INTERTIAL TRACKING SYSTEM WITH PROVISION FOR POSITION CORRECTION

• US 20110313716A1
• Filed: 02/22/2011
• Published: 12/22/2011
• Est. Priority Date: 02/19/2010
• Status: Active Grant

• Current Assignee: Hailo Technologies, LLC (2S Ventures, LLC)
• Original Assignee: iTrack LLC
• Inventors: Smid, G. Edzko, Stiglich, Thomas P.
• Granted Patent: US 8,825,435 B2
• Time in Patent Office: Days
• US Class Current: 702/141
• CPC Class Codes: G01C 21/1652 with ranging devices, e.g. LIDAR or RADAR

Abstract

A subject location tracking process is provided that includes the attachment of a system to a subject where the system includes a radiofrequency sensor integration module, an inertial tracking module, and a microprocessor. Radiofrequency signals are communicated from the radiofrequency sensor integration module to a remote radiofrequency transceiver beacon. A measured range is determined between the radiofrequency sensory integration module and the beacon. An error value E is then computed between the measured range and a predicted range. The predicted range is computed from the inertial tracking module alone based on positional data as to location and orientation of the system. The location data of the subject is determined with a microprocessor and displayed at the location. The present invention operates to provide a high degree of accuracy as to the position of a subject in spite of intermediate obstructions and without reliance on global position satellite systems, fixed reference signals, or line of sight.

Claims

1. A subject location tracking process comprising:

attaching a system to a subject, said system comprising a radiofrequency sensory integration module, an inertial tracking module and a microprocessor;

communicating radiofrequency signals from said radiofrequency sensory integration module with a remote RF transceiver beacon;

determining a measured range between said radiofrequency sensory integration module and said beacon;

computing an error value-between the measured range and a predicted range, or -between said radiofrequency signals and the predicted range, wherein positional data as to location of the system from said inertial tracking module is used to compute the predicted range; and

determining location data of the subject with a microprocessor and displaying the location.

2. The process of claim 1 further comprising a database of known positions for the beacon to estimate the predicted range.

3. The process of claim 1 further comprising communicating a corrected position to said inertial tracking module to aid in resetting or correcting an orientation value or a velocity values as generated by an inertial module sensor within said inertial tracking module.

4. The process of claim 3 wherein said inertial module sensor provides acceleration values for the subject.

5. The process of claim 4 wherein the acceleration values are transformed into orientation values and then velocity values,

6. The process of claim 1 wherein the beacon conveys the location data.

7. The process of claim 1 wherein the location data is displayed to the subject.

8. The process of claim 1 further comprising adding a weighing factor to the measured range based on the error prior to determining the location data for the subject.

9. The process of claim 1 wherein the location is determined in spite of intermediate obstructions and without reliance on GPS, fixed reference signals, or line of sight.

10. The process of claim 3 wherein said inertial module sensor is at least one of a gyroscope and an accelerometer.

11. A subject location tracking process comprising:

attaching a system to a subject, said system comprising a radiofrequency sensory integration module, an inertial tracking module and a microprocessor;

communicating radiofrequency signals from said radiofrequency sensory integration module with a plurality of remote RF transceiver beacons;

determining a measured range between said radiofrequency sensory integration module and said plurality of beacons;

determining a location based only on the measured range;

computing an error value-between the measured range and a predicted range, or -between said radiofrequency signals and the predicted range, wherein positional data as to location and orientation of the system from said inertial tracking module is used to compute the predicted range; and

determining location data of the subject with a microprocessor and displaying the location.

12. The process of claim 11 further comprising a database of known positions for the beacon to estimate the predicted range,

13. The process of claim 12 further comprising communicating a corrected position to said inertial tracking module to aid in resetting or correcting an orientation value or a velocity values as generated by an inertial module sensor within said inertial tracking module.

14. The process of claim 13 wherein said inertial module sensor provides acceleration values for the subject.

15. The process of claim 14 wherein the acceleration values are transformed into orientation values and then velocity values.

16. The process of claim 11 wherein the location data is displayed to the subject.

17. The process of claim 11 further comprising adding a weighing factor to the measured range based on the error prior to determining the location data for the subject.

18. The process of claim 11 wherein the location is determined in spite of intermediate obstructions and without reliance on GPS, fixed reference signals, or line of sight.

19. The process of claim 11 wherein said inertial module sensor is at least one of a gyroscope and an accelerometer.

20. A subject location tracking process comprising:

attaching a system to a subject, said system comprising a radiofrequency sensory integration module, an inertial tracking module and a microprocessor;

communicating radiofrequency signals from said radiofrequency sensory integration module with at least one remote RF transceiver beacon;

determining a measured range between said radiofrequency sensory integration module and said at least one beacon;

determining a location based only on the measured range; and

updating the location based on data from inertial tracking module to generate an updated location, wherein the location and the updated location are determined in spite of intermediate obstructions and without reliance on GPS, fixed reference signals, or line of sight.