Position estimation services

• US 6,683,568 B1
• Filed: 05/06/2002
• Issued: 01/27/2004
• Est. Priority Date: 05/14/1999
• Status: Expired due to Fees

• Current Assignee: Auckland UniServices Limited (Auckland University)
• Original Assignee: Auckland UniServices Limited (Auckland University)
• Inventors: James, Paul William, Haemmerle, Enrico
• Primary Examiner(s): Issing, Gregory C.
• Application Number:
  US10/009,545
• Time in Patent Office: 631 Days
• Field of Search: 342/465, 342/387, 342/457, 342/463, 342/464
• US Class Current: 342/387
• CPC Class Codes: G01S 2205/02 Indoor
• CPC Class Codes: G01S 5/02 using radio waves using satellite radio beacon systems for determining position G01S19/00
• 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

A system and method for estimating the position of an object within a volume. The system uses the time difference of arrival of signals at a plurality of receivers to establish the position of an object, using only the substantially multipath free portion of the received signal for analysis purposes. A prior model of the object and/or volume is used to assist the location determination process.

Claims

1. A position estimation system for locating an object in a given volume, the system including:

a signal transmission means suitable for use with the object, and adapted to transmit an identifiable signal;

a plurality of receivers suitable for receiving the identifiable signal, the receivers positioned at predetermined or determinable positions in relation to the given volume;

signal detection means adapted to determine a time of arrival of substantially corresponding trigger portions of the identifiable signal at least two of the receivers; and

computation means adapted to determine for each receiver a location in time of a model of the identifiable signal that best fits the actual signal received in a region location in time proximate the trigger portion and compute a position of the object in the given volume from a difference in the location in time of the model between said receivers;

wherein said trigger portions are at least a portion of the identifiable signal received at each receiver, which is wholly or substantially located in time before the onset of multipath signals at the at least two receivers.

2. A position estimation system as claimed in claim 1, wherein the trigger portion is a singular characteristic of the received signal.

3. A position estimation system as claimed in claim 2, wherein the singular characteristic is a predetermined amplitude.

4. A position estimation system as claimed in claim 2, wherein the singular characteristic is a peak of the received signal or a zero crossing of the received signal.

5. A position estimation system as claimed in claim 2, wherein the computation means are adapted to fit the model to a portion of the actual signal received by a receiver, the portion defined by the part of the signal that is substantially located in time before the arrival of multipath components at said receiver.

6. A position estimation system as claimed in claim 1, further comprising a storage means adapted to store at least one of a predetermined model of the object and the given volume;

wherein the computation means are adapted to determine a pre-estimate of the onset time of the first multipath component from the predetermined model.

7. A position estimation system as claimed in claim 6, wherein the computation means determines the pre-estimate of the onset time of the first multipath component by adding a time period after a pre-estimated first onset time of the identifiable signal, said time period determined from said predetermined model.

8. A position estimation system as claimed in claim 6, wherein the predetermined model includes spatial information on the given volume and/or objects with in the given volume.

9. A position estimation system as claimed in claim 6, wherein the predetermined model includes propagation characteristics of the received signal.

10. A position estimation system as claimed claim 6, wherein the predetermined model includes information on the directional gain of the receiving antenna.

11. A position estimation system as claimed in claim 6, wherein the predetermined model includes a last computed position of the object.

12. A position estimation system as claimed claim 11, wherein the model includes information on the last known position of the object.

13. A position estimation system as claimed in claim 6, wherein if the position is computed from signals received by two or less receiver pairs, the system determines the position of the object in three dimensions from information in the predetermined model of the given volume and characteristics of the object.

14. A position estimation system as claimed in claim 6, wherein the computation means are adapted to pre-estimate the on-set time of the received signal at each receiver from a predetermined model, wherein the predetermined model includes the timing of the transmitted signal from the signal transmission means and at least an estimation of the location of the object.

15. A position estimation system as claimed in claim 14, wherein the model includes information on specific times that the object is expected to be in specific locations.

16. A position estimation system as claimed in claim 1, further comprising means for testing the signal to noise ratio of the received signal at each receiver.

17. A position estimation system as claimed in claim 16, wherein the computation means are adapted to select between different computation algorithms to compute the difference in the time of arrival of the received signals dependent on the signal to noise ratio.

18. A position estimation system as claimed in claim 17, wherein if the signal to noise ratio of the received signals is above a certain threshold, the computing means is adapted to compute a best fit signal model to each received signal, wherein the delay estimate is thereby computed by identifying the delay between the best fit signal model of at least two received signals.

19. A position estimation system as claimed in claim 18, wherein:

the identifiable signal has a periodic component; and

the a priori probability of a delay resulting from a specific onset time at each receiver in a receiver pair is weighted according to a probability of the number of periods of the identifiable signal elapsing between the onset time of a line of sight component at one receiver and the onset time of the line of sight component at the other receiver of the receiver pair, the probability of the number of periods of the periodic signal elapsing determined from at least one of a predetermined model of the position estimation system and the last known location of an object.

20. A position estimation system as claimed in claim 17, wherein if the signal to noise ratio of a received signal is below a predetermined threshold, the computing means is adapted to select the signal with the highest signal to noise ratio and compute a best fit signal model to that signal, wherein the best fit signal model for the signal or signals having a signal to noise ratio below the threshold is computed or selected according to the highest probability of the resulting computed delay.

21. A position estimation system as claimed in claim 20, wherein the probabilities of specified delays are contained in a predetermined model.

22. A position estimation system as claimed in claim 20, wherein the computing means is adapted to multiply the a priori probability of a delay resulting from a specific onset time at each receiver with a probability of that delay conditional on the received signals and to identify the onset time as the maximum of the resulting product.

23. A position estimation system as claimed claim 1, wherein the computation means determines the difference in the time of arrival of the signals at each receiver by computing the difference between the onset time of the best fit signal model to the received signals.

24. A position estimation system as claimed claim 1, wherein the object is adapted to transmit a pulsed signal at predetermined time intervals.

25. A position estimation system as claimed claim 1, comprising at least two sets of receivers each adapted to receive signals from the given volume and wherein the position estimation system selects a receiver from said at least two sets of receivers based on a multiplexing technique.

26. A position estimation system as claimed in claim 25, wherein the system includes an analogue-to-digital receiver for each set of receivers.

27. A position estimation system as claimed claim 1, comprising at least three sets of receivers each adapted to receive signals from the given volume and wherein the position estimation system selects a receiver from said at least two sets of receivers based on a multiplexing technique.

28. A position estimation system as claimed claim 1, wherein each receiver has a receive antenna with a radiation pattern which receives preferentially in one or more directions and the direction of each receive antenna is determined from expected positions and/or movements of the object to be tracked.

29. A position estimation system as claimed in claim 28, wherein the receivers are located based on the principles of space division multiple access and minimization of the geometric dilution of precision.

30. A position estimation system as claimed in claim 1, wherein movement of the object is tracked by periodically determining the position of the object.

31. A method of determining the position of an object in a given volume, the method including:

transmitting an identifiable signal from the object to be tracked;

receiving the transmitted signal at a plurality of receivers positioned at predetermined or determinable positions;

for at least two of said receivers, identifying a part of the received signal which is wholly or substantially located in time before multipath signals are received at said receivers;

comparing a portion of the received signal proximate the identified part of the received signal with a model of the received signal and determining the location in time of said model that best fits the received signal; and

computing the position of the object in the given volume from a difference in the location in time of the models that best fit the received signal.

32. A method of determining the position of an object as claimed in claim 31, wherein said part of the received signal which is wholly or substantially located in time before multipath signals are received is a singular characteristic of the signal.

33. A method of determining the position of an object as claimed in claim 32, wherein the singular characteristic is a predetermined amplitude threshold.

34. A method of determining the position of an object as claimed in claim 33, wherein the singular characteristic is a peak of a transient response or a zero crossing of the received signal.

35. A method of determining the position of an object as claimed in claim 31, wherein the portion of the received signal proximate the identified part of the received signal is determined as the portion of the received signal between a pre-estimate of a first onset time of the identifiable signal and a pre-estimate of the onset time of the first multipath signal.

36. A method o determining the position of an object as claimed in claim 35, wherein the first on-set time of the identifiable signal received by each receiver is pre-estimated from the arrival time of one or more singular characteristics of the received signal.

37. A method of determining the position of an object as claimed in claim 36, wherein the one or more singular characteristics are determined using an amplitude threshold test.

38. A method of determining the position of an object as claimed in claim 37, wherein the singular characteristic is a peak or a zero crossing of the received signal.

39. A method of determining the position of an object as claimed in claim 35, wherein the on-set time of the signal at each receiver is pre-estimated from at least one of a predetermined model of the object and the given volume, wherein the model includes information on the timing of the identifiable signal and at least an estimation of the location of the object.

40. A method of determining the position of an object as claimed in claim 39, wherein the model includes information on specific times that the object is expected to be in specific locations.

41. A method of determining the position of an object as claimed in claim 39, wherein the model includes information on the last known position of the object.

42. A method of determining the position of an object as claimed in claim 31, further including the step of determining a pre-estimate of the onset time of the first multipath signal from at least one of a predetermined model of the object and the given volume.

43. A method of determining the position of an object as claimed in claim 42, wherein the pre-estimate of the onset time of the first multipath component is determined from a delay estimate determined from the predetermined model from a first onset time of the identifiable signal.

44. A method of determining the position of an object as claimed in claim 42, wherein the model includes spatial information relating to the given volume and/or objects within the given volume.

45. A method of determining the position of an object as claimed in claim 42, wherein the predetermined model includes propagation characteristics of the received signal.

46. A method, determining the position of an object as claimed in claim 42, wherein the model includes information on the directional gain of the receiving antenna.

47. A method s determining the position of an object as claimed in claim 42, wherein the model includes the last determined position of the object.

48. A method of determining the position of an object as claimed in claim 31, wherein the method further includes testing the signal to noise ratio of the received signal at each receiver and selecting a predetermined computation algorithm to compute the difference in the time of arrival of the signals dependent on the signal to noise ratio.

49. A method of determining the position of an object as claimed in claim 48, wherein if the received signal is below a predetermined threshold, the method includes selecting the signal with the higher signal to noise ratio and fits a best fit signal model to the other received signals using the best fit signal model of the first signal to confine the best fit signal model of the second and any subsequent signal within predetermined thresholds.

50. A method of determining the position of an object as claimed in claim 49, wherein the method further includes selecting the signal with the highest signal to noise ratio and computing a best fit signal model to that signal and computing or selecting a best fit model for the signals having signal to noise ratios below the threshold based on the probability of the resulting computed delay.

51. A method of determining the position of an object as claimed in claim 50, wherein the probability of specified delays are contained in a predetermined model.

52. A method of determining the position of an object as claimed in claim 50, further comprising selecting a best fit signal model from a plurality of possible solutions dependent on a scaled product of a value indicative of the difference between the received signal with a model signal and a value indicative of the probability of a delay resulting from each said possible solution.

53. A method of determining the position of an object as claimed in claim 50, wherein the identifiable signal is periodic and if the phase angle of the identifiable signal is unknown, then the system determines an expected integer number of periods of the periodic signal from the predetermined model.

54. A method of determining the position of an object as claimed in claim 31, wherein the difference in the time of arrival of the signals at each receiver is determined by computing the difference between the onset time of the best fit signal model of each received signal.

55. A method of determining the position of an object as claimed in claim 31, the method including transmitting a pulsed signal at predetermined time intervals from the object to be tracked.

56. A method of determining the position of an object as claimed in claim 31, further comprising the step of periodically determining the position of an object to track movement of the object.

57. A position estimation system for locating an object that transmits an identifiable signal in a given volume, the system comprising:

a plurality of receivers suitable for receiving an identifiable signal, the receivers positioned at predetermined or determinable positions in relation to a given volume; and

signal detection means and computation means operable to;

a) for at least two receivers, determine a part of the identifiable signal received prior to the onset time of multipath components at that receiver;

b) determine the location in time of a model of the identifiable signal that best fits the part of the identifiable signal determined in step a); and

c) compute the location of the object in the given volume from a difference in the location in time of the models identified in step b).

58. A position estimation system as identified in claim 57, wherein step a) further comprises:

determining the time of arrival of a trigger portion of the identifiable signal at each receiver; and

truncating the received signal based on at least one of;

i) characteristics of the environment in which the position measurement system is to be operated in;

ii) characteristics of the object;

iii) propagation characteristics of the identifiable signal;

iv) characteristics of the identifiable signal received at the receiver;

v) characteristics of each receiver.