Abstract:
A system for selectively acquiring, processing and displaying 3-D waypoints in a manner suitable for the purpose of providing selected hands-free navigation guidance to a user. The system includes a plurality of multi-function devices for defining a frame of reference, at least one of the plurality being adapted to be carried by the user. A communication link provides communication between the plurality of multi-function device means to form a mesh network. The multi-function devices calculate, exchange and process waypoint information indicative of the location of itself, the device carried by the user, and at least one other the device means to thereby provide the route taken by the user. A display gives a 3-D navigation guidance to the user.

Description:
FIELD OF THE INVENTION 
       [0001]    The present invention relates a multi-function tracking device and tracking system. More particularly, the present invention relates to the automatic acquisition, selection and processing of position information provided by a multi-function tracking device which is automatically displayed as user-selected navigational information. 
       BACKGROUND OF THE INVENTION 
       [0002]    Numerous systems, devices and methods have been developed to determine the locations of one or more cooperating devices, such as the global positioning system (GPS) and tagged asset tracking systems. Some systems, typically GPS, but not tagged asset tracking systems, are capable of acquiring and storing a list of multiple locations, or waypoints, in the locating device. These waypoints may represent past, present and future locations the tracking device may visit. Further, some such tracking devices are able to manipulate the waypoint list in various ways, such as a display indicating the user&#39;s current position with respect to a selected waypoint. Selection and entry of waypoints into the list is typically performed manually. Further, there is no interaction between tracking devices in these systems to enable one device to selectively alter the waypoint list of another device. 
         [0003]    Existing tagged asset tracking systems do not provide comprehensive navigation information in real-time at the tracking device, such as while a tracking device is in motion. Instead, the position of the tracking device is periodically updated to the extent possible within the system. Tagged asset tracking systems are capable of capturing high resolution tracking data at a central processing location. Waypoint information in tagged asset tracking systems is determined by processing the historical movement data and device positions are not available in real-time. Further, such high resolution tagged asset tacking systems are typically designed with unidirectional communications, from the tagging device to the pre-installed tracking equipment comprising the frame of reference. Hence, the tagging device is not capable of providing navigation information locally at the tagged asset. 
         [0004]    GPS devices are capable of providing periodic position updates, such as when a GPS tracking device has a sufficient number of satellite signals to determine a position of the device. However, the combination of a best attainable accuracy on the order of several meters horizontally, constrained maximum number of stored waypoints, and time to manually perform a waypoint entry into a list, cause such devices to exceed the necessary real-time performance for waypoint selection and navigation while a hand-held device is moving. Hence, a GPS waypoint list represents relatively widely spaced positions, between which there is no information regarding navigation. Some hand-held GPS devices are capable of acquiring the GPS position coordinates of other like devices when manually activated for the purpose of exchanging such GPS position information. Further, some GPS devices display waypoints on a two dimensional (2-D) map, possibly with a compass heading indication from the current position to a selected waypoint, though the user is responsible for proper orientation and navigation between the current position and the selected waypoint. 
         [0005]    Some GPS devices are augmented with a dead reckoning module (DRM), such as disclosed in U.S. Pat. No. 5,583,776 to Levi et al., the disclosure of which is incorporated herein by reference in its entirety. This DRM is a microcomputer-assisted position finding device that integrates GPS data, dead reckoning sensors, a barometric altitude sensor and digital maps, with a built-in RF transponder. The Levi et al. DRM provides ground speed/distance measurements and computer-aided position fixes. One such DRM device is available from Point Research Corporation, of Santa Ana Calif. as the product Dead Reckoning Module DRM®. The Dead Reckoning Module is a miniature, self-contained, electronic navigation unit that provides the user&#39;s position relative to an initialization point. The device includes a built in GPS receiver. A microprocessor performs dead reckoning calculations and includes a Kalman filter to combine the dead reckoning data with GPS data. The Kalman filter and other proprietary algorithms use GPS data to calibrate dead reckoning sensors for typical dead reckoning accuracy of 2 to 5 percent of distance traveled from the last position fix, entirely without GPS. These devices are intended for use by personnel on foot, and are not for use on vehicles. 
         [0006]    Similar devices, such as the Honeywell DRM-III Dead Reckoning Module for Personnel Positioning, are capable of collecting device position information at a rate of 4 samples/Sec. for in excess of 30,000 samples, during a time period exceeding 125 minutes. However, the device does not provide a means of displaying, or manipulating this data in real-time, as all data processing and display occurs after transferring the data from the DRM-III to a personal computer running appropriate software. With an accuracy of 2 percent to 5 percent of the distance traveled, using only dead reckoning, a user might be off course by up to 5 meters after moving just 100 meters. Further, the altitude sensor, for reporting the vertical location coordinate, has an accuracy of 3 meters, or greater than the typical floor to ceiling distance of 9 feet found in many structures. 
         [0007]    The current state of the art for three dimensional (3-D) waypoint acquisition and display in hand-held devices may be categorized as providing a fixed frame of reference, having either distributed or centralized position information availability. Hand-held GPS devices provide manual selection of an individual waypoint, possibly sharing position information with another such device when manually activated. Or a centralized location monitors waypoint information provided by the hand-held devices, but is not shared among such hand-held devices. The frame of reference for GPS devices is a constellation of satellites orbiting the earth. Tagged asset systems typically provide waypoint information of a tagged device in a historical manner, only at a centralized location, with respect to the fixed frame of reference provided by pre-installed equipment. 
         [0008]    Many potential applications exist which require real-time automatic 3-D waypoint management and navigational guidance, such as first responders working in a structure to perform search and rescue or fire fighting, or military personnel involved in reconnaissance of caves, tunnels and other underground regions. These applications are characterized by the absence of a global frame of reference, due to a lack of pre-installed equipment to support tagged asset tracking systems, or because GPS signals are typically unavailable in many structures and underground. 
         [0009]    The accuracy of GPS, even when augmented with DRM, is insufficient to accurately guide first responders in a structure, as the optimum accuracy of DRM-based position determination is 2 percent over 100 meters resulting in an error of 2 meters, or more than twice the width of a typical doorway. GPS, even when enabled with Wide Area Augmentation System (WAAS) is only capable of resolving position within 3 meters and vertical height within 7 meters, and only when such WAAS signals are available. Further, the GPS-augmented with DRM has a vertical resolution of 3 meters, or greater than the floor to ceiling distance in many structures. As a result, such systems may report ambiguous information regarding the vertical location within a region where a first responder is located. For a first responder, disoriented in a structure, every foot is precious, as documented in “U.S. Firefighter Disorientation Study”, July 2003, William R. Mora, Captain, San Antonio Fire Department, San Antonio, Tex.), U.S. Fire Administration (USFA/FEMA) report “Firefighter Fatalities in the United States in 2003”, August 2003, and the U.S. Fire Administration (USFA/FEMA), “Improving Firefighter Communications—Special Report”, Report 099, 1994. 
         [0010]    Further, firefighters using self-contained breathing apparatus (SCBA) have a time-limited air supply, hence a reliable and time-efficient method for reaching the fireground, and exiting safely, even in heavy smoke conditions with restricted visibility, is critical to maximize the time spent working on the fire. 
         [0011]    It would be of advantage in the art if a system could be devised that would permit user-selected of multiple sets of 3-D position and accuracy information to be obtained from a multi-function tracking device and automatically processed into navigational guidance for the user. 
         [0012]    Yet another advantage would be if a device could be developed that would allow the selection and processing from a set of multiple such 3-D position and accuracy information to automatically determine an appropriate sequence of navigation information to guide a user on a particular route. 
         [0013]    Still another advantage would be if the 3-D navigation information could be displayed in a manner to enable hands-free operation by the user. 
         [0014]    Other advantages will appear hereinafter. 
       SUMMARY OF THE INVENTION 
       [0015]    It has now been discovered that the above and other advantages of the present invention may be obtained in the following manner. Specifically, the present invention provides a system including devices for acquiring and exchanging selected 3-D positions, or waypoints, related to a device which is capable of tracking and recording movement and position, and which processes a selected set of waypoints for the purpose of providing navigational guidance to a user. 
         [0016]    All data acquisition, processing and presentation of navigational guidance is performed automatically by the device, after selection of an operating mode, either locally by the user or remotely. Further, each such device may automatically exchange waypoints, current position and navigational guidance information with other such devices. 
         [0017]    The present invention is admirably suited for use in buildings and below ground regions, particularly in buildings and regions that may be at risk from damage, such as by earthquake, hurricanes, tornadoes, wars, terrorism and the like. First responders will be dispatched and, thus, will be at risk themselves. For this reason the present invention is used to track their movement, by providing ongoing acquisition and storage of 3-D position information and presentation of navigational guidance within such regions. 
         [0018]    In the case of a first responder scenario, such as a disoriented first responder, the device provides a “safety” navigational guidance mode, which automatically provides the user with position-dependent directions for exiting the region. 
         [0019]    Further, the device may provide a “rescue” mode by merging waypoints exchanged with other devices in order to determine a new route between devices and display 3-D navigational guidance for any user to locate any other user. 
         [0020]    Such a system does not rely solely on a fixed frame of reference, but instead may create one or more relative frames of reference by utilizing a combination of sensed movement and location information from fixed location, ad hoc emplaced and mobile cooperating devices 
     
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0021]    For a more complete understanding of the invention, reference is hereby made to the drawings, in which: 
           [0022]      FIG. 1  is an exemplary illustration of one possible scenario of a device of the present invention acquiring 3-D waypoint information for the purpose of selectively manipulating the list of waypoints to provide a user with navigational guidance; and 
           [0023]      FIG. 2  is an exemplary depiction of a navigational guidance device of the present invention; and 
           [0024]      FIG. 3  is an exemplary flowchart of the behavior of a navigational guidance process of the present invention; and 
           [0025]      FIG. 4  is an exemplary illustration of several hands-free displays for 3-D navigational guidance of the present invention; and 
           [0026]      FIG. 5  is an exemplary illustration of a hands-free display for 3-D navigational guidance, and preferred embodiments, of the present invention. 
       
    
    
     DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT 
       [0027]    The present invention provides for substantial improvements in a system for acquiring 3-D waypoints, performing selected processing on at least a subset of waypoints, and providing hands-free navigational guidance to a user. Such a system acquires waypoint and position information, and access to mesh network communications, by means of a suitable multi-function device, such as that described in U.S. application Ser. No. 11/399,855, filed Apr. 7, 2006 to Zumsteg and Huseth (hereinafter the &#39;855 application), the disclosure of which is incorporated herein by reference in its entirety. 
         [0028]    As shown in  FIG. 1 , a system  100  has a plurality of multi-function devices  101 - 1  through  101 -N and  102 - 1  through  102 -M, all of which are adapted to communicate with each other using communication links to create a mesh network as described in the &#39;855 application. One or more pluralities of devices in the system, such as devices  102 - 1  through  102 -M, may use the mesh communications network to cooperatively form one or more absolute or relative frames of reference for position determination by a plurality of other devices, such as  101 - 1  through  101 -N. Each of the plurality of devices  101 - n  and  102 - m  that form each frame of reference, may belong to one of more of the frames of reference. Hence, any multi-function device  101 - n  and  102 - m  may independently determine a current position, by interacting with one or more other multi-function devices  101 - n  and  102 - m , as described in the &#39;855 application. Further, each of the devices  102 - m  may be fixedly mounted in a known location or emplaced in an ad hoc manner, such as devices emplaced by first responders as they work in a building. 
         [0029]    A plurality of devices  101 - n  are embodiments of the current invention and are mobile devices, such as worn by first responders or other users, which may follow an arbitrary path  110  in 3-D space delineated by devices  102 . m . As described in the &#39;855 application such devices  101 - n  determine a current position using a combination of motion sensing and interaction with other devices, such as  101 - n  and  102 - m . The position thus determined by any device  101 - n  and  102 - m  may be either with respect to a fixed frame of reference, such as when devices  102 - m  are fixedly mounted in known locations, or a relative location with respect to the ad hoc emplaced devices  102 - m . In particular, a first responder may delineate a preferred route  110  for moving about a structure by ad hoc emplacing devices  102 - m  in an appropriate manner. The plurality of devices  102 - m  determine relative locations with respect to other such devices  102 - m , using a designated point of origin for the relative frame of reference such as with device  102 - 1 , which may be placed external to the structure at an appropriate point of entry. As will be understood by those of skill in the art, the plurality of devices and plurality of frames of reference and selection of one or more reference origins are not limitations of the present invention. 
         [0030]    Each device  101 - n  is an embodiment of the present invention, and periodically determines the 3-D spatial position of that device, storing the location information in a list of positions, or waypoints. Devices  101 - n  also acquire waypoints from other devices  101 - n  and  102 - m , using the mesh communications network, and storing the information in device  101 - n  in uniquely identified lists. For each waypoint so acquired, device  101 - n  may also associate a time sequence to relate the time interval or sequence in which the waypoints were acquired. 
         [0031]    In  FIG. 1 , an exemplary route  110  is followed by device  101 - 1 . As will be understood by those with skill in the art, a system  100  is dynamic, and many permutations of device locations and routes could occur. Said locations and routes are not knowable in advance, hence it must be understood that due to the dynamic and self-configuring nature of such a system, numerous other operation modes, in addition to the one described, are possible and are to be included by this disclosure. 
         [0032]    Preferentially, device  101 - 1 , and all other devices  101 - n  and  102 - m , are initialized at the same point designated as the origin of the frame of reference, such as device  102 - 1 . Devices  102 - m  independently determine the ad hoc emplaced position using a combination of motion sensing and one or more previously established frames of reference as described in the &#39;855 application. 
         [0033]    Devices  102 - m  may periodically collect waypoint information. Further, the devices such as  101 - 1  periodically collect waypoint information  120  through  125 , such as when the user of device  101 - 1  is emplacing ad hoc devices  102 - 2  through  102 -M. As devices  102 - m  are emplaced, devices such as  101 - 1  and  102 - m  exchange and process waypoint information, such as  130  through  133 , collected by devices such as  102 - m  with waypoint information collected by devices such as  101 - 1  to create a waypoint list for route  110 . The route  110  waypoint list describes each route segment using the relative frame of reference created between pairs of devices, such as between devices  102 - 1  and  102 - 2 , and devices  102 - 2  and  102 - 3 , and other pairs of devices, without limitation. The route  110  waypoint list uses sufficient 3-D positional detail to subsequently process the waypoint list for the purpose of accurate hands-free display of 3-D navigation guidance to the user. All possible pairings of devices between and among devices  101 - n  and  102 - m  are not knowable in advance, hence it must be understood that due to the dynamic and self-configuring nature of such a system, numerous other operation modes, in addition to the one described, are possible and are to be included by this disclosure. 
         [0034]    The mesh communications network described in the &#39;855 application provides for the exchange of the route  110  waypoint list with other devices  101 - n  and  102 - m . Further, since each device  101 - n  may exchange waypoint lists with other devices  101 - n  and  102 - m  using the mesh communications network created by devices  101 - n  and  102 - m , the waypoint information from a device, such as  101 - 1 , may be exchanged with other devices, such as  101 - 2  through  101 -N, enabling device  102 - 2  to provide information suitable for navigational guidance along the route  110  to one or more different users. 
         [0035]    Since each device  101 - n  has the capability to process at least a selected set of waypoint information, numerous new routes may be determined in response to selection of the desired navigational guidance to be displayed, including, but not limited to, reversing the waypoint list describing route  110  to enable navigational guidance to be developed for returning to an origin device such as  102 - 1 , and exchanging and merging waypoint lists from two devices  101 - n  such that a new route from one such device  101 - n  is developed to another such device  101 - n , which may include using both devices  101 - n  and  102 - m  as a relative frame of reference. In the case of a first responder scenario, reversal of the route  110  waypoint list may provide navigational guidance for a first responder to safely exit a structure, while the merging of multiple waypoint lists into a new route may be used to provide navigational guidance for a first responder to locate and assist another first responder for example. 
         [0036]      FIG. 2  is a block diagram of a preferred embodiment of multi-function device  200  of the present invention. It will be understood that the device  200  illustrated in  FIG. 2  is exemplary only and is not a limitation of the present invention. Those of skill in the art will understand that external signals  212  may include one or more of the following, device position and accuracy information, timestamp for position information, remote selection of navigation guidance to display, commands for managing position and waypoint list information or to manipulate a waypoint list, mesh network communications messages exchanged using the communications medium  216 , bearing information related to compass heading and attitude information provided by a multi-function tracking device  214 , and other information, all without limitation. 
         [0037]    The multi-function device  200  can incorporate control circuits  220  coupled to non-volatile memory  228 , interface circuits  204  and  210 , clock  222 , programmable processor  226  and interface circuits  230 . The non-volatile memory or storage unit  228  may be used for purposes of storing control software, navigation selection, configuration information, processed data, waypoint lists, and positions and accuracy information, all without limitation. The device  200  can incorporate additional storage  224  of a type that would be understood by those of skill in the art which could include read/write memory of a volatile or non-volatile form. 
         [0038]    Multi-function device  200  can incorporate navigation selection  202  coupled with interface circuits  204 , the plurality of which is not a limitation of device  200 . In one preferred embodiment, a first responder would be provided a means for selecting a particular type of navigation, including but not limited to, evacuate safely or locate another first responder. Interface circuits  204  can be coupled to control circuits  220 , to adapt the signals between navigation selection  202  and control circuits  220 . The plurality of navigation selection signals  202  is not a limitation of the present invention. 
         [0039]    Interface circuits  210  can be coupled to external signals  212  to adapt the signals between the multi-function tracking device  214  and communications medium  216 , and control circuits  220 . In one preferred embodiment, the multi-function tracking device  214  and communications medium  216  are as described in the &#39;855 application. 
         [0040]    Device  200  can incorporate interface circuits  230  which can be coupled to control circuits  220  to adapt signals between the control circuits  220  and navigation display  232 . Those of skill in the art will understand the navigation display embodiment and environment indicates a variety of navigational guidance information, as described in exemplary illustrations  FIG. 4   a  through  FIG. 4   f , discussed subsequently. Further, the navigational guidance display may preferably be mounted on a first responder helmet brim,  FIG. 5   c , or a package worn by a user, all without limitation. 
         [0041]      FIG. 3  is a flow diagram of a process  300 , executed in whole or in part by each multi-function device  200 , see  FIG. 2 , to acquire position and waypoint information to be processed in a selected manner for navigational guidance display. 
         [0042]    In a step  302  a determination is made as to whether a request for selecting the navigational guidance to be displayed requires processing. Such a request may be obtained by the multi-function device from, but not limited to, external signals  212  or via navigation selection  214 , as shown in  FIG. 2 . 
         [0043]    In a step  304  a navigational guidance request determined from a step  302  is processed. As would be understood by those of skill in the art, such processing may include, but is not limited to, initialization of selected memory locations, acquisition of current device position and accuracy, exchange of waypoint information, storage of waypoints and position and accuracy information. 
         [0044]    In a step  306  a determination is made as to whether the timer providing the periodic indication for updating navigational guidance display information has expired. If the timer has not expired, the timer value is updated in a step  308 , and the process  300  returns to determining the presence of a navigation selection request in a step  302 . 
         [0045]    In a step  310  the expired timer is restarted to provide a periodic interval for updating navigational guidance display information. 
         [0046]    In a step  312  the selected waypoint information is acquired from a multi-function device as described in the &#39;855 application and processed in accordance with the selected navigational display configured in a step  304 . 
         [0047]    In a step  314  the current device position and accuracy information is from a multi-function device as described in the &#39;855 application and processed in accordance with the selected navigational display configured in a step  304 . 
         [0048]    In a step  316  the acquired waypoint list entries are processed in accordance with the selected navigational display configured in a step  304 . As would be understood by those of skill in the art, the waypoint processing  316  by a device may use one or more sets of waypoint data. If a plurality of such waypoints are available, then the processing will take place relative to at least selected waypoints. 
         [0049]    In a step  318  the computed new navigation guidance information is computed using data sets including, but not limited to, the current device position and accuracy, stored device position information and selected waypoint information. If a plurality of such data sets are available, then the processing will take place relative to at least selected data sets. 
         [0050]    In a step  320  the newly computed navigational guidance information is processed to determine the display output information. 
         [0051]    In a step  322  the newly computed display output information is stored in memory locations, such as in non-volatile memory  228 , memory  224  and programmed processor  226 , see  FIG. 2 . 
         [0052]    In a step  324  information is exchanged with other multi-function devices  200 , see  FIG. 2 , where such information includes, but is not limited to, navigational guidance information for the device, waypoints information, and device position and bearing. 
         [0053]    Following step  324  the process  300  returns to a step  302  providing a continuous and timely navigational guidance information and display. 
         [0054]      FIG. 4   a  through  FIG. 4   f  are illustrative navigational guidance displays suitable for use in the present invention. In each of the  FIG. 4   a  through  FIG. 4   f , the display is composed of elements depicting the current navigational task to be performed by the use, and the anticipated next task. Further, the display may utilize selective illumination levels of individual elements and varying duty cycles for illumination to impart the navigational guidance information. Those of skill in the art will understand numerous other operation modes, in addition to the ones described, are possible and are to be included by this disclosure. 
         [0055]      FIG. 5   a  illustrates one preferred embodiment of the navigational guidance display  232 , see  FIG. 2 , which can include multiple and independently illuminated elements  501  through  504 , such as light emitting diodes (LED). Illuminated elements  501  are used to display the current navigational guidance to the user, through various combinations of intensity and duty cycle. In the case of a first responder scenario, elements  501  may be sequentially illuminated to indicate forward progress towards the next selected waypoint, with intensity variations of the left and right side illuminated elements providing lateral navigational guidance. When the first responder is motionless, the elements  501  may be held in a steady-state with variations of intensity on the left and right sides indicating the correct direction to the next selected waypoint. 
         [0056]    In  FIG. 5   a , illuminated elements  502 ,  503  and  504  are used to impart the next anticipated navigational guidance to the user. Elements  502  are individually illuminated to indicate a left of right turn is anticipated. Combinations of intensity of elements  502  may be used to indicate shallower angles of turn. Illuminated elements  503  behave similarly to elements  502 , indicating expected ascent or descent. Illuminated element  504  indicates the user should expect to stop, or slow down. 
         [0057]      FIG. 5   b  depicts one operational environment of a device of the present invention, comprising a package  510  with an externally viewable navigational guidance display  511 . The package  510  form and dimensions are not limitations of the present invention. Further, the particular navigational guidance display  511  depicted in  FIG. 5   b  is exemplary only. 
         [0058]      FIG. 5   c  depicts another operational environment  520  of the present invention mounted under the brim of a first responder helmet  521 . Such a location places the display out of the user&#39;s direct line of sight, but still within the range of vertical peripheral vision. 
         [0059]    While particular embodiments of the present invention have been illustrated and described, it is not intended to limit the invention, except as defined by the following claims.