Relative Location Determination of Mobile Sensor Nodes
First Claim
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1. A system for relative location determination of a plurality of mobile sensor nodes in a distributed sensor network, comprising:
- a wireless data link connecting each of said plurality of mobile sensor nodes;
an ultrasonic transponder positioned at each mobile sensor node, said transponder including an ultrasonic transmitter adapted to transmit ultrasonic pulses and a first receiver adapted to receive ultrasonic signals; and
a controller for each sensor node, and wherein the controller for a given sensor node is adapted to determine to measure line-of-sight distances from the given sensor node to each other sensor node using the ultrasonic pulses generated by the ultrasonic transponder for each mobile sensor node, to determine locations of the mobile sensor nodes relative to each other, and to communicate said line-of-sight distances over said wireless data link to the mobile sensor nodes.
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Abstract
Automated sensor localization systems and methods are described. An exemplary application for the sensor localization system is in a “Sense Through the Wall” (STTW) radar system, involving a plurality of distributed sensors or sensor nodes.
28 Citations
20 Claims
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1. A system for relative location determination of a plurality of mobile sensor nodes in a distributed sensor network, comprising:
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a wireless data link connecting each of said plurality of mobile sensor nodes; an ultrasonic transponder positioned at each mobile sensor node, said transponder including an ultrasonic transmitter adapted to transmit ultrasonic pulses and a first receiver adapted to receive ultrasonic signals; and a controller for each sensor node, and wherein the controller for a given sensor node is adapted to determine to measure line-of-sight distances from the given sensor node to each other sensor node using the ultrasonic pulses generated by the ultrasonic transponder for each mobile sensor node, to determine locations of the mobile sensor nodes relative to each other, and to communicate said line-of-sight distances over said wireless data link to the mobile sensor nodes. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A system for relative location determination of a plurality of mobile sensor nodes in a distributed sensor network, comprising:
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a wireless data link connecting each of said plurality of mobile sensor nodes; a two channel ultrasonic transponder positioned at each mobile sensor node, said transponder including a first channel comprising a first transmitter and a first receiver oriented to transmit and receive ultrasonic signals toward a first direction relative to the sensor node over an azimuth field of view, and a second channel comprising a second transmitter and a second receiver oriented to transmit and receive ultrasonic signals toward a second direction relative to the sensor node over an azimuth field of view; and a controller adapted to determine to measure line-of-sight distances between each of the mobile sensor nodes using ultrasonic pulses generated by the two-channel transponders for each mobile sensor node, to determine locations of the mobile nodes relative to each other, and to communicate said line-of-sight distances over said wireless data link to the mobile sensor nodes. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A method for determining relative locations of three mobile sensor nodes whose relative positions define a triangle with side lengths a, b, and c in a distributed sensor network, comprising:
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a) activating respective ultrasonic transponder systems at each of the mobile sensor nodes to transmit sequences of ultrasonic pulses from one mobile sensor node and receive the ultrasonic pulses at others of the mobile sensor nodes to determine respective line-of-sight distance measurements of side lengths a, b and c; b) communicating said distance measurements from each mobile sensor node to all other sensor nodes over a wireless data link; b) using said distance measurements between each of the three sensor nodes, calculating the relative locations of each mobile sensor node. - View Dependent Claims (18, 19, 20)
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Specification