Low-energy consumption location of movable objects

• US 10,101,458 B2
• Filed: 03/09/2017
• Issued: 10/16/2018
• Est. Priority Date: 03/06/2015
• Status: Active Grant

• Current Assignee: Gatekeeper Systems, Inc.
• Original Assignee: Gatekeeper Systems, Inc.
• Inventors: Carter, Scott J.
• Primary Examiner(s): Gregory, Bernarr E
• Assistant Examiner(s): Mull, Fred H
• Application Number:
  US15/454,976
• Publication Number:
  US 20180024247A1
• Time in Patent Office: 586 Days
• CPC Class Codes: G01S 19/05 providing aiding data
• CPC Class Codes: G01S 19/06 employing an initial estimate of the location of the receiver as aiding data or in generating aiding data
• CPC Class Codes: G01S 19/09 providing processing capability normally carried out by the receiver
• CPC Class Codes: G01S 19/11 wherein the cooperating elements are pseudolites or satellite radio beacon positioning system signal repeaters
• CPC Class Codes: G01S 19/14 specially adapted for specific applications
• CPC Class Codes: G01S 19/252 Employing an initial estimate of location in generating assistance data
• CPC Class Codes: G01S 19/28 Satellite selection
• CPC Class Codes: G01S 19/34 Power consumption
• CPC Class Codes: G01S 19/41 Differential correction, e.g. DGPS [differential GPS]
• CPC Class Codes: G01S 19/485 whereby the further system is an optical system or imaging system
• CPC Class Codes: G01S 19/49 whereby the further system is an inertial position system, e.g. loosely-coupled
• CPC Class Codes: H04W 4/02 Services making use of location information
• CPC Class Codes: H04W 4/029 Location-based management or tracking services

Abstract

Low-energy consumption techniques for locating a movable object using a global satellite navigation system (GNSS) are provided. A mobile station attached to or included in a movable object can communicate bidirectionally with a fixed base station to determine a location of the movable object. The mobile station may communicate an estimated position to the base station and receive from the base station a set of GNSS satellites that are visible to the mobile station. The mobile station can acquire satellite timing information from GNSS signals from the set of satellites and communicate minimally-processed satellite timing information to the base station. The base station can determine the position of the mobile station and communicate the position back to the mobile station. By offloading much of the processing to the base station, energy consumption of the mobile station is reduced.

Claims

1. A location system for movable objects, the location system using a global navigation satellite system (GNSS), the location system comprising:

a mobile station configured to be associated with the movable object, the mobile station comprising;

a mobile GNSS receiver configured to receive GNSS signals;

a mobile transceiver configured to communicate over a communication link comprising a frequency in an unlicensed radio frequency (RF) band; and

a mobile station hardware processor programmed to;

wake up at a time or under a condition specified in sleep parameters;

estimate a position of the mobile station;

estimate an orientation of the mobile station;

transmit the estimated position and the estimated orientation of the mobile station and a local mobile clock value to a base station via the mobile transceiver;

receive information associated with GNSS clock and acquisition parameters from the base station;

update the local mobile clock value based at least in part on the information associated with GNSS clock;

cause the mobile GNSS receiver to acquire GNSS signals, based at least in part on the acquisition parameters;

transmit information related to chip transitions in the acquired GNSS signals to the base station;

receive an updated position and information associated with updated sleep parameters from the base station;

update the sleep parameters based at least in part on the information associated with updated sleep parameters from the base station; and

return to sleep; and

a base station comprising;

a base GNSS receiver configured to receive signals from a plurality of GNSS satellites;

a base transceiver configured to communicate over the communication link comprising the frequency in the unlicensed radio frequency (RF) band; and

a base station hardware processor programmed to;

receive the estimated position, the estimated orientation, and the local clock value of the mobile station through the communication link;

transmit one or more messages associated with updating the local mobile station clock value to a base station clock value that is representative of time for the GNSS satellites;

estimate acquisition parameters of GNSS satellites based at least in part on the estimated position of the mobile station;

determine a ranked list of the GNSS satellites based at least in part on the estimated orientation of the mobile station;

transmit, via the communication link to the mobile station, the ranked list of GNSS satellites with associated code phase information;

receive, via the communication link, the chip transitions from the mobile receiver;

calculate the updated position of the mobile station using at least the chip transitions from the mobile receiver; and

transmit the updated position and information associated with the updated sleep parameters to the mobile station.

2. The location system of claim 1, wherein the mobile station comprises one or more non-GNSS sensors including a Very Low Frequency (VLF) sensor, a rotation sensor, a vibration sensor, a heading sensor, a magnetic field sensor, an optical sensor, an RF sensor, an Electronic Article Surveillance (EAS) sensor, an ultrasonic sensor, an accelerometer, or a gyroscope.

3. The location system of claim 2, wherein the mobile station is configured to estimate its initial position and its orientation after exiting a sleep mode based at least in part on information provided by the one or more non-GNSS position sensors.

4. The location system of claim 1, wherein to determine the ranked list of the GNSS satellites, the base station hardware processor is programmed to further use an antenna pattern of the mobile station in determining the rank of GNSS satellites on the ranked list.

5. The location system of claim 4, wherein a rank of a GNSS satellite in a weak direction of the antenna pattern is decreased.

6. The location system of claim 1, wherein the base station hardware processor is further programmed to synchronize the base station clock value to a time representative for the GNSS satellites.

7. The location system of claim 1, wherein the mobile station hardware processor is programmed to estimate the orientation of the mobile station based on data from a dead reckoning sensor associated with the mobile station.

8. The location system of claim 1, wherein the mobile station hardware processor is programmed to estimate the orientation of the mobile station based on a history of positions of the mobile station.

9. A method for locating a movable object, the method comprising:

under control of a mobile station configured to be attached to or included in or on the movable object, the mobile station comprising a global navigation satellite system (GNSS) receiver and a transceiver configured to bidirectionally communicate over a radio frequency (RF) link having an RF link frequency in an RF band that is not licensed for cellular communications;

determining by a non-GNSS technique an estimated position of the mobile station;

determining by a non-GNSS technique an estimated orientation of the mobile station;

communicating, over the RF link, the estimated position and the estimated orientation of the mobile station;

receiving, over the RF link, satellite acquisition information that includes a set of GNSS satellites predicted to be viewable at the estimated position of the mobile station and GNSS code phases associated with each GNSS satellite in the set;

acquiring GNSS signals from at least some of the GNSS satellites in the set of GNSS satellites;

determining, based at least in part from the acquired GNSS signals, chip transition time information associated with the GNSS code phases for the at least some of the GNSS satellites in the set;

communicating, over the RF link, the chip transition time information; and

receiving, over the RF link, an updated position for the mobile station, the updated position determined based at least partly on the chip transition time information.

10. The method of claim 9, wherein determining by a non-GNSS technique an estimated position of the mobile station comprises determining the estimated position via a dead reckoning method.

11. The method of claim 9, wherein determining by a non-GNSS technique an estimated orientation of the mobile station comprises determining the estimated position via a dead reckoning method or via a history of positions of the mobile station.

12. The method of claim 9, further comprising synchronizing a clock of the mobile station to a clock of the base station, wherein the clock of the base station has been synchronized to a time representative of the GNSS satellites.

13. The method of claim 9, wherein determining chip transition time information associated with the GNSS code phases for the at least some of the GNSS satellites in the set comprises calculating a quality indicator for the at least some of the GNSS satellites in the set, the quality indicator associated with a quality of the GNSS signal received by the mobile station.

14. The method of claim 13, wherein the quality indicator comprises information associated with one or more of a GNSS signal power, a width of a peak in a correlator output, or a signal-to-noise ratio.

15. The method of claim 9, wherein determining chip transition time information comprises searching for a chip transition within a shift window based at least partly on an estimate of an error in clock synchronization.

16. A mobile station configured to be attached to or included in or on a movable object, the mobile station comprising:

a global navigation satellite system (GNSS) receiver; and

a transceiver configured to bidirectionally communicate over a radio frequency (RF) link having an RF link frequency in an RF band that is not licensed for cellular communications,

the mobile station configured to;

determine by a non-GNSS technique an estimated position of the mobile station;

determine by a non-GNSS technique an estimated orientation of the mobile station;

communicate, over the RF link, the estimated position and the estimated orientation of the mobile station;

receive, over the RF link, satellite acquisition information that includes a set of GNSS satellites predicted to be viewable at the estimated position of the mobile station and GNSS code phases associated with each GNSS satellite in the set;

acquire GNSS signals from at least some of the GNSS satellites in the set of GNSS satellites;

determine, based at least in part from the acquired GNSS signals, chip transition time information associated with the GNSS code phases for the at least some of the GNSS satellites in the set;

communicate, over the RF link, the chip transition time information; and

receive, over the RF link, an updated position for the mobile station, the updated position determined based at least partly on the chip transition time information.

17. A method for locating a movable object, the method comprising:

under control of a base station comprising a global navigation satellite system (GNSS) receiver and a transceiver configured to bidirectionally communicate over a radio frequency (RF) link having an RF link frequency in an RF band that is not licensed for cellular communications;

receiving, over the RF link, an estimated position for the movable object;

receiving, over the RF link, an estimated orientation for the movable object;

determining, based at least in part on the estimated position and the estimated orientation of the movable object, satellite acquisition information that includes a set of global navigation satellite system (GNSS) satellites predicted to be viewable at the estimated position of the movable object and GNSS code phases associated with each GNSS satellite in the set;

communicating, over the RF link, the satellite acquisition information;

receiving, over the RF link, chip transition time information associated with the GNSS code phases acquired from at least some of the GNSS satellites in the set;

determining, based at least in part on the chip transition time information, an updated position for the movable object; and

communicating, over the RF link, the updated position.

18. The method of claim 17, further comprising synchronizing a clock of the base station to a clock associated with the GNSS satellites.

19. The method of claim 17, further comprising ranking the set of GNSS satellites according to a ranking criterion.

20. The method of claim 19, wherein the ranking criterion includes an antenna pattern of a GNSS antenna associated with the mobile object or presence of obstructions near the movable object that can inhibit reception of GNSS signals from a satellite.

21. A base station comprising:

a global navigation satellite system (GNSS) receiver; and

a transceiver configured to bidirectionally communicate over a radio frequency (RF) link having an RF link frequency in an RF band that is not licensed for cellular communications,

the base station configured to;

receive, over the RF link, an estimated position for a movable object;

receive, over the RF link, an estimated orientation for the movable object;

determine, based at least in part on the estimated position and the estimated orientation of the movable object, satellite acquisition information that includes a set of global navigation satellite system (GNSS) satellites predicted to be viewable at the estimated position of the movable object and GNSS code phases associated with each GNSS satellite in the set;

communicate, over the RF link, the satellite acquisition information;

receive, over the RF link, chip transition time information associated with the GNSS code phases acquired from at least some of the GNSS satellites in the set;

determine, based at least in part on the chip transition time information, an updated position for the movable object; and

communicate, over the RF link, the updated position.