Miniature, unmanned remotely guided vehicles for locating an object with a beacon

• US 6,567,044 B2
• Filed: 09/20/2001
• Issued: 05/20/2003
• Est. Priority Date: 09/20/2001
• Status: Expired due to Fees

• Current Assignee: Ernest A. Carroll
• Original Assignee: Ernest A. Carroll
• Inventors: Carroll, Ernest A.
• Primary Examiner(s): Tarcza, Thomas H.
• Assistant Examiner(s): Mull, Fred H
• Application Number:
  US09/956,148
• Publication Number:
  US 20030052823A1
• Time in Patent Office: 607 Days
• Field of Search: 342/465, 342/357.06, 342/357.07, 342/357.17, 342/430, 342/387
• US Class Current: 342/357.34
• CPC Class Codes: G01S 19/51 Relative positioning
• CPC Class Codes: G01S 5/0081 Transmission between base stations
• CPC Class Codes: G01S 5/0249 Determining position using measurements made by a non-stationary device other than the device whose position is being determined
• CPC Class Codes: G01S 5/0284 Relative positioning
• CPC Class Codes: G01S 5/06 Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements G01S5/12 takes precedence

Abstract

Apparatus for and method of locating a subject being monitored as to whereabouts. A beacon having a radio frequency transmitter and receiver is attached to the subject. At least three scanning platforms each having a radio receiver and transmitter and, optionally, an onboard microprocessor and an atomic clock, issue signals which will evoke response signals from the beacon. A central station having a microprocessor, radio receiver and transmitter, and preferably, a display or other output for annunciating location of the sought subject, manages the search. At least one scanning platform is a miniature, unmanned, remotely a piloted vehicle, preferably an aircraft, which passes over a predetermined search area. Response signals from the beacon, when received at a scanning platform, are processed to enable determination of location of the beacon and hence the sought subject by triangulation. Time and location data are acquired by interaction with the global positioning system by the scanning platforms. Alternatively, a single mobile scanning platform can locate the beacon by localization, wherein characteristics of response signals are analyzed and processed.

Claims

1. A method of locating a subject of monitoring which is out of sight of a responsible party charged with monitoring location of the subject of monitoring, comprising the steps of:

attaching a beacon comprising a transmitter and receiver of radiant energy to the subject being monitored;

providing at least one miniature, unmanned remotely guided mobile vehicle functioning as at least one first scanning platform having a transmitter and receiver of radiant energy;

providing at least two second scanning platforms each having a transmitter and receiver of radiant energy;

causing the at least one first scanning platform to negotiate a predetermined search site while under remote guidance and to transmit activation signals to the receiver of the subject being monitored;

causing each second scanning platform to transmit activation signals to the receiver of the subject being monitored;

causing the receiver of the subject being monitored to transmit a response signal from the beacon responsive to receiving an activation signal from any one of the at least one first scanning platform and the second scanning platforms;

receiving the response signal at the receiver of at least three of the first scanning platform and second platforms;

causing each one of the at least one first scanning platform and the second scanning platforms to acquire time and location data from a global positioning system;

causing each one of the first scanning platform and the second scanning platforms to transmit a location signal to a central station, wherein the location signal indicates the time and location of the first scanning platform or second scanning platform upon receiving the response signal; and

performing triangulation analysis to determine location of the beacon of the subject being monitored.

2. The method of locating a subject of monitoring according to claim 1, comprising the further step of encoding each activation signal transmitted by the first scanning platform and the second scanning platform in a form which is readable by the receiver of the beacon of the subject of monitoring.

3. The method of locating a subject of monitoring according to claim 1, wherein said step of attaching a beacon to the subject being monitored comprises the further step of attaching a low powered transmitter of radiant energy to the beacon.

4. The method of locating a subject of monitoring according to claim 1, wherein said step of causing the at least one first scanning platform to negotiate a predetermined search site while under remote guidance comprises the further step of sweeping over the search site in a path progressively covering the search site while not overlapping previously searched portions of the search site.

5. The method of locating a subject of monitoring according to claim 4, comprising the further step of causing one of the at least one first scanning platform to alter its path to a new path when a response signal is received from the beacon attached to the subject being monitored, wherein the new path includes periodically overlapping previously searched portions of the search site.

6. The method of locating a subject of monitoring according to claim 5, further comprising the step of performing a second, different type of location procedure by acquiring location data of the subject being monitored by detecting at least one characteristic of each one of plural receptions of response signals spaced apart in time, where the plural receptions are made by only one of the at least one first scanning platforms, analyzing the detected characteristics of plural receptions, and determining the location of the beacon of the subject being monitored responsively to analysis of the detected characteristics.

7. The method of locating a subject of monitoring according to claim 1, wherein said step of providing at least two second scanning platforms comprises the further step of providing at least two miniature, remotely piloted aircraft.

8. Apparatus for conducting a search for a subject being monitored, comprising:

a central station disposed to manage the search, including a radio frequency transmitter, a radio frequency receiver operable to receive signals from a global positioning system, and a data processor disposed in communication with said transmitter and receiver, wherein said data processor is operable to determine location of any source of radio frequency signals by performing triangulation analysis when radio frequency signals are received from at least three spaced apart locations;

at least one first scanning platform having a radio frequency transmitter and a radio frequency receiver both operable to communicate with said transmitter and said receiver of said central station and with a global positioning system, wherein said first scanning platform is a miniature, remotely piloted vehicle;

at least two second scanning platforms each one of which is operable to communicate with said transmitter and said receiver of said central station and with the global positioning system; and

a portable beacon incorporating a radio frequency transmitter and receiver having a power source operably connected to said portable transmitter and receiver, wherein said portable transmitter and receiver of said beacon are operable to communicate with said transmitters and said receivers of said first scanning platform and said second scanning platforms.

9. Apparatus for conducting a search according to claim 8, wherein said first scanning platform and said second scanning platforms each are miniature, remotely piloted aircraft.

10. Apparatus for conducting a search according to claim 8, wherein said beacon includes an attachment element operable to attach said portable transmitter and receiver and said power source to the subject being monitored.

11. A method for locating a subject of monitoring, the steps comprising:

attaching a beacon comprising a transmitter and receiver of radiant energy to the subject being monitored;

providing at least one miniature, unmanned, remotely guided mobile vehicle functioning as at least one first scanning platform having a transmitter and receiver of radiant energy;

providing at least two second scanning platforms each having a transmitter and receiver of radiant energy;

causing said at least one first scanning platform to negotiate a predetermined search site while under remote guidance;

causing the at least one first scanning platform and each of the second scanning platforms to transmit an activation signal to the receiver of the subject being monitored;

causing the receiver of the subject being monitored to transmit a response signal from the beacon responsive to receiving an activation signal from any one of the at least one first scanning platform and the second scanning platforms;

receiving the response signal at the receiver of at least three of the at least one first scanning platform and each of the second scanning platforms;

causing each one of the at least one first scanning platform and the second scanning platforms to acquire time and location data from a global positioning system;

causing each one of the first scanning platform and the second scanning platforms to transmit a location signal to a central station, wherein the location signal indicates the time and location of the first scanning platform or second scanning platforms upon receiving the response signal; and

performing triangulation analysis at the central station to determine location of the beacon of the subject being monitored.