WO2019197006A1

WO2019197006A1 - Apparatus and method for efficient state determination and localisation between mobile platforms

Info

Publication number: WO2019197006A1
Application number: PCT/EP2018/025108
Authority: WO
Inventors: Christopher Mutschler; Sebastian KRAM; Christian Nickel; Tobias FEIGL; Jochen Seitz; Niels HADASCHIK
Original assignee: Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V.
Priority date: 2018-04-10
Filing date: 2018-04-10
Publication date: 2019-10-17

Abstract

The invention relates to a system for determination the position of a mobile user device (10). The system comprises a state determination device (120), comprising a transmitting unit (122) and a state determination unit (124), and the mobile user device (110), comprising a receiving unit (112) and a processor unit (114). The mobile user device (110) and the state determination device (120) are separated physically from each other. The state determination unit (124) of the stated determination device (120) is designed to ascertain a state of the state determination device (120) which depends on the position of the state determination device (120) or on a movement of the state determination device (120). Furthermore, the transmitting unit (122) of the state determination device (120) is designed to transmit state data to the receiving unit (112) of the mobile user device (110), wherein the state data depends on the state of the state determination device (120), which has been ascertained by the state determination unit (124). In addition, the receiving unit (112) of the mobile user device (110) is designed to receive the state data from the transmitting unit (122) of the state determination device (120). The processor unit (114) of the mobile user device (110) is designed to estimate the position of the mobile user device (110), wherein the processing unit (114) of the mobile user device (110) is designed to use the state data to estimate the position of the mobile user device (110).

Description

Apparatus and method for efficient condition determination and localization between mobile platforms

description

The application relates to an apparatus and a method for efficient state determination and localization through data exchange and between mobile platforms and logical pairing for common movement models for localization and association, which can be used for state determination, localization, location, communication, and tracking ,

A more precise state determination or localization solution by data exchange between UE5 (English: User Equipment 5) in the context of device-to-device communication (D2D) (German: device to device communication) are of particular Interest.

Thus, in a wide variety of applications, e.g. Localization and navigation applications in the private and public sector, monitoring of freight transport, etc. the physical condition, e.g. the position and speed, e.g. Passengers, vehicles or objects in general is an important piece of information. This information can already today based on different tracking technologies, e.g. GPS (Global Positioning System, German Global Positioning System, Mobile Radio, etc.) and supported by additional sensors, eg inertial sensors, compass, odometer, etc. Depending on the equipment of the devices, the physical state can be determined more or less accurately ,

Unlike a pedestrian with a smartphone, for example, a vehicle can support its position and speed by integrating the on-board odometry data (on-board), eg number of wheel revolutions per minute, into the state estimation , Thus, if the pedestrian were to get into the vehicle and receive the state of the vehicle on his smartphone, he would profit in his navigation application from a more accurate and robust position and speed information. The pedestrian with his smartphone has no way to access the exact position and speed of the vehicle, since there is no (standardized) interface between the smartphone and the vehicle.

Up to now, in applications (apps) on smartphones, purely on the basis of the current location data, it is checked whether a smartphone is moving along a route that corresponds to a means of transport, e.g. in public transport (public transport).

Research projects have already investigated whether it is possible to recognize with a smartphone that one is currently on the move or on the move, for example by using a certain means of transport. Project NADINE http://www.nadine-navigation.de/.

A system according to claim 1, a mobile user equipment according to claim 11, a state machine according to claim 19, a method according to claim 27, a method according to claim 28, a method according to claim 29 and a computer program according to claim 30 are provided.

A system for determining the position of a mobile user device is provided. The system comprises a state determination device comprising a transmission unit and a state determination unit, and the mobile user device comprising a reception unit and a processor unit. The mobile user device and the state-determining device are physically separated from each other. The state determination unit of the state determining apparatus is configured to detect a state of the condition determining apparatus that depends on a position of the state determining apparatus or on a movement of the state determining apparatus (120). Further, the transmitting unit of the state determining apparatus is configured to send status data to the receiving unit of the mobile user equipment, the status data depending on the state of the condition determining unit detected by the condition determining unit. Furthermore, the receiving unit of the mobile user device is configured to receive the status data from the transmitting unit of the state-determining device. The processor unit of the mobile user device is designed to estimate a position of the mobile user device, wherein the processor unit of the mobile user device is designed to use the state data for estimating the position of the mobile user device. Furthermore, a mobile user device for position determination is provided. The mobile user device comprises a receiving unit and a processor unit. The receiving unit of the mobile user equipment is configured to receive status data from a transmitting unit of a state machine, the status data depending on a position of the state machine or a movement of the state machine, the mobile user device and the state machine being physically separated from each other. The processor unit of the mobile user device is configured to estimate a position of the mobile user device, wherein the processing unit of the mobile user device is configured to use the state data to estimate the position of the mobile user device.

Furthermore, a state determining device for supporting a position determination of a mobile user device is provided. The state determining apparatus includes a transmitting unit and a state determining unit. The state determination unit of the state determining apparatus is configured to detect a state of the state determining device that depends on a position of the state determining device or a movement of the state determining device, the mobile user device and the state determining device being physically separated from each other. The transmitting unit of the state determining apparatus is configured to send status data to a receiving unit of the mobile user equipment, the status data depending on the state of the condition determining apparatus determined by the state determining unit, the status data being suitable for aiding the position determination of the mobile user equipment.

Furthermore, a method for determining the position of a mobile user device is provided. The method comprises:

Determining a state of a state determining device (120) that depends on a position of the state determining device (120) or a movement of the state determining device (120) by a state determining unit (124) of the state determining device (120).

Sending state data by a transmitting unit (122) of the state determining device (120) to a receiving unit (1 12) of the mobile user equipment (110), the state data depending on the state of the state determining device (120) that is determined by the state determining unit (124 ) with the mobile user equipment (110) and state machine (120) physically separated from each other.

Receiving the ten state data sent by the transmitting unit of the state-determining device by the receiving unit of the mobile user device. And:

Estimating a position of the mobile user device by a processor unit of the mobile user device, wherein the processor unit of the mobile user device uses the state data to estimate the position of the mobile user device.

Receiving the state data sent from a transmitting unit of a state machine by a receiving unit of the mobile user terminal, where the status data depends on a position of the state machine or a movement of the state machine, the mobile user machine and the state machine are physically separated from each other. And:

Furthermore, a method for supporting a position determination of a mobile user device by means of a state-determining device is provided. The procedure includes:

Determining a state of the state determining device (120)) that depends on a position of the state determining device (120) or a movement of the state determining device (120) by a state determining unit (124) of the state determining device (120, wherein the mobile user device (110) and the state determining device (120) are physically separated from each other. Transmission of status data by a transmitting unit (122) of the state determination device (120) to a receiving unit (1 12) of the mobile user device (110), the state data being dependent on the state of the state determining device (120) being used by the state determining unit (124). was determined, wherein the state data is suitable for supporting the position determination of the mobile user device (110).

Furthermore, computer programs are provided, each with a program code for carrying out one of the methods described above.

Embodiments minimize the extent of user device communication with the LS to reduce the data rate and data volume in the communication channel. This benefits UEs with different localization options. The master-slave term in this context describes the relationship of the UEs. The master is the UE whose movement executes the primary movement, which transfers to one or more slaves. Embodiments are based on the fact that, as a rule, the master is equipped with better possibilities for localization.

For example, in preferred embodiments, a bus (master) is equipped with a high performance GNSS receiver and supporting sensors (e.g., odometry or camera) and can be located with high accuracy. In the bus there are several passengers with mobile phones (slaves), which with cheap GNSS receivers and low-cost sensors only a location with low accuracy is possible. However, these slaves move with the bus and could benefit from its location accuracy.

In addition, in embodiments, it may not be necessary to communicate the movement to the LS (Location Server in FIG. 5G, as a backend) because the passengers are moving in the same way as the bus. Thus, both data traffic and energy can be saved situationally and at the same time a significant improvement of the position accuracy can be achieved.

Embodiments can achieve a minimization or reduction of the data transmission from the user device to the LS (Location Location Server) by setting up a device-to-device connection (D2D). A manual data transmission or a manual data coupling between devices is no longer required in embodiments.

Hereinafter, preferred embodiments of the invention will be described with reference to the drawings.

The drawings show:

1a shows a system for determining the position of a mobile user device 110 according to an embodiment.

Fig. 1 b shows the system of Fig. 1 a according to a further embodiment.

Fig. 1 c shows the system of Fig. 1a according to another embodiment.

Fig. 1 d shows the system of Fig. 1a according to another embodiment.

Fig. 1e shows a system according to another embodiment.

FIG. 1f shows a mobile user device for position determination according to an embodiment.

FIG. 1 g shows a state determination device for supporting a position determination of a mobile user device according to an embodiment.

2 shows a coupling of master and slave in the master-slave relationship according to an embodiment.

3 shows a coupling of master and slave by the position determination server (LS) according to an embodiment.

FIG. 4 shows a coupling and linking of master and slave only in the position determination server (LS) according to an embodiment.

5 shows a situational hierarchical coupling according to an embodiment. Modern mobile radio standards such as LTE or 5G allow the use of many new features that allow many new ways to locate objects. On the one hand, it is possible to specifically process localization information in the location server (LS) and to use information from UEs (User Equipment), which are also referred to below as user devices (User Device or User Equipment). be designated. On the other hand, the Internet of Things (IOT) has a large number of objects that have very different possibilities for self-localization (GRS, radio location in cellular networks, local radiolocation systems, inertial sensors, camera / radar / lidar / infrared systems , etc.), with the possibility to participate in this communication. In addition, interfaces for direct device-to-device (D2D) communication (device-to-device communication) between UEs are planned. In many situations, objects move together (eg, passengers in a bus or packages in a van), but have very different location capabilities.

Embodiments are based on, on the one hand, minimizing the extent of the communication of the UEs with the LS in order to reduce the required resources. On the other hand, UEs with different localization options and qualities should benefit from each other.

The master-slave term in this context describes the relationship of the UEs. The master is the UE whose movement executes the primary movement, which transfers to one or more slaves. As a rule, the master is equipped with more effective localization options.

An example would be a bus (master) that can locate with high accuracy because it is equipped with a high performance GNSS receiver and supporting sensors (e.g., odometry or camera). In the bus there are several passengers with mobile phones (slaves), which with cheap GNSS receivers and low-cost sensors only a location with low accuracy is possible. However, these slaves move with the bus and could benefit from its location accuracy.

At the same time, it is not necessary (or only at a low rate for plausibility checking) to measure at a high rate with the available sensors and to communicate the motion to the LS since the passengers are informed by the bus or in the coordinate system of the omnibus. be moved. Thus, data traffic as well as energy for measurement, processing and transmission can be saved situationally and at the same time a significant improvement of the position accuracy can be achieved.

Embodiments of the invention will now be described with reference to the drawings.

The system comprises a state determination device 120, comprising a transmission unit 122 and a state determination unit 124, and the mobile user device 110, comprising a reception unit 1 12 and a processor unit 114. The mobile user equipment 110 and the state determination device 120 are physically separated from one another.

The state determination unit of the state determination device is configured to determine a state of the state determination device that depends on a position of the state determination device 120 or on a movement of the state determination device 120.

Further, the transmitting unit of the state determining apparatus is configured to send status data to the receiving unit of the mobile user equipment, the status data depending on the condition of the condition determining apparatus 120 determined by the status determination unit 124.

The state determination unit 124 of the state determination device 120 is configured to determine a position of the state determination device 120.

Furthermore, the transmitting unit 122 of the state-determining device 120 is configured to send status data to the receiving unit 1 12 of the mobile user device 110, the state data depending on the position of the state-determining device 120.

Furthermore, the receiving unit 112 of the mobile user device 110 is configured to receive the status data from the transmitting unit 122 of the state-determining device 120. The processor unit 1 14 of the mobile user device 110 is configured to estimate a position of the mobile user device 110, wherein the processor unit 1 14 of the mobile user device 110 is designed to use the state data to estimate the position of the mobile user device 110.

Thus, the state determining device 120 and the user device 1 10 are physically separated from each other. The state determination device 120 transmits the user data 110 its status data, e.g. in a message from its transmitting unit 122.

In the example of the omnibus above, the state-determining device 120 would therefore be integrated into the bus, for example, and the mobile user device 110 would be a special mobile device according to the invention, for example the smartphone of the passenger according to the invention.

In an embodiment, the state determination unit 124 of the state determining device 120 may be e.g. be configured to determine as the state of the state determination device 120 at least one position of the state determining device 120 or a Ge and speed of movement of the state-determining device 120 or an acceleration and the direction of movement of the state-determining device 120. In this case, the transmitting unit 122 of the state-determining device 120 may be e.g. be configured to send status data to the receiving unit 1 12 of the mobile user device 1 10, which depend on the position of the state-determining device 120 or the speed and direction of movement of the state-determining device 120 or the acceleration and the direction of movement of the state-determining device 120.

Thus, in one embodiment, therefore, the position of the mobile user device 110 may be performed based on the position of the state determination device 120. In such an embodiment, the state determination unit 124 of the condition determining device 120 then has e.g. as the state of the state machine 120, the position of the state machine 120 is estimated.

In such an embodiment, the state determination unit 124 of the state determination device 120 is then configured, for example, as determining the state of the condition determining device 120 at least one position of the state determination device 120. The transmitting unit 122 of the state-determining device 120 is then, for example, formed to send status data to the receiving unit 1 12 of the mobile user device 1 10, which depend on the position of the state determining device 120.

In this case, in such an embodiment, e.g. For example, the processor unit 114 of the user equipment 110 stores the position of the user equipment 110 such that it receives the position of the state machine 120 in the status data, and adopts the position of the state machine 120 without change as the position of the user equipment 110.

In another embodiment, the processor unit 114 of the user device 110 estimates the position of the user device 110, for example, such that it receives the position of the state determining device 120 in the state data, and changes this position, for example, by a few meters in the east or west direction, and changes by a few meters to the north or south direction, wherein the processor unit 1 14 makes the corre sponding changes in the obtained position of the state-determining device 120 in dependence on how it assumes its relative position relative to the state-determining device 120. Information about this may have been obtained by the user unit, for example, by a last own position determination before it obtains the state data from the state determination device 120.

In another embodiment, the state determination unit 124 of the state determining device 120 is e.g. be designed to determine as the state of the condition determining device 120 at least one speed and a movement direction of the state determining device 120 or an acceleration and the direction of movement of the state determining device 120. In that case, the transmitting unit 122 of the state-determining device 120 is e.g. designed to send status data to the receiving unit 1 12 of the mobile user device 1 10, which depend on the speed and the direction of movement of the state-determining device 120 or by the acceleration and the direction of movement of the state-determining device 120.

For example, the user device 110 may have estimated its own position by means of a GPS receiver. As soon as the user device 1 10 couples with the condition determination device, for example, the user device 1 10 switches off its GPS receiver. From the direction of movement and speed transmitted by the state determination unit 124 or from the state determination unit 124 transmitted movement direction and acceleration, the user equipment then based on his / her estimated old position calculate his new position NEN. For example, if an omnibus moves northwest at a rate of 4 meters / second, the processor unit 14 of the user device 110 may determine that after 2 seconds after the old location of the user device 110 has been estimated, the user device 110 becomes

2 seconds ^* 4 meters / second = 8 meters from the old position, located northwest from the old position.

Analogously, a new position of the user device 110 based on a movement direction of the state determination device 120 and an acceleration of the state determination device 120 can be estimated as a new position of the user device. In this case, the estimate can then be determined on an old position of the user device 110 and an old speed of the user device 110. By means of the acceleration then, e.g. determines the new speed of the user device 110. For example, can then, as explained above, the new position of the user device 110 can be estimated.

The system described here and its devices can be used for example in the field of platooning (German also called electronic drawbar). Platooning is understood to mean a system for road traffic in which several vehicles can travel one behind the other at a very small distance with the aid of a technical control system without impairing traffic safety.

Fig. 1b shows the system of Fig. 1a according to another embodiment.

In the embodiment of FIG. 1 b, the mobile user device 110 may further include, for example, a first detection unit 131, which may be configured to determine whether the state determination device 120 is in spatial proximity to the mobile user device 110.

In a preferred embodiment of FIG. 1 b, after the first detection unit 131 of the mobile user device 1 10 has determined that the mobile user device 1 10 is in spatial proximity to the state determination device 120, and after which the transmission unit 122 stores the state data to the receiving unit 1 12 of the mobile User device 110 has sent, the first detection unit 131 of the mobile user device 1 10 be set up to check whether the mobile user device 110 is still in spatial proximity to the state-determining device 120. In this case, the transmitting unit 122 of the state-determining device 120 may be designed to send no further status data to the receiving unit 1 12 of the mobile user device 110 if the mobile user device 110 is no longer in close proximity to the state-determining device 120.

Fig. 1 c shows the system of Fig. 1a according to another embodiment.

In the embodiment of FIG. 1 c, the state machine 120 further includes, for example, a second detection unit 132 that may be configured to determine whether the mobile user equipment 110 is in close proximity to the condition determiner 120.

In a preferred embodiment of FIG. 1 c, after the second detection unit 132 of the state determination device 120 has determined that the mobile user device 110 is in spatial proximity to the state determination device 120, and after the transmission unit 122 transmits the state data to the reception unit 12 of the mobile user device 1 10s, the second detection unit 132 of the state determination device 120 may be configured to check whether the mobile user device 110 is still in close proximity to the state determination device 120. In this case, the transmission unit 122 of the state determination device 120 may be configured to send no further status data to the reception unit 1 12 of the mobile user device 1 10s when the mobile user device 110 is no longer in spatial proximity to the state determination device 120.

Fig. 1d shows the system of Fig. 1a according to another embodiment.

In the embodiment of FIG. 1d, the system further includes a third detection unit 133 that may be physically separate from the mobile user equipment 110 and physically separate from the state machine 120, and that may be configured to determine whether the mobile user device is, for example 1 10 is in proximity to the state machine 120. In a preferred embodiment of FIG. 1 d, after the third detection unit 133 of the system has determined that the mobile user equipment 1 10 is in spatial proximity to the state determination device 120, and after the transmission unit 122 transmits the status data to the reception unit 112 of the mobile user device 110, the third detection unit 133 of the system must be set up to check whether the mobile user device 110 is still in close proximity to the condition determination device 120. In this case, the transmission unit 122 of the state determination device 120 can be designed to send no further status data to the reception unit 1 12 of the mobile user device 110 when the mobile user device 110 is no longer in spatial proximity to the state determination device 120.

For example, in one embodiment, the state machine 120 of FIGS. 1 a, 1 b, 1 c, and 1 d may be a mobile state machine 120.

According to one embodiment, the mobile user device 110 of FIG. 1 a or 1 b may further include, for example, a first movement pattern comparator 141 that may be configured to determine whether a first movement pattern of the mobile user device 110 corresponds to a second movement pattern of the mobile condition determination device 120 , This is shown in Fig. 1 b.

According to a further embodiment, the mobile user device 110 of FIG. 1a or FIG. 1c may further comprise a second movement pattern comparator 142, which may be configured, for example, to determine whether the first movement pattern of the mobile user device 110 corresponds to the second movement pattern of the mobile condition determination device 120 corresponds. This is shown in Fig. 1 c

According to another embodiment, the mobile user device 110 of FIG. 1a or FIG. 1d may further include a third movement pattern comparator 143 that may be physically separate from the mobile user device 110 and physically separate from the state machine 120, and For example, it may be arranged to determine whether the first movement pattern of the mobile user device 110 corresponds to the second movement pattern of the mobile state machine 120. This is shown in Fig. 1d.

According to such embodiments with movement pattern comparators 141; 142; 143, the transmitting unit 122 of the state-determining device 120 may, for example, forms to send the status data to the receiving unit 112 of the mobile user equipment 1 10 precisely when the first movement pattern of the mobile user equipment 110 corresponds to the second movement pattern of the mobile condition determining apparatus 120, eg, by the movement pattern comparator 141; 142; 143 was detected.

Whether the user device 110 is in spatial proximity to the state determination device 120 can be determined by one of the detection units 131; 132; 133 be averaged. However, this information can also be provided by third parties, or else, one is completely limited to the comparison of the movement patterns of mobile user device 110 and mobile state-determining device 120. In that regard, the detection of whether spatial proximity between user device 1 10 and state determination device 120 is present , not necessary for a subsequent comparison of the movement patterns. However, the determination of spatial proximity between user equipment 110 and condition determination apparatus 120 may precede the comparison of the movement patterns to restrict the circle of user equipment 11 Oe whose movement pattern is compared with the movement pattern of mobile condition determination apparatus 120.

A comparison of the movement patterns can be carried out, for example, by keeping for a defined number of times in the past, e.g. for the time ten seconds, twenty seconds, thirty seconds, forty seconds and fifty seconds, the distance between user equipment 110 and state machine 120 is determined.

For example, these five distances can be summed up and divided by 5. Both movement patterns correspond when the result thus formed remains below a limit value. A typical limit could be, e.g. Be 20 meters or 30 meters.

In an alternative embodiment, the thus determined example, five states can be squared and summed and divided by the number of distances (5). From the intermediate result thus formed, the root can be drawn to obtain the final result. Both movement patterns correspond when the result thus formed remains below a limit value.

Conversely, the comparison of the movement pattern but also not necessary, after a spatial proximity between user device 1 10 and state machine 120th was determined. The mere determination of spatial proximity can already be considered sufficient without the adjustment of the movement patterns in order to carry out the determination of the position of the user device 110 based on the position of the state determination device 120.

While in the detection of the (current) spatial proximity so only the current actual state of the positions of user equipment 110 and state machine 120 is compared, the comparison of the movement pattern allows a comparison of the movements of user equipment and 10 state determination device 120 over a (longer) period and thus can often lead to more accurate results as to whether the position of the user device 110 can actually be estimated in the future on the basis of the state determination device 120.

In a particular embodiment of FIG. 1 b, after the first motion pattern comparator 141 of the mobile user device 110 has determined that the first motion pattern of the mobile user device 110 corresponds to the second motion pattern of the mobile state machine 120, and after the transmission unit 122 has sent the status data to the receiving unit 112 of the mobile user device 110, the first movement pattern comparator 141 of the mobile user device 110 may be configured, for example, to check whether the first movement pattern of the mobile user device 1 10 still corresponds to the second movement pattern of the mobile condition determining device 120 , and wherein the transmitting unit 122 of the state determining device 120 may be configured to send no further status data to the receiving unit 1 12 of the mobile user device 110 when the first movement pattern of the mobile user device 110 is no longer the second movement pattern of the mobile To stand-up device 120 corresponds.

Such an embodiment thus checks, for example continuously, whether the movement patterns between user device 110 and state-determining device 120 still correspond. If this is no longer the case, the transmitting unit 122 of the condition determining device 120 no longer transmits any further status data to the user unit.

Similarly, in a particular embodiment of FIG. 1 c, after the second movement pattern comparator 142 of the mobile state machine 120 has determined that the first movement pattern of the mobile user device 110 corresponds to the second movement pattern of the mobile state machine 120, and after that Sending unit 122 has sent the condition data to the receiving unit 1 12 of the mobile user apparatus 1 10, the second movement pattern comparator 142 of the mobile condition determining apparatus 120 may be configured to check whether the first movement pattern of the mobile user equipment 10 is still the second movement pattern of the user mobile state machine 120 corresponds, and wherein the transmitting unit 122 of the state-determining device 120 may be configured to send no further status data to the receiving unit 112 of the mobile user device 110, if the first movement pattern of the mobile user device 1 10 is no longer the second movement pattern of the mobile State determining device 120 corresponds.

Accordingly, in a particular embodiment of FIG. 1 d, after the third movement pattern comparator 143 system has determined that the first movement pattern of the mobile user device 110 corresponds to the second movement pattern of the mobile state machine 120, and after the transmitting unit 122 completes the state data for example, to check whether the first movement pattern of the mobile user device 110 still corresponds to the second movement pattern of the mobile condition determining device 120, and wherein the transmitting unit 122 of the state determination device 120 may be configured to send no further status data to the receiving unit 112 of the mobile user device 1 10 if the first movement pattern of the mobile user device 1 10 no longer corresponds to the second movement pattern of the mobile state determination device 120 corresponds.

Possible termination criteria for the transmission of the status data from the condition determining device 120 can therefore be, for example:

Embodiment (a): The movement patterns of user equipment 1 10 and condition determination apparatus 120 no longer coincide.

Embodiment (b): There is no more spatial proximity between user device 110 and state machine 120.

Embodiment (c): There is no longer any spatial proximity between user device 110 and state determination device 120 and the movement patterns of user device 110 and state determination device 120 no longer match. Embodiment (d): at least one of the following criteria is met,

that there is no more spatial proximity between user device 1 10 and condition determination device 120; or

that the movement patterns of user device 1 10 and state machine 120 no longer match.

According to one embodiment, the system may further comprise, for example, a motor vehicle, wherein the mobile condition determining device 120 may be incorporated in the motor vehicle.

In one embodiment, the motor vehicle may be, for example, an omnibus.

According to another embodiment, the motor vehicle may be a car, for example.

In one embodiment, the system may further include, for example, a ship or an aircraft, wherein the mobile condition determining device 120 may be incorporated into the ship or aircraft.

For example, in one embodiment, the mobile condition device 120 may be a mobile device.

In Fig. 1d, the optional detection unit 133 and the optional Bewegungsmus tervergleicher 143 may be implemented on a common server 130, for example, a positioning server (LS).

Fig. 1e shows a system according to another embodiment. In this case, the state determination unit 124 of the state determination device 120 may be considered a first state determination unit 124. The mobile user device 110 of FIG. 1e further comprises a second state determination unit 154, which may be switchable to a switched state in which the second state determination unit 154 of the mobile user device 110 determines the position of the mobile user device 110 and which turns it off Be state switchable by the second state determining unit 154 of the mobile user device 1 10, the position of the mobile Userge device 1 10 is not determined. In this case, the mobile user device 110 of FIG. 1 e, for example is set to switch the second state determination unit 154 of the mobile user device 110 to the switched-off state when the transmission unit 122 of the state determination device 120 sends status data to the reception unit 112 of the mobile user device 1 10.

If the user device 110 thus receives status data from the state-determining device 120, then in the embodiment of FIG. 1 e it no longer carries out its own independent position determination.

In one embodiment, the mobile user device 110 may be a mobile device.

Hereinafter, preferred embodiments of the invention are shown.

To use a master / slave situation, e.g. with a bus as master and UE as slave, are provided in various models:

A first preferred group of embodiments relates to a slave-master coupling with direct communication.

Two user equipment (UEs) detect their proximity via D2D (Device to Device) communication (e.g., ranging) and check if their movement models match (e.g., pedestrians, cars, buses). Furthermore, it is verified which of the objects is slave and which master is (for example: a mobile phone (pedestrian) can be moved by a bus, but not the other way round).

Subsequently, the slave couples to the master (subscribe) and a direct transfer of localization information, such as position, motion, metadata) between slave and master takes place. Transmission takes place as long as an active D2D communication is detected (in other words, as long as it is ensured that the slave, pedestrian, is still moving in the coordinate system of the master, in the bus). As long as the coupling exists, only the master communicates with the LS. This model is summarized in FIG. 2. Clever use of the high-precision Sensitive sensors of the master (bus eg with odometry) can situationally stabilize the position of the slave (pedestrian) and improve the position / orientation quality.

An interaction between slave (e.g., pedestrians entering the bus) and master (e.g., the omnibus) can be compensated on the one hand for the sensor offset of the odometry of the bus. For example, pedestrians only arrive at designated stops, so-called landmarks in the context of a loop closure (see Simultaneous Localization And Mapping (in German: Simultaneous Localization and Map Generation, SLAM for short) and the position and orientation on the other hand the pedestrian (for example, the direction of travel and the position of the entrance doors can determine the orientation of the slaves in the entry phase).

The D2D communication can make optimum use of mobile radio communication (for example LTE Sidelink) but can also take place via other physical transmission methods, e.g. via WLAN / WiFi i. I. A. from the IEEE.802.11 standard family, WPAN e.g. Bluetooth, UWB or ZigBee from the IEEE 802.15 family, or be designed via an electronic (NFC) ticketing system.

A second preferred group of embodiments relates to slave-master coupling by the positioning server.

3 shows a coupling of master and slave by the position determining server (LS) according to an embodiment.

The LS detects that the motion profiles of the UEs (master and slave) match one another. Master and slave are determined (analogous to the first preferred group of execution forms in Fig. 2). However, the coupling between the UE5 (master and slave) now takes place in the LS. The slave then terminates the communication with the LS as long as master and slave are coupled. Analogously to FIG. 2, the master undertakes the communication with the LS, while the localization-relevant information is transmitted via D2D to the slave. Furthermore, it is regularly checked whether the Bewegungsmo delle the UEs match to ensure the synchronization of the coordinate systems (here pedestrian and bus). This model is summarized in FIG. A third preferred group of embodiments does not perform coupling between master and slave. A link is only made in the positioning server

(LS).

Accordingly, FIG. 4 shows a coupling and linking of master and slave only in the position determining server (LS) according to an embodiment.

In this model there is no D2D exchange between master and slave. The master / slave relationship is recognized in the LS, analogous to the models shown in FIG. 2 and FIG. 3, by checking the compatibility, local proximity, and motion models of the UEs. The additional (location) information is then transmitted in each case via the connection between LS and the UEs. This model is shown in FIG. 4.

In a fourth preferred group of embodiments, in contrast to the model of FIG. 4, no master-slave relationship is defined; all participants are and act on an equal footing. Examples of such a group are motorists in a congestion or slow-moving traffic, a demonstration train of pedestrians, the spectators who leave a major event, etc. The participants are then formally independent of each other in terms of their place, but they obey according to the view as a swarm certain laws (neighbors have similar movement direction and speed, neighbors have quasi-constant distance, ...).

Other examples with relatively fixed relative positions in the group (the cluster) are with driver in a car or public transport without positioning and / or communication functionality.

The participants are now joined in the position determination server (LS) by means of a group (a cluster). Alternatively, the group membership can also be determined locally on the basis of D2D communication and transmitted to the LS by means of a corresponding protocol message. This protocol message can be made by a group member (where the protocol message could include the following information: "UEs with ID x, y and z are members of a group"). Alternatively, each member can document the affiliation to a group based on a message ("I am (now) a member of Group X"). Another possibility is that each UE calls its neighbors ("My neighbors are x and y"). After an optional characterization of the group (a cluster), a common motion model can be set up, which is then used to locate the UEs. However, participants in one group should continue to report to the LS, albeit at a lower rate than before. In addition to the common position determination, this then also serves in particular to validate the plausibility and confirm the affiliation to the group. The measurements of the TDOA can be supported by D2D measurements of the distance. These must then also be transmitted via the base station to the LS.

The signaling rate of the sensor data may then occur automatically upon signaling by the LS ("you are now member of group A") or be explicitly arranged ("reduce your signaling rate to R"). The latter is also implicitly possible through the corresponding allocation of resources. The sum rate of all UEs is thereby reduced. For more inaccurate position information, only the position of the group can be reported ("Group A is at position XYZ"). For more detailed information (including position in the group), a direct position specification ("UE x is at position XYZ") is possibly only with Off set ("The UE position of UE y has an offset of xyz from the position of the group A. ").

Due to the somewhat looser coupling, a new sign up / reassignment or a logout / to the group (or the cluster) can occur continuously. For large numbers of participants, subdivision into subgroups that move within a large group may be useful. But this is only a help fe. an artificial hierarchy for internal processing in the LS. Since the participants are only loosely coupled, a determination of the group affiliation by Gruppeneintei ment is important. Grouping can take place on the basis of (joint) movement models (for example, cyclists and pedestrians do not form a group, even if they are standing together at the traffic light). If necessary, group hypotheses are to be provided for an individual user (again the traffic light example, if an assignment as a cyclist is difficult, for example).

A fifth preferred group of embodiments provides situational hierarchical coupling.

Thus, FIG. 5 shows a situational hierarchical coupling according to an embodiment

Many UEs (wearables on humans, for example trousers, jacket, wristband, finger / rings, glasses, shoes, mobile phones, automobiles in traffic) have different reliability characteristics. sensitivity and availability of their sensors or available motion information, but are in similar traffic or movement situations. The detection of local proximity of the user equipment (UEs) via D2D and in the LS and their grouping can be used to link topologies from UEs situationally and adaptively hierarchically. This can also be done with formally equal UEs, as discussed in the fourth preferred group of embodiments, where a UE is deliberately or arbitrarily defined as a master. Thus, the determination of the most reliable AEs in a group, for example, by communicating the quality measures to the LS, to make this the Master UE ("group leader") to appoint. Here, the structure of a hierarchical structure, consisting of UEs, and arranged according to their reliability and availability (uplink connection).

The structure of this structure is described in Fig. 5: UEs 2 and 4 each take on the role of the master for their grouping. This has the following advantages: direct communication only over the network ("down"), for example, to save bandwidth and improve positioning accuracy, or to improve only the positioning accuracy. Furthermore, a reduction of the load can be achieved by saving sensor measurements in UEs. In addition, regular D2D / LS asserts are used to determine whether all UEs still belong to the grouping. Move z. For example, if some objects are too far away, they will be removed from the group.

In an alternative implementation, it is possible for the master UE to aggregate the measurement data (IMU, GNSS, OTDOA) of all the participating UEs via the D2D connection (this is necessary in any case for UEs without uplink capability). This can reduce the overall data rate on the data uplink by reducing overhead. In addition, can be done in the master UE preprocessing: This has different Zielmög possibilities for upstream combination of location information, for data compression and rejecting as unreliable recognized records.

Unreliable records can be known from side information such as known intervals and then be made by majority vote, for example. One method would be the clustering of the individually measured times, distances or positions and selection, for example using the k-mean algorithm, or other methods for outlier detection. From the above discussions, it can be seen that the embodiments of the

2 and 3 offer the advantage that the communication between the slaves and the LS is saved by the direct exchange of information via D2D. As a result, the required proportion of the bandwidths, for example, for the uplink to the LS, by a multiple, e.g. each reduced by the proportion of each passenger in a bus. Energy efficiency is achieved; GRS need not be used by the slaves, but only by the master (which may, for example, implement a state machine 120). Thus, among other things power is saved at the user equipment (UEs).

Furthermore, the availability is increased by the direct connection LS master slave for the slaves. This is particularly suitable for slaves with low communication and localization options: For example, in a skilful hopping between rule the eNB's the master distribute the signal to the slaves, which saves capacity.

Furthermore, the communication of the location-relevant data between master and slave (either directly in the embodiments of FIGS. 2 and 3, or indirectly via the LS according to the third (shown in FIG. 4) or fourth preferred group of embodiments) makes it possible to improve the determination of the state of the slaves (for example, UEs are in motion, static, they are driven or run, etc.). In addition, relevant meta information (for example: stop in the case of the passenger bus) is also transmitted, which, used as landmarks, can be used to compensate or (re-) calibrate the accumulated error in the estimation procedure.

Areas of application include the optimization of the localization and navigation of passers-by in passenger traffic, the automatic ticketing and communication between line operators and passengers in passenger transport, for improved tracking of persons with mobile telephones or the like. in modern vehicles, in the transport of goods and the tracking of parcels and containers during transport and in improving localization options and reducing network load in congestion-critical situations (events, main traffic nodes).

Fig. 1f shows a mobile user device 1 10 for determining position according to a Ausfüh tion form. The mobile user device 110 includes a receiving unit 112 and a processor unit 1 14. The receiving unit 1 12 of the mobile user device 110 is configured to receive status data from a transmitting unit 122 of a state-determining device 120, the state data depending on a position of the state-determining device 120 or on movement of the state-determining device 120, wherein the mobile user device 110 and the state machine 120 are physically separate from each other.

The processor unit 1 14 of the mobile user device 110 is designed to estimate a position of the mobile user device 110, wherein the processor unit 114 of the mobile user device 110 is designed to use the state data to estimate the position of the mobile user device 110.

In one embodiment, the state data of state machine 120 may be e.g. depend on a position of the state determining device 120 or on a speed and a moving direction of the state determining device 120 or on an acceleration and the moving direction of the state determining device 120.

According to one embodiment, the mobile user device 110 of FIG. 1 f may further include, for example, a detection unit 131 that may be configured to determine whether the state determination device 120 is in spatial proximity to the mobile user device 110.

In this case, in a particular embodiment, after the detection unit 131 of the mobile user equipment 110 has determined that the mobile user equipment 110 is in close proximity to the state determination device 120, and after the transmission unit 122 transmits the status data to the reception unit 1 12 of the mobile Userge devices 1 10 has been sent, the detection unit 131 of the mobile user device 1 10 be furnished tet to check whether the mobile user device 1 10 is still in close proximity to the state-determining device 120. The transmitting unit 122 of the state determining device 120 can be designed to send no further status data to the receiving unit 1 12 of the mobile user device 110 if the mobile user device 110 is no longer in close proximity to the state determining device 120. For example, in one embodiment, the state machine 120 may be a mobile state machine 120. For example, the mobile user device 110 may include a movement pattern comparator 141 that may be configured to determine whether a first movement pattern of the mobile user device 110 corresponds to a second movement pattern of the mobile state machine 120. In this case, the transmitting unit 122 of the state-determining device 120 can be designed to transmit the status data to the receiving unit 112 of the mobile user device 110 precisely when the first movement pattern of the mobile user device 110 corresponds to the second movement pattern of the mobile state-determining device 120.

According to one embodiment, after the movement pattern comparator 141 of the mobile user equipment 110 has determined that the first movement pattern of the mobile user equipment 110 corresponds to the second movement pattern of the mobile condition determining unit 120, and after the transmitting unit 122 transmits the status data to the receiving unit 1 12 of the mobile user device 110, the movement pattern ver 141 of the mobile user device 110 may be configured, for example, to check whether the first movement pattern of the mobile user device 110 still corresponds to the second movement pattern of the mobile state machine 120. In this case, if the first movement pattern of the mobile user device 110 no longer corresponds to the second movement pattern of the mobile state machine 120, the sending unit 122 of the state determining device 120 may be configured to send no further status data to the receiving unit 1 12 of the mobile user device 110.

In an embodiment, the state determination unit 124 of the state determining device 120 may be a first state determination unit 124. In this case, the mobile user device 110 can further include a second state determination unit 154, which can be switched to a switched-on state, in which the second state determination unit 154 of the mobile user device 110 determines the position of the mobile user device 1 10, and those in a switched-off state is switchable by the second state determination unit 154 of the mobile user device 1 10 does not determine the position of the mobile user device 1 10. The mobile user device 110 can be set up, for example, to switch the second state determination unit 154 of the mobile user device 110 to the switched-off state when the transmission unit 122 of the state determination device 120 sends status data to the reception unit 1 12 of the mobile user device 110. According to one embodiment, the mobile user device 110 may be a mobile device.

1 g shows a state determination device 120 for supporting a position determination of a mobile user device 110 according to an embodiment. The state determination device 120 includes a transmitting unit 122 and a state determining unit 124.

The state determination unit 124 of the state determination device 120 is configured to determine a state of the state determination device 120 that depends on a position of the state determination device 120 or a movement of the state determination device 120, the mobile user device 110 and the state determination device 120 physically separated from each other are.

The transmitting unit 122 of the state determining device 120 is configured to send state data to a receiving unit 112 of the mobile user device 110, the state data depending on the state of the state determining device 120 determined by the state determining unit 124, the state data supporting position determination of the state determining device 120 Mobile user device 1 10 are suitable.

In an embodiment, the state determination unit 124 of the state determining device 120 may be e.g. be configured to determine as the state of the state determination device 120 at least one position of the state determination device 120 or a Ge and speed of movement of the state-determining device 120 or an acceleration and the direction of movement of the state-determining device 120. In this case, the transmitting unit 122 of the state-determining device 120 may be e.g. be configured to send status data to the receiving unit 1 12 of the mobile user device 1 10, which depend on the position of the state-determining device 120 or the speed and direction of movement of the state-determining device 120 or the acceleration and the direction of movement of the state-determining device 120.

According to one embodiment, the state determination device 120 may further include a detection unit 132 that may be configured to determine whether the mobile user equipment 110 is in close proximity to the state determination device 120. In this case, according to a preferred embodiment, after the detection unit 132 of the mobile user equipment 110 has determined that the mobile user equipment 110 is in close proximity to the state determination device 120, and after the transmission unit 122 transmits the status data to the reception unit 1 12 of the mobile user 110, the detection unit 132 of the mobile user device 110 may be configured to check whether the mobile user device 110 is still in close proximity to the state determination device 120. The transmitting unit 122 of the state determining device 120 can be designed to send no further status data to the receiving unit 112 of the mobile user device 110 if the mobile user device 110 is no longer in spatial proximity to the state determining device 120.

In one embodiment, the state machine 120 may be a mobile state machine 120

According to one embodiment, the mobile condition determining device 120 may further include a movement pattern comparator 142 that may be configured to determine whether the first movement pattern of the mobile user device 110 corresponds to the second movement pattern of the mobile condition determination device 120. In this case, the transmitting unit 122 of the state-determining device 120 can be designed, for example, to send the status data to the receiving unit 1 12 of the mobile user device 1 10 precisely when the first movement pattern of the mobile user device 1 10 corresponds to the second movement pattern of the mobile state-determining device 120.

In one embodiment, after the movement pattern comparator 142 of the mobile state machine 120 determines that the first movement pattern of the mobile user equipment 110 corresponds to the second movement pattern of the mobile condition determining device 120, and after the transmitting unit 122 transmits the condition data to the mobile unit receiving unit 12 For example, if the user device 1 10 has sent, the movement pattern comparator 142 of the mobile state machine 120 may be configured to check whether the first movement pattern of the mobile user device 1 10 still corresponds to the second movement pattern of the mobile state determination device 120. In this case, the transmission unit 122 of the state determination device 120 can be configured, for example, to send no further status data to the reception unit 12 of the mobile user device 110 if the first movement is no longer equal to the second movement pattern of the mobile state machine 120.

According to one embodiment, the mobile condition determining device 120 may be installable in a motor vehicle.

For example, in one embodiment, the mobile condition determining device 120 may be installable in a bus.

According to one embodiment, the mobile condition determining device 120 may be installable in a car, for example.

According to another embodiment, the mobile condition determining device 120 may be installable in a ship or aircraft.

For example, in one embodiment, the mobile state machine 120 may be a mobile device.

Although some aspects have been described in the context of a device, it will be understood that these aspects also constitute a description of the corresponding method, so that a block or a component of a device can also be understood as a corresponding method step or as a feature of a method step is. Similarly, aspects described in connection with or as a method step also represent a description of a corresponding block or detail or feature of a corresponding device. Some or all of the method steps may be performed by a hardware device (or using hardware -Apparats), such as a microprocessor, a programmable computer or an electronic circuit can be performed. In some embodiments, some or more of the most important method steps may be performed by such an apparatus.

Depending on particular implementation requirements, embodiments of the invention may be implemented in hardware or in software, or at least partially in hardware, or at least partially in software. The implementation may be performed using a digital storage medium, such as a floppy disk, a DVD, a Blu-ray Disc, a CD, a ROM, a PROM, an EPROM, an EEPROM or a FLASH memory, a hard disk, or other magnetic or optical storage having stored thereon electronically readable control signals that may interact or interact with a programmable computer system such that the particular method is performed. Therefore, the digital storage medium can be computer readable.

Thus, some embodiments according to the invention include a data carrier having electronically readable control signals capable of interacting with a programmable computer system such that one of the methods described herein is performed.

In general, embodiments of the present invention may be implemented as a computer program product with program code, wherein the program code is operable to perform one of the methods when the computer program product runs on a computer.

The program code can also be stored on a machine-readable carrier, for example.

Other embodiments include the computer program for performing any of the methods described herein, wherein the computer program is stored on a machine-readable medium. In other words, an embodiment of the method according to the invention is thus a computer program which has a program code for carrying out one of the methods described herein when the computer program runs on a computer.

A further embodiment of the inventive method is thus a data carrier (or a digital storage medium or a computer-readable medium) on which the computer program for performing one of the methods described herein is drawn. The data carrier or the digital storage medium or the computer-readable medium are typically tangible and / or non-volatile.

A further exemplary embodiment of the method according to the invention is thus a data stream or a sequence of signals which represents the computer program for performing one of the methods described herein. The data stream or the sequence of signals may, for example, be such be configured to be transferred via a data communication connection, for example via the Internet.

Another embodiment includes a processing device, such as a computer or a programmable logic device, that is configured or adapted to perform one of the methods described herein.

Another embodiment includes a computer on which the computer program is installed to perform one of the methods described herein.

Another embodiment according to the invention comprises a device or system adapted to transmit a computer program for performing at least one of the methods described herein to a receiver. The transmission can be done for example electronically or optically. The receiver may be, for example, a computer, a mobile device, a storage device or a similar device. For example, the device or system may include a file server for transmitting the computer program to the recipient.

In some embodiments, a programmable logic device (eg, a field programmable gate array, an FPGA) may be used to perform some or all of the functionality of the methods described herein. In some embodiments, a field programmable gate array may cooperate with a microprocessor to perform any of the methods described herein. In general, in some embodiments, the methods are performed by any hardware device. This may be a universally replaceable hardware such as a computer processor (CPU) or hardware specific to the method, such as an ASIC.

The embodiments described above are merely illustrative of the principles of the present invention. It will be understood that modifications and variations of the arrangements and details described herein will be apparent to others of ordinary skill in the art. Therefore, it is intended that the invention be limited only by the scope of the appended claims and not by the specific details presented with reference to the description and explanation of the embodiments herein.

Claims

claims

A system for determining the position of a mobile user device (1 10), the system comprising: a state determination device (120) comprising a transmission unit (122) and a state determination unit (124), and the mobile user device (110) comprising a reception unit ( 112) and a processor unit (114), wherein the mobile user equipment (110) and the state determining device (120) are physically separate, wherein the state determination unit (124) of the state determining device (120) is adapted to receive a state of the state determining device (120) determining, which depends on a position of the state-determining device (120) or a movement of the state-determining device (120), wherein the transmitting unit (122) of the state-determining device (120) is adapted to transmit status data to the receiving unit (1 12) of the mobile user device (1 10 ), wherein the state data depends on the state of the state determination device (120), which depends on the condition dsbestimmungseinheit (124) has been averaged, wherein the receiving unit (1 12) of the mobile user equipment (1 10) is adapted to receive the status data from the transmitting unit (122) of the state-determining device (120), and wherein the processor unit (1 14) of the mobile user device (110) is adapted to estimate a position of the mobile user device (1 10), wherein the Prozesso purity (1 14) of the mobile user device (1 10) is formed, for estimating the position of the mobile user device (1 10) To use state data.

2. System according to claim 1, wherein the state determination unit (124) of the state determining device (120) is configured to determine, as the state of the state machine (120), at least one position of the state machine (120) or a speed and a direction of movement of the state machine (120) or an acceleration and the direction of movement of the state machine Condition determining device (120), wherein the transmitting unit (122) of the state determining device (120) is adapted to send status data to the receiving unit (1 12) of the mobile user device (110), from the position of the state determining device (120) or the speed and the direction of movement of the state determining device (120) or the acceleration and the direction of movement of the state determining device (120).

The system of claim 1 or 2, wherein the mobile user equipment (110) further comprises a first detection unit (131) arranged to determine whether the condition determination device (120) is in proximity to the mobile user equipment (1 10), or wherein the state determination device (120) further comprises a second detection unit (132) configured to determine whether the mobile user equipment (110) is in close proximity to the state determination device (120), or wherein the system further comprises a third detection unit (133) physically separate from the mobile user device (110) and physically separate from the state machine (120), and configured to determine whether the mobile user device (110) is in place spatial proximity to the state determination device (120) is located.

4. The system of claim 3, wherein, after the first detection unit (131) of the mobile user device (110) has determined that the mobile user device (1 10) is in spatial proximity to the State machine (120), and after the sending unit (122) has sent the status data to the receiving unit (1 12) of the mobile user equipment (1 10), the first detection unit (131) of the mobile user equipment (110) is arranged to check whether the mobile user device (1 10) is still in close proximity to the state determination device (120), and wherein the transmission unit (122) of the state determination device (120) is configured to send no further status data to the reception unit (112) of the mobile user device (1 10) when the mobile user equipment (110) is no longer in proximity to the state machine (120), or wherein after the second detection unit (132) of the state machine (120) has determined that the mobile user device (110) is no longer in proximity to the state machine (120) User device (1 10) is in spatial proximity to the state determining device (120), and after the transmitting unit (122) the status data to the receiving unit ( 1 12) of the mobile user device (1 10), the second detection unit (132) of the condition determination device (120) is set up to check whether the mobile user device (110) is still in close proximity to the state-determining device ( 120), and wherein the transmitting unit (122) of the state determining device (120) is adapted to send no further status data to the receiving unit (1 12) of the mobile user device (1 10), when the mobile user device (1 10) is no longer or in which, after the third detection unit (133) of the system has determined that the mobile user device (1 10) is in spatial proximity to the state determining device (120), and after the Transmitting unit (122) has transmitted the status data to the receiving unit (112) of the mobile user equipment (110), the third detection unit (133) of the system is set up to check, whether the mobile user equipment (110) is still in proximity to the state machine (120), and wherein the transmitter unit (122) of the state machine (120) is configured, no further state data to the receiver unit (1 12) of the mobile user device (1 10) when the mobile user device (1 10) is no longer in close proximity to the state determining device (120).

The system of any one of the preceding claims, wherein the state determining device (120) is a mobile state machine (120).

The system of claim 5, wherein the mobile user equipment (110) further comprises a first motion pattern comparator (141) configured to determine whether a first motion pattern of the mobile user equipment (110) corresponds to a second motion pattern of the mobile state machine (120), or wherein the mobile condition determining device (120) further comprises a second movement pattern comparator (142) configured to determine whether the mobile user device (110) corresponds to the second movement pattern of the mobile condition determining device (120), or wherein the system further comprises a third motion pattern comparator (143) physically separate from the mobile groove meter (110) and physically separate from the state machine (120), and configured to determine whether the first motion pattern of the mo bilen user device (1 10) the second movement pattern of the mobile condition determining device (120) entsp directed, and wherein the transmitting unit (122) of the state determining device (120) is adapted to transmit the status data to the receiving unit (112) of the mobile user device (1 10) exactly when the first movement pattern of the mobile user (110) second movement pattern of the mobile condition determination device (120).

7. The system of claim 6, wherein, after the first motion pattern comparator (141) of the mobile groove analyzer (110) has determined that the first motion pattern of the mobile user device (110) corresponds to the second motion pattern of the mobile condition determination device (120), and after the sending unit (122) has sent the status data to the receiving unit (1 12) of the mobile user equipment (110), the first movement pattern comparator (141) of the mobile user equipment (110) is set to check whether the first movement pattern of the mobile user device (1 10) still corresponds to the second movement pattern of the mobile condition determination device (120), and wherein the transmission unit (122) of the accessory Standsbestimmungsgeräts (120) is configured to send no further state data to the receiving unit (112) of the mobile user equipment (1 10), when the first movement pattern of the mobile user device (1 10) no longer corresponds to the second movement pattern of the mobile state machine (120), or wherein, after the second movement pattern comparator (142) of the mobile condition determining device (120) has determined that the first movement pattern of the mobile user device (110) corresponds to the second movement pattern of the mobile condition determining device (120), and after the transmitting unit (122) Condition data sent to the receiving unit (112) of the mobile user equipment (1 10), the second movement pattern comparator (142) of the mobile condition determining device (120) is arranged to check whether the first loading movement pattern of the mobile user device (110) still corresponds to the second motion pattern of the mobile condition determining device (120), and where at the transmitting unit (122) of the state determining device (120) is configured to send no further state data to the receiving unit (1 12) of the mobile user device (1 10), if the first movement pattern of the mobile user device (110) is no longer or, after the third movement pattern comparator (143) has determined that the first movement pattern of the mobile user equipment (110) corresponds to the second movement pattern of the mobile condition determining device (120), and after the transmitting unit (122) has sent the status data to the receiving unit (1 12) of the mobile user equipment (1 10), the third movement pattern comparator (143) of the system is set up to check whether the first motion pattern of the mobile user equipment (1 10 ) still corresponds to the second motion pattern of the mobile state machine (120), and where the broadcast unit it (122) of the state determination device (120) is configured to send no further status data to the receiving unit (1 12) of the mobile user device (110) if the first movement pattern of the mobile user device (1 10) no longer corresponds to the second movement pattern of the mobile user device mobile condition determining device (120) corresponds.

8. The system of claim 5, wherein the mobile condition determining device is a mobile radio device.

9. The system of claim 1, wherein the state determination unit of the state determination device is a first state determination unit, wherein the mobile user device further comprises a second state determination unit an on-state is switchable, in which the second state determination unit (154) of the mobile user device (1 10) determines the position of the mobile user device (110), and which is switchable to an off state by the second state determination unit (154) of mobile user device (110) does not determine the position of the mobile user device (110), and wherein the mobile user device (1 10) is arranged to switch the second state determination unit (154) of the mobile user device (110) into the switched-off state, if the transmitting unit (122) of the state determining device (120) sends status data to the receiving unit (1 12) of the mobile user device (110) det.

The system of any one of the preceding claims, wherein the mobile user device (110) is a mobile device.

1 1. A mobile user device (1 10) for determining the position, wherein the mobile user device (1 10) comprises: a receiving unit (112) and a processor unit (114), wherein the receiving unit (112) of the mobile user device (1 10) is formed Receiving state data from a transmitting unit (122) of a state determining device (120), the state data being from a position of the state determining device (120) or from a movement of the state determining device (120). 120), wherein the mobile user device (1 10) and the condition determining device (120) are physically separated from each other, wherein the processor unit (1 14) of the mobile user device (1 10) is formed, a position of the mobile user device (110 ), wherein the processing unit (1 14) of the mobile user device (1 10) is adapted to use the state data for estimating the position of the mobile user device (1 10).

The mobile user equipment (110) according to claim 11, wherein the state data of the state determining device (120) is from a position of the state determining device (120) or a speed and a moving direction of the state determining device (120) or from an acceleration and the direction of movement of the state machine (120).

The mobile user equipment (110) of claim 11 or 12, wherein the mobile user equipment (110) further comprises a detection unit (131) arranged to determine whether the condition determining apparatus (120) is in close proximity to the mobile user device (110) is located.

The mobile user equipment (10) according to claim 13, wherein, after the detection unit (131) of the mobile user equipment (110) has determined that the mobile user equipment (110) is in spatial proximity to the condition determination apparatus (120), and after the transmitting unit (122) has sent the status data to the receiving unit (1 12) of the mobile user equipment (1 10), the detection unit (131) of the mobile user equipment (1 10) is set up to check whether the mobile user equipment (110 ) is still in close proximity to the state machine (120), and wherein the transmitter (122) of the state machine (120) is adapted to not send any further state data to the receiver unit (12) of the mobile user device (110) when the mobile user device (110) is no longer in close proximity to the state machine (120).

15. Mobile user device (1 10) according to one of claims 11 to 14, wherein the state determining device (120) is a mobile condition determining device (120), and wherein the mobile user device (110) further comprises a movement pattern equal to (141) configured to determine whether a first moving pattern of the mobile user device ( 1 10) corresponds to a second movement pattern of the mobile condition determining device (120), wherein the transmitting unit (122) of the state determining device (120) is adapted to send the status data to the receiving unit (1 12) of the mobile user device (1 10) precisely when the first movement pattern of the mobile groove analyzer (110) corresponds to the second movement pattern of the mobile condition determining apparatus (120).

16. The mobile user device (110) according to claim 15, wherein after the movement pattern comparator (141) of the mobile user device (110) has determined that the first movement pattern of the mobile user device (110) corresponds to the second movement pattern of the mobile state device (120). and after the sending unit (122) has sent the condition data to the receiving unit (112) of the mobile user equipment (110), the movement pattern comparator (141) of the mobile user equipment (110) is arranged to check whether the first movement pattern of the user mobile user device (1 10) still corresponds to the second movement pattern of the mobile condition determining device (120), and wherein the transmitting unit (122) of the state determination device (120) is formed, no further state data to the receiving unit (1 12) of the mobile user device (1 10) to send when the first movement pattern of the mobile user device (1 10) no longer the movement pattern of the second mob corresponds to the state determination device (120).

17. The mobile user equipment (1 10) according to claim 1, wherein the state determination unit (124) of the state determination device (120) is a first state determination unit, wherein the mobile user equipment (110) further comprises a second condition determination unit (154) switchable to an on state in which the second state determination unit (154) of the mobile user equipment (110) determines the position of the mobile user equipment (110). determined and the switchable to an off state, in that the second state determination unit (154) of the mobile user device (1 10) does not determine the position of the mobile user device (110), and wherein the mobile user device (1 10) is set up, the second state determination unit (154) of the mobile user device (110) to switch to the off state when the transmitting unit (122) of the state-determining device (120) sends status data to the receiving unit (1 12) of the mobile user device (110).

18. Mobile user device (1 10) according to any one of claims 1 1 to 17, wherein the mobile user device (1 10) is a mobile device.

A state determining device (120) for assisting in determining the position of a mobile user device (110), the state determining device (120) comprising: a transmitting unit (122) and a state determining unit (124), wherein the state determining unit (124) of the state determining device (120) is formed is to determine a state of the state determining device (120) that depends on a position of the state determining device (120) or a movement of the state determining device (120), wherein the mobile user device (1 10) and the state determining device (120) physically from each other wherein the transmitting unit (122) of the state determining device (120) is adapted to send status data to a receiving unit (1 12) of the mobile user equipment (1 10), the condition data depending on the condition of the condition determining apparatus (120) from the state determination unit (124) has been averaged, wherein the state data to support the Positionsbestim determination of the mobile user device (1 10) are suitable.

The state determining apparatus (120) of claim 19, wherein the state determining unit (124) of the state determining device (120) is configured to determine, as the state of the state machine (120), at least one position of the state determining device (120) or a speed and a direction of movement of the state determining device (120) or to determine an acceleration and the direction of movement of the state determining device (120), wherein the transmitting unit (122) of the state-determining device (120) is adapted to send status data to the receiving unit (1 12) of the mobile user device (110) from the position of the state machine (120) or the speed and direction of movement of the state machine (120) or the acceleration and direction of movement of the state machine (120).

The state determining device (120) of claim 19 or 20, wherein the state determining device (120) further comprises a detection unit (132) configured to determine whether the mobile user equipment (110) is in close proximity to the state determining device (120 ) is located.

The state determining apparatus (120) of claim 21, wherein after the detection unit (132) of the state determining device (120) has determined that the mobile user equipment (110) is in proximity to the state determining device (120), and after the transmitting unit (122) has sent the condition data to the receiving unit (1 12) of the mobile user equipment (1 10), the detection unit (132) of the state determining apparatus (120) is arranged to check whether the mobile user equipment (1 10) is still in spatial Is close to the state-determining device (120), and wherein the transmitting unit (122) of the state-determining device (120) is configured to transmit no further status data to the receiving unit (1 12) of the mobile user device. device (1 10) when the mobile user device (1 10) is no longer in close proximity to the state determining device (120).

A state determining device (120) according to any one of claims 19 to 22, wherein said state determining device (120) is a mobile state machine (120).

24. The state machine (120) of claim 23, wherein the mobile state machine (120) further comprises a motion pattern comparator (142) configured to determine whether the first motion pattern of the mobile user device (110) matches the second motion pattern of the mobile State determining device (120), and wherein the transmitting unit (122) of the state determining device (120) is adapted to send the state data to the receiving unit (112) of the mobile user device (1 10) if and only if the first movement pattern of the mobile Nut zergerät ( 1 10) corresponds to the second movement pattern of the mobile condition determination device (120).

The state determining apparatus (120) of claim 24, wherein, after the movement pattern comparator (142) of the mobile condition determining device (120) has determined that the first movement pattern of the mobile user device (110) corresponds to the second movement pattern of the mobile condition determining device (120) and after the transmitting unit (122) has sent the status data to the receiving unit (1 12) of the mobile user equipment (1 10), the movement pattern comparator (142) of the mobile condition determining apparatus (120) is arranged to check whether the first movement pattern of the mobile user device (1 10) still corresponds to the second movement pattern of the mobile condition determining device (120), and wherein the transmitting unit (122) of the state determining device (120) is configured to not provide any further status data to the receiving unit (1 12) of the mobile User device (1 10) to send when the first movement pattern of the mobile user device (1 10) is no longer the z wide movement pattern of the mobile condition determination device (120) corresponds.

The state determining apparatus (120) according to any one of claims 23 to 25, wherein the mobile condition determining apparatus (120) is a mobile station.

27. A method for determining the position of a mobile user device (1 10), the method comprising:

Determining a state of a state determining device (120) that depends on a position of the state determining device (120) or a movement of the state determining device (120) by a state determining unit (124) of the state determining device (120);

Transmitting state data by a transmitting unit (122) of the state determining device (120) to a receiving unit (112) of the mobile user device (110), the state data being dependent on the state of the state determining device (120) being used by the state determining unit (124) with the mobile user equipment (110) and the state machine (120) physically separated from each other,

Receiving the status data transmitted by the transmitting unit (122) of the state determining device (120) by the receiving unit (1 12) of the mobile user device (110), and

Estimating a position of the mobile user device (1 10) by a processor unit (1 14) of the mobile user device (110), wherein the processor unit (1 14) of the mobile user device (1 10) for estimating the position of the mobile user device (1 10) the state data used.

28. A positioning method for a mobile user device (110), the method comprising:

Receiving the status data transmitted by a transmitting unit (122) of a state determining device (120) by a receiving unit (1 12) of the mobile user device (1 10), the state data being from the position of the state determining device (120) or from a movement of the state determining device 120), wherein the mobile user equipment (110) and the state determining device (120) are physically separated from each other, and

Estimating a position of the mobile user device (1 10) by a processor unit (1 14) of the mobile user device (110), wherein the processor unit (114) of the mobile user device (110) estimates the position of the mobile user device (110) the state data used.

29. A method for supporting a position determination of a mobile user device (110) by means of a state determination device (120), the method comprising:

Determining a state of the state determining device (120)) that depends on a position of the state determining device (120) or a movement of the state determining device (120) by a state determining unit (124) of the state determining device (120, wherein the mobile user device (110) and Condition determining device (120) are physically separated from each other, and

Sending state data by a transmitting unit (122) of the state determining device (120) to a receiving unit (1 12) of the mobile user equipment (110), the state data depending on the state of the state determining device (120) that is determined by the state determining unit (124 ), wherein the state data is suitable for supporting the position determination of the mobile user device (110).

30. Computer program with a program code for carrying out the method according to one of claims 27 to 29.