Space-time calibration system and method

• US 9,791,545 B2
• Filed: 12/07/2007
• Issued: 10/17/2017
• Est. Priority Date: 12/07/2006
• Status: Active Grant

• Current Assignee: Digimarc Corporation
• Original Assignee: Digimarc Corporation
• Inventors: Rhoads, Geoffrey
• Primary Examiner(s): Christensen, Scott B
• Assistant Examiner(s): RICHARDSON, THOMAS W
• Application Number:
  US12/373,944
• Publication Number:
  US 20090313370A1
• Time in Patent Office: 3,602 Days
• Field of Search: None
• CPC Class Codes: G01S 5/18 using ultrasonic, sonic, or infrasonic waves
• CPC Class Codes: G01S 5/26 Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements G01S5/28 takes precedence

Abstract

A space-time calibration system and method implement space-time solutions, in which, in one preferred embodiment, a single node determines its own space-time solutions based on other network nodes with which the single node communicates. In other preferred embodiments, space-time solutions for the node can be generated using other resources in the network. The disclosed system and method enable reliable, precise object positioning particularly for environments where the Global Positioning System (GPS) is blocked or subject to interference such as within the urban core.

Claims

1. A space-time calibration method of determining position and timing information relating to one or more nodes of multiple nodes occupying locations in a spatial region and communicating with one another, comprising:

associating in a spatial region multiple nodes including a transmitting node and receiving nodes, the transmitting node producing a plurality of ping transmit events to the receiving nodes and the receiving nodes producing ping receive events by receiving and associating receive count stamps to the plurality of ping transmit events, the receive count stamps based on independent clocks operating in the receiving nodes, the independent clocks characterized by clock rate differences between the independent clocks;

developing pung signals, the pung signals each including a record of ping events comprising a plurality of the ping transmit events and the ping receive events during a data recording time interval, the pung signal for each receiving node including the receive count stamps corresponding to the plurality of ping receive events produced during the data recording time interval; and

receiving plural pung signals from a plurality of the receiving nodes, the plural pung signals comprising receive count stamps based on independent clocks in the receiving nodes, and processing the plural pung signals to determine, for each one of a number of nodes of the multiple nodes, location information corresponding to a geographic location occupied by the node in the spatial region, the location information determined for one of the number of nodes being a function of the pung signals received from the at least one other of the number of receiving nodes.

2. The method of claim 1, further comprising associating with transmit count stamps the ping transmit events produced by the transmitting node, the transmit count stamps based on a clock operating in the transmitting node, and in which the ping transmit events received by the receiving nodes include count-stamped ping transmit events.

3. The method of claim 1, in which the number of nodes includes the transmitting node as a member of a set of transmitting nodes, and in which the processing of the pung signals determines from the location information a spatial distribution of member nodes of the set of transmitting nodes in the spatial region.

4. The method of claim 1, in which the number of nodes includes the receiving nodes as members of a set of receiving nodes, and in which the processing of the pung signals determines from the location information a spatial distribution of member nodes of the set of receiving nodes in the spatial region.

5. The method of claim 1, in which the number of nodes includes a set of duplex nodes, and in which the processing of the pung signals determines from the location information a spatial distribution of member nodes of the set of duplex nodes in the spatial region.

6. The method of claim 2, in which the record of the ping events includes differential count stamp values corresponding to differences between the receive count stamps and the associated transmit count stamps.

7. The method of claim 1, in which the clocks of the transmitting and receiving nodes are characterized by the clock rate differences, and further comprising deriving a system clock from a solution of the clock rate differences of the clocks of the transmitting and receiving nodes.

8. The method of claim 1, in which at least one of the number of multiple nodes changes location with time to describe a path of motion characterized by concatenated path segments having start and finish locations, and the processing of pung signals further comprises determining from a previous one of the path segments a corrected start location of and a corrected clock for a current one of the path segments to reduce cumulative error in the determination of the location occupied by the node and a clock rate difference of the clock operating in the node.

9. The method of claim 8, in which the processing of the pung signals generates a referenced solution for the corrected start location and corrected clock.

10. The method of claim 1, in which the receive count stamps are characterized by clock rate differences, and the processing of the pung signals further comprises determining, for each one of a number of nodes of the multiple nodes, a solution for a clock rate difference of the clock operating in the node.

11. The method of claim 1, in which the developing of pung signals is performed by one of the multiple nodes that at different times sends the developed pung signals to different destinations for the processing of the pung signals.

12. The method of claim 1, in which one of the multiple nodes is a mobile transmitting node that produces ping transmit events but does not produce ping receive events, and in which another of the multiple nodes receives and associates receive count stamps to the ping transmit events produced by the mobile transmitting node for use in the processing of the pung signals to determine the location information corresponding to a location occupied by the mobile transmitting node in the spatial region.

13. The method of claim 1, in which the multiple nodes in the spatial region include multiple stationary receiving nodes at known locations and, over time, include a changing number of mobile transmitting nodes that produce transmit events from which one or more of the multiple stationary receiving nodes produce ping receive events.

14. A space-time calibration engine, comprising:

an input configured to receive count-stamped information signals propagating through a medium and received by an antenna from multiple nodes occupying a spatial region, the multiple nodes including source and receiving nodes operating with independent clocks characterized by clock rate differences between the independent clocks, and the count-stamped information signals carrying information relating to transmit and receive events of the source and receiving nodes based on count stamps obtained from the independent clocks of plural receiving nodes; and

a processor determining from information carried by the count-stamped information signals, for each one of a number of the multiple nodes, location information corresponding to a geographic location occupied by the node in the spatial region and the clock rate difference of the clock operating in the node, the geographic location determined for one of the number of the multiple nodes being a function of each of the receive events of at least one other of the number of the multiple nodes;

wherein the processor determines the location information from a pung signal, the pung signal representing a record of ping events comprising a plurality of the transmit events and a plurality of the receive events during a data recording time interval, the pung signal for each receiving node including receive count stamps corresponding to the plurality of receive events produced during the data recording time interval.

15. The space-time calibration engine of claim 14, in which at least one of the count-stamped information signals propagating from the multiple nodes is generated remotely from the node.

16. The space-time calibration engine of claim 14, in which at least one of the count-stamped information signals propagating from the multiple nodes is generated within the node.

17. The space-time calibration engine of claim 14, in which at least one of the number of multiple nodes changes location with time to describe a path of motion characterized by concatenated path segments having start and finish locations, and in which the processor determines from a previous one of the path segments a corrected start location of and a corrected clock for a current one of the path segments to reduce cumulative error in the determination of the location occupied by the node and a clock rate difference of the clock operating in the node.

18. The space-time calibration engine of claim 17, in which the processor generates a referenced solution for the corrected start location and corrected clock.

19. The space-time calibration engine of claim 14, in which the input and the processor are implemented at a remote location from the locations of the multiple nodes.

20. The space-time calibration engine of claim 14, further comprising multiple ones of the input and multiple ones of the processor recited in claim 14, and in which each of at least some of the multiple nodes is implemented with one of the inputs and one of the processors.

21. The space-time calibration engine of claim 14, in which the processor determines the location information and a solution of the clock rate differences by generating, over solution intervals, solutions indicating changes in location occupied by the node and changes in the clock operating in the node due to the clock rate differences.

22. The space-time calibration engine of claim 14, in which the count-stamped information signals are produced by a first node of the multiple nodes occupying a spatial region, the first node at different times sending to different destinations the information signals carrying information relating to transmit and receive events of the source and receiving nodes.

23. The space-time calibration engine of claim 14, in which one of the multiple nodes is a mobile source node that produces information relating to transmit events but not relating to receive events, and in which another of the multiple nodes produces count-stamped information signals carrying the transmit events information produced by the mobile source node for use in determining the location information corresponding to a location occupied by the mobile source node in the spatial region.

24. The space-time calibration engine of claim 14, in which the multiple nodes in the spatial region include multiple stationary receiving nodes at known locations and, over time, include a changing number of mobile source nodes that produce information relating to transmit events from which one or more of the multiple stationary receiving nodes produce the count-stamped information signals relating to transmit and receive events of the source and receiving nodes.