Patent Publication Number: US-7592956-B2

Title: Wireless transmitter location determining system and related methods

Description:
FIELD OF THE INVENTION 
   The present invention relates to the field of wireless transmission, and, more particularly, to a location determining system for a wireless transmitter and related methods. 
   BACKGROUND OF THE INVENTION 
   As cellular communication has become prevalent, it is not uncommon for a person to carry a cellular telephone device with them on a daily basis. Because of this, there is desire by local police and fire departments to use a corresponding cellular telephone device to help locate a missing person, for example, a person trapped in a collapsed building or a fugitive. Conventional approaches to cellular telephone device location include systems comprising a plurality of sensors. These systems typically use a triangulation method to determine the location of the cellular telephone device. 
   One approach to cellular telephone device location is disclosed by U.S. Pat. No. 6,407,703 to Minter et al. The system of Minter et al. includes a plurality of sensors situated in multiple locations/platforms. The system uses angle of arrival (AOA), time difference of arrival (TDOA), and terrain altitude information from signal intercepts from the cellular telephone device to determine the location thereof. The sensors use accurate time synchronization for determining the TDOA of the intercepted signals 
   Another approach to locating a cellular telephone device is disclosed in U.S. Pat. No. 7,187,327 to Coluzzi et al. This system also includes a plurality of sensors using TDOA and time of arrival measurements of signals received from the cellular telephone device to determine the location thereof. The sensors in this system are also synchronized. 
   Another approach to locating a cellular telephone device is disclosed in U.S. Pat. No. 7,203,500 to Leeper et al. This system uses a wireless transceiver device to determine range to a companion wireless transceiver device, for example, the cellular telephone device, with signal propagation time measurements. Another approach to locating a cellular telephone device is disclosed in U.S. Pat. No. 7,057,556 to Hall et al. This system includes a plurality of sensors also using TDOA to determine the location of the cellular telephone device. 
   Another approach is disclosed in U.S. Pat. No. 5,719,584 to Otto, assigned to the present application&#39;s assignee, Harris Corporation of Melbourne, Fla. This system uses a plurality of ground based sensors to determine a location of the cellular telephone device by measuring TDOA and AOA values. This network of sensors is also synchronized. 
   An approach to locating a cellular telephone device within a high-rise structure is disclosed in U.S. Pat. No. 7,203,497 to Belcea. This system includes a plurality of sensors deployed throughout the structure that use signal propagation time measurements to determine the approximate location of the cellular telephone device within the structure. 
   The prior art systems for location of cellular telephone devices may suffer from several drawbacks. For example, these systems use multiple sensors that are synchronized for generation of TDOA measurements. The systems are also complex and expensive, and require multiple sensors on different platforms. The systems also provide inaccurate location data if the sensors are not properly deployed. 
   SUMMARY OF THE INVENTION 
   In view of the foregoing background, it is therefore an object of the present invention to provide a location determining system for a wireless transmitter that is accurate and less complex. 
   This and other objects, features, and advantages in accordance with the present invention are provided by a location determining system for a wireless transmitter, the location determining system to be carried by a platform movable relative to the wireless transmitter. The location determining system may include an antenna, and a receiver coupled to the antenna. The location determining system may also include a location determining processor coupled to the receiver to collect, during movement relative to the wireless transmitter, a series of range measurements and a corresponding series of received signal measurements, and to estimate a location of the wireless transmitter based upon the range measurements weighted using the received signal measurements. Advantageously, the location determining system is simpler and less costly to deploy. 
   For example, the received signal measurements may comprise at least one of bit-error rate measurements, received signal strength measurements, receiver metrics, and signal-to-noise ratio measurements. Additionally, the location determining processor may further estimate an elevation of the wireless transmitter. The location determining processor may estimate the location of the wireless transmitter based upon a least-squares steepest decent algorithm. 
   The location determining system may also comprise a platform position determining device. The location determining processor may cooperate with the platform position determining device so that the estimated location of the wireless transmitter comprises an estimated geolocation. The location determining processor may collect the series of range measurements using time of flight measurements. 
   In certain embodiments, the antenna may comprise a directional antenna. In these embodiments, the location determining processor may cooperate with the directional antenna to collect, during movement relative to the wireless transmitter, a corresponding series of angle of arrival measurements. The location determining processor may also estimate the location of the wireless transmitter further based upon the angle of arrival measurements. Furthermore, the location determining processor may weight the angle of arrival measurements based upon the received signal measurements. In some embodiments, the platform may comprise an aircraft. Alternatively, the platform may comprise a ground-based vehicle. 
   Moreover, the location determining processor may cooperate with the receiver to collect, during movement relative to the wireless transmitter, a corresponding series of received signal strength measurements. The location determining processor may further estimate the location of the wireless transmitter further based upon the received signal strength measurements weighted using the received signal measurements. 
   Another aspect is directed to a method of estimating a location of a wireless transmitter using a location determining system. The method may comprise collecting, during movement of the location determining system relative to the wireless transmitter, a series of range measurements and a corresponding series of received signal measurements. The method may also include estimating a location of the wireless transmitter based upon the range measurements weighted using the received signal measurements. 

   
     BRIEF DESCRIPTION OF THE DRAWINGS 
       FIG. 1  is a schematic diagram of a location determining system, according to the present invention, being carried by a movable platform. 
       FIG. 2  is a flowchart illustrating a method of estimating a location of a wireless transmitter using the location determining system, according to the present invention. 
       FIG. 3  is a more detailed flowchart of the method of estimating a location of a wireless transmitter using the location determining system, according to the present invention. 
       FIG. 4  is a contour plot of an error surface for a test run of the location determining system, according to the present invention. 
       FIG. 5  is an exemplary contour plot of an error surface for the location determining system, according to the present invention, superimposed on a map of the geographical terrain. 
       FIG. 6  is a chart illustrating the process for establishing frame boundaries with a wireless transmitter in the location determining system, according to the present invention. 
       FIG. 7  is an exemplary three-dimensional contour plot of an error surface for the location determining system, according to the present invention. 
       FIG. 8  is a schematic diagram of the location determining system, according to the present invention, receiving signals from the wireless transmitter. 
       FIG. 9  is a schematic diagram of the location determining system, according to the present invention, estimating the location of the wireless transmitter. 
       FIG. 10  is a second schematic diagram of the location determining system, according to the present invention, estimating the location of the wireless transmitter. 
   

   DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS 
   The present invention will now be described more fully hereinafter with reference to the accompanying drawings, in which preferred embodiments of the invention are shown. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Like numbers refer to like elements throughout, and prime notation is used to indicate similar elements in alternative embodiments. 
   Referring initially to  FIG. 1 , a communication system  15  illustratively includes a location determining system  22  and a wireless transmitter  21 . The location determining system  22  is illustratively carried by a platform  20  movable relative to the wireless transmitter  21 . The platform  20  may comprise an airborne platform, for example, an aircraft, or alternatively a ground based vehicle platform, for example, an automobile. As will be appreciated by those skilled in the art, the effective range of the location determining system  22  may increase in embodiments including the airborne platform. 
   The wireless transmitter  21  illustratively comprises a cellular telephone. The receiver  24  may comprise a receiver compatible with the cellular telephone. As will be appreciated by those skilled in the art, the cellular telephone may be compatible with the Global System for Mobile communications (GSM) standard, the code division multiple access (CDMA) standard, the IS-95 standard, the CDMA2000 standard, or the UMTS mobile telephone standard. 
   The location determining system  22  illustratively includes an antenna  25 , and a receiver  24  coupled to the antenna. The location determining system  22  illustratively includes a location determining processor  23  coupled to the receiver  24  to collect, during movement relative to the wireless transmitter  21 , a series of range measurements and a corresponding series of received signal measurements, and to estimate a location of the wireless transmitter based upon the range measurements weighted using the received signal measurements. For example, the range measurements may comprise time of flight measurements, i.e. the time elapsed for a transmission signal to traverse the distance between the platform  20  and the wireless transmitter  21 . Advantageously, the location determining system  22  includes a single sensor/antenna  25  for determining the location of the wireless transmitter  21 . Accordingly, no synchronization or alignment of the sensors may be needed in some embodiments. 
   The received signal measurements may comprise, for example, at least one of bit-error rate measurements, received signal strength measurements, receiver metrics (i.e. Viterbi path metrics), and signal-to-noise ratio measurements. In other words, the received signal measurements relate directly to the quality of the signal being received by the location determining system  22 . 
   Referring briefly to  FIG. 6 , the time of flight measurements may be based upon the following equation. 
               T   elapse       ︸   Estimated       =       2   ⁢     t   0       +       T   offset       ︸   known       +           Δ   ⁢           ⁢     t   rx         ︸   Bound       +       Δ   ⁢           ⁢     t   tx         ︸   Bound           ︷     Error   ⁢           ⁢   Terms                 
The distance between the wireless transmitter  21  and the platform  20  may be provided by the following equation.
 
   
     
       
         
           
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           = 
           
             
               c 
               ⁡ 
               
                 [ 
                 
                   
                     
                       T 
                       elapse 
                     
                     - 
                     
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                       offset 
                     
                   
                   2 
                 
                 ] 
               
             
             = 
             
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               + 
               
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                 ⁡ 
                 
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                           rx 
                         
                       
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                           t 
                           tx 
                         
                       
                     
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                   ] 
                 
               
             
           
         
       
     
   
   More specifically, and as depicted in the diagram  56  of  FIG. 6 , the antenna  25  may transmit a signal to be received by the wireless transmitter  21 . As will be appreciated by those skilled in the art, the signal may comprise a signal that would routinely prompt a transmission reply from the wireless transmitter  21  under the applicable communication standard. Once the wireless transmitter  21  receives the signal from the location determining system  22 , the wireless transmitter transmits a reply signal that is received by the platform  20 . As will be appreciated by those skilled in the art, the location determining system  22  may compensate for the mobile transmitter  21  transmission delay, i.e. processing lag (T offset ) before transmission of a reply signal to the platform  20 . In some embodiments, the receiver  24  may comprise a transceiver for transmitting the signal to the wireless transmitter  21 . 
   In other embodiments, the time of flight measurements may be generated using a time of transmission stamp within the reply signal by differing the reply signal receipt time with the indicated time of transmission. As will be appreciated by those skilled in the art, the platform  20  and the wireless transmitter  21  may be time synced via satellite, for example, the Global Positioning System. 
   In certain embodiments, the antenna  25  may comprise a directional antenna, for example, a switched beam antenna. In these embodiments, the location determining processor  23  cooperates with the directional antenna to collect, during movement relative to the wireless transmitter  21 , a corresponding series of angle of arrival measurements. The location determining processor  23  estimates the location of the wireless transmitter  21  further based upon the angle of arrival measurements. Furthermore, the location determining processor  23  weights the angle of arrival measurements based upon the received signal measurements, for example, at least one of bit-error rate measurements, received signal strength measurements, receiver metrics, and signal-to-noise ratio measurements. 
   In other embodiments, the location determining processor  23  may cooperate with the receiver  24  to collect, during movement relative to the wireless transmitter  21 , a corresponding series of received signal strength measurements. The location determining processor  23  may estimate the location of the wireless transmitter  21  further based upon the received signal strength measurements weighted using the received signal measurements, for example, at least one of bit-error rate measurements, received signal strength measurements, receiver metrics, and signal-to-noise ratio measurements. The location determining processor  23  may use the received signal strength measurements for breaking the symmetry, ambiguity resolution, etc. In other words, the location determining processor  23  may weight the received signal strength measurements based upon the bit-error rate, for example. In alternative embodiments, the weighting of the received signal strength measurements may also comprise, for example, a unity factor (no weighting). 
   As the platform  20  moves relative to the wireless transmitter  21 , this motion is shown in the diagram  58  of  FIG. 8 , the location determining processor  23  generates a series of range-bearings equations. As discussed above, each range-bearing equation is based upon at least the range measurements and the received signal measurements but may also include the AOA measurements and the received signal strength measurements. The range-bearing equations may be solved to provide an estimated location of the wireless transmitter  21 . As will be appreciated by those skilled in the art, the time elapsed between generation of each range-bearing equation is based upon platform  20  velocity and the type of platform. 
   Referring briefly to  FIG. 4 , a contour plot  50  of an error surface for a test run of the location determining system  22  is illustrated. The light grey star points  51  represent the position of the platform  20  as it moves relative to the wireless transmitter  21 . The dark grey points  52  represent the iterative, estimated solutions of the series of range-bearing equations, the points moving toward the actual location of the wireless transmitter  21  as they become more accurate. The contour plot of the error surface provides an approximate error of the estimated location of the wireless transmitter  21  based upon the locations of the platform  20 . The contour plot  50  may assist a user of the platform  20  (for example, aircraft or ground vehicle) in determining the distribution of errors based upon the geometry, therefore allowing for the optimization of the ground search for the wireless transmitter  21 . As will be appreciated by those skilled in the art,  FIG. 7  includes an exemplary three-dimensional error contour plot  60 . 
   Referring again to  FIG. 1 , the location determining processor  23  may estimate the location of the wireless transmitter  21  based upon the range measurements, the angle of arrival measurements, and the received signal strength measurements weighted by the received signal measurements, for example, at least one of bit-error rate measurements, received signal strength measurements, receiver metrics, and signal-to-noise ratio measurements. More specifically, when the received signal measurement indicates a high quality received signal, for example, when the signal-to-noise ratio value is larger, the location determining processor  23  interprets the other associated signal measurements (range measurements, AOA measurements, received signal strength measurements) relevant to the estimation of the wireless transmitter&#39;s  21  location to be of a higher quality, and therefore those measurements are more heavily weighted among the total set of measurements relevant to produce the location estimate. 
   As will be appreciated by those skilled in the art, the accuracy of the location estimate of the wireless transmitter  21 , which is based upon the range measurements, the AOA measurements, and the received signal strength measurements, varies based upon the overall geometry of the situation. As the platform  20  moves relative to the wireless transmitter  21 , the accuracy of the location estimate improves if the trajectory of the platform: breaks symmetry with regards to the wireless transmitter, reduces ambiguity resolution, and minimizes geometric dilution of precision (GDOP). 
   Hence, as the platform  20  moves relative to the wireless transmitter  21  and generates a series of range-bearing equations, the location determining processor  23  may give greater weight to range-bearing equations that correspond to positions with received signal measurements indicating a greater quality level. Moreover, the weighting between the range measurements, the received signal strength measurements, and the AOA measurements may be based upon a predetermined ratio that is based upon at least past experimental results. 
   The location determining system  22  illustratively includes a platform position determining device  26 , for example, a Global Positioning System (GPS) receiver. The platform position determining device  26  provides the location determining system  22  with a current geographic location of the platform  20 . The location determining processor  23  cooperates with the platform position determining device  26  so that the estimated location of the wireless transmitter  21  comprises an estimated geolocation. In other words, the location determining system  22  provides the estimated longitude and latitude of the wireless transmitter  21 . Additionally, the location determining processor  23  estimates an elevation of the wireless transmitter  21 , i.e. the altitude of the wireless transmitter. Advantageously, the error contour plot for the estimated location of the wireless transmitter  21  may be superimposed over a map  55  for advantageous reliability and search, example shown in  FIG. 5 . 
   Referring now both to  FIGS. 1 and 2 , a flowchart  30  illustrates a method of estimating a location of a wireless transmitter  21  using a location determining system  22 . At Block  31 , the method begins and illustratively includes moving at Block  33  the platform relative to the wireless transmitter  21 . As will be appreciated by those skilled in the art, it may be preferable to encircle the approximate location of the wireless transmitter  21  to provide more accurate results, i.e. breaking the symmetry. 
   The method illustratively includes at Block  36  collecting, during movement of the location determining system  22  relative to the wireless transmitter  21 , a series of range measurements and a corresponding series of received signal measurements. The method also illustratively includes estimating at Block  40  a location of the wireless transmitter  21  based upon the range measurements weighted using the received signal measurements, ending at Block  42 . 
   Referring now additionally to  FIG. 3 , another embodiment of the method is now described. In this embodiment of the method, those elements already discussed above with respect to  FIG. 2  are given prime notation and most require no further discussion herein. This embodiment differs from the previous embodiment in that the method further comprises a decision Block  34 ′ for determining whether a transmission signal is received from the wireless transmitter  21 . If no signal is received, the method returns to Block  33 ′ and continues to move the platform  20  until the transmission signal is received. If the transmission signal is received, the method moves on to Block  36 ′ for collection of measurements. In this embodiment, at Block  36 ′, the method further includes collecting corresponding angle of arrival measurements and corresponding received signal strength measurements. Moreover, at Block  40 ′, the method further includes using angle of arrival measurements and received signal strength measurements weighted by the received signal measurements to estimate the location of the wireless transmitter  21 . The method ends at Block  42 ′. 
   The location determining processor  23  estimates the location of the wireless transmitter  21  based upon a least-squares steepest decent algorithm. As will be appreciated by those skilled in the art, a detailed exemplary implementation of the mathematical algorithm used by the location determining system  22  of  FIG. 1  follows. 
   The mathematical algorithm includes a Non-Linear Least Squares Steepest Descent Algorithm (NLSSDA) in a full 3D geolocation context using a variety of families of range equations. The algorithm may be applicable for ground level, elevated, or airborne sensors (or a combination thereof). The algorithm may function with a number of networked ground based sensors or a single mobile sensor (ground based or airborne) to accomplish target location estimation. The algorithm, itself rather decoupled from the specific measurement techniques, also works for a broad range of wireless signals, including GSM, IS-95, cdma2000, and UMTS, for example. 
   Section 1: Introduction 
   The following description derives and presents the relevant mathematics that apply to the 3D geolocation problem. Note that the various range equations and cost functions derived herein can be weighted and combined into the same adaptive algorithm, providing a viable data fusion technique to incorporate various families of data useful for the location estimation problem. Indeed, the algorithm may allow for the various measurements and families of measurements to be weighted relative to each other, such that, location estimate is optimized in a weighted least-squares sense. 
   The equations below are derived for the general case where the target is located in a 3D space, which may be useful if the target (wireless transmitter  21 ) is in a high-rise building, in a mountainous region, or some similar situation. As will be appreciated by those skilled in the art, the specific case where the target is confined to ground level (i.e. z=0) is a special case and is readily dealt with using the more general equations. The specific coordinate system used is not relevant, and the algorithm has been demonstrated to operate quite effectively in an earth-centered-earth-fixed (ECEF) 3D coordinate system, for example. As will be appreciated by those skilled in the art, other coordinate systems may be used. 
   Section 2: Time of Flight Based Approach 
   The primary geolocation method is referred to as the time of flight (TOF) method. The following measurement cost function can be defined for the TOF method: 
   
     
       
         
           
             
               
                 
                   
                     
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   As will be appreciated by those skilled in the art, equation (2) relates specifically to the GSM standard and may be modified to comply with other wireless standards. The terms in equation (2) are either known or measured, and the remaining terms in (1) depend only on the current positions of the sensor and the target estimate. In one embodiment, Δt i =TA and location estimation is based on the reported timing advance (TA). In equations (1) and (2), the measurements are taken with the sensor (antenna  25 ) at position i, and the unknown target position at position x. The following overall cost function can be defined over a set of measurements iε[1 . . . N]. 
   
     
       
         
           
             
               
                 
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   In equation (3), the α i  is a weighting term and can be set to establish the relative importance and/or quality of the measurements. This is the term that may be related to the signal quality estimate. The position estimate of the target can be updated according to the equation
 
 x   k+1   =x   k   −U∇   x   F ( x   k ),  (4)
 
where U is a diagonal matrix, where the algorithm convergence properties are controlled by the values of the diagonal elements, and
 
   
     
       
         
           
             
               
                 
                   
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   It follows that the partial derivatives may be derived, which are used in equation (5). This may be done in the following development. 
   Let u i =(x i −x) 2 +(y i −y) 2 +(z i −z) 2 , then rewrite formula (I) as 
                     f   i     ⁡     (   x   )       =         u   i       -         c   ⁢           ⁢   Δ   ⁢           ⁢     t   i       2     .               (   6   )               
Now using differential Calculus, the partial derivative of the overall cost function in formula (3) is
 
   
     
       
         
           
             
               
                 
                   
                     
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                           δ   ⁢           ⁢       f   i     ⁡     (   x   )           δ   ⁢           ⁢   x       =       ⁢       1     2   ⁢       u   i           ·       δ   ⁢           ⁢     u   i         δ   ⁢           ⁢   x                     =       ⁢         1     2   ⁢       u   i           ·   2     ⁢       (       x   i     -   x     )     ·     (     -   1     )                     =       ⁢         (     x   -     x   i       )             (       x   i     -   x     )     2     +       (       y   i     -   y     )     2     +       (       z   i     -   z     )     2           .                   (   8   )               
The final form of the equation may be written as
 
   
     
       
         
           
             
               
                 
                   
                     
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                 ) 
               
             
           
         
       
     
   
   In like fashion, the other partial derivatives functions can be derived and are summarized below. 
                     δF   δy     ⁢     ❘     y   k         =     2   ·       ∑     i   =   1     N     ⁢       α   i   2     ⁢         f   i     ⁡     (   x   )       ·       (       y   k     -     y   i       )             (       x   i     -     x   k       )     2     +       (       y   i     -     y   k       )     2     +       (       z   i     -     z   k       )     2                           (   10   )                   δF   δz     ⁢     ❘     z   k         =     2   ·       ∑     i   =   1     N     ⁢       α   i   2     ⁢         f   i     ⁡     (   x   )       ·       (       z   k     -     z   i       )             (       x   i     -     x   k       )     2     +       (       y   i     -     y   k       )     2     +       (       z   i     -     z   k       )     2                           (   11   )               
In summary, the NLSSDA for the TOF method is described by equations (4), (5), and (9)-(11).
 
   Section 3: Received Signal Strength Indication Based Approach 
   This section derives the equations that use signal power measurements at multiple locations as a way to gain location information of the target. The derivation of the equations is included below in summary form. The measured target signal power at two locations can be used to write the following equations, where a is the path loss exponent, P RX  is the measured signal power, and r x  is the range.
 
 r   2   /r   1 =( P   r1   /P   r2 ) 1/a   (12)
 
( r   2   /r   1 ) a =( P   r1   /P   r2 )  (13)
 
( r   1   /r   2 ) a =( P   r2   /P   r1 )  (14)
 
( r   i   /r   i+1 ) a =( P   i+1   /P   i )  (15)
 
   Now, after taking the log of both sides of (15), and expressing the ranges in terms of the relevant x, y, z coordinates, the following cost function is provided. 
                     g   i     ⁡     (   x   )       =         P     i   +   1         P   i       -         {             (       x   i     -   x     )     2     +       (       y   i     -   y     )     2     +       (       z   i     -   z     )     2                 (       x     i   +   1       -   x     )     2     +       (       y     i   +   1       -   y     )     2     +       (       z     i   +   1       -   z     )     2           }     a     .               (   16   )               
The relevant measurement cost function is expressed as
 
                           f   RSSI   i     ⁡     (   x   )       =       ⁢       log   10     ⁢       g   i     ⁡     (   x   )                     =       ⁢         P     i   +   1       ⁡     (   dB   )       -       P   i     ⁡     (   dB   )       -     a   ⁢     {               log   10     ⁢                 (       x   i     -   x     )     2     +       (       y   i     -   y     )     2     +                 (       z   i     -   z     )     2               -                 log   10     ⁢                 (       x     i   +   1       -   x     )     2     +       (       y     i   +   1       -   y     )     2     +                 (       z     i   +   1       -   z     )     2                     }                       (   17   )               
where again, x=[x 0 y 0  z 0 ] T  is the current estimated position of the target.
 
   The overall cost function is as described in equation (3), where ƒ i (x) is replaced with ƒ RSSI   i (x). The derivation of the partial derivatives for the measurement cost function in equation (17) makes use of the following form: 
   
     
       
         
           
             
               
                 
                   
                     
                       ⅆ 
                       
                           
                       
                     
                     
                       ⅆ 
                       x 
                     
                   
                   ⁢ 
                   
                     log 
                     a 
                   
                   ⁢ 
                   u 
                 
                 = 
                 
                   
                     log 
                     a 
                   
                   ⁢ 
                   
                     ⅇ 
                     · 
                     
                       1 
                       u 
                     
                     · 
                     
                       
                         
                           ⅆ 
                           u 
                         
                         
                           ⅆ 
                           x 
                         
                       
                       . 
                     
                   
                 
               
             
             
               
                 ( 
                 18 
                 ) 
               
             
           
         
       
     
   
   Applying equation (18) to equation (17), consider the following development. Let u i =(x i −x) 2 +(y i −y) 2 +(z i −z) 2 , it can then be written as: 
   
     
       
         
           
             
               
                 
                   
                     δ 
                     ⁢ 
                     
                         
                     
                     ⁢ 
                     
                       
                         f 
                         RSSI 
                         i 
                       
                       ⁡ 
                       
                         ( 
                         x 
                         ) 
                       
                     
                   
                   
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                     ⁢ 
                     
                         
                     
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                     { 
                     
                       
                         
                           
                             
                               
                                 log 
                                 10 
                               
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                                       i 
                                     
                                   
                                 
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                               · 
                               
                                 1 
                                 
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                                   ⁢ 
                                   
                                     
                                       u 
                                       
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                                         + 
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                               · 
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                                       + 
                                       1 
                                     
                                   
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                     } 
                   
                 
               
             
             
               
                 ( 
                 19 
                 ) 
               
             
           
           
             
               
                 
                   
                     δ 
                     ⁢ 
                     
                         
                     
                     ⁢ 
                     
                       
                         f 
                         RSSI 
                         i 
                       
                       ⁡ 
                       
                         ( 
                         x 
                         ) 
                       
                     
                   
                   
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                     ⁢ 
                     
                         
                     
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                       10 
                     
                   
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                 ( 
                 20 
                 ) 
               
             
           
           
             
               
                 
                   
                     δ 
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                     ⁢ 
                     
                       
                         f 
                         RSSI 
                         i 
                       
                       ⁡ 
                       
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                         ) 
                       
                     
                   
                   
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                 ( 
                 21 
                 ) 
               
             
           
           
             
               
                 
                   
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                         f 
                         RSSI 
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                       10 
                     
                   
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                         } 
                       
                       . 
                     
                   
                 
               
             
             
               
                 ( 
                 22 
                 ) 
               
             
           
         
       
     
   
   Now using differential Calculus, the partial derivative of the overall cost function in equation (3) can be written as (recall general development in section 2): 
                       δ   ⁢           ⁢   F       δ   ⁢           ⁢   x       ⁢     |     x   k         =     2   ·       ∑     i   =   1     N     ⁢       α   i   2     ⁢         f   RSSI   i     ⁡     (   x   )       ·     (         -   a     ·     log   10       ⁢     ⅇ   ·     {         (       x   k     -     x   i       )       u   i       -       (       x   k     -     x     i   +   1         )       u     i   +   1           }         )                     (   23   )                     δ   ⁢           ⁢   F       δ   ⁢           ⁢   y       ⁢     |     y   k         =     2   ·       ∑     i   =   1     N     ⁢       α   i   2     ⁢         f   RSSI   i     ⁡     (   x   )       ·     (         -   a     ·     log   10       ⁢     ⅇ   ·     {         (       y   k     -     y   i       )       u   i       -       (       y   k     -     y     i   +   1         )       u     i   +   1           }         )                     (   24   )                     δ   ⁢           ⁢   F       δ   ⁢           ⁢   z       ⁢     |     z   k         =     2   ·       ∑     i   =   1     N     ⁢       α   i   2     ⁢         f   RSSI   i     ⁡     (   x   )       ·       (         -   a     ·     log   10       ⁢     ⅇ   ·     {         (       z   k     -     z   i       )       u   i       -       (       z   k     -     z     i   +   1         )       u     i   +   1           }         )     .                     (   25   )               
In summary, the NLSSDA for the relative received signal strength indication (RSSI) method is described by equations (4), (5), and (23)-(25).
 
   Referring to  FIGS. 9-10 , charts  57 ,  59  illustrate takings of the received signal strength measurements at N points, each pair of measurements may permit the construction of a circle. The target location is estimated as the intersection of the circles. 
   Section 4: Angle of Arrival Approach 
   This section derives the equations that use any AOA measurements that may be available at multiple locations as a way to gain location information of the target. These AOA measurements may be made, for example, with the aid of a switched beam antenna  25 . In like fashion, the other partial derivative functions can be derived and are summarized below. 
   This method is derived for 3D space, however, this may be optimal only if the antenna is highly directional in terms of azimuth and elevation. Indeed, practical antennas are most likely not highly directional in either orientation, however, even low resolution directivity information (used with low weights in the algorithm) may be useful for ambiguity resolution and breaking symmetry in the overall error surface. In the 3D case, it is assumed that the antenna is somewhat directional in terms of azimuth and elevation. The 2D case for antenna directivity may allow azimuth to be easily derived from the equations as a special case. 
   The derivation of the equations is included below in summary form. The sensor at each position i determines an estimated azimuth and elevation angle to the target. All angles are processed with knowledge of each sensor&#39;s measurement position and orientation so that the angles can be converted to a set of linear equations in the relevant 3D Cartesian coordinate system. There will be an equation for each sensor angle measurement. The final set of equations can be written as follows for each sensor i:
 
 h   i ( x )= z=m   i   x+n   i   y+b   i .  (26)
 
The relevant measurement cost function is expressed as
 
ƒ ANG   i ( x )= m   i   x+n   i   y+b   i   −z,   (27)
 
where again x=[x 0 y 0 z 0 ] T  is the current estimated position of the target.
 
   The overall cost function is as described in equation (3), where ƒ i (x) is replaced with ƒ ANG   i (x). The partial derivatives for the measurement cost function in equation (27) are easily established as: 
                     δ   ⁢           ⁢       f   ANG   i     ⁡     (   x   )           δ   ⁢           ⁢   x       =     m   i             (   28   )                   δ   ⁢           ⁢       f   ANG   i     ⁡     (   x   )           δ   ⁢           ⁢   y       =     n   i             (   29   )                   δ   ⁢           ⁢       f   ANG   i     ⁡     (   x   )           δ   ⁢           ⁢   z       =     -   1.             (   30   )               
Now using differential Calculus, the partial derivative of the overall cost function in equation (3) can be written as (recall general development in section 2):
 
                       δ   ⁢           ⁢   F       δ   ⁢           ⁢   x       ⁢     |     x   k         =     2   ·       ∑     i   =   1     N     ⁢       α   i   2     ⁢         f   ANG   i     ⁡     (   x   )       ·     m   i                     (   31   )                     δ   ⁢           ⁢   F       δ   ⁢           ⁢   y       ⁢     |     y   k         =     2   ·       ∑     i   =   1     N     ⁢       α   i   2     ⁢         f   ANG   i     ⁡     (   x   )       ·     n   i                     (   32   )                     δ   ⁢           ⁢   F       δ   ⁢           ⁢   z       ⁢     |     z   k         =     2   ·       ∑     i   =   1     N     ⁢       α   i   2     ⁢         f   ANG   i     ⁡     (   x   )       ·       (     -   1     )     .                     (   33   )               
In summary, the NLSSDA for the relative RSSI method is described by equations (4), (5), and (31)-(33).
 
   Section 5: Synchronized TDOA Approach 
   For completeness, an embodiment using the synchronized TDOA approach is also discussed herein, which is applicable for a set of time synchronized sensors. This section derives the synchronized TDOA equations, which use measurements at multiple locations as a way to gain location information of the target. Assuming that the target is located at position (x 0 ,y 0 ,z 0 ), and transmits at time τ 0 . Assuming that there are N time synchronized sensors deployed at positions (x 1 ,y 1 ,z 1 ), . . . , (x N ,y N ,z N ), and that they receive the transmission from target mobile at times τ 1 , . . . , τ N . For sensor i∈1 . . . N, the following cost function may be derived: 
                       f   TDOA   i     ⁡     (   x   )       =             (       x   i     -   x     )     2     +       (       y   i     -   y     )     2     +       (       z   i     -   z     )     2         -     c   ⁡     (       τ   i     -   τ     )           ,           (   34   )               
where c is the speed of light, and x=[x y z τ] T  is the unknown vector which contains the current estimated position of the target and the estimated target transmission time. This function takes on a low value ideally (and in the absence of all error sources) at all sensors when x=[x 0 y 0 y 0 τ 0 ] T .
 
   The cost function specific to the hyperbolic based synchronized TDOA is derived as follows: 
                       f   TDOA   i     ⁡     (   x   )       -       f   TDOA     i   +   1       ⁡     (   x   )         =             (       x   i     -   x     )     2     +       (       y   i     -   y     )     2     +       (       z   i     -   z     )     2         -           (       x     i   +   1       -   x     )     2     +       (       y     i   +   1       -   y     )     2     +       (       z     i   +   1       -   z     )     2         -     c   ⁡     (       τ   i     -   τ     )       +     c   ⁡     (       τ     i   +   1       -   τ     )                 (   35   )                     f   TDOA   i     ⁡     (   x   )       -       f   TDOA     i   +   1       ⁡     (   x   )         =             (       x   i     -   x     )     2     +       (       y   i     -   y     )     2     +       (       z   i     -   z     )     2         -           (       x     i   +   1       -   x     )     2     +       (       y     i   +   1       -   y     )     2     +       (       z     i   +   1       -   z     )     2         -     c   ⁡     (       τ   i     -     τ     i   +   1         )                 (   36   )               ƒ HYP   i ( x )=ƒ TDOA   i ( x )−ƒ TDOA   i+1 ( x ), where  x =( x   0   ,y   0   ,z   0 ) T .  (37) 
   The cost function may be dependent only on the measured time difference of arrival between relevant sensors and the position of the target. Given a perfect measurement in ideal conditions, this cost function approaches zero as the estimate approaches the actual target location. The estimate vector in this case is free of the unknown target transmit time, as this has been subtracted out and is of no practical interest for the location estimation application. The remainder of the development for the hyperbolic case follows that presented in section 2 above. 
   The overall cost function is as described in equation (3), where ƒ i (x) is replaced with ƒ HYP   i (x). The relevant partial derivatives of ƒ HYP   i (x) are determined as shown below. Let u i =(x i −x) 2 +(y i −y) 2 +(z i −z) 2 , then rewrite the cost function in equation (37) as:
 
ƒ HYP   i ( x )=√{square root over ( u   i   2 )}−√{square root over ( u   i+1   2 )}− c (τ i −τ i+1 ).  (38)
 
   Now using differential Calculus, the partial derivative of the cost function in equation (38) is 
                           δ   ⁢           ⁢       f   HYP   i     ⁡     (   x   )           δ   ⁢           ⁢   x       =       ⁢         1     2   ⁢       u   i           ·       δ   ⁢           ⁢     u   i         δ   ⁢           ⁢   x         -       1     2   ⁢       u     i   +   1             ·       δ   ⁢           ⁢     u     i   +   1           δ   ⁢           ⁢   x                       =       ⁢           1     2   ⁢       u   i           ·   2     ⁢       (       x   i     -   x     )     ·     (     -   1     )         -       1     2   ⁢       u     i   +   1             ·                       ⁢     2   ⁢       (       x     i   +   1       -   x     )     ·     (     -   1     )                     =       ⁢         (     x   -     x   i       )             (       x   i     -   x     )     2     +       (       y   i     -   y     )     2     +       (       z   i     -   z     )     2           -                     ⁢         (     x   -     x     i   +   1         )             (       x     i   +   1       -   x     )     2     +       (       y     i   +   1       -   y     )     2     +       (       z     i   +   1       -   z     )     2           ,                   (   39   )               
so the final form of the partial derivatives of the system level cost function can be rewritten as:
 
   
     
       
         
           
             
               
                 
                   
                     
                       δ 
                       ⁢ 
                       
                           
                       
                       ⁢ 
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                         i 
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                         1 
                       
                       N 
                     
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                         i 
                         2 
                       
                       ⁢ 
                       
                         
                           
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                             } 
                           
                           . 
                         
                       
                     
                   
                 
               
             
             
               
                 ( 
                 40 
                 ) 
               
             
           
         
       
     
   
   In like fashion, the other partial derivatives functions can be derived and are summarized below. 
                       δ   ⁢           ⁢   F       δ   ⁢           ⁢   y       ⁢     |     y   k         =     2   ·       ∑     i   =   1     N     ⁢       α   i   2     ⁢         f   HYP   i     ⁡     (   x   )       ·     {               (       y   k     -     y   i       )             (       x   i     -     x   k       )     2     +       (       y   i     -     y   k       )     2     +       (       z   i     -     z   k       )     2           -                 (       y   k     -     y     i   +   1         )             (       x     i   +   1       -     x   k       )     2     +       (       y     i   +   1       -     y   k       )     2     +       (       z     i   +   1       -     z   k       )     2                 }                     (   41   )                     δ   ⁢           ⁢   F       δ   ⁢           ⁢   z       ⁢     |     z   k         =     2   ·       ∑     i   =   1     N     ⁢       α   i   2     ⁢         f   HYP   i     ⁡     (   x   )       ·     {               (       z   k     -     z   i       )             (       x   i     -     x   k       )     2     +       (       y   i     -     y   k       )     2     +       (       z   i     -     z   k       )     2           -                 (       z   k     -     z     i   +   1         )             (       x     i   +   1       -     x   k       )     2     +       (       y     i   +   1       -     y   k       )     2     +       (       z     i   +   1       -     z   k       )     2                 }                     (   42   )               
Compare these equations to equations (9)-(11), respectively. In summary, the NLSSDA for the TDOA method is described by equations (4), (5), and (40)-(42).
 
   Section 6: Data Fusion Across Measurement Families 
   The various measurements and equations derived in previous sections can be combined and used simultaneously in the same algorithm (i.e., data fusion). In this case, the adaptive algorithm combines the various measurements, and families of measurements, in a weighted least-squares sense. Assuming that there are N sensor measurements, there are N equations for methods that are not differential in nature (i.e., TOF and AOA methods), and M equations for methods that are differential in nature (i.e., relative RSSI method, and TDOA). 
   If imposing a restriction that utilizes only independent sensor combinations, then M=N−1. It has been established (via simulations) that with noise and all other error sources enabled, using all of the dependent combinations in addition to the independent combinations affords better performance as a result of averaging the noise and errors components. In the case where all combinations of sensors are used, M=1+2+ . . . +N−1, there are N RSSI =M RSSI based equations, N HYP =M TDOA based equations, N TOF =N TOF based equations, and N ANG =N AOA based equations. The equations discussed in the previous sections are combined to form the overall cost function as follows: 
   
     
       
         
           
             
               
                 
                   
                     F 
                     COM 
                   
                   ⁡ 
                   
                     ( 
                     x 
                     ) 
                   
                 
                 = 
                 
                   
                     
                       ∑ 
                       
                         i 
                         = 
                         1 
                       
                       
                         N 
                         TOF 
                       
                     
                     ⁢ 
                     
                       
                         α 
                         i 
                         2 
                       
                       ⁢ 
                       
                         
                           f 
                           i 
                           2 
                         
                         ⁡ 
                         
                           ( 
                           x 
                           ) 
                         
                       
                     
                   
                   + 
                   
                     
                       ∑ 
                       
                         i 
                         = 
                         1 
                       
                       
                         N 
                         RSSI 
                       
                     
                     ⁢ 
                     
                       
                         α 
                         
                           RSSI 
                           , 
                           i 
                         
                         2 
                       
                       ⁢ 
                       
                         
                           f 
                           
                             RSSI 
                             , 
                             i 
                           
                           2 
                         
                         ⁡ 
                         
                           ( 
                           x 
                           ) 
                         
                       
                     
                   
                   + 
                   
                     
                       ∑ 
                       
                         i 
                         = 
                         1 
                       
                       
                         N 
                         ANG 
                       
                     
                     ⁢ 
                     
                       
                         α 
                         
                           ANG 
                           , 
                           i 
                         
                         2 
                       
                       ⁢ 
                       
                         
                           f 
                           
                             ANG 
                             , 
                             i 
                           
                           2 
                         
                         ⁡ 
                         
                           ( 
                           x 
                           ) 
                         
                       
                     
                   
                   + 
                   
                     
                       ∑ 
                       
                         i 
                         = 
                         1 
                       
                       
                         N 
                         HYP 
                       
                     
                     ⁢ 
                     
                       
                         α 
                         
                           HYP 
                           , 
                           i 
                         
                         2 
                       
                       ⁢ 
                       
                         
                           f 
                           
                             HYP 
                             , 
                             i 
                           
                           2 
                         
                         ⁡ 
                         
                           ( 
                           x 
                           ) 
                         
                       
                     
                   
                 
               
             
             
               
                 ( 
                 34 
                 ) 
               
             
           
         
       
     
   
   The relevant partial derivatives of this function are easily determined using the property that the derivative of a sum of terms is the sum of the derivatives of the terms and using equations (9)-(11), (23)-(25), (31)-(33), and (40)-(42), which have been previously derived. As usual, the position estimate of the target is updated according to the following equation: 
   
     
       
         
           
             
               
                 
                   
                     
                       x 
                       
                         k 
                         + 
                         1 
                       
                     
                     = 
                     
                       
                         x 
                         k 
                       
                       - 
                       
                         μ 
                         ⁢ 
                         
                           
                             ∇ 
                             x 
                           
                           ⁢ 
                           
                             
                               F 
                               COM 
                             
                             ⁡ 
                             
                               ( 
                               
                                 x 
                                 k 
                               
                               ) 
                             
                           
                         
                       
                     
                   
                   , 
                   
                     
 
                   
                   ⁢ 
                   where 
                 
                 ⁢ 
                 
                    
                 
                 ⁢ 
                 
                   
                     
                       
                         
                           
                             ∇ 
                             x 
                           
                           ⁢ 
                           
                             
                               F 
                               COM 
                             
                             ⁡ 
                             
                               ( 
                               
                                 x 
                                 k 
                               
                               ) 
                             
                           
                         
                         = 
                           
                         ⁢ 
                         
                           
                             
                               ∇ 
                               x 
                             
                             ⁢ 
                             
                               
                                 F 
                                 COM 
                               
                               ⁡ 
                               
                                 ( 
                                 x 
                                 ) 
                               
                             
                           
                           ⁢ 
                           
                             | 
                             
                               x 
                               k 
                             
                           
                         
                       
                     
                   
                   
                     
                       
                         = 
                           
                         ⁢ 
                         
                           
                             ( 
                             
                               
                                 
                                   
                                     
                                       
                                         δ 
                                         ⁢ 
                                         
                                             
                                         
                                         ⁢ 
                                         
                                           F 
                                           COM 
                                         
                                       
                                       
                                         δ 
                                         ⁢ 
                                         
                                             
                                         
                                         ⁢ 
                                         x 
                                       
                                     
                                     ⁢ 
                                     
                                       | 
                                       
                                         x 
                                         k 
                                       
                                     
                                   
                                 
                               
                               
                                 
                                   
                                     
                                       
                                         δ 
                                         ⁢ 
                                         
                                             
                                         
                                         ⁢ 
                                         
                                           F 
                                           COM 
                                         
                                       
                                       
                                         δ 
                                         ⁢ 
                                         
                                             
                                         
                                         ⁢ 
                                         y 
                                       
                                     
                                     ⁢ 
                                     
                                       | 
                                       
                                         y 
                                         k 
                                       
                                     
                                   
                                 
                               
                               
                                 
                                   
                                     
                                       
                                         δ 
                                         ⁢ 
                                         
                                             
                                         
                                         ⁢ 
                                         
                                           F 
                                           COM 
                                         
                                       
                                       
                                         δ 
                                         ⁢ 
                                         
                                             
                                         
                                         ⁢ 
                                         z 
                                       
                                     
                                     ⁢ 
                                     
                                       | 
                                       
                                         z 
                                         k 
                                       
                                     
                                   
                                 
                               
                             
                             ) 
                           
                           . 
                         
                       
                     
                   
                 
               
             
             
               
                 ( 
                 35 
                 ) 
               
             
           
         
       
     
   
   Using this strategy, by judiciously choosing the α i  terms in (34), different families of measurements, indeed even measurements within families, can be combined in a weighted sense (including turning off by setting the relevant weights to 0) to arrive at a position estimate that is optimized in a weighted least-squares sense. In summary, the NLSSDA for this hybrid approach is described by equations (34), (35), and using the partial derivative terms in (9)-(11), (23)-(25), (31)-(33), and (40)-(42) in the computation of (35). 
   Section 7: Conclusion 
   Provided herein is the relevant mathematics used for full 3D geolocation using a variety of measurement families. In addition to providing a range of techniques for location estimation, this technique offers the ability to combine all of the various measurement families into a single algorithm so that a location estimate is computed which is optimum in a weighted least squared sense. The weighting is completely general. Individual measurements can be weighted relative to its peer&#39;s measurements, or entire measurement families can be weighted relative to other families of measurements. 
   Many modifications and other embodiments of the invention will come to the mind of one skilled in the art having the benefit of the teachings presented in the foregoing descriptions and the associated drawings. Therefore, it is understood that the invention is not to be limited to the specific embodiments disclosed, and that modifications and embodiments are intended to be included within the scope of the appended claims.