Position-tracking device for position-tracking system
First Claim
1. A position tracking device for use in position tracking system, wherein the position tracking device is associated with a mobile object to be tracked by the position tracking system such that the position tracking device moves with the mobile object, the position tracking device including:
- an inertial sensor assembly;
a reference position receiver; and
a high resolution module in communication with the inertial sensor assembly and the reference position receiver, wherein the high resolution module is for computing the location of the mobile object in real-time based on a combination of input from the inertial sensor assembly and a reference position signal received by the reference position receiver when the mobile object is located in a first area requiring high position resolution.
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Accused Products
Abstract
A position-tracking system for tracking the position of an object is disclosed. According to various embodiments, the tracking system includes a tracking device that is connected to or otherwise affixed to the object to be tracked. The tracking device may include, among other things, an inertial sensor assembly, radio transceivers and a processor. The position tracking system may also include a host processing system that is in communication with the tracking device. The position tracking system may provide variable-resolution position information based on the environment in which the object is moving. In a “wide resolution” area, the system may compute a general position for the object based on a wireless telephone network Cell-ID/map correlation architecture. In a high-resolution area, greater position resolution may be realized from the combination of a wireless aiding system and inputs from the inertial sensors. In the high-resolution mode, the system may exploit distinct patterns of motion that can be identified as motion “signatures” that are characteristic of certain types of motion. Kinematic (or object movement) models may be constructed based on these motion signatures and the position tracking system may estimate the state of the object based on the kinematic model for the current mode of the object. Adaptive and cascaded Kalman filtering may be employed in the analysis to more accurately estimate the position and velocity of the object based on the motion pattern identified.
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Citations
20 Claims
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1. A position tracking device for use in position tracking system, wherein the position tracking device is associated with a mobile object to be tracked by the position tracking system such that the position tracking device moves with the mobile object, the position tracking device including:
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an inertial sensor assembly;
a reference position receiver; and
a high resolution module in communication with the inertial sensor assembly and the reference position receiver, wherein the high resolution module is for computing the location of the mobile object in real-time based on a combination of input from the inertial sensor assembly and a reference position signal received by the reference position receiver when the mobile object is located in a first area requiring high position resolution. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. An electronic device, comprising:
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an inertial sensor assembly; and
a processor in communication with the inertial sensor assembly, wherein the processor is programmed to determine an appropriate power level for the processor based on input from then inertial sensor assembly. - View Dependent Claims (13)
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14. A method of estimating the real-time state of a mobile object, wherein the real-time state estimate for the mobile object includes a real-time estimate of the position, velocity and heading of the mobile object, the method comprising:
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detecting movement of the mobile object with an inertial sensor assembly;
determining a current mode of movement for the mobile object based on the detected movement and state estimates for the mobile object for prior instances in time;
determining a first state estimate of the mobile object based at least on a motion model for the current mode of movement for the mobile object;
determining a second state estimate of the mobile object by dead reckoning based on movement of the object detected by the inertial sensor assembly and the state estimates for the mobile object for the prior instances in time; and
computing a real-time state estimate for the mobile object based on the first and second state estimates. - View Dependent Claims (15, 16, 17, 18, 19, 20)
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Specification