Method and apparatus for estimating position of signal source

Patent metadata

Field	Value
Publication number	US-11977175-B2
Application number	US-202117480903-A
Country	US
Kind code	B2
Filing date	Sep 21, 2021
Priority date	Sep 23, 2020
Publication date	May 7, 2024
Grant date	May 7, 2024

Abstract

Provided is a technology for increasing accuracy of position estimation by estimating a position of a signal source based on an error due to altitudes of a sensor and a signal source and an error due to a pitch of an aircraft as well as an error due to curvature of the earth. At this time, a position estimation method may include receiving measurement data from a plurality of sensors, estimating first position data of the signal source based on the measurement data, identifying an altitude error of the first position data, and estimating second position data that is data obtained by correcting the first position data based on the altitude error.

First claim

What is claimed is:

1. A method of estimating a position of a signal source, the method comprising:
receiving measurement data from a plurality of sensors;
estimating first position data of the signal source based on the measurement data;
identifying an altitude error of the first position data; and
estimating second position data that is data obtained by correcting the first position data based on the altitude error, wherein the estimating of the second position data includes estimating a position of a signal source in a three-dimensional (3D) space by removing a corning error and an error due to a pitch of an aircraft, using an operation between a direction vector for an arrangement of the sensors and a direction vector for the signal source in the 3D space.

2. The method of claim 1 , wherein the identifying of the altitude error comprises:
identifying an altitude error range based on the altitude error;
identifying a reference altitude error tolerance threshold; and
identifying a result of comparison between the altitude error range and the reference altitude error tolerance threshold.

3. The method of claim 2 , wherein when an altitude error range for the first position data is greater than the reference altitude error tolerance threshold, the estimating of the second position data comprises:
estimating the second position data by designating an altitude of the first position data.

4. The method of claim 1 , wherein the estimating of the first position data comprises:
determining a direction vector for the signal source using the measurement data and position data of the sensors;
determining a direction vector for an arrangement of the sensors;
estimating predicted direction information of the signal source using an operation between the direction vector for the signal source and the direction vector for the arrangement of the sensors;
determining an error of the signal source using direction information based on the measurement data and the predicted direction information;
determining a correction value using a least square error method to reduce the error; and
correcting position information of the signal source by reflecting the correction value.

5. The method of claim 1 , wherein the estimating of the second position data comprises:
setting the first position data for which an altitude is designated, to be initial position information;
determining a direction vector for the signal source using position data of the sensors;
determining a direction vector for an arrangement of the sensors;
estimating predicted direction information of the signal source using an operation between the direction vector for the signal source and the direction vector for the arrangement of the sensors;
determining an error of the signal source using direction information based on the measurement data and the predicted direction information;
determining a correction value for a latitude and a longitude excluding an altitude using a least square error method to reduce the error; and
correcting position information of the signal source by reflecting the correction value.

6. The method of claim 5 , wherein a limitation is set for the correction value such that the second position data converge.

7. The method of claim 5 , further comprising:
outputting a corrected second position data when the correction value is less than a reference correction value, or recorrecting the corrected second position data when the correction value is greater than or equal to the reference correction value.

8. A non-transitory computer readable medium having instructions stored thereon that, when executed by a processor, cause the processor to perform a method of estimating a position of a source signal, the instructions comprising:
receiving measurement data from a plurality of sensors;
estimating first position data of the signal source based on the measurement data;
identifying an altitude error of the first position data; and
estimating second position data that is data obtained by correcting the first position data based on the altitude error, wherein the estimating of the second position data includes estimating a position of a signal source in a three-dimensional (3D) space by removing a corning error and an error due to a pitch of an aircraft, using an operation between a direction vector for an arrangement of the sensors and a direction vector for the signal source in the 3D space.

9. An apparatus for estimating a position, the apparatus comprising:
a communicator configured to receive measurement data from a plurality of sensors;
a memory configured to store at least one instruction; and
a processor configured to execute the at least one instruction to estimate first position data of a signal source based on the measurement data, identify an altitude error of the first position data, and estimate second position data that is data obtained by correcting the first position data based on the altitude error,
wherein the processor configured to estimate a position of a signal source in a three-dimensional (3D) space by removing a corning error and an error due to a pitch of an aircraft, using an operation between a direction vector for an arrangement of the sensors and a direction vector for the signal source in the 3D space when estimating the second position data.

Assignees

• Agency Defense Dev

Inventors

• Kim Sang Won
• Lee Dong Keun
• Joo Jeung Min
• Kim Jung Hoon
• Jo Sung Jin

Classifications

• G01S5/0268 Primary

  by deriving positions from different combinations of signals or of estimated positions in a single positioning system · CPC title

• G01S5/021 Primary

  Calibration, monitoring or correction (G01S5/0252 takes precedence) · CPC title

• G01S5/0244

  Accuracy or reliability of position solution or of measurements contributing thereto · CPC title

• G01S5/0247

  Determining attitude · CPC title

• G01S5/0295

  Proximity-based methods, e.g. position inferred from reception of particular signals · CPC title