Devices, systems and method of determining the location of mobile personnel

• US 8,289,154 B2
• Filed: 07/06/2009
• Issued: 10/16/2012
• Est. Priority Date: 07/14/2008
• Status: Active Grant

• Current Assignee: Mine Safety Appliances Company (MSA Safety, Inc.)
• Original Assignee: Mine Safety Appliances Company (MSA Safety, Inc.)
• Inventors: Kodrin, David, Hutchings, Lawrence, Kasameyer, Paul, Jarpe, Stephen, Mathews, Anthony
• Primary Examiner(s): HOFSASS, JEFFERY A
• Application Number:
  US12/497,761
• Publication Number:
  US 20100007485A1
• Time in Patent Office: 1,198 Days
• Field of Search: 340/539.13, 340/573.1, 702/150, 702/155, 702/175, 367/117, 367/118
• US Class Current: 340/539.13
• CPC Class Codes: G01C 21/1652 with ranging devices, e.g. LIDAR or RADAR
• CPC Class Codes: G01S 5/186 Determination of attitude using inertial means G01C9/00; control of attitude G05D1/49

Abstract

A locator system for use in connection with at least one mobile person includes a mobile locator system adapted to be worn by the person, wherein the mobile locator system includes an inertial navigation system. The locator system further includes a reference locator system to provide information about a position of the mobile locator device relative to a coordinate system. In several embodiments, the reference locator system comprises an ultrasonic system. For example, the reference locator system can include at least one ultrasonic transmitter and at least one ultrasonic receiver. One of the at least one ultrasonic receiver and the at least one ultrasonic transmitter can be positioned at a known position on the coordinate system and the other of the at least one ultrasonic receiver and the at least one ultrasonic transmitter can be worn by the person. The reference locator system can also include a plurality of ultrasonic transmitters and a plurality of ultrasonic receivers. Each of the plurality of ultrasonic receivers or each of the plurality of ultrasonic transmitters can be positioned at known positions on the coordinate system. Each of the other of the plurality of ultrasonic receivers and the plurality of ultrasonic transmitters can be worn by one of a plurality of persons.

Claims

1. A locator system for use in connection with at least one mobile person, comprising:

a mobile locator system adapted to be worn by the person, the mobile locator system comprising an inertial navigation system, which comprises a plurality of accelerometers and/or rotational sensors, wherein the mobile locator system of the person is located at or near the person'"'"'s foot; and

a reference locator system to provide information about a position of the mobile locator system relative to a coordinate system, wherein the reference locator system comprises a plurality of devices configured to be deployed in an area at least partially defined by the coordiate system.

2. The locator system of claim 1 wherein the reference locator system comprises an ultrasonic system.

3. The locator system of claim 2 wherein the reference locator system comprises at least one ultrasonic transmitter and at least one ultrasonic receiver, one of the at least one ultrasonic receiver and the at least one ultrasonic transmitter being positioned at a known position on the coordinate system and the other of the at least one ultrasonic receiver and the at least one ultrasonic transmitter being worn by the person.

4. The locator system of claim 2 wherein the reference locator system comprises a plurality of ultrasonic transmitters and a plurality of ultrasonic receivers, each of the plurality of ultrasonic receivers or each of the plurality of ultrasonic transmitters being positioned at known positions on the coordinate system and each of the other of the plurality of ultrasonic receivers and the plurality of ultrasonic transmitters being worn by one of a plurality of persons.

5. The locator system of claim 2 wherein the reference locator system comprises at least one beacon device comprising an ultrasonic transmitter positioned at a known position on the coordinate system and at least one listener device worn by the person and comprising an ultrasonic receiver.

6. The locator system of claim 2 wherein the reference locator system comprises a plurality of beacon devices, wherein each beacon device comprises an ultrasonic transmitter and is positioned at a known position on the coordinate system, and at least one listener device worn by the person and comprising an ultrasonic receiver.

7. The locator system of claim 6 wherein the reference locator system is adapted to provide information of position on the coordinate system of the mobile locator system and an initial orientation of movement relative to the coordinate system of the person.

8. The locator system or claim 6 wherein the reference locator system further comprises a timing system to broadcast a timing signal.

9. The locator system of claim 8 wherein the timing signal is an RF signal.

10. The locator system of claim 1 wherein the reference locator system is adapted to provide information of position on the coordinate system of the mobile locator system and an initial orientation of movement of the person relative to the coordinate system.

11. The locator system of claim 10 wherein the reference locator system is adapted to calibrate the mobile locator system.

12. The locator system of claim 1 wherein the reference locator system comprises a global positioning system, an enhanced 911 system or an ultra-wide bandwidth system.

13. The locator system of claim 1 wherein the reference locator system has an accuracy of ±

1 foot.

14. The locator system of claim 1 wherein the reference locator system has an accuracy of ±

1 inch.

15. A method of locating at least one mobile person, comprising:

attaching a mobile locator system to the person, the mobile locator system comprising an inertial navigation system, which comprises a plurality of accelerometers and/or rotational sensors, wherein the mobile locator system of the person is located at or near the person'"'"'s foot; and

providing a reference locator system to provide information about a position of the mobile locator system relative to a coordinate system by deploying a plurality of devices in an area at least partially defined by the coordinate system.

16. The method of claim 15 wherein the reference locator system comprises an ultrasonic system.

17. The method of claim 16 wherein the reference locator system comprises at least one ultrasonic transmitter and at least one ultrasonic receiver, one of the at least one ultrasonic receiver and the at least one ultrasonic transmitter being positioned at a known position on the coordinate system and the other of the at least one ultrasonic receiver and the at least one ultrasonic transmitter being worn by the person.

18. The method of claim 16 wherein the reference locator system comprises a plurality of ultrasonic transmitters and a plurality of ultrasonic receivers, each of the plurality of ultrasonic receivers or each the plurality of ultrasonic transmitters being positioned at known positions on the coordinate system and each of the other of the plurality of ultrasonic receivers and the plurality of ultrasonic transmitters being worn by one of a plurality of persons.

19. The method of claim 16 wherein the reference locator system comprises at least one beacon device comprising an ultrasonic transmitter positioned at a known position on the coordinate system and at least one listener device worn by the person and comprising an ultrasonic receiver.

20. The method of claim 16 wherein the reference locator system comprises a plurality of beacon devices, wherein each beacon device comprises an ultrasonic transmitter and is positioned at a known position on the coordinate system, and at least one listener device worn by the person and comprising an ultrasonic receiver.

21. The method of claim 20, wherein at least one of the beacon devices is configured to broadcast a timing signal.

22. The method of claim 21, wherein the timing signal comprises an RF signal, the method further comprising:

receiving the RF signal;

listening for a corresponding ultrasonic pulse; and

obtaining a distance estimate based at least partially on the difference in propagation speeds of the RF signal and the ultrasonic pulse.