CN105814450B - Pass through the motion tracking of body radio reflections - Google Patents
Pass through the motion tracking of body radio reflections Download PDFInfo
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Classifications
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0247—Determining attitude
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
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- A61B5/05—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves
- A61B5/0507—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves using microwaves or terahertz waves
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- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
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- A61B5/113—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb occurring during breathing
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- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/003—Bistatic radar systems; Multistatic radar systems
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- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
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- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
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- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
- G01S13/878—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
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- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/14—Determining absolute distances from a plurality of spaced points of known location
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/415—Identification of targets based on measurements of movement associated with the target
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/017—Gesture based interaction, e.g. based on a set of recognized hand gestures
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
- A61B2562/16—Details of sensor housings or probes; Details of structural supports for sensors
- A61B2562/17—Comprising radiolucent components
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- A—HUMAN NECESSITIES
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- A—HUMAN NECESSITIES
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- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/72—Signal processing specially adapted for physiological signals or for diagnostic purposes
- A61B5/7235—Details of waveform analysis
- A61B5/7253—Details of waveform analysis characterised by using transforms
- A61B5/7257—Details of waveform analysis characterised by using transforms using Fourier transforms
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Health & Medical Sciences (AREA)
- Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
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- Veterinary Medicine (AREA)
- Pathology (AREA)
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- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- Dentistry (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Physiology (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Radiology & Medical Imaging (AREA)
- Electromagnetism (AREA)
- Human Computer Interaction (AREA)
- Radar Systems Or Details Thereof (AREA)
- Emergency Alarm Devices (AREA)
- User Interface Of Digital Computer (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
Motion tracking system using mutiple antennas come send and receive from the environment of system object (such as, people) reflection radiofrequency signal, wherein environment may include the inside etc. of one or more rooms of building, vehicle, and can be partitioned, such as pass through wall or pieces of cloth.In general, object in environment had both included fixed object, chair, wall etc. further include mobile object, such as, but not limited to people.System can track people, and wherein people can move around in the room, or can be opposing stationary, such as be sitting on chair or lie on a bed, but can all show the respiratory movement that can be detected in any case.System can detect the body or limb posture made by the people in environment, and detect physical activity, include the detection of tumble action.
Description
Cross-reference to related applications
It is submitted on October 9th, 2013 this application claims the equity of following application and entitled " Motion Tracking
The U.S. Provisional Application No.61/888 of Via Body Radio Reflections ", 662, submitted on 2 24th, 2014 and
The U.S. Provisional Application of entitled " MULTI-PERSON MOTION TRACKING VIA BODY RADIO REFLECTIONS "
No.61/943,957, in submission on April 28th, 2014 and entitled " MULTI-PERSON MOTION TRACKING VIA
The U.S. Provisional Application No.61/985,066 of BODY RADIO REFLECTIONS ".These applications are incorporated by reference
This.
Statement about the research that federal government subsidizes
The present invention is that foundation is carried out by the CNS-1117194 that National Science Foundation authorizes using governmental support.
Government has certain rights in the invention.
Technical field
The present invention relates to by body radio reflections to people into line trace.
Background technology
Recently, occurred that the technology of user can be positioned based entirely on the radio reflections of the body of people.With it is this
Technology it is relevant challenge include expand to multiple people, they are accurately positioned and track its posture, and, moved relative to user is required
It moves so as to detectable, positioning static subscriber.
The substitute technology of presence and/or tracking people for detecting people in environment indoors includes the method based on camera,
The image or video wherein captured is handled and ultrasonic wave or pir motion sensor.It is each in these substitute technologies
Kind is all by limited precision, computational complexity, privacy concern, and/or the application of the cost of deployment.
Invention content
On the one hand, it is however generally that, a kind of one or multi-human tracking method (including tracking or extensive and/or small rule
The movement of mould) use multiple radio-frequency antennas.In some instances, there are multiple transmission antennas and multiple reception antennas, but answer
Work as understanding, in other examples, some antennas can be shared between sending and receiving, for example, in different times.Generally
For, at least some embodiments, location data is by concomitantly sending signal from mutiple antennas, and in mutiple antennas
Reflection is received from main body and fixed object (for example, wall, desk, etc.) to determine.
On the other hand, it is however generally that, the method for indoor positioning uses the signal reflex from mobile main body.The party
Method include from transmission antenna transmitting include send signal mode repetition transmission signal, and in reception antenna set often
A reception antenna receives the reception signal for the reflection for including transmission signal.For each reception signal, receives signal and handled, with
The continuous mode of the reflection of the transmission signal mode from mobile main body is formed, and the continuous mode reflected comes from by retaining
The effect directly reflected of the mobile main body and exclude it is from the mobile main body, also reflect from least one static object
At least some effects of Multipath reflection handled.The position of main body is the result using the continuous mode of processing reflection come really
Fixed.
Various aspects may include with next or arbitrary combination.
For each reception antenna, it includes identifying the direct reflection from mobile main body, and identify to exclude Multipath reflection
Indirect reference from mobile main body, also being reflected from least one static object.
For each reception antenna, exclude Multipath reflection include identify it is first round-trip from transmission antenna to reception antenna
Time, first two-way time indicate the most short round trip propagation time of the signal mode reflected from mobile main body.
Determine that the position of main body includes that the first two-way time gone out for each reception signal identification is used to eliminate corresponding to big
In the Multipath reflection of the two-way time for the first two-way time identified.
The use of the first two-way time identified include that the time is tracked in the continuous mode of reflection.
Reception antenna set includes at least three antennas, and wherein at least two antenna has different height.
Determine that the position of main body includes the height of determining main body.
This method further includes the movement of the tracked position of mobile main body described in the mode detection of detection detection movement
Pattern.
The pattern of detection movement includes the temporal mode of the track for the position for detecting the mobile main body.
The pattern of detection movement includes detecting the pattern of the movement in the environment of the positioning.
The pattern of detection detection movement includes detection posture.
It includes detection whole body posture to detect posture.
It includes detection limbs posture to detect posture.
Detection posture includes that detection refers to appearance.
It includes the direction that detection refers to appearance that detection, which refers to gesture,.
This method further includes controlling electrically or electronically equipment according to the detection of the posture.
Electrically or electronically equipment includes at least one of control game station, electric appliance and lighting apparatus for control.
The pattern for detecting the movement includes detection tumble action.
Detection tumble action includes the change for monitoring height, change the height of main body duration and it is final highly with
The proximity of floor level at least one of is worked as.
Signal mode includes the narrow-band signal in the carrier frequency for sweeping to second frequency from first frequency.
First frequency and second frequency are all in the range of 5.46 to 7.25 gigahertz.
Receive it is described reception signal include receive it is described send signal after the propagation Jing Guo at least one obstruction
Reflection.
Main body is people.
Main body is the limbs of people.
On the other hand, it is however generally that, the method for being interacted with equipment uses the posture made by people.This method includes
The movement for tracking body includes sending signal from the radio frequency that transmission antenna transmitting includes the repetition for sending signal mode, receives day
Each reception antenna of line set receives the reception signal for the reflection for including transmission signal, utilizes and sends the continuous anti-of signal mode
Penetrate tracing positional.The pattern of movement is detected using the tracked movement of the body.The pattern of the movement detected
It is used to interact with equipment.
Various aspects may include the arbitrary combination of following one or more.
The tracking of movement includes using the propagation time for sending signal.
It includes frequency modulation(PFM) carrier wave (FMCW) signal mode to send signal mode.
The reflection for sending signal includes the reflection across barrier.
The pattern of detection movement includes detection posture.
It includes detection two-dimensional attitude to detect posture.
It includes detection of three dimensional posture to detect posture.
It includes detection whole body posture to detect posture.
It includes detection limbs posture to detect posture.
The reflection and the reflection from whole body that detection limbs posture includes limbs of the size distinction from people according to reflection.
Detection posture includes that detection refers to gesture.
This method further includes controlling electrical equipment or electronic equipment according to the detection of posture.
On the other hand, it is however generally that, a kind of method is directed to the tumble of detection people.This method includes the fortune of the people of tracking
It is dynamic, include sending signal, each of reception antenna set from the radio frequency that transmission antenna transmitting includes the repetition for sending signal mode
Reception antenna receives the reception signal for the reflection for including transmission signal, utilizes the continuous reflection tracing positional for sending signal mode.
The pattern of movement is to be used to visit come the pattern for the movement for detecting, and detecting using the tracked movement of the body
Survey the tumble of people.
Various aspects may include with next or or multiple arbitrary combination.
The reflection for sending signal includes the reflection across barrier.
The pattern of detection movement includes the change for monitoring height, changes the duration of the height of body and final height
With it is at least one in the proximity of floor level.
The pattern of detection movement includes monitoring the change of height, includes the change of at least one threshold value of detection height.
The pattern of detection movement includes the duration that monitoring changes height, including detection be less than threshold value it is lasting when
Between.
The pattern of detection movement includes monitoring the proximity of final height, including detection is less than the final height of a threshold value
Degree.
The pattern of detection movement includes that the pattern of the detection detection movement includes detecting by the height of at least first threshold
Change, each condition quilt in the final highly condition group of composition less than the duration of second threshold and less than third threshold value
Meet.
On the other hand, it is however generally that, a kind of system includes transmission antenna and reception antenna set.Transmitter is coupled to institute
It states transmission antenna and is configurable to generate the transmission signal of the repetition including sending signal mode.Receiver is coupled to described connect
Antenna set is received, the signal for receiving the reflection for including transmission signal.Processor is coupled to the transmitter and the reception
Device.Processor is configured as all steps for making system execute any type method being set forth above.
In some instances, the signal sent from mutiple antennas signal has narrow-band (for example, sine wave), wherein frequency
Changed with fixed mode between first frequency and second frequency, for example, from first frequency linearly frequency sweep to second frequency, from
And change over time frequency.This frequency sweep mode can repeat.In some instances, the signal sent from different antennae is in the time
Thus upper (or as an alternative in frequency upper shift position) displaced from one another causes the reception signal in reception antenna to have from not
With transmitter, the ingredient that is reflected from main body with entirely different frequency.
In some instances, it is assigned to each transmission antenna with reference to transmission signal, and is prolonged in different transmission antennas
Time different late.With reference to send signal also each reception antenna be used to determine from each transmission antenna to reception antenna from
Propagation (flight time) time of main body reflection.In some instances, these propagation times are by by with reference to transmission signal tune
System receives signal to determine.In some instances, the reception signal of demodulation is averaging through multiple frequency sweeps cycle (or as tool
Have magnitude and the sophisticated signal of phase, or be as an alternative only averaging the magnitude of squared magnitudes), it is average to obtain
Receive signal.
In some instances, will not instead of refer to send signal distribute to it is each send and receive antenna station, with reference to fixed
When signal be assigned to base station, and be respectively synthesized at each station with reference to signal is sent.
When the position of multiple main bodys is from for identified propagation between transmission antenna and multiple pairs of reception antenna
Between determine.
Various aspects may include one or more of following characteristics.
The influence of fixed mode reflection (for example, from wall, etc.) is removed from reception signal, for example, passing through
Subtract the long-term average level for receiving signal, or the difference by taking the reception signal of cline frequency frequency sweep.
It sends and/or reception antenna is directional aerial.
Antenna is along a line (for example, the face in the tracked region of main body wherein in fixed and arranged, in two-dimensional model
On with T-shape pattern) or arranged in three dimensional arrangement.In some instances, which is known, and in other examples
In son, the geometrical relationship of aerial position is inferred using the radio propagation time between position.
In some instances, antenna is arranged in the room, such as along wall or ceiling.In other examples, antenna
The multiple rooms for spreading all over entire multicell space (for example, Hospital Authority or retail shop) are arranged.
The position of multiple main bodys be iteratively (a) based on the biography between identified multiple transmitter-receivers pair
The position of main body is determined between sowing time, and (b) after determining position, effectively remove the reflection from that position from residual signal
Influence determine.In some instances, the step of influence of reflection of the removal from a position includes that removal comes from the position
The influence in the region of surrounding is set, the wherein region is the spatial model (for example, model of human body) according to the object for causing reflection
Determining.In some instances, pass through, in each iteration, in removal reception signal after the influence of other N-1 main bodys really
The position of fixed n-th of main body, this iteration is repeated after N number of main body in identifying region.
It can be fixed in the delay of different transmitters with reference to signal is sent, or can be according to being detected in environment
The position of main body, for example, according to the maximum magnitude of the main body detected, to adapt to.
The breathing of opposing stationary main body (for example, mankind, pet, etc.) is using from the anti-of the position of detected main body
It penetrates in power and vibrates to detect in respiratory rate.In some instances, the reference power of main body is used in the reference time
Difference between the subsequent power for that main body is used to detection and breathes relevant oscillation.
Complicated main body is detected in three dimensions.For example, with the limbs extended from trunk (for example, forming posture)
Human body can be according to the positioning of the trunk for the main body that can provide relatively strong reflected energy and according to can provide relatively
The positioning of the limbs of the main body of weak reflected energy, the proximity for detecting trunk position and/or appropriate geometrical relationship detect.
More generally, the positioning of the model based on complicated main body or constraint, complicated main body can be based on complexity master in geometrical relationship
The positioning of the element of body.
On the other hand, it is however generally that, a kind of equipment be used to from be reflect off the radio signal of his/her body with
The three-dimensional motion of track one or more people and body part.It makes one to separate from equipment or in different rooms, this method
Also it works.Equipment has one or more antennas for one or more antennas of transmission and for reception.Equipment sends nothing
Line electric signal and using its reflection come estimate signal from transmission antenna advance to reflective object and return to each reception antenna institute
The time of cost.Then, equipment creates geometric reference model using it to the knowledge of aerial position, which will be by reception day
The round trip Delay Mapping that line is observed is to two dimension (or three-dimensional) position of reflective body.
In some instances, using the technology for being referred to as more modulated by frequency shift carrier waves (FMCW).The technology allow by when
Between or frequency upper shift position they distinguish the FMCW signal generated from different source.It is this can separating capacity can by the time,
Frequency or code shifted are realized (for example, being multiplied by the signal sent from different antennae with different extended codes).
In some instances, the technology cancelled using continuous outline is referred to as.The technology by find out it is strongest (one or
It is multiple) reflector-that is, people's (or set of people), remove they dock collect mail number influence, then proceed to find out weaker reflection
Device (people) iteratively finds out the position of different people in scene.Although the algorithm is described under the context of positioning people, it
It can be generalized to position any kind of movement or static object.
Although described technology focuses on the tracking mankind, they can be generalized to track any movement (for example,
Pet, robot) or static object.
On the other hand, it is however generally that, method and apparatus are used to distinguish by the frequency modulation(PFM) carrier wave of different source transmissions
(FMCW) signal.Different sources may be coupled to same or multiple and different equipment.In some instances, can separating capacity be
It is realized by being displaced relative to each other FMCW signal in a frequency domain.In some implementations, in a frequency domain displacement be by with
Signal mixes to realize, and in other implementations, displacement in a frequency domain is realized by adding delay line.It is standby at some
Choosing realize in, can separating capacity realized by being displaced relative to each other FMCW signal, this be by by they from it is different
Coded symbols.
The method of two dimension and/or three-dimensional localization leaves one or more main bodys or object using signal reflex.It calculates from one
The flight time (TOF) of a or multiple transmission antennas to each reception antenna measures.Send and receive the knowledge of the position of antenna
It is used to create the georeferencing of the function for the position that the flight time is mapped to reflector.This method is included therein in environment
The reflection for continuously identifying and eliminating different objects in the case of there are multiple reflectors, so as to concentrate on it is weaker in environment or compared with
Strong reflector.
Antenna can be arranged in various patterns, and in general can be placed on any position.
In some implementations, static multiple route by being eliminated/mitigating from the background." imaginary " target is by combination from not
What the signal of same sending-receiving antenna pair was eliminated.For example, system finds out strongest reflector first, remove it, so
After recompile and other reflectors continued.In some implementations, after finding out (or whole) reflector, it is
System continues to a main step, and thus it eliminates the interference from unwanted reflector and with interested reflection
Device is attached most importance to.This important step is used to obtain the more preferable estimation of the position of reflector.
In some embodiments, estimated position is handled, with by protrusion will after that crossing along intersect before phase
The target of equidirectional movement clears up crossedpath.
System can track body part, such as the movement of tracking hand.This tracking can be in two or three dimensions
It carries out.Body part movements can be interpreted posture, and posture can be used to control device or transmission order.
System can be when multiple people move their body part or when a people or multiple people move part
Pursuit movement.
It is at least some to realize using the reality or physical constraint about human motion, just as the continuity of movement, to improve
Positioning accuracy.
In some implementations, the respiratory movement of the mankind is used to eliminate static reflector.For example, multiple subduction windows by with
To identify and/or position the reflector with friction speed.One or more people can be positioned based on their breathing.One
In a little examples, the breathing of system counts one or more people, and the hair when one or more people hold the breath can be detected
It is raw.
In some embodiments, the additional sensor (for example, camera, infrared sensor, etc.) of different xingtai is by group
It closes, to improve precision or increase functional.
In some instances, the movement of the people or body part that detect are used to detection mode, for example, by compareing
The pattern (for example, it is known that posture) known is compared.
The advantages of one or more aspects may include following.
Accurate multiagent positioning and/or tracking can room, multicell space (for example, passing through wall transmitting signal) or
Person is implemented in other indoor or outdoors regions with relatively high precision.
Compared with the existing detection of only one or multiple main bodys, multiagent positions the meter that can provide region interior main body
Number.In addition, the exact trajectory of main body also can be used, this may be to be not easy determination using alternative technique.
Compared with the use of camera, the use of radio frequency reflection can provide increased privacy.For example, in monitoring bathhouse
Presence/flow can be implemented, without privacy concern associated with video monitor.
The detection of breathing provides the approach that detection can be erroneously interpreted as the opposing stationary main body of background in other ways.Example
Such as, in monitoring room in the existing application of people, ultrasonic motion detector can miss the people not moved at all, and they exhale
Suction will be all detected in any case.
Concurrently transmission from all (or than all few multiple set) transmission antennas can be than coming from individual antenna
Sequence send by main body moved (for example, less " smearing " of estimated position) influence it is less, in individual antenna
Sequence send in, the change of position can be significant between sending time.
The use of narrow-band signal (that is, frequency sweep sound) provides separation and receives the transmission from different transmitters in signal
Direct way, and can provide and provide robustness to phase noise.
The above-mentioned method for tracking people can be used for including in application below：
It detects the people in building or takes the security application of particular path between floors；
The energy efficiency method of longer-term pattern based on the people and flow of the people detected in building is (for example, the energy makes
With can based on the quantity of people in room, rather than the only presence of people)；And
Flow tracking in retail space, for example, flow rate mode when to determine that one or two people do shopping in shop.
The monitoring of sleep pattern, the detection of sleep apnea, baby monitor and vital signs monitor other application
Have the advantages that not needing physical sensors or the connection to people.
Other features and advantages of the present invention are obvious from description below and from claim.
Description of the drawings
Fig. 1 is the schematic block diagram of the first embodiment of motion tracking system.
Fig. 2A is the curve graph for sending and receiving frequency over time；And Fig. 2 B correspond to Fig. 2A, with frequency
The curve graph of the energy received.
Fig. 3 A are for a spectrogram for sending and receiving antenna pair (relation curves of frequency spectrum profiles and time)；Fig. 3 B
It is the spectrogram after background subtraction；And Fig. 3 C correspond to the song of the estimation of the first two-way time of the spectrogram in Fig. 3 B
Line chart.
Fig. 4 is the schematic of the second embodiment with the motion tracking system concurrently sent from multiple transmission antennas
Block diagram.
Fig. 5 A are the curve graphs of transmission frequency and the frequency received in an antenna from two transmission antennas；And scheme
The curve graph of energy that 5B corresponds to Fig. 5 A, being arrived with frequency reception.
Fig. 6 A are flight time (TOF) profiles；And Fig. 6 B correspond to the difference TOF profiles of Fig. 6 A.
Fig. 7 A-E are for one to five sending-receiving antenna respectively to being formed " thermal map " from different TOF profiles.
Fig. 8 A are initial thermal maps, and Fig. 8 B-D are the thermal maps after the subsequent iteration that outline cancels process.
Fig. 9 A-D are to utilize the thermal map that the position of the thermal map estimation shown in Fig. 8 A-D generates by emphasis process respectively.
Figure 10 be on walking, be sitting in (on chair and ground) and falling over estimation height and the relationship of time it is bent
Line.
Figure 11 refers to the spectrogram of appearance.
Figure 12 is the schematic diagram about aerial array.
Specific implementation mode
With reference to figure 1, the first embodiment of motion tracking system 100 is sent out in the environment of the system using mutiple antennas 150
Send and receive the radiofrequency signal reflected by object (for example, people), wherein environment may include building one or more rooms,
Inside of vehicle etc., and can be partitioned, such as pass through the wall of the barrier of substantially radio transparent, such as building
Or pieces of cloth.In general, object in environment had both included fixed object, such as chair, wall etc. further include mobile object
Body, such as, but not limited to people.System can track people, and wherein people can move around in the room, or can be relatively quiet
Only, for example, being sitting on chair or lying on a bed, but can show in any case can be by described below one or more
The respiratory movement of embodiment detection.System is based on radiofrequency signal and provides motion analysis result 130.In various embodiments, these
As a result include the position of one or more people in environment, the body or limb posture made by the people in environment detected, with
And the physical activity detected, include the detection of tumble.
In general, system 100 is (also referred to as " round-trip using the flight time (TOF) obtained for each antenna pair 150
Time ") information.For schematically illustrating in Fig. 1, the three paths 185A-C for being reflect off representative points object 180 are being sent out
It is shown between antennas and three reception antennas, each path usually has different TOF.Assuming that constant signal velocity
C (that is, light velocity), from coordinate (xo,yo,zo) object reflection and in coordinate (xr,yr,zr) antenna receive, from
Coordinate (xt,yt,zt) the TOF of antenna can be represented as
It continues to refer to figure 1, system 100 includes the signal hair for the repetition for generating the signal mode emitted from transmission antenna 150
Raw device.In the present embodiment, signal generator is Ultra-Wideband frequency modulation carrier wave (FMCW) generator 120.It should be appreciated that
In other embodiments, while following the other aspects of the embodiment, it can use different from those of being described below
Other signals pattern and bandwidth.
With reference to figure 2A, TOF estimations are carried out using frequency modulation(PFM) carrier wave (FMCW) method.Consideration individually sends and receives
Antenna pair, in a string of repetition intervals 212 that the duration is T in each, transmission frequency is from as shown in solid line 210
Frequency range on it is inswept.In some embodiments, frequency range has frequency sweep duration and 2.5 milliseconds of repetitive rates
(5.46-7.25GHz that is, frequency range of about 1.8GHz).Reception antenna receives signal (that is, from single after TOF 222
The signal of object reflection), frequency is as shown in dotted line 220.It should be pointed out that TOF 222, which corresponds to, sends and receives frequency
Difference 224, this is the product of the frequency shift rate of TOF and the frequency sweep carrier wave for transmission antenna.
With reference to figure 2B, if the reflection signal (dotted line 220 in Fig. 2A) received is according to the transmission signal (reality in Fig. 2A
Line 210) by frequency displacement, then result will be with the energy for concentrating on the difference on the frequency 224 corresponding to TOF.(it should be pointed out that we ignore
The edge at interval 212, is exaggerated in figure).Backtracking is with reference to figure 1, and frequency displacement component 160 is (also referred to as " low-converter "
Or " frequency mixer ") execute frequency displacement, it may for example comprise modulated received signal and the modulator for sending signal, and keep expression and ring
The low-frequency range of the physical dimension consistent TOF duration in border.
The output of frequency shifter receives spectrum analysis (for example, Fourier transform), with detach respectively from the associated frequencies of different TOF
Rate component.In the present embodiment, the output of frequency shifter, which is sampled and calculated for each interval 212, is implemented as fast Flourier
Convert the discrete time Fourier transformation of (FFT).Each complex values of FFT, which provide, has frequency resolution Δ f=1/Tsweep's
Frequency samples, wherein TsweepIt is frequency sweep duration (for example, 2.5 milliseconds).
With continued reference to Fig. 2 B, it should be appreciated that energy is with the distribution of frequency (and equally with TOF) generally unlike in figure
Concentration as shown.Point of the energy generated conversely, there exist the superposition of the reflection due to the reflective object in environment
Cloth.Some reflections are direct, and path directly in reflective object and sends and receives between antenna.Others reflection shows more
Path effects, wherein existing from transmission antenna via the mulitpath of specific reflection object to reception antenna.Some multipaths are imitated
Should be the other static objects left due to transmission signal reflex in wall, furniture and environment.Other multipath effects be related to from
The reflection of mobile main body, wherein path are not directed toward mobile object from transmission antenna and return to reception antenna, but from sending day
One or more static objects on line to the path of mobile object reflect back into reception antenna from mobile object, or both
It has concurrently.
The system distinguishes the reflection of mobile object and static object in environment using time difference method, just as furniture and wall
Wall, reflection solve the first multipath effect, be referred to as static multiple route.In general, the reflectivity from wall and furniture
Reflection from people is much better than, especially if people is behind wall.Unless these reflections are removed, otherwise they can be covered
Signal from people and the movement for preventing to sense her.This behavior is referred to as " flash effect ".
In order to remove the reflection for coming from all these static objects (wall, furniture), we make full use of these reflectors
It is that frequency displacement static, that they are not changed over to the distance of aerial array and therefore they cause is kept constant at any time
The fact.We obtain in each frequency sweep window and receive the FFT of signal and by subtracting the (multiple of the FFT in given frequency sweep
Number) it exports to eliminate the power from these static reflectors.This process is referred to as background subtraction, because it eliminates background
In all static reflectors.In some embodiments, back to back previous frequency sweep (that is, 2.5 milliseconds before) can be used, and
In other embodiments, the delay (for example, 12.5 milliseconds, or even more than one second, such as 2.5 seconds) of bigger can be used.
By eliminating all reflections from static object, which ideally only leaves the reflection from mobile object.
But as described above, these reflections had both included directly advancing to mobile main body (not in static object from transmission antenna
Upper rebound), the reflection of object, be then returned directly to the signal of reception antenna, further include being related to coming from static object and shifting
The indirect path of the reflection of dynamic object.These indirect references are called Dynamic Multi-Pathing by we.Probably arrived along indirect path
The mobile object reflectivity reach, to rebound in side wall her direct reflection (after passing through wall can deep fades) is stronger, because preceding
Person can avoid blocking.
The conventional method for eliminating Dynamic Multi-Pathing is to be based on, and at any point in time, travels to and fro between the direct signal of mobile object
The observation in the path traveling path more shorter than indirect reference.Because apart from directly with TOF and therefore and frequency dependence, this meaning
Taste from the direct signal that Moving Objects reflect can lead to minimum frequency shift in all strong reflection devices after background subtraction.We can
To track the anti-of traveling shortest path by tracking low-limit frequency (that is, most short flight time) boundary of all strong reflection devices
It penetrates.
With reference to figure 3A-C, the trunnion axis of each figure indicates about 20 seconds time intervals, and vertical axis indicates frequency range,
Correspond to the frequency that zero distance/be deferred to top corresponds approximately to 30 meters of range from bottom.Fig. 3 A and 3B show that background subtracts
The FFT power of (Fig. 3 B) after (Fig. 3 A) before and background subtraction.Fig. 3 C show the most short of the flight for continuous frequency sweep
The continuous estimation of distance (or equivalent time), and " denoising " (for example, smooth, outlier is eliminated, etc.) profile.
In order to determine the First partial maximum value caused by mobile main body, we allow for distinguishing it and due to noise peak
Local maximum caused by value.We by across multiple frequency sweeps spectrogram averaging is realized it is this can separating capacity.At this
In embodiment, before the First partial maximum value of positioning FFT power, we to crossing over 12.5 milliseconds of duration jointly
Five continuous frequency sweeps are averaged.For all actual purposes, people can be considered as static on this duration；Cause
This, spectrogram (that is, spectrum distribution at any time) is constant for this duration.Averaging allows us diluting
Since the strength of the reflection from mobile main body is promoted caused by noise when peak value.This is because mankind's reflection is consistent
And therefore relatively it is added, and noise is random and is therefore irrelevantly added.After averaging, we can be with
It determines the First partial maximum value for being substantially higher than noise floor and states that it is to the straight of mobile main body (for example, mobile people)
Connect path.
In practice, using the first reflection interval rather than this method of most strong reflection is proved to be more healthy and stronger,
Because unlike the shape in the nearest path between the mobile main body of tracking and antenna, the point of maximum reflection may be due in environment
Different indirect paths or even people execute it is different activity when human body different parts movement randomness and shift suddenly.
It should be pointed out that each method for sending and receiving antenna to executing the shape for tracking the most short flight time, at this
It is for three pairs, per a pair between public transmission antenna and three independent reception antennas in kind embodiment.It is being used
After the shape of the most short two-way time of each reception antenna, system makes full use of the common sense about human motion to make an uproar to mitigate
The influence of sound simultaneously improves its tracking accuracy.Used technology includes：
Outlier is refused：System is refused to correspond to human motion unnatural in very short time period in distance estimations
Unpractical jump.For example, in fig. 2 c, in the distance that several milliseconds of spans are jumped more than 5 meters repeatedly from object.Distance
This change be impossible in time interval small in this way, therefore, system refuses this outlier.
Interpolation：When she stops mobile, system tracks history to position people using it.Particularly, if people is in room
In stroll about, be then sitting on chair and remains stationary, then background subtraction signal will not register any strong reflection device.At this
Under kind scene, it will be assumed that people is still within identical position and during the entire process of any movement is not observed in we
The last location estimation of interpolation, to make we even if she stop it is mobile after be capable of the position of tracking object.
Filtering：Because human motion is continuous, the variation of object to the distance of each reception antenna should be with
Time keeps smooth.Therefore, system using kalman filter come smooth distance estimations.
After Edge track and the denoising of estimation, system obtains signal and from transmission antenna to mobile object and returns to
The clean estimation for the distance (that is, round-trip distance) that one of reception antenna is advanced.Using a transmission antenna and three receptions
In this embodiment of antenna, at any time, all there are three this round-trip distances corresponding to three reception antennas.For
Each time instance, system identify the three-dimensional position of mobile object using these three estimations.
System makes full use of the knowledge of its placement to antenna.In such an embodiment, antenna is put "T"-shaped, wherein
Transmission antenna is placed in " T " shaped crosspoint and reception antenna is placed in edge, in transmission antenna and each reception antenna
Between have 1 meter of distance.In order to refer to, z-axis refers to vertical axis, and x-axis is along level, and "T"-shaped aerial array is installed on wall, y
Axis extends in room.In three dimensions positioning use three ellipsoidal intersection points, each ellipsoid by transmission antenna its
In reception antenna known location and round-trip distance define.
It should be pointed out that in an alternative embodiment, two reception antennas can be only used, such as all antennas are put along horizontal line
It sets.In such an embodiment, two-dimensional position can utilize the intersection point of ellipse, rather than ellipsoidal intersection point determines.At it
In its alternative embodiment, three or more reception antennas (that is, more than three sending-receiving antenna to) can be used.Although more
Not necessarily intersect in a point in three ellipsoids, but various methods can be used to combination ellipsoid, for example, based on most connecing
Nearly all ellipsoidal points.
With reference to figure 4, second embodiment use the concurrent transmission from multiple transmission antennas, and also introduce suitable for
The technology of the multiple main bodys of track.It should be appreciated that using the method for concurrent transmission independently of other technologies.For example, multiple concurrent transmissions
It can be used as described in the first embodiment, for example, can be flown for the first of each antenna pair by tracking
The row time, to mitigate Dynamic Multi-Pathing.
In Fig. 4, it is illustrated as transmission antenna in three antennas 150 on the left side and three antennas 150 on the right is shown
For reception antenna.In a preferred embodiment, antenna can be configured as serving as transmission antenna sometimes in operation and serving as reception sometimes
Antenna.Therefore, for N number of antenna, the different antenna of most N (N-1)/2 determines individually to that can be utilized for special object
TOF information.As described more fully below, system generally has in each interval more continuously to send interval operation
A antenna concomitantly emits radio signal, and generally has the reflection of those concurrently receive signals of mutiple antennas.Send day
The set of line is generally from interval is sent to interval variation is sent, to allow the sampling of all different antennas pair.In some examples
In son, m antenna is used to send in each interval, and (N-m) a antenna is used to receive, and up to m (N-m) item
Path can be evaluated in a time interval.In some instances,And at least N paths are at each interval
In be evaluated.In some instances, m=N/2 and up to N2/ 4 paths are evaluated in each interval.
With reference to figure 5A, the concurrent transmission from two transmission antennas is shown by the part at interval 212 (that is, Fig. 5 A show
The duration more shorter on a timeline than shown in Fig. 2A is gone out).First antenna 150 (referring to Fig. 4) is using such as by solid line
Swept frequency shown in 510A is sent, and corresponds to the line 210 in Fig. 2A.Second antenna is sent using 510 (being referred to as τ) of delay
Identical swept-frequency signal, this postpones signal are shown using solid line 510C.Reception antenna receive two from object it is different
Signal is reflected, one comes from the first transmission antenna, and one comes from the second transmission antenna.Signal from the first transmission antenna it is anti-
It penetrates with TOF 522A, as reference chart 2A is discussed above.The reflection of signal from the second transmission antenna has TOF seemingly
522C is formed by postponing τ plus the practical TOF from the second transmission antenna to reception antenna.With reference to figure 5A, when reception signal quilt
When transmission signal (being shown as line 510A in fig. 5) frequency displacement (that is, modulation) from first antenna, the energy of the reflection of the first signal
Amount is in the frequency 524A corresponding to the TOF 522A from the first transmission antenna, and the energy of the reflection from the second antenna
In frequency 524C, this corresponds to time 522Cs of the TOF from the second transmission antenna plus the summation of delay τ 5310.
By selecting to be more than the τ for the maximum TOF directly reflected in environment, the reflected energy from the second transmission antenna and first day
The reflected energy of line is distinguished.
With reference to figure 1, respectively the delay element 440 with different delays (that is, integral multiple of τ) is by FMCW generators 120
It is introduced between the sweep carrier signal of generation and the respective antenna selected for transmission, to draw to each selected transmission antenna
Enter different delays.
Referring again to Fig. 2 B, it should be appreciated that energy is with the distribution of frequency (and equally with TOF) generally unlike in figure
Concentration as shown.More precisely, being generated in the presence of the superposition of the reflection due to all reflective objects in environment
Energy distribution.Function as TOF, more typical Energy distribution shows that it is referred to as " TOF profiles " in Figure 4 A.
A kind of approach for calculating TOF profiles is that the output band of frequency shifter 160 (that is, modulator) is restricted to the bandwidth of frequency-swept,
Then the limited signal of time sampling frequency band, is followed by the calculating of FFT.Magnitude after (plural number) FFT values square provides TOF wheels
Exterior feature, wherein each FFT samples correspond to different frequency ranges and therefore correspond to different TOF ranges.
In fig. 6, in the energy 610 corresponding to the TOF of the position of people (about 28 nanosecond) in peripheral reflection energy nothing
Method clearly distinguishes.But most of peripheral reflection energy is from static object.As discussed above, mitigation comes from
The method of the influence of the reflection of stationary objects is the time change of perception reflex energy, this corresponds generally to mobile object.Know
A kind of method of not this time change be compare the TOF profiles (for example, plural number output of FFT) that obtain in current time with
The delay version of TOF information.For the people moved in environment, 12.5 milliseconds of delay is (for example, five 2.5 milliseconds of frequency sweeps are prolonged
It can be used late).This (plural number) between current TOF profiles and delay TOF profiles it is poor can to the sequence of frequency sweep, such as
To five frequency sweeps (for example, 12.5 milliseconds), average.With reference to figure 6B, the application of this subduction method is illustrated in difference
Energy peak 620 in TOF profiles.
As described above, each transmission-reception of antenna is to generating a TOF profile.Each pair of point in TOF profiles
Ellipsoid that should be in three-dimensional, or equally the ellipse in two dimension (for example, if antenna and object are assumed to be one
In a plane).Therefore, by the way that intensity, entire TOF is arranged along each oval (or ellipsoid) according to each of TOF profiles point
Profile can be mapped to the spatial distribution of estimated location, referred to below as " thermal map ".Multiplying 7 meters at 5 meters using two people
Exist in room in the example of generation, is shown in fig. 7 using the different TOF profiles of a sending-receiving antenna pair.
In this example, all antennas are all separated along y=0 axis, and therefore thermal map shows the variation as half elliptic set,
Wherein oval focus is in the position for the antenna for being used for being formed TOF profiles.
It should be pointed out that using only one antenna pair as shown in Figure 7A, thermal map shows the suitable of the position of two people
Big ambiguity.Fig. 7 B-7E respectively illustrate the formation by the combination thermal map that the thermal map of two to five antennas pair is summed.
It should be pointed out that for five antennas pair, as shown in figure 7e, the position of two main bodys is obvious in combining thermal map.
This example uses Two-Dimensional Heat drawing method (for example, it is basically assumed that antenna and all objects are all in identical height).As
It substitutes, is similar to two-dimentional thermal map, consider the three-dimensional coordinate of antenna, three-dimensional point cloud (term " thermal map ", " point cloud " and " point diagram " is generally
It is used interchangeably below) it can be calculated using identical method.
In practice, the combination (that is, superposition) of the thermal map from different antennae pair as described above may be not enough to accurately
The position of main body (that is, people) in the environment of compartment system.One of reason, which is different user, can show " near-far " problem.Tool
For body, the reflection of the reflection people generally more subsequent than the people of distant place or barrier of people nearby is much better than.
Fig. 8 A show the challenge of near-far problem, show two obtained in the case of there are four people in the environment
Tie up thermal map.Thermal map can allow us that can only position two of which people：One is high-visible in (0.5,2), another (-
0.5,1.3 it) still sees.Other two by chance the people far from aerial array completely by the Power coverage of the first two people.In order to
This near-far problem is solved, not primary (in one shot) positions all people, and system executes continuous outline and cancels
(SSC).SSC processes are made of four key steps：
1. detection：It is obtained by being overlapped from the difference TOF profiles for multiple (for example, all) sending-receiving antennas pair
Thermal map find the position of most strong reflection device.
2. remapping：The position detected is mapped to may be each sending-receiving antenna pair position life
At TOF (or a certain range of TOF).
3. cancelling：Cancel influence of the people to the TOF profiles of all transmission-receptions pair.
4. iteration：Thermal map is recalculated using the TOF profiles of cancellation, them is overlapped, then proceeds by step 1, to look for
To the position of next most strong reflection device.
Hereinafter, we by the example with four people shown in Walkthrough (walking through) Fig. 8 A-D come
Each in aforementioned four step is described in detail.
In step 1, the position of peak power reflector in the two-dimentional thermal map of Fig. 8 A is detected.In this example, highest
Power be to indicate in that position someone in (0.5,2).
To (x, the y) coordinate for being scheduled on the people determined in detection steps, in the step that remaps, we are respectively to each hair
It send-receives to this position is mapped back corresponding TOF ranges.Although thermal map calculates in two dimension, everyone is not
Point reflection device but there is a certain range in vertical direction (z).Therefore, estimate the reflection of his entire body to each transmission-
The influence of the TOF profiles of reception pair.For in three-dimensional coordinate (xt,yt,zt) and (xr,yr,zr) antenna pair, at (x, y)
Object most short TOF have come from three-dimensional point (x, y, (zt-zr)/2) reflection.This TOF (min) is to utilize spread speed c
It calculates.Maximum TOF for the object at (x, y) is assumed corresponding to the reflection from three-dimensional point (x, y, 0), substantially false
The point for being located at floor level is farthest from antenna.What this TOF (max) was calculated also with spread speed c.For each antenna pair
Range [TOF (min), TOF (max)] be the product of step of remapping.In other embodiments, it can use to each day
Line by (x, y) to being mapped to range or other methods of other distributions through TOF, for example, utilizing the estimation mean value and mark of TOF
Quasi- estimation of deviation.
To each antenna to executing cancellation step.In one embodiment, the current TOF profiles of antenna pair are used in correspondence
In zero in the estimation range of the TOF of the estimation (x, y) of people (or decaying in other ways).Then, by will be after cancellation
TOF profiles determine thermal map summation, calculate combination thermal map.Fig. 7 B are shown to estimating first at position (0.5,2.0)
People executes the result after the process.
It is recycled about second, the thermal map of Fig. 8 B, second people is used to be located at position (- 0.5,1.3) in step 1, and
And step is repeated, to generate the thermal map of Fig. 8 C.Third individual is located at position (0.8,2.7) in this thermal map, and repeats
Step, to generate the thermal map of Fig. 8 D, wherein the 4th people is located at (1.0,4.0).
In some instances, further focus steps again are executed, to improve as shown in Fig. 8 A-D in above-mentioned iteration
In the location estimation of people that finds.For each position that object (for example, people) is detected, in the estimation position corresponding to object
Original TOF profiles each of except [TOFmin, the TOFmax] range set (that is, any cancellation before) during SSC are returned
Zero (or decaying in other ways), and these thermal maps are combined, everyone combination thermal map is used for be formed.For scheming
These thermal maps focused again of four people positioned in 8A-D are shown in Fig. 9 A-D.
In some instances, position (x, y) of estimation or location sets, time series can further be handled.Example
Such as, smooth trajectory and/or the assignment of personal position can be gone to, for example, using Kalman filter or being based on other models
Or heuristic technique.
In some instances, system can be by making full use of the hand of people to have much smaller reflection than his entire main body
The fact that surface, differentiates movement and all-around exercises of hand (just as walking).Using above-mentioned cancellation and focus method, even if system
Posture can also be tracked when they are executed by multiple users simultaneously.Particularly, by using focus steps, system is individually gathered
Coke is to everyone and tracks his/her posture.For example, refer to gesture, wherein different users can be directed toward different directions simultaneously, it can
With detected.Then, by tracking the movement locus of every mobile hand, system determines the direction that each user is directed toward.It should
Note that user executes in three dimensions, these refer to gesture and system is being weighed by using the TOF from different sending-receiving antennas pair
Construction three-dimensional point cloud in new focus steps rather than two-dimentional thermal map track the movement of hand.
Method described above is effective when detecting and estimating the position of mobile main body.In some implementations, second
Kind method replaces or in addition to detecting opposing stationary people's (for example, be sitting on chair or lie on a bed) additionally based on theirs
Periodic breathing motion is used.In the above-mentioned methods, it is by through relatively small for the difference TOF profiles of each antenna pair
Time interval obtains difference to determine for example, through 12.5 milliseconds.Breathing is occurred with more slowly rate, for example, several seconds
Breathing time.In general, the method for the breathing of people is the modulation of the TOF profiles based on detection at any time in detection environment,
Wherein characteristic frequency is consistent with breathing.Various methods can be used to this modulation of the detection for different TOF, for example, passing through
A series of TOF profiles are analyzed through sufficiently long time scale, to detect modulation.A kind of approach done so is to apply above-mentioned side
Method, but be not using the different TOF profiles of short time poor (for example, 12.5 milliseconds) calculating, using longer time it is poor (for example,
More than one second, for example, 2.5 seconds).
SSC processes described above make it possible to focus on everyone, while eliminating the interference from every other user.
This algorithm is proved to monitor that everyone breathing is highly effective in the presence of other people in the environment.It recalls, SSC
Focus steps allow us to focus on everyone, while eliminating the interference from the every other people in scene (such as institute in Fig. 9 A-D
Show).Therefore, it allows us individually to focus on everyone, and the function as the time monitors everyone focusing thermal map
Maximum power.Maximum power from everyone thermal map periodically raising and lowering.This is because breathing is in air-breathing
The alternate rhythm movement between expiration.When the chest of people is back to its position in initially subduction frame, maximum power is
Minimum, and the highest when it is in the position farthest from initial position.We have observed that the peak-peak letter of a people
It number can be the magnitude of multiple magnitudes higher than another people.In any case, SSC processes all generate the sequence of thermal map shown in Fig. 9 A-D
Row, these figures prove that the process is detecting weaker reflection and eliminating the practicability in environment in other people interference, from
And allows individually to focus on everyone and monitor that his/her is breathed.This method allows to cease breathing (for example, screen to user
Firmly breathe, or as the result of sleep apnea) period detection.
There are it is many other it is potential, utilize the systematic difference of above-mentioned one or more methods, it is understood that it is above and with
Under be to the reference of " system " one or more embodiments to combining system one or more in above-mentioned technology reference.
For example, for the processing based on phase, not all system all using short-term time scale ask poor, long period scale ask it is poor,
SCC, again focus in each.Moreover, as from context is obvious, in some applications, system can have multiple units,
Each aerial array of the unit with their own monitors overall situation.
One potential application is related to energy saving and building automation.System can identify the number of people in room or house
Mesh and its position.Therefore, system can be fully utilized, and actively be adjusted as the number based on people in building automation system
It temperature or turns off the light for vacant room in room/the element of HVAC.This can help it is energy saving, and improve people how to build
Build the consciousness hovered around object.It can also understand when people comes in when to leave with them and predictably open
Open, close or adjust light/HVAC/ temperature systems.
For understanding employee and visitor, how using corporate environment, there is also big interest：Where they take largely
Time, team/group how to form and generate design, what space is not used by and what space is overused, etc..
System (or the multiple systems being distributed around corporate environment) can by when they hover in space track employee and
Visitor, which moves, provides deep opinion.It can be used to reduce or recombinate not used space as a result,.Alternatively, it can
To be used to the space that recombination people usually meet and make suggestions.
In family's automated setting, system can be used for the interface based on posture, thus people by execute posture come
Automate different household electrical appliance.System can track posture and it is construed to order；This will allow people to control electric appliance, all
Such as：Open and close TV, the female or word that writes in the air, close other household electrical appliance, etc..In addition, system will be seen that people's
Daily behavior simultaneously executes task automatically.For example, it will be seen that when people wakes up while leaving the bed (or detect him/her) just immediately
Shower is opened, coffee machine is then turned on when she walks out shower.It can also be seen that when people exist and therefore can be true
It is fixed that when she enters her house.Therefore system will be seen that time that people usually goes home (by tracking these across different days
Pattern), and based on pattern adjust automatically heating before/HVAC/ illuminations.
In retail is arranged, tracking consumer can be used to improve the understanding of buying behavior.System can be with very high
Precision track shopper in retail shop, opinion is goed deep into their behavior to provide.It is by relying on them
The radio reflections of body position shopper, without them have smart phone.It generates in extensive shop and analyzes, such as
The number in into/out shop, they along path, the position that they are parked in and they wait in line payment time.
It also tracks the movement of hand and identifies when that user picks up or article is returned to shelf.These opinions provide for shop to consumer
The deep consciousness of behavior；For example, shop can analyze the reaction of popularization activity of the consumer to them, and these are changed in real time
Activity.In addition, the track by understanding consumer, shop can make product be easier to obtain and more efficiently distribute theirs
Thus staff to improve customer satisfaction, and stays.In general, these analyses allow the store to identify increasing
Add sale, enhancing consumer experience and loyalty and optimizes the chance marketed in shop.
For retail sales analysis, there are at least two potential users of the opinion that system can generate.It is commodity retail first
Director；They are increasingly dependent on data to determine the most profitable collocation of product, price and in-store promotion, such as show,
Sales support, discount, etc..Although entity retail in the competition of e-commerce in face of struggling, leading retailer
See being best understood from as the approach of (stem the bleeding) of stemming the flow of blood to consumer behaviour so that spending transfer
To retail sales analysis and it is expected that will continue to do so within 10 years in future.
Second group of retail sales analysis consumer is consumer goods supplier (mainly CPG companies).Nowadays, CPG is in-company
Market survey director spends about $ 5,600,000,000 in market survey every year, includes being compiled by the research company of such as ACNielsen
, opinion from point-of-sales (POS) data and consumer's follow-up study.Positioning analysis opinion can help CPG brand managers (market
The consumer of research) it is more efficient to the promotion expenditure of retailer.
In terms of health care, system can track them when patient walks about around hospital.For example, patient is at them
Room and bathroom fall, detect them and when fall and be very important.Detection patient when leave they room and
Them are tracked when they walk about around hospital can also be important.In psychiatric department department or insane asylum, this becomes more
It is important.In addition, because system can guarder in general manner, it also provides the information to visitor's stand-by period.In addition, it
Nurse can be tracked or other nursing stafves when come into room and their responsibility to the greatest extent is (for example, the life of inspection/change patient
Order sign).
Elder Housing and assisted living facility make great efforts to provide freely and create to their resident family to focus on enjoyment life
The atmosphere lived rather than feared, so they, which will often be vigilant, takes any surveillance technology.This includes home for destitute, is compareed there
The demand bigger of Gu；Or it is dedicated to the assisted living facility of dementia patients.The system can be used to tracking Elder Housing
People (mainly old man) in facility.It can be used to detection and fall, tracks them using how many times bathroom or walk out them
Room or bed, whether they walk close to window and receive sufficient sunlight.It can also track visitor (for example, their number
And action), they when enter facility, and look after (or not looking after) resident family nursing staff.
The system may be utilized for family or enterprise security.Specifically, because it can track human motion,
It may know that whether there is invader to enter building, or even whether he without hovers.For example, being opened in security system
When someone enters building, it can with automatic closing and alarm or send alarm.In addition, even if house or enterprises
There are resident family and it to sense someone to hover everywhere outside facility, the shifting that it can also detect their presence, track them
It is dynamic, and/or remind about their presence.
The further details applied about two are provided as an example below, it is thus realized that described method can answer
With various applications listed above.The two applications are fall detection and finger gesture detection.
For fall detection, target be automatic distinguishing fall with other activities, including be sitting on the ground, be sitting on chair and
Walking.Accomplish this point, we establish the height above sea level tracking of system along z-dimension.It should be pointed out that the sea of simply scrutineer
Degree of lifting, which is typically not enough to distinguish, to be fallen and is sitting on floor.It falls to detect, system needs two conditions to be satisfied：It is first
First, people must significantly change along the height above sea level of z-axis and (change the one third of its value or more), and the height above sea level of people is most
Final value must be close to ground level.Second condition is that the change of height above sea level occurs within the very short period, with anti-
People's tumble is reflected to sit down faster than them.
Figure 10 shows estimation of the four kinds of activities of system pair along the height above sea level of vertical (z) dimension：People's walking is sitting in chair
It is upper, be sitting on the ground, and on (simulation) fall over.The figure confirms, walk and be sitting on chair can be based on height above sea level with
It falls and is sitting in and distinguish on the ground, because final height above sea level is far from z=0.But it falls over upper and is sitting in ground to distinguish
On, it is necessary to use people during tumble changes its height above sea level and is sitting on floor faster than actively.
Using in referring to the application of gesture, system can be estimated to give directions angle, and then this can be used to control device, such as
Electrically or electronically equipment.In general, system provides the rough estimate of body part movements first, it is then further processed that
Rough estimate gives directions angle to determine.It is contemplated that following movement：User leans against the state on her body from her arm and opens
Begin.She lifts arm in the direction that she selects, and is intended that sensing equipment or electric appliance, her hand is then put down to first position.
User can move around and refer to gesture in random time execution.But, it would be desirable to user is to stand executing the when of referring to gesture
(that is, not walking about).Purpose is that direction is given directions in detection.
In order to track this finger gesture, system distinguishes the movement of entire body and the movement of arm.In order to achieve this goal,
The fact that we make full use of the reflecting surface of arm to be much smaller than the reflecting surface of entire human body.We receive from each antenna
The size of the spectrogram estimation reflecting surface of the antenna arrived.Figure 11 shows that there are the frequencies for an antenna pair when all-around exercises
Difference between the spectrogram that spectrogram (relation curves of frequency spectrum profiles and time) and arm are given directions.In fig. 11, people is in movement,
Then stop and execute and refer to gesture.Two bright spots about 18 seconds and 21 seconds indicate that arm is lifted and put down respectively.The figure
Display is noticeably greater than along the signal variance of vertical axis when reflector is only arm motion when reflector is entire human body
When.If reflector is big, part has position slightly different from each. other；Therefore, at any point in time, reflected along y-axis
Variance be more than arm motion variance.The system comes sonde body componental movement and all-around exercises using this space variance.
Once it is body part that we, which detect it, system just estimates the direction of movement, gives directions direction to identify, this is related to
Following steps：
Segmentation：The purpose of segmentation is to determine the beginning and end for referring to gesture.Figure 11 shows how system is segmented from each and connects
Receive the round-trip apart from spectrogram of antenna acquisition.In our indication experiment, we require user to be kept before execution refers to gesture
Static one second.Therefore, we can detect the beginning for referring to gesture, because always there is the period to lack exercise before it.Similarly,
In people after giving directions direction to lift her arm, we require her to be waited for one second before her arm is put back into initial position
Clock.Because system executes frequency-swept per 2.5ms, we can be readily distinguished at quiet at the beginning and end of posture
It is quiet.
Denoising：Just as all-around exercises, the shape of the spectrogram of segmentation by denoising and interpolation,
To obtain the clean estimation of the function as the time, arm motion round-trip distance for each reception antenna.
It determines and gives directions direction：We execute healthy and strong recurrence to the location estimation of mobile hand, and we use and
The initial and final position of hand is solved from the beginning and end of the recurrence of all antennas.It is from hand that direction is given directions in system estimation
The direction of original state final extension state in one's hands.Since user puts down her hand after indication, system puts this
Lower movement repeats above step, to obtain the second estimation for giving directions direction.Then, it is between the two that direction is given directions in system estimation
Intermediate direction.It can make full use of arm and lift and indication angle is estimated with the proximate mirror effect between arm down moves
Meter increases significant robustness.
It can allow users to control by simply pointing to household electrical appliance that the example of the system in direction is given directions in estimation
They.The list of given instrumented equipment and their position, system can track the movement of the hand of user, determine that she gives directions
Direction, and order equipment changes its pattern (for example, on or off lamp, or control our shutter).
System described above can embody in various configurations.For example, aerial array can form linear array, multiple
Linear array (such as horizontal array and orthogonal array of " T " or inverse-T-shaped, " H " shape).In other examples, multiple linear battle arrays
Row can be disposed about environment.Figure 12 shows the aerial array 1500 of " H " shape, and wherein antenna 1510 is along one group of linear support
Object 1520 is disposed, and supporter 1520 is mounted in the plane higher than floor level (for example, on the wall).In some instances, day
Line is orientation, is directed toward in monitored room or region for example, being mounted so as to its sensitivity.In some instances, when it
When being configured by the setter of system, the position of aerial array, is known to system in the relative position and environment of antenna.
In some examples, TOF infers the relative position of antenna between the direct antenna of system monitoring, and can monitor static reflex, with
Infer the position of array in environment.In some instances, system also monitors the propagation time, to estimate electron path (for example, electricity
Line, amplifier, etc.) in delay so that this delay can be subtracted from the delay measured, and to generate, to be used to estimation anti-
The time of the air-borne transmission of the position of beam.
It is being connect from the reflection of different transmission antennas it should be appreciated that sending displacement of the signal in time/frequency and alloing
It receives antenna and is distinguished a kind of only possible method.It can be with for example, being multiplied by different code (for example, orthogonal pseudo-random sequence)
It is used in transmitter, then these codes can be used to detach signal in receiver.
Process as described above is typically implemented as module shown in signal analysis module 170 and Fig. 4 shown in Fig. 1
470.The operation of signal analysis module is controlled by controller 110 or 410, the behaviour in addition to coordinating signal analysis module 170 or 470
Make, controller also coordinates the selection for sending and receiving antenna, the generation by FMCW generators 120 to sweep carrier signal.One
In a little embodiments, signal analysis module and/or controller are realized in software, it may for example comprise are executed and stored non-in systems face
One or more programmable processors of instruction in when property medium (for example, semiconductor memory).The realization of frequency displacement module 160
Can within hardware, for example, using analog-modulated unit, or the radio receiver-transmitter of software definition can be utilized (again
It is secondary controlled by the software instruction that stores) component realize.In some implementations, analysis can be distributed, some of
Processing is executed on one or more of the associated electronic device of particular antenna array processor, and other processing, such as
The information from multiple arrays is merged, can be executed in individual (for example, central server) computer.
It should be appreciated that the description of front is intended to illustrate and not limit the scope of the present invention, the scope of the present invention is by appended
The scope of the claims limits.Other embodiments are within the scope of the following claims.
Claims (21)
1. a kind of method for carrying out indoor positioning using the signal reflex from mobile main body, the method includes：
Transmission antenna transmitting includes the transmission signal for the repetition for sending signal mode；
Each reception antenna of reception antenna set receives the reception signal for the reflection for including the transmission signal；
For each reception signal,
The reception signal is handled, to form the continuous mode of the reflection of the transmission signal mode from mobile main body, and
The continuous mode of the reflection is handled, including：Retain the influence directly reflected from the mobile main body, and excludes
At least one influence of Multipath reflection from the mobile main body, also being reflected from least one static object；Wherein, right
In each reception antenna, the exclusion includes：
Directly reflection of the identification from the mobile main body includes first of identification from the transmission antenna to the reception antenna
Two-way time, first two-way time indicate the most short round trip propagation time of the signal mode reflected from the mobile main body；
Identify the indirect reference from mobile main body, also reflected from least one static object；
The position of the mobile main body is determined using the result for the continuous mode for handling the reflection, including：Use each reception
The first two-way time that signal identification goes out is eliminated corresponding with more than the two-way time of the first two-way time identified
Multipath reflection；The use includes：First two-way time is tracked under the continuous mode of reflection.
2. the method as described in claim 1, wherein the reception antenna set includes at least three antennas, wherein at least two
Antenna has different height.
3. method as claimed in claim 2, wherein determining that the position of the mobile main body includes determining the mobile master
The height of body.
4. the method as described in claim 1 further includes the pattern for detecting movement in tracked body position.
5. method as claimed in claim 4, wherein the pattern for detecting movement includes the rail for the position for detecting the mobile main body
The temporal mode of mark.
6. method as claimed in claim 4, wherein the pattern for detecting movement includes the fortune detected in the environment of the positioning
Dynamic pattern.
7. method as claimed in claim 4, wherein the pattern for detecting movement includes detection posture.
8. the method for claim 7, wherein it includes detection whole body posture to detect the posture.
9. the method for claim 7, wherein it includes detection limbs posture to detect the posture.
10. method as claimed in claim 9, wherein it includes that detection refers to gesture to detect the posture.
11. method as claimed in claim 10, wherein it includes visiting the direction for referring to gesture that detection, which refers to gesture,.
12. further including the method for claim 7, being set according to the detection of posture control electrical equipment or electronics
It is standby.
13. method as claimed in claim 12, wherein it includes control electric appliance to control the electrical equipment or electronic equipment.
14. method as claimed in claim 13, wherein the electric appliance includes at least one of game station and lighting apparatus.
15. method as claimed in claim 4, wherein the pattern for detecting movement includes detection tumble action.
16. method as claimed in claim 15, wherein detection tumble action includes the change for monitoring height, changes the movement
At least one of degree of closeness between the duration of the height of main body and final height and ground.
17. the method as described in claim 1, wherein the signal mode includes in from first frequency frequency sweep to second frequency
Carrier frequency narrow-band signal.
18. method as claimed in claim 17, wherein the first frequency and the second frequency are all located at 5.46 to 7.25
In the range of gigahertz.
19. the method as described in claim 1, wherein it includes receiving passing through for the transmission signal to receive the reception signal
Cross the reflection after the propagation of at least one obstruction.
20. the method as described in claim 1, wherein the mobile main body is people.
21. the method as described in claim 1, wherein the mobile main body is the limbs of people.
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| WO2015102713A3 (en) | 2016-04-07 |
| EP3055708A2 (en) | 2016-08-17 |
| JP2016540960A (en) | 2016-12-28 |
| JP6796485B2 (en) | 2020-12-09 |
| CN105814450A (en) | 2016-07-27 |
| WO2015102713A2 (en) | 2015-07-09 |
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