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公开(公告)号：US20180252820A1
公开(公告)日：2018-09-06
申请号：US15758418
申请日：2016-09-06
摘要： The present group of inventions relates to methods and systems for positioning underwater objects, and more particularly to methods and systems in which satellite signals are received by receivers disposed on sonar buoys, the coordinates of the sonar buoys are determined by means of computation modules on the sonar buoys, location data and identification data are transmitted in the form of sonar signals emitted by transmitters on the sonar buoys, the signals are received with the aid of a receiver disposed on an underwater object, and the coordinates of the underwater object are determined according to the time delay of receipt of the sonar signals from the sonar buoys, the location of which is known. The present solution can be used in simultaneously determining the geographical position of an unlimited number of mobile underwater objects, remotely operated underwater vehicles, divers, marine animals, etc. in motion. According to the invention, signals from the aforementioned sonar buoys are encoded in the form of periodic signals tethered to GPS/GLONASS clocks, all transmitters of the sonar signals are disposed at the same depth, and during decoding of the signals from the sonar buoys, direct signals from the sonar buoys are isolated from reflected signals. The system implements the aforementioned method. The achieved technical result is more accurate positioning of the underwater objects.
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公开(公告)号：US09927512B2
公开(公告)日：2018-03-27
申请号：US14152665
申请日：2014-01-10
发明人： Anthony Rowe , Patrick Lazik
CPC分类号： G01S5/18 , G01S1/725 , G01S1/74 , G01S5/0036 , G01S5/28
摘要： An indoor ultrasonic location tracking system that can utilize standard audio speakers to provide indoor ranging information to modern mobile devices like smartphones and tablets. The method uses a communication scheme based on linearly increasing frequency modulated chirps in the audio bandwidth just above the human hearing frequency range where mobile devices are still sensitive. The method uses gradual frequency and amplitude changes that minimize human perceivable (psychoacoustic) artifacts derived from the non-ideal impulse response of audio speakers. Chirps also benefit from Pulse Compression, which improves ranging resolution and resilience to both Doppler shifts and multi-path propagation that plague indoor environments. The method supports the decoding of multiple unique identifier packets simultaneously. A Time-Difference-of-Arrival pseudo-ranging technique allows for localization without explicit synchronization with the broadcasting infrastructure. An alternate received signal strength indicator based localization technique allows less accurate localization at the benefit of sparser transmission infrastructure.
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公开(公告)号：US20180081372A1
公开(公告)日：2018-03-22
申请号：US15704404
申请日：2017-09-14
CPC分类号： G05D1/0276 , G01S3/8034 , G01S3/8083 , G01S5/0263 , G01S5/28 , G01S11/16 , G05D1/0088 , G05D1/0223 , G05D1/0255 , G05D1/028 , G05D2201/0216
摘要： A conveying system having automatic tethering function comprises an electrically driven mobile conveying device and a portable transmitting device (“beacon”). The conveying device automatically follows the transmitting device at a predetermined distance. The conveying and transmitting devices are coupled together via a radio link and ultrasound. The transmitting device transmits a radio, and, in time correlation, an ultrasound signal. The ultrasound signal is received by the conveying device in a spatially resolved manner, and an automatic tethering function is implemented based on the radio and ultrasound signals.
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公开(公告)号：US09769552B2
公开(公告)日：2017-09-19
申请号：US14463596
申请日：2014-08-19
申请人： Apple Inc.
摘要： An audio capture device generates two microphone beam patterns with different directivity indices. The audio capture device may determine the position of a user relative to the audio capture device based on sounds detected by the separate microphone beam patterns. Accordingly, the audio capture device allows the determination of the position of the user without the complexity and cost of using a dedicated listening device and/or a camera. In particular, the audio capture device does not need to be immediately proximate to the user (e.g., held near the ear of the user) and may be used to immediately provide other services to the user (e.g., audio/video playback, telephony functions, etc.). The position of the user may include the measured distance between the audio capture device and the user, the proximity of the user relative to another device/object, and/or the orientation of the user relative to the audio capture device.
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公开(公告)号：US20160029141A1
公开(公告)日：2016-01-28
申请号：US14775058
申请日：2014-03-18
发明人： Aki Sakari HARMA
CPC分类号： H04S7/301 , G01S5/28 , H04S2400/01 , H04S2400/11
摘要： An apparatus comprises a receiver (203) receiving a multichannel signal comprising two channels for rendering by a first speaker (101) at a first position and a second speaker (103) at a second position respectively. A first signal generator (207) generates a correlated signal and a second signal generator (209) generates an uncorrelated signal from the multichannel signal, the signals comprising respectively correlated and uncorrelated signal components for the channels. A receiver (201) receives a microphone signal from the microphone (107). A first correlator (213) determines a first correlation signal from a correlation of the microphone signal and the correlated signal, and a second correlator (215) determines a second correlation signal from a correlation of the microphone signal and the uncorrelated signal. A position estimator (219) estimates a position of the microphone from the first and second correlation signals. For example, timings of peaks in the correlations signals may be used to determine propagation delays and thus distances from the speakers (101, 103).
摘要翻译： 一种装置，包括：接收器（203），接收包括两个通道的多通道信号，所述通道分别由第一位置处的第一扬声器（101）和位于第二位置的第二扬声器（103）渲染。 第一信号发生器（207）产生相关信号，第二信号发生器（209）从多声道信号产生不相关的信号，所述信号分别包括用于信道的相关和不相关的信号分量。 接收器（201）从麦克风（107）接收麦克风信号。 第一相关器（213）根据麦克风信号和相关信号的相关性确定第一相关信号，第二相关器（215）根据麦克风信号和不相关信号的相关性确定第二相关信号。 位置估计器（219）从第一和第二相关信号估计麦克风的位置。 例如，可以使用相关信号中的峰值的定时来确定传播延迟，从而确定与扬声器（101,103）的距离。
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公开(公告)号：US09177556B2
公开(公告)日：2015-11-03
申请号：US13909520
申请日：2013-06-04
申请人： FUJI XEROX CO., LTD.
发明人： Yohei Nishino , Haruo Harada , Hirohito Yoneyama , Kei Shimotani , Akira Fujii , Kiyoshi Iida
摘要： A sound analysis apparatus includes a sound information obtaining section chat obtains information relating to a sound acquired by a sound acquiring section that acquires the sound and distinguishes a spoken voice of a wearer from a spoken voice of another person, a phase difference deriving section that derives a relationship between a frequency and a phase difference with respect to the sound acquired by the plural sound acquiring sections, a dispersion deriving section that derives a dispersion that is the level of irregularity of the derived phase difference, and a distance deriving section that derives a distance between the wearer and the other person using a first dispersion derived in a case where the sound is distinguished as the spoken voice of the other person and a second dispersion derived in a case where the sound is distinguished as the spoken voice of the wearer.
摘要翻译： 声音分析装置包括声音信息获取部分聊天，获得与声音获取部分获取的声音相关的信息，该声音获取部分获取声音并将穿戴者的口语与其他人的口语区分开;相位差导出部分， 相对于由多个声音获取部获取的声音的频率和相位差之间的关系，导出作为导出的相位差的不规则度的色散的色散导出部和导出相位差的距离导出部 在将声音区分为另一人的口语的情况下导出的第一色散和在声音被区分为佩戴者的口语的情况下导出的第二色散中，使用者和另一人之间的距离。
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7.发明申请System and Methods for Non-Parametric Technique Based Geolocation and Cognitive Sensor Activation 有权基于非参数技术的地理位置和认知传感器激活的系统和方法公开(公告)号：US20150009072A1
公开(公告)日：2015-01-08
申请号：US14014988
申请日：2013-08-30
申请人： ROCKWELL COLLINS INC
发明人： Yogesh Anil Nijsure
IPC分类号： G01S3/14
CPC分类号： G01S5/0215 , G01S5/0278 , G01S5/28
摘要： The present invention relates to a geolocation system and method for a multi-path environment. The geolocation system comprises one or more emitters (201a . . . 201n), one or more sensors (202a . . . 202n) comprising at least one processor. A first processor (204) estimates angle of arrival (AOA) and time of arrival (TOA) from the signals received from said one or more emitters (201a . . . 201n). A second processor (205) determines clusters based on the (AOA) and (TOA) data. The system also comprises a central node (207) in communication with at least one sensor (202a . . . 202n) and configured to estimate geolocation of one or more emitters (201a . . . 201n) wherein, said second processor (205) clusters data for the one or more emitters (201a . . . 201n) by executing a non-parametric Bayesian technique and said central node (207) utilizes hybrid angle of arrival-time difference of arrival (AOA-TDOA) technique to determine geolocation of each of the emitters (201a . . . 201n).
摘要翻译： 本发明涉及一种用于多路径环境的地理定位系统和方法。 地理定位系统包括一个或多个发射器（201a ... 201n），包括至少一个处理器的一个或多个传感器（202a ... 202n）。 第一处理器（204）根据从所述一个或多个发射器（201a ... 201n）接收的信号估计到达角（AOA）和到达时间（TOA）。 第二处理器（205）基于（AOA）和（TOA）数据来确定簇。 该系统还包括与至少一个传感器（202a ... 202n）通信的中央节点（207），并被配置为估计一个或多个发射器（201a ... 201n）的地理位置，其中，所述第二处理器（205） 通过执行非参数贝叶斯技术对所述一个或多个发射器（201a ... 201n）的数据和所述中心节点（207）利用到达时间到达差异（AOA-TDOA）技术的混合角来确定每个 的发射体（201a ... 201n）。
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8.发明授权公开(公告)号：US08861311B2
公开(公告)日：2014-10-14
申请号：US13092252
申请日：2011-04-22
申请人： Akos Ledeczi , Peter Volgyesi , Janos Sallai
发明人： Akos Ledeczi , Peter Volgyesi , Janos Sallai
IPC分类号： G01S3/80
CPC分类号： G01S5/22 , G01S5/28 , G01S13/46 , G01S2013/466
摘要： Systems and methods for estimating projectile trajectory and projectile source location are provided. A method for estimating location information associated with a supersonic projectile propelled from a source includes recording sound at a first location using a single microphone during travel of the supersonic projectile to produce an acoustic recording. The method further includes estimating a miss distance between the first location and a trajectory of the projectile based on the shockwave length. Locating a projectile source includes concurrently recording sound at multiple locations and generating data sets associated with the locations, each of the plurality of data sets including a miss distance, a range, a time of arrival of a muzzle blast from the source, and a time of arrival of a shockwave produced by the projectile. Additionally, the method includes calculating an approximate location of the source at each of the locations based on the data sets.
摘要翻译： 提供了用于估计弹丸轨迹和射弹源位置的系统和方法。 用于估计与从源起推进的超音速弹射相关联的位置信息的方法包括在超声射弹的行进期间使用单个麦克风在第一位置记录声音以产生声学记录。 该方法还包括基于冲击波长度来估计第一位置和射弹轨迹之间的未命中距离。 定位射弹源包括同时在多个位置记录声音并产生与所述位置相关联的数据集，所述多个数据集中的每一个包括未知距离，范围，来自所述源的枪口爆炸的到达时间，以及时间 由弹丸产生的冲击波的到达。 另外，该方法包括基于数据集计算每个位置处的源的近似位置。
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9.发明申请SOUND ANALYSIS APPARATUS, SOUND ANALYSIS SYSTEM, AND NON-TRANSITORY COMPUTER READABLE MEDIUM 有权声音分析设备，声音分析系统和非终端计算机可读介质公开(公告)号：US20140108011A1
公开(公告)日：2014-04-17
申请号：US13909520
申请日：2013-06-04
申请人： FUJI XEROX CO., LTD.
发明人： Yohei NISHINO , Haruo HARADA , Hirohito YONEYAMA , Kei SHIMOTANI , Akira FUJII , Kiyoshi IIDA
IPC分类号： G10L17/00
摘要： A sound analysis apparatus includes a sound information obtaining section chat obtains information relating to a sound acquired by a sound acquiring section that acquires the sound and distinguishes a spoken voice of a wearer from a spoken voice of another person, a phase difference deriving section that derives a relationship between a frequency and a phase difference with respect to the sound acquired by the plural sound acquiring sections, a dispersion deriving section that derives a dispersion that is the level of irregularity of the derived phase difference, and a distance deriving section that derives a distance between the wearer and the other person using a first dispersion derived in a case where the sound is distinguished as the spoken voice of the other person and a second dispersion derived in a case where the sound is distinguished as the spoken voice of the wearer.
摘要翻译： 声音分析装置包括声音信息获取部分聊天，获得与声音获取部分获取的声音相关的信息，该声音获取部分获取声音并将穿戴者的口语与其他人的口语区分开;相位差导出部分， 相对于由多个声音获取部获取的声音的频率和相位差之间的关系，导出作为导出的相位差的不规则度的色散的色散导出部和导出相位差的距离导出部 在将声音区分为另一人的口语的情况下导出的第一色散和在声音被区分为佩戴者的口语的情况下导出的第二色散中，使用者和另一人之间的距离。
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公开(公告)号：US08174932B2
公开(公告)日：2012-05-08
申请号：US12482773
申请日：2009-06-11
申请人： Bowon Lee , Kar-Han Tan
发明人： Bowon Lee , Kar-Han Tan
IPC分类号： G01S3/80
CPC分类号： G01S5/28
摘要： Various embodiments of the present invention are directed to systems and methods for multimodal object localization using one or more depth sensors and two or more microphones. In one aspect, a method comprises capturing three-dimensional images of a region of space wherein the object is located. The images comprise three-dimensional depth sensor observations. The method collects ambient audio generated by the object, providing acoustic observation regarding the ambient audio time difference of arrival at the audio sensors. The method determines a coordinate location of the object corresponding to the maximum of a joint probability distribution characterizing the probability of the acoustic observations emanating from each coordinate location in the region of space and the probability of each coordinate location in the region of space given depth sensor observations.
摘要翻译： 本发明的各种实施例涉及使用一个或多个深度传感器和两个或更多个麦克风的多模态对象定位的系统和方法。 一方面，一种方法包括捕获物体所位于的空间区域的三维图像。 图像包括三维深度传感器观察。 该方法收集由对象产生的环境音频，提供关于到达音频传感器的环境音频时差的声学观察。 该方法确定对应于对应于联合概率分布的最大值的对象的坐标位置，其表征从空间区域中的每个坐标位置发出的声学观察的概率和给定深度传感器的空间区域中的每个坐标位置的概率 观察。
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