WO2024254260A1 - Systèmes et procédés de localisation de nœuds - Google Patents

Systèmes et procédés de localisation de nœuds Download PDF

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Publication number
WO2024254260A1
WO2024254260A1 PCT/US2024/032738 US2024032738W WO2024254260A1 WO 2024254260 A1 WO2024254260 A1 WO 2024254260A1 US 2024032738 W US2024032738 W US 2024032738W WO 2024254260 A1 WO2024254260 A1 WO 2024254260A1
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WIPO (PCT)
Prior art keywords
mobile
location
ground
node
wireless communications
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Ceased
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PCT/US2024/032738
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English (en)
Inventor
Wilbur Myrick
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Ensco Inc
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Ensco Inc
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Publication of WO2024254260A1 publication Critical patent/WO2024254260A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • G01S5/0009—Transmission of position information to remote stations
    • G01S5/0018—Transmission from mobile station to base station
    • G01S5/0036—Transmission from mobile station to base station of measured values, i.e. measurement on mobile and position calculation on base station
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/74—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
    • G01S13/76—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein pulse-type signals are transmitted
    • G01S13/765—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein pulse-type signals are transmitted with exchange of information between interrogator and responder
    • 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
    • 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
    • G01S5/0009—Transmission of position information to remote stations
    • G01S5/0045—Transmission from base station to mobile station
    • G01S5/0063—Transmission from base station to mobile station of measured values, i.e. measurement on base station and position calculation on mobile
    • 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
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/14—Receivers specially adapted for specific applications
    • G01S19/15—Aircraft landing 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
    • G01S2205/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S2205/01—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations specially adapted for specific applications
    • G01S2205/03—Airborne
    • 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
    • G01S5/14—Determining absolute distances from a plurality of spaced points of known location

Definitions

  • This invention relates generally to location determination and, more specifically, location determination via wireless communications.
  • locations of objects are determined using satellite navigation signals based on Global Navigation Satellite Systems (GNSS) technology.
  • GNSS Global Navigation Satellite Systems
  • the location of a vehicle such as an aircraft, automobile, watercraft
  • a person, etc. can be determined based on GNSS technology.
  • GPS Global Positioning System
  • the satellites broadcast signals.
  • the signals include location information and time information.
  • the location information identifies a location of the satellite from which the signal was broadcast.
  • the time information identifies the time at which each signal was broadcast.
  • a receiver e.g., in a vehicle receives the communications from the satellites.
  • the receiver calculates distances to each of the satellites from which a signal was received based on the time at which the signal was received and the time at which the signal was broadcast. If the receiver is receiving signals from a sufficient number of satellites, the receiver can calculate its location with relatively high accuracy (i.e., within several meters).
  • satellite navigation can be used to determine the location of objects with relatively high accuracy, it does have drawbacks. For example, because satellite navigation is one of the most common locating tools used, it could be the target of an attack by a malicious actor. Further, even if not intentionally disrupted, satellite navigation systems can fail and/or operate incorrectly. If satellite navigation systems fail or are operating incorrectly, redundant locating tools must be used. Unfortunately, redundant locating tools are often manual instruments within a vehicle or not automated for ease of use. Accordingly, the loss of satellite navigation places the locating burden on an operator or crewmember of the vehicle, which can result in errors and inaccuracies. Accordingly, a need exists for an improved locating system that does not require satellite navigation to function properly.
  • FIG. 1 is a diagram depicting a vehicle exchanging wireless communications with ground-based nodes, according to some embodiments
  • FIGS. 2 A and 2B are top and perspective views, respectively, of a node, according to some embodiments.
  • FIG. 3 is a block diagram of a system for aiding in locating an object, according to some embodiments.
  • FIG. 4 is a flow chart depicting example operations for locating an object using two- way ranging, according to some embodiments
  • FIG. 5 is a flow chart depicting example operations for locating an object using oneway ranging, according to some embodiments.
  • a location system for aiding in locating a mobile-based node comprises a plurality of ground- based nodes, each of the ground-based nodes including a ground-based timing module configured to generate ground-based timing data, a ground-based wireless communications system configured to transmit and receive wireless communications via a first communications protocol and a second communications protocol, wherein each of the wireless communications transmitted by a respective one of the ground-based nodes includes a respective timestamp based on the ground-based timing data, the mobile-based node including a mobile-based timing module configured to generate mobile-based timing data and a mobile-based wireless communications system configured to transmit and receive wireless communications via the first communications protocol and the second communications protocol, wherein each of the wireless communications transmitted by the mobile-based node includes a timestamp based on the mobile-based timing data, and a control system configured to calculate a location
  • Satellite navigation is one of the most common locating/navigational tools used. Satellite navigation systems, like GPS, rely on a series of satellites that broadcast signals to Earth-based receivers. While satellite navigation systems can provide location data with relatively high accuracy, most backup systems are not nearly as effective or useful. Additionally, though satellite navigation systems can provide location data with relatively high accuracy, such location data could be improved with redundant systems. Described herein are systems, methods, and apparatuses that seek minimize, if not eliminate, the drawbacks of current systems.
  • a location system includes ground-based nodes and mobile-based nodes.
  • the ground-based nodes are positioned in fixed locations, while the mobile-based nodes are configured to move relative to the ground-based nodes.
  • the ground-based nodes can be located on, or secured to, the ground and the mobile-based nodes can be carried in, or mounted to, a vehicle.
  • the ground-based nodes and mobile-based nodes exchange wireless communications. The wireless communications are used to determine a location of the mobile-based node. An overview of such a system is described with respect to FIG. 1.
  • FIG. 1 is a diagram depicting a vehicle 102 exchanging wireless communications with ground-based nodes 108 - 114, according to some embodiments.
  • the vehicle 102 is an aircraft, though it should be noted that the systems, methods, and apparatuses described herein can be used with any suitable type of vehicle.
  • the vehicle 102 is travelling across terrain 116. While the vehicle 102 is travelling across the terrain 116, a mobile-based node 104 is exchanging wireless communications with the ground-based nodes 108 - 114.
  • the exchanged wireless communications are used to aid in locating the mobile-based node 104. Because the mobile-based node 104 is located on and/or within the vehicle 102, the location of the vehicle 102 may be used interchangeably with location of the mobile-based node 104 herein.
  • the locating tool can be used to determine a location of the vehicle 102 in a number of ways.
  • the locating tool can be used to determine the location of the vehicle 102 based on one-way ranging (discussed in more detail with respect to FIG. 5), based on two-way ranging (discussed in more detail with respect to FIG. 4), in concert with other locating tools (e.g., satellite navigation), etc.
  • the wireless communications exchanged by the mobile-based node 104 and the ground-based nodes 108 - 114 include timing data (e.g., timestamps).
  • the wireless communications transmitted by the ground-based nodes 108 - 114 also include location data associated with a respective one of the ground-based nodes 108 — 114.
  • the timing data and the location data is used to calculate the location of the vehicle 102.
  • the mobile-based node 104 is transmitting wireless communications, which are received by four ground-based nodes 108 - 114: l) a first ground-based node 108; 2) a second ground-based node 110; 3) a third ground-based node 112; and 4) a fourth ground-based node 114.
  • ground-based nodes 108 - 114 need not be located on the “ground.” Rather, the ground-based nodes 108 - 114 are “ground-based” in that they are relatively stationary (e.g., designed to stay in a single location) and can be located in any suitable position. For example, as depicted in FIG. 1, the second ground-based node 110 is secured to a tower 118.
  • the wireless communications transmitted by the mobile-based node 104 include timing data.
  • the wireless communications transmitted by the mobile-based node 104 can include timestamps indicating the time at which the mobile-based node 104 transmitted the wireless communications.
  • the mobile-based node 104 transmits the wireless communications via multiple communications protocols.
  • the mobilebased node 104 can transmit wireless communications via one or more of Wi-Fi, LoRa, Bluetooth, Ultrawide Band, Zigbee, or any other suitable communications protocol.
  • the mobile-based node 104 can transmit the wireless communications via Wi-Fi and LoRa.
  • the communications protocols used can be selected based on, for example, range, susceptibility to interference, accuracy, power requirements, etc.
  • the ground-based nodes 108 - 114 receive the wireless communications transmitted by the mobile-based node 104.
  • the ground-based nodes 108 - 114 receive the wireless communications and log a time (i.e., timing data) at which the wireless communications were received.
  • a time i.e., timing data
  • the timing data from the mobile-based node 104, the timing data logged by the ground-based nodes 108 - 114, and the locations of the ground-based nodes 108 - 114 can be used to calculate a location of the mobile-based node 104.
  • the distance from a respective one of the ground-based nodes 108 - 114 can be calculated.
  • TOF time of flight
  • a single absolute distance is not sufficient to determine a location of the mobile-based node 104 in three dimensions. Rather, distances of the mobile-based node 104 from multiple of the ground-based nodes 108 - 114 are used to triangulate the location of the mobile-based node 104.
  • leveraging the multi-element array of FIG. 2A it is possible to generate Angle-of-Arrival (AoA) estimates in 2D with orthogonal orientations of FIG. 2A. With an absolute distance, 3D positioning is now possible.
  • AoA Angle-of-Arrival
  • the ground-based nodes 108 — 114 respond to the wireless communications transmitted by the mobile-based node 104.
  • the ground-based nodes 108 - 114 transmit ground-based communications back to the mobile-based node 104.
  • the ground-based communications include location data and timing data.
  • the location data indicates a location of a respective one of the ground-based nodes 108 - 114.
  • the ground-based communication transmitted by the first ground-based node 108 includes location data indicating a location of the first ground-based node
  • the ground-based communication transmitted by the second ground-based node 110 includes location data indicating a location of the second ground-based node 110, etc.
  • the timing data indicates a time at which the ground-based communication was transmitted by a respective one of the ground-based nodes 108 - 114.
  • the ground-based communication transmitted by the first ground-based node 108 includes timing data indicating a time at which the first ground-based node transmitted the ground-based communication
  • the ground-based communication transmitted by the second ground-based node 110 includes timing data indicating a time at which the second ground-based node 110 transmitted the ground-based communication, etc.
  • the timing data and location data can be used to calculate the location of the mobile-based node 104.
  • a calculation can be performed based on the timing data for transmission of the wireless communications by the mobile-based node 104, the timing data for transmission of the wireless communications by the ground-based nodes 108 - 114, and locations of the ground-based nodes 108 - 114.
  • the calculation of the location of the mobile-based node 104 can be performed by any suitable component and such component can be located or associated with any other suitable component.
  • the location calculation can be performed by a control system, as described in more detail with respect to FIG. 3.
  • the control system can be located and/or associated with the mobile-based node 104, one or more of the ground-based nodes 108 - 114, a remote component (e.g., a cloud-based component), etc.
  • FIG. 1 provides an overview of locating system
  • FIG. 2 provides additional detail regarding nodes of the locating system.
  • FIGS. 2 A and 2B are top and perspective views, respectively, of a node 200, according to some embodiments.
  • the node 200 e.g., a ground-based node or mobile-based node
  • the node 200 generally includes a housing 202, a frame 216, and various wireless communication system components.
  • the frame 216 is generally secured to the housing 202, and the wireless communication system components are secured to the frame 216.
  • the node 200 can include a cover portion. The cover portion can be secured to one or both of the housing 202 and the frame 216 to cover and/or otherwise protect or enclose the components of the node 200.
  • the cover portion can take any suitable form (e.g., domed, polygonal, etc.) and can be secured to one or both of the housing 202 and the frame 216 in any suitable manner (e.g, via fasteners, clips, adhesive, etc.). Further, in some embodiments, the cover portion can include a door or other feature that allows the components of the node 200 to be accessed.
  • the wireless communication system components generally include antennas and chipsets (e.g, wireless communications chipsets).
  • the antennas can take any suitable form.
  • the antennas are Yagi-style antennas formed into printed circuit boards (PCBs).
  • the chipsets are integrated into the PCBs, though such is not required.
  • the antennas can be communicatively coupled to the chipsets (i.e., the antennas and chipsets are not integrated into a common PCB). Further, in some embodiments, the antennas are directional antennas.
  • the node 200 includes six PCBs: 1) a first PCB 204, 2) a second PCB 206; 3) a third PCB 208; 4) a fourth PCB 210; 5) a fifth PCB 212; and 6) a sixth PCB 214.
  • the example depicted in FIGS. 2A and 2B includes six PCBs (or antennas), such is not required.
  • the node 200 can include greater, or fewer, than six PCBs (or antennas). Further, the PCBs (or antennas if not embodied in PCBs) can be arranged in any suitable manner.
  • the PCBs can be arranged symmetrically about the frame 216, asymmetrically about the frame 216, evenly spaced about the frame 216, unevenly spaced about the frame 216, etc.
  • the PCBs are arranged asymmetrically about the frame 216 but are evenly spaced with respect to one another.
  • the PCBs (or antennas) can be of any suitable length.
  • ends of the PCBs (or antennas) can extend to touch a cover portion of the node 200.
  • the antennas depicted in FIGS. 2A and 2B are arranged such that they do not completely surround the frame 216, embodiments are not so limited.
  • the antennas can be positioned such that the surround the entirety of the frame 216.
  • the node 200 includes wireless communications systems to transmit and/or receive wireless communications via multiple communications protocols.
  • a first group of PCBs including the first PCB 204, the second PCB 206, and third PCB 208 can be configured to transmit and/or receive wireless communications via a first communications protocol
  • a second group of PCBs including the fourth PCB 210, the fifth PCB 212, and the sixth PCB 214 can be configured to transmit and/or receive wireless communications via a second communications protocol.
  • the PCBs in the first group of PCBs can include a first type of wireless communications chipset (z.e., a wireless communications chipset configured to transmit and/or receive wireless communications via the first communications protocol) and the PCBs in the second group of PCBs can be include a second type of wireless communications chipset (z.e., a wireless communications chipset configured to transmit and/or receive wireless communications via the second communications protocol).
  • the ground-based node may include only two wireless communications chipsets (e.g., a first wireless communications chipset configured to transmit and/or receive wireless communications via the first communications protocol and a second wireless communications chipset configured to transmit and/or receive wireless communications via the second communications protocol).
  • each PCB in the first group of PCBs would be communicatively coupled to the first wireless communications chipset and each PCB in the second group of PCBs would be communicatively coupled to the second wireless communications chipset.
  • the ground-based node 200 may include only one wireless communications chipset to which all, or some, of the PCBs are communicatively coupled.
  • the wireless communications chipset can be configured to transmit and/or receive wireless communications via both the first communications protocol and the second communications protocol.
  • the PCBs of the node 200 depicted in FIGS. 2A and 2B act as antennas.
  • longitudinal traces 220 can act as parallel elements of a Yagi-style antenna.
  • the ground-based node 200 can include great, or fewer, than six PCBs (or antennas).
  • the PCBs (or antennas) need not be specific to a single communications protocol. That is, in some embodiments, one or more of the PCBs or antennas can modulate or otherwise alternate between transmitting and/or receiving wireless communications via the first communications protocol and the second communications protocol.
  • FIG. 2 provides additional detail regarding nodes of a locating system
  • FIG. 3 provides additional detail regarding the locating system.
  • FIG. 3 is a block diagram of a system 300 for aiding in locating an object, according to some embodiments.
  • the system 300 includes a control system 302, ground-based nodes 304, a network 310, a satellite navigation system 312, and a mobile-based node 314.
  • One or more of the control system 302, the ground-based nodes 304, the satellite navigation system 312, and the mobile-based node 314 are communicatively coupled via the network 310.
  • the network 310 can take any suitable form and include wired and/or wireless links.
  • the network 310 can be capable of transmitting data through a variety of communications protocols and a combination of multiple networks (e.g., wireless wide area networks (WWANs), wide area networks (WANs), local area networks (LANs), etc.).
  • WWANs wireless wide area networks
  • WANs wide area networks
  • LANs local area networks
  • the ground-based nodes 304 are “ground-based” in that they are relatively stationary (e.g., designed to stay in a single location) and can be located in any suitable position.
  • the ground-based nodes 304 are arranged as an array, different portions of the array covering different geographic regions. For example, in some embodiments, a first portion of the array of ground-based nodes 304 can handoff communications with the mobile-based node 314 to a second portion of the array of ground-based nodes 304 as the mobile-based node 314 travels with respect to the ground-based nodes 304.
  • Each of the ground-based nodes 304 generally includes a power system 306, a wireless communications system 308 (i.e., a ground-based wireless communications system), and a timing module 322 (i.e., a ground-based timing module).
  • the power system 306 acts to provide power to the ground-based node 304 and can take any suitable form.
  • the power system 306 can interface with ground-based power (e.g., hardwired to an electrical grid), include a battery, include a solar cell and power store, etc.
  • the wireless communications system 308 is generally configured to transmit and/or receive wireless communications. In some embodiments, the wireless communications system 308 is configured to transmit and/or receive wireless communications via multiple communications protocols.
  • the ground-based node can be configured to transmit and/or receive wireless communications via both Wi-Fi and LoRa.
  • the ground-based nodes 304 also include a timing module, such as a clock.
  • the ground-based nodes 304 can synchronize timing with one another and/or with other external systems (e.g., the satellite navigation system 312).
  • each of the ground-based nodes 304 synchronizes its timing module with the satellite navigation system 312. If there is a loss of signal from the satellite navigation system 312 or the signal from the satellite navigation system is compromised, the ground-based nodes 304 can perform a negotiation to determine which one or more of the ground-based nodes 304 will act as the reference node with respect to timing.
  • This negotiation can be performed in any suitable manner and based on any suitable criteria.
  • the ground-based node 304 with the newest or most recently updated hardware and/or software can be chosen as the reference node
  • the ground-based node 304 with the greatest accuracy e.g., based on logging timing data provided by the satellite navigation system compared to the ground-based nodes 304 local timing data
  • the ground-based node 304 chosen as the reference node can be based on locations and/or geography (e.g., the most central ground-based node 304, the ground-based node 304 with the clearest line of sight, etc.), etc.
  • the ground-based nodes 304 transmit wireless communications
  • the ground-based nodes 304 can include timing data (e.g., timestamps) in the transmitted wireless communications.
  • the satellite navigation system 312 can be used as the primary source for location calculations, and the mobile-based node 314 and the ground-based nodes 304 can be used for redundancy and/or error-checking purposes.
  • the mobile-based node 314 and the ground-based nodes 304 can be used as the primary source of location calculations, and the satellite navigation system 312 can be used for redundancy and/or error-checking purposes.
  • the satellite navigation system 312 is the primary source of location calculations, and the mobile-based node 314 and the ground based nodes 304 are used when a trigger condition has occurred.
  • the trigger condition can be any suitable condition.
  • the trigger condition can be a loss of satellite navigation signal, a loss of satellite navigation signal for a threshold period of time, quality of a satellite navigation signal, an inability to determine a location based on satellite navigation signal, a known location of the mobile-based station, an estimated location of the mobile-based station, etc.
  • the control system 302 can comprise a fixed-purpose hard-wired hardware platform (including but not limited to an application-specific integrated circuit (ASIC) (which is an integrated circuit that is customized by design for a particular use, rather than intended for general-purpose use), a field-programmable gate array (FPGA), and the like) or can comprise a partially or wholly-programmable hardware platform (including but not limited to microcontrollers, microprocessors, and the like).
  • ASIC application-specific integrated circuit
  • FPGA field-programmable gate array
  • the control system 302 is configured (for example, by using corresponding programming as will be well understood by those skilled in the art) to carry out one or more of the steps, actions, and/or functions described herein.
  • control system 302 operably couples to a memory.
  • the memory may be integral to the control system 302 or can be physically discrete (in whole or in part) from the control system 302 as desired.
  • This memory can also be local with respect to the control system 302 (where, for example, both share a common circuit board, chassis, power supply, and/or housing) or can be partially or wholly remote with respect to the control system 302 (where, for example, the memory is physically located in another facility, metropolitan area, or even country as compared to the control system 302).
  • This memory can serve, for example, to non-transitorily store the computer instructions that, when executed by the control system 302, cause the control system 302 to behave as described herein.
  • this reference to “non-transitorily” will be understood to refer to a non-ephemeral state for the stored contents (and hence excludes when the stored contents merely constitute signals or waves) rather than volatility of the storage media itself and hence includes both non-volatile memory (such as read-only memory (ROM) as well as volatile memory (such as an erasable programmable read-only memory (EPROM).
  • ROM read-only memory
  • EPROM erasable programmable read-only memory
  • the control system is generally configured to calculate a location of the mobile-based node.
  • the control system 302 can perform location calculations based on any suitable data or communication mode.
  • the control system 302 can perform location calculations based on one-way and/or two-way ranging.
  • the control system 302 can be located and/or associated with any other components of the system.
  • the control system 302 can be integrated and/or associated with one or more of the ground-based nodes 304, the mobile-based node 314, located remotely from the ground-based nodes 304 and the mobilebased node 314 (e.g., in the cloud), etc.
  • the control system 302 generally calculates the location of the mobile-based node 314 based locations of the ground-based nodes 304, timing data provided by one or more of the ground-based nodes 304, and/or timing data provided by the mobile-based node 314.
  • the control system 302 includes a navigation fusion fdter 320.
  • the navigation fusion fdter generally aggregates data from sensors and systems associated with the system 300.
  • the navigation fusion fdter 320 can aggregate data from the ground-based nodes 304 (e.g., timing data, location data, etc.), the mobile -based node 314 (e.g., timing data, location data, etc.), inertial measurement units (IMUs), etc.
  • IMUs inertial measurement units
  • the navigation fusion fdter 320 can calculate the location of the mobile-based unit 314 based on the aggregated data.
  • the navigation fusion fdter 320 can be located and/or associated with any other components of the system.
  • the navigation fusion fdter 320 can be integrated and/or associated with one or more of the ground-based nodes 304, the mobile-based node 314, located remotely from the ground-based nodes 304 and the mobile -based node 314 (e.g., in the cloud), etc.
  • FIG. 3 provides additional detail regarding a locating system
  • FIGS. 4 and 5 provide additional detail regarding example operations for calculating the location of an object.
  • FIG. 4 is a flow chart depicting example operations for locating an object using two- way ranging, according to some embodiments. The flow begins at block 402.
  • a first wireless communication is transmitted.
  • a wireless communications system of a mobile-based node can transmit the first wireless communication.
  • the first wireless communication is transmitted via multiple communications protocols.
  • the mobile-based node can transmit the first wireless communication via one or more of Wi-Fi, LoRa, Bluetooth, Ultrawide Band, Zigbee, etc.
  • the mobile-based node transmits the first wireless communication via a first communications protocol (e.g., Wi-Fi) and a second communications protocol (e.g., LoRa).
  • the first wireless communication includes timing data, such as a timestamp. The timing data indicates the time at which the first wireless communication was transmitted by the mobile -based node.
  • a mobile-based timing module can generate the timing data upon which the timestamp is generated.
  • the flow continues at block 404.
  • the first wireless communication is received.
  • the first wireless communication can be received by ground-based nodes in an array of ground-based nodes.
  • the ground-based nodes can receive the first wireless communication via one or both of the first communications protocol and the second communications protocol.
  • ground-based communications are transmitted.
  • one or more of the ground-based nodes in the array of ground-based nodes can transmit a ground-based communication.
  • the ground-based nodes transmit the ground-based communications via multiple communications protocols (e.g., a first communications protocol and a second communications protocol).
  • the ground-based communications include timing data, such as timestamps.
  • one or more of the ground-based nodes can have ground-based timing modules that generate the timing data.
  • the ground-based communications include location data. The location data includes an indication of the location of the ground-based node that transmitted the ground-based communication.
  • the timing data can include an indication of when the first wireless communication was received by a respective one of the ground-based nodes.
  • the ground-based nodes can transmit the ground- based communications in response to receiving the first wireless communication. Additionally, or alternatively, the ground-based nodes can transmit ground-based communications periodically or in response to any suitable event or condition. The flow continues at block 408.
  • a location of the mobile-based node is calculated.
  • a control system can calculate the location of the mobile-based node.
  • the control system calculates the location of the mobile-based node based on the timing data associated with the first wireless communication, location data associated with each of the ground-based nodes from which a ground-based communication was received, and the timing data associated with each ground- based communication transmitted by a ground-based node.
  • the control system can be associated with, or located with, any suitable component of the system.
  • the control circuit can be associated with, or part of, the mobile-based node.
  • the mobile -based node receives the ground-based communications from the ground-based nodes and calculates its location.
  • control system can be located remotely from the mobile-based node and the ground-based nodes.
  • the mobile-based node and/or the ground-based node transmit wireless communications (e.g., the first wireless communication, the ground-based communications, the timing data associated with the first wireless communication, the timing data associated with the ground-based communications, and/or the location data associated with the ground-based nodes) to the control system.
  • one or more of the ground-based nodes can include the control system.
  • one or more of the ground-based nodes calculates the location of the mobile-based node.
  • the system may include multiple control systems.
  • the mobile-based node can include a control system
  • one or more of the ground-based nodes can include a control system
  • the control system can be cloud-based.
  • multiple locations for the mobile-based node can be calculated.
  • the multiple locations can be used, for example, for redundancy and/or error correction.
  • the control system can automatically correct for errors. For example, if a satellite navigation system consistently calculates a location of the mobile-based node to be X but the control system consistently calculated the same location to be Y, the control system can error correct to know that the location Y is really the location X. In such embodiments, the control system can apply a machine learning algorithm to perform such error correction.
  • FIG. 4 provides additional detail regarding example operations for location determinations based on two-way ranging
  • FIG. 5 provides additional detail regarding location determination based on one-way ranging.
  • FIG. 5 is a flow chart depicting example operations for locating an object using oneway ranging, according to some embodiments. The flow begins at block 502.
  • a first wireless communication is transmitted.
  • a wireless communications system of a mobile-based node can transmit the first wireless communication.
  • the first wireless communication is transmitted via multiple communications protocols.
  • the mobile-based node can transmit the first wireless communication via one or more of Wi-Fi, LoRa, Bluetooth, Ultrawide Band, Zigbee, etc.
  • the mobile-based node transmits the first wireless communication via a first communications protocol (e.g., Wi-Fi) and a second communications protocol (e.g., LoRa).
  • the first wireless communication includes timing data, such as a timestamp. The timing data indicates the time at which the first wireless communication was transmitted by the mobile -based node.
  • a mobile-based timing module can generate the timing data upon which the timestamp is generated. The flow continues at block 504.
  • the first wireless communication is received.
  • the first wireless communication can be received by ground-based nodes in an array of ground-based nodes.
  • the ground-based nodes can receive the first wireless communication via one or both of the first communications protocol and the second communications protocol.
  • a location of the mobile-based node is calculated.
  • a control system can calculate the location of the mobile-based node.
  • the control system calculates the location of the mobile-based node based on the timing data associated with the first wireless communication, location data associated with each of the ground-based nodes from which a ground-based communication was received, and the timing data associated with when the first wireless communication was received by each ground-based node.
  • the control system can be associated with, or located with, any suitable component of the system. As one example, the control system can be located remotely from the mobile-based node and the ground-based nodes.
  • multiple locations for the mobile-based node can be calculated.
  • the multiple locations can be used, for example, for redundancy and/or error correction.
  • the control system can automatically correct for errors. For example, if a satellite navigation system consistently calculates a location of the mobile-based node to be X but the control system consistently calculated the same location to be Y, the control system can error correct to know that the location Y is really the location X. In such embodiments, the control system can apply a machine learning algorithm to perform such error correction.
  • a location system for aiding in locating a mobile-based node comprises a plurality of ground-based nodes, each of the ground-based nodes including a ground-based timing module configured to generate ground-based timing data, a ground-based wireless communications system configured to transmit and receive wireless communications via a first communications protocol and a second communications protocol, wherein each of the wireless communications transmitted by a respective one of the ground-based nodes includes a respective timestamp based on the ground-based timing data, the mobile-based node including a mobile-based timing module configured to generate mobile-based timing data and a mobile -based wireless communications system configured to transmit and receive wireless communications via the first communications protocol and the second communications protocol, wherein each of the wireless communications transmitted by the mobile-based node includes a timestamp based on the mobile-based timing data, and a control system configured to calculate a location of the mobile-based node based on (i) wireless communications transmitted by the mobile-based node, (ii) wireless communications received by the mobilebased
  • an apparatus and a corresponding method performed by the apparatus comprises transmitting, by a wireless communications system of the mobile-based node, a first wireless communication, wherein the first wireless communication is transmitted via a first communications protocol and a second communications protocol, and wherein the first wireless communication includes a first timestamp, receiving, by a plurality of ground- based nodes, the first wireless communication, transmitting, by each of the plurality of ground- based nodes in response to receipt of the first wireless communication, ground-based communications, wherein the ground-based communications are transmitted via the first communications protocol and the second communications protocol, and wherein each of the ground-based communications includes a timestamp, and calculating, by a control system, a location of the mobile-based node based on (i) the first timestamp, (ii) locations of each ground- based node of the plurality of ground-based nodes, and (iii) the timestamp included in each of the ground-based communications.
  • an apparatus and a corresponding method performed by the apparatus comprises transmitting, by a wireless communications system of the mobile-based node, a first wireless communication, wherein the first wireless communication is transmitted via a first communications protocol and a second communications protocol, and wherein the first wireless communication includes a first timestamp, receiving, by a plurality of ground- based nodes, the first wireless communication, and calculating, by a control system, a location of the mobile-based node based on (i) the first timestamp, (ii) locations of each ground-based node of the plurality of ground-based nodes, and (iii) a time at which the first wireless communication was received by each ground-based node in the plurality of ground-based node.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

Dans certains modes de réalisation, l'invention concerne des appareils et des procédés utiles pour localiser un nœud mobile. Dans certains modes de réalisation, un système de localisation comprend une pluralité de nœuds au sol, comprenant chacun un module de synchronisation au sol configuré pour générer des données de synchronisation au sol, un système de communication sans fil au sol configuré pour émettre et recevoir des communications sans fil par l'intermédiaire de premier et second protocoles de communication, le nœud mobile comprenant un module de synchronisation mobile configuré pour générer des données de synchronisation mobile et un système de communication sans fil mobile configuré pour émettre et recevoir des communications sans fil par l'intermédiaire des premier et second protocoles de communication, et un système de commande configuré pour calculer un emplacement du nœud mobile sur la base (i) des communications sans fil transmises par le nœud mobile, (ii) des communications sans fil reçues par le nœud mobile, (iii) de l'estampille temporelle basée sur les données de synchronisation mobile, et (iv) de l'estampille temporelle respective basée sur les données de synchronisation au sol.
PCT/US2024/032738 2023-06-08 2024-06-06 Systèmes et procédés de localisation de nœuds Ceased WO2024254260A1 (fr)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3790328A1 (fr) * 2019-09-03 2021-03-10 Rokubun S.L. Points d'accès sans fil de géolocalisation
WO2022125393A1 (fr) * 2020-12-09 2022-06-16 Qualcomm Incorporated Positionnement d'ue à ue
WO2023034500A1 (fr) * 2021-09-02 2023-03-09 Intel Corporation Systèmes, appareil et procédés de détection d'emplacement fondée sur des données

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3790328A1 (fr) * 2019-09-03 2021-03-10 Rokubun S.L. Points d'accès sans fil de géolocalisation
WO2022125393A1 (fr) * 2020-12-09 2022-06-16 Qualcomm Incorporated Positionnement d'ue à ue
WO2023034500A1 (fr) * 2021-09-02 2023-03-09 Intel Corporation Systèmes, appareil et procédés de détection d'emplacement fondée sur des données

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