LORAN-C navigation apparatus

Abstract

LORAN-C navigation apparatus is disclosed wherein digital circuitry and a microprocessor is are used to automatically identify LORAN transmitting stations and makes make standard hyberbolic navigation measurements. The equipment operator manually enters the group repetition rate into the apparatus for a LORAN-C chain covering the area within which the navigation apparatus is being operated. Initially, the apparatus searches all incoming signals as they are received until signals from a master station are received regularly at the stored group repetition rate. The apparatus then closely determines the time of arrival of signals from the secondary stations of the selected LORAN-C chain before changing to a fine search mode in which the exact time of arrival of the secondary station signals is determined; the phase code of the received signals is checked to determine if the received signal is a ground or sky wave, and a determination is made if there is a defective secondary station blink code. The time difference of arrival measurements are then output visually to be plotted in a well known manner on a LORAN-C chart to locate the position of the craft upon which the apparatus is located.

Description

This is a continuation of application Ser. No. 842,706, filed Oct. 17, 1977, now abandoned.

FIELD OF THE INVENTION

This invention relates to navigational equipment and more particularly to hyperbolic navigational equipment utilizing the time difference in the propagation of radio frequency pulses from synchronized ground transmitting stations.

BACKGROUND OF THE INVENTION

Throughout maritime history navigators have sought an accurate reliable method of determining their position on the surface of the earth and many instruments such as the sextant were devised. During the second world war, a long range radio-navigation system, LORAN-A, was developed and was implemented under the auspices of the U.S. Coast Guard to fulfill wartime operational needs. At the end of the war there were seventy LORAN-A transmitting stations in existence and all commercial ships, having been equipped with LORAN-A receivers for wartime service, continued to use this navigational system. This navigational system served its purpose but shortcomings therein were overcome by a new navigational system called LORAN-C.

Presently, there are eight LORAN-C multi-station transmitting chains in operation chainschain of the binary 1's output from limiter 20 corresponds to a spurious signal pulse or to each one of the pulses in the pulse trains from master and secondary stations. These pulses binary signals are applied to smart shift register 3 which is shown in block diagram form in FIG. 5, but is shown in detail in FIG. 8 and will be described in detail further in this specification.

Smart shift register 3 is made up of ten serially connected shift registers, all of which are clocked or shifted at the same period as the pulses from master and secondary LORAN-C stations are received and logic gates. This is a one-thousand microsecond period as shown in FIG. 3. These ten shift registers store a window time sample of received signals which are analyzed to determine if the signal stored in the shift registers represents a pulse train from a LORAN-C master or secondary station. Due to the clocking the sample moves in time. The logic gates connected to various stages of shift registers provide outputs that are used to analyze the signals temporarily stored in the register to determine if received signals are from a master or secondary station and to determine if the received signals have what the U.S. Coast Guard refers to as group repetition interval A or B phase coding. These phase codes are well known to those skilled in the art. Upon smart shift register 3 determining that a pulse train has been received from a master or secondary station the internal logic gates, which are described in greater detail further in the specification, apply an output signal on one of leads MA, MB, SA, or SB, indicating if the signals are from a master or secondary station and the particular phase coding thereof. A signal indication that the received signals are from either a master of a secondary station is stored in latch 21. In addition, the last named signal output from register 3 is applied via OR gate 22 to the SET input of R/S flip-flop 23 to place this flip-flop in its set state with its 1 output high indicating that a pulse train from either a master or secondary station has been received. The 1 output of R/S flip-flop 23 is applied via OR gate 24 to latch 5. More particularly, this output signal from flip-flop 23 is applied to the clock input CK of latch 5 and causes the latch to store the contents of BCD counter 26 in clock/counter 7 at the moment in time that it is determined that signals have been received from the master or secondary station as indicated by the signal at input CK. The sored stored count is indicative of the real time at which the pulse train was received. As previously briefly described, the contents stored in latch 5 are applied to multiplexer 8 in FIG. 6 to thereafter be input to microprocessor 9.

Multiplexer 8 in FIG. 6 is required to input signals to microprocessor 9 in FIG. 7 due to the limited number of input terminals to microprocessor 9 and the large number of leads over which signals must be applied to the microprocessor. Multiplexer 8 accomplishes this task utilizing time division multiplexing techniques. Integrated circuit multiplexers are available on the market, but may also be made up of a plurality of two input logic AND gates, one input of each of which is connected to the leads on which are the signals to be multiplexed, and the other input of each of which is connected to a clock and counter arrangement which causes ones or groups of the logic gates to have their other inputs sequentially energized in a cyclic manner. In this embodiment of my invention multiplexer 8 comprises Texas Instrument TI74151 multiplexers.

It can be seen in FIG. 6 that there are inputs to multiplexer 8 from logic circuit 4, latch 5, clock/counter 7, thumbwheel switches 11, 61 and 62, logic circuit 16 and microprocessor 9. The signals input to multiplexer 8 from microprocessor 9 on leads 40 are used to control the operation of multiplexer 8.

The contents of BCD counter 26 which are stored in latch 5 in response to the receipt of a pulse train from a master or secondary station are applied via multiplexer 8 to microprocessor 9 and indicate to the microprocessor the time of receipt of a valid pulse train from a master or secondary station.

Following microprocessor 9 receiving the contents of latch 5 via multiplexer 8, indicating the time of receipt of a pulse train from a master or a secondary station, the microprocessor outputs a signal on LATCH RESET which is applied to reset latch 21 and clear the information stored therein in preparation of storing a subsequent master or secondary station indication. In addition, the CATCH RESET is applied via OR gate 60 to place flip-flop 23 in its reset state.

As signals being input to microprocessor 9 from latch 5 will represent the receipt of master and secondary station signals from more than one LORAN-C station chain, microprocessor 9 requires an input from the equipment operator using thumbwheel switches 11 to indicate a particular LORAN-C chain of interest. The operator first consults a LORAN-C hydrographic chart published by the U.S. Coast Guard and finds the group repetition interval (GRI) for the LORAN-C station chain of interest. Using the four switches 11 the operator enters the repetition rate or GRI.

As previously described, latch 5 is used to store the count present in BCD counter 25 each time a pulse train from a master or secondary station is detected by smart shift register 3. At the same time, the information stored in latch 21 is also applied to microprocessor 9 via multiplexer 8 to indicate the signal is from a master or secondary station and the phase coding thereof. In the previously mentioned initial coarse search mode microprocessor 9 analyzes master and secondary station information being input thereto via latch 5 to determine which indication represent signals from the stations of the selected LORAN-C chain. Microprocessor 9 stores the time signal reception of the pulse trains from all master and secondary stations as indicated by the counts stored in latch 5 until it has definitely located and locked onto the selected stations and can therefore calculate the time of arrival of subsequent pulse chains therefrom.

The microprocessor is programmed to create twenty bins or slots each corresponding to one of twenty sequential time periods of approximately twelve hundred microseconds duration each. The count stored in latch 5 when logic circuit 4 indicates a pulse train has been received from a master or secondary station causes a count to be stored internal to microprocessor 9 in the corresponding one of the twenty slots or bins. The microprocessor 9 is programmed to store the counts stored in these twenty bins, which make up a histogram to determine which bins contain counts indicating receipt of master and secondary station pulse trains at the correct GRI.

Once microprocessor 9 is consistently receiving signals from the master station of the selected LORAN-C chain, it causes a front panel light designated "M" to be lit indicating that the receiver has locked onto the correct master station signals. As microprocessor 9 locates each secondary station associated with the selected LORAN-C chain, it causes a corresponding front panel light "51", "52", "53" and "54" to be lit as each secondary station is locked onto. This indicates to the operator which secondary stations are acceptable to use to make LORAN-C measurements. Microprocessor 9 then takes only the ones of the twenty histogram bins in which the selected chain master and secondary station signal counts are stored and subdivides each of these bins into one-hundred bins corresponding to sequential time slots of twelve microseconds duration each. The process just described is repeated for the shorter duration histogram bins created in memory internal to microprocessor 9 to more closely determine the time of arrival or receipt of the pulse trains from the secondary stations of the selected LORAN-C chain. When the above histogram processing has been accomplished to determine the time of receipt of master and secondary station pulse trains within twelve microseconds accuracy, microprocessor 9 generates an enable timing signal which causes the equipment to switch from the coarse search mode to a fine search mode to accurately make the LORAN-C time difference measurements as is described further in this specification.

To place the equipment in the fine search mode, microprocessor 9 outputs a signal on its output COARSE DISABLE. The last named signal is applied via OR gate 60 to the reset input R of flip-flop 23 which prevents signals from register 3 being applied to the set input S and placing flip-flop 23 in its set or one state. Microprocessor 9 also applies a signal to its FINE ENABLE output causing the equipment to go into the fine search mode wherein the time of arrival of subsequently received signals is accurately made and a readout is provided on display 12.

More particularly, the FINE ENABLE signal is applied to comparator 14 in FIG. 7 to enable same. One of the two inputs to comparator 14 is the output from BCD counter 25 in clock 7 on lead REAL TIME. The other input to comparator 14 is a number stored in latch 15 and this number is calculated by microprocessor 9 as is now described. Once microprocessor 9 determines the time of arrival of the signal trains from the master and secondary stations of the selected chain in the coarse search mode, and then switches to the fine search mode, it calculates the time of arrival of the subsequent pulse trains of the master and secondary stations from the secondary or fine (12 microsecond) histogram. Using the fine histogram, microprocessor 9 actually calculates a time 35 microseconds prior to the expected time of arrival of a subsequent master or secondary pulse train and loads this information into latch 15 over lead PRE-TIME under the control of another microprocessor generated signal on the CONTROL input. Comparator 14 compares the signal from clock 7 with the number stored in latch 15 and upon there being a match between these two digit numbers, there is an output from comparator 14 which places flip-flop 30 in logic circuit 16 into its set or one state. The one output of the flip-flop 30 is connected to the reset input R of counter 31 and to one of the two inputs or OR gate 32. Being in its one state the output of flip-flop 30 is high and this is applied via OR gate 32 to the set input S of flip-flop 33 which is thereby placed in its set state with its one output high.

The high one output of flip-flop 30 being supplied to reset input R of counter 31 causes this counter to reset to zero. Once reset to zero, counter 31 counts to a count of 8, stops counting and causes its TC output to go high. The TC output of counter 31 is applied to the reset input R of counter 34 which is disabled from counting once counter 31 reaches a count of eight and is thereby disabled from counting. This occurs because flip-flop 30 being placed in its set state with its one output high enables counter 31 to count by resetting it to zero whereby its TC output goes to zero, thereby removing the signal to the reset input R of counter 34. Counter 34, which is reset to zero count, is thereby enabled to count in response to the 1 MHz signal being input to its clock input CK. Counter 34 is different than counter 31 in that it counts up to its maximum count of 10,000 and then resets itself to zero to recount to 10,000 again and again. Because of counter 34 counting and recounting to 10,000, its output TC has a signal thereat which occurs at a 1,000 microsecond rate due to the dividing action by counter 34 of the 1 MHz signal at its CK input. Thus, counter 34 is providing output signals at the same rate that each of the pulses are being received in the pulse trains from the master and secondary stations. The TC output of counter 34 is applied to the second input of OR gate 32 and is also applied to the clocking input CK of counter 31. This causes the count in counter 31 to be increment incremented by one each time counter 34 counts to 10,000. Thus, at the end of 8,000 microseconds counter 31 will have reached its full count and its output TC is high which, being applied to the reset input R of counter 34, causes counter 34 to be reset to zero and to cease counting. Counter 31 will not be reset to zero until flip-flop 30 is returned to its reset state with its one output low. This happens when output TC goes high, which being connected to reset input R to flip-flop 30, causes it to be reset to its zero state. This removes the high input to reset input R of counter 31, leaving the counter at its full count with its output TC high.

One of the purposes for the timing function accomplished by counters 31 and 34 is to check the phase coding of the pulse trains being received from the selected master and secondary stations. Upon microprocessor 9 changing over the receiver to the fine search mode, the microprocessor parallel loads the phase coding for the first eight pulses of the master and secondary station pulse trains of the selected LORAN-C chain into parallel/serial converter 35 of logic circuit 16. Converter 35 is a conventional shift register well-known in the art which may be loaded in parallel and then shifted out in serial to perform parallel to serial conversion. As is well known in the art, each of the pulses of the pulse trains received from master station and secondary stations has a particular phase coding. The phase coding is stored in microprocessor 9 and is selected by information input to the equipment by the operator using thumbwheel switches 11. It can be seen that the clocking input CK to converter 35 is the same 1,000 microsecond signal output from counter 34. Thus, the contents of converter 35 are serially shifted out at its output Q at a 1,000 microsecond rate. It should be noted that the output Q of converter 35 is connected to one of the two inputs of exclusive OR gate 36 in zero crossing detector 6. Exclusive OR gate 36 functions as an inverter in this case in a manner known to circuit designers. When a particular one of the pulses of the pulse trains received from a master or secondary station is of a positive phase there is no signal or a zero on output Q from converter 35 if the phase codes match. The result is that each radio frequency cycle of the particular pulse which is hard limited by limiter 17 will pass directly through exclusive OR gate 36 to flip-flop 37 unchanged. Upon the expected receipt of each particular pulse of the pulse trains from the master and secondary stations which are to be of a negative phase, converter 35 will have shifted its contents such its output Q will be high or a one. This high input applied to the second input of exclusive OR gate 36 causes OR gate 36 to invert the phase of the pulse output from limiter 17. That is, the signal being input to detector 6 is effectively shifted 180° thereby eliminating the negative phase coding applied to the particular pulse. This is done in order that there will be an output from exclusive OR gate 36 to place flip-flop 37 in its set state at exactly the beginning of each pulse of the pulse trains from the master and secondary stations.

Fiip-flop 37 in detector 6 being placed in its set state with its one output high as described heretofore, causes latch 5 to store the contents of counter 26 at that particular moment in time. Microprocessor 9 thereby receives a time indication of the beginning of each radio frequency cycle of each of the pulses and this information is used to make the required time difference of arrival measurements which are the basis or of the LORAN-C system. Flip-flop 37 is returned to its reset state before the beginning of the first cycle of a subsequent pulse received from a master or secondary station by the LATCH RESET signal as described heretofore.

Microprocessor 9 determines the estimated time of arrival of the third cycle positive zero crossing of each of the pulses of the next to be received pulse train from the selected master and secondary stations. Microprocessor 9 then substracts 35 microseconds from this time which results in a time that should occur five microseconds before the beginning of the first radio frequency cycle of each pulse of the master and secondary station pulse trains. This point in time occuring 5 microseconds before the beginning of each pulse of the pulse trains is output from microprocessor 9 on its output leads PRE-TIME and is input to latch 15 under control of signals from the microprocessor on the input CONTROL. The contents of latch 15 are applied to comparator 14 which is enabled by the microprocessor energizing input E upon the equipment being placed in the fine search mode. It should be noted that comparator 14 also has an input thereto designated REAL TIME, which is the lock output from BCD counter 26 of clock/counter 7 in FIG. 5. Upon there being a match of the two inputs to the comparator 14, there is an output therefrom which places flip-flop 30 in logic circuit 16 into its set state and its one output goes high. As mentioned heretofore, this enables counters 31 and 34 to commence counting as previously described. The one output of flip-flop 30 is also coupled by an OR gate 32 to the set input S of flip-flop 33 to place this flip-flop in its set state with its one output high. As seen in FIG. 6, the one output of flip-flop 33 is connected to the reset inputs of counters 38, 39 and 41, and to the clocking input CK of flip-flop 42, all in logic circuit 16. The purpose of these last listed circuit elements is to help microprocessor 9 analyze each received pulse of the pulse trains from the master and secondary stations to accurately determine the time of arrival of the third cycle positive zero crossing of each pulse.

It can be seen that the clocking input CK to each of counters, 38, 39 and 41 is driven by a clock signal on lead CLK. The source of this clocking signal is the 10 megahertz clock 45 in clock/counter 7 in FIG. 5. Flip-flop 33 being placed in its one state energizes the reset input R of each of counters 38, 39 and 41, thereby resetting these counters to zero and enabling these counters to commence counting. As can be seen in FIG. 6, counter 38 is designated a 30 microsecond counter. This means it counts and provides a signal at its output TC 30 microseconds after this counter is enabled to count. Similarly, counter 39 has an output signal on output TC 2.5 microseconds after this counter is enabled to count. Also, counter 41 has an output signal at output TC 12.5 microseconds after this counter is enabled to count. Thus, 2.5 microseconds after comparator 14 caused flip-flop 30 to be placed in its set state, which thereby causes flip-flop 33 to be placed in its set state, there is an output from counter 39 to the clocking input CK of flip-flop 43 of logic circuit 16. The output TC of counter 39 remains high until its reset input R is deenergized. Similarly, 12.5 microseconds after counter 41 is enabled by resetting there is an output therefrom to the clocking input CK of flip-flop 44. Flip-flop 43 is a D type flip-flop which will store whatever signal is present at its D input upon its clocking input CK being energized. It should be noted that the D input of flip-flop 43, as well as the D input of flip-flops 42 and 44 is obtained from the output of exclusive OR gate 36 in zero-crossing detector 6 in FIG. 5. The output of OR gate 36 is a square wave pulse corresponding to each radio frequency cycle of each pulse of the pulse trains received from the master and secondary LORAN-C stations and also inverted to account for phase coding as previously described.

Counter 39 will time out and cause the clocking input CK of flip-flop 43 to go high at a point in time 32.5 microseconds before the expected arrival of the third cycle positive zero crossing of each pulse. It should be noted that this 32.5 microsecond point occurs 2.5 microseconds before the first cycle of each pulse. At that point in time only noise should be received by the LORAN-C equipment and, more particularly, only noise of a frequency that falls within the 10 kilohertz bandwidth of filter 1. Statistically noise pulses applied to the D input of flip-flop 43 will occur as often as they do not occur. Thus, counter 39 energizing clocking input CK of flip-flop 43 will cause this flip-flop to store either zero's or one's on a proportionally equal basis if the microprocessor 9 has accurately determined the third cycle positive zero crossing and the output signal from counter 39 does occur prior to the beginning of each pulse. The Q output of flip-flop 43, as well as the Q outputs of flip-flops 42 and 44, are coupled via multiplexer 8 to microprocessor 9 as can be seen in FIGS. 6 and 7. Microprocessor 9 receives and stores the output of flip-flop 43 for a total of 2,000 samples and is programmed to average these samples received from flip-flop 43. There will be approximately an equal number of zero's and one's received therefrom if the input to the D input of flip-flop 43 is received prior to any pulse of the pulse trains from the master and secondary stations.

Counter 41 completes its count 12.5 microseconds after it is enabled by the output signal from comparator 14 as previously described. The output from counter 41 occurs 7.5 microseconds after the beginning of the first cycle of each pulse of the pulse trains if microprocessor 9 has accurately determined the position of the third cycle positive zero crossing of each pulse. This point in time will occur during the mid-point of the negative cycle of the first radio frequency cycle of each pulse. Thus, the moment counter 41 energizes clocking input CK of flip-flop 44, the D input of this flip-flop from exclusive OR gate 36 will be a zero. The result is that the Q output of flip-flop 44 will also be a zero which will be forwarded to microprocessor 9 via multiplexer 8 as previously described. Microprocessor 9 also stores each output from flip-flop 44 for 10,000 samples, one per pulse, and is programmed to average these samples to determine if they are predominantly zero representing a negative half cycle.

In the event microprocessor 9 does not initially accurately determine the location of the third cycle positive zero crossing of each pulse of the pulse trains from the master and secondary stations, and this will usually happen upon microprocessor 9 initially switching the LORAN-C equipment into its fine search mode, the outputs from flip-flops 43 and 44 will not be as described immediately hereinabove. When the estimated time is too long, the sample points clocked into flip-flops 43 and 44 by counters 39 and 41 respectively will both occur during each pulse of the pulse trains. As a result, the averages made by microprocessor 9 for flip-flops 43 and 44 will yield positive or negative averages and will not yield a zero average. In response to this condition, microprocessor 9 substracts 10 microseconds from the estimated time of arrival and the sequence described above is repeated. When the estimated time is too short the average of the stored samples at the 2.5 microsecond and 12.5 microsecond points will both be zero and microprocessor 9 will add ten microseconds to the estimated time of arrival. This recalculation and repeat of the circuit operation just described is repeated until the output from flip-flop 43 yields a zero average to microprocessor 9 and the output from flip-flop 44 yields a negative average. As microprocessor 9 gets closer to the exact time of arrival, the microprocessor can add or substract less than 10 microseconds to the calculated time to determine the exact estimated time of arrival figure.

Counter 38, which is also enabled to count upon receipt of the output signal from comparator 14 via flip-flop 33, counts to time a period of 30 microseconds at the end of which it provides an output at its output TC. Output TC from counter 38 is connected to the reset input R of flip-flop 37 in zero-crossing detector 6 and to the reset input R of flip-flop 33. Flip-flop 37 is thereby placed in its reset state with its one output low immediately prior to the receipt of the third cycle positive zero crossing of each received pulse of the pulse trains from the master and secondary stations of the selected LORAN-C chain. The hard limited output from limiter 17 occurring immediately after flip-flop 37 is placed in its reset state is responsive to the third cycle positive zero crossing of each pulse. As a result, the one output of flip-flop 37 goes high in direct correspondence with the leading edge of the hard limited square wave pulse output from limiter 17 and corresponding to the third cycle position zero crossing. As previously described, this causes the count contents of BCD counter 25 to be clocked into latch 5 and indicates the exact time of receipt of the third cycle positive zero crossing of each pulse of the pulse trains. This information is applied via multiplexer 8 to microprocessor 9 as previously described for processing. In response to this information, microprocessor 9 can make the desired time difference of arrival measurements required in LORAN-C equipment. Upon the time difference of arrival measurements being made, microprocessor 9 provides appropriate outputs on its DISPLAY outputs leads which are input to display 12.

The signals output from microprocessor 9 to display 12 are applied to the appropriate digital display units therein. Digital display unit 51 is used to visually display the time difference of arrival information for one selected secondary station, and digital display 52 is used to visually display the time difference of arrival information for a second selected secondary station. The inputs of these digital displays is encoded and is appropriately decoded by anode drivers 46 and 47, anode driver 48 and decoder/drivers 40 and 50 to drive digital displays 51 and 52 respectively. These displays along with their associated decoding and driving circuitry are well known in the art and are commercially available. In this embodiment of my invention, displays 51 and 52 are Itron FG612A1 flourescent displays, but they may also be light emitting diode displays or liquid crystal displays, or any other form of visual display.

To select the secondary stations, the time difference of arrival measurements for which are to be displayed on displays 51 and 52, thumbwheel switches 61 and 62 are provided. Switch 61 is physically adjacent to display 51 and one of the numbers "1" to "4" are selected with this switch to indicate to processor 9 the information to be displayed. Similarly, thumbwheel switch 62 is associated with display 52 and is used by the equipment operator to indicate the particular secondary station arrival measurement to be displayed on display 52. Switch 11 shows no details but is made up of right individual switch such as represented by switch 61 in FIG. 7. The operator of a detented thumbwheel brings numbers into a window and output terminals of the switch indicates the chosen number.

A signal to noise button 62 is also located on the front panel of the equipment which while depressed by the operator causes the existing display on displays 51 and 52 to be replaced by a signal to noise figure for the same secondary stations indicated by the position of the corresponding ones of switches 61 and 62. Microprocessor 9 is programmed to calculate the signal to noise figures to be displayed and responds to the operation of button 62 to change the display on displays 51 and 52. To make this signal to noise ratio check, microprocessor 9 stores fourteen-thousand samples of the first negative half cycle of each pulse as indicated by counter 41 described in detail hereinabove. As is easily understood, pure noise would yield seven-thousand detected negative half cycles and seven thousand positive half cycles, and a perfect signal would yield fourteen thousand detected negative half cycles. Accordingly, numbers between seven thousand and fourteen thousand indicate the signal to noise ratio with this ratio getting higher as the count of detected negative half cycles increases toward the sample number of fourteen thousand. It is numbers between seven thousand and fourteen thousand that will be displayed on displays 51 and 52 when signal/noise button 62 on the front panel is operated.

It can readily be seen that microprocessor 9 can be programmed to display numbers from 0 to 100 corresponding to the range of seven thousand to fourteen thousand by using a simple interpolation algorithm. Any other number scheme may also be used to indicate signal to noise.

While that which has been described hereinabove is at present considered to be the preferred embodiment of the invention, it is illustrative only, and the rapid changes in technology will make various changes and modifications obvious to those skilled in the art without departing from the scope of the invention as claimed below.

Thus, for example, programming may be added to the microprocessor and the keyboard may be used or input and the display as output to perform calculations of all kinds, or the display may, in addition, be used to provide a digital clock with day, date and other information. In another variation the microprocessor may provide navigation instructions via the display.

Claims

1. A navigation receiver-indicator providing navigation information by receiving and measuring differences in the time of arrival of coded radio signals received from a plurality of navigation transmitters, in groups of transmitters, comprising:

means for selecting a group of transmitters to be used for said time difference of arrival measurements,

first logic means processing said radio signals as they are received for determining when received signals are properly coded indicating they are from said navigation transmitters,

and providing output indications of same,

processor means storing and analyzing said output indications from said first logic means to determine when received radio signals are from transmitters of a group of transmitters selected using said selecting means, and

second logic means enabled by and functioning with said processor means after said processor means has determined that received radio signals are from said selected group of transmitters to calculate the time of reception of subsequently received radio signals and then to analyze said last-mentioned radio signals to thereby locate a specific point of said last-mentioned radio signals used by said processor means to accurately measure the difference in time of arrival of said radio signals from individual transmitters of said selected group of transmitters and provide a visual output of said measurements to provide navigation information.

2. The invention in accordance with claim 1 wherein said processor means receives feedback information from said second logic means that enables said processor means to revise said calculated time of radio signal reception to accurately make said time difference measurements.

3. The invention in accordance with claim 2 wherein a plurality of said output indications for said selected stations are stored within said processor means which is programmed to take an average of said output indications to calculate the time of reception of said radio signals subsequently received from each of said selected group of transmitting stations.

4. The invention in accordance with claim 3 wherein said feedback signals received by said processor means from said second logic means are stored in said processor means which takes an average of said feedback signals to properly determine if said calculated time of arrival of said radio signals is correct or needs revision before making said radio signal time difference of arrival measurements to obtain said navigation information.

5. The invention in accordance with claim 4 wherein said transmitters are arranged in groups consisting of one master transmitting station and a plurality of secondary transmitting stations, wherein the radio signals transmitted by each of said master and secondary stations comprises a series of pulses in a pulse train with the pulse train transmitted by a master station differing from the pulse train transmitted by a secondary station to distinguish the two types of stations, wherein said time difference of signal arrival measurements are always made between the time of arrival of signals from a master station and selected ones of said secondary stations, and wherein said first logic means comprises,

a multistage shift register used for storing pulses of the pulse chains as they are received from said master and secondary station transmitters, and

third logic means connected to various of said stages of said shift register to analyze a pulse chain stored therein to determine if it is from a master or a secondary station and provide an appropriate indication of said analysis to said processor means.

6. The invention in accordance with claim 5 wherein individual pulses of said transmitted pulse trains are phase coded, phase codes for different master and secondary transmitting stations being stored in said processor means, and phase code correction apparatus is provided wherein said phase codes for the sequentially received signals from master and secondary stations of said selected group of transmitters are input to said correction apparatus and used to remove the phase coding from said sequentially received signals before utilizing said received radio signals to make said time difference of arrival measurements.

7. The invention in accordance with claim 6 wherein the transmitters of each group of navigation transmitters all transmit their pulse trains at a predetermined repetitive rate peculiar to each group and wherein said selecting means is manually operable to indicate the repetitive rate of a selected group of transmitters to said processor means which utilizes said rate indication to first identify signals received from said selected group of transmitters and then to calculate the subsequent time of reception of said radio signals from said selected group of transmitters.

8. The invention in accordance with claim 7 wherein said navigation receiver-indicator further comprises,

a display functioning with said processor means to provide a visual display of said time difference of signal arrival measurements used for navigation, and

means for indicating to said processor means particular ones of said secondary stations with respect to which said time difference of signal arrival measurements should be made.

9. The invention in accordance with claim 6 wherein said processor means generates an enable timing signal upon calculating the time of reception of subsequently received radio signals from a selected group of navigation transmitters and wherein said second logic means comprises means enabled by said enable timing signal for generating timing signals which cause samples of any received signals to be input to said processor means which stores a plurality of said samples and amplitude averages same for analyzation to determine if said calculated time of signal reception is correct to locate said specific point of said radio signals from which said time difference of signal arrival measurements are made to derive navigation information.

10. The invention in accordance with claim 9 wherein said processor means generates an enable timing signal upon calculating the time of reception of subsequently received radio signals, and wherein said timing signal generating means comprises:

first timing means enabled by said enable timing signal to provide a first timing signal causing a first sample of any signals received by said navigation receiver to be input to said processor means which stores a plurality of said first signal samples and amplitude averages same, said average being zero when said signal samples are taken outside of said pulses.

second timing means enabled by said enable timing signal to provide a second timing signal causing a second sample of any received signals to be input to said processor means which stores a plurality of said second samples and amplitudes averages same, said second sample average being other than zero when said second sample is taken during receipt of any one of said pulses, and

third timing means enabled by said enable timing signal to provide a third timing signal causing a third sample of any received signals to be input to said processor means which stores a plurality of said third samples and amplitude averages same, said third sample average being other than zero when said third sample is taken during any one of said pulses, and from said first, second and third samples said processor means determines if said calculated time of arrival of said radio signals is correct and said processor means revises said calculated time until predetermined pulse parameters are located from which said specific point may be located to make said time difference of signal arrival measurements.

11. The invention in accordance with claim 1 wherein said processor means stores the results of the analyzation of said radio signals made by said second logic means for a plurality of samples and said processor means is programmed to derive signal to noise ratio information from stored plurality of stored samples.

12. The invention in accordance with claim 11 wherein said processor means stores said analyzation samples as binary zeros and ones with pure noise input to said navigation receiver-indicator resulting in an equal number of binary zeros and ones from said plurality of samples and pure signals from said navigation transmitters input to said receiver-indicator resulting in all binary ones from said plurality of samples, and responsive to the number of zeros and ones in said plurality of samples, said microprocessor means causes a visual output to be given indicating said signal to noise ratio.

13. A method for deriving position information for navigation purposes by making measurements of the time period between receipt of periodic signals in pulse trains from a selected first or master transmitting station and selected ones of a plurality of secondary transmitting stations associated with said master station in a navigation system comprising the steps of:

analyzing the makeup of each pulse train as it is being received to determine if it is from a master or secondary station,

storing an indication of the time of receipt of each pulse train along with an indication whether it is from a master or secondary station, said stored indications being used to identify said selected master station and its associated secondary stations,

calculating the time of receipt of signals subsequently received from said selected master station and said secondary stations after determining which periodic signals are received therefrom,

analyzing each signal received at the indicated times of arrival from said selected master station and said secondary stations to determine if the indicated time of arrival is correct and to modify said indicated times of arrival if necessary to locate a specific point in each of said periodic signals.

measuring the difference in time of arrival between the specific point of each of the periodic signals received from said master station and each of the selected secondary stations, and

providing an output reflecting said time difference of signal arrival measurement used for navigation purposes.

14. The method of deriving position information for navigation purposes in accordance with claim 13 wherein said step of calculating the time of receipt of said signals comprises the step of analyzing said stored indications of time of receipt of pulse trains by averaging the stored time indications for said selected master station and its associated secondary stations to determine the average of the time of arrival of said signal pulse trains.

15. The method of deriving position information for navigation purposes in accordance with claim 13 further comprising the step of

checking phase coding of each pulse of the signal pulse trains received from each of the selected master stations and its associated secondary stations with stored phase code information to determine if the received pulse train from each of the master and secondary stations is a sky wave reflected from the ionosphere which pulse train is to be disregarded.

16. The method of deriving navigational position information in accordance with claim 15 further comprising the steps of

removing the phase coding from the pulses of said pulse trains received from said selected master station and its associated secondary stations prior to storing the indication of time of receipt of each pulse train in order to achieve accurate measurements of the time period between receipt of signals from said selected master station and each of said selected secondary stations.

17. The method of deriving position information for navigation purposes in accordance with claim 13 further comprising the steps of

storing the polarity characteristic at a discrete point on each of said periodic signals received from said selected master station and from its associated secondary stations for a plurality of samples, and

providing an indication of the number of times a particular polarity occurs in said plurality of samples from each of said last mentioned stations to provide an indication of the signal to noise ratio of said signals received from said last-mentioned stations.

18. A navigation receiver-indicator providing navigation information by receiving and measuring differences in the time of arrival of coded radio signals received from a plurality of navigation transmitters, in groups of transmitters, each of said coded radio signals comprising a train of discrete radio frequency pulses having a known pulse repetition rate, the transmission of said pulse trains from each of said navigation transmitters in a given group being repeated at a known group repetition interval, said receiver-indicator comprising:

means for selecting a group of transmitters to be used for said time difference of arrival measurements,

first logic means processing said radio signals as they are received for determining when received signals are properly coded indicating they are from said navigation transmitters, said first logic means comprising

shifter register means,

means for continuously shifting radio signals as they are received through said shift register means,

said shift register means having a sufficient length to contain a window time sample of duration at least as long as that of one of said pulse trains from one of said navigation transmitters,

said shift register means further including a set of output terminals spaced apart by the known pulse repetition rate of the pulses in said pulse trains from said navigation transmitters, and

decoding means connected to said output terminals and providing an output indication whenever the signals contained in said shift register means correspond to said coded radio signals from one of said navigation transmitters,

processor means storing and analyzing said output indications from said first logic means to determine when received radio signals are from transmitters of a group of transmitters selected using said selecting means, and

second logic means enabled by and functioning with said processor means after said processor means has determined that received radio signals are from said selected group of transmitters to calculate the time of reception of subsequently received radio signals and then to analyze said last-mentioned radio signals to thereby locate a specific point of said last-mentioned radio signals used by said processor means to accurately measure the difference in time of arrival of said radio signals from individual transmitters of said selected group of transmitters and provide a visual output of said measurements to provide navigation information. 19. The invention in accordance with claim 18 wherein said first logic means further includes

limiter means for converting each pulse of said pulse trains from said navigation transmitters as they are received to corresponding binary digital signals, and wherein said shifting means continuously shifts said binary digital signals through said shift register means. 20. The invention in accordance with claim 19 wherein each of said pulse trains comprises a plurality of cycles of a radio frequency carrier of fixed frequency, and wherein said shifting means shifts said binary digital signals through said shift register means at a rate at least equal to said fixed carrier frequency. 21. The invention in accordance with claim 19 wherein said decoding means comprises logic gate means responsive to the time coincidence of binary digital signals on each of said output terminals for providing said output indication. 22. The invention in accordance with claim 19 wherein said shift register means includes a plurality of stages connected in series, each of said stages including a plurality of binary digit storage locations and one of said output terminals. 23. The invention in accordance with claim 18 wherein the individual pulses of said pulse trains are phase coded with the pulse phase codes being different for different ones of said navigation transmitters in a group, and wherein said first logic means further includes means for inverting the signals on selected ones of said output terminals prior to the application thereof to said decoding means. 24. A method for deriving position information for navigation purposes by making measurements of the time period between receipt of periodic signals in pulse trains from a selected first or master transmitting station and selected ones of a plurality of secondary transmitting stations associated with said master station in a navigation system, each of said pulse trains comprising a plurality of discrete radio frequency pulses having a known pulse repetition rate, comprising the steps of:

analyzing the makeup of each pulse train as it is being received to determine if it is from a master or secondary station, said analyzing step including the steps of

continuously shifting the pulses of said pulse train as they are received through shift register means of sufficient length to contain a window time sample of duration at least as long as that of one of said pulse trains from one of said secondary transmitting stations,

extracting a plurality of outputs from said shift register means at points spaced apart by the known pulse repetition rate of the pulses in said pulse trains from said master and secondary transmitting stations, and

decoding said outputs to provide an output indication whenever said pulse train contained in said shift register means corresponds to one from said master or secondary transmitting stations,

storing an indication of the time of receipt of each pulse train along with an indication whether it is from a master or secondary station, said stored indications being used to identify said selected master station and its associated secondary stations,

calculating the time of receipt of signals subsequently received from said selected master station and said secondary stations after determining which periodic signals are received therefrom,

analyzing each signal received at the indicated times of arrival from said selected master station and said secondary stations to determine if the indicated time of arrival is correct and to modify said indicated times of arrival if necessary to locate a specific point in each of said periodic signals,

measuring the difference in time of arrival between the specific point of each of the periodic signals received from said master station and each of the selected secondary stations, and

providing an output reflecting said time difference of signal arrival measurement used for navigation purposes. 25. The method of deriving position information for navigation purposes in accordance with claim 24 wherein said analyzing step further includes the step of

converting each pulse of said pulse trains as they are received to corresponding binary digital signals, and wherein said shifting step comprises the step of continuously shifting said binary digital signals through said shift register means. 26. The method of deriving position information for navigation purposes in accordance with claim 25 wherein each pulse of said pulse trains comprises a plurality of cycles of a radio frequency carrier of fixed frequency, and wherein said shifting step comprises the step of shifting said binary digital signals through shift register means at a rate at least equal to said fixed carrier frequency. 27. The method of deriving position information for navigation purposes in accordance with claim 25 wherein said decoding step comprises the step of providing said output indication in response to the time coincidence of binary digital signals on each of said outputs from said shift register means. 28. The method of deriving position information for navigation purposes in accordance with claim 24 wherein the individual pulses of said pulse trains are phase coded with the pulse phase codes being different for said master and secondary stations in said system, and wherein said analyzing step further includes the step of inverting the signals at selected ones of said outputs from said shift register means prior to the operation of said decoding step. 29. A navigation receiver providing navigation information by receiving and measuring differences in the time of arrival of radio frequency pulse trains periodically transmitted by a plurality of navigation transmitters in a group, the individual pulses in each of said pulse trains having a known pulse repetition rate, said receiver comprising:

means for analyzing pulse trains as they are received to determine when a given pulse train being received is from one of said transmitters, said analyzing means including

shift register means,

means for continuously shifting the pulses of said pulse trains as they are received through said shift register means, said shift register means having a sufficient length to contain a window time sample of duration at least as long as that of one of said pulse trains from one of said transmitters,

means for extracting a plurality of outputs from said shift register means at points spaced apart by the known pulse repetition rate, and

means for decoding said outputs to provide an output indication whenever the pulse train contained in said shift register means corresponds to one from said transmitters; and

processor means for processing said output indications from said analyzing means to measure the difference in the time of arrival of said pulse trains from individual ones of said transmitters in said group.

30. The invention in accordance with claim 29 wherein said analyzing means further includes

means for converting each pulse of said pulse trains from said transmitters as they are received to corresponding binary digital signals, and wherein said shifting means continuously shifts said binary digital signals through said shift register means. 31. The invention in accordance with claim 30 wherein each pulse of said pulse trains comprises a plurality of cycles of a radio frequency carrier of fixed frequency, and wherein said shifting means shifts said binary digital signals through said shift register at a rate at least equal to said fixed carrier frequency. 32. The invention in accordance with claim 30 wherein said decoding means comprises logic gate means responsive to the time coincidence of binary digital signals at each of said outputs from shift register means for providing said output indication. 33. The invention in accordance with claim 30 wherein said shift register means includes a plurality of stages connected in series, each of said stages including a plurality of binary digit storage locations, and wherein said extracting means extracts an output from each of said stages. 34. The invention in accordance with claim 29 wherein the individual pulses of said pulse trains are phase coded with the pulse phase codes being different for different ones of said transmitters in said group, and wherein said analyzing means further includes means for inverting selected ones of said outputs from said shift register means prior to the application thereof to said decoding means. 35. A method of providing navigation information by receiving and measuring differences in the time of arrival of radio frequency pulse trains periodically transmitted by a plurality of navigation transmitters in a group, the individual pulses in each of said pulse trains having a known pulse repetition rate, said method comprising the steps of:

analyzing pulse trains as they are received to determine when a given pulse train being received is from one of said transmitters, said analyzing step including the steps of

continuously shifting the pulses of said pulse trains as they are received through shift register means of sufficient length to contain a window time sample of duration at least as long as that of one of said pulse trains from one of said transmitters,

extracting a plurality of outputs from said shift register means at points spaced apart by the known pulse repetition rate, and

decoding said outputs from said shift register means to provide an output indication whenever said pulse train contained in said shift register means corresponds to one from said transmitters; and

processing said output indications to measure the difference in the time of arrival of said pulse trains from individual ones of said transmitters in

said group. 36. The method in accordance with claim 35 wherein said analyzing step further includes the step of

converting each pulse of said pulse trains as they are received to corresponding binary digital signals, and wherein said shifting step comprises the step of continuously shifting said binary digital signals through said shift register means. 37. The method in accordance with claim 36 wherein each pulse of said pulse trains comprises a plurality of cycles of a radio frequency carrier of fixed frequency, and wherein said shifting step comprises the step of shifting said binary digital signals through said shift register means at a rate at least equal to said fixed carrier frequency. 38. The method in accordance with claim 36 wherein said decoding step comprises the step of providing said output indication in response to the time coincidence of binary digital signals at each of said outputs from said shift register means. 39. The method in accordance with claim 35 wherein the individual pulses of said pulse are phase coded with the pulse phase codes being different for different ones of said transmitters in said group, and wherein said analyzing step further includes the step of inverting selected ones of said outputs from said shift register means prior to the operation of said decoding step.