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INDIVIDUAL RESEARCH ESTIMATION OF LOCATION OF RADIO DEVICES USING TIME DIFFERENCE OF ARRIVAL AND DOPPLER SHIFTS

BY NIVETHITHA JAYARAJ EE-SYSTEMS UC IRVINE UNDER THE GUIDANCE OF KASPER BONNE RASMUSSEN 12/14/2012

S.No 1 2(a) 2(b) 3 3(a) 3(b) 4 5 6 7

INDEX Title Motivation for this project Traditional Tracking Methods Comparison of Tracking Methods Proposed System TDOA Hyperboles Doppler Velocity Estimation of Doppler Velocity in Actual Radio systems/Devices Algorithm in Detail Assumptions in This method Result

Pg.No 2 2 3 4 4 5 5 6 14 14

3 1.MOTIVATION FOR THIS PROJECT Though GPS gives an accurate location of radio devices, there are some scenarios that serve as the motivation for this project. (a) Location during Emergency calls only for Mobile Devices When mobiles make emergency calls, they do not have a network. Thus we need to locate them without any knowledge form the network side. (b) Verification of location of radio device from the transmitter side There might be scenarios where the resources of a network should be accessed only withing certain geographic area. A malicious radio device that knows this might fake it's location when queried by the network, and say that it is actually within the approved geographic location. This method will serve as a process where the network can verify for itself. (c) Tracking of non-Co operative devices In many scenarios we might need to track suspect radio devices that will not co-operate. In such case this is ideal because the radio device gets no knowledge that it is being tracked. 2.(a)TRADITIONAL TRACKING METHODS

Fig.1. Traditional Tracking Methods for Radio Devices

4 (a) Cell of Origin: Here base stations look at the cell mobile are in,based on the PN sequence they are using. (b) Propagation time: The actual round trip time for a packet between the transmitter and each of the radio devices leads to propagation time for each receiver. Then circles are drawn that show the possible locations of the radio device. The intersection of three such circles gives the location of the device. This method needs all the receivers and the radio device to be synchronous with each other. Thus it cannot be used for non co-operative targets. (c)Time difference of arrival: Here pairwise difference in arrival times of same message at various receiver sis calculated and this gives a hyperbole as the possible locations of the radio device. Intersection of two such hyperboles leads to the location of the device. The device need not be synchronous with the rest of the system. This is apt for targets that do not cooperate. (d)Angle of arrival: This method requires antenna arrays at the receiver. A line pertaining to the angle of arrival of the signal is calculated. The intersection of these lines gives the location of the device. We should note that for finding N points, we need minimum N+1 receivers in all these methods. 2.(b) COMPARISON OF TRADITIONAL TRACKING METHODS

Fig.2. Comparison of Tracking Methods

5 From the above picture it is clear that after GPS, TDOA methods are the most effective. 3.PROPOSED SYSTEM In this project, we have come up with a system that can locate a radio device using just two receivers, provided we can extract the doppler velocity of the devices. We have knowledge of location of both receivers, that are separated by distance d on the y axis. We also know the doppler velocities of the device for each receiver. Since we need only two receivers to be in synchronization the accuracy becomes better. 3.(a) TDOA Hyperboles

Fig.3. Time difference of Arrival geometry For convenience, we place both the receivers on the y axis. They are at a distance d apart form each other.

6 Given (X,Y) is the location of the radio device we need to calculate the distance between radio device and each receiver. These are R1 and R2, obtained by using the distance formula. Then we calculate R that is the difference in distance traveled by message between the two receivers. Given velocity and R, we can easily calculate time difference of arrival t. Solution of the equation for R gives y in terms of x. 3.(b) Doppler Velocity When the emitter or observer are moving relative to each other, an apparent shift in frequency can be observed. This is termed as the doppler effect. The apparent shift in frequencies depends on the radial velocities of the receiver and the transmitter. This gives rise to doppler velocity. Doppler velocity can be calculated using the following equation

Where f=apparent frequency c=speed of light vr=radial velocity of receiver vs=radial velocity of source f0=actual frequency of transmission 4.ESTIMATION OF DOPPLER VELOCITIES IN ACTUAL RADIO DEVICES/SYSTEMS (a) WiMax and iDEN The data collected by the Ericsson WiMax and iDEN networks did not have any pertinent information. All the data was about the number of devices present(MAC ID), and data rates, modulations being used. (b) CDMA The Ericsson CDMA network has information of use. It can give the absolute time of arrival of a message at two base stations. The time difference of arrival can be calculated fomr these. Also it is possible to obtain the frequencies that appear at the base stations after Doppler shifting. Traditionally base stations are programmed to overcome these Doppler shift of frequencies and do not store the frequencies. However it will be possible to obtain the frequencies after some changes in the code of the base stations.

(c)RF Front Ends most companies have their own proprietary software for diagnostics and debugging of RF front end devices. Of these the most commonly used ones for mobile phones are Qualcomm's QxDM . It stands for Qualcomm Extensible Diagnostic Monitor. IT allows collection of on air 3G data and device data for better characterization. As with Qualcomm many other companies like Kyocera, Skyworks have their own software. They need to be purchased from the companies before they can be used. The licenses are expensive, but these directly give us the information we need. The supported technologies include CDMA,GSM,GPRS,EDGE,WCDMA,HSPA,HSPA+,LTE. This can be run with any commercial RF front end, provided we find a way to enable the 'Diag' interface of the device. Diag stands for diagnostic. Once this has been enabled, and the software installed then we can start collecting diagnostic logs. All such DSP have error log that notes the Doppler shift directly. This is obtained as the error from the Phase locked loop(PLL). However care must be taken because most oscillators in the PLL are of cheap quality, and they tend to drift with temperature. Also as the receiver moves away from line of sight form the transmitter, the accuracy decreases based on the cosine of the angle between them. This leads to the cosine effect. From all the possibilities looked into, this seems the most promising. Proprietary software needs to be purchased and then a code can be written to suit our needs, to extract Doppler information from the DSP logs. 5.ALGORITHM IN DETAIL Step 1:Plotting of hyperbole for first packet The first step in the algorithm is to calculate the initial hyperbola corresponding to the first message. We use the equation in section (3)(a) that gives us Y in terms of X. Taking distances from -2000 m to 2000 m along the x axis, sampling every 1 m the corresponding y coordinates are calculated. One arm of the hyperbola is plotted.

Fig.4. Hyperbole of first message plotted based on TDOA

Step 2:Calculation of Doppler velocities The next step is to calculate the actual velocity,based on the doppler shifts. The velocities are calculated from the observed frequencies using equation in section (3)(b). For each receiver, there is an observed frequency, which in turn gives a velocity corresponding to each receiver.

Fig.5. Polar to Cartesian conversion of vectors

9 Every vector can be expressed in two form, polar and caretsian. In polar form it is expressed in terms of it's magnitude(r) and the angle( ) it forms with the x axis,taken in anti clockwise direction.

Thus v=(r,) gives a complete and full representation of the vector. This vector can be represented entirely in terms of x and y coordinates. As is obvious from the figure above, x=r cos y=r sin Velocities observed at the receivers are nothing but the projections of actual velocity along the direction between the line joining the receiver and the point on the hyperbola. In our case, we have both the resultants. Thus adding them up will give us the actual velocity at a point on the hyperbole. This is carried out by simple vector addition using triangle law. It is shown below and self explanatory.

Fig. 6. Addition of vectors based on triangle law We take a point on the hyperbole and calculate the direction between that point and the receiver. Since we have the coordinates of the receiver(X1,Y1), and the point on the hyperbole(X2,Y2) this is done by using the formula =tan inverse((Y2-Y1)/(X2-X1)) This leaves us with two velocity magnitudes and directions for each point. Now it is mere vector addition.

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Thus for every point on the hyperbole, we calculate the resultant velocity at that point, given the observed frequencies at the two receivers. Step 3: Calculating 'Displaced' Hyperbole In the previous step, we calculated the velocity. Each receiver will have knowledge of when it receives the messages/packets. Thus, we calculate the time between the first packet and the second packet, T. Given velocity and time, multiplication yields displacement D. We plot these D. Given below is some of the curves obtained for various combinations of inputs. In the following plots, TDOA is 1ns,v1=25m/s and v2=30m/s. The magnitudes of the velocities were kept constant but their signs changed. Distance between receivers is 10m. The order of velocities is (+25,-30),(+25,+30),(-25,-30) and (25,25) starting from the first picture respectively

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Fig. 7. Displaced Hyperboles for various scenarios What we have done is to simply plot the location of each point on the initial hyperbole,given the resultant velocity and direction at that point. This gives rise to the 'displaced' hyperbole.

12 Step 4: Plotting hyperbole corresponding to second message This step is merely a repetition of the first step. Step 5: Calculation of point of intersection The location of the transmitter/radio device is clearly the intersection points between the 'displaced' hyperbole and the second hyperbole. However as can be observed from the above pictures, coming up with a close form expression for the displaced hyperbole is not simple. So an alternate simpler method is used to calculate the intersection. Given (Xi,Y1i) points on the displaced hyperbole, it is easy to calculate points on the second hyperbole (Xi,Y2i) ,where i=no.of data points we use. This can be done because we have the expression for y given x for second hyperbole. Now we can simply do Yi=Y2-Y1i. At the point of intersection, both are equal. This implies their difference is zero. Thus we need points where Y is zero. Going ahead with a Newton-Rhapson method of convergence given X values is the straightforward approach, but we will be wasting time and space as this is a method where convergence is affected by initial choice of point on the x-axis. So a simpler method can be used where a signum function is done on every entry of Y. That leaves us with a +1 for positive entries,-1 for negative entries and 0 for zero values. First we scan for zeros. If present the indices are noted. Else the neighbors are added and wherever the zero crossing occurs, then that leads to a zero entry ((+1)=(-1)). The index of the zeros is noted. Now that the indices are available, actual points on the second curve corresponding to the indices are looked up. The actual point lies between this point and the next data entry point. We can average or give these points directly as the answer. It all depends on the resolution between points. Given resolution of 1m, the worst case error was 0.5 m using this method Step 6: Plot and display points of intersection We get two points that include possible location of radio transmitter/device. This is due to the symmetric nature of the hyperbole.

Step 7:End

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Fig.8. Image showing points of intersection

Fig. 9. Output in MATLAB window

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6.ASSUMPTIONS IN THIS METHOD: The receivers need to be synchronized upto order of nano seconds for this method to be very accurate. In practical commercial systems this is actually not true. This is the only major source of error in this method. We also assume the receivers are able to resolve non line of sight paths. 7.RESULT: Successful positioning of radio devices was done using time difference of arrival and Doppler velocities. Further practical ways to estimate Doppler velocities were investigated and one prospective method identified.