US 9,810,767 B1
Location estimation system
Michael Hamilton, Lewisville, TX (US)
Filed by Michael Hamilton, Lewisville, TX (US)
Filed on Jun. 15, 2016, as Appl. No. 15/183,745.
Claims priority of provisional application 62/180,596, filed on Jun. 16, 2015.
Claims priority of provisional application 62/296,109, filed on Feb. 17, 2016.
Int. Cl. G01S 5/14 (2006.01); H04W 4/02 (2009.01); G01S 5/02 (2010.01)
CPC G01S 5/14 (2013.01) [G01S 5/0242 (2013.01); G01S 5/0257 (2013.01); H04W 4/027 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method performed by a tag/processor device for estimating its probable location, comprising:
receiving, via an ultra-wide band communication transceiver, ultra-wide band RF signals containing locations of each of at least three anchors;
determining, via a processor, ranging information of each of at least three anchors by transmitting and receiving ultra-wideband communication messages via the ultra-wide band communication transceiver and determining an associated transmission time of flight between the tag/processor device and the at least three anchors;
determining a distance between the tag/processor device and the at least three anchors from the determined ranging information;
determining an altitude of the tag/processor device based on temperature and pressure data;
determining the tag/processor device location estimate based on the locations and ranging information of the at least three anchors;
wherein determining the location estimate further comprises Kalman filtering, in a first plurality of Kalman filters, coordinate calculations to statistically determine probable location information having a first degree of resolution;
receiving linear acceleration information from at least one MEMs device;
kalman filtering the linear acceleration information; and
adaptive low-pass filtering the probable location produced by the first plurality of Kalman filters and the Kalman filtered linear acceleration information to obtain probable location information with a second degree of resolution that is more precise than the first degree of resolution.