Machine and process for self localization using doppler
First Claim
1. A method of determining a location of a radio frequency (RF) receiver using an RF emitter located on a single moving platform, the method comprising:
- A. receiving, by the receiver, an RF signal transmitted by the emitter over a period of time;
B. measuring, by the receiver, frequency of arrival (FOA) data of the RF signal over the period of time, the FOA data comprising a Doppler-shifted frequency of the emitter, a location of the emitter, and a velocity of the emitter;
C. determining an estimate of a frequency measurement bias of the receiver based on the measured FOA data and an estimate of the location of the receiver, wherein the estimated frequency measurement bias of the receiver includes an estimate of a frequency drift; and
D. determining an updated estimate of the location of the receiver based on the estimate of the frequency measurement bias of the receiver.
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Accused Products
Abstract
A system, method and apparatus is provided for calculating the position of a single receiver by receiving a signal from an emitter. Either the receiver or the emitter may be stationary relative to the surface of the Earth. The invention may use a particle filter to optimize the efficiency of the position calculation. The invention may further utilize a particle filter to estimate the frequency drift and bias of the emitter and/or receiver, and use the estimated frequency drift to improve the position calculation. In one embodiment, the invention may be used to calculate the position of a single GPS receiver given the position of, and a transmission from, a single GPS satellite.
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Citations
30 Claims
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1. A method of determining a location of a radio frequency (RF) receiver using an RF emitter located on a single moving platform, the method comprising:
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A. receiving, by the receiver, an RF signal transmitted by the emitter over a period of time; B. measuring, by the receiver, frequency of arrival (FOA) data of the RF signal over the period of time, the FOA data comprising a Doppler-shifted frequency of the emitter, a location of the emitter, and a velocity of the emitter; C. determining an estimate of a frequency measurement bias of the receiver based on the measured FOA data and an estimate of the location of the receiver, wherein the estimated frequency measurement bias of the receiver includes an estimate of a frequency drift; and D. determining an updated estimate of the location of the receiver based on the estimate of the frequency measurement bias of the receiver. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A system for determining a location of a radio frequency (RF) receiver comprising:
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a receiver located on a platform, the receiver adapted to receive an RF signal transmitted by an emitter over a period of time; and a processor in communication with the receiver adapted to; measure frequency of arrival (FOA) data of the received RF signal over the period of time, the FOA data comprising a Doppler-shifted frequency of the emitter, a location of the emitter, and a velocity of the emitter; determine an estimate of a frequency measurement bias of the receiver based on the measured FOA data and an estimate of the location of the receiver, wherein the estimated frequency measurement bias of the receiver includes an estimate of a frequency drift; and determine an updated estimate of the location of the receiver based on the estimate of the frequency measurement bias of the receiver. - View Dependent Claims (16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30)
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Specification