Ultrasonic multilateration system for stride vectoring
First Claim
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1. A lateration system, the system comprising;
- at least one transmitter attached to a first object and configured to emit pulses;
three or more receivers attached to at least one second object and configured to receive the pulses emitted by the transmitter; and
a processor configured to process information received from the three or more receivers, and to generate a vector based on lateration, wherein lateration is one of multilateration and trilateration, wherein the vector is used by the processor to constrain error growth in a position measurement system.
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Abstract
A lateration system comprising at least one transmitter attached to a first object and configured to emit pulses, three or more receivers attached to at least one second object and configured to receive the pulses emitted by the transmitter, and a processor configured to process information received from the three or more receivers, and to generate a vector based on lateration. Lateration is one of multilateration and trilateration. The vector is used by the processor to constrain error growth in a navigation solution.
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Citations
20 Claims
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1. A lateration system, the system comprising;
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at least one transmitter attached to a first object and configured to emit pulses; three or more receivers attached to at least one second object and configured to receive the pulses emitted by the transmitter; and a processor configured to process information received from the three or more receivers, and to generate a vector based on lateration, wherein lateration is one of multilateration and trilateration, wherein the vector is used by the processor to constrain error growth in a position measurement system. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method of operating a lateration system, the method comprising:
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receiving pulses emitted from at least one transmitter on a first object by at least three receivers positioned on at least one second object; receiving information indicative of receive-times from the at least three receivers positioned on the at least one second object; generating a vector by performing lateration calculations on the information indicative of receive-times, wherein the lateration is one of trilateration and multilateration; receiving information indicative of a change in position and a change in heading from an inertial measurement unit positioned on at least a portion of the lateration system; generating a navigation solution based on the generated vector and the information indicative of a change in position and a change in heading; and using the generated vector to constrain error growth. - View Dependent Claims (14, 15, 16, 17)
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18. A personal navigation system comprising:
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at least one ultrasonic transmitter operably attached to a first item of footwear; at least three ultrasonic receivers operably attached to a second item of footwear, wherein the first item of footwear and the second item of footwear form a pair of footwear, the at least three ultrasonic receivers operably positioned to receive ultrasonic pulses emitted by the ultrasonic transmitter; an inertial measurement unit configured to generate information indicative of a change in position and a change in heading of at least one item of footwear; and a processor configured to receive information indicative of a receive-time from each of the at least three ultrasonic receivers and configured to use lateration to generate a vector between the first object and the second object based the information received from the ultrasonic receivers in order to constrain error growth in the inertial measurement unit, wherein lateration is one of multilateration and trilateration. - View Dependent Claims (19, 20)
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Specification