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Airways - Multilateration Phase I Gen PDF

A use case of the technique of multi-lateration for finding the position fix of aircraft coordinates using multiple approaches along with GPS

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0% found this document useful (0 votes)
91 views18 pages

Airways - Multilateration Phase I Gen PDF

A use case of the technique of multi-lateration for finding the position fix of aircraft coordinates using multiple approaches along with GPS

Uploaded by

mavv5455
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 18

Specifications

Multilateration function in ICS telecom

Multilateration function in ICS telecom 1/18


Table of Contents
Document History ......................................................................................................................... 3
1 Objectives of the Document .................................................................................................... 4
2 Requirements for multilateration performance modelling ....................................................... 4
2.1 Time difference of arrival (TDOA) ..................................................................................................4
2.1.1 Principle .......................................................................................................................................................... 4
2.1.2 Formulas ......................................................................................................................................................... 5
2.2 Time Sum of Arrival (TSOA) ...........................................................................................................8
2.2.1 Principle .......................................................................................................................................................... 8
2.2.2 Formulas ......................................................................................................................................................... 8
2.3 Implementation in independant software ................................................................................... 10
2.4 Implementation in ICS telecom ................................................................................................... 15

Multilateration function in ICS telecom 2/18


Document History

Version Date Author Description


0.1 11.08.08 Emmnauel Grenier Initial requirements
0.2 14.08.08 Eric Lalaurie Principle and Formulas for TDOA and TSOA
0.3 19.08.08 Eric Lalaurie Specification of the third party software
0.4 20.08.08 Eric Lalaurie Specification of the implementation in ICS Telecom
0.5 25.08.08 Eric Lalaurie Typos and corrections
0.6 09.09.08 Eric Lalaurie Updated ICS telecom interface screenshots

Multilateration function in ICS telecom 3/18


1 Objectives of the Document

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)

2 Requirements for multilateration performance modelling

2.1 Time difference of arrival (TDOA)


2.1.1 Principle
An aircraft TXPR radiates a signal, either in response to an interrogation or spontaneously, then the
TDOA for the radiated signal is calculated at each sensor, and the aircraft position resolved using
TDOA methodology.

Multilateration function in ICS telecom 4/18


2.1.2 Formulas

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.

Three-dimensional position error in Cartesian co-ordiantes is characterised by th e Covariance matrix


of the 3x3 size:

  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

T  Si being the distance between the target T and the sensor Si

Multilateration function in ICS telecom 5/18


W is the Covariance matrix characterising the errors of the measurements

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)

After the transformation the Covariance matrix G can be expressed as follow :

G  c 2     D ( x, y , z )

Replacing G by its value we get :

( 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):

 HDOP  D(1,1)  D(2, 2)


 VDOP  D(3,3)

Multilateration function in ICS telecom 6/18


Which brings us to the Standard deviations of horizontal and vertical positions (  Hor ,  Vert ). These
are achieved by applying the same coefficient respectively to the HDOP and the VDOP:

 Hor  c    HDOP( x, y, z )  c    D(1,1)  D(2, 2)

 Vert  c   VDOP( x, y, z )  c    D(3,3)

Multilateration function in ICS telecom 7/18


2.2 Time Sum of Arrival (TSOA)
2.2.1 Principle

Interrogator

TSOA has two steps:

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 :

G  ( AEH T  WEH 1  AEH )1

The transform matrix A is a function of the positions of the receiver sites Si and the target position
T.

Multilateration function in ICS telecom 8/18


 ( 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 ) 
    
 T  S 2 T  S0 T  S2 T  S0 T  S2 T  S0 
A ... ... ... 
 
 ( 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

 ( x  xIrr ) ( x  x0 ) ( y  yIrr ) ( y  y0 ) ( z  z Irr ) ( z  z0 ) 
 T S  T S T  S Irr

T  S0 T  S Irr

T  S 0 
 Irr 0

And W is the Covariance matrix characterising the errors of the measurements

 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 ).

 Hor   x2   y2  G (1,1)  G (2, 2)

 Vert   z  G(3,3)

Multilateration function in ICS telecom 9/18


2.3 Implementation in independant software
2.3.1.1 Requirements

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.

Multilateration function in ICS telecom 10/18


2.3.1.2 Graphical user interface

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Multilateration main interface

The interface will allow you to enter all the inputs and select the output in only one window.
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Input data

Multilateration function in ICS telecom 11/18


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 from either TDOA and TSOA, selection of the desired calculation will become
available. ly
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TDOA calculation selection

Note that preceding calculation selection will be erased if the method of calculation is changed.

Multilateration function in ICS telecom 12/18


If TSOA is selected then some input boxes related to TSOA calculation will be made available:
 TXPR latency jitter
 Interrogation site number
 Interrogator EIRP

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TSOA calculation selection

2.3.1.3 Station list

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).

Following is the structure of this file:


Station Callsign Sensitivity (W) Longitude (NZMG) Lattitude (NZMG) Elevation (m)

 Each line of the file will represent a station


 The first line is dedicated to the TXPR, Elevation does not need to be input in this case as it will be
input in the main interface in the preferred unit (feet or meters)
 Only one Interrogator can be input in the list for this implementation
 The Reference sensor and the interrogation site can be input anywhere in the file and will be selected
in the main interface by entering the corresponding line numbers.
 Coordinates will be entered following the NZMG datum

Multilateration function in ICS telecom 13/18


2.3.1.4 TXPR coverage

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.

The formula used will be the following:

A0 = 32,4  20 log   20 log dmmmmmmdB

Where:
 A0 is the loss in free space (dB)
 d is the distance
 f is the frequency of the signal radiated by the TXPR

2.3.1.5 Interrogator coverage

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.

Result box will display the selected calculation

User will be able to display:


 HDOP value for verif purposes
 VDOP value for verif purposes
 Standard deviation of Horizontal position
 Standard deviation of Vertical postion

Multilateration function in ICS telecom 14/18


2.4 Implementation in ICS telecom
2.4.1.1 Requirements

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.

2.4.1.2 Graphical user interface


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Multilateration main interface in ICS

Multilateration function in ICS telecom 15/18


The interface will allow you to enter all the inputs and select the output in only one window.

This button will open the


power converter of ICS
telecom

l y This button will open the


o n threshold selection of ICS
e telecom
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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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TDOA calculation selection

Multilateration function in ICS telecom 16/18


If TSOA or composite method is selected then some input boxes related to TSOA calculation will be made
available:
 TXPR latency jitter
 Interrogation site number

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TSOA calculation selection

2.4.1.3 Station list

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.

2.4.1.4 TXPR coverage

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.

2.4.1.5 Interrogator 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”

Multilateration function in ICS telecom 17/18


2.4.1.6 Output

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.

Multilateration function in ICS telecom 18/18

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