Tracking system for providing position information

• US 6,564,146 B1
• Filed: 09/06/2001
• Issued: 05/13/2003
• Est. Priority Date: 01/24/2000
• Status: Expired due to Fees

• Current Assignee: the united states of america as represented by the secretary of the navy
• Original Assignee: the united states of america as represented by the secretary of the navy
• Inventors: Meyer, Steven J., Merts, John H.
• Primary Examiner(s): Louis-Jacques, Jacques H.
• Assistant Examiner(s): Broadhead, Brian J
• Application Number:
  US09/954,305
• Time in Patent Office: 614 Days
• Field of Search: 701/4, 701/7, 701/14, 701/213, 701/215, 701/225, 701/300, 701/302, 244/3.19, 244/3.14, 342/119, 342/62
• US Class Current: 701/213
• CPC Class Codes: F41G 7/001 Devices or systems for testing or checking
• CPC Class Codes: G01S 5/0027 of actual mobile position, i.e. position determined on mobile

Abstract

Processing GPS signals received at moving targets and at a fixed location near instrumentation associated with timing and recording an event allows the determination of instantaneous target position to be made without a requirement for additional active tracking. An example is the recording and display of a test event involving a missile intercepting a target. The missile, target, and an instrumentation site all receive GPS signals. The signals are time tagged and the data contained thereon verified by a source and forwarded from each platform to a ground station. The data is correlated with other test data to provide a real time record and display of the missile intercepting the target. Both Time Space Position Information (TSPI) and Miss Distance Indication (MDI) are derived to a very high degree of accuracy using double difference error correction techniques. Both absolute and relative position information can be derived.

Claims

1. A tracking system for providing position information to a ground station relating to movement of a missile and a target, said missile tracking said target on an interception course to intercept said target, said tracking system comprising:

first Global Positioning System (GPS) receiving antenna means mounted upon said missile for receiving GPS position data from a plurality of satellites;

first amplifying means for amplifying said GPS position data received by said first GPS receiving antenna means;

first GPS receiver means for processing said GPS position data amplified by said first amplifying means and then generating an a first set of RS-232 Missile Application Condensed Measurements Records which includes said GPS position data amplified by said first amplifying means;

encoding means for encoding said first set of RS-232 Missile Application Condensed Measurements Records;

first telemetry transmitting means mounted upon said missile for transmitting to said ground station said first set of RS-232 Missile Application Condensed Measurements Records, said first set of RS-232 Missile Application Condensed Measurements Records being transmitted to said ground station in a first pulse code modulated data stream;

second GPS receiving antenna means mounted within a radome of said target for receiving GPS position data from said plurality of satellites;

second amplifying means for amplifying said GPS position data received by said second GPS receiving antenna means;

second GPS receiver means for processing said GPS position data amplified by said second amplifying means and then generating an a second set of RS-232 Missile Application Condensed Measurements Records which includes said GPS position data amplified by said second amplifying means;

randomizing means for converting said second set of RS-232 Missile Application Condensed Measurements Records from first direct current voltage levels to second direct current voltage levels to allow for transmission of said second set of RS-232 Missile Application Condensed Measurements Records to said ground station, said randomizing means randomizing said second set of RS-232 Missile Application Condensed Measurements Records including said GPS position data contained therein;

second telemetry transmitting means mounted upon said target for transmitting to said ground station said second set of RS-232 Missile Application Condensed Measurements Records, said second set of RS-232 Missile Application Condensed Measurements Records being transmitted to said ground station in a second pulse code modulated data stream;

,

first telemetry receiving antenna means located at said ground station, said first telemetry receiving antenna means receiving said first set of RS-232 Missile Application Condensed Measurements Records from said missile;

decommutator means for decommutating first pulse code module data stream into a plurality of missile GPS data words having said first set of RS-232 Missile Application Condensed Measurements Records included therein;

first converting means for converting said plurality of missile GPS data words from a parallel format to an RS-232 data serial format;

third GPS receiving antenna means located at said ground station for receiving GPS position data from said plurality of satellites;

third GPS receiver means located at said ground station, said third GPS receiver means operating as a fixed position reference receiver to insure position accuracy of said GPS position data received by said third GPS receiver means, said third GPS receiver means providing a third set of RS-232 Missile Application Condensed Measurements Records which includes said GPS position data received by said third GPS receiver means, said third set of RS-232 Missile Application Condensed Measurements Records including a position accuracy range;

first computer means for receiving said plurality of missile GPS data words and said third set of RS-232 Missile Application Condensed Measurements Records, said first computer means processing said plurality of missile GPS data words and said third set of RS-232 Missile Application Condensed Measurements Records to provide missile time, space and position information, said first computer means including a missile location display for displaying said missile time, space and position information;

second telemetry receiving antenna means located at said ground station, said second telemetry receiving antenna means receiving said second set of RS-232 Missile Application Condensed Measurements Records from said target;

bit sync circuit means for de-randomizing said second set of RS-232 Missile Application Condensed Measurements Records to create a non-return to zero logic data stream having a plurality of target GPS data words and a synchronized clock signal;

second converting means for converting said non-return to zero logic data stream having said plurality of target GPS data words included therein to an RS-232 serial data stream having said plurality of target GPS data words included therein; and

second computer means for receiving said plurality of target GPS data words and said third set of RS-232 Missile Application Condensed Measurements Records, said second computer means processing said plurality of target GPS data words and said third set of RS-232 Missile Application Condensed Measurements Records to provide target time, space and position information, said second computer means including a target location display for displaying said time, space and position information.

2. The tracking system of claim 1 further comprising a miss distance indicator computer connected to said first converting means to receive said plurality of missile GPS data words from said first converting means, said miss distance indicator computer connected to said second converting means to receive said plurality of target GPS data words from said second converting means, said miss distance indicator computer including computer software to process said plurality of missile GPS data words and said plurality of target GPS data words and to calculate miss distance indicator data for said missile relative to said target as said missile tracks said target on said interception course to intercept said target, said computer software calculating said miss distance indicator data using a double difference correction technique.

3. A tracking system for providing position information to a ground station relating to movement of a missile and a target, said missile tracking said target on an interception course to intercept said target, said tracking system comprising:

a first Global Positioning System (GPS) receiving antenna having an output, said first GPS receiving antenna being mounted upon said missile;

a first filter having an input connected to the output of said first GPS receiving antenna and an output, said first filter being mounted within said missile;

a first amplifier having an input connected to the output of said first filter and an output, said first amplifier being mounted within said missile;

a first GPS receiver having an input connected to the output of said first amplifier, a first output and a second output, said first GPS receiver being mounted within said missile;

a microcontroller having an input connected to the first output of said first GPS receiver and an output, said microcontroller being mounted within said missile;

an encoder having a first input connected to the output of said microcontroller, a second input connected to the second output of said first GPS receiver, a third input and an output, said encoder being mounted within said missile;

a first transmitter having an input connected to the output of said encoder and an output, said first transmitter being mounted within said missile;

a first transmitting antenna having an input connected to the output of said first transmitter, said first transmitting antenna being mounted upon said missile;

a second GPS receiving antenna having an output, said second GPS receiving antenna being mounted within a radome of said target;

a second filter having an input connected to the output of said second GPS receiving antenna and an output, said second filter being mounted within said target;

a second amplifier having an input connected to the output of said second filter and an output, said second amplifier being mounted within said target;

a second GPS receiver having an input connected to the output of said second amplifier and an output, said second GPS receiver being mounted within said target;

a randomizer having an input connected to the output of said second GPS receiver and an output;

said randomizer being mounted within said target;

a third filter having an input connected to the output of said randomizer and an output, said third filter being mounted within said target;

a second transmitter having an input connected to the output of said third filter and an output, said second transmitter being mounted within said target;

a second transmitting antenna having an input connected to the output of said second transmitter, said second transmitting antenna being mounted within said target;

a first telemetry receiving antenna having an output, said first telemetry receiving antenna being located at said ground station;

a first telemetry receiver having an input connected to the output of said first telemetry receiving antenna and an output, said first telemetry receiver being located at said ground station;

a decommutator having an input connected to the output of said first telemetry receiver a first output and a second output, said decommutator being located at said ground station;

a universal asynchronous receiver/transmitter having an input connected to the first output of said decommutator and output, said universal asynchronous receiver/transmitter being located at said ground station;

a first personal computer having a first input connected to the output of said universal asynchronous receiver/transmitter, a second input and an output, said first personal computer being located at said ground station;

a third GPS receiving antenna having an output, said third GPS receiving antenna being located at said ground station;

a third GPS receiver having an input connected to the output of said third GPS receiving antenna and an output connected to the second input of said first personal computer, said third GPS receiving antenna being located at said ground station;

a second telemetry receiving antenna having an output, said second telemetry receiving antenna being located at said ground station;

a second telemetry receiver having an input connected to the output of said second telemetry receiving antenna and an output, said second telemetry receiver being located at said ground station;

a bit sync circuit having an input connected to the output of said second telemetry receiver, a data output and a clock output, said bit sync circuit being located at said ground station;

a decoder having a data input connected to the data output of said bit sync circuit, a clock input connected to the clock output of said bit sync circuit and an output, said decoder being located at said ground station; and

a second personal computer having a first input connected to the output of said decoder, a second input connected to the output of said third GPS receiver and an output.

4. The tracking system of claim 3 further comprising a range display having a first input connected to the output of said first personal computer and a second input connected to the output of said second personal computer, said range being located at said ground station, said range display displaying a location for said target and said missile as said missile travels on said interception course to intercept said target.

5. The tracking system of claim 3 further comprising an inertial measurement unit having an output connected to the third input of said encoder, said inertial measurement unit being mounted within said missile.

6. The tracking system of claim 3 further comprising a strip chart having an input connected to the second output of said decommutator.

7. The tracking system of claim 3 further comprising a recorder having a first input connected to the output of said first telemetry receiver, a second input for receiving an Interrange Instrumentation Group timing signal and a third input for receiving a range radio signal.

8. The tracking system of claim 3 further comprising a miss distance indicator computer having a first input connected to the output of said universal asynchronous receiver/transmitter and a second input connected to the output of said decoder.

9. The tracking system of claim 8 wherein said miss distance indicator computer includes computer software for calculating miss distance indicator data for said missile relative to said target as said missile tracks said target on said interception course to intercept said target, said computer software calculating said miss distance indicator data using a double difference correction technique.

10. The tracking system of claim 3 wherein said first personal computer includes a display for displaying Time, Space and Position Information for said missile.

11. The tracking system of claim 3 wherein said second personal computer includes a display for displaying Time, Space and Position Information for said target.

12. The tracking system of claim 3 wherein said first GPS receiver, said second GPS receiver and said third GPS receiver each receive GPS position data from a plurality of GPS satellites, process said GPS position data and provide said GPS position data in an RS-232 Missile Application Condensed Measurements (MACM) Record format.

13. The tracking system of claim 3 wherein said microcontroller is programmed to operate as a universal asynchronous receiver/transmitter.

14. The tracking system of claim 3 wherein said decoder comprises an Non-Return to Zero Logic (NRZL) to RS-232 data converter.

15. A tracking system for providing position information to a ground station relating to movement of a missile and a target, said missile tracking said target on an interception course to intercept said target, said tracking system comprising:

a first Global Positioning System (GPS) receiving antenna having an output, said first GPS receiving antenna being mounted upon said missile;

a first filter having an input connected to the output of said first GPS receiving antenna and an output, said first filter being mounted within said missile;

a first amplifier having an input connected to the output of said first filter and an output, said first amplifier being mounted within said missile;

a first GPS receiver having an input connected to the output of said first amplifier, a first output and a second output, said first GPS receiver being mounted within said missile;

a first universal asynchronous receiver/transmitter having an input connected to the first output of said first GPS receiver and an output, said first universal asynchronous receiver/transmitter being mounted within said missile;

an encoder having a first input connected to the output of said first universal asynchronous receiver/transmitter, a second input connected to the second output of said first GPS receiver, a third input and an output, said encoder being mounted within said missile;

an inertial measurement unit having an output connected to the third input of said encoder, said inertial measurement unit being mounted within said missile;

a first transmitter having an input connected to the output of said encoder and an output, said first transmitter being mounted within said missile;

a first transmitting antenna having an input connected to the output of said first transmitter, said first transmitting antenna being mounted upon said missile;

a second GPS receiving antenna having an output, said second GPS receiving antenna being mounted within a radome of said target;

a second filter having an input connected to the output of said second GPS receiving antenna and an output, said second filter being mounted within said target;

a second amplifier having an input connected to the output of said second filter and an output, said second amplifier being mounted within said target;

a second GPS receiver having an input connected to the output of said second amplifier and an output, said second GPS receiver being mounted within said target;

a randomizer having an input connected to the output of said second GPS receiver and an output;

said randomizer being mounted within said target;

a third filter having an input connected to the output of said randomizer and an output, said third filter being mounted within said target;

a second transmitter having an input connected to the output of said third filter and an output, said second transmitter being mounted within said target;

a second transmitting antenna having an input connected to the output of said second transmitter, said transmitting antenna being mounted within a radome of said target;

a first telemetry receiving antenna having an output, said first telemetry receiving antenna being located at said ground station;

a first telemetry receiver having an input connected to the output of said first telemetry receiving antenna and an output, said first telemetry receiver being located at said ground station;

a decommutator having an input connected to the output of said first telemetry receiver a first output and a second output, said decommutator being located at said ground station;

a second universal asynchronous receiver/transmitter having an input connected to the first output of said decommutator and an output, said second universal asynchronous receiver/transmitter being located at said ground station;

a first personal computer having a first input connected to the output of said second universal asynchronous receiver/transmitter, a second input and an output, said first personal computer being located at said ground station;

a third GPS receiving antenna having an output, said third GPS receiving antenna being located at said ground station;

a third GPS receiver having an input connected to the output of said GPS receiving antenna and an output connected to the second input of said first personal computer, said third GPS receiving antenna being located at said ground station;

a second telemetry receiving antenna having an output, said second telemetry receiving antenna being located at said ground station;

a second telemetry receiver having an input connected to the output of said second telemetry receiving antenna and an output, said second telemetry receiver being located at said ground station;

a bit sync circuit having an input connected to the output of said second telemetry receiver, a data output and a clock output, said bit sync circuit being located at said ground station;

a decoder having a data input connected to the data output of said bit sync circuit, a clock input connected to the clock output of said bit sync circuit and an output, said decoder being located at said ground station;

a second personal computer having a first input connected to the output of said decoder, a second input connected to the output of said third GPS receiver and an output;

a range display having a first input connected to the output of said first personal computer and a second input connected to the output of said second personal computer, said range being located at said ground station, said range display displaying a location for said target and said missile as said missile travels on said interception course to intercept said target; and

a miss distance indicator computer having a first input connected to the output of said second universal asynchronous receiver/transmitter and a second input connected to the output of said decoder, said miss distance indicator computer includes computer software for calculating miss distance indicator data for said missile relative to said target as said missile tracks said target on said interception course to intercept said target.

16. The tracking system of claim 15 further comprising a strip chart having an input connected to the second output of said decommutator.

17. The tracking system of claim 15 further comprising a recorder having a first input connected to the output of said first telemetry receiver, a second input for receiving an Interrange Instrumentation Group timing signal and a third input for receiving a range radio signal.

18. The tracking system of claim 15 wherein said first personal computer includes a display for displaying Time, Space and Position Information for said missile.

19. The tracking system of claim 15 wherein said second personal computer includes a display for displaying Time, Space and Position Information for said target.

20. The tracking system of claim 15 wherein said first GPS receiver, said second GPS receiver and said third GPS receiver each receive GPS position data from a plurality of GPS satellites, process said GPS position data and provide said GPS position data in an RS-232 Missile Application Condensed Measurements (MACM) Record format.