Time synchronization via over-determined measurements

• US 9,377,524 B2
• Filed: 04/12/2012
• Issued: 06/28/2016
• Est. Priority Date: 04/12/2011
• Status: Active Grant

• Current Assignee: ERA as (Omnipol as)
• Original Assignee: ERA as (Omnipol as)
• Inventors: Pelant, Martin, Stejskal, Vojtch
• Primary Examiner(s): Desta, Elias
• Application Number:
  US13/445,609
• Publication Number:
  US 20120265483A1
• Time in Patent Office: 1,538 Days
• Field of Search: 702/150, 702/151, 702/152, 702/153, 702/149, 702/89, 702/94, 702/189, 702/158, 342/118, 342/125, 342/385, 342/378, 342/386, 342/450, 342/463
• US Class Current: 1/1
• CPC Class Codes: G01S 5/0294 Trajectory determination or predictive filtering, e.g. target tracking or Kalman filtering
• 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

Disclosed are a method and a system for clock synchronization estimation using position over-determination principles applied to TDOA measurements of well-tracked targets with a height of about 5 km and higher. Clock correction factors or delays can then be applied to sensor clock signals, providing accurate tracking of targets such as aircraft, even in the event of GPS failure or jamming.

Claims

1. A method for determining a location of an emitter, comprising:

acquiring, in a Wide Area Multilateration (WAM) system that includes a central processing station and a plurality of reporting stations, a time-stamp value from at least an N number of reporting stations each reporting station being configured to receive an emitted signal from an emitter and to transmit a time-stamp signal containing a time stamp value, each reporting station being associated with a respective clock, and the clocks of said reporting stations being in an unsynchronized state;

calculating, with a processor, a plurality of position values each position value being indicative of a possible position of said emitter based on said time-stamp values of at least N−

1 of said reporting stations, each position value being calculated based on time-stamp values from a unique group of N−

1 of said plurality of reporting stations;

calculating, with a processor, clock deviations of said station clocks based at least on the plurality of position values;

correcting, with a processor, said time-stamped values based on the calculated clock deviations; and

determining, with a processor, a location of said emitter based on said corrected time-stamp values.

2. The method of claim 1, wherein N is at least five.

3. The method of claim 1, wherein at least one of said reporting stations is a transponder providing part of a position and N is at least four.

4. The method of claim 1, wherein said clock deviations are calculated based on iteratively determining corrections necessary to cause said position values to correspond to one another.

5. The method of claim 1, wherein said clock deviations are calculated by a) converting primary time difference of arrival (TDOA) measurements from hyperbolic coordinates to Cartesian coordinates;

b) estimating the most probable Cartesian position values;

c) converting the most probable position values to hyperbolic coordinates to obtain TDOA estimates; and

d) comparing the hyperbolic coordinates of the primary TDOA measurements to TDOA estimates to determine their differences.

6. The method of claim 5, wherein said time stamp values are corrected using a filter.

7. The method of claim 5, repeating said a) step to said d) step.

8. The method of claim 6, wherein said filter is a Kalman filter.

9. The method of claim 1, wherein said position values are calculated based on time difference of arrival measurements.

10. The method of claim 1, wherein said time-stamp values are corrected at the central processing station.

11. The method of claim 1, wherein said time-stamp values are corrected at said reporting stations.

12. The method of claim 11, further comprising transmitting correction values to each said reporting station to correct its clock value.

13. The method of claim 1, wherein said location of said emitter is determined based on time difference of arrival.

14. The method of claim 1, wherein said clock deviations are calculated by a) converting primary time difference of arrival (TDOA) measurements from hyperbolic coordinates to Cartesian coordinates;

b) estimating the most probable Cartesian position values;

c) converting the most probable Cartesian position values to hyperbolic coordinates to obtain TDOA estimates;

d) comparing the hyperbolic coordinates of the primary TDOA measurements to TDOA estimates to determine clock correction values;

e) repeating steps a) to d) periodically for a period of time during which clock deviations are assumed to be constant; and

f) adding clock correction values into one multidimensional (N−

1) Gaussian function to obtain clock corrections.

15. The method of claim 14, further comprising g) filtering out clock corrections.

16. The method of claim 14, wherein said period of time during which clock deviations are assumed to be constant is one minute.