Motion tracking system and method

• US 20040017313A1
• Filed: 03/11/2003
• Published: 01/29/2004
• Est. Priority Date: 03/12/2002
• Status: Active Grant

• Current Assignee: Ubica LLC
• Original Assignee: Menache, LLC
• Inventors: Menache, Alberto
• Granted Patent: US 6,831,603 B2
• Time in Patent Office: Days
• US Class Current: 342/465
• CPC Class Codes: G01S 5/021 Calibration, monitoring or correction G01S5/0252 takes precedence
• 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
• CPC Class Codes: G01S 5/14 Determining absolute distances from a plurality of spaced points of known location

Abstract

A method for tracking objects within a three-dimensional capture zone includes placing at least four sensors around the capture zone. A stationery reference tag is placed within the capture zone. Tags are coupled to objects to be tracked in the capture zone. Signals are periodically transmitted from the reference and object tags. These signals are received and the identification code, and code phase and carrier phase measurements are extracted. The code phrase and carrier phase measurements are processed to determine the position of each object tag with respect to the reference tag at each sampling instant.

Claims

1. A method for tracking object movement, comprising the steps of:

placing a plurality of sensors around a capture zone;

placing a stationary reference tag within the capture zone;

coupling at least one tag on at least one object to be tracked in the capture zone;

periodically transmitting signals from the reference tag and at least one object tag;

receiving the signals at the sensors;

determining code phase and carrier phase measurements for each signal received; and

processing the code phase and carrier phase measurements to determine the position of the at least one tag with respect to the reference tag.

2. The method of claim 1, wherein the processing step includes the step of forming single difference measurements for each object tag measurement and reference tag measurement.

3. The method of claim 2, wherein the processing step further includes the step of determining the position of the at least one object tag with respect to the reference tag by forming double difference measurements, including pair wise differencing the single difference measurements from different sensors relating to the same object tag.

4. The method of claim 3, wherein the processing step further includes the step of combing double difference measurements.

5. The method of claim 1, wherein the reference and each object tag transmits signal bursts modulated with a digital data pattern.

6. The method of claim 5, wherein the digital data pattern comprises a portion common to all tags, and a portion unique to each tag.

7. The method of claim 6, wherein the common portion comprises a Neuman-Hofman synchronization code.

8. The method of claim 6, wherein the unique portion comprises code words of a binary extended quadratic residue code.

9. The method of claim 1, wherein the at least one object tag comprises multiple object tags, and wherein the object tags are divided into segments of a transmission frequency band range.

10. The method of claim 9, wherein the tags transmit in approximately the 5.8 GHz band range, the 60 GHz band range, or the 2.4 GHz band range.

11. The method of claim 1, wherein at least four sensors are placed around the capture zone.

12. The method of claim 1, wherein the code phase and carrier phase measurements are determined utilizing digital matched filters.

13. The method of claim 1, wherein the carrier phase measurements are corrected for variations in the radio refractive index.

14. The method of claim 1, wherein the tag signals are circularly polarized.

15. The method of claim 1, including the step of calibrating the sensors.

16. The method of claim 1, wherein the carrier phase measurements are corrected for sensor antenna phase center variations as a function of signal arrival angle.

17. The method of claim 1, including the step of determining velocity, acceleration and jerk of each object tag in any given axis based on the change of object tag position over time.

18. A method for tracking object movement, comprising the steps of:

placing at least four sensors around a capture zone;

placing a stationary reference tag having a unique identification code within the capture zone;

coupling a plurality of tags least on at least one object to be tracked in the capture zone, each object tag having a unique identification code;

periodically transmitting signals from the reference tag and at least one object tag;

receiving the signals at the sensors;

processing the signals to extract the identification code, code phase and carrier phase measurements for each signal received using digital matched filters;

forming single difference measurements for each object tag measurement and reference tag measurement;

determining the position of the at least one object tag with respect to the reference tag by forming double difference measurements, including pair wise differencing the single difference measurements from different sensors relating to the same object tag, and combing the double difference measurements.

19. The method of claim 18, wherein the reference and each object tag transmits signal bursts modulated with a digital data pattern.

20. The method of claim 19, wherein the digital data pattern comprises a portion common to all tags, and a portion unique to each tag comprising the identification code.

21. The method of claim 20, wherein the common portion comprises a Neuman-Hofman synchronization code.

22. The method of claim 20, wherein the unique portion comprises code words of a binary extended quadratic residue code.

23. The method of claim 18, wherein the object tags are divided into segments of a transmission frequency band range.

25. The method of claim 18, wherein the carrier phase measurements are corrected for variations in the radio refractive index.

26. The method of claim 18, wherein the tag signals are circularly polarized.

27. The method of claim 18, including the step of calibrating the sensors.

28. The method of claim 18, wherein the carrier phase measurements are corrected for sensor antenna phase center variations as a function of signal arrival angle.

29. The method of claim 18, including the step of determining velocity, acceleration and jerk of each object tag in any given axis based on the change of object tag position over time.

24. The method of claim 24, wherein the tags transmit in approximately the 5.8 Ghz band range, the 60 GHz band range, or the 2.4 GHz band range.