WO2016182559A1 - Détection de position sans fil à l'aide du champ magnétique d'un émetteur unique - Google Patents

Détection de position sans fil à l'aide du champ magnétique d'un émetteur unique Download PDF

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Publication number
WO2016182559A1
WO2016182559A1 PCT/US2015/030296 US2015030296W WO2016182559A1 WO 2016182559 A1 WO2016182559 A1 WO 2016182559A1 US 2015030296 W US2015030296 W US 2015030296W WO 2016182559 A1 WO2016182559 A1 WO 2016182559A1
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WO
WIPO (PCT)
Prior art keywords
receiver
orientation
transmitting coil
earth
computing unit
Prior art date
Application number
PCT/US2015/030296
Other languages
English (en)
Inventor
Byunghoo Jung
Mohit Singh
Original Assignee
Purdue Research Foundation
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
Application filed by Purdue Research Foundation filed Critical Purdue Research Foundation
Priority to EP15892018.1A priority Critical patent/EP3295728A4/fr
Priority to KR1020177035768A priority patent/KR20180022669A/ko
Priority to JP2017558485A priority patent/JP6541800B2/ja
Priority to PCT/US2015/030296 priority patent/WO2016182559A1/fr
Publication of WO2016182559A1 publication Critical patent/WO2016182559A1/fr

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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
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/50—Testing of electric apparatus, lines, cables or components for short-circuits, continuity, leakage current or incorrect line connections
    • 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
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
    • G01S1/68—Marker, boundary, call-sign, or like beacons transmitting signals not carrying directional information
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link

Definitions

  • the present application relates to wirelessly detecting positions of devices, e.g., portable or mobile devices.
  • FIG.1A is a simplified block diagram of a positioning system according to one embodiment.
  • FIG.1B is a block diagram showing the system of FIG.1A in a 3-dimensional environment.
  • FIG.2 is a simplified block diagram of a positioning process according to one embodiment.
  • FIG.3 is a diagram showing an example experimental setup of the system of FIG.1A.
  • FIG.4 is a flowchart illustrating a positioning process according to one embodiment.
  • FIG.5 is a simplified block diagram of a positioning system integrated into a computing unit where the receiver is associated with the computing unit.
  • FIG.6 is an example human body implementation of the system of FIG.5.
  • FIG.7 is an example building area application of the system of FIG.5.
  • FIG.8 is a simplified block diagram of a positioning system integrated into a computing unit where the transmitting coil is associated with the computing unit.
  • FIG.9 is an example human body implementation of the system of FIG.8.
  • FIG.10 is an example implementation of the system of FIG.8 where the receiver is integrated into a controller.
  • FIG.11 is an example implementation of the system of FIG.8 where computing unit is separate from the receiver and transmitting coil.
  • FIG.12 is a simplified block diagram of a positioning system according to one embodiment where the transmitting coil and receiver are separate from the computing device and which includes an additional computing device.
  • FIG.13 is an example human body implementation of the system of FIG.12.
  • FIG.14 is an example building area application of the system of FIG.12.
  • FIG.15 is an example implementation of the system of FIG.12 where a pen- shaped controller includes the receiver.
  • FIG.16 is is an example implementation of the system of FIG.12, where a pen-shaped controller includes the receiver and the computing unit is separate from an electronic display device.
  • FIG.17 illustrates a quadrant finding process according to one embodiment.
  • FIG.18 illustartes an example beacon signal structure utilizing time division according to one embodiment.
  • FIG.19 illustrates an example beacon signal structure utilizing modulation according to one embodiment.
  • FIG.20 illustrates a collision avoidance structure according to one
  • FIG.21A illustrates a transmitting coil design according to one embodiment.
  • FIG.21B illustrates a transmitting coil design incorporating an LC resonator according to one embodiment.
  • FIG.21C illustrates a transmitting coil design incorporating a driving coil according to one embodiment.
  • Various aspects herein advantageously permit position to be determined rapidly using a low-power microcontroller. No large database of hotspots or antennas is required. Various aspects permit very high-speed tracking of motion.
  • the term“coil” when used in reference to an antenna is not limiting, and other types of antennas capable of performing the listed functions can be used.
  • Various aspects herein use low frequencies, e.g., ⁇ 1 MHz or ⁇ 500kHz, ⁇ 70 kHz, or ⁇ 80 kHz or ⁇ 35kHz. Other frequencies can also be used, e.g., >1 MHz.
  • Magnetic sensors described herein can include sensors including two or more substantially orthogonal coils for measuring components of a magnetic field.
  • references to the Earth’s coordinate system include other reference coordinate systems common or substantially common to transmitter and receiver.
  • the earth-coordinate orientation is used to rotate the measured magnetic field from uvw to xyz coordinates, and then the magnetic field is tested for intensity and direction to determine where (what position) in the transmitter’s near field that magnetic field intensity and direction would occur. That determined position is substantially equal to the position of the receiver (RX).
  • RX position of the receiver
  • FIG.1A illustrates a basic block diagram of a positioning system 100 according to one embodiment.
  • the positioning system 100 includes a transmitter (shown as antenna coil 102) and at least one receiver 104.
  • the receiver 104 includes a tri-axis magnetic sensor 106 and an orientation sensor 108.
  • the coil 102 can have any two-dimensional and three-dimensional shape: circular, elliptic, rectangle, square, diamond, triangle, etc.
  • Signal generator 110 and driver 112 may be included to generate a waveform and drive the coil 102 to transmit a periodic beacon signal which has a fixed frequency. Any periodic signal can be used, but a sinusoidal signal is preferred as it is most effective for simplifying the transmitter and receiver design.
  • the transmitting coil 102 will generate a spatial magnetic field where the field strength and direction depends on the position in the space.
  • Amplifiers 112, A/D converter 116 may be operatively connected as shown to amplify and convert the output of the magnetic sensor 106 to a digital form suitable for input by a computing unit 118.
  • the computing unit 118 may further receive the output of the orientation sensor 108.
  • FIG.1B illustrates operation of the system 110 in a 3-dimensional environment.
  • FIG.2 further illustrates the steps involved in determining the position and orientation of the receiver 104 relative to the coil 102.
  • the tri-axis magnetic sensor 106 in the receiver 104 measures (block 202) a magnetic field (H u , H v , H w ) at the receiver 104 position (x, y, z) generated by the transmitting coil 102 in the receiver’s own coordinate frame (U, V, W).
  • the three dimensional orientation sensor 108 measures (block 204) its orientation in the earth’s coordinate frame (D Earth , E Earth , J Earth ).
  • the measured data (H u , H v , H w ) and (D Earth , E Earth , J Earth ) are provided to the computing unit 118.
  • the computing unit 118 may be placed in the receiver, in the transmitter, or somewhere else. When the computing unit 118 is not placed in the receiver 104, the measured data may be sent to a remote computing unit placed outside of the receiver 104 through a wireless channel or wired channel.
  • the orientation of the transmitting coil 102 in the earth’s coordinate frame (D Tx,Earth , E Tx,Earth , J Tx,Earth ) is provided (block 206) to the computing unit 118.
  • the orientation of the transmitting coil 102 in the earth’s coordinate frame (DTx,Earth, ETx,Earth, JTx,Earth) can also be provided to a remote computing unit through a wireless channel or wired channel.
  • the known value of the orientation of the transmitting coil 102 in the earth’s coordinate frame (D Tx,Earth , E Tx,Earth , J Tx,Earth ) can be stored in the computing unit 118, and the stored value can be used in the following computation.
  • the computing unit 118 estimates (block 208) the receiver 104 orientation (D x , E y , J z ) with respect to the transmitting coil 102 from the orientation sensor data (D Earth , E Earth , J Earth ) and the known coil orientation data (D Tx,Earth , E Tx,Earth , J Tx,Earth ).
  • the measured magnetic field vector (H u , H v , H w ) can be rotated (block 210) using the estimated orientation with respect to the transmitting coil (D x , E y , J z ) to align it to the transmitting coil’s coordinate frame (X, Y, Z).
  • the operation will result in the magnetic field vector (H x H y , H z ) at the receiver position (x, y, z) generated by the transmitting coil in transmitting coil’s coordinate frame (X, Y, Z).
  • Such frequencies have wavelengths in the tens of meters, so the receivers can operate in the near field of the transmitting antenna, and not in the far field. Therefore radiative effects do not need to be considered or compensated for, in various examples.
  • Lower frequencies increase the antenna size and provide improved penetration of objects.
  • position accuracy can be more affected by walls than at lower frequencies.
  • Various orientation sensors 108 can be used, e.g., a solid state compass and accelerometer device. The Earth’s orientation is used as a reference for the rotation from xyz into uvw. A tri-axis magnetic sensor can be used to detect both the Earth’s magnetic field (a DC field) and the TX field (an AC field), or separate sensors can be used.
  • FIG.3 illustrates an example implementation of the system 100 for finding location and orientation of the receiver 104 using the transmitter coil 102.
  • the transmitting signal frequency used is 750 kHz
  • the coil 102 used has 28 turns
  • a coil diameter of 22 cm with a signal amplitude of 10V peak-to-peak.
  • a distributed magnetic field model may be used to estimate the spatial magnetic field distribution generated by the transmitting coil 102 and to track the receiver 104 in this example.
  • a distributed magnetic field model is used, instead of using an equation based magnetic field model, because equation based models tend to provide inaccurate magnetic field especially in the areas close to the transmitting coil. Use of this distributed model improves the tracking accuracy significantly.
  • the method we used to apply the distributed model is described as follows. First, each turn of coil 102 is segmented into multiple pieces (30 segments are used in this example) and the resultant field vector at the point of observation is calculated by adding the field vectors produced by the 30 segments. The same is repeated for all turns of the coil 102.
  • a solid-state compass-cum-accelerometer is used as the orientation sensor 108 at the receiver 104 is used to measure the receiver 104 orientation (D Earth , E Earth , J Earth ) with respect to the earth’s coordinate frame.
  • the orientation sensor 108 has an output rate of 220 Hz, an earth field magnetic resolution of 5 miligauss, and linear acceleration sensitivity of 4 mg/digit.
  • the method used to get the receiver orientation (D Earth , E Earth , J Earth ) using the measured solid-state compass and accelerometer outputs is described is as follows.
  • the 3-axis accelerometer provides the pitch and roll angles of the receiver while the compass provides the yaw of the receiver.
  • the formula used is:
  • M x Magnetic field in +x direction
  • the orientation sensor 108 in this example uses the North, East, Down, (commonly referred to as NED) angle convention, to define the ground reference frame which is used in many aerospace applications.
  • NED North, East, Down
  • the computing unit 118 receives the data from the orientation sensor and applies the above formula to calculate the orientation of the receiver 104 relative to the earth.
  • (yaw, pitch, roll) angle convention is used instead of classic Euler angles, which can be easily transformed into each other.
  • the measured receiver 104 orientation (D Earth , E Earth , J Earth ) in the earth’s coordinate frame is converted into the receiver 104 orientation (D x , E y , J z ) in the transmitter coil 102 coordinate frame (X,Y,Z) using the known orientation of the transmitting coil 102 (D Tx,Earth , E Tx,Earth , J Tx,Earth ) in the earth’s coordinate frame.
  • a tri-axis coil with three orthogonally placed planar coils, is used as the magnetic field sensor 106 that measures the magnetic field vector produced by the transmitting coil 102.
  • a solid-state tri-axis magnetic sensor (for example Honeywell HMC1043) can be also used.
  • the tri-axis magnetic sensor 106 in the receiver 104 measures the magnetic field vector (H u ,H v ,H w ) at the receiver 104 position in the sensor 106 (receiver’s) own coordinate frame (U,V,W).
  • the measured magnetic field vector (H u ,H v ,H w ) in the receiver’s 104 own coordinate frame (U,V,W) is converted into a magnetic field vector (H x ,H y ,H z ) in the transmitter’s coordinate frame (X,Y,Z) using the receiver 104 orientation (D x , E y , J z ) in transmitter coil 102 coordinate frame (X,Y,Z) as follows:
  • FIG.4 illustrates a flowchart 400 for estimating the locating of the receiver 104 relative to the coil 102.
  • the orientation (yaw, pitch & roll) of the receiver is read from the orientation sensor 108 and the amplitudes of the magnetic fields are read from the tri-axis magnetic sensor 106 (stage 402).
  • the computing unit applies angle correction to the magnetic field vectors read from the three coils of the magnetic sensor 106 (using the rotation matrix generated from the orientation sensor 108 data) to determine and output (stage 406) the orientation of the receiver 104 relative to the coil 102.
  • the computing unit 118 approximates the initial receiver 104 position using the corrected angle/orientation values from stage 404.
  • the approximate position may be calculated using the field equations, assuming the transmitting coil to be a point signal source, as described in Wing-Fai et al.,“Magnetic Tracking System for Radiation Therapy”, IEEE Tran. Biomedical Circuits and Systems 2010, which is herein incorporated by reference in its entirety.
  • K is an empirically calculated proportionality constant (for a given transmitter and receiver)
  • stage 410 the measured magnetic field data is compared to the distributed magnetic field model for the transmitting coil 102 described above to determine the error. If the error is within a predetermined limit, the process moves to stage 416, where the x/y/z step size is compared to a predetermined minimum. If the step size is at the minimum, the computing unit 118 outputs the estimated x,y,z position of the receiver 104 (stage 420). If not, the step size is reduced, e.g., by half (stage 418) and the error is again evaluated (step 410). If the result of step 410 is that the error is not within the predetermined limit, then the process moves to stage 412. At stage 412, the expected magnetic field values for a plurality of positions around the estimated position are calculated. In one example, 27 corners are evaluated
  • the positioning system 100 may be integrated into various computing systems and networks using different configurations.
  • FIG.5 shows one embodiment in which the receiver 104 is associated with a computing device 118 such as a television, mobile phone, tablet computer, notebook computer, wearable computing device, a gaming device, video streaming set-top box, etc.
  • the computing device is running an application 121 utilizing the position/orientation data.
  • the receiver 104 may be placed in/on/at/over/under/above/around the computing device 118.
  • the receiver 104 may optionally be a part of the computing device 118.
  • the computing device 118 can estimate its position and orientation utilizing the receiver 104.
  • the computing device 118 may use the estimated position and orientation data for its own application, or it can share the data with other computing device(s) 119 through a wired or wireless channel.
  • FIG.6 shows a further embodiment wherein the transmitting coil 102 is attached to a human body using a belt, cloth, glasses, etc., and a tracking receiver 104 is integrated into a wearable computing device.
  • FIG.7 shows a further embodiment wherein the transmitting coil 102 is installed in a building 140 (in the wall, roof, ceiling, floor, etc.), and the tracking receiver 104 is integrated into a mobile computing device.
  • the transmitting coil 102 may integrated with or operatively connected to the computing device 118.
  • the receiver 104 which contains the magnetic sensor 106 and orientation sensor 108) measures the magnetic field strength in its own coordinate frame, and its orientation in earth’s coordinate frame.
  • the receiver 104 can estimate its position and orientation utilizing the measured data as discussed above.
  • the receiver 104 can send the measured data or the estimated position and orientation data to the computing device 118 associated with the transmitting coil or to other computing device(s) 119 through a wired or wireless channel.
  • the receiver 104 can send the raw measurement data or post processed data required for estimating position and orientation of the receiver 104 to the computing device 118 associated with the transmitting coil 102, or to other computing devices 119. This arrangement is particularly useful when the transmitting coil 102 is not stationary (i.e. mobile).
  • the orientation data of the transmitting coil 102 in the earth’s coordinate frame needs to be fed to the receiver 104 at real-time if the receiver 104 needs to estimate its position and orientation internally. If the receiver 104 does not need to estimate its position and orientation internally, it can send the raw measurement or post-processed data to the computing device 118, and the computing device 118 can estimate the position and orientation of the receiver 104 as described above.
  • FIG.9 shows a further embodiment, similar to that of FIG.8, where the transmitting coil 102 and computing device 118 are integrated into a mobile wearable computing device (e.g., on a user’s head), and tracking receivers 104 (containing the magnetic sensor 106 and orientation sensor 108) can be placed on the wrist, arm, finger, etc.
  • a pen shape tracking receiver that can be controlled by a hand may be used as well.
  • more than one receiver 104 can operate
  • FIG.10 shows another embodiment, similar to the embodiment shown in Figure 8, in which a computing device 118, implemented as a tablet computer, smartphone, notebook computer, or smart-TV receives measured data or estimated position/orientation data from a controller 123 (e.g. a gaming remote control or TV remote control) that has a receiver 104 in it.
  • the controller 123 is in operative communication with the computing device 118 using a wired or wireless channel as shown, such as Bluetooth or infrared.
  • a rectangular shape transmitting coil 102 may be formed around the computing device 118 (e.g., generally around the permiter of a TV).
  • FIG.11 show a further embodiment, again similar to FIG.8, wherein the computing device 118 is implemented as a smartphone (or tablet) which receives measured data or estimated position/orientation data from the controller 123 that includes the receiver 104.
  • the computing device 118 again runs an application 121 that utilizes the received data from the controller 123.
  • the computing device 118 directs video (via wired or wireless channel) onto another device 130 that has video display capability (e.g., a TV or video monitor).
  • FIG.12 illustrates a further embodiment in which the transmitting coil 102 and receiver 104 operate as stand alone components, not as a part of other computing devices.
  • the receiver 104 (which contains the magnetic sensor 106 and orientation sensor 108) measures the magnetic field at the position in its own coordinate frame, and its orientation in earth’s coordinate frame. If the receiver 104 has its own computing unit in it, it can estimate its position and orientation in the transmitter’s coordinate system using the method described above.
  • the measured data or the estimated position and orientation data can be shared with one computing device 118 (e.g., a TV, mobile phone, tablet computer, notebook computer, desktop computer, wearable device, gaming device, video streaming box, etc.) or multiple computing devices (e.g., computing device 119) through wired or wireless channels.
  • the receiver may just send the raw measurement data or post processed data required for estimating position and orientation of the receiver 104 to a computing device (118 or 119), and the computing device can estimate the position and orientation of the receiver 104 assuming the orientation of the transmitting coil 102 in the earth’s coordinate frame is known to the computing system.
  • FIG.13 shows an embodiment similar to that FIG.12, wherein the transmitting coil 102 may be attached to a human body using a belt, cloth, glasses, etc., and tracking receivers 104 may be placed on wrist, arm, finger, etc. A pen shape tracking receiver 104 that can be controlled by a hand may be used as well.
  • FIG.14 illustrates a further embodiment, similar to FIG.12, wherein the transmitting coil 102 is fixedly installed in the building 140 (in the wall, roof, ceiling, floor, etc.), and a mobile tracking receiver 104 can use the beacon signal transmitted by the coil 102 to estimate its positions and orientation, and send the estimated position and orientation data to a computing device 118 through a wired or wireless network.
  • FIG.15 illustrates a further embodiment, similar to FIG.12, wherein a pen shaped controller 123 containing receiver 104 sends the measured data or estimated position/orientation data to a computing device 118 (TV, mobile phone, tablet, notebook, desktop, etc.) through a Bluetooth or Wi-Fi channel.
  • FIG.16 illustrates a further embodiment, similar to FIG.12, wherein a pen shaped controller 123 containing receiver 104 sends the measured data or estimated position/orientation data to a computing device 118 (mobile phone, tablet, notebook, desktop, etc.) through a Bluetooth or Wi-Fi channel.
  • the computing device 118 runs an application 121 that utilizes the received data from the controller 123.
  • the computing device 118 cast video and/or sound (via wired or wireless channel) to a video display device 142 (e.g., a TV, monitor, projector, etc.).
  • FIG.17 illustrates a process 1700 for phase based quadrant finding. In other words, the process 1700 allows the system 100 to determine which of four possible quadrants in the XY plane of the XYZ coordinate system the receiver is located in.
  • the relative phases between the signals received by the coils in the tri-axis sensor 106 can provide its quadrant.
  • the receiver 104 is located in +Z direction (on one side of transmitter 102), hence the quadrant detection method for such a setup is explained here. This method may also be expanded to an eight quadrant system to locate a device located in any direction of the transmitter 102.
  • the process 1700 begins at stage 1702 where the magnetic field signals are sensed by the magnetic sensor 106, and their relative phases are stored (stage 1704).
  • the implementation block 1702 shows that signals H u - H w are out of phase, and signals H u -H w is also out of phase.
  • the four possible locations are computed by converting the signals from the U,V,W co-ordinate system of the earth to the X,Y,Z co-ordinate system of the transmitter. Once the four possible locations are known, the expected relative phase between the signals is calculated (also in stage 1706) at the possible receiver locations and compared (stage 1708) with the observed relative phases. This correct relative phase match gives the correct receiver quadrant and thus the correct receiver location (output at stage 1710).
  • the initial receiver 104 position approximation may be accomplished by using the available distributed transmitter-field model.
  • the magnetic field vector at various locations (at certain coarse space interval) around the transmitter 102 is pre-computed and stored in a table. This look-up table can then be used to map the receiver 104 location in the transmitter co- ordinate system directly.
  • this table may be used to curve-fit and generate polynomial equations (similar to step 408 in FIG.4) which are used to compute the approximate receiver 104 location.
  • the co-efficients of the polynomials are specific to a certain transmitter 102 and cannot be generalized for another transmitter.
  • the distributed model of transmitter 102 is used to precisely compute the receiver 104 location. This approach helps in reducing the computation time and increasing accuracy.
  • the beacon signal transmitted by the transmitting coil 102 includes a periodic signal that can be used by a receiver 104 to estimate its position and orientation.
  • the beacon signal may also include additional signals that provide additional information to the receivers 104.
  • the additional information that can be transmitted by the transmitting coil 102 may include transmitting coil identification number, transmitting coil orientation, transmitting coil position, transmitting signal frequency, transmitting coil size and shape, etc.
  • the additional signals including additional information can be transmitted in a time-division manner as shown in Figure 18.
  • a first portion 150 of the beacon signal 152 is a positioning signal
  • a second portion 154 is an auxiliary signal containing the additional information.
  • the auxiliary signal (156) can be transmitted with the periodic signal (158) by a modulator 160 using phase modulation or frequency modulation.
  • a particular receiver 104 may pick up transmitted signals from multiple transmitters, thereby disabling proper estimation of the receiver position.
  • different transmitter coils 102 transmit at differing frequencies.
  • the individual receivers 104 are tuned using narrow band circuitry or filtering to the specific frequency of its corresponding target transmitter 102, as illustrated in FIG.20.
  • Receiver 2 uses a narrowband circuitry tuned at f1, and hence it picks up the beacon signal transmitted by Transmitting Coil 1. Consequently, Receiver 2 estimates its position and orientation in the coordinate frame of Transmitting Coil 1.
  • the antenna coil 102 may be optimized to improve quality.
  • One implementation is using a simple coil as shown in FIG.21(A).
  • the quality of the transmitted signal can be improved using an LC resonator 162 configuration as shown in FIG.21(B).
  • the quality of the transmitting signal can be further improved by using a driving coil 164 that drives the transmitting coil 102, as shown in FIG.21(C).
  • the capacitor 163 shown in Figure 21 (b) and FIG.21 (c) may be a voltage controlled or mechanically controlled variable capacitor. Using the variable capacitor, the resonant frequency of the LC tank 162 can be adjusted to match with the transmitting signal frequency.
  • the examples shown in FIG.21 use a single-ended driver.
  • any of the computing units 118 or 119, the receiver 104, the magnetic sensor 106, the orientation sensor 108, the signal generator 110, the driver 112, and the controller 123 may include one or more computer processors, memory, and data storage units for analyzing data and performing other analyses described herein, and related components.
  • the processors can each include one or more microprocessors,
  • the data storage unit can include or be communicatively connected with one or more processor-accessible memories configured to store information.
  • the memories can be, e.g., within a chassis or as parts of a distributed system.
  • the phrase“processor- accessible memory” is intended to include any data storage device to or from which processor 186 can transfer data, whether volatile or nonvolatile; removable or fixed; electronic, magnetic, optical, chemical, mechanical, or otherwise.
  • processor-accessible memories include but are not limited to: registers, floppy disks, hard disks, tapes, bar codes, Compact Discs, DVDs, read-only memories (ROM), erasable programmable read-only memories (EPROM, EEPROM, or Flash), and random-access memories (RAMs).
  • One of the processor-accessible memories in the data storage system 140 can be a tangible non-transitory computer-readable storage medium, i.e., a non-transitory device or article of manufacture that participates in storing instructions that can be provided to processor for execution.
  • aspects herein may take the form of an entirely hardware aspect, an entirely software aspect (including firmware, resident software, micro-code, etc.), or an aspect combining software and hardware aspects These aspects can all generally be referred to herein as a“service,”“circuit,”“circuitry,”“module,” or“system.”
  • various aspects herein may be embodied as computer program products including computer readable program code stored on a tangible non-transitory computer readable medium. Such a medium can be manufactured as is conventional for such articles, e.g., by pressing a CD-ROM.
  • the program code includes computer program instructions that can be loaded into the processor (and possibly also other processors), to cause functions, acts, or operational steps of various aspects herein to be performed by the processor.

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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)
  • Automation & Control Theory (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Cable Transmission Systems, Equalization Of Radio And Reduction Of Echo (AREA)

Abstract

La présente invention concerne un système de positionnement permettant de déterminer l'emplacement d'un récepteur par rapport à un émetteur. Le système comprend une bobine de transmission ayant une orientation connue par rapport au système de coordonnées terrestres et configuré pour transmettre un signal périodique pendant un événement de positionnement, au moins un récepteur comportant une unité de détection pour mesurer le vecteur de champ magnétique produit par la bobine de transmission et l'orientation du récepteur par rapport au système de coordonnées terrestres, et au moins une unité de calcul configurée pour estimer une position et l'orientation du récepteur par rapport au système de coordonnées de l'émetteur en utilisant le vecteur de champ magnétique mesuré, l'orientation mesurée par rapport au système de coordonnées terrestres, et l'orientation connue de la bobine de transmission par rapport au système de coordonnées terrestres.
PCT/US2015/030296 2015-05-12 2015-05-12 Détection de position sans fil à l'aide du champ magnétique d'un émetteur unique WO2016182559A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP15892018.1A EP3295728A4 (fr) 2015-05-12 2015-05-12 Détection de position sans fil à l'aide du champ magnétique d'un émetteur unique
KR1020177035768A KR20180022669A (ko) 2015-05-12 2015-05-12 단일 송신기의 자기장을 이용한 무선 위치 감지
JP2017558485A JP6541800B2 (ja) 2015-05-12 2015-05-12 単一送信機の磁界を用いた無線位置検出
PCT/US2015/030296 WO2016182559A1 (fr) 2015-05-12 2015-05-12 Détection de position sans fil à l'aide du champ magnétique d'un émetteur unique

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/US2015/030296 WO2016182559A1 (fr) 2015-05-12 2015-05-12 Détection de position sans fil à l'aide du champ magnétique d'un émetteur unique

Publications (1)

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WO2016182559A1 true WO2016182559A1 (fr) 2016-11-17

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EP3295728A1 (fr) 2018-03-21
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JP2018524556A (ja) 2018-08-30
EP3295728A4 (fr) 2019-01-30

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