US 7,321,305 B2 | ||
Systems and methods for determining a location of an object | ||
Aleks Göllü, El Cerrito, Calif. (US) | ||
Assigned to PINC Solutions, Berkeley, Calif. (US) | ||
Filed on Jul. 05, 2005, as Appl. No. 11/175,081. | ||
Prior Publication US 2007/0018811 A1, Jan. 25, 2007 | ||
This patent is subject to a terminal disclaimer. | ||
Int. Cl. G08B 13/14 (2006.01); G06F 17/00 (2006.01); G06Q 10/00 (2006.01) |
U.S. Cl. 340—572.1 [340/10.1; 340/5.92; 340/505; 700/215; 700/216; 705/28] | 23 Claims |
1. A system for determining a location of an object, the system comprising:
an object location tracker for attachment to a mobile vehicle, the object location tracker comprising:
an object identification reading device for sensing object identification indicia on the object; and
a position-tracking device for determining a location of the object location tracker as the mobile vehicle moves throughout
an environment; and
a computer system in communication with the object location tracker for associating the sensed object identification indicia
of the object with a location in the environment based on the position of the object location tracker in the environment as
determined by the position-tracking device when the object identification reading device senses the object identification
indicia,
wherein the position-tracking device of the object location tracker comprises:
an inertial sensor assembly;
a reference position receiver; and
a high resolution module in communication with the inertial sensor assembly and the reference position receiver, wherein the
high resolution module is for computing the location of the object location tracker in real-time based on a combination of
input from the inertial sensor assembly and a reference position signal received by the reference position receiver when the
object location tracker is located in a first area requiring high position resolution, wherein the high resolution module
is for computing the location of the object by:
detecting a current mode of movement for the object location tracker based on the input from the inertial sensor assembly
and historical information about the location of the object location tracker;
determining a first estimated position of the object location tracker based at least on a motion model for the current mode
of movement for the object location tracker;
determining a second estimated position of mobile object based on the input from the inertial sensor assembly and the historical
information about the location of the object location tracker; and
estimating a real-time location of the object location tracker based on the first and second estimated positions.
|