METHOD TO OBTAIN ACCURATE VERTICAL COMPONENT ESTIMATES IN 3D POSITIONING
First Claim
1. A computer-implemented method to obtain accurate vertical component estimates in 3D positioning of a radiating source, comprising the steps of:
- using known locations of an array of N sensors, N≧
5, in a 3-D Cartesian coordinate system;
using the array of sensors to observe time difference of arrival (TDOA) signals from a radiating source located at an unknown position in the 3-D Cartesian coordinate system;
iteratively using a single sensor of the sensor array as a reference sensor during the s time difference of arrival observation, thereby assisting determination of a Euclidian vector estimating the 3-D position of the radiating source;
extracting nuisance parameter 3-D range estimates from the TDOA observation, the nuisance parameter 3-D range estimates being used to increase estimation accuracy of the radiating source'"'"'s height;
determining a best sensor of the sensor array based on comparative measurements of the iteratively used reference sensor;
determining a minimum height difference between the radiating source and the best sensor of the sensor array; and
adjusting a known vertical position of the best sensor by the minimum height difference, thereby improving accuracy of estimation of the radiating source'"'"'s height.
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Accused Products
Abstract
The method to obtain accurate vertical component estimates in 3D positioning provides a closed-form least-squares solution based on time-difference of arrival (TDOA) measurements for the three-dimensional source location problem. The method provides an extension of an existing closed-form algorithm. The method utilizes the full set of the available TDOA measurements to increase the number of nuisance parameters. These nuisance parameters are range estimates from the source to the sensors, which the method uses for delivering accurate estimates of the vertical component of the source'"'"'s location, even when quasi-coplanar sensors are employed.
19 Citations
8 Claims
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1. A computer-implemented method to obtain accurate vertical component estimates in 3D positioning of a radiating source, comprising the steps of:
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using known locations of an array of N sensors, N≧
5, in a 3-D Cartesian coordinate system;using the array of sensors to observe time difference of arrival (TDOA) signals from a radiating source located at an unknown position in the 3-D Cartesian coordinate system; iteratively using a single sensor of the sensor array as a reference sensor during the s time difference of arrival observation, thereby assisting determination of a Euclidian vector estimating the 3-D position of the radiating source; extracting nuisance parameter 3-D range estimates from the TDOA observation, the nuisance parameter 3-D range estimates being used to increase estimation accuracy of the radiating source'"'"'s height; determining a best sensor of the sensor array based on comparative measurements of the iteratively used reference sensor; determining a minimum height difference between the radiating source and the best sensor of the sensor array; and adjusting a known vertical position of the best sensor by the minimum height difference, thereby improving accuracy of estimation of the radiating source'"'"'s height. - View Dependent Claims (2, 3, 4)
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5. A computer software product, comprising a non-transitory medium readable by a processor, the non-transitory medium having stored thereon a set of instructions for performing a method to obtain accurate vertical component estimates in 3D positioning of a radiating source, the set of instructions including:
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(a) a first sequence of instructions which, when executed by the processor, causes said processor to use known locations of an array of N sensors, N≧
5, in a 3-D Cartesian coordinate system;(b) a second sequence of instructions which, when executed by the processor, causes said processor to use said array of sensors to observe time difference of arrival (TDOA) signals from a radiating source located at an unknown position in said 3-D Cartesian coordinate system; (c) a third sequence of instructions which, when executed by the processor, causes said processor to iteratively use a single sensor of said sensor array as a reference sensor during said time difference of arrival observation thereby assisting determination of a Euclidian vector estimating the 3-D position of said radiating source; (d) a fourth sequence of instructions which, when executed by the processor, causes said processor to extract nuisance parameter 3-D range estimates from said TDOA observation, said nuisance parameter 3-D range estimates being used to increase estimation accuracy of said radiating source'"'"'s height; (e) a fifth sequence of instructions which, when executed by the processor, causes said processor to determine a best sensor of said sensor array based on comparative measurements of said iteratively used reference sensor; (f) a sixth sequence of instructions which, when executed by the processor, causes said processor to determine a minimum height difference between said radiating source and said best sensor of said sensor array; and (g) a seventh sequence of instructions which, when executed by the processor, causes said processor to adjust a known vertical position of said best sensor by said minimum height difference thereby improving accuracy of measurement of said radiating source'"'"'s height. - View Dependent Claims (6, 7, 8)
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Specification