Real-time ranging and angle measurements using radar and surface acoustic wave transponders

• US 7,924,160 B1
• Filed: 03/07/2007
• Issued: 04/12/2011
• Est. Priority Date: 03/07/2006
• Status: Active Grant

• Current Assignee: Massachusetts Institute of Technology
• Original Assignee: Massachusetts Institute of Technology
• Inventors: LaPenta, Jason M., Paradiso, Joseph A.
• Primary Examiner(s): Lee; Benjamin C
• Assistant Examiner(s): EUSTAQUIO, CAL J
• Application Number:
  US11/715,110
• Time in Patent Office: 1,497 Days
• Field of Search: 340/572.4, 340/539.13, 310/313.B
• US Class Current: 340/572.4
• CPC Class Codes: G01S 2205/01 specially adapted for specific applications
• CPC Class Codes: G01S 5/04 Position of source determined by a plurality of spaced direction-finders
• CPC Class Codes: G01S 5/14 Determining absolute distances from a plurality of spaced points of known location
• CPC Class Codes: G08B 13/2422 using acoustic or microwave tags

Abstract

A system for tracking the position of multiple objects in three dimensional space by transmitting radar interrogation signals having predetermined wave shapes to surface acoustic wave transducers attached to each object. Each transducer includes a unique electrically conductive pattern on one surface of a piezoelectric substrate for selectively responding to the predetermined wave shape of one of the interrogation signals for inducing a surface acoustic wave in the substrate and for thereafter transforming the surface acoustic wave into an electromagnetic response signal having detectable properties that uniquely identify said transducer. The location of each transducer is estimated by measuring the time-of-flight or angle-of-arrival of the radar signals at several measurement stations and producing a position estimate by triangulation.

Claims

1. A system for detecting tile location of an object ill three-dimensional space comprising, in combination,

one or more transmitting stations for periodically transmitting electromagnetic signals,

a surface wave acoustic transducer attached to said object, said transducer comprising:

an antenna for capturing electrical energy from said electromagnetic signals received from said one or more transmitting stations,

a piezoelectric substrate,

a first set of conductive elements attached to the surface of said piezoelectric substrate and coupled to said antenna for converting said electrical energy into a surface acoustic wave that propagates across the surface of said substrate,

a second set said conductive elements attached to the surface of said piezoelectric substrate and positioned in a path of travel of said acoustic surface wave for reconverting said acoustic wave into a modified electrical signal having a modified wave shape that uniquely identifies said transducer, for transmission back to said one or more transmitting stations as an electromagnetic signal,

a third set of conductive elements attached to the surface of said piezoelectric substrate and positioned in a path of travel of said acoustic surface wave for converting said acoustic wave into a control signal that occurs before said modified electrical signal is produced by said second set of conductive elements,

a normally unpowered amplification circuit having a signal input connected to said second set of conductive elements for amplifying said modified electrical signal as transmitted from said transducer to one or more receiving stations, and

a switching circuit responsive to said control signal for supplying electrical power to said amplification circuit before and during occurrence of said modified electrical signal, and

a signal processing system for determining the position of said transducer in three-dimensional space by measuring the distance separating said transducer from one or more receiving stations or by measuring the angle-of-arrival of said modified electromagnetic signal as it is received at one or more receiving stations, and calculating said position based on said distance or said angle-of-arrival or both.

2. The system for detecting the location of an object in three-dimensional space as set forth in claim 1 wherein at least some of said electromagnetic signals transmitted from said one or more transmitting stations possess a predetermined wave shape and wherein at least one of said sets of conductive elements includes elements that are selectively responsive to said signals having said predetermined wave shape.

3. The system for detecting the location of an object in three-dimensional space as set forth in claim 1 wherein said signal processing system measures the distance separating said transducer from said one or more receiving stations by measuring the time-of-flight of said electromagnetic signal between said surface wave acoustic transducer and each of said one or more receiving stations.

4. The system for detecting the location of an object in three-dimensional space as set forth in claim 1 wherein said signal processing system measures the angle-of-arrival of said modified electromagnetic signal by measuring the phase difference between said modified electromagnetic signal as received by two or more spaced-apart receiving antennae.

5. A system for tracking file position of each of a plurality of different objects in three dimensional space comprising, in combination,

at least one transmitter for transmitting a sequence of electromagnetic interrogation signals each of which has a predetermined wave shape,

a transducer attached to each of said objects comprising:

a piezoelectric substrate,

a receiving antenna for receiving said electromagnetic signals,

a first set of conductive elements connected to said receiving antenna for converting one at least one of said interrogation signals into a surface acoustic wave,

a second set of conductive elements positioned in a path of travel of said surface acoustic wave at a first distance from said first set of conductive elements to produce a response signal having detectable properties that identify said transducer, for transmission back to said one or more transmitting stations as an electromagnetic signal,

a third set of conductive elements positioned in a path of travel of said surface being shorter than said first distance, such that said third set of conductive elements produces a control signal that occurs prior to the production of said response signal,

a transmitting antenna,

an amplifier having a signal input coupled to said second set of conductive elements and a signal output connected to said transmitting antenna for amplifying said response signal transmitted from said transmitting antenna as said electromagnetic response signal from said transducer,

a switching circuit connected to said third set of conductive elements and responsive to said control signal for supplying an operating potential to said amplifier during the time when said response signal is produced by said second set of conductive elements, and

at least one signal processor located remotely from said transducer for receiving said electromagnetic response signal to identify said transducer and estimate its position in three-dimensional space.

6. The system for tracking the position of each of a plurality of different objects as set forth in claim 5 wherein at least one of said sets of conductive elements includes elements that are selectively responsive to the waveshape of one or more of said interrogation signals.

7. The system for tracking the position of each of a plurality of different objects as set forth in claim 5 wherein said signal processor measures the distance separating said transducer from said signal processor by measuring the time-of-flight of said response signal between said surface acoustic wave transducer and said signal processor.

8. The system for tracking the position of each of a plurality of different objects as set forth in claim 5 wherein said signal processor measures the angle-of-arrival of said electromagnetic response signal by measuring the phase difference between said response signal as received by two or more spaced-apart receiving antennae.

9. A surface acoustic wave transducer comprising, in combination:

a receiving antenna for capturing electrical energy from an electromagnetic interrogation signal received from a remotely located transmitting station,

a piezoelectric substrate,

a first set of conductive elements coupled to said receiving antenna, said first pattern of conductive elements being positioned adjacent to the surface of said piezoelectric substrate at a first location for converting said electrical energy into surface acoustic waves that propagate across the surface of said piezoelectric substrate,

a second set of conductive elements positioned adjacent to the surface of said piezoelectric substrate at a second location spaced from said first location by a first distance for converting surface acoustic waves received at said second location into a control signal,

a third set of conductive elements positioned adjacent to the surface of said piezoelectric substrate at a third location spaced from said first location by a second distance that is greater than said first distance for converting surface acoustic waves received at said third location into a response signal,

an amplification circuit having a signal input coupled to said third set of conductive elements for receiving said response signal, a control input responsive to said control signal for activating said amplification circuit, and a signal output for producing an amplified response signal when said amplification circuit is activated, and

a transmitting antenna connected to said signal output for converting said amplified response signal into an electromagnetic response signal that is transmitted to one or more remotely located receiving stations.

10. The surface acoustic wave transducer set forth in claim 9 further including a switching circuit responsive to said control signal for decoupling said receiving antenna from said first set of conductive elements.

11. The surface acoustic wave transducer set forth in claim 9 wherein said receiving antenna and said transmitting antenna are the same antenna.

12. The surface acoustic wave transducer set forth in claim 11 further including a switching circuit responsive to said control signal for decoupling said receiving antenna from said first set of conductive elements and instead coupling said receiving antenna to said second output so that said receiving antenna transmits said electromagnetic response signal to said one or more remotely located receiving stations.

13. The surface acoustic wave transducer set forth in claim 12 further including a source of electrical power and a first switching circuit coupled to said control input for connecting said source of electrical power to said amplification circuit to activate said amplification circuit in response to said control input.

14. The surface acoustic wave transducer as set forth in claim 9 further including a source of electrical power and a first switching circuit coupled to said control input for connecting said source of electrical power to said amplification circuit to activate said amplification circuit in response to said control input.

15. The surface acoustic wave transducer set forth in claim 9 wherein said first set of conductive elements is positioned between said second set of conductive elements and said third set of conductive elements and wherein said surface acoustic waves propagate across the surface of said piezoelectric substrate in one direction to said second set of conductive elements and in the opposite direction to said third set of conductive elements.

16. The surface acoustic wave transducer set forth in claim 9 wherein said electromagnetic response signal has a wave shape that uniquely identifies said surface acoustic wave transducer.

17. The surface acoustic wave transducer set forth in claim 9 wherein said one or more remotely located receiving stations are coupled to a signal processing system for determining the position of said surface acoustic wave transducer in three-dimensional space by measuring the distance separating said transducer from said one or more receiving stations or by measuring the angle-of-arrival of said electromagnetic response signal as it is received at one or more receiving stations, and by calculating said position based on said distance or said angle-of-arrival or both.