Acoustic position tracking system

• US 9,201,522 B2
• Filed: 09/03/2013
• Issued: 12/01/2015
• Est. Priority Date: 09/03/2013
• Status: Active Grant

• Current Assignee: Qualcomm, Inc.
• Original Assignee: Qualcomm, Inc.
• Inventors: Li, Ren
• Primary Examiner(s): Edun, Muhammad N
• Application Number:
  US14/017,185
• Publication Number:
  US 20150062091A1
• Time in Patent Office: 819 Days
• Field of Search: None
• US Class Current: 1/1
• CPC Class Codes: G01S 5/186 Determination of attitude using inertial means G01C9/00; control of attitude G05D1/49
• CPC Class Codes: G01S 5/22 Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements G01S5/28 takes precedence
• CPC Class Codes: G06F 3/03545 Pens or stylus
• CPC Class Codes: G06F 3/038 Control and interface arrangements therefor, e.g. drivers or device-embedded control circuitry
• CPC Class Codes: G06F 3/0418 for error correction or compensation, e.g. based on parallax, calibration or alignment
• CPC Class Codes: G06F 3/043 using propagating acoustic waves
• CPC Class Codes: G06F 3/0436 in which generating transducers and detecting transducers are attached to a single acoustic waves transmission substrate

Abstract

An acoustic tracking system is provided that includes a mobile device including a plurality of receivers that receives an acoustic signal from each of three transmitters disposed in a fixed, non-planar relationship with respect to each other, where the three transmitters are coupled to a transmitting device. The system also includes a processing component that determines based on the acoustic signals received at the plurality of receivers a position of the transmitting device in a multidimensional space. The system also includes an application controller that affects operation of an application based on a determined position of one or more transmitters of the three transmitters.

Claims

1. An acoustic tracking system, comprising:

a mobile device including a plurality of receivers that receives an acoustic signal from each of at least three transmitters disposed in a fixed, non-planar relationship with respect to each other, wherein the at least three transmitters are coupled to a transmitting device;

a processing component that determines, based on the acoustic signals received at the plurality of receivers, a position of the transmitting device in a multidimensional space; and

an application controller that affects operation of an application based on a determined position of one or more transmitters of the at least three transmitters.

2. The acoustic tracking system of claim 1, further comprising:

a digital pen, wherein the at least three transmitters are disposed on the digital pen.

3. The acoustic tracking system of claim 2, wherein a first transmitter of the at least three transmitters is located near a top of the digital pen.

4. The acoustic tracking system of claim 1, further comprising:

a transmitting device, wherein the at least three transmitters are disposed on the transmitting device.

5. The acoustic tracking system of claim 4, wherein the processing component determines based on the determined position of one or more transmitters of the at least three transmitters a tilt angle of the transmitting device.

6. The acoustic tracking system of claim 5, wherein the tilt angle comprises variable tilt angles α

and β

, and the variable tilt angles α and

β

of the transmitting device is determined based on the following equations;

x′

=x+d_xx′

sin(α

)cos(β

),

y′

=y+d_xx′

sin(α

)sin(β

),

z′

=z+d_xx′

cos(α

),

x″

=x+d_x″

sin(α

)cos(β

),

y″

=y+d_x″

sin(α

)sin(β

),

z″

=z+d_x″

cos(α

), and

wherein d_x″

is a first distance from the first transmitter to the second transmitter, d_xx′

is a second distance from the third transmitter to the first transmitter, and (x′

, y′

, z′

) and (x″

, y″

, z″

) are coordinates corresponding to the determined position of the one or more transmitters.

7. The acoustic tracking system of claim 6,

wherein a second range measurement from the second transmitter is determined by equations R5, R6, R7, and R8:

R5=√

{square root over ((x′

−

x1)²+(y′

−

y1)²+(z′

−

z1)²)}{square root over ((x′

−

x1)²+(y′

−

y1)²+(z′

−

z1)²)}{square root over ((x′

−

x1)²+(y′

−

y1)²+(z′

−

z1)²)}+vt+e5,

R6=√

{square root over ((x′

−

x2)²+(y′

−

y2)²+(z′

−

z2)²)}{square root over ((x′

−

x2)²+(y′

−

y2)²+(z′

−

z2)²)}{square root over ((x′

−

x2)²+(y′

−

y2)²+(z′

−

z2)²)}+vt+e6,

R7=√

{square root over ((x′

−

x3)²+(y′

−

y3)²+(z′

−

z3)²)}{square root over ((x′

−

x3)²+(y′

−

y3)²+(z′

−

z3)²)}{square root over ((x′

−

x3)²+(y′

−

y3)²+(z′

−

z3)²)}+vt+e7,

R8=√

{square root over ((x′

−

x4)²+(y′

−

y4)²+(z′

−

z4)²)}{square root over ((x′

−

x4)²+(y′

−

y4)²+(z′

−

z4)²)}{square root over ((x′

−

x4)²+(y′

−

y4)²+(z′

−

z4)²)}+vt+e8,

wherein the second transmitter is located between the first and third transmitters along a length of the digital pen, and (x, y, z) in R5, R6, R7, and R8 is a position of the second transmitter in the multidimensional space,

wherein a third range measurement from the third transmitter is determined by equations R9, R10, R11, and R12;

R9=√

{square root over ((x″

−

x1)²+(y″

−

y1)²+(z″

−

z1)²)}{square root over ((x″

−

x1)²+(y″

−

y1)²+(z″

−

z1)²)}{square root over ((x″

−

x1)²+(y″

−

y1)²+(z″

−

z1)²)}+vt+e9,

R10=√

{square root over ((x″

−

x2)²+(y″

−

y2)²+(z″

−

z2)²)}{square root over ((x″

−

x2)²+(y″

−

y2)²+(z″

−

z2)²)}{square root over ((x″

−

x2)²+(y″

−

y2)²+(z″

−

z2)²)}+vt+e10,

R11=√

{square root over ((x″

−

x3)²+(y″

−

y3)²+(z″

−

z3)²)}{square root over ((x″

−

x3)²+(y″

−

y3)²+(z″

−

z3)²)}{square root over ((x″

−

x3)²+(y″

−

y3)²+(z″

−

z3)²)}+vt+e11,

R12=√

{square root over ((x″

−

x4)²+(y″

−

y4)²+(z″

−

z4)²)}{square root over ((x″

−

x4)²+(y″

−

y4)²+(z″

−

z4)²)}{square root over ((x″

−

x4)²+(y″

−

y4)²+(z″

−

z4)²)}+vt+e12,

and wherein the third transmitter is farthest from the writing element compared to the first and second transmitters, and (x, y, z) in R9, R10, R11, and R12 is a position of the third transmitter in the multidimensional space.

8. The acoustic tracking system of claim 4, wherein a first range measurement from a first transmitter of the at least three transmitters is determined by equations R1, R2, R3, and R4:

R1=√

{square root over ((x−

x1)²+(y−

y1)²+(z−

z1)²)}{square root over ((x−

x1)²+(y−

y1)²+(z−

z1)²)}{square root over ((x−

x1)²+(y−

y1)²+(z−

z1)²)}+vt+e1,

R2=√

{square root over ((x−

x2)²+(y−

y2)²+(z−

z2)²)}{square root over ((x−

x2)²+(y−

y2)²+(z−

z2)²)}{square root over ((x−

x2)²+(y−

y2)²+(z−

z2)²)}+vt+e2,

R3=√

{square root over ((x−

x3)²+(y−

y3)²+(z−

z3)²)}{square root over ((x−

x3)²+(y−

y3)²+(z−

z3)²)}{square root over ((x−

x3)²+(y−

y3)²+(z−

z3)²)}+vt+e3,

R4=√

{square root over ((x−

x4)²+(y−

y4)²+(z−

z4)²)}{square root over ((x−

x4)²+(y−

y4)²+(z−

z4)²)}{square root over ((x−

x4)²+(y−

y4)²+(z−

z4)²)}+vt+e4,

wherein the first transmitter is closest to a writing element of the transmitting device compared to a second transmitter and a third transmitter of the at least three transmitters,

wherein (x, y, z) in R1, R2, R3, and R4 is a position of the first transmitter in a multidimensional space,

wherein t is a time offset,

wherein v is a speed of sound that varies with air temperature, and

wherein e_N is a range measurement of independent noise.

9. The acoustic tracking system of claim 1, wherein the plurality of receivers receive broadband ultrasonic signals.

10. The acoustic tracking system of claim 9, wherein the broadband ultrasonic signals have a frequency range between 25 KHz and 70 KHz.

11. The acoustic tracking system of claim 1, wherein the processing component extracts acoustic signals received at each receiver of the plurality of receivers and determines which transmitter transmitted the respective acoustic signal.

12. The acoustic tracking system of claim 11, wherein the processing component calculates a time difference of arrival for each acoustic signal received at the plurality of receivers.

13. The acoustic tracking system of claim 12, wherein the processing component applies a least square algorithm to the one or more calculated time difference of arrivals to determine the position of the at least three transmitters.

14. The acoustic tracking system of claim 1, wherein the mobile device includes a screen, and the screen is at an angle relative to a ground.

15. The acoustic tracking system of claim 1, wherein the mobile device is at least one of a smartphone, tablet computer, personal digital assistant, and laptop.

16. The acoustic tracking system of claim 1, wherein the multidimensional space includes a three-dimensional space.

17. A method of determining a position of a transmitter, comprising:

receiving, at a plurality of receivers, an acoustic signal from each of at least three transmitters disposed in a fixed, non-planar relationship with respect to each other, the at least three transmitters being coupled to a transmitting device;

determining, based on the acoustic signals received at the plurality of receivers, a position of the transmitting device in a multidimensional space; and

affecting operation of an application based on a determined position of one or more transmitters of the at least three transmitters.

18. The method of claim 17, wherein the at least three transmitters are disposed on a digital pen.

19. The method of claim 18, wherein a first transmitter of the at least three transmitters is located near a top of the digital pen.

20. The method of claim 17, further comprising:

determining based on the determined position of one or more transmitters of the at least three transmitters a tilt angle of the digital pen.

21. The method of claim 17, wherein the receiving at a plurality of receivers an acoustic signal includes receiving at the plurality of receivers an ultrasonic signal and the determining includes determining based on the ultrasonic signals received at the plurality of receivers the position of the transmitting device in the multidimensional space having at least three dimensions.

22. The method of claim 21, wherein the receiving at the plurality of receivers an ultrasonic signal includes receiving at the plurality of receivers a broadband ultrasonic signal having a frequency range between 25 KHz and 70 KHz.

23. The method of claim 17, wherein the receiving includes receiving at a plurality of microphones the acoustic signal from each of the at least three transmitters.

24. The method of claim 23, wherein the plurality of microphones includes four or more microphones.

25. The method of claim 17, wherein the plurality of receivers is located on a mobile device.

26. The method of claim 25, wherein the mobile device is at least one of a smartphone, tablet computer, personal digital assistant, and laptop.

27. The method of claim 17, wherein at least one of the transmitters is positioned to have a clear line of sight with the plurality of receivers.

28. The method of claim 17, wherein each of the at least three transmitters transmits acoustic signals using Time Division Multiple Access.

29. The method of claim 28, wherein the receiving includes receiving at a first time slot a first acoustic signal from the first transmitter, receiving at a second time slot a second acoustic signal from the second transmitter, and receiving at a third time slot a third acoustic signal from the third transmitter.

30. The method of claim 17, further comprising:

extracting acoustic signals received by each receiver of the plurality of receivers;

for each acoustic signal received at a receiver of the plurality of receivers, determining which transmitter transmitted the respective acoustic signal;

calculating a time difference of arrival for each acoustic signal received at the plurality of receivers; and

applying a least square algorithm to the one or more time difference of arrivals to determine the position of the transmitting device in the multidimensional space.

31. The method of claim 17, wherein the plurality of receivers is coupled to a device having a screen, and the screen is at an angle relative to a ground.

32. The method of claim 17, wherein the multidimensional space includes a three-dimensional space.

33. A non-transitory computer-readable medium having stored thereon computer-executable instructions for performing operations, comprising:

receiving, at a plurality of receivers, an acoustic signal from each of at least three transmitters disposed in a fixed, non-planar relationship with respect to each other, the at least three transmitters being coupled to a transmitting device;

determining, based on the acoustic signals received at the plurality of receivers, a position of the transmitting device in a multidimensional space; and

affecting operation of an application based on a determined position of one or more transmitters of the at least three transmitters.

34. An apparatus for executing multiple instructions in one or more slots, comprising:

means for receiving, at a plurality of receivers, an acoustic signal from each of at least three transmitters disposed in a fixed, non-planar relationship with respect to each other, the at least three transmitters being coupled to a transmitting device;

means for receiving determining, based on the acoustic signals received at the plurality of receivers, a position of the transmitting device in a multidimensional space; and

means for receiving affecting operation of an application based on a determined position of one or more transmitters of the at least three transmitters.