Precise positioning using a distributed sensor network

摘要

A method for determining the location and orientation of a transmitter object by measuring a set of complex electromagnetic field magnitude and phase strengths within a space using one or more receivers is provided. The method includes modeling a set of expected complex electromagnetic strengths to estimated position and orientation of the transmitter object. And estimating parameters related to the transmitter object position based on the residual error between the measured set of complex electromagnetic field values and a set of expected electromagnetic field values. Further embodiments include a method as above including a plurality of receivers with known positions within a limited space including the transmitter object. A sensor network including a plurality of receivers to perform the above method is also provided. The receivers may communicate using a wireless channel.

主权项

1. A method for determining the location and orientation of a transmitter object, the method comprising:
distributing a plurality of receivers within a space, each of the plurality of receivers being structurally independent from each other and being positioned within the space in a relation with one another that can change each time the plurality of receivers is distributed, each of the plurality of receivers including one or more antennas and electronics for measuring electromagnetic field strength and phase values from the antennas and wirelessly transmitting data, each of the plurality of receivers being in wireless communication with a controller; receiving the electromagnetic field strength magnitude and phase values within the space from the plurality of receivers; modeling a set of expected complex electromagnetic strengths corresponding to a currently estimated position and orientation of the transmitter object relative to each of the plurality of receivers, the set of expected electromagnetic field values corresponding to a model of the transmitter object position in relation to the positions and orientation of each of the plurality of receivers; and estimating parameters related to the transmitter object position based on a residual error between the measured set of complex electromagnetic field values and the set of expected electromagnetic field values.