Airways - Multilateration Phase I Gen PDF
Airways - Multilateration Phase I Gen PDF
The aim of this document is to describe the multilateration performance modelling system
implementation in ICS Telecom. The implementation is divided in two parts :
- First the realisation of third party software for validation purposes by Airways NZ.
- Then the implementation in ICS telecom itself (with more advanced results display)
This section will describe all formulas used in the implementation of the multilateration performance
modelling system.
The objective is to estimate the magnitude of the position errors caused by the TDOA measurement
errors.
x2 xy xz
G xy y2 yz
xz yz z2
Where:
x2 is the standard deviation of x
y2 is the standard deviation of y
z2 is the standard deviation of z
xy is the covariance between the x and y coordinates
xz is the covariance between the x and z coordinates
yz is the covariance between the y and z coordinates
The covariance matrix G of errors in can be calculated by transformation of the covariance matrix W
into the Cartesian 3D space using a transform matrix A :
G ( AT W 1 A)1
The transform matrix A is a function of the positions of the receiver sites Si and the target position
T.
( x x1 ) ( x x0 ) ( y y1 ) ( y y0 ) ( z z1 ) ( z z0 )
T S T S T S1
T S0 T S1
T S0
1 0
( x x2 ) ( x x0 ) ( y y 2 ) ( y y0 ) ( z z 2 ) ( z z0 )
A T S2 T S0 T S2 T S0 T S2 T S0
... ... ...
( x xn 1 ) ( x x0 ) ( y yn 1 ) ( y y0 )
( z zn 1 ) ( z z0 )
T S T S0 T S n 1 T S0 T S n 1 T S0
n 1
2 1 ... 1
1 2 ... 1
W c2
... ... ... ...
1 1 ... 2
Where is the standard deviation of TOA measurements for any receiver (assuming TOA
measurements errors are of the same value at all the receivers sites)
G c 2 D ( x, y , z )
( AT W 1 A) 1 c 2 D( x, y, z )
Same as :
1
2 1 ... 1
1 2 ... 1
( AT c 2 A) 1 c 2 D( x, y, z )
... ... ... ...
1 1 ... 2
After simplification :
1
2 1 ... 1
1 2 ... 1
D ( x, y , z ) ( A
T
A) 1
... ... ... ...
1 1 ... 2
The matrix D allows us to calculate the Horizontal and Vertical Dilution of Precision (HDOP and
VDOP):
Interrogator
1. First, the aircraft TXPR (at location T) must be interrogated by a multilateration system interrogator.
2. Second, as a response to the interrogation, the TXPR for each sensor is the time difference between
when the interrogation is radiated and the sensor receives the TXPR response.
2.2.2 Formulas
This section will describe all formulas used in two implementations of the multilateration
performance modelling system.
The covariance matrix G of errors in the Cartesian co-ordinates can be calculated by transformation
of the covariance matrix W into the Cartesian 3D space using a transform matrix A :
The transform matrix A is a function of the positions of the receiver sites Si and the target position
T.
2 1 ... 1 1
1 2 ... 1 1
... ... ... ... ...
W c2
1 1 ... 2 1
El2
1 1 ... 1 2
Where is the standard deviation of TDOA measurements for any receiver (assuming TOA
measurements errors are of the same value at all the receivers sites) and El is the standard
deviation of the TSOA measurement (including TDOA error 0 and a transponder latency jitter).
Which brings us to the Standard deviations of horizontal and vertical positions ( Hor , Vert ).
Vert z G(3,3)
1. TDOA : The ability for a sensor to receive and measure the TDOA relies on the following factors
EIRP of the TXPR (aircraft signal)
Loss in the radio propagation path
Sensitivity of the sensor receiver
Measurement error at the receiver
Reception of the TXPR signal must be available at least at four sensor sites.
2. TSOA : The ability for a sensor to receive and respond to an interrogation depends on the following
factors :
EIRP of the interrogator
Loss in the radio propagation
Sensitivity of the TXPR receiver
TXPR receiver latency jitter ( EL )
Measurement error at the receiver ( )
Then the second step of TSOA is the same as for TDOA.
The idea of this part being rapidity and simplicity in order to validate ATDI implementation, the variable inputs
will be limited as much as possible:
The TXPR position will be fixed for a given calculation and will be entered in a CSV file.
The list of sensors and interrogators will be following the TXPR position in the same CSV file in order to
input them in the calculation.
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The interface will allow you to enter all the inputs and select the output in only one window.
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Input data
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Output selection
Once the user has chosen from either TDOA and TSOA, selection of the desired calculation will become
available. ly
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Note that preceding calculation selection will be erased if the method of calculation is changed.
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The list of all fixed elements will be entered in a CSV (Comma Separated Variable) file (the TXPR is considered
as fixed in this implementation).
To achieve a correct TDOA or TSOA calculation, it will be needed to check which sensors are within reach of
the TXPR.
Following the philosophy of this first implementation the propagation model used in this case will be basic.
We will use the propagation loss in free space formula to calculate if each sensor is covered by the TXPR signal
and will discard from calculation any sensor out of reach.
Where:
A0 is the loss in free space (dB)
d is the distance
f is the frequency of the signal radiated by the TXPR
To achieve a TSOA calculation, it will be checked if the TXPR is covered by the signal radiated by the
interrogator (which is unique in this implementation phase).
We will use the same calculation method described in “2.3.1.4 TXPR Coverage”
2.3.1.6 Output
The software will display the result according to the checked option.
Only one calculation will be displayed at a given time for verification purpose.
1. TDOA : The ability for a sensor to receive and measure the TDOA relies on the following factors
EIRP of the TXPR (aircraft signal)
Loss in the radio propagation path
Sensitivity of the sensor receiver
Measurement error at the receiver
Reception of the TXPR signal must be available at least at four sensor sites.
2. TSOA : The ability for a sensor to receive and respond to an interrogation depends on the following
factors :
EIRP of the interrogator
Loss in the radio propagation
Sensitivity of the TXPR receiver
TXPR receiver latency jitter ( EL )
Measurement error at the receiver ( )
Then the second step of TSOA is the same as for TDOA.
In the ICS telecom implementation the TXPR position will be a variable as the goal is to display the result for
each pixel of the area of interest.
The stations and interrogators will be input by creating sites directly with ICS telecom interface.
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Input data
Except for the sensitivity data, and the positions of all the constituting elements, every requirement will be
entered in the input part of the window.
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Output selection
Once the user has chosen the desired calculation the button compute will become available.
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The list of all fixed stations (Sensors and Interrogators) will be input directly in ICS telecom interface. This is
meaning ICS telecom tools to input sites data will be usable. Configuration of sites will be accessible through
parameters window.
To achieve a correct TDOA or TSOA calculation, it will be needed to check which sensors are within reach of
the TXPR.
The implementation of the multilateration system in will use the coverage calculation engine of ICS telecom in
order to achieve the realistic coverage.
To achieve a TSOA calculation, it will be checked if the TXPR is properly covered by the signal radiated by the
interrogator (which is unique in this implementation phase).
We will use the same coverage calculation method described in “2.4.1.4 TXPR Coverage”
After the calculation is complete, ICS telecom will then display the result on the choosen cartography dataset.
ICS telecom main interface will then display the sensors, the interrogators and estimated error in RMS
(following the scale defined in the user palette) superposed to the cartography.