公开(公告)号：WO2017178779A1

公开(公告)日：2017-10-19

申请号：PCT/GB2017/000049

申请日：2017-03-30

Applicant: STATSPORTS GROUP LIMITED

Inventor： STROIESCU, Florin ,  CLARKE, Alan ,  O'CONNOR, Sean ,  IONITA, Valerui Emanuel

IPC: G01S1/02 ,  G01S5/02

CPC classification number: G01S1/024 ,  G01S5/0231

Abstract: A beacon for use in a system for measuring the position of one or more object in an area of interest. The beacon has a signal generator, a transceiver for transmitting and receiving a signal from one or more additional beacons and a calibration module which determines the distance between the beacon, a second beacon and a third beacon, calculates the angle between the beacons and determines whether the calculated angle matches a predetermined angle. The beacon has a user interface located on the beacon or upon an external device which indicates whether the angle matches the predetermined angle and indicates the direction in which the beacon is to be moved in order that the angle matches. The present invention provides a reliable means by which the position measurement system may be set up and calibrated in order to improve its accuracy and reliability.

Abstract translation:

用于测量感兴趣区域中一个或多个物体位置的系统中的信标。 信标具有信号发生器，用于发送和接收来自一个或多个附加信标的信号的收发器以及确定信标，第二信标和第三信标之间的距离的校准模块，计算信标之间的角度并确定是否 计算的角度与预定角度匹配。 信标具有位于信标上或位于外部设备上的用户界面，该用户界面指示角度是否与预定角度匹配并且指示信标将被移动的方向以便角度匹配。 本发明提供了一种可靠的方法，通过该方法可以建立和校准位置测量系统，以提高其精度和可靠性。

公开(公告)号：WO2005020442A2

公开(公告)日：2005-03-03

申请号：PCT/US2004020817

申请日：2004-06-29

Applicant: COMSONICS INC

Inventor： AUSTMAN ERIC ,  HAVELKA TONY

IPC: G01S1/02 ,  G01S1/08 ,  G01S1/70 ,  G01S1/74 ,  G01S1/76 ,  G01S19/11 ,  H04B20060101 ,  H04B1/00 ,  H04B

CPC classification number: G01S1/024 ,  G01S1/08 ,  G01S1/70 ,  G01S1/74 ,  G01S1/76

Abstract: An arbitrary number of signaling beacons are synchronized simultaneously and automatically by a received modulated control signal in accordance with an arbitrary communication protocol over a communication link which may be separate from or superimposed upon a perceptible signal periodically provided from signaling beacons. The periodic perceptible signal may be stabilized using a crystal oscillator or an external transmitted signal such as a global positioning system (GPS) signal and synchronization thus maintained for extended periods of time even when the synchronization communication link is not available. Interference is substantially prevented by the communication protocol while supporting the provision of any desired beacon control functions.

Abstract translation: 任意数量的信令信标通过通过通信链路根据任意通信协议的接收的调制控制信号同步并自动同步，通信链路可以与从信令信标周期性地提供的可感知信号分离或叠加。 即使当同步通信链路不可用时，周期性可察觉信号也可以使用晶体振荡器或诸如全球定位系统（GPS）信号的外部发射信号以及因此长时间保持的同步来稳定。 在支持提供任何期望的信标控制功能的同时，通信协议基本上防止了干扰。

公开(公告)号：WO01033231A3

公开(公告)日：2001-12-06

申请号：PCT/US2000/029962

申请日：2000-10-31

IPC: G01B7/00 ,  A61B19/00 ,  G01S1/02 ,  G01S5/02 ,  G01S19/11 ,  G01S19/25 ,  G01S19/48 ,  G01V3/08 ,  G02B27/01 ,  G06F3/01 ,  G01R33/02

CPC classification number: G01S1/024 ,  A61B34/20 ,  A61B2034/2051 ,  A61B2090/3975 ,  G01S5/02 ,  G06F3/012

Abstract: Methods and apparatus for position/orientation tracking within a bounded volume employ at least one stationary sensor (112), called a "witness sensor", having a fixed position and orientation near or within the volume (104) to account for electromagnetic distortion. One or more probe sensors (106) are placed on an object (102) to be tracked within the volume (104), and the output of each witness sensor (112) is used to compute the parameters of a non-real effective electromagnetic source (122). The parameters of the effective source (122) are used as inputs to the computation of position and orientation as measured by each probe sensor (106), as if the object (102) were in the non-distorted electromagnetic field produced by the effective source or sources (122). In addition to trackers for helmet-mounted displays in aircraft, tank, and armored-vehicle applications, the invention finds utility in any electromagnetic tracking system which might be subject to electromagnetic distortion or interference. Such application areas include electromagnetic motion capture systems, and medical systems and instruments, among others.

Abstract translation: 用于在有界体积内进行位置/姿态跟踪的方法和装置采用称为“见证传感器”的至少一个固定传感器（112），其具有在体积（104）附近或内部具有固定位置和方向以解决电磁失真。 将一个或多个探针传感器（106）放置在物体（102）上以在体积（104）内跟踪，并且每个见证传感器（112）的输出用于计算非真实有效电磁源的参数 （122）。 有效源（122）的参数被用作由每个探针传感器（106）测量的位置和方位的计算的输入，好像物体（102）处于由有效源产生的非失真电磁场 或来源（122）。 除了在飞机，坦克和装甲车辆应用中用于头盔安装显示器的跟踪器之外，本发明可用于可能受到电磁失真或干扰的任何电磁跟踪系统中。 这样的应用领域包括电磁运动捕获系统，医疗系统和仪器等。

公开(公告)号：WO1995012869A1

公开(公告)日：1995-05-11

申请号：PCT/NZ1994000124

申请日：1994-11-04

Applicant: PERSONAL SAFETY LIMITED ,  HAY, Kenneth, Herbert

Inventor： PERSONAL SAFETY LIMITED

IPC: G08B01/08

CPC classification number: G08B7/06 ,  G01S1/024

Abstract: A warning device (2) which is physically separate from an emergency locator beacon but shich automatically gives an audible and/or visible warning when the beacon is triggered; the device comprises a radio receiver (3) arranged to receive the beacon's signal and to activate audible and/or visible alarms if such a signal is received.

Abstract translation: 物理上与紧急定位器信标分开的警告装置（2），但是当信标被触发时，它自动地产生可听见的和/或可见的警告; 该设备包括无线电接收器（3），其布置成接收信标的信号并且如果接收到这样的信号则激活可听见的和/或可见的警报。

公开(公告)号：WO2003102497A1

公开(公告)日：2003-12-11

申请号：PCT/US2003/017607

申请日：2003-06-04

Applicant: ALKEN INC. dba POLHEMUS

Inventor： KHALFIN, Igor

IPC: G01B7/14

CPC classification number: G01S1/024 ,  A61B5/06 ,  A61B5/062 ,  G01S5/02 ,  G01V3/08 ,  G02B27/017

Abstract: A modulated signal (111) (e.g., single tone FM or AM) and DSP spectral and phase analysis is used to enhance the performance of an AC magnetic tracker. The algorithm allows distinguishing between the direct source - sensor response and the response due to eddy currents, thus allowing elimination of effects of the electromagnetic distortion. This, in turn, eliminates the need for a calibration/mapping, which has proven to be the main obstacle for the wide application of AC electromagnetic tracking systems (113). The new method and system disclosed do not require witness sensors (but may be used in a combination with them), works in a narrow frequency band that ensures noise stability, may have high operation frequencies (e.g., about 50kHz) that gives high quality of the signal and increased operation range, as well as high solution update rate, performs real time (each frame) distortion compensation without any prior knowledge about physical properties of distorters. At the same time the new system preserves all known advantages of the AC trackers. The approach finds applicability in head tracking systems and helmet-mounted displays for fighter aircraft, head trackers for armored vehicles, medical - guided surgery and biopsy. The same technology is applicable for remote sensing.

Abstract translation: 使用调制信号（111）（例如，单音FM或AM）和DSP频谱和相位分析来增强AC磁跟踪器的性能。 该算法允许区分直接源 - 传感器响应和由于涡流引起的响应，从而可以消除电磁失真的影响。 这反过来又消除了对校准/映射的需要，这被证明是广泛应用AC电磁跟踪系统的主要障碍（113）。 所公开的新方法和系统不需要见证传感器（但可以与它们组合使用），在窄频带中工作，确保噪声稳定性，可以具有高操作频率（例如，约50kHz），其提供高质量的 信号和增加的操作范围以及高解决方案更新速率，在没有关于变形器的物理特性的任何现有知识的情况下执行实时（每帧）失真补偿。 同时，新系统保留了AC跟踪器的所有已知优点。 该方法适用于头部跟踪系统和头盔显示器，用于战斗机，装甲车辆头部跟踪器，医疗指导手术和活检。 相同的技术适用于遥感。

公开(公告)号：WO2003038466A2

公开(公告)日：2003-05-08

申请号：PCT/US2002/034802

申请日：2002-10-29

Applicant: QUALCOMM INCORPORATED

Inventor： GAAL, Peter ,  SOLIMAN, Samir, S.

IPC: G01S

CPC classification number: G01S19/256 ,  G01S1/024 ,  G01S5/0036 ,  G01S5/02 ,  G01S5/021 ,  G01S19/46

Abstract: Base stations in a wireless telecommunications network are calibrated to GPS system time by using position measurement data obtained from one or more hybrid mobile stations during regular position location sessions. Therefore, the calibration data need not be obtained externally from a calibration instrument, and the calibration may occur on a continuous basis to compensate for any disturbances or drift in the base stations. Privacy concerns are alleviated by using regular position location sessions that occur only when the operator of the hybrid mobile station places or answers a wireless telephone call. In a preferred implementation, the network uses Code Division Multiple Access (CDMA), and the hybrid mobile stations may provide Advanced Forward Link Trilateration (AFLT) or GPS position location data to the network.

Abstract translation: 通过使用在常规位置定位会话期间从一个或多个混合移动台获得的位置测量数据，无线电信网络中的基站被校准到GPS系统时间。 因此，校准数据不需要从校准仪器外部获得，并且校准可以持续发生以补偿基站中的任何干扰或漂移。 通过仅在混合移动台的操作员放置或应答无线电话呼叫时才发生的常规定位位置会话来减轻隐私问题。 在优选的实现中，网络使用码分多址（CDMA），并且混合移动台可以向网络提供高级前向链路三边测量（AFLT）或GPS定位数据。

公开(公告)号：WO0133231A2

公开(公告)日：2001-05-10

申请号：PCT/US0029962

申请日：2000-10-31

Applicant: POLHEMUS INC

Inventor： KHALFIN IGOR ,  JONES HERBERT R JR

IPC: G01B7/00 ,  A61B19/00 ,  G01S1/02 ,  G01S5/02 ,  G01S19/11 ,  G01S19/25 ,  G01S19/48 ,  G01V3/08 ,  G02B27/01 ,  G06F3/01 ,  G01R

CPC classification number: G01S1/024 ,  A61B34/20 ,  A61B2034/2051 ,  A61B2090/3975 ,  G01S5/02 ,  G06F3/012

Abstract: Methods and apparatus for position/orientation tracking within a bounded volume employ at least one stationary sensor, called a "witness sensor", having a fixed position and orientation near or within the volume to account for electromagnetic distortion. One or more probe sensors are placed on an object to be tracked within the volume, and the output of each witness sensor is used to compute the parameters of a non-real effective electromagnetic source. The parameters of the effective source are used as inputs to the computation of position and orientation as measured by each probe sensor, as if the object were in the non-distorted electromagnetic field produced by the effective source or sources. In addition to trackers for helmet-mounted displays in aircraft, tank, and armored-vehicle applications, the invention finds utility in any electromagnetic tracking system which might be subject to electromagnetic distortion or interference. Such application areas include electromagnetic motion capture systems, and medical systems and instruments, among others.

Abstract translation: 用于在有界体积内的位置/姿态跟踪的方法和装置使用称为“见证传感器”的至少一个固定传感器，其具有靠近或在体积内的固定位置和方向以解决电磁失真。 将一个或多个探针传感器放置在体积内要跟踪的物体上，并且每个证人传感器的输出用于计算非实际有效电磁源的参数。 有效源的参数用作每个探头传感器测量的位置和方向的计算的输入，就像物体处于有效源或源的非失真电磁场中一样。 除了在飞机，坦克和装甲车辆应用中用于头戴式显示器的跟踪器之外，本发明可用于任何可能遭受电磁失真或干扰的电磁跟踪系统。 这样的应用领域包括电磁运动捕获系统，医疗系统和仪器等。

公开(公告)号：WO99021028A1

公开(公告)日：1999-04-29

申请号：PCT/GB1998/003149

申请日：1998-10-21

IPC: G01S1/02 ,  G01S1/04 ,  G01S5/00 ,  G01S5/10 ,  H04Q7/34 ,  G01S5/14

CPC classification number: G01S5/14 ,  G01S1/024 ,  G01S1/045 ,  G01S5/0036 ,  G01S5/10

Abstract: The invention relates to determining the position of a mobile receiver (4) in a digital telephone network positioning system. A first receiver (3) is at a known location and others are mobile. The method involves transmitting signals from a plurality of sources (1), the transmission signals having a format at least a portion of which has predetermined values or a portion of which is repeated. The time offset of the transmission signals received at each receiver (4, 5) from a transmission source (1) relative to a reference clock of each receiver is determined by generating a reference signal locked to the reference clock. The reference signal has a similar format to the transmission signals and includes a portion identical to the predetermined values or repeated portion of the received signal and compares the received transmission signal and the reference signal. The time delay between the respective signals received at the receivers (4, 5) is determined from their relative time offset, to thereby determine the position of the other receivers (4).

Abstract translation: 本发明涉及确定移动接收机（4）在数字电话网络定位系统中的位置。 第一接收器（3）位于已知位置，而另一个接收器是可移动的。 该方法涉及从多个源（1）发送信号，所述发送信号具有其至少一部分具有预定值或重复其一部分的格式。 通过产生锁定到参考时钟的参考信号来确定在每个接收器（4,5）处从发送源（1）相对于每个接收机的参考时钟接收的发送信号的时间偏移。 参考信号具有与发送信号相似的格式，并且包括与接收信号的预定值或重复部分相同的部分，并将接收到的发送信号和参考信号进行比较。 在接收器（4,5）处接收到的各个信号之间的时间延迟由它们的相对时间偏移确定，从而确定其它接收器（4）的位置。

公开(公告)号：WO1997023785A1

公开(公告)日：1997-07-03

申请号：PCT/AU1996000832

申请日：1996-12-23

Applicant: UNIVERSITY OF TECHNOLOGY, SYDNEY ,  DRANE, Christopher, R. ,  MacNAUGHTAN, Malcolm, D. ,  SCOTT, Craig, A.

Inventor： UNIVERSITY OF TECHNOLOGY, SYDNEY

IPC: G01S05/10

CPC classification number: H04W64/00 ,  G01S1/024 ,  G01S5/10

Abstract: The invention concerns a method of finding the position of a mobile radio-frequency transceiver in a communications system. A network of at least two unsynchronised base stations (12) arranged to transmit/receive signals to at least one mobile radio-frequency transceiver (14); a reference receiver (13) located at a known distance from the base stations (12) and including measuring means to measure the times of arrival of signals transmitted from the base stations (12); determination means to use the known distances and measured times to determine the relative time offsets of transmissions from each base station (12); and location means to use the determined relative time offsets to calculate the position of a mobile transceiver (14) in the network area using hyperbolic positioning techniques. A number of other enhancements to positioning systems relating to the usage of Doppler, carrier information, direction of arrival to improve the performance of mobile telephone-based positioning systems are also described.

Abstract translation: 本发明涉及一种在通信系统中找到移动射频收发器的位置的方法。 布置成向至少一个移动射频收发器（14）发送/接收信号的至少两个非同步基站（12）的网络; 参考接收机（13），其位于距离基站（12）已知距离处，并且包括用于测量从基站（12）发送的信号到达时间的测量装置; 确定装置，使用已知距离和测量时间来确定来自每个基站（12）的传输的相对时间偏移; 以及位置装置，使用所确定的相对时间偏移量，使用双曲线定位技术来计算网络区域中移动收发信机（14）的位置。 还描述了与多普勒，载波信息，到达方向的使用相关的定位系统的许多其它增强，以改善基于移动电话的定位系统的性能。

公开(公告)号：WO2017015554A1

公开(公告)日：2017-01-26

申请号：PCT/US2016/043541

申请日：2016-07-22

Applicant: IROBOT CORPORATION

Inventor： BEAULIEU, Andrew ,  YAMAUCHI, Brian ,  STELTZ, Erik

IPC: G05B19/04

CPC classification number: H04W8/005 ,  A01D34/008 ,  A01D2101/00 ,  G01S1/024 ,  G01S1/68

Abstract: A method performed by a mobile lawn mowing robot includes pairing a beacon with the mobile lawn mowing robot. Pairing the beacon with the mobile lawn mowing robot includes determining a distance between the beacon and the mobile lawn mowing robot and confirming that the beacon is within a pairing distance from the mobile lawn mowing robot based on a comparison of the determined distance to a pairing distance. Pairing the beacon with the mobile robot lawn mowing robot further includes, subsequent to confirming that the beacon is within the pairing distance from the mobile lawn mowing robot, pairing the beacon with the mobile lawn mowing robot, and, following pairing, detecting wideband or ultra-wideband signals from the beacon, and using the wideband or ultra-wideband signals to enable navigation over an area.

Abstract translation: 由移动式草坪割草机器人执行的方法包括将信标与移动式割草机器人配对。 将信标与移动草坪割草机器人配对包括确定信标和移动割草机器人之间的距离，并且基于所确定的距离与配对距离的比较来确认信标与移动割草机器人的配对距离内 。 将信标与移动机器人割草机器人配对还包括，在确认信标与移动草坪割草机器人的配对距离之内，将信标与移动式草坪割草机器人配对，并且在配对之后，检测宽带或超 来自信标的宽带信号，以及使用宽带或超宽带信号来启用在一个区域上的导航。