Reference beacon methods and apparatus for TDOA/FDOA geolocation

• US 8,044,859 B2
• Filed: 08/03/2009
• Issued: 10/25/2011
• Est. Priority Date: 04/07/2006
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Edewaard, David O., Halladay, Henry E., Lommen, Layne D.
• Primary Examiner(s): Tarcza; Thomas
• Assistant Examiner(s): Nguyen; Nga X
• Application Number:
  US12/534,372
• Publication Number:
  US 20090289851A1
• Time in Patent Office: 813 Days
• Field of Search: 34235701-35717, 342385-386, 3423572-35778, 342463-465
• US Class Current: 342/465
• CPC Class Codes: G01S 11/10 using Doppler effect
• CPC Class Codes: G01S 5/021 Calibration, monitoring or correction G01S5/0252 takes precedence
• CPC Class Codes: G01S 5/0246 involving frequency difference of arrival or Doppler measurements G01S5/02685 takes precedence
• CPC Class Codes: G01S 5/06 Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements G01S5/12 takes precedence

Abstract

A method and apparatus for estimating bias errors in a time-difference-of-arrival/frequency-difference-of-arrival (TDOA/FDOA) geolocation system using a reference signal transmitter in which position and/or motion information of the reference signal transmitter is encoded into the reference signal. The motion information may include the velocity and/or acceleration of the reference signal transmitter. The reference signal is received by multiple collection platforms operating in conjunction with a geolocation system and a reference correction processing system. The reference correction processing system receives, via the multiple collection platforms, the position and/or motion information, which is immediately and unambiguously associated with specific reference signal transmissions. The geolocation system estimates the position and/or velocity of the reference signal transmitter using conventional TDOA/FDOA techniques. The estimated position and/or velocity of the reference signal transmitter is compared to the information contained in the reference signal to estimate bias errors.

Claims

1. A method of determining bias error in a geolocation system, comprising:

transmitting from a transmitter a reference beacon signal containing position information including at least one of a position of the transmitter at a time of fix and an estimate of the position of the transmitter at a time of trans mission of the reference beacon signal, wherein the reference beacon signal contains motion information relating to the transmitter;

receiving the reference beacon signal at a plurality of collection platforms;

determining a position measurement of the transmitter based on at least one of a time of arrival and a frequency of arrival of the reference beacon signal at the plurality of collection platforms;

determining a first bias error based on the position measurement of the transmitter and the position information contained in the reference beacon signal;

determining a velocity measurement of the transmitter based on a frequency of arrival of the reference beacon signal at each of the plurality of collection platforms; and

determining a second bias error based on the velocity measurement of the transmitter and the motion information contained in the reference beacon signal.

2. The method of claim 1, wherein the reference beacon signal further contains the time of fix.

3. The method of claim 1, wherein the motion information includes at least one of a velocity and an acceleration of the transmitter.

4. The method of claim 1, wherein the reference beacon signal contains information identifying the transmitter.

5. The method of claim 1, wherein the reference beacon signal contains error correction information.

6. The method of claim 1, wherein the position information is contained in an information element encoded in the reference beacon signal.

7. The method of claim 6, wherein the information element is transmitted two or more times.

8. The method of claim 7, wherein a pseudo-random waveform is transmitted between the transmissions of the information element.

9. The method of claim 1, wherein the first bias error includes a position measurement error.

10. The method of claim 1, wherein the second bias error includes a velocity measurement error.

11. The method of claim 1, wherein the position of the transmitter can vary with time.

12. The method of claim 1, wherein the motion information includes an estimate of a motion of the transmitter at a time of transmission of the reference beacon signal.

13. The method of claim 1, wherein the motion information includes a motion of the transmitter at a time of fix and the reference beacon signal further contains the time of fix.

14. The method of claim 1, wherein the motion information is contained in an information element encoded in the reference beacon signal.

15. The method of claim 14, wherein the information element is transmitted two or more times.

16. The method of claim 1 comprising:

embedding at least one of the position information and the motion information in the reference beacon signal.

17. A method of determining bias error in a geolocation system, comprising:

transmitting from a transmitter a reference beacon signal containing position information including at least one of a position of the transmitter at a time of fix and an estimate of the position of the transmitter at a time of transmission of the reference beacon signal;

receiving the reference beacon signal at a plurality of collection platforms;

determining a position measurement of the transmitter based on at least one of a time of arrival and a frequency of arrival of the reference beacon signal at the plurality of collection platforms;

determining a first bias error based on the position measurement of the transmitter and the position information contained in the reference beacon signal;

measuring a time of arrival of the reference beacon signal at each of the plurality of collection platforms;

determining an expected difference between the times of arrival of the reference beacon signal at two of the plurality of collection platforms based on the position information contained in the reference beacon signal; and

determining a timing bias error based on the measured times of arrival of the reference beacon signal at the two collection platforms and the expected difference between the times of arrival of the reference beacon signal at the two collection platforms.

18. The method of claim 17, wherein the reference beacon signal contains information identifying the transmitter.

19. The method of claim 17, wherein the reference beacon signal contains error correction information.

20. The method of claim 17, wherein the first bias error includes a position measurement error.

21. The method of claim 17, wherein the position information is contained in an information element encoded in the reference beacon signal.

22. The method of claim 21, wherein a pseudo-random waveform is transmitted between the transmissions of the information element.

23. The method of claim 17,comprising:

embedding the position information in the reference beacon signal.

24. A method of determining bias error in a geolocation system, comprising:

transmitting from a transmitter a reference beacon signal containing position information including at least one of a position of the transmitter at a time of fix and an estimate of the position of the transmitter at a time of transmission of the reference beacon signal, wherein the reference beacon signal contains motion information relating to the transmitter;

receiving the reference beacon signal at a plurality of collection platforms;

determining a position measurement of the transmitter based on at least one of a time of arrival and a frequency of arrival of the reference beacon signal at the plurality of collection platforms;

determining a first bias error based on the position measurement of the transmitter and the position information contained in the reference beacon signal;

measuring a frequency of arrival of the reference beacon signal at each of the plurality of collection platforms;

determining an expected frequency difference of arrival of the reference beacon signal at the plurality of collection platforms based on the motion information contained in the reference beacon signal; and

determining a frequency bias error based on the measured frequency of arrival of the reference beacon signal at each of the plurality of collection platforms and the expected frequency difference of arrival of the reference beacon signal at the plurality of collection platforms.

25. The method of claim 24, wherein the reference beacon signal further contains the time of fix.

26. The method of claim 24, wherein the reference beacon signal contains error correction information.

27. The method of claim 24, wherein the first bias error included a position measurement error.

28. The method of claim 27, wherein pseudo-random waveform is transmitted between the transmissions of the information element.

29. The method of claim 24, wherein the position of the transmitter can vary with time.

30. The method of claim 24,wherein the motion information includes a motion of the transmitter at a time of fix and the reference beacon signal further contains the time of fix.

31. The method of claim 24, wherein the motion information is contained in an information element encoded in the reference beacon signal.

32. The method of claim 24 comprising:

embedding at least one of the position information and the motion information in the reference beacon signal.

33. A method of determining bias error in a geolocation system, comprising:

transmitting from a transmitter a reference beacon signal containing position information including at least one of a position of the transmitter at a time of fix and an estimate of the position of the transmitter at a time of transmission of the reference beacon signal;

receiving the reference beacon signal at a plurality of collection platforms;

determing a position measurement of the transmitter based on at least one of a time of arrival and a frequency of arrival of the reference beacon signal at the plurality of collection platforms

determining a first bias error based on the position measurement of the transmitter and the position information contained in the reference beacon signal;

measuring a frequency of arrival of the reference beacon signal at each of the plurality of collection platforms;

determining an expected frequency difference of arrival of the reference beacon signal at the plurality of collection platforms based on the position information contained in the reference beacon signal; and

determining a frequency bias error based on the measured frequency of arrival of the reference beacon signal at each of the plurality of collection platforms and the expected frequency difference of arrival of the reference beacon signal at the plurality of collection platforms.

34. The method of claim 33, wherein the reference beacon signal contains information identifying the transmitter.

35. The method of claim 33, wherein the position information is contained in an information element encoded in the reference beacon signal.

36. The method of claim 33, wherein the position of the transmitter can vary with time.

37. The method of claim 33 comprising:

embedding the position information in the reference beacon signal.