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1. 发明授权

US09385816B2 Methods and arrangements for frequency shift communications by undersampling 有权
标题翻译：通过欠采样的频移通信的方法和布置
公开(公告)号：US09385816B2
公开(公告)日：2016-07-05
申请号：US13977696
申请日：2011-11-14
申请人： Richard D. Roberts , Mathijs C. Walma , Praveen Gopalakrishnan
发明人： Richard D. Roberts , Mathijs C. Walma , Praveen Gopalakrishnan
IPC分类号： H04B10/556 , H04L27/10 , H04L25/49 , H04L27/02 , H04L27/12 , H04L27/144 , H04B10/116 , H04B10/50 , H04B10/524 , H04L27/20 , H04L27/22
CPC分类号： H04B10/116 , H04B10/502 , H04B10/524 , H04B10/5563 , H04B10/60 , H04L25/4902 , H04L27/02 , H04L27/10 , H04L27/12 , H04L27/144 , H04L27/2096 , H04L27/223
摘要： Embodiments may provide a way of communicating via an electromagnetic radiator, or light source, that can be amplitude modulated such as light emitting diode (LED) lighting and receivers or detectors that can determine data from light received from the amplitude modulated electromagnetic radiator. Some embodiments may provide a method of transmitting/encoding data via modulated LED lighting and other embodiments may provide receiving/decoding data from the modulated LED lighting by means of a device with a low sampling frequency such as a relatively inexpensive camera (as might be found in a smart phone). Some embodiments are intended for indoor navigation via photogrammetry (i.e., image processing) using self-identifying LED light anchors. In many embodiments, the data signal may be communicated via the light source at amplitude modulating frequencies such that the resulting flicker is not perceivable to the human eye.
摘要翻译：实施例可以提供通过可以被调幅的电磁辐射器或光源（例如发光二极管（LED）照明）和可以从从调幅电磁辐射器接收的光确定数据的接收器或检测器进行通信的方式。一些实施例可以提供通过经调制的LED照明来发送/编码数据的方法，并且其他实施例可以通过具有低采样频率的设备（例如相对便宜的照相机）提供来自经调制的LED照明的数据的接收/解码在智能手机中）。一些实施例旨在通过使用自识别LED光锚的摄影测量（即，图像处理）进行室内导航。在许多实施例中，可以以幅度调制频率通过光源传送数据信号，使得所得到的闪烁对人眼不能察觉。

2. 发明申请

US20140308048A1 METHODS AND ARRANGEMENTS FOR FREQUENCY SHIFT COMMUNICATIONS BY UNDERSAMPLING 有权
标题翻译：频谱移动通信的方法和安排
公开(公告)号：US20140308048A1
公开(公告)日：2014-10-16
申请号：US13977696
申请日：2011-11-14
申请人： Richard D. Roberts , Mathijs C. Walma , Praveen Gopalakrishnan
发明人： Richard D. Roberts , Mathijs C. Walma , Praveen Gopalakrishnan
IPC分类号： H04B10/556 , H04B10/524 , H04B10/50
CPC分类号： H04B10/116 , H04B10/502 , H04B10/524 , H04B10/5563 , H04B10/60 , H04L25/4902 , H04L27/02 , H04L27/10 , H04L27/12 , H04L27/144 , H04L27/2096 , H04L27/223
摘要： Embodiments may provide a way of communicating via an electromagnetic radiator, or light source, that can be amplitude modulated such as light emitting diode (LED) lighting and receivers or detectors that can determine data from light received from the amplitude modulated electromagnetic radiator. Some embodiments may provide a method of transmitting/encoding data via modulated LED lighting and other embodiments may provide receiving/decoding data from the modulated LED lighting by means of a device with a low sampling frequency such as a relatively inexpensive camera (as might be found in a smart phone). Some embodiments are intended for indoor navigation via photogrammetry (i.e., image processing) using self-identifying LED light anchors. In many embodiments, the data signal may be communicated via the light source at amplitude modulating frequencies such that the resulting flicker is not perceivable to the human eye.
摘要翻译：实施例可以提供通过可以被调幅的电磁辐射器或光源（例如发光二极管（LED）照明）和可以从从调幅电磁辐射器接收的光确定数据的接收器或检测器进行通信的方式。一些实施例可以提供通过经调制的LED照明来发送/编码数据的方法，并且其他实施例可以通过具有低采样频率的设备（例如相对便宜的照相机）提供来自经调制的LED照明的数据的接收/解码在智能手机中）。一些实施例旨在通过使用自识别LED光锚的摄影测量（即，图像处理）进行室内导航。在许多实施例中，可以以幅度调制频率通过光源传送数据信号，使得所得到的闪烁对人眼不能察觉。

3. 发明授权

US09148250B2 Methods and arrangements for error correction in decoding data from an electromagnetic radiator 有权
标题翻译：解码来自电磁辐射器的数据的纠错方法和装置
公开(公告)号：US09148250B2
公开(公告)日：2015-09-29
申请号：US13539354
申请日：2012-06-30
申请人： Richard D. Roberts , Praveen Gopalakrishnan , Mathys C. Walma , Lei T. Yang
发明人： Richard D. Roberts , Praveen Gopalakrishnan , Mathys C. Walma , Lei T. Yang
IPC分类号： H03M13/00 , H04L1/00 , H03M13/09
CPC分类号： H04L1/0045 , H03M13/09
摘要： Embodiments may communicate via an electromagnetic radiator, or light source, that can be amplitude modulated such as light emitting diode lighting via receivers that can determine data from light received from the radiator. Some embodiments decode data of a packet transmitted from modulated lighting by means of a device with a low sampling frequency such as a relatively inexpensive camera. Many embodiments determine locations of start frame delimiters in packets. Several embodiments implement repeat decoding on packets of the same data to reduce packet error rates. Some embodiments are intended for indoor navigation via photogrammetry using self-identifying light anchors. In many embodiments, the data signal may be communicated via the light source at frequencies causing flicker that is not perceivable to the human eye.
摘要翻译：实施例可以经由可以通过接收器进行幅度调制的电磁辐射器（例如发光二极管照明）进行通信，所述接收器可以从从散热器接收的光确定数据。一些实施例通过具有低采样频率的设备（例如相对便宜的照相机）解码从调制照明发射的分组的数据。许多实施例确定分组中起始帧分隔符的位置。几个实施例对相同数据的分组实施重复解码以减少分组错误率。一些实施例旨在通过使用自识别光锚的摄影测量来进行室内导航。在许多实施例中，数据信号可以以导致人眼不可感知的闪烁的频率经由光源传送。

4. 发明授权

US08411258B2 Systems and methods for determining position using light sources 有权
标题翻译：使用光源确定位置的系统和方法
公开(公告)号：US08411258B2
公开(公告)日：2013-04-02
申请号：US12975451
申请日：2010-12-22
申请人： Richard D. Roberts , Praveen Gopalakrishnan
发明人： Richard D. Roberts , Praveen Gopalakrishnan
IPC分类号： G01C3/08
CPC分类号： G01S5/16
摘要： A positioning system and method for determining a coordinate of an object may comprise a positioning transmitter system and a positioning receiver system. The positioning transmitter system includes at least four light sources and a master anchor to modulate the light sources to emit modulated light signals each having a modulation frequency. The positioning receiver system comprises a lens to focus the light signals onto an optical sensor, an envelope detector to receive a signal from the optical sensors and provide output signals corresponding to the modulation frequency, and positioning detection circuitry. The positioning detection circuitry receives calibration data; determines at least four phase difference of arrival (PDOA) pairs based on the output signals from the envelope detector; determines at least four phase corrected PDOA pairs based on the calibration data and the PDOA pairs; determines at least four linear distance differences based on the phase corrected PDOA pairs; and determines the coordinate of the object based on the linear distance differences and the calibration data.
摘要翻译：用于确定对象的坐标的定位系统和方法可以包括定位发射机系统和定位接收机系统。定位发射机系统包括至少四个光源和主锚，以调制光源以发射各自具有调制频率的调制光信号。定位接收器系统包括将光信号聚焦到光学传感器上的透镜，包络检测器，用于接收来自光学传感器的信号并提供对应于调制频率的输出信号和定位检测电路。定位检测电路接收校准数据; 基于来自包络检测器的输出信号确定至少四个相位差到达（PDOA）对; 基于校准数据和PDOA对确定至少四个相位校正的PDOA对; 基于相位校正的PDOA对确定至少四个线性距离差; 并且基于线性距离差和校准数据确定对象的坐标。

5. 发明授权

US09461752B2 Methods and arrangements for generating a waveform for frequency shift keying communications 有权
标题翻译：用于生成用于频移键控通信的波形的方法和装置
公开(公告)号：US09461752B2
公开(公告)日：2016-10-04
申请号：US13539351
申请日：2012-06-30
申请人： Richard D. Roberts , Praveen Gopalakrishnan , Mathys C. Walma
发明人： Richard D. Roberts , Praveen Gopalakrishnan , Mathys C. Walma
IPC分类号： H04L27/10 , H04B10/556 , H04B10/116
CPC分类号： H04B10/5563 , H04B10/116 , H04B10/502 , H04L27/04 , H04L27/12
摘要： Embodiments may provide a way of communicating via an electromagnetic radiator, or light source, that can be amplitude modulated such as light emitting diode (LED) lighting and receivers or detectors that can determine data from light received from the amplitude modulated electromagnetic radiator. Some embodiments may provide a waveform in the form of chips at a chipping clock frequency that switch a light source between on and off states to communicate via light sources that can be amplitude modulated such as LED lighting. Some embodiments may provide a method of transmitting the waveform via modulated LED lighting. Some embodiments are intended for indoor navigation via photogrammetry (i.e., image processing) using self-identifying LED light anchors. In many embodiments, the data signal may be communicated via the light source at amplitude modulating frequencies such that the resulting flicker is not perceivable to the human eye.
摘要翻译：实施例可以提供通过可以被调幅的电磁辐射器或光源（例如发光二极管（LED）照明）和可以从从调幅电磁辐射器接收的光确定数据的接收器或检测器进行通信的方式。一些实施例可以以切片时钟频率提供以切片时钟频率的芯片形式的波形，该光纤切换状态之间的光源通过可被调幅的光源（例如LED照明）进行通信。一些实施例可以提供通过经调制的LED照明来发送波形的方法。一些实施例旨在通过使用自识别LED光锚的摄影测量（即，图像处理）进行室内导航。在许多实施例中，可以以幅度调制频率通过光源传送数据信号，使得所得到的闪烁对人眼不能察觉。

6. 发明授权

US08949069B2 Position determination based on propagation delay differences of multiple signals received at multiple sensors 有权
标题翻译：基于在多个传感器处接收的多个信号的传播延迟差异的位置确定
公开(公告)号：US08949069B2
公开(公告)日：2015-02-03
申请号：US12639236
申请日：2009-12-16
申请人： Richard D. Roberts , Praveen Gopalakrishnan
发明人： Richard D. Roberts , Praveen Gopalakrishnan
IPC分类号： G01C22/00 , G01C9/00 , G01S5/02 , G01B11/14 , G01B11/00 , G01S5/06
CPC分类号： G01S5/02 , G01B11/002 , G01B11/14 , G01S5/06 , G01S5/16 , G01S11/12
摘要： Methods and systems to determine at multi-dimensional coordinates of an object based on propagation delay differences of multiple signals received from the object by each of a plurality of sensors. The signals may include optical signals in a human visible spectrum, which may be amplitude modulated with corresponding frequency tones. An envelope may be detected with respect to each of the sensors, and signals within each envelope may be separated. A phase difference of arrival may be determined for each of the signals, based on a difference in propagation delay times of the signal with respect to multiple sensors. The phase differences of arrival may be converted to corresponding distance differences between a corresponding transmitter and the corresponding sensors. A linear distance and a perpendicular offset distance may be determined from a combination the distance differences, a distance between the corresponding transmitters, and a distance between the corresponding sensors.
摘要翻译：基于由多个传感器中的每个传感器从对象接收的多个信号的传播延迟差异来确定对象的多维坐标的方法和系统。这些信号可以包括人类可见光谱中的光信号，其可以用对应的频率音调进行幅度调制。可以相对于每个传感器检测信封，并且可以分离每个信封内的信号。可以基于信号相对于多个传感器的传播延迟时间的差异，针对每个信号确定到达的相位差。到达的相位差可以转换成对应的发射机和相应的传感器之间的对应的距离差。可以从距离差，相应的发射机之间的距离和相应的传感器之间的距离的组合确定线性距离和垂直偏移距离。

7. 发明申请

US20140093234A1 METHODS AND APPARATUS FOR MULTIPHASE SAMPLING OF MODULATED LIGHT 有权
标题翻译：用于调制光的多相采样的方法和装置
公开(公告)号：US20140093234A1
公开(公告)日：2014-04-03
申请号：US13630066
申请日：2012-09-28
申请人： Richard D. Roberts , Mathys C. Walma , Praveen Gopalakrishnan
发明人： Richard D. Roberts , Mathys C. Walma , Praveen Gopalakrishnan
IPC分类号： H04J14/00 , H04B10/08
CPC分类号： H04B10/564 , H04B10/116 , H04B10/60 , H04B10/616 , H04J14/00
摘要： A light transmitter transmits multiple light packets, each formatted to include a same message comprising a series of bits, each bit represented as light that is intensity modulated over a bit period at a frequency indicative of the bit. The light packets are transmitted at different start-times to establish different phases, one for each of the light packets, to permit a light receiver to sample each message at a different phase of a fixed sample timeline that is asynchronous to the bit period and the frequency. The light receiver samples the multiple light packets based on the sample timeline, to sample each received message at one of the different sample phases, then constructs a best series of bits based on the multiple demodulated messages.
摘要翻译：光发射器发送多个光分组，每个光分组被格式化以包括包括一系列比特的相同消息，每个比特被表示为在指示比特的频率的比特周期上进行强度调制的光。光分组在不同的启动时间被发送以建立不同的相位，每个光分组一个，以允许光接收机在与比特周期异步的固定采样时间线的不同阶段采样每个消息，并且频率。光接收机基于采样时间线对多个光分组进行采样，以在不同采样阶段之一对每个接收到的消息进行采样，然后基于多个解调消息构建最佳的一系列位。

8. 发明申请

US20140006907A1 METHODS AND ARRANGEMENTS FOR ERROR CORRECTION IN DECODING DATA FROM AN ELECTROMAGNETIC RADIATOR 有权
标题翻译：用于从电磁辐射器解码数据中的错误校正的方法和装置
公开(公告)号：US20140006907A1
公开(公告)日：2014-01-02
申请号：US13539354
申请日：2012-06-30
申请人： Richard D. Roberts , Praveen Gopalakrishnan , Mathys C. Walma , Lei T. Yang
发明人： Richard D. Roberts , Praveen Gopalakrishnan , Mathys C. Walma , Lei T. Yang
IPC分类号： H03M13/00 , G06F11/08
CPC分类号： H04L1/0045 , H03M13/09
摘要： Embodiments may communicate via an electromagnetic radiator, or light source, that can be amplitude modulated such as light emitting diode lighting via receivers that can determine data from light received from the radiator. Some embodiments decode data of a packet transmitted from modulated lighting by means of a device with a low sampling frequency such as a relatively inexpensive camera. Many embodiments determine locations of start frame delimiters in packets. Several embodiments implement repeat decoding on packets of the same data to reduce packet error rates. Some embodiments are intended for indoor navigation via photogrammetry using self-identifying light anchors. In many embodiments, the data signal may be communicated via the light source at frequencies causing flicker that is not perceivable to the human eye.
摘要翻译：实施例可以经由可以通过接收器进行幅度调制的电磁辐射器（例如发光二极管照明）进行通信，所述接收器可以从从散热器接收的光确定数据。一些实施例通过具有低采样频率的设备（例如相对便宜的照相机）解码从调制照明发射的分组的数据。许多实施例确定分组中起始帧分隔符的位置。几个实施例对相同数据的分组实施重复解码以减少分组错误率。一些实施例旨在通过使用自识别光锚的摄影测量来进行室内导航。在许多实施例中，数据信号可以以导致人眼不可感知的闪烁的频率经由光源传送。

9. 发明申请

US20140003823A1 METHODS AND ARRANGEMENTS FOR GENERATING A WAVEFORM FOR FREQUENCY SHIFT KEYING COMMUNICATIONS 有权
标题翻译：用于产生频移键控通信的波形的方法和装置
公开(公告)号：US20140003823A1
公开(公告)日：2014-01-02
申请号：US13539351
申请日：2012-06-30
申请人： Richard D. Roberts , Praveen Gopalakrishnan , Mathys C. Walma
发明人： Richard D. Roberts , Praveen Gopalakrishnan , Mathys C. Walma
IPC分类号： H04B10/04
CPC分类号： H04B10/5563 , H04B10/116 , H04B10/502 , H04L27/04 , H04L27/12
摘要： Embodiments may provide a way of communicating via an electromagnetic radiator, or light source, that can be amplitude modulated such as light emitting diode (LED) lighting and receivers or detectors that can determine data from light received from the amplitude modulated electromagnetic radiator. Some embodiments may provide a waveform in the form of chips at a chipping clock frequency that switch a light source between on and off states to communicate via light sources that can be amplitude modulated such as LED lighting. Some embodiments may provide a method of transmitting the waveform via modulated LED lighting. Some embodiments are intended for indoor navigation via photogrammetry (i.e., image processing) using self-identifying LED light anchors. In many embodiments, the data signal may be communicated via the light source at amplitude modulating frequencies such that the resulting flicker is not perceivable to the human eye.
摘要翻译：实施例可以提供通过可以被调幅的电磁辐射器或光源（例如发光二极管（LED）照明）和可以从从调幅电磁辐射器接收的光确定数据的接收器或检测器进行通信的方式。一些实施例可以以切片时钟频率提供以切片时钟频率的芯片形式的波形，该光纤切换状态之间的光源通过可被调幅的光源（例如LED照明）进行通信。一些实施例可以提供通过经调制的LED照明来发送波形的方法。一些实施例旨在通过使用自识别LED光锚的摄影测量（即，图像处理）进行室内导航。在许多实施例中，可以以幅度调制频率通过光源传送数据信号，使得所得到的闪烁对人眼不能察觉。

10. 发明申请

US20120162633A1 SYSTEMS AND METHODS FOR DETERMINING POSITION USING LIGHT SOURCES 有权
标题翻译：使用光源确定位置的系统和方法
公开(公告)号：US20120162633A1
公开(公告)日：2012-06-28
申请号：US12975451
申请日：2010-12-22
申请人： Richard D. Roberts , Praveen Gopalakrishnan
发明人： Richard D. Roberts , Praveen Gopalakrishnan
IPC分类号： G01C3/08
CPC分类号： G01S5/16
摘要： A positioning system and method for determining a coordinate of an object may comprise a positioning transmitter system and a positioning receiver system. The positioning transmitter system includes at least four light sources and a master anchor to modulate the light sources to emit modulated light signals each having a modulation frequency. The positioning receiver system comprises a lens to focus the light signals onto an optical sensor, an envelope detector to receive a signal from the optical sensors and provide output signals corresponding to the modulation frequency, and positioning detection circuitry. The positioning detection circuitry receives calibration data; determines at least four phase difference of arrival (PDOA) pairs based on the output signals from the envelope detector; determines at least four phase corrected PDOA pairs based on the calibration data and the PDOA pairs; determines at least four linear distance differences based on the phase corrected PDOA pairs; and determines the coordinate of the object based on the linear distance differences and the calibration data.
摘要翻译：用于确定对象的坐标的定位系统和方法可以包括定位发射机系统和定位接收机系统。定位发射机系统包括至少四个光源和主锚，以调制光源以发射各自具有调制频率的调制光信号。定位接收器系统包括将光信号聚焦到光学传感器上的透镜，包络检测器，用于接收来自光学传感器的信号并提供对应于调制频率的输出信号和定位检测电路。定位检测电路接收校准数据; 基于来自包络检测器的输出信号确定至少四个相位差到达（PDOA）对; 基于校准数据和PDOA对确定至少四个相位校正的PDOA对; 基于相位校正的PDOA对确定至少四个线性距离差; 并且基于线性距离差和校准数据确定对象的坐标。

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