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US 10,094,910 B2Granted
Location estimation system
OwnerMichael Hamiltoninventor
Life of this patent
Estimating the term…
Abstract
A location estimation system includes a plurality of Kalman filters, a UWB position system, a pressure sensor, a temperature sensor and a MEMs chip that provides gyroscope, accelerometer and magnetometer information. The data is Kalman filtered to determine precise location information that is more precise any sensor that is processed to determine the probably location of a device.
Claims15
A method performed by a tag/processor device for estimating its probable location, comprising:
- receiving, via an ultra-wide band communication transceiver, ultra-wide band RF signals containing locations of each of at least three anchors;
- determining, via a processor, ranging information of each of at least three anchors by transmitting and receiving ultra-wideband communication messages via the ultra-wide band communication transceiver and determining an associated transmission time of flight between the tag/processor communication transceiver and the at least three anchors;
- determining an altitude of the tag/processor device based on temperature and pressure data;
- determining a distance between the tag/processor device and the at least three anchors from the determined ranging information;
- determining X, Y and Z coordinates based on the determined distances;
- Kalman filtering, in a plurality of Kalman filters, the X, Y and Z coordinates to determine a first location estimate having a first degree of resolution to adjust the X, Y and Z coordinates;
- and
- adaptive low pass filtering the first location estimate having the first degree of resolution with linear acceleration information to determine a second location estimate having a second degree of resolution for the X, Y and Z coordinates that is greater than the first location estimate.
5 more elements
A tag/processor device in a location determination system, comprising:
- an ultra-wideband radio that produces ingoing digital communication signals from received ultra-wideband radio frequency signals;
- a processor coupled to receive ingoing digital communication signals from the ultra-wideband radio;
- and
- a memory comprising computer instructions coupled to the processor that, when executed by the processor, causes the processor to perform the steps of:
- receiving the ingoing digital communication signals from the ultra-wideband radio containing location information from each of at least three anchors in the location determination system;
- determining, via a processor, ranging information of each of the at least three anchors by transmitting and receiving ultra-wideband communication messages via the ultra-wide band radio and determining an associated transmission time of flight between the tag/processor device and the at least three anchors;
- determining an altitude of the tag/processor device based on temperature and pressure data;
- determining a distance between the tag/processor device and the at least three anchors from the determined ranging information;
- determining X, Y and Z coordinates based on the determined distances;
- and
- Kalman filtering, in a plurality of Kalman filters, the X, Y and Z coordinates to determine a first location estimate having a first degree of resolution to adjust the X, Y and Z coordinates;
- and
- adaptive low pass filtering the first location estimate having the first degree of resolution with linear acceleration information to determine a second location estimate having a second degree of resolution for the X, Y and Z coordinates that is greater than the first location estimate.
10 more elements
Dependencies are inferred from the claim text.