Method and apparatus for determining the location of a static object

Abstract

A method and apparatus for determining the location of an object with a sensor positions an instrument at a first location, controls the instrument to transmit a first omnidirectional signal during a first time, and determines a first distance from the instrument to the static object using the first omnidirectional signal. The method and apparatus repeats this process in a serial manner at two other locations, and uses the respective distances from each location to determine the location of the object. Other embodiments are disclosed.

What is claimed is: 
     
       1. A method of determining the location of an object using an instrument having a wireless transceiver receiver and a processor, the object including a sensor, the method comprising:
 controlling the instrument to make a plurality of successive readings at different reading locations, wherein, for each reading location, the processor receives, via the wireless transceiver receiver, a signal from the sensor and makes a characterization of the received signal using a receive signal strength of the received signal; 
 determining, by the processor, for each reading location, a circle centered at the reading location and having a radius equal to a maximum effective distance within which the sensor can be detected by the instrument such that all such circles have the same radius; 
 determining, by the processor, a candidate area for the location of the object based on an intersection of the circles; and 
 making, by the processor, a characterization of at least one of the signals received from the sensor; and  
 determining, by the processor, a point within the candidate area based on relative receive signal strength measurements from a plurality of reading locations a location within the candidate area based on said characterization. 
 
     
     
       2. The method of  claim 1 , wherein controlling the instrument to make the plurality of successive readings at the different reading locations comprises:
 positioning the instrument at a first location; 
 controlling the instrument to transmit a first omnidirectional signal during a first time; 
 making a first characterization for a first signal received from the sensor reading at the first location at a first time; 
 changing the position of the instrument to a second location; 
 controlling the instrument to transmit a second omnidirectional signal during a second time; 
 making a second characterization for a second signal received from the sensor reading at the second location at a second time; 
 changing the position of the instrument to a third location; and  
 controlling the instrument to transmit a third omnidirectional signal during a third time; and 
 making a third characterization for a third signal received from the sensor reading at the third location at a third time; 
 the first time being before the second time, the second time being before the third time. 
 
     
     
       3. The method of  claim 1 , wherein the instrument comprises a mobile device. 
     
     
       4. The method of  claim 3 , wherein the mobile device comprises a portable computer, tablet, or smartphone. 
     
     
       5. The method of  claim 1 , wherein the instrument is on a movable platform, and wherein controlling the instrument to make a plurality of successive readings at a plurality of different reading locations comprises:
 controlling the movable platform to move to the plurality of different reading locations. 
 
     
     
       6. The method of  claim 1 , wherein the sensor comprises an RFID sensor. 
     
     
       7. The method of  claim 1 , further comprising:
 determining whether a sufficient number of readings have been taken for satisfactory location of the object; and 
 upon determining that one or more additional readings are needed, controlling the instrument to make at least one additional reading, each such additional reading being at a different reading location than prior readings. 
 
     
     
       8. The method of  claim 7 , wherein determining whether a sufficient number of readings have been taken for satisfactory location of the object comprises:
 determining whether the candidate area from previous readings is sufficiently small to identify the location of the object. 
 
     
     
       9. The method of  claim 7 , wherein:
 each additional reading is taken from a different additional reading location at which a circle having a radius equal to a maximum effective distance within which the sensor can be detected by the instrument overlaps a portion of the candidate area from previous readings. 
 
     
     
       10. The method of  claim 9 , wherein each additional reading is taken from a different additional reading location at which a circle having a radius equal to a maximum effective distance within which the sensor can be detected by the instrument overlaps approximately half of the candidate area from previous readings. 
     
     
       11. The method of  claim 1 , wherein the instrument includes a wireless transmitter, and wherein making the plurality of successive readings at the different reading locations further comprises:
 transmitting a detection signal at each of the different reading locations via the wireless transceiver transmitter. 
 
     
     
       12. The method of  claim 1 , wherein making the plurality of successive readings at the different reading locations further comprises:
 determining and recording location information for the instrument at each different reading location. 
 
     
     
       13. An instrument for determining the location of an object, the object including a sensor, the instrument comprising:
 a wireless transceiver receiver; and 
 a computer system including a processor and memory storing program code that, when executed by the processor, causes the processor to perform computer processes comprising: 
 making a plurality of successive readings at different reading locations, wherein, for each reading location, the processor receives a signal from the sensor via the wireless transceiver and makes a characterization of the received signal using a receive signal strength of the received signal receiver; 
 determining, for each reading location, a circle centered at the reading location and having a radius equal to a maximum effective distance within which the sensor can be detected by the instrument such that all such circles have the same radius; 
 determining a candidate area for the location of the object based on an intersection of the circles; and 
 making a characterization of at least one of the signals received from the sensor, and  
 determining a point within the candidate area based on relative receive signal strength measurements from a plurality of reading locations a location within the candidate area based on said characterization. 
 
     
     
       14. The instrument of  claim 13 , further comprising a wireless transmitter, wherein making the plurality of successive readings at the different reading locations further comprises:
 transmitting a detection signal at each of the different reading locations via the wireless transceiver transmitter. 
 
     
     
       15. The instrument of  claim 13 , wherein making the plurality of successive readings at the different reading locations further comprises:
 determining and recording location information for the instrument at each different reading location. 
 
     
     
       16. The instrument of  claim 13 , wherein the computer processes further comprising comprise:
 determining whether a sufficient number of readings have been taken for satisfactory location of the object; and 
 upon determining that one or more additional readings are needed, controlling the instrument to make at least one additional reading, each such additional reading being at a different reading location than prior readings. 
 
     
     
       17. The instrument of  claim 16 , wherein determining whether a sufficient number of readings have been taken for satisfactory location of the object comprises:
 determining whether the candidate area from previous readings is sufficiently small to identify the location of the object. 
 
     
     
       18. The method instrument of  claim 16 , wherein each additional reading is taken from a different additional reading location at which a circle having a radius equal to a maximum effective distance within which the sensor can be detected by the instrument overlaps a portion of the candidate area from previous readings. 
     
     
       19. The instrument of  claim 18 , wherein each additional reading is taken from a different additional reading location at which a circle having a radius equal to a maximum effective distance within which the sensor can be detected by the instrument overlaps approximately half of the candidate area from previous readings. 
     
     
       20. The method of  claim 1 , wherein the sensor is an active sensor and wherein the signals received from the sensor are actively transmitted signals.  
     
     
       21. The method of  claim 11 , wherein the detection signal is an omnidirectional signal.  
     
     
       22. The method of  claim 1 , wherein the characterization is based on receive signal strength of the at least one received signal.  
     
     
       23. The method of  claim 1 , wherein the characterization is based on response time of the at least one received signal.  
     
     
       24. The method of  claim 1 , wherein determining a location within the candidate area is based on characterizations from a plurality of reading locations.  
     
     
       25. The instrument of  claim 13 , wherein the instrument comprises a mobile device.  
     
     
       26. The instrument of  claim 25 , wherein the mobile device comprises a portable computer, tablet, or smartphone.  
     
     
       27. The instrument of  claim 13 , wherein the sensor is an active sensor and wherein the signals received from the sensor are actively transmitted signals.  
     
     
       28. The instrument of  claim 14 , wherein the detection signal is an omnidirectional signal.  
     
     
       29. The instrument of  claim 13 , wherein the characterization is based on receive signal strength of the at least one received signal.  
     
     
       30. The instrument of  claim 13 , wherein the characterization is based on response time of the at least one received signal.  
     
     
       31. The instrument of  claim 13 , wherein determining a location within the candidate area is based on characterizations from a plurality of reading locations.