinafter called “RC” node). Each RC node monitors 3 or more BT channels—the RC node may choose channels according to any specific criteria. Two possible examples of BT selection are: (1) monitoring those channels that exhibit the “strongest” signal, or (2) acquiring signals based upon the locations of their source BT nodes. 
   Each RC node (see  FIG. 4  for a block diagram of an embodiment of an RC node) calculates the Time Difference of Arrival (TDOA) between each pair of BT signals, uses the TDOA values to generate hyperbolic equations, solves for the intersection of these equations, and combines the calculated result with the known position of the BT nodes to determine its own location. Optionally, each RC node may transmit the TDOA values and BT node location information to a Location Processor (hereinafter called an “LP Node”); whereby the LP Node would then perform appropriate calculations to determine the RC node&#39;s location.  FIGS. 1 and 2  illustrate TDOA plots, with  FIG. 1  describing a single RC node TDOA plot and  FIG. 2  depicting an environment with multiple RC nodes. Depending on the number of BT Nodes and the angular geometry that is derived by the locations of each of the BT Nodes relative to the target RC node, the present invention can support 3-dimensional location determination. 
   To support RC location determination, each BT node may possess the following characteristics/capabilities: (1) each BT node is assigned a unique BT Node Identifier, (2) each BT node will be provisioned with a high-precision position fix of its own location or, it will acquire its location using an attached high-precision GPS device, or it will acquire its location using some other high-precision location technology. (3) Each BT node will (optionally) synchronize its timing to the timing acquired by its high-precision timing device; thus synchronizing its timing with all other BT nodes using the same timing source. (4) Each Slave BT node may optionally synchronize itself to a Master BT node, using the timing and location information transmitted from the Master BT node, and combining it with its own location information. (5) The time interval between each transmitted pulse is the same amongst all BT nodes. 
   According to other embodiments of the present invention, each BT-node may emit an Identity Pulse Signal at N times per minute (where N is some predetermined integer that is consistent across all BTs). This signal is comprised of the BT&#39;s Pulse, its specific identity (BT Node Identifier), and the BT node&#39;s location. 
   An important characteristic of the present invention is the ability to penetrate diverse building structures where other forms of RF technology either fail, or are significantly less successful. Penetrability is enabled by two primary factors: (1) the range of frequencies normally occupied by commercial and municipal FM transmissions tend to support penetration of buildings and structures; and (2) FM technology—that is, Frequency Modulation—is better suited to penetration of buildings than most alternative FM technologies. Thus, the range of frequencies and the choice of FM technology each play a role in the selection of “appropriate” frequencies. 
   Using frequencies in the commercial or municipal range, or some other “appropriate” range of frequencies, each BT Transmitter transmits a pulse on a distinct channel whereby channels are assigned so that there is no conflict with any other BT node within the BT node&#39;s transmission range. 
   SYNCHRONIZATION—Any one of several methods may be used to synchronize BT Nodes. For example and not by way of limitation: (1) by using GPS as a timing source, each BT pulse is synchronized to the pulse emitted by the other transmitters, to within +/−“x”, where x is some number of nanoseconds; (2) a Master BT Node may send specific synchronization information directly to each Slave BT Node; or (3) each Slave BT Node may receive the transmission of the Master BT Node and adjust its own transmission timing to synchronize with the Master—this can be performed because each BT Node knows the distance between itself and the Master and can include this distance into its calculations to determine correct synchronization. 
   RELATIVE LOCATION DETERMINATION—In circumstances where BT Nodes are not synchronized, location determination may still be performed. This is because, for all RC Nodes whose locations are determined by the same (unsynchronized) BT Node transmissions, the “relative” position amongst the RC Nodes remains accurate—even though the measured positions of the RC Nodes may be incorrect. Thus, to obtain the actual locations of these RC Nodes, one need only calculate both the “actual” and the “relative” positions of one RC (or RC-like) Node, determine the difference between the actual and relative locations, and map (or “shift”) all of the RC Nodes&#39; relative locations to their “actual” locations. 
   Specifically, assuming that the BT Node transmissions are not synchronized, the actual location of each RC Node can be determined by the following method, or some variant thereof:
         (1) the RC node detects and receives FM signals from at least three BT Nodes,   (2) the RC node determines relative TDOA data for the received BT Node FM signals,   (3) the RC node obtains the RC Node&#39;s own relative location, by solving simultaneous hyperbolic equations based on the TDOA data, and   (4) the RC node sends the relative location, TDOA data, and the BT Node ID of each BT Node used in the calculation to a “Location Processor” Node.   (5) Using the same BT Nodes as were used by the RC Node(s), the Location Processor may determine its own “relative” location according to steps (1), (2), and (3) above. Then, the Location Processor may determine its own “actual” location (by accessing some form of independent location technology, such as D-GPS), and then calculate the “difference” between its own relative and actual locations.   (6) The Location Processor then uses the “difference” to map the RC Node&#39;s relative location to the RC Node&#39;s actual location.       

   TRANSMITTER NODE LOCATION—A BT node can be placed at either a fixed location, or it can be transported as a portable unit and set up ad hoc. The advantages of a portable BT node are: (1) to provide extra BT nodes in areas where the number of fixed-site BT nodes is too small for adequate location determination performance and (2) to enhance angular geometry so that 2-dimensional and 3-dimensional location fixes are more accurate. 
   APPLICATIONS—One of skill in the art will readily recognize that embodiments of the present invention may be used in a variety of applications. Although not limited to the following, two such applications are cellular telephone network location determination (such as Enhanced-911) or an emergency first-responder services scenario. 
     FIG. 5  illustrates an implementation of this invention into a CDMA/IS41 cellular telephone network. In this illustration, each of 3 BT Nodes  200  transmit an FM synchronization signal which is received by the cellular handset  800 . Because the cellular handset  800  contains an implementation of the RC Node location technology, the cellular handset  800  determines its location and transmits its location into the cellular network via the Cellular Base Station  810 . 
     FIG. 6  illustrates an implementation of this invention as a location system for emergency first-responder applications. In this illustration, each of 3 BT Nodes  200  transmits an FM synchronization signal which is received by the Portable Device  300 . Because the Portable Device  300  contains an implementation of the RC Node location technology, the portable device  300  determines its location and transmits its location to a location display CPU  100  which in turn displays a map of the location of each portable device  300 . Presumably, each emergency first-responder is carrying a portable device  300 . 
     FIG. 7  illustrates a presently preferred embodiment of the present invention. In this embodiment, a system  10  utilizes some form of FM (Frequency Modulation) transmission  220  from BT Nodes  200  (illustrated further in  FIG. 17 ), having their transmissions  220  locked (that is, synchronized) to a common time, such as GPS time or some other arbitrary time  410  and  208  and contains information describing the location of each BT Node  200 . An RC node  300  in Building  500  detects and receives the FM transmissions  220  from 3 or more BT Nodes  200 . The BT Node transmissions  220  contain information that describes the location of the BT Node, the location being derived from a high-precision location determination device (such as Differential-GPS)  420  and  209 . 
   Utilizing a common locked time amongst the transmitted signals  220 , the RC node  300  determines the Time Difference of Arrival (TDOA) of the received signals and combines this information with the location information of each BT Node  200 , and thereafter formulates and solves simultaneous hyperbolic equations to obtain the RC node&#39;s  300  location. After the RC node  300  determines its location, it may transmit the location information  310  to an Auxiliary CPU  100 , whereby the auxiliary CPU performs some form of application processing. 
     FIG. 17  illustrates a block diagram of the BT Node that is utilized for this embodiment. In  FIG. 17 , the BT Node  200  obtains precise location information about itself via a Precision Location-Determination Device  209  (such as a Differential-GPS or some other high-precision location system) and provides this location information to the Processor  207 . BT Node  200 —specifically a High-Precision Timing Source  208  device—may obtain precise timing information from some form of external high-precision timing source (such as GPS time, or some other arbitrary external time source) and provide the timing information to the Processor  207 . As depicted in  FIG. 17 , the Processor  207  uses the timing information and the BT Node&#39;s location information to build and maintain the timing and contents of the BT Node&#39;s transmission  220 . 
   The capability to generate an accurate 3-Dimensional location fix depends, in part, on the angular geometry of the BT Nodes  200  in relation to the location of the target RC Node  300  (that is, the RC node to be located). In this embodiment, the High-Precision Location Device  209  embedded in each BT Node allows the BT Node(s)  200  to be portable, because the High-Precision Location Device  209  continually updates the current location of its BT Node  200 . This means that one or more BT Nodes  200  may be transported to locations that enhance angular geometry, resulting in more precise location fixes to the target RC Node  300 . 
   In another embodiment of the present invention,  FIG. 8  illustrates a system  20  that utilizes some form of FM (Frequency Modulation) transmission  220  from BT Nodes  200 ,  201  (illustrated further in  FIG. 18 ), having their transmissions  220  locked (that is, synchronized) to a common time clock, such as a GPS time clock or some other arbitrary time clock and contains information describing the location of each BT Node  200 ,  201 . An RC node  300  in Building  500  detects and receives the FM transmissions  220  from 3 or more BT Nodes  200 ,  201 . The BT Node transmissions  220  contain information that describes the location of the BT Node, the location being derived from a high-precision location determination device (such as Differential-GPS)  420  and  209 ) 
   Utilizing a common locked time amongst the transmitted signals  220 , the RC node  300  determines the Time Difference of Arrival (TDOA) of the received signals and combines this information with the location information of each BT Node  200 ,  201 , and thereafter formulates and solves simultaneous hyperbolic equations to obtain the RC node&#39;s  300  location. After the RC node  300  determines its location, it may transmit the location information  310  to an Auxiliary CPU  100 , whereby the auxiliary CPU performs some form of application processing. 
     FIG. 18  illustrates a block diagram of the BT Node that is utilized for this embodiment of the present invention. In this illustration, the BT Node  200 ,  201  obtains precise location information about itself via a Precision Location-Determination Device  209  such as a Differential-GPS or some other high-precision location system and provides this location information to the Processor  207 . 
   Also in  FIGS. 8 and 18 , each of the BT Node Slaves  201  obtains precise timing information from its BT Node Master  200  using the Receiver  210 , locks its timing to that of the BT Node Master  200 , and provides the timing information to the Processor  207 . Each BT Node Slave  201  uses the transmission of the BT Node Master, combined with its own location to determine its synchronization with the BT Node Master  200 . As depicted in  FIG. 18 , the Processor  207  uses the timing information and the BT Node&#39;s location information to build and maintain the timing and contents of the BT Node&#39;s transmission  220 . 
   The capability to generate an accurate 3-Dimensional location fix depends, in part, on the angular geometry of the BT Nodes  200 ,  201  in relation to the location of the “object” RC Node  300  (that is, the RC node to be located). In this embodiment, the High-Precision Location Device  209  embedded in each BT Node allows the BT Node(s)  200  to be portable, because the High-Precision Location Device  209  continually updates the current location of its BT Node  200 ,  201 . This means that one or more BT Nodes  200  may be transported to locations that enhance angular geometry, resulting in more precise location fixes to the object RC Node  300 . 
   In still another embodiment of the present invention,  FIG. 9  illustrates a system  30  that utilizes some form of FM (Frequency Modulation) transmission  220  from BT Nodes  200  (illustrated further in  FIG. 19 ), having their transmissions  220  locked (that is, synchronized) to a common time clock, such as a GPS time clock or some other arbitrary time clock  410  and contains information describing the location of each BT Node  200 . An RC node  300  in Building  500  detects and receives the FM transmissions  220  from 3 or more BT Nodes  200 . The BT Node transmissions  220  contain information that describes the location of the BT Node, which is previously provisioned into the BT Node  200 . 
   Utilizing a common locked time amongst the transmitted signals  220 , the RC node  300  determines the Time Difference of Arrival (TDOA) of the received signals and combines this information with the location information of each BT Node  200 , and thereafter formulates and solves simultaneous hyperbolic equations to obtain the RC node&#39;s  300  location. After the RC node  300  determines its location, it may transmit the location information  310  to an Auxiliary CPU  100 , whereby the auxiliary CPU performs some form of application processing. 
     FIG. 19  illustrates a block diagram of the BT Node that is utilized for this embodiment of the present invention. In this illustration, the BT Node  200  obtains precise location information about itself as a result of manual or automated provisioning of the BT Node  200 . Also in  FIG. 19 , the BT Node  200 —specifically a High-Precision Timing Source  208  device—obtains precise timing information from some form of external high-precision timing source (such as GPS time, or some other arbitrary external time source) and provides the timing information to the Processor  207 . As depicted in  FIG. 19 , the Processor  207  uses the timing information and the BT Node&#39;s location information to build and maintain the timing and contents of the BT Node&#39;s transmission  220 . 
   In still another embodiment of the present invention,  FIG. 10  illustrates a system  40  that utilizes some form of FM (Frequency Modulation) transmission  220  from BT Nodes  200 ,  201  (illustrated further in  FIG. 20 ), having their transmissions  220  locked (that is, synchronized) to a common arbitrary time clock and contains information describing the location of each BT Node  200 ,  201 . An RC node  300  in Building  500  detects and receives the FM transmissions  220  from 3 or more BT Nodes  200 . The BT Node transmissions  220  contain information that describes the location of the BT Node, which is previously provisioned into the BT Node  200 ,  201 . 
   Utilizing a common locked time amongst the transmitted signals  220 , the RC node  300  determines the Time Difference of Arrival (TDOA) of the received signals and combines this information with the location information of each BT Node  200 ,  201 , and thereafter formulates and solves simultaneous hyperbolic equations to obtain the RC node&#39;s  300  location. After the RC node  300  determines its location, it may transmit the location information  310  to an Auxiliary CPU  100 , whereby the auxiliary CPU performs some form of application processing. 
     FIG. 20  illustrates a block diagram of the BT Node that is utilized for this embodiment of the present invention. In  FIG. 20 , the BT Node  200 ,  201  obtains precise location information about itself via information that is provisioned into the BT Node. 
   Also in  FIG. 10  and  FIG. 20 , the BT Node Slave(s)  201  obtains precise timing information from its BT Node Master  200 , and locks its timing to that of the BT Node Master  200 , and provides the timing information to the Processor  207 . Each BT Node Slave  201  uses the transmission of the BT Node Master, combined with its own location to determine its synchronization with the BT Node Master  200 . As depicted in  FIG. 20 , the Processor  207  uses the timing information and the BT Node&#39;s location information to build and maintain the timing and contents of the BT Node&#39;s transmission  220 . 
   In still another embodiment of the present invention,  FIG. 11  illustrates a system  50  that utilizes some form of FM (Frequency Modulation) transmission  220  from BT Nodes  200  (illustrated further in  FIG. 17 ), having their transmissions  220  locked (that is, synchronized) to a common time clock, such as a GPS time clock or some other arbitrary time clock  410  and contains information describing the location of each BT Node  200 . An RC node  300  in Building  500  detects and receives the FM transmissions  220  from 3 or more BT Nodes  200 . The BT Node transmissions  220  contain information that describes the location of the BT Node, the location being derived from a high-precision location determination device (such as Differential-GPS)  420  and  209 ) 
   Utilizing a common locked time amongst the transmitted signals  220 , the RC node  300  determines the Time Difference of Arrival (TDOA) of the received signals and combines this information with the location information of each BT Node  200 , and thereafter transmits  320  the TDOA and location information to the Location Processor  600 . The Location Processor  600  will determine the location of the RC Node  300  by formulating and solving simultaneous hyperbolic equations. After the location of the RC Node  300  is determined, the Location Processor  600  may transmit the location information ( 610 ) to an Auxiliary CPU  100  for subsequent application processing, or perform subsequent application processing on its own CPU  600 . 
     FIG. 17  illustrates a block diagram of the BT Node that is utilized for this embodiment of the present invention. In this illustration, the BT Node  200  obtains precise location information about itself via a Precision Location-Determination Device  209  (such as a Differential-GPS or some other high-precision location system) and provides this location information to the Processor  207 . Also in  FIG. 17 , the BT Node  200 —specifically a High-Precision Timing Source  208  device—obtains precise timing information from some form of external high-precision timing source (such as GPS time, or some other arbitrary external time source) and provides the timing information to the Processor  207 . As depicted in  FIG. 17 , the BT Node Processor  207  uses the timing information and the BT Node&#39;s location information to build and maintain the timing and contents of the BT Node&#39;s transmission  220 . 
   The capability to generate an accurate 3-D location fix depends, in part, on the angular geometry of the BT Nodes  200  in relation to the location of the “object” RC Node  300  (that is, the RC node to be located). In this embodiment, the High-Precision Location Device  209  embedded in each BT Node allows the BT Node(s)  200  to be portable, because the High-Precision Location Device  209  continually updates the current location of its BT Node  200 . This means that one or more BT Nodes  200  may be transported to locations that enhance angular-geometry, resulting in more precise location fixes to the object RC Node  300 . 
   In still another embodiment of the present invention,  FIG. 12  illustrates a system  60  that utilizes some form of FM (Frequency Modulation) transmission  220  from BT Nodes  200 ,  201  (illustrated further in  FIG. 18 ), having their transmissions  220  locked (that is, synchronized) to a common time clock, such as a GPS time clock or some other arbitrary time clock and contains information describing the location of each BT Node  200 ,  201 . An RC node  300  in Building  500  detects and receives the FM transmissions  220  from 3 or more BT Nodes  200 ,  201 . The BT Node transmissions  220  contain information that describes the location of the BT Node, the location being derived from a high-precision location determination device (such as Differential-GPS)  420  and  209 ) 
   Utilizing a common locked time amongst the transmitted signals  220 , the RC node  300  determines the Time Difference of Arrival (TDOA) of the received signals and combines this information with the location information of each BT Node  200 ,  201 , and thereafter transmits  320  the TDOA and location information to the Location Processor  600 . The Location Processor  600  will determine the location of the RC Node  300  by formulating and solving simultaneous hyperbolic equations. After the location of the RC Node  300  is determined, the Location Processor  600  may transmit the location information ( 610 ) to an Auxiliary CPU  100  for subsequent application processing, or perform subsequent application processing on its own CPU  600 . 
     FIG. 18  illustrates a block diagram of the BT Node that is utilized for this embodiment of the present invention. In this illustration, the BT Node  200 ,  201  obtains precise location information about itself via a Precision Location-Determination Device  209  (such as a Differential-GPS or some other high-precision location system) and provides this location information to the Processor  207 . 
   Also in  FIG. 12  and  FIG. 18 , the BT Node Slave(s)  201  obtains precise timing information from its BT Node Master  200 , and locks its timing to that of the BT Node Master  200 , and provides the timing information to the Processor  207 . The BT Node Slave  201  uses the transmission of the BT Node Master, combined with its own location to determine its synchronization with the BT Node Master  200 . As depicted in  FIG. 18 , the BT Node&#39;s Processor  207  uses the timing information and the BT Node&#39;s location information to build and maintain the timing and contents of the BT Node&#39;s transmission  220 . 
   The capability to generate an accurate 3-D location fix depends, in part, on the angular geometry of the BT Nodes  200 ,  201  in relation to the location of the “object” RC Node  300  (that is, the RC node to be located). In this embodiment, the High-Precision Location Device  209  embedded in each BT Node allows the BT Node(s)  200  to be portable, because the High-Precision Location Device  209  continually updates the current location of its BT Node  200 ,  201 . This means that one or more BT Nodes  200  may be transported to locations that enhance angular geometry, resulting in more precise location fixes to the object RC Node  300 . 
   In still another embodiment of the present invention,  FIG. 13  illustrates a system  70  that utilizes some form of FM (Frequency Modulation) transmission  220  from BT Nodes  200  (illustrated further in  FIG. 19 ), having their transmissions  220  locked (that is, synchronized) to a common time clock, such as a GPS time clock or some other arbitrary time clock  410  and contains information describing the location of each BT Node  200 . An RC node  300  in Building  500  detects and receives the FM transmissions  220  from 3 or more BT Nodes  200 . The BT Node transmissions  220  contain information that describes the location of the BT Node, which is previously provisioned into the BT Node  200 . 
   Utilizing a common locked time amongst the transmitted signals  220 , the RC node  300  determines the Time Difference of Arrival (TDOA) of the received signals and combines this information with the location information of each BT Node  200 , and thereafter transmits  320  the TDOA and location information to the Location Processor  600 . The Location Processor  600  will determine the location of the RC Node  300  by formulating and solving simultaneous hyperbolic equations. After the location of the RC Node  300  is determined, the Location Processor  600  may transmit the location information ( 610 ) to an Auxiliary CPU  100  for subsequent application processing, or perform subsequent application processing on its own CPU  600 . 
     FIG. 19  illustrates a block diagram of the BT Node that is utilized for this embodiment of the present invention. In  FIG. 19 , the BT Node  200  obtains precise location information about itself as a result of previous provisioning of the BT Node  200 . Also in  FIG. 19 , the BT Node  200 —specifically a High-Precision Timing Source  208  device—obtains precise timing information from some form of external high-precision timing source (such as GPS time, or some other arbitrary external time source) and provides the timing information to the Processor  207 . As depicted in  FIG. 19 , the Processor  207  uses the timing information and the BT Node&#39;s location information to build and maintain the timing and contents of the BT Node&#39;s transmission  220 . 
   In still another embodiment of the present invention,  FIG. 14  illustrates a system  80  that utilizes some form of FM (Frequency Modulation) transmission  220  from BT Nodes  200 ,  201  (illustrated further in  FIG. 20 ), having their transmissions  220  locked (that is, synchronized) to a common time clock, such as some arbitrary time clock and contains information describing the location of each BT Node  200 ,  201 . An RC node  300  in Building  500  detects and receives the FM transmissions  220  from 3 or more BT Nodes  200 . The BT Node transmissions  220  contain information that describes the location of the BT Node, which is previously provisioned into the BT Node  200 . 
   Utilizing a common locked time amongst the transmitted signals  220 , the RC node  300  determines the Time Difference of Arrival (TDOA) of the received signals and combines this information with the location information of each BT Node  200 ,  201 , and thereafter transmits  320  the TDOA and location information to the Location Processor  600 . The Location Processor  600  will determine the location of the RC Node  300  by formulating and solving simultaneous hyperbolic equations. After the location of the RC Node  300  is determined, the Location Processor  600  may transmit the location information ( 610 ) to an Auxiliary CPU  100  for subsequent application processing, or perform subsequent application processing on its own CPU  600 . 
     FIG. 20  illustrates a block diagram of the BT Node that is utilized for this embodiment of the present invention. In  FIG. 20 , the BT Node  200 ,  201  obtains precise location information about itself via information that is previously provisioned into the BT Node  200 ,  201 . 
   Also in  FIG. 14  and  FIG. 20 , each BT Node Slave  201  obtains precise timing information from its BT Node Master  200 , and locks its timing to that of the BT Node Master  200 , and provides the timing information to the Processor  207 . Each BT Node Slave  201  uses the transmission of the BT Node Master, combined with its own location to determine its synchronization with the BT Node Master  200 . As depicted in  FIG. 20 , the Processor  207  uses the timing information and the BT Node&#39;s location information to build and maintain the timing and contents of the BT Node&#39;s transmission  220 . 
   In still another embodiment of the present invention,  FIG. 15  illustrates a system  90  that utilizes some form of FM (Frequency Modulation) transmission  220  from BT Nodes  200  (illustrated further in  FIG. 17 ), having their transmissions  220  not locked (that is, not synchronized) to any common time clock, having the time interval between each pulse the same amongst all of the BT Nodes  200 , and contains information describing the location of each BT Node  200 . One or more RC nodes  300 ,  301  each detects and receives the FM transmissions  220  from the same 3 or more BT Nodes  200 . The BT Node transmissions  220  contain information that describes the location of the BT Node  200 , the location being derived from a high-precision location determination device (such as Differential-GPS)  209  or from information previously provisioned into each BT Node  200 . 
     FIG. 25  is a flow chart of a method embodiment for relative position location determination according to the present invention. The method includes the following: processing as though a common locked time exists amongst the transmitted signals  220 , each RC node  300 ,  301 , etc. determines the Time Difference of Arrival (TDOA) of the received signals and combines this information with the location information of each BT Node  200 , and thereafter transmits  320  the TDOA and location information to the Location Processor  600  (illustrated further in  FIG. 22 ). Using the BT Node location information and the TDOA information, the Location Processor  600  will determine the “relative” location of each RC Node  300  by formulating and solving simultaneous hyperbolic equations. As an alternative, each RC node  300 ,  301 , etc. may determine its own relative location, and transmit its relative location along with the location of each BT Node  200  that was used in the calculation to the Location Processor  600 . 
   After the relative location of each RC Node  300 ,  301 , etc. is determined, the Location Processor will determine its own relative location in the following manner: Processing as though a common locked time exists amongst the transmitted signals  220  from the same three or more BT nodes, the Location Processor  600  determines the TDOA of the received signals and combines this information with the location information of each BT Node  200 . Then, by formulating and solving simultaneous hyperbolic equations, the Location Processor  600  may determine the relative location of the Location Processor  600 , itself. 
   After the relative location of the Location Processor  600  has been determined, the Location Processor  600  will access the attached high-precision location device ( 610 ), determine the “difference” between its own relative location and actual location, and use this measured “difference” to map the relative RC Node  300 ,  301 , etc. locations to corresponding actual locations. Upon completion of these location calculations, the Location Processor  600  may transmit the location information  610  to an Auxiliary CPU  100  for subsequent application processing, or perform subsequent application processing on its own CPU  600 . 
   In still another embodiment of the present invention,  FIG. 16  illustrates a system  95  that utilizes some form of FM (Frequency Modulation) transmission  220  from BT Nodes  200  (illustrated further in  FIG. 17 ), having their transmissions  220  not locked (that is, not synchronized) to any arbitrary common time clock, having the same time interval between each pulse amongst all of the BT Nodes  200 , and contains information describing the location of each BT Node  200 . Each RC node  300 ,  301 , etc. detects and receives the FM transmissions  220  from three or more (not necessarily the same) BT Nodes  200 . The BT Node transmissions  220  contain information that describes the location of the BT Node, the location being derived from a high-precision location determination device (such as Differential-GPS)  209  or from information previously provisioned into each BT Node  200 . 
     FIG. 26  is a flow chart of another method embodiment of the present invention for relative location determination. The method includes the following: processing as though a common locked time exists amongst the transmitted signals  220 , each RC node  300  determines the Time Difference of Arrival (TDOA) of the received signals and combines this information with the location information of each corresponding BT Node  200 , and thereafter transmits  320  the TDOA and BT Node location information to the Location Processor  600 . Using the BT Node location information and the TDOA information, the Location Processor  600  will separately determine the “relative” location of each RC Node  300  by formulating and solving simultaneous hyperbolic equations for each RC Node  300 . 
   In an alternative embodiment, each RC node may determine its own relative location, by formulating and solving simultaneous hyperbolic equations. Once the RC Node  300 ,  301 , etc. relative location is determined, the RC Node  300 ,  301 , etc. transmits its relative location with corresponding BT Node location information to the Location Processor  600 . 
   After the relative location of each RC Node  300 ,  301 , etc is determined, the Location Processor  600  will determine the actual location of each RC Node, in turn, in the following manner: The Location Processor  600  determines its own relative location by using the same BT Node  200  transmissions that were used by the target RC Node  300 ,  301 , etc): Processing as though a common locked time exists amongst the transmitted signals  220 , the Location Processor determines the TDOA of the received signals and combines this information with the location information of each BT Node  200 . Then, by formulating and solving simultaneous hyperbolic equations, the Location Processor  600  will determine the relative location of the Location Processor  600 , itself. 
   After the relative location of the Location Processor  600  has been determined, the Location Processor  600  will access the attached high-precision location device  610  and obtain the Location Processor&#39;s  600  actual location, determine the “difference” between its own relative location and actual location, and use this measured difference to map the relative RC Node  300 ,  301 , etc. location to the RC node&#39;s  300 ,  301 , etc. corresponding actual location. Upon completion of these location calculations, the Location Processor  600  may transmit the location information  610  to an Auxiliary CPU  100  for subsequent application processing, or perform subsequent application processing on its own CPU  600 . 
     FIG. 23  illustrates a diagram for an embodiment of a method for locating an object. This embodiment of the method utilizes some form of FM (Frequency Modulation) transmission  220  from 3 or more BT Nodes  200 , having their transmissions  220  locked (that is, synchronized) to a common time clock, such as a GPS time clock or some other arbitrary time clock and contains information describing the location of each BT Node  200 . An RC node  300  in Building  500  detects and receives the FM transmissions  220  from 3 or more BT Nodes  200 . Utilizing a common locked time amongst the transmitted signals  220 , the RC node  300  determines the Time Difference of Arrival (TDOA) of the received signals and combines this information with the location information of each BT Node  200 , and thereafter calculates its location. 
     FIG. 24  is a flow chart of an embodiment of a method ( 2400 ) for locating an object according to the present invention. Method ( 2400 ) may include transmitting ( 2402 ) a frequency modulated (FM) signal from each of at least three transmitters, each of the FM signals comprising location information associated with its associated transmitter and synchronized timing information from a single clock. Method ( 2400 ) may further include receiving ( 2404 ) the transmitted FM signals at the object and calculating ( 2406 ) the location of the object from the received FM signals. 
   According to another embodiment of method  2400 , the location information may include global positioning satellite (GPS) location information. According to yet another embodiment of method  2400 , the timing information may be global positioning satellite (GPS) clock timing information. According to still another embodiment of method  2400 , each of the FM signals further include a unique identifier associated with its associated transmitter. According to still other embodiments of method  2400 , calculating  2406  may include calculating a time difference of arrival (TDOA) for each of the received FM signals, formulating a hyperbolic equation for each pair of the received FM signals to obtain a set of hyperbolic equations and solving the set of hyperbolic equations with the TDOA for each of the FM signals to determine the location of the object. 
   CONCLUSION 
   The present invention will provide highly-accurate and timely location information on a variety of electronic devices and in a variety of environments and applications. Further, the invention is specified to adapt to various environments, thus providing the necessary angular geometry to obtain highly-accurate indoor and outdoor location fixes. 
   Specific embodiments have been shown by way of example in the drawings and have been described in detail herein, however the invention may be susceptible to additional various modifications and alternative forms and embodiments. It should be understood that the invention is not intended to be limited to the particular forms disclosed. Rather, the invention includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the following appended claims.