Multivariate position estimation
AssigneeL3 Technologies, Inc.
InventorJason Wilden
Life of this patent
Estimating the term…
Abstract
Multivariate position estimation can be performed to provide a position estimate of a moving object. The multivariate position estimation approach can employ multiple types of information including time of arrival (or time difference of arrival), angle of arrival, Doppler, and/or prior location information in an iterative process to calculate a location estimate that is highly accurate. In particular, the multivariate position estimation approach can employ the statistical quality of each of these types of information to quickly arrive at a highly accurate position estimate within a 3D coordinate system. The multivariate position estimation approach can be implemented in environments where a single receiver is available as well as in environments where multiple receivers exist.
Claims16
A method, performed by a tracker that comprises a computing system that is configured to receive periodic communications from a moving object and employ various types of information derived from the periodic communications to estimate a position of the moving object, the computing system comprising one or more computing devices, for performing multivariate position estimation to track the moving object with high accuracy, the method comprising:
- receiving periodic communications emitted from a moving object;
- processing each of the periodic communications to generate a time of arrival measurement, an angle of arrival measurement, and a Doppler measurement for each respective periodic communication;
- obtaining a tracker location representing where the tracker was located when each respective periodic communication was received;
- and
- tracking the moving object by iteratively estimating an object location representing where the moving object was located when the moving object emitted each respective periodic communication using the time of arrival measurement, the angle of arrival measurement, the Doppler measurement, and the tracker location for the respective periodic communication, wherein the tracker estimates the object location for the respective periodic communication by minimizing a cost function that includes:
- a time of arrival portion that incorporates the time of arrival measurement for the respective periodic communication;
- an angle of arrival portion that incorporates the angle of arrival measurement for the respective periodic communication;
- a Doppler portion that incorporates the Doppler measurement for the respective periodic communication;
- and
- a tracker location portion that incorporates the tracker location when the respective periodic communication was received.
A tracker for performing multivariate position estimation to track a moving object with high accuracy, the tracker comprising a computing system that is configured to receive periodic communications from a moving object and employ various types of information derived from the periodic communications to estimate a position of the moving object, the computing system comprising one or more computing devices, the tracking including:
- one or more antennas for receiving the periodic communications emitted from the moving object;
- a time of arrival component that generates a time of arrival measurement for each respective periodic communication;
- an angle of arrival component that generates an angle of arrival measurement for each respective periodic communication;
- a Doppler component that generates a Doppler measurement for each respective periodic communication;
- a tracker location component that obtains a tracker location representing where the tracker was located when each respective periodic communication was received;
- and
- a location engine that receives and processes the time of arrival measurement, the angle of arrival measurement, the Doppler measurement, and the tracker location for each respective periodic communication to iteratively estimate an object location representing where the moving object was located when the moving object emitted the respective periodic communication, wherein the location engine estimates the object location for the respective periodic communication by minimizing a cost function that includes:
- a time of arrival portion that incorporates the time of arrival measurement for the respective periodic communication;
- an angle of arrival portion that incorporates the angle of arrival measurement for the respective periodic communication;
- a Doppler portion that incorporates the Doppler measurement for the respective periodic communication;
- and
- a tracker location portion that incorporates the tracker location when the respective periodic communication was received.
A method, performed by a tracker that comprises a computing system that is configured to receive periodic communications from a moving object and employ various types of information derived from the periodic communications to estimate a position of the moving object, the computing system comprising one or more computing devices, for performing multivariate position estimation to track the moving object with high accuracy, the method comprising:
- receiving periodic communications emitted from a moving object;
- processing each of the periodic communications to generate a time of arrival measurement, an angle of arrival measurement, and a Doppler measurement for each respective periodic communication;
- obtaining a tracker location representing where the tracker was located when each respective periodic communication was received;
- and
- tracking the moving object by iteratively estimating an object location representing where the moving object was located when the moving object emitted each respective periodic communication using the time of arrival measurement, the angle of arrival measurement, the Doppler measurement, and the tracker location for the respective periodic communication, wherein the tracker estimates the object location for the respective periodic communication by minimizing a cost function that includes:
- a time of arrival portion that incorporates the time of arrival measurement for the respective periodic communication;
- an angle of arrival portion that incorporates the angle of arrival measurement for the respective periodic communication;
- a Doppler portion that incorporates the Doppler measurement for the respective periodic communication;
- and
- a tracker location portion that incorporates the tracker location when the respective periodic communication was received;
- wherein the tracker location is one of fixed or moving.
Dependencies are inferred from the claim text.