Acoustic position-determination system

• US 9,209,909 B2
• Filed: 01/20/2010
• Issued: 12/08/2015
• Est. Priority Date: 01/20/2009
• Status: Active Grant

• Current Assignee: Sonitor Technologies AS
• Original Assignee: Sonitor Technologies AS
• Inventors: Booij, Wilfred Edwin, Olsen, Oystein Haug
• Primary Examiner(s): ALSOMIRI, ISAM A
• Assistant Examiner(s): Baghdasaryan, Hovhannes
• Application Number:
  US13/145,494
• Publication Number:
  US 20120044786A1
• Time in Patent Office: 2,148 Days
• US Class Current: 1/1
• CPC Class Codes: G01S 3/8083 determining direction of source
• CPC Class Codes: G01S 5/0273 using multipath or indirect path propagation signals in position determination
• CPC Class Codes: G01S 5/18 using ultrasonic, sonic, or infrasonic waves
• 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: H04B 11/00 Transmission systems employing sonic, ultrasonic or infrasonic waves

Abstract

The position of a mobile unit (12) within a detection zone is determined. An acoustic signal is emitted from the mobile unit and received along a first path (54). An echo of the signal is received after reflection from a surface (46) within said detection zone. The position of the mobile unit (12) within the detection zone is determined from the times of arrival of the signal and echo.

Claims

1. A method of determining the position of a mobile unit within a detection zone comprising:

emitting an acoustic signal from the mobile unit;

receiving said acoustic signal along a first path from the mobile unit at a first transducer;

receiving an echo of said acoustic signal after reflection from a surface within said detection zone at a second transducer;

determining the time of arrival at the first transducer of the acoustic signal along said first path;

determining the time of arrival of the echo at the second transducer; and

determining the position of the mobile unit within the detection zone from said times of arrival,

wherein the first transducer is optimised for the reception of the signal along the first path, and the second transducer is optimised for the reception of the echo, the second transducer being configured to have greater directional sensitivity than the first transducer, and being directed towards said surface.

2. The method of claim 1 further comprising determining the time of arrival of the echo relative to the time of arrival of the acoustic signal along said first path.

3. The method of claim 1 further comprising:

receiving a plurality of echoes of said acoustic signal;

determining the times of arrival of the plurality of echoes; and

determining the position of the mobile unit within the detection zone from said times of arrival of the plurality of echoes.

4. The method of claim 1 wherein determining the position of the mobile unit within the detection zone comprises performing a trilateration or multilateration calculation using information relating to one or more virtual receivers.

5. The method of claim 1 further comprising using information relating to the relative or absolute position or orientation of a receiver and information relating to the relative or absolute position or orientation of the surface to determine the position of the mobile unit.

6. The method of claim 5 further comprising conducting an automatic calibration step in which a processor acquires information relating to the location of the surface or a receiver by receiving an acoustic signal.

7. The method of claim 1 wherein the acoustic signal is ultrasonic.

8. The method of claim 1 further comprising using the difference between the true position of the mobile unit and a position estimated from the acoustic signal received by a receiver to calibrate or synchronise a clock on the mobile unit.

9. The method of claim 1 further comprising estimating the angle of arrival of the signal from the mobile unit at a receiver.

10. The method of claim 1 further comprising:

determining the time of arrival of the acoustic signal along the first path at the first transducer and determining the time of arrival of the same acoustic signal at a further transducer; and

determining, from these times of arrival, information relating to the direction from which the sound was received at a receiver.

11. The method of claim 1 wherein the first path is a direct path.

12. A position-determining system comprising a mobile unit, a receiver comprising a plurality of transducers, and a processor, the mobile unit being located within a detection zone, wherein:

the mobile unit is arranged to emit an acoustic signal;

the receiver is arranged to receive said acoustic signal at a first one of said transducers along a first path from the mobile unit, and to receive, at a second one of said transducers, an echo of said acoustic signal after reflection from a surface within said detection zone, wherein the first transducer is optimised for the reception of the signal along the first path, and the second transducer is optimised for the reception of the echo, the second transducer being configured to have greater directional sensitivity than the first transducer, and to be directed towards said surface; and

the processor is arranged to determine the time of arrival of the acoustic signal along said first path at the first transducer, to determine the time of arrival of the echo at the second transducer, and to determine the position of the mobile unit within the detection zone from said times of arrival.

13. The position-determining system of claim 12 wherein the receiver is mounted on the ceiling of a room and the reflecting surface is the floor of the room.

14. The position-determining system of claim 12 wherein the receiver comprises an array of transducers.

15. The position-determining system of claim 12 wherein the processor is arranged to conduct an automatic calibration step in which the processor acquires information relating to the location of the surface and/or a receiver by receiving an acoustic calibration signal.

16. The position-determining system of claim 15 wherein the acoustic calibration signal is emitted by the receiver.

17. The position-determining system of claim 12 wherein the first transducer comprises an omni-directional microphone.

18. The position-determining system of claim 12 wherein the second transducer comprises a directional microphone, or an omni-directional microphone with a waveguide or shielding to add directionality.

19. The position-determining system of claim 12 wherein the second transducer has a half-angle of between 10 and 60 degrees.

20. The position-determining system of claim 12 wherein the first transducer has no half-angle or has a half-angle greater than that of the second transducer.

21. The position-determining system of claim 12 wherein the first transducer has a half-angle greater than 60 degrees.

22. The position-determining system of claim 12 wherein the second transducer, or a part thereof, is moveable in order to allow its directional axis to be adjusted.

23. The position-determining system of claim 22 wherein the second transducer is mounted on a moveable support.

24. The position-determining system of claim 12 wherein the receiver comprises a plurality of microphones, each having greater directivity than said first microphone, and wherein the respective directional axes of said plurality of microphones are mutually nonparallel.

25. The position-determining system of claim 12 further comprising a processor arranged to use arrival times of signals at a plurality of receivers to determine the position of the mobile unit within the detection zone.

26. The position-determining system of claim 12 wherein the processor is configured to use the signal strength of the received echo to identify said surface from which the echo was reflected.

27. The position-determining system of claim 12 wherein the processor is configured to estimate an angle of arrival, at the receiver, of the signal from the mobile unit.

28. The position-determining system of claim 12 wherein the acoustic signal is ultrasonic.

29. A receiver for use in a system for determining the position of a mobile unit within a detection zone, the receiver comprising:

a plurality of transducers and a processing system;

wherein the receiver is arranged to receive an acoustic signal at a first one of said transducers along a first path from a mobile unit, and to receive, at a second one of the transducers, an echo of said acoustic signal after reflection from a surface within a detection zone,

wherein the first transducer is optimized for the reception of the signal along the first path, and the second transducer is optimised for the reception of the echo, the second transducer being configured to have greater directional sensitivity than the first transducer, and to be directed towards the surface; and

wherein the processing system is arranged to (i) determine the time of arrival of the acoustic signal along said first path at the first transducer, (ii) determine the time of arrival of the echo at the second transducer, and (iii) determine the position of the mobile unit within the detection zone from said times of arrival.

30. The receiver of claim 29, wherein the second transducer, or a part thereof, is moveable in order to allow its directional axis to be adjusted.

31. The receiver of claim 30, wherein the second transducer is mounted on a rotatable gimbal.