System for determining speed and related mapping information for a speed detector

• US 10,488,426 B2
• Filed: 01/10/2018
• Issued: 11/26/2019
• Est. Priority Date: 07/21/2017
• Status: Active Grant

• Current Assignee: Applied Concepts Incorporated (Emerson Electric Company)
• Original Assignee: Applied Concepts Incorporated (Emerson Electric Company)
• Inventors: Mandava, Mahendra, Gammenthaler, Robert S., Kautz, Russell D., Hocker, Steven F.
• Primary Examiner(s): Rivera Vargas, Manuel A
• Application Number:
  US15/867,152
• Publication Number:
  US 20190025429A1
• Time in Patent Office: 685 Days
• CPC Class Codes: G01P 21/02 of speedometers
• CPC Class Codes: G01P 3/36 Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light G01P3/68 takes precedence; gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams G01C19/64
• CPC Class Codes: G01P 3/44 for measuring angular speed G01P3/56 takes precedence
• CPC Class Codes: G01S 13/92 for velocity measurement
• CPC Class Codes: G01S 17/58 Velocity or trajectory determination systems; Sense-of-movement determination systems
• CPC Class Codes: G01S 17/88 Lidar systems specially adapted for specific applications
• CPC Class Codes: G01S 19/33 Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
• CPC Class Codes: G01S 7/4808 Evaluating distance, position or velocity data
• CPC Class Codes: G06F 17/11 for solving equations , e.g. nonlinear equations, general mathematical optimization problems optimization specially adapted for a specific administrative, business or logistic context G06Q10/04

Abstract

A system that can determine and provision speed and mapping information of a moving object. Time of flight data over a time period can be processed to determine ranges between the system and the moving object and the speed can be determined therefrom. The speed can be determined by calculating the radial velocity and tangential velocity of the object and taking the square root of the addition of the square of each. Alternatively, the speed can be determined by calculating a linear regression curve fit for instantaneous distances of the moving object in the direction of motion for a plurality of ranges and determining the slope of the linear regression curve fit. After a lock of the determined speed, system coordinates can be identified and associated with the speed. A map can be received based upon the system coordinates and the map, speed and speed related parameters can be communicated.

Claims

1. A system for determining speed and related mapping information of a moving object, comprising:

a storage resource; and

a processor communicatively coupled to the storage resource, wherein the processor executes application code instructions that are stored in the storage resource to cause the system to;

process a plurality of time of flight data over a measurement time interval;

determine a distance range between the system and each of a plurality of moving objects for each time of flight data;

calculate speed of at least one of the moving objects;

determine system coordinates and associate system coordinates with at least one of speed, a change in range of at least one of the moving objects, its azimuthal orientation, time, and angular rate of the system provided from the calculation of the speed, in response to receiving a user initiated lock command;

receive a map associated with the system coordinates in response to sending a query with the system coordinates to a map database; and

communicate the map and the at least one of the speed, the change in range of at least one of the moving objects, its azimuthal orientation, time, and the angular rate of the system.

2. The system of claim 1 wherein the processor executes application code instructions to cause the system to determine a linear regression curve-fit on the plurality of time of flight data over the measurement time interval.

3. The system of claim 2 wherein the processor executes application code instructions to cause the system to:

determine a radial velocity associated with the plurality of time of flight data over the measurement time interval from the slope of the linear regression curve-fit;

determine a tangential velocity for each time of flight data over the measurement time interval;

detect angular swivel rate (dθ

/dt) of the system using at least one of a gyro and magnetometer; and

multiply each range by angular rate (dθ

/dt) to determine tangential velocity;

wherein the processor executes application code instructions to calculate speed by causing the system to calculate the square root of the addition of the square of the radial velocity and square of the tangential velocity.

4. The system of claim 1 wherein the processor executes application code instructions to cause the system to:

wirelessly communicate at least one of the speed, the change in range of at least one the moving objects, its azimuthal orientation, time, and angular rate of the system to a remote GPS enabled device.

5. The system of claim 1 wherein the processor executes application code instructions to cause the system to:

send a GPS request command to a GPS application executing on a GPS receiver in order to determine system coordinates;

wherein the GPS application executing on the GPS receiver is executing on either one of a remote GPS receiver and a GPS receiver local to the system.

6. The system of claim 1 wherein the processor executes application code instructions to cause the system to:

add legends to the map to include information identifying at least one of the speed, the change in range of at least one of the moving objects, its azimuthal orientation, time, and angular rate; and

overlay tracking information of at least one of the moving objects;

wherein the tracking information includes at least one color coded track and each color coded track identifies the speed.

7. The system of claim 1 wherein the processor executes application code instructions to cause the system to communicate the map and the at least one of the speed, the change in range of at least one of the moving objects, its azimuthal orientation, time, and the angular rate of the system further includes application code instructions to cause the system to communicate the map and the at least one of the speed, the change in range of at least one of the moving objects, time, and the angular rate of the system to at least one of a display of the system and a remote server system.

8. A computer aided method of a system for determining speed and related mapping information of a moving object, the method comprising:

processing a plurality of time of flight data over a measurement time interval;

determining a distance range between the system and each of a plurality of moving objects for each time of flight data;

calculating speed of at least one of the moving objects;

determining system coordinates and associate system coordinates with at least one of speed, a change in range of at least one of the moving objects, its azimuthal orientation, time, and angular rate of the system provided from the calculation of the speed, in response to receiving a user initiated lock command;

receiving a map associated with the system coordinates in response to sending a query with the system coordinates to a map database;

communicating the map and the at least one of the speed, the change in range of at least one of the moving objects, time, and the angular rate of the system.

9. The computer aided method of claim 8 further comprises determining a linear regression curve-fit on the plurality of time of flight data over the measurement time interval.

10. The computer aided method of claim 9 further comprises:

determine a radial velocity associated with the plurality of time of flight data over the measurement time interval from the slope of the linear regression curve-fit;

determine a tangential velocity for each time of flight data over the measurement time interval;

detecting angular swivel rate (dθ

/dt) of the system using at least one of a gyro and magnetometer; and

multiplying each range by angular rate (dθ

/dt) to determine tangential velocity;

wherein the processor executes application code instructions to calculate speed by causing the system to calculate the square root of the addition of the square of the radial velocity and square of the tangential velocity.

11. The computer aided method of claim 8 further comprises:

wirelessly communicating at least one of the speed, the change in range of at least one of the moving objects, its azimuthal orientation, time, and angular rate of the system to the remote GPS enabled device.

12. The computer aided method of claim 8 further comprises:

sending a GPS request command to a GPS application executing on a GPS receiver in order to determine system coordinates;

wherein the GPS application executing on the GPS receiver is executing on either one of a remote GPS receiver and a GPS receiver local to the system.

13. The computer aided method of claim 8 further comprises:

adding legends to the map to include information identifying at least one of the speed, the change in range of at least one of the moving objects, time, and angular rate; and

overlaying tracking information of at least one of the moving objects;

wherein the tracking information includes at least one color coded track and each color coded track identifies the speed.

14. The computer aided method of claim 8 wherein the step of communicating the map and the at least one of the speed, the change in range of at least one of the moving objects, its azimuthal orientation, time, and the angular rate further includes the step of communicating the map and the at least one of the speed, the change in range, its azimuthal orientation, time, and the angular rate to at least one of a display and a remote server system.

15. A non-transitory computer readable medium containing computer readable instructions for instructing a computing machine to determine speed and related mapping information of a moving object, the computer-readable instructions comprising instructions for causing the computing machine to:

process a plurality of time of flight data over a measurement time interval;

determine a distance range between the system and each of a plurality of moving objects for each time of flight data;

calculate speed of at least one of the moving objects;

determine system coordinates and associate system coordinates with at least one of speed, a change in range of at least one of the moving objects, its azimuthal orientation, and time provided from the calculation of the speed, in response to receiving a user initiated lock command;

receive a map associated with the system coordinates in response to sending a query with the system coordinates to a map database; and

communicate the map and the at least one of the speed, the change in range of at least one of the moving objects, its azimuthal orientation, and time.

16. The non-transitory computer readable medium of claim 15 further includes computer readable instructions to cause the computing machine to:

determining a linear regression curve-fit on the plurality of time of flight data over the measurement time interval;

measure perpendicular distance (L) between system and direction of travel of at least one of the moving objects;

calculate instantaneous distance (D) in the direction of motion of at least one of the moving objects for each range (R) by subtracting square of a perpendicular distance (L) from square of R and taking square root of the result; and

determine slope of modified linear regression curve-fit over the measurement time interval for D.

17. The non-transitory computer readable medium of claim 15 further includes computer readable instructions to cause the computing machine to:

wirelessly communicate at least one of the speed, the change in range of at least one of the moving objects, its azimuthal orientation, time, and angular rate of the system to a remote GPS enabled device.

18. The non-transitory computer readable medium of claim 15 further includes computer readable instructions to cause the computing machine to:

send a GPS request command to a GPS application executing on a GPS receiver in order to determine system coordinates; and

wherein the GPS application executing on the GPS receiver is executing on either one of a remote GPS receiver and a GPS receiver local to the system.

19. The non-transitory computer readable medium of claim 15 further includes computer readable instructions to cause the computing machine to:

add legends to the map to include information identifying at least one of the speed, the change in range of at least one of the moving objects, its azimuthal orientation, time, and angular rate; and

overlay tracking information of at least one of the moving objects;

wherein the tracking information includes at least one color coded track and each color coded track identifies the speed.

20. The non-transitory computer readable medium of claim 15 wherein the computer readable instructions to cause the computing machine to communicate the map and the at least one of the speed, the change in range of at least one of the moving objects, its azimuthal orientation, and time further includes computer readable instructions to cause the computing machine to communicate the map and the at least one of the speed, the change in range of at least one of the moving objects, its azimuthal orientation, and time to at least one of a display of the system and a remote server system.