Systems and Methods of Location and Tracking

RELATED APPLICATIONS

0001This application claims priority to U.S. Nonprovisional patent application Ser. No. 14/797,875, filed Jul. 13, 2015, entitled: “Systems and Methods of Location and Tracking” U.S. Nonprovisional patent application Ser. No. 14/797,875 claims priority to PCT Patent Application No. PCT/US15/017423 entitled “Systems and Methods of Location and Tracking” filed Feb. 25, 2015, which application claims priority to U.S. Non-provisional patent application Ser. No. 14/284,384, entitled: “Systems and Methods of Location and Tracking” filed May 21, 2014 and to U.S. Provisional Application Ser. No. 61/944,115, filed Feb. 25, 2014 and entitled: “Systems and Methods of Location and Tracking”, the contents of each which are incorporated by reference in their entirety.

COPYRIGHT

0002A portion of the disclosure of this patent document contains material that is subject to copyright protection. The copyright owner has no objection to the facsimile reproduction by anyone of the patent document or the patent disclosure, as it appears in the Patent and Trademark Office patent files or records, but otherwise reserves all copyright rights whatsoever.

BACKGROUND

0003A number of systems have been developed and deployed to locate and track the position of people and assets collectively (“assets”) in local area environments such as office buildings, hospitals, shopping malls, and hotels, industrial environments such as refineries, oil rigs, and manufacturing facilities. Many of these systems, however, provide position accuracy of within a few meters using an existing Wi-Fi or Bluetooth network.

0004Position location accuracy of a few meters may suffice in some applications such as locating a tool in an industrial environment such as in a refinery, in an aircraft hangar etc. In some applications, however, accuracy of less than one meter is required. Many of the applications requiring high position location precision involve establishing close association of two assets (e.g. two persons, a person and some equipment or two pieces of equipment. In many cases, it is not necessary that the precise location of a person or object (i.e. asset) to be known, but rather the association of the two is needed which requires determining that an asset is in the proximity of another asset. For instance, hospitals would like to record if a doctor or a nurse has visited a certain patient during the day. In this application, what is important is to record that the doctor/nurse was in proximity of the patient at certain time. The position location accuracy requirement for this case is often referred to as “room level” accuracy meaning that the doctor/nurse must be located in the right room. However, as mentioned above if the objective is to ensure that the doctor/nurse visited the patient during the day, then it is really detecting the close proximity of the doctor/nurse and the particular patient that is needed and not necessarily accurately locating the doctor/nurse. In rooms with multiple beds, the doctor/nurse must be associated with the right patient in that room. Another example of room level accuracy is in hotels where it is desirable to locate a maid in the right room in case there is an emergency, or to be able to verify that someone has cleaned a specific room.

0005One manufacturing use case is to adjust the torque of a wrench depending on the specific manufacturing part the tool is trying to fasten. This again is a case of detecting proximity of the tool and a manufacturing part. Another example of the need to detect proximity is to ensure that certain medical equipment such as an IV pump is in fact attached to a certain patient. Another example is to register that doctors/nurses have washed their hands prior to certain functions such as visiting a patient. This application again requires detection of close proximity of the doctor/nurse and a sink/disinfectant station.

0006Another application for accurate position location in retail environment is to direct the customer to the right location in the store for a given item. Here one would want a very accurate positioning scheme to navigate the customer through the store so that the customer gets very close to the item he/she is searching.

SUMMARY

0007The current invention is directed to systems and methods for determining relative location of a zone tag within a local monitoring zone of a wireless network comprising the apparatus and steps of providing a plurality of zone tags, the zone tags having a wireless transceiver configured to communicate over the wireless network. The plurality of zone tags is placed in the local monitoring zone, with each of the plurality of zone tags being placed at a known position stored on a position server. An un-configured zone tag is placed within the local monitoring zone, with the un-configured zone tag communicating wirelessly with the remaining plurality of zone tags. The position server receives un-configured zone tag to zone tags within the plurality communication times and determines a relative position for the un-configured zone tag as a function of the communication times.

BRIEF DESCRIPTION OF THE DRAWINGS

0008Following drawings in conjunction with detailed description help clarify the features and advantages of the present disclosure. In the figures, similar components are identified using the same reference label. Multiple instances of the same component in a figure are distinguished by inserting a dash after the reference label and adding a second reference label.

0009<figref idref="DRAWINGS">FIG. 1</figref> is an exemplary diagram of elements of a position location system.

0010<figref idref="DRAWINGS">FIGS. 2A</figref>, <b>2</b>B, and <b>2</b>C are exemplary diagrams illustrating zone tags autonomously determining their position locations.

0011<figref idref="DRAWINGS">FIG. 3</figref> is an exemplary flow chart of the process for zone tags to autonomously determine their position locations.

0012<figref idref="DRAWINGS">FIG. 4</figref> is an exemplary flow chart of the process to detect a zone tag has been moved and to update the zone tag configuration data base.

0013<figref idref="DRAWINGS">FIG. 5</figref> is an exemplary flow chart of the process to create a tag-zone tag-proximity-list for each mobile tag.

DETAILED DESCRIPTION

0014The FIGURES and text below, and the various embodiments used to describe the principles of the present invention are by way of illustration only and are not to be construed in any way to limit the scope of the invention. A Person Having Ordinary Skill in the Art (PHOSITA) will readily recognize that the principles of the present invention maybe implemented in any type of suitably arranged device or system. Specifically, while the present invention is described with respect to use in Wi-Fi networks and Access Points therein, a PHOSITA will readily recognize other types of networks and other applications without departing from the scope of the present invention.

0015Before the present invention is described in further detail, it is to be understood that the invention is not limited to the particular embodiments described, as such may, of course, vary. It is also to be understood that the terminology used herein is for the purpose of describing particular embodiments only, and is not intended to be limiting, since the scope of the present invention will be limited only by the appended claims.

0016Where a range of values is provided, it is understood that each intervening value, to the tenth of the unit of the lower limit unless the context clearly dictates otherwise, between the upper and lower limit of that range and any other stated or intervening value in that stated range is encompassed within the invention. The upper and lower limits of these smaller ranges may independently be included in the smaller ranges is also encompassed within the invention, subject to any specifically excluded limit in the stated range. Where the stated range includes one or both of the limits, ranges excluding either or both of those included limits are also included in the invention.

0017Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by a PHOSITA to which this invention belongs. Although any methods and materials similar or equivalent to those described herein can also be used in the practice or testing of the present invention, a limited number of the exemplary methods and materials are described herein.

0018It must be noted that as used herein and in the appended claims, the singular forms “a,” “an,” and “the” include plural referents unless the context clearly dictates otherwise.

0019All publications mentioned herein are incorporated herein by reference to disclose and describe the methods and/or materials in connection with which the publications are cited. The publications discussed herein are provided solely for their disclosure prior to the filing date of the present application. Nothing herein is to be construed as an admission that the present invention is not entitled to antedate such publication by virtue of prior invention. Further, the dates of publication provided may be different from the actual publication dates, which may need to be independently confirmed.

0020The embodiments in this disclosure are described in the context of an IEEE 802.11 based network for illustration purposes. However, the embodiments apply to a more general wireless protocol. In the exemplary wireless system described next, the indoor position location system complements an existing IEEE 802.11 WLAN network to provide high precision indoor position location information for mobile tags secured to generally immobile assets, such as equipment or mobile assets such as cellular telephones.

0021<figref idref="DRAWINGS">FIG. 1</figref> shows a typical IEEE 802.11 network deployment. Access Points (APs) are labeled as APi, where i is an integer identifying different APs. There are multiple IEEE 802.11 APs designated as AP<b>1</b>, AP<b>2</b>, etc. Each of the APs form a Basic Service Set (BSS), which is identified by a unique BSSID, also referred to as a local monitoring zone.. The BSSs are typically interconnected to form an Extended Service Set (ESS), and share the same security credentials thereby facilitating easy movement of WiFi devices between different BSSs. <figref idref="DRAWINGS">FIG. 1</figref> shows a sample IEEE 802.11 network with 2 BSSs, each of the BSSs has one AP. The BSSs can optionally be linked to form an ESS. Note that the different BSSs, such as for instance the adjacent BSSs, may be operating on different frequency channels to minimize interference between BSSs.

0022APs are the network WiFi elements that may already have been installed for internet access in a given building or campus. In addition to APs, a number of auxiliary APs referred to as zone tags, labeled as Bi, where i is an integer identifying different zone tags, are also installed in the venue. Zone tags have similar capability as the WiFi APs do, and provide range measurements with mobile tags to determine the mobile tags' position location. In other words, zone tags complement the APs in the legacy WiFi network in a given venue. zone tags may provide the same functionality as the IEEE <b>802</b>.<b>11</b> APs or IEEE <b>802</b>.<b>11</b> Stations (STAs), but whose primary function is to provide range measurements with the mobile tags. In fact, in a venue where there is no legacy WiFi network, then some of the zone tags will be configured to act as APs.

0023Referring to <figref idref="DRAWINGS">FIG. 1</figref>, in addition to APs, the system includes a number of auxiliary zone tags ZT<b>1</b>, ZT<b>2</b> etc. As mentioned above, mobile tags are WiFi enabled devices installed on assets and carried by people, and are capable of communicating with the APs and zone tags. Mobile tags are labeled by Tj, where j is an integer and denotes occurrences of mobile tags. The position location server <b>140</b> schedules Round Trip Delay (RTD) or Time Of Arrival (TOA) measurements between mobile tags and multiple zone tags, and carries out triangulation using the RTD or TOA measured values to determine the position of the mobile tag, and sends the computed position location to other parts of the network (not shown in <figref idref="DRAWINGS">FIG. 1</figref>). As mentioned above, the APs and Zone tags may use any number of wireless protocols for communications and range measurements for position location determination.

0024Certain embodiments describe systems and methods for initial deployment of the network of zone tags. <figref idref="DRAWINGS">FIG. 3</figref> is a flow chart of an exemplary process used to determine the position coordinates of the zone tags in the network. In step <b>302</b>, position coordinates of a subset of the zone tags are manually determined. In step <b>304</b>, zone tags make RTD or RSS measurements with APs. In step <b>306</b>, the position sever makes an approximate estimate of the zone tags' position coordinates based on the reported RTD or RSS measurements with APs. In step <b>308</b>, for each zone tag, the position server generates proximity list of detectable zone tags. In step <b>310</b>, zone tags make RTD measurements with zone tags in their proximity list. The position server, in step <b>312</b> determines the position coordinates of the zone tags using knowledge of the position coordinates of the configured zone tags. The position server, in step <b>314</b> reports the list of zone tags whose position coordinates may not be accurately determined due to lack of adequate number of RTD measurements. More consideration will be given to each of these steps below.

0025Zone tag network deployment begins by installing a subset of the zone tags to be deployed in the local monitoring zone, referred to as configured zone tags, and manually determining the position location coordinates of the configured zone tags and sending the position coordinates to the position server <b>140</b><b>302</b>. The system determines the position information for other zone tags to be deployed in the local monitoring zone, as further described in described next. Each zone tag, after being placed and powered on, will search for APs in the network and associate with the AP from which it receives the strongest signal. Once a newly installed zone tag associates with an AP/BSS, the zone tag makes RTD measurement as well as RSS (Received Signal Strength) on signal received from the AP, and sends the measured RTD and RSS values to the position location server <b>140</b><b>304</b>. zone tags may make RTD and RSS measurements with multiple APs and send the results to the position location so that the position location server may make an estimate of the position of each zone tag, using triangulation or other processes known in the art <b>306</b>.

0026Once all zone tags ZTn have been placed, and an initial approximate position of all zone tags has been determined by the position server <b>140</b>, then the position server <b>140</b> creates a proximity list for each zone tag <b>308</b>. The proximity list for a zone tag contains a set of other zone tags which are in close proximity to the first zone tag. The proximity list for a first zone tag is intended to include those zone tags within transmission distance of the signals of the first zone tag may be able to detect. The position server <b>140</b> generates the proximity list for each zone tag, and sends the proximity lists to the zone tags <b>308</b>. Note that the position server determines the proximity list based on approximate position of each zone tag, and does not have knowledge of the signal strength the zone tags receive from each other. The zone tags make RTD measurements with other zone tags in their proximity list. There may be some zone tags in the proximity list of a first zone tag whose signals the first zone tag may not be able to detect. Once each zone tag has attempted to make RTD measurements with zone tags in its proximity list, then each zone tag will remove those zone tags in its proximity list with whom the zone tag could not complete RTD measurements <b>314</b>.

0027An un-configured zone tag is one whose position location has not been yet determined. Once an un-configured zone tag has made RTD measurements with the configured zone tags in its proximity list, the zone tag will send the RTD values to the position server <b>140</b>. If the zone tag has made RTD measurements with an adequate number of configured zone tags, then the position server will estimate the location of the zone tag and will add the zone tag to the configured list <b>312</b>. <figref idref="DRAWINGS">FIG. 2A</figref> illustrates one BSS with <b>6</b> configured zone tags (ZT<b>1</b> through ZT<b>6</b>), and 3 un-configured zone tags ZT<b>7</b>, ZT<b>8</b> and ZT<b>9</b>; configured zone tags are shown by dashed line, and un-configured zone tags are shown by solid lines. As shown in <figref idref="DRAWINGS">FIG. 2A</figref>, un-configured zone tag ZT<b>7</b> makes RTD measurements with zone tags ZT<b>1</b> through ZT<b>6</b>, the position server estimates zone tag ZT<b>7</b>'s position based on the <b>6</b> measured RTD values and adds zone tag ZT<b>7</b> to the list of configured zone tags as shown by dashed line in <figref idref="DRAWINGS">FIG. 2B</figref>. Next, as shown in <figref idref="DRAWINGS">FIG. 2B</figref>, zone tag ZT<b>8</b> makes RTD measurements with zone tags ZT<b>3</b> through ZT<b>7</b>, and the position location server determines the position of ZT<b>8</b> based on the 5 measured RTD values. This process continues until every un-configured zone tag has made RTD measurements with zone tags in its proximity list and the position server has attempted to estimate the position of each un-configured zone tag based on the RTD measurements reported by each zone tag. In exemplary configuration, at least three RTD or TOA values are employed in the position estimation. It may turn out that some of the un-configured zone tags will not be able to make RTD measurements with an adequate number of configured zone tags for the position server to be able to make an accurate estimate of the un-configured zone tag's position coordinates. As in illustration <figref idref="DRAWINGS">FIG. 2C</figref> shows zone tag ZT<b>10</b> which can only make RTD measurements with zone tags ZT<b>3</b> and ZT<b>5</b>. Since 2 RTD measurements are not adequate to obtain an accurate position estimate, the zone tag ZT<b>10</b> is considered non-configurable, unless additional zone tags are deployed between zone tag ZT<b>10</b> and the remainder of the network. Then, the position server reports the non-configurable zone tags to the system administer. The system administer then will add new zone tags or move some of the existing zone tags so that each zone tag will have an adequate number of zone tags in its proximity list with which to make RTD measurements to make an accurate estimate of the zone tag's position location coordinates.

0028The list of zone tags whose signals are detectable by a given zone tag, referred to as the proximity list above, was determined by the position server based on RTD or RSS measurements between zone tags and APs. Alternatively, each zone tag may determine the list of zone tags whose signals it may detect using a discovery scheme as described next. Each zone tag sends a discovery message. The exemplary discovery message is a broadcast over the network that includes the transmitting zone tag's identifier and a flag indicating its discovery message type. Zone tags search for discovery messages from other zone tags, and add any zone tag whose discovery message they detect to their discovered zone tag list. Then, zone tags make RTD measurements with zone tags in their discovered lists. The remaining process for configuring the zone tags is that same as that described above when using proximity list approach.

0029In usage of the zone tags, it is possible that someone may move or remove some of the zone tags. The current invention provides systems and methods to detect that a zone tag has been moved, to determine the new position coordinates of the moved zone tags, and to update the zone tag configuration.

0030In one embodiment, each zone tag is equipped with sensors which will detect the motion of the zone tag when a zone tag is moved, and the zone tag will report the motion event to the position server. <figref idref="DRAWINGS">FIG. 4</figref> is an exemplary flow chart of the process to detect that a zone tag has been moved, and to update the zone tag configuration data base. In step <b>402</b>, zone tags periodically make RTD measurements with at least one zone tag in their zone tag proximity list and send the measurements to the position server <b>140</b>. In step <b>404</b>, zone tags detect if they have moved by either using sensor readings, or using information on zone tag's AP association, or by using periodic RTD measurements with zone tags in their proximity list. For example, the position server <b>140</b>, based on the reported RTD/RSS measurements, determines if the zone tag has been moved. If a first zone tag is moved, then the RTD/RSS value from the first zone tag to at least one other zone tag will be different from the previous measurement. In another example, motion sensors trigger the process for a position update. If it is determined that the zone tag has been moved, then in step <b>406</b> the zone tag makes RTD measurements with all zone tags in its zone tag-proximity-list, and report the measurements to the position server <b>140</b>. If the position server <b>140</b> determines that the zone tag has moved, it may request that the zone tag make RTD measurements with all zone tags in its proximity list in order to make a new accurate estimate of the zone tag's position coordinates. In step <b>408</b>, the position server makes a new accurate estimate of the position location coordinates of the moved zone tag. If the zone tag has been moved, then the position server <b>140</b> updates the zone tag configuration data base based on the zone tag's new position coordinates. zone tags may also periodically measure RSS of signals received from different APs, and change the AP with which they are associated if there is another AP from which the zone tag receives a stronger signal. In the event a first zone tag changes the AP with which it is associated, the position server <b>140</b> may prompt the first zone tag to measure RTD/RSS measurements with zone tags in its zone tag-proximity-list in order to update the position coordinates of the first zone tag. In step <b>410</b>, the position server updates the bacon configuration data base with the zone tag's new position coordinates.

0031Next, with reference to <figref idref="DRAWINGS">FIG. 1</figref>, we described systems and methods to assign mobile tags to a set of zone tags with which to make range measurements. The range measurements are used by the position location server <b>140</b> to triangulate to determine the mobile tags' T_nposition coordinates.

0032First, we consider a position location system that uses RTD measurements for position location determination. In order to determine the position of a mobile tag, the tag makes RTD measurements with a set of nearby zone tags. In one embodiment, the mobile tag upon associating with an AP, makes RSS or RTD measurements with at least one AP, and reports the measurements to the position server. The mobile tag may make RSS/RTD measurements with other APs, whose signals the mobile tag may detect, and send the measured information to the position server <b>140</b>. The position server <b>140</b> makes an approximate position location estimate of the mobile tags, and identifies a set of zone tags that are in proximity to the mobile tag, referred to as the mobile tag-zone tag-proximity-list. The position server <b>140</b> sends the mobile tag-zone tag-proximity-list to each tag, and schedules RTD measurements between the mobile tag and zone tags in the mobile tag's zone tag list.

0033In the alternate embodiment of <figref idref="DRAWINGS">FIG. 5</figref>, a flow chart of an exemplary process to determine a mobile tag-zone tag-proximity-list for each mobile tag T_jis shown. In step <b>502</b>, the mobile tags enter discovery phase and search for discovery messages sent by zone tags. the position server <b>140</b> requests that the mobile tag go into a discovery phase to determine all zone tags from which it can detect a signal in order to form a mobile tag-zone tag-proximity-list. During the discovery phase, the mobile tag will listen to the frequency channel that the position server <b>140</b> has specified, and will detect all signals sent by APs and zone tags on the given frequency channel.

0034In step <b>504</b>, zone tags send discovery messages. The mobile tag will read the source address of the zone tag whose message it has detected and once the discovery phase period is finished, will send a message to the position server <b>140</b> with the source address of all the zone tags whose message the mobile has detected.

0035In step <b>506</b>, the mobile tags add the id of zone tags they detect to a detected zone tag list. In step <b>508</b>, the mobile tags send the list of zone tags detected at the end of discovery phase to the position location server. Position location server <b>140</b>, in step <b>510</b>, creates mobile tag-zone tag-proximity-lists using the list of detected zone tags sent by each mobile tag. The position server <b>140</b> will then use the list of zone tags sent by the mobile tag as the tag-zone tag-proximity-list, and will schedule RTD measurements between the mobile tag and the zone tags on the discovered mobile tag-zone tag-proximity-list.

0036In the position location determination system that uses TOA instead of RTD, the tag-zone tag-proximity-list need only contain one zone tag. In the TOA based system, one zone tag on the mobile tag-zone tag-proximity-list is chosen as the mobile tag's primary zone tag. The mobile tag's primary zone tag may be the one that is closets to the mobile, or the one from which the mobile tag receives the strongest signal. The TOA range measurement process begins by the primary zone tag sending a data frame to the mobile; the mobile tag responds with an acknowledgment frame. All zone tags on the mobile tag's mobile tag-zone tag-proximity-list will detect the acknowledge message sent by the mobile tag and measure the message's TOA. The zone tags send the TOA range measurements to the position location server for triangulation to determine the mobile tag's position coordinates.

0037The mobile tag's position coordinates are periodically updated. As the mobile tags move, the position location server uses the updated mobile tag position coordinates to update the mobile tag-zone tag-proximity-list. The position server will choose the zone tags that are closest to the latest mobile tag position to be included in the mobile tag-zone tag-proximity-list. The position location server uses the updated mobile tag-zone tag-proximity-list to schedule range measurements with the mobile tag.