U.S. patent application number 11/932705 was filed with the patent office on 2008-02-28 for locating system and method.
Invention is credited to James Hume, Kevin Iudge, Norman Mohi, Mark Scislowski.
Application Number | 20080051104 11/932705 |
Document ID | / |
Family ID | 46322997 |
Filed Date | 2008-02-28 |
United States Patent
Application |
20080051104 |
Kind Code |
A1 |
Mohi; Norman ; et
al. |
February 28, 2008 |
Locating System and Method
Abstract
A method and system in which a mobile controller can show on a
display a bearing line to a rover. It is done using a radio
positioning system such as GPS or other satellite positioning
system to find the relative position of the controller and the
rover plus means such as a compass or successive radio positioning
fixes to find the heading of the rover. Then, using the relative
position of the rover to the controller and the heading of the
controller the bearing from the controller to the heading is
calculated in a specially programmed computer.
Inventors: |
Mohi; Norman; (New York,
NY) ; Hume; James; (Rancho Palos Verdes, CA) ;
Iudge; Kevin; (Palos Verdes Estates, CA) ;
Scislowski; Mark; (Bellflower, CA) |
Correspondence
Address: |
Lawrence S. Cohen, Attorney
Suite 1220
10960 Wilshire Boulevard
Los Angeles
CA
90024
US
|
Family ID: |
46322997 |
Appl. No.: |
11/932705 |
Filed: |
October 31, 2007 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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11259241 |
Oct 25, 2005 |
7308274 |
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11932705 |
Oct 31, 2007 |
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09899612 |
Jul 5, 2001 |
6980813 |
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11259241 |
Oct 25, 2005 |
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10421967 |
Apr 23, 2003 |
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11259241 |
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60218454 |
Jul 14, 2000 |
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Current U.S.
Class: |
455/456.1 ;
342/357.27; 342/357.54; 342/357.72 |
Current CPC
Class: |
H04W 4/029 20180201;
G01C 21/20 20130101; H04W 4/02 20130101; G01S 5/0027 20130101; G01S
5/0009 20130101; G01S 19/16 20130101; G01S 19/51 20130101; H04L
67/18 20130101 |
Class at
Publication: |
455/456.1 ;
342/357.06 |
International
Class: |
H04Q 7/20 20060101
H04Q007/20 |
Claims
1. A system for locating and tracking at least one rover unit from
a mobile controller unit comprising; a mobile controller unit
comprising; a radio position receiver/processor module for
receiving and processing radio position information from a radio
positioning source and being equipped with a means to obtain
heading information of the mobile controller unit; a display; a
rover unit comprising; a radio position receiver/processor module
for receiving and processing radio position information from a
radio positioning source; and a specially programmed computer that
is enabled to obtain and use radio positioning information for the
rover unit and the mobile controller unit from their respective
radio position receiver/processors and heading information for the
mobile controller unit and by using said radio positioning
information of the mobile controller and the rover and heading
information of the mobile controller unit to calculate the bearing
of the rover from the mobile controller unit relative to the mobile
controller unit's heading and to allow upon selection by user,
display on display of the mobile controller unit, a bearing line
from the mobile controller unit to the rover unit relative to the
mobile controller unit's heading and position.
2. The system of claim 1 in which the radio positioning source is
the GPS.
3. The method of claim 1 wherein the radio positioning information
of the mobile controller unit and of the rover is obtained from a
satellite positioning system.
4. The system of claim 1 further wherein the distance from the
mobile controller unit to the rover unit is calculated and the
distance is enabled to be displayed on the mobile controller
unit.
5. The system of claim 1 further wherein in the specially
programmed computer the speed of movement of the rover unit is
calculated and is enabled to be displayed on the mobile controller
unit.
6. The system of claim 1 further wherein in a specially programmed
computer the height of the rover unit relative to the mobile
controller unit is calculated and is enabled to be displayed on the
mobile controller unit.
7. The system of claim 1 further wherein an audible announcement of
the rover unit's bearing direction and distance from the mobile
controller unit is provided.
8. The system of claim 1 wherein the radio position information is
GPS pseudorange information.
9. The system of claim 1 wherein each of the mobile controller unit
and the rover unit also include a wireless communication module
that is part of a radio communication system.
10. The system of claim 1 further wherein the specially programmed
computer is programmed to enable display on a map of the position
of either or both the mobile controller unit and/or the rover
unit.
11. The system of claim 2 wherein the rover unit and the mobile
controller unit use the most common suite of GPS satellites
available.
12. The system of claim 2 wherein the mobile controller unit is
additionally enabled to obtain its heading information from either
or both the GPS and/or a compass which is installed in the mobile
controller unit.
13. The system of claim 9 in which the radio communication system
is a cellular communication system.
14. A method for locating a rover unit from a mobile controller
unit comprising; the mobile controller unit obtaining its radio
position information from a radio positioning source and its
heading; the rover unit obtaining its radio position information
from the radio positioning source. using the radio position
information of the rover unit and the mobile controller unit and
the heading of the mobile controller unit calculating with a
specially programmed computer the bearing of the rover unit
relative to the heading and position of the mobile controller unit;
and displaying a bearing line from the mobile controller unit to
the rover unit relative to the heading and position of the mobile
controller unit.
15. The method of claim 14 further wherein the radio positioning
source is the GPS.
16. The method of claim 14 further comprising obtaining the radio
positioning information of the mobile controller unit and of the
rover from a satellite positioning system.
17. The method of claim 14 further comprising calculating the
distance from the mobile controller unit to the rover unit and
enabling display of the distance on a display on the mobile
controller unit.
18. The method of claim 14 further comprising calculating the speed
of movement of the rover unit and enabling its display on the
mobile controller unit.
19. The method of claim 14 further comprising calculating the
height of the rover unit relative to the mobile controller unit and
enabling its display on the mobile controller unit.
20. The method of claim 14 further comprising providing an audible
announcement of the rover unit's bearing direction and distance
from the mobile controller unit.
21. The method of claim 14 further comprising providing a wireless
communication module that is part of a radio communication
system.
22. The method of claim 15 wherein the GPS radio position
information of the rover unit and the controller unit is obtained
from a most common suite of GPS satellites.
23. The method of claim 15 wherein the radio position information
is GPS pseudorange information.
24. The method of claim 15 wherein the heading of the controller is
obtained by using either or both GPS signals and/or a compass which
is installed in the mobile controller unit.
25. The method of claim 21 in which the radio communication system
is a cellular communication system.
Description
RELATED APPLICATIONS
[0001] This application is a continuation of application Ser. No.
11/259,241 filed on Oct. 25, 2005 which is a continuation of
applications Ser. No. 10/421,967 filed on Apr. 23, 2003 and Ser.
No. 09/899,612 filed on Jul. 5, 2001 now U.S. Pat. No. 6,980,813
which is based on and claims priority from provisional application
Ser. No. 60/218,454 filed on Jul. 14, 2000 and this application
claims priority from the filing date of each of them. The content
of all of the foregoing are incorporated by reference herein.
FIELD OF THE INVENTION
[0002] The invention relates to tracking systems that use a radio
positioning system such as GPS information and wireless radio
communications such as cellular telephone.
BACKGROUND OF THE INVENTION
[0003] There are systems that involve a tracking function performed
by a centralized and stationary unit. Examples of such systems are
shown in U.S. Pat. Nos. 5,594,425; 5,312,618; and 5,043,736. In the
usual case, a target's location information is transmitted to a
monitoring station where the information is processed and actions
taken accordingly. A variation to this is shown in U.S. Pat. No.
5,389,934 which allows the searcher/controller to be mobile; where
in one embodiment the system described is a rover which when called
by a telephone would become active, relay a voice description of
its location and then become inactive; and another embodiment
provides an arrow visual to point in the direction of the target,
but does not take advantage of the specific spatial relationship
calculations used in the present invention
SUMMARY OF THE INVENTION
[0004] The invention resides in a system for locating and tracking
at least one rover unit from a mobile controller unit, where the
mobile controller unit has a radio communication device and a GPS
module and the rover has a radio communication device and a GPS
module, the controller being programmed to receive GPS position
information from the rover unit by way of the radio communication
device and using its own GPS module, calculate the relative
position and bearing of the rover unit, and using a display on the
controller unit showing a relative bearing, distance and altitude
difference, or alternatively, map positions of the controller and
the rover using available map data. The radio communication module
is preferably a cellular telephone. A compass is optionally
provided in the controller to provide a direction indication to the
rover unit.
[0005] The controller unit allows the user to select from displayed
options, a selected rover from a stored directory of rovers to
activate a "FIND" process to obtain the selected rover's GPS
position relative to the controller's GPS position. Also, the rover
unit has a stored history of positions of the rover unit(s) so that
a historical trail of the rover's positions can be sent to the
controller and displayed. Also, selective alarms may be programmed
from the controller, into the rover so that when the rover violates
the alarm limit, the rover automatically signals the controller and
the display shows the rover's selective or absolute position, along
with a signal as to the basis for the alarm. Alarms may be spatial
such as a boundary or radius passed or may activate at a velocity
limit, if the rover starts to move faster that the alarm limit.
Also, the rover may be equipped with a manually activated alarm to
signal the controller.
[0006] Thus the invention has as one use for keeping in touch with
children, periodically determining a child's location or trail of
movement, or alarm limit violation.
[0007] While use of GPS is described above, other radio positioning
systems can be used. These include GALILEO, GNSS, LORAN, GLONASS
and others.
BRIEF DESCRIPTION OF DRAWINGS
[0008] FIG. 1 shows a controller unit operational diagram.
[0009] FIG. 2 shows the rover unit operational diagram.
[0010] FIG. 3 is a flow chart of the controller start
procedure.
[0011] FIG. 4 is a flow chart of the phone start procedure.
[0012] FIG. 5 is a flow chart of the phone memory procedure.
[0013] FIG. 6 is a flow chart of the find memory procedure.
[0014] FIG. 7 is a flow chart of the find procedure.
[0015] FIG. 8 is a flow chart of the find detail procedure.
[0016] FIG. 9 is a flow chart of the process GPS messages
procedure.
[0017] FIG. 10 is a flow chart of the process remote messages
procedure.
[0018] FIG. 11 is a flow chart of the process user input
procedure.
[0019] FIG. 12 is a diagram of an interactive home screen.
[0020] FIG. 13 is a diagram of an interactive phone screen.
[0021] FIG. 14 is a diagram of an interactive manual phone
screen.
[0022] FIG. 15 is a diagram of an interactive find screen.
[0023] FIG. 16 is a diagram of an interactive find detail
screen.
[0024] FIG. 17 is a diagram of an interactive map screen.
DETAILED DESCRIPTION
[0025] The method and apparatus of the present invention is
intended, as a primary application, to enable a person to find a
valuable asset which could be a person, upon command and to high
precision. An exemplary purpose is such as to enable a parent to
find a child.
[0026] The system is comprised of a personal hand held unit
(controller), and a small, compact, and concealable unit (rover).
Each controller unit gives the user the ability to ascertain the
precise location of one or more rover units. In addition to all the
functions and features of the system as described herein, the
system is unique in that each controller unit is a self contained,
mobile unit that can provide to the user all the real-time
information necessary to locate and find any rover.
[0027] The controller unit comprises several primary sub-components
including a radio communication module such as a cellular telephone
module, a radio positioning receiver/processor module such as a GPS
receiver/processor module, an electronic compass, a display, a
computer and associated electronics to operate it. The controller
provides three distinct and interactive and useful functions.
First, the controller unit is a fully functional cellular telephone
with all the typical functions and features. Second, the controller
unit can display it's own position and the position of a rover unit
on a street map. Third, the controller unit provides the relative
location of any rover using the controller unit as the center and
displaying a bearing arrow.
[0028] To operate the system as a locator for a rover, the user
selects the FIND feature on the controller screen. The screen
displays all the pre-programmed rover names and location addresses
such as cellular telephone numbers. The user selects a specific
desired rover and touches GO on the interactive screen. The
controller unit opens communication with the rover unit by cellular
telephone. Using each unit's GPS module, the controller unit
determines it's spatial relative relationship with the rover. In
one display mode, the controller unit displays the rover unit's
location on a street level map, which is capable of zooming and
scrolling. Through continuing data from the rover unit, the rover
unit's position is tracked on the map as GPS information is sent
from the rover unit to the controller unit. In another display, the
relative bearing location of the rover unit relative to the
controller is displayed as an arrow accompanied by information. In
order to obtain use of this arrow feature, a heading for the
controller unit has to be established. Heading can also be
established on an initiation basis by use of a compass without
movement. As is well known, GPS can only provide heading when the
receiver is moving. The arrow displays the bearing of the rover
relative to the controller taking into account the location of the
rover unit, the location of the controller unit, and the heading of
the controller unit based on its GPS and optional digital compass
data. The information displayed along with the arrow preferably
includes controller unit to rover unit distance, rover unit
velocity, rover unit height relative to the controller unit, the
time at which the rover unit's data was ascertained and the rover
unit's coordinate system location such as latitude, longitude and
elevation. The arrow display is used primarily when the controller
unit and the rover unit are relatively close, such as in a
neighborhood, where a directional arrow is useful for the
controller unit user. To implement these displays, the controller
unit receives GPS data, which provides the relative spatial
relationship of the controller unit and the rover unit to high
precision, as good as 1 meter accuracy. In order to achieve this
precise relative spatial relationship, the rover unit and the
controller unit gather and share GPS measurements of pseudorange
and carrier phase from the same GPS satellites. Much of the error
in GPS positioning occurs due to errors that are common to the two
receivers making measurements close in time and space. Therefore,
having knowledge of the two receiver's GPS measurements allows for
removal of the common errors and consequently, a precise
calculation of the relative spatial orientation of the two units as
well as good knowledge of the units' absolute position. Optionally,
the bearing and distance information can be presented in an audible
fashion.
[0029] The methods and apparatus to obtain the high precision
relative position between the rover unit and the mobile controller
unit may be implemented using known technique with GPS. When the
rover and controller are fairly close together, their satellite
suite reception is likely to have great overlap, perhaps even
complete commonality. As they are more separated the commonality
will decrease. In use, the preferred method is that the controller
will query the rover to have the rover send to the controller time
tagged pseudo range and carrier phase measurement on a per
satellite basis, and the controller will only use the information
from those satellites which it is commonly tracking. The
information will be used in the controller unit to compute a
precise directed distance between the controller and the rover.
This information can be displayed on a map on the controller as two
points or location indicators, one for the controller and one for
the rover. Also, the rover position history can be trailed by
time-sequenced locations including prior locations that can be
derived from prior information stored in the rover.
[0030] An optional procedure would be that the controller asks the
rover to send data only for a specified subset of satellites such
as all or some of those, which are being tracked by the
controller.
[0031] Another optional procedure would be that the controller
sends its satellite suite information to the rover and the rover
does the computation and sends back its calculated position using
only the common satellites.
[0032] A further option would be that the controller tells the
rover what satellite it is tracking and the rover sends back
information from the four satellites with the best GDOP.
[0033] Unless expressly stated to be specific, the above
descriptions or, other options, for precise relative position
contemplates that only commonly tracked satellites are used.
[0034] In another embodiment, the controller unit can be sent
historical GPS information for the rover unit, which can be
displayed as a series of points on the display map or using the
controller unit position as a series of points relative to the
controller unit to show a trail of travel of the rover over time
both historically and contemporaneously, while being displayed.
[0035] Another feature is that the controller unit can activate an
audible alarm or chime on the rover unit to facilitate finding the
rover audibly.
[0036] In another feature, preselected limits or boundary
conditions set for the rover unit which when the limit or boundary
condition is violated or exceeded can self-activate a communication
to the controller unit and an alarm signal and automatically
display the relative spatial relationship or map relationship
between the controller unit and the rover unit. As a cellular
telephone, the controller unit can establish voice communication
with the rover unit.
[0037] Should the controller unit not have the necessary map data
for the current positions of the controller unit and the rover
unit, it can access a central database via a cellular radio link
and download the necessary map data and then resume tracking of the
rover unit. Also a normally active alarm button can activate the
system to find the rover on the controller unit.
[0038] In the exemplary application, a parent is in possession of a
controller unit while a rover unit is in the possession of a child.
As described below, the person operating the controller unit can
find the rover unit and sees on the display the relative spatial
location or the absolute map location of the rover unit. Other
capabilities are also available, as described below.
[0039] It is contemplated in the exemplary application that a
parent or equivalent will be in possession of a controller unit,
and rover units will be in the possession of one or more children.
The rover units can be very small, and are preferably concealed, as
it is a purpose of the invention to allow locating of the child
even in the event of foul play, although much of it's use
contemplates merely checking up on the child, or finding a lost
child.
[0040] To be operable at least one controller unit and at least one
rover unit is needed. There may be a plurality of controller units,
such as for two or more persons who desire to track rover units.
There will be as many rover units as needed for the persons to be
tracked, such as one or more children. Each controller unit can
track all of the rover units, or if desired only selected rover
units. A set-up procedure is implemented in which the cellular
numbers of each rover unit are programmed into the controller unit,
along with an identity code, for automatic dialing. Also, each
rover unit is programmed for dialing the controller unit, or if
there are more than one controller units, for dialing them
selectively or automatically in a selected order or simultaneously.
Notably, the basic system does not allow for or need any steps to
be taken at the rover unit to operate the system (except in the
case of the "alarm" procedure which will be explained). Therefore,
the cellular transceiver of the rover unit is activated by commands
from the cellular transceiver of the controller unit.
[0041] FIGS. 1 and 2 show general block diagrams for the controller
and the rover unit modules and their interrelationship. The
controller unit 10 has a GPS receiver module 12, a cellular
transceiver module 14 a display module 16 and control electronics
module including a specially programmed CPU 18 and a digital
compass 20. The display 16 is preferably an interactive display
such that various command options can be displayed and activated by
touching the display screen. Software modules include the Operation
Mode Module 22, the Graphical Mode Module 24, and the Message To
Rover Module 26. Outputs of the CPU 18 include the Position Module
28 which operates the Search Screen Module 30 and the Mapping
Module 32 which operates the Map Screen Module 34.
[0042] The rover unit 36 has a GPS receiver 38, a cellular
transceiver 40, and a control electronics module including a
specially programmed CPU 42. Use of the apparatus and method is
best understood with reference to the flow diagrams of FIGS. 3-11
as well as the screen diagrams of FIGS. 12-15.
[0043] Referring to FIG. 3, the controller unit is activated by a
power-on step indicated as START 50. This causes the display 52 to
open. As shown on FIG. 12, this display, called the home screen 54
has buttons for PHONE 56, FIND 58, EXIT 60, and HOME 62 (which
should be muted on the home screen 12). The user selects one of
these as at step 64 on FIG. 3. PHONE selection allows use as at 68
as a conventional voice cell phone between the controller unit and
a selected rover unit or as a general use cellular phone. EXIT
selection turns off the controller unit as at 70. FIND selection
begins the find procedure as at 72.
[0044] FIG. 4 shows the procedure if the PHONE button 56 (FIG. 12)
was touched. This opens the PHONE screen 74, FIG. 13, which has a
scrollable list of preprogrammed numbers 76, an Up/DOWN scrolling
button 78, a memory button 80, for adding or deleting numbers, a
MANUAL button 82 for going to the screen of FIG. 14 for normal
telephone use, and a home button 84 to return to the HOME screen,
FIG. 12. If the manual button 82 is touched, the screen 90 of FIG.
14 appears. It has a touch pad 92, a RECALL button 94, a CLEAR
button 96, a SEND button 98, END button 100 and HOME button 102.
The screens of FIGS. 13 and 14 are for programming numbers (FIG.
13) and using the controller unit as a voice cellular telephone
(FIG. 14). The use of the buttons on FIG. 14 are conventional to
cellular telephones.
[0045] At FIGS. 3 and 12, if the user selects FIND, the find
procedure of the invention is begun. A find screen 110 as shown at
FIG. 15, appears on the display. This screen has a scrollable NAME
window 112, which may be scrolled vertically to select a rover or
horizontally as shown at 114 to display preprogrammed alarm
criteria for each rover such as ZONE STATUS and ZONE RADIUS.
[0046] The GO button 116 activates the FIND DETAIL screen of FIG.
16. The ACTIVATE ZONE button 118 allows programming and activating
a zone radius. The zone radius will be displayed at ZONE RADIUS and
communicated and stored in the rover unit, which is programmed to
automatically call the controller unit and sound and/or display an
alarm if the zone radius is passed. ZONE STATUS shows whether the
rover is inside or outside the displayed ZONE RADIUS. The MEMORY
button 120 stores a zone radius selection. The HOME button 122,
returns the display to the HOME screen, FIG. 12. Touching the
MEMORY button 120 brings up a screen (not shown) to enable
programming the functions of the FIND screen 110. This procedure is
shown in the flow diagram of FIG. 6, FIND MEMORY.
[0047] With the FIND screen 110, displayed, the procedure shown in
FIG. 7 is implemented. The scrollable NAME window 112 has a list of
names and phone numbers that have been pre-programmed. The user now
selects HOME 122, MEMORY 120, or GO, 116. If the MEMORY button 120
is touched, the FIND MEMORY procedure begins (FIG. 6) which allows
programming or deleting on the NAME window 112.
[0048] If the GO button 116 has been touched, the FIND DETAIL
procedure of FIG. 8 is begun and the FIND DETAIL screen 130, FIG.
16, is displayed. As shown in FIG. 8, the FIND DETAIL procedure
starts at 132 from the prior touching of the GO button 116 of the
FIND screen of FIG. 15 to set up the FIND DETAIL screen 130 of FIG.
16.
[0049] The FIND DETAIL screen 130 has an identification window 134,
a location and data window 136, a geographical coordinates window
138, a status window 140, and buttons, HOME, 142, CENTER, 144,
BREAD CRUMB, 146, STORE, 148, STOP 150 and MAP, 152.
[0050] Within the location data window 136, a reserve 154 shows a
bearing arrow 156 which operates via the CENTER button 144 for
spatial relative positioning of the rover to the controller, in
which the arrow 156 shows the bearing of the rover unit relative to
the controller unit. This is accomplished using the electronic
compass module (FIG. 1) or radio position information such as GPS
information to determine its heading.
[0051] Touching the HOME button 142, returns to screen FIG. 12.
Touching the CENTER button 144 activates display of the spatial
relative position bearing arrow 156, using the electronic compass
and the GPS positions of the controller and the rover.
[0052] The BREAD CRUMB button 146 is used with the MAP button 152
which will activate the MAP screen FIG. 17 and will show the
positions of the controller and the rover on a map, and with the
BREAD CRUMB feature activated, will show a number of prior GPS
positions of the rover and will continue to display sequential
periodic positions of the rover.
[0053] Although particular embodiments of the invention have been
described and illustrated herein, it is recognized that
modifications and variations may readily occur to those skilled in
the art, and consequently it is intended that the claims be
interpreted to cover such modifications and equivalents.
* * * * *