# US 10,871,558 B2 · Systems and methods for RFID tag locating using constructive interference

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- Number: US 10,871,558 B2
- Document ID: US10871558B2
- Status: Granted
- Kind: B2
- Application number: 16/508,448
- Filed: 2019-07-11
- Published: 2019-10-31
- Granted: 2020-12-22
- Earliest claimed: 2014-10-23
- Assignees: Automaton, Inc.
- Applicants: Automaton, Inc.
- Inventors: Spencer Hewett
- Web page: https://patentgrep.com/patent/US10871558B2

## CPC

- G01S 13/74: Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
- G01S 5/0215: {Interference}
- G01S 5/0263: {by combining or switching between positions derived from two or more separate positioning systems}
- G01S 11/026: {using moving transmitters}
- G01S 13/867: {Combination of radar systems with cameras}
- G01S 2013/462: {using multipath signals}
- G01S 2013/466: {by Trilateration, i.e. two antennas or two sensors determine separately the distance to a target, whereby with the knowledge of the baseline length, i.e. the distance between the antennas or sensors, the position data of the target is determined}
- G01S 2013/468: {by Triangulation, i.e. two antennas or two sensors determine separately the bearing, direction or angle to a target, whereby with the knowledge of the baseline length, the position data of the target is determined}
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES

## Abstract

A system and method for locating radio-frequency identification tags within a predetermined area. The method can incorporate sub-threshold superposition response mapping techniques, alone, or in combination with other methods for locating radio-frequency identification tags such as but not limited to time differential on arrival (TDOA), frequency domain phase difference on arrival (FD-PDOA), and radio signal strength indication (RSSI). The system can include a plurality of antennas dispersed in a predefined area; one or more radio-frequency identification tags; a radio-frequency transceiver in communication with said antennas; a phase modulator coupled to the radio-frequency transceiver; and a system controller in communication with said transceiver and said phase modulator. Calibration techniques can be employed to map constructive interference zones for improved accuracy.

## Claims

### Claim 1

A method for locating a radio-frequency identification tag associated with an object, comprising:
measuring a location and a volume of the object;
transmitting a first signal having a field pattern from a first antenna to the radio-frequency identification tag;
modifying the field pattern with a second signal based on the location and the volume of the object such that the field pattern activates the radio-frequency identification tag;
analyzing a response signal received via a plurality of antennas from the radio-frequency identification tag in response to the field pattern; and
determining a position of the radio-frequency identification tag based upon analyzing the response signal,
wherein modifying the field pattern comprises creating a spatially localized region having a length scale equal to or less than a wavelength of the first signal and an amplitude above an activation threshold of the radio-frequency identification tag.

### Claim 2 (depends on 1)

The method of claim 1, wherein measuring the location and the volume of the object comprises acquiring an image of the object.

### Claim 3 (depends on 1)

The method of claim 1, wherein modifying the field pattern is based on previous measurements of the position of the radio-frequency identification tag.

### Claim 4 (depends on 1)

The method of claim 1, wherein modifying the field pattern comprises interfering the second signal and the first signal.

### Claim 5 (depends on 1)

The method of claim 1, wherein modifying the field pattern comprises moving the spatially localized region.

### Claim 6 (depends on 5)

The method of claim 5, wherein moving the spatially localized region comprises moving the spatially localized region by less than the wavelength of the first signal.

### Claim 7 (depends on 5)

The method of claim 5, further comprising:
determining a velocity of the radio-frequency identification tag based in part on a change in the response signal caused by movement of the spatially localized region.

### Claim 8 (depends on 1)

The method of claim 1, further comprising:
determining a velocity of the radio-frequency identification tag.

### Claim 9 (depends on 8)

The method of claim 8, further comprising:
predicting a location of the object based on the velocity of the radio-frequency identification tag.

### Claim 10 (depends on 1)

The method of claim 1, wherein the radio-frequency identification tag is a first radio-frequency identification tag, the response signal is a first response signal, and further comprising:
analyzing a second response signal received via the plurality of antennas from a second radio-frequency identification tag in response to the field pattern; and
determining a position of the second radio-frequency identification tag based upon analyzing the second response signal.

### Claim 11

A method for locating a radio-frequency identification (RFID) tag, comprising:
transmitting an activation signal toward a reference RFID tag;
receiving a response signal from the reference RFID tag in response to the activation signal;
analyzing the response signal received via a plurality of antennas from the reference RFID tag;
estimating a field pattern of the activation signal based on the response signal from the reference RFID tag;
locating the RFID tag based at least in part on the field pattern of the activation signal and a response signal from the RFID tag;
modeling a permittivity of a volume containing the reference RFID tag based upon the response signal; and
predicting the field pattern at a variety of phases and powers of the activation signal based at least in part on the permittivity of the volume containing the reference RFID tag.

### Claim 12 (depends on 11)

The method of claim 11, further comprising:
interfering outputs from the plurality of antennas to produce the activation signal.

### Claim 13 (depends on 11)

The method of claim 11, further comprising:
modifying the activation signal based at least in part on the field pattern of the activation signal.

### Claim 14 (depends on 11)

The method of claim 11, further comprising:
moving the reference RFID tag throughout the volume containing the reference RFID tag.

### Claim 15 (depends on 14)

The method of claim 14, wherein moving the reference RFID tag throughout the volume containing the reference RFID tag comprises disposing the reference RFID tag on a robot configured to traverse at least a portion of the environment.

### Claim 16 (depends on 11)

The method of claim 11, further comprising:
recalibrating the activation signal based on a change in the response signal from the reference RFID tag caused by a change in an environment of the reference RFID tag.