Satellite geolocation is the process of locating the origin of a signal appearing on a satellite communication channel. Typically, this process is used to mitigate interference on communication satellites. Usually, these interference signals are caused by human error or equipment failure, but can also be caused by deliberate jamming. Identifying the geographical location of an interfering signal informs the mitigation activity.
Many communication satellites share a given frequency band. As a signal is transmitted to a particular satellite there is some amount of side lobe or spillover energy that is transmitted to adjacent satellites. At a receive station that has two antennas, one pointed at the primary satellite (the satellite the signal is intended for) and a secondary satellite (a satellite that is receiving side lobe energy), both paths of the signal are received and measured. From a comparison of those paths, two measurements can be made: Differential Time Offset (DTO) and Differential Frequency Offset (DFO). These measurements are often implemented through correlation processing. DTO represents the difference in time that it takes the signal to travel through the two satellites, while DFO represents the difference in frequency the received signals present through the two satellites. The frequency differences observed are due to different Doppler shift resulting from relative satellite motion and differences in the translation frequencies of the two satellite channels. Channel translation frequencies and downlink Doppler shift and delay can be calibrated out of the measurements by observing transmitters of known location simultaneously on the channels. This leaves the uplink DTO and DFO as the observables. See 'Reference Signals' below.
Once a DTO calculated, it can be combined with the known position of the satellites and the receiving station. This combination provides a locus of positions on the Earth’s surface for the source of the signal; from this result a line of position (LOP) can be derived. A similar line can be derived for the frequency differences. Where the two LOPs intersect is the signal transmission location. In addition to geolocation with a time LOP and a frequency LOP, a location can also be determined by finding the crossing point of two time LOPs. The second time LOP is an identical measurement using a different secondary satellite, or using the same secondary satellite, but later in time. Similarly, two frequency LOPs can be used to determine a location. It can be shown that, in general, it is expected that the two LOPs intersect in two places. In many circumstances it is possible to discount one of the intersections e.g. due to it not being in the coverage area of one or both satellites. In some circumstances, it is not possible to distinguish intersections from a pair of LOPs, in which case, additional LOPs need to be determined.
While measuring the DTO and DFO will give you an idea of the location of the signal source, the location will be inaccurate. There are many biases within the measurement system that, if not accounted for properly, will manifest themselves as time delays or frequency offsets. For example, while a satellite translation frequency is known to within a few kHz, accurate geolocation requires frequency measurement accuracies of single mHz.
In order to determine the position of signal source, a second set of measurements is required. Typically, this is done by making DTO and DFO measurements for a reference signal simultaneous with the target signal measurement. The measurement of the reference signal is purely passive and simply serves to remove the biases in the system. The same measurements that are made for the target signal, DTO and DFO, are made for the reference signal. The key to a reference signal is that the transmit location of that signal is known. By comparing the DTO of the reference signal and the DTO of the target signal a result known as Time Difference of Arrival (TDOA) can be calculated. Likewise, from the DFO of the target and the DFO of the reference signal, a Frequency Difference of Arrival (FDOA) can be determined. The TDOA and FDOA results provide a finite number of locations on the Earth’s surface, and therefore, lines of position (LOPs) are determined from the TDOA and FDOA results.
A limitation as to how accurately a location can be obtained is knowledge of the satellites' positions and velocities generated by the satellite ephemerides (orbit descriptors). A single reference geographically close to the target will give a high degree of cancellation of the location effects of ephemeris error. Measurements on signals from multiple reference sites can be used to improve the accuracy of the satellite ephemerides thereby provided improved geolocation accuracy generally.
TDOA and FDOA results can be gathered and combined in various methods to produce geolocation results. Each method has its advantages and disadvantages in different measurement scenarios.
TDOA-TDOA geolocation is performed, generally, by measuring DTO values using two secondary satellites, or three total satellites. By doing this, two TDOA lines are generated, hopefully, with a crossing point. TDOA – TDOA geolocation is ideal for moving targets, since the movement of the target will introduce varying and random frequency changes, causing an FDOA result to be useless, unless obtained from a highly inclined satellite. TDOA-TDOA geolocation will not work for unmodulated signals. Due to the repetitive nature of the signal, no unique TDOA solution will exist. One problem with using only TDOA lines of position is that they tend to be north-south orientated and close to parallel, so that the “crossing point” of a TDOA-TDOA measurement can be error prone and uncertain, as it is “hidden” in a long intersection of the lines. Care is also necessary in interpreting the results from moving targets if the two TDOA observations are not obtained simultaneously since the target will have moved between observations.
FDOA-FDOA geolocation is accomplished by using three satellites, or by using time separated measurements on two satellites. The time separation can be as little as 5 minutes or as much as an hour or more. Again, the two FDOA lines are used to find a crossing point, or target location. FDOA-FDOA geolocation is necessary for CW signals. Geolocation on highly inclined satellites, either one of both being used in the measurement, will result in more accurate results by performing FDOA – FDOA geolocation. This is due to a large difference in relative motion, leading to a large difference in relative frequency between the two satellites. A related point is the error to FDOA-FDOA calculation contributed by ephemeris uncertainty is relatively small. Moving targets are not likely to be located using FDOA methods, unless using a highly inclined satellite. FDOA – FDOA geolocation has an interesting weakness in that for some amount of time per day, the two satellites used have very little differential frequency. This is due to the cyclical movement of the satellites. During those periods, FDOA measurements will not be ideal. In addition, the small amount of frequency difference being measured is much harder to accurately measure than the time differences.
TDOA-FDOA geolocation, in most scenarios, gives ideal results. By combining time lines, which, generally, are oriented north-south, and frequency lines, which, generally, are orientated east-west, you get a nearly perpendicular crossing. A perpendicular crossing means less uncertainty in the calculated location. TDOA-FDOA geolocation also has an interesting limitation in that there are generally two times per day, separated by around 12 hours, where the FDOA becomes very small and hard to relate to an accurate LOP. These times can be calculated based on known satellite ephemeris information and approximate transmitter location, and can therefore be avoided when taking FDOA measurements.
The process of geolocating a signal requires some knowledge of the signal and all the techniques in order to get an accurate location.
The geolocation of a CW signal is nearly impossible with TDOA-FDOA. Nevertheless, a nominally CW transmission can contain imperfections, especially if a station transmits near its maximum EIRP. Hence, it often has a phase noise component which might be recognized as a modulated signal and therefore used to make TDOA measurements. However, it is generally more accurate to locate a CW carrier using FDOA-FDOA geolocation, even for non inclined satellites.
This is especially used today whenever high power CW jamming of actual full power multiplex transmissions occurs.
The Global Positioning System (GPS), originally Navstar GPS, is a satellite-based radio navigation system owned by the United States government and operated by the United States Space Force. It is one of the global navigation satellite systems (GNSS) that provides geolocation and time information to a GPS receiver anywhere on or near the Earth where there is an unobstructed line of sight to four or more GPS satellites. It does not require the user to transmit any data, and operates independently of any telephonic or Internet reception, though these technologies can enhance the usefulness of the GPS positioning information. It provides critical positioning capabilities to military, civil, and commercial users around the world. Although the United States government created, controls and maintains the GPS system, it is freely accessible to anyone with a GPS receiver.
Loran-C is a hyperbolic radio navigation system that allows a receiver to determine its position by listening to low frequency radio signals that are transmitted by fixed land-based radio beacons. Loran-C combined two different techniques to provide a signal that was both long-range and highly accurate, features that had been incompatible. Its disadvantage was the expense of the equipment needed to interpret the signals, which meant that Loran-C was used primarily by militaries after it was introduced in 1957.
A Doppler radar is a specialized radar that uses the Doppler effect to produce velocity data about objects at a distance. It does this by bouncing a microwave signal off a desired target and analyzing how the object's motion has altered the frequency of the returned signal. This variation gives direct and highly accurate measurements of the radial component of a target's velocity relative to the radar. The term applies to radar systems in many domains like aviation, police radar detectors, navigation, meteorology, etc.
Celestial navigation, also known as astronavigation, is the practice of position fixing using stars and other celestial bodies that enables a navigator to accurately determine their actual current physical position in space or on the surface of the Earth without relying solely on estimated positional calculations, commonly known as "dead reckoning." Celestial navigation is performed without using satellite navigation or other similar modern electronic or digital positioning means.
Radio navigation or radionavigation is the application of radio frequencies to determine a position of an object on the Earth, either the vessel or an obstruction. Like radiolocation, it is a type of radiodetermination.
Synthetic-aperture radar (SAR) is a form of radar that is used to create two-dimensional images or three-dimensional reconstructions of objects, such as landscapes. SAR uses the motion of the radar antenna over a target region to provide finer spatial resolution than conventional stationary beam-scanning radars. SAR is typically mounted on a moving platform, such as an aircraft or spacecraft, and has its origins in an advanced form of side looking airborne radar (SLAR). The distance the SAR device travels over a target during the period when the target scene is illuminated creates the large synthetic antenna aperture. Typically, the larger the aperture, the higher the image resolution will be, regardless of whether the aperture is physical or synthetic – this allows SAR to create high-resolution images with comparatively small physical antennas. For a fixed antenna size and orientation, objects which are further away remain illuminated longer - therefore SAR has the property of creating larger synthetic apertures for more distant objects, which results in a consistent spatial resolution over a range of viewing distances.
Radiolocation, also known as radiolocating or radiopositioning, is the process of finding the location of something through the use of radio waves. It generally refers to passive uses, particularly radar—as well as detecting buried cables, water mains, and other public utilities. It is similar to radionavigation, but radiolocation usually refers to passively finding a distant object rather than actively one's own position. Both are types of radiodetermination. Radiolocation is also used in real-time locating systems (RTLS) for tracking valuable assets.
The angle of arrival (AoA) of a signal is the direction from which the signal is received.
Real-time kinematic positioning (RTK) is the application of surveying to correct for common errors in current satellite navigation (GNSS) systems. It uses measurements of the phase of the signal's carrier wave in addition to the information content of the signal and relies on a single reference station or interpolated virtual station to provide real-time corrections, providing up to centimetre-level accuracy. With reference to GPS in particular, the system is commonly referred to as carrier-phase enhancement, or CPGPS. It has applications in land surveying, hydrographic surveying, and in unmanned aerial vehicle navigation.
The VERA passive radar is an electronic support measures (ESM) system that uses measurements of time difference of arrival (TDOA) of pulses at three or four sites to accurately detect and track airborne emitters. It is reportedly able to detect military "invisible aircraft". The manufacturer is ERA a.s., based in Pardubice.
Ramona was the second generation Czechoslovak electronic support measures (ESM) system that uses measurements of time difference of arrival (TDOA) of pulses at three or four sites to accurately detect and track airborne emitters by multilateration.
Tamara was the third generation Czechoslovak electronic support measures (ESM) system that used measurements of time difference of arrival (TDOA) of pulses at three or four sites to accurately detect and track airborne emitters by multilateration. Tamara's designations were KRTP-86 and KRTP-91 and it carried the NATO reporting name of Trash Can. The designation was derived from the Czech phrase "Komplet Radiotechnického Průzkumu" meaning "Radiotechnical Reconnaissance Set". It was claimed to be the only one in the world able to detect military "invisible aircraft".
Pseudo-range multilateration, often simply multilateration (MLAT) when in context, is a technique for determining the position of an unknown point, such as a vehicle, based on measurement of the times of arrival (TOAs) of energy waves traveling between the unknown point and multiple stations at known locations. When the waves are transmitted by the vehicle, MLAT is used for surveillance; when the waves are transmitted by the stations, MLAT is used for navigation. In either case, the stations' clocks are assumed synchronized but the vehicle's clock is not.
StarFire is a wide-area differential GPS developed by John Deere's NavCom and precision farming groups. StarFire broadcasts additional "correction information" over satellite L-band frequencies around the world, allowing a StarFire-equipped receiver to produce position measurements accurate to well under one meter, with typical accuracy over a 24-hour period being under 4.5 cm. StarFire is similar to the FAA's differential GPS Wide Area Augmentation System (WAAS), but considerably more accurate due to a number of techniques that improve its receiver-end processing.
Frequency difference of arrival (FDOA) or differential Doppler (DD), is a technique analogous to TDOA for estimating the location of a radio emitter based on observations from other points.. TDOA and FDOA are sometimes used together to improve location accuracy and the resulting estimates are somewhat independent. By combining TDOA and FDOA measurements, instantaneous geolocation can be performed in two dimensions.
The UDOP multistatic radar and multiradar system (MSRS) utilizes Doppler radar for missile tracking and trajectory measurement. A target is illuminated at 450 MHz. Five receiving stations, located along the baselines with the lengths from 40 to 120 km, receive signals from the target's transponder at 900 MHz. These five stations yield slant-range rate. To compute the range or position, an initial position is required from some other tracking system. The random error is 6 cm (2.4 in), but total error includes the systematic error of 2.7 m (8.9 ft) plus the initial error. UDOP had relatively low cost compared with other high-accuracy systems. In the US, MSRS has found important application in the precision measurement of missile trajectories at the Air Force Eastern Test Range, which extends from the Florida mainland to the Indian Ocean. These MSRSs include the AZUSA, the MISTRAM, and the UDOP. All systems employ a cooperative beacon transponder on the observed target and a ground-based transmitting station with several receiving stations at separate, precisely located sites.
The error analysis for the Global Positioning System is important for understanding how GPS works, and for knowing what magnitude of error should be expected. The GPS makes corrections for receiver clock errors and other effects but there are still residual errors which are not corrected. GPS receiver position is computed based on data received from the satellites. Errors depend on geometric dilution of precision and the sources listed in the table below.
Precise Point Positioning (PPP) is a global navigation satellite system (GNSS) positioning method that calculates very precise positions, with errors as small as a few centimeters under good conditions. PPP is a combination of several relatively sophisticated GNSS position refinement techniques that can be used with near-consumer-grade hardware to yield near-survey-grade results. PPP uses a single GNSS receiver, unlike standard RTK methods, which use a temporarily fixed base receiver in the field as well as a relatively nearby mobile receiver. PPP methods overlap somewhat with DGNSS positioning methods, which use permanent reference stations to quantify systemic errors.
Trilateration is the use of distances for determining the unknown position coordinates of a point of interest, often around Earth (geopositioning). When more than three distances are involved, it may be called multilateration, for emphasis.
Geopositioning is the process of determining or estimating the geographic position of an object.
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