Method and apparatus for signal tracking utilizing universal algorithm

Abstract

Embodiments of the present invention provide a method and apparatus for signal tracking utilizing a universal algorithm. The method and apparatus generally include acquiring a signal measurement corresponding to a signal emitted from an emitter, forming a measurement matrix utilizing the acquired signal measurement, and applying the measurement matrix to a recursive filter to determine a velocity and/or geolocation of the signal emitter. Such a configuration enables velocities and geolocations to be determined utilizing any signal measurement or combination of signal measurements to eliminate the need to rely on a particular static combination of signal measurements.

Description

BRIEF DESCRIPTION OF THE DRAWING FIGURES

A preferred embodiment of the present invention is described in detail below with reference to the attached drawing figures, wherein:

FIG. 1 is a block diagram of some of the elements operable to be utilized by various embodiments of the present invention;

FIG. 2 is a schematic view of various angles formed between a moving collector and a signal-emitting target;

FIG. 3 is a flow chart showing some of the steps operable to be performed by the present invention;

FIG. 4 is a flow chart showing some of the steps of FIG. 3 is more detail; and

FIG. 5 is a flow chart showing some other steps that are operable to be performed by various embodiments of the present invention.

Claims

1. A method of determining a velocity of a signal emitter, the method comprising: acquiring a signal measurement corresponding to a signal emitted from the emitter;forming a measurement matrix utilizing the acquired signal measurement; andapplying the measurement matrix to a recursive filter to determine the velocity of the emitter.

2. The method of claim 1, wherein the recursive filter corresponds to a Kalman filter.

3. The method of claim 1, further including acquiring a second signal measurement corresponding to the signal,forming a second measurement matrix utilizing the second signal measurement, andapplying the second measurement matrix to the recursive filter to update the determined velocity.

4. The method of claim 1, wherein the acquired signal measurement is selected from the group consisting of: an angle of arrival, a direction of arrival, a time difference of arrival, a frequency difference of arrival, a target range, a position, and a velocity.

5. The method of claim 1, further including ascertaining the validity of the acquired signal measurement.

6. The method of claim 1, wherein the recursive filter includes a state vector and a covariance matrix that are operable to be utilized to determine the velocity utilizing the measurement matrix.

7. The method of claim 1, further including determining a geolocation of the emitter utilizing the measurement matrix and the recursive filter.

8. The method of claim 1, wherein the determined velocity includes a north velocity and an east velocity.

9. A method of determining a geolocation and a velocity of a signal emitter, the method comprising: acquiring a signal measurement corresponding to a signal emitted from the emitter;ascertaining the validity of the acquired signal measurement;if the acquired signal measurement is valid forming a measurement matrix utilizing the acquired signal measurement, andapplying the measurement matrix to a recursive filter to determine the geolocation and velocity of the signal emitter;acquiring a second signal measurement corresponding to the signal;forming a second measurement matrix utilizing the second signal measurement; andapplying the second measurement matrix to the recursive filter to update the determined geolocation and velocity.

10. The method of claim 9, wherein the recursive filter corresponds to a Kalman filter.

11. The method of claim 9, wherein the determined geolocation includes a latitude and a longitude and the determined velocity includes a north velocity and an east velocity.

12. The method of claim 9, wherein the acquired signal measurements are selected from the group consisting of: an angle of arrival, a direction of arrival, a time difference of arrival, a frequency difference of arrival, a target range, a position and a velocity.

13. The method of claim 9, wherein the determined geolocation corresponds to the World Geodetic System of 1984 earth model.

14. The method of claim 9, wherein the recursive filter includes a state vector and a covariance matrix that are operable to be utilized to determine the geolocation and velocity utilizing the measurement matrix.

15. A computer program for determining a velocity of a signal emitter, the computer program stored within a memory for operating a computing element and comprising: a code segment operable to acquire a signal measurement corresponding to a signal emitted from the emitter;a code segment operable to form a measurement matrix utilizing the acquired signal measurement; anda code segment operable to apply the measurement matrix to a recursive filter to determine the velocity of the emitter.

16. The computer program of claim 15, wherein the recursive filter corresponds to a Kalman filter.

17. The computer program of claim 15, further including a code segment operable to acquire a second signal measurement corresponding to the signal,a code segment operable to form a second measurement matrix utilizing the second signal measurement, anda code segment operable to apply the second measurement matrix to the recursive filter to update the determined velocity.

18. The computer program of claim 15, wherein the acquired signal measurement is selected from the group consisting of: an angle of arrival, a direction of arrival, a time difference of arrival, a frequency difference of arrival, a target range, a velocity, and a position.

19. The computer program of claim 15, further including a code segment operable to ascertain the validity of the acquired signal measurement.

20. The computer program of claim 15, wherein the recursive filter includes a state vector and a covariance matrix that are operable to be utilized to determine the velocity utilizing the measurement matrix.

21. The computer program of claim 15, further including a code segment operable to determine a geolocation of the emitter utilizing the measurement matrix and the recursive filter.

22. The computer program of claim 15, wherein the determined velocity includes a north velocity and an east velocity.

23. A computing element operable to determine a velocity of a signal emitter, the computing element comprising: a memory operable to store a signal measurement corresponding to a signal emitted from the emitter; anda processor coupled with the memory and operable to form a measurement matrix utilizing the acquired signal measurement; andapply the measurement matrix to a recursive filter to determine the velocity of the emitter.

24. The computing element of claim 23, wherein the recursive filter corresponds to a Kalman filter.

25. The computing element of claim 23, the memory further operable to store a second signal measurement corresponding to the signal and the processor further operable to form a second measurement matrix utilizing the second signal measurement, andapply the second measurement matrix to the recursive filter to update the determined velocity.

26. The computing element of claim 23, wherein the acquired signal measurement is selected from the group consisting of: an angle of arrival, a direction of arrival, a time difference of arrival, a frequency difference of arrival, a target range, a velocity, and a position.

27. The computing element of claim 23, wherein the processor is further operable to ascertain the validity of the acquired signal measurement.

28. The computing element of claim 23, wherein the recursive filter includes a state vector and a covariance matrix that are operable to be utilized by the processor to determine the velocity utilizing the measurement matrix.

29. The computing element of claim 23, wherein the processor is further operable to determine a geolocation of the emitter utilizing the measurement matrix and the recursive filter.

30. The computing element of claim 23, wherein the determined velocity includes a north velocity and an east velocity.