Ultrasonic positioning and tracking system

• US 6,141,293 A
• Filed: 10/29/1998
• Issued: 10/31/2000
• Est. Priority Date: 10/30/1997
• Status: Expired due to Term

• Current Assignee: Mineral Lassen LLC (Intellectual Ventures LLC)
• Original Assignee: Netmor Ltd.
• Inventors: Itzkovitch, Mordechai, Amorai-Moriya, Netzer
• Primary Examiner(s): Pihulic, Daniel T.
• Application Number:
  US09/181,800
• Time in Patent Office: 733 Days
• Field of Search: 367/118, 367/127, 367/124, 367/125, 367/6, 367/129, 367/907
• US Class Current: 367/127
• CPC Class Codes: G01S 5/186 Determination of attitude using inertial means G01C9/00; control of attitude G05D1/49
• CPC Class Codes: G01S 5/30 Determining absolute distances from a plurality of spaced points of known location
• CPC Class Codes: Y10S 367/907 Coordinate determination

Abstract

A method of tracking an object within a surveillance area having a predetermined linear extent. One or more ultrasound transducers are fixed to the object. A plurality of background units are placed at known positions in the area, each unit including an ultrasound transducer. One or more ultrasound waves are transmitted between the object and the plurality of background units. The ultrasound waves are received if they have propagated between the object and the background units within a time window of a duration such that the product of the duration and the speed of sound is substantially less than the linear extent of the detection area. A characteristic of the received ultrasound waves is determined, and coordinates of the object are determined responsive to the characteristic.

Claims

1. A method of tracking an object within a surveillance area having a predetermined linear extent, comprising:

fixing one or more ultrasound transducers to the object;

placing a plurality of background units at known positions in the area, each unit comprising an ultrasound transducer;

transmitting one or more ultrasound waves between the object and the plurality of background units;

receiving those of the ultrasound waves that propagate between the object and the background units within a time window of a duration such that the product of the duration and the speed of sound is substantially less than the linear extent of the detection area;

determining a characteristic of the received ultrasound waves;

calculating coordinates of the object responsive to the characteristic; and

wherein placing a plurality of background units in the area comprises placing the background units such that for at least one or more of the background units, there are at least some points in the area to which ultrasound waves cannot propagate from the at least one or more background units within the time window.

3. The method of claim 1, wherein placing the background units comprises placing the background units such that for substantially every point in the area, ultrasound waves can propagate between the point and at least three of the background units along a direct path which is free of ultrasound barriers.

4. The method of claim 1, wherein placing a plurality of background units in the area comprises placing the background units such that for substantially every point in the area, ultrasound waves can propagate between the point and at least four of the background units within the time window.

5. The method of claim 1, wherein determining the characteristic comprises determining times of flight.

6. The method of claim 1, and comprising ignoring waves received outside the time window.

7. The method of claim 1, wherein transmitting one or more ultrasound waves comprises transmitting ultrasound waves carrying unique identification of the transmitting transducer.

8. The method of claim 7, wherein transmitting ultrasound waves carrying the unique identification of the transmitting transducer comprises transmitting ultrasound waves which have a distinct frequency identifying the transducer.

9. The method of claim 8, wherein determining the characteristic comprises determining frequencies of the received waves.

10. The methods of claim 1, wherein transmitting one or more ultrasound waves comprises transmitting waves from the transducers fixed to the plurality of background units, and wherein receiving the ultrasound waves comprises receiving the waves at the one or more transducers fixed to the object.

11. The method of claim 1, wherein fixing one or more ultrasound transducers to the object comprises fixing at least three ultrasound transducers to the object.

12. The method of claim 1, and comprising coupling at least one ultrasound transducer to an additional object.

13. The method of claim 1, wherein calculating the coordinates of the object comprises transmitting the determined characteristic to a control unit over a wireless link.

14. The method of claim 13, wherein transmitting comprises transmitting an RF signal.

15. The method of claim 1, wherein calculating coordinates of the object comprises using a triangulation method.

2. A method of tracking an object within a surveillance area having a predetermined linear extent, comprising:

fixing one or more ultrasound transducers to the object;

placing a plurality of background units at known positions in the area, each unit comprising an ultrasound transducer;

transmitting one or more ultrasound waves between the object and the plurality of background units;

receiving those of the ultrasound waves that propagate between the object and the background units within a time window of a duration such that the product of the duration and the speed of sound is substantially less than the linear extent of the detection area;

determining a characteristic of the received ultrasound waves; and

calculating coordinates of the object responsive to the characteristic, wherein placing a plurality of background units in the area comprises placing the background units such that for substantially every point in the area, ultrasound waves can propagate between the point and at least three of the background units within the time window.

16. A method of tracking an object within a surveillance area having a predetermined linear extent, comprising:

fixing one or more ultrasound transducers to the object;

placing a plurality of background units at known positions in the area, each unit comprising an ultrasound transducer;

transmitting one or more ultrasound waves between the object and the plurality of background units;

receiving those of the ultrasound waves that propagate between the object and the background units within a time window of a duration such that the product of the duration and the speed of sound is substantially less than the linear extent of the detection area;

determining a characteristic of the received ultrasound waves;

calculating coordinates of the object responsive to the characteristic; and

comprising transmitting a trigger signal to initiate transmission of the ultrasound waves.

17. The method of claim 16, wherein transmitting the trigger signal comprises transmitting signal over a wireless link.

18. The method of claim 16, wherein receiving the waves within the time window comprises opening the window responsive to the trigger signal.

19. The method of claim 16, wherein transmitting the one or more waves comprises transmitting a sequence of waves, and wherein receiving the waves within the time window comprises opening a sequence of consecutive windows, each such window corresponding to one of the sequence of waves.

20. The method of claim 16, wherein determining the characteristic of the received waves comprises measuring the time from receiving the trigger signal to receiving the waves.

21. A system for tracking an object in a detection area, comprising:

at least one first ultrasound transducer, fixed to the object;

a plurality of background units, each unit comprising a respective second ultrasound transducer;

a central unit, in wireless communication with at least either the first transducer or some of the background units, so as to receive information regarding transmission of ultrasound waves between the first and second ultrasound transducers and to determine coordinates of the object based on the information; and

wherein the plurality of background units comprises at least five background units.

22. The system of claim 21, wherein the plurality of background units comprises at least eight background units.

23. A method of tracking an object within a surveillance area having a predetermined linear extent, comprising:

fixing one or more ultrasound transducers to the object;

placing a plurality of background units at known positions in the area , each unit comprising an ultrasound transducer;

transmitting one or more ultrasound waves between the object and the plurality of background units;

receiving those of the ultrasound waves that propagate between the object and the background units within a time window of a duration such that the product of the duration and the speed of sound is substantially less than the linear extent of the detection area;

determining a characteristic of the received ultrasound waves;

calculating coordinates of the object responsive to the characteristic; and

wherein placing a plurality of background units in the area comprises placing at least five background units.

24. A method of tracking an object within a surveillance area having a predetermined linear extent, comprising:

fixing one or more ultrasound transducers to the object;

placing a plurality of background units at known positions in the area, each unit comprising an ultrasound transducer;

transmitting one or more ultrasound waves between the object and the plurality of background units;

receiving those of the ultrasound waves that propagate between the object and the background units within a time window of a duration such that the product of the duration and the speed of sound is substantially less than the linear extent of the detection area;

determining a characteristic of the received ultrasound waves;

calculating coordinates of the object responsive to the characteristic, wherein transmitting one or more ultrasound waves comprises transmitting ultrasound waves carrying unique identification of the transmitting transducer;

wherein transmitting ultrasound waves carrying the unique identification of the transmitting transducer comprises transmitting ultrasound waves which have a distinct frequency identifying the transducer;

wherein determining the characteristic comprises determining frequencies of the received waves; and

wherein determining the frequencies of the received waves comprises performing an FFT analysis.

25. A method of tracking an object within a surveillance area having a predetermined linear extent, comprising:

fixing one or more ultrasound transducer to the object;

placing a plurality of background units at known positions in the area, each unit comprising an ultrasound transducer;

transmitting one or more ultrasound waves between the object and the plurality of background units;

receiving those of the ultrasound waves that propagate between the object and the background units within a time window of a duration such that the product of the duration and the speed of sound is substantially less than the linear extent of the detection area;

determining a characteristic of the received ultrasound waves;

calculating coordinates of the object responsive to the characteristic,

wherein transmitting one or more ultrasound waves comprises transmitting ultrasound waves carrying unique identification of the transmitting transducer;

wherein transmitting ultrasound waves carrying the unique identification of the transmitting transducer comprises transmitting ultrasound waves which have a distinct frequency identifying the transducer;

wherein determining the characteristic comprises determining frequencies of the received waves; and

wherein determining the frequencies of received waves comprises passing the received waves through a plurality of frequency-distinct filters.

26. A method of tracking an object within a surveillance area having a predetermined linear extent, comprising:

fixing one or more ultrasound transducers to the object;

placing a plurality of background units at known positions in the area, each unit comprising an ultrasound transducer;

transmitting one or more ultrasound waves between the object and the plurality of background units;

receiving those of the ultrasound waves that propagate between the object and the background units within a time window of a duration such that the product of the duration an the speed of sound is substantially less than the linear extent of the detection are;

determining a characteristic of the received ultrasound waves;

calculating coordinates of the object responsive to the characteristic; and

wherein placing a plurality of background units in the area comprises placing at least eight background units.

27. A method of tracking an object within a surveillance area having a predetermined linear extent, comprising:

fixing one or more ultrasound transducers to the object;

placing a plurality of background units at known positions in the area, each unit comprising an ultrasound transducer;

transmitting one or more ultrasound waves between the object and the plurality of background units;

receiving those of the ultrasound waves that propagate between the object and the background units within a time window of a duration such that the product of the duration and the speed of sound is substantially less than the linear extent of the detection area;

determining a characteristic of the received ultrasound waves;

calculating coordinates of the object responsive to the characteristic; and

wherein calculating coordinates of the object comprises calculating the coordinates of the object independently for each of a plurality of sub-groups of the received waves and averaging the coordinates calculated for two or more of the plurality of sub-groups.

28. A method of tracking an object within a surveillance area having a predetermined linear extent, comprising:

fixing one or more ultrasound transducers to the object;

placing a plurality of background units at known positions in the area, each unit comprising an ultrasound transducer;

transmitting one or more ultrasound waves between the object and the plurality of background units;

receiving those of the ultrasound waves that propagate between the object and the background units within a time window of a duration such that the product of the duration and the speed of sound is substantially less than the linear extent of the detection area;

determining a characteristic of the received ultrasound waves;

calculating coordinates of the object responsive to the characteristic; and

comprising repeatedly recalculating the coordinates of the object at a refresh rate that is substantially greater than the quotient of the speed of sound divided by the extent of the area.

29. A method of tracking an object within a surveillance area having a predetermined linear extent, comprising:

fixing one or more ultrasound transducer to the object;

placing a plurality of background units at known positions in the area, each unit comprising an ultrasound transducer;

transmitting one or more ultrasound waves between the object and the plurality of background units;

receiving those of the ultrasound waves that propagate between the object and the background units within a time window of a duration such that the product of the duration and the speed of sound is substantially less then the linear extent of the detection area;

determining a characteristic of the record ultrasound waves;

calculating coordinates of the object responsive to the characteristic; and

wherein transmitting one or more ultrasound waves comprises transmitting waves from one or more transducers fixed to the object, and wherein receiving the ultrasound waves comprises receiving the waves at the transducer fixed to the plurality of background units.

30. A method of tracking an object within a surveillance area having a predetermined linear extent, comprising:

fixing one or more ultrasound transducers to the object;

placing a plurality of background units at known positions in the area, each unit comprising an ultrasound transducer;

transmitting one or more ultrasound waves between the object and the plurality of background units;

receiving those of the ultrasound waves that propagate between the object and the background units within a time window of a duration such that the product of the duration and the speed of sound is substantially less than the linear extent of the detection area;

determining a characteristic of the received ultrasound waves;

calculating coordinates of the object responsive to the characteristic; and

wherein determining the characteristic comprises determining a Doppler shift of the waves.

31. A method for calibrating an object tracking system, the system comprising a plurality of background units, each unit including an ultrasound transducer for ultrasonic sensing of the position of the object, said method comprising:

placing at least three of the background units in respective locations having known position coordinates in a surveillance area;

placing additional background units in other locations in the surveillance area;

determining position coordinates of a first one of the additional units by transmitting ultrasound waves between the first additional unit and the at least three units having the known position coordinates; and

determining position coordinates of a second additional unit by transmitting ultrasound waves between the second additional unit and the first additional unit.

32. The method of claim 31, wherein placing the additional background units comprises placing the second additional unit in a position that is inaccessible for transmission of ultrasound waves between the second unit and at least one of the at least three background units having the known position coordinates.

33. The method of claim 31, wherein determining the position coordinates of the first and second additional units comprises measuring times of flight of ultrasound waves transmitted or received by the units.

34. The method of claim 31, wherein determining the position coordinates of the first and second additional units comprises communicating with at least some of the background units via a wireless link, so as to receive position-related data therefrom.

35. The method of claim 31, and comprising determining position coordinates of the first and second additional units a second time, wherein the coordinates of the second additional unit are determined the second time with respect to the at least three units having the known position coordinates before determining the position coordinates of the first additional unit, and averaging the determined position coordinates to determine corrected position coordinates.

36. A system for tracking an object in a detection area, comprising:

at least one first ultrasound transducer, fixed to the object;

a plurality of background units, each unit comprising a respective second ultrasound transducer;

a central unit, in wireless communication with at least either the first transducer or some of the background units, so as to receive information regarding transmission of ultrasound waves between the first and second ultrasound transducers and to determine coordinates of the object based on the information; and

comprising wireless receivers coupled to the first and second ultrasound transducers, which receive a trigger signal to initiate the transmission of ultrasound waves between the transducers.

37. The system of claim 36, wherein the information comprises time-of-flight data.

38. The system of claim 36, wherein the information comprises data regarding a Doppler shift of the waves.

39. The system of claim 36, wherein the transducers transmit a plurality of ultrasound waves of distinct frequencies.

40. The system of claim 36, and comprising wireless transmitters coupled to the first and second transducers, which transmit an acknowledgment signal responsive to the trigger signal.

41. The system of claim 36, wherein the central unit transmits the trigger signal.

42. The system of claim 36, wherein the at least one first ultrasound transducer transmits the ultrasound waves, and the second transducers receive the waves.

43. The system of claim 42, wherein the at least one first transducer comprises a plurality of ultrasound transducers, each of which transmits waves having a characteristic which identifies their respective transmitting transducer.

44. The system of claim 43, wherein the characteristic comprises a unique frequency.

45. The system of claim 44, wherein the background units comprise signal processing circuitry, which analyzes the frequencies of the waves and determines their respective times-of-flight.

46. The system of claim 45, wherein the signal processing circuitry comprises a plurality of frequency distinct filters.

47. The system of claim 45, wherein the signal processing circuitry comprises an FFT processor.

48. The system of claim 42, wherein the background units open a time window of a predetermined duration for receiving the ultrasound waves, responsive to the trigger signal.

49. The system of claim 48, wherein the product of the duration of the time window and the speed of sound is substantially less than the extent of the detection area.

50. The system of claim 36, wherein the wireless communication comprises RF communication.

51. A method of tracking an object within a surveillance area having a predetermined linear extent, comprising:

fixing one or more ultrasound transducers to the object;

placing a plurality of background units at known positions in the area, each unit comprising an ultrasound transducer;

transmitting one or more ultrasound waves between the object and the plurality of background units;

receiving those of the ultrasound waves that propagate between the object and the background units within a time window of a duration such that the product of the duration and the speed of sound is substantially less than the linear extent of the detection area;

determining a characteristic of the received ultrasound waves;

calculating coordinates of the object responsive to the characteristic;

wherein calculating the coordinates of the object comprises transmitting the determined characteristic to a control unit over a wireless link; and

comprising identifying a background unit from which the control unit has not received the characteristic and requesting re-transmission of the characteristic via another background unit in a vicinity of the identified background unit.