WO2015084870A1 - Local positioning and response system - Google Patents
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- WO2015084870A1 WO2015084870A1 PCT/US2014/068203 US2014068203W WO2015084870A1 WO 2015084870 A1 WO2015084870 A1 WO 2015084870A1 US 2014068203 W US2014068203 W US 2014068203W WO 2015084870 A1 WO2015084870 A1 WO 2015084870A1
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- 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
- G01S1/08—Systems for determining direction or position line
- G01S1/14—Systems for determining direction or position line using amplitude comparison of signals transmitted simultaneously from antennas or antenna systems having differently oriented overlapping directivity-characteristics
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- 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
- G01S1/70—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 electromagnetic waves other than radio waves
- G01S1/703—Details
- G01S1/7032—Transmitters
- G01S1/7034—Mounting or deployment thereof
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- 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
- G01S1/70—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 electromagnetic waves other than radio waves
- G01S1/703—Details
- G01S1/7032—Transmitters
- G01S1/7038—Signal details
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- 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
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- 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
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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- 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
- G01S2201/00—Indexing scheme relating to beacons or beacon systems transmitting signals capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters
- G01S2201/01—Indexing scheme relating to beacons or beacon systems transmitting signals capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters adapted for specific applications or environments
Definitions
- One or more embodiments of the invention are related to the field of positioning systems, data processing systems and communication systems. More particularly, but not by way of limitation, one or more embodiments of the invention enable a local positioning and response system configured to transmit signals such as two or more shaped beams from at least one transmitter unit and devices that receive the shaped beams.
- the devices determine their local position in a defined area, such as a stadium or other venue that may not enable access to satellite based positioning signals.
- the devices determine their individual responses based on their local position and on broadcast messages that may define aggregate responses for a group of devices in the area.
- a response may include, but is not limited to emitting a physical signal such as a light, sound, message of any type based on the local position determined by the device and the broadcast message.
- GPS Global Positioning System
- Other techniques include received combination power based methods used in some cell phones, and various other more esoteric techniques, such as ultrasonic GPS, for example. While fairly successful in determining approximate location, these methods suffer from a number of limitations. GPS requires a "clear sky", i.e. clear line of sight to multiple satellites along different directions.
- the received signals are so weak that even a tree canopy tends to attenuate the signals enough to preclude accurate positioning. Indoors, the signal attenuation prevents GPS from working altogether. Some other methods, such as cell phone based techniques can operate indoors, where signal strength can be much higher due to proximity of the transmitters and much higher available electrical power on the ground. This technique is limited by the fortuitous placement of antenna towers, as well as by the sensitivity of the received signal strength to absorption along the signal path, reflections, and diffraction. These effects render this technique of positioning inaccurate, limiting the accuracy in dynamic and unpredictable ways.
- Embodiments described in the specification are related to a local positioning and response system.
- Embodiments of this system enable a local positioning and response system configured to transmit signals such as two or more shaped beams from at least one transmitter unit and devices that receive the shaped beams.
- the devices determine their local position in a defined area, such as a stadium, sports field, concert hall, amphitheater, theater, track, gymnasium, arena or any other location that may not enable access to satellite based positioning signals.
- the devices determine their individual responses based on their local position and on broadcast messages that may define aggregate responses for a group of devices in the area.
- a response may include, but is not limited to emitting a physical signal such as a light, sound, message of any type based on the local position determined by the device and the broadcast message.
- a physical signal such as a light, sound, message of any type based on the local position determined by the device and the broadcast message.
- Embodiments of the system provide an efficient and effective system to generate responses in a potentially large number, or extremely large number of devices located in a local area.
- Embodiments of the system enable local positioning, in contrast to systems like GPS that provide absolute position relative to a worldwide reference frame. Some embodiments of the system may also incorporate GPS or similar absolute positioning systems as well, but do not require GPS.
- An illustrative embodiment of the system includes four major components: a server to coordinate messages, beam transmission units that send signals such as shaped beams that are used for position determination, message transmission units that send messages and response units that receive the signals and determine their location and emit responses.
- the beam transmission units and the message transmission units may be integrated or otherwise coincide to form a transmission unit.
- the term transmission unit as utilized herein may refer to the combined beam and message transmission unit or separate units for brevity. Any portion of the electromagnetic spectrum may be used for either beam transmission or message transmission or both.
- Each beam transmission unit may include two or more shaped beam antennas that generate shaped beam signals. These signals are broadcast to a portion of the local area. Multiple beam transmission units may be used to cover the entire local area; in some embodiments only a single beam transmission unit may be utilized depending on the size of the area and application.
- one or more devices, or response units are located in the local area. These response units are configured to receive the shaped beam signals from the transmitter units and the messages, for example from the server.
- the response units may include a processor that may for example use the received shaped beam signals to calculate the local position of the response unit. Based on this local position, and on the messages received from the server, each processor determines an individual response that is appropriate for that particular response unit.
- These responses are executed by components in the response units that are referred to as action modules herein.
- Each action module may emit or modify one or more physical signals, such as light, sound, vibration, non-visible light, electricity, shock, or buzzing.
- the overall system therefore provides a capability for multiple response units located at different places in a local area to generate a location-dependent output based on broadcast signals and messages.
- the response units may be capable of being worn by a person, or of being held by hand; the aggregate response may therefore be tied to the location of the user or actions of the user.
- the system may be used for generating a light show with complex shapes and patterns using a large number of response units held by spectators in a stadium. Thus, patterns or text or images or colors or sounds or any combination thereof may be output from the response units in a location dependent manner.
- the system may be configured to correct for potential distortions in the observed responses from the response units. These distortions may arise in many ways, such as from reflections or attenuation of signals, from interference of other signals, or from the shape of the local area. For example in a stadium light-show application, the shape of the stadium stands may induce some distortion in the displayed images. Distortion correction may use test pattern messages along with cameras that observe the responses to these test patterns. The server can compare the observed images to the test patterns and apply distortion corrections to future messages. Some embodiments may use infrared light for responses to test patterns so there is no interference with visible images.
- some or all of the response units may also incorporate sensors, such as accelerometers, gyroscopes, rate gyroscopes, pressure sensors, temperature sensors, magnetometers, sensors of human physiology, depth sensors, motion sensors, velocity sensors, or proximity sensors. Messages from the server directing responses may then make such responses dependent on both local sensor readings and on the calculated local position of each response unit. For example, personnel on a work site could be given response units that include a temperature sensor. These response units could be commanded to emit a warning light or sound if the temperature becomes dangerously high. Response units can be configured to send sensor readings back to the server, using a transmitter in the response units and receivers in the system. Sensor readings can be returned on request from the server, or based on server-specified criteria or thresholds.
- sensors such as accelerometers, gyroscopes, rate gyroscopes, pressure sensors, temperature sensors, magnetometers, sensors of human physiology, depth sensors, motion sensors, velocity sensors, or proximity sensors.
- the response units may also include one or more user input devices, such as keypads, touchscreens, buttons, or joysticks.
- the response units may include transmitters to transmit user input back to the server, and the server may be configured to accept or otherwise poll for user input data depending on the intended application.
- Response units may calculate their local position using the intensity of the shaped beam signals that they receive.
- the intensity pattern of the shaped beam signals may be approximately Gaussian, which simplifies the calculation of the local position.
- relatively simple hardware may be used in the response units to derive local position from a combination of Gaussian signals.
- Some embodiments use the relative intensity multiple shaped beam signals rather than their absolute intensity. This approach offers the advantage of automatically compensating for many distortions of beams that emanate from the same beam transmitter.
- Other embodiments may employ any type of shaped beam pattern so long as the response units are aware of the type of beam employed.
- the antenna may be moveable to set alternate angles for the beams to enable a transmitter unit to be used for a small or large venue, e.g., by changing the angle of the antenna with respect to a centerline for example.
- Some embodiments may include shaped beam antenna that may be set at a fixed orientation with respect to one another, for example at the time of manufacture or calibration.
- Some embodiments provide for the display of images on a set of response units. For example, as mentioned above, an embodiment of the system may be used to create relatively large images on a stadium by giving light-emitting response units to the spectators. In this scenario, the spectators may in effect form pixels or "peopixels" in the image.
- the server computer may store or generate one or more graphical images and transmit messages to the response units to display these images on the response units. Some embodiments may treat each response unit as a pixel in the image or as a portion of a soundscape or both to produce multimedia displays.
- each response unit may calculate its location, and then determine the intensity and color of the light to emit from the response unit based on its location and on the image messages received from the server.
- the combination of all response units forms an overall image.
- the server may also break an image into sub-images and send different messages to groups of response units to construct an overall image from the sub-images.
- Messages from the server to display graphical images may in some embodiments contain descriptions of one or more shapes, and potentially also of the shapes' motion over time. Such high-level graphics primitives in the messages allow messages to be efficiently broadcast to potentially large numbers of response units, with each response unit determining its appropriate output to form the aggregate images. Messages may also include error correcting (or error detecting) codes to eliminate the need for return acknowledgements or retransmissions, further improving efficient use of possibly limited bandwidth. Other message codes may be encrypted or otherwise protected to prevent third parties from hijacking the images or sounds displayed for example. In one or more embodiments, an event encryption code may be stored in the response units and utilized by the server and response units to encrypt and decrypt messages transmitted between the various components in the system.
- Applications for some embodiments of the system may include providing a virtual fence around a portion of a local area.
- response units may be equipped with feedback devices that are actuated when a response unit moves out of or close to the boundary of this virtual fenced-in portion.
- the wearer of a response unit might be given a shock to stop the wearer from leaving the fenced-in portion, which may be useful for invisible livestock or pet fences.
- Other applications in other embodiments may include feedback to sports players or coaches when a player moves into or out of a prescribed location, area, or trajectory.
- a football receiver in practice may be practicing running a particular pattern.
- the player might wear a response unit that lights up or turns a different color if the player does not run the correct pattern. This feedback might alert coaches that the player made an error.
- Similar applications enable military troop movements to be sensed and otherwise observed and mapped and enables secure communication for devices that are within a predefined area.
- response units may be integrated into or embedded into road signs or road reflectors. Embodiments of these response units may be commanded to light up to alert drivers of conditions, issues, or potential hazards. For example, the system may detect when a car is approaching one side of a blind turn, and activate response units on the other side of the blind curve to warn other drivers of the approach. The activated response units might for example light up, flash, or change colors. In some embodiments the detection of an approach may also be made by response units in the approaching vehicle; these response units may use local positioning to determine that they are in the approach area, and send a message to the server to broadcast alerts to other vehicles to alert other drivers.
- one or more vehicles may also include an embodiment of the response unit and automatically dim headlights, for example when within a predefined distance from another of the response units mounted on another vehicle, e.g., 100 meters or the local limit according to the law at that location.
- one or more embodiments may detect road conditions and tag the event with a position, so that other vehicles approaching the road condition, e.g., ice detected by the slip detection module in the vehicle and/or accelerometers are alerted to the road condition at a location and for example time.
- the system might be used for contests or to award prizes to a subset of the response units.
- server messages might select a particular location or locations for awards and send messages to provide feedback to response units in only those locations that they have won awards.
- the selection of response units for awards or prizes may for example be random, based on location, based on sensor readings, or based on user input.
- LCD Liquid Crystal Display
- Other embodiments may include two-way Liquid Crystal Display (LCD) screens attached to seats in an arena or stadium or otherwise coupled fixedly or removeably thereto that may be utilized for advertising, offers, voting, light shows, food, beverage or memento ordering for example.
- LCD Liquid Crystal Display
- Embodiments of the invention may also show winners at particular locations or show anyone who has entered a particular vote over the entire area, for example for users that voted for their favorite driver in a stock car race and for example after that driver has won the race.
- embodiments may provide more information for users that input or otherwise provide more information back to the server.
- Embodiments of the response units may include inputs that allow a user to register at an event and obtain more offers or increased capabilities, which may be of great value for corporate sponsors for example.
- Embodiments may also be utilized for location specific displays or games.
- displays local to the response units may indicate location dependent information, such as the name of the item or inventor, name of the painting, sculpture or artist, name of the plant, information related to a poster or object in a booth, or portion of a real estate property respectively.
- scavenger hunt type games or any other game that includes different locations in an area may employ embodiments of the invention to enable data or commands at specific locations to be accessed for example.
- Figure 1 illustrates an architectural view of at least one embodiment of the local positioning and response system.
- Figure 2 illustrates an embodiment of the broadcast of overlapping shaped beam signals that allow response units to calculate their local position.
- Figure 3 illustrates a front view and a side view of an embodiment of a shaped beam transmission unit.
- Figure 4 illustrates an embodiment of a local position and response system installed in a stadium, with multiple beam transmission units sending shaped beam signals that together cover a large part of the stadium.
- Figure 5 illustrates an embodiment of a local positioning and response system that provides correction of image distortion.
- Figure 6 illustrates the calculations of local position that may be used by some embodiments that employ Gaussian shaped beam signals.
- Figure 7 illustrates an embodiment of a local positioning and response system that is used to project a graphical image onto a multiplicity of response units, with each response unit providing a pixel of the image.
- Figure 8 illustrates an embodiment of the system used to project graphical images onto the stands of a stadium.
- Figure 9 illustrates an embodiment of messages that may be used by a local positioning and response system to send graphical image descriptors to an array of response units.
- Figure 10 illustrates an embodiment of a local positioning and response system used to provide a virtual fence.
- Figure 11 illustrates an embodiment of a local positioning and response system usedo provide visible feedback if a football player makes an error in his desired pattern.
- Figure 12 illustrates an embodiment of a local positioning and response system usedo indicate what subset of a group of spectators are winners of a prize.
- Figure 1 illustrates an architectural view of at least one embodiment of the local positioning and response system, including exemplary components that may be utilized therewith.
- a system provides mechanisms for devices to determine their position relative to a local area 106. This local positioning is in contrast to systems like GPS that provide absolute position relative to a worldwide reference frame. Some embodiments of the system may also incorporate GPS or similar absolute positioning systems as well, but GPS or other satellite based positioning is not required by embodiments of the invention.
- Embodiments of the invention may provide a response system by which these devices can respond to messages from the system based in part on their local position.
- One or more embodiments incorporate a server computer 101 that coordinates the local positioning and response.
- the server hardware may be ruggedized for outdoor use, such as a ruggedized high performance laptop running a UNIX- based operating system.
- Some embodiments may incorporate one or more backup servers for high availability.
- the server computer may store or generate messages 102 that are used to guide the positioning and response by individual devices. Other control and calibration messages may also be stored or generated by the server.
- the system may include one or more beam transmission units 103. These units provide a component of the positioning capability of the system.
- Each beam transmission unit 103 may have multiple shaped beam antennas 104 that generate shaped beam signals 105.
- one of the two beam transmission units has two shaped beam antennas, and the other has three shaped beam antennas.
- the shaped beam signals 105 are broadcast to a portion of the local area, for example 107.
- Multiple beam transmission units may be used to cover the entire local area 106; in some embodiments only a single beam transmission unit is utilized depending on the size of the area and particular embodiment of the transmitter unit.
- Each shaped beam signal 105 has a predefined intensity profile at each point in space as a function of the distance of this point from the beam antenna and the direction of this point from the beam antenna's center ray.
- the beams may be directed 10 to 15 degrees off of the centerline.
- the beams may be directed 30-45 degrees off of the centerline. Any other angles of at least one power lobe of any antenna pattern or shape that enable the beams to overlap an area with different intensities is in keeping with the spirit of the invention, including any phased array antennas that may transmit different signals in different directions off of the centerline.
- a phased array antenna is considered an equivalent of a plurality or more of shaped beam antennas in keeping with the spirit of the invention, so long as a plurality of overlapping shaped beams are formed by the phased array antenna.
- the beam transmission units may be connected to the server computer by a wired or wireless network. In some embodiments the server may not require a connection to the beam transmission units if the shaped beam signals are constant and are not used to transmit messages.
- Figure 2 illustrates an embodiment with these shaped beam signals overlapping on a plane area 106 where response units may be placed.
- FIG. 3 illustrates front and side views of an embodiment of a beam transmission unit 103 with four shaped beam antennas 104.
- each beam antenna is aimed in a slightly different direction so that the shaped beam signals are offset somewhat from one another but overlap in a significant portion of the local area.
- the system may send the messages 102 stored or generated by the server. These messages may be sent via signals 105 as part of the shaped beam signal via beam transmission units 103 or via separate message transmission units such as 110. In one or more embodiments these messages are broadcast to the local area 106, or to a portion of the local area such as 111, rather than being addressed or routed to individual devices.
- the message transmission units may be connected to the server by a wired or wireless network. Some embodiments may use synchronized clocks between the server and the message transmission units or the beam transmission units that enable the transmission units to transmit commands at appropriate synchronized times.
- One or more embodiments may use radio frequency signals for the transmission of the shaped beam signals or the messages. Some embodiments may use light signals for these transmissions, either visible or invisible light (such as infrared).
- the shaped beam signals 105 and the signals 112 for transmission of messages 102 may use the same spectrum or different parts of the spectrum. Any portion of the electromagnetic spectrum may be used for either type of transmission.
- a demodulation signal may also be sent from at last one of the antennas, or separate antenna, so that the response unit may demodulate the signals using the received demodulation signal, since it is difficult to make a local oscillator for higher frequencies.
- the demodulation process enables the response units to extract the message from the carrier wave using the supplied demodulation signal as one skilled in the art will recognize.
- the response units in one or more embodiments may be implemented with less sophisticated electronics to provide more energy efficient, or smaller, or lower price implementations or any combination thereof.
- An illustrative embodiment of a transmission unit that includes a shaped beam transmitter, and a message transmitter may include the following components. These components are for illustration only; other embodiments may use different components or may divide functionality into different units in keeping with the spirit of the invention.
- An illustrative transmission unit includes an industrial single board computer (SBC), an infrared (IR) grid projector, and a number of radio frequency (RF) transmitters that drive the shaped beam antennas.
- the server and SBC computers are linked through a communications network, such as a high speed Ethernet network and run custom software that distributes graphics commands to appropriate transmitters.
- the SBC receives commands and routes them to the transmitters at appropriate intervals triggered off a local clock synchronized to the server clock. It also drives the IR grid projector, and sends back system health state commands, which are continuously monitored and logged by the server.
- Embodiments of the invention may utilize two shaped beams to provide for location determination in an iterative manner, wherein for example if the response units obtain equal power from each beam, then they are for example located on a line between the two signals. Through use of absolute power sensing in the response units to determine the distance away from the transmitter unit, the position may be determined.
- the system may detect the output and code and determine the location of the particular response units for example by sampling IR images at a given rate and detecting response units that assert a message at a particular time with a particular code. The system may then transmit the location with the code back so that the location determination is performed in a combined effort.
- Embodiments utilizing three or four shaped beams may provide efficient location determination capabilities and enable location determination local to the response units through comparison of the ratios of the power from three or more shaped beams for example to provide location determination along two or more axes.
- the RF module may include an off-the-shelf transmitter board such as an eZ430- RF2500T containing a microcontroller and an RF transceiver.
- the Client SBC may communicate to the on-board microcontroller via a UART interface. It may run a near realtime operating system, such as a stripped down Linux.
- a near realtime operating system such as a stripped down Linux.
- One or more embodiments may be implemented as close to real-time in order to keep a synchronized clock that has a resolution of better than 100 ⁇ This enables a high data rate through the 500 Kbaud bandwidth without packet interference. Any other synchronization threshold may be utilized depending on the desired accuracy and cost of the system in keeping with the spirit of the invention.
- the output power of the transmitter in one or more embodiments is matched to the operating scenario, specifically to the signal throw distance.
- the receiver may be operated in the middle of its dynamic range and thus a nominal transmitter power is generally chosen for a particular installation. Radio wave propagation is such, that the power falls off with the square of the distance from the transmitter, so for every two times increase in signal throw distance, the transmitter power is thus be increased by a factor of four.
- increasing the power and operating closer to the top of the receiver dynamic range may be beneficial since the effective RF interference is thus reduced.
- IR grid projector may be an LED-based DLP projector modified to use an IR source instead of the LED's.
- the gridding code may include gray code frames with checksums and the frames may be calculated in advance, stored on the SBC and cycled through at an appropriate frame rate, for example such as 60 fps.
- an appropriate frame rate for example such as 60 fps.
- a high fidelity coordinate fix is available to the response units roughly 3 times per second in one or more embodiments of the invention. In one or more embodiments, this enables cameras to detect the pattern projected onto the area, for example using non- visible IR light for distortion correction purposes.
- the server may send out a message for each unit to determine which response unit is incorrectly determining its position.
- the server may command response units iteratively to flash on and off to determine when response unit that has calculated an erroneous position and instruct that response unit to either turn off or to instruct the response unit of its correct position.
- Embodiments may also command the response units in parallel to transmit a coded IR series of on/off signals to effectively display a code, or alternatively turn on or off at a particular point in time, in order to determine which response unit is at a particular location, that for example is erroneous.
- response units are located in the local area 106. In some embodiments there may be a large number of response units located throughout the local area, for example in the thousands, tens of thousands, hundred thousand or even higher range.
- These response units 120 are configured to receive the shaped beam signals 105 and the messages 102 from the server.
- the shaped beam signal receiver 121 and the message receiver 122 may be the same receiver if for example the system transmits messages over the shaped beams or using the same general frequency range, or may be different receivers, for instance, using different frequencies or signal types, e.g., radio or light based signals.
- the response units include a processor 124 that uses the received shaped beam signals to calculate the local position of the response unit. Based on this local position, and on the messages received from the server, each processor determines an individual response that is appropriate for that particular response unit.
- Each action module may emit or modify one or more physical signals, such as light or sound or any other physical signal including but not limited to tactile signals, shock, temperature or any other type of signal.
- Figure 1 illustrates a response unit with two action modules, 123a and 123b; 123a emits light and 123b emits sound. Other embodiments may use different numbers and types of action modules.
- the overall system provides a capability for multiple response units located at different places in a local area to generate a location-dependent output based on broadcasted signals 105 and messages 102. For example, the system might be used for generating a light show with complex shapes and patterns using a large number of response units held by spectators in a stadium.
- Some embodiments may include color LEDs in the response unit action modules to provide for color displays. Other embodiments may have both LEDs and sound output in the action modules to support synchronized light and sound shows.
- An illustrative embodiment of a response unit may include the following components, which are for illustration only and other embodiments may use other components or divide functionality into different units. Such an embodiment can be packed into a small size so that it can be easily wearable or easily held in one hand for prolonged periods of time.
- LEDs for example with a power of 1.5W.
- a TI CC2500 RF transceiver which provides a number of transmission formats, modulation options, receiver fine-tuning and frequency/power control, and data throughput of 500 Kbaud.
- An IR receiver chip similar to a Vishay TSOP38456 operating at about 50 kHz and with a wide directivity (>45 °).
- a battery power supply such as an alkaline AAA cell, coupled with a voltage booster circuit, or a pair of CR2 batteries.
- An electronics board that houses the LED, RF Receiver, processor, and battery, housed in a plastic shell that has a transparent diffusing window over the LED.
- embodiments of the response units may also include Internet Protocol communications elements or any other type of addressable communications components.
- Embodiments that interact with the Internet for example become part of the Internet of Things (IoT), while other embodiments may utilize messaging that does not include an IP address, so that the response units remain anonymous from the viewpoint of the Internet.
- IP address or IP communication or other heavyweight communications protocols remain extremely efficient from a bandwidth perspective.
- the system may be configured to correct for potential distortion in the observed responses from the response units. These distortions may arise in many ways, such as from reflections or attenuation of signals, from interference of other signals, or from the shape of the local area.
- an embodiment of the system may be used to create large images on a stadium by providing light-emitting response units to the spectators. The shape of the stadium stands may induce some distortion in the displayed images.
- An embodiment of a system installed in stadium is illustrated in Figure 4.
- Server 101 is connected by network switch 401 to six beam and message transmitters 103. These six transmitters are installed to cover large portions of the stands of stadium 402 with their shaped beam signals 105.
- One or more embodiments of the system may use special test pattern messages to measure and correct for distortion.
- An embodiment of such a system is illustrated in Figure 5.
- Such test pattern messages 501 may be sent and the response units 120 may respond with visible outputs, such as lights 502.
- the system may include cameras 130 that can observe these outputs and send the observed images 503 to the server 101 for processing.
- the server can determine the distortion induced by the environment. It can then apply corrections 510 to the distortion so that subsequent outputs are minimally distorted.
- These corrections may consist of various transformations to images, including but not limited to translations, rotations, expansions or contractions, warping, color mapping, shading, and nonlinear transformations.
- the IR grid projector may be utilized in one or more embodiments to drive IR lights on the response units, such as lights 502 so that the test pattern does not interfere with any visible light pattern output by the response units. This embodiment enables run-time calibration for example.
- distortion corrections may include accounting for rotations and skewing of a plane of response units relative to a desired plane for observing an image formed by these response units.
- An analysis of the image distortion may include determining a projective transform
- each pixel i in the test pattern may be represented with a point in homogeneous coordinates
- each pixel i in the observed image may be represented with a point in homogeneous coordinates
- the cameras may be standalone or they may be attached to or integrated with the shaped beam transmission units.
- Figure 1 illustrates both possibilities, with one camera 130 attached to a beam transmission unit 103, and two additional standalone cameras 130.
- Some embodiments may use non- visible light frequencies, such as infrared, for the generation and analysis of test patterns.
- the response units may have for example infrared emitters 504, and the cameras 130 may include infrared capture elements.
- the cameras 130 might include monochrome industrial Ethernet cameras with IR filters.
- a benefit of using non-visible light is that human observers of the system may not see the test patterns or the distortion correction process as it occurs.
- some or all of the response units may also incorporate sensors.
- Figure 1 illustrates a response unit with an accelerometer sensor 125. Messages from the server directing responses may then make such responses dependent on both local sensor readings and on the calculated local position of each response unit. For example, personnel on a work site could be given response units that include a temperature sensor. These response units could be commanded to emit a warning light or sound if the temperature becomes dangerously high.
- Potential sensors may include, but are not limited to, accelerometers, gyroscopes, rate gyroscopes, pressure sensors, temperature sensors, magnetometers, sensors of human physiology, depth sensors, motion sensors, velocity sensors, or proximity sensors.
- the server may be desirable to transmit sensor readings back from response units to the server.
- some or all of the response units 120 may include transmitters 126, and the server may be attached to one or more receivers 131 to receive the messages 127 sent back from the response units 120.
- the server may be configured to send messages 102 requesting sensor data from the response units.
- Some embodiments may include messages that specify criteria for sensor readings, and instruct the response units to send sensor data only if it meets the specified criteria. For example, a server may poll periodically for sensor readings that exceed a threshold.
- the response units may also include one or more user input devices. Such devices might include for example keypads, touchscreens, buttons, or joysticks.
- Figure 1 illustrates an embodiment of a response unit 120 with an attached keypad 128.
- the response units may be configured with transmitters 126 to transmit user input back to the server, and the server may be configured to poll for user input data as desired.
- the action modules in the response units may emit or modify various types of physical signals, including, but not limited to, light, sound, vibration, non-visible light, electricity, shock, or buzzing, temperature or any other physical signal.
- the response units may be capable of being worn by a person.
- they may include a strap, pin, clip, lanyard, or other attachment device to attach to clothing or to parts of the body.
- Some embodiments may incorporate response units into articles of clothing, caps or hats, or accessories such as jewelry or watches.
- the response units may be hand-held by a person.
- Response units may calculate their local position using the intensity of the shaped beam signals that they receive.
- the intensity pattern of the shaped beam signals may be approximately Gaussian; this pattern can simplify the calculation of the local position.
- FIG. 6 illustrates one embodiment of such Gaussian signals and the position calculations.
- two shaped beam signals 105 are projected onto a plane approximately perpendicular to the aim of the shaped beam antennas.
- the center ray's intersection with the plane is at r 1 602, and for the other beam it is at r 2 603.
- the logarithm of the intensity permits a simple calculation to determine local position in the perpendicular plane.
- the local position may be calculated by response units using the relative intensity of multiple shaped beam signals rather than their absolute intensity.
- This approach offers the advantage of automatically compensating for many distortions of beams that emanate from the same beam transmitter. If the distortions occur equally for beams from the same receiver, then the relative signal intensity of the beams remains the same in spite of these distortions. Continuing the Gaussian signal example from above, the intensity constant / 0 is not used in the position calculation; thus only the relative intensity of the two beams is used.
- the beam directions may be aligned so that the beam spot uncertainty at the Unit plane is below the expected location accuracy to enable the desired accuracy. For a nominal operating scenario with a desired accuracy of approximately 1 feet this translates into an alignment precision of below 1 mrad. This precision is achievable with commercial sighting and surveying tools, and proper mechanical mounting should hold this alignment indefinitely.
- the antennas may also have additional absorbing elements to improve the beam shape and control side lobes.
- Some embodiments provide for the display of images on a set of response units.
- an embodiment of the system may be used to create large images, text messages and videos or any combination thereof within an area such as a stadium by providing light-emitting response units to the spectators.
- the server computer may store or generate one or more graphical images and transmit messages to the response units to display these images on the response units.
- Some embodiments may treat each response unit as a pixel in the image.
- the processor of each response unit may calculate its location, and then determine the intensity and color of the light to emit from the response unit based on its location and on the image messages received from the server.
- the combination of all response units forms an overall image.
- FIG 7 This is illustrated in Figure 7, with server 101 sending shaped beams and messages via beam transmitter 103 to local area 106.
- a large number of response units 120 are located in the local area, each equipped to emit light and form a single pixel of image 701.
- Figure 8 illustrates an embodiment with such image display applied to an entire stadium 402.
- the image 701 is spread across the stands of the stadium with each spectator providing a pixel of the image.
- the server may also break an image into sub-images and send different messages to groups of response units to construct an overall image from the sub-images.
- Messages from the server to display graphical images may in some embodiments contain descriptions of one or more shapes.
- Figure 9 illustrates an embodiment of a system using this type of graphical message.
- these messages 102 might identify the type of shape 901, such as rectangle, triangle, circle, or any other shape; points on the shape defining its perimeter 904; and the color of the interior 902 and exterior 903 of the shape.
- These messages may be broadcast to response units in local area 106, and each response unit may determine based on its location whether it is in the interior or exterior of the shape.
- Such techniques allow broadcast messages 102 to control the display 910 generated by a possibly large number of response units.
- the messages with shapes might further define the motion of shapes over time.
- a message might include a velocity vector 920 that defines the direction and speed of a shape's motion.
- Response units can use the motion data to calculate their displays over time 910, 921. Such techniques make communication between the server and the response units more efficient since a single message can control changing displays over a period of time.
- the messages from the server may carry additional information, such as timestamps for the current time, other timing information for synchronization of actions, required duration of motions, or descriptions of periodic or repeated motions.
- additional information such as timestamps for the current time, other timing information for synchronization of actions, required duration of motions, or descriptions of periodic or repeated motions.
- Other embodiments may use more sophisticated graphics, such as multi-layer shapes, parameterized shapes or curves, or texture codes.
- the calibrated locations of the transmitters, or the definition of the predefined shapes of the shaped beam signals may be sent to assist with calculation of local positions.
- the messages from the server may include error detection codes or error correction codes 905. Since some embodiments use broadcast messages from the server, it may not be efficient in some embodiments to use acknowledgements or retransmissions to ensure reliable communication. Embedding error detection or correction codes into the messages improves the reliability of these broadcast messages without complex two-directional communication.
- the local area for some embodiments of the system may include, without limitation, a sports stadium (as illustrated in 402), sports field, concert hall, amphitheater, theater, track, gymnasium, or arena.
- Applications for some embodiments of the system may include providing a virtual fence around a portion of a local area.
- Figure 10 illustrates such an embodiment with virtual fence 1001 defined to cover a portion of local area 106.
- response units 120 may be equipped with feedback devices that are actuated when a response unit moves out of or close to the boundary 1001 of this virtual fenced-in portion. For example, the wearer of a response unit might be given a shock 1002 to stop the wearer from leaving the fenced-in portion.
- the system may provide warnings to other users about the approach or entry of a device or user into a defined area.
- response units may be integrated into vehicles, and defined areas of possible safety hazards may be defined and/or otherwise detected by the system (somewhat similar to the virtual fences described above).
- an embodiment of the response unit in the vehicle may detect its position and inform the server of its approach.
- the server may in turn send messages to other response units that may for example be embedded into road signs or road reflectors or other vehicles. These response units may be commanded to light up to alert other drivers of the approach of another vehicle.
- one or more vehicles may also include an embodiment of the response unit and automatically dim headlights, for example when within a predefined distance from another of the response units mounted on another vehicle, e.g., 100 meters or the local limit according to the law at that location.
- One or more embodiments may also lower the sound volume in the vehicle audio system, play an alert audio, or otherwise prepare the vehicle for oncoming traffic based on position as determine by a response unit accessible by the vehicle, whether on the road or a sign or marker proximal to the vehicle, or on or in the vehicle.
- one or more embodiments may detect road conditions and tag the event with a position, so that other vehicles approaching the road condition, e.g., ice detected by the slip detection module in the vehicle and/or accelerometers are alerted to the road condition at a location and for example time.
- Road markers that may detect snow or ice or water or any other physical condition and send a message including the position is in keeping with the spirit of the invention.
- FIG. 11 illustrates such an embodiment that is used to check whether a football receiver in practice may be practicing running a particular pattern.
- the player might wear a response unit that lights up or turns a different color if the player does not run the correct pattern.
- This feedback might alert coaches that the player made an error.
- player 1101 wearing a response unit is supposed to run a pattern terminating at location 1102. Instead the player runs in trajectory 1103, and his response unit provides visual feedback 1104 of the error.
- Figure 12 illustrates an embodiment of a system to award prizes or otherwise indicate a subset of the response units.
- server messages might select particular locations for awards and send messages to provide feedback to response units in only those locations that they have won awards.
- the selection of response units for awards or prizes may for example be random, based on location, based on sensor readings, or based on user input.
- Response units are distributed to spectators in a stadium 402. Various images are displayed throughout an event, but at some point an announcement is made that only a portion of the spectators will receive a prize. Then the display is changed to provide image 1201 in the stands, and spectators within that image will receive the prize.
- a single response unit 1201a may be asserted or information otherwise displayed thereon in a lottery style application, or to show information related to that particular location in a museum, art gallery or scavenger hunt scenario, or a row or other geometrical shape based set of response units 1201b such as a winning row may be asserted or otherwise provided with information or a capability.
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- Engineering & Computer Science (AREA)
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- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Signal Processing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Circuit Arrangement For Electric Light Sources In General (AREA)
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
- Image Processing (AREA)
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Abstract
Description
Claims
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CA2931964A CA2931964C (en) | 2013-12-02 | 2014-12-02 | Local positioning and response system |
CN201480065752.4A CN105829908B (en) | 2013-12-02 | 2014-12-02 | Local positioning and response system |
EP14868380.8A EP3077839A4 (en) | 2013-12-02 | 2014-12-02 | Local positioning and response system |
AU2014360691A AU2014360691B2 (en) | 2013-12-02 | 2014-12-02 | Local positioning and response system |
JP2016535016A JP6465886B2 (en) | 2013-12-02 | 2014-12-02 | Local positioning and response system |
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US10129952B2 (en) | 2015-09-15 | 2018-11-13 | Cooper Technologies Company | Output adjustment of a light fixture in response to environmental conditions |
CA3128038A1 (en) | 2019-01-31 | 2020-08-06 | Rypplzz, Inc. | Systems and methods for augmented reality with precise tracking |
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AU2014360691B2 (en) | 2019-05-23 |
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MX356786B (en) | 2018-06-13 |
JP6465886B2 (en) | 2019-02-06 |
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CN105829908A (en) | 2016-08-03 |
CA2931964C (en) | 2022-05-03 |
AU2014360691A1 (en) | 2016-07-07 |
US9060346B1 (en) | 2015-06-16 |
US20150156745A1 (en) | 2015-06-04 |
CN105829908B (en) | 2019-06-07 |
MX2016007137A (en) | 2016-10-28 |
CA2931964A1 (en) | 2015-06-11 |
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