CA2672544A1 - Portable, iterative geolocation of rf emitters - Google Patents

Portable, iterative geolocation of rf emitters Download PDF

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Publication number
CA2672544A1
CA2672544A1 CA002672544A CA2672544A CA2672544A1 CA 2672544 A1 CA2672544 A1 CA 2672544A1 CA 002672544 A CA002672544 A CA 002672544A CA 2672544 A CA2672544 A CA 2672544A CA 2672544 A1 CA2672544 A1 CA 2672544A1
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CA
Canada
Prior art keywords
recited
eoi
portable
geolocation sensor
location
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CA002672544A
Other languages
French (fr)
Other versions
CA2672544C (en
Inventor
Jeffrey F. Bull
Robert J. Anderson
Ronald S. Lefever
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Skyhook Holding Inc
Original Assignee
Trueposition, Inc.
Jeffrey F. Bull
Robert J. Anderson
Ronald S. Lefever
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
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Application filed by Trueposition, Inc., Jeffrey F. Bull, Robert J. Anderson, Ronald S. Lefever filed Critical Trueposition, Inc.
Publication of CA2672544A1 publication Critical patent/CA2672544A1/en
Application granted granted Critical
Publication of CA2672544C publication Critical patent/CA2672544C/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
    • G01S1/08—Systems for determining direction or position line
    • G01S1/20—Systems for determining direction or position line using a comparison of transit time of synchronised signals transmitted from non-directional antennas or antenna systems spaced apart, i.e. path-difference systems
    • G01S1/24—Systems for determining direction or position line using a comparison of transit time of synchronised signals transmitted from non-directional antennas or antenna systems spaced apart, i.e. path-difference systems the synchronised signals being pulses or equivalent modulations on carrier waves and the transit times being compared by measuring the difference in arrival time of a significant part of the modulations, e.g. LORAN systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/14—Determining absolute distances from a plurality of spaced points of known location
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/0009—Transmission of position information to remote stations
    • G01S5/0072—Transmission between mobile stations, e.g. anti-collision systems

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Golf Clubs (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

Iterative geolocation of a stationary RF emitter through the use of TDOA may include the use of a single portable geolocation (e.g., TDOA) sensor, a pair of portable geolocation sensors and three of more portable geolocation sensors. Adding portable geolocation sensors to the iterative process reduces the constraints on the signals to be located as well as providing a reduction in the number of iterations required to obtain improved location accuracy.

Claims (54)

1. A portable geolocation sensor, comprising:
a timing signal receiver for receiving timing signals;
a tunable wideband receiver, operatively coupled to said timing signal receiver, for receiving and processing signals from an emitter of interest (EOI);
a signal processor, operatively coupled to said tunable wideband receiver, for time stamping transmissions from the EOI; and a portable housing enclosing said timing signal receiver, tunable wideband receiver and signal processor.
2. A portable geolocation sensor as recited in claim 1, wherein said timing signal receiver is coupled to said tunable wideband receiver by a digital communications link.
3. A portable geolocation sensor as recited in claim 1, wherein said tunable wideband receiver comprises a wideband digital receiver.
4. A portable geolocation sensor as recited in claim 1, wherein said tunable wideband receiver is configured to receive transmissions from an EOI that comprises a base transceiver station (BTS) of a wireless communications system.
5. A portable geolocation sensor as recited in claim 1, wherein said timing signal receiver is configured to receive GNSS signals from a satellite-based navigation system, and to provide an accurate sampling clock signal.
6. A portable geolocation sensor as recited in claim 1, wherein said timing signal receiver is configured to provide a stable frequency reference to said signal processor, and wherein said signal processor is configured to use said frequency reference to characterize the timing and frequency stability of the EOI transmissions.
7. A portable geolocation sensor as recited in claim 1, wherein said tunable wideband receiver and signal processor are configured to receive, time stamp, store and process received transmissions from the EOI.
8. A portable geolocation sensor as recited in claim 1, further comprising a communications link (207) for communicating with a controller and display device (203).
9. A portable geolocation sensor as recited in claim 8, wherein said controller and display device is configured to provide a means by which a user can control the portable geolocation sensor, to display the location of the EOI, and to provide guidance on the direction and distance the user can move to enhance the location accuracy on a subsequent data acquisition cycle.
10. A portable geolocation sensor as recited in claim 1, further comprising a communications transceiver configured to permit communications with a second portable geolocation sensor.
11. A portable geolocation sensor as recited in claim 1, wherein said timing signal receiver is further configured to serve as an Assisted-GPS/GNSS server and to send GPS/GNSS
aiding data to assist a second portable geolocation sensor in acquiring GPS/GNSS signals.
12. A portable geolocation sensor as recited in claim 10, wherein said communications transceiver comprises a mesh communications transceiver.
13. A portable geolocation sensor as recited in claim 1, wherein said portable geolocation sensor is configured to determine its location by using said timing signal receiver to receive signals from a Global Positioning System (GPS) or Global Navigation Satellite System (GNSS).
14. A portable geolocation sensor as recited in claim 1:
wherein said timing signal receiver is coupled to said tunable wideband receiver by a digital communications link;
wherein said tunable wideband receiver comprises a wideband digital receiver and is configured to receive transmissions from an EOI that comprises a base transceiver station (BTS) of a wireless communications system;
wherein said timing signal receiver is configured to receive GPS signals from a satellite-based navigation system, and to provide an accurate sampling clock signal;
wherein said timing signal receiver is configured to provide a stable frequency reference to said signal processor, and wherein said signal processor is configured to use said frequency reference to characterize the timing and frequency stability of the EOI
transmissions;

wherein said tunable wideband receiver and signal processor are configured to receive, time stamp, store and process received transmissions from the EOI;
further comprising a communications link for communicating with a controller and display device;
wherein said controller and display device is configured to provide a means by which a user can control the portable geolocation sensor, to display the location of the EOI, and to provide guidance on the direction and distance the user can move to enhance the location accuracy on a subsequent data acquisition cycle; and further comprising a communications transceiver configured to permit communications with a second portable geolocation sensor.
15. A portable geolocation sensor as recited in claim 14, wherein said timing signal receiver is further configured to serve as an Assisted-GPS/GNSS server and to send GPS/GNSS
aiding data to assist a second portable geolocation sensor in acquiring GPS/GNSS signals.
16. A portable geolocation sensor as recited in claim 14, wherein said communications transceiver comprises a mesh communications transceiver.
17. A portable geolocation sensor as recited in claim 14, wherein said portable geolocation sensor is configured to determine its location by using said timing signal receiver to receive signals from a Global Positioning System (GPS) or Global Navigation Satellite System (GNSS).
18. A method for locating an emitter of interest (EOI) using at least one portable geolocation sensor, comprising:
at a first location, using a first portable geolocation sensor to receive, time stamp and store EOI transmissions during a first period of time;
moving the first portable geolocation sensor to a second location;
at the second location, using the first portable geolocation sensor to receive, time stamp and store EOI transmissions during a second period of time; and computing the location of the EOI using data representative of the EOI
transmissions stored during said first and second periods of time.
19. A method as recited in claim 18, wherein the method is employed to locate an EOI
that transmits for a sufficient period of time so that the single geolocation sensor can be moved and the EOI received, time stamped and stored at three or more locations.
20. A method as recited in claim 18, wherein the method is employed to locate an EOI
that is stationary.
21. A method as recited in claim 18, wherein the method is employed to locate an EOI
that includes timing information within its transmissions.
22. A method as recited in claim 18, wherein the first portable geolocation sensor comprises:
a timing signal receiver configured to receive timing signals;
a tunable wideband receiver configured to receive signals from an EOI; and a signal processor configured to time stamp transmissions from the EOI.
23. A method as recited in claim 22, wherein said timing signal receiver is coupled to said tunable wideband receiver by a digital communications link.
24. A method as recited in claim 22, wherein said tunable wideband receiver comprises a wideband digital receiver.
25. A method as recited in claim 18, wherein the method is used to receive transmissions from, and to locate, a base transceiver station (BTS) of a wireless communications system.
26. A method as recited in claim 22, wherein said timing signal receiver is configured to receive GPS signals from a satellite-based navigation system, and to provide an accurate sampling clock signal.
27. A method as recited in claim 22, wherein said timing signal receiver is configured to provide a stable frequency reference to said signal processor, and wherein said signal processor is configured to use said frequency reference to characterize the timing and frequency stability of the EOI transmissions.
28. A method as recited in claim 22, wherein said tunable wideband receiver and signal processor are configured to receive, time stamp, store and process received transmissions from the EOI.
29. A method as recited in claim 22, further comprising using a controller and display device coupled to said portable geolocation sensor to control the portable geolocation sensor, to display the location of the EOI, and to provide guidance on the direction and distance to move the portable geolocation sensor to enhance the location accuracy on a subsequent data acquisition cycle.
30. A method as recited in claim 22, further comprising using a communications transceiver to conduct communications between the portable geolocation sensor and a second portable geolocation sensor.
31. A method as recited in claim 22, further comprising using said timing signal receiver to serve as an Assisted-GPS server and to send GPS aiding data to assist a second portable geolocation sensor in acquiring GPS signals.
32. A method as recited in claim 30, wherein said communications transceiver comprises a mesh communications transceiver.
33. A method as recited in claim 22, wherein said portable geolocation sensor is configured to determine its location by using said timing signal receiver to receive signals from a Global Positioning System (GPS) or Global Navigation Satellite System (GNSS).
34. A method as recited in claim 22, further comprising:
moving the first portable geolocation sensor to a third location; and at the third location, using the first portable geolocation sensor to receive, time stamp and store EOI transmissions during a third period of time;
wherein the step of computing the location of the EOI comprises using data representative of the EOI transmissions stored during said first, second and third periods of time.
35. A method as recited in claim 18, further comprising using the first geolocation sensor and a second geolocation sensor to receive, time stamp and store EOI
transmissions during the first period of time; wherein said second geolocation sensor is at a location which is different from the first and second locations, and wherein the step of computing the location of the EOI
comprises the use of data from said first and second geolocation sensors representative of the EOI transmissions stored during said first and second periods of time.
36. A method as recited in claim 35, wherein said second geolocation sensor is time synchronized to said first geolocation sensor during at least said first period of time.
37. A method as recited in claim 35, wherein said first and second geolocation sensors employ a communications transceiver in each sensor to coordinate reception of the EOI
transmission at the same times.
38. A method as recited in claim 18, wherein a time difference of arrival (TDOA) measurement is obtained by aligning a received frame timing of a wireless communications signal with a GNSS based frame clock at an initial data acquisition time at the first location, and then a data acquisition is performed at the second location, and the received frame timing at the second location is compared to the GNSS based frame clock to derive the TDOA
between the first and second locations.
39. A system for locating an emitter of interest (EOI), comprising:
portable means, including at one receiver, to receive, time stamp and store EOI
transmissions during a first period of time at a first location, and to receive, time stamp and store EOI transmissions during a second period of time at a second location; and computing means, including a processor, for computing the location of the EOI
using data representative of the EOI transmissions stored during said first and second periods of time.
40. A system as recited in claim 39, comprising means to locate an EOI that transmits for a sufficient period of time so that the portable means can be moved and the EOI received, time stamped and stored at three or more locations.
41. A system as recited in claim 39, wherein the portable means includes means for receiving timing information within EOI transmissions.
42. A system as recited in claim 39, wherein the portable means further comprises:

a timing signal receiver configured to receive timing signals;
a tunable wideband receiver configured to receive signals from an EOI; and a signal processor configured to time stamp transmissions from the EOI.
43. A system as recited in claim 39, wherein the system comprises means to receive transmissions from, and to locate, a base transceiver station (BTS) of a wireless communications system.
44. A system as recited in claim 39, wherein the portable means further comprises means to receive GNSS signals from a satellite-based navigation system, and to provide an accurate sampling clock signal.
45. A system as recited in claim 39, wherein the portable means further comprises means for providing a stable frequency reference and for using said frequency reference to characterize the timing and frequency stability of the EOI transmissions.
46. A system as recited in claim 39, comprising means for receiving, time stamping, storing and processing received transmissions from the EOI.
47. A system as recited in claim 39, further comprising means for interfacing with a controller and display device to permit user control of the portable means, to display the location of the EOI, and to provide guidance to the user on the direction and distance to move the portable means to enhance the location accuracy on a subsequent data acquisition cycle.
48. A system as recited in claim 39, further comprising a communications transceiver to conduct communications between the portable means and a second portable means.
49. A system as recited in claim 39, further comprising means for providing GPS aiding data to assist a second portable means.
50. A system as recited in claim 48, wherein said communications transceiver comprises a mesh communications transceiver.
51. A system as recited in claim 39, wherein said portable means comprises means for determining its location by using signals from a Global Positioning System (GPS) or Global Navigation Satellite System (GNSS).
52. A system as recited in claim 39, comprising means for time synchronizing said portable means to a second portable means.
53. A system as recited in claim 39, comprising means for coordinating simultaneous reception of an EOI transmission by the portable means and a second portable means.
54. A system as recited in claim 39, comprising means for making a time difference of arrival (TDOA) measurement by aligning a received frame timing of a wireless communications signal with a GNSS based frame clock at an initial data acquisition time at the first location, and then performing data acquisition at a second location, and comparing the received frame timing at the second location to the GNSS based frame clock to derive the TDOA.
CA2672544A 2006-12-27 2007-12-21 Portable, iterative geolocation of rf emitters Expired - Fee Related CA2672544C (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US11/616,729 US7616155B2 (en) 2006-12-27 2006-12-27 Portable, iterative geolocation of RF emitters
US11/616,729 2006-12-27
PCT/US2007/026261 WO2008085443A2 (en) 2006-12-27 2007-12-21 Portable, iterative geolocation of rf emitters

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CA2672544A1 true CA2672544A1 (en) 2008-07-17
CA2672544C CA2672544C (en) 2012-07-24

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US (2) US7616155B2 (en)
EP (1) EP2126598A4 (en)
JP (1) JP2010515052A (en)
KR (1) KR101096010B1 (en)
CN (1) CN101568850B (en)
AU (1) AU2007342388B2 (en)
BR (1) BRPI0720646A2 (en)
CA (1) CA2672544C (en)
GB (1) GB2458608A (en)
IL (1) IL199426A (en)
MX (1) MX2009006957A (en)
WO (1) WO2008085443A2 (en)

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