Flexible signal source location apparatus and method therefor

• US 5,629,707 A
• Filed: 01/06/1995
• Issued: 05/13/1997
• Est. Priority Date: 01/06/1995
• Status: Expired due to Term

• Current Assignee: CDC Propriete Intellectuelle
• Original Assignee: Motorola, Inc. (Motorola Solutions, Inc.)
• Inventors: Heuvel, Dean P. V., Blanchard, Scott D., Lester, Joseph O.
• Primary Examiner(s): Issing, Gregory C.
• Application Number:
  US08/369,617
• Time in Patent Office: 858 Days
• Field of Search: 342/357, 342/457, 364/449, 455/54.1, 455/121
• US Class Current: 342/357.2
• CPC Class Codes: G01S 19/396 Determining accuracy or reliability of position or pseudorange measurements
• CPC Class Codes: H04B 7/1855 using a telephonic control signal, e.g. propagation delay variation, Doppler frequency variation, power variation, beam identification

Abstract

A subscriber unit (26) communicates with a satellite (12) using electromagnetic signals so that observations (102) of the signals are obtained. Surface contours are generated (104) based on the signal component measured. The surface contour intersections produce candidate locations on the earth'"'"'s surface. The candidate locations seed a least-squares estimation to produce final locations. Data produced during the least-squares fit is used to generate confidence ellipses (116) about the final locations. Most likely actual locations are determined from the fit associated with the confidence regions. A variety of signal source measurements can be used while providing a best estimate of a signal source location when an exact solution is not mathematically possible. The location is converted to coordinates that can be used in a satellite communication system (10) for making decisions regarding the granting or denying of communication services, billing rate and the like.

Claims

1. In a satellite communication system that includes an earth terminal and satellites, a method of providing an estimate of a location of a subscriber unit that is emitting a signal comprising the steps of:

collecting, by at least one of said satellites, two measurements of said signal, each of said measurements having a measurement error associated therewith;

sending said measurements to said earth terminal;

generating a surface contour for each of said measurements;

finding intersection points and near intersection points between said surface contours and a surface contour representing earth'"'"'s surface;

using said intersection points and near intersection points to seed a least-squares algorithm to generate final locations;

generating statistical confidence regions around each final location using said measurement error, each confidence region having a probability associated therewith indicating the probability that said subscriber unit is within the associated confidence region, each confidence region corresponding with a geographic region on earth'"'"'s surface; and

when smaller confidence regions are desired, collecting additional measurements of said signal and repeating the steps of sending, finding, using and generating to increase said probability associated with each confidence region.

2. A method as claimed in claim 1 wherein the finding step further comprises the steps of:

finding surface contour lines that represent intersections between each surface contour and said surface contour representing earth'"'"'s surface;

representing each of said surface contour lines with line segments;

isolating intersection regions between said surface contour lines to within three of said line segments;

for each line segment, defining a plane as end-points of said line segment and earth'"'"'s center point; and

using intersection points between pairs of said planes and said surface contour representing earth'"'"'s surface to seed said least squares algorithm.

3. A method as claimed in claim 2 wherein said communication system includes a gateway, and wherein said method further comprises the steps of:

sending said confidence regions and their associated geographic region to said gateway;

said gateway evaluating said confidence regions and their associated geographic region to determine whether said subscriber unit is permitted to operate within said geographic region; and

granting communication services to said subscriber unit when said subscriber unit is permitted to operate within said geographic region; and

denying communication services to said subscriber unit when said subscriber unit is not permitted to operate within said geographic region.

4. A method as claimed in claim 2 wherein said line segments are comprised of points, and wherein the finding step further comprises the step of testing, for each of said points on said three line segments of said intersection regions, whether an alternate observer velocity vector is inside or outside a conical surface generated from said velocity vector.

5. A method as claimed in claim 1 further comprising the steps of:

calculating a gradient for each of said surface contours; and

calculating a deviation for each of said intersection points, and

wherein the using step includes the step of generating said final locations using a least-squares minimization process that minimizes said deviation, each of said final locations having a deviation below a predetermined value.

6. A method as claimed in claim 1 further comprising the steps of:

generating a covariance matrix from individual measurement variances associated with said measurements collected in the collecting step;

computing eigen-values of said covariance matrix; and

determining said statistical confidence region around each of said final locations using said individual measurement variances and said eigen-values.

7. A method as claimed in claim 6 wherein said measurements have a substantially Gaussian error distribution, and wherein the generating step comprises the step of determining a confidence ellipse around each of said final locations.

8. A method as claimed in claim 6 further comprising the step of displaying said statistical confidence region and said at least one of said final solution locations on a video display, said statistical confidence region being displayed in a color that is determined based on said deviation.

9. A method as claimed in claim 6 wherein the sending step further comprises the step of sending location information representing said geographic region to a communication service provider.

10. A method as claimed in claim 1 wherein the collecting step comprises the step of collecting any two measurement types wherein said measurement types include a frequency of arrival (FOA), time of arrival (TOA), time-difference of arrival (TDOA), rate of change of TOA (TOA dot), angle of arrival (AOA), frequency difference of arrival (FDOA) or rate of change of TDOA (TDOA dot) of said signal;

and wherein

the generating step further comprises the step of generating said surface contours, wherein said surface contours are a function of said measurement types.

11. A method of providing an initial estimate of a location of a subscriber unit that is emitting a signal comprising the steps of:

receiving at least two measurements of said signal, each of said measurements having a measurement error associated therewith;

generating a surface contour for each measurement;

finding intersection points and near intersection points between said surface contours and a surface contour representing earth'"'"'s surface;

using said intersection points and near intersection points to seed a least-squares algorithm to generate final locations;

generating statistical confidence regions around each final location using said measurement error, each confidence region having a probability associated therewith indicating the probability that said subscriber unit is within the associated confidence region, each confidence region corresponding with a geographic region on earth'"'"'s surface; and

when smaller confidence regions are desired, collecting additional measurements of said signal and repeating the steps of sending, finding, using and generating to increase said probability associated with each confidence region.

12. A method as claimed in claim 11 further comprising the step of collecting said measurements by a receiver located on a satellite that is moving rapidly relative to said location of said subscriber unit, said satellite having accurate positional information relative to a surface of earth, and wherein the receiving step includes the step of receiving an estimate of a location of said satellite for said measurements.

13. A method as claimed in claim 12 wherein said subscriber unit is adapted for operating with a satellite communication system, and wherein said communication system includes a gateway, and wherein said method further comprises the steps of:

sending said confidence regions and their associated geographic region to said gateway;

said gateway evaluating said confidence regions and their associated geographic region to determine whether said subscriber unit is permitted to operate within said geographic region; and

granting communication services to said subscriber unit when said subscriber unit is permitted to operate within said geographic region; and

denying communication services to said subscriber unit when said subscriber unit is not permitted to operate within said geographic region.

14. An apparatus for determining a location of a signal source comprising:

an earth terminal receiver for receiving measurements collected by a satellite, said measurements being from said signal source on or near earth'"'"'s surface, said satellite being part of a satellite based communication system; and

a processor for;

generating a surface contour for each of said measurements;

finding intersection points and near intersection points between said surface contours and a surface contour representing earth'"'"'s surface;

using said intersection points and near intersection points to seed a least-squares algorithm to generate final locations;

generating statistical confidence regions around each final location using a measurement error associated with each of said measurement, each confidence region having a probability associated therewith indicating the probability that said signal source is within the associated confidence region, each confidence region corresponding with a geographic region on earth'"'"'s surface; and

when smaller confidence regions are desired, collecting additional measurements of said signal source and repeating the steps of sending, finding, using and generating to increase said probability associated with each confidence region.

15. An apparatus as claimed in claim 14 further comprising a gateway coupled to said earth terminal receiver for sending said confidence regions and their associated geographic region to said gateway;

said gateway evaluating said confidence regions and their associated geographic region to determine whether said subscriber unit is permitted to operate within said geographic region; and

said gateway granting communication services to said subscriber unit when said subscriber unit is permitted to operate within said geographic region; and

said gateway denying communication services to said subscriber unit when said subscriber unit is not permitted to operate within said geographic region.

16. An apparatus as claimed in claim 14 wherein said processor includes:

means for finding surface contour lines that represent intersections between each surface contour and said surface contour representing earth'"'"'s surface;

means for representing each of said surface contour lines with line segments;

means for isolating intersection regions between said surface contour lines to within three of said line segments;

for each line segment, defining a plane as end-points of said line segment and earth'"'"'s center point; and

means for using intersection points between pairs of said planes and said surface contour representing earth'"'"'s surface to seed said least-squares algorithm.

17. An apparatus as claimed in claim 14 wherein said processor includes:

means for calculating a gradient for each of said surface contours;

means for calculating a deviation for each of said intersection points; and

means for generating said final locations using a least-squares minimization process that minimizes said deviation, each of said final locations having a deviation below a predetermined value.