Relativistic Positioning Systems: The Emission Coordinates

This paper introduces some general properties of the gravitational metric and the natural basis of vectors and covectors in 4-dimensional emission coordinates. Emission coordinates are a class of space-time coordinates defined and generated by 4 emitters (satellites) broadcasting their proper time by means of electromagnetic signals. They are a constitutive ingredient of the simplest conceivable relativistic positioning systems. Their study is aimed to develop a theory of these positioning systems, based on the framework and concepts of general relativity, as opposed to introducing `relativistic effects' in a classical framework. In particular, we characterize the causal character of the coordinate vectors, covectors and 2-planes, which are of an unusual type. We obtain the inequality conditions for the contravariant metric to be Lorentzian, and the non-trivial and unexpected identities satisfied by the angles formed by each pair of natural vectors. We also prove that the metric can be naturally split in such a way that there appear 2 parameters (scalar functions) dependent exclusively on the trajectory of the emitters, hence independent of the time broadcast, and 4 parameters, one for each emitter, scaling linearly with the time broadcast by the corresponding satellite, hence independent of the others.Comment: 13 pages, 3 figures. Only format changed for a new submission. Submitted to Class. Quantum Gra

Positioning systems in Minkowski space-time: Bifurcation problem and observational data

In the framework of relativistic positioning systems in Minkowski space-time, the determination of the inertial coordinates of a user involves the {\em bifurcation problem} (which is the indeterminate location of a pair of different events receiving the same emission coordinates). To solve it, in addition to the user emission coordinates and the emitter positions in inertial coordinates, it may happen that the user needs to know {\em independently} the orientation of its emission coordinates. Assuming that the user may observe the relative positions of the four emitters on its celestial sphere, an observational rule to determine this orientation is presented. The bifurcation problem is thus solved by applying this observational rule, and consequently, {\em all} of the parameters in the general expression of the coordinate transformation from emission coordinates to inertial ones may be computed from the data received by the user of the relativistic positioning system.Comment: 10 pages, 7 figures. The version published in PRD contains a misprint in the caption of Figure 3, which is here amende