System and method for estimating the position and orientation of a mobile communications device in a beacon-based positioning system

• US 9,594,152 B2
• Filed: 08/11/2015
• Issued: 03/14/2017
• Est. Priority Date: 08/12/2014
• Status: Active Grant

• Current Assignee: ABL IP Holding LLC (Acuity Brands, Inc.)
• Original Assignee: ABL IP Holding LLC (Acuity Brands, Inc.)
• Inventors: Ryan, Daniel, Green, Kelby Edward, Malandrakis, Emanuel Paul, Klitenik, Konstantin
• Primary Examiner(s): Liu, Li
• Application Number:
  US14/823,074
• Publication Number:
  US 20160047890A1
• Time in Patent Office: 581 Days
• Field of Search: 398/103, 398118-131, 398/172, 398/187, 398/201
• US Class Current: 1/1
• CPC Class Codes: G01C 21/206 specially adapted for indoor navigation
• CPC Class Codes: G01S 2205/02 Indoor
• CPC Class Codes: G01S 5/16 using electromagnetic waves other than radio waves
• CPC Class Codes: H04B 10/1141 One-way transmission
• CPC Class Codes: H04B 10/1149 Arrangements for indoor wireless networking of information
• CPC Class Codes: H04B 10/116 Visible light communication
• CPC Class Codes: H04W 4/02 Services making use of location information
• CPC Class Codes: H04W 4/026 using orientation information, e.g. compass
• CPC Class Codes: H04W 4/029 Location-based management or tracking services
• CPC Class Codes: H04W 4/30 Services specially adapted for particular environments, situations or purposes
• CPC Class Codes: H04W 4/33 for indoor environments, e.g. buildings
• CPC Class Codes: H04W 4/40 for vehicles, e.g. vehicle-to-pedestrians [V2P]
• CPC Class Codes: H05B 45/12 using optical feedback

Abstract

An example of a lighting device including a light source, a modulator and a processor. The processor is configured to control the light source to emit light for general illumination and control the modulator to modulate the intensity of the emitted light to superimpose at least two sinusoids. Frequencies of the at least two sinusoids enable a mobile device to infer the physical location of the lighting device.

Claims

1. A lighting device, comprising:

a light source;

a modulator coupled to the light source; and

a processor coupled to the modulator and configured to;

control the light source to emit visible light for general illumination within a space; and

control the modulator to modulate the intensity of visible light emitted by the light source based on a signal comprising at least two superimposed sinusoids and in accordance with at least two frequencies of the at least two superimposed sinusoids such that the at least two superimposed sinusoids are simultaneously broadcast, wherein;

a physical location of the lighting device within the space corresponds to a location defined by an x,y coordinate system over a planar area encompassing the space;

a frequency of a first of the at least two superimposed sinusoids has a defined relationship to a value of an x coordinate of the physical location of the lighting device in the x,y coordinate system; and

a frequency of a second of the at least two superimposed sinusoids has a defined relationship to a value of a y coordinate of the physical location of the lighting device in the x,y coordinate system.

2. The lighting device of claim 1, wherein the processor is further configured to:

limit a frequency range of the first and second superimposed sinusoids by a lower limit frequency (f_start) and an upper limit frequency (f_stop);

set the frequency of the first superimposed sinusoid (f_x) equal to the lower limit frequency plus the value of the x coordinate multiplied by the difference between the upper limit frequency and the lower limit frequency (f_x=f_start+x(f_stop−

f_start));

set the frequency of the second superimposed sinusoid (f_y) equal to the lower limit frequency plus the value of the y coordinate multiplied by the difference between the upper limit frequency and the lower limit frequency (f_y=f_start+y(f_stop−

f_start)); and

set the frequency of the first superimposed sinusoid to have a greater amplitude than the frequency of the second superimposed sinusoid.

3. The lighting device of claim 1, wherein the processor is further configured to:

limit a frequency range of the first superimposed sinusoid by a first lower limit frequency (f_x-start) and a first upper limit frequency (f_x-stop);

limit a frequency range of the second superimposed sinusoid by a second lower limit frequency (f_y-start) and a second upper limit frequency (f_y-stop);

further limit the frequency ranges of the first and second superimposed sinusoids such that the first upper limit frequency (f_x-stop) is separated from the second lower limit frequency (f_y-stop) by a buffer difference (Δ

buff);

set the frequency of the first superimposed sinusoid (f_x) equal to the first lower limit frequency plus the value of the x coordinate multiplied by the difference between the first upper limit frequency and the first lower limit frequency (f_x=f_x-start+x(f_x-stop−

f_x-start)); and

set the frequency of the second superimposed sinusoid (f_y) equal to the second lower limit frequency plus the value of the y coordinate multiplied by the difference between the second upper limit frequency and the second lower limit frequency (f_y=f_y-start+y(f_y-stop−

f_y-start)).

4. The lighting device of claim 1, wherein:

a frequency of a third of the at least two superimposed sinusoids has a defined relationship to the y coordinate of the physical location of the lighting device in the x,y coordinate system; and

the processor is further configured to;

limit a frequency range of the first, second and third superimposed sinusoids by a lower limit frequency (f_start) and an upper limit frequency (f_stop);

further limit the frequency range of the first superimposed sinusoid (f_x) by;

a first additional lower limit frequency (f_x-start) equal to the lower limit frequency plus a buffer difference (f_x-start=f_start+Δ

buff); and

a first additional upper limit frequency (f_x-stop) equal to the upper limit frequency minus the buffer difference (f_x-stop=f_stop−

Δ

buff);

further limit the frequency range of the second superimposed sinusoid (f_y-minus) by;

a second additional lower limit frequency (f_{y-minus-start}) equal to the lower limit frequency (f_{y-minus-start}=f_start); and

a second additional lower limit frequency (f_y-minus-stop) equal to the upper limit frequency minus twice the buffer difference (f_y-minus-stop=f_stop−

2Δ

buff);

further limit the frequency range of the third superimposed sinusoid (f_y-plus) by;

a third additional lower limit frequency (f_y-plus-start) equal to the lower limit frequency plus twice the buffer difference (f_y-plus-start=f_start+2Δ

buff); and

a third additional upper limit frequency (f_y-plus-stop) equal to the upper limit frequency (f_y-plus-stop=f_stop);

set the frequency of the first superimposed sinusoid (f_x) equal to the first additional lower limit frequency plus the value of the x coordinate multiplied by the difference between the first additional upper limit frequency and the first additional lower limit frequency (f_x=f_x-start+x(f_x-stop−

f_x-start));

set the frequency of the second superimposed sinusoid (f_y-minus) equal to the lower limit frequency (f_y-minus=f_start); and

set the frequency of the third superimposed sinusoid (f_y-plus) equal to the third additional lower limit frequency plus the value of the y coordinate multiplied by the difference between the third additional upper limit frequency and the third additional lower limit frequency (f_y-plus=f_y-plus-start+y(f_y-plus-stop−

f_y-plus-start)).

5. The lighting device of claim 4, wherein the processor is further configured to:

compare the frequency of the first superimposed sinusoid (f_x) with the frequency of the third superimposed sinusoid (f_y-plus); and

upon a determination that the frequency of the third superimposed sinusoid is less than the frequency of the first superimposed sinusoid plus the buffer difference (f_y-plus<

f_x+Δ

buff);

set the frequency of the third superimposed sinusoid equal to the frequency of the first superimposed sinusoid plus the buffer difference (f_y-plus=f_x+Δ

buff); and

set the frequency of the second superimposed sinusoid equal to the second additional lower limit frequency plus the frequency of the first superimposed sinusoid plus the buffer difference minus the sum of the third additional lower limit frequency and the value of the y coordinate multiplied by the difference of the third additional upper limit frequency and the third additional lower limit frequency (f_{y-minus-start}+f_x+Δ

buff−

(f_y-plus-start+y(f_y-plus-stop−

f_y-plus-start))).

6. The lighting device of claim 1, wherein the processor is further configured to vary at least one frequency of the at least two superimposed sinusoids over a period of time.

7. The lighting device of claim 6, wherein the processor is further configured to randomly vary the period of time.

8. The lighting device of claim 1, wherein the x coordinate is a value between 0 and 1 representing a proportional distance of the lighting device along a physical width of the space and the y coordinate is a value between 0 and 1 representing a proportional distance of the lighting device along a physical length of the space.

9. A method, comprising steps to:

emit, by an artificial light source, visible artificial light for general illumination within a space; and

modulate, by a modulator, the intensity of visible artificial light emitted by the light source to simultaneously broadcast at least two superimposed sinusoids modulated on the emitted visible artificial light, wherein;

a physical location of the artificial light source within the space corresponds to a location defined by an x,y coordinate system over a planar area encompassing the space;

a frequency of a first of the at least two superimposed sinusoids has a defined relationship to a value of an x coordinate of the physical location of the artificial light source in the x,y coordinate system; and

a frequency of a second of the at least two superimposed sinusoids has a defined relationship to a value of a y coordinate of the physical location of the artificial light source in the x,y coordinate system.

10. The method of claim 9, further comprising steps to:

limit a frequency range of the first and second superimposed sinusoids by a lower limit frequency (f_start) and an upper limit frequency (f_stop);

set the frequency of the first superimposed sinusoid (f_x) equal to the lower limit frequency plus the value of the x coordinate multiplied by the difference between the upper limit frequency and the lower limit frequency (f_x=f_start+x(f_stop−

f_start));

set the frequency of the second superimposed sinusoid (f_y) equal to the lower limit frequency plus the value of the y coordinate multiplied by the difference between the upper limit frequency and the lower limit frequency (f_y=f_start+y(f_stop−

f_start)); and

set the frequency of the first superimposed sinusoid to have a greater amplitude than the frequency of the second superimposed sinusoid.

11. The method of claim 9, further comprising steps to:

limit a frequency range of the first superimposed sinusoid by a first lower limit frequency (f_x-start) and a first upper limit frequency (f_x-stop);

limit a frequency range of the second superimposed sinusoid by a second lower limit frequency (f_y-start) and a second upper limit frequency (f_y-stop);

further limit the frequency ranges of the first and second superimposed sinusoids such that the first upper limit frequency (f_x-stop) is separated from the second lower limit frequency (f_y-stop) by a buffer difference (Δ

buff);

set the frequency of the first superimposed sinusoid (f_x) equal to the first lower limit frequency plus the value of the x coordinate multiplied by the difference between the first upper limit frequency and the first lower limit frequency (f_x=f_x-start+x(f_x-stop−

f_x-start)); and

set the frequency of the second superimposed sinusoid (f_y) equal to the second lower limit frequency plus the value of the y coordinate multiplied by the difference between the second upper limit frequency and the second lower limit frequency (f_y=f_y-start+y(f_y-stop−

f_y-start)).

12. The method of claim 9,

wherein a frequency of a third of the at least two superimposed sinusoids has a defined relationship to the value of the y coordinate of the physical location of the lighting device in the x,y coordinate system;

and

further comprising steps to;

limit a frequency range of the first, second and third superimposed sinusoids by a lower limit frequency (f_start) 1 and an upper limit frequency (f_stop);

further limit the frequency range of the first superimposed sinusoid (f_x) by;

a first additional lower limit frequency (f_x-start) equal to the lower limit frequency plus a buffer difference (f_x-start=f_start+Δ

buff); and

a first additional upper limit frequency (f_x-stop) equal to the upper limit frequency minus the buffer difference (f_x-stop=f_stop−

Δ

buff);

further limit the frequency range of the second superimposed sinusoid (f_y-minus) by;

a second additional lower limit frequency (f_{y-minus-start}) equal to the lower limit frequency (f_{y-minus-start}=f_start); and

a second additional lower limit frequency (f_y-minus-stop) equal to the upper limit frequency minus twice the buffer difference (f_y-minus-stop=f_stop−

2Δ

buff);

further limit the frequency range of the third superimposed sinusoid (f_y-plus) by;

a third additional lower limit frequency (f_y-plus-start) equal to the lower limit frequency plus twice the buffer difference (f_y-plus-start=f_start+2Δ

buff); and

a third additional upper limit frequency (f_y-plus-stop) equal to the upper limit frequency (f_y-plus-stop=f_stop);

set the frequency of the first superimposed sinusoid (f_x) equal to the first additional lower limit frequency plus the value of the x coordinate multiplied by the difference between the first additional upper limit frequency and the first additional lower limit frequency (f_x=f_x-start+x(f_x-stop−

f_x-start));

set the frequency of the second superimposed sinusoid (f_y-minus) equal to the lower limit frequency (f_y-minus=f_start); and

set the frequency of the third superimposed sinusoid (f_y-plus) equal to the third additional lower limit frequency plus the value of the y coordinate multiplied by the difference between the third additional upper limit frequency and the third additional lower limit frequency (f_y-plus=f_y-plus-start+y(f_y-plus-stop−

f_y-plus-start)).

13. The method of claim 12, further comprising steps to:

compare the frequency of the first superimposed sinusoid (f_x) with the frequency of the third superimposed sinusoid (f_y-plus); and

upon a determination that the frequency of the third superimposed sinusoid is less than the frequency of the first superimposed sinusoid plus the buffer difference (f_y-plus<

f_x+Δ

buff);

set the frequency of the third superimposed sinusoid equal to the frequency of the first superimposed sinusoid plus the buffer difference (f_y-plus=f_x+Δ

buff); and

set the frequency of the second superimposed sinusoid equal to the second additional lower limit frequency plus the frequency of the first superimposed sinusoid plus the buffer difference minus the sum of the third additional lower limit frequency and the value of the y coordinate multiplied by the difference of the third additional upper limit frequency and the third additional lower limit frequency (f_{y-minus-start}+f_x+Δ

buff−

(f_y-plus-start+y(f_y-plus-stop−

f_y-plus-start))).

14. The method of claim 9, further comprising a step to vary at least one frequency of the at least two superimposed sinusoids over a period of time.

15. The method of claim 14, wherein the step to vary at least one of the frequencies further comprises a step to randomly vary the period of time.

16. The method of claim 9, wherein the x coordinate is a value between 0 and 1 representing a proportional distance of the artificial light source along a physical width of the space and the y coordinate is a value between 0 and 1 representing a proportional distance of the artificial light source along a physical length of the space.

17. A mobile device, comprising:

an image sensor;

a wireless interface configured to communicate through a network over a wireless medium;

a processor coupled to the image sensor and the wireless interface;

a memory; and

software in the memory to be run by the processor, wherein running of the software by the processor configures the mobile device to implement functions, including functions to;

operate the image sensor to capture one or more images including a modulated visible light signal transmitted from a visible light source located within a space, the modulated visible light signal including at least two superimposed sinusoids;

demodulate the modulated visible light signal from the captured one or more images to obtain at least;

a frequency of a first of the at least two superimposed sinusoids; and

a frequency of a second of the at least two superimposed sinusoids;

infer, based at least in part on the obtained frequencies, a value for an x coordinate, the x coordinate being part of an x,y coordinate system over a planar area encompassing the space;

infer, based at least in part on the obtained frequencies, a value for a y coordinate, the y coordinate being part of the x,y coordinate system; and

determine, based on the inferred x and y coordinates, a physical location of the visible light source.

18. The mobile device of claim 17, wherein:

the implemented functions further include functions to;

identify a one of the obtained first and second frequencies having a greater amplitude (f_x) as representing the x coordinate;

identify another of the obtained first and second frequencies having a lesser amplitude (f_y) as representing the y coordinate; and

determine a lower limit frequency (f_start) and an upper limit frequency (f_stop);

the function to infer the value for the x coordinate further includes a function to;

set the value for the x coordinate (x) equal to the difference between the one obtained frequency having the greater amplitude and the lower limit frequency divided by the difference between the upper limit frequency and the lower limit frequency (x=(f_x−

f_start)/(f_stop−

f_start)); and

the function to infer the value for the y coordinate further includes a function to;

set the value for the y coordinate (y) equal to the difference between the another obtained frequency having the lesser amplitude and the lower limit frequency divided by the difference between the upper limit frequency and the lower limit frequency y=(f_y−

f_start)/(f_stop−

f_start)).

19. The mobile device of claim 17, wherein:

the implemented functions further include functions to;

determine a first lower limit frequency (f_x-start) and a first upper limit frequency (f_x-stop);

identify a first of the two obtained frequencies between the first lower limit frequency and the first upper limit frequency (f_x) as representing the x coordinate;

determine a second lower limit frequency (f_y-start) and a second upper limit frequency (f_y-stop);

identify a second of the two obtained frequencies between the second lower limit frequency and the second upper limit frequency (f_y) as representing the y coordinate; and

determine a buffer difference (Δ

buff) between the first upper limit frequency and the second lower limit frequency;

the function to infer the value of the x coordinate further includes a function to;

set the value for the x coordinate equal to the difference between the first obtained frequency and the first lower limit frequency divided by the difference between the first upper limit frequency and the first lower limit frequency (x=(f_x−

f_x-start)/(f_x-stop−

f_x-start)); and

the function to infer the value of the y coordinate further includes a function to;

set the value for the y coordinate equal to the difference between the second obtained frequency and the second lower limit frequency divided by the difference between the second upper limit frequency and the second lower limit frequency (y=(f_y−

f_y-start)/(f_y-stop−

f_y-start)).

20. The mobile device of claim 17, wherein:

the function to demodulate the modulated visible light signal from the captured one or more images further obtains a frequency of a third of the at least two superimposed sinusoids;

the implemented functions further include functions to;

determine a buffer difference (Δ

buff);

determine a lower limit frequency (f_start) and an upper limit frequency (f_stop);

identify a first of the three obtained frequencies (f_x) between a first additional lower limit frequency (f_x-start) and a first additional upper limit frequency (f_x-stop) as representing the x coordinate, the first additional lower limit frequency equal to the lower limit frequency plus a buffer difference (f_x-start=f_start+Δ

buff) and the first additional lower limit frequency equal to the upper limit frequency minus the buffer difference (f_x-stop=f_stop−

Δ

buff);

identify a second of the three obtained frequencies (f_y-minus) between a second additional lower limit frequency (f_{y-minus-start}) and a second additional upper limit frequency (f_y-minus-stop), the second additional lower limit frequency equal to the lower limit frequency (f_{y-minus-start}=f_start) and the second additional lower limit frequency equal to the upper limit frequency minus twice the buffer difference (f_y-minus-stop=f_stop−

2Δ

buff); and

identify a third of the three obtained frequencies (f_y-plus) between a third additional lower limit frequency (f_y-plus-start) and a third additional upper limit frequency (f_y-plus-stop) as representing the y coordinate, the third additional lower limit frequency equal to the lower limit frequency plus twice the buffer difference (f_y-plus-start=f_start+2Δ

buff) and the third additional upper limit frequency equal to the upper limit frequency (f_y-plus-stop=f_stop);

the function to infer the value of the x coordinate further includes a function to;

set the value for the x coordinate equal to the difference between the first obtained frequency and the first additional lower limit frequency divided by the difference between the first additional upper limit frequency and the first additional lower limit frequency (x=(f_x−

f_x-start)/(f_x-stop−

f_x-start)); and

the function to infer the value of the y coordinate further includes a function to;

set the value for the y coordinate equal to the difference between the third obtained frequency and the third additional lower limit frequency divided by the difference between the third additional upper limit frequency and the third additional lower limit frequency (y=(f_y-plus−

f_y-plus-start)/(f_y-plus-stop−

f_y-plus-start)).

21. The mobile device of claim 17, wherein the x coordinate is a value between 0 and 1 representing a proportional distance of the visible light source along a physical width of the space and the y coordinate is a value between 0 and 1 representing a proportional distance of the visible light source along a physical length of the space.

22. A method, comprising steps to:

capture, via an image sensor of a mobile device, one or more images including a modulated visible light signal transmitted from a visible light source located within a space, the modulated visible light signal including at least two superimposed sinusoids;

demodulate the modulated visible light signal from the captured one or more images to obtain at least;

a frequency of a first of the at least two superimposed sinusoids; and

a frequency of a second of the at least two superimposed sinusoids;

infer, based at least in part on the obtained frequencies, a value for an x coordinate, the x coordinate being part of an x,y coordinate system over a planar area encompassing the space;

infer, based at least in part on the obtained frequencies, a value for a y coordinate, the y coordinate being part of the x,y coordinate system; and

determine, based on the inferred x and y coordinates, a physical location of the visible light source.

23. The method of claim 22, wherein the x coordinate is a value between 0 and 1 representing a proportional distance of the visible light source along a physical width of the space and the y coordinate is a value between 0 and 1 representing a proportional distance of the visible light source along a physical length of the space.

24. A non-transitory tangible computer readable medium embodying instructions to cause a mobile device to perform the method of claim 22.