公开(公告)号：WO2011133974A2

公开(公告)日：2011-10-27

申请号：PCT/US2011/033785

申请日：2011-04-25

Applicant: WORCESTER POLYTECHNIC INSTITUTE ,  CYGANSKI, David ,  DUCKWORTH, R. James

Inventor： CYGANSKI, David ,  DUCKWORTH, R. James

IPC: G01S5/02

CPC classification number: G01S3/146 ,  G01S3/28 ,  G01S5/0205 ,  G01S11/06 ,  G08B21/0263 ,  H01Q21/24 ,  H01Q21/28

Abstract: A method for locating a transmitter using a receiver which include, but are not limited to the steps of transmitting a plurality of distinctive and orthogonally polarized signals from a transmitter; receiving the transmitted signals at a pair of separated antennas; demodulating the distinctive orthogonal signals received at each of the pair of separated antennas; and determining a direction to the transmitter from the signals received at the pair of antennas. The system for determining the location of a transmitter using a receiver includes, but is not limited to, having a transmitter adapted for orthogonally transmitting a plurality of distinctive signals; a receiver having a pair of separated antennas for receiving the orthogonally transmitted signals; separate demodulators in the receiver for each antenna of the pair of separated antennas for demodulating the distinctive signals; and signal processing circuitry in the receiver adapted for using the demodulated distinctive signals for determining a direction to the transmitter.

Abstract translation: 一种用于使用接收机定位发射机的方法，包括但不限于从发射机发送多个不同的和正交极化信号的步骤; 在一对分离的天线处接收发送的信号; 解调在所述一对分离天线中的每一个处接收的所述不同的正交信号; 以及根据在所述一对天线处接收的信号确定到所述发射机的方向。 用于使用接收机确定发射机的位置的系统包括但不限于具有适于正交发射多个不同信号的发射机; 具有一对分离天线的接收机，用于接收正交发射的信号; 用于解调不同信号的分离天线对中的每个天线的接收机中的单独的解调器; 以及接收器中的信号处理电路，其适于使用解调的特征信号来确定发射机的方向。

公开(公告)号：WO2015168545A1

公开(公告)日：2015-11-05

申请号：PCT/US2015/028785

申请日：2015-05-01

Applicant: WORCESTER POLYTECHNIC INSTITUTE

Inventor： ANTTI, Koski A. ,  CYGANSKI, David ,  DUCKWORTH, R. James

IPC: G01S5/22 ,  G01S1/02

CPC classification number: G01S5/0278 ,  G01S1/02 ,  G01S5/0252 ,  G01S5/06 ,  G01S5/22

Abstract: A ranging and tracking system and method employs a Coherent Array Reconciliation Tomography (CART) approach that benefits from a series of samples gathered from deployed receivers in an area of interest, and applies a sequence of matrix operations and transformations to data defining locations in a Cartesian grid space for summing constructive characteristics in a received waveform for identifying a leading edge indicative of a time of arrival (TOA) from a signal source, and computing a metric based on the distance to the signal source. Sampled waveform information (data) from multiple locations in the area of interest allows computation of a likelihood metric for each location in the grid space of containing the signal source. Graphic rendering of the likelihood metric illustrates a position of the signal source by clustering of the locations depicting a high likelihood.

Abstract translation: 测距和跟踪系统和方法采用相干阵列对称层析成像（CART）方法，该方法受益于从感兴趣区域中部署的接收器收集的一系列样本，并将矩阵运算和变换序列应用于定义笛卡尔坐标 网格空间，用于对接收到的波形进行求和，以便从信号源识别表示到达时间（TOA）的前沿，以及基于到信号源的距离来计算度量。 来自感兴趣区域中的多个位置的采样波形信息（数据）允许计算包含信号源的网格空间中的每个位置的似然度量。 似然度量的图形描绘通过聚类描绘高可能性的位置来说明信号源的位置。

公开(公告)号：WO2016077703A1

公开(公告)日：2016-05-19

申请号：PCT/US2015/060590

申请日：2015-11-13

Applicant: WORCESTER POLYTECHNIC INSTITUTE

Inventor： BABU, Benzun Wisely ,  CYGANSKI, David ,  DUCKWORTH, R. James

IPC: G01C21/34

CPC classification number: G01C21/206 ,  G01C21/18 ,  G05D1/0251 ,  G05D1/027 ,  G05D1/0274 ,  G06T7/246 ,  G06T7/85 ,  G06T2207/10012 ,  G06T2207/30244

Abstract: An indoor localization system uses Visual Simultaneous Localization and Mapping (VSLAM) aided by gyroscope sensor information. Indoor environments pose several challenges which could cause a vision only system to fail due to tracking errors. Investigation revealed significant feature loss in a vision only system when traversing plain walls, windows and staircases. However, the addition of a gyroscope helps in handling such difficult conditions by providing additional rotational information. A portable system consisting of an Inertial Measurement Unit (IMU) and a stereo camera has been developed for indoor mapping. The images and gyroscope rates acquired by the system are stored and post-processed using Gyroscope Assisted Scalable Visual Simultaneous Localization and Mapping Algorithm.

Abstract translation: 室内定位系统使用由陀螺传感器信息辅助的视觉同步定位和映射（VSLAM）。 室内环境造成几个挑战，这可能导致视觉系统由于跟踪错误而失败。 调查显示，当穿过平原的墙壁，窗户和楼梯时，视觉系统中的显着特征损失。 然而，添加陀螺仪有助于通过提供额外的旋转信息来处理这样的困难条件。 已经开发了用于室内映射的由惯性测量单元（IMU）和立体摄像机组成的便携式系统。 使用陀螺仪辅助可扩展视觉同步定位和映射算法对系统采集的图像和陀螺仪速率进行存储和后处理。