Granted Patent B2

US 12,553,987 · App. 18/558,861 · Granted Feb 17, 2026

Inventors: Ashutosh Dhekne (Marietta, GA); Yifeng Cao (Atlanta, GA); Mostafa H. Ammar (Atlanta, GA)

Assignee: Georgia Tech Research Corporation

G01S5/06G01S5/021G01S5/02216G01S5/0247G01S5/0264

Abstract

Claims (78)

1 . A system comprising:

a localization device configured to interface to a handheld or hand-enclosed instrument comprising an instrument body and an ultra-wide band antenna and communication interface), the localization device comprising:

a plurality of antennas operably connected to an ultra-wide band controller to receive a plurality of unidirectional ultra-wide band signals from the ultra-wide band antenna of the handheld or hand-enclosed instrument; and

the controller comprising a processor unit or logic circuit, the processor unit or logic circuit being configured to:

measure a plurality of time measurements and one or more phase measurements of a plurality of signals received by the plurality of antennas from the ultra-wide band antenna of the handheld or hand-enclosed instrument;

determine a time-difference of arrival (TDOA) measurements, or values derived therefrom, using the plurality of measured time measurements and the one or more measured phase measurements; and

determine at least one localization measurement value of the ultra-wide band antenna of the handheld or hand-enclosed instrument based on the TDOA measurements, or values derived therefrom;

wherein at least the at least one localization measurement value or a parameter derived therefrom is employed as one or more inputs, in a real-time control loop, to a software application that uses the handheld or hand-enclosed instrument as an input user interface.

2 . The system of claim 1 , further comprising:

an ultra-wide band antenna and communication interface; and

a controller, the controller comprising a second processor unit and a second memory having instructions stored thereon, wherein execution of the instructions by the second processor cause the second processor to:

measure a plurality of time measurements and one or more phase measurements of a plurality of unidirectional signals received by the ultra-wide band antenna from a plurality of antennas of a base station system;

determine time-difference of arrival (TDOA) measurements, or values derived therefrom, using the plurality of measured time measurements and the one or more measured phase measurements; and

determine at least one localization measurement value of the ultra-wide band antenna of the handheld or hand-enclosed instrument based on the TDOA measurements, or values derived therefrom;

wherein at least the at least one localization measurement value or a parameter derived therefrom is employed as one or more inputs, in a real-time control loop, to a software application that uses the handheld or hand-enclosed instrument as an input user interface.

3 . The system of claim 1 ,

wherein two or more of the plurality of antennas are connected to the controller through a corresponding set of delay-adjusting connections, including a first delay-adjusting connection and a second delay-adjusting connection,

wherein the first delay-adjusting connection comprises a first cable length and/or electronic component that add a first time or phase delay to (i) a first time measurement of the plurality of time measurements and/or a first phase measurement of the one or more phase measurements,

wherein the second delay-adjusting connection comprises a second cable length and/or electronic component that add a second time or phase delay to (i) a second time measurement of the plurality of time measurements and/or a second phase measurement of the one or more phase measurements, and

wherein the first time or phase delay and the second time or phase delay are different.

4 . The system of claim 3 , wherein the first delay-adjusting connection has a first signal amplitude attenuation characteristic, wherein the second delay-adjusting connection has a second signal amplitude attenuation characteristic, wherein the first signal amplitude attenuation characteristic is different from the second signal amplitude attenuation characteristic.

5 . The system of claim 1 , wherein the plurality of unidirectional ultra-wide band signals comprises a plurality of RF pulses, wherein the measure of the plurality of time measurements and the one or more phase measurements of a plurality of unidirectional signals includes:

interpolating a portion of the plurality of RF pulses associated with a peak RF pulse to generate a plurality of interpolated signals; and

determining a maximum measure of the plurality of interpolated signals as the plurality of time measurements and the one or more phase measurements.

6 . The system of claim 1 ,

wherein the handheld or hand-enclosed instrument comprises an orientation sensor, and

wherein the processor unit is further configured by instructions or circuitry to:

receive orientation measurements, or values derived therefrom, from the orientation sensor;

determine at least one orientation measurement value based on the orientation measurements; and

determine at least one second localization measurement value of a landmark of the handheld or hand-enclosed instrument via a pre-defined transform operator of

(i) the at least one orientation measurement value and

(ii) at least one of the (a) TDOA measurements, or values derived therefrom or (b) the at least one localization measurement value of the ultra-wide band antenna,

wherein the at least one second localization measurement value or a parameter derived therefrom is employed as one or more inputs, in the real-time control loop, to a software application that uses the handheld or hand-enclosed instrument as an input user interface.

7 . The system of claim 1 ,

wherein the handheld or hand-enclosed instrument comprises an orientation sensor and a contact sensor, and

wherein the processor unit is further configured by instructions or circuitry to:

receive orientation measurements, or values derived therefrom, from the orientation sensor;

receive contact measurements, or values derived therefrom, from the contact sensor;

determine at least one contact measurement value based on the contact measurements; and

determine at least one second localization measurement value of a landmark of the handheld or hand-enclosed instrument via a pre-defined transform operator using:

(i) the at least one orientation measurement value and

(ii) at least one of the (a) TDOA measurements, or values derived therefrom or (b) the at least one localization measurement value of the ultra-wide band antenna,

wherein at least (i) the at least one second localization measurement value or a parameter derived therefrom and (ii) the at least one contact measurement value are concurrently employed as one or more inputs, in the real-time control loop, to a software application that uses the handheld or hand-enclosed instrument as an input user interface.

8 . The system of claim 1 ,

wherein the handheld or hand-enclosed instrument comprises an orientation sensor, and

wherein the processor unit is further configured by instructions or circuitry to:

receive orientation measurements, or values derived therefrom, from the orientation sensor; and

determine at least one orientation measurement value based on the orientation measurements;

wherein at least (i) the at least one localization measurement value or a parameter derived therefrom and (ii) the at least one orientation measurement value are concurrently employed as one or more inputs, in the real-time control loop, to a software application that uses the handheld or hand-enclosed instrument as an input user interface.

9 . The system of claim 1 ,

wherein the handheld or hand-enclosed instrument comprises an orientation sensor and a contact sensor, and

wherein the processor unit is further configured by instructions or circuitry to:

receive orientation measurements, or values derived therefrom, from the orientation sensor;

receive contact measurements, or values derived therefrom, from the contact sensor; and

determine at least one contact measurement value based on the contact measurements; and

determine at least one orientation measurement value based on the orientation measurements;

wherein at least (i) the at least one localization measurement value or a parameter derived therefrom, (ii) the at least one orientation measurement value, and (iii) the at least one contact measurement value are concurrently employed as one or more inputs, in the real-time control loop, to a software application that uses the handheld or hand-enclosed instrument as an input user interface.

10 . The system of claim 6 , wherein the controller is configured to maintain a first tracking parameter of the plurality of time measurements and/or the one or more phase measurements, and wherein the controller is further configured to re-calibrate and/or adjust the first tracking parameter via a fusion operation using at least outputs of the orientation sensor.

11 . The system of claim 10 , wherein the controller is configured to maintain a second tracking parameter of the orientation measurements, and wherein the controller is further configured to re-calibrate and/or adjust the second tracking parameter via the fusion operation using at least the first tracking parameter of the plurality of time measurements and/or the one or more phase measurements.

12 . The system of claim 7 , wherein the contact sensor comprises a pressure sensor positioned on a surface of the instrument body to be held by a user, and wherein contact is determined based on an elevated pressure being sensed by the pressure sensor.

13 . The system of claim 7 , wherein the contact sensor comprises a laser rangefinder or a photodiode assembly configured to interrogate a surface to determine when contact is made with said surface.

14 . The system of claim 7 , wherein (i) the orientation measurements, or values derived therefrom, and/or (ii) the contact measurements, or values derived therefrom, are embedded and/or encoded in the plurality of signals.

15 . The system of claim 7 , wherein (i) the orientation measurements, or values derived therefrom, and/or (ii) the contact measurements, or values derived therefrom, are transmitted through (i) a second communication channel in at least one of the plurality of ultra-wide band signals or (ii) a separate second communication channel associated with the localization device.

16 . The system of claim 15 , wherein the localization device further comprises a second ultra-wide band controller or a RF controller configured to receive the orientation measurements, or values derived therefrom, and/or the contact measurements, or values derived therefrom, from the handheld or hand-enclosed instrument.

17 . The system of claim 1 , wherein the handheld or hand-enclosed instrument is configured as a writing instrument, the system further comprising a writing surface apparatus having a dimension greater than 2 feet by 3 feet, wherein the plurality of antennas are positioned at a first position, a second position, and a third position on or near the writing surface apparatus.

18 . The system of claim 6 , wherein the handheld or hand-enclosed instrument is configured as a sculpting instrument, wherein the plurality of antennas are fixably positioned at a first position, a second position, and a third position around a surface of a workpiece, and wherein the localization device is configured to map or operate upon a three-dimensional surface position of the workpiece using (i) the at least one localization measurement value or (ii) the at least one second localization measurement value.

19 . A non-transitory computer-readable medium having instructions stored thereon to perform localization of a hand-held or hand-enclosed instrument, wherein execution of the instructions by a processor causes the processor to:

receive a plurality of time measurements and one or more phase measurements of a plurality of signals received by a plurality of antennas from an ultra-wide band antenna of a handheld or hand-enclosed instrument;

determine a time-difference of arrival (TDOA) measurements, or values derived therefrom, using the plurality of measured time measurements and the one or more measured phase measurements; and

determine at least one localization measurement value of the ultra-wide band antenna of the handheld or hand-enclosed instrument based on the TDOA measurements, or values derived therefrom;

wherein the at least one localization measurement value or a parameter derived therefrom is employed, in a real-time control loop, as one or more inputs to a software application that uses the handheld or hand-enclosed instrument as an input user interface.

20 . A method comprising:

transmitting by a first device one or more ultra-wide band signals; and

receiving by a second device the transmitted one or more ultra-wide band signals;

measuring, via analog and/or digital circuitries, a plurality of time measurements and one or more phase measurements of a plurality of signals received by a plurality of antennas from a ultra-wide band antenna of a handheld or hand-enclosed instrument;

determining, by a processor, a time-difference of arrival (TDOA) measurements, or values derived therefrom, using the plurality of measured time measurements and the one or more measured phase measurements; and

determining, by the processor, at least one localization measurement value of the ultra-wide band antenna of the handheld or hand-enclosed instrument based on the TDOA measurements, or values derived therefrom;

wherein at least the at least one localization measurement value or a parameter derived therefrom is employed as one or more inputs, in a real-time control loop, to a software application that uses the handheld or hand-enclosed instrument as an input user interface.

Assignments (1)

Continuity (2)

References Cited (72)