Direction indicating apparatus and method

Claim 2

A portable direction indicating apparatus comprising: input means for receiving information determinative of a heading a user desires to be indicated; an indicator for indicating the desired heading; a geolocation receiver for providing code pseudorange and carrier phase information and having an antenna; a memory for storing at least, the information determinative of the desired heading and forecasted carrier phase information; and computation means coupled to the input means, indicator, geolocation receiver and the memory for, (a) while the antenna is in one or more known positions, determining current carrier phase and forecasted carrier phase, (b) while the antenna is moving in a substantially closed path, determining phase differences between the forecasted carrier phase and the current carrier phase, and (c) actuating the indicator to identify when the location of the antenna in the approximately closed path corresponds to the desired heading to be indicated.

Claim 3

The apparatus of claim 1 wherein step (c) comprises determining antenna location perturbations based on the differences between the forecasted carrier phase and actual carrier phase.

Claim 4

The apparatus of claim 2 wherein the step of determining antenna location perturbations comprises determining location perturbations at least in a direction parallel to the desired heading to be indicated.

Claim 5

The apparatus of claim 3 wherein the actuating step comprises actuating the indicator based on the location perturbations in the direction parallel to the desired heading to be indicated.

Claim 6

The apparatus of claim 1 wherein the computation means comprises: means for determining directional vectors at the initial position between the geolocation receiver and geolocation satellites; and means for resolving the phase differences into vectors parallel to and normal to the desired heading.

Claim 7

The apparatus of claim 1 wherein the computation means comprises means for resolving the phase differences into first location differences when the antenna is moving along the desired heading or second location differences when the antenna is moving along a normal to the desired heading or both.

Claim 8

The apparatus of claim 6 wherein the computation means comprises means for actuating the indicator when the first or second location differences reach a maximum or minimum or change sign.

Claim 9

A heading indicating device comprising: a GPS apparatus having an antenna for receiving geolocation signals from multiple GPS satellites, said GPS apparatus including a computation means for computing location and current heading, a memory means for storing information and program instructions, an input means for receiving information sufficient to determine a heading desired to be indicated and an indicator means for indicating the direction of the heading desired to be indicated, said computation, memory, input and indicator means being coupled together, wherein said GPS apparatus is acted upon by said program instructions to, (i) determine GPS signal carrier phase Φ mk (t) at predetermined time epochs t=1,2, . . . , N for signals from k=1,2, . . . , K satellites, and based thereon, forecast GPS signal carrier phase Φ pk (t) at predetermined time epochs t>N, and (ii) while the antenna is moving in a substantially closed path, determine phase differences ΔΦ k (t)=Φ mk (t)-Φ pk (t) for t>N, (iii) derive from the phase differences ΔΦ k (t), positional perturbations parallel to or normal to the desired heading or both, and (iv) actuate the indicator when at least one of the positional perturbations is a maximum or a minimum or changes sign.

Claim 10

A heading indicating device comprising: a GPS apparatus having an antenna for receiving geolocation signals from multiple GPS satellites, said GPS apparatus including a computation means for computing location and current heading, a memory means for storing information and program instructions, an input means for receiving information sufficient to determine a heading desired to be indicated and an indicator means for indicating the direction of the heading desired to be indicated, said computation, memory, input and indicator means being coupled together, wherein said GPS apparatus is acted upon by said program instructions to, (i) determine GPS signal carrier phase Φ mk (t) at predetermined time epochs t=1,2, . . . , N for signals from k=1,2, . . . , K satellites, and based thereon, forecast GPS signal carrier phase Φ pk (t) at predetermined time epochs t>N, and (ii) while the antenna is moving in a substantially closed path, determine phase differences ΔΦ k (t)=Φ mk (t)-Φ pk (t) for t>N, (iii) derive from the phase differences ΔΦ k (t), positional perturbations parallel to or normal to the desired heading or both, and (iv) actuate the indicator when at least one of the positional perturbations is a maximum or a minimum or changes sign.

Claim 11

The device of claim 8, further comprising motorized means for moving the antenna in said substantially closed path.

Claim 14

The method of claim 10 wherein step (c) comprises determining antenna location perturbations based on the differences between the forecasted carrier phase and the now current carrier phase.

Claim 15

The method of claim 11 wherein the step of determining the location perturbations comprises determining location perturbations at least in a direction parallel to the heading desired to be indicated.

Claim 16

The method of claim 12 wherein the actuating step comprises actuating the indicator based on a maximum of the location perturbations in the direction parallel to the heading desired to be indicated.

Claim 17

The method of claim 10 further comprising, prior to the actuating step, determining unit vector directions from the antenna to geolocation satellites from which the antenna is receiving signals.

Claim 18

The method of claim 14 further comprising determining a unit heading vector in the direction of the heading desired to be indicated.

Claim 19

The method of claim 15 further comprising determining positional differences along and normal to the unit heading vector based on the phase differences.

Claim 22

The method of claim 17 wherein step (iii) comprises, determining a vector corresponding to the heading desired to be indicated and then resolving the positional perturbations into scalar factors related to magnitudes of phase perturbations along and normal to the desired heading.

Claim 23

The method of claim 18 wherein the step of deriving positional perturbations comprises determining prior thereto, vectors corresponding to directions from the antenna to the satellites k=1,2, . . . , K.

Claim 24

The method of claim 19 wherein step (ii) takes place while the antenna is moved in a substantially closed path by rotation around a pivot or motor spindle.