Target localization using TDOA distributed antenna

• US 7,170,441 B2
• Filed: 08/09/2004
• Issued: 01/30/2007
• Est. Priority Date: 08/14/2003
• Status: Active Grant

• Current Assignee: Saab Inc (Saab AB)
• Original Assignee: Sensis Corp (Saab AB)
• Inventors: Perl, Elyahu, Gerry, Michael J
• Primary Examiner(s): Sotomayor; John B.
• Application Number:
  US10/914,530
• Publication Number:
  US 20050035897A1
• Time in Patent Office: 904 Days
• Field of Search: 342 29- 38, 342 42- 50, 342/59, 342/95, 342/107, 342/108, 342/115, 342/126, 342/146, 342/450, 342/451, 342454-456, 342462-465
• US Class Current: 342/29
• CPC Class Codes: G01S 13/878 Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector G01S13/874 takes precedence
• CPC Class Codes: G01S 5/12 by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial

Abstract

This invention is a system and method of locating a target using distributed antenna. The antenna consists of several receiving elements in known locations. At least one of the receiving elements is also a transmitter and transmits an interrogation signal to a target. The return signal from the target is received by a plurality of receiving elements and the target'"'"'s position is calculated using the time of arrivals of the reply signal and the round trip delay between the transmission of the interrogation signal and the reception of the subsequent reply signal.

Claims

1. A method of locating a target, comprising the steps of:

transmitting a signal from a single transmitter to a target;

receiving a return signal from the target using at least one receiver;

calculating the round trip delay (RTD) from the transmitter to the target to said at least one receiver;

receiving a signal from the target using at least three receivers;

determining the Time of Arrival (TOA) of the signals at each receiver;

calculating a measured Time Differential of Arrival (TDOA) using the TOA from each receiver; and

using the measured TDOA and the RTD data to calculate at least a position estimate of the target.

2. A method of locating a target, according to claim 1, wherein the step of calculating at least a position estimate of the target further includes the steps of:

calculating an initial azimuth of the target using the measured TDOA data; and

using the initial azimuth and the RTD data to calculate at least an approximate plane position of the target.

3. The method of claim 2, wherein height is calculated from altitude data provided in the return signal from the target, such that the initial azimuth and RTD data combined with the height are used to calculate the approximate three-dimensional position of the target.

4. The method of claim 2, wherein transmission and reception of the signal is performed through the same antenna, such that the RTD data indicates the range of the target from the transmitter.

5. The method of claim 4, wherein said at least one receiver also functions as one of said at least three receivers.

6. The method of claim 1, wherein said signal received by said at least three receivers is said return signal.

7. The method of claim 2, wherein said signal received by said at least three receivers is said return signal.

8. The method of claim 4, further comprising the steps of:

using the initial azimuth and RTD data to define an arc on which the target is located;

selecting a predetermined number of points along said arc;

calculating the expected TDOA for each point;

comparing the expected TDOA for each point to said measured TDOA to determine a minimum error between the expected TDOA of each point and said measured TDOA; and

selecting the azimuth associated with the expected TDOA having the minimum error as a more precise azimuth of the target; and

using the more precise azimuth and the RTD data to calculate a more precise plane position of the target.

9. The method of claim 8, wherein each point arranged along said arc has the same RTD.

10. The method of claim 8, wherein said transmitter and said receivers are arranged in an array having an array baseline, and the length of said arc is approximately twice the length of said array baseline.

11. The method of claim 8, further comprising the steps of:

using said more precise azimuth and RTD data to define a segment of said arc;

selecting a second set of a predetermined number of points along said segment of said arc;

calculating the expected TDOA for each point within said second set;

comparing the expected TDOA for each point within said second set to said measured TDOA to determine a minimum error between the expected TDOA of each point in said second set and said measured TDOA; and

selecting the azimuth associated with the expected TDOA having the minimum error as an even a more precise azimuth of the target; and

using the even more precise azimuth and the RTD data to calculate an even more precise plane position of the target.

12. The method of claim 1, wherein said at least one receiver also functions as one of said at least three receivers.

13. The method of claim 1, wherein transmission and reception of the signal is performed through the same antenna, such that the RTD data indicates the range of the target from the transmitter.

14. The method of claim 1, wherein the position estimate, coordinates of said receivers, the TOAs and the RTD data are used to calculate a more precise position of the target.

15. The method of claim 14, wherein the more precise position is calculated by the steps of:

a) estimating a new target position;

b) calculating TOAs that correspond to the new target position;

c) measuring the error between the calculated TOAs and the measured TOAs; and

d) selecting the position estimate associated with the expected TOAs having the minimum error as the new position estimate of the target.

16. The method of claim 15, wherein steps a–

d are repeated until the difference between the calculated TOAs and the measured TOAs is at least one of less than and equal to a predetermined value.

17. The method of claim 15, wherein the more precise position is calculated using a maximum likelihood algorithm.

18. The method of claim 17, wherein the maximum likelihood algorithm is the Newton-Raphson method.

19. The method of claim 17, wherein the maximum likelihood algorithm is the Simplex Downhill method.

20. The method of claim 1, wherein the height of the target is known and combined with the TDOA and the RTD data to calculate a position estimate of the target.

21. The method of claim 20, wherein the height is calculated from altitude data included in the reply signal from the target.

22. The method of claim 20, wherein the height is known from the determination that the target is on the ground.

23. The method of claim 20, wherein the position estimate, coordinates of the receivers, the TOAs, the height of the target and the RTD data are used to calculate a more precise position of the target.

24. The method of claim 23, wherein the more precise position is calculated by the steps of:

a) estimating a new target position;

b) calculating TOAs that correspond to the new target position;

c) measuring the error between the calculated TOAs and the measured TOAs; and

d) selecting the position estimate associated with the expected TOA having the minimum error as the new position estimate of the target.

25. The method of claim 24, wherein steps a–

d are repeated until the difference between the calculated TOAs and the measured TOAs is at least one of less than and equal to a predetermined value.

26. The method of claim 24, wherein the more precise position is calculated using a maximum likelihood algorithm.

27. The method of claim 26, wherein the maximum likelihood algorithm is the Newton-Raphson method.

28. The method of claim 26, wherein the maximum likelihood algorithm is the Simplex Downhill method.

29. A system for locating a target, comprising:

at least one transmitter for transmitting a signal to a target;

at least one receiver for receiving a return signal from the target;

a mechanism for calculating the round trip delay (RTD) from said transmitter to the target to said at least one receiver;

at least three receivers for receiving a signal from the target;

a mechanism for determining the Time of Arrival (TOA) of the signals at each receiver;

a mechanism for calculating a measured Time Differential of Arrival (TDOA) using the TOA from each receiver;

a mechanism for calculating an initial azimuth of the target using the measured TDOA data; and

a mechanism for calculating at least an approximate plane position of the target using the initial azimuth and the RTD data.

30. The system of claim 29, wherein height is calculated from altitude data provided in the return signal from the target, such that the initial azimuth and RTD data combined with the height are used to calculate the approximate three-dimensional position of the target.

31. The system of claim 29, wherein transmission and reception of the signal is performed through the same antenna, such that the RTD data indicates the range of the target from the transmitter.

32. The system of claim 31, wherein said at least one receiver also functions as one of said at least three receivers.

33. The system of claim 31, further comprising:

a mechanism for defining an arc on which the target is located using the initial azimuth and RTD data;

a mechanism for selecting a predetermined number of points along said arc;

a mechanism for calculating the expected TDOA for each point;

a mechanism for comparing the expected TDOA for each point to said measured TDOA to determine a minimum error between the expected TDOA of each point and said measured TDOA; and

a mechanism for selecting the azimuth associated with the expected TDOA having the minimum error as a more precise azimuth of the target; and

a mechanism for calculating a more precise plane position of the target using the more precise azimuth and the RTD data.

34. The system of claim 33, wherein said points selected along said arc have the same RTD.

35. The system of claim 33, wherein said transmitter and said receivers are arranged in an array having an array baseline, and the length of said arc is defined to be approximately twice the length of said array baseline.

36. The system of claim 33, further comprising:

a mechanism for defining a segment of said arc using said more precise azimuth and RTD data;

a mechanism for selecting a second set of a predetermined number of points along said segment of said arc;

a mechanism for calculating the expected TDOA for each point within said second set;

a mechanism for comparing the expected TDOA for each point within said second set to said measured TDOA to determine a minimum error between the expected TDOA of each point in said second set and said measured TDOA; and

a mechanism for selecting the azimuth associated with the expected TDOA having the minimum error as even a more precise azimuth of the target; and

a mechanism for calculating an even more precise plane position of the target using the even more precise azimuth and the RTD data.

37. A system for locating a target, comprising:

a single transmitter for transmitting a signal to a target;

at least one receiver for receiving a return signal from the target;

a mechanism for calculating the round trip delay (RTD) from said transmitter to the target to said at least one receiver;

at least three receivers for receiving a signal from the target;

a mechanism for determining the Time of Arrival (TOA) of the signals at each receiver;

a mechanism for calculating a measured Differential Time of Arrival (TDOA) using the TOA from each receiver; and

a mechanism for using the measured TDOA and the RTD data to calculate at least a position estimate of the target.

38. The system of claim 37, wherein said at least one receiver also functions as one of said at least three receivers.

39. The system of claim 37, wherein transmission and reception of the signal is performed through the same antenna, such that the RTD data indicates the range of the target from the transmitter.

40. The system of claim 37, further comprising a mechanism for calculating a more precise position of the target using the position estimate, coordinates of said receivers, the TOAs and the RTD data.

43. The system of claim 37, further comprising a mechanism for determining the height of the target.

44. The system of claim 43, wherein the height is calculated from altitude data included in the reply signal from the target.

45. The system of claim 43, further comprising a mechanism for determining that the target is on the ground.

46. The system of claim 43, further comprising a mechanism for calculating a position estimate of the target using the TDOA, the height of the target and the RTD data.

47. The system of claim 46, further comprising a mechanism for calculating a more precise position of the target using the position estimate, coordinates of the receivers, the TOAs, the height of the target and the RTD data.

41. The system 40, further comprising a mechanism for:

a) estimating a new target position;

b) calculating TOAs that correspond to the new target position;

c) measuring the error between the calculated TOAs and the measured TOAs; and

d) selecting the position estimate associated with the expected TOA having the minimum error as the new position estimate of the target.

42. The system of claim 41, further comprising a mechanism for repeating steps a–

d until the difference between the calculated TOAs and the measured TOAs is at least one of less than and equal to a predetermined value.

48. The system 47, further comprising a mechanism for:

a) estimating a new target position;

b) calculating TOAs that correspond to the new target position;

c) measuring the error between the calculated TOAs to the measured TOAs; and

d) selecting the position estimate associated with the expected TOA having the minimum error as the new position estimate of the target.

49. The system of claim 48, further comprising a mechanism for repeating steps a–

d until the difference between the calculated TOAs and the measured TOAs is at least one of less than and equal to a predetermined value.