Systems and methods of wireless position tracking

• US 10,605,904 B2
• Filed: 04/16/2018
• Issued: 03/31/2020
• Est. Priority Date: 11/10/2011
• Status: Active Grant

• Current Assignee: Position Imaging, Inc.
• Original Assignee: Position Imaging, Inc.
• Inventors: Min, Guohua, Schneider, Mark
• Primary Examiner(s): Phan, Dao L
• Application Number:
  US15/953,798
• Publication Number:
  US 20180231649A1
• Time in Patent Office: 715 Days
• Field of Search: 342450
• CPC Class Codes: G01S 11/10 using Doppler effect
• CPC Class Codes: G01S 5/08 Position of single direction-finder fixed by determining direction of a plurality of spaced sources of known location
• CPC Class Codes: H04W 64/003 locating network equipment

Abstract

Position and orientation tracking systems and methods include a transmitting antenna transmitting a radio frequency (RF) signal. At least one receiving antenna acquires the RF signal. One of the at least one receiving antenna and the transmitting antenna is designated a reference antenna. A processing unit determines a phase difference between the RF signal received by each receiving antenna and the reference antenna. The processing unit computes a position of the transmitting antenna with respect to the at least one receiving antenna in response to the phase difference determined for each receiving antenna.

Claims

1. A position tracking system comprising:

a transmitting antenna transmitting a radio frequency (RF) signal modulated by a first pseudo-random noise sequence;

a plurality of receiving antennae acquiring the RF signal, one of the plurality of receiving antennae being designated a reference antenna, the plurality of receiving antennae including at least three receiving antennae;

a corresponding plurality of demodulators, each demodulator of the plurality of demodulators coupled to a respective one of the plurality of receiving antennae and configured to demodulate the RF signal received by the respective receiving antenna using a second pseudo-random noise sequence;

a processing unit determining phase differences between a reference recovered signal derived from the demodulated RF signal received by the reference antenna and a recovered signal derived from the demodulated RF signal received by each remaining receiving antenna of the plurality of receiving antennae, the processing unit computing a position of the transmitting antenna with respect to the plurality of receiving antennae based on the determined phase differences.

2. The position tracking system of claim 1 wherein the designated reference antenna is dynamically re-assignable among the plurality of receiving antennae.

3. The position tracking system of claim 1 wherein a wavelength of the RF signal transmitted by the transmitting antenna is smaller than a tracking volume in which the transmitting antenna is located.

4. The position tracking system of claim 1 further comprising a modulator coupled to the transmitting antenna and configured to produce and provide to the transmitting antenna the RF signal modulated by the first pseudo-random noise sequence.

5. The position tracking system of claim 4 wherein the modulator is configured to modulate the RF signal using code division multiple access modulation.

6. The position tracking system of claim 4 wherein the second pseudo-random noise sequence is identical to the first pseudo-random noise sequence, and wherein the first and second pseudo-random noise sequences are not synchronized to one another.

7. The position tracking system of claim 6 wherein the processing unit includes a phase shifter configured to impart a 90-degree phase shift to the reference recovered signal to produce a phase-shifted reference recovered signal.

8. The position tracking system of claim 7 wherein the processing unit further includes a plurality of multipliers, each multiplier configured to receive the phase-shifted reference recovered signal and the recovered signal from a respective one of the plurality of demodulators, and to multiply the recovered signal by the phase-shifted reference recovered signal to provide a resulting signal.

9. The position tracking system of claim 8 wherein the processing unit further includes a plurality of integrators, each integrator configured to receive and integrate the resulting signal from a respective one of the plurality of multipliers to determine the phase differences.

10. The position tracking system of claim 9 wherein the processing unit further includes an analog-to-digital converter configured to convert the phase differences into a digital representation, and a computer system configured to execute a position and orientation algorithm using the digital representation to compute the position of the transmitting antenna with respect to the plurality of receiving antennae.

11. The position tracking system of claim 1 wherein the processing unit applies a filter to unwrap phase for each determined phase difference.

12. The position tracking system of claim 1 wherein the processing unit determines a solution for the position of the transmitting antenna, uses the solution to calculate an expected phase difference for each receiving antenna, and uses the calculated expected phase difference for a given receiving antenna when the given receiving antenna loses the transmitted RF signal.

13. The position tracking system of claim 1 wherein the at least three receiving antennae are disposed at known locations, and wherein the processing unit computes a two-dimensional position of the transmitting antenna.

14. The position tracking system of claim 1 wherein the at least three receiving antennae includes at least four receiving antennae disposed at known locations, and wherein the processing unit computes a three-dimensional position of the transmitting antenna.

15. The position tracking system of claim 1 further comprising at least two additional transmitting antennae disposed at known positions.

16. The position tracking system of claim 1 wherein the RF signal includes an identifier associated with the transmitting antenna, the identifier corresponding to a code generated from a predetermined sequence of frequency hops.

17. A method of tracking a position of a transmitting antenna, comprising:

receiving a radio frequency (RF) signal modulated by a first pseudo-random noise sequence, transmitted by the transmitting antenna, with at least three receiving antennae;

designating one of the at least three receiving antennae as a reference antenna;

demodulating the RF signal received by the reference antenna with a second pseudorandom noise sequence to produce a reference recovered signal;

demodulating the RF signal received by each remaining receiving antenna of the at least three receiving antennae with the second pseudo-random noise sequence to produce recovered RF signals;

determining phase differences between the reference recovered signal and the recovered signals; and

computing the position of the transmitting antenna with respect to the receiving antennae based on the computed phase differences.

18. The method of claim 17, further comprising applying a filter to unwrap phase for each of the computed phase differences.

19. The method of claim 17, further comprising determining a solution for the position of the transmitting antenna, calculating an expected phase difference for each receiving antenna based on the solution and previous phase data, and using the expected phase difference calculated for a given receiving antenna when the given receiving antenna loses the transmitted RF signal.

20. The method of claim 17, further comprising generating an identifier associated with the transmitting antenna by generating a code from a predetermined sequence of frequency hops.

21. A position tracking system comprising:

a plurality of transmitting antennae each transmitting a radio frequency (RF) signal modulated by a first pseudo-random noise sequence, the plurality of transmitting antennae including at least three transmitting antennae and one of the plurality of transmitting antennae being designated a reference antenna;

a receiving antenna configured to receive the RF signals transmitted by the plurality of transmitting antennae;

a demodulator coupled to the receiving antenna and configured to demodulate the RF signals received by the receiving antenna using a second pseudo-random noise sequence;

a processing unit determining phase differences between a reference recovered signal derived from the demodulated RF signal transmitted by the reference antenna and a recovered signal derived from the demodulated RF signal transmitted by each remaining transmitting antenna of the plurality of transmitting antennae, the processing unit computing a position of the receiving antenna with respect to the plurality of transmitting antennae based on the determined phase differences.

22. The position tracking system of claim 21 wherein the designated reference antenna is dynamically re-assignable among the plurality of transmitting antennae.

23. The position tracking system of claim 21 wherein a wavelength of each of the RF signals transmitted by the transmitting antennae is smaller than a tracking volume in which the receiving antenna is located.

24. The position tracking system of claim 21 wherein the second pseudo-random noise sequence is identical to the first pseudo-random noise sequence, and wherein the first and second pseudo-random noise sequences are not synchronized to one another.

25. The position tracking system of claim 21 wherein the processing unit applies a filter to unwrap phase for each determined phase difference.

26. The position tracking system of claim 21 wherein the at least three transmitting antennae are disposed at known locations, and wherein the processing unit computes a two-dimensional position of the receiving antenna.

27. The position tracking system of claim 21 wherein the at least three transmitting antennae includes at least four transmitting antennae disposed at known locations, and wherein the processing unit computes a three-dimensional position of the receiving antenna.