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1.发明授权System for determining a precise location and orientation of a concealed dipole transmitter 有权用于确定隐蔽偶极子发射器的精确位置和取向的系统公开(公告)号：US09158024B2
公开(公告)日：2015-10-13
申请号：US13477909
申请日：2012-05-22
申请人： Johan Överby , James W. Waite , Dimitar Gargov , Kun Li
发明人： Johan Överby , James W. Waite , Dimitar Gargov , Kun Li
CPC分类号： G01V3/12
摘要： A system for determining the position of an underground sonde transmitter is disclosed. In some embodiments, the system measures a set of complex electromagnetic field magnitude and phase strengths at one or more positions while traversing a target sonde path at any angle using one or more electromagnetic coil sensors, models a set of expected complex electromagnetic strengths of a hypothetical sonde at the positions for one or more of the electromagnetic coil sensors, the set of expected electromagnetic field values corresponding to a model for the target sonde, and estimates parameters related to the target sonde based on the residual error between the measured set of complex electromagnetic field values and the modeled set of expected complex electromagnetic field strengths. A final estimated parameter set is determined after the residual error has converged to a minimum tolerance to indicate the sonde transmitter position.
摘要翻译： 公开了一种用于确定地下探空发射器的位置的系统。 在一些实施例中，系统在一个或多个位置处测量一组复杂的电磁场幅度和相位强度，同时使用一个或多个电磁线圈传感器以任何角度穿过目标探空仪路径，模拟一组预期的复合电磁强度 在一个或多个电磁线圈传感器的位置处的探测器，对应于目标探空器的模型的一组预期电磁场值，并且基于测量的复合电磁场的集合来估计与目标探测器相关的参数 场值和模拟的预期复合电磁场强度集合。 在剩余误差已经收敛到最小容差以指示探头发射机位置之后，确定最终估计参数集。
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公开(公告)号：US20120016538A1
公开(公告)日：2012-01-19
申请号：US13164611
申请日：2011-06-20
CPC分类号： G01C21/00 , B64C2201/141 , G01B7/00 , G01C21/005 , G01C21/20 , G05D1/101
摘要： A system and method for providing autonomous navigation for an Unmanned Air Vehicle (UAV) in the vicinity of power lines is presented. Autonomous navigation is achieved by measuring the magnitude and phase of the electromagnetic field at an unknown location within a space under excitation by a set of power cables of the power line with one or more orthogonal electromagnetic sensors formed on the UAV; modeling a set of expected complex electromagnetic strengths of the set of power cables at the currently estimated position and orientation of the UAV based on a model of the set of power cables; and estimating parameters related to a position and orientation of the UAV, and load parameters of each cable based on the residual error between the measured set of complex electromagnetic field values and the set of expected electromagnetic field values corresponding to a combined model of the set of power cables.
摘要翻译： 提出了一种用于为电力线附近的无人机（UAV）提供自主导航的系统和方法。 通过在UAV上形成的一个或多个正交电磁传感器的电力线的一组电力电缆在激励下测量在空间内的未知位置处的电磁场的大小和相位来实现自主导航; 基于该组电力电缆的模型，在当前估计的UAV位置和方向上建模一组电力电缆的预期复合电磁强度; 以及估计与无人机的位置和方向相关的参数，以及基于所测量的复电磁场值集合与对应于该组电磁场值的组合模型的一组预期电磁场值之间的残余误差来加载每个电缆的参数 电力电缆
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3.发明授权公开(公告)号：US06978015B1
公开(公告)日：2005-12-20
申请号：US09710579
申请日：2000-11-10
申请人： Mark Alan Erickson , Ioannis Kanellakopoulos , John Josef Hench , Sunil C. Shah , James W. Waite , Michail Tsatsanis , Gurcan Aral
发明人： Mark Alan Erickson , Ioannis Kanellakopoulos , John Josef Hench , Sunil C. Shah , James W. Waite , Michail Tsatsanis , Gurcan Aral
CPC分类号： H04M3/18 , H04B3/487 , H04M1/74 , H04M11/062
摘要： A method that sends upstream a collection of data samples measured from a DSL line.
摘要翻译： 从DSL线路测量的数据样本集合向上游发送的一种方法。
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4.发明授权公开(公告)号：US06834109B1
公开(公告)日：2004-12-21
申请号：US09710610
申请日：2000-11-10
申请人： Thomas E. Paré, Jr. , Michail Tsatsanis , Ioannis Kanellakopoulos , Mark Alan Erickson , Cecilia Gabriela Galarza , James W. Waite , Daniel Joseph Hernandez , Sunil C. Shah , Ming Gu , Norman Man Leung Yuen , Heberly Rosario , Di Lin , Fernando Lopez-de-Victoria
发明人： Thomas E. Paré, Jr. , Michail Tsatsanis , Ioannis Kanellakopoulos , Mark Alan Erickson , Cecilia Gabriela Galarza , James W. Waite , Daniel Joseph Hernandez , Sunil C. Shah , Ming Gu , Norman Man Leung Yuen , Heberly Rosario , Di Lin , Fernando Lopez-de-Victoria
IPC分类号： H04M176
CPC分类号： H04L41/046 , H04B3/32 , H04L1/20 , H04L25/0204 , H04L25/03305 , H04L27/2608 , H04L41/06 , H04L41/142 , H04L41/145 , H04L2025/03414
摘要： The present invention includes a method and system for compensating for cross-talk interference in communication systems. The method includes estimation of the interfering signals. Further, the method includes performing a compensation operation on at least one interfering signal.
摘要翻译： 本发明包括用于补偿通信系统中的串扰干扰的方法和系统。 该方法包括干扰信号的估计。 此外，该方法包括对至少一个干扰信号执行补偿操作。
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公开(公告)号：US09151822B2
公开(公告)日：2015-10-06
申请号：US12982723
申请日：2010-12-30
CPC分类号： G01S5/0252 , G01S5/0221 , G01S5/0226 , G01S5/0247 , G01V3/081
摘要： A method for determining the location and orientation of a transmitter object by measuring a set of complex electromagnetic field magnitude and phase strengths within a space using one or more receivers is provided. The method includes modeling a set of expected complex electromagnetic strengths to estimated position and orientation of the transmitter object. And estimating parameters related to the transmitter object position based on the residual error between the measured set of complex electromagnetic field values and a set of expected electromagnetic field values. Further embodiments include a method as above including a plurality of receivers with known positions within a limited space including the transmitter object. A sensor network including a plurality of receivers to perform the above method is also provided. The receivers may communicate using a wireless channel.
摘要翻译： 提供了一种用于通过使用一个或多个接收器测量空间内的一组复杂电磁场幅度和相位强度来确定发射器物体的位置和取向的方法。 该方法包括将一组预期的复杂电磁强度建模到发射器对象的估计位置和取向。 并且基于测量的复合电磁场值集合与一组预期电磁场值之间的残差来估计与发射器对象位置有关的参数。 另外的实施例包括如上所述的方法，包括在包括发射器对象的有限空间内具有已知位置的多个接收器。 还提供了包括用于执行上述方法的多个接收器的传感器网络。 接收机可以使用无线信道进行通信。
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公开(公告)号：US20100141261A1
公开(公告)日：2010-06-10
申请号：US12315696
申请日：2008-12-05
申请人： Johan Overby , James W. Waite , Dimitar Gargov , Kun Li
发明人： Johan Overby , James W. Waite , Dimitar Gargov , Kun Li
CPC分类号： G01V3/12
摘要： A method for determining the location of an underground sonde transmitter is disclosed. In some embodiments, the method includes measuring a set of complex electromagnetic field magnitude and phase strengths at one or more of positions while traversing a target sonde path at any angle using one or more electromagnetic coil sensors, modeling a set of expected complex electromagnetic strengths of a hypothetical sonde at the one or more of positions for one or more of the electromagnetic coil sensors, the set of expected electromagnetic field values corresponding to a model for the target sonde, and estimating parameters related to the target sonde based on the residual error between the measured set of complex electromagnetic field values and the modeled set of expected complex electromagnetic field strengths, wherein a final estimated parameter set is determined after the residual error has converged to a minimum tolerance.
摘要翻译： 公开了一种用于确定地下探空发射机位置的方法。 在一些实施例中，该方法包括在一个或多个位置处测量一组复杂电磁场幅度和相位强度，同时使用一个或多个电磁线圈传感器以任何角度穿过目标探空仪路径，对一组预期复合电磁强度进行建模 一个或多个用于一个或多个电磁线圈传感器的一个或多个位置的假想探头，与目标探测器的模型相对应的一组预期电磁场值，以及基于目标探测器相关的参数， 测量的复电磁场值集合和所建模的预期复电磁场强度集合，其中在残差误差已经收敛到最小公差之后确定最终估计参数集。
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7.发明授权Method and apparatus for digital detection of electromagnetic signal strength and signal direction in metallic pipes and cables 有权金属管道和电缆中电磁信号强度和信号方向的数字检测方法和装置公开(公告)号：US07062414B2
公开(公告)日：2006-06-13
申请号：US10622376
申请日：2003-07-18
申请人： James W. Waite , Johan D. Overby
发明人： James W. Waite , Johan D. Overby
IPC分类号： G01V3/08
CPC分类号： G01V3/12
摘要： A new digital architecture for metallic pipe and cable locators, providing accurate estimation of the fundamental locate parameters, electromagnetic signal strength and signal direction, and utilizing a nested Digital Phase-Locked Loop (DPLL) structure is disclosed. The obstacles to signal direction measurement in low SINR environments using the signal select method are overcome and a more precise phase comparison between the carrier and the FM modulation signals is obtained. The architecture further significantly reduces analog front-end hardware requirements, offers wider resistance to component tolerances, lower calibration and test time, and provides flexible frequency selectivity. Locators according to the present invention provide accurate estimation of the fundamental physical parameters of line location (electromagnetic signal strength and signal direction) in extremely noisy environments, using Digital Signal Processing (DSP) methods.
摘要翻译： 公开了一种用于金属管道和电缆定位器的新型数字架构，提供了对基本定位参数，电磁信号强度和信号方向的准确估计，以及利用嵌套数字锁相环（DPLL）结构。 使用信号选择方法在低SINR环境中信号方向测量的障碍被克服，并且获得载波和FM调制信号之间的更精确的相位比较。 该架构进一步显着降低了模拟前端硬件要求，提供更宽的元件容差阻力，降低校准和测试时间，并提供灵活的频率选择性。 根据本发明的定位器使用数字信号处理（DSP）方法在极其嘈杂的环境中提供线路位置（电磁信号强度和信号方向）的基本物理参数的精确估计。
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公开(公告)号：US20110156957A1
公开(公告)日：2011-06-30
申请号：US12982723
申请日：2010-12-30
CPC分类号： G01S5/0252 , G01S5/0221 , G01S5/0226 , G01S5/0247 , G01V3/081
摘要： A method for determining the location and orientation of a transmitter object by measuring a set of complex electromagnetic field magnitude and phase strengths within a space using one or more receivers is provided. The method includes modeling a set of expected complex electromagnetic strengths to estimated position and orientation of the transmitter object. And estimating parameters related to the transmitter object position based on the residual error between the measured set of complex electromagnetic field values and a set of expected electromagnetic field values. Further embodiments include a method as above including a plurality of receivers with known positions within a limited space including the transmitter object. A sensor network including a plurality of receivers to perform the above method is also provided. The receivers may communicate using a wireless channel.
摘要翻译： 提供了一种用于通过使用一个或多个接收器测量空间内的一组复杂电磁场幅度和相位强度来确定发射器物体的位置和取向的方法。 该方法包括将一组预期的复杂电磁强度建模到发射器对象的估计位置和取向。 并且基于测量的复合电磁场值集合与一组预期电磁场值之间的残差来估计与发射器对象位置有关的参数。 另外的实施例包括如上所述的方法，包括在包括发射器对象的有限空间内具有已知位置的多个接收器。 还提供了包括用于执行上述方法的多个接收器的传感器网络。 接收机可以使用无线信道进行通信。
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9.发明授权Sensor fusion for model-based detection in pipe and cable locator systems 有权用于管道和电缆定位系统中基于模型检测的传感器融合公开(公告)号：US07834801B2
公开(公告)日：2010-11-16
申请号：US11193100
申请日：2005-07-29
申请人： James W. Waite , Ruwan Welaratna
发明人： James W. Waite , Ruwan Welaratna
CPC分类号： G01V11/00 , G01S13/86 , G01S13/885
摘要： Line locator systems that fuse traditional sensors used in a combined pipe and cable locator (electromagnetic coils, magnetometers, and ground penetrating radar antennas) with low cost inertial sensors (accelerometers, gyroscopes) in a model-based approach are presented. Such systems can utilize inexpensive MEMS sensors for inertial navigation. A pseudo-inertial frame is defined that uses the centerline of the tracked utility, or an aboveground fixed object as the navigational reference. An inertial sensor correction mechanism that limits the tracking errors over time when the model is implemented in state-space form using, for example, the Extended Kalman Filter (EKF) is disclosed.
摘要翻译： 介绍了在基于模型的方法中使用低成本惯性传感器（加速度计，陀螺仪）将传统传感器用于组合管道和电缆定位器（电磁线圈，磁力计和地面穿透雷达天线）的线路定位系统。 这种系统可以利用廉价的MEMS传感器进行惯性导航。 定义了一个伪惯性框架，它使用跟踪实用程序的中心线或地上固定对象作为导航参考。 公开了一种使用例如扩展卡尔曼滤波器（EKF）在模态以状态空间形式实现模型时限制跟踪误差的惯性传感器校正机构。
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10.发明授权Method and apparatus for digital detection of electronic markers using frequency adaptation 有权使用频率适应的电子标记的数字检测方法和装置公开(公告)号：US07285958B2
公开(公告)日：2007-10-23
申请号：US10759747
申请日：2004-01-15
申请人： Johan D. Overby , James W. Waite
发明人： Johan D. Overby , James W. Waite
摘要： An electronic marker locator with a digital architecture for providing accurate and consistent estimation of the signal strength is presented. The marker locator includes a Digital Phase-Locked Loop (DPLL) structure. The electronic marker locator transmits known and adjustable frequency bursts corresponding to the markers to be located while synchronously capturing the signals returned from the markers.
摘要翻译： 提出了一种具有数字架构的电子标记定位器，用于提供准确一致的信号强度估计。 标记定位器包括数字锁相环（DPLL）结构。 电子标记定位器在同步捕获从标记返回的信号的同时发送对应于要定位的标记的已知和可调节的频率突发。
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