An AR/VR input device include a processor(s), an internal measurement unit (IMU), and a plurality of sensors configured to detect emissions received from a plurality of remote emitters. The processor(s) can be configured to: determine a time-of-flight (TOF) of the detected emissions, determine a first estimate of a position and orientation of the input device based on the TOF of a subset of the detected emissions and the particular locations of each of the plurality of sensors on the input device that are detecting the detected emissions, determine a second estimate of the position and orientation of the input device based on the measured acceleration and velocity from the IMU, and continuously update a calculated position and orientation of the input device within the AR/VR environment in real-time based on a Beyesian estimation (e.g., Extended Kalman filter) that utilizes the first estimate and second estimate.

A method, system and computer readable medium for Ultrasound contact tracing comprising receiving one or more advertise messages determining a base station from the one or more advertise messages wherein the base station generates a broadcast order from at least the one or more advertise messages. A broadcast order is determined and an ultrasound message is sent according to the broadcast order. A detection period for ultrasound messages is initiated according to the broadcast order and a user may be notified of a detected ultrasound message.

A method, system and computer readable medium for Ultrasound contact tracing comprising receiving one or more advertise messages determining a base station from the one or more advertise messages wherein the base station generates a broadcast order from at least the one or more advertise messages. A broadcast order is determined and an ultrasound message is sent according to the broadcast order. A detection period for ultrasound messages is initiated according to the broadcast order and a user may be notified of a detected ultrasound message.

The system for positioning an underwater device including at least two surface transponders comprising a receiver for receiving radio signals transmitted by a geolocation system; each surface transponder comprising: an estimator for estimating at least one radio pseudo-distance; an attachment to a float; and a communicator for communicating information representative of the radio pseudo-distances; and an underwater acoustic transmitter; the underwater device comprising: a receiver for receiving information representative of the radio pseudo-distances; an acoustic signal receiver; a determinator for determining one or more acoustic pseudo-distances between at least two underwater acoustic transmitters and the underwater device; and a calculator for calculating the position of the device in a terrestrial frame of reference centered on one of the surface transponders.

The system for positioning an underwater device including at least two surface transponders comprising a receiver for receiving radio signals transmitted by a geolocation system; each surface transponder comprising: an estimator for estimating at least one radio pseudo-distance; an attachment to a float; and a communicator for communicating information representative of the radio pseudo-distances; and an underwater acoustic transmitter; the underwater device comprising: a receiver for receiving information representative of the radio pseudo-distances; an acoustic signal receiver; a determinator for determining one or more acoustic pseudo-distances between at least two underwater acoustic transmitters and the underwater device; and a calculator for calculating the position of the device in a terrestrial frame of reference centered on one of the surface transponders.

An acoustic system and method detect and locate low intensity and low frequency sound sources in an investigation area. An acoustic system is effective in identifying survivors trapped under rubble following a catastrophic event. The acoustic system focuses on the low frequency components of the human voice and includes acoustic sensors for detecting acoustic signals generated by the sound sources and for generating data representative of the acoustic signals. A wireless transmitter transmits the data representative of the detected acoustic signals to an electronic receiver block that receives and analyzes the data. A processor executes calibration of the acoustic sensors of the suite to temporally align each signal received from the acoustic sensors, and executes a digital beamforming to combine the data representative of the detected acoustic signals and to create an acoustic image of the investigation area to locate the low intensity and low frequency sound sources.

Time of flight between two or more ultrasonic transceivers is measured using known delays between receiving a trigger and sending an ultrasonic pulse in reply. A receive time is measured from a beginning of a receive phase in which the pulse is detected until receipt of an ultrasonic reply pulse. A trip time is determined from a sum of the receive time and a difference between a known first reference period for a transceiver that sends the trigger pulse and a second know reference period for a second transceiver that sends the reply pulse. The second reference period corresponds to a delay between when the second transceiver receives the initial or subsequent trigger pulse from the first transceiver and when the second transceiver sends the reply pulse.

Time of flight between two or more ultrasonic transceivers is measured using known delays between receiving a trigger and sending an ultrasonic pulse in reply. A receive time is measured from a beginning of a receive phase in which the pulse is detected until receipt of an ultrasonic reply pulse. A trip time is determined from a sum of the receive time and a difference between a known first reference period for a transceiver that sends the trigger pulse and a second know reference period for a second transceiver that sends the reply pulse. The second reference period corresponds to a delay between when the second transceiver receives the initial or subsequent trigger pulse from the first transceiver and when the second transceiver sends the reply pulse.

A tracking system includes a first device and a second device. The second device comprises an optical module, an ultrasonic module and a processor. The optical module is configured to capture image data in a first detection field. The ultrasonic module is configured to collect ultrasonic data in a second detection field different from the first detection field. The processor is configured to determine a relative position of a target device relative to the tracking device in a third detection field according to the image data and the ultrasonic data. The third detection field is larger than the first detection field and larger than the second detection field.

A tracking system includes a first device and a second device. The second device comprises an optical module, an ultrasonic module and a processor. The optical module is configured to capture image data in a first detection field. The ultrasonic module is configured to collect ultrasonic data in a second detection field different from the first detection field. The processor is configured to determine a relative position of a target device relative to the tracking device in a third detection field according to the image data and the ultrasonic data. The third detection field is larger than the first detection field and larger than the second detection field.