Position determination based on propagation delay differences of multiple signals received at multiple sensors

• US 8,949,069 B2
• Filed: 12/16/2009
• Issued: 02/03/2015
• Est. Priority Date: 12/16/2009
• Status: Expired due to Fees

• Current Assignee: Intel Corporation
• Original Assignee: Intel Corporation
• Inventors: Roberts, Richard D., Gopalakrishnan, Praveen
• Primary Examiner(s): NGHIEM, MICHAEL P
• Application Number:
  US12/639,236
• Publication Number:
  US 20110144941A1
• Time in Patent Office: 1,875 Days
• Field of Search: 702/159, 702/150, 702/151
• US Class Current: 702/159
• CPC Class Codes: G01B 11/002 for measuring two or more coordinates
• CPC Class Codes: G01B 11/14 for measuring distance or clearance between spaced objects or spaced apertures G01B11/26 takes precedence; rangefinders G01C3/00
• CPC Class Codes: G01S 11/12 using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 5/0273 using multipath or indirect path propagation signals in position determination
• CPC Class Codes: G01S 5/06 Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements G01S5/12 takes precedence
• CPC Class Codes: G01S 5/16 using electromagnetic waves other than radio waves

Abstract

Methods and systems to determine at multi-dimensional coordinates of an object based on propagation delay differences of multiple signals received from the object by each of a plurality of sensors. The signals may include optical signals in a human visible spectrum, which may be amplitude modulated with corresponding frequency tones. An envelope may be detected with respect to each of the sensors, and signals within each envelope may be separated. A phase difference of arrival may be determined for each of the signals, based on a difference in propagation delay times of the signal with respect to multiple sensors. The phase differences of arrival may be converted to corresponding distance differences between a corresponding transmitter and the corresponding sensors. A linear distance and a perpendicular offset distance may be determined from a combination the distance differences, a distance between the corresponding transmitters, and a distance between the corresponding sensors.

Claims

1. A method, comprising:

receiving first and second signals from corresponding first and second transmitters, at each of first and second sensors; and

determining at least two-dimensional coordinates for each of the first and second transmitters relative to the first sensor based on a first phase difference between the first signal as received at the first sensor and the first signal as received at the second sensor, a second phase difference between the second signal as received at the first sensor and the second signal as received at the second sensor, a distance between the first and second transmitters, and a distance between the first and second sensors;

wherein the determining is performed using at least one of circuitry and a suitably programmed computer processor.

2. The method of claim 1, wherein the determining includes:

determining first and second distance differences from the corresponding first and second phase differences; and

determining a linear distance and perpendicular offset distance from a combination of the first and second distance differences, a distance between the first and second transmitters, and a distance between the first and second sensors.

3. The method of claim 2, wherein the determining the linear distance and the perpendicular offset distance includes:

determining the perpendicular offset distance from a combination of the first and second distance differences, the distance between the first and second transmitters, and the distance between the first and second sensors; and

determining the linear distance from a combination of the perpendicular offset distance, the first and second distance differences, and the distance between the first and second sensors.

4. The method of claim 2, wherein the determining the perpendicular offset distance includes:

determining the perpendicular offset distance using a first computation when the product of the first distance difference and the second distance difference is greater than zero; and

determining the perpendicular offset distance using a second computation when the product of the first distance difference and the second distance difference is less than zero.

5. The method of claim 2, wherein the determining the perpendicular offset distance includes:

determining the perpendicular offset distance as one half of the distance between the first and second sensors, minus the distance between the first and second transmitters, when the first distance difference is equal to zero; and

determining the perpendicular offset distance as one half of the distance between the first and second sensors when the second distance difference is equal to zero.

6. The method of claim 2, wherein the determining the linear distance includes:

determining the linear distance independent of the perpendicular offset distance when the second distance difference is equal to zero.

7. The method of claim 2, wherein the determining of the perpendicular offset distance includes determining a lateral offset distance and a vertical offset distance.

8. The method of claim 1, wherein the receiving includes:

receiving first and second amplitude modulated optical signals at each of first and second optical sensors.

9. A system, comprising:

first and second sensors, each to receive a first signal from a first transmitter and a second signal from a second transmitter; and

a computation system to determine at least two-dimensional coordinates of each of the first and second transmitters relative to the first sensor based on a first phase difference between the first signal as received at the first sensor and the first signal as received at the second sensor, a second phase difference between the second signal as received at the first sensor and the second signal as received at the second sensor, a distance between the first and second transmitters, and a distance between the first and second sensors.

10. The system of claim 9, wherein the computation system includes:

a phase difference detector to determine the first and second phase differences;

a difference converter to convert the first and second phase differences to corresponding first and second distance differences; and

a calculator system to determine a linear distance and perpendicular offset distance from a combination of the first and second distance differences, a distance between the first and second transmitters, and a distance between the first and second sensors.

11. The system of claim 10, wherein the computation system includes:

a perpendicular offset calculator to determine the perpendicular offset distance from a combination of the first and second distance differences, the distance between the first and second transmitters, and the distance between the first and second sensors; and

a linear distance calculator to determine the linear distance from a combination of the perpendicular offset distance, the first and second distance differences, and the distance between the first and second sensors.

12. The system of claim 10, wherein the computation system includes a perpendicular offset calculator to:

determine the perpendicular offset distance as one half of the distance between the first and second sensors, minus the distance between the first and second transmitters, when the first distance difference is equal to zero; and

determine the perpendicular offset distance as one half of the distance between the first and second sensors when the second distance difference is equal to zero.

13. The system of claim 9, wherein the first and second sensors include first and second optical sensors to receive and convert amplitude modulated optical signals and to electrical signals.

14. The system of claim 9, wherein the computation system is configured to generate at least three-dimensional coordinates.

15. The system of claim 9, further including:

an automobile configured to house the first and second sensors.

16. The system of claim 9, further including:

an automobile configured to house the first and second transmitters.

17. A non-transitory computer readable medium encoded with a computer program, including instructions to cause a processor to:

receive information corresponding to first and second signals received from corresponding first and second transmitters at each of first and second sensors; and

determine at least two-dimensional coordinates for each of the first and second transmitters relative to the first sensor based on a first phase difference between the first signal as received at the first sensor and the first signal as received at the second sensor, a second phase difference between the second signal as received at the first sensor and the second signal as received at the second sensor, a distance between the first and second transmitters, and a distance between the first and second sensors.

18. The non-transitory computer readable medium of claim 17, further including instructions to cause the processor to:

determine a perpendicular offset distance from a combination of,

a first distance difference corresponding to a propagation delay time difference of the first signal received at first and second sensors,

a second distance difference corresponding to a propagation delay time difference of the second signal received at the first and second sensors,

a distance between the first and second transmitters, and

a distance between the first and second sensors; and

determine a linear distance from a combination of the perpendicular offset distance, the first and second distance differences, and the distance between the first and second sensors.

19. The non-transitory computer readable medium of claim 18, further including instructions to cause the processor to:

determine the perpendicular offset distance using a first computation when the product of the first distance difference and the second distance difference is greater than zero; and

determine the perpendicular offset distance using a second computation when the product of the first distance difference and the second distance difference is less than zero.

20. The non-transitory computer readable medium of claim 18, further including instructions to cause the processor to:

determine the perpendicular offset distance as one half of the distance between the first and second sensors, minus the distance between the first and second transmitters, when the first distance difference is equal to zero; and

determine the perpendicular offset distance as one half of the distance between the first and second sensors when the second distance difference is equal to zero.