Abstract: A system for digital communication over a wire lain along the path of guided vehicles to a modem and a loop driver, the modem providing high frequency signals and the loop driver providing low frequency control signals. Instead, the modem and the loop driver are connected to one end of the wire and the other end of the wire is connected through an impedance matching network to earth ground. The impedance matching network provides an impedance approximately equal to the impedance of the wire at the frequency of the high frequency signals. The impedance matching network may conveniently comprise an inductor (choke) in parallel with a capacitor connected between the end of the wire and earth ground and a plurality of resistors connected in parallel with said inductor and capacitor. The resistors are selectively clipped to eliminate the echo bringing the impedance of the impedance matching network to approximate equality with the impedance of the wire at the frequency of the high frequency signals.

Abstract: The system comprises transceivers employing identical modems, one located at a fixed position and connected to the wire and one on a vehicle guided along the wire. The transceiver's specialized modems may be connected to a central host which may be a computer, to a programmable controller, or to a communications bus as required. Additional transceivers may be connected to the communications bus for communication between the central host and additional wires. All central host signals are transmitted to all wire connected modems and sent out on all wires. All signals from vehicle modems are transmitted back to the central host. Each transceiver is adapted to employ one or more identical modem, each connected to a different wire.

Abstract: Messages are transmitted on pairs of frequencies that are orthogonal, that is the frequencies have no least common denominator (are prime to each other). A message is transmitted on the first of the pair of frequencies and, simultaneously, its complement is transmitted on the second of said pair of frequencies. The message is then retransmitted on another pair of orthogonal frequencies. In the second transmission, the message is remapped, such that, adjacent bits in the first transmission are not adjacent in the second transmission and the same bit in the first transmission and the second transmission are not spaced 1/120th of a second apart. Information is collected on the data error rates at each receiver. This information is periodically transmitted to a central frequency controller which collects this error information and determines the error rates on the frequencies being used. A hill-climbing technique is used to choose pairs of frequencies having the lowest current data error rates.