text:
|Publication number
|Publication type
|Application number
|Publication date
|Jan 7, 1997
|Filing date
|Oct 26, 1994
|Priority date
|Aug 20, 1992
|Fee status
|Also published as
|Publication number
|Hanoch Yokev, Haim Harel, Yehouda Meiman, Shimon Peleg
|Original Assignee
|Nexus1994 Limited
|Export Citation
|BiBTeX, EndNote, RefMan
|Patent Citations (43), Non-Patent Citations (4), Referenced by (154), Classifications (51), Legal Events (7)
|External Links: USPTO, USPTO Assignment, Espacenet
The present patent application is a continuation-in-part of Ser. No. 158,441, filed Nov. 24, 1993, U.S. Pat. No. 5,430,759, entitled "LOW-POWER FREQUENCY-HOPPED SPREAD SPECTRUM ACKNOWLEDGMENT PAGING SYSTEM" issued Jul. 4, 1995, which in turn is a continuation-in-part of Ser. No. 961,776, filed Oct. 15, 1992, U.S. Pat. No. 5,335,246 entitled "PAGER WITH REVERSE PAGING FACILITY" issued Aug. 2, 1994, which in turn is a continuation-in-part of U.S. patent application Ser. No. 07/932,610 entitled "REMOTE POSITION DETERMINATION" filed Aug. 20, 1992, all of which, including the microfiche appendices, are hereby incorporated by reference.
The present patent application relates to radio transmitter location in a communication system and in particular to locating a transmitter in a special mobile radio system.
Mobile trunking radio is well known in the art and is also sometimes known as Special Mobile Radio (SMR) systems. A trunked radio system is a system setup to serve a plurality of users in a licensed radio frequency band to provide radio or radio-telephone services to base or mobile units within a defined geographic market area. Typically SMR systems are used in the public safety industry for such services as police, fire, and medical providers and also in the industrial or land transportation industries, such as, taxicab services, bus services and the like. Such an SMR system typically also includes repeater stations in which the signals from individual users are amplified and repeated at various places within the geographic market to provide a wider geographic accessibility.
In the United States, an SMR service provider typically obtains a license for a band of frequencies within the 800 and 900 MHz frequency range from Federal Communication System (FCC). The SMR system is described as a trunked system which means that several channels are allocated within a given frequency band and the transmitters and receivers use automatic switching so that all users can access any one of the allocated channels which are not currently in use. This form of frequency sharing results in a minimum wait or blockage of a message through the system by an individual user since the user's transmitter shares all available channels.
By way of example, the FCC has allocated 250 channels located in the frequency band of 809 to 816 MHz. Each channel spacing is 25 KHz and the maximum deviation of a transmit frequency is plus or minus 5 KHz. The required frequency stability is 2.5 ppm for transmitters. The FCC allocation also provides for repeater channels which are located 45 MHz above these frequencies. For purposes of the present discussion, repeater frequencies are not required and hence will not be discussed.
Typically the mobile transceivers in an SMR system can be linked to a public switched telephone network by base station or to cellular telephone systems. Access to the public switched network may be from a variety of means including DTMF tone signalling for automatic operation without human intervention. All the SMR channels are voice channels for carrying analog voice signals to in-band tone signalling may be used to interface to a land-based public switched telephone network. Links to cellular telephone systems has been done in systems described as Extended Special Mobile Radio (ESMR) systems.
Special mobile radio systems to which the present invention applies allow the automatic sharing of a plurality of channels by all users of the system in a blocking communication model. The system is blocking since there are typically more users than there are channels and the channels are allocated based on demand. Statistically the number of channels allocated to a user group is based upon a peak demand usage to minimize blockage of the channels due to unavailability of an open channel. Of course the greater number of channels in a special mobile radio system, the fewer times the channels are blocked.
Another feature of the special mobile radio system is the use of a control channel to allow coherent channel allocation to maximize usage of the system. The control channel may be a dedicated frequency, a subcarrier frequency or a sub-audible frequency in selected voice channels in the SMR system. Allocation and usage of the communication channels is therefore negotiated through the control channel in a distributive processing topology in which a central control site and the various user sites negotiate the use of the channels during handshake transmissions prior to channel usage. Various types of communications protocol may be employed to ensure non-interference among the various users of the system. The control channel typically carries control information in a digital format.
Prior art FIG. 1 shows a typical simplified SMR radio system used to communicated with a plurality of cars 101a, 101b, 101c, etc. from a control station 103 via communications antenna 102. In this system, all the mobile radio transceivers 101a, 101b, 101c share a number of common frequency channels in which an individual transceiver may use any one of the unused channels at any given time to communicate with the control station.
There is a need in the art, however, to locate the mobile transceivers in a special mobile radio system. There is a need to identify and locate the mobile transmitters in an SMR system while the mobile transmitters are transmitting. There is also a need in the art to track the movement of the transmitters even if the transmitters change frequency channels over a period of time.
Location of radio transmitters is a technology that has been used for many years and in many applications. For radio location, the use of mobile transmitters and a plurality of fixed base station receivers is generally known in the art where the fixed receivers locate the source of the radio signal by triangulation of the radio signals. Triangulation is a technique where the fixed base station receivers each determine the approximate direction of the radio signal from the transmitter. The approximate direction lines are then drawn on a map where the lines will cross. Since the direction lines are approximate, and typically three fixed base station receivers are used, the intersecting area between the three lines is usually shaped like a triangle since the lines rarely meet at a single point. The transmitter is then located within the triangle.
There is a need in the art for a ground-based vehicle or mobile transmitter location system which is capable of locating SMR transmitters. There is a further need for a ground-based mobile transmitter location system which is immune from disruption of the radio signals in an urban or irregular terrain environment. For these reasons, and for other reasons stated below which will become apparent to those skilled in the art upon reading and understanding the present specification, there is a need in the art for a special mobile radio vehicle or personal locator system.
The present invention solves the above-mentioned problems with locating transmitters in special mobile radio systems and other problems which will be understood by those skilled in the art upon reading and understanding the present specification. The present invention describes a mobile, personal or vehicle location system which locates any one of a large number of transmitters in an SMR system. The present invention operates by first identifying the transmitter during the SMR transmissions. If the location of the transmitter requires periodic recalculation, the present invention tracks any channel frequency changes based on that particular transmitter's use of the frequency channels. The received signals are analyzed to calculate the incident angle of the transmitted signal at a base station. A plurality of base stations are used to simultaneously calculate the incident angle of the transmitted SMR signal and a central station calculates the most probable location of the transmitter based upon triangulation.
To perform the triangulation at the central station, the incident angle of the transmitted SMR signal is calculated at each base station. The received SMR signal is detected, the transmitter identity is determined and the modulation information is removed. Once the base carrier signal is recovered, the phase of the received carrier is compared between a plurality of antennas in an irregular spaced array of antennas. The phase differences of the incoming carrier signal are compared between the antennas and the phase ambiguity is minimized to accurately determine the incident angle of the received carrier.
In the drawings, where like numerals refer to like components throughout the several views,
FIG. 1 is a prior art description of a typical Special Mobile Radio (SMR) system.
FIG. 2 is a block diagram of the present invention adapted to locate SMR transmitters by triangulation.
FIG. 3 is a diagram of the receiving antennas of the base stations including a plurality of dipole antennas and a single reference omni antenna.
FIG. 4 is a block diagram of a carrier recovery circuit.
FIG. 5 is a three antenna array for an interferometric direction finding system.
FIG. 6 is an ambiguity plane plot of the three antenna array of FIG. 5.
FIG. 7 is the ambiguity plane for the ratios 5:6 of λ/2 the three antenna array of FIG. 5.
FIG. 8 is diagram showing triangulation of the location of a SMR transmitter between three base stations.
FIG. 9 is a diagram of a gnomonic plot of the measured bearings of the direction finding algorithm on a sphere.
The specification for the present invention described herein includes the present description, the drawings, and claims. The present specification also includes the descriptions, drawings, claims as filed of U.S. patent application Ser. No. 08/000,000 entitled "MULTIPATH-RESISTANT FREQUENCY-HOPPED SPREAD SPECTRUM MOBILE LOCATION SYSTEM" filed Oct. 26, 1994, on even date with the filing of the present patent application, and which is hereby incorporated by reference.
In the following detailed description of the preferred embodiment, reference is made to the accompanying drawings which form a part hereof, and in which is shown by way of illustration specific preferred embodiments in which the inventions may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the invention, and it is to be understood that other embodiments may be utilized and that structural, logical and electrical changes may be made without departing from the spirit and scope of the present inventions. The following detailed description is, therefore, not to be taken in a limiting sense, and the scope of the present inventions is defined only by the appended claims.
The present invention shown diagrammatically in FIG. 2 operates to locate the mobile transceivers in a special mobile radio system. The transceivers may be located in a car 101, in a building (not shown), carried by a person (not shown), carried within containers or packages, or any number or variety of mobile carriers. In a single transmission, the SMR transmitters are transmitting on a single frequency channel within the SMR channel space. Over an extended period of time, the transmitter may be transmit a plurality of discrete messages using a variety of channel frequencies which may be different for each messages. The location algorithms monitor the control channel and, if necessary, track the channel frequency changes in the SMR system if a continuous tracking of the transmitter is required.
The preferred embodiment of the present invention is designed as a separate but parallel operating system used to locate SMR transmitters without any modification of an existing SMR system. The present invention is designed, in effect, to be an "add-on" system to add the capabilities of SMR transmitter location without any modifications to the existing SMR system whatsoever. Those skilled in the art will readily appreciate, however, that the present invention may be made a partial or integral part of an SMR system to save on duplication of hardware and installation costs.
Typically, the location of the transmitter is determined once but for a moving vehicle, periodically updated location information may be required. Usually, the SMR transmitters are activated only by the operator. In a system which is designed to include the present invention as an integral part of the overall SMR system, however, the SMR transmitters may be polled by a base station or central station to transmit without operator intervention so the SMR transmitter location may be determined. This would be a "fleet location poll". Also, the present invention may be used as a "panic button" or "assistance request" system in which SMR transmitters are used summon help on operator demand, or automatically summon help such as in the case of a crash-activated deceleration switch similar to the deceleration switches used to activate vehicle airbag systems.
As shown in FIGS. 2, a plurality of base station antennas 202a, 202b and 202c receive the SMR radio transmissions and the base station equipment 203a, 203b and 203c, respectively, each locate the incident angle of arrival of the true signal even in the face of selective fading and multipath receptions. Several of the most probable incident angles of the received signals are sent from the base stations 203a, 203b and 203c to a central site 204 for triangulation. See also FIG. 8.
The location system comprises a plurality of base stations (at least two) which transmit signals to the SMR remote mobile units and receive signals from the SMR remote mobile units. The base stations communicate using standard SMR channels carrying voice band information to the SMR remote mobile units, or the base stations may simply send alert or interrogation commands to activate the SMR remote mobile units. Thus the SMR remote mobile units may be activated locally (for example by the wearer or vehicle) or remotely by the base station. The SMR remote mobile units may be used by a person as a communications radio, a radio-telephone, a cellular telephone link or as an emergency locator. The SMR remote mobile units may also be used to locate the vehicle if stolen, in an accident, for vehicle tracking or as an integral communication device.
The SMR remote mobile units communicate over licensed channels in an SMR system using a standard SMR infrastructure. SMR systems are manufactured by vendors such as Motorola and E. F. Johnson. In the preferred embodiment of the present invention, the identification and location determination components of the present invention are designed to be installed as a parallel system operating completely independent of the existing SMR system. In this fashion, the present invention may be installed and operated independent of the SMR system or it may be made an integral part of an existing SMR system.
The transmitted signals from the SMR remote mobile units are received by the base stations which are then used to locate the SMR remote mobile units. An array of irregularly-spaced dipole receiving antennas is added to the existing omni receiving antenna at each base station. For direction finding, the existing omni antenna is used as a reference antenna. This is an optional feature since, as will be described more fully below, any one of the dipole antennas of the array may be used as a reference antenna. The direction of the received signals from the SMR remote mobile units is determined by interferometric direction finding using phase difference comparisons between the various dipoles of the array. Unique algorithms using histogram analysis and spatial filtering are performed, if necessary, on the received signals at the base stations to eliminate the ambiguity caused by signal interference, signal drop out, ambiguity in beating measurements received from behind the receiving antennas and multi-path reflections.
The present invention is used in a wide variety of applications wherever a special mobile radio system infrastructure already exists. The present invention may be installed on the radio towers already used to serve the SMR system without affecting the operation of such a system. The present invention may be used to locate vehicles equipped with SMR devices, persons carrying such radios of SMR radios located in homes or buildings. The system may also be used as a "panic button" locator where an operator is in need of assistance but may not be able to communicate his identity or location.
In the preferred embodiment of the present invention, the base stations and central site of the present invention are similar to the base stations and central site described in the aforementioned copending U.S. patent application Ser. No. 08/000,000 entitled "MULTIPATH-RESISTANT FREQUENCY-HOPPED SPREAD SPECTRUM MOBILE LOCATION SYSTEM" filed Oct. 26, 1994, which is incorporated by reference and the processing structure of this location system operates similarly to the present system. The present invention allows the accurate location of the SMR transmitters even in noisy and multi-path environments such as those found in urban environments and irregular terrain environments.
The analysis and decoding of the signals received by the base stations from the SMR remote mobile units is done almost entirely in the digital domain. The carrier frequencies of the SMR frequencies are down-converted to a lower frequency in each base station and are then digitally sampled. The digital samples are processed to locate the phase information of interest for direction finding. Each base station is constructed with a plurality of digital signal processors which enable direction finding of a plurality of simultaneously transmitting SMR remote mobile units transmitting on different frequency channels.
The receiving antennas of the base stations are constructed using a plurality of dipole antennas 401a, 401b, though 401n (generally referred to as 401) arranged in an array, as shown in FIG. 3 and a single reference omni antenna 404. The omni antenna 404 is not necessary for the preferred embodiment of the present invention since any one of the dipole antennas of FIG. 3 may act as a reference antenna for any of the other antennas. The omni reference antenna 404 is used as a reference antenna became the omni antenna 404 exists as part of the SMR receiving and transmitter infrastructure upon which the present invention relies and is used for receiving the SMR voice channel messages from the SMR remote mobile units.
In the preferred embodiment of the present invention, the direction finding (DF) antennas of each base station uses twenty-four sector direction finding dipole antennas 401 arranged in four linear arrays as shown diagrammatically in FIG. 3. Each of the four linear arrays consists of six dipole antennas and an omni reference antenna. The phase between the antennas is measured indirectly--each instant of time one of the 24 antennas is selected and its phase is compared to the omni antenna.
The switching of the antennas is done every 5 milliseconds during the transmission of a particular SMR transmitter. The antennas 401 are continuously scanned since there could be several SMR remote mobile units transmitting simultaneously from different directions. Differentiating between the various simultaneously transmitting SMR remote mobile units is possible. As described above, the simultaneously received signals from different SMR transmitters will be on separate channels and the base stations are capable of distinguishing and tracking the SMR transmitters simultaneously. This is due to the use of a plurality of digital signal processors operating in parallel to analyze the incoming signals using Fast Fourier Transforms (200 Hz bins). The direction finding process, described more fully below, is implemented in digital signal processors (DSP's) located within each base station and a general purpose computer located in the central site.
The present invention must be implemented to operate according to the frequencies, modulation techniques and control protocol of the specific SMR system with which the present invention will operate. For example, the present invention will track the mobile SMR transmitters which are using only specific frequency channels, specific modulation techniques and specific identification techniques. For purposes of describing the present invention, but not by way of limitation, the present invention will be described to operate on an SMR system which transmits in the 800-900 MHz band using FM modulation of analog voice information on the carrier. The identity of the transmitter is in an audio subcarrier on the modulated carrier.
As a first step, the identity of the transmitter is easily determined by either using the existing SMR system or by duplicating the identity determination function of the SMR base station in a separately operating component. The existing SMR system places the identity of the transmitter on an audio subcarrier although those skilled in the art will readily recognize that the ID information could be part of a message preamble, a sub-audible carrier or transmitted in a parallel control channel. Regardless of the technique used, the identity of the transmitter is autocratically transmitting and automatically determined at the receiver site.
As a second step, before the location algorithm can begin the processing of the phase information of the carrier to determine the incident angle of the received carrier, each base station must detect the presence of the carrier so the base station are synchronized in their operation. Each channel in the SMR system will naturally contain background noise and the direction finding algorithms should not be allowed to "free run" on noise. Instead, the carrier signal must be detected and tracked to signal the start of the direction finding algorithms in each of the base stations. The detection of the carrier in an SMR system is quite simple. In the case of FM modulation of the carrier, a simple FM detector circuit is used to detect the presence of an FM carrier. The detection of the carrier must be done in each channel where the target transmitter is transmitting in the case where the target transmitter is changing channels.
Phase comparisons of the received carrier are calculated as between a plurality of antennas in an array to determine the incident angle of the incoming carrier signal at each base station. Since the SMR carrier signal is severely modulated, phase comparisons cannot easily be made on the modulated carrier. Thus the modulation information on the carrier must be removed before accurate phase comparisons are made. By removing the modulation information, the carrier signal is treated essentially as a sine wave in the calculations described below.
FIG. 4 is a block diagram of a carrier recovery circuit. The modulation information is removed and the carrier signal is recovered entirely in the digital domain. The modulated SMR carrier signal is received at the omni antenna and one of the direction finding antennas and the signals are downconverted to a lower intermediate frequency such as 75 KHz. The downconverted carriers are digitized by an A/D convertor at an approximately 100 KHz sampling rate. A digital. high-pass filter and decimation filters further limit the carriers and the conjugate of the DF carrier signal is mixed with the omni carrier signal to produce a near-sinusoidal reproduction of the unmodulated carrier.
The modulated carrier is also a relatively wide band signal which needs to be narrowed. The frequency modulated carrier may have a frequency deviation of plus or minus 5 KHz around a center frequency. The phase comparisons between the antennas may not be able to track phase changes accurately enough if the slope of the phase changes in the modulated carrier is too severe. Thus the unmodulated carrier is narrow banded by the high pass filters as shown in FIG. 4. The direction finding algorithms described below are generally immune to some phase distortion and the narrow banding of the carrier aids in the accuracy of the overall process.
The SMR carrier is also subject to selective fading, drop outs and multipath distortion especially if the transmitter is in a rapidly moving vehicle. Thus the carrier may not always be available and the direction finding algorithms may be required to operate continuously to update the location of the transmitter as it moves. The steps of detection, identification, demodulation and direction finding are performed periodically at preset intervals and can also be restarted in the face of interrupts.
The determination of the phase of the carrier must first be done before a comparison of the phase of the carrier can be made between antennas. The detection of the phase information of the carrier is performed in the preferred embodiment of the present invention by first comparing the received phase of the demodulated carrier at the omni reference antenna to the received phase of the demodulated carrier at one of the dipole antennas in the array. A matching filter or autocorrelation function is performed on the two received signals until a reasonable match of the phase of the two received carrier signals is determined. This provides the carrier information which is then used to synchronize the phase comparisons between the plurality of antennas of the direction finding array.
The DSP's of the base station system compare the exact phase amplitudes of each of the dipole antennas of the four arrays to the phase amplitude at the reference antenna. In the antenna array shown in FIG. 3, a circle surrounding the array is divided into eight sectors. The actual direction computation is done in the sectors according to Table 1.
TABLE 1______________________________________Sector Allocation on the DF Antenna Array______________________________________top and left arraysdegree.left array. to 120�left and bottom arraygree.bottom arrayto 210�bottom and right arrayree.right array to 300�right and top arraydegree.top arraye. to 30�______________________________________
Those skilled in the art will readily recognize that the whole direction finding array does not have to be installed in a single location. For instance, each linear array of six dipole antennas could be installed on a different face of roof of a high rise building. In some cases an SMR remote mobile unit cannot transmit from specific sector. For instance one of the sectors faces the sea. In that case the direction finding array could be reduced, and only a single face of the direction finding antenna array will be installed at that sector. Usually the interferometer does not operate in the case where an SMR remote mobile unit is very dose to the base station (less than 1 kilometer). In such a condition, the other base stations will still perform the direction finding and the central site will still be able to perform the triangulation.
For the reasons exemplified more fully below, the spacing of the six dipole antennas in each of the four sides of the array is critical to maintaining a low degree of ambiguity in direction finding and multi-path rejection. The base ratios of the base lines was found by simulations with several relative prime numbers and is selected to be 6:10:4:3:5 to produce a phase gain PG=56 π. The ratio was computed through extensive simulations. Although the spacing between the various antenna is critical to accurate determination of the incident angle of the carrier, the order of the spacing of the antennas in the array is not critical. The order chosen here was based primarily upon a physical implementation consideration that the array frame be mechanically balanced.
The direction finding technique used in the preferred embodiment of the present invention is performed by measuring the electrical phase difference between the antenna of the array caused by the angle of the incoming wavefront of the SMR frequency of the channel currently being used by an SMR transmitter. In ideal conditions where there is no multi-path disruptions of the wavefront, the incoming wave from the SMR remote mobile unit is coming in angle of θ from the perpendicular line to the base line on which the antennas are mounted.
FIG. 5 is an example of how the interferometric direction finding technique of the preferred embodiment of the present invention is practiced. FIG. 5 shows, by way of example and not by limitation, only three antennas of the array. The three antennas are used to determine phase differences of the incoming signals between pairs of the antenna. As described above, the phase difference may also be measured between each antenna and a reference antenna such as the omni antenna.
The interferometer direction finding (DF) technique calculates the direction of arrival of the wavefront by measuring the phase of the incoming wave front in several places in space. This interferometric method is a planar interferometric method which assumes that the antenna array and the transmitting SMR remote mobile unit are all in the same relative plane. Differences in height of the SMR remote mobile unit and the antenna array are ignore and came little error in the direction finding of the present invention.
As seen from FIG. 5, the three antenna 501, 502 and 503 are irregularly spaced such that distance D23 between antennas 501 and 502 is great than distance D12 between antennas 502 and 503. The distance between the antennas is selected to be a multiple of a phase number sequence to ensure an irregular spacing of all antennas in the array which increases the probability that an electrical phase difference will always be measured between some of the antenna members of the array. The distance between the antennas is important to minimize ambiguity errors in measuring the phase of the incoming wavefront. If the antennas are spaced too widely apart, there is increased ambiguity in determining whether the phase difference of the same portion of the voice-modulated signal is being compared or whether the phase of different portion of the voice-modulated signals are being mistakenly compared. Since the licensed frequencies of the SMR channels operate in the 800 MHz band, the wavelength λ of the incoming signal is approximately 38 centimeters.
Again, referring to FIG. 5, the phase difference between the two antennas 502 and 503 is know as D12 and the formula for measuring the angle of the incoming signal is:
(Φ12 +2 πK12)/2 π=D12 SIN (θ)/λ(1)
θ is the angle of the incoming wavefront measured from the perpendicular of the antenna array baseline,
Φ12 is the electrical phase measured between antennas 502 and 503
k12 is an ambiguity factor since the system is capable of measuring φ between�π since the antennas could be measuring the phase difference of more than one carrier cycle λ,
D12 is the distance between the antennas 502 and 503, and
λ is the wavelength of the incoming signal.
According to this formula, as long as D12 is smaller than λ/2, the ambiguity factor K12 equals 0. Thus the largest antenna spacing in the array is selected to be smaller that 15 centimeters.
In order to estimate the inherent instrumental error of the direction finding interferometer, the above equation can be written in a different from:
SIN (θ)=(Φ12 =2 πK12)/(2 πD12 /λ)(2)
Assuming that all the errors in estimating θ is due to inaccuracies in estimating Φ, differentiating the above equation produces:
σ(θ)=σ(Φ12)/(2 πD12 COS (θ)/λ) (3)
where σ is the standard deviation. From this equation, inherent limitations in the system are determined. The electrical error is divided by the factor 2 πD12 /λ which is termed the phase gain (PG) which reduces the error by the ratio between the distance and the wave length. Also, the error rapidly grows to infinity as θ approaches 90�. Thus the coverage of the present linear interferometer is limited to �60� as shown by the division of the array into sectors described in above in conjunction with Table 1. In order to reduce the error, the phase gain must be made as large as possible and each antenna face of the antenna array of the present linear interferometer array covers only 1/4 of the space. The antenna spacing in the array must have a distance smaller than λ2 in order to resolve ambiguities.
There are two types of ambiguities in interferometer DF: front to back ambiguities (the linear interferometer only covers effectively 1/3 of its surrounding area) and multiple possible solutions of the interferometer equations, in case where the distance between two antennas is greater than λ/2. This latter ambiguity is caused by measuring the phase difference between different portions of the voice-modulated signal of the incoming wavefront.
The front to back ambiguity is solved in the present invention by using multiple arrays, as shown in FIG. 3. In order to cover 360�, the present invention uses four sub-arrays of six dipole antennas each, for covering 90�. The antennas in each array have a vertical beam width of 120�. The base station scans all the antennas of the array through the 1:24 antenna selector 402 and selects the proper sub-array by comparing the amplitudes received from antennas in each array. If two arrays are almost equal in amplitude (within 3 dB), then the interferometer process is done on both arrays and the direction of arrival (DOA) of the signal is computed either from both or from the proper array which is selected according to the direction of arrival closer to its perpendicular. See FIG. 8.
The phase ambiguity is solved by using more than two antennas in each linear array to compare the incoming voice-modulated carrier signals. By way of example, but not by limitation, a three antenna array is as shown in FIG. 5. The distances between the antennas that are elected as D12 =2*λ/2 and D23 =3*λ/2. Using these ratios, the equation labeled (2) above becomes:
SIN (θ)=Φ12 /2 π+K12 (4)
SIN (θ)=Φ23 /3 π+2K23 /3 (5)
FIG. 6 is an ambiguity plane plot of the three antenna array of FIG. 5. FIG. 6 shows the phase difference Φ12 plotted against the phase difference Φ23 as an interferometer ambiguity plane plot. FIG. 6 shows a family of lines, 601, 602, 603, 604, and 605, parameterized by K12 & K23 with the same slope created as θ moves from 0� to �90�. As derived from equations 4 and 5 above, the following formula is used to create the plane plot of FIG. 6:
(Φ23 /3 π)+2K23 /3=(Φ12 /2 π)+K12
The ambiguity resolution algorithm is as follows. The phase difference between the antennas is measured as Φ12 and Φ23. On the interferometer ambiguity plane of FIG. 6, find the line represented by K12 and K23 (ambiguity factors) that has the minimal distance, which is the actual probability distance, to Φ12 and Φ23. After solving the ambiguity, the present invention computes the exact direction of arrival using the full span of the array i.e. 2.5λ which gives a phase gain (PG) of 5 π.
One could select ratios of N:N+1 of λ/2, where N is the number of antennas in the array. This ratio of N:N+1 of λ/2 may be selected to be as large as possible in order to improve the phase gain. But as N gets larger, the distance between the ambiguity lines gets smaller and the algorithm becomes vulnerable to an error in the proper selection of K12 and K23. The result twill be a gross error.
If the measurements distribution of Φ is gaussian, then in order to compute the gross error probability, the "tail" of the gaussian distribution from the distance between the ambiguity lines to "infinity" must be computed since the phase is folding after �π. This computation described above is only an approximation and is almost true for small values of σ (Φ) which is true at high signal to noise ratio (SNR) or high signal to interference ratio. For white gaussian noise, σ (Φ) could be approximated by 1/√SNR where SNR is the signal to noise ratio.
FIG. 7 is the ambiguity plane for the ratios 5:6 of λ/2. The distance between the ambiguity lines became less than half compared to the ratio of 2:3 which practically increased the gross error to be impractical. Thus, the solution is to add more antennas to the array. Adding more antennas at different ratios spreads out the ambiguity lines in hyper space (multi-dimensional space) with dimension of N-1 (N-number of antennas in the array) and increases the distance between them. In the preferred embodiment of the present invention, it was concluded that in an urban environment six antennas are required in a linear array resulting in a five dimensional plot of FIG. 6 (which is incapable of being shown in a drawing). The following formula are used to create the plane plot of FIG. 7 which is an example of moving the antenna spacing closer together:
SIN (θ)=(λ/D12)*(Φ12 +2 πK12)/(2 π)=(Φ12 /5 π)+2K2 /5
SIN (θ)=(λ/D23)*(Φ33 +2 πK23)/(2π)=(Φ23 /6 π)+K23 /3 (Φ23 /6 π)+K23 /3=(Φ12 /5 π)+2K12 /5
The full direction finding algorithm relates to measurements of a linear antenna array having six dipole antennas per side of a four-sided array with a single omni reference antenna (see FIG. 3). The calculations are performed on a six antenna subarray after the sub-array is selected to be closest to the SMR remote mobile unit as described above in conjunction with Table 1. The full interferometer formula for a six antennas sub-array is: ##EQU1## where Φi is the electrical phase measured between the antennas,
Di is the distances between the antennas
λ is the wavelength
θ is the direction of arrival (DOA)
Ki is the ambiguity factor, integer value such that,
-π<2 πDi * SIN (θ)/λ+2 πKi <π
εi is the additive noise (assumed to be gaussian).
To solve the equation is (6) above, linear array calculations are performed to solve the following values: ##EQU2## The results of these calculations are as follows: the vector elements Φ are limited by: |-0.5<Φi <0.5|;
Φ is the measurements vector and d is known;
-0.5<X<0.5; X is unknown;
k is unknown; its elements are integer, limited by the elements of d
E is the noise vector that is unknown.
In the calculations, it is assumed that the noise is additive such as: ##EQU3## Where Φi is the electrical phase measured at antenna i.
Φi ≡φi -φi+1
The solution to this equation is to search among all K.di-elect cons.N, the specific K that minimizes a weighting function in a weighted least square procedure (WLS). For every K.di-elect cons.N we compute: ##EQU4## The error will be: ##EQU5## Weighting function: ##EQU6##
Where A is 5�5 matrix. The rank of A is only 4. In order to reduce the amount of real time computation, the following computations are performed and the results stored:
[AV AQ ]=eig(A)
Since the rank of A is 4, one of the eigenvalues and thus the corresponding eigenvector are 0. Matrices 4�5 and 5�4 are created and designated by a ˜ over the top of the matrix identifier and thus:
Using these values in the weighting function produces: ##EQU7##
The full algorithm thus becomes: Compute in off-line:
1. Compute F.
2. For all K.di-elect cons.N compute n=FK.
3. Compute the matrix H.
Compute in real time:
1. Compute:
2. For all n.di-elect cons.N, compute:
3. Find the best three (3) K that mostly minimize C(K). This procedure is done for each hop.
4. Compute X(K) for those K selected.
5. Compute a histogram from all the X(K), using for each DOA its distance from the lines (weight) in inverse as weight.
6. Filter the histogram by passing a boxcar low-pass filter of 3� over the histogram in order to cancel small peaks in the neighborhood of a real peak.
7. Find the highest peak and the second to the highest peak.
8. Report the results.
The input to the location algorithm are reported measured directions from several base stations. Each base station reports two directions. Each direction is reported with its peak heights which is an indication of its validity. The location algorithm projects the direction of the incoming signal on a gnomonic plane tangent to earth, it filters out the false readings, and it computes the most probable location of the SMR transmitter.
The solution of triangulation on the earth ellipsoid is a highly non-linear problem. In order to simplify the problem, we transfer the observed data to a plane called the gnomonic plane as shown in FIG. 9. The geographic location of the base station on earth is transferred to an X-Y position on the gnomonic plane. Each measured bearing is also transferred to the gnomonic plane with a small adjustment. The estimation process is done on the plane. The estimated location of the SMR remote mobile unit is not transferred back to an earth ellipsoid since the stone plane is used for graphic display of maps using a Microsoft Windows program or the like.
The Cassini UTM projection is widely used for mapping. Its advantages are that the mapping are in the Cartesian coordinate system such that the E-W and N-S lines are orthogonal. The projection maintains approximately both the directions related to the north and the distances at radius less than 50M. The projection is very convenient for graphic display such as in the Microsoft Windows format.
The main distortion of the UTM projection is caused by the convergence of the meridian toward the north. There are two corrections that have to be made:
1. Correction of the map north to the geographical north, which is a bias correction; and
2. Small correction of the DOA (direction of arrival) of the signal according to the location of the base station.
In actual observations, the correction was actually measured together with the calibration and measurement of the pointing of the direction finding array toward the north. The calibration was performed relative to known reference point locations in the covered area. To improve system accuracy, a reference transmitter having a known exact location may be used to correct the system parameters.
The fixing process input are the two DOA's received frown all the base stations. Those skilled in the art will readily recognize that the present invention can operate with more or less DOA's from the base stations. There are several tests performed on the results received from the base stations (BS):
If the peaks are too low, both measurements are ignored.
If the ratio between peaks is larger than 4, the second peak is ignored. The CS (Central System) computes the fix by using all the combinations from the DOA received from the base stations. Note that within one message there could be several DOAs.
The fixing process is an LMS (least mean square) process in which the most probable point is found. The most probable point is defined as the point on the plane that its sum of the squared distances from all the DOAs is minimal. The process is as follows:
The distance of a point (X,Y) from a DOA is:
di (X, Y)=(Y-Yi) cos (θi)-(X-Xi) sin (θi) (15)
(Xi, Yi) are the coordinates of the base station number i.
di (X, Y)--distance of (X, Y) from the DOA number i.
θi --The angle of DOA number i from the north
(X, Y)--a point on the plane
(15) could be written as:
Xi sin (θi)-Yi cos (θi)=X sin (θi)-Y cos (θi)+di (16)
Assuming that M inputs from the base station, (i.di-elect cons.{1, . . . , M}), equation (16) is written in a matrix form: ##EQU8## where M--number of bases. As shown in FIG. 8, M=3. ##EQU9## Where: z is a vector of M elements.
A is a matrix of M rows, 2 columns.
c is a vector of M elements.
D is a vector of M elements.
The purpose is to find z such that DT D will be minimized. The algorithm is LMS, as described above, and is performed by differentiating DT D relative to c and comparing the result to 0.
1. Compute all intersections between all probable DOA's using (19).
2. Perform two dimensional filtering over all intersections, taking into account the power of each intersection according to the DOA's power that created that intersection. The filter size is 900�900 meters.
3. Find the an intersection from the DOA that are in the filter.
In summary, and in referring once again to FIG. 6, the slope of the ambiguity lines is 2/3 and the algorithm finds the closest line to the observed point 600. The most probable actual point lies on the line 601. FIG. 7 shows the use of more ambiguity lines to get better resolution of the observed point 701. The actual probable location of the observed point would be on the line at position. 702 where the slope of each of the ambiguity lines is the distance between the antennas. Thus a closer spacing of the antennas shown at FIG. 7 produces less ambiguity as to the observed versus actual angle of the direction of arrival (DOA).
The ambiguity lines shown in FIGS. 5 and 6 are for three antennas. In reality according to the matrices described above, six antennas are used in a five dimensional space which is unable to be drawn in a figure. In a five dimensional space, the observed point is located, and the nearest lines in the five dimensional space are located for the most probable actual DOA for each based station. By spreading out the spacing of the antennas, more ambiguity lines as shown in FIG. 7 are used such that antenna spacing is best spread out to minimize ambiguity.
In the based station, the observed point 701 representing DOA θ is compared to the closest three lines in a five dimensional space. A histogram is then generated based on the three lines closest to the observed point. Then a gaussian distribution of the observed θ's is computed and only the actual points 702 and five dimensional space are picked which lie within a single standard deviation. A histogram typically produces two peaks for most probable observed values. Histograms that produce more than two peaks are filtered so that only the two strongest peaks are taken as potential values. These two most probable actual values of the DOA θ are then sent to the central site for triangulation to determine the position of the transmitter.
At the central site, the two most probable θ for the two histogram peaks around a plus or minus three degree range are recorded for two, three or more base stations. Thus 2n most probable points are received by the base station whereas n is equal to the number of stations. Thus if four stations are reporting, two most probable DOA θ, 16 observed points are received at the central station. A spacial filter is used with a 900 by 900 meter space to determine which of the points cluster within the most probable location. Within this 900 square meter space, the most probable location is selected. Additional computation can be made by overlaying the 900 by 900 square meter space onto a map of an urban area and, for vehicle location, determining that the vehicle could only be on a street and not within a building. In actual observations, the actual location of the SMR remote mobile unit is within a 77 square meter area.
Thus the multipath problem is solved through the use of a multidimensional ambiguity space to eliminate observed DOA values which are least probable. The use of a plurality of arrays will produce a number of observed values within the n-dimensional ambiguity space, some of which are due to the actual direction of arrival and some of which are due to multipath reflections. Since the observed values in the preferred embodiment of the present invention are the result of multiple frequencies in multi-channel SMR system, observed values and most probable values will be calculated at various frequencies if the SMR transmitter uses several channels. Different frequencies observed over a period of time may be more or less susceptible to the multipath problem. In addition, for a moving SMR remote mobile unit, the doppler shift will be observed but minimized over time since only the most probable values due to the strongest signals will survive a histogram analysis. Thus the histogram analysis should be preformed over a number of frequency hops over a longer period of time until the multipath signals statistically drop out. Thus only the true direction signals will survive the histogram analysis and will be passed to the central station for final analysis.
Although specific embodiments have been illustrated and described herein, it will be appreciated by those of ordinary skill in the art that any arrangement which is calculated to achieve the same purpose may be substituted for the specific embodiment shown. This application is intended to cover any adaptations or variations of the present invention. Therefore, it is manifestly intended that this invention be limited only by the claims and the equivalents thereof.
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|System and method to collect and modify calibration data
|Dec 12, 2011
|Sep 15, 2015
|Tracbeam Llc
|Wireless location using network centric location estimators
|Oct 8, 2003
|Apr 8, 2004
|Hitachi, Ltd.
|Method for measuring distance and position using spread spectrum signal, and an equipment using the method
|Dec 19, 2003
|Jul 8, 2004
|Kennedy Joseph P.
|Method and apparatus for supporting multiple wireless carrier mobile station location requirements with a common network overlay location system
|Dec 31, 2002
|Oct 14, 2004
|International Business Machines Corporation
|Spatial boundary admission control for wireless networks
|Feb 13, 2004
|Dec 23, 2004
|Jones Aled Wynne
|Tag tracking
|Jun 4, 2001
|Dec 30, 2004
|Dupray Dennis J.
|Wireless location gateway and applications therefor
|Aug 23, 2004
|Feb 17, 2005
|Polaris Wireless, Inc.
|Location determination using RF fingerprints
|Sep 29, 2004
|Apr 28, 2005
|Paul Abbruscato
|Direction finder and locator
|Sep 28, 2004
|May 19, 2005
|Arkady Glukhovsky
|Device, system and method for determining orientation of in-vivo devices
|Feb 17, 2005
|Jun 30, 2005
|Hitachi, Ltd.
|Method for measuring distance and position using spread spectrum signal, and an equipment using the method
|Mar 8, 2005
|Jul 7, 2005
|Given Imaging Ltd.
|Array system and method for locating an in vivo signal source
|Mar 11, 2005
|Jul 28, 2005
|Kennedy Joseph P.Jr.
|Method and system for applying wireless geolocation technology
|Apr 18, 2005
|Aug 25, 2005
|Hall Christopher J.
|Method and apparatus for geolocating a wireless communications device
|Dec 10, 2004
|Sep 1, 2005
|Carlson John P.
|System and method for CDMA geolocation
|Apr 26, 2005
|Oct 27, 2005
|Christopher Osterloh
|Mobile automatic meter reading system and method
|Mar 1, 2005
|Feb 2, 2006
|Leblanc Frederick W
|Locating a mobile station and applications therefor
|Apr 19, 2006
|Aug 24, 2006
|Hall Christopher J
|Method and apparatus for geolocating a wireless communications device
|Jun 23, 2011
|Itrack, Llc
|Distance separation tracking system
|Jul 16, 1998
|Jan 20, 2000
|Volkswagen Ag
|Car finding device for parked car fitted with transceiver coupled to car signal system
|Aug 16, 2002
|Feb 18, 2004
|Siemens Aktiengesellschaft
|System and method for determining the angle of the relative alignment of an antenna array of a radio system
|Apr 9, 1998
|Oct 22, 1998
|Corsair Communications Inc
|Method and apparatus for mobile emitter location
|Dec 17, 1999
|Jun 22, 2000
|Samsung Electronics Co Ltd
|Device and method for locating a mobile station in a mobile communication system
|Jun 20, 2000
|Jan 4, 2001
|Pusch Wolfgang
|Method and device for detecting the direction of movement of a mobile data memory, especially in an identification system
|Aug 9, 2002
|Feb 20, 2003
|Lawrence A Gould
|Methods for detecting, computing and disseminating location information associated with emergency 911 wireless transmissions
|Dec 30, 2002
|Jul 10, 2003
|Ronald W Barnes
|Position location system
|Dec 1, 2003
|Jul 15, 2004
|Spatial boundary admission control for wireless networks
|U.S. Classification
|International Classification
|Cooperative Classification
|European Classification
|Feb 13, 1995
Owner name: NEXUS 1994 LIMITED, ENGLAND
Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:NEXUS TELECOMMUNICATION SYSTEMS LTD.;REEL/FRAME:007339/0407
Effective date: 19950201
Owner name: NEXUS TELECOMMUNICATION SYSTEMS LTD., ISRAEL
Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:YOKEV, HANOCH;HAREL, HAIM;MEIMAN, YEHOUDA;AND OTHERS;REEL/FRAME:007339/0404
Effective date: 19950201
|Aug 1, 2000
|Maintenance fee reminder mailed
|Dec 1, 2000
|Fee payment
Year of fee payment: 4
|Dec 1, 2000
|Surcharge for late payment
|Jul 28, 2004
|Maintenance fee reminder mailed
|Jan 7, 2005
|Lapse for failure to pay maintenance fees
|Mar 8, 2005
|Expired due to failure to pay maintenance fee
Effective date: 20050107


text:
A breakdown of LB Markus Golden and DE Calais Campbell combining to bring down Nick Foles
Catching up on the latest from the Cardinals' division opponents
Arians, players surprised team couldn't pull out win, but corrections coming
C Lyle Sendlein discusses the Cardinals 24-22 loss from Sunday, and looks forward to correcting mistakes.
Turnovers, red-zone struggles cost undefeated record in 24-22 setback
Dates, times and locations for the 2015 Arizona Cardinals season.
Stay connected with the Cardinals at all times! Available on iTunes, Google Play, and more.
Everything you need to know about University of Phoenix Stadium

subset: commoncrawl


text:
This report analyzes the worldwide markets for Mobile Payment (Mobile Money)
in US$ Million and Number of Users at Service Provider' s Level by the
following technology types: Near Field Communications (NFC), SMS Mobile
Payment, Unstructured Supplementary Service Data (USSD), and Wireless
Application Protocol (WAP). The report provides separate comprehensive
analytics for North America, Europe, Asia-Pacific, and Rest of World. Annual
estimates and forecasts are provided for each region for the period 2006
through 2015. The report profiles 98 companies including many key and niche
players such as Danal Co., Ltd., Ericsson, Firethorn Holdings LLC, Harex
Infotech, Inc., International Business Machines Corporation, mBlox, Inc.,
mFoundry, Inc., Mobipay Systems, Inc., Netsize Corporate, Nokia Corporation,
NTT DOCOMO, Inc., Obopay, Inc., Paybox Services, Sybase, Inc.., Trivnet,
Verrus Mobile Technologies, Inc., and ViVOtech, Inc. Market data and analytics
are derived from primary and secondary research. Company profiles are mostly
extracted from URL research and reported select online sources.


text:
Power Saws and Accessories
2 Results Found that Include 4 Products
How can we improve the Search Experience?
Product availability based on selecting either shipping or pick up and a location. Dismiss
Ship or Pickup Enter Location
- 10" Dry Diamond Saw Blade, Continuous Rim TypeDiamond Saw Blade, For Use With: Tile Saws, Angle Grinders and Hand Tools
- Item # 19F451
- Mfr. Model # 1006ATDY2
Diamond Saw Blade, Cutting Type Dry, Rim Type Continuous, Blade Dia. 10 In., Cutting Depth 3-3/4 In., Max....More
Price $39.55 / each
+Add to list
Catalog Page # 1009
- Diamond Saw Blade, For Use With: Angle Grinder and Other Hand Held ToolsDiamond Saw Blade, For Use With: Angle Grinder and Other Hand Held Tools
Multiple product options available
Multiple product options available
Price $35.80 - $37.60
Note: Product availability is real-time basis and adjusted continuously. The product will be reserved for you when you complete your order. More


text:
Liz Mcclarnon Leather Jacket
Liz Mcclarnon paired this sleek black leather jacket with a white cardigan and black pants for a cool black and white look.
Liz Mcclarnon Skinny Pants
Liz Mcclarnon opted for a black skinny black pants to top off her black and white look while out in London.
Browse: Liz Mcclarnon | Leather Jacket | Skinny Pants
Popular Lookbooks see all looks »


text:
I am trying to adjust the size of my shadow box, and can't figure out how to do it. I want the size to be 640 by 390 pixels. I tried editing the size the the wordpress admin under the shadowbox settings, but it did not work. I don't mind editing the CSS instead, but I can't figure out which class or ID to change, and it's not showing up in FireBug.
Also, I want to move the "X" which is used to close the box to the top right-hand corner of the box instead of the bottom left.
My website address is http://www.dentasites.com. You can see the shadowbox by clicking on "See How It Works". You have to click on the image of the video.
Any ideas on how to accomplish this? Thanks so much!


text:
Threats Made at Peterson AFB
Posted: 2:55 PM - CSPD says a man made threats at Peterson AFB after he was denied entry into a building. They're searching for him now.
Posted: 2:55 PM - CSPD says a man made threats at Peterson AFB after he was denied entry into a building. They're searching for him now.
Posted: 12:39 PM - The man who presided over Black Forest's fire department when the state's most destructive wildfire broke out, is suing his former employer for $1 million.
Updated: 11:10 AM - Pueblo County High School was on lockdown for more than an hour after authorities say a student was apprehended wearing a trench coat and gas mask.
Posted: 7:41 AM - Frontier Airlines is looking to cut back on the number of gates it leases at Denver International Airport as part of its effort to become an ultra-low-cost carrier.
Updated: 11:34 AM - Soldiers and their families reunited after eight months apart.
Posted: 6:51 AM - General Mills is recalling 1.8 million boxes of Cheerios, including regular Cheerios and Honey Nut Cheerios, that could put people with wheat allergies and celiac disease at risk.
Updated: 6:37 AM - FEMA says pending changes to El Paso County flood maps could result in flood insurance for some homes that previously didn't need it.
Posted: 5:51 AM - Smoke may be visible in parts of Teller County this month as the U.S. Forest Service burns almost 2,000 acres.
Updated: 4:49 AM - There's a big change in the proposal for the sitting and lying ordinance. It's kind of a catch 22 when it comes to where you can or can't sit in downtown Colorado Springs.
Updated: 4:54 AM - A Seattle high school football player succumbed to his injuries sustained during a game, and died Tuesday. 11 News talked to a Colorado Springs coach about the game and keeping our players safe.
Updated: 11:11 AM - A crew of Colorado Springs firefighters pulled a man from Monument Creek near downtown Colorado Springs Tuesday night.
Updated: 5:20 AM - Gold Camp Road is closed in Teller County after a washout.
Updated: 5:29 AM - Fort Collins officials are considering changes to the city's ordinance on public nudity that would allow women to go topless in public.
Posted: 10/06/2015 - The new CEO of McDonald's is making big changes to try to boost the chain's stagnant sales. His boldest move yet starts Tuesday: all-day breakfast.
Posted: 10/06/2015 - A suspect with a box on his head and a knife in his hand ordered a clerk to turn on the gas pumps at a North Circle Drive gas station late Monday night.
Posted: 10/06/2015 - A man is recovering in the hospital after police say he was hit by an SUV Monday night.
Updated: 10/06/2015 - 11 News talked to the mayor of Colorado Springs about how he wants to spend your money next year. He released his proposed 2016 budget.
Updated: 10/06/2015 - Crooks threatening to freeze your bank accounts, seize your properties, take away your driver's license, and throw you behind bars for six years. We talked to a local woman who almost fell for it.
Updated: 10/06/2015 - The investigation continues following a deadly crash on I-25 Monday night. It happened between North Gate and Interquest.
Updated: 10/06/2015 - El Paso County commissioners have voted to settle two lawsuits against former county Sheriff Terry Maketa.
Updated: 10/06/2015 - Colorado Springs police have arrested a man in connection with two chemical bottle bombs left in a parking lot at Garden of the Gods Park Saturday morning.
Updated: 10/06/2015 - El Paso County Search and Rescue searching for a man in the Peyton area.
Updated: 10/06/2015 - The Amtrak Vermonter derailed Monday morning in Northfield, plunging a train engine and passenger car into a brook. Seven were injured.
Updated: 10/06/2015 - The Arapahoe County Sheriff's Office is investigating after a fight at the Arapahoe County Sheriff's Office Detention Facility resulted in the death of one of the inmates.
Updated: 10/06/2015 - Hillary Clinton's presidential campaign is naming a long roster of Colorado Democrats as its leadership in the state.


text:
Cellophane Noodle Salad
- Active Time 5m
- Total Time 30m
Serves 4
Cellophane noodles (also called bean threads) are fine, translucent threads made from the starch of green mung bean and tapioca starch. When soaked they become shiny and slippery and are enjoyed because they absorb the flavors of other foods. Cellophane noodles are traditional throughout Asia, and are used extensively in salads and soups in Japan as well as throughout all regions of China. This cold dish is considered an appetizer or side-dish to a meal.
- For Dressing:
- 1 tablespoon pickle juice from the Chinese pickles
- 3 tablespoons white vinegar
- 3 tablespoons sugar
- For Salad:
- 2 ounces cellophane noodles (fun si)
- 3/4 cup julienned seeded cucumber
- 1/2 cup julienned carrot
- 3 tablespoons Chinese pickles, julienned
FOR DRESSING: Combine all dressing ingredients in small saucepan and simmer for 3 minutes. Set aside to cool.
FOR SALAD: Soak noodles in warm water for 20 minutes. Drain and cut into 4-inch lengths.
TO SERVE: Mix together noodles, carrots, pickles, and cucumber in small salad bowl. Pour on dressing and toss to combine. Chill and serve.
Recipe reprinted by permission of Weldon Russell. All rights reserved.
RecID 2572
nutrition information per serving
104 calories; 0g total fat; 0mg cholesterol; 24mg sodium; 26g carbohydrates; 1g fiber; 0g protein
These nutrition facts are calculated according to the ingredients listed in this recipe. Any substitutions will change these facts. Although we strive for accuracy, please note that food manufacturers occasionally change their food formulas, which could affect the calculations as shown.
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text:
Includes daily yoga and beach trips along with three amazing, organic, gourmet meals.
Contact us for more information: firstname.lastname@example.com
Starting at $15.00
Email For More Information
All Events»
Enjoy our ocean view rancho for daily yoga and movement classes. Experience a variety of styles with our resident and touring teachers.
Open to the community.
Monday, Wednesday and Friday: 7 am


text:
NEW ARRIVALS: HIT A STYLE HOME RUN WITH JETS SWIMWEAR PARALLELSWed, 23 Apr 2014 17:04:00
All clear for one of this season's blazing trends!
The sheer effect of irresistible stripes and peek-a-boo panels are set to make hearts flutter.
Introducing PARALLELS - a hot new arrival from the JETS Swimwear Preview Collection 2014/15.
Expect feminine silhouettes, clean lines and lingerie-inspired shapes, Parallels brings a new spirit to sexy style.
Shop the coveted looks below & you'll be sure to impress!
Lounging poolside on a sun-drenched day just got hotter!
Shop the bandeau bikini top here & the boyleg bikini pant here
With a chic retro style & body-hugging shape, this sun jacket has the ultimate allure.
Shop the zip-front rashie here
All clear for one of this season's biggest trends, sheer cut-outs & sexy silhouettes!
Shop the plunged one-piece swimsuit here
Sophisticated with a dose of urban glamour define this athletic inspired one-piece.
Shop the cross-back swimsuit here
The cutting-edge design of this bikini top & hipster bikini pant will enhance a seductive presence!
Shop the C/D underwire triangle bikini top here & the hipster bikini pant here
With underwire supporting you in all the right places, it's the season to turn up the heat!
Shop the C/D underwire one-piece swimsuit here


text:
Skip to content, or skip to search.
Skip to content, or skip to search.
Critics' Pick
1265 Madison Ave.,
New York, NY 10128
11am-7pm every day except Thurs, 11am-8pm
4, 5, 6 at 86th St.
American Express, Discover, MasterCard, Visa
Former Alvin Ailey dancer Rosie Pope opened this maternity boutique after struggling to find stylish clothes while pregnant. The space is posh and palatialwith towering ceilings, glass chandeliers, and cascading drapes that pull back to reveal ample changing rooms with cushioned seats. Complimentary car service to the store and virgin "mimosas" served in Champagne flutes add a personal touch. Using stretchy Italian fabrics like cashmere and jersey silk and classic designs for trench coats and cocktail dresses, Rosie Pope's in-house label creates ready-to-wear, evening, and couture pieces designed for all stages of pregnancy. There are button-up shirts, silk blouses, suits, cashmere sweaters, knit minidresses, wide-leg pants, and sexy couture pieces like a sweeping gold knit gown with a deep V-neck. Accessories include lace thongs, tanks, tights, and teddies by Swiss company Zimmerli and leather and nylon diaper bags that mimic fashionable handbags.


text:
Greeley County Golf Course
- N.W. at Fairgrounds, Tribune, KS 67879
- (620) 376-4845
|9 total holes at facility
|Green fees - $18 to $30 (estimate)
|Built in 1985
|Driving Range: Yes
|Public golf course
Greeley County Golf Course is a 9-hole regulation length golf course in Tribune, Kansas. This layout provides for a fun golf experience for golfers of all skill levels. More information about Greeley County Golf Course will be coming soon. Online tee times may be available at Greeley County Golf Course or at nearby golf courses, often at a substantial discount from the going green fees rate.
|Course Rating
|Back Tees
Note: The information is most often reliable, however, in some cases there will be inaccuracies. If you find something that needs updating, please fill this out.
Please login to add your review.


text: For my fanfic, Pokemon Adventures: Black & White, I was thinking of giving the characters last names if they have none. Trouble is that I can't think of any suitable ones other than "Burgh Anthony" and "Georgia Langley" (her character is adapted from the Best Wishes Anime). I'm especially having trouble with the three main characters Hilda, Bianca and Cheren. Can you guys help me out?


text:
3 to 6 days
Free delivery when you spend over £75 (GBP).
Will be calculated at checkout
Everyday - Grey
You must select a size
Top from M BY M. ??Rounded neckline and two slanted zip pockets to the front. Sleeves in a contrasting colour.
Made of 80% Cotton and 20% Polyester.
Women's fashion label mbyM has a signature look that is a contrast between raw femininity and Scandinavian coolness. It is stylish, but at the same time original and affordable, ensuring customers are always one step ahead. The mbyM concept is based on skillful design, cool detailing and quality of cut. Whether it's for a casual or dressy occasion, we're dressing the femin...ine, urban girl with edgy style and high wearability. Shop mbyM here at Nelly.com UK. Read more
Free delivery when you spend over £75. Standard shipping £3.95. Delivery time: 3-6 days. We deliver with UPS.
No reviews have been written yet.


text:
Welcome to Thomson, Illinois, where the river meets the town. Situated along the banks of the great Mississippi, where you can pull up a chair, watch the sun go down and dip your toes into the mighty Mississippi river, all in one place.
Local Attractions
Thomson, Illinois is a great place to live, work and play. Our seemingly quiet little community is bustling with activities, events and fun all year long.
Helpful Information
- Police: Emergency 911or 815-259-3905
- Fire/EMS: Emergency 911
or 815-259-8255
- Public Works: 815-259-2306
or 815-238-4798
- Water/Sewer/Waste: 815-259-3700
- Jo Carroll Energy: Outage or
Emergencies 800-927-5254
- Library: 815-259-2480
Relocating to Thomson
Are you ready to slow down and relax a little? Do you just need a place where you can take a deep breath, look around, and kick up your feet for a while?
Thank you, Volunteers! We had a great turnout of volunteers to help assemble the new playground equipment, and donations to help feed everyone. It was exciting to watch as it came together and fun to see how eager the local kids were as they stopped by to check on the progress. The equipment still needs some finishing touches and it will be a little while before we can take down the caution tape, so bear with us! We hope to announce the park's new name at a dedication ceremony to be scheduled soon.
Register at the Carroll County Review office on Main Street for your chance to win $100! Prizes will be awarded for best-decorated lawn, and best-decorated utility pole. Poles are numbered, so choose yours before you register. Awards will be given in each category.
Celebrate Halloween at the Thomson Causeway Recreation Area on Saturday, October 17th from 3 to 5 pm. The amazing display of spooky and clever campsite decorations are not to be missed!
Thomson's trick or treat hours will be on Saturday, October 31 from 4 to 6 pm. The Halloween parade will assemble on South Street and proceed to the Fire Station for the annual Halloween Party sponsored by the Thomson Fire Protection District and Police Department. Bring the family for food, games, and goody bags!


text:
FreeMind for Mac1.0.1 / 1.1.0 Beta 1
editor's review
FreeMind provides you with the ability to keep your own knowledge base or create your own mind maps. It comes with complete support for keeping track of your projects, but it's also a workplace for Internet research using popular resources like Google.
Design anything from simple diagrams to intricate mind maps
FreeMind is also suitable for brainstorming and essays, allowing you to store your ideas and organize them with ease in order to create impressive projects.
Moreover, you can also create and keep a small information database using FreeMind and also manage all your mind maps via a simple and user-friendly interface.
Inbuilt HTML support and exporting options
Furthermore, the FreeMind application includes a feature which permits the following of HTML link stored in the nodes, and also provides the ability to export your mind maps to HTML.
In addition, FreeMind comes bundled with smart drag and drop, smart copying and pasting, as well as a Find feature, designed to help you search and find elements included within your mind-maps.
FreeMind also enables you to edit long multi-line nodes, decorate nodes with icons, fonts and colors or browse the files on your computer, seeing the folder structure as mindmaps.
Edit your mind maps' source code
What's more, via the main window of the FreeMind app, you can add a wide variety of items to your mind maps, like notes or attachments. FreeMind also features an HTML code view mode which gives you quick access to your mind map's easily editable source code.
As an added bonus, FreeMind comes with support for colored texts, so that you can easily create colorful mind maps, when needed. On top of that, you can also use multiple fonts, thus ensuring that your projects will stand out.
Support for a vast array of languages
Additionally, FreeMind is a multi-language utility designed to provide complete and extensive support for more than 10 different languages.
top FREE alternatives
top PAID alternatives


text:
Many gun hunters state that bow hunters should gun look while bow hunters state that gun hunters should choose a bend.
1. Negatives-Bowhunting: bowhunting is hard. Your per cent for achievement is quite a bit lower when compared to a gun seeker. Bend gear is higher priced when compared to a gun gear. It could be quite annoying sometimes, I Have spoke to bend hunters that have invested all evening following a trophy money and then get within 70 meters and possess the deer get wind of the seeker plus they disappear as a fart in the wind. Unless you are spending money on high-end bow optics, you are getting nowhere. Aim with the assistance of sights should help you hit the target almost 100%.
2. Prostitute-Bowhunting: Bow predators undoubtedly do not have the bunch that gun hunters experience. Bend predators seldom notice other people and being amazed when they do occur upon yet another bend rogue. Your opportunities finding larger and more creatures raises by THREE TIMES times. Through the bow season elk and mule deer often remain away more throughout the morning and emerge before in the eventide raising your chances for success. Hunt using a bow needs ability on several degrees thus making it more satisfying in a bend predators eyes. The elements is better all through this time.
1. Prostitute-Gun Looking: Firing a gun by means of a scope at longrange is interesting and could be difficult particularly when you have got money fever. Your achievement for picking an animal grows significantly due to the space the gun has that the bend does not. Gun looking does not consider as much exercise as a bend does. It really is more affordable and more folks may appreciate and move gun looking. The leaves have dropped off the trees which makes it simpler to start to see the sport from lengthier distances.
2. Negatives-Gun Looking: Tons of folks. A year ago I mentioned 50 vehicles entering the hill where I had been hunting mule deer. Fortunately I was currently sitting within my posture when other predators began up the mountain. The climate might be terrible and awful. Several predators adore the chilly, white, freezing climate for the reason that it brings brings about the deer yet a number of people beg to disagree.


text:
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We don't know yet wether it's to cover shorts...or buyers want physical silver instead of paper silver....That's a lot of silver ...Richard


text:
Wells Bring Hope
Rating: 5 stars 50 reviews
Issues: Environment, Human Services, Economic Development, Water, Microfinance
Location: Los Angeles CA 90049 USA
Results: Effective 11-2014, 305 wells, bringing safe water and sanitation to close to 200,000 people.
Target demographics: save lives with safe water by drilling wells in the poorest country in the world.
Direct beneficiaries per year: over 50,000 people, most of them young children
Geographic areas served: Niger, West Africa
Programs: safe water to put an end to death and disease from contaminated water. We also provide access to sanitation and hygiene, educating villagers on why its important to use latrines and when and how to wash hands to stay healthy.
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Community Reviews
3 people found this review helpful
Wells does great work to help the women of Niger have access to safe water. It's a very noble cause and the people involved are truly warm, compassionate, dedicated and always appreciative of everybody they meet, whether donors, volunteers or public in general.
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