WO2006086398A3 - Position-tracking system - Google Patents

Position-tracking system Download PDF

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Publication number
WO2006086398A3
WO2006086398A3 PCT/US2006/004313 US2006004313W WO2006086398A3 WO 2006086398 A3 WO2006086398 A3 WO 2006086398A3 US 2006004313 W US2006004313 W US 2006004313W WO 2006086398 A3 WO2006086398 A3 WO 2006086398A3
Authority
WO
WIPO (PCT)
Prior art keywords
resolution
motion
tracking
tracking system
tracking device
Prior art date
Application number
PCT/US2006/004313
Other languages
French (fr)
Other versions
WO2006086398A2 (en
Inventor
Aleks Goellue
Meng-Hsiung Kiang
Original Assignee
Pinc Solutions
Aleks Goellue
Meng-Hsiung Kiang
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US11/054,881 external-priority patent/US7236091B2/en
Priority claimed from US11/054,905 external-priority patent/US7245215B2/en
Priority claimed from US11/175,081 external-priority patent/US7321305B2/en
Application filed by Pinc Solutions, Aleks Goellue, Meng-Hsiung Kiang filed Critical Pinc Solutions
Publication of WO2006086398A2 publication Critical patent/WO2006086398A2/en
Publication of WO2006086398A3 publication Critical patent/WO2006086398A3/en

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
    • G01C21/188—Compensation of inertial measurements, e.g. for temperature effects for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0257—Hybrid positioning
    • G01S5/0263—Hybrid positioning by combining or switching between positions derived from two or more separate positioning systems
    • G01S5/0264—Hybrid positioning by combining or switching between positions derived from two or more separate positioning systems at least one of the systems being a non-radio wave positioning system
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W60/00—Affiliation to network, e.g. registration; Terminating affiliation with the network, e.g. de-registration
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management

Abstract

A position-tracking system for tracking the position of an object is disclosed. According to various embodiments, the tracking system includes a tracking device that is connected to or otherwise affixed to the object to be tracked. The tracking device may include, among other things, an inertial sensor assembly, radio transceivers and a processor. The position tracking system may also include a host processing system that is in communication with the tracking device. The position tracking system may provide variable-resolution position information based on the environment in which the object is moving. In a 'wide resolution' area, the system may compute a general position for the object based on a wireless telephone network Cell-ID/map correlation architecture. In a high-resolution area, greater position resolution may be realized from the combination of a wireless aiding system and inputs from the inertial sensors. In the high-resolution mode, the system may exploit distinct patterns of motion that can be identified as motion 'signatures' that are characteristic of certain types of motion. Kinematic (or object movement) models may be constructed based on these motion signatures and the position tracking system may estimate the state of the object based on the kinematic model for the current mode of the object. Adaptive and cascaded Kalman filtering may be employed in the analysis to more accurately estimate the position and velocity of the object based on the motion pattern identified.
PCT/US2006/004313 2005-02-10 2006-02-08 Position-tracking system WO2006086398A2 (en)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
US11/054,881 US7236091B2 (en) 2005-02-10 2005-02-10 Position-tracking system
US11/054,881 2005-02-10
US11/054,905 2005-02-10
US11/054,905 US7245215B2 (en) 2005-02-10 2005-02-10 Position-tracking device for position-tracking system
US11/175,081 US7321305B2 (en) 2005-07-05 2005-07-05 Systems and methods for determining a location of an object
US11/175,081 2005-07-05

Publications (2)

Publication Number Publication Date
WO2006086398A2 WO2006086398A2 (en) 2006-08-17
WO2006086398A3 true WO2006086398A3 (en) 2007-04-05

Family

ID=36405994

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2006/004313 WO2006086398A2 (en) 2005-02-10 2006-02-08 Position-tracking system

Country Status (1)

Country Link
WO (1) WO2006086398A2 (en)

Families Citing this family (19)

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SG140492A1 (en) 2006-08-28 2008-03-28 Agis Pte Ltd Mobile detection of a mobile device
JP4360419B2 (en) * 2007-04-26 2009-11-11 アイシン・エィ・ダブリュ株式会社 Traffic situation judgment system
EP2088831B1 (en) * 2008-02-08 2013-08-14 SkiData AG Method for locating persons
FR2933265B1 (en) * 2008-06-27 2011-03-04 Wavecom METHOD FOR LOCATING A RADIO COMMUNICATION DEVICE, COMPUTER PROGRAM PRODUCT, CORRESPONDING STORAGE MEDIUM AND RADIOCOMMUNICATION MODULE
US20110256894A1 (en) * 2010-04-15 2011-10-20 Samsung Electronics Co., Ltd. User equipment and server system for updating data relating to fixed wireless nodes
CN101949953B (en) * 2010-07-30 2012-02-01 中国科学院软件研究所 Cargo state monitoring method based on three-dimensional acceleration wireless sensor network
GB2503058A (en) * 2012-06-11 2013-12-18 Everything Everywhere Ltd Container monitoring device
GB2502966A (en) * 2012-06-11 2013-12-18 Everything Everywhere Ltd Container monitoring device
DE102013220568A1 (en) 2013-10-11 2015-04-16 Robert Bosch Gmbh Device for measuring state variables of a domestic appliance process and for transmitting the state variables, domestic appliance and method for measuring state variables of a domestic appliance process
CN105158732A (en) * 2015-06-24 2015-12-16 浙江工业大学 Mobile robot self-localization method assisted by wireless sensor network
CN106332272B (en) * 2015-07-01 2020-02-18 Oppo广东移动通信有限公司 Positioning method and device
EP4130666A1 (en) * 2015-09-22 2023-02-08 Nokia Technologies Oy Causing a transition between positioning modes
US9868214B2 (en) * 2016-06-20 2018-01-16 X Development Llc Localization of a mobile system
US10304207B2 (en) * 2017-07-07 2019-05-28 Samsung Electronics Co., Ltd. System and method for optical tracking
CN108182799A (en) * 2018-01-09 2018-06-19 吉旗（成都）科技有限公司 A kind of high speed deviates the method for monitoring
EP3618024A1 (en) * 2018-07-13 2020-03-04 Sony Mobile Communications Inc. Methods, devices and computer program products for tracking of objects in a transportion system
FR3094096B1 (en) * 2019-03-21 2021-09-10 Psa Automobiles Sa Method and device for determining the activity of at least one vehicle moving within a covered area
CN109917441A (en) * 2019-04-02 2019-06-21 河北工业大学 A kind of moving object gesture positioning device and method based on narrowband Internet of Things
CN110381446A (en) * 2019-07-10 2019-10-25 宁夏仲检检测有限公司 A kind of sampler's motion profile method for tracing

Citations (8)

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US3070796A (en) * 1959-12-07 1962-12-25 Gen Precision Inc Dual aerial navigation system
US20010004601A1 (en) * 1995-12-22 2001-06-21 Drane Christopher R. Location and tracking system
EP1134555A1 (en) * 2000-03-10 2001-09-19 In2Sports B.V. Method for determining velocity and travelled distance of a pedestrian
US6449486B1 (en) * 1998-05-27 2002-09-10 Polaris Wireless, Inc. Multiple location estimates in a cellular communication system
EP1262789A2 (en) * 2001-05-23 2002-12-04 Nokia Corporation Two-stage filter using multiple motion models for determining the position and movement with a global positioning system
US6522266B1 (en) * 2000-05-17 2003-02-18 Honeywell, Inc. Navigation system, method and software for foot travel
US20030135327A1 (en) * 2002-01-11 2003-07-17 Seymour Levine Low cost inertial navigator
WO2004001337A1 (en) * 2002-06-24 2003-12-31 Wireless Intellect Labs Pte Ltd Method and apparatus for improving mobile communication terminal location determination using inertial positioning

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3070796A (en) * 1959-12-07 1962-12-25 Gen Precision Inc Dual aerial navigation system
US20010004601A1 (en) * 1995-12-22 2001-06-21 Drane Christopher R. Location and tracking system
US6449486B1 (en) * 1998-05-27 2002-09-10 Polaris Wireless, Inc. Multiple location estimates in a cellular communication system
EP1134555A1 (en) * 2000-03-10 2001-09-19 In2Sports B.V. Method for determining velocity and travelled distance of a pedestrian
US6522266B1 (en) * 2000-05-17 2003-02-18 Honeywell, Inc. Navigation system, method and software for foot travel
EP1262789A2 (en) * 2001-05-23 2002-12-04 Nokia Corporation Two-stage filter using multiple motion models for determining the position and movement with a global positioning system
US20030135327A1 (en) * 2002-01-11 2003-07-17 Seymour Levine Low cost inertial navigator
WO2004001337A1 (en) * 2002-06-24 2003-12-31 Wireless Intellect Labs Pte Ltd Method and apparatus for improving mobile communication terminal location determination using inertial positioning

Also Published As

Publication number Publication date
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