Detecting radio signal emitter locations

• US 10,466,336 B2
• Filed: 06/06/2018
• Issued: 11/05/2019
• Est. Priority Date: 06/30/2017
• Status: Active Grant

• Current Assignee: HawkEye 360, Inc. (Advance Publications Incorporated)
• Original Assignee: HawkEye 360, Inc. (Advance Publications Incorporated)
• Inventors: O'Shea, Timothy James, McGwier, Robert W., McCarthy, Nicholas Aaron
• Primary Examiner(s): Tran, Congvan
• Application Number:
  US16/000,934
• Publication Number:
  US 20190004144A1
• Time in Patent Office: 517 Days
• Field of Search: 455427, 4554042, 4554561, 455457
• CPC Class Codes: G01S 19/32 Multimode operation in a single same satellite system, e.g. GPS L1/L2
• CPC Class Codes: G01S 19/426 by combining or switching between position solutions or signals derived from different modes of operation in a single system
• CPC Class Codes: G01S 5/0036 of measured values, i.e. measurement on mobile and position calculation on base station
• CPC Class Codes: G01S 5/02 using radio waves using satellite radio beacon systems for determining position G01S19/00
• CPC Class Codes: G01S 5/0221 Receivers
• CPC Class Codes: G01S 5/0242 Determining the position of transmitters to be subsequently used in positioning G01S5/0289 takes precedence
• CPC Class Codes: G01S 5/0246 involving frequency difference of arrival or Doppler measurements G01S5/02685 takes precedence
• CPC Class Codes: G01S 5/0249 Determining position using measurements made by a non-stationary device other than the device whose position is being determined
• CPC Class Codes: G01S 5/0268 by deriving positions from different combinations of signals or of estimated positions in a single positioning system
• CPC Class Codes: G01S 5/0278 involving statistical or probabilistic considerations G01S5/0252, G01S5/0294 take precedence
• CPC Class Codes: G01S 5/10 Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements , e.g. omega or decca systemsG01S5/12 takes precedence ; beacons and receivers cooperating therewith G01S1/306, G01S1/308
• CPC Class Codes: H04W 64/003 locating network equipment
• CPC Class Codes: H04W 64/006 with additional information processing, e.g. for direction or speed determination

Abstract

First information is obtained from a sensing device at a first time. The first information corresponds to a radio signal received at the device from a candidate location. The device is at a first location at the first time. Second information is obtained from the device at a second time. The second information corresponds to a radio signal received at the device from the candidate location. The device is at a second location at the second time. A system determines that a pattern is in each of the first and second information and determines relationships between the candidate location and the device at each first and second location. The system obtains inverses of the relationships and determines estimates of the received radio signals based on the information and inverses. The system measures or estimates energy emitted from the candidate location based on the estimates.

Claims

1. A method comprising:

obtaining, from a sensing device at a first time, first information corresponding to a radio signal received at the sensing device from a candidate location, wherein the sensing device is at a first location in its movement trajectory at the first time;

obtaining, from the sensing device at a second time, second information corresponding to a radio signal received at the sensing device from the candidate location, wherein the sensing device is at a second location in its movement trajectory at the second time;

determining that a known pattern is present in each of the first information and the second information;

conditioned on determining that the known pattern is present in each of the first information and the second information;

determining a first relationship between the candidate location and the sensing device at the first location, and a second relationship between the candidate location and the sensing device at the second location;

obtaining a first inverse of the first relationship and a second inverse of the second relationship;

determining a first estimate of the radio signal received at the sensing device from the candidate location based on the first information and the first inverse, and a second estimate of the radio signal received at the sensing device from the candidate location based on the second information and the second inverse; and

determining an estimate of an energy emitted from the candidate location based on the first estimate and the second estimate.

2. The method of claim 1, wherein determining the estimate of the energy emitted from the candidate location based on the first estimate and the second estimate further comprises:

obtaining, from the sensing device at a third time, third information corresponding to the radio signal received at the sensing device from the candidate location, wherein the sensing device is at a third location in its movement trajectory at the third time;

determining that the known pattern is present in the third information;

conditioned on determining that the known pattern is present in the third information;

determining a third relationship between the candidate location and the sensing device at the third location;

obtaining a third inverse of the third relationship;

determining a third estimate of the radio signal received at the sensing device from the candidate location based on the third information and the third inverse; and

determining the estimate of the energy emitted from the candidate location based on the first estimate, the second estimate, and the third estimate.

3. The method of claim 1, wherein the movement trajectory of the sensing device is a known trajectory.

4. The method of claim 1, wherein determining that the known pattern is present in each of the first information and the second information comprises:

determining that a system clock corresponding to operation of the sensing device has an accuracy within a pre-selected threshold value.

5. The method of claim 4, wherein determining the estimate of the energy emitted from the candidate location based on the first estimate and the second estimate comprises determining a distance metric between the first estimate and the second estimate, and determining the estimate of the energy as a function of the distance metric,

wherein the distance metric is based on a coherent reception of the radio signal at the sensing device at the first location and the second location, and

wherein the coherent reception of the radio signal is based on the accuracy of the system clock being within the pre-selected threshold value.

6. The method of claim 5, wherein the distance metric includes one of an L2 error distance, an LN error distance, or a complex cross power distance.

7. The method of claim 4, wherein the system clock is synchronized with a reference clock.

8. The method of claim 7, wherein the reference clock is associated with one of a Global Navigation Satellite System (GNSS) signal, or a Global Positioning System (GPS) signal.

9. The method of claim 7, further comprising:

sending, to the sensing device, an instruction signal, the instruction signal directing the sensing device to synchronize the system clock with the reference clock.

10. The method of claim 1, wherein determining the first relationship between the sensing device and the candidate location comprises:

determining a delay associated with the radio signal received from the candidate location when the sensing device is at the first location; and

determining a Doppler offset associated with the radio signal received from the candidate location when the sensing device is at the first location,

wherein at least one of the delay or the Doppler offset is determined based on knowledge of the movement trajectory of the sensing device.

11. The method of claim 10, wherein determining the second relationship between the sensing device and the candidate location comprises:

determining a delay associated with the radio signal received from the candidate location when the sensing device is at the second location; and

determining a Doppler offset associated with the radio signal received from the candidate location when the sensing device is at the second location,

wherein at least one of the delay or the Doppler offset is determined based on knowledge of the movement trajectory of the sensing device.

12. The method of claim 11, wherein obtaining the first inverse of the first relationship and the second inverse of the second relationship comprises:

determining an inverse of the delay associated with the radio signal received from the candidate location when the sensing device is at the first location;

determining an inverse of the Doppler offset associated with the radio signal received from the candidate location when the sensing device is at the first location;

determining an inverse of the delay associated with the radio signal received from the candidate location when the sensing device is at the second location; and

determining an inverse of the Doppler offset associated with the radio signal received from the candidate location when the sensing device is at the second location.

13. The method of claim 1, wherein obtaining the first inverse of the first relationship comprises:

obtaining a prediction of the candidate location;

obtaining knowledge of the movement trajectory of the sensing device;

determining the first location of the sensing device based on the knowledge of the trajectory; and

obtaining the first inverse of the first relationship based on the prediction of the candidate location and the first location of the sensing device.

14. The method of claim 13, wherein determining the first estimate of the radio signal comprises:

computing a convolution of;

(i) the first information and (ii) the first inverse of the first relationship.

15. The method of claim 1, wherein determining the first estimate of the radio signal comprises (i) applying one or more of a time interpolation, re-sampling and shifting process to the first inverse, and (ii) mixing the first inverse with a local digital oscillator, and

wherein determining the second estimate of the radio signal comprises (i) applying one or more of a time interpolation, re-sampling and shifting process to the second inverse, and (ii) mixing the second inverse with the local digital oscillator.

16. The method of claim 1, further comprising:

determining an estimate of energy emitted from a plurality of candidate locations, wherein radio signals from the plurality of candidate locations are received at the sensing device at different times and at different locations, and wherein information corresponding to the radio signals from the plurality of candidate locations are obtained from the sensing device;

generating an energy profile for a geographic region based on the estimate of energy emitted from the plurality of candidate locations;

determining an energy density for the geographic region, wherein the energy density is proportional to a number of the candidate locations corresponding to which emitted energy are measured;

identifying a first search area in the geographic region associated with a first candidate location based on the determination of the energy density; and

performing a search in the first search area for target signal transmitter associated with the first candidate location.

17. The method of claim 16, wherein performing the search for signal transmitters in the first search area comprises:

determining a highest estimated value of energy emitted from candidate locations in the first search area; and

identifying a candidate location corresponding to the highest estimated value of energy as an actual location of the target signal transmitter.

18. The method of claim 16, wherein performing the search for signal transmitters in the first search area comprises:

determining a first highest estimated value of energy emitted from candidate locations in the first search area; and

identifying a candidate location corresponding to the first highest estimated value of energy;

determining a second search area in the geographic region associated with the identified candidate location, wherein the second search area corresponds to a sub-region of the first search area;

performing a search in the second search area for the target signal transmitter;

determining a second highest estimated value of energy emitted from candidate locations in the second search area; and

identifying a candidate location corresponding to the second highest estimated value of energy as an actual location of the target signal transmitter.

19. The method of claim 16, further comprising:

comparing energy emitted from candidate locations in the first search area to a threshold energy value;

determining a subset of candidate locations in the first search area with emitted energy greater than the threshold energy value;

identifying a second search area associated with the subset of candidate locations; and

performing a search in the second search area for the target signal transmitter.

20. The method of claim 1, wherein the sensing device includes a sensor on a mobile platform that is communicably coupled to a ground receiving station, wherein obtaining the first information and the second information corresponding to the radio signal comprises obtaining, at the ground receiving station, the first information and the second information from the mobile platform.

21. The method of claim 20, wherein the mobile platform includes one of a Low Earth Orbit (LEO) satellite, a Medium Earth Orbit (MEO) satellite, a Geosynchronous Orbit (GEO) satellite, a nano satellite, an unmanned aerial vehicle (UAV) or a terrestrial vehicle.

22. The method of claim 1, wherein obtaining the first information and the second information comprises obtaining, at a computing unit onboard the sensing device, the first information and the second information from a sensor coupled to the sensing device.

23. The method of claim 22, wherein the sensing device includes one of a Low Earth Orbit (LEO) satellite, a Medium Earth Orbit (MEO) satellite, a Geosynchronous Orbit (GEO) satellite, a nano satellite, an unmanned aerial vehicle (UAV), a terrestrial vehicle, a spacecraft or a mobile platform.

24. A system comprising:

one or more processing devices; and

one or more non-transitory machine-readable storage devices storing instructions that are executable by the one or more processing devices to cause performance of operations comprising;

obtaining, from a sensing device at a first time, first information corresponding to a radio signal received at the sensing device from a candidate location, wherein the sensing device is at a first location in its movement trajectory at the first time;

obtaining, from the sensing device at a second time, second information corresponding to a radio signal received at the sensing device from the candidate location, wherein the sensing device is at a second location in its movement trajectory at the second time;

determining that a known pattern is present in each of the first information and the second information;

conditioned on determining that the known pattern is present in each of the first information and the second information;

determining a first relationship between the candidate location and the sensing device at the first location, and a second relationship between the candidate location and the sensing device at the second location;

obtaining a first inverse of the first relationship and a second inverse of the second relationship;

determining a first estimate of the radio signal received at the sensing device from the candidate location based on the first information and the first inverse, and a second estimate of the radio signal received at the sensing device from the candidate location based on the second information and the second inverse; and

determining an estimate of an energy emitted from the candidate location based on the first estimate and the second estimate.

25. One or more non-transitory machine-readable storage devices storing instructions that are executable by one or more processing devices to cause performance of operations comprising:

obtaining, from a sensing device at a first time, first information corresponding to a radio signal received at the sensing device from a candidate location, wherein the sensing device is at a first location in its movement trajectory at the first time;

obtaining, from the sensing device at a second time, second information corresponding to a radio signal received at the sensing device from the candidate location, wherein the sensing device is at a second location in its movement trajectory at the second time;

determining that a known pattern is present in each of the first information and the second information;

conditioned on determining that the known pattern is present in each of the first information and the second information;

determining a first relationship between the candidate location and the sensing device at the first location, and a second relationship between the candidate location and the sensing device at the second location;

obtaining a first inverse of the first relationship and a second inverse of the second relationship;

determining a first estimate of the radio signal received at the sensing device from the candidate location based on the first information and the first inverse, and a second estimate of the radio signal received at the sensing device from the candidate location based on the second information and the second inverse; and

determining an estimate of energy emitted from the candidate location based on the first estimate and the second estimate.