US Patent No. 10,921,416

MULTIVARIATE POSITION ESTIMATION


Patent No. 10,921,416
Issue Date February 16, 2021
Title Multivariate Position Estimation
Inventorship Jason Wilden, Salt Lake City, UT (US)
Assignee L3 Technologies, Inc., New York, NY (US)

Claim of US Patent No. 10,921,416

1. A method, performed by a tracker that comprises a computing system that is configured to receive periodic communications from a moving object and employ various types of information derived from the periodic communications to estimate a position of the moving object, the computing system comprising one or more computing devices, for performing multivariate position estimation to track the moving object with high accuracy, the method comprising:receiving periodic communications emitted from a moving object;
processing each of the periodic communications to generate a time of arrival measurement, an angle of arrival measurement, and a Doppler measurement for each respective periodic communication;
obtaining a tracker location representing where the tracker was located when each respective periodic communication was received; and
tracking the moving object by iteratively estimating an object location representing where the moving object was located when the moving object emitted each respective periodic communication using the time of arrival measurement, the angle of arrival measurement, the Doppler measurement, and the tracker location for the respective periodic communication, wherein the tracker estimates the object location for the respective periodic communication by minimizing a cost function that includes:
a time of arrival portion that incorporates the time of arrival measurement for the respective periodic communication;
an angle of arrival portion that incorporates the angle of arrival measurement for the respective periodic communication;
a Doppler portion that incorporates the Doppler measurement for the respective periodic communication; and
a tracker location portion that incorporates the tracker location when the respective periodic communication was received.