Spatial self-verifying array of nodes
Methods and apparatus for verifying respective positions of Nodes based upon wireless communications between Nodes included in an array. Values for variables derived from multiple wireless transmissions between Nodes are aggregated, and a position of a particular Node may be determined based upon multiple data sets generated by multiple communications between disparate Nodes. In addition, the presence of an obstacle to wireless communication between some Nodes may be derived from the data sets. A user interface may provide a pictorial view of positions of all or some Nodes in an array, as well as a perceived obstruction.
1. A method of verifying a position of a wireless communication Node, the method comprising:
a) associating a respective unique identifier with each of at least, a first Node; a second Node and a third Node included in an array of Nodes, each of the first Node; second Node and third Node comprising: a processor, a digital storage, a communication module and an antenna;
b) designating a base position in relation to the first Node;
c) wirelessly communicating between multiple Nodes comprising at least the first Node the second Node and the third Node;
d) for the at least first Node; second Node and third Node, generating values for communication variables based upon the wirelessly communicating between the first Node; the second Node and the third Node, the communication variables comprising: a start time of a respective wireless communication transmission (T1); a receipt time of the respective wireless communication (T2); a phase angle of arrival of the respective wireless communication transmission at a respective first antenna; and a phase angle of arrival of the wireless communication transmission at a respective second antenna;
e) storing, in the respective digital storage of each of the first Node; second Node and third Node, the generated values for communication variables and the unique identifiers for the first Node; second Node and third Node;
f) receiving additional values for communication variables for communications involving a fourth Node, said fourth Node being incapable of communicating with one of the first Node; the second Node and the third Node;
g) storing the additional values for communication variables for communications involving a Node in addition to the first Node; the second Node and the third Node in the respective digital storage of each of the first Node; second Node and third Node;
h) transmitting an aggregate of the values for communication variables stored in the respective digital storage of each of the first Node; second Node and third Node to a controller;
i) receiving at the controller the aggregate of values for communication variables; and
j) with the controller, generating a respective set of position coordinates indicative of a position of each of the first Node; the second Node and the third Node relative to the base position, each respective set of position coordinates based upon values included in the aggregate of values for communication variables received into the controller that are associated with the respective unique identifiers of the first Node; the second Node and the third Node.
2. The method of claim 1 additionally comprising the step of designating the base position as co-located with a position of the first Node.
3. The method of claim 2 additionally comprising the step designating the base position as offset from the first Node, according to a set of offset coordinates.
4. The method of claim 3 wherein the at least one of the respective sets of coordinates comprises Cartesian coordinates.
5. The method of claim 3 wherein at least one of the respective sets of coordinates comprises polar coordinates.
6. The method of claim 3 wherein at least one of the respective sets of coordinates comprises cylindrical coordinates.
7. The method of claim 1 additionally comprising the step of tracking a dynamic Base position by generating multiple respective sets of coordinates that quantify the Base position.
8. The method of claim 7 wherein the multiple respective sets of position coordinates that quantify the Base position represent a trajectory of at least one of an unmanned aerial vehicle and an unmanned ground vehicle.
9. The method of claim 7 wherein at least some of the multiple respective sets of position coordinates that quantify the Base position represent a flight pattern of an unmanned aerial vehicle.
10. The method of claim 1 , additionally comprising the step of designating a position of a Sensor as co-located with one of: the base position, Node 1, Node 2, and Node 3.
11. The method of claim 1 , additionally comprising the step of generating, with a controller, a time differential between T1 and T2.
12. The method of claim 1 , wherein, at least some of the coordinates in the respective set of position coordinates indicative of a position relative to the base position comprise a set of polar coordinates.
13. The method of claim 1 , wherein, at least coordinates included in the respective sets of position coordinates indicative of a position relative to the base position comprise a set of cylindrical coordinates.
14. The method of claim 1 , wherein, at least some of the respective position coordinates indicative of a position relative to the base position comprise a set of Cartesian coordinates.
15. The method of claim 1 , wherein, the values of communication variables additionally comprise an amplitude of a received communication.
16. The method of claim 1 , wherein, the values of the communication variables additionally comprise an indication of radio wave noise included in received communication.
17. The method of claim 1 , additionally comprising the step of, with a controller, generating a position of a perceived obstruction based upon the values for communications variables.
18. The method of claim 17 , additionally comprising the step of, with a controller, generating a description of an influence of the perceived obstruction on the values for communications variables.
19. The method of claim 17 , additionally comprising the step of, with the controller, generating a graphical user interface comprising a location of each Node.
20. The method of claim 19 additionally comprising generating an overlay of image data generated by a charged couple device in logical communication with the controller, the overlay comprising a graphical representation of at least one of: Node 1, Node 2, Node 3, and Node 4.