Method and system for synchronization offset reduction in a TDOA location system

• US 7,729,707 B2
• Filed: 10/24/2006
• Issued: 06/01/2010
• Est. Priority Date: 10/24/2006
• Status: Active Grant

• Current Assignee: AeroScout (US) LLC (Stanley Black & Decker, Inc.)
• Original Assignee: AeroScout Incorporated (Stanley Black & Decker, Inc.)
• Inventors: Lavi, Amir, Amsalem, Reuven, Aljadeff, Daniel
• Primary Examiner(s): Bost; Dwayne
• Assistant Examiner(s): DESIR, PIERRE LOUIS
• Application Number:
  US11/552,211
• Publication Number:
  US 20080095131A1
• Time in Patent Office: 1,316 Days
• Field of Search: 455/404.2, 455/456.1, 455/456.2, 455/456.3, 455/456.5, 455/456.6, 342/450, 370/331
• US Class Current: 455/456.1
• CPC Class Codes: H04B 7/2681 Synchronisation of a mobile station with one base station
• CPC Class Codes: H04W 56/0075 based on arrival time vs. expected arrival time

Abstract

A method for reducing synchronization offset errors in a TDOA location finding wireless system, comprising: receiving transmissions from at least one sync unit at multiple location transceivers, wherein the multiple location transceivers are synchronized from the sync unit; determining actual times-of-arrival of the received transmissions in response to receiving transmissions; performing a wireless distance measurement between the transceivers and the at least one sync unit, the wireless distance measurement performed by the transceivers in response to the received transmissions from the at least one sync unit; computing an actual propagation time between the sync unit to the transceivers; computing differences between the actual propagation time and theoretical propagation time determined in conformity with the predetermined locations; estimating synchronization offset error of the transceivers in conformity with the computed differences; and correcting the synchronization offset error.

Claims

1. A method for reducing synchronization offset errors in a Time Difference of Arrival (TDOA) location finding wireless system, comprising:

receiving transmissions from at least one sync unit at multiple location transceivers, wherein the multiple location transceivers are synchronized from the sync unit;

determining actual times-of-arrival (TOA) of the received transmissions in response to receiving transmissions;

performing a wireless distance measurement between the transceivers and the at least one sync unit, the wireless distance measurement performed by the transceivers in response to the received transmissions from the at least one synchronization (sync) unit;

computing an actual propagation time between the sync unit to the transceivers;

computing differences between the actual propagation time and theoretical propagation time determined in conformity with the predetermined locations;

estimating synchronization offset error of the transceivers in conformity with the computed differences; and

correcting the synchronization offset error.

2. The method of Claim 1, wherein computing an actual propagation time, computing differences, estimating synchronization offset error, and correcting the synchronization offset error are continuously performed.

3. The method of claim 1, further comprising reserving a channel for transceiver transmissions in response to transmissions from the at least one sync unit.

4. The method of claim 1, wherein transmissions from the at least one sync unit is an IEEE 802.11 type beacon message, the beacon message comprising an optional distance measurement (DM) data field.

5. The method of claim 1, wherein the transceiver transmission transmitted as part of a distance measurement (DM) process includes a DM data field, the DM data field including information generated by the transceiver and related to the DM process.

6. The method of claim 1, sending DM relevant data to a server from the at least one sync unit and the transceivers, the server able to compute the synchronization offset error.

7. The method of claim 1 wherein the at least one sync unit is a location transceiver, the location transceiver performing location functions, and being self synchronized.

8. The method of claims 1, wherein the at least one sync unit is an IEEE 802.11 WLAN access point.

9. The method of claims 1, wherein said at least one location transceiver is an IEEE 802.11 WLAN TOA-enabled access point.

10. The method of claim 1, wherein only a portion of transmissions by the at least one sync unit is used for distance measurement (DM) purposes.

11. The method of claim 1, wherein a rate of distance measurement (DM) operations between at least one transceiver and the at least one sync unit is variable and dynamically programmable.

12. The method of claim 1, wherein at least one of the transceivers is synchronized from more than one sync unit.

13. The method of claim 1, further comprising:

collecting results of computing an actual propagation time and computing differences between the actual propagation time and theoretical propagation time as a sample set; and

smoothing the sample set using a smoothing filter;

wherein estimating the synchronization offset error is done using a result of the smoothing of the sample set.

14. The method of claim 1, further comprising:

collecting results of computing an actual propagation time and computing differences between the actual propagation time and theoretical propagation time as a sample set; and

determining statistics of the sample set in conformity with a statistical model;

wherein estimating the synchronization offset error is done using a predictor associated with the statistical model.

15. The method of claim 14, wherein said statistical model is a Gaussian model, and wherein the predictor is a Kalman filter.

16. The method of claim 1, further comprising transferring the estimated synchronization offset error to the transceivers, wherein correcting the synchronization offset error is performed by the transceivers in response to the estimating.

17. The method of claim 1, further comprising evaluating a quality of a result of the estimating.

18. The method of claim 17, further comprising logging a result of the evaluating in an error log at discrete intervals.

19. The method of claim 18, further comprising adjusting an interval of transmissions from the at least one sync unit in response to the evaluating.

20. A Time Difference of Arrival (TDOA) location finding wireless system, comprising:

at least one sync unit for providing reference sync transmissions;

a plurality of location transceivers, each location transceiver including a timebase for detecting actual times-of-arrival of periodic reference sync transmissions, each of the plurality of transceivers located at predetermined locations with respect to the at least one sync unit, the plurality of location transceivers are able to perform wireless distance measurement with the at least one synchronization (sync) unit; and

a processor coupled to a memory, the memory containing program instructions for execution by the processor, wherein the program instructions comprise program instructions for;

computing an actual propagation time between the sync unit to the plurality of transceivers;

computing differences between the actual propagation time and theoretical propagation time determined in conformity with the predetermined locations;

estimating synchronization offset error of the plurality of transceivers in conformity with the second computed differences; and

correcting the synchronization offset error.

21. The TDOA location finding wireless system of claim 20, wherein the program instructions for estimating comprise continuously computing, estimating and correcting the synchronization offsets errors.

22. The TDOA location finding wireless system of claim 20, wherein the program instructions for computing comprise performing a calculation based on distance measurement (DM) results received from at least one of the at least one sync unit or from the at least one sync unit and at least one location transceiver.

23. The TDOA location finding wireless system of claim 21, wherein the program instructions for estimating further comprise predicting values of the offset error as a function of time, wherein the program instructions for correcting further comprises correcting the synchronization offset error in conformity with the predicted error.

24. The TDOA location finding wireless system of claim 20, wherein said program instructions further comprise:

collecting a result of the computing as a statistical sample set; and

determining statistics of the sample set in conformity with a statistical model;

wherein the estimating comprises predicting the error using a predictor associated with the statistical model.

25. The TDOA location finding wireless system of claim 20, wherein said program instructions further:

collecting a result of said computing as a sample set; and

smoothing the sample set using a smoothing filter;

wherein the estimating comprises predicting the error using a result of the smoothing.

26. The TDOA location finding wireless system of claim 20, wherein said processor and said memory are located in a server coupled in a communications link to the at least one sync unit and to the plurality of transceivers, whereby the server estimates the error.