Ultra wideband precision geolocation system

• US 6,054,950 A
• Filed: 01/26/1998
• Issued: 04/25/2000
• Est. Priority Date: 01/26/1998
• Status: Expired due to Term

• Current Assignee: Zebra Technologies Corporation
• Original Assignee: Multispectral Solutions Incorporated (Zebra Technologies Corporation)
• Inventors: Fontana, Robert J.
• Primary Examiner(s): Hellner, Mark
• Application Number:
  US09/013,667
• Time in Patent Office: 820 Days
• Field of Search: 342/463, 342/464, 342/357.09
• US Class Current: 342/463
• CPC Class Codes: G01S 5/0226 Transmitters
• CPC Class Codes: G01S 5/06 Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements G01S5/12 takes precedence
• CPC Class Codes: G01S 5/10 Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements , e.g. omega or decca systemsG01S5/12 takes precedence ; beacons and receivers cooperating therewith G01S1/306, G01S1/308
• CPC Class Codes: G01S 5/14 Determining absolute distances from a plurality of spaced points of known location

Abstract

An ultra wideband (UWB) or short-pulse transmission system that enables precise tracking or geolocation of a target over distances of several kilometers. The system includes a set of N (where N>2) untethered UWB transceivers located at fixed positions, an untethered UWB receiver at the target, and a processor at the target for resolving time-of-flight measurement ambiguities of received pulses to determine precise geolocation by solving a set of equations according to time-of-flight measurements and surveyed positions of N-1 transceivers. To eliminate a clock distribution system, self-synchronizing of pulse timing is achieved by generating a start pulse at one of the untethered transceivers. Alternatively, a timing source may be provided by a GPS or other timing generator at the transceivers in order to synchronize emissions of their pulses.

Claims

1. A system for determining the position of a remote object with a high degree of accuracy, said system comprising plural untethered stations of known positions, each of said untethered stations having an ultra wideband pulse transmitter, an ultra wideband receiver associated with said remote object, and a processor that uses said known positions of said untethered stations and differences in time of reception of ultra wideband pulses transmitted by at least two of said untethered stations to determine the position of said remote object, said processor further utilizing an ultra wideband sync pulse transmitted from an untethered source as a timing reference for said ultra wideband pulses.

2. A wireless geolocation system for determining the position of a remote object, said system comprising plural untethered stations each having an ultra wideband receiver and transmitter, an ultra wideband pulse receiver associated with said remote object, and a processor that utilizes known position information of said untethered stations, time of arrival information of an ultra wideband sync pulse from an untethered source, and arrival time differences between times of reception at said remote object of ultra wideband pulses transmitted by at least two of said fixed stations in order to determine the position of said remote object.

3. An untethered geolocation system for monitoring the position of a vehicle with a high degree of accuracy, said system comprising at least three untethered stations having predetermined locations, each of said untethered stations having an ultra wideband transmitter, an ultra wideband receiver located at said vehicle, and a processor that determines the location of said vehicle on the basis of time of reception of an ultra wideband sync pulse, the predetermined locations of said untethered stations and time of arrival differences in reception at said vehicle of pulses transmitted by respective pairs of untethered stations.

4. The untethered geolocation system as recited in claim 3 further including coding information in pulse transmissions from said untethered stations indicative of the identity thereof.

5. The untethered geolocation system as recited in claim 3 wherein said ultra wideband sync pulse is transmitted from one of said untethered stations.

6. The untethered geolocation system as recited in claim 3 wherein said processor is located on said vehicle.

7. A method of detecting the position of an object equipped with an ultra wideband transmitter, said method comprising:

providing at least two untethered spatial reference stations of known locations,

transmitting an ultra wideband pulse from said object,

receiving said ultra wideband pulse at said at least two stations,

detecting differences in time of reception of said ultra wideband pulse between said at least two stations, and

determining the position of said object according to an ultra wideband time reference pulse, said known locations and said differences in time.

8. A method of detecting the position of an object equipped with an ultra wideband receiver, said method comprising:

providing at least two spatial reference stations of known locations,

transmitting in succession an ultra wideband pulse from each of said at least two stations,

receiving said ultra wideband pulses at said object,

detecting at said object time differences in reception of respective pairs of said ultra wideband pulses transmitted from said at least two stations, and

determining the position of said object according to an ultra wideband time reference pulse, said known location of said at least two stations, and said time differences.

9. The method as recited in claim 8, further comprising the step of:

surveying to provide said known locations of said at least two spatial reference stations.

10. The method as recited in claim 8, further comprising the step of:

before said determining step, transmitting said known locations and said time differences to a processor which determines the position of said object.

11. The method as recited in claim 8 further comprising a receiver located at said object, and said method further comprises:

initiating said transmitting step to emit said ultra wideband pulse via a control signal sent to said receiver.

12. A method of detecting the location of an object in an environment that is substantially impervious to conventional radio frequency signals, said method comprising:

providing said object with an ultra wideband transmitter,

providing at least two untethered location reference stations,

initiating a transmission of an ultra wideband pulse from said transmitter, and

detecting the location of said object according to an ultra wideband sync pulse and arrival time differences of a pulse transmitted from said transmitter said at least two untethered location reference stations.

13. A method of locating an object incorporating the steps recited in claim 12, further comprising:

determining the location of said object on the basis of positions of untethered location reference stations and differences between times of arrival of said pulse at said reference locations.

14. A system for detecting the position of an object in an environment that is substantially impervious to conventional electromagnetic signals, said system comprising:

an ultra wideband transmitter associated with said object,

an ultra wideband time reference pulse generator,

at least two ultra wideband reference stations, and

a detector that detects the position of said object according to an ultra wideband timing pulse emitted from said time reference pulse generator and arrival time differences of an ultra wideband pulse from said object at said at least two reference stations.

15. The system for detecting the position of an object as recited in claim 14, further comprising:

a processor that determines the position of said object on the basis of known positions of said reference stations and differences between times of arrival of an ultra wideband pulse from the object at said reference stations.

16. A point location and measurement system comprising at least three spatially located untethered points, an ultra wideband pulse emitted at one of said points, a time-measuring device for measuring times of arrival of said pulse between pairs of any two of three of said points, and a processor for solving a set of equations for determining the position of at least one of said points according to time of arrival measurements, an ultra wideband time reference pulse, and the position of at least one other point.

17. The point location and measurement system as recited in claim 16 wherein transmission of said ultra wideband time reference pulse is initiated at one of said spatially located points to provide synchronization for determining the time-of-flight of an ultra wideband pulse received at another of said spatially located points.

18. A method for determining the position of a point in free space comprising:

providing at least three spatially located untethered points,

generating a short burst of electromagnetic energy of a duration that is suitable for achieving a desired measurement resolution,

measuring differences between times of arrival of said burst between selected pairs of said three spatially located points, and

determining the position of at least one of said points according to time of arrival differences, an ultra wideband time reference pulse, and a known position of at least one other of said spatially located points.

19. The method as recited in claim 18 wherein, in said generating step, said short burst of electromagnetic energy is a ultra wideband pulse.

20. The method as recited in claim 18, further comprising:

determining time-of-flight of said pulses according to a an ultra wideband time reference pulse generated at one of said spatially located points.

21. The method as recited in claim 19, further comprising:

measuring said time-of-flight according to a reference signal selected from one of a GPS source and an timing reference source.