Simple Solutions for Hyperbolic and Related Position Fixes The Anae Scenes Com Nalpton aed rom range dfereces ote stats ps additonal pice ofafrmation at investigate is shown ‘hat te alna Information she niger ide (he range iference to «outs statin the computation the rvigton fc s edoed Yo nding the rots of quadra the dina Informal she range another lation o hat (he nian eo the arth lp the fc cam Be bined by ee quarte By emphasing te undering geomet Interpretations, tse es an thee single saatons are made ‘han, The derivation le show that te same setae lite negation mensererent ar ange ance ecied eater 18, 199 eed December 15,1989 REE Log No S848 ‘Aor’ adres: The Ana Slenes Crp, 12100 Sune Hi is sRSTHMMOLTTS 3.00 © 1980 IEEE INTRODUCTION [Navigation systems such as LORAN or DECCA {1] use differences in the times of arrival of a radio signal at diferent stations to determine a navigation positon. Tes well known that time of arrival differences at a pair of stations locate the navigator on a hyperboloid ‘of revolution with fei atthe stations; that time arzval Aiferences at thee stations place the navigator ont he ‘curve of intersection of two Such hyperboloids. To fix the postion ata point on this curve of intersection requires additional information. Some examples of such information are: the position is on the surface ‘of an ellipsoidal Earth or another station exists which provides additional signal time of arrival differences. Navigation positions located in this way atthe intersections of hyperbotoids and other surfaces may be called hyperbolic postion fies. Usually, computing ‘hyperbole position fix requires an iterative algorithm ‘with its attendant inefficiency and convergence problem {1} [ts shown inthe following thatthe ‘computation of these hyperbolic position fixes can be reduced tothe solution of a quadratic or a quartic ‘equation. The simplicity ofthese solutions comes from the use of station baseline planes as references ‘and from exploring the geometrical properties of section of hyperboloids. The advantages of such references was fist noted in a related navigation problem (2) Measurements which are sums of signal times of artval ae also common. These measurements involve ‘lipsoids and lead tothe elliptic postion faxes. It is ‘obvious from our derivation below thatthe algorithms ‘derived for hyperbolic position fixes are also applicable ‘o elliptic position fixes NAVIGATION POSITION RELATIVE TO THREE STATIONS Fig. 1 shows a navigation postion relative to three stations A, B, and C. A st of local right-handed ‘orthogonal axes is chosen as shown. The origin is at fone of the stations, one axis i along a station baseline, and another axis is orthogonal to the two station baselines, or the station plane. Let V be the signal velocity, Typ = Ty Ty and Tuc = Ty ~T. be the differences in the times of signal arrival M the station pairs A, B and A, C, respectively. From Fig 1, one has VEapaR- [ere Veta = Ras o @ ge differences from the navigation postion to the stations, converted from.the measured time of arrival differences. hansposing the frst terms tothe right-hand sides of (1) and 2), ‘squaring and simplifying, one obtains RiP +2bax = Ra VHA) BE 24 eget 26y0 = Raa PATE (by where b and e = ef +e are the lengths of station baselines. These two equations, when squared, can be readily recognized as representing two hyperboloids of revolution with foc at A, B and A, C, respectively. Note that for measurements consisting of sums instead of differences of times of arrival, one would have a set of equations similar to (1) and (2) with positive signs between the radicals and with Ry, and Ree interpreted as range sums instead of range differences. Squaring these new equations would give a set of equations identical to (3) nd (4), although representing elipsoids of revolution rather than hyperboloids. Thus all derivations below which ‘originate from (3) and (8) are applicable to range ‘sum measurements as well as range difference measurements Let us consider, without loss of generality that the range difference Rs is not equal 10 2er0.! Then, ‘equating @) and (4) and simplifying, one obtains yegerth o "iy = Oimpes x = 6/2 I hat ase oe ean flow a ear proelure and expres (1) blowin ems fy ated of Bul 2 ‘Spare reament sunnecesay cae one can cnn a tseline ‘ch tht Rg = lest Ras = Rae =O. te Iter ston the rote tv ce the avgcion pon wl be a ab eget, ‘stance tthe thre sone FANG: SIMPLE SOLUTIONS FOR HYPERBOLIC AND RELATED POSITION FIXES (Rect @/Ras)~ ey {2 — RE, + Race Res(1~ (6/Ras))H/2ey- Substitating () into (), one obtains zaalder tenth ® 7 w ded been tf ® where d= —{1-(/Ra)? +8) co) ea be(1—O/Ra)?} ~2g0h ay F=(Ris/4)*(1~ O/Ras =H (12) ‘These equations admit the following geometric interpretations. Equation (8) defines a plane orthogonal to the station baselines. The navigation position mus ic inthis plane, or the curve of Intersection of the two hyperboloids is a plane curve. [Equation (8) says this curve must be symmetrical With respect tothe station plane. Equation (9) says the projection ofthis curve onto the X ~ Z plane is an elipe (d <0) ora hyperbola (d > 0). simple expression for this curve of intersection can be ‘obtained by a straightforward transformation of ‘coordinate axes such that the new origin ison the plane defined ty (5) and the new Y-axis i orthogonal fo the plane, We do not go into the details but wi point out that, as its projection discussed above, {his curve isan ellipse of a hyperbola depending on whether d <0 or d > 0. From (10) it ean be seen that for range sum measurement, d < 0 and the curve is an ellipse, being the intersection of a plane ‘nd an ellipsoid of revolution. For range difference ‘measurements this curve is the intersection of plane and a hyperbolod of revolution, and may be a Iyperbola, or an ellipe. It can be seen from (6) and (10) that an elipse would result if the angle subtended by the two baselines is smal, ‘One may now write the navigation postion vector as follows which depends on a single unknown parameter 2, Resals ex thjs Viet eertTe. (3) ‘As discussed above, ths vector defines a hyperbola (4.50) or an elise (d < 0) with mitror symmetry with respect (othe station plane, POSITION FIX WITH ADDITIONAL INFORMATION ‘The preceding section shows that when time of, arrival diferences or sums to three stations are known, an ellipse of a hyperbola on which the navigator lies can be computed. To fx the navigation position on thisclips or hyperbola, aditional information is required ‘Among the commonly sviiabe information, some Sill rere the potion on aodier plane; others wil place ons second degree srfice. For the former, {he navigation poston becomes the solution of tundra equation This i eaty to understand rom feometry. The intersection ofthis new plane with the Fave ofthe hyperbola or elie i a tight ine. And {he intersection ofthis ist derce straight line with 1 coplanar socond degree curve sich at hypebola or am eis isa rot of a quadratic equation, For the liner, the interaction of the plane ofthe hyperbola oF lips with second degree tree i a sccOnd deprce Planar curve Thus the navigation positon i at the Intersection of two coplanar second degree curves, oF the root of «quate equation Expressions fr these quadratic and quartic equations are derived below. Before proveding, however, it be noted that in the derivations that Ted io (13) we removed radials by squaring apropeat eqressions. Tis proces can introduce Ghtaousslitions. Only the roots which sty the measurement equations (1 and Q) ate admisble vigtionsoutons That extraneous oot ay exist ean be seen fom (6), (7) (0)-12) that he qorameter dye, fg hand therefore the vector R Es given in (1) remsin unchanged i Ry ad Ree are tepliced by “Rep and Ree ‘A. Altitude of Navigator Above Station Plane Known ‘An example of this situation is the local (lat Earth approximation) navigation of an aircraft equipped ‘with an altimeter. Since the altitude z is known, x is ‘obtainable asthe solution of (®) ie, dex teext(f-2)=0. (0a) the navigation position is atthe intersection of the plane 2 =known altitude with @ hyperbola or an ellipse and where two admissible solutions corresponding to the two roots of (9a) [pencrlly exist, This two-fold ambiguity can often be resolved if some knowledge of the general location of the navigator is avaible. B, Signal Arival Time Diflrence of Sum to Another Station Known ‘Tis is the problem of the hyperbolic or elliptic position fix; ie, the navigation position is atthe Intetsetion of three hyperbolods or ellipsoids. For this ‘ase, consider another station C! and the associated timing measurement T._ are availabe. The stations A, B, C’ provide another Set of reference and the timing measurements 7, and Tos define another plane on which the navigator lies. An alternative expression for the navigation position vector referenced t0 the stations A, B and C’i, similar to (13), salt (ex th)oP a Vor eeert pe a4) ‘where the primed quantities are computed jus ike the corresponding unprimed quantities, with the station C replaced by the station C’. Taking the scalar product of (13) and (14) with the unit vector j’ and equating the fesulls, one obtains ger th =(@ertGe7) & Vder Feax tf +(Eej) or, squaring and simplifying putegertr=0 as) where +(e PP {88+ G+7P as) HE P)— 2p! — BGT — ho TeF)) an ra feePy Whe GaP yy (18) ‘With known asthe solution of (15), and 2 folow from (5) and @, respectively. As discussed already, forthe present station, the navigation pesiion is athe iterscation ofa sraght ine anda hyperbola Oran elie, and generally has two solutions Ifthe fourth station Cis notin the plane ofthe stations ‘A, Band C, these two solutions correspond to two values of which are the two r008 of (15). The Sign of z in (8) can be resolved, because symmetries ‘with respect the A, B, Cand A, B,C’ planes are On the other hand ifthe four stations the two planes containing the navigati ponition and defined by the two Sts of references must Intersect ata line parle to the Z-axis, (15) must have double roots and the two possible navigation positions ‘te mirror images with respect o the station plane conresponding othe sign of 2 i (8) CC. Navigator on Elipsoid of Revolution ‘Toa very good approximation, the surface of the ‘ocean isan ellipsoid of revolution. Ths this isthe Situation forthe navigation of ships. Since a sphere isa special ease of an ellipsoid, this aso includes the special case that the range ofthe navigator to “another loation is known, the location of interest may be another station or the center of the Earth. As discussed already, the navigation position is now at the imersection of an ellipse witha coplanar hyperbola ‘of another elise, and its obvious from geometry that two of four points of intersection may exist. The ‘quartic that governs these intersections can be derived 25 follows. Let the position vectors from the two foci 10 IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS VOL. 26,NO.$_SEFTEMBER 1990ofthe elipoid to Station A be B and , respectively Gig. 1) From the defining property of an elipoid of revolution, one must ave [Fhe P +B + (G+H-G+H=20 (19) where is the semimajor axis ofthe ellipsoid. “Transposing and squaring twice, one obtains ((P?- QF — 402) +20P - Gyo 16a (0? + 28+ R +R) where P, Q, and R are the lengths ofthe vectors P.O, and B, respectively. By expressing the known sectors P and @ in terms of thelr components along the X—Y~Z axes defined in Fig 1, ican be readily seen that the above equation can be rearranged as folows ua? vex twa aVder rene yo(nex tm) co) where: us (beta? + desz}/4a — (1+ g? +4) v = {(alpha) + (beta) +.¢+5?}/4a? ~ Ogu t+ gag, +e + 24h) w= {(alphay? + 4f +52}/16a* = (Q? + 2heg, +h +f) m= ~s,+(alpha)/4a* + 2q, n= —s,4(beta)/2a? aipha = P? 02a? +25, beta= a tees, onde 804 5 Sy 8, ae components of vector @ and S = P= @ along X,Y, and Z axes, respectively. Notice that i the ellipsoid becomes a sphere i for the special case thatthe ange of the navigator 10 a mown location is given, then ge the first term inthe expressions for w and » vanish that for W Becomes a, and the algebra simplifies considerably. Squaring 20), one obtains the following quartic for x a8? den?) +8 Qusv—een?—2demen) +202 +20 fen? dem? —2eeman) o en + xQvsw = 2f omen com?) + (08 = fom! ‘When x is known, y and 2 follow from (8) and (8) [Note thatthe quariie may have four distinct real roots. ‘These, together with the + values of z means there are ight possible combinations. However, as discussed [FANG SIMPLE SOLUTIONS FOR HYPERBOLIC AND RELATED POSITION FOXES before, only two or four of these are admissible navigation positions. The others are extraneous solutions which do not satisfy the measurement ‘equations (1) and (2), or the auxiliary information (19). INDEPENDENT BASELINES Sometimes diferent station baselines are independent, ie, the station clocks are synchronized ‘only in pairs. In that cas, although two sets of time of arival differences, say Tay and To still constrain ‘the navigation postion atthe intersection of two Inyperboloids, th curve of intersection is no longer 1 planar curve, and the simple results obtained in previous sections no longer apply. However, as long as there isa set of thre synchronized stations, addtional measurements from independent baselines do provide simple solutions. Obviously, if an additional set of thee synchronized stations exists, the navigation fx is ‘again given by the roots of a quadratic. Likewise, if an ‘additional independent baseline exists, the navigation fic is given by the roots of a quartic. The derivations parallel those in B and C above and are not reported here COMPUTATION FLOW ‘Pp illstrate the solution algorithm, the computational flow for a navigation fx on the Earth elliptoid is presented in Fig. 2. The computations for ‘other fixes are similar, but simpler, particularly when the solution is governed by a quadratic instead of a quartic. DISCUSSION Is shown in the above that several problems of interest in computing hyperbolic (liptic) navigation fixes can be reduced to the solution of a quadratic or ‘quartic equation. The solution of a quadratic is trivial “Analytic solution of a quartic is available, although ‘some algebra is involved, but itis simple matter to program the algorithm on a computer, as has been one by the author. The simplicity ofthe solutions results from the recognition that the intersection of two hyperboloids (ellipsoids) of revolution with a ‘common foeu is 8 hyperbola or an ellipse symmetrical with respect to the plane of the foc. By exploring the ‘geometrical interpretations the nature of the navigation fixes ate clarified. When the navigation pe ‘governed by the quadratic, generally wo admisible ‘navigation positions exist and the armiguity must be resolved from other information such as knowledge of the general whereabouts ofthe navigator. The quartic ray have four distinct real roots corresponding to four possible navigation positions. Frequently some are extraneous r0018 which can be rejected by showing thatin’global, ogorgingtes entdseysh Station A's the oraginy fy 4, K are orthogonal unit vectors along the axes Sbtainabie inodiately by inverting the Sbove equations. The navigator Local Eoordinates are Gys2). te Additional unit Intormation: epg earth eftigaoi = ‘global navigation [Compute cootficients] [egnyert Coordinates Imeasuramonts: |d,eyf,a.h relating Rea to Somi-najor axis Fange-ditts, [ecorainates y,2 to x/ | _loeay axeg: 2 RaesRac—-efieqs. (6) ,(7);(10), | [Beperaepys gene Sraithearsfear | Gy .a2)) I Tonpute coefficients of (eqs, following (20), €9.(21)1 [ouartie Soiver] Real roots, x(numbercs) [Cyete through the stess below | (ya (2) saeiatied?| Io Giuy.2) located on earth ellspzoia?, Trs'E4! (9) Satistied?]. This test vsually satisfied, the set (x.y.2) Candidate navigator fix im local coordinates, (x.y,2)- When there are more than one candidate faxes” (maximum umberca). the True fix has to be resolved. trom other Information. The navigator fix in global coordinates IEEE TRANSACTIONS ON ABROSPACE AND ELECTRONIC SYSTEMS OL. 24 NO.S_SEFTEMBER 1990they do not produce the correct measurements. Ifa navigation position exists, it must be one of the real roots ofthe quadratic or the quartic, as the ease may be. The nonexistence of an admissible root indicates a ‘gross measurement error ‘The navigation fies discused are based on range ‘ifference or range sum information, converted from time difference and time sum measurements. For {crestrial navigation systems that rely on ground wave ‘propagation such conversion can be complicated. For line-ofsght wave propagation, or navigation in space, the conversion is straightforward. Very long baseline interferometry time difference) and bilateration wing a remote ground transponder (time-sum) are examples ‘of such space navigation systems [3]. REFERENCES 1B) Kayton, Mand Feit, WR. (96) vérenis Navigation Sens Nw Yo Wey, 196). 2} fing DT C98) “icra ad excasion to global postoning yen, visti, Snead of Cddance, Con nd Dyas 9 (ov-Dee. 1960), 75.7, (8) Ray, Kah, C, Zelensy, N, Lebreton as) ‘VLBI tracing ofthe TRS. ena of nautil Scent, 36 (Oc-De. 1985, Sere Bertrand ‘Fang was born in China on February 2, 1932. He received the B.S. ‘degree in mechanical engineering from National Taiwan University, Taiwan, in 1952, the M.S. degree in theoretical and applied mechanics from lowa State University, Ames, in 1957, and the Ph.D. in aeronautical engineering from University of Minnesota, Minneapolis, in 1962 Dr. Fang taught aerospace engineering atthe Catholic University of America in ‘Washington, DC for eleven years. His industrial experience includes employment at the General Electric Company, E G & G Washington Analytic Service Center, Inc. and Computer Sciences Corporation. Since 1985 he has been with The ‘Analytic Sciences Corporation. FANG: SIMPLE SOLUTIONS FOR HYPERBOLIC AND RELATED POSITION FIXES 183