Method and system for locating devices with embedded location tags

• US 8,098,150 B2
• Filed: 05/25/2007
• Issued: 01/17/2012
• Est. Priority Date: 05/25/2007
• Status: Active Grant

• Current Assignee: Xerox Corporation (Xerox Holdings Corp.)
• Original Assignee: Palo Alto Research Center, Inc. (Xerox Holdings Corp.)
• Inventors: Zhang, Ying, Reich, James E.
• Primary Examiner(s): Wu, Daniel
• Assistant Examiner(s): POINT, RUFUS C
• Application Number:
  US11/807,283
• Publication Number:
  US 20080291024A1
• Time in Patent Office: 1,698 Days
• Field of Search: 340/870.01, 340/870.03, 340/870.18, 340/870.16, 340/517, 340/10.1, 340/539.13, 340/573.1
• US Class Current: 340/539.13
• CPC Class Codes: G01S 13/876 Combination of several spaced transponders or reflectors of known location for determining the position of a receiver G01S13/874 takes precedence
• CPC Class Codes: G01S 5/0289 of multiple transceivers, e.g. in ad hoc networks
• CPC Class Codes: G01S 5/04 Position of source determined by a plurality of spaced direction-finders

Abstract

One embodiment of the present invention provides a system that locates a set of target transmitting mechanism using a mobile sensing infrastructure. During operation, the system determines a reference frame of a sensing mechanism by detecting signals from at least two transmitting mechanisms. The system further determines locations of the target transmitting mechanism relative to the reference frame using the sensing mechanism. In addition, the system produces a result to indicate the locations of the target transmitting mechanisms.

Claims

1. A method for locating a set of target transmitting mechanisms using a mobile sensing infrastructure, the method comprising:

detecting signals, at two receiver modules, each of which comprises a sensor, of a mobile sensing mechanism, from at least two reference transmitting mechanisms, each of which comprises a tag coupled to a device to be localized, wherein the two receiver modules are placed in fixed positions relative to each other on a mobile base that moves within four degrees of freedom;

determining a reference frame of the receiver modules on the mobile base of the mobile sensing mechanism based on the signals detected from the reference transmitting mechanisms over a time period when the mobile sensing mechanism moves within the four degrees of freedom;

determining locations of other target transmitting mechanisms, relative to the reference frame using the receiver modules on the mobile base of the sensing mechanism; and

indicating the locations of the target transmitting mechanisms.

2. The method of claim 1,

wherein a transmitting mechanism includes an ultra-wideband transmitter;

and

wherein the sensing mechanism includes at least two ultra-wideband receivers.

3. The method of claim 1,

wherein each receiver module is configured to detect an angle of arrival (AOA) of a signal from a transmitting mechanism.

4. The method of claim 3,

wherein determining the location of a target transmitting mechanism comprises computing a set of x, y, and z coordinates based on the respective AOA of a signal from the target transmitting mechanism detected by each receiver module in the sensing mechanism.

5. The method of claim 4,

wherein determining the location of the target transmitting mechanism comprises relocating the sensing mechanism so that signals from the target transmitting mechanism and at least one transmitting mechanism can be detected at the same time, wherein the locations of the at least one transmitting mechanism relative to the reference frame has been determined.

6. The method of claim 1,

wherein the target transmitting mechanism is attached to an object;

and

wherein the method further comprises;

determining the location of the target transmitting mechanism; and

producing a result to indicate a dimension and location of the object based on the location of the transmitting mechanism attached to the object.

7. The method of claim 6,

wherein determining the location of each of the additional transmitting mechanism comprises detecting simultaneously a signal from at least one transmitting mechanism the location of which relative to the reference frame has been determined.

8. The method of claim 1,

wherein the target transmitting mechanism is attached to an object;

and

wherein the determined location of the target transmitting mechanism indicates a location of the object.

9. The method of claim 1, further comprising:

using a number of measurements of the AOA data from the set of target transmitting mechanisms; and

refining the locations of the target transmission mechanisms based on the measurements.

10. The method of claim 1, further comprising using the transmitting mechanisms as a location infrastructure to track mobile sensors after the transmitting mechanisms are localized.

11. A system for locating a set of target transmitting mechanisms using a mobile sensing infrastructure, the system comprising:

a mobile sensing mechanism that includes two receiver modules, each of which comprises a sensor, configured to;

detect signals from at least two reference transmitting mechanisms, each of which comprises a tag coupled to a device to be localized, wherein the two receiver modules are placed in fixed positions relative to each other on a mobile base that moves within four degrees of freedom;

determine a reference frame of the receiver modules on the mobile base of the mobile sensing mechanism based on the signals detected from the reference transmitting mechanisms over a time period when the mobile sensing mechanism moves within the four degrees of freedom; and

determine locations of other target transmitting mechanisms, relative to the reference frame using the receiver modules on the mobile base of the sensing mechanism; and

a indication mechanism configured to indicate the locations of the target transmitting mechanisms.

12. The system of claim 11,

wherein a transmitting mechanism includes an ultra-wideband transmitter;

and

wherein the sensing mechanism includes at least two ultra-wideband receivers.

13. The system of claim 11,

wherein each receiver module is configured to detect an angle of arrival (AOA) of a signal from a transmitting mechanism.

14. The system of claim 13,

wherein while determining the location of a target transmitting mechanism, the sensing mechanism is configured to compute a set of x, y, and z coordinates based on the respective AOA of a signal from the target transmitting mechanism detected by each receiver module in the sensing mechanism.

15. The system of claim 14,

wherein while determining the location of the target transmitting mechanism, the sensing mechanism is relocated so that signals from the target transmitting mechanism and at least one transmitting mechanism can be detected at the same time, wherein the locations of the at least one transmitting mechanisms relative to the reference frame has been determined.

16. The system of claim 11,

wherein the target transmitting mechanism is attached to an object;

wherein the sensing mechanism is further configured to determine the location of the target transmitting mechanism; and

wherein the result-generation mechanism is configured to produce a result to indicate a dimension and location of the object based on the location of the transmitting mechanism attached to the object.

17. The system of claim 16,

wherein while determining the location of each of the additional transmitting mechanism, the sensing mechanism is configured to detect simultaneously a signal from at least one transmitting mechanism the location of which relative to the reference frame has been determined.

18. The system of claim 11,

wherein the target transmitting mechanism is attached to an object;

and

wherein the determined location of the target transmitting mechanism indicates a location of the object.

19. The system of claim 11, wherein the sensing mechanism is configured to:

use a number of measurements of the AOA data from the set of transmitting mechanisms; and

refine the locations of the target transmission mechanisms based on the measurements.

20. The system of claim 11, wherein the sensing mechanism is configured to use the transmitting mechanisms as a location infrastructure to track mobile sensors after the transmitting mechanisms are localized.

21. A computer readable storage medium storing instructions that when executed by a computer cause the computer to perform a method for locating a set of target transmitting mechanisms using a mobile sensing infrastructure, the method comprising:

detecting signals, at two receiver modules, each of which comprises a sensor, of a mobile sensing mechanism, from at least two reference transmitting mechanisms, each of which comprises a tag coupled to a device to be localized, wherein the two receiver modules are placed in fixed positions relative to each other on a mobile base that moves within four degrees of freedom;

determining a reference frame of the receiver modules on the mobile base of the mobile sensing mechanism based on the signals detected from the reference transmitting mechanisms over a time period when the mobile sensing mechanism moves within the four degrees of freedom;

determining locations of other target transmitting mechanisms, relative to the reference frame using the receiver modules on the mobile base of the sensing mechanism; and

indicating the locations of the target transmitting mechanisms.