Location-Based Services Provided via Unmanned Aerial Vehicles (UAVs)

• US 20170041763A1
• Filed: 11/05/2014
• Published: 02/09/2017
• Est. Priority Date: 02/17/2014
• Status: Active Grant

• Current Assignee: Bridgewest Finance, LLC
• Original Assignee: Bridgewest Finance, LLC
• Inventors: Jalali, Ahmad
• Granted Patent: US 9,807,569 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: G01S 13/876 Combination of several spaced transponders or reflectors of known location for determining the position of a receiver G01S13/874 takes precedence
• CPC Class Codes: G01S 2205/03 Airborne
• CPC Class Codes: G01S 5/02 using radio waves using satellite radio beacon systems for determining position G01S19/00
• CPC Class Codes: G01S 5/14 Determining absolute distances from a plurality of spaced points of known location
• CPC Class Codes: G06Q 10/0833 Tracking
• CPC Class Codes: H04B 7/18502 Airborne stations
• CPC Class Codes: H04W 64/003 locating network equipment

Abstract

An automated method of determining a location of an aerial platform is described. The method includes: transmitting, from the aerial platform, a first pilot signal; receiving, at a set of ground devices, the first pilot signal; determining a first set of values based on measurements associated with the first pilot signal; and calculating a position of the aerial platform based at least partly on the first set of values. An automated method adapted to determine a location of a ground device includes: transmitting, from the ground device, a first pilot signal; receiving, at each aerial platform in a set of aerial platforms, the first pilot signal; determining a first set of values based on measurements associated with the first pilot signal; and calculating a position of the ground device based at least partly on the first set of values. A system adapted to provide location information is described.

Claims

1. An automated method adapted to determine a location of an aerial platform, the method comprising:

transmitting, from the aerial platform, a first pilot signal;

receiving, at a set of ground devices, the first pilot signal;

determining a first set of values based on measurements associated with the first pilot signal; and

calculating a position of the aerial platform based at least partly on the first set of values.

2. The automated method of claim 1, wherein each ground device includes a radio sub-system having a clock and each clock associated with a ground device from the set of ground devices is synchronized.

3. The automated method of claim 2, wherein:

each ground device in the set of ground devices is associated with a known position,

the first set of values comprises a set of time of arrival (TOA) values, each TOA value associated with a particular ground device from the set of ground devices, and

calculating the position of the aerial platform comprises triangulating the TOA values.

4. The automated method of claim 1 further comprising:

sending, from each ground device, a message comprising at least one value from the first set of values, a processing delay, and a transmission scheduling delay;

determining a second set of values based on the message; and

calculating a position of the aerial platform based at least partly on the second set of values.

5. The automated method of claim 4, wherein:

each ground device in the set of ground devices is associated with a known position,

the first set of values comprises time of arrival (TOA) values, each TOA value associated with a particular ground device from the set of ground devices,

the second set of values comprises round trip delay (RTD) values, each RTD value associated with a particular ground device from the set of ground devices, and

calculating the position of the aerial platform comprises triangulating the RTD values.

6. The automated method of claim 1 further comprising:

transmitting, from each ground device in the set of ground devices, a second pilot signal;

receiving, at the aerial platform, the second pilot signal;

calculating, based at least partly on the second pilot signal, a time of arrival (TOA) value for each ground device in the set of ground devices;

sending, from the aerial platform to each ground device in the set of ground devices, a message comprising the calculated TOA value, a processing delay, and a transmission scheduling delay.

7. The automated method of claim 6, wherein:

each ground device in the set of ground devices is associated with a known position,

each ground device calculates a round trip delay (RTD) value based at least partly on the message,

calculating the position of the aerial platform comprises triangulating the RTD values.

8. An automated method adapted to determine a location of a ground device, the method comprising:

transmitting, from the ground device, a first pilot signal;

receiving, at each aerial platform in a set of aerial platforms, the first pilot signal;

determining a first set of values based on measurements associated with the first pilot signal; and

calculating a position of the ground device based at least partly on the first set of values.

9. The automated method of claim 8, wherein each aerial platform includes a radio sub-system having a clock and each clock associated with an aerial platform from the set of aerial platforms is synchronized.

10. The automated method of claim 9, wherein:

each aerial platform in the set of aerial platforms is associated with a known position,

the first set of values comprises a set of time of arrival (TOA) values, each TOA value associated with a particular aerial platform from the set of aerial platforms, and

calculating the position of the ground device comprises triangulating the TOA values.

11. The automated method of claim 8 further comprising:

sending, from each aerial platform, a message comprising at least one value from the first set of values, a processing delay, and a transmission scheduling delay;

determining a second set of values based on the message; and

calculating a position of the ground device based at least partly on the second set of values.

12. The automated method of claim 11, wherein:

each aerial platform in the set of aerial platforms is associated with a known position,

the first set of values comprises time of arrival (TOA) values, each TOA value associated with a particular aerial platform from the set of aerial platforms,

the second set of values comprises round trip delay (RTD) values, each RTD value associated with a particular aerial platform from the set of aerial platforms, and

calculating the position of the ground device comprises triangulating the RTD values.

13. The automated method of claim 8 further comprising:

transmitting, from each aerial platform in the set of aerial platforms, a second pilot signal;

receiving, at the ground device, the second pilot signal;

calculating, based at least partly on the second pilot signal, a time of arrival (TOA) value for each aerial platform in the set of aerial platforms;

sending, from the ground device to each aerial platform in the set of aerial platforms, a message comprising the calculated TOA value, a processing delay, and a transmission scheduling delay, wherein;

each aerial platform in the set of aerial platform is associated with a known position,

each aerial platform calculates a round trip delay (RTD) value based at least partly on the message,

calculating the position of the ground device comprises triangulating the RTD values.

14. The automated method of claim 13, wherein the known position of each aerial platform in the set of aerial platforms is determined at least partly using a sub-system of the aerial platform, the sub-system comprising at least one of a set of gyroscopes and a set of accelerometers and three-dimensional direction changes measured by the sub-system are used to update the known position.

15. A system adapted to provide location information, the system comprising:

a set of aerial platforms, each aerial platform comprising a radio sub-system adapted to transmit and receive signals;

a set of ground devices, each ground device comprising a radio sub-system adapted to transmit and receive signals;

a location server adapted to store location information and calculate locations based at least partly on data associated with at least one aerial platform and at least one ground device.

16. The system of claim 15, wherein each aerial platform transmits a pilot signal that is able to be received by the ground devices in the set of ground devices.

17. The system of claim 16, wherein each ground device that is able to receive the pilot signal calculates at least one of a time of arrival (TOA) value and a round trip delay (RTD) value and the location server is able to determine a location of at least one aerial platform in the set of aerial platforms by triangulating the calculated values.

18. The system of claim 15, wherein each ground device transmits a pilot signal that is able to be received by the aerial platforms in the set of aerial platforms.

19. The system of claim 18, wherein each aerial platform that is able to receive the pilot signal calculates at least one of a time of arrival (TOA) value and a round trip delay (RTD) value and the location server is able to determine a location of at least one ground device in the set of ground devices by triangulating the calculated values.

20. The system of claim 15, wherein at least one ground device in the set of ground devices is a mobile phone.

21. The system of claim 15, wherein:

each aerial platform in the set of aerial platforms periodically transmits an augmented pilot signal using at least one of higher power and longer duration compared to nominal levels; and

each ground device is configured to search for the augmented pilot signal if a nominal pilot signal is not detected.