Challenged positions dynamic sensor network, distributed GPS aperture, and inter-nodal ranging signals

The technique for robust GPS positioning in a dynamic sensor network uses a distributed GPS aperture and RF ranging signals among the network nodes. A network of GPS receivers can in these instances represent a spatially diverse distributed aperture, which may be capable of obtaining gain and interference mitigation. Further mitigation is possible if selected users (nodes) use an antenna array rather than a single-element antenna. Finding a solution that renders navigation for every GPS user within the network is challenging. For example, within the network, some GPS nodes may have no access to any of the satellite signals, and others may have access to one or more satellite signals. Inter-nodal range measurements can be also acquired by active and passive imaging sensors, such as laser and optical imaging sensors. Laser range finders that operate in the eye-safe spectrum range can provide direct range measurements, but the identification of the object is difficult.