SYSTEMS AND METHODS FOR DETERMINING POSITION USING LIGHT SOURCES
First Claim
1. A method for determining a coordinate of an object, said method comprising:
- receiving calibration data associated with each of at least four light sources;
receiving a modulated light signal transmitted from each of said at least four light sources, each of said modulated light signals having a modulation frequency;
determining at least four phase difference of arrival (PDOA) pairs based on each of said at least four modulated light signals;
determining at least four phase corrected PDOA pairs based, at least in part, on said calibration data and said at least four PDOA pairs;
determining at least four linear distance differences based on said at least four phase corrected PDOA pairs; and
determining said coordinate of said object based on said at least four linear distance differences and said calibration data.
1 Assignment
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Accused Products
Abstract
A positioning system and method for determining a coordinate of an object may comprise a positioning transmitter system and a positioning receiver system. The positioning transmitter system includes at least four light sources and a master anchor to modulate the light sources to emit modulated light signals each having a modulation frequency. The positioning receiver system comprises a lens to focus the light signals onto an optical sensor, an envelope detector to receive a signal from the optical sensors and provide output signals corresponding to the modulation frequency, and positioning detection circuitry. The positioning detection circuitry receives calibration data; determines at least four phase difference of arrival (PDOA) pairs based on the output signals from the envelope detector; determines at least four phase corrected PDOA pairs based on the calibration data and the PDOA pairs; determines at least four linear distance differences based on the phase corrected PDOA pairs; and determines the coordinate of the object based on the linear distance differences and the calibration data.
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Citations
20 Claims
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1. A method for determining a coordinate of an object, said method comprising:
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receiving calibration data associated with each of at least four light sources; receiving a modulated light signal transmitted from each of said at least four light sources, each of said modulated light signals having a modulation frequency; determining at least four phase difference of arrival (PDOA) pairs based on each of said at least four modulated light signals; determining at least four phase corrected PDOA pairs based, at least in part, on said calibration data and said at least four PDOA pairs; determining at least four linear distance differences based on said at least four phase corrected PDOA pairs; and determining said coordinate of said object based on said at least four linear distance differences and said calibration data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A positioning system comprising:
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a positioning transmitter system comprising; at least four light sources; and a master anchor configured to modulate said at least four light sources such that each of said at least four light sources emits modulated light signals at a modulation frequency; and a positioning receiver system comprising; a lens configured to focus each of said at least four modulated light signals onto a respective one of a plurality of optical sensors; an envelope detector configured to receive at least four sensor output signals from said optical sensors corresponding to said at least four modulated light signals and provide at least four output signals corresponding to said modulation frequency for each of said at least four modulated light signals; and positioning detection circuitry, said positioning detection circuitry configured to; receive calibration data associated with each of said at least four modulated light sources; determine at least four phase difference of arrival (PDOA) pairs based on said at least four output signals from said envelope detector; determine at least four phase corrected PDOA pairs based, at least in part, on said calibration data and said at least four PDOA pairs; determine at least four linear distance differences based on said at least four phase corrected PDOA pairs; and determine said coordinate of said object based on said at least four linear distance differences and said calibration data. - View Dependent Claims (10, 11, 12, 13, 14, 15)
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16. An apparatus for determining a coordinate of an object based on at least four modulated light signals emitted from at least four light sources, said modulated light signals each having a modulation frequency, said apparatus comprising:
a positioning receiver system comprising; a lens configured to focus each of said at least four modulated light signals onto a respective one of a plurality of optical sensors; an envelope detector configured to receive at least four sensor output signals from said optical sensors corresponding to said at least four modulated light signals and provide at least four output signals corresponding to said modulation frequency for each of said at least four modulated light signals; and positioning detection circuitry, said positioning detection circuitry configured to; receive calibration data associated with each of said at least four light sources; determine at least four phase difference of arrival (PDOA) pairs based on said at least four output signals from said envelope detector; determine at least four phase corrected PDOA pairs based, at least in part, on said calibration data and said at least four PDOA pairs; determine at least four linear distance differences based on said at least four phase corrected PDOA pairs; and determine said coordinate of said object based on said at least four linear distance differences and said calibration data. - View Dependent Claims (17, 18, 19, 20)
Specification