System and method for robust navigation and geolocation using measurements of opportunity
First Claim
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1. A method of locating a mobile agent along a z-axis in a multiple agent environment wherein each agent includes a barometric sensor, comprising the steps of:
- in a processor, receiving a first barometric measurement from a barometric sensor associated with a first mobile agent wherein a barometric reference station is not utilized in determining the first barometric measurement for the first mobile agent;
in the processor, receiving a plurality of second barometric measurements from a plurality of second mobile agents, each of the second mobile agents having a barometric sensor wherein a barometric reference station is not utilized in determining the plurality of second barometric measurement for the first mobile agent;
using a filter in the processor to process the first barometric measurement and the plurality of second barometric measurements to determine a third barometric measurement for the first mobile agent, wherein a barometric reference station is not utilized in determining the third barometric measurement for the first mobile agent;
in the processor, converting the third barometric measurement for the first mobile agent to an estimated elevation of the first mobile agent; and
at the first mobile agent, surveying the radio frequency (RF) environment by monitoring a range of RF frequencies;
receiving a plurality of RF signals of opportunity (SoOP) wherein the RF SoOP is an ambient radio frequency transmission that is not intended for navigation, position or timing for positioning purposes;
performing ranging measurements on the received SoOPs signals; and
determining a location of the first mobile agent as a function of the performed ranging measurements and estimated elevation of the first mobile agent.
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Abstract
A system and method to opportunistically capture and use measurements of barometric readings from a plurality of mobile agents to determine the elevational position of one of the mobile agents.
82 Citations
16 Claims
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1. A method of locating a mobile agent along a z-axis in a multiple agent environment wherein each agent includes a barometric sensor, comprising the steps of:
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in a processor, receiving a first barometric measurement from a barometric sensor associated with a first mobile agent wherein a barometric reference station is not utilized in determining the first barometric measurement for the first mobile agent; in the processor, receiving a plurality of second barometric measurements from a plurality of second mobile agents, each of the second mobile agents having a barometric sensor wherein a barometric reference station is not utilized in determining the plurality of second barometric measurement for the first mobile agent; using a filter in the processor to process the first barometric measurement and the plurality of second barometric measurements to determine a third barometric measurement for the first mobile agent, wherein a barometric reference station is not utilized in determining the third barometric measurement for the first mobile agent; in the processor, converting the third barometric measurement for the first mobile agent to an estimated elevation of the first mobile agent; and at the first mobile agent, surveying the radio frequency (RF) environment by monitoring a range of RF frequencies; receiving a plurality of RF signals of opportunity (SoOP) wherein the RF SoOP is an ambient radio frequency transmission that is not intended for navigation, position or timing for positioning purposes; performing ranging measurements on the received SoOPs signals; and determining a location of the first mobile agent as a function of the performed ranging measurements and estimated elevation of the first mobile agent. - View Dependent Claims (2, 3, 4, 5, 6, 7, 15)
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8. A system for locating a mobile agent along a z-axis in a multiple agent environment wherein each agent includes a barometric sensor, comprising the steps of:
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a first mobile agent having a barometric sensor; a plurality of second mobile agents, each of the plurality of second mobile agents having a barometric sensor; a memory for storing computer readable code; a processor operatively coupled to the memory, the processor configured to; (i) receive a first barometric measurement from a barometric sensor associated with a first mobile agent wherein a barometric reference station is not utilized in determining the first barometric measurement; (ii) receive a plurality of second barometric measurements from a plurality of second mobile agents wherein a barometric reference station is not utilized in determining the second barometric measurements; (iii) apply a filter function to the first barometric measurement and the plurality of second barometric measurements to determine a third barometric measurement for the first mobile agent, wherein a barometric reference standard is not utilized in determining the third barometric measurement for the first mobile agent; and (iv) convert the third barometric measurement for the first mobile agent to an estimated elevation of the first mobile agent; (v) survey the radio frequency (RF) environment by monitoring a range of RF frequencies; (vi) receive a plurality of RF signals of opportunity (SoOP) wherein the RF SoOP is an ambient radio frequency transmission that is not intended for navigation, position or timing for positioning purposes; (vii) perform ranging measurements on the received SoOPs signals; and (viii) determine a location of the first mobile agent as a function of the performed ranging measurements and estimated elevation of the first mobile agent. - View Dependent Claims (9, 10, 11, 12, 13, 14, 16)
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Specification