Position determination using local time difference

• US 9,057,774 B2
• Filed: 04/05/2012
• Issued: 06/16/2015
• Est. Priority Date: 04/05/2012
• Status: Active Grant

• Current Assignee: Raytheon Company (Rtx Corporation)
• Original Assignee: Raytheon Company (Rtx Corporation)
• Inventors: Silny, John F., Skidmore, Mark R.
• Primary Examiner(s): Liu, Harry
• Application Number:
  US13/440,294
• Publication Number:
  US 20130265200A1
• Time in Patent Office: 1,167 Days
• Field of Search: 342/458, 342/463, 342/453, 342/387, 342/118
• US Class Current: 1/1
• CPC Class Codes: G01S 19/11 wherein the cooperating elements are pseudolites or satellite radio beacon positioning system signal repeaters
• CPC Class Codes: G01S 19/42 Determining position
• CPC Class Codes: G01S 5/0252 Radio frequency fingerprinting
• 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

Described are computer-based methods and apparatuses, including computer program products, for determining a position. In some examples, the method includes determining measured time receipt differences from associated local receipt times for each pair of plurality of signals; determining a range difference for each of the plurality of signals based on the measured time receipt differences for each of the pairs of the plurality of signals; determining hypothesized range differences based on a hypothesized user position; determining an estimation difference for each of the plurality of signals based on the range difference and the hypothesized range difference for each of the plurality of signals based on a figure of merit; minimizing the estimation difference for the figure of merit based on a plurality of hypothesized user positions and an optimization routine; and outputting a user position based on a hypothesized user position associated with the minimized figure of merit.

Claims

1. A position determination system, the system comprising:

a communication and timing module configured to;

receive a plurality of signals, the plurality of signals transmitted from one or more ground transmitters and each of the plurality of signals relayed via one or more relay devices, each of the plurality of signals including a uniquely identifiable pseudo random noise code, the uniquely identifiable pseudo random noise code providing information related to a unique routing path of a corresponding signal of the plurality of signals, and

associate a local receipt time with each of the plurality of signals upon receipt of the signals;

a measured range difference module configured to;

determine measured time receipt differences from the associated local receipt times for each pair of the plurality of signals, and

determine a range difference for each of the plurality of signals based on the measured time receipt differences and the information related to the unique routing path for each of the pairs of the plurality of signals;

a predicted range difference module configured to;

determine a hypothesized user position, and

determine hypothesized range differences based on the hypothesized user position;

an optimization module configured to;

determine an estimation difference for each of the plurality of signals based on the range difference and the hypothesized range difference for each of the plurality of signals based on a figure of merit, and

minimize the figure of merit based on a plurality of hypothesized user positions and an optimization routine; and

a user position module configured to output a user position based on the a hypothesized user position associated with the minimized figure of merit.

2. The position determination system of claim 1, wherein the optimization module is further configured to:

determine if the figure of merit is less than a tolerance parameter, and

optimize the range difference for each of the plurality of signals to minimize the figure of merit for each of the plurality of signals based on the determination if the figure of merit is less than the tolerance parameter.

3. The position determination system of claim 1, wherein the optimization module is further configured to:

estimate correlated errors associated with each pair of the plurality of signals to form an error covariance matrix; and

generate the figure of merit between the range difference and the hypothesized range difference based on the error covariance matrix.

4. The position determination system of claim 1, wherein the local receipt time comprises a same common time or a known timing difference from a common time.

5. The position determination system of claim 1, wherein each of the different relay devices receives signals of the plurality of signals and transmits the signals.

6. The position determination system of claim 1, wherein the one or more ground transmitters comprises one centralized ground transmitter.

7. The position determination system of claim 1, wherein the one or more ground transmitters comprises two or more ground transmitters, the two or more ground transmitters synchronizing transmission of the plurality of signals.

8. A method for position determination, the method comprising:

receiving a plurality of signals, the plurality of signals transmitted from one or more ground transmitters and each of the plurality of signals relayed via one or more relay devices, each of the plurality of signals including a uniquely identifiable pseudo random noise code, the uniquely identifiable pseudo random noise code providing information related to a unique routing path of a corresponding signal of the plurality of signals;

associating a local receipt time with each of the plurality of signals upon receipt of the signals;

determining measured time receipt differences from the associated local receipt times for each pair of the plurality of signals;

determining a range difference for each of the plurality of signals based on the measured time receipt differences and the information related to the unique routing path for each of the pairs of the plurality of signals;

determining a hypothesized user position;

determining hypothesized range differences based on the hypothesized user position;

determining an estimation difference for each of the plurality of signals based on the range difference and the hypothesized range difference for each of the plurality of signals based on a figure of merit;

minimizing the estimation difference for the figure of merit based on a plurality of hypothesized user positions and an optimization routine; and

outputting a user position based on the hypothesized user position associated with the minimized figure of merit.

9. The method of claim 8, further comprising

determining if the estimation difference is less than a tolerance parameter;

and

optimizing the range difference for each of the plurality of signals to minimize the estimation difference for each of the plurality of signals based on the determining if the estimation difference is less than the tolerance parameter.

10. The method of claim 9, further comprising repeating the optimizing the range difference until the estimation difference is less than the tolerance parameter.

11. The method of claim 8, further comprising:

estimating correlated errors associated with each pair of the plurality of signals to form an error covariance matrix; and

generating the figure of merit between the range difference and the estimated range difference based on the error covariance matrix.

12. A non-transitory computer program product, tangibly embodied in a non-transitory information carrier, the non-transitory computer program product including instructions being operable to cause an information processing apparatus to:

receive a plurality of signals, the plurality of signals transmitted from one or more ground transmitters and each of the plurality of signals relayed via one or more relay devices, each of the plurality of signals including a uniquely identifiable pseudo random noise code, the uniquely identifiable pseudo random noise code providing information related to a unique routing path of a corresponding signal of the plurality of signals;

associate a local receipt time with each of the plurality of signals upon receipt of the signals;

determine measured time receipt differences from the associated local receipt times for each pair of the plurality of signals;

determine a range difference for each of the plurality of signals based on the measured time receipt differences and the information related to the unique routing path for each of the pairs of the plurality of signals;

determine a hypothesized user position;

determine hypothesized range differences based on the hypothesized user position;

determine an estimation difference for each of the plurality of signals based on the range difference and the hypothesized range difference for each of the plurality of signals based on a figure of merit;

minimize the estimation difference for the figure of merit based on a plurality of hypothesized user positions and an optimization routine; and

output a user position based on a hypothesized user position associated with the minimized figure of merit.