System and method for collaborative resource tracking

• US 8,531,288 B1
• Filed: 11/09/2010
• Issued: 09/10/2013
• Est. Priority Date: 11/09/2009
• Status: Active Grant

• Current Assignee: Carnegie Mellon University
• Original Assignee: Carnegie Mellon University
• Inventors: Khan, Usman, Moura, Jos M., Kar, Soummya
• Primary Examiner(s): Tweel, Jr., John A
• Application Number:
  US12/942,951
• Time in Patent Office: 1,036 Days
• Field of Search: 340/539.13, 340/539.1, 340/568.1, 340/10.1, 340/10.4, 340/572.1
• US Class Current: 340/539.13
• CPC Class Codes: G06Q 10/0833 Tracking
• CPC Class Codes: H04W 4/02 Services making use of location information
• CPC Class Codes: H04W 4/029 Location-based management or tracking services

Abstract

A system and method for locating, tracking, and monitoring resource in large-scale facilities is disclosed herein. The system is based on a sensor network and is efficient, scalable, and requires only short-range communication. The system allows for sensor-to-sensor communication as well as the traditional sensor-to-anchor communication to effectively eliminate long-range communications. In order to perform resource localization and tracking, the present invention pairs each resource with an inexpensive, low-powered sensor possessing minimal resources or anchors and those resources communicate with their nearby resources or anchors until a wireless, linked network of resources and anchors is formed.

Claims

1. An efficient, low power, scalable system for monitoring one or a plurality of mobile assets within a predetermined area, the system comprising:

a plurality of anchors having known, fixed locations;

said anchors configured to transmit and receive data wirelessly;

at least one sensor to be located or tracked;

each of said sensors coupled with a mobile asset and configured to exchange location data with sensors or anchors located nearby;

whereby each sensor determines its location relative to nearby sensors; and

a monitoring processor configured to obtain location information from the sensors in response to a query made by a user.

2. The system of claim 1, wherein the number of anchors is one greater than the number of physical dimensions being monitored regardless of the number of sensors.

3. The system of claim 1, wherein the sensors comprise a transceiver, a sensing mechanism, a small memory storage capacity, one or a plurality of microprocessors and a power source.

4. The system of claim 3, further comprising a localization algorithm stored on the memory storage capacity to be executed by the one or a plurality of microprocessors.

5. The system of claim 1, wherein the location data comprises received signal strength or time of arrival data.

6. The system of claim 1, wherein the nearby sensors are comprised of sensors or anchors in a convex hull.

7. The system of claim 6, wherein the location information comprises measurements of the sensor'"'"'s distance from its nearby sensors or anchors.

8. The system of claim 7, wherein the monitoring processor uses the location information received from the sensors, compares it to known anchor location information, and calculates the location of any mobile asset within the predetermined area.

9. A method for monitoring the location of one or a plurality of mobile assets, the method comprising:

deploying a plurality of anchors, said anchors having a known location and being configured to transmit and receive data wirelessly;

disposing a sensor on each mobile asset to be tracked;

said sensors being configured to transmit and receive data wirelessly;

exchanging location data between each sensor and one or both of nearby sensors and anchors;

determining an appropriate set of one or both of nearby sensors or anchors to ensure the location data is sufficient and reliable; and

calculating a location estimate of the mobile asset based on the location data received from the appropriate set.

10. The method set forth in claim 9, wherein determining an appropriate set of nearby sensors or anchors is further comprised of applying a convex hull inclusion test to the location data relating to one or both of nearby sensors or anchors.

11. The method set forth in claim 10, further comprising gradually increasing power to the transceiver in the event insufficient sensors or anchors are detected to satisfy the convex hull inclusion test.

12. The method set forth in claim 9, further comprising repeatedly exchanging location data with each sensor or anchor in the appropriate set until a comparison of location data for each sensor or anchor is sufficiently reliable.

13. The method set forth in claim 9, further comprising the steps of collecting the location estimates, combining them with anchor locations to monitor the location of any mobile asset.

14. The method set forth in claim 9, wherein each location estimate is calculated as a linear function of the location estimates at the appropriate set of nearby sensors or anchors.

15. The method set forth in claim 14, wherein coefficients of the linear function at each sensor are barycentric coordinates of the sensor or anchor expressed in terms of the appropriate set of nearby sensors or anchors.

16. The method set forth in claim 9, wherein each sensor locates a new set of nearby sensors or anchors if the mobile asset has moved or a nearby sensor has moved.