Receiver Tracking Using Signals of Opportunity from Asynchronous RF Beacons in GNSS-Denied Environments

摘要

We propose a method for tracking a moving receiver using RF messages broadcasted from opportunistic beacons. The beacons are not required to be synchronized with each other or with the receiver. By measuring the time-of- arrival (TOA) of the RF messages transmitted from the beacons at different locations along the receiver's trajectory, the receiver is able to track its own location, velocity and local oscillator (LO) parameters with respect to each beacon. A major challenge lies in separating the time offset due to the movement of the receiver from the time offset due to local LO drifts. We propose a Kalman filtering framework that is able to track the LO drifts, the receiver location and the receiver velocity simultaneously, using the measured TOAs and the beacons' locations as inputs. Simulation results are presented to show the feasibility of the proposed method. Finally, the proposed method is implemented on a software-defined radio (SDR) testbed. Experiment results demonstrate that our approach can successfully track the receiver trajectories with good accuracy.