Method for iterative target location in a multiple receiver target location system

• US 10,261,169 B2
• Filed: 06/03/2015
• Issued: 04/16/2019
• Est. Priority Date: 06/05/2014
• Status: Active Grant

• Current Assignee: Zebra Technologies Corporation
• Original Assignee: Zebra Technologies Corporation
• Inventors: Richley, Edward A., Turner, Belinda, Wang, Chang
• Primary Examiner(s): Khan, Suhail
• Application Number:
  US14/729,761
• Publication Number:
  US 20160097837A1
• Time in Patent Office: 1,413 Days
• Field of Search: 342465
• CPC Class Codes: G01S 5/0218 Multipath in signal reception
• CPC Class Codes: G01S 5/02213 Receivers arranged in a network for determining the position of a transmitter
• CPC Class Codes: G01S 5/0244 Accuracy or reliability of position solution or of measurements contributing thereto
• CPC Class Codes: G01S 5/06 Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements G01S5/12 takes precedence

Abstract

The present invention provides methods for an active RFID tag target location system that provides for an iterative recalculating of a target location estimate by successively testing receiver TOA and DTOA error measurements and discarding outlier receivers. The present invention works to reduce the erratic effects that multipath channel interference and random noise play in target location systems due to incorrect identification of the main pulse of the transmit signal. In addition to providing for a greater accuracy and consistency in a TOA-based target location system, the method also provides for an opportunity to reduce a transmission bandwidth associate with the TOA transmission by the multiple receivers. The method may be considered a post-processing element, as the determination of TOA and DTOA may require a real-time calculation, where the timing constraints for the ensuing target location estimate may be less severe.

Claims

1. A method for determining target location in a multiple receiver target location system, the multiple receiver target location system including a plurality of location tags each associated with a respective target, a plurality of receivers, and a central processor, the method comprising:

receiving, from the receivers, time of arrival (TOA) data associated with location tag transmissions;

determining a set of the receivers based on the received TOA data;

calculating a tag location estimate for the set of the receivers by applying a minimizing function to a subset of the TOA data corresponding to the set of the receivers;

determining a data quality indicator (DQI) for the tag location estimate; and

when the DQI for the tag location estimate does not meet a DQI threshold;

determining, for the subset of the TOA data, impacts of respective delays on the minimizing function;

removing, based on the impacts of the respective delays, one of the receivers from the set of the receivers; and

after removing the one of the receivers, recalculating the tag location estimate for the set of the receivers.

2. The method of claim 1 further comprising:

determining a DQI for the recalculated tag location estimate; and

determining whether the DQI for the recalculated tag location estimate meets the DQI threshold.

3. The method of claim 1, wherein the removing the one of the receivers from the set of the receivers and the recalculating the tag location estimate are performed iteratively.

4. The method of claim 1 further comprising, when the DQI for the tag location estimate meets the DQI threshold, outputting the tag location estimate.

5. The method of claim 1, further comprising determining whether the set of the receivers includes a predetermined number of receivers prior to removing one of the receivers from the set of the receivers.

6. The method of claim 1, further comprising determining whether the set of the receivers includes a predetermined percentage of the receivers of a receiver grid prior to removing one of the receivers from the set of the receivers.

7. The method of claim 1, wherein determining the impacts of respective delays on the minimizing function comprises:

determining respective reductions in a value of the minimizing function for the delays; and

identifying a greatest one of the reductions in the value.

8. A computer program product comprising at least one non-transitory computer-readable storage medium having computer-executable program code portions stored therein, the computer-executable program code portions comprising program code instructions configured to:

receive, from a plurality of receivers, time of arrival (TOA) data associated with location tag transmissions;

determine a set of the receivers based on the received TOA data;

calculate a tag location estimate for the set of the receivers by applying a minimizing function to a subset of the TOA data corresponding to the set of the receivers;

determine a data quality indicator (DQI) for the tag location estimate; and

when the DQI for the tag location estimate does not meet a DQI threshold;

determine, for the subset of the TOA data, impacts of respective delays on the minimizing function;

remove, based on the impacts of the respective delays, one of the receivers from the set of the receivers; and

after removing the one of the receivers, recalculate the tag location estimate for the set of the receivers.

9. The computer program product of claim 8, wherein the computer-executable program code portions comprising program code instructions are configured to:

determine a DQI for the recalculated tag location estimate; and

determine whether the DQI for the recalculated tag location estimate meets the DQI threshold.

10. The computer program product of claim 8, wherein removing the one of the receivers from the set of the receivers and recalculating the tag location estimate are performed iteratively.

11. The computer program product of claim 8, wherein the computer-executable program code portions comprising program code instructions are configured to, when the DQI for the set of the receivers meets the DQI threshold, output the tag location estimate.

12. The computer program product of claim 8, wherein the computer-executable program code portions comprising program code instructions are configured to determine whether the set of the receivers includes a predetermined number of receivers prior to removing the one of the set of the receivers.

13. The computer program product of claim 8, wherein the computer-executable program code portions comprising program code instructions are configured to determine whether the set of the receivers includes a predetermined percentage of the receivers of a receiver grid prior to removing the one of the set of the receivers.

14. The computer program product of claim 8, wherein determining the impacts of respective delays on the minimizing function comprises:

determining respective reductions in a value of the minimizing function for the delays; and

identifying a greatest one of the reductions in the value.

15. An apparatus for determining target location in a multiple receiver target location system, the multiple receiver target location system including a plurality of location tags each associated with a respective target and a plurality of receivers, the apparatus comprising at least one processor and at least one memory including computer program code, the at least one memory and computer program code configured to, with the processor, cause the apparatus to at least:

receive, from a plurality of receivers, time of arrival (TOA) data, associated with location tag transmissions;

determine a set of the receivers based on the received TOA data;

calculate a tag location estimate for the set of receivers by applying a minimizing function to a subset of the TOA data corresponding to the set of the receivers;

determine a data quality indicator (DQI) for the tag location estimate; and

when the DQI for the tag location estimate does not meet a DQI threshold;

determine, for the subset of the TOA data, impacts of respective delays on the minimization function;

remove, based on the impacts of the respective delays, one of the receivers from the set of the receivers; and

after removing the one of the receivers, recalculate the tag location estimate for the set of the receivers.

16. The apparatus of claim 15, wherein the at least one memory and computer program code are configured to, with the processor, cause the apparatus to:

determine a DQI for the recalculated tag location estimate; and

determine whether the DQI for the recalculated tag location estimate meets the DQI threshold.

17. The apparatus of claim 15, wherein removing the one of the receivers from the set of the receivers and recalculating the tag location estimate are performed iteratively.

18. The apparatus of claim 15, wherein the at least one memory and computer program code are configured to, with the processor, cause the apparatus to output the tag location estimate when the DQI for the set of the receivers meets the threshold.

19. The apparatus of claim 15, wherein the at least one memory and computer program code are configured to, with the processor, cause the apparatus to determine whether the set of the receivers includes a predetermined number of receivers prior to removing the one of the set of the receivers.

20. The apparatus of claim 15, wherein the at least one memory and computer program code are configured to, with the processor, cause the apparatus to determine whether the set of the receivers includes a predetermined percentage of the receivers of a receiver grid prior to removing the one of the set of the receivers.

21. The apparatus of claim 15, wherein determining the impacts of respective delays on the minimizing function comprises:

determining respective reductions in a value of the minimizing function for the delays; and

;

identifying a greatest one of the reductions in the value.