Method for elimination of ambiguous solutions in a hyperbolic positioning system

• US 5,454,720 A
• Filed: 05/31/1994
• Issued: 10/03/1995
• Est. Priority Date: 05/31/1994
• Status: Expired due to Fees

• Current Assignee: General Dynamics C4 Systems Incorporated (General Dynamics Corporation)
• Original Assignee: Motorola, Inc. (Motorola Solutions, Inc.)
• Inventors: FitzGerald, Mark R., Griffin, Craig T., Sater, Glen E.
• Primary Examiner(s): Gheng, Joe H.
• Application Number:
  US08/251,153
• Time in Patent Office: 490 Days
• Field of Search: 434/11, 434/12, 434/16, 434/19, 434/23, 434/27, 364/423, 364/449, 364/458, 364/460, 364/516, 364/578, 273/32 R, 273/310, 273/439, 340/326, 367/129, 342/450, 342/451, 342/457, 342/458, 342/465
• US Class Current: 434/27
• 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 1/045 Receivers
• 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 providing detection of timing anomalies and eliminating falsely detected positions in a hyperbolic positioning system for a simulated battlefield system. The method selects a large number of transmitters for calculation of position of an object or person on the battle field. In addition, transmitters are selected which have a high dilution of precision factor.

Claims

1. A method for eliminating ambiguous positions in a hyperbolic positioning system including a master control station, a plurality of transmitters for transmitting timing information to a device for self-determining its position, said method comprising the steps of:

selecting by said master control station a group of said transmitters which are in an RF line of sight of a target;

estimating by the master control station a true position and a false position on an intersection of hyperbolic asymptotes of at least two pairs of the plurality of transmitters;

determining by the master control station whether said false position is within a predetermined range of said actual position; and

transmitting by said master control station to said device for self-determination valid sets of transmitters which are capable of unambiguously providing said true position of said device for self-determining its position.

2. The method for eliminating ambiguous positions in a hyperbolic positioning system as claimed in claim 1, wherein said step of selecting by the master control station includes the step of selecting at least five operational transmitters.

3. The method for eliminating ambiguous positions in a hyperbolic positioning system as claimed in claim 2, wherein there is further included the step of adding marginally visible transmitters to form said at least five transmitters, if said at least five transmitters which are not marginally visible cannot be found.

4. The method for eliminating ambiguous positions in a hyperbolic positioning system as claimed in claim 3, wherein there is further included the step of determining an optimum geometry of said at least five transmitters by choosing said at least five transmitters having a minimum horizontal dilution of precision.

5. The method for eliminating ambiguous positions in a hyperbolic positioning system as claimed in claim 4, wherein said step of estimating includes the steps of:

selecting by said master control station a combination of three transmitters of said at least five transmitters;

determining whether a horizontal dilution of precision of said selected three transmitters is less than a predetermined number; and

setting a flag, if said horizontal dilution of precision is greater than or equal to said predetermined number.

6. The method for eliminating ambiguous positions in a hyperbolic positioning system as claimed in claim 5, wherein said step of determining by the master control station whether said false position includes the steps of:

approximating by the master control station a location of said false position from intersection of timing asymptotes;

determining by the master control station whether said false position is within a bounded area; and

setting a flag, if said false position is within the bounded area.

7. The method for eliminating ambiguous positions in a hyperbolic positioning system as claimed in claim 6, wherein there is further included the step of setting a flag indicating a valid combination of three transmitters has been obtained, if said false position was not within the bounded area.

8. The method for eliminating ambiguous positions in a hyperbolic positioning system as claimed in claim 7, wherein there is further included the step of determining whether all combinations of three transmitters of said at least five transmitters has been tested.

9. The method for eliminating ambiguous positions in a hyperbolic positioning system as claimed in claim 8, wherein there is further included the step of iterating the steps of:

selecting three transmitters of said at least five transmitters;

determining whether a horizontal dilution of precision;

setting a flag;

approximating by the master control station a location;

determining by the master control station whether said false position;

setting a flag;

setting a flag indicating a valid combination; and

determining whether all combinations of three transmitters, if all combinations of three transmitters of said at least five transmitters have not been tested.

10. The method for eliminating ambiguous positions in a hyperbolic positioning system as claimed in claim 8, wherein there is further included the step of selecting combinations of five transmitters for testing.

11. The method for eliminating ambiguous positions in a hyperbolic positioning system as claimed in claim 10, wherein there is further included the step of determining a greatest number of valid combinations of transmitters for each combination of five selected transmitters.

12. The method for eliminating ambiguous positions in a hyperbolic positioning system as claimed in claim 11, wherein there is further included the step of setting a flag, if a particular combination of five transmitters has the greatest number of valid combinations.

13. The method for eliminating ambiguous positions in a hyperbolic positioning system as claimed in claim 12, wherein there is further included the steps of:

determining whether all possible combinations of five transmitters have been tested; and

iterating said steps of selecting five transmitters;

determining a greatest number of valid combinations;

setting a flag; and

determining whether all possible combinations of five transmitters, if all combinations of five transmitters have not been tested.

14. The method for eliminating ambiguous positions in a hyperbolic positioning system as claimed in claim 7, wherein:

said step of transmitting by the master control station includes the step of transmitting messages including;

identities of valid and invalid combinations of said three transmitters of said at least five transmitters and transmitting said flag indicating invalid and valid combinations of said three transmitters; and

receiving by said device for self-determining said messages including said valid and invalid combinations of three transmitters of said at least five transmitters and said flags indicating invalid and valid combinations.

15. The method for eliminating ambiguous positions in a hyperbolic positioning system as claimed in claim 14, wherein there is further included the step of decoding by said device for self-determining valid combinations of said three transmitters from said messages transmitted from said master control station.

16. The method for eliminating ambiguous positions in a hyperbolic positioning system as claimed in claim 15, wherein there is further included the step of determining by said device for self-determining whether at least one valid combination of said three transmitters was received by said device for self-determining.

17. The method for eliminating ambiguous positions in a hyperbolic positioning system as claimed in claim 16, wherein there is further included the step of waiting by said device for self-determining for a subsequent message from said master control station, if no valid combinations of three receivers were determined.

18. The method for eliminating ambiguous positions in a hyperbolic positioning system as claimed in claim 17, wherein there is further included the steps of:

determining by the device for self-determining a current position of said device for self-determining; and

updating by the device for self-determining a position of said device for self-determining to be the current position of said device for self-determining.

19. A method for eliminating ambiguous positions in a hyperbolic positioning system including a master control station, a plurality of transmitters for transmitting timing information to a device for self-determining its position, said method comprising the steps of:

selecting by the device for self-determining a group of said transmitters which are in an RF line of sight of a target;

estimating by the device for self-determining a true position and a false position on an intersection of hyperbolic asymptotes of at least two pairs of the plurality of transmitters;

determining by the device for self-determining whether said false position is within a predetermined range of said actual position;

determining by the device for self-determining whether at least one valid combination of said three transmitters was received; and

determining by the device for self-determining a current position of said device for self-determining.

20. In a battlefield simulation system including a master control station, a plurality of transmitters for transmitting timing information to plurality of personnel and vehicles, each having location detection devices, a position location method for self-locating each location detection device, said position location method comprising the steps of:

selecting by said master control station a group of said transmitters which are in an RF line of sight of a target;

estimating by the master control station an true position and a false position on an intersection of hyperbolic asymptotes of at least two pairs of the plurality of transmitters;

determining by the master control station whether said false position is within a predetermined range of said actual position;

transmitting by said master control station to said device for self-determination valid sets of transmitters which are capable of unambiguously providing said true position of said device for self-determining its position;

determining by said location detection device whether at least one valid combination of said three transmitters was received;

determining by the locations detection device for self-determining a current position of said device for self-determining; and

updating by the location detection device a position of said location detection device to be the current position of said location detection device.