Abstract:
A system and method of measuring atmospheric parameters in an enclosed space using instrumented objects having measurement sensors. The instrumented objects travel through the space randomly or along defined flight paths. As the instrumented objects travel through the space, the measurement sensors measure atmospheric parameters and store the measurements to a memory. The devices periodically upload the measured atmospheric parameters to a controller circuit. By using self-propelled objects to carry measurement sensors, the system and method disclosed herein allow for periodically sampling atmospheric parameters in the interior of an enclosed space at a number of locations greater than the number of measurement devices employed. With data points taken from various locations within a volume of an enclosed space, the system and method can realize a more efficient utilization of energy by adjusting mechanical controls of an HVAC system or a ventilation system, for example.

Description:
FIELD OF THE INVENTION 
       [0001]    The present disclosure relates generally to measurement of atmospheric parameters, and, more particularly, to a system and method for measuring atmospheric parameters in an enclosed space using sensors affixed to airborne self-propelled devices. 
       BACKGROUND 
       [0002]    Building management systems (BMS) are used to regulate heating, ventilation, and air-conditioning (HVAC) systems within some buildings, or within enclosed spaces. Generally, a BMS includes both hardware and software components linked together and configured to monitor and control atmospheric parameters within an enclosed space. A BMS operates by sampling atmospheric parameters, and then sending the measurements to the software for analysis. The software then determines whether to adjust hardware components within the building&#39;s ventilation system to create or maintain desirable atmospheric conditions. Hardware components generally include fans, louvers, and dampers for controlling the speed and direction of airflow within a building&#39;s ventilation system. 
         [0003]    The BMS can regulate environmental parameters such as temperature, humidity, carbon dioxide content, and oxygen content. The BMS can use temperature measurements to determine adjustments to the heating and cooling functions of an HVAC system. Similarly, the BMS can use humidity and carbon dioxide content measurements to determine whether to draw in fresh air and at what rate. The BMS can be configured to operate while optimizing for energy efficiency, for the comfort of occupants, or for parameters desired in a particular setting, such as an operating range of sensitive equipment. For example, the BMS can monitor the level of carbon dioxide, and mix in fresh outside air with waste air to increase the amount of oxygen while also minimizing heating and cooling losses. 
         [0004]    The BMS requires real time measurements of atmospheric parameters for the software to determine how to regulate the hardware components of the BMS system. In a large building or enclosure, it is desirable to have multiple measurements to enable the BMS to locally control the atmospheric parameters within the space. Measurements are conventionally limited to measurements taken along interior walls within an enclosed space. For example, wall mounted thermostats conventionally include temperature sensors, but only collect measurements along the interior walls of an enclosed space. Large enclosed spaces such as atriums, multi-level lobbies, auditoriums, warehouses, convention centers, and sports arenas present measurement challenges for a BMS regulating the enclosed space. Large volumes of unmeasured air can exist between interior walls where sampling conventionally occurs. Conventionally, the BMS can not collect measurements of atmospheric parameters from the interior of a large enclosed space. 
       BRIEF SUMMARY 
       [0005]    Provided herein is a system and method for sampling measurements in the interior of a large enclosed space for use by a building management system (BMS). Sensors carried on instrumented objects measure atmospheric parameters. The instrumented objects can optionally be self-propelled objects configured to fly or float through the enclosed space. The instrumented objects move through the enclosed space on randomly selected or predetermined flight paths, collecting measurements of the atmospheric parameters as they travel. The flight paths of the instrumented objects are tracked by position sensors mounted on the instrumented objects. The position sensors generate a set of position measurements indicative of the locations of the instrumented objects. Base stations are positioned along the interior walls of the enclosed space for the instrumented objects to intermittently dock with. During docking, the instrumented objects can refuel or recharge and can send the atmospheric parameter measurements to a controller. Alternatively, the instrumented objects can send the measurements to the controller wirelessly or using a data line. The set of position measurements is also sent to the controller. 
         [0006]    The controller analyzes the set of position measurements and the measured atmospheric parameters and determines the location within the enclosed space corresponding to each measured parameter. The measured parameters and corresponding locations are then sent to the BMS. The BMS can use the collected measurements taken in the interior of the enclosed space to make adjustments to mechanical controls of the ventilation system of the space. In a configuration of the present disclosure, the BMS receives atmospheric measurements from a number of locations within the enclosed space that exceeds the number of measurement devices employed. Because the instrumented objects are configured to travel through the enclosed space while carrying measurement devices, relatively few instrumented objects can collect atmospheric measurements from a relatively large number of locations within the enclosed space. 
         [0007]    Additionally, the present disclosure provides for collecting atmospheric measurements from the interior of an enclosed space without installing any permanent installations in the interior of the enclosed space. Because the instrumented objects can be configured to fly through the interior of the space, the measurement devices can collect atmospheric measurements from the interior of the enclosed space without being installed in a permanent installation. 
         [0008]    The foregoing and additional aspects and implementations of the present disclosure will be apparent to those of ordinary skill in the art in view of the detailed description of various embodiments and/or aspects, which is made with reference to the drawings, a brief description of which is provided next. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0009]    The foregoing and other advantages of the present disclosure will become apparent upon reading the following detailed description and upon reference to the drawings. 
           [0010]      FIG. 1A  is a block diagram of an instrumented object. 
           [0011]      FIG. 1B  provides an instrumented object configured as a helicopter. 
           [0012]      FIG. 1C  provides an instrumented object configured as a hummingbird. 
           [0013]      FIG. 1D  provides an instrumented object configured as a fixed wing aircraft. 
           [0014]      FIG. 2A  provides a base station configured as a helipad. 
           [0015]      FIG. 2B  provides a base station configured as a bird feeder. 
           [0016]      FIG. 3  is a diagram of an atmospheric measurement collection system. 
           [0017]      FIG. 4  is a flowchart showing a method of collecting atmospheric measurements using atmospheric sensors mounted on instrumented objects moving through an enclosed space, and using the collected atmospheric measurements to adjust a mechanical control of a building management system. 
           [0018]      FIG. 5  is a block diagram illustrating a building management system using atmospheric position data from an instrumented object to control environment within an enclosed space. 
       
    
    
     DETAILED DESCRIPTION 
       [0019]      FIG. 1A  is a block diagram of an instrumented object  100  according to one embodiment of the invention. The instrumented object  100  includes a propulsion system  130  and a measurement device  120 . The instrumented object  100  uses the propulsion system  130  to move through an enclosed space while carrying the measurement device  120 . The measurement device  120  measures an atmospheric parameter within the enclosed space while the instrumented object  100  moves through the enclosed space. The measurement device  120  is equipped with an atmospheric sensor  124  for detecting an atmospheric parameter, a position sensor  126  for detecting the position of the instrumented object  100  within the enclosed space, and a communication interface  122 . The atmospheric sensor  124  is a commercially available sensor for detecting an atmospheric parameter within the enclosed space. For example, the atmospheric sensor  124  can detect one or more of temperature, humidity, oxygen concentration, carbon dioxide concentration, carbon monoxide concentration, or airflow rate within the enclosed space. The atmospheric sensor can also detect airflow rate using, for example, a pitot tube, an anemometer, or by measuring the resistance of a heated wire. The atmospheric sensor  124  can also be a smoke detector when it is configured to detect the presence of smoke particulates, or of any other parameters commonly associated with an impending fire as appreciated by those skilled in the art of smoke detection. 
         [0020]    The position sensor  126  detects the location of the instrumented object  100  within the enclosed space. The position sensor  126  can be any commercially available sensor for detecting position based on movement or on a measured time delay of reference signals. For example, the position sensor  126  can incorporate accelerometers or gyroscopes to track the movement of the instrumented object  100  relative to an initial known location. The position sensor  126  can also incorporate a receiver receiving signals from known locations such that a measurement of the relative time delays of the signals reveals position information by triangulation. Alternatively, the instrumented object  100  can be implemented without the position sensor  126 . The position sensor  126  can be located within the enclosed space and can measure the location of the instrumented object  100  based on relative time delays of signals transmitted from, or reflected from, the instrumented object  100 . Generally the position sensor  126  detects the position of the instrumented object  100  according to techniques used by those skilled in the art of location determination. The position sensor  126  generates position measurements indicative of the determined location within the enclosed space. The communication interface  122  is used to communicate the collected atmospheric measurements and position measurements. 
         [0021]    The propulsion system  130  includes a recharge/refuel port  132  connected to an energy storage  134 . The energy storage  134  can be configured as a battery for storing electrical energy or as a fuel tank for storing combustible fuel. In a configuration where the energy storage  134  is a battery, the recharge/refuel port  132  can be a pair of electrical terminals for recharging the battery. In a configuration where the energy storage is a fuel tank, the recharge/refuel port  132  can be a port for receiving combustible fuel, such as liquid combustible fuel. In the instrumented object  100  provided in  FIG. 1A  the energy storage is used to drive a navigation drive  138  and a lift drive  136 . The navigation drive  138  is used to rotate a navigation propeller  112 , and the lift drive  136  is used to rotate a lift propeller  110 . In a configuration, the navigation drive  138  and the lift drive  136  can each be an engine or a motor configured to rotate a drive shaft by drawing energy from the energy storage  134 . An instrumented object  100  having the propulsion system  130  can be considered a self-propelled object, because the instrumented object  100  is configured to use the propulsion system  130  to move through the enclosed space using energy from the energy storage. According to an aspect of the present disclosure, the instrumented object  100  configured as a self-propelled object has the ability to move through the enclosed space. While the navigation drive  138  is illustrated as driving a navigation propeller  112 , the navigation drive  138  can also drive louvers or flaps that raise or lower in order to adjust air foils on the instrumented object  100  and adjust the steering of the instrumented object while it is in flight. In an example with the instrumented object  100  configured as a helicopter, the lift propeller  110  can be used to generate lift for the helicopter and the navigation propeller  112  can be used to steer the helicopter. It is to be understood that other embodiments of the instrumented object  100  will not require all of the elements set fort in  FIG. 1A . 
         [0022]      FIGS. 1B through 1D  illustrate example implementations of instrumented objects ( 100 ,  100 ′,  100 ″) useful in implementing the system and method for gathering atmospheric measurements in an enclosed space for use by a building management system.  FIGS. 2A and 2B  illustrate base stations ( 200 ,  200 ′) that can optionally be used cooperatively with the instrumented objects ( 100 ,  100 ′,  100 ″) in an implementation of the system and method disclosed herein. 
         [0023]      FIG. 1B  provides an instrumented object  100  configured as a helicopter. The instrumented object  100  includes a propeller  110  for generating lift, a directional control propeller  112 , a landing support  114 , and a propulsion system  130 . The propulsion system  130  is connected to the lift propeller  110  and the navigation propeller  112 . The navigational propeller  112  provides directional control for the instrumented object  100  while in flight. The instrumented object  100  further includes a measurement device  120 . The measurement device  120  has an atmospheric sensor  124  and a communication terminal  122 . The measurement device  120  can optionally include a position sensor  126 . The instrumented object  100  configured as a helicopter is a self-propelled object because it includes the propulsion system  130 . The instrumented object  100  can be a helicopter commonly commercially available as a toy or hobbyist product. 
         [0024]    In a configuration of the instrumented object  100 , the measurement device  120  can be contained within a case and attached to the external portion of a commercially available helicopter, or the instrumented object  100  can be a purpose-made helicopter and the measurement device  120  can be integrated into the body of the helicopter. The communication terminal  122  can be a wireless communication terminal for sending signals indicative of collected atmospheric measurements and position measurements according to any standard wireless communication protocol including: zigbee, bluetooth, and IEEE 802.11. The communication terminal  122  can also be a terminal that sends measurements collected in the measurement device  120  through a data line. 
         [0025]    In a configuration, the instrumented object  100  can operate autonomously without real time intervention from a user. For example, the instrumented object  100  can navigate according to navigation commands contained in wireless signals transmitted to the instrumented object  100 . Navigation commands can be generated by a user operating the instrumented object using a wireless controller. For example, in a configuration of the instrumented object  100  configured as a radio controlled helicopter, the instrumented object  100  can be controlled to move through a flight path according to commands transmitted from a remote controller The commands and remote controller can be implemented according to techniques appreciated by those skilled in the art of commanding and controlling remote controlled aircraft. Additionally, the navigation commands can be generated by a centralized computer system configured to command and control the navigation and measurement activity of the instrumented object  100 . The centralized computer system can be configured to, for example, direct the instrumented object  100  to travel through a region in the enclosed space in order to acquire atmospheric measurements in the region. Furthermore, the centralized computer system can be configured to ensure that the instrumented object  100  avoids collisions with other flying objects. 
         [0026]      FIG. 1C  provides an instrumented object  100 ′ configured as a hummingbird. The instrumented object  100 ′ includes wings  140  for generating lift, tail feathers  142  for providing directional control, feet  144  for landing support, and a beak  146  for refueling the bird with bird food. The instrumented object  100 ′ is equipped with the measurement device  120 . The measurement device  120  can be attached to the feet  144 . As described above, the measurement device  120  includes sensors for collecting atmospheric measurements and position measurements. The measurement device  120  includes the communication terminal  122  for communicating the atmospheric measurements and position measurements. While the instrumented object  100 ′ is configured as a hummingbird, the present disclosure extends to systems using birds capable of carrying the measurement device  120  and capable of flying through an enclosed space while carrying the measurement device  120 . 
         [0027]    The instrumented object  100 ′ configured as a hummingbird is a self-propelled object because the hummingbird is configured to intake bird seed or nectar, which is digested and converted into an energy storage of stored caloric energy within the hummingbird. The instrumented object  100 ′ configured as a hummingbird then moves through the enclosed space using energy stored in the energy storage by using muscles to flap the wings  140 . In an implementation, the hummingbird can be considered functionally equivalent to the propulsion system  130 . 
         [0028]      FIG. 1D  provides an instrumented object  100 ″ configured as a fixed wing aircraft. The instrumented object  100 ″ includes a propeller  150  for providing a forward thrust, a fixed wing  151  for generating lift, and a rear louvered tail  152  for providing directional control. The instrumented object  100 ″ further includes the propulsion system  130  symbolically illustrated proximate the propeller  150 . The instrumented object  100 ″ further includes the measurement device  120  for collecting and communicating atmospheric measurements. The instrumented object  100 ″ can be an aircraft of a type commercially available and marketed as a toy or hobbyist product. 
         [0029]    Other types of flying devices, such as lighter-than-air devices (i.e. balloons or dirigibles), ornithopters, hover craft, etc., can be used in place of the instrumented objects ( 100 ,  100 ′,  100 ″) according to aspects of the present disclosure. In a configuration, the instrumented objects utilized according to aspects of the present disclosure can be heavier than air, or lighter than air. A lighter-than-air device can be a device which has a mass less than the mass of air displaced by the lighter-than-air device. 
         [0030]      FIG. 2A  provides a base station  200  configured as a helipad. The base station  200  includes a landing surface  210 , a recharge/refuel port  230  and a communication terminal  220 . The base  200  is mounted to an interior wall of an enclosed space and supported by a support arm  215 . The base  200  provides a location for the instrumented object  100  to land while it is not flying through the enclosed space. In operation, the instrumented object  100  lands on the landing surface  210  of the base  200  after the instrumented object  100  moves through a flight path. The communication terminal  220  can be a data port for making a physical connection with a data carrying line, or can be an antenna for sending and receiving wireless signals. 
         [0031]    In a configuration where the measurement device  120  includes a communication terminal  122  for sending wireless signals indicative of collected atmospheric measurements and position measurements, the communication terminal  220  is an antenna. The communication terminal  220  can optionally be further enabled to send signals to the instrumented object  100 . Signals sent to the instrumented object  100  can be signals for controlling the navigation of the instrumented object  100 . For example, in an implementation where the instrumented object  100  is a commercially available radio controlled helicopter, the communication terminal  220  can be used to send wireless signals to the instrumented object  100  to adjust the navigation of the helicopter according to techniques available for performing command and control operations of a radio controlled helicopter using wireless signals. Alternatively, the base station  200  can be implemented without the communication terminal  220 . The communication terminal  220  can be located in the enclosed space away from the base station  200  so long as the range between the communication terminal  220  and the instrumented object  100  does not exceed a useful range of the chosen communication medium. In a configuration employing wireless communication, locating the communication terminal  220  on the base station  200  can advantageously allow for the use of low-power signals that are broadcast only at short ranges. Using low-power signals can advantageously preserve battery life, reduce energy consumption, and provide less interference with other electronic devices utilizing wireless signals. Using low-power signals can also advantageously reduce the weight requirement of the measurement device  120  attached to the instrumented object  100 . 
         [0032]    While the instrumented object  100  is on the base station  200 , the instrumented object  100  can refuel or recharge using the recharge/refuel port  230 . In a configuration of the instrumented object using an electric motor to rotate the propeller  110 , the recharge/refuel port  230  can be a pair of electric terminals for recharging a battery located in the instrumented object  100 . The pair of electric terminals can be located on the landing surface  210  so as to contact the landing support  114  when the instrumented object  100  lands on the base station  200 . The landing support  114  can incorporate the recharge/refuel port  132 . The recharge/refuel port  132  can be implemented as recharging terminals connected to the downward facing portion of the landing support  114  for recharging the energy storage  134 . In a configuration of the instrumented object  100  using a combustion engine to rotate the propeller  110 , the recharge/refuel port  230  can be a nozzle for dispensing combustible fuel. The recharge/refuel port  230  can optionally be a nozzle for dispensing fuel that automatically connects to the recharge/refuel port  132 . 
         [0033]    The base station  200  shown in  FIG. 2A  can be modified to provide a landing region for the instrumented object  100 ″. To accommodate the instrumented object  100 ″ configured as a fixed wing aircraft, the base station  200  includes a larger or longer  210  appropriate for landing a fixed wing aircraft. The base station  200  shown in  FIG. 2A  is useful for providing the instrumented object  100  a place to land, recharge, and optionally send and receive measurements or data. However, with a modified landing surface  210  appropriate for landing a fixed wing aircraft on, the base station  200  provides a place for the instrumented object  100 ″ to land, recharge, and optionally send and receive measurements or data. 
         [0034]      FIG. 2B  provides a base station  200 ′ configured as a bird feeder. The base station  200 ′ includes a communication terminal  220 , a feeder tray  246 , and a landing rail  240 . The base station  200 ′ provides a location for the instrumented object  100 ′ to land while it is not moving through an enclosed space collecting atmospheric parameter measurements. The base station  200 ′ is mounted to an interior wall of the enclosed space and supported by a support arm  245 . The feeder tray  246  can be filled with bird feed, sugar water, or nectar. An instrumented object  100 ′ configured as a hummingbird can land on the landing rail  240  after flying through a flight path within the enclosed space. While resting on the landing rail  240 , the instrumented object  100 ′ can use the beak  146  to refuel by eating bird seeds or nectar from the feeder tray  246 . At the same time, the measurement device  120  carried on the instrumented object  100 ′ can transmit measurements to the communication terminal  220 . For example, the measurement device  120  can transmit the atmospheric measurements and position measurements to the communication terminal  220  using a wireless signal. Alternatively, the base station  200 ′ can be implemented without the communication terminal  220 , and the communication terminal  220  can be located elsewhere subject to the limitations of the selected communications medium. 
         [0035]      FIG. 3  is a diagram of an atmospheric measurement collection system  300 . The atmospheric measurement collection system  300  includes the instrumented object  100 , which measures an atmospheric parameter in the interior of an enclosed space and sends the measurements to a controller circuit  310 . The enclosed space is bounded by interior walls  305  and a ceiling. One or more base stations  200  are mounted on the interior walls  305 . The base stations  200  provide a location for the instrumented object  100  to land, recharge, and optionally send and receive measurements of data. 
         [0036]    The controller circuit  310  can include a communication terminal  312 , a processor  314 , and a memory  316 . Within the controller circuit  310 , the processor  314  is electronically coupled to both the memory  316  and one of the communication terminal  312  or communication terminal  220  in the base station  200 . When provided in the controller circuit  310 , the communication terminal  312  is connected to the base station  200  for sending and receiving measurements or data. The communication terminal  312  receives a collected set of atmospheric measurements and position measurements from the base station  200 , which receives measurements from the instrumented object  100 . The processor  314  is programmed to associate the location of the instrumented object  100  with the detected atmospheric parameter. The detected atmospheric parameter and the associated position measurement become the atmospheric position data  320 , because together they provide information about a particular atmospheric parameter at a particular location within the enclosed space at a particular time. The atmospheric position data  320  is sent to a building management system (BMS)  330  through a data link  325 . The data link  325  can be a wireless data connection or a connection using a physical wire configured for sending and receiving data. The BMS  330  uses the atmospheric position data  320  to adjust mechanical controls within the building in order to create or maintain a desired atmospheric condition within the enclosed space. For example, the BMS  330  can be a system regulating louvers, blowers, or fans within a ventilation system providing ventilation to the enclosed space. The BMS  330  can adjust the louvers, blowers, or fans to regulate the temperature with the enclosed space. Additionally, based on the atmospheric position data  320 , the BMS  330  can locally regulate atmospheric conditions within the enclosed space. 
         [0037]    According to a configuration of the present disclosure, the BMS  330  can be used to regulate carbon dioxide concentration by bringing in fresh air when carbon dioxide content exceeds a threshold, or when a rate of change of carbon dioxide content exceeds a threshold. The BMS  330  can also be used to locally control the temperature within the enclosed space. The BMS  330  can also be used to control the humidity within the enclosed space. The BMS  330  can optionally adjust shades or blinds on windows in a portion of a building to control the solar heating within the enclosed space. The BMS  330  can turn on or off lights within the building in an automated fashion according to a time of day, or according to measurements from, for example, motion sensors. The BMS  330  can also adjust other electrical controls within the building, such as, for example, a thermostat control. The BMS  330  can adjust a rate of drawing in fresh air in order to effect air turn over within the building or can halt or commence an air turnover operation. In operation, the BMS  330  can create or maintain the described atmospheric conditions while also optimizing energy consumption of the ventilation system of the building. In an implementation, the atmospheric measurement collection system  300  provides a feedback to the BMS  330  for the BMS  330  to determine when to start and stop taking actions to manage the mechanical controls of the building. 
         [0038]    To collect data with the system  300 , the instrumented object  100  flies through the enclosed space along a flight path. For example, the instrumented object  100  can fly along a flight path  380 . The flight path  380  can be a predetermined path that the instrumented object  100  is configured to fly. Alternatively, the flight path  380  can be a path that is determined according to commands contained in a wireless signal transmitted to the instrumented object  100 . According to an aspect of the present disclosure, the flight path  380  can be a random path, a predetermined path, or a controlled path that is determined in part according to commands. Accordingly, the instrumented object  100  can be configured to move through the enclosed space in a random, predetermined, or controlled manner. 
         [0039]    In operation of the system  300 , the instrumented object  100  collects a set of atmospheric measurements with the measurement device  120  carried on the instrumented object  100 . Following the completion of the flight path  380 , the instrumented object  100  returns to the base station  200  and lands. While the instrumented object  100  is docked with the base station  200 , the measurement device  120  uses the communication interface  122  to transmit the set of atmospheric measurements to the communication terminal  220  on the base station  200 . The measurement device  120  also transmits position measurements collected by the position sensor  126  during the flight of the instrumented object  100  along the flight path  380 . The base station  200  then communicates the set of atmospheric measurements and the position measurements to the controller circuit  310 . The controller circuit  310  receives the set of atmospheric measurements and position measurements from the communication terminal  312  and then uses the processor  314  to associate the set of measured atmospheric parameters with a set of measurement locations based on the set of position measurements. The atmospheric position data  320  is then transmitted to the BMS  330 , which is configured to adjust a mechanical control of the building based on the atmospheric position data  320 . 
         [0040]    In some applications, a plurality of instrumented objects  100  and base stations  200  can be used within an enclosed space. The atmospheric measurement collection system  300  shown in  FIG. 3  incorporates three instrumented objects  100  and three base stations  200 . The three instrumented objects  100  can each be associated with one of the three base stations  200 , and can each dock with the same base station  200  following each flight. Alternatively, the instrumented objects  100  can alternately land on each of the base stations  200 . 
         [0041]    In an alternative implementation, the system  300  is configured with the communication terminal  220  not located on the base station  200 . The communication terminal  220  can be located within the enclosed space at a position where it can easily gather the atmospheric parameter measurements and position measurements from the instrumented object  100  and pass data indicative of the measurements to the communication link  312  within the controller circuit  310 . 
         [0042]      FIG. 4  is a flowchart  400  showing a method of collecting atmospheric measurements using atmospheric sensors mounted on instrumented objects moving through an enclosed space, and using the collected atmospheric measurements to adjust a mechanical control of a building management system. According to an aspect of the present disclosure, the method shown in the flowchart  400  is a method of obtaining measurements for use by a building management system (BMS). According to the method shown in the flowchart  400 , a set of atmospheric measurements is received from an instrumented object moving through an enclosed space ( 405 ). A set of position measurements indicative of the position of the instrumented object is also received ( 410 ). A processor is configured to associate the set of atmospheric measurements with a set of measurement locations based on the set of position measurements ( 415 ). For example, the set of measurement locations can be determined by using time stamps associated with the set of atmospheric measurements and the set of position measurements to determine the location of the instrumented object at the time of each measurement in the set of atmospheric measurements. The atmospheric measurements and associated locations are then stored in a memory ( 420 ). The atmospheric measurements and associated locations are communicated to a building management system. The building management system is configured to adjust a mechanical control based on the atmospheric measurements and associated locations ( 425 ). The atmospheric position data provides the building management system with localized information about atmospheric parameters within the enclosed space enabling the building management system to locally compensate for or correct atmospheric conditions within the enclosed space. 
         [0043]      FIG. 5  is a block diagram illustrating a building management system (BMS)  330  operating by receiving feedback from atmospheric position data  320  gathered by an instrumented object  100  within an enclosed space  500 . The BMS  330  is configured to operate a mechanical control  520  by sending a control signal  510  to the mechanical control  520 . The mechanical control  520  is a control that affects an atmospheric parameter within the enclosed space  500 . For example, the mechanical control  520  can be a fan, blower, or louver of a heating, ventilation, and air conditioning (HVAC) system. The mechanical control  520  can also optionally be mechanical feature of a building that blocks the passage of light into the enclosed space  500 , such as a window blind or curtain. The mechanical control  520  can also change a temperature setting of a furnace or an air conditioner within an HVAC system that ventilates the enclosed space  500 . 
         [0044]    In operation, the BMS  330  receives atmospheric position data  320  through the data link  325  from the controller circuit  310 . Based on the atmospheric position data  320 , the BMS  330  determines an adjustment to the mechanical control  520 . In determining the adjustment to the mechanical control  520 , the BMS  330  can compare the atmospheric position data  320  to a desirable atmospheric condition. The BMS  330  can continue to adjust the mechanical control  520  based on a comparison between the atmospheric position data  320  and the desirable atmospheric condition until the atmospheric position data  320  indicates that the desirable atmospheric condition exists within the enclosed space  500 . According to an implementation of the present disclosure, the atmospheric position data  320  transmitted to the building management system  330  through the data link  325  provides feedback to the building management system  330  for operating a mechanical control  520 . 
         [0045]    For example, in a configuration where the BMS  330  is operating to regulate the humidity within the enclosed space  500  by maintaining the humidity at a desirable humidity level, the BMS  330  can compare measured humidity levels contained in the atmospheric position data  320  to the desirable humidity level. If the measured humidity levels exceed the desirable humidity level, the mechanical control effecting humidity can be adjusted to decrease the humidity level within the enclosed space. Similarly, if the measured humidity levels are below the desirable humidity level, the mechanical control effecting humidity can be adjusted to increase the humidity level within the enclosed space. Alternatively, the BMS  330  can operate by adjusting the mechanical control  520  when the atmospheric position data  320  reveals that an atmospheric parameter within the enclosed space has exceeded or fallen below a threshold value. 
         [0046]    Furthermore, the BMS  330  utilizing the atmospheric position data  320  can adjust the mechanical control  520  based on atmospheric non-uniformities within the space. For example, in a configuration where the mechanical control  520  is a set of fans, blower, or louvers of an HVAC system ventilating the enclosed space  500 , the BMS  330  can issue a control signal  510  to the mechanical control  520  to redirect airflow toward or away from a region of the enclosed space  500 . The BMS  330  can correct a local buildup of carbon dioxide in the enclosed space, which can be caused by, for example, a large concentration of people clustered in one region of the enclosed space  500 . The BMS  330  can correct the local buildup of carbon dioxide (or any other detected gas) by, for example, operating an air intake of the HVAC system to effect a turn over of the air within the enclosed space  500  with fresh air. The BMS  330  can activate blowers, fans, louvers, or temperature controls of a furnace or air cooling element to heat local cool spots within the enclosed space  500 , or to cool local hot spots within the enclosed space  500 . 
         [0047]    Additionally, in an enclosed space  500  with large volumes of air that are unpopulated, such as a large atrium with a significant volume of air overhead any occupants, the BMS  330  can operate to direct airflow in a manner that minimizes energy expenditure to heat and cool unpopulated regions of the enclosed space  500 . The BMS  330  can also utilize real time three dimensional models of atmospheric parameters within the enclosed space  500  based on the atmospheric position data  320  dynamically sent to the BMS  330 . The three dimensional model can be used to predict a change in atmospheric conditions within the enclosed space  500  responsive to an adjustment of the mechanical control  520 . The three dimensional model can incorporate iterative numerical techniques as appreciated by those skilled in the art of fluid dynamics. The three dimensional model can be revised and improved over time based on the atmospheric position data  320  gathered by the instrumented object  100  that can provide dynamic feedback to the BMS  330 . 
         [0048]    While particular implementations and applications of the present disclosure have been illustrated and described, it is to be understood that the present disclosure is not limited to the precise construction and compositions disclosed herein and that various modifications, changes, and variations can be apparent from the foregoing descriptions without departing from the spirit and scope of the invention as defined in the appended claims.