Abstract: A personal navigation device configured to determine heading readings continuously using data from a sensor in the personal navigation device. Heading readings are selected corresponding to a periodic event. A representative heading is determined from the selected heading readings. When a portion of the selected heading readings has a value within a range of the representative heading, a static heading indicator is asserted to indicate the personal navigation device is moving in a static heading. The static heading indicator may be used to smooth an estimated trajectory of the personal navigation device.

Abstract: A position determining voting system that uses Doppler information from an on-board weather radar to improve the system's accuracy and/or fault tolerance includes a comparison function and an error integration function. The comparison function is used to monitor the independent position sources for correct operation, comparing and identifying a position source that should not be used based on its relative error compared with the other position sources and their characteristics. The integration function provides corrections to relative position sources by integrating the data from multiple absolute position sources when they are mutually consistent.

Abstract: Marking apparatus and methods to mark ground, pavement or other surfaces to provide a visual indication of a presence or an absence of an underground utility in a dig area. An example marking tool has a hand-held housing, a marking dispenser coupled to the housing to dispense one or more markers in the dig area, and a triggering system to trigger the marking dispenser so as to dispense the marker(s). An example marking tool also may include a logging system to receive data associated with a marking event initiated by the triggering system, time tag the data, and store the time-tagged data in data storage in the marking tool.

Abstract: Apparatus for determining a positioning error includes: database for storing grid cells separated by each pCell ID and WLAN environment information matched to grid cells; information receiving unit for receiving terminal WLAN environment information from mobile communication terminal; identification information checking unit for checking AP identification information included in terminal WLAN environment information; triangulating unit for calculating triangulation coordinate value by performing triangulation with AP position estimation information corresponding to AP identification information; grid cell positioning unit for selecting one or more grid cells corresponding to AP identification information and calculating grid cell coordinate value based on coordinate value corresponding to grid cell selected; and error determining unit for comparing triangulation coordinate value and grid cell coordinate value and determining whether there is positioning error in any one of triangulation coordinate value and g

Abstract: A system for tracking objects that are in earth orbit via a constellation or network of satellites having imaging devices is provided. An object tracking system includes a ground controller and, for each satellite in the constellation, an onboard controller. The ground controller receives ephemeris information for a target object and directs that ephemeris information be transmitted to the satellites. Each onboard controller receives ephemeris information for a target object, collects images of the target object based on the expected location of the target object at an expected time, identifies actual locations of the target object from the collected images, and identifies a next expected location at a next expected time based on the identified actual locations of the target object. The onboard controller processes the collected image to identify the actual location of the target object and transmits the actual location information to the ground controller.

Abstract: Assisted-GPS for a portable biometric monitoring device is provided. The portable biometric monitoring device may obtain updated ephemeris data from an associated secondary device via a short-range, low-power communication protocol. The secondary device may be a computing device such as a smartphone, tablet, or laptop. Various rules may control when the ephemeris data is updated. The ephemeris data may be used in the calculation of the global position of the portable biometric monitoring device. Additionally, the portable biometric monitoring device may communicate downloaded position fixing data to the associated secondary device. The associated secondary device may then calculate the global position from the position fixing data.

Abstract: Assisted-GPS for a portable biometric monitoring device is provided. The portable biometric monitoring device may obtain updated ephemeris data from an associated secondary device via a short-range, low-power communication protocol. The secondary device may be a computing device such as a smartphone, tablet, or laptop. Various rules may control when the ephemeris data is updated. The ephemeris data may be used in the calculation of the global position of the portable biometric monitoring device. Additionally, the portable biometric monitoring device may communicate downloaded position fixing data to the associated secondary device. The associated secondary device may then calculate the global position from the position fixing data.

Abstract: Assisted-GPS for a portable biometric monitoring device is provided. The portable biometric monitoring device may obtain updated ephemeris data from an associated secondary device via a short-range, low-power communication protocol. The secondary device may be a computing device such as a smartphone, tablet, or laptop. Various rules may control when the ephemeris data is updated. The ephemeris data may be used in the calculation of the global position of the portable biometric monitoring device. Additionally, the portable biometric monitoring device may communicate downloaded position fixing data to the associated secondary device. The associated secondary device may then calculate the global position from the position fixing data.

Abstract: Dive computers in accordance with embodiments of the invention are disclosed. One embodiment includes a mobile phone handset, including a microprocessor, a microphone connected to the microprocessor, a speaker connected to the microprocessor, a telephone transceiver connected to the microprocessor, memory, a display, and an external connector for communicating with external devices wherein the memory contains a software application, and a waterproof housing including a pressure transducer, where the mobile phone handset is located within the waterproof housing and connected to the pressure transducer via the external connector, and wherein the software application configures the mobile phone handset to create a dive log stored in memory, wherein the dive log comprises recorded information including depth of submersion information recorded from the pressure transducer and display the recorded information during the dive.

Abstract: Apparatus and methods for calibrating dynamic parameters of a vehicle navigation system are presented. One method may include determining whether reference position data of a vehicle is available, and measuring composite accelerations of the vehicle. The method may further include generating distance and turn angle data based upon a wheel speed sensors data, computing distance and turn angle errors based upon the independent position data, and associating the distance and turn angle errors with composite accelerations. A second method presented includes calibrating an inertial navigation sensor within a vehicle navigation system. The second method may include determining reference position data and Inertial Navigation System (INS) data, aligning an IMU with the vehicle, and aligning the IMU with an Earth fixed coordinate system.

Abstract: Techniques are provided for utilizing one or more mobile devices to estimate distances between wireless access points (APs). Embodiments can, for example, enable mobile devices, wireless APs, and/or other systems to estimate a distance between two wireless APs using Round-Trip Time (RTT) measurements obtained by one or more mobile devices. The RTT measurements can be utilized based on whether one or more related Received Signal Strength Indication (RSSI) measurements exceed a threshold value. Embodiments can also utilize crowdsourcing to obtain distance estimation data (e.g., distance estimates, RTT and/or RSSI measurements, etc.) from one or more mobile devices and/or propagate a determined distance, based on the distance estimation data, to multiple devices.

Abstract: In a method data are collected about users of mobile telephones which are present within a plurality of defined cells between two specified points in time. For this purpose a list of telephone numbers of mobile telephones is retrieved from a data base, which mobile telephones were located in the defined cells between the two specified points in time. The list of telephone numbers is converted into unique numbers to avoid violation of privacy. Subsequently, the cells are defined in which the housing locations of the users of these mobile telephones are situated. This is effected by sending non-noticeable text messages to mobile telephones on various days at a number of different points in time at which most people are expected to be at home. Based on these text messages the locations of the mobile telephones are established.

Abstract: The subject matter disclosed herein relates to determining a location of a mobile device using more than one location-determining technology.

Abstract: A satellite signal acquisition apparatus comprises a parking detector (235) arranged to analyse, when in use, self-mobility behavior for monitoring mobility of a vehicle. The apparatus also comprises a global navigation satellite system receiver (238) operably coupled to the parking detector (235) and arranged to acquire a satellite signal using predicted satellite orbit data in response to the self-mobility behavior comprising the predetermined event sequence.

Abstract: A method and an apparatus for acquiring information about a base station antenna, and the base station antenna. The apparatus includes at least two receiving antenna units that are configured to receive satellite signals sent by a satellite in a satellite positioning system. The receiving antenna units and the base station antenna accord with a preset position relationship. A processing unit is configured to obtain position information of the receiving antenna units according to the satellite signals and to obtain position information of the base station antenna according to the position information of the receiving antenna units and the preset position relationship between the receiving antenna units and the base station antenna.

Abstract: A system and method for providing communication with a tracking device are disclosed. An example tracking device includes a location detector, a communication device, memory, a processor, and a configuration routine. The location detector is operative to determine locations of the tracking device. The communication device is operative to communicate with a remote system. The memory stores data and code, the data including location data determined by the location detector and configuration data. The processor is operative to execute the code to impart functionality to the tracking device. The functionality of the tracking device depends at least in part on the configuration data. The configuration routine is operative to modify the configuration data responsive to communications from the remote system. Thus, functional access to the tracking device is provided to the remote system.

Abstract: A system for estimating a spacecraft (6) position is disclosed. It includes receiving stations (4) for receiving signals transmitted from the spacecraft (6) and a processing station (2) for receiving data from the receiving stations (4). Each receiving station (4) records, during a recording window (8), the signals transmitted from the spacecraft (6) and transmits, to the processing station (2), data representing the recorded signals during the recording window (8). The recording windows (8) associated with each of the receiving stations (4) are offset and/or of different size with respect to each other. The processing station (2) correlates the recorded signals to estimate the distance difference between the spacecraft (6) and each of a plurality of receiving stations and to estimate the spacecraft (6) position. A method, a receiving station (4), a processing station (2) and a computer program are also disclosed.

Abstract: Systems and methods for generating and using moving violation alerts are disclosed. A navigation device located in a vehicle determines the vehicle's present location and present speed, and generates a moving violation alert. The moving violation alert comprises at least one of time information, location information, road segment information, and sensor information. A tracking device coupled to the navigation device provides the moving violation alert on a network. The network connection is configured to transmit the moving violation alert from the navigation device to a recipient outside the vehicle. Moving violation alerts may be stored and analyzed by the recipient.

Abstract: The present invention provides systems and methods for self-labeling access points with their geographic location from received beacon frames. In particular, the present invention transmits beacon frames including temporary location information from mobile devices. The beacon frames are received by an access point, filtered by the access point and then used to determine a location. Once the location has been determined, the access point uses the determined location to self-label itself by converting the location information to a geographic code and inserting it as part of the SSID of the access point's beacon signal. The present invention also includes a number of methods using geographic codes including a method for generating and transmitting geographic codes for mobile devices, a method for determining a location of an access point, a method for self-labeling an access point, and a method for filtering beacon frames.

Abstract: A method and apparatus comprising a satellite, an antenna system associated with the satellite, and a transmitter in the satellite. The antenna system is configured to transmit a signal in a direction away from a surface of an earth. The transmitter is configured to transmit location information in the signal using the antenna system.

Abstract: Described technologies are generally related to predicting future mobile device locations and using the predictive information to optimize mobile communications service parameters. Mobile device locations may be predicted using real-time device location information, destination information, and location history. Predicted location information for a given device, and possibly other devices as well, may be used to adjust mobile communications service parameters such as handoffs, channel assignment, multipath fading response parameters, data rates, transmission modes, opportunistic scheduling parameters, location-based services, and location update rates.

Abstract: A wireless communication system is disclosed. The wireless communication system transmits a location measure signal for determining a location of a user equipment to the user equipment by allocating the location measure signal to at least one of symbols to which a synchronization signal is transmitted conventionally. In this case, a location related parameter of the user equipment can be measured with higher accuracy.

Abstract: A navigation system includes a navigation radio and a sensor onboard a vehicle. The navigation radio receives and processes low earth orbit RF signals to derive range observables for a corresponding LEO satellite. A sensor is operable to generate at least one of vehicle speed data, acceleration data, angular rate data and rotational angle data under high vehicle dynamics. The navigation radio includes a navigation code operable to obtain a position, velocity and time solution (a “navigation solution”) based on the one or more range observables, ephemerides for the corresponding LEO satellite, a heading pseudomeasurement, a navigation radio altitude pseudomeasurement; one or more vehicle velocity pseudomeasurements orthogonal to the altitude pseudomeasurements; and the generated at least one of vehicle speed data, acceleration data, angular rate data and rotational angle data. The navigation radio uses the navigation solution to acquire a GPS signal during interference with a coarse acquisition GPS signal.

Abstract: An improved approach to satellite-based navigation (e.g., GPS) is provided. In one embodiment, a method includes receiving a first set of tracking information. A nominal orbital path for the navigation satellite is determined using the first set of tracking information. Ephemeris data corresponding to the nominal orbital path is computed and uploaded to the navigation satellite. Long-term navigation information corresponding to the nominal orbital path is transmitted to a communication system for broadcast to a plurality of navigation devices. A second set of tracking information is received, an orbital path of the navigation satellite using the second set of tracking information is predicted, and a difference between the predicted orbital path and the nominal orbital path is determined. Commands configured to instruct the navigation satellite to adjust an actual orbital path of the navigation satellite to substantially conform to the nominal orbital path are uploaded to the navigation satellite.

Abstract: In one embodiment, an area in which a mobile device may be located is determined using a satellite-based positioning system (SPS). An area in which the mobile device may be located is determined using a wireless local area network based positioning system(WLAN-PS). The area determined using the SPS is compared to the area determined using the WLAN-PS. In response to the area determined using the SPS being remote from the area determined using the WLAN-PS, it is concluded that the one or more WLAN APs have been moved to be about the area determined using the SPS. One or more locations of the one or more WLAN APs are updated in the reference database.

Abstract: An electronic device 1 receives ephemeris information from a GPS satellite at intermittent timings TE1, TE2, and TE3 and stores the received information in its memory. In addition, the electronic device 1 receives time information at intermittent timings TC1, TC2, TC3, and TC4, and corrects a clocked time based on the received time information. Then, at positioning timing T1, the electronic device 1 captures a transmission signal from the GPS satellite while synchronizing timing with the GPS satellite based on the clocked time, and performs positioning based on the captured transmission signal and the ephemeris information stored in the memory.

Abstract: A system suitable for displaying a target. A first unit is arranged to generate a first information unit including the target's position relative to a first position. The first information unit is arranged to transfer the first information unit to a second unit existing at a second position which is separate from the first position. The second unit is arranged to generate a second information unit including the target's position relative to the second position, depending on the first information unit. The second unit is arranged to indicate the target's position to allow localization of the target.

Abstract: A position location system, method, and apparatus are disclosed. A wireless device receives a first signal and obtains an identifier indicative of a first location from the first signal. The first signal can be received from a cellular base station and the first identifier can be a mobile country code. The wireless device uses the identifier to determine the availability of signals from a regional satellite system at the first location. If signals from the regional satellite system are available at the first location, the wireless device retrieves information associated with one or more satellite vehicles in the regional satellite system. The information can include pseudo-random number codes and a Doppler search range corresponding to the first location. The wireless device receives a second signal and processes the second signal to obtain first satellite signal information. The wireless device determines its position at least partially based on the first satellite signal information.

Abstract: A self-positioning mechanism is provided that determines and tracks the position of an access point in real time. A location unaware access point determines its location from the locations of location aware stations. The location is determined based on a predicted estimate which is updated based on measured values of the locations of the location aware stations over a time period. The movement of the location is then tracked based on the differences between range measurements of the location aware stations.

Abstract: Object of the present invention is to provide a method to reduce power consumption of location based services applications, that run on mobile devices, by utilizing processor and positioning resources only when location changes. A method also is provided for detecting or inferring mode of transportation of user of a GNSS-enabled mobile device, such as smart phone, tablet, etc. Modes of transportation consist of: traveling on foot, biking, motor biking, driving or riding on a car, riding on bus, and riding on train. This method is based on analyzing signal strength information of GNSS signals received at location of the user and speed. The latter is used to make distinction between travelling on foot, biking, and motor biking modes. GNSS signal cannot penetrate metal, therefore when the mobile device is inside a vehicle, such as car, bus, or train, GNSS signals that their path collides with roof or metal body of the vehicle would be weak and have low SNR.

Abstract: Wireless receiver for receiving a plurality of co-existing wireless signals respectively from different positioning systems, includes an analog frontend and an analog-to-digital converting unit. The analog frontend is arranged to convert bands of the co-existing wireless signals into a plurality of corresponding intermediate bands by a local frequency and to provide an intermediate signal including the intermediate bands. The analog-to-digital converting unit is coupled to the analog frontend, and is arranged to convert the intermediate signal to a digital signal, wherein an operation band of the analog-to-digital converting unit covers the plurality of intermediate bands.

Abstract: The present disclosure relates to location and communication systems that can be utilized for locating people, pets and other objects with a software defined radio set. A personal electronic device (PED) such as a cellular telephone, personal data assistant (PDA) or other device that include a software defined radio set can be configured for operation as a locator device. The PED transmits a signal A transponder or micro-transponder (MT) that is tagged to an object is arranged to reply to a transmission received from the PED. The PED based locator is arranged to calculate a distance between the PED and the MT using the time-of-flight (TOF) between the transmission and the receipt of a reply. The absolute geographic position of the PED can be determined using satellite navigation information, while the position of the MT relative to the PED can be determined from the TOF information.

Abstract: A method and corresponding apparatus are provided to reduce the complexity of calculations needed to determine the time of arrival of position reference signals transmitted from multiple cells. A scheduler determines at a given instance what portions of a search grid or search window to search. A timing estimation circuit operating under the control of the scheduler computes timing estimates and reports the timing estimates back to the scheduler. The scheduler uses the timing estimates reported by the detection circuit to scheduler subsequent searches of the search grid or search window.

Abstract: A method and apparatus for compensating an oscillator in a location-enabled wireless device is described. In an example, a mobile device includes a wireless receiver for receiving wireless signals and a GPS receiver for receiving GPS signals. The mobile device also includes an oscillator having an associated temperature model. A frequency error is derived from a wireless signal. The temperature model is adjusted in response to the frequency error and a temperature proximate the oscillator. Frequency error of the oscillator is compensated using the adjusted temperature model. In another example, a frequency error is derived using a second oscillator within the wireless receiver.

Abstract: A method for measuring certain parameters of the impulse response of a propagation channel involving emitters and reflectors that are fixed or mobile, and for detecting and determining the parameters regarding the position and kinematics of the emitters and reflectors, or for auto-locating the reception system implementing the invention, in a system comprising N sensors receiving signals from the emitters or from the reflection on the reflectors. The method determines an ambiguity function which couples the spatial analysis and the delay-distance/Doppler-kinematic analysis, and determines at least one sufficient statistic ?(l,m,K) corresponding to the correlation between the known signal s(kTe) corresponding to the complex envelope of the signal emitted and the output of a filter w(l,m) where l corresponds to a temporal assumption and m corresponds to a frequency assumption.

Abstract: The time synchronization system according to the present invention can allow the master and slave time Tx/Rx devices to communicate information therebetween via two-way interactive wireless communication, so that it can rapidly detect an error that occurs in the system, via a monitoring device and a network management device for performing real-time integral management. Therefore, the system can reduce the user's system maintenance fee and can also maximize efficiency. In addition, the time synchronization system can allow for the easy extension of the equipment construction coverage area even in a long distance environment, by installing only repeaters, and can manage log information that may be used as evidence data for various incidents.

Abstract: Embodiments of the invention comprise a method of determining a position of a node, comprising receiving a communication from the node; determining a timing of the receiving; and calculating a position of the node from the timing.

Abstract: A location positioning apparatus, a location positioning method, and a location positioning program are provided for shortening the wait time necessary for positioning, by changing the timeout period in the positioning measurement according to the accuracy of the general location, when the current location cannot be positioned. A general location error determining unit (22e) determines an error radius of the general location, a timeout period setting unit (22g) sets timeout periods T1 to T3 and Tmax in the positioning measurement, according to the error radius determined by the general location error determining unit (22e). A location positioning process timeout instructing unit (22h) time outs the location positioning process being performed by a location positioning processing unit (22d), when a number of visible satellites S is smaller than a prescribed number at each of the timeout periods T1 to T3, or when the timeout period Tmax elapses.

Abstract: A method and an apparatus are provided for acquiring, in a reduced time, a system using location information in a mobile communication terminal. When a mobile communication terminal is turned on or disconnects with a base station, a Preferred Roaming List (PRL) is searched in order of closeness of a system to the current location of the mobile communication terminal. At predetermined time intervals, the systems of the PRL are arrayed in order of closeness of a system to the current location, and the arrayed PRL is searched. The present invention can reduce the time taken to acquire a system.

Abstract: A device and method for three-dimensional positioning are provided. The three-dimensional positioning of a common reference point is determined by fusion of supplied measurements, taking into account a lever arm compensation between the reference point, a global navigation satellite system (GNSS) receiver antenna, at least one radar antenna, and an inertial measuring unit.

Abstract: Augmented reality and location determination methods and apparatus are disclosed according to some aspects of the description. In one aspect, a location determination method includes accessing first location information regarding a location of a user interaction device in a physical world, wherein the user interaction device is configured to generate an augmented reality representation with respect to the physical world, using the first location information, identifying a marker which is proximately located with respect to the location of the user interaction device, accessing an image generated by the user interaction device which includes the marker, and processing the image to determine second location information regarding the location of the user interaction device, and wherein the second location information has increased accuracy with respect to the location of the user interaction device in the physical world compared with the first location information.

Abstract: A method and apparatus comprising a satellite, an antenna system associated with the satellite, and a transmitter in the satellite. The antenna system is configured to transmit a signal in a direction away from a surface of an earth. The transmitter is configured to transmit location information in the signal using the antenna system.

Abstract: Inertial navigation systems for wheeled vehicles with constrained motion degrees of freedom are described. Various parts of the navigation systems may be implemented in a smart-phone.

Abstract: When a vehicle moves into a radar prohibited area preset for the neighborhood of a facility that suffers adverse effects from radar waves, emission of radar waves is stopped, and a voice guidance such as “Radar monitoring is stopped” is sent to a speaker via a voice output unit. Moreover, during a period in which a vehicle is located in a radar prohibited area, an icon that indicates that a radar is being stopped, a mark that indicates an institution for which the radar prohibited area is set, and the scope of the radar prohibited area are displayed on a map image.

Abstract: A method and an apparatus for acquiring information about a base station antenna, and the base station antenna. The apparatus includes at least two receiving antenna units that are configured to receive satellite signals sent by a satellite in a satellite positioning system. The receiving antenna units and the base station antenna accord with a preset position relationship. A processing unit is configured to obtain position information of the receiving antenna units according to the satellite signals and to obtain position information of the base station antenna according to the position information of the receiving antenna units and the preset position relationship between the receiving antenna units and the base station antenna.

Abstract: A wireless transmitter includes a first filtering unit coupled to a first cable for outputting a first DC source transmitted on the first cable, a first power converting unit for converting the first DC source into a second DC source, a second filtering unit for eliminating noise in the second DC source, a first DC blocking unit for blocking the second DC source and outputting a second frequency modulation (FM) signal, an amplifier for amplifying the second FM signal to generate a first FM signal, and a second DC blocking unit coupled to the amplifier and the first cable, for outputting the first FM signal to the first cable, such that the first FM signal is transmitted to the air through the first cable as a transmitting antenna.

Abstract: A device and software utilizing Global Positioning Satellite [GPS] technologies for monitoring and recovering portable computing devices and, a method and system for acquiring such devices and for compensating owners of devices. The invention inserts a GPS mechanism into a computing device that is enabled once the device is reported missing. The GPS emits real time tracking of missing devices that may be coordinated with security agencies to intercept and recover missing computing devices. When a stolen device is unrecoverable, the invention may receive a signal to initiate data recovery where a wireless network is available to recover data for the owner. Alternatively, the GPS mechanism instructs the device to destroy stored data files to prevent commercial espionage or privacy violations. The invention discloses a software system and method for computing a purchase price of the GPS mechanism, computing compensation for loss of the device and lost data.

Abstract: A method and device performs onboard monitoring of a horizontal position of a taxiing aircraft, in which the monitoring of the horizontal position is based on separately determined height differences of the aircraft. A predetermined threshold value is compared with a first height difference calculated using repetitively determined first current height positions received by an onboard positioning device over a first duration. The predetermined threshold value is also compared with calculated second height differences calculated from two successively measured second current height positions determined by an altimeter over a second duration that is less than or equal to the first duration. A warning signal, signaling a problem with the reliability of the monitored horizontal position of the taxiing aircraft, is emitted in the event none of the second height differences is greater than the threshold value, and the first height difference is greater than the threshold value.

Abstract: An acquisition and tracking apparatus is provided for tracking digitized spread spectrum navigation signals modulated with a spreading code according to any of a set of modulation types including Binary Phase Shift Keying (BPSK) with and without Frequency Domain Multiplexing Access (FDMA), time multiplexed BPSK, Quadrature Phase Shift Keying (QPSK), sine and cosine Binary Offset Carrier (BOC), modified, complex, and time multiplexed BOC (TMBOC), the apparatus comprising a plurality of universal tracking channels, each coupled to an interrupt module. The universal tracking channel includes a carrier demodulation module, a code generation module, a correlator module, a code frequencies generation module, and a subcarrier combining module for efficiently using the correlator resources in the correlation of the data and the pilot components of the signal within a single universal tracking channel. A corresponding method of operation is also provided.

Abstract: A wireless communication device transmits location information associated with a mobile worker, and provides an option to the mobile worker to disable such location transmissions. The use of the location transmission function is enhanced by interlocking the location tracking function with one or more other functions of the wireless communication device. When the tracking function is disabled, one or more other functions that the mobile worker finds valuable are also disabled, thus reducing the likelihood that the mobile worker will disable location tracking. Rules may be implemented to disable the other functions only in the event that disabling the tracking function violates a violated. Location monitoring for such workers is thereby enhanced.