DECOUPLED MAGNETOQUASISTATIC NON-LINE-OF-SIGHT POSITION AND ORIENTATION SENSING FOR ARBITRARY DISTANCES

摘要

Methods and systems for non-line-of-sight positioning are disclosed for arbitrarily short to long ranges, where positioning is achieved using a single anchor not requiring tri-/multi-lateration or tri-/multi-angulation. Magnetoquasistatic fields can be used to determine position and orientation of a device in two or three dimensions. Two or three axis coils can be used in receivers and transmitters. The magnetoquasistatic equations are solved in different scenarios, taking into consideration the image signals originating from the interaction between the fields and ground/earth.

主权项

1. A method comprising:
providing a receiver, the receiver comprising a first and second receiver coils configured to receive quasistatic magnetic fields in a first and second mutually orthogonal directions transmitted by a transmitter, the transmitter comprising a first and second transmitter coils and configured to transmit the quasistatic magnetic fields in a third and fourth mutually orthogonal directions; receiving the quasistatic magnetic fields through the receiver; measuring, with the receiver, a first voltage originating from the quasistatic magnetic fields due to coupling between the first transmitter coil and the first receiver coil; measuring, with the receiver, a second voltage originating from the quasistatic magnetic fields due to coupling between the second transmitter coil and the first receiver coil; measuring, with the receiver, a third voltage originating from the quasistatic magnetic fields due to coupling between the first transmitter coil and the second receiver coil; measuring, with the receiver, a fourth voltage originating from the quasistatic magnetic fields due to coupling between the second transmitter coil and the second receiver coil; and based on the first, second, third, and fourth voltages, calculating a distance between the receiver and the transmitter, wherein the measuring of each of the first, second, third, and fourth voltages is independent from the remaining voltages.