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In a GPS navigation satellite receiver, a pseudorange step detection method integrates the pseudorange rates to predict expected changes in the pseudoranges from one measurement to the next. The pseudorange rate is directly measured as the carrier Doppler shift. The pseudorange and pseudorange rate from a last measurement from each satellite and a pseudorange rate from a new measurement are used to estimate the expected pseudorange. Such estimate accounts for vehicle velocity and accelerations. The expected pseudorange is compared to a newly measured pseudorange. An impermissible pseudorange step is declared when the difference exceeds a variable threshold. Tests can be done on measurements taken up to ten seconds apart, e.g., using a threshold of five hundred meters. The maximum position dilution of precision is typically set at a value of twelve. Satellites that manifest a pseudorange step are thereafter excluded from participating in subsequent position solution activity.
1. A method for pseudorange step detection in a navigation satellite receiver comprising the steps of:
collecting new pseudorange measurements from a plurality of orbiting satellites;
comparing a new pseudorange measurement to an expected pseudorange propagated from a previous code-based pseudorange with an average pseudorange rate obtained from a current and a last carrier Doppler measurement; and
if a difference based on consecutive samples taken not more than ten seconds apart is greater than a threshold distance, an impermissible pseudorange step is declared and further measurements from a particular corresponding satellite are not used in the position computations for about ten minutes.
2. The method of claim 1, further comprising the steps of:
doing an initial integrity check on each of a plurality of position fixes derived from said pseudorange measurements;
whenever an initial integrity check fails, using the navigation satellite receiver in an attempt to find a subset of satellites for which Fault Detection and Exclusion (FDE) is possible without generating an integrity warning;
returning of candidate satellites to a list of available satellites previously excluded by a FDE process;
successively excluding satellites one at a time from said list of available satellites, and rechecking the integrity of each satellite subset produced; and
if a set of satellites is found that passes an integrity check, the excluded satellite remains excluded for a period of time and then is returned to said list of available satellites if it also passes a tracking and availability requirement.
3. The method of claim 2, wherein:
pseudorange measurements for all selected satellites are compared to expected pseudoranges to said orbiting satellites from a user position to determine if a position error is larger than a protection limit.
4. The method of claim 3, further comprising the step of:
reporting the results of any fault detection to a host processor connected to the navigation satellite receiver.
5. The method of claim 2, further comprising the step of:
calculating the difference between an automatic barometric pressure altitude input and an altitude purely obtained from pseudorange measurements from a minimum number of said orbiting satellites.
6. The method of claim 2, further comprising the step of:
correcting a constraint altitude if fault detection is not possible using pseudorange measurements from said orbiting satellites only, thereafter using said altitude for fault detection, weighted with a weighting factor.
7. A navigation satellite receiver with pseudorange step detection, comprising:
a downconverter and demodulator for collecting new pseudorange measurements from a plurality of orbiting satellites;
a microcomputer connected to the downconverter and demodulator for comparing a new pseudorange measurement to an expected pseudorange propagated from a previous code-based pseudorange with an average pseudorange rate obtained from a current and a last carrier Doppler measurement; and
threshold detector connected to the microcomputer for declaring an impermissible pseudorange step if a difference based on consecutive samples taken not more than a period apart is greater than a threshold distance.
8. A navigation satellite receiver with pseudorange step detection, comprising:
a detector providing for checking each measurement from a satellite for a pseudorange step error;
a filter providing for excluding said satellite from use in a position solution activity for a period of time if a pseudorange step error is detected; and
a threshold detector providing for comparing a navigation measurement for each satellite-in-use to an expected value of pseudorange and pseudorange rate from an assumed vehicle position at a measurement time, wherein a difference between a measured and a predicted value is used to update a position estimate and a velocity estimate.
9. A navigation satellite receiver with position solution integrity checking, comprising:
a detector providing for finding a subset of orbiting navigation satellites for which fault detection and exclusion (FDE) is possible without generating an integrity warning whenever an initial integrity check fails;
a first list manager providing for returning of a set of candidate satellites to a list of available satellites previously excluded by a FDE process;
a second list manager providing for successively excluding each of said candidate satellites one at a time from said list of available satellites, and rechecking the integrity of each satellite subset produced; and
a third list manager providing for keeping an excluded satellite excluded if a set of satellites is found that passes an integrity check for a period of ten minutes and for returning said excluded satellite to said list of available satellites if a tracking and availability requirement is satisfied.
10. The receiver of claim 9, wherein:
the detector further provides for pseudorange measurements for all selected satellites to be compared to expected pseudoranges to the satellites from a user position to determine if a position error is larger than a protection limit.
11. The receiver of claim 10, further comprising:
an alarm providing for reporting the results of any fault detection to a host processor connected to the navigation satellite receiver.
12. The receiver of claim 9, further comprising:
a calculator for finding a difference between an automatic barometric pressure altitude input and an altitude purely obtained from a set of pseudorange measurements from a minimum number of satellites.
13. The receiver of claim 9, further comprising:
a processor for correcting a constraint altitude if a fault detection is not possible using pseudorange measurements from orbiting satellites only, and for thereafter using said constraint altitude for fault detection including a weighting factor.
1. Field of the Invention
The invention relates generally to navigation equipment and more specifically to Global Positioning System receivers and methods for detecting that a particular satellite has provided a faulty measurement and then excluding the faulty measurement from further position solution activity.
2. Description of the Prior Art
The Global Positioning System (GPS) is part of a satellite-based navigation system developed by the United States Defense Department under its NAVSTAR satellite program. A fully operational GPS includes twenty-four satellites approximately uniformly dispersed around six circular orbits with four satellites in each orbit. The orbits are inclined at an angle of 55° relative to the equator, and are separated from each other by multiples of 60° longitude. The orbits have radii of 26,560 kilometers and are approximately circular. The orbits are non-geo-synchronous, with 0.5 sidereal day (11.967 hours) orbital periods, so that the satellites move with time relative to the earth below.
Three or more GPS satellites should be visible from most points on the earth's surface, and access to three or more such satellites can be used to determine an observer's position anywhere near the earth's surface, twenty-four hours per day. Each satellite carries atomic clocks to provide timing information for the signals transmitted by the satellites. Internal clock correction is provided for each satellite clock.
Four satellites, at a minimum, are needed to uniquely determine three dimensions of position and time. If only three satellites are visible, conventional GPS software solves for latitude, longitude and time. Time is nearly always needed to be ascertained, and the altitude dimension can be constrained, e.g., assumed or provided.
Each GPS satellite transmits two spread spectrum, L-band carrier signals. An "L1" signal has a frequency f1=1575.42 MHz, and an "L2" signal has a frequency f2=1227.6 MHz. These two frequencies are integral multiples f1=(1540)(f0) and f2=(1200)(f0) of a base frequency f0=1.023 MHz. The L1 signal from each satellite is binary phase shift key (BPSK) modulated by two pseudo-random noise (PRN) codes in phase quadrature, and carries a coarse grained acquisition code (C/A-code) and a precision, fine-grained code (P-code). The L2 signal from each satellite is BPSK modulated by only the P-code.
The use of two carrier signals L1 and L2 permits the computation for partial compensation of the propagation delays of the signals through the ionosphere. This ionospheric delay varies approximately as the inverse square of signal frequency f (delay proportional to f-2). This phenomenon is discussed by MacDoran in U.S. Pat. No. 4,463,357.
Use of the PRN codes in a code multiple access scheme allows the sorting out of the GPS satellite signals that all share the same L1 and L2 frequencies. A signal transmitted by a particular GPS satellite is selected by generating and matching, or correlating, the corresponding, unique PRN code for that particular satellite. The PRN codes come from a short list, and each is stored in GPS receivers carried by ground observers.
The P-code is a relatively long, fine-grained code having an associated clock or chip rate of (10)(f0)=10.23 MHz. The C/A-code allows rapid satellite signal acquisition and hand-over to the P-code and is a relatively short, coarser grained code having a clock or chip rate of f0=1.023 MHz. The C/A-code for any GPS satellite has a length of 1023 chips and thus repeats every millisecond. The full P-code has a length of 259 days, with each satellite transmitting a unique portion of the full P-code. The portion of P-code used for a given GPS satellite has a length of precisely one week (7.000 days) before this code portion repeats. Acceptable methods for generating the C/A-code and P-code are set forth in the GPS interface control document ICD-GPS-200, published by Rockwell International Corporation, Satellite Systems Division, Revision B, 30 Nov. 1987.
The GPS system is such that the C/A-code and P-code can be deliberately corrupted by random dithering that reduces position-fix accuracy. This mode is called Selective Availability (SA). A mode called Anti-Spoofing (AS) includes the transmission of an encrypted Y-code in place of the P-code. "Authorized" receivers can decode the Y-code and such receivers can retain their accuracy in position fix determination during SA.
The GPS satellite bit stream includes navigational information on the ephemeris of the transmitting GPS satellite and an almanac for all GPS satellites, with additional parameters providing corrections for ionospheric signal propagation delays suitable for single frequency receivers and for an offset time between satellite clock time and true GPS time. The navigational information is transmitted at a rate of fifty baud. A useful discussion of the GPS and techniques for obtaining position information from the satellite signals is found in Guide To GPS Positioning, edited by David Wells, Canadian GPS Associates, 1986.
A second configuration for global positioning is the Global Navigation Satellite System (GLONASS), placed in orbit by the former Soviet Union and now maintained by the Russian Federation. GLONASS also uses twenty-four satellites, distributed approximately uniformly in three orbital planes of eight satellites each. Each orbital plane has a nominal inclination of 64.8° relative to the equator, and the three orbital planes are separated from each other by multiples of 120° longitude. The GLONASS circular orbits have smaller radii, about 25,510 kilometers, and a satellite period of revolution of 8/17 of a sidereal day (11.26 hours). A GLONASS satellite and a GPS satellite will thus complete seventeen and sixteen revolutions, respectively, around the earth every eight days. The GLONASS system uses two carrier signals "L1" and "L2" with frequencies of f1=(1602+9 k/16) MHz and f2=(1246+7 k/16) MHz, where k=(0, 1, 2, . . . , 24) is the channel or satellite number. These frequencies lie in two bands at 1.597-1.617 GHz (L1) and 1.240-1.260 GHz (L2). The L1 signal is modulated by a C/A-code (chip rate=0.511 MHz) and by a P-code (chip rate=5.11 MHz). The L2 signal is presently modulated only by the P-code. The GLONASS satellites also transmit navigational data at a rate of fifty baud. Because the channel frequencies are distinguishable from each other, the P-code is the same, and the C/A-code is the same, for each satellite. The methods for receiving and analyzing the GLONASS signals are similar to the methods used for the GPS signals.
Single frequency (L1 only) and dual-frequency (L1 and L2) GPS receivers are now commercially available that are unauthorized and therefore unable to decode the encrypted Y-code. Dual frequency GPS receivers are capable of receiving more than just the L2 carrier transmissions from GPS satellites. A single frequency GPS receiver system could be associated with L2 transmitters that would cause little, if any, interference on the L1 frequency. Since much or all of the hardware already exists in portable GPS receivers to receive position reports over an otherwise under-used L2 carrier frequency, only software changes to the programming of a conventional GPS receiver may be needed to implement a ground network that has its members' individual positions communicated amongst them.
The use of GPS equipment may soon supplant older navigation systems such as LORAN, Omega, and inertial guidance. The maintainers of such systems have begun planning their phase-out and increased use of GPS to provide the primary means of navigation for commercial and general aviation. In order for GPS-based systems to fill the role of the primary navigation system, the systems themselves must have the ability to run simple tests on the information that each satellite in a constellation is providing. Satellites that provide erratic measurements need to be identified as soon as they become erratic, and thereafter excluded from contributing to position solutions.
Pseudorange step errors can affect the reliability and integrity of a GPS receiver. Pseudorange is the measurement taken by a GPS receiver of each satellite signal from which user position can be computed. Pseudorange errors can result in position and velocity solution errors. Conventional mechanisms designed to detect ramp errors may not be able to detect step errors. Particular kinds of GPS receiver position solution finding can result in a pseudorange step error escaping detection. Kalman filters commonly used in GPS receivers can mask the high positional acceleration and jerk that a pseudorange step error erroneously indicates. Better techniques used in certain GPS receivers do not mask such things. GPS receivers in critical missions need to detect steps, as well as offsets, ramps, parabolic, random walk, or any other trajectory that would cause a position error.
Pseudorange steps may appear simply because there are too few satellites or a poor satellite geometry. In any event, false pseudorange step alarms should not occur when it is the actual vehicle motion and dynamics that are responsible for the step. For example, at six hundred knots a legitimate pseudorange step of about 308.67 meters occurs between one second measurements from a satellite that is directly ahead of or behind an aircraft. The length of permissible steps must be increased directly with the period between measurements, for example, to accommodate a loss of lock or to permit sequencing in a GPS receiver with less than six channels.
Although Kalman filter state propagation techniques can be used to reduce false step detection due to vehicle motion and dynamics, such techniques are vulnerable to satellite geometry. Kalman filters are also limited in their ability to follow and model vehicle dynamics. Therefore, Kalman filters cannot be used to solve such problems.
It is therefore an object of the present invention to provide an exceptionally reliable GPS-receiver that can detect and exclude satellites that produce pseudorange step errors.
It is another object of the present invention to provide a method for detecting pseudorange step errors.
Briefly, a pseudorange step detection method of the present invention integrates the pseudorange rate to determine an expected change in the pseudorange from one measurement to the next. The pseudorange rate is directly measured as the carrier Doppler shift. The pseudorange and pseudorange rate from a last measurement from each satellite and a pseudorange rate from a new measurement are used to estimate the expected pseudorange. Such estimate accounts for vehicle velocity and accelerations. The expected pseudorange is compared to a newly measured pseudorange. An impermissible pseudorange step is declared when the difference exceeds a variable threshold. Tests can be done on measurements taken up to ten seconds apart, e.g., using a threshold of five hundred meters, with maximum position dilution of precision typically set at a value of twelve. The Position Dilution of Precision (PDOP) is a measure of the satellite geometry. PDOP can be used to estimate the position error resulting from a given pseudorange error. Satellites that manifest a pseudorange step are thereafter excluded from participating in subsequent position solution activity.
An advantage of the present invention is that a GPS receiver is provided that is reliable in the presence of one or more faulty satellites.
Another advantage of the present invention is that a method is provided for the detection of pseudorange step errors. This detection can be done even when a full position solution cannot be done, due to insufficient satellites or poor geometry.
These and other objects and advantages of the present invention will no doubt become obvious to those of ordinary skill in the art after having read the following detailed description of the preferred embodiment that is illustrated in the drawing figures.
FIG. 1 is a block diagram of a GPS receiver embodiment of the present invention;
FIG. 2 is a data flow diagram of the GPS receiver of FIG. 1;
FIG. 3 is a flow chart diagram of the position determination computer program used by the GPS receiver of FIG. 1; and
FIG. 4 is a flowchart diagram of the fault detection computer program used by the GPS receiver included in FIG. 1.
FIG. 1 illustrates a nine-channel GPS receiver embodiment of the present invention, referred to herein by the general reference numeral 10. GPS receiver 10 includes hardware and software needed for satellite signal processing and position/velocity solution computations. The GPS receiver 10 has nine processing channels operating on the L1 frequency using the C/A code. The GPS receiver 10 provides a bi-directional parallel bus interface 12 to a host 14, a one-microsecond-duration pulse-per-second (PPS) output 16 and a serial channel 18. The GPS receiver 10 includes a reference oscillator 20, a frequency synthesizer module 22, a mixer 24, an antenna input 26 to receive signals from orbiting satellites, an intermediate frequency (IF) module 28 for downconversion, a digital signal processing (DSP) chip 30 that decodes and demodulates nine channels of satellite signals, a microcomputer 32 that computes position and velocity from the decoded and demodulated signals, an analog-to-digital converter (ADC) 34, and a dual-universal asynchronous receiver transmitter (DUART) 36.
The GPS receiver 10 receives satellite signals through the antenna input 26 that are filtered and fed to the mixer 24 and are downconverted and fed to the IF module 28. A local oscillator signal for the mixer 24 is provided by the synthesizer module 22 that gets its master timing reference from a 16.368 MHz temperature compensated crystal oscillator, reference oscillator 20. The synthesizer module 22 also produces several frequencies used by the DSP module 30 and the microcomputer 32. The IF module processes the IF signal, amplifying it and limiting its bandwidth. The resulting signal is fed to the DSP 30.
The DSP 30 includes hardware for tracking nine channels of GPS signals and for extracting carrier and code information, and a fifty bits per second data subcarrier. The microcomputer 32 controls the operation of the tracking hardware in the DSP 30. Measurements and data are collected to compute position and velocity solutions in the microcomputer 32. The selection of what satellites will be tracked is controlled and the orbital information data and almanac for all of the satellites is managed by microcomputer 32.
The ADC 34 allows the GPS receiver 10 to monitor the status of a primary power supply, the synthesizer module 22, a back-up battery, an antenna power supply feed, and an internal temperature. The GPS receiver 10 communicates with the host 14 over the parallel bus 12, and it may also communicate with external devices with the DUART 36 on the bi-directional serial data port 18.
The DSP 30 not only comprises hardware for tracking the GPS signals and extracting carrier and code information, it also provides a millisecond timing interrupt. Software is used to control the operation of the tracking hardware in the DSP 30. In turn, the DSP 30 provides GPS signal information to the microcomputer 32.
The pulse-per-second (PPS) output 16 is controlled by the DSP 30. A one microsecond pulse generated each second is controlled by a twelve-bit programmable delay, specified in 1.023 MHz clock cycles. Software is used to determine a bias from GPS system time during a position solution. The PPS delay is stored prior to the 999th millisecond of a GPS second. The GPS receiver 10 software also sets the PPS output flag during processing of the 998th millisecond of each GPS second, and clears it for all other millisecond periods. During normal navigation, the onset of the PPS will be within two microseconds of the so-called "UTC" second.
The primary function of the GPS receiver 10 is to provide accurate navigation data, e.g., position and velocity, to a host processor of a navigation system. The software is written in C and Motorola 68340 assembly languages, and runs on a Motorola 68340 microcomputer.
FIG. 2 represents a program data flow 40 within the microcomputer 32. Satellite acquisition and signal tracking are done by processing incoming raw GPS signals in the DSP 30 for information to send to navigation routines that produce position and velocity estimates. Such solutions are then sent to the host 14. At least four satellites above a minimum acceptable elevation and above a minimum receivable signal-to-noise ratio with a position dilution of precision (PDOP) of 12.0 or less are needed by a signal tracking function 42. Data from this function is then provided to a database manager 44. Data updates are then made available for an almanac/ephemeris 46. The almanac/ephemeris, code phase, and Doppler shift readings are provided to a task 48 that estimates the position, velocity, and solution integrity. Solution integrity is checked by Fault Detection and Exclusion (FDE), and by a pseudorange step detector to detect pseudorange steps that exceed a threshold and to exclude the involved satellite from participating in solution activity, at least for a minimum period. Position and velocity estimates and satellite Space Vehicle (SV) tracking and control information are provided to a channel manager 50. An input/output (I/O) process 52 receives position, velocity, and status from the task 48 and manages an interface with the host 14. An FDE prediction task 54 uses the almanac and ephemeris and data from the I/O process 52 to compute the expected availability of navigation and FDE.
In a typical configuration, all the GPS satellites transmit normal navigation data, indicate healthy status and predicted user pseudorange accuracy (URA) of better than sixty-four meters. The error from reference oscillator 20 does not exceed five parts per million. The velocity of the vehicle does not exceed 400 meters/second (about 800 knots), and the acceleration of the vehicle does not exceed 19.6 meters-per-second-per-second. The rate of change of the vehicle acceleration does not exceed 19.6 meters-per-second-per-second-per second.
During each satellite selection process, the GPS receiver 10 determines whether the current set of selected satellites and altitude is sufficient to provide integrity monitoring. If such integrity monitoring can be provided, the integrity check is done on each position fix, and the result of this check is reported. If an integrity failure is detected, the GPS receiver 10 attempts to determine which satellite failed and then excludes it from further position solution use, e.g., for ten minutes. On receipt of a Fault Detection and Exclusion (FDE) prediction request from the host 14, the GPS receiver 10 predicts the availability of fault detection or FDE at various points and times elected by the host 14. Under typical operating conditions, the GPS receiver 10 provides position, velocity and position integrity updates and reports at least once every second, on average.
The microcomputer 32 includes a battery-backed read-write Random Access Memory (RAM) for the navigation data base 44. The last known position, satellite almanacs, satellite ephemeris data, GPS satellite constellation health codes, and system operating parameters are stored in the RAM. An elevation angle mask is maintained to set the minimum acceptable elevation of any satellite to be used in the solution. A signal strength mask is used to set the minimum received signal strength. A Position Dilution of Precision (PDOP) mask is used that prevents the calculation of a navigation solution when the satellite geometry is such that the PDOP exceeds a specified value, e.g., twelve. A mode switch mask is used to force the system to switch from three-dimensional to two-dimensional mode if the available satellite constellation has a PDOP, for three-dimension navigation, greater than the specified value. The system will then use the three satellites that afford the lowest PDOP while using the available altitude. The mode selection specifies whether the GPS satellite selection is to be done in manual two-dimension, manual three-dimension, or auto mode.
During initialization, the GPS receiver 10 uses the information pre-existing in the data base 44. Once a satellite is acquired and healthy, and the previous data base information for that satellite is more than five minutes old, fresh satellite ephemeris data is collected before it is used for position and velocity solutions.
FIG. 3 represents the control flow of a position determination process 60. The DSP 30, under control of an (EPOCHO) subroutine 62, tracks GPS signals and extracts carrier and code information in a process (extract-- data(), get-- meas()) 63. It also provides a one millisecond (millisecond()) timing interrupt for the microcomputer 32. The values of C/A code delay and measurement time (related to pseudorange), carrier Doppler shift (related to relative velocity), and data edge delay from each satellite in use are corrected for deterministic effects in a subroutine (mcorr-- prep(), mcorr-- sat()) 64. Pseudorange (PR) and pseudorange rate (PRR) residuals are then estimated by finding the difference between previous estimates and the corrected measurements in a subroutine (proj-- meas(), compd-- range()) 66. These residuals are multiplied by gain matrices to solve for delta position and velocity, plus oscillator bias and bias rate. These, in turn, are used to determine latitude, longitude, GPS time equivalent to the updated position, altitude (if in three-dimensional mode), and velocity in a subroutine (pos-- fix()) 68. If the position change from the last position solution exceeds ten kilometers then, the gain matrices, computed from user and satellite direction cosines, are recomposed in a subroutine (redo-- gmat()) 70. The position bias and velocity bias rate outputs of pos-- fix() 68 are then applied to the next position update. Satellites used for position determination are reassessed periodically, e.g., at least once a minute, or when commanded. Almanac and ephemeris (fifty bit-per-second) data collected from the available satellites are stored in the battery-backed RAM by a navigation data manager subroutine (nav-- data-- mngr()) 72, and used in a satellite selection process (sat-- find(), sat-- select()) 74. The host may also deselect satellites via commands sent to the CPS receiver 10.
When the position stored in memory is not a GPS-calculated position, e.g., a user-entered estimate, or when sufficient time has passed since the last fix such that the GPS receiver 10 could have moved more than one hundred fifty kilometers, the GPS receiver 10 may invoke a special "anywhere fix" process that allows a search for satellites "below" the specified elevation mask, using Doppler shift values significantly different from those predicted for the stored position. Whenever the stored position is completely erroneous, such a search process can stretch the time to first fix to fifteen minutes or more. During this "anywhere fix" process, the position output is not flagged as valid.
FIG. 4 illustrates a Fault Detection and Exclusion (FDE) process 80 that is called from the main control loop of the microcomputer 32. The fault detection depends on a parity vector scheme to determine the integrity of the position fixes previously calculated. In this parity vector scheme, the number of elements of the parity vector is equal to the number of measurements used for FDE. Each element of the parity vector represents the pseudorange error status of a corresponding satellite. The FDE process 80 has two parts, a fault detection matrices building process 82, and a position integrity checking process 84. After the set of satellites has been selected, the capability of the current satellite constellation to provide fault detection is checked. For fault detection to be available, two conditions must be satisfied. First, at least five satellites must be available, or four satellites if a recently calibrated altitude measurement is in hand. Second, the satellite constellation and the calibrated altitude measurement must enable the detection of position errors larger than that of a required protection limit. The detection probability of such errors is preferably 99.9 percent or better and the false alarm rate is preferably one false alarm per 500 hours or better. The process 82 is executed once after the satellite selection process 74. Providing that fault detection is available, after each position fix is calculated, the integrity of the position fix is checked. If the fault detection process 84 does not use a calibrated altitude measurement and the integrity of the current position fix is good, then the current altitude is calibrated using that position fix. If an integrity check fails, the process 84 attempts to find a subset of satellites for which FDE is available and that does not generate an FDE integrity warning. This is done by successively excluding satellites from the set of satellites selected, starting with the satellite with the largest absolute value in its corresponding element of the parity vector. If such a set is found, the excluded satellite can be selected again after ten minutes.
A pseudorange step error detection test is done on each new measurement by comparing the expected pseudorange computed using the average pseudorange rate from the last and current measurements of carrier Doppler shift, to propagate the previous code based pseudorange. If the difference based on consecutive samples taken not more than ten seconds apart is greater than five hundred meters, an impermissible pseudorange step is declared and further measurements from that satellite are not used in the position computations for ten minutes.
The GPS receiver 10 software initialization occurs immediately after the microcomputer 32 is reset. A reset can also occur as a result of a host command. The initialization includes power-up built-in-test (BIT), RAM clearing, peripheral device initialization, and data base initialization. During initialization, tests of the hardware and firmware verify normal operational capability. Failure of any test is cause to flag the error and continue if possible, such errors are reported to the host 14. RAM memory is cleared during software initialization, so that any RAM location not later written can be presumed to be zero. The microcomputer 32 configures the peripheral devices and verifies the presence of the DSP 30 by verifying a clock setting. If the tests fail, an error flag is set. Flag words within the battery-backed RAM memory are tested at power-up. If they contain the expected values, the memory is presumed to contain navigation data base elements that were previously saved. If not, the data base is cleared.
Except during an "anywhere fix" process, the software maintains a list of satellites to be acquired and their acquisition status. A satellite is placed on the acquisition queue for signal tracking if its almanac information exists, it is flying above the minimum elevation mask, and it indicates as being healthy, e.g., as reported in the almanac data and summary data pages.
Satellites already on the acquisition queue that no longer meet the criteria above are removed from the queue. The GPS receiver 10 tracks the nine highest-elevation satellites on the acquisition queue. A set of satellites to be used in position and velocity computations is selected. The satellites that are currently being tracked, (1) must not have been deselected by the host 14, (2) must not have been excluded by the FDE or pseudorange step error detection functions, (3) the ephemeris data (SV orbit and clock) must be less than four minutes old and indicate that the satellite is healthy, (4) the signal level must be above the mask, (5) the predicted URA must be less than sixty-four meters, and (6) the URA alert flag must not be set.
If the PDOP for these satellites is less than the PDOP and mode switch masks, then the GPS receiver 10 software can use these satellites for three-dimension navigation. If the PDOP for these satellites exceeds either the PDOP or the mode switch mask, or only three satellites are available, the satellite selection software identifies the three satellites that provide the best geometry for two-dimension navigation. If the PDOP for these satellites is less than the PDOP mask, the GPS receiver 10 software selects these three satellites for two-dimension navigation.
When the system transitions from three-dimension to two-dimension, it uses the last calculated GPS altitude. It then replaces this with a host-supplied altitude when such altitude is received from the host 14.
If the best three-satellite PDOP exceeds the PDOP mask, the GPS receiver 10 discontinues position fixing and indicates this condition to the host 14. If three-dimension navigation is selected and the "anywhere fix" process is not on, the GPS receiver 10 evaluates the availability of fault detection adequate for a current flight mode, as specified by the host 14, e.g., four nautical miles over the ocean, two nautical miles enroute, and one nautical mile near the airline terminal. If five or more satellites are selected, fault detection availability is based upon all selected satellite measurements. If this check fails, or if there are only four selected satellites, then fault detection availability is based upon all selected satellites measurements and automatic pressure or a barometer corrected altitude input (pressure altitude "P/A") from the host 14, unless the host 14 indicates that the altitude source is a manual entry. The GPS receiver 10 indicates to the host 14 the availability status of fault detection.
If fault detection is available, and the protection limit provides the integrity necessary for the current phase of flight, the GPS receiver 10 reports to the host 14 that fault detection status. If fault detection is available or the protection limit is less than ten kilometers, the GPS receiver 10 computes all data required to perform the integrity test on subsequent position solutions.
The satellite acquisition process reassesses the satellites at least once every three minutes. The satellite selection process repeats at least every minute, and as required by changes in the list of available satellites. The list of available satellites is arranged in numerical order by satellite number.
Valid satellite almanac or ephemeris data are combined with accurate position, time, and velocity estimates to produce predictions of satellite visibility and Doppler shift. These data are used to maintain satellite visibility and Doppler predictions current to within ten minutes of real time. The software also computes deterministic corrections (ionospheric, tropospheric, earth rotation) for each usable satellite (healthy satellite for which ephemeris data is available), current to within ten minutes of real time.
Satellite navigation data refers to a fifty bit-per-second signal transmitted by each orbiting satellite. The GPS receiver 10 software obtains satellite navigation data from each acquired satellite to maintain the current almanacs for all satellites, the current ephemeris data for the acquired satellites, and GPS time information. The navigation process receives values of C/A code delay and measurement time (related to pseudorange), Doppler shift (related to relative velocity), and data edge delay from each satellite in use, together with a previous position estimate and optional altitude input from the host 14, and puts out updated estimates of receiver position, velocity, and position integrity. It obtains current GPS time information from the GPS data frames and measurement time for each signal measurement, and determines the GPS time equivalent to the updated position.
Alternatively, a built-in-test (BIT) is included in the microcomputer 32 to routinely test the GPS receiver 10 hardware and firmware during the start-up process and on a background basis. Failures are flagged to the host 14, but such failures do not necessarily prevent continued operation. A power-up system status test checks the read only and RAM memory, interrupts, ADC 34, DSP 30, etc. The status of a feedline between an antenna assembly and the microcomputer 32 is monitored by a circuit that can detect both short-circuit and open-circuit conditions. For example, if the feedline voltage is between 3.0 and 4.98 volts, inclusive, and the feedline current is between 0.02 and 0.11 amperes, inclusive, the feedline is deemed to be working properly. Otherwise, it is considered to have failed. The GPS receiver 10 reports such status to the host 14. The status of the synthesizer control voltage is also monitored. If the voltage is between 1.5 and 3.5 volts, inclusive, and two consecutive readings differ by no more than about 0.1 volts, the synthesizer is deemed to be working properly. otherwise, it is considered to have failed. Other tests are also made on the epoch/millisecond alignment to accumulated commands from the DSP 30 to detect failure of a chip to execute slew commands. An error flag is set when the clock bias rate exceeds a threshold of about 6.3 Parts Per Million (PPM), and clears the flag when the rate is below the threshold. The GPS receiver 10 can continue to operate under this error condition. However, acquisition time is degraded when the clock is too far off the nominal frequency.
Although the present invention has been described in terms of the presently preferred embodiment, it is to be understood that the disclosure is not to be interpreted as limiting. Various alterations and modifications will no doubt become apparent to those skilled in the art after laving read the above disclosure. Accordingly, it is intended that the appended claims be interpreted as covering all alterations and modifications as fall within the true spirit and scope of the invention.
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Nine years and a lengthy legal battle after it was proposed, a nine-story hotel could soon rise where the unsightly former Charleston County Library still stands in downtown Charleston.
The developer will seek final approval from the Board of Architectural Review on Wednesday for the palatial proposal valued at $70 million at 404 King St.
Library Associates LLC plans to demolish the old library and build a 185-room hotel with underground parking, a rooftop pool, ballroom, meeting rooms and intricate details such as copper roofing, gas lanterns and decorative ironwork.
Retail shops would line King Street, and the as-yet unnamed hotel would face Marion Square.
The proposed 105-foot-tall building drew the ire of preservationists, who sued over its height and scale for the area, though it's not as tall as the nearby Francis Marion Hotel.
The state Supreme Court ruled 3-2 last year that the project could go forward.
Michael Bennett, owner of Bennett Hospitality, a Charleston-based company that owns several Hilton, Marriott and Embassy Suites properties in the region, and business partner Hank Hofford bought the old library and some surrounding property from Charleston County for $3.6 million in 1995. The building has sat vacant since 1998, when the library moved to Calhoun Street.
Demolition and construction should begin this year, Bennett said.
He expects build-out to take 24 months with a possible opening in 2015 or 2016.
Some of the marble used in the library building will be reused inside the hotel, he said.
"I think it's spectacular," Bennett said of the hotel plan.
Dusted off after languishing in court, the hotel project could be built during a boom for the peninsula's lodging industry.
The downtown area's annual occupancy rate of nearly 80 percent last year and the recent travel accolades heaped on the city have sparked interest from developers hoping to cash in on the city's popular tourist trade.
The proposed hotel is among at least a dozen new lodging projects slated to add more than 1,500 rooms on the peninsula from the Ashley River to the South Carolina Aquarium and north to the Ravenel Bridge.
Last year, 4.83 million visitors pumped $3.58 billion into the Charleston area economy, according to the College of Charleston's Office of Tourism Analysis.
A group led by hotel developer Michael Bennett has owned the former Charleston County Library building on King Street since 1995. He also owns the adjacent former Citadel, which is now an Embassy Suites.×
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subset: commoncrawl


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David Cotterill and Rob Jones were Doncaster's representatives, and among the other players to make the XI was the league's top scorer Patrick Madden, who has netted 23 goals this season for Yeovil.
Bournemouth, meanwhile, have three players in the team, with Simon Francis, Charlie Daniels and Matt Richie all included.
League One Team of the Year: Wesley Foderingham (Swindon), Simon Francis (Bournemouth), Robert Jones (Doncaster), Harry Maguire (Sheffield United), Charlie Daniels (Bournemouth), Matthew Ritchie (Bournemouth), Luke Murphy (Crewe), Alan Judge (Notts County), David Cotterill (Doncaster), Patrick Madden (Yeovil), Leon Clarke (Coventry).


text: MADISON -- Boone Countys Twenty-fifth Judicial Circuit Judge William Thompson spent some of this week handling truancy cases.Several parents pleaded guilty to first offense violation of West Virginias school attendance law after prosecutors brought charges against parents whose children missed so many days of school that they broke the law.Parents pleading guilty on Tuesday, April 9, 2013, included Steven Cox of Nellis; April Bailey of Danville; Angela Bishop of Ashford; Jason Hager of Ottawa; Stephanie Chandler of Nellis; Edward Sansom of Madison; Stacey Warner of Seth; and Eric Hayes of Julian.A 22-year-old Clothier man was also arrested on Wednesday, April 10, 2013, for aiding or abetting violations of the compulsory attendance law after he hid a student in his home that was supposed to be in school.Jason Dylan Stephens allegedly concealed the student in his home and provided false information to probation officials and law enforcement officers, according to a criminal complaint file in Boone County Magistrate Court.This crackdown on truancy comes after Boone County Schools, the Administrative Office of the Supreme Court of Appeals of West Virginia, and the Twenty-fifth Judicial Circuit signed a memorandum of understanding several months ago regarding the issue and the employment of a new school-based probation officer funded by the Boone County Board of Education.Education is the key to our future, said Judge Thompson. Early intervention is the key to reducing school drop-outs.Michael Lacy, Director of the Division of Probation Services for the West Virginia Supreme Court, says the program supports Supreme Court Justice Robin Davis, a Boone County native, initiative on reducing truancy rates and keeping kids in school.Boone is the fourth county in the state to have a school-based probation officer, he said. Logan, Wayne and Mercer counties have very successful results and we expect the same for Boone County.The officer has been focusing on attendance and behavioral issues with students.Being able to address this problem early helps to keep it out of the court system, said Chief Probation Officer Jerry Swanson.Judge Thompson says many of those on his criminal docket are high school dropouts.It is a problem that needs addressed and this is another positive way to help students and parents, Thompson said.Boone County Board of Education President Mark Sumpter said a child couldnt learn if they are not in school.When they miss a lot of school, they get behind, Sumpter said. Anything we can do to make sure they are attending school regularly and staying in school is good news for Boone County Schools, student, teachers, parents and the community.Boone County Schools Superintendent John Hudson says combating truancy is something all schools systems must address.Engaging students and families with a school-based juvenile probation officer should greatly assist with truancy and disciplinary issues, he said. Early intervention, along with promoting community involvement in dropout prevention, will be the key to combating Boone County truancy and dropout rates.Stacia Roberts is the new school-based truancy probation officer for Boone County.She spends 80 percent of her time inside schools in Boone County.I want to be in the schools, she said. Spending my time, hands-on, helping students having trouble with attendance.Roberts lives in Hewitt and is a 2006 graduate of Scott High School. She graduated college from West Virginia State University in 2010 with a degree in criminal justice.The resources are now all in place for children and parents with truancy issues, said Justin Marlowe, Boone County Assistant Prosecuting Attorney.Roberts works with school officials, teachers, students, parents and the courts in the new early intervention-based program.Boone County compulsory school attendance law states that any parent who allows their child to be absent without a legal excuse for five days in a school year is in violation of the states attendance law.Once a parent has been properly notified that their child has been absent without a legal excuse and continues to allow their child to be illegally absent from school, the attendance director shall sign a warrant before the magistrate, or judge.If the parent is found guilty of a first offense violation of the compulsory attendance law, the magistrate may: (1) fine the parent $50 to $100 dollars plus court cost; and/or (2) order the parent to attend school with the child for as long as they deem necessary; or, (3) may defer the sentence for sixty school days and if the child misses no unexcused days, the magistrate may not impose the penalty.If the parent is found guilty of a second and subsequent offense of the compulsory attendance law, the magistrate may: (1) fine the parent $50 to $100 dollars plus court cost; (2) order the parent to attend school with the child for as long as they deem necessary; or, (3) place the parent in jail for five to twenty days.Listed below are absences that the Boone County Board of Education recognizes as excused: (1) Doctors excuse; (2) Illness with a note from home (not to exceed 6 days a year); (3) Illness of a family member (doctors note required); (4) Calamity-fire, flood, etc.; (5) Death in the family (limit three days): (6) Legal obligation; (7) Failure of the bus to run; (8) Observance of religious holiday; and/or, (9) Extenuating circumstances approved by the school principal.Official said that all excuses require written verification. If no written excuse is received by the school, the absence will be considered unexcused, officials added.Eddie Weikle, Director of Attendance and Pupil Services for Boone County Schools, said the truancy initiative is working.We only have had one student expelled this year, he said.On Friday, April 12, 2013, Judge Thompson brought his court to Sherman High School in Seth to handle juvenile cases with some students at the school.Parents, students and the communities understand we are taking this issue very seriously, Weikle added.For a more detailed description of the Attendance Policy and the WV Compulsory School Attendance Law contact Weikle at 304-369-8252.


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The financial aid office at the MSU College of Law understands that in many cases students are transferring to the school with financial aid already processed at their prior institution. If you are transferring to MSU College of Law then you should ensure you have taken the steps necessary to facilitate a smooth transition in your financial aid. Specifically you should have your FAFSA data sent to MSU Law by logging into www.fafsa.ed.gov and adding our federal school code (G02254) or by contacting the Financial Aid Helpline at 800-4-FED-AID. You should also inform your previous institution's financial aid office that you will be transferring and ask to have your financial aid cancelled. Please note: your financial aid does not "transfer" from one school to another.
Once we receive your FAFSA data we will process your financial aid and post it on "Check Your Aid", a section on STU-INFO (https://stuinfo.msu.edu/). (You may access STU-INFO once you have activated your MSU e-mail account.) You will receive notice from our office by email, to your MSU e-mail account. The email will ask you to log into eFinaid and follow the steps necessary for finalizing your financial aid. MSU Law is a Direct Loan school. You must complete a new Master Promissory Note (MPN) so we can process your Stafford Loans, and GradPLUS Loan, and our link for the MPN is www.studentloans.gov. If you have a private loan then you should contact your lender and request a new certification for MSU College of Law. We will certify your loan once your lender contacts us.
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It's usually something I don't think about. So, the reminder from my sister is always welcomed. I owe some people an email on how to make a header. And I do have a couple of friends with new blogs that may need some help. (Hi, Jennie. Time to dust off yours, Amy.) I usually crop my picture on my computer. And then I head on over to picnik where I add the text. (You can crop and do everything over in picnik, though.) Molly had some great info on how to make headers, too. In fact, she helped me remove my boarder that was around the header.


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Our concerns for Cigano's future health are only present because he doesn't remember after 2 rounds... but how many mentioned his "warrior spirit" while taking all that punishment in round 4 and 5?
We can't have it both ways, it's really sad that JDS' future health is at risk for what happened on Saturday, but as a professional, it was his and his corner's choice to go out there after round 3...
Has anybody mentioned Big Country's future health?
I worry about Roy's health and the punishment he has taken but he isn't showing too many ill effects.
Diego, however, didn't sound like his brain was doing so well following his fight with Melendez. I fear he has taken way too many shots in his career.
You say shark I say hey man, Jaws was never my scene and I don't like Star Wars
lots of these guys get hit a go on auto pilot hell i've done it it a bunch in street fights where every one else has to tell u what happend
cause i got hit and every thing goes black but u still some how find a way to keep fighting
from my understanding the ringside doctor does ask a fighter questions in between rounds if there is a question on whether or not the fighter can go on - things like date, where they are fighting, who they are fighting, their date of birth. The only thing is i know pro fighters who make sure they work on answering questions like that in preparation for a fight so a doctor or ref doesnt stop the fight. Ask any fighter, they would rather die in the cage then let the doctor stop it.
Could it have been stopped - sure it could have, but JDS was still landing BIG shots on cain even if he was fighting on auto pilot and anyone of those could have turned the lights out on Cain and for that reason im cool with the fight going the distance. Nothing a 6 month medical suspension cant fix or doctor clearance.
Got a lot of soul searching to do. Sorry to everyone I've let down
If that is the case, he held in there and did remarkably well on auto-pilot. Hopefully he takes this away and changes things up a bit. It's great when you knock fighters out to lean towards one style of fighting, I was hoping to see that he had learned and grown from their second fight. After watching JDS vs Cain III I was honestly a little surprised.
Phil Baroni
"I fight because I can't sing, I can't dance, and it beats working all day. Now ask me a question that doesn't sound so fucking stupid."
Forrest Griffin
"He did exactly what I wanted him to do and he knocked me the fuck out"
Well, Cigano's face looked even worse after the first fight. But that eyebrow is absolutely destroyed.
But I think he would look worse actually.
Not only brazilians can do this stuff
I think there is a difference between being on auto-pilot (lights are on but no one is home) and not remembering. My guess is he just does not remember what happened but that doesnt mean that at the time he wasn't aware of what was going on. His corner talks to him, the doctors talk to him, and the ref talks to him. If he answered them then there is no reason to believe that he was running on auto.
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A Pennsylvania man has been sentenced to serve five years in prison after robbing the CVS pharmacy in Galax in June.
According to Carroll County Commonwealth's Attorney Nathan H. Lyons, Brian R. Sloppy, of New Millport, Pennsylvania, pleaded guilty to robbery and conspiracy to commit robbery in Carroll County Circuit Court on September 18.
Circuit Court Judge Colin Campbell sentenced Sloppy to serve 20 years in the Virginia Department of Corrections. After serving five years, Sloppy will have the remainder of his sentence suspended and he will be placed on active supervised probation. Sloppy and a female co-defendant robbed the CVS pharmacy located in Galax, Virginia on the 24th of June 2012 taking multiple opiate drugs including Oxycodone and Oxycotin. Both were apprehended with the items in their possession within minutes of the robbery.
Lyons thanked the Galax Police Department for the excellent job they did in investigating and apprehending the individuals responsible for the offense.


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16-year-old charged in second robbery
The same 16-year-old male arrested Sept. 23 in connection with a robbery on West Broad Street in Short Pump that day has now been charged in connection with an armed robbery that occurred at SkateNation Plus in Short Pump Sept. 20.
Henrico Police announced today that the juvenile, from Richmond, was charged with two counts of robbery, two counts of use of a firearm in commission of a felony, two counts of possession of a firearm as a minor and two counts of sexual battery, all relating to the incident in the SkateNation parking lot.
That incident took place at about 5:30 p.m. on Sept. 20. Two women were approached by the assailant, who displayed a gun, touched both women inappropriately and stole several items from them.
In the Sept. 23 incident, the teen was charged with two counts of robbery and use of a firearm in the commission of a felony. Police responded Sunday afternoon to the 11100 block of West Broad Street, following the report of a robbery, and later pulled over a car at Belvidere Street near West Broad Street matching the description given by victims. The 16-year-old was the passenger in that car.
10th annual Filipino Festival coming in August
The 10th Annual Filipino Festival will be held Aug. 7-8 at Our Lady of Lourdes Church, 8200 Woodman Rd., beginning with opening ceremonies at 5 p.m. Friday and continuing with live entertainment, food and exhibits until 10 p.m. On Saturday the festival will take place from 10 a.m. to 10 p.m. with a full schedule of performances featuring traditional Filipino dance, music and song.
Filipino cuisine, including BBQ, pansit, lumpia, adobo, halo-halo, lechon, empanada and leche flan, will be available for purchase. The festival will also feature a children's area, church tours, exhibits, and health screenings. > Read more.
CMoR reopens at new Short Pump site
The Children's Museum of Richmond last week opened its new Short Pump location at Short Pump Town Center, to the delight of children who attended a sneak preview of the location July 10. The new facility, located under the forthcoming LL Bean store (formerly the food court) is 8,500 square feet in size – much larger than CMoR's former Short Pump location at West Broad Village, which opened in 2010. The new space includes The CarMax Foundation Service Station, the Silver Diner, a grocery store, a performance stage and an art studio, as well as a giant Light Bright Wall. > Read more.
Weekend Top 10
The Virginia Hispanic Chamber of Commerce and Henrico Police are both presenting community events tomorrow, Aug. 1. The Feria Community Resource Fair at Richmond International Raceway brings together community service providers, embassies/consulates from Latin American countries, government agencies, nonprofit organizations and corporations that impact the Latino community. The Division of Police's Community Day will feature demonstrations and displays from police, fire, animal protection and sheriff's office, as well as family activities, food, entertainment and more. Other events this weekend include wine, chess and theatre! For all our top picks this weekend, click here! > Read more.
3 community meetings planned about September UCI championship cycling races
Three Henrico students participating in 8-day James River Expedition
CASA volunteers sworn in
Police arrest man in upskirting case
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Obituary – Bernice Lauterbach
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CalendarThe Richmond Brain Aneurysm, Stroke and AVM Support Group meets on the second Tuesday of each month from 6:30 p.m. to 8 p.m. at the Evelyn D. Reinhart Guest House,… Full text


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All the New Guns! - Battlefield 3: Close Quarters
There's no suppressed .44 magnum, so we cover everything from the Aug A3 to the M5K.
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I definately want this game!
Spas is a 1 hit kill, dont know what game the editors there were playing but in most of the action i played, it killed in one hit. The semi sniper is pretty bad too, killed me faster even after I unloaded most of a clip on the other guy. In my opinion, the support and the recon are taking a back seat in this addon and the assault, engineer have the advantage. explosive's are lethal in the confined spaces, although rpg's and grenades are seriously nerfed in this game, but c4 and if hit right rpg can kill in groups.
I agree on what you said about the Assault, MTAR and sniper weapons. The Spas is a very nice one shot KO weapon that has a higher RoF then the 870 and thus is a tad more useful for picking of people in a group. You more or less skipped the LSAT which is regarded as the worst new weapon, because it compromises on everything and thus does nothing good, sure it's accurater then the other heavy LMG's but it has such low damage and RoF. It's not as good in CQ as the PKP or M249, but also not as good on a bipod as other LMG's. The L86 is essentially an alternative M27 IAR that has less recoil and is better. The ACW-R I find a bit weird, because it gives no controller vibration on PS3, but it has such a controllable fire pattern that it's very powerful at mid-long range. Haven't tried out the M5K yet, but I'm no fan of PDW's (got GM top 5 but not the SMG kills :P).
so about the spas is better because in the close quarters you need something like that gun and spas shot like boom and you will need this gun style if you was face to face and i always be face to face
why is the close quarters in ps3 got a high prize and some people don't have money but because am lucky i got it yeeeeeeeeeey and guys its really cool
Well good discussion made here.At least who.le 3 platforms opinion was share.If you allow me i will give a general description based on the PC regarding the new weapons at CQ (but played not only at CQ maps).AUG - descend assault rifle which imo is more applicable in any another map instead of CQ.Good damage and acuicy but still lack of fire rate power instead of AEK and M16A3(which M16 remain the most OP weapon at the game since beginning.Maybe they for reason do not nerf it ,in order when is 1st weapon with which you start to give, somehow a new players advantage against veterans.Tbh i hate wen i see colonel 100 with 95 star M16A3.pathetic if you ask me).SCAR-L very good at medium to long range assault rifle.Low firerate but powerful(which i cant understand based on the ammo which it is in use 5.56x45mm instead of G3A3 with 7.62x51mm)If you like a a that kind of play Scar will gonna be you favorite weapon.To me i prefer G3A3 at that kind of play(keep shooting at the enemy on medium to long range).M5K lovely imo is a pro weapon which can be versatile in hand s of the expiriance player.Can rush the enemy squad and wipe it out(my playing stile) , or can keep them in a bit distance with deadly fire rate .MTAR21-deadly in close range ,but against assault rifle in a medium distance ... you are gone soldier.ACWR -That Carbine in fact should be a assault rifle, and i think devs nerf the real range of that weapon to make it engen.class weapon.Its a really good weapon in range of fire same as assault rifle.Bit low damage but compensate with a fire rate:)SAPS12 -really good shot gun (as i point already the some things which should be fix and after yesterday DICE hunting event i hope dev to notice that ).I hate when Ppl start yelling is OP bla bla one shot kill , h dear which shotgun cant kill you with one shot in close range :D .Spas as already was told is a kinda of mid between pump and SEMIAUTO shotgun. M417-good rifle if you loike that kind of snipe play.Tbh i didnt i like a bolt action so for me is decent one but still if i want to use that kind of gun i will prefer a M39 EMR.One more time as i say i can be so objective exactly of that kind of sniper rifle so" don`t lets the dog s out "JNG-90-well Imo to many ppl are over excited on it.The only advantage is a bit bullet velocity instead of M40A5.When i spoke for JNG-90 i mean the shooting range from 50-250 m .In that area .for rest one there is much much better sniper rifles.So a lots of ppl get the idea that JNG-90 is a game changing sniper rifle , well base on my games (include Conquest,rush,assault conquest, TDM )...hmm using my be loved M40A5 i own them all(i donot say that they can`t kill but the kill/death stats between me using a M40A5 and person using JNG90 is something like 5:1.I really dont know what exactly ppl was expected from this rifle, to click the mouse and each shot to be head shot at any distance :D.Well this impo , and for certain i v been played against good recons (rank over col.25 with over 10 star at recon ).That is based on the PC platform
In the end i want to thanks to your guys made this video and give us a good topic to think on it . One more time cheers fella`s and keep on it
The JNG-90 is really great long range but not useful at all on the Close Quarters maps.
Ok, I don't know what you guys are talking about, I don't know if the 360 versions of the M5k and Spas 12 suck or what, but I LOVE those guns. The M5k is amazing once you unlock the extended mag, and even without it, I've been able to take out 3 guys with 21 bullets of one clip that were about 15 meters away from me. It's really powerful, I would definitely use this over the P90 which was my SMG of choice. It's my 2nd favorite weapon now after the AUG A3. It's accurate, fast, stable and smoooooooooth.
The Spas on the other hand has an amazing fire rate for a pump action and is officially a beast with flechette rounds (which is what I think you guys should have been using instead of buckshot). It might be a tad bit weaker than the 870 but it's hardly noticeable with the high fire rate. My accuracy with the Spas is 88% and that's the highest of any of the weapons I use, it's deadly accurate and has great range with flechette rounds. I take out people that are over 30 meters away from me with 2 - 3 shots. I think you should give those 2 guns a second chance with extended mags for the M5k, and flechette or even slugs for the Spas.
Also to answer your other comments, I'm a premium member and I like being one because I got to get these new weapons early and I love all of them, except for the LSAT and M417, which in my opinion is a crappy version of the SKS.
Also, I don't know if 360 users have this glitch, but do your controllers not vibrate when you fire the ACW-R?
this makes me want to pick up bf3 again, after a 3 month hiatus.
MTAR has nothing on Spas12 with slug ammo. Spas12 with slug ammo is official best gun in BF3 right now. Dude had it and got like 100 kills in 12min. And beat everyone by 60 kills. Its a BEAST. MTAR is a baby kittin compared to Spas12 with slug ammo. U said it has no range? Really? Dude had it in regular maps and got those kills. He waz meduim to long range getting ONE hit kills easy.
U guys are crazy, Spas12 with slug ammo is the most overpowered gun in BF3 of all time now. I tweeted DICE @Battlefield and @EA_DICE and told them to leave it in cuz it makes console controller input lag bearable now. But dude killed me with it like from assault rifle range and its ONE hit kills. They going to nerf it watch. But they need to leave it alone on console. Cuz input lag isnt fixed so thats the least they should do to make game bearable.
I HATE close quarters
i really like the spase-12 cause it relly strong and i like close quarters and its very good
this guns is already on the game or i should put the add on??
please i need answer
Any servers with RULES, mean to do exactly what the rules say not to do. F rules. Its a game. You want rules than don't invite random players. That is the dumbest stuff EVER. Nothing dumber than entering a server with rules say no M320 and then some 100 rank LOSER who rented the server is running around with the M320 killing people. That was the losers plan to start
Nothing better than loading objectives with C4 and blasting 5 guys at once, which is my most enjoyable part of these maps, which are otherwise pretty annoying. The challenge is to see how many enemies you can down with one click of the C4 trigger. And stick with that SCAR-L, its a really great, no recoil, calming effect type weapon but not a face to face killer.
The reason why Aaron gets only 1 nade kill per hour.
I used to be a BF3 fan, dont get me wrong I dont like COD, but the gun game play in this game is terrible. The weapons do not shoot the correct way, games should base damage on bullet type, weapon fire speed, weapon size, not based on a score that a develloper sets up. Obviously an assault rifle should have more power than an smg based on type of bullet it fires and its size, yet a SMG fires faster. All to often an assault rifle toting guy who shoots a SMG first still gets killed by the SMG guy because the rules that govern the weapons in the say that the SMG is more powerful. Yet another problem with this game is that amount of ammo players have to fire into other players is really unrealistic, most times it takes entire clips to kill a guy even when they are close range which it shouldnt require. This could be from lag but even in COD more often you could still kill players. Also dont get me started on the explosives, C4 kills in one use yet point blank rpg doesnt even touch or kill unless its a direct hit.
im pretty sure the 12x on scar-L is a bug same thing happened with all B2K weapons devs use the 12x scope for testing purposes and sometimes they forget to remove them
CQ weapons are totally out of place. Completely OverPowered. No initial recoil, no recoil, no spread. Each one best at its class. DICE will nerf 'em, but after 2-3 patches, for obvious reasons... Buy CQ/Premium.
I like the fact the guy camping at around the 1 minute mark just get completely owned.
That'll teach you for playing the game like Call of Duty.
Dirty, filthy, campers!
Nice video, let me tell about M5K and SPAS.Well M5K have less spread over the long range then any submach.gun.Bigger fire rate than assault rifle so i think the M5K is best weapon for close to mid range shooting.And is a kinda of pro weapon.If you know how to handled.At OM conquest with this beauty i manage to wipe out the whole squad` before they realize my presents.For CQ maps certainly if you use this one , ou should keep a bit distance .Now for SPAS hmm this shotgun with a slug ammo is not kinda IT IS PRO .In the chest and head shoot each bullet is a death from close to mid range shooting.So that is IMO .Cheers
it would be nice to have a left hand option :(
MP5 with extend-mag is great
i like SPAS-12 is great long range and deadly
I bought Premium and play the CQ maps. It's only really fun Team DM on hard corpe. The random spawn pionts suck and are no fun.
I'm really dumbfounded by this. Why make a DLC highlighting the absolute worst part of your game?
if premium wasn't so stupidly expensive in australia, i'd love to be giving this a crack by now....
I prefer COD for fast paced close quarters, I prefer BF3 for the large maps. Obviously...
@zowbaid I haven't had any vibration problems on the ACW-R.
Since we did this video, I have warmed up to the M5K a little more. I still kind of feel like the MP7 might be superior, but I'll have to spend more time with it. It's definitely laser accurate from the hip. I haven't taken out 3 with a clip, only 2 before *click*click*click switch to the 1911.
Making friends with the SPAS-12 is next on my list. I've been using flechette with it, and agree with you on that. After one service star, the unlocks seem mostly pointless unless you want to snipe with slugs.
I actually like the 417 quite a bit. It's hip fire is better than the other weapons in the class, besides the SKS which it does beat on damage and suppression.
@boixwunder ya me too, but then i remember that even with new guns, the game still is going to lag and not let me actually shoot people with them...
Ill stick with a real game like arma thx lol.
@PrinceJamesI Of course it has range with the slugs. We were using flechette and buck when we reviewed it. I've haven't really gotten into slugs, but I've noticed they're making a comeback in a big bad way, not just on the SPAS. I played a match with a guy that was straight owning with the Saiga. I tend not to use them because I usually only equip shotguns for the cone of metal death, otherwise I have a more reliable go-to in each class.
@PrinceJamesI @Battlefield @EA_DICE We didn't test it with slugs, but we have noticed the spike in slug usage lately. Probably gonna have to give it a go.
@gamelord1988 Compared to the regular game and B2K, it is an inferior expansion. I doubt I'll be playing it much either. I feel like they could have put more effort into the game modes. The included modes just don't utilize the maps very well and overall experience is chaotic and tactically sub par for Battlefield. Still, I like that DICE is bringing variety to the Battlefield experience, even if it is a bit of a misfire.
@gamelord1988 I'm sorry man..
@brandolate These weapons are included in the Close Quarters DLC expansion.
@KenseiTamasii I spent more time with the M5K over the weekend and am warming up to it a little more. Definitely not as disappointed as I was when we made this video. I still have to work on the SPAS. Everybody's saying slugs, so that's my next stop.
@jonaadams I agree entirely. Well, maybe that's one thing recon can do to help: set-up a beacon in a decent spot.
while i had COD as its soooo boring and mindless.
Ill agree with you and the COD fanboys saying BF or BC2 ripped off COD.
BF1 and BF2 and BC1 especially were amazing and unique. Suprisingly the franchise got popular when BC2 was released and had many similiarities to COD games.Shocker.
Not sure why BF/BC lovers who say they hate COD will keep supporting the franchise as it turns more and more into a COD clone.
@anvilone @Battlefield @EA_DICE *Yeah, trust me, i NEVER have called a gun a "beast". But Spas12 with slugs is a "BEAST" of all beasts. I dont have CQ. But this dude was using it all day on normal maps with all us who dont have it. And it was a massicure. I would buy CQ just for the Spas12 alone. Its a game changer
@anvilone @Battlefield @EA_DICE
@anvilone @gamelord1988 *You got connections? Tell DICE to add Free for All. Even tho i hate the aim in BF3. They need BFBC controller sensitivity so game be fun. But add FFA and fix 100% controllet input lag and i never play COD again. Only reason i play COD is cuz FFA. If DICE had ANY common since, they see FFA would help them out. Thats why cod is the best, cuz they got Team games, PLUS lone wolfs like me who HATE team games. Free for All for Life
@anvilone In fact about slug i believe it is some misunderstanding from devs point of view ,if you notice is better to use slug instead of buckshot(buck should wipeout at least 3 of the enemy player in CQ ,especially when they camp(guard) the flag) ,and in fact slug and buckshot had same stopping power,but slug had bigger range which give you advantage .I try a Mass and there is no such thing on it.I mean at CQ maps with Mass buckshot is deadly as spread and stopping power how should be .So i assume after the next patch they will fix this for spas.Tbh i hate when some weapon become overused ed just because is "fashion" to be use.P.S i use for compear Mass just becouse i know it was "nerf" manipulate from devs so by default i think should be fair enough at real state which should be.Cheers
@grove12345BF started back in like 2002. It was called Battle Field 1942. BF3 still uses the same basic model.
Cod is going to have to try to rip off bf3, if they want to beat bf3. If they do this, their atempt will fail worse than anything they have done.
that was probably one of the dumbest things I have ever read. if anything its the other way around dude. BF2 was several years before Mw was when its MP got popular. Battlefield was very popular during 2005 and 06 on pc with bf2 and 2142 which had more close quarters maps in some parts of the maps like inside the titans. Give me some hard facts of how its becoming a cod clone, since its pretty much the exact other way around and has been since day one mw was released. not only that but COD cant do half the things bf has done years and years ago. COD has been the same game essentially the past 5 plus years. BF has had much longer life cycles and greater tech improvements between games and by the time bf3 runs its course they will have at least released two cod's with basically nothing but new skins, maps and guns, Meanwhile bf3 will have alot of great expansions that is not all close qauters. You act like because if this one expansion pack the entire game has turned into cq. Once armored kill comes out, you will be changing you tune, what cqc added was variety to a game that has a lot of flavors already and for some people they are interested in having close counterstike-like game play. Which yes did NOT originate with cod. meanwhile the next expansion is going to have the biggest BF maps ever created. so tell me how is that becoming a cod clone. BF was an online warfare game serveral years before COD was which in reality you cant even call warfare because 8 vs 8 without vehicles and no destruciton is pretty much just a glorified counterstrike for console. Do you see building coming down and choppers being blown out of the sky by jets when your playing cod? didnt think so and guess what that will always be the core of bf just like it always has.. someday when cod grows up and can play with the big boys and has destruction and vehicles guess who it will be cloning? BF thats right you noob, so go get schooled before you puke such utter garabe comments.
@PrinceJamesI @anvilone @gamelord1988"Thats why cod is the best, cuz they got Team games, PLUS lone wolfs like me who HATE team games. Free for All for Life''In this case when you are lone wolf please keep play just c0d mate.BF3 it is a team game and i will be really appreciated if more ppl think like you.Individual skill play c0d want team game come at BF3 cheers.
@KenseiTamasii I unlocked slug a long time ago, but I keep for getting to load it on the SPAS. I'll try it this week. I'm glad they nerfed the MASS. I liked using it before they broke it, so I'm happy that I can use it again. I like the SPAS more than when we made this video, but I think the M1014 is still my favorite shotgun.
@djpetitte +1. While using big maps and vehicles has been the BF staple since day 1, it is unique from most other shooters and it executes the balance of most vehicles well. 32 vs. 32 is just flat out ridiculous, especially in CQC, which is sweatier and more intense yet still reserves some skill. While I feel as though the Engineer class suffers not having anything to fix, the rpg makes up for it, as does the close quarter carbine advantage. I played MW2 for PS3 and I've probably achieved 2 kills. My friends got me ranked up only because they liked my 240hz led TV. I've never played since and I'd rather mouse and keyboard BF3 in triple screen/5760 X 1080 at a superb framerate with SLI and using teamspeak with my friends any day before I'd play MW2, 2.1, 2.2, 2.3. or 2.4.


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Get better gas mileage
(NewsUSA) - Are you looking to save money at the pump?
One way to do it is with alternative vehicles that use compressed natural gas (CNG), which can cut fuel costs by up to 80 percent. Besides polluting as much as 90 percent less than traditional gasoline, natural gas vehicles can get 45 miles per gallon on CNG fuel.
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If you're not yet able to benefit from natural gas vehicles and other enhanced technology, there are more ways to conserve fuel and increase efficiency.
* Install new spark plugs. For the average car, installing quality spark plugs can make your vehicle perform better than new, mileage included.
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* Replace air filters. You probably don't need to replace the air filter as often as mechanics suggest, but keep an eye on it. Filters tend to last 20,000 or 30,000 miles, and a clean filter can improve mileage by 10 percent.
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SeaWorld Parks & Entertainment is opening 10 new attractions this summer across our 10 parks, the largest single-year capital investment in the company's history. Check out today's CNBC interview with company president and C.E.O. Jim Atchison as he discusses the parks' strong year-to-date performance and summer forecast, live from our latest addition: Cheetah Hunt in Busch Gardens Tampa.
May 25
CNBC Interview with Company President and C.E.O Jim Atchison
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It's Day 240 of the Twitter Bible Study. If you're just joining us, you can read all about it here.
Twitter Bible Study – Daily Wisdom Challenge – Day 240
Greg Surratt
Greg is the founding pastor of Seacoast Church, one of the early adopters of the multi-site model. Located in Mt. Pleasant, South Carolina, Seacoast has been recognized by various media as an innovative and influential thought leader in future strategies for church growth and development.
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Oh poop. It's here.
At almost-45, I can't really deny that I'm firmly entrenched in middle age. I mean, I literally did the maths. 45 x 2 = (oh crap) 90!
I am not sure why this has taken me by surprise, after all I've had 45 years to see it coming!
When my parents were 45 I was just entering my teens. Man, they were so uncool, ugly, boring and a little bit fat.
My mother wore those god-awful shoes which made her look 100 years old, and when she was on the beach she would still wear a t-shirt so that the sun-burn marks showed (beyond disgusting).
My dad would always be telling me to "do your coat up". Nag, nag, nag.
And why oh why couldn't she learn to wear her make-up properly? Where's the eye-shadow and blusher for heaven's sake?! Tuttt.
And not forgetting the fact that they were always drinking TEA on hot days. And they both had ugly feet.
Oh yeah, and if we were in a cafe, she would, like, actually complain and send things back….so embarrassing!
Man, I do miss her.
It all seems so perfectly reasonable now I'm 45 too.
Lord save me from the venomous opinions of my offspring.
Note to self – less complaining, more blusher.
Post originally guested on MomBlogSociety.
Other posts you might like:-
Life's a Journey – My earliest baby photo
A tatty old box full of memories
Unfortunate Christmas incidents – the doggy v dolly 'face-off'


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Find hotels in Lady Lake using the list and search tools below. Explore our guide for inexpensive and discount hotel/motel rates in or near Lady Lake, FL for your upcoming personal or group travel. We provide the best Lady Lake Florida hotel/motel rooms. Review the Lady Lake hotel list below to find the perfect lodging. We also have a map of the Lady Lake hotels. Booking 5+ Rooms? Find Lady Lake Group Hotel Deals
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text: Next Purchase this photo The Herald-Dispatch Mark Webb/for The Herald-Dispatch Children participate in the Marshall University women's basketball Little Herd Camp on Monday, June 24, 2013, at the Cam Henderson Center in Huntington. Gallery: MU's Little Herd Camp Jun. 25, 2013 @ 07:13 AM The Herald-Dispatch / 2015 The Marshall University women's basketball team is hosting Little Herd Camp for children ages 5-12. ()


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Join guest conductors and special guests for a lively discussion about the music before each Philharmonics Series concert. You'll learn what to listen for in each of the evening's selections. Pre-concert talks start one hour prior to the concert, are free for all ticketholders, and are held on the orchestra level of Kodak Hall at Eastman Theatre.
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The French Spawn project, officially known as Spawn: Simony, recently translated from the original French into English and released in the U.S. as a trade paperback, was the number 1 TPB for the month of May.
Congratulations to the creative team -- writer Alex Nikolavitch, artist Aleksi Briclot, and editors Jeff Porcherot and Thierry Mornet -- and thanks to everyone who purchased this special book.
After the success of Simony, the McFarlane Companies is working with Semic -- our French publishers -- on another original project.
This time, the story is related to our ace detectives Sam and Twitch. Currently titled Sam & Twitch: Mary H. Chase, the creative team will be writer Luca Blengino and artist Luca Erbetta, edited by Semic staffers Porcherot and Mornet.
Sam and Twitch must face a serial killer known as "the Writer," who shares his short stories written on the bodies of his victims. Scheduled as a four-issue mini-series outside the current continuity of Case Files: Sam & Twitch, each issue focuses on a single day in the hunt for the killer and is set -- where else? -- in New York City.
Featuring exceptional dialogue and artwork, the French Sam & Twitch is sure to be another hit. Stay tuned to spawn.com for more breaking news and final release schedule on this new project as it's available.