Decoupled magnetoquasistatic non-line-of-sight position and orientation sensing for arbitrary distances

• US 9,638,521 B2
• Filed: 10/06/2015
• Issued: 05/02/2017
• Est. Priority Date: 06/28/2010
• Status: Active Grant

• Current Assignee: California Institute of Technology
• Original Assignee: California Institute of Technology
• Inventors: Arumugam, Darmindra D.
• Primary Examiner(s): Patidar, Jay
• Application Number:
  US14/876,736
• Publication Number:
  US 20160097656A1
• Time in Patent Office: 574 Days
• Field of Search: 32420715-20725
• CPC Class Codes: G01B 7/14 for measuring distance or clearance between spaced objects or spaced apertures G01B7/30 takes precedence
• CPC Class Codes: G01C 15/00 Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
• CPC Class Codes: G01S 1/08 Systems for determining direction or position line

Abstract

Methods and systems for non-line-of-sight positioning are disclosed for arbitrarily short to long ranges, where positioning is achieved using a single anchor not requiring tri-/multi-lateration or tri-/multi-angulation. Magnetoquasistatic fields can be used to determine position and orientation of a device in two or three dimensions. Two or three axis coils can be used in receivers and transmitters. The magnetoquasistatic equations are solved in different scenarios, taking into consideration the image signals originating from the interaction between the fields and ground/earth.

Claims

1. A method comprising:

providing a receiver, the receiver comprising a first and second receiver coils configured to receive quasistatic magnetic fields in a first and second mutually orthogonal directions transmitted by a transmitter, the transmitter comprising a first and second transmitter coils and configured to transmit the quasistatic magnetic fields in a third and fourth mutually orthogonal directions;

receiving the quasistatic magnetic fields through the receiver;

measuring, with the receiver, a first voltage originating from the quasistatic magnetic fields due to coupling between the first transmitter coil and the first receiver coil;

measuring, with the receiver, a second voltage originating from the quasistatic magnetic fields due to coupling between the second transmitter coil and the first receiver coil;

measuring, with the receiver, a third voltage originating from the quasistatic magnetic fields due to coupling between the first transmitter coil and the second receiver coil;

measuring, with the receiver, a fourth voltage originating from the quasistatic magnetic fields due to coupling between the second transmitter coil and the second receiver coil; and

based on the first, second, third, and fourth voltages, calculating a distance between the receiver and the transmitter, wherein the measuring of each of the first, second, third, and fourth voltages is independent from the remaining voltages.

2. The method of claim 1, further comprising, based on the first, second, third, and fourth voltages, calculating an orientation of the receiver or of the transmitter.

3. The method of claim 1, further comprising, based on the first, second, third, and fourth voltages, calculating an azimuthal angle of the receiver or of the transmitter.

4. The method of claim 2, wherein calculating a distance between the receiver and the transmitter and calculating an orientation of the receiver or of the transmitter are based on mutually decoupling the distance and the orientation.

5. The method of claim 4, wherein providing a receiver comprises only one receiver system.

6. The method of claim 4, wherein calculating a distance between the receiver and the transmitter and calculating an orientation of the receiver or of the transmitter comprise receiving a location of either the receiver or the transmitter.

7. The method of claim 6, wherein independently measuring each of the first, second, third, and fourth voltages is by receiving the quasistatic magnetic fields at a different frequency for the mutually orthogonal directions.

8. The method of claim 6, wherein independently measuring each of the first, second, third, and fourth voltages is by receiving the quasistatic magnetic fields at a different time for the mutually orthogonal directions.

9. The method of claim 2, wherein calculating a distance between the receiver and the transmitter and calculating an orientation of the receiver or of the transmitter are based on decomposing a near-ground magnetoquasistatic dipole into horizontal and vertical components.

10. The method of claim 9, wherein decomposing a near-ground magnetoquasistatic dipole into horizontal and vertical components comprises approximating the near-ground magnetoquasistatic dipole by complex image theory.

11. The method of claim 10, wherein calculating a distance between the receiver and the transmitter and calculating an orientation of the receiver or of the transmitter are further based on decomposing the received quasistatic magnetic fields into horizontal and vertical components, and using the horizontal component only, for the received quasistatic magnetic fields.

12. A method comprising:

providing a receiver, the receiver comprising a first and second receiver coils configured to receive quasistatic magnetic fields in a first and second mutually orthogonal directions;

providing a transmitter, the transmitter comprising a first and second transmitter coils and configured to transmit the quasistatic magnetic fields in a third and fourth mutually orthogonal directions;

transmitting the quasistatic magnetic fields through the transmitter;

receiving the quasistatic magnetic fields through the receiver;

measuring, with the receiver, a first voltage originating from the quasistatic magnetic fields due to coupling between the first transmitter coil and the first receiver coil;

measuring, with the receiver, a second voltage originating from the quasistatic magnetic fields due to coupling between the first transmitter coil and the second receiver coil;

measuring, with the receiver, a third voltage originating from the quasistatic magnetic fields due to coupling between the second transmitter coil and the first receiver coil;

measuring, with the receiver, a fourth voltage originating from the quasistatic magnetic fields due to coupling between the second transmitter coil and the second receiver coil; and

based on the first, second, third, and fourth voltages, calculating a distance between the receiver and the transmitter, wherein the measuring of each of the first, second, third, and fourth voltages is independent from the remaining voltages.

13. The method of claim 12, further comprising, based on the first, second, third, and fourth voltages, calculating an orientation of the receiver or of the transmitter.

14. The method of claim 12, further comprising, based on the first, second, third, and fourth voltages, calculating an azimuthal angle of the receiver or of the transmitter.

15. The method of claim 13, wherein calculating a distance between the receiver and the transmitter and calculating an orientation of the receiver or of the transmitter are based on mutually decoupling the distance and the orientation.

16. The method of claim 15, wherein providing a receiver comprises only one receiver system.

17. The method of claim 16, wherein calculating a distance between the receiver and the transmitter and calculating an orientation of the receiver or of the transmitter comprise receiving a location of either the receiver or the transmitter.

18. The method of claim 12, wherein independently measuring each of the first, second, third, and fourth voltages is by receiving the quasistatic magnetic fields at a different frequency for the mutually orthogonal directions.

19. The method of claim 12, wherein independently measuring each of the first, second, third, and fourth voltages is by receiving the quasistatic magnetic fields at a different time for the mutually orthogonal directions.

20. The method of claim 13, wherein calculating a distance between the receiver and the transmitter and calculating an orientation of the receiver or of the transmitter are based on decomposing a near-ground magnetoquasistatic dipole into horizontal and vertical components.

21. A method comprising:

providing a receiver, the receiver comprising a first, second and third receiver coils configured to receive quasistatic magnetic fields in a first, second and third mutually orthogonal directions transmitted by a transmitter, the transmitter comprising a first, second and third transmitter coils and configured to transmit the quasistatic magnetic fields in a fourth, fifth and sixth mutually orthogonal directions;

receiving the quasistatic magnetic fields through the receiver;

measuring, with the receiver, a first voltage originating from the quasistatic magnetic fields due to coupling between the first transmitter coil and the first receiver coil;

measuring, with the receiver, a second voltage originating from the quasistatic magnetic fields due to coupling between the first transmitter coil and the second receiver coil;

measuring, with the receiver, a third voltage originating from the quasistatic magnetic fields due to coupling between the first transmitter coil and the third receiver coil;

measuring, with the receiver, a fourth voltage originating from the quasistatic magnetic fields due to coupling between the second transmitter coil and the first receiver coil;

measuring, with the receiver, a fifth voltage originating from the quasistatic magnetic fields due to coupling between the second transmitter coil and the second receiver coil;

measuring, with the receiver, a sixth voltage originating from the quasistatic magnetic fields due to coupling between the second transmitter coil and the third receiver coil;

measuring, with the receiver, a seventh voltage originating from the quasistatic magnetic fields due to coupling between the third transmitter coil and the first receiver coil;

measuring, with the receiver, an eighth voltage originating from the quasistatic magnetic fields due to coupling between the third transmitter coil and the second receiver coil;

measuring, with the receiver, a ninth voltage originating from the quasistatic magnetic fields due to coupling between the third transmitter coil and the third receiver coil; and

based on the first, second, third, fourth, fifth, sixth, seventh, eighth and ninth voltages, calculating a distance between the receiver and the transmitter, wherein the measuring of each of the first, second, third, fourth, fifth, sixth, seventh, eighth and ninth voltages is independent from the remaining voltages.

22. The method of claim 21, further comprising, based on the first, second, third, fourth, fifth, sixth, seventh, eighth and ninth voltages, calculating an orientation of the receiver or of the transmitter.

23. The method of claim 21, further comprising, based on the first, second, third, fourth, fifth, sixth, seventh, eighth and ninth voltages, calculating an azimuthal angle of the receiver or of the transmitter.

24. The method of claim 22, wherein calculating a distance between the receiver and the transmitter and calculating an orientation of the receiver or of the transmitter are based on mutually decoupling the distance and the orientation.

25. The method of claim 24, wherein independently measuring each of the first, second, third, fourth, fifth, sixth, seventh, eighth and ninth voltages is by receiving the quasistatic magnetic fields at a different frequency for the mutually orthogonal directions.

26. A method comprising:

providing a receiver, the receiver comprising a first, second and third receiver coils configured to receive quasistatic magnetic fields in a first, second and third mutually orthogonal directions;

providing a transmitter, the transmitter comprising a first, second and third transmitter coils and configured to transmit the quasistatic magnetic fields in a fourth, fifth and sixth mutually orthogonal directions;

receiving the quasistatic magnetic fields through the receiver;

measuring, with the receiver, a first voltage originating from the quasistatic magnetic fields due to coupling between the first transmitter coil and the first receiver coil;

measuring, with the receiver, a second voltage originating from the quasistatic magnetic fields due to coupling between the first transmitter coil and the second receiver coil;

measuring, with the receiver, a third voltage originating from the quasistatic magnetic fields due to coupling between the first transmitter coil and the third receiver coil;

measuring, with the receiver, a fourth voltage originating from the quasistatic magnetic fields due to coupling between the second transmitter coil and the first receiver coil;

measuring, with the receiver, a fifth voltage originating from the quasistatic magnetic fields due to coupling between the second transmitter coil and the second receiver coil;

measuring, with the receiver, a sixth voltage originating from the quasistatic magnetic fields due to coupling between the second transmitter coil and the third receiver coil;

measuring, with the receiver, a seventh voltage originating from the quasistatic magnetic fields due to coupling between the third transmitter coil and the first receiver coil;

measuring, with the receiver, an eighth voltage originating from the quasistatic magnetic fields due to coupling between the third transmitter coil and the second receiver coil;

measuring, with the receiver, a ninth voltage originating from the quasistatic magnetic fields due to coupling between the third transmitter coil and the third receiver coil; and

based on the first, second, third, fourth, fifth, sixth, seventh, eighth and ninth voltages, calculating a distance between the receiver and the transmitter, wherein the measuring of each of the first, second, third, fourth, fifth, sixth, seventh, eighth and ninth voltages is independent from the remaining voltages.

27. The method of claim 26, further comprising, based on the first, second, third, fourth, fifth, sixth, seventh, eighth and ninth voltages, calculating an orientation of the receiver or of the transmitter.

28. The method of claim 26, further comprising, based on the first, second, third, fourth, fifth, sixth, seventh, eighth and ninth voltages, calculating an azimuthal angle of the receiver or of the transmitter.

29. The method of claim 27, wherein calculating a distance between the receiver and the transmitter and calculating an orientation of the receiver or of the transmitter are based on mutually decoupling the distance and the orientation.

30. The method of claim 29, wherein independently measuring each of the first, second, third, fourth, fifth, sixth, seventh, eighth and ninth voltages is by receiving the quasistatic magnetic fields at a different frequency for the mutually orthogonal directions.