A method and device for enhanced navigation

Abstract

The application discloses a method of improving navigation that uses time of flight position determination by reducing errors in the signal.

Description

A Method and Device for Enhanced NavigationCROSS REFERENCE TO RELATED APPLICATIONS AND PRIORITY

[0001] The present application claims priority to and the benefit of U. S. Provisional Patent Application No. 63536435, filed 4 Sept. 2023, the entirety of which is hereby incorporated by reference.FIELD OF THE APPLICATION

[0002] The present application relates to devices that utilize time of flight for position determination, and more particularly, though not exclusively, devices that utilize emitter signals.BACKGROUND

[0003] Many devices have been developed over time to determine position by using time of flight of a signal from the know location of an emitter (e.g., GPS satellite). The equation for the time of flight value includes the receivers unknown positions (x. y, z). the emitters position at the time of emission (Xi, Y i, Zi) related to the measured time of transit between the emitter and receiver and the speed of the signal (e.g., speed of sound, speed of light c). Errors in accurate receiver position are a function of errors in the assumed straight line travel of the signal from the emitter to the receiver, for example the path is often not a straight line, errors in clock measurements, errors in emitter position, and intentional errors inserted into the signal. Thus, the received value of the range has errors and is referred to as a pseudorange value.

[0004] A method is needed to reduce the inherent errors in the pseudorange value to enhance positional and thus navigational determination.SUMMARY

[0005] Devices, system and methods for enhanced navigation are disclosed. Discussions herein use emissions from GPS satellites as an example, however embodiments herein are applicable to any form of time of flight position determination, for example infrared and sound (e.g., in gas, liquid or solid).177873589;1Our Docket: 11472-71WO (00438075)

[0006] These and other features of navigational enhancement systems and methods are described in the following detailed description, drawings, and appended claims.BRIEF DESCRIPTION OF THE DRAWINGS

[0007] FIG. 1 is a schematic diagram of a system of emitters and their relation to a receiver.

[0008] FIG. 2 is a schematic diagram of the use of embodiments of the navigational devices and methods in multiple systems, wired and wireless.

[0009] FIG. 3 is a schematic diagram of a machine in the form of a computer system within which a set of instructions, when executed, may cause the machine to perform any one or more of the methodologies or operations of the systems and methods for utilizing the navigational system according to embodiments of the present disclosure.

[0010] FIG. 4 is a schematic diagram of an earphone device that can utilize the navigational system.

[0011] FIG. 5 is a schematic diagram of a wearable device that can utilize the navigational system.

[0012] FIG. 6 is a schematic diagram of a second wearable device such as a phone that can utilize the navigational system.

[0013] FIG. 7 is a schematic diagram of a wearable device such as a watch that can utilize the navigational system.

[0014] FIG. 8 is a schematic diagram of a standalone device such as can be mounted in a vehicle that can utilize the navigational system.

[0015] FIG. 9 is a schematic diagram of a wearable device such as a pair of glasses that can utilize the navigational system.

[0016] FIG. 10 is a schematic diagram of a wearable device such as a ring or bracelet that can utilize the navigational system.

[0017] FIG. 11 is a schematic diagram of other systems that can utilize the navigational system.DETAILED DESCRIPTION OF THE INVENTION

[0018] Exemplary embodiments of navigational devices, and systems and methods therefore are disclosed.

[0019] Exemplary embodiments are directed to or can be operatively used on various277873589;1Our Docket: 11472-71WO (00438075)electronic wired or wireless devices (e.g., earphones, phones, autos, airplanes, spacecraft, watches, bracelets, rings, backpacks, tablets, laptops other devices that can include navigational device). In all of the examples illustrated and discussed herein, any specific values should be interpreted to be illustrative only and non-limiting. Thus, other examples of the exemplary embodiments could have different values.

[0020] Figure 1 illustrates a typical scenario where a user 300, having or using a device 310 that receives signals from signal emitting systems (e.g., Global Positioning System - GPS). Discussion herein uses a non-limiting GPS satellite for discussion purposes and is not intended to limit the type of signal emitting system. Figure 3 illustrates five (5) GPS satellites GPS1, GPS2, GPS3, GPS4, and GPS5. The relevant true ranges Rl, R2, R3, R4, and R5 reflect the ideal straight line path from the GPS satellite to the receiving device 310. If one knows the time a signal was sent, the position of the GPS satellite sending the signal, and the time at which the signal was received, the time of flight and range (R) from the sending satellite can be determined. Thus, the R values are actually determined by c*dt, where c is the speed of light and dt is the time of travel time from the GPS satellite to the device 310. There are many errors that can impact the dt value and errors related to clocks (i.e., time measurement) and path lengths, resulting in a range that is not the actual range, this is often referred to as a pseudorange (p) and is often used in many devices to determine location / position (x,y,z), velocity (vx, vy, vz), and acceleration (ax, ay, az). As mentioned above, it uses the time difference it takes a signal from a GPS satellite to the device, to measure a pseudorange. The pseudoranges are used to calculate the position, velocity and accelerations. There are many errors embedded in a pseudorange used for calculating a GPS device’s location. Equation 1 shows the general equation for a true range (R).(1) Rt = [(Xz- %)2+ (Tf- y)2+ (Z; - z)2]05= c(httrue)

[0021] Where X^Y^Zi ephemeris of ith satellite (known), x, y, z, is the location to be calculated and the straight-line range (R) is a function of the speed of light (c) and the straight-line time of flight (Attrue). Unfortunately, the actual measured time of flight (Atmeasitred), has errors that can be due to clock biases, non straight-line paths, errors in ephemeris (X, Y, Z) and more (Aterror), which can be expressed as:377873589;1Our Docket: 11472-71WO (00438075)(2) Pi = [(X;- xay + (Yi - ya)z+ (Zi - za)2]05= cMmeasured= c(Mtrue+ Aterror)

[0022] The actual range (R) is effectively the pseudorange (p) minus errors.(3) Pi cAterrorRiThe actual pseudorange (p), related to the measured time of flight ( tmeasuredcanbe expressed as:(4) Pt = [QG— xa)2+ (Yi ~ Ya)2+ (%i ~ za)2]05+ cAtr+ cAtjr+ cAt„ + SA1+ El+ MP1+ Y]1where;XitYi, Z ephemeris of ith satellite (known)x, y, z, is the location to be calculatedPi pseudorange (known)cAtrreceiver clock biascAtvclock bias of ith satellitecAt('tatmospheric delay along ith path lengthSA1optional intentional error of ith satelliteElephemeris data broadcast errorMP1multipath error of ith path lengthr]1receiver tracking error of ith satellite

[0023] Typically, there are 4 unknowns that are solved, x, y, z, and cAterror, thus typically 4 equations (i.e., at least 4 satellites, i=l,4) are needed to solve the unknowns, this is the conventional method for solving position. The other errors can add to the value of p lowering the accuracy of x, y, z, location determination. Some of the errors can be intentional (e.g., SA) to purposely decrease the accuracy of the attitude determination. The epoch differencing method, assuming slow varying errors, discussed herein, can use 3 satellites for stationary objects, so basically x, y, z, remain the same at time t and time t+dt. This improves connectivity and reduces error. The general idea is to obtain pseudoranges at time t, then pseudoranges at a short time thereafter t+dt and subtract them to create a pseudorange difference (dp). This can be expressed as:477873589;1Our Docket: 11472-71WO (00438075)(5) dpdt= p‘+At- pH[(At+4t - x)2+ (Yi t+&t- y)2+ (Zi;t+At- z)2]05+ cAtT.t+At+ cAC^t+At+ cAt^t+At+ SAi,t+&t+ El-t+&t+ MPl’t+&t+ j / 't+At> - <[(XZjt- x)2+ (Yi t:- y)2+(Zi t— z)2]05+ cAtr t+ cktslv t+ cAtalt+ SAl,t+ El,t+ MPl,t+ 7]t,f)

[0024] If the errors change slowly, (note: they do not need to be small), from t to t+At, then (5) can be expressed as:(6) dpdt= ptl+&t- ptl~ <[(%U+At- x)2+ (ri t+At- y)2+ (Zu+At- z)2] ) - -*)2+ (Yi,t - y)2+ (?i,t - z)2] >

[0025] If the epoch difference errors are included equation 6 for the ith satellite(ephemeris, Xitconnection can be expressed as:(7) dpdlt= p*+At- ptl= <[(Xi,t+At- x)2+ (rijt+At- y)2+ (Zi,t+At- z)2] ) - <[(Xt-2 2 21x) + (Yi t- y) + (z - z) j ) + er+ esv+ ea+ eSA+ eE+ eMP+ er]

[0026] where the errors are,(8) er— cAtrf(9) ^SV ~C^tsv,t + htc^sv,t(10) ea= - cAtalt(11) es^SA^+^-SA^(12) eE=Ei’t+&t- (13) eMP= MPL't+^ - MP^(14)€ri=-ql’t+&t— rj1’1

[0027] The epoch differencing method of equation (7) reduces errors from meters to centimeters or below. The epoch differencing equation (7) assume that the device is stationary (x,y,z) from t to t+At and that the errors are slowly varying over time t+dt. A position solution can577873589;1Our Docket: 11472-71WO (00438075)be obtained with a minimum of 3 emitters and so three pseudorange difference values of equation (7), one for each emitter i=l to 3, or even fewer if multiple pseudoranges are taken, for example over say three times are taken, t, t+dt, t+2dt. As long as there are the same number of equations, or more, as unknowns a solution can be obtained. The set of equations can be solved by normal matrix manipulation as know by one of ordinary skill in matrix math or by substitution.

[0028] The epoch difference method can also be used for moving receivers, where x, y, and z change position in time increment dt, and can be expressed as follows for the link to the ith emitter (e g., ith GPS satellite)(15) dpdlt— Pt+AtPt — QQG,t+AtXt+At) + Vi,t+At yt+At) + (^i,t+At 2"|05 r 2 2 21®-^Zt+At) ] )- - xt) + (Xi,t ~ yt) + (X,t— zt) ] ) + G +£sv + G +£SA +CE +<-MP T G;

[0029] Six (6) unknowns exist for x, y, z that vary in time increment dt. Thus 6 equations are needed, and the epoch differencing can be applied to 6 emitters (i=l to 6) over time t to t+dt, or 3 emitters using pseudorange differences from t to t+dt, and t+dt to t+2dt, if we make the assumption that %t+At= |(xt+ %t+2At), yt+At= |(yt+ yt+2At),Zt+At = |(zt + G+2At), or some other approximation that can be based upon velocity, acceleration or a combination thereof. Four and five emitters can also be used where a combination of pseudorange differences from t to t+dt, and t+dt to t+2dt are used with an appropriate approximations where needed. One could also assume that one of the positions, for example height z doesn’t change much, for example on a level road.

[0030] Velocities and accelerations can be obtained using the well known kinematic equations, for example the velocity v with respect to the ith emitter in an x-direction can be expressed as:(16)Vx= ^Xt+&t~Xt / (At)

[0031] While the x direction acceleration can be expressed as:(17) ax= ^X't+At“(At)

[0032] A navigation system can use the epoch difference method to improve location, velocity677873589;1Our Docket: 11472-71WO (00438075)and acceleration. The navigation system can be connected wirelessly or wired to other systems, transferring data as needed through these other systems. Note that the epoch differencing method need not be limited to moving systems, for example a survey stake that can receive emitter signals can use epoch differencing to improve its position determination over time. Errors can be significantly reduced in noisy environments, for example jamming or intentional errors (e.g., SA) can be significantly reduced using the epoch differencing method.

[0033] As shown in Figure 2, a navigational system 115 and methods for utilizing the navigational system 115 are disclosed. The navigational system 115 can use a wired and wireless system 100.

[0034] The system 100 may be configured to support, but is not limited to supporting, data and content services, audio processing applications and services, audio output and / or input applications and services, applications and services for transmitting and receiving audio content, authentication applications and services, computing applications and services, cloud computing services, internet services, satellite services, telephone services, software as a service (SaaS) applications, platform-as-a-service (PaaS) applications, gaming applications and services, social media applications and services, productivity applications and services, voice-over-internet protocol (VoIP) applications and services, speech-to-text translation applications and services, interactive voice applications and services, mobile applications and services, and any other computing applications and services. The system may include a first user 101, who may utilize a first user device 102 to access data, content, and applications, or to perform a variety of other tasks and functions. As an example, the first user 101 may utilize first user device 102 to access an application (e.g. a browser or a mobile application) executing on the first user device 102 that may be utilized to access web pages, data, and content associated with the system 100. In certain embodiments, the first user 101 may be any type of user that may potentially desire to listen to audio content, such as from, but not limited to, a music playlist accessible via the first user device 102, a telephone call that the first user 101 is participating in, audio content occurring in an environment in proximity to the first user 101, any other type of audio content, or a combination thereof. For example, the first user 101 may be an individual that may be participating in a telephone call with another user, such as second user 120.

[0035] The first user device 102 utilized by the first user 101 may include a memory 103 that includes instructions, and a processor 104 that executes the instructions from the memory 103 to777873589;1Our Docket: 11472-71WO (00438075)perform the various operations that are performed by the first user device 102. In certain embodiments, the processor 104 may be hardware, software, or a combination thereof. The first user device 102 may also include an interface 105 (e.g. screen, monitor, graphical user interface, etc.) that may enable the first user 101 to interact with various applications executing on the first user device 102, to interact with various applications executing within the system 100, and to interact with the system 100 itself. In certain embodiments, the first user device 102 may include any number of transducers, such as, but not limited to, microphones, speakers, any type of audiobased transducer, any type of transducer, or a combination thereof. In certain embodiments, the first user device 102 may be a computer, a laptop, a tablet device, a phablet, a server, a mobile device, a smartphone, a smart watch, and / or any other type of computing device. Illustratively, the first user device 102 is shown as a mobile device in Figure 1. The first user device 102 may also include a global positioning system (GPS), which may include a GPS receiver and any other necessary components for enabling GPS functionality, accelerometers, gyroscopes, sensors, and any other componentry suitable for a mobile device.

[0036] In addition to using first user device 102, the first user 101 may also utilize and / or have access to a second user device 106 and a third user device 110. As with first user device 102, the first user 101 may utilize the second and third user devices 106, 110 to transmit signals to access various online services and content. The second user device 106 may include a memory 107 that includes instructions, and a processor 108 that executes the instructions from the memory 107 to perform the various operations that are performed by the second user device 106. In certain embodiments, the processor 108 may be hardware, software, or a combination thereof. The second user device 106 may also include an interface 109 that may enable the first user 101 to interact with various applications executing on the second user device 106 and to interact with the system 100. In certain embodiments, the second user device 106 may include any number of transducers, such as, but not limited to, microphones, speakers, any type of audio-based transducer, any type of transducer, or a combination thereof. In certain embodiments, the second user device 106 may be and / or may include a computer, any type of sensor, a laptop, a set-top-box, a tablet device, a phablet, a server, a mobile device, a smartphone, a smart watch, and / or any other type of computing device. Illustratively, the second user device 102 is shown as a smart watch device in Figure 1.

[0037] The third user device 110 may include a memory 111 that includes instructions, and a processor 112 that executes the instructions from the memory 111 to perform the various877873589;1Our Docket: 11472-71WO (00438075)operations that are performed by the third user device 110. Tn certain embodiments, the processor 112 may be hardware, software, or a combination thereof. The third user device 110 may also include an interface 113 that may enable the first user 101 to interact with various applications executing on the second user device 106 and to interact with the system 100. In certain embodiments, the third user device 110 may include any number of transducers, such as, but not limited to, microphones, speakers, any type of audio-based transducer, any type of transducer, or a combination thereof. In certain embodiments, the third user device 110 may be and / or may include a computer, any type of sensor, a laptop, a set-top-box, a tablet device, a phablet, a server, a mobile device, a smartphone, a smart watch, and / or any other type of computing device. Illustratively, the third user device 110 is shown as a smart watch device in Figure 1.

[0038] The first, second, and / or third user devices 102, 106, 110 may belong to and / or form a communications network 116. In certain embodiments, the communications network 116 may be a local, mesh, or other network that facilitates communications among the first, second, and / or third user devices 102, 106, 110 and / or any other devices, programs, and / or networks of system 100 or outside system 100. In certain embodiments, the communications network 116 may be formed between the first, second, and third user devices 102, 106, 110 through the use of any type of wireless or other protocol and / or technology. For example, the first, second, and third user devices 102, 106, 110 may communicate with one another in the communications network 116, such as by utilizing Bluetooth Low Energy (BLE), classic Bluetooth, ZigBee, cellular, NFC, WiFi, Z-Wave, ANT+, IEEE 802.15.4, IEEE 802.22, ISAlOOa, infrared, ISM band, RFID, UWB, Wireless HD, Wireless USB, any other protocol and / or wireless technology, satellite, fiber, or any combination thereof. Notably, the communications network 116 may be configured to communicatively link with and / or communicate with any other network of the system 100 and / or outside the system 100.

[0039] The system 100 may also include a navigational system 115, which the first user 101 may utilize to hear and / or audition audio content, transmit audio content, receive audio content, experience any type of content, process audio content, adjust audio content, store audio content, perform any type of operation with respect to audio content, or a combination thereof. The navigational device 115 may be an earpiece, a hearing aid, an ear monitor, an ear terminal, a behind-the-ear device, any type of acoustic device, or a combination thereof. The navigational device 115 may include any type of component utilized for any type of earpiece. In certain977873589;1Our Docket: 11472-71WO (00438075)embodiments, the navigational device 115 may include any number of ambient sound microphones that may be configured to capture and / or measure ambient sounds and / or audio content occurring in an environment that the navigational device 115 is present in and / or is proximate to. In certain embodiments, the ambient sound microphones may be placed at a location or locations on the navigational device 115 that are conducive to capturing and measuring ambient sounds occurring in the environment. For example, the ambient sound microphones may be positioned in proximity to a distal end (e.g. the end of the navigational device 115 that is not inserted into the first user's 101 ear) of the navigational device 115 such that the ambient sound microphones are in an optimal position to capture ambient or other sounds occurring in the environment. In certain embodiments, the navigational device 115 may include any number of ear canal microphones, which may be configured to capture and / or measure sounds occurring in an ear canal of the first user 101 or other user wearing the navigational device 115. In certain embodiments, the ear canal microphones may be positioned in proximity to a proximal end (e.g. the end of the navigational device 115 that is inserted into the first user's 101 ear) of the navigational device 115 such that sounds occurring in the ear canal of the first user 101 may be captured more readily.

[0040] The navigational device 115 may also include any number of transceivers, which may be configured transmit signals to and / or receive signals from any of the devices in the system 100. In certain embodiments, a transceiver of the navigational device 115 may facilitate wireless connections and / or transmissions between the navigational device 115 and any device in the system 100, such as, but not limited to, the first user device 102, the second user device 106, the third user device 110, the fourth user device 121, the fifth user device 125, the navigational device 130, the servers 140, 145, 150, 160, and the database 155. The navigational device 115 may also include any number of memories for storing content and / or instructions, processors that execute the instructions from the memories to perform the operations for the navigational device 115, and / or any type integrated circuit for facilitating the operation of the navigational device 115. In certain embodiments, the processors may comprise, hardware, software, or a combination of hardware and software. The navigational device 115 may also include one or more ear canal receivers, which may be speakers for outputting sound into the ear canal of the first user 101. The ear canal receivers may output sounds obtained via the ear canal microphones, ambient sound microphones, any of the devices in the system 100, from a storage device of the navigational device 115, or any combination thereof.1077873589;1Our Docket: 11472-71WO (00438075)

[0041] The speakers, microphones, transceivers, memories, processors, integrated circuits, may be affixed to an electronics package that includes a flexible electronics board. The navigational device 115 may include an electronics packaging housing that may house the ambient sound microphones, ear canal microphones, ear canal receivers (i.e. speakers), electronics supporting the functionality of the microphones and / or receivers, transceivers for receiving and / or transmitting signals, power sources (e.g. batteries and the like), any circuitry facilitating the operation of the navigational device 115, or any combination thereof. The electronics package including the flexible electronics board may be housed within the electronics packaging housing to form an electronics packaging unit. The navigational device 115 may further include a housing, which may include receptacles, openings, and / or keyed recesses for connecting the housing to the electronics packaging housing and / or the electronics package. For example, nozzles of the electronics packaging housing may be inserted into one or more keyed recesses of the earphone housing so as to connect and secure the earphone housing to the electronics packaging housing. When the housing is connected to the electronics packaging housing, the combination of the earphone housing and the electronics packaging housing may form the navigational device 115. The navigational device 115 may further include a cap for securing the electronics packaging housing, the earphone housing, and the electronics package together to form the navigational device 115.

[0042] In addition to the first user 101, the system 100 may include a second user 120, who may utilize a fourth user device 121 to access data, content, and applications, or to perform a variety of other tasks and functions. Much like the first user 101, the second user 120 may be may be any type of user that may potentially desire to listen to audio content, such as from, but not limited to, a storage device of the fourth user device 121, a telephone call that the second user 120 is participating in, audio content occurring in an environment in proximity to the second user 120, any other type of audio content, or a combination thereof. For example, the second user 120 may be an individual that may be listening to songs stored in a playlist that resides on the fourth user device 121. Also, much like the first user 101, the second user 120 may utilize fourth user device 121 to access an application (e.g. a browser or a mobile application) executing on the fourth user device 121 that may be utilized to access web pages, data, and content associated with the system 100. The fourth user device 121 may include a memory 122 that includes instructions, and a processor 123 that executes the instructions from the memory 122 to perform the various1177873589;1Our Docket: 11472-71WO (00438075)operations that are performed by the fourth user device 121. In certain embodiments, the processor 123 may be hardware, software, or a combination thereof. The fourth user device 121 may also include an interface 124 (e.g. a screen, a monitor, a graphical user interface, etc.) that may enable the second user 120 to interact with various applications executing on the fourth user device 121, to interact with various applications executing in the system 100, and to interact with the system 100. In certain embodiments, the fourth user device 121 may include any number of transducers, such as, but not limited to, microphones, speakers, any type of audio-based transducer, any type of transducer, or a combination thereof. In certain embodiments, the fourth user device 121 may be a computer, a laptop, a tablet device, a phablet, a server, a mobile device, a smartphone, a smart watch, and / or any other type of computing device. Illustratively, the fourth user device 121 may be a computing device in Figure 2. The fourth user device 121 may also include any of the componentry described for first user device 102, the second user device 106, and / or the third user device 110. In certain embodiments, the fourth user device 121 may also include a global positioning system (GPS), which may include a GPS receiver and any other necessary components for enabling GPS functionality, accelerometers, gyroscopes, sensors, and any other componentry suitable for a computing device.

[0043] In addition to using fourth user device 121, the second user 120 may also utilize and / or have access to a fifth user device 125. As with fourth user device 121, the second user 120 may utilize the fourth and fifth user devices 121, 125 to transmit signals to access various online services and content. The fifth user device 125 may include a memory 126 that includes instructions, and a processor 127 that executes the instructions from the memory 126 to perform the various operations that are performed by the fifth user device 125. In certain embodiments, the processor 127 may be hardware, software, or a combination thereof. The fifth user device 125 may also include an interface 128 that may enable the second user 120 to interact with various applications executing on the fifth user device 125 and to interact with the system 100. In certain embodiments, the fifth user device 125 may include any number of transducers, such as, but not limited to, microphones, speakers, any type of audio-based transducer, any type of transducer, or a combination thereof. In certain embodiments, the fifth user device 125 may be and / or may include a computer, any type of sensor, a laptop, a set-top-box, a tablet device, a phablet, a server, a mobile device, a smartphone, a smart watch, and / or any other type of computing device. Illustratively, the fifth user device 125 is shown as a tablet device in Figure 1.1277873589;1Our Docket: 11472-71WO (00438075)

[0044] The fourth and fifth user devices 121, 125 may belong to and / or form a communications network 131. In certain embodiments, the communications network 131 may be a local, mesh, or other network that facilitates communications between the fourth and fifth user devices 121, 125, and / or any other devices, programs, and / or networks of system 100 or outside system 100. In certain embodiments, the communications network 131 may be formed between the fourth and fifth user devices 121, 125 through the use of any type of wireless or other protocol and / or technology. For example, the fourth and fifth user devices 121, 125 may communicate with one another in the communications network 116, such as by utilizing BLE, classic Bluetooth, ZigBee, cellular, NFC, Wi-Fi, Z-Wave, ANT+, IEEE 802.15.4, IEEE 802.22, ISA100a, infrared, ISM band, RFID, UWB, Wireless HD, Wireless USB, any other protocol and / or wireless technology, satellite, fiber, or any combination thereof. Notably, the communications network 131 may be configured to communicatively link with and / or communicate with any other network of the system 100 and / or outside the system 100.

[0045] Much like first user 101, the second user 120 may have his or her own earphone device 130. The earphone device 130 may be utilized by the second user 120 to hear and / or audition audio content, transmit audio content, receive audio content, experience any type of content, process audio content, adjust audio content, store audio content, perform any type of operation with respect to audio content, or a combination thereof. The earphone device 130 may be an earpiece, a hearing aid, an ear monitor, an ear terminal, a behind-the-ear device, any type of acoustic device, or a combination thereof. The earphone device 130 may include any type of component utilized for any type of earpiece, and may include any of the features, functionality and / or components described and / or usable with navigational device 115. For example, navigational device 130 may include any number of transceivers, microphones, processors, memories, housings, eartips, any other component, or any combination thereof.

[0046] In certain embodiments, the first, second, third, fourth, and / or fifth user devices 102, 106, 110, 121, 125 and / or navigational devices 115, 130 may have any number of software applications and / or application services stored and / or accessible thereon. For example, the first and second user devices 102, 111 may include applications for processing audio content, applications for playing, editing, transmitting, and / or receiving audio content, streaming media applications, speech-to-text translation applications, cloud-based applications, search engine applications, natural language processing applications, database applications, algorithmic1377873589;1Our Docket: 11472-71WO (00438075)applications, phone-based applications, product-ordering applications, business applications, e-commerce applications, media streaming applications, content-based applications, database applications, gaming applications, internet-based applications, browser applications, mobile applications, service-based applications, productivity applications, video applications, music applications, social media applications, presentation applications, any other type of applications, any types of application services, or a combination thereof. In certain embodiments, the software applications and services may include one or more graphical user interfaces so as to enable the first and second users 101, 120 to readily interact with the software applications. The software applications and services may also be utilized by the first and second users 101, 120 to interact with any device in the system 100, any network in the system 100 (e.g. communications networks 116, 131, 135), or any combination thereof. For example, the software applications executing on the first, second, third, fourth, and / or fifth user devices 102, 106, 110, 121, 125 and / or navigational devices 115, 130 may be applications for receiving data, applications for storing data, applications for auditioning, editing, storing and / or processing audio content, applications for receiving demographic and preference information, applications for transforming data, applications for executing mathematical algorithms, applications for generating and transmitting electronic messages, applications for generating and transmitting various types of content, any other type of applications, or a combination thereof In certain embodiments, the first, second, third, fourth, and / or fifth user devices 102, 106, 110, 121, 125 and / or navigational devices 115, 130 may include associated telephone numbers, internet protocol addresses, device identities, or any other identifiers to uniquely identify the first, second, third, fourth, and / or fifth user devices 102, 106, 110, 121, 125 and / or earphone devices 115, 130 and / or the first and second users 101, 120. In certain embodiments, location information corresponding to the first, second, third, fourth, and / or fifth user devices 102, 106, 110, 121, 125 and / or navigational devices 115, 130 may be obtained based on the internet protocol addresses, by receiving a signal from the first, second, third, fourth, and / or fifth user devices 102, 106, 110, 121, 125 and / or navigational devices 115, 130 or based on profile information corresponding to the first, second, third, fourth, and / or fifth user devices 102, 106, 110, 121, 125 and / or navigational devices 115, 130.

[0047] The system 100 may also include a communications network 135. The communications network 135 may be under the control of a service provider, the first and / or second users 101, 120, any other designated user, or a combination thereof. The communications1477873589;1Our Docket: 11472-71WO (00438075)network 135 of the system 100 may be configured to link each of the devices in the system 100 to one another. For example, the communications network 135 may be utilized by the first user device 102 to connect with other devices within or outside communications network 135. Additionally, the communications network 135 may be configured to transmit, generate, and receive any information and data traversing the system 100. In certain embodiments, the communications network 135 may include any number of servers, databases, or other componentry. The communications network 135 may also include and be connected to a mesh network, a local network, a cloud-computing network, an IMS network, a VoIP network, a security network, a VoLTE network, a wireless network, an Ethernet network, a satellite network, a broadband network, a cellular network, a private network, a cable network, the Internet, an internet protocol network, MPLS network, a content distribution network, any network, or any combination thereof. Illustratively, servers 140, 145, and 150 are shown as being included within communications network 135. In certain embodiments, the communications network 135 may be part of a single autonomous system that is located in a particular geographic region, or be part of multiple autonomous systems that span several geographic regions.

[0048] Notably, the functionality of the system 100 may be supported and executed by using any combination of the servers 140, 145, 150, and 160. The servers 140, 145, and 150 may reside in communications network 135, however, in certain embodiments, the servers 140, 145, 150 may reside outside communications network 135. The servers 140, 145, and 150 may provide and serve as a server service that performs the various operations and functions provided by the system 100. In certain embodiments, the server 140 may include a memory 141 that includes instructions, and a processor 142 that executes the instructions from the memory 141 to perform various operations that are performed by the server 140. The processor 142 may be hardware, software, or a combination thereof. Similarly, the server 145 may include a memory 146 that includes instructions, and a processor 147 that executes the instructions from the memory 146 to perform the various operations that are performed by the server 145. Furthermore, the server 150 may include a memory 151 that includes instructions, and a processor 152 that executes the instructions from the memory 151 to perform the various operations that are performed by the server 150. In certain embodiments, the servers 140, 145, 150, and 160 may be network servers, routers, gateways, switches, media distribution hubs, signal transfer points, service control points, service switching points, firewalls, routers, edge devices, nodes, computers, mobile devices, or any other1577873589;1Our Docket: 11472-71WO (00438075)suitable computing device, or any combination thereof. In certain embodiments, the servers 140, 145, 150 may be communicatively linked to the communications network 135, the communications network 116, the communications network 131, any network, any device in the system 100, any program in the system 100, or any combination thereof.

[0049] The database 155 of the system 100 may be utilized to store and relay information that traverses the system 100, cache content that traverses the system 100, store data about each of the devices in the system 100 and perform any other typical functions of a database. In certain embodiments, the database 155 may be connected to or reside within the communications network 135, the communications network 116, the communications network 131, any other network, or a combination thereof. In certain embodiments, the database 155 may serve as a central repository for any information associated with any of the devices and information associated with the system 100. Furthermore, the database 155 may include a processor and memory or be connected to a processor and memory to perform the various operation associated with the database 155. In certain embodiments, the database 155 may be connected to the navigational devices 115, 130, the servers 140, 145, 150, 160, the first user device 102, the second user device 106, the third user device 110, the fourth user device 121, the fifth user device 125, any devices in the system 100, any other device, any network, or any combination thereof.

[0050] The database 155 may also store information and metadata obtained from the system 100, store metadata and other information associated with the first and second users 101, 120, store user profiles associated with the first and second users 101, 120, store device profiles associated with any device in the system 100, store communications traversing the system 100, store user preferences, store information associated with any device or signal in the system 100, store information relating to patterns of usage relating to the first, second, third, fourth, and fifth user devices 102, 106, 110, 121, 125, store audio content associated with the first, second, third, fourth, and fifth user devices 102, 106, 110, 121, 125 and / or navigational devices 115, 130, store audio content and / or information associated with the audio content that is captured by the microphones, store audio content and / or information associated with audio content that is captured by the microphones, store any information obtained from any of the networks in the system 100, store audio content and / or information associated with audio content that is outputted by ear canal receivers of the system 100, store any information and / or signals transmitted and / or received by transceivers of the system 100, store any device and / or capability specifications relating to the1677873589;1Our Docket: 11472-71WO (00438075)navigational devices 115, 130, store historical and biometric data associated with the first and second users 101, 120, store information relating to the size (e.g. depth, height, width, curvatures, etc.) and / or shape of the first and / or second user's 101, 120 physicality, for example ear canals and / or ears, store information identifying and or describing any eartip utilized with the navigational devices 101, 115, store device characteristics for any of the devices in the system 100, store information relating to any devices associated with the first and second users 101, 120, store any information associated with the navigational devices 115, 130, store log on sequences and / or authentication information for accessing any of the devices of the system 100, store information associated with the communications networks 116, 131, store any information generated and / or processed by the system 100, store any of the information disclosed for any of the operations and functions disclosed for the system 100 herewith, store any information traversing the system 100, or any combination thereof. Furthermore, the database 155 may be configured to process queries sent to it by any device in the system 100.

[0051] The system 100 may also include a software application, which may be configured to perform and support the operative functions of the system 100, such as the operative functions of the first, second, third, fourth, and fifth user devices 102, 106, 110, 121, 125 and / or the navigational devices 115, 130. In certain embodiments, the application may be a website, a mobile application, a software application, or a combination thereof, which may be made accessible to users utilizing one or more computing devices, such as the first, second, third, fourth, and fifth user devices 102, 106, 110, 121, 125 and / or the navigational devices 115, 130. The application of the system 100 may be accessible via an internet connection established with a browser program or other application executing on the first, second, third, fourth, and fifth user devices 102, 106, 110, 121, 125 and / or the navigational devices 115, 130, a mobile application executing on the first, second, third, fourth, and fifth user devices 102, 106, 110, 121, 125 and / or the navigational devices 115, 130, or through other suitable means. Additionally, the application may allow users and computing devices to create accounts with the application and sign-in to the created accounts with authenticating username and password log-in combinations. The application may include a custom graphical user interface that the first user 101 or second user 120 may interact with by utilizing a browser executing on the first, second, third, fourth, and fifth user devices 102, 106, 110, 121, 125 and / or the navigational devices 115, 130. In certain embodiments, the software application may execute directly as an installed program on the first, second, third, fourth, and fifth user devices1777873589;1Our Docket: 11472-71WO (00438075)102, 106, 110, 121, 125 and / or the navigational devices 115, 130.Computing System for Facilitating the Operation and Functionality of the System

[0052] Referring now also to Figure 3, at least a portion of the methodologies and techniques described with respect to the exemplary embodiments of the system 100 and navigational system 115 can incorporate a machine, such as, but not limited to, computer system 14100, or other computing device within which a set of instructions, when executed, may cause the machine to perform any one or more of the methodologies or functions discussed above. The machine may be configured to facilitate various operations conducted by the system 100. For example, the machine may be configured to, but is not limited to, assist the system 100 by providing processing power to assist with processing loads experienced in the system 100, by providing storage capacity for storing instructions or data traversing the system 100, by providing functionality and / or programs for facilitating the operative functionality of the navigational devices 115, 130, and / or the first, second, third, fourth, and fifth user devices 102, 106, 110, 121, 125 and / or the navigational devices 115, 130, by providing functionality and / or programs for facilitating operation of any of the components of the navigational devices 115, 130 (e.g. ear canal receivers, transceivers, ear canal microphones, ambient sound microphones, or by assisting with any other operations conducted by or within the system 100.

[0053] In some embodiments, the machine may operate as a standalone device. In some embodiments, the machine may be connected (eg., using communications network 135, the communications network 116, the communications network 131, another network, or a combination thereof) to and assist with operations performed by other machines and systems, such as, but not limited to, the first user device 102, the second user device 111, the third user device 110, the fourth user device 121, the fifth user device 125, the navigational device 115, the navigational device 130, the server 140, the server 150, the database 155, the server 160, or any combination thereof. The machine may be connected with any component in the system 100. In a networked deployment, the machine may operate in the capacity of a server or a client user machine in a server-client user network environment, or as a peer machine in a peer-to-peer (or distributed) network environment. The machine may comprise a server computer, a client user computer, a personal computer (PC), a tablet PC, a laptop computer, a desktop computer, a control system, a network router, switch or bridge, or any machine capable of executing a set of1877873589;1Our Docket: 11472-71WO (00438075)instructions (sequential or otherwise) that specify actions to be taken by that machine. Further, while a single machine is illustrated, the term “machine” shall also be taken to include any collection of machines that individually or jointly execute a set (or multiple sets) of instructions to perform any one or more of the methodologies discussed herein.

[0054] The computer system 14100 may include a processor 14102 (e.g., a central processing unit (CPU), a graphics processing unit (GPU, or both), a main memory 14104 and a static memory 14106, which communicate with each other via a bus 14108. The computer system 14100 may further include a video display unit 14110, which may be, but is not limited to, a liquid crystal display (LCD), a flat panel, a solid state display, or a cathode ray tube (CRT). The computer system 14100 may include an input device 14112, such as, but not limited to, a keyboard, a cursor control device 14114, such as, but not limited to, a mouse, a disk drive unit 14116, a signal generation device 14118, such as, but not limited to, a speaker or remote control, and a network interface device 14120.

[0055] The disk drive unit 14116 may include a machine-readable medium 14122 on which is stored one or more sets of instructions 14124, such as, but not limited to, software embodying any one or more of the methodologies or functions described herein, including those methods illustrated above. The instructions 14124 may also reside, completely or at least partially, within the main memory 14104, the static memory 14106, or within the processor 14102, or a combination thereof, during execution thereof by the computer system 14100. The main memory 14104 and the processor 14102 also may constitute machine-readable media.

[0056] Dedicated hardware implementations including, but not limited to, application specific integrated circuits, programmable logic arrays and other hardware devices can likewise be constructed to implement the methods described herein. Applications that may include the apparatus and systems of various embodiments broadly include a variety of electronic and computer systems. Some embodiments implement functions in two or more specific interconnected hardware modules or devices with related control and data signals communicated between and through the modules, or as portions of an application-specific integrated circuit. Thus, the example system is applicable to software, firmware, and hardware implementations.

[0057] In accordance with various embodiments of the present disclosure, the methods described herein are intended for operation as software programs running on a computer processor. Furthermore, software implementations can include, but not limited to, distributed processing or1977873589;1Our Docket: 11472-71WO (00438075)component / object distributed processing, parallel processing, or virtual machine processing can also be constructed to implement the methods described herein.

[0058] The present disclosure contemplates a machine-readable medium 14122 containing instructions 14124 so that a device connected to the communications network 135, the communications network 116, the communications network 131, another network, or a combination thereof, can send or receive voice, video or data, and communicate over the communications network 135, the communications network 116, the communications network 131, another network, or a combination thereof, using the instructions. The instructions 14124 may further be transmitted or received over the communications network 135, another network, or a combination thereof, via the network interface device 14120.

[0059] While the machine-readable medium 14122 is shown in an example embodiment to be a single medium, the term "machine-readable medium" should be taken to include a single medium or multiple media (e.g., a centralized or distributed database, and / or associated caches and servers) that store the one or more sets of instructions. The term "machine-readable medium" shall also be taken to include any medium that is capable of storing, encoding or carrying a set of instructions for execution by the machine and that causes the machine to perform any one or more of the methodologies of the present disclosure.

[0060] The terms "machine-readable medium," "machine-readable device," or "computer-readable device" shall accordingly be taken to include, but not be limited to: memory devices, solid-state memories such as a memory card or other package that houses one or more read-only (non-volatile) memories, random access memories, or other re-writable (volatile) memories; magneto-optical or optical medium such as a disk or tape; or other self-contained information archive or set of archives is considered a distribution medium equivalent to a tangible storage medium. The "machine-readable medium," "machine-readable device," or "computer-readable device" may be non-transitory, and, in certain embodiments, may not include a wave or signal per se. Accordingly, the disclosure is considered to include any one or more of a machine-readable medium or a distribution medium, as listed herein and including art-recognized equivalents and successor media, in which the software implementations herein are stored.

[0061] The illustrations of arrangements described herein are intended to provide a general understanding of the structure of various embodiments, and they are not intended to serve as a complete description of all the elements and features of apparatus and systems that might make2077873589;1Our Docket: 11472-71WO (00438075)use of the structures described herein. Other arrangements may be utilized and derived therefrom, such that structural and logical substitutions and changes may be made without departing from the scope of this disclosure. Figures are also merely representational and may not be drawn to scale. Certain proportions thereof may be exaggerated, while others may be minimized. Accordingly, the specification and drawings are to be regarded in an illustrative rather than a restrictive sense.

[0062] Thus, although specific arrangements have been illustrated and described herein, it should be appreciated that any arrangement calculated to achieve the same purpose may be substituted for the specific arrangement shown. This disclosure is intended to cover any and all adaptations or variations of various embodiments and arrangements of the invention. Combinations of the above arrangements, and other arrangements not specifically described herein, will be apparent to those of skill in the art upon reviewing the above description. Therefore, it is intended that the disclosure not be limited to the particular arrangement s) disclosed as the best mode contemplated for carrying out this invention, but that the invention will include all embodiments and arrangements falling within the scope of the appended claims.

[0063] The epoch differencing method can be applied to any system that can receive emitter signals. Figs. 4-11 provide examples of some systems that can use the epoch differencing method in a navigational system.

[0064] FIG. 4 is a schematic diagram of an earphone device that can utilize the navigational system. The earphone 400 can include an eartip 410, for example made of foam, polymer, inflatable, balloon, expandable. The earphone 400 can also include at least one acoustic channel 420, which can carry and / or direct acoustic energy from a speaker, and / or a microphone, or even to / from sensors, can also include inflatable channels. The earphone 400 can also include at least one biosensor 430, such as amperometric sensors, potentiometric sensors, impedimetric sensors, voltametric sensors, electromagnetic sensors, light sensors (e.g., IR), acoustic sensors, electrochemical sensor, optical based sensors, location determination sensors (e.g., GPS, inertial sensors), thermal and piezoelectric sensor and other as known by one of ordinary skill in biosensor design. The earphone 400 can also include at least one for example microphones 440, 465, 490, such as transducers, MEMs, electrofluid / coils / electrodes, hydrophones, and other as known by one of ordinary skill in microphone design. The earphone 400 can also include at least one speaker 450, such as transducers, MEMs, electrofluid / coils / electrodes, hydrophones, and other as known by one of ordinary skill in speaker design.2177873589;1Our Docket: 11472-71WO (00438075)

[0065] The earphone 400 can also include at least one memory 455, such as RAM, DRAM, static RAM, Double Data Rate SDRAM, hard drive, Rambus Dynamic RAM, read-only memory, quantum memory, and other as known by one of ordinary skill in memory design. The earphone 400 can also include at least one processor 460, circuit, logic circuit (e.g., composed of parts of processor established by the processor executing instructions to isolate parts to use in a particular order) and other as known by one of ordinary skill in integrated circuit design and manufacturing (for example the APPLE Hl and H2 chipset). Note in general referral to a processor and operations and / or functions performed, does not mean that such operations and functions are performed by one processor. Each function and or operation can be performed by separate processors. The earphone 400 can also include at least one sensor 470, such as amperometric sensors, potentiometric sensors, impedimetric sensors, voltametric sensors, electromagnetic sensors, light sensors (e.g., IR), acoustic sensors, electrochemical sensor, optical based sensors, location determination sensors (e.g., GPS, inertial sensors), magnetometer, gravitometer, thermal and piezoelectric sensor and other as known by one of ordinary skill in sensor design. The earphone 400 can also include at least one battery 480 or energy storage device, such as solar cells, fuel cells, bioenergy, micro engine, motion energy storage, lithium-ion battery, alkaline battery, carbon zinc battery, silver oxide battery, zinc air battery, NiCd battery, NiMH battery, and other as known by one of ordinary skill in battery or microenergy supply design. The earphone 400 can also include at least one housing 485, such as 3D printed material, moldable material, plastic, metal, and other as known by one of ordinary skill in earphone housing design and manufacturing.

[0066] FIG. 5 is a schematic diagram of a wearable device, such as a communication device (e.g., Samsung Galaxy Tab S8) that can utilize the navigational system. 500. The computer tablet (e.g., Samsung galaxy Tab S8) 500 can include at least one tablet display 510, e.g., LED, touchscreen (also a user interactive element). The computer tablet (wearable) 500 can include at least one microphone 520, at least one speaker 530, and at least one user interactive element such as a button 540 (e.g., pressure button or touch screen button).

[0067] FIG. 6 is a schematic diagram of another wearable device such as a phone 600 that can utilize the navigational system. The phone or other communication device 600 (e.g., Samsung Galaxy S23) can include at least one display 610 (e.g., also can be a user interface touchscreen), can include at least one microphone 620, at least one speaker 630, and at least one user interface 640.2277873589;1Our Docket: 11472-71WO (00438075)

[0068] FIG. 7 is a schematic diagram of a wearable device such as a watch 700 that can utilize the navigational system. The watch 700 can include at least one display 810 and / or user interface, at least one speaker 720, at least one user interactive element 730 (also referred to as user interface), at least one additional user interface 740 and at least one biometric sensor 750.

[0069] FIG. 8 is a schematic diagram of a standalone device 800 such as can be mounted in a vehicle that can utilize the navigational system. For example, device 800 can be a voice assistant device (e.g., Alexa used in a house, vehicle), or a navigational device mounted in a vehicle. The device 800 can include at least one display and / or user interface 810, at least one speaker 820, and at least one microphone 830, and 840.

[0070] FIG. 9 is a schematic diagram of a wearable device such as a pair of glasses 900 that can utilize the navigational system. The glasses (e.g. eyeglasses, virtual or mixed virtual reality display) 900 can include at least one microphone 910, at least one visual projector 920 with associated visual projector rays 930 or the eyeglass lens can be semitransparent with embedded semitransparent LEDs.

[0071] FIG. 10 is a schematic diagram of a wearable device such as a ring or bracelet that can utilize the navigational system. The ring / bracelet 1000 can include at least one user interface such as a button or microphone (for voice interaction), can include a housing 1020 which can include biosensors 1040, batteries and processor(s), and can include at least one transmitter 1030 for communication and data transmission.

[0072] FIG. 11 is a schematic diagram of other systems that can utilize the navigational system, such as airplanes, trains, trucks and satellites.

[0073] The foregoing is provided for purposes of illustrating, explaining, and describing embodiments of this invention. Modifications and adaptations to these embodiments will be apparent to those skilled in the art and may be made without departing from the scope or spirit of this invention. Upon reviewing the aforementioned embodiments, it would be evident to an artisan with ordinary skill in the art that said embodiments can be modified, reduced, or enhanced without departing from the scope and spirit of the claims described below.2377873589;1

Claims

Our Docket: 11472-71WO (00438075)CLAIMSI claim:

1. A method comprising:calculating a first pseudorange value difference (dpi), using pseudorange values from a first emitter from time t and time tl+dtl;calculating a second pseudorange value difference (dp2), using pseudorange values from a second emitter from time t and time t2+dt2;calculating a third pseudorange value difference (dp3), using pseudorange values from a third emitter from time t and time t3+dt3;receiving a first ephemeris set of values XI, Yl, and Z1 from the first emitter from time tl and time tl+dtl;receiving a second ephemeris set of values X2, Y2, and Z2 from the second emitter from time t2 and time t2+dt2;receiving a third ephemeris set of values X3, Y3, and Z3 from the third emitter from time t3 and time t3+dt3; andcalculating a device location x, y, z, using XI, X2, X3, Yl, Y2, Y3, Zl, Z2, Z3, dpi, dp2, and dp3.

2. The method according to claim 1 further comprising:calculating a fourth pseudorange value difference (dp4), using pseudorange values from a fourth emitter from time t4 and time t4+dt4.

3. The method according to claim 2 further comprising:calculating a fifth pseudorange value difference (dp5), using pseudorange values from a fifth emitter from time t5 and time t5+dt5.

4. The method according to claim 3 further comprising:calculating a sixth pseudorange value difference (dp6), using pseudorange values from a sixth emitter from time t6 and time t6+dt6.2477873589;1Our Docket: 11472-71WO (00438075)5. The method according to claim 4, further comprising:calculating a change in position from x at time t to x-final at time t+dt.

6. The method according to claim 5, further comprising:calculating a change in position from y at time t to y-final at time t+dt.

7. The method according to claim 6, further comprising:calculating a change in position from z at time t to z-final at time t+dt.

8. The method according to claim 7, further comprising:calculating the x-direction velocity from x and x-final.

9. The method according to claim 8, further comprising:calculating the y-direction velocity from y and y-final.

10. The method according to claim 9, further comprising:calculating the z-direction velocity from z and z-final.

11. The method according to claim 7, further comprising:calculating ax-direction acceleration.

12. The method according to claim 11, further comprising:calculating a y-direction acceleration.

13. The method according to claim 12, further comprising:calculating a z-direction acceleration.

14. A navigational system comprising:a memory configured to store instructions;a processor circuit composed of logic circuits, wherein a set of the logic circuits within the processor can be chosen and utilized by executing the instructions stored in the memory;2577873589;1Our Docket: 11472-71WO (00438075)a user notification system; anda receiver circuit, wherein the processor circuit is configured to execute the instructions to perform operations, wherein the operations comprise:receiving a first emitter signal at time t;receiving a second emitter signal at time tl;receiving a third emitter signal at time t2;receiving a fourth emitter signal at time t3;receiving a fifth emitter signal at time t4;receiving a sixth emitter signal at time t5;calculating a first pseudorange value from the first emitter signal;calculating a second pseudorange value from the second emitter signal; calculating a third pseudorange value from the third emitter signal; calculating a fourth pseudorange value from the fourth emitter signal; calculating a fifth pseudorange value from the fifth emitter signal; calculating a sixth pseudorange value from the sixth emitter signal; calculating a first pseudorange value difference using the first pseudorange value and the second pseudorange value;calculating a second pseudorange value difference using the third pseudorange value and the fourth pseudorange value;calculating a third pseudorange value difference using the fifth pseudorange value and the sixth pseudorange value;calculating the navigational system location using the first pseudorange value difference, the second pseudorange value difference, and the third pseudorange value difference;sending the location information to the user notification system.

15. The system according to claim 14, wherein the operations further comprise;calculating velocity information of the navigational system using the location information.

16. The system according to claim 15, wherein the operations further comprise;2677873589;1Our Docket: 11472-71WO (00438075)calculating acceleration information of the navigational system using the velocity information.

17. The system of claim 14, wherein the first emitter signal is from a GPS satellite.

18. The system according to claim 14, wherein the user notification system is a position on a display.

19. The system according to claim 14, wherein the first emitter signal, the second emitter signal, and the third emitter signal are from the same emitter.

20. A navigational system, comprising:a memory configured to store instructions;a processor circuit composed of logic circuits, wherein a set of the logic circuits within the processor can be chosen and utilized by executing the instructions stored in the memory;a user notification system; anda receiver circuit, wherein the processor circuit is configured to execute the instructions to perform operations, wherein the operations comprise:receiving a plurality of emitter signals;determining a plurality of pseudorange values, wherein a pseudorange value of the plurality of pseudorange values is determined from an emitter signal of the plurality of emitter signals;determining a plurality of pseudorange value differences, wherein a pseudorange value difference of the plurality of pseudorange value differences uses two pseudorange values of the plurality of pseudorange values;determining a navigational system location using the plurality of pseudorange value differences; andsending the navigational system location information to the user notification system.

21. The navigational system of claim 20, wherein:2777873589;1Our Docket: 11472-71WO (00438075)each emitter signal from which the plurality of pseudorange values is determined are received at an emitter signal time, wherein the emitter signal time for each emitter signal is different or the same as the emitter signal time for each other emitter signal.

22. The navigational system of claim 20, wherein:each emitter signal from which the plurality of pseudorange values is determined are sequentially received; andeach pseudorange value difference from which the plurality of pseudorange value differences is determined is based on sequentially determined pseudorange values.

23. The navigational system of claim 20, wherein:each emitter signal from which the plurality of pseudorange values is determined are non-sequentially received; andeach pseudorange value difference from which the plurality of pseudorange value differences is determined is based on non-sequentially determined pseudorange values.2877873589;1

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