Position ambiguity resolution

• US 5,412,388 A
• Filed: 08/11/1993
• Issued: 05/02/1995
• Est. Priority Date: 08/11/1993
• Status: Expired due to Term

• Current Assignee: CDC Propriete Intellectuelle
• Original Assignee: Motorola, Inc. (Motorola Solutions, Inc.)
• Inventors: Attwood, Stanley W.
• Primary Examiner(s): Issing, Gregory C.
• Application Number:
  US08/105,235
• Time in Patent Office: 629 Days
• Field of Search: 342/357, 342/450, 342/457, 364/449
• US Class Current: 342/357.21
• CPC Class Codes: G01S 1/022 Means for monitoring or calibrating
• CPC Class Codes: G01S 5/0027 of actual mobile position, i.e. position determined on mobile
• 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 5/12 by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial
• CPC Class Codes: H04B 7/1855 using a telephonic control signal, e.g. propagation delay variation, Doppler frequency variation, power variation, beam identification

Abstract

A radio telecommunications system includes a number of locator satellites in low earth orbits. Locatable subscriber units communicate with the satellites. A single subscriber unit communicates with a single satellite using electromagnetic signals so that a measurement processor can obtain Doppler component, propagation duration, and real time measurements of the signals. A location processor converts these measurements into a two-position location solution. The two-position solution includes an actual position and an image position. The actual position may be detected in some situations by identifying a cell within which communications take place. In other situations, the actual position may be distinguished from the image position by detecting the eastward rotation of the earth. A service processor determines which qualifications to apply to communication services offered by the system. These qualifications are based on the subscriber unit'"'"'s location.

Claims

1. A method of distinguishing an actual position from an image position in a location determination system, said method comprising the steps of:

obtaining a set of original location parameters, said original set describing a first position and a second position;

acquiring a set of subsequent location parameters; and

selecting, as said actual position, the one of said first and second positions which, in response to said sets of original and subsequent location parameters, appears to move in a generally eastward direction over time.

2. A method of distinguishing an actual position from an image position as claimed in claim 1 wherein said set of original location parameters is obtained from communications conducted between a locator unit and a locatable unit which move relative to one another, and said obtaining step comprises the steps of:

transmitting an electromagnetic signal from one of said locator unit and said locatable unit to the other of said locator and locatable units;

determining a Doppler component of said signal; and

including said Doppler component in said set of original location parameters.

3. A method of distinguishing an actual position from an image position as claimed in claim 1 wherein said set of original location parameters is obtained from communications conducted between a locator unit and a locatable unit which move relative to one another, and said obtaining step comprises the steps of:

determining a duration required for said signal to propagate between said locator and locatable units; and

including said propagation duration in said set of original location parameters.

4. A method of distinguishing an actual position from an image position as claimed in claim 2 wherein said acquiring step comprises the steps of:

transmitting a subsequent electromagnetic signal from one of said locator unit and said locatable unit to the other of said locator and locatable units;

determining a Doppler component of said subsequent signal; and

including said Doppler component of said subsequent signal in said set of subsequent location parameters.

5. A method of distinguishing an actual position from an image position as claimed in claim 2 wherein said locator unit and said locatable unit are spaced apart from one another, and said obtaining step additionally comprises the steps of:

determining a duration required for said signal to propagate between said locator and locatable units; and

including said propagation duration in said set of original location parameters.

6. A method of distinguishing an actual position from an image position as claimed in claim 5 wherein said acquiring step comprises the steps of:

transmitting a subsequent electromagnetic signal from one of said locator unit and said locatable unit to the other of said locator and locatable units;

determining a Doppler component of said subsequent signal; and

including said Doppler component of said subsequent signal in said set of subsequent location parameters.

7. A method of distinguishing an actual position from an image position as claimed in claim 6 wherein said acquiring step additionally comprises the steps of:

determining a duration required for said subsequent signal to propagate between said locator and locatable units; and

including said propagation duration of said subsequent signal in said set of subsequent location parameters.

8. A method of distinguishing an actual position from an image position as claimed in claim 1 wherein:

said obtaining step comprises the step of measuring characteristics of a plurality of original electromagnetic signals communicated between a locator unit and a locatable unit, said plurality of original signals being communicated within a relatively short period of time;

said acquiring step comprises the step of measuring characteristics of a plurality of subsequent electromagnetic signals communicated between said locator and locatable units, said plurality of subsequent signals being communicated within a relatively short period of time; and

said method additionally comprises the step of waiting a relatively long period of time, compared to said periods of time over which said original and subsequent signals are communicated, between said obtaining and acquiring steps.

9. A method of distinguishing an actual position from an image position as claimed in claim 1 wherein said actual position appears to move in said generally eastward direction over time as a result of earth rotation, and said method additionally comprises, prior to said selecting step, the steps of:

predicting a location of a third position that differs from one of said first and second positions by a direction and distance which are responsive to earth rotation; and

determining whether said set of subsequent location parameters corresponds to said third position.

10. A method of distinguishing an actual position from an image position as claimed in claim 9 wherein said method additionally comprises, prior to said selecting step, the step of determining the duration between said obtaining and acquiring steps.

11. A method of distinguishing an actual position from an image position as claimed in claim 1 wherein said actual position appears to move in said generally eastward direction over time as a result of earth rotation, and said method additionally comprises the steps of:

predicting a third position that differs from said first position by a direction and distance which are responsive to earth rotation;

predicting a fourth position that differs from said second position by a direction and distance which are responsive to earth rotation; and

determining whether said set of subsequent location parameters more closely corresponds to said third position or said fourth position.

12. A method of distinguishing an actual position from an image position as claimed in claim 1 additionally comprising the steps of:

placing a locator unit in an orbit around the earth so that said locator unit moves through space and so that said movement of said locator unit through space is substantially unaffected by earth rotation; and

placing a locatable unit proximate the surface of the earth so that said locatable unit moves through space in response to earth rotation.

13. A method of distinguishing an actual position from an image position as claimed in claim 12 wherein said locator unit placing step comprises the step of causing said locator unit to move in a substantially north-south orbit around the earth.

14. A method of distinguishing an actual position from an image position as claimed in claim 12 wherein:

said locator unit moves relative to said locatable unit and said locator unit movement causes a nadir direction of said locator unit to intersect the earth along a ground track of said locator unit;

a first plurality of cells are projected from said locator unit toward the earth on a first side of said ground track, a second plurality of cells are projected from said locator unit toward the earth on a second side of said ground track, and a third plurality of cells are projected from said locator unit over said ground track;

said obtaining step comprises the step of engaging in communications between said locator unit and said locatable unit; and

said method additionally comprises the step of determining whether said communications take place in one of said first plurality of cells, in one of said second plurality of cells, or in one of said third plurality of cells.

15. A method of distinguishing an actual position from an image position as claimed in claim 14 additionally comprising the step of performing said acquiring and selecting steps when said communications take place in one of said third plurality of cells.

16. A method of distinguishing an actual position from an image position as claimed in claim 1 wherein said set of original location parameters is obtained from communications conducted between a locator unit and a locatable unit which are spaced apart from one another, and said obtaining step comprises the steps of:

transmitting an electromagnetic signal from one of said locator unit and said locatable unit to the other of said locator and locatable units;

determining a duration required for said signal to propagate between said locator and locatable units; and

including said propagation duration in said set of original location parameters.

17. A method of operating a radio telecommunications system having a satellite moving in an orbit around the earth and having a subscriber unit located proximate the earth'"'"'s surface, said method comprising the steps of:

obtaining a set of original location parameters, said original set describing first and second positions of said subscriber unit relative to said satellite;

acquiring a set of subsequent location parameters; and

selecting, as an actual position for said subscriber unit, the one of said first and second positions which, in response to said sets of original and subsequent location parameters, appears to move in a generally eastward direction over time; and

qualifying communication services provided for said subscriber unit in response to said actual position for said subscriber unit.

18. A method of operating a radio telecommunications system as claimed in claim 17 wherein said obtaining step comprises the steps of:

transmitting an electromagnetic signal from one of said satellite and said subscriber unit to the other of said satellite and said subscriber unit; and

determining a Doppler component of said signal; and

determining a duration required for said signal to propagate between said satellite and said subscriber unit; and

including said Doppler component and said propagation duration in said set of original location parameters.

19. A method of operating a radio telecommunications system as claimed in claim 18 wherein said acquiring step comprises the steps of:

transmitting a subsequent electromagnetic signal from one of said satellite and said subscriber unit to the other of said satellite and said subscriber unit;

determining a Doppler component of said subsequent signal;

determining a duration required for said subsequent signal to propagate between said satellite and said subscriber unit; and

including said Doppler component of said subsequent signal and said propagation duration of said subsequent signal in said set of subsequent location parameters.

20. A method of operating a radio telecommunications system as claimed in claim 17 wherein:

said obtaining step comprises the step of measuring characteristics of a plurality of original electromagnetic signals communicated between said satellite and said subscriber unit, said plurality of original signals being communicated within a relatively short period of time;

said acquiring step comprises the step of measuring characteristics of a plurality of subsequent electromagnetic signals communicated between said satellite and said subscriber unit, said plurality of subsequent signals being communicated within a relatively short period of time; and

said method additionally comprises the step of waiting a relatively long period of time, compared to said periods of time over which said original and subsequent signals are communicated, between said obtaining and acquiring steps.

21. A method of operating a radio telecommunications system as claimed in claim 17 wherein said actual position appears to move in said generally eastward direction over time as a result of earth rotation, and said method additionally comprises the steps of:

predicting a location of a third position that differs from one of said first and second positions by a direction and distance which are responsive to earth rotation; and

determining whether said set of subsequent location parameters corresponds to said third position.

22. A method of operating a radio telecommunications system as claimed in claim 21 additionally comprising the step of determining, prior to said predicting step, the duration between said obtaining and acquiring steps.

23. A method of operating a radio telecommunications system as claimed in claim 21 wherein:

said predicting step predicts said third position with respect to said first position;

said predicting step additionally predicts a fourth position which differs from said second position by a direction and distance which are responsive to earth rotation; and

said determining step determines whether said set of subsequent location parameters more closely corresponds to said third position or said fourth position.

24. A method of operating a radio telecommunications system as claimed in claim 17 additionally comprising the step of causing said satellite to move in a substantially north-south orbit around the earth.

25. A method of operating a radio telecommunications system as claimed in claim 17 wherein:

said satellite movement causes a nadir direction of said satellite to intersect the earth along a ground track of said satellite;

a first plurality of cells are projected from said satellite toward the earth on a first side of said ground track, a second plurality of cells are projected from said satellite toward the earth on a second side of said ground track, and a third plurality of cells are projected from said satellite over said ground track;

said obtaining step comprises the step of engaging in communications between said satellite and said subscriber unit;

said method additionally comprises the step of determining whether said communications take place in one of said first plurality of cells, in one of said second plurality of cells, or in one of said third plurality of cells; and

performing said acquiring and selecting steps when said communications take place in one of said third plurality of cells.

26. A method of operating a radio telecommunications system as claimed in claim 25 additionally comprising the step of choosing, as an actual position for said subscriber unit, the one of said first and second positions that resides in the cell within which said communications take place, said choosing step being performed when said communications take place in one of said first or second plurality of cells.

27. A location determination system comprising:

at least one locator unit moving in an orbit around the earth;

at least one locatable unit residing proximate the earth'"'"'s surface;

a measurement processor residing in one of said locator and locatable units, said measurement processor being configured to determine a Doppler component of an electromagnetic signal traveling between said locator and locatable units;

a location processor in data communication with said measurement processor, said location processor being configured to determine two positions for said locatable unit in response to said Doppler component and to determine which of said two positions moves relative to said locator unit in a generally eastward direction, said eastward moving position corresponding to a location of said locatable unit.

28. A location determination system as claimed in claim 27 wherein said locator unit moves in a substantially north-south orbit around the earth, and said movement is substantially unaffected by earth rotation.

29. A location determination system as claimed in claim 27 wherein said measurement processor is additionally configured to determine a duration for which an electromagnetic signal travels between said locator and locatable units;

and

said location processor is additionally configured so that said positions are determined in response to said Doppler component and said duration.

30. A location determination system as claimed in claim 27 wherein:

said locator unit movement causes a nadir direction of said locator unit to intersect the earth along a ground track of said locator unit;

said locator unit projects a first plurality of cells toward the earth on a first side of said ground track, projects a second plurality of cells toward the earth on a second side of said ground track, and projects a third plurality of cells toward the earth over said ground track; and

said location processor comprises means for determining whether said electromagnetic signal was communicated in one of said first plurality of cells, in one of said second plurality of cells, or in one of said third plurality of cells.

31. A location determination system as claimed in claim 27 wherein said actual position appears to move in said generally eastward direction over time as a result of earth rotation, and said location processor comprises:

means for predicting a location of a third position that differs from one of said two positions by a direction and distance which are responsive to earth rotation; and

means, coupled to said predicting means, for determining whether said one of said two positions moves to said third position.