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

• US 10,520,582 B2
• Filed: 02/19/2019
• Issued: 12/31/2019
• 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:
  US16/279,410
• Publication Number:
  US 20190178981A1
• Time in Patent Office: 315 Days
• Field of Search: None
• 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

An disclosed method includes receiving, from receivers, TOA data associated with location tag transmissions; determining a first set of the receivers based on the received TOA data; calculating a first tag location estimate for the first set of the receivers by applying a minimizing function to a first set of the TOA data corresponding to the first set of the receivers; determining a first data quality indicator (DQI) for the first tag location estimate; and when the first DQI for the first tag location estimate does not meet a threshold: determining, for the first set of the TOA data, impacts of respective delays on the minimizing function; determining, based on the impacts of the respective delays on the minimizing function, a second set the receivers different from the first set of the receivers; and calculating a second tag location estimate for the second set of the receivers.

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, receivers, and a central processor, the method comprising:

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

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

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

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

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

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

determining, based on the impacts of the respective delays on the minimizing function, a second set of the receivers different from the first set of the receivers; and

calculating a second tag location estimate for the second set of the receivers.

2. The method of claim 1, further comprising:

determining a second DQI for the second tag location estimate; and

determining whether the second DQI meets the threshold.

3. The method of claim 1, wherein the determining the second set of the receivers and the calculating the second tag location estimate are performed iteratively.

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

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

6. The method of claim 1, further comprising determining whether the first set of the receivers includes a predetermined percentage of the receivers of a receiver grid prior to determining the second 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 memory having computer-executable program code portions stored therein, the computer-executable program code portions comprising program code instructions configured to, when executed, cause a machine to:

determine, based on time of arrival (TOA) data received from receivers, a first set of the receivers, the TOA data being associated with location tag transmissions;

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

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

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

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

determine, based on the impacts of the respective delays on the minimizing function, a second set of the receivers; and

calculate a second tag location estimate for the second 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, when executed, cause the machine to:

determine a second DQI for the second tag location estimate; and

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

10. The computer program product of claim 8, wherein determining the second set of the receivers and calculating the second 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 executed, cause the machine to, when the first DQI for the first tag location estimate meets the threshold, output the first 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, when executed, cause the machine to determine whether the first set of the receivers includes a predetermined number of receivers prior to determining the second 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, when executed, cause the machine to determine whether the first set of the receivers includes a predetermined percentage of the receivers of a receiver grid prior to determining the second 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 the plurality of receivers, time of arrival (TOA) data, associated with location tag transmissions;

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

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

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

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

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

determine, based on the impacts of the respective delays on the minimizing function, a second set of the receivers; and

calculating a second tag location estimate for the second 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 second DQI for the second tag location estimate; and

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

17. The apparatus of claim 15, wherein determining the second set of the receivers and calculating the second 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 first tag location estimate when the first DQI for the first tag location estimate 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 first set of the receivers includes a predetermined number of receivers prior to determining the second 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 first set of the receivers includes a predetermined percentage of the receivers of a receiver grid prior to determining the second 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.