The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Oct. 26, 2010
Filed:
Dec. 16, 2008
Shunguang Wu, Robbinsville, NJ (US);
Suin-chuon Mau, Princeton Junction, NJ (US);
James Kaba, Millstone, NJ (US);
Tao Zhao, Sunnyvale, CA (US);
Shunguang Wu, Robbinsville, NJ (US);
Suin-Chuon Mau, Princeton Junction, NJ (US);
James Kaba, Millstone, NJ (US);
Tao Zhao, Sunnyvale, CA (US);
Sarnoff Corporation, Princeton, NJ (US);
Abstract
A computer implemented method for fusing position and range measurements to determine the position of at least one node of a plurality of distributed nodes is disclosed. The method includes (a) measuring the position of at least one node; (b) computing an estimate of the position of the at least one node based on the measured position using a filter that takes account of past estimates of position; (c) receiving an estimate of position of at least a second node; (d) measuring inter-node range to the at least a second node; (e) combining the measured inter-node range with the estimate of position of at least a second node using a second filter that takes account of past estimates of position to generate a refined estimate of the position of the at least one node; and (f) when a change in the position of the at least one node is above a predetermined threshold value, setting the refined estimate of the position of the at least one node to the estimate of the position of the at least one node and repeating (c), (e), and (f).