Passive location method

• US 4,976,619 A
• Filed: 03/06/1989
• Issued: 12/11/1990
• Est. Priority Date: 03/06/1989
• Status: Expired due to Term

• Current Assignee: Motorola, Inc. (Motorola Solutions, Inc.)
• Original Assignee: Motorola, Inc. (Motorola Solutions, Inc.)
• Inventors: Carlson, Eric J.
• Primary Examiner(s): Coven, Edward M.
• Assistant Examiner(s): HARRISON, JESSICA
• Application Number:
  US07/319,496
• Time in Patent Office: 645 Days
• Field of Search: 273/310, 273/311, 273/371, 273/372, 434/16, 434/17, 434/19, 434/22, 434/21, 434/27, 364/458, 364/460, 364/461, 364/462, 364/423
• US Class Current: 434/16
• CPC Class Codes: F41G 3/26 Teaching or practice apparatus for gun-aiming or gun-laying shooting games A63F9/02; light- or radiation-emitting guns F41A33/02; targets therefor F41J; responders, transponders for radar, sonar, lidar G01S13/767, G01S15/74, G01S17/74
• 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

Abstract

A method for pinpointing the actual coordinate location of a passive location device for a simulated battlefield condition is described. A plurality of actuators transmit to a passive location device which includes the method for determining its coordinate location. The coordinate location of a desired impact point is transmitted to the location device. The determination method initializes a starting coordinate location as the impact point of a round of munition. The method then iteratively determines the gradient direction of the position and moves the position estimate in the direction of gradient. As the estimated position approaches the true position successively smaller steps are taken and additional coordinate directions introduced into the solution until the convergence solution is terminated with least rms error in the neighborhood of the true coordinate position of the passive location device.

Claims

1. A passive location method for determining the actual coordinate position of personnel and vehicles, each having a passive location device, relative to an impact point of a round of munition in a simulated battlefield for assessing injuries and damage to said personnel and vehicles inflicted by the round of munition, including a plurality of actuators for transmitting messages to said passive location device, said passive location method comprising the steps of:

initializing said passive location device with a plurality of parameters by said transmitted messages of said actuators;

setting by said passive location device an initial coordinate position of said passive location device as being located at said impact point;

estimating by said passive location device a plurality of new coordinate positions and corresponding coordinate directions of said passive location device from a previous coordinate position to produce a new candidate coordinate position, said step of estimating including the step of selecting a first one of a set of convergence parameter;

finding by said passive location device coordinate directions from said plurality of coordinate directions having a smallest error metric derived from computation of second range differences for said estimated new coordinate positions, said step of finding including the steps of;

updating ranges of said new candidate coordinate position by said selected convergence parameter; and

fifth finding an error sum for said updated ranges in each of said coordinate directions by said selected convergence parameter

determining by said passive location device a new coordinate position of said passive location device located a distance of a predetermined step size from said previous coordinate position in said coordinate directions corresponding to said smallest error metric;

iterating by said passive location device said steps of estimating, finding and determining a predetermined number of times to produce said new coordinate position which converges to the actual position of said passive location device; and

indicating by each said passive location device the affects of said round of munition on said personnel and vehicles, as having been hit or missed by said round of munition.

2. A passive location method as claimed in claim 1, wherein said step of initializing includes the steps of:

first obtaining an indication of a number of said actuators;

second obtaining a coordinate position corresponding to each of said actuators;

third obtaining a set of convergence parameters indicating a plurality of predetermined step sizes; and

fourth obtaining location errors of said passive location device relative to said impact point.

3. A passive location method as claimed in claim 2, wherein there is further included the steps of:

storing a number of clock counts for said passive detection device and for each of the actuators relative to the impact point;

third finding a measured range error for each of said active actuators relative to said impact point; and

fourth finding a total count error including timing noise error for each of said actuators relative to said impact point.

4. A passive location method as claimed in claim 3, wherein there is further included the steps of:

second determining whether said stored total clock count due to said plurality of actuators of said passive detection device is greater than a predetermined threshold value;

powering down said passive location device, if said clock count is greater than said predetermined threshold; and

placing said passive location device in a standby mode.

5. A passive location method as claimed in claim 4, said step of determining including the steps of:

sixth finding a smallest error sum corresponding to a coordinate direction;

third determining whether the value of said smallest error sum is less than said error sum of said updated of coordinate positions;

moving said new coordinate position in the coordinate direction corresponding to said smallest error sum, if said smallest error sum is less than said error sum of said updated coordinate position; and

second interating said steps of;

updating, fifth finding, sixth finding, third determining and moving.

6. A passive location method as claimed in claim 5, wherein there is further included the steps of:

fourth determining whether said selected convergence parameter is said first one of said set, if said smallest error sum is greater than the error sum estimate;

selecting a second convergence parameter of said set; and

third iterating said steps of fifth finding, sixth finding, third determining, moving and fourth determining.

7. A passive location method as claimed in claim 6, wherein there is further included the steps of:

second updating said ranges for new coordinate positions of a second plurality of coordinate positions being at approximately 45°

with respect to said first plurality of coordinate positions;

seventh finding an error sum for said updated ranges in said second plurality of coordinate directions for said selected convergence parameter; and

eighth finding a smallest error sum to a corresponding coordinate direction using said second

8. A passive location method as claimed in claim 7, wherein there is further included the steps of:

fifth determining whether the value of said smallest error sum is less than said error sum for said second plurality of coordinates;

second moving said new coordinate position in the coordinate position of said second plurality of corresponding to said smallest error sum, if said smallest error sum is less than said error sum for said second plurality of coordinates; and

third iterating said steps of;

selecting, updating, fifth finding, sixth finding, third determining, moving, second iterating, fourth determining, selecting a second convergence parameter, third iterating, second updating, seventh finding, eighth finding, fifth determining, and second moving.

9. A passive location method as claimed in claim 8, wherein there is further included the steps of:

sixth determining whether said selected convergence parameter is said second parameter of said set, said sixth determining being performed in response to said smallest error sum being greater than said error sum of said coordinate positions of said step of fifth determining;

second selecting a third convergence parameter of said set; and

fourth iterating said steps of;

fifth finding;

sixth finding, third determining, selecting a second convergence parameter, third iterating, second updating, seventh finding, eighth finding, fifth determining, second moving, third iterating, sixth determining, and second selecting.

10. A passive location method as claimed in claim 9, wherein there is further included the step of ninth finding a residual error of said new coordinate position which is convergent upon said actual position of said passive location device, said step of ninth finding being performed in response to said step of sixth determining indicating that said selected convergence parameter is said third convergence parameter.

11. A passive location method as claimed in claim 10, wherein there is further included the step of:

setting said first, second and third convergence parameters to values that result in the minimized total number of iterations of said passive location method, said values of said convergence parameters determined by the parameters of said simulated battlefield, including a

desired radius of convergence of said actual position of said passive location device.

12. A passive location method as claimed in claim 11, said step of updating including the step of solving the second range difference equation for a position error gradient, ERROR:

##EQU3## where TA_i is a measured timing difference error given by the first range difference equation;

space="preserve" listing-type="equation">TA.sub.i =Δ

T.sub.i -Δ

T.sub.1

where Δ

T_i if the number of clock cycles, T₀, measured from a time which said passive location device receives a message from a first to respond of said actuators;

Δ

T_i is the same from impact of the munition until the first coded pulse from an actuator is received and ta_i is an estimated timing difference error given said new coordinate position of said passive location device and N is the number of said actuators.

13. A passive location method as claimed in claim 12, said step of eighth finding including the step of solving the estimated second difference equation for an estimated position error gradient, ERROR₆₂ :

##EQU4## where β

refers to each of said four new candidate directions (+X, -X, +Y and -Y) with coordinates and

space="preserve" listing-type="equation">X.sub.62 =X.sub.0.sub. Δ

β

,β

=1.2

space="preserve" listing-type="equation">Y.sub.62 =Y.sub.0 ±

Δ

β

,β

=3.4

where X₀ and Y₀ refers to said previous coordinate position estimated and the increments of position change Δ

β

assume one of said set of convergence parameters Δ

β

positive for β

=2.4

14. A passive location device for determining a actual coordinate position of personnel and vehicles having said passive location device, relative to an impact point of a round of munition within a simulated battlefield from messages transmitted from a plurality of actuators, for assessing injuries and damage to said personnel and vehicles inflicted by the round of munition, said passive location device comprising:

input means for receiving said messages and producing decoded messages;

microprocessor means connected to said input means, said microprocessor means operating in response to said decoded messages and further operating to execute programs;

means for initializing said passive location device with a plurality of parameters by said transmitted messages of said actuators;

first memory means connected to said microprocessor means, said first means operating to store a plurality of input parameters;

program location means;

said program location means including;

means for setting by said passive location device an initial coordinate position of said passive location device as being located at said impact point;

means for estimating by said passive location device a plurality of new coordinate positions and corresponding coordinate directions of said passive location device from a previous coordinate position to produce a new candidate coordinate position, said means for estimating including means for selecting a first one of a set of convergence parameter;

means for finding by said passive location device coordinate directions from said plurality of coordinate directions having a smallest error metric derived from computation of second range differences for said estimated new coordinate positions said means for finding including;

means for updating ranges of said new candidate coordinate position by said selected convergence parameter; and

means for fifth finding an error sum for said updated ranges in each of said coordinate directions by said selected convergence parameter;

means for determining by said passive location device a new coordinate position of said passive location device located a distance of a predetermined step size from said previous coordinate position in said coordinate directions corresponding to said smallest error metric;

means for iterating by said passive location device a predetermined number of times to produce said new coordinate position which converges to the actual position of said passive location device; and

second memory means connected to said microprocessor means, said second memory means for storing said program location means;

said program location means operating under control of said microprocessor means to determine said actual coordinate positions of said passive location device; and

means for indicating by each said passive location device the affects of said round of munition of said personnel and vehicles, as having been hit or missed by said round of munition.

15. A passive location device as claimed in claim 14, said input means including:

antenna means for receiving transmissions from said plurality of actuators;

means for receiving said transmissions, said means for receiving connected to said antenna means;

decoding means for obtaining data from said transmissions, said decoding means connected to said means for receiving; and

position timing error means for calculating errors in estimates of said actual position of said passive location device.

16. A passive location device as claimed in claim 14, said first memory means including electronically erasable programmable read-only-memory means.

17. A passive location device as claimed in claim 14, said second memory means including programmable read-only-memory means.

18. A method of simulating combined arms fire support across a realistic battle field environment through which actual battle personnel and equipment, each having a passive location device, can be moved by locating each of plurality of said passive location devices relative to an impact point of a round of said simulated combined arms fire support, including a plurality of actuators for transmitting a plurality of messages to each of said passive location devices, comprising:

transmitting by said actuators a plurality of signals across a geographical zone selected as the area of ground affected by the simulated combined arms fire support;

independently determined by each said passive location device, at the geographical zone, and for each personnel and equipment within the geographical zone, whether each such personnel and equipment is to be indicated as having been hit by the simulated combined arms fire support;

said step of independently determining including the steps of;

initializating each said passive location device with a plurality of parameters by said transmitted messages of said actuators;

setting by said passive location device an initial coordinate position of each said passive location device as being located at said impact point;

estimating by said passive location device a plurality of new coordinate positions and corresponding coordinate directions of each said passive location device from a previous coordinate position to produce a new candidate coordinate position, said step of estimating including the step of selecting a first one of a set of convergence parameters;

finding by said passive location device coordinate directions from said plurality of coordinate directions having a smallest error metric derived from computation of second range differences for said estimated new coordinate positions, said step of finding including the steps of;

updating ranges of said new candidate coordinate position by said selected convergence parameter; and

ranges in each of said coordinate directions by said selected convergence parameter;

determining by said passive location device a new coordinate positions of each said passive location device located a distance of a predetermined step size from said previous coordinate position in coordinate directions corresponding to said smallest error metric; and

steps of estimating, finding and determining a predetermined number of times to produce said new coordinate position which converges to the actual position of said passive location device;

said method of simulating combined arms fire support further including the steps of;

assigning, to each such personnel and equipment, a probability logic of being hit by each type of combined arms fire support to be simulated; and

plurality of signals, the probability logic at each such personnel and equipment to indicate which have been hit by the simulated combined arms fire support so that random total hits of personnel and equipment can result from different simulations of the same combined arms fire support.

19. A method as claimed in claim 18, wherein said step of transmitting includes transmitting at least three radio waves via said actuators across the geographical zone in a timed sequence.

20. A method as claimed in claim 19, said step of updating including the step of solving the second range difference equation for a position error gradient, ERROR:

##EQU5## where TA_i is a measured timing difference error given by the first range difference equation;

space="preserve" listing-type="equation">TA.sub.i =Δ

T.sub.i -Δ

T.sub.1

where Δ

T_i if the number of clock cycles, T₀, measured from a time which said passive location device receives a message from a first to respond of said actuators;

Δ

T_i is the same from impact of the munition until the first coded pulse from an actuator is received and ta_i is an estimated timing difference error given said new coordinate position of said passive location device and N is the number of said actuators.

21. A method as claimed in claim 20, said step of second finding including the step of solving the estimated second difference equation for an estimated position error gradient, ERROR₆₂ :

##EQU6## where β

refers to each of said four new candidate directions (+X, -X, +Y and -Y) with coordinates and

space="preserve" listing-type="equation">X.sub.β

=X.sub.0 ±

Δ

β

,β

=1,2

space="preserve" listing-type="equation">Y.sub.β

=Y.sub.0 ±

Δ

β

,β

=3,4

where X₀ and Y₀ refers to said previous coordinate position estimated and the increments of position change Δ

β

assume one of said set of convergence parameters Δ

β

positive for β

=1,3 and negative for β

=2,4.

22. A battlefield simulator system for simulating the effect of firing a munition at a preselected target area, comprising:

master station means for transmitting, to remote actuators, first control signals in response to selection of the target area, wherein said master station means is operable away from said munition and wherein said remote actuators are remotely located from said master station means at a plurality of spaced locations;

each respective one of said remote actuators including means for receiving said first control signals transmitted by said master station means and for determining if the respective remote actuator has been actuated in response to said first control signals, and means for transmitting, in response to selection of the respective remote actuator, second control signals to indicators mounted on battlefield targets;

wherein each of said indicators includes means for receiving said second control signals from a plurality of said remote actuators;

means for initializing each said indicators with a plurality of parameters by said transmitted second control signals of said actuators;

each of said indicators further includes program means for determining its actual coordinate location within said target area of said battlefield targets by convergence techniques with respect to an impact point of said munition;

said program means including;

means for setting by said indicator an initial coordinate position of each said indicator as being located at said impact point;

means for estimating by said indicator a plurality of new coordinate positions and corresponding coordinate directions of each said indicator from a previous coordinate position to produce a new candidate coordinate position, said means for estimating including means for selecting a first one of a set of convergence parameters;

means for finding by said indicator coordinate directions from said plurality of coordinate directions having a smallest error metric derived from computation of second range differences for said estimated new coordinate positions, said means for finding including;

means for updating ranges of said new candidate coordinate position by said selected convergence parameter; and

means for second finding an error sum for said updated ranges in each of said coordinate directions by said selected convergence parameter;

means for determining by said indicator a new coordinate position of each said indicator located a distance of a predetermined step size from said previous coordinate position in coordinate directions corresponding to said smallest error metric; and

means for iterating by said indicator a predetermined number of times to produce said new coordinate position which converges to the actual position of said passive location device; and

each of said indicators for determining from a presassigned probability whether the respective target to which the respective indicator has been mounted is disabled by the simulated munition.