CN111656827A - 使用单个基站单元的基于定位的无线宠物围护系统 - Google Patents

使用单个基站单元的基于定位的无线宠物围护系统 Download PDF

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CN111656827A
CN111656827A CN201880086375.0A CN201880086375A CN111656827A CN 111656827 A CN111656827 A CN 111656827A CN 201880086375 A CN201880086375 A CN 201880086375A CN 111656827 A CN111656827 A CN 111656827A
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transceiver
receiver
base unit
angle value
return communication
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理查德·塞尔策
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Radio Systems Corp
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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K11/00—Marking of animals
    • A01K11/006—Automatic identification systems for animals, e.g. electronic devices, transponders for animals
    • 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
    • G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K11/00—Marking of animals
    • A01K11/006—Automatic identification systems for animals, e.g. electronic devices, transponders for animals
    • A01K11/008—Automatic identification systems for animals, e.g. electronic devices, transponders for animals incorporating GPS
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K15/00—Devices for taming animals, e.g. nose-rings or hobbles; Devices for overturning animals in general; Training or exercising equipment; Covering boxes
    • A01K15/02—Training or exercising equipment, e.g. mazes or labyrinths for animals ; Electric shock devices ; Toys specially adapted for animals
    • A01K15/021—Electronic training devices specially adapted for dogs or cats
    • A01K15/023—Anti-evasion devices
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K27/00—Leads or collars, e.g. for dogs
    • A01K27/009—Leads or collars, e.g. for dogs with electric-shock, sound, magnetic- or radio-waves emitting devices
    • 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
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
    • G01S3/04—Details
    • G01S3/043—Receivers
    • 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
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
    • G01S3/04—Details
    • G01S3/12—Means for determining sense of direction, e.g. by combining signals from directional antenna or goniometer search coil with those from non-directional antenna
    • 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
    • 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
    • G01S13/82—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein continuous-type signals are transmitted
    • G01S13/825—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein continuous-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
    • 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
    • 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
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
    • G01S3/14—Systems for determining direction or deviation from predetermined direction
    • G01S3/46—Systems for determining direction or deviation from predetermined direction using antennas spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference 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
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
    • G01S3/14—Systems for determining direction or deviation from predetermined direction
    • G01S3/46—Systems for determining direction or deviation from predetermined direction using antennas spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems
    • G01S3/50—Systems for determining direction or deviation from predetermined direction using antennas spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems the waves arriving at the antennas being pulse modulated and the time difference of their arrival being measured
    • 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
    • G01S5/12—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 by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00—Burglar, theft or intruder alarms
    • G08B13/02—Mechanical actuation
    • G08B13/14—Mechanical actuation by lifting or attempted removal of hand-portable articles
    • G08B13/1427—Mechanical actuation by lifting or attempted removal of hand-portable articles with transmitter-receiver for distance detection

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  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Animal Husbandry (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Zoology (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Birds (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Animal Behavior & Ethology (AREA)
  • Mobile Radio Communication Systems (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

提供了一种无线动物定位系统，该无线动物定位系统使用单个基站单元来识别在环境中漫游的宠物的位置。该无线动物定位系统使用宠物定位信息来跟踪和管理环境中的动物行为。

Description

使用单个基站单元的基于定位的无线宠物围护系统
相关申请
本申请要求于2018年6月8日提交的美国申请No.16/003876的优先权，该美国申请要求于2017年12月15日提交的美国申请No.62/599248的权益。
技术领域
本文的公开内容涉及使用无线通信来识别环境中的漫游(roaming，漫步、漫行、随便走动)对象的位置。
背景
已经开发了使用跟踪对象的多个基站单元之间的无线通信来识别环境中的漫游对象的位置的系统和方法。
通过引用并入的内容
本说明书中提及的每个专利、专利申请和/或出版物都通过引用整体并入本文中，直到如同每个单独的专利、专利申请和/或出版物都被明确地且单独地指出通过引用并入的相同程度。
附图说明
图1示出了根据实施方式的与基站单元通信的宠物项圈的收发器。
图2示出了根据实施方式的三边测量的方法。
图3示出了根据实施方式的与基站单元通信的宠物项圈的收发器。
图4示出了根据实施方式的三边测量的方法。
图5示出了根据实施方式的与基站单元通信的宠物项圈的收发器。
图6A示出了根据实施方式的与单个基站单元通信的宠物项圈的收发器。
图6B示出了根据实施方式的单个基站单元的俯视图。
图7示出了根据实施方式的单个基站单元的部件。
图8示出了根据实施方式的范围和角度坐标的示例。
图9示出了根据实施方式的叠加在被监控的区域上的功能网格。
图10示出了根据实施方式的与单个基站单元通信的宠物项圈的收发器。
图11示出了根据实施例的将单个基站单元周围的空间划分成象限。
图12示出了根据实施方式的角度值的样本计算。
图13示出了根据实施方式的角度值的样本计算。
图14示出了根据实施方式的角度值的样本计算。
图15示出了根据实施方式的角度值的样本计算。
具体实施方式
提供了一种无线动物定位系统，该系统识别在环境中漫游的宠物的位置，并使用宠物位置的信息来跟踪/管理环境中的动物行为。无线宠物定位系统(或围护系统)可以在动物进入禁止位置时通过施加阴性刺激来禁止到环境中一区域的进入。例如，系统可以在动物接近食品室空间或垃圾收集空间时施加阴性刺激。相反地，系统可以允许动物自由且不受阻碍地进入环境的其他部分。例如，系统可以在动物位于期望的位置诸如动物安置区域或专用的动物游戏区域时停止不利刺激。系统可以简单地记录事件，以编制有关动物的行为的信息。例如，系统可以检测并记录动物在给水碗附近的出现。此外，系统可以将此类信息报告至移动应用，从而允许宠物主人监控和追踪家中的动物行为。
基于RF的无线宠物定位系统可以利用信号强度、双向测距技术和/或到达时间差(技术)来定位目标。
基于信号强度的方法使用接收信号强度指示(RSSI)值来确定漫游目标与三个或更多个空间上分开的基站单元之间的范围。目标或动物可以佩戴容置在项圈中的收发器。收发器可以接收RF信号并将RF信号发送至基站单元。根据实施方式，目标的环境中的三个基站单元定期传输RF信号。宠物收发器使用从每个基站单元接收到的对应的RF通信的强度即使用RSSI值来估计其距每个基站单元的距离。基于多个测距测量以及基站单元在网格系统内的已知位置，可以在网格系统内解析单个位置。
图1示出了在三个传输基站单元104、106、108的范围内的动物佩戴的收发器102。收发器102与基站单元104、基站单元106和基站单元108通信。基于所测量的RSSI值，动物佩戴的项圈确定从宠物到基站104的大致范围(-30dBm，30米)、从宠物到基站106的大致范围(-40dBm，40米)以及从宠物到基站108的大致范围(-50dBm，50米)。图2示出了三边测量方法，该三边测量方法使用三个半径(即从收发器到各基站单元的距离)的信息来识别作为三个圆之间的交点的宠物的位置。换句话说，基站单元104、106、108成为半径分别为30m、40m和50m的圆的中心点A、B、C。由于基站单元在网格系统内的位置是已知的，因此圆在与宠物收发器位置相对应的网格位置处相交。网格系统被建立并在系统设置时与绝对位置相联系。
该系统需要至少三个基站单元。这使系统复杂化，因为室外安装需要为任何远离AC电源的单元供电。这可能需要一个或多个基站单元通过地下电线或DC电源进行操作，这在基站单元是充电式时是不方便的，或者在原电池被使用时是昂贵的。而且，包括三个基站单元大幅增加了系统的成本。此外，由于环境条件和天线方向图变化引起的每个信号强度的变化，所以所得的位置是不精确的。
根据实施方式，无线动物定位系统可以使用双向测距(TWR)来确定和监测动物的位置。系统可以包括由动物佩戴的项圈容置的收发器以及分布在被监控的环境中的三个或更多个基站单元。系统基于动物目标(即动物项圈)与每个基站单元之间的RF信号的TWR来确定目标与三个或更多个空间上分开的基站单元之间的范围。基于项圈收发器与网格系统内的已知位置的基站单元之间的多次飞行时间测量，可以在网格系统内解析单个位置。
图3示出了在三个传输基站单元304、306、308的范围内的动物佩戴的收发器302。宠物收发器302与基站单元304、基站单元306和基站单元308通信。在每次双向通信期间，宠物收发器使用飞行时间来确定到每个基站单元的范围。例如，宠物收发器在时间t＝t0＝0发送一通信。基站单元可以处理该通信并在时间t＝t1发送一返回通信。宠物收发器(即宠物项圈)接收该返回通信，并在时间t＝t2记录接收到通信的第一脉冲。然后，飞行时间被计算为(t2-处理时间)/2。该飞行时间对应于一距离。基于该飞行时间计算，动物佩戴的项圈确定从宠物到基站304的大致范围(30米)、从宠物到基站306的大致范围(50米)以及从宠物到基站308的大致范围(10米)。图4示出了三边测量方法，该方法使用三个半径(即从收发器到基站单元的距离)的信息来识别作为三个圆之间的交点的宠物的位置。换句话说，基站单元304、306、308成为半径分别为30m、50m和10m的圆的中心点A、B、C。由于基站单元在网格系统内的位置是已知的，因此圆在与宠物收发器位置相对应的网格位置处相交。
上述系统需要至少三个基站单元。这使系统复杂化，因为室外安装需要为任何远离AC电源的单元供电。这可能需要一个或多个基站单元通过地下电线或DC电源进行操作，这在基站单元是充电式的时是不方便的，或者在原电池被使用时是昂贵的。而且，包括三个基站单元大幅增加了系统的成本。
根据实施方式，无线动物定位系统可以使用到达时间差的计算。图5示出了在三个传输基站单元504、506、508的范围内的动物佩戴的收发器502。基站单元504、506、508彼此通信520以使它们各自的时钟同步。宠物项圈收发器502周期性地传输RF信号。宠物项圈的RF传输被基站单元504、506、508接收。接收到后，每个基站单元对接收到的信号数据加时间戳。基于接收时间，可以解析宠物收发器的位置。通常，解析出的位置在基站单元之一中或者在远程计算机中被计算出，然后被传送至动物佩戴的收发器，因为动物佩戴的收发器通常是电池供电的，因此节能是一问题。
时间差信息可以用于确定目标收发器502与基站单元504、506、508之间的距离差。然后可以使用距离差信息来确定表示收发器的可能位置的双曲线。然后，使用双曲线的交点来在网格系统中定位宠物收发器。
图6A示出了基站单元602和容置收发器604的动物佩戴的项圈。基站单元包括天线610、612、614。图6B示出了基站单元的俯视图。图6A和6B一起公开了天线610和天线614之间的距离是d1+d2。(由天线形成的)三角形的从天线612延伸的高度为d3。距离d1可以等于距离d2，但是实施方式不限于此。每个天线可以与用于发送和接收RF通信的收发器连接或耦接，或与用于接收通信的接收器连接或耦接。
图7示出了与由宠物项圈容置的宠物收发器704通信的基站单元702的非写实侧视图。基站单元使收发器/天线710、接收器/天线712和接收器/天线714与处理单元720耦接，该处理单元还连接/耦接到存储器722。处理单元为传入和/或传出通信计时，并使收发器/接收器710、712、714同步。基站单元使用天线/收发器710发射RF信号通信740。宠物收发器704处理该通信并发送返回通信760。每个天线单元710、712、714接收该返回通信。基站单元可以使用双向测距以及在每个收发器/接收器处接收到的返回通信的时间差来解析用于对宠物收发器进行定位的范围和角度参考。
图8示出了范围和角度参考的位置的示例。图8示出了x-y笛卡尔坐标系。点810定位成距(0，0)22米，并且从单位矢量(0，1)偏移310度(当角度值表示顺时针旋转310度时)。然后，范围和角度坐标被表示为(22m，310度)。该坐标系可以更正式地被描述为极坐标系。极坐标系是二维坐标系，其中，平面上的每个点由距参考点的距离即范围值和距参考方向的角度即角度值确定。范围和角度信息可以如下映射到笛卡尔坐标中：
x＝22*cos(140°)＝-16.85
y＝22*sin(140°)＝14.14
图9示出了叠加在被监控的区域上的网格。网格中的每个正方形与一组(范围，角度)位置或(x，y)坐标对应。每个网格正方形和对应的(范围，角度)位置可以被分配特定功能。当然，网格分配不限于正方形或矩形区域。网格分配可以被分配成网格部分(即圆形、椭圆形、手动定义等)以及对应的(范围，角度)或(x，y)坐标。
网格部分或网格部分的集合可以包括校正区域(即在该区域中刺激被施加给宠物)、防止进入区域、围护区域、或通知区域。当基站单元定位出项圈位于对应的网格部分中时，基站单元可以将适当的命令传输到宠物项圈。例如，当动物位于位置910时，基站单元可以指示项圈施加阴性刺激。当动物位于围护区域912内的位置914时，基站单元可以指示项圈不采取任何行动(或者不提供采取任何行动的指示)。当动物位于防止进入区域916内时，基站单元可以指示项圈施加阴性刺激。当动物位于定位区域918、920内时，基站单元可以指示项圈记录动物的位置。注意，防止进入区域或通知区域可以被分配成下述区域内的位置，所述区域是一般的围护区域并且其中通常不会向动物提供任何指令。由于被监控的环境中的特定区域可以与一功能特定相关联的事实，这是可能的。以这种方式，被监控的环境区域910和916映射到校正功能，并且被监控的环境区域918、920映射到记录/通知功能。根据实施方式，围护区域可以简单地是被监控的环境中没有被分配校正功能的所有区域。
图10示出了与由宠物项圈容置的宠物收发器1004通信的基站单元1002的俯视图。基站单元使收发器/天线1010、接收器/天线1012和接收器/天线1014与处理单元1020耦接，该处理单元1020还连接或耦接到存储器(如图7所示)。根据实施方式，收发器/天线1010、接收器/天线1012和接收器/天线1014可以形成边长为20cm的等边三角形的顶点。处理单元为传入和/或传出通信计时，并使收发器/接收器1010、1012、1014同步。基站单元使用天线/收发器1010发射RF信号通信(图10中未显示)。宠物收发器处理该通信并发送返回通信1040。每个天线单元接收该返回通信。如下面进一步描述的，基站单元可以使用通过天线/收发器1010接收和处理的飞行时间信息以及在每个基站单元天线处接收到的返回通信的时间差来解析用于对宠物收发器进行定位的范围和角度参考。在下面提供了此方法的详细示例。
收发器/天线1010在0s时传输RF消息或通信。宠物收发器在66.7l28ns时接收到通信的第一脉冲。然后，宠物收发器处理该消息并做出响应。宠物收发器在1000ns时传输响应。基站单元收发器/天线1010在1066.7128ns时接收到通信的第一脉冲。基站单元接收器/天线1014在1067.18648ns时接收到通信的第一脉冲。基站单元接收器/天线1012在1067.3572ns时接收到通信的第一脉冲。注意，本段中公开的数据与下面关于图13所述的示例对应。
该过程收集了用于解析用于对宠物收发器进行定位的范围和角度值的关键信息。第一，该过程揭示了基站单元天线1010、1012、1014从宠物收发器接收到返回传输的顺序。第二，该过程揭示了基站单元天线之间的返回时间差。继续上述示例，收发器/天线1010与接收器/天线1014之间的接收时间差为.47368ns。第三，该过程提供范围信息。关于上述示例，在响应通信的传输与其通过收发器/天线1010的接收之间的飞行时间包括66.7128ns，与从收发器/天线1010到宠物收发器的20米的距离对应。该信息可以用于确定用于使用远场模型定位宠物的范围和角度值，如下面进一步地描述的。再次注意，本段中公开的数据与下面关于图13所述的示例对应。此外，关于在下面阐述的所有示例，天线1010、1012、1014形成边长为20cm的等边三角形(参见图12-图14和对应的示例)。
根据实施方式，远场模型可以使用上述的双向测距和到达时间差的计算来确定范围和角度值。远场模型基于下述事实：从基站单元到宠物收发器的距离明显比基站单元的收发器/接收器之间的距离远。该模型允许球面波通过平面近似。
远场模型实施以下步骤：
使用飞行时间信息来确定从收发器/天线到宠物收发器的距离。
确定前两个天线接收到来自宠物收发器的返回传输。
使用前两个接收天线的信息来确定宠物周围的近似“象限”区域(如下面图11进一步所示)。
确定前两个天线之间的到达时间差；
使用基于已识别区域的等式(参加下面图11)来确定角度信息。下述示例采用图10的基站单元配置。此外，下述示例假定天线1010和1014之间的线代表角度值的参考线。还应注意，角度值(下面提供的示例中)从参考线沿逆时针方向延伸。
图11示出了基于天线之间的到达时间的象限确定的示例。图11所示的示例基于下述实现方式，所述实现方式利用由被放置成等边三角形的三个收发器/接收器构成的基站单元，但是收发器/接收器的数量和位置不限于这些布置。图11示出了象限I-VI以及天线之间的对应接收顺序：
象限1(30-90度)：第一接收1014，第二接收1010
象限II(90-150度)：第一接收1010，第二接收1014
象限III(150-210度)：第一接收1010，第二接收1012
象限IV(210-270度)：第一接收1012，第二接收1010
象限V(270-330度)：第一接收1012，第二接收1014
象限VI(330-30度)：第一接收1014，第二接收1012
如图11中的平面空间划分所示，接收顺序将宠物收发器的位置限定到特定象限或角度区域。
图12示出了关于宠物位置的角度值的计算。图12示出了来自位于象限I中的宠物收发器1230的返回RF传输1220。这是由于天线1014处的第一接收和天线1010处的第二接收而已知的。在远场模型下，天线1010和1014是三角形的顶点，该三角形的边1210定向在宠物收发器的大体方向上。远场模型将边1210和边1212之间的角度近似为九十(90)度角。同样这因为天线之间的距离明显比天线与宠物收发器之间的距离小而是可能的。天线1010和天线1014之间的线1214的长度L已知为20cm。图12示出了线1210和1214之间的角度θ。然后，边1210的长度(即如图12所示的D的值)可以被如下计算：
D＝CT
C＝来自宠物收发器的RF信号的速度
T＝天线1010、1014之间的接收时间差
一旦知道D，就有足够的信息求解θ(如下面较详细地描述的)，从而确定角度值。
图13示出了基站单元接收到来自象限I中的宠物收发器1320的传输1330的示例。这是由于天线1014处的第一接收和天线1010处的第二接收而已知的。飞行时间以及天线1010与宠物收发器1320之间的对应距离是66.7128ns以及20m。天线1010和天线1014形成三角形的顶点，该三角形的边1310定向在宠物收发器的大体方向上。在远场模型下，边1310和1312之间的角度近似为90度。边1314的长度已知为20cm。天线1010和1014之间的时间差为.47368ns。现在可以计算边1310的长度D。此外，可以通过首先计算α的值来计算θ的值，如下：
Figure BDA0002581655130000101
α＝45.278°
θ＝180°-90°-45.278°＝44.723°
因此，可以用(20m，44.723)的范围、角度值来近似宠物的位置。
图14示出了基站单元接收到来自象限II中的宠物收发器1420的传输1430的示例。这是由于天线1010处的第一接收和天线1014处的第二接收而已知的。假定宠物收发器1420与天线1010之间的飞行时间表示20m的距离。天线1010和1014形成三角形的顶点，该三角形的边1410定向在宠物收发器的大体方向上。在远场模型下，边1410和1412之间的角度近似为90度。边1414的长度已知为20cm。天线1010和1014之间的时间差为.56245ns。现在可以计算边1410的长度D。可以通过首先计算α的值来计算θ的值，如下：
Figure BDA0002581655130000102
α＝32.47°
θ＝180°-α＝180°-32.47°＝147.53°
因此，可以用(20m，147.53)的范围、角度值来近似宠物的位置。
图15示出了基站单元接收到来自象限III中的宠物收发器1520的传输1530的示例。这是由于天线1012处的第一接收和天线处1010的第二接收而已知的。假定宠物收发器1520与天线1012之间的飞行时间表示20m的距离。天线1010和1012形成三角形的顶点，该三角形的边1510定向在宠物收发器的大体方向上。在远场模型下，边1510和1512之间的角度近似为90度。边1514的长度已知为20cm。天线1010和1012之间的时间差为.5342ns。现在可以计算边1510的长度D。此外，可以通过首先计算
Figure BDA0002581655130000112
和α的值来计算θ的值，如下：
Figure BDA0002581655130000111
α＝180°-90°-53.25°＝36.75°
θ＝180°-36.75°＝143.25°
因此，可以用(20m，263.25)的范围、角度值来近似宠物的位置。在这种情况下，基于时间差得知宠物收发器位于象限III中。这意味着θ是关于天线1010和1012计算的。因此，角度值必须通过加上120°来近似，使得角度值扫过象限I和象限II，然后扫过象限III附加的143.25°。以类似的方式，象限IV、V和VI中的宠物收发器的角度估计应分别增加180°、240°和300°。
还应注意，角度计算是根据宠物收发器的检测到的位置进行的。如上所述，基于接收时间差得知宠物收发器位于象限I-VI中的一象限中。作为一个示例，宠物收发器可以位于象限V中。因此，可以应用已知的计算来确定动物相对于天线1012与天线1014之间的线的角度位置。假定上面关于图12-16所述的事实，然后将附加240度加到角度估计。然后，宠物收发器位于调整后的角度估计处(相对于天线1010与1014之间的线即零角度参考)，并且距基站单元大致20米。
上述示例利用了处于等边三角形配置的三个天线，但这不是一限制，因为天线的数量可以是大于三或者大于二——如果存在物理限制以阻止对区域的180度覆盖——的任何数量。此外，天线的配置不限于任何特定的三角配置。
应当注意，收发器/天线和/或接收器/天线之间的到达时间差可以通过传入信号的载波信号的相位差确定。
还可以执行三维位置解析。其可以被视为两个垂直平面中的两个单独的二维位置解析，只要两个平面中的天线之间存在位置差异即可。
根据实施方式，描述了一种包括基站单元的设备，该基站单元包括第一收发器、第二接收器和第三接收器，其中，第一收发器包括第一天线，第二接收器包括第二天线，并且第三接收器包括第三天线，其中，第一收发器、第二接收器和第三接收器与基站单元的至少一个处理器通信地耦接，其中，基站单元包括使第一收发器、第二接收器和第三接收器的通信同步的时钟，其中，第一收发器、第二接收器和第三接收器构成三角形的顶点。基站单元包括被配置成将通信传输到远离基站单元的收发器的第一收发器。基站单元包括被配置成接收来自收发器的响应的第一收发器、第二接收器和第三接收器，其中，响应包括返回通信。基站单元包括被配置成使用返回通信的信息来确定第一飞行时间的至少一个处理器，其中，第一飞行时间包括传输返回通信与通过第一收发器接收返回通信之间经过的时间。基站单元包括被配置成使用第一飞行时间来确定第一收发器与收发器之间的第一距离的至少一个处理器。基站单元包括被配置成使用时钟来确定第一收发器接收到返回通信、第二接收器接收到返回通信与第三接收器接收到返回通信之间的到达时间差的至少一个处理器。基站单元包括被配置成使用到达时间差，第一天线、第二天线和第三天线的相对定位，以及返回通信的信号传输速度来确定角度值的至少一个处理器，其中，角度值包括参考方向与轴线之间的角度，其中，角度值和第一距离近似计算出收发器的位置。
实施方式的三角形包括等边三角形。
根据实施方式，等边三角形的边等于或小于20cm。
实施方式的至少一个处理器被配置成使用第一收发器、第二接收器和第三接收器之间的返回通信的载波信号的相位差来确定到达时间差。
实施方式的参考方向包括固定单位矢量，该固定单位矢量始于三角形的顶点并且沿着三角形的边延伸。
根据实施方式，三角形的顶点近似地限定一平面，其中，多个象限将该平面划分成从基站单元延伸的径向段。
根据实施方式，到达时间差的信息包括接收到返回通信的前两个天线之间的接收顺序。
根据实施方式，确定角度值包括使用前两个天线之间的接收顺序来将收发器定位在多个象限中的一象限中。
根据实施方式，确定角度值包括构造直角三角形，其中，前两个天线构成直角三角形的顶点，其中，直角三角形的第一边定向在位于象限中的收发器的方向上，其中，第二边包括前两个天线之间的线。
根据实施方式，确定角度值包括使用信号传输速度和接收到返回通信的前两个天线之间的到达时间差来确定第一边的第一长度。
根据实施方式，第二长度包括第二边的长度。
根据实施方式，确定角度值包括使用第一长度、第二长度和象限的信息来确定角度值。
实施方式的收发器与位于动物所佩戴的项圈中的刺激单元通信地耦接。
实施方式的至少一个处理器被配置成使用第一距离和角度值来识别至少一个指令。
实施方式的至少一个指令包括记录第一距离和角度值。
根据实施方式，识别至少一个指令包括将至少一个指令传输到收发器。
根据实施方式，至少一个指令包括施加阳性刺激的指令。
根据实施方式，至少一个指令包括施加阴性刺激的指令。
根据实施方式，描述了一种包括基站单元的设备，该基站单元包括至少三个收发器，其中，至少三个收发器与基站单元的至少一个处理器通信地耦接，其中，基站单元包括使至少三个收发器的通信同步的时钟。该设备包括至少三个收发器中的被配置成将通信传输到远离基站单元的收发器的第一收发器。该设备包括被配置成接收来自收发器的响应的至少三个收发器，其中，响应包括返回通信。该设备包括被配置成使用返回通信的信息来确定第一飞行时间的至少一个处理器，其中，第一飞行时间包括传输返回通信与通过第一收发器接收到返回通信之间经过的时间。该设备包括被配置成使用第一飞行时间来确定第一收发器与收发器之间的第一距离的至少一个处理器。该设备包括被配置成使用时钟来确定至少三个收发器接收到返回通信之间的到达时间差的至少一个处理器。该设备包括被配置成使用到达时间差、至少三个收发器的相对定位和返回通信的信号传输速度来确定角度值的至少一个处理器，其中，角度值包括参考方向与轴线之间的角度，其中，角度值和第一距离近似计算出收发器的位置。
适用于本文所述的实施方式的计算机网络包括局域网(LAN)、广域网(WAN)、互联网、或者其他连接服务及网络变型，诸如万维网、公共互联网、私人互联网、私人计算机网络、公共网络、移动网络、蜂窝网络、增值网络等等。耦接或连接到网络的计算设备可以是允许访问网络的任何微处理器控制的设备，包括终端设备，诸如个人计算机、工作站、服务器、小型计算机、大型计算机、膝上型计算机、移动计算机、掌上型计算机、手持式计算机、移动电话、TV机顶盒、或其组合。计算机网络可以包括多个LAN、WAN、互联网和计算机中的一个。计算机可以用作服务器、客户端、或其组合。
使用单个基站单元的无线宠物围护系统可以是单个系统、多个系统和/或地理上分开的系统的部件。使用单个基站单元的无线宠物围护系统也可以是单个系统、多个系统和/或地理上分开的系统的子部件或子系统。使用单个基站单元的无线宠物围护系统的部件可以与主机系统或者耦接到主机系统的系统的一个或多个其他部件(未示出)耦接。
使用单个基站单元的无线宠物围护系统的一个或多个部件和/或使用单个基站单元的无线宠物围护系统耦接到的或连接到的对应接口、系统或应用包括处理系统和/或在处理系统下运行和/或与处理系统相关联地运行。如本领域中已知的，处理系统包括基于处理器的设备或一起运行的计算设备或者处理系统或设备的部件的任何集合。例如，处理系统可以包括便携式计算机、在通信网络中运行的便携式通信设备、和/或网络服务器中的一者或多者。便携式计算机可以是多个下述设备和/或下述设备的组合中的任一者，所述设备选自个人计算机、个人数字助理、便携式计算设备和便携式通信设备，但不限于此。处理系统可以包括较大的计算机系统内的部件。
实施方式的处理系统包括至少一个处理器和至少一个存储设备或子系统。处理系统还可以包括或耦接到至少一个数据库。如本文中通常使用的，术语“处理器”是指任何逻辑处理单元，诸如一个或多个中央处理单元(CPU)、数字信号处理器(DSP)、特定用途集成电路(ASIC)等。处理器和存储器可以被单片地集成到单个芯片上，在多个芯片或部件之间分布，和/或通过算法的某种组合提供。可以以软件算法、程序、固件、硬件、部件、电路中的一者或多者以任何组合实现本文中描述的方法。
任何系统的包括使用单个基站单元的无线宠物围护系统的部件可以被定位在一起或定位在分开的位置。通信路径与部件耦接，并且包括用于在部件之间传送或传递文件的任何介质。通信路径包括无线连接、有线连接以及混合的无线/有线连接。通信路径还包括与下述网络的耦接或连接，所述网络即局域网(LAN)、城域网(MAN)、广域网(WAN)、专有网络、局间或后端网络以及互联网。此外，通信路径包括可移动的固定介质，如软盘、硬盘驱动器和CD-ROM光盘、以及闪速RAM、通用串行总线(USB)连接、RS-232连接、电话线、总线和电子邮件消息。
使用单个基站单元的无线宠物围护系统以及本文描述的对应系统和方法的各方面可以被实现为被编程成下述中的任一种的功能：各种电路，包括可编程逻辑器件(PLD)，诸如现场可编程门阵列(FPGA)、可编程阵列逻辑(PAL)器件、电可编程逻辑和存储设备和基于标准单元的设备、以及特定用途集成电路(ASIC)。用于实现使用单个基站单元的无线宠物围护系统以及对应系统和方法的各方面的一些其他可能性包括：具有存储器(诸如电可擦可编程只读存储器(EEPROM))的微控制器、嵌入式微处理器、固件、软件等。此外，使用单个基站单元的无线宠物围护系统以及对应系统和方法的各方面可以在具有基于软件的电路仿真的微处理器、离散逻辑元件(时序的和组合的)、定制设备、模糊(神经)逻辑元件、量子设备以及任何以上设备类型的混合中体现。当然，基础设备技术可以以各种部件类型提供，例如，金属氧化物半导体场效应晶体管(MOSFET)技术如互补金属氧化物半导体(CMOS)、双极技术如发射极耦合逻辑(ECL)、聚合物技术(例如，硅共轭聚合物和金属共轭聚合物-金属结构)、混合的模拟和数字等。
应当注意，本文公开的任何系统、方法和/或其他部件可以使用计算机辅助设计工具来描述，并且在它们的行为、寄存器转移、逻辑部件、晶体管、布局几何和/或其他特征方面被表达(或表示)为在各种计算机可读介质中体现的数据和/或指令。可以体现这种格式数据和/或指令的计算机可读介质包括但不限于各种形式的非易失性存储介质(例如，光学、磁性或半导体存储介质)和可以用于通过无线、光学或有线信令介质或其任何组合来传递这种格式数据和/或指令的载波。通过载波传递这种格式数据和/或指令的示例包括但不限于透过互联网和/或其他计算机网络经由一种或多种数据传输协议(例如HTTP、FTP、SMTP等)进行传递(上传、下载、电子邮件等)。当在计算机系统内经由一个或多个计算机可读介质接收时，上述部件的这种基于数据和/或指令的表达可以由计算机系统内的处理实体(例如一个或多个处理器)结合一个或多个其他计算机程序的执行来处理。
除非上下文清楚地要求，否则在整个说明书和权利要求书中，词语“包括(comprise)”、“包括(comprising)”等应以包含性的含义而不是排他性或穷举性的含义解释；也就是说，以“包括但不限于”的含义。使用单数或复数的词也分别包括复数或单数。另外，当在本申请中使用时，词语“本文中”、“下文中”、“上面”、“下面”和类似意思的词语是指本申请整体，而不是指本申请的任何特定部分。当词语“或者”用于指两个或更多个项的列表时，该词语涵盖了该词语的所有以下解释：列表中的项中的任何项、列表中的所有项、以及列表中的项的任何组合。
使用单个基站单元的无线宠物围护系统的实施方式的以上描述不意图是穷举的或将系统和方法限制于所公开的精确形式。尽管本文出于说明性目的描述了使用单个基站单元的无线宠物围护系统以及对应系统和方法的特定实施方式和示例，但是如本领域技术人员将认识到的，在系统和方法的范围内，各种等效修改都是可能的。本文中提供的使用单个基站单元的无线宠物围护系统以及对应系统和方法的教导可以应用于其他系统和方法，而不仅仅应用于上述系统和方法。
可以将上述各种实施例的元素和动作进行组合以提供其他实施方式。根据以上详细描述，可以对使用单个基站单元的无线宠物围护系统以及对应系统和方法进行这些和其他改变。

Claims (19)

1.一种设备，包括：
基站单元，所述基站单元包括第一收发器、第二接收器和第三接收器，其中，所述第一收发器包括第一天线，所述第二接收器包括第二天线，并且所述第三接收器包括第三天线，其中，所述第一收发器、所述第二接收器和所述第三接收器与所述基站单元的至少一个处理器通信地耦接，其中，所述基站单元包括使所述第一收发器、所述第二接收器和所述第三接收器的通信同步的时钟，其中，所述第一收发器、所述第二接收器和所述第三接收器构成三角形的顶点；
所述第一收发器被配置成将通信传输到远离所述基站单元的收发器；
所述第一收发器、所述第二接收器和所述第三接收器被配置成接收来自所述收发器的响应，其中，所述响应包括返回通信；
所述至少一个处理器被配置成使用所述返回通信的信息来确定第一飞行时间，其中，所述第一飞行时间包括传输所述返回通信与通过所述第一收发器接收到所述返回通信之间经过的时间；
所述至少一个处理器被配置成使用所述第一飞行时间来确定所述第一收发器与所述收发器之间的第一距离；
所述至少一个处理器被配置成使用所述时钟来确定所述第一收发器接收到所述返回通信、所述第二接收器接收到所述返回通信与所述第三接收器接收到所述返回通信之间的到达时间差；
所述至少一个处理器被配置成使用所述到达时间差，所述第一天线、所述第二天线和所述第三天线的相对定位，以及所述返回通信的信号传输速度来确定角度值，其中，所述角度值包括参考方向与轴线之间的角度，其中，所述角度值和所述第一距离近似计算出所述收发器的位置。
2.根据权利要求1所述的设备，其中，所述三角形包括等边三角形。
3.根据权利要求2所述的设备，其中，所述等边三角形的边等于或小于20cm。
4.根据权利要求1所述的设备，所述至少一个处理器被配置成使用所述第一收发器、所述第二接收器和所述第三接收器之间的所述返回通信的载波信号的相位差来确定所述到达时间差。
5.根据权利要求1所述的设备，其中，所述参考方向包括固定单位矢量，所述固定单位矢量始于所述三角形的顶点并且沿着所述三角形的一边延伸。
6.根据权利要求5所述的设备，其中，所述三角形的顶点近似地限定一平面，其中，多个象限将所述平面划分成从所述基站单元延伸的径向段。
7.根据权利要求6所述的设备，其中，所述到达时间差的信息包括接收到所述返回通信的前两个天线之间的接收顺序。
8.根据权利要求7所述的设备，确定所述角度值包括使用所述前两个天线之间的接收顺序来将所述收发器定位在所述多个象限中的一象限中。
9.根据权利要求8所述的设备，确定所述角度值包括构造直角三角形，其中，所述前两个天线构成所述直角三角形的顶点，其中，所述直角三角形的第一边定向在位于所述象限中的所述收发器的方向上，其中，第二边包括所述前两个天线之间的线。
10.根据权利要求9所述的设备，确定所述角度值包括使用所述信号传输速度和接收到所述返回通信的所述前两个天线之间的到达时间差来确定所述第一边的第一长度。
11.根据权利要求10所述的设备，其中，第二长度包括所述第二边的长度。
12.根据权利要求11所述的设备，确定所述角度值包括使用所述第一长度、所述第二长度和所述象限的信息来确定所述角度值。
13.根据权利要求1所述的设备，其中，所述收发器与位于动物所佩戴的项圈中的刺激单元通信地耦接。
14.根据权利要求13所述的设备，所述至少一个处理器被配置成使用所述第一距离和所述角度值来识别至少一个指令。
15.根据权利要求14所述的设备，所述至少一个指令包括记录所述第一距离和所述角度值。
16.根据权利要求15所述的设备，识别所述至少一个指令包括将所述至少一个指令传输到所述收发器。
17.根据权利要求16所述的设备，所述至少一个指令包括施加阳性刺激的指令。
18.根据权利要求17所述的设备，所述至少一个指令包括施加阴性刺激的指令。
19.一种设备，所述设备包括：
基站单元，所述基站单元包括至少三个收发器，其中，所述至少三个收发器与所述基站单元的至少一个处理器通信地耦接，其中，所述基站单元包括使所述至少三个收发器的通信同步的时钟；
所述至少三个收发器中的第一收发器被配置成将通信传输到远离所述基站单元的收发器；
所述至少三个收发器被配置成接收来自所述收发器的响应，其中，所述响应包括返回通信；
所述至少一个处理器被配置成使用所述返回通信的信息来确定第一飞行时间，其中，所述第一飞行时间包括传输所述返回通信与通过所述第一收发器接收到所述返回通信之间经过的时间；
所述至少一个处理器被配置成使用所述第一飞行时间来确定所述第一收发器与所述收发器之间的第一距离；
所述至少一个处理器被配置成使用所述时钟来确定所述至少三个收发器接收到所述返回通信之间的到达时间差；
所述至少一个处理器被配置成使用所述到达时间差、所述至少三个收发器的相对定位以及所述返回通信的信号传输速度，来确定角度值，其中，所述角度值包括参考方向与轴线之间的角度，其中，所述角度值和所述第一距离近似计算出所述收发器的位置。
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