CN110411460A - Compromise between location Calculation precision and power consumption of the self adaptive control operation to select the mobile device of the situation of main body or equipment - Google Patents
Compromise between location Calculation precision and power consumption of the self adaptive control operation to select the mobile device of the situation of main body or equipment Download PDFInfo
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- CN110411460A CN110411460A CN201910339344.8A CN201910339344A CN110411460A CN 110411460 A CN110411460 A CN 110411460A CN 201910339344 A CN201910339344 A CN 201910339344A CN 110411460 A CN110411460 A CN 110411460A
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
-
- G—PHYSICS
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- G—PHYSICS
- 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
- 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
- G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
Disclose the mthods, systems and devices for adaptively controlling the compromise between the location Calculation precision of mobile device and power consumption.A kind of method includes the preplanned mission collection of reception main body associated with mobile device or equipment, multiple sensors of mobile device are selectively activated based on the preplanned mission collection, by the position of one or more sensors estimation mobile device in the multiple sensors of mobile device selectively activated, by the sensitive information of multiple sensor sensing mobile devices selectively activated, and the situation for selecting main body or equipment based on the sensitive information of the position of estimation, the preplanned mission collection and multiple sensors selectively activated.
Description
Related application
Patent application claims on April 27th, 2018 submit application No. is the US provisional patents of No.62/663,365
The priority of application, the patent application are also the Serial No. No.15/978 submitted on May 14th, 2018,346 United States Patent (USP)
The cip application (CIP) of application, it is required that the Serial No. No.62/509 submitted on May 22nd, 2017,589 it is interim specially
The priority of benefit application, it is all these to be all incorporated herein by reference.
Technical field
Described embodiment relates generally to location based service.More specifically, described embodiment is related to being used for
The mthods, systems and devices of the compromise between the location Calculation precision and power consumption of mobile device are adaptively controlled, which sets
The standby situation (condition) operated to select main body (subject) or equipment.
Background technique
Tracking and monitoring cargo and personnel are highly difficult.Available method needs the precision in the equipment for tracking and monitoring
It is traded off between power consumed by the equipment of tracking and monitoring.It is desired to have for adaptively controlling mobile device
The mthods, systems and devices of compromise between location Calculation precision and power consumption, the mobile device operation is to select main body or equipment
Situation.
Summary of the invention
Embodiment includes a kind of side of the compromise between the location Calculation precision and power consumption of adaptively control mobile device
Method.This method includes the preplanned mission collection for receiving main body associated with mobile device or equipment, is selected based on the preplanned mission collection
The multiple sensors for activating to selecting property mobile device, by one in the multiple sensors of mobile device selectively activated or
The position of multiple sensor estimation mobile devices is believed by the sensing of multiple sensor sensing mobile devices selectively activated
Breath, and the sensitive information selection of the position based on estimation, the preplanned mission collection and multiple sensors selectively activated
The situation of main body or equipment.
Embodiment includes a kind of compromise for adaptively controlling between the location Calculation precision of mobile device and power consumption
System.The system includes that may be connected to the mobile device of upstream server.Mobile device operation is to receive and mobile device phase
The preplanned mission collection of associated main body or equipment selectively activates multiple sensings of mobile device based on the preplanned mission collection
Device, by the position of one or more sensors estimation mobile device in the multiple sensors of mobile device selectively activated
It sets, and by the sensitive information of multiple sensor sensing mobile devices selectively activated.In addition, mobile device or upstream clothes
At least one of business device can be operated with position, the preplanned mission collection and multiple sensings selectively activated based on estimation
The sensitive information of device selects the situation of main body or equipment.
By the detailed description below in conjunction with attached drawing, the other aspects and advantage of described embodiment will become aobvious and easy
See, the principle of described embodiment has been illustrated by way of example in attached drawing.
Detailed description of the invention
Fig. 1 shows several main body/equipment associated with mobile device according to the embodiment, wherein mobile device operation
To select the situation of its corresponding associated main body/equipment.
It includes the folding adaptively controlled between the location Calculation precision and power consumption of mobile device that Fig. 2, which is according to the embodiment,
The flow chart of the step of method of inner feelings.
Fig. 3 A, 3B show the tracking equipment according to the embodiment transported, and wherein tracking equipment is in tracking equipment
Tracing positional when transporting.
Fig. 4 A, 4B, 4C show the operation of tracking equipment according to the embodiment.
Fig. 5 A, 5B show the characterization process of tracking equipment according to the embodiment.
Fig. 6 is the flow chart of the method according to the embodiment for including the steps that position tracking device.
Fig. 7 is the block diagram of position tracking device according to the embodiment.
Fig. 8 shows the tracking equipment according to the embodiment transported, and wherein tracking equipment is when tracking equipment is being transported
Tracing positional, and tracking equipment reports the situation of object associated with tracking equipment.
Fig. 9 shows the example of the operable mobile device of the disclosed embodiments according to the embodiment (tracking equipment).
Specific embodiment
Described embodiment includes for adaptively controlling between the location Calculation precision of mobile device and power consumption
The methods, devices and systems of compromise, the mobile device operation is to select the situation of main body or equipment.For embodiment, situation
Selection is based at least partially on the tracking of the position to main body or equipment.
Fig. 1 shows several main body/equipment 111,112,113,114,115.Main body/equipment 111,112,113,114,115
Each of have corresponding associated mobile device 121,122,123,124,125.Mobile device 121,122,123,
124,125 situation operated to select its corresponding associated main body/equipment 111,112,113,114,115.Operation with
When selecting the situation of its associated main body/equipment, mobile device adaptively control mobile device location Calculation precision and
Compromise between power consumption.
For embodiment, mobile device 121 is operated to receive the pre- of main body/equipment 111 associated with mobile device 121
Determine task-set.121 further operating of mobile device is selectively to activate the multiple of mobile device 121 based on the preplanned mission collection
Sensor.In addition, the position of mobile device 121 is by one in the multiple sensors of mobile device 121 selectively activated
Or multiple sensor estimations.Once being activated, the sensitive information of mobile device 121 is by multiple sensor senses selectively activated
It surveys.Mobile device 121 or upstream network 160 (or combination of mobile device 121 and upstream network) operation are with the position based on estimation
It sets, the sensitive information in the preplanned mission collection and multiple sensors selectively activated carrys out the shape of selecting object/equipment 111
Condition.
As previously mentioned, simultaneously as shown in fig. 1, each of multiple mobile devices 121,122,123,124,125 are mobile
Equipment operation is to select it to correspond to the situation of associated main body/equipment 111,112,113,114,115.Therefore, for embodiment,
The situation of one or more main body/equipment in multiple main body/equipment 111,112,113,114,115 is by multiple mobile devices
121,122,123,124,125 selection, or by multiple mobile devices 121,122,123,124,125 and upstream server 140
In conjunction with selecting, or by upstream server 140 based on from multiple mobile devices 121,122,123,124,125 received information come
Selection.
For at least some embodiments, further monitoring and coordination are more for multiple mobile devices 121,122,123,124,125
Each of a main body or multiple equipment.For at least some embodiments, to the monitoring of main body/equipment and coordinate to include monitoring
It rests in controlled area (for example, safety zone 130), and cannot escape with coordination prisoner or mental patient.Sensor
It may include absolute (GPS) coordinate for outdoor tracking, and for the opposite (for example, its opposite positioning of indoor location tracking
Accurately known beacon) coordinate.In addition, monitoring and coordination main body/equipment include monitoring and coordinate at least some embodiments
Vehicle stops in orbit according to plan.In addition, at least some embodiments, monitoring and coordinate main body/equipment include monitoring and
Coordinate the cargo for being lifted by authorized person or machine or being moved box-packed or pallet dress.
Embodiment include system (such as by mobile device 121,122,123,124,125 and/or network 160, and/or on
Swim the formation of server 140), which includes the network of heterogeneous device, the network of the heterogeneous device can between them (with
Master-slave mode or ad-hoc mode) coordinate, to monitor and transmit each main body/equipment position and situation, so as to one group most
Whole user provides the monitoring to certain main body/equipment.
For at least some embodiments, monitored main body/equipment 111,112,113,114,115 includes by estate management
People's (example that the machine or equipment (for example, mineral/resource of container, generator, valuableness) of logistics management either need to monitor
Such as, due to safety concerns the patient of worker, outdoor prisoner or drug treatment) or high value animal and poultry living.
At least some embodiments further comprise the situation of the body of the report or equipment, including determine main body or equipment whether at
A specific group task is executed to function, including whether safely the body of the report or equipment, whether main body or equipment are safe on time, main body
Or whether equipment is still within control.For at least some embodiments, the data of each main body/equipment are monitored and collected with true
The situation of main body is determined, to determine whether main body is successfully executed certain tasks.For specific embodiment, this includes binary decision
Task, to reduce the data exchange between user and main body.Example includes in the environment whether main body is in safe, and main body is
It is no on time, whether main body still in controlled area or within controlled area.
At least some embodiments include coming as illustrated by the presentation main body/equipment state of end user 150 to user
The situation of the body of the report or equipment.In addition, at least some embodiments further comprise the essence received from user about selected situation
The feedback of degree, and determine the false positive identification of the report status of main body or equipment.Exemplary lists are shown in Fig. 1 comprising
Sub/dev1OK, sub/dev2OK- and from end user feedback (FB) (feedback instruction sub/dev2 OK state be
Be, instruction OK state be correct), sub/dev3OK, sub/dev4OK-and from end user feedback (FB) (this
Feedback instruction sub/dev4 OK state be it is yes, instruction OK state be correct), sub/dev5OK- and from finally use
Family feedback (FB) (feedback instruction sub/dev4 OK state be it is no, indicate OK state it is incorrect).
It include false positive identification (for example, from commander from human verification as shown in fig. 1 at least some embodiments
Center or from the main equipment for being able to verify that and recording basic true value (ground truth)).In order to improve whole detection essence
Degree, it is also necessary to which individual tool and system are to allow false negative observation.For embodiment, one group of user can be provided for movement
The feedback of equipment and consider it is false certainly/both false negatives.It can be to very sampling certainly, to improve total system detection
Precision.
At least some embodiments include each mobile device selection power mode, for determining multiple sensings of mobile device
Which of device sensor will activate.For at least some embodiments, power mode includes sleep pattern, mid-power mode
And high-power mode, and wherein mobile device cycles through power mode.For at least some embodiments, at least one movement
Equipment enduringly records and reports its state and position, and would circulate through following state:
1. sleep pattern: motion sensor+wireless labeling name record.System can enter sleep and (open low-power, time standard
The bad timer of true property closes the good timer of high power, time accuracy).Target is to save electric power as far as possible.
2. mid-power mode, movement show main body it is mobile or have changed wireless signature (main body change position or someone/
Something is close to main body).System wakes up from sleep state and (closes the bad timer of low-power, time accuracy, open Gao Gong
The good timer of rate, time accuracy).More data (have the movement that more samples+wireless) is collected, and triggers network position
It sets or even short-term GPS (if available).Target is to check that it is to enter high-power mode to be also to revert to sleep pattern.
3. high-power mode executes certain tasks.For example, opening GPS submits to service for a period of time and by position data
Device is to carry out point of interest (POI) detection.Or rotation sonar/radar, to observe ambient enviroment, detection is close to object or checks master
Body moving condition.After the completion of task (such as being confirmed from server), it will return to low-power consumption mode to sleep.
At least some embodiments further comprise position, main body/equipment situation and corresponding movement based on estimation
The sensitive informations of multiple sensors selectively activated of equipment detects main body/equipment place.Specifically, at least some
Embodiment includes the position of tracking and/or monitoring mobile device, which operates as tracking equipment, for tracking master
Body/equipment position.For specific embodiment, tracking equipment tracking haulage vehicle (is such as advanced along rail or along river
Rolling stock or ship) advance.
At least some embodiments further comprise that situation based on equipment reselects in multiple sensors of mobile device
Which sensor be activated.
For at least some embodiments, selectively activating multiple sensors of mobile device includes selecting multiple selectivity
The sample rate of one or more sensors in the sensor of ground activation.For at least some embodiments, by the choosing of mobile device
The position of one or more sensors estimation mobile device in the multiple sensors activated to selecting property includes: to be set by sample rate
The rate (rate) set carrys out estimated location.
At least some embodiments further comprise ignore that main body or equipment is in the not situation on preplanned mission collection can
It can property.
At least some embodiments further comprise acceleration, magnetic field, received RF signal (WiFi), reception based on sensing
GPS signal or the rotation of mobile device select the situation of main body or equipment.
At least some embodiments further comprise that the situation based on main body or equipment dynamically updates selected sensitive information.
At least some embodiments further comprise that the one or more of mobile device is determined based on the situation of main body or equipment
Position.
At least some embodiments further comprise the one or more tasks for monitoring main body or equipment in preplanned mission collection
How long is middle operation.At least some embodiments further comprise that the preplanned mission of main body or equipment is presented to operator or user
Concentrate the sequence of the one or more tasks monitored.
For at least some embodiments, task includes the situation of main body or equipment.
It includes the folding adaptively controlled between the location Calculation precision and power consumption of mobile device that Fig. 2, which is according to the embodiment,
The flow chart of the step of method of inner feelings.First step 210 includes receiving making a reservation for for associated with mobile device main body or equipment
Task-set.Second step 220 includes multiple sensors that mobile device is selectively activated based on the preplanned mission collection.Third step
Rapid 230 include one or more sensors estimation mobile device in the multiple sensors selectively activated by mobile device
Position.Four steps 240 includes by the sensitive information of multiple sensor sensing mobile devices selectively activated.5th step
Rapid 250 include the sensitive information based on estimated position, the preplanned mission collection and multiple sensors selectively activated
To select the situation of main body or equipment.
For at least some embodiments, scheduled task includes one of the following or multiple: being checked and mobile device phase
Associated main body or object (machine, worker or material/articles) are in safe absolute or relative position, and (absolute position may include
Lat/lon, height (or not having height) coordinate, and relative position may include the x, y, z on the inside of structure/building
(or not having z)), check that main body associated with mobile device or object have moving state, and determine whether it is in
(safe moving state may include moving together with driving vehicle to the moving state of safety, potential dangerous moving state
Be raised or rotate or subject state is open (seal box opening) including the main body), determine main body whether with vehicle one
Movement is played, and checks whether main body run track does as usual, checks whether the natural environment of main body is safe (for example, temperature, brightness
Or humidity), whether inspection main body is in unnatural environment, checks whether that someone or machine move/lift main body, and such as
Fruit is that then whether inspection personnel or machine are authorized to, and checks whether main body is controlled, and act according to schedule.
For including by mobile device (or tracking equipment) monitoring or the main body or equipment that track at least some embodiments
One or more machines without automatic moving ability, such as diesel oil or gasoline engine generator, electric tool, vehicle cart, it is box-packed or
Cargo (such as raw material, semi-finished product), the vehicle (machine with automatic moving ability) of person's pallet dress, such as applying based on truck
It is work machinery, lorry, the mankind (construction worker such as safety, outdoor prisoner, mental disorder patient), expensive dynamic
Object, such as commercial use or environment purpose.
For at least some embodiments, the situation of main body or equipment includes one of the following or multiple: determining nobody
It can be stolen, nobody can injure or damage it, and whether prisoner or mental patient stay in controlled area and cannot escape,
Determine whether animal stays in controlled area.
At least some embodiments include selecting the situation of multiple main bodys or multiple equipment, plurality of main body or multiple equipment
Each of it is associated with a mobile device in multiple mobile devices, and monitored by multiple mobile devices and coordinated more
Each of a main body or multiple equipment.For at least some embodiments, monitoring and coordination include at least one of the following:
Monitoring and control prisoner or mental patient stay in controlled area, and cannot escape that (this may include for outdoor tracking
Absolute coordinate (GPS) and opposite (for example, positioning relative to it accurately known beacon) coordinate for indoor location tracking,
Monitor and coordinate vehicle and stop according to plan in orbit, monitoring and coordinating promoted by authorized person or machine or it is mobile box-packed or
The cargo of pallet dress.
At least some embodiments further comprise the situation of the body of the report or equipment, including determine main body or equipment whether at
A specific group task is executed to function, including whether safely the body of the report or equipment, whether main body or equipment are safe on time, main body
Or whether equipment is still within control.For embodiment, position and exercise data are collected to estimate the row of smartphone user
For (he/her where and what is doing).For the system, monitoring and data are collected to determine the situation of main body, so as to
Determine main body whether be successfully executed certain tasks (specifically, these are binary decision tasks, so as to reduce user and main body it
Between data exchange).Some examples include the environment whether determining main body is in safe, and on time whether, still whether main body for main body
In controlled area.
At least some embodiments further comprise the situation of the body of the report or equipment, are received from user about selected situation
The feedback of precision, and determine the false positive identification for the situation of main body or equipment reported.At least some embodiments include coming
From the false positive identification of human verification (for example, being observed from command centre or the host for having information processing capability).At least one
A little embodiments include for allowing false negative observation to improve the independent tool and system of whole detection precision.At least some implementations
Example includes that one group of user both provides the feedback for being directed to equipment, and considers false ack/nack, and from it is true certainly in sampling with
Just total system detection accuracy is improved.
Fig. 3 A, 3B show tracking (movement) equipment 320 according to the embodiment transported, wherein tracking equipment
320 when tracking equipment 320 is being transported tracing positional.As shown, when tracking equipment 320 is being transported, tracking equipment
320 reside on transporting equipment 310 (rolling stock such as advanced on rail 380).As tracking equipment 320 is being transported
In, the wireless receiver of tracking equipment 320 receives wireless signal from base station 340,350 by wireless transmission 360,370.
For embodiment, when advancing in direction of travel 330 with tracking equipment 320, tracking equipment measurement receives signal
Signal quality.In addition, wireless signal include allow tracking equipment 320 identify which base station send received wireless signal
Information.Signal quality and which base station of identification based on received signal send the received wireless signal of institute, can estimate to track
The position of equipment.For example, the distance between base station 340,350 and tracking equipment 320 can based on received wireless signal
Received signal strength is estimated.The wireless signal sent during that is, propagating between base station and tracking equipment declines
Decrement provides the instruction of the distance of wireless signal traveling.In addition, the identification of base station allows to access the position of base station.It can be based on
Estimated distance between the position and base station and tracking equipment 320 of base station estimates one or more positions of tracking equipment.
At least some embodiments further comprise by being limited to one-dimensional by tracking equipment or changing close to one-dimensional transport
Into the location estimation of tracking equipment.For example, railway traveling is only limitted to advance on rail.
Fig. 3 B shows the ship 312 on river 382 according to the embodiment, which is restricted in river 382 up and down
It advances.Equally, river provides almost one-dimensional traveling mode.Therefore, it can use the power saving mould of the operation of tracking equipment 320
Formula.
Fig. 4 A, 4B, 4C show the operation of tracking equipment according to the embodiment.Specifically, Fig. 4 A, 4B, 4C show edge
Tracking equipment 320 of the rail 380 when advancing on rolling stock 310 at three different locations.Fig. 4 A shows tracking equipment
The case where the distance between 320 and base station 340 are d1 and the distance between tracking equipment 320 and base station 350 are d2.Fig. 4 B shows
Go out that the distance between tracking equipment 320 and base station 340 are d3 and the distance between tracking equipment 320 and base station 350 are d4
The case where.Fig. 4 C show the distance between tracking equipment 320 and base station 340 be d5 and tracking equipment 320 and base station 350 it
Between distance the case where being d6.
For embodiment, the receiver of tracking equipment after the movement for sensing object to the received wireless signal of institute into
Row at least samples three times.Start to sample after sensing movement, because if not sensing movement, then has no reason to carry out
Multiple repairing weld, because tracking equipment is not in movement, and additional intelligence sample does not provide and can be used for tracing positional tracking
Any additional information of the position of equipment.
Using being described in Fig. 4 A, 4B, 4C the reason of at least three intelligence samples.It specifically, can be based on institute in Fig. 4 A
Determining distance d1, d2 carries out first position and determines.Can distance d3, d4 based on determined by Fig. 4 B carry out the second position it is true
It is fixed.The third place can be carried out based on identified distance d5, d6 to determine.
Fig. 5 A, 5B show the characterization process of tracking equipment according to the embodiment.As shown, the determination of high power position is set
Standby 520 for determining tracking equipment received wireless signal when along one-dimensional travel path (such as along railway or along river) transport
Calibration or characterization.By monitoring and storing along transmitting path from the received wireless signal in multiple base stations 522,524,526,528
Quality calibrated.
High power location determining device 520 includes that exact position determines equipment (such as GPS receiver), in high power position
Set the accurate report that the position of high power location determining device 520 is determined when determining equipment 520 also receives the wireless signal in transmission
Road.Fig. 5 B is shown, when high power location determining device 520 changes along transportation route, from base station 522,524,526,528
The received signal power of each base station reception wireless signal.By being deposited at each of many different locations different location
The exact position from the received wireless signal in base station 522,524,526,528 and mass property are stored up, it can be based later on by tracking
The position of the signal quality estimation tracking equipment of the received wireless signal of equipment.For example, in the sampled point 592 of received signal power
Place, can measure from the received wireless signal in each of base station 522,524,526,528 base station, and store corresponding accurate
Location estimation.If different position tracking devices is measured (such as to be connect with identical received signal quality in later time
Receive signal power) reception signal, then can be estimated by retrieving the position for various received signal powers that is stored
Position tracking device.Received signal power that second sampled point 594 shows different groups and corresponding position are (on track 380
Positioning).Equally, as shown, positioning (position) in orbit has corresponding one group of received signal power.It can be along rail
Road obtains sampled point, wherein measurement received signal power (or other received signal qualities) and corresponding position.As described above,
For embodiment, another equipment can measure identical received signal quality later, and be then based on and compare connecing for measurement
It receives signal quality and estimates its position with previously stored signal quality and corresponding storage location.
Fig. 6 is the flow chart of the method according to the embodiment for including the steps that position tracking device.First step 610 includes
Receiver by being attached to the tracking equipment of object receives the wireless signal from multiple base stations, wherein wireless signal includes hair
Send the information of each base station in multiple base stations of corresponding wireless signal.Second step 620 includes sensing object by receiver
Movement.Third step 630 includes being carried out at least by receiver to the received wireless signal of institute after sensing the movement of object
It samples three times.Four steps 640 include based on the characteristics of signals of intelligence sample of received wireless signal, multiple base stations letter
It ceases and about the multiple positions for just estimating receiver in the predetermined knowledge of the Transportation Model of object of transport.
For at least some embodiments, multiple positions are limited to a dimension by Transportation Model.The situation allows better
Power uses the ratio of the precision determined with position.For embodiment, the predetermined knowledge about Transportation Model includes specified transport mould
Formula is railway or water route.That is, railway only allows to advance along rail.Which has limited the objects attached by tracking equipment
Freedom of motion.Therefore, it can use the projected route of rail to enhance the precision that position is determining and tracks.
At least some embodiments further comprise the estimated location based on receiver to identify the shape of the Transportation Model of object
Condition.It is mobile too slow or too fast that situation may include object.In addition, situation may include the task or other situations of object.
For at least some embodiments, wireless signal is received from multiple base stations by the first wireless network, and further
Including sending information related with the situation identified by second wireless network by tracking equipment.That is, being set by tracking
Standby received wireless signal can be by including any kind of network transmission for sending the base station of wireless signal.First wireless network
It may include being dedicated only to send for providing the base station for the signal that position determines.Alternatively or additionally, the first wireless network
Network may include another wireless communication system.Second wireless network may include communications wireless network, such as cellular radio,
WiFi network, blueteeth network, ultrasonic sensor net or radar netting.Second wireless network provides upstream data traffic, middle and upper reaches
Data communication may include the situation of object.
At least some embodiments further comprise calibration along railway traveling received signal.For embodiment, this includes
Along railway transportation high-power high-accuracy location determining device, the characteristic of the received wireless signal of monitoring institute, and store high power
Multiple positions of high precision position determining device and the received wireless signal of institute for each of multiple positions position
Associated monitoring characteristic.
For at least some embodiments, based on the characteristics of signals of intelligence sample of received wireless signal, multiple base stations
Information and about just estimating that multiple positions of receiver are further wrapped in the predetermined knowledge of the Transportation Model of connection object
Include: for each position in multiple positions, retrieval received wireless signal monitoring characteristic, compare in multiple positions
Each position the monitoring characteristic of received wireless signal retrieved and the institute from multiple base stations it is received wireless
Signal, and the monitoring characteristic retrieved based on the received wireless signal of institute for each of multiple positions position with
From multiple base stations comparison between received wireless signal, further estimate multiple positions of receiver.
Fig. 7 is the block diagram of position tracking device 700 according to the embodiment.As shown, tracking equipment 700 includes the first nothing
Line electricity R-T unit (radio receiver-transmitter 1) 720, which, which receives, comes from base station (such as previous institute
Base station A, B, the C stated) wireless signal.Measurement the signal quality of received wireless signal (such as, received signal is strong
Degree).
Position tracking device 700 includes CPU 710.For embodiment, CPU 710 is from the first radio receiver-transmitter 720
Receive measured value, and based on received wireless signal the characteristics of signals of intelligence sample, the information of multiple base stations and pass
In the position for just carrying out estimated location tracking equipment 700 in the predetermined knowledge of the Transportation Model of object of transport.
For embodiment, CPU 710 can be based at least partially on determined by object position come be otherwise determined that with
The situation of the associated object of track equipment.
For embodiment, CPU 710 can be based at least partially on the movement of identified position or the object sensed
Come be otherwise determined that object associated with tracking equipment position place.
For embodiment, position tracking device 700 further comprises the movement for detecting and tracking equipment 700 and object
Motion sensor 740.If sensing object moving, position tracking is only needed to be implemented.
For embodiment, tracking equipment 700 includes memory 752, wherein can store received wireless signal table
Sign.Tracking equipment 800 can use characterization to improve position tracking.
For embodiment, position tracking device 700 further comprises the second radio receiver-transmitter (radio receiver-transmitter
2)725.Second radio receiver-transmitter 725 allows tracking equipment 700 to download characterization.In addition, the second radio receiver-transmitter 725
Tracking equipment 700 is allowed to upload the situation of object associated with tracking equipment 700.For embodiment, the first transceiving
The function of device and the second radio receiver-transmitter is included in single radio R-T unit.For embodiment, the second nothing
Line electricity R-T unit 725 is wirelessly connected to upstream server 750 by the first wireless network (network 1) 772, wherein downloading receives
Characterization (previously characterized) shown in such as Fig. 5 A, 5B, and uploaded the situation of object associated with tracking equipment.
In addition, the first radio receiver-transmitter (radio receiver-transmitter 1) 720 passes through the second network (net for embodiment
Network 2) 774 reception wireless signals, which includes such as base station A, B, C.
Fig. 8 shows the tracking equipment 320 according to the embodiment transported, and wherein tracking equipment 320 is in tracking equipment 320
Tracing positional when transporting, and tracking equipment reports the situation of object associated with tracking equipment.
As shown, tracking equipment 320 is by first network 892 from wireless base station 340,350 via nothing for embodiment
Line transmission 360,370 receives wireless signal.For embodiment, then tracking equipment 320 tracks the position of tracking equipment 320, and
And tracked position is based at least partially on to determine the situation of object associated with tracking equipment or equipment.In addition, with
The situation of object or equipment is transmitted to Cloud Server 896 by the second network 894 by track equipment.For embodiment, the second network
894 be the wireless network with 892 heterogeneous networks of first network.For embodiment, they are the same networks.
Fig. 9 shows the example of the operable mobile device of the disclosed embodiments according to the embodiment (tracking equipment).
For embodiment, slave mobile device continuously collects location data over time.Data may include with when
Between multiple sensor data streams for stabbing.
The spatial information (such as longitude, latitude, height) of user can determine by position sensing, such as global location
System (GPS) 920 and/or network-based position, such as by the honeycomb that moves (tracking) equipment 900 as previously described and/or
Position determined by WiFi network.Based on spatial information, the controller 910 of mobile device 900 (or it is connected to controller 910
Another controller) it can roughly determine the position of user.However, GPS may be it is limited because user access definite position
It sets or practical businessman (point of interest) possibly can not only determine from GPS.Embodiment is provided by controller 910 or can be electronically connected to
The location information alternately or additionally that the controller of controller 910 determines.
It can be used for providing additional user related information by the signal that motion sensor (for example, accelerometer) 940 senses.
That is, for example, GPS 920 can accurately reduce the identification of the concern position to three businessmans enough.By motion-sensing
The signal that device 940 generates can provide the instruction of User Activity, can be used in addition identifying the position of concern.For example, when hundred
Trader shop (such as) be located at coffee-house (such as) side when, the motor pattern of user can be used for disappearing
Except the ambiguity between Liang Ge point of interest Wal-Mart and Startbuck.If the motor pattern instruction user of user exists the most of the time
It walks about, then the probability in user's access department store is higher.On the other hand, if the motor pattern of user indicates user's major part
Between be still seated, then user access coffee-house probability it is higher.
It can be used for providing additional user related information by 930 captured image of camera of mobile device 900.Namely
It says, for example, the mark close to the businessman of user location can be used for determining point of interest.
It can be used for providing additional user related information by the audio signal that the microphone 950 of mobile device 900 senses.
That is for example, big noise and quiet noise in the background of user location can be used for assisting in point of interest.For example,
Because the level of noise in library is usually low, if level of noise is low, probability of the user in library, which is higher than, to be used
Family at the restaurant in probability.
The direction of user can be determined by the compass 970 of such as mobile device 900.Compass 970 can provide working as user
Preceding or history direction.The instruction of user can be used for assisting in point of interest.
The rotation of user can be determined for example, by the gyroscope 972 of mobile device 900.Gyroscope 972 can provide
The current or history rotation for the mobile device that user carries.The rotation of the mobile device of user can be used for assisting in point of interest.
The environment temperature of user can be determined for example, by the thermometer 974 of mobile device 900.Thermometer 974 can be with
The current or history environment temperature of user is provided.The temperature of user can be used for assisting in point of interest.For example, temperature can be used for really
Determining user is outdoor or indoor.
User can determine the exposure of environment light for example, by the optical sensor 976 of mobile device 900.Optical sensor
976 can provide the current or history exposure of user.The exposure of user can be used for assisting in point of interest.For example, the IR of sensing
Level is determined for the mobile device of user whether for example in the pocket of user, and determines whether user is in direct projection
Under sunlight.
User inputs information and can receive from keyboard or touch screen 982.If user can be pushed off, just based on user
In the determination using input (keyboard or touch screen) behavior, and therefore, the valid of the position about user can be carried out
Conjecture.For example, user may not drive if user is inputting information.If user is talking, user
It may not be in cinema.
The pressure information from baroceptor 984 can be sensed and for determining user related information.For example, air pressure is believed
Breath can be used for inferring the height of user, and therefore, for determining user is currently located at which floor of building.GPS exists
Interior of building may be inaccurate, and therefore, pressure information may be highly useful.
The network 990 that mobile device 900 is connected to can provide additional user related information.For example, the service of network
Device 980 can have street view image, provide the additional information of the Position Approximate locating for user.To remote server 980
Connection be it is optional because mobile device can be disconnected with server.In addition, the one of the calculating of user profile 960
Part can execute on the mobile apparatus, and can not need to run on the server.
It should be appreciated that for the compromise adaptively between the location Calculation precision and power consumption of control mobile device 900
The processing of described embodiment can take at controller 910, at network server 980 or in controller 910 and network
It is engaged in occurring at the combination of both devices 980.If the connection of network 990 allows location information and/or sensor information suitably
Network server 980 is uploaded to, then between nearly all location Calculation precision and power consumption for adaptively controlling mobile device
Compromise can occur at network server.However, being moved if the connection of network 990 is unavailable for adaptively control
At least part of the processing of compromise between the location Calculation precision and power consumption of dynamic equipment can be in the control of mobile device 900
Occur at device 910.
For at least some embodiments, described sensor (920,930,940,950,970,972,974,976,
982,984) one or more sensing states and/or network connection (940) in the combination of sensing state are used in for certainly
In the processing for adaptively controlling the compromise between the location Calculation precision and power consumption of mobile device.The sensing state of sensor is at any time
Between elapse and change.For embodiment, it can identify and/or recognize in one or more sensing states of described sensor
Pattern (pattern) or a series of patterns.For at least some embodiments, the change instruction user of pattern, which reaches, (to be opened
Begin the time) leaving (end time) point of interest or user just user stop or point of interest between transfer.Therefore,
For at least some embodiments, the information of the sensing state of sensor can be used for determining that user stops.For example, if motion state
(940) instruction user is static in a period of time, then at least some embodiments, this is for the period to be identified as diving
User stop.If network (940) is connected to radio station up to a period, at least some embodiments, this use
It is stopped in the period is identified as potential user.If the sense light intensity of the optical sensor 976 of mobile device is at one
The sensing light of horizontal (identical) is kept constant in period, then the information may be used to indicate user's stop.If the temperature of sensing
Identical level is kept in a period of time, then the information may be used to indicate user's stop.
Although having been described and illustrating specific embodiment, embodiment is not limited to the part for so describing and showing
Particular form or arrangement.
Claims (20)
1. a kind of method of the compromise between location Calculation precision and power consumption for adaptively controlling mobile device, comprising:
Receive the preplanned mission collection of main body associated with the mobile device or equipment；
Multiple sensors of the mobile device are selectively activated based on the preplanned mission collection；
Described in one or more sensors estimation in the multiple sensors selectively activated as described in the mobile device
The position of mobile device；
The sensitive information of the mobile device is sensed by the multiple sensor selectively activated；And
The sensing based on estimated position, the preplanned mission collection and the multiple sensor selectively activated
Information selects the situation of the main body or the equipment.
2. according to the method described in claim 1, wherein, the mobile device includes tracking equipment, wherein the main body is set
Standby includes object, and wherein, the method further includes:
Receiver by being attached to the tracking equipment of the object receives the wireless signal from multiple base stations, wherein institute
Stating wireless signal includes the information for sending each base station in multiple base stations of corresponding wireless signal；
The movement of the object is sensed by the receiver；
After the movement for sensing the object, the received wireless signal of institute is at least adopted three times by the receiver
Sample；
Based on the characteristics of signals of intelligence sample of received wireless signal, the information of the multiple base station and about just
Multiple positions of the receiver are estimated in the predetermined knowledge for transporting the Transportation Model of the object.
3. according to the method described in claim 1, wherein, the multiple position is limited to a dimension by the Transportation Model.
4. according to the method described in claim 1, further comprising:
Select the situation of multiple main bodys or multiple equipment, wherein each of the multiple main body or the multiple equipment with
A mobile device in multiple mobile devices is associated；
Each of monitored by the multiple mobile device and coordinate the multiple main body or multiple equipment.
5. according to the method described in claim 1, further comprise report the situation of the main body or the equipment, including
It determines whether the main body or the equipment are successfully executed a specific group task, including reports the main body or the equipment
Whether safe, on time whether, whether the main body or the equipment are still in control for the main body or the equipment.
6. according to the method described in claim 1, further comprising the situation for reporting the main body or the equipment, from institute
The feedback for the precision that user receives about selected situation is stated, and determines the vacation of institute's report status of the main body or the equipment
Positive identification.
7. according to the method described in claim 1, further comprising being selected by the mobile device for determining that the movement is set
The power mode which sensor in standby the multiple sensor is activated.
8. according to the method described in claim 7, wherein, the power mode includes sleep pattern, mid-power mode and height
Power mode, and wherein, the mobile device cycles through the power mode.
9. according to the method described in claim 1, further comprise the situation based on estimated position, the equipment with
And the sensitive information of the multiple sensor selectively activated detects the position of the equipment.
10. according to the method described in claim 1, further comprising:
The situation based on the equipment reselects which sensor in the multiple sensor of the mobile device
It is activated.
11. according to the method described in claim 1, wherein, multiple sensors of the mobile device are selectively activated to include:
Select the sample rate of one or more sensors in the multiple sensor selectively activated.
12. according to the method for claim 11, wherein the multiple biographies selectively activated as described in the mobile device
One or more sensors in sensor estimate that the position of the mobile device includes: to estimate with the rate being arranged by the sample rate
Count the position.
13. according to the method described in claim 1, further comprising ignoring the main body or the equipment in not described pre-
A possibility that determining the situation in task-set.
14. according to the method described in claim 1, further comprising acceleration, magnetic field, received RF signal based on sensing
(WiFi), the situation of received GPS signal or the mobile device rotated to select the main body or equipment.
15. according to the method described in claim 1, further comprise the situation based on the main body or equipment dynamically more
New selected sensitive information.
16. according to the method described in claim 1, further comprising based on described in the determination of the situation of the main body or equipment
One or more positions of mobile device.
17. according to the method described in claim 1, further comprising monitoring that the main body or equipment are concentrated in the preplanned mission
One or more tasks in operate how long.
18. according to the method for claim 17, further comprising that the main body is presented to the operator of the user or sets
The standby preplanned mission concentrates the sequence of the one or more tasks monitored.
19. according to the method described in claim 1, wherein, task includes the situation of the main body or equipment.
20. a kind of system for adaptively controlling the compromise between the location Calculation precision of mobile device and power consumption, comprising:
Mobile device, may be connected to upstream server, the mobile device can operate with:
Receive the preplanned mission collection of main body associated with the mobile device or equipment；
Multiple sensors of the mobile device are selectively activated based on the preplanned mission collection；
Described in one or more sensors estimation in the multiple sensors selectively activated as described in the mobile device
The position of mobile device；
The sensitive information of the mobile device is sensed by the multiple sensor selectively activated；And
Wherein, at least one of the mobile device or the upstream server can be operated based on estimated position, institute
The sensitive information of preplanned mission collection and the multiple sensor selectively activated is stated to select the main body or institute
State the situation of equipment.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US201862663365P | 2018-04-27 | 2018-04-27 | |
| US62/663365 | 2018-04-27 | ||
| US16/358,855 US10591972B2 (en) | 2017-05-22 | 2019-03-20 | Adaptively controlling a tradeoff between computational accuracy and power consumption of a mobile device that operates to select a condition of a subject or device |
| US16/358855 | 2019-03-20 |
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| CN110411460A true CN110411460A (en) | 2019-11-05 |
| CN110411460B CN110411460B (en) | 2021-08-27 |
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| CN201910339344.8A Expired - Fee Related CN110411460B (en) | 2018-04-27 | 2019-04-25 | Method and system for adaptively controlling tracking device |
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