CN115412855A - Manufacture of electronic chips - Google Patents
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Abstract
Embodiments of the present disclosure relate to the manufacture of electronic chips. Fixed satellites (Si) transmit synchronous signals that are asynchronous in time to each other. The fixed receiver Device (DR) receives these Synchronization Signals (SSYi) in the same way as the mobile Device (DM). Since the synchronization signals transmitted by the satellites are not time synchronized with each other, the fixed receiver device will transmit lost time Information (INFT) to the mobile device, which is generated by the reception of these synchronization signals by the fixed device, so that the mobile device can determine its position. Conversely, if a fixed receiver device or an entity coupled to a fixed device wishes to determine the location of the mobile device, then the mobile device will communicate lost time information to the fixed device that will allow the fixed device or entity to determine the location of the mobile device.
Description
Cross Reference to Related Applications
The present application claims the benefit of french patent application No.2105612 filed on 28/5/2021, which is hereby incorporated by reference.
Technical Field
Implementations and embodiments relate to positioning of a mobile device in a space (e.g., a multi-dimensional space), where the location of the mobile device is determined by the mobile device itself or by an entity other than the mobile device.
Disclosure of Invention
In some applications, it may be of interest that a mobile device (e.g., a carriage) may autonomously shift in a multi-dimensional space (e.g., a hangar), for example, to automatically search for objects (e.g., trays or cartons) stored at certain locations of the hangar without colliding with obstacles (e.g., walls of the hangar).
In this regard, the location of the mobile device should be able to be accurately determined at any time. Also, the location may be determined by the mobile device itself or by an entity other than the mobile device (e.g., a server).
In this regard, the infrastructure includes several satellites or anchors fixed to the walls of the hangar and is intended to periodically transmit ultra-wideband (UWB) signals so that the mobile device can calculate its own location or its location can be permanently monitored by a server.
In such an infrastructure, the satellites may be time synchronized with each other.
Also, in order to obtain precise time synchronization, satellites may be synchronized using UWB signals, or signals transmitted on cables connecting the satellites.
However, for each satellite, synchronization using an ultra wideband signal means that a large number of UWB frames are received, which means significant energy consumption. Thus, the satellite may not be battery powered unless large, expensive, e.g., incompatible with the size of the satellite, batteries are used and must be mains powered, which is a disadvantage.
The use of cables between satellites to allow their time synchronization represents a significant portion of the infrastructure cost.
Atomic clocks may also be used on each satellite to allow their time synchronization. However, such clocks are expensive.
Therefore, there is a need to propose an infrastructure that allows to precisely position mobile devices within it at industrially acceptable costs.
According to one embodiment, it is proposed to use a fixed receiver device in combination with a satellite solely for transmitting signals called synchronization signals, which are not time synchronized (asynchronous) with each other, for receiving these synchronization signals in the same way as the mobile device.
The synchronization signals are transmitted in time bases dedicated to the satellites, and each time base has a time offset relative to an absolute reference time. Since the synchronization signals are not synchronized with each other, their respective time bases are not synchronized, i.e. there is no defined relationship between the respective time offsets, e.g. related to the distance between the transmission points of the synchronization signals.
Furthermore, the transmission instants of these time signals are unknown, which depend on the time offsets of the individual time bases specific to the satellites.
The fixed receiver device is also not synchronized with the satellite, i.e. it receives the synchronization signal in its own time base, is not synchronized with the time base of the satellite and has a time offset with respect to absolute time, and is also unknown.
The mobile device is also not synchronized with the satellite, that is to say it receives a synchronization signal in its own time base, is not synchronized with the time base of the satellite and has a time offset, also unknown, according to the time offset of its time base with respect to absolute time.
Because the synchronization signals transmitted by the satellites are not synchronized in time with each other, the mobile device cannot determine its position from these synchronization signals because it lacks time information. The stationary receiver device then communicates the lost time information resulting from the reception of these synchronization signals by the stationary device to the mobile device so that the mobile device can determine its location.
Conversely, if a stationary device or an entity coupled to a stationary device wishes to determine the location of a mobile device, it cannot receive the synchronization signals transmitted by the satellites alone. In this case, it is the mobile device that communicates the lost time information to the stationary device, which will allow the stationary device to determine the location of the mobile device.
Also, since the satellites only transmit synchronization signals, they do not need to enter a reception mode to listen for signals in order to synchronize in time, so they can be easily powered with, for example, small-sized batteries, since their energy consumption is significantly reduced with respect to satellites that must be placed in a reception mode in order to synchronize in time.
According to one embodiment, a method is proposed for locating a mobile device in a space of dimension N, N being greater than or equal to 1.
Typically, N equals 3, then the space is a three-dimensional space, such as a hangar.
The method according to this embodiment comprises transmitting at least one set of at least N +1 mutually time-asynchronous synchronization signals from at least N +1 fixed transmission locations in said space, respectively.
The synchronization signals are transmitted, for example, by transmitting devices or satellites located at these transmission points and are advantageously battery powered.
Of course, the number of synchronization signals may be greater than N +1.
The method also includes receiving, by the mobile device, the synchronization signals of the at least one group at least one fixed reception location in the space.
A receiver device may be fixed to each receiving location.
The method also includes determining, by the mobile device, a time of reception of each synchronization signal of the at least one group in a mobile device-specific time base.
The method further comprises determining the reception instants of the synchronization signals of the at least one group at the at least one reception location in a time base dedicated to each reception location.
Of course, several fixed receiving positions may be provided, thus providing several receiver devices.
The method further comprises determining the position of the mobile device in said space at a given moment in time from the reception moment determined at said at least one reception position, the reception moment determined by the mobile device, the coordinates of the transmission positions in said space and the distance between each transmission position and said at least one reception position.
Also, such determination of the location of the mobile device may be determined by the mobile device itself or by a receiver device located at a fixed reception location or an entity coupled to the receiver device.
A set of at least N +1 transmitted synchronization signals allows the location of the mobile device to be determined at a given time.
Within the group, the N +1 synchronization signals may be transmitted consecutively, e.g., on different channels, or simultaneously for at least some of them.
The method advantageously comprises the transmission of successive groups of N +1 synchronization signals and the determination of the position of the mobile device at successive instants respectively associated with said successive groups.
Thus, the location of the mobile device may be permanently determined and/or monitored.
According to one embodiment, time information obtained from the reception moment determined at the at least one reception location is transmitted from the at least one reception location to the mobile device, enabling the mobile device to determine its location itself.
The time information may be, for example, the reception instants themselves determined at the at least one reception location or the difference between these reception instants.
Alternatively, the time information may be obtained from a reception moment determined by the mobile device and then transmitted by the mobile device to the at least one reception location, such that a third party entity different from the mobile device and coupled to the at least one reception location can determine the location of the mobile device.
Of course, the third party entity may be a receiver device located at the receiving location, or for example a server coupled to the receiver device.
Although this is not absolutely necessary, it is particularly advantageous if the synchronization signal is an ultra wideband signal.
In fact, such signals allow mobile devices or fixed receiving devices to accurately determine their moment of reception.
As regards the time information transmitted from the mobile device to the stationary receiver device or from the stationary receiver device to the mobile device, it may be preferable to transmit it also within an ultra-wideband signal.
However, it may also be transmitted in any other way, for example by using bluetooth technology or for example by wi-fi.
According to another embodiment, an infrastructure is proposed, comprising:
a space having a dimension N, N being greater than or equal to 1;
at least N +1 transmitter devices respectively located at least N +1 fixed transmission positions in said space and configured to transmit at least one set of at least N +1 respective mutually time-asynchronous synchronization signals;
at least one receiver device located at least one fixed reception location in the space and configured to receive the synchronization signal and to determine a reception instant of the synchronization signal in a time base dedicated to each receiver device;
a mobile device configured to receive each synchronization signal and to determine a reception instant of each synchronization signal in a time base dedicated to the mobile device; and
a processing device configured to determine a location of the mobile device in the space at a given time from a receive time instant determined by the at least one receiver device, a receive time instant determined by the mobile device, coordinates of transmit locations in the space and a distance between each transmit location and the at least one receive location.
According to one embodiment, the mobile device comprises said processing device and said at least one receiver device is configured to generate time information from the reception moment determined by said at least one receiver device and to transmit the time information to the mobile device such that the mobile device can determine its position itself.
Alternatively, the infrastructure comprises a third party entity distinct from the mobile device, which is coupled to the at least one receiver device (and which may be the receiver device or one of the receiver devices itself) and incorporates the processing device.
The mobile device is then configured to generate time information from the reception moment determined by the mobile device and to transmit the time information to the at least one receiver device, such that the third party entity can determine the location of the mobile device.
The time information is advantageously transmitted within an ultra wideband signal.
The transmitter device is advantageously configured to transmit successive groups of N +1 synchronization signals, and the processing device is configured to determine the position of the mobile device at successive instants of time respectively associated with said successive groups.
The infrastructure may include several receiving devices.
This is especially the case when the multidimensional space is too large for a single fixed receiver device to receive the synchronization signals transmitted by all transmitter devices or satellites.
In this case, the receiver devices may be time synchronized with each other.
Alternatively, at least some of the receiver devices may be time-asynchronous with respect to each other.
Other asynchronous receiver devices may also be synchronized using the receiver device.
As mentioned above, the synchronization signal transmitted by the transmitter device is advantageously an ultra wideband signal.
The transmitter device is advantageously battery powered.
According to another embodiment, a transmitter device belonging to the infrastructure as defined above is also proposed.
According to another embodiment, a receiver device belonging to the infrastructure as defined above is proposed.
Drawings
Further advantages and characteristics of the invention will become apparent from a review of the detailed description of embodiments and examples, which are in no way limiting, and the accompanying drawings, in which:
fig. 1 shows a system for determining a location of a mobile device according to an embodiment;
the synchronization signal is shown in fig. 2 as an ultra-wideband (UWB) signal;
fig. 3 schematically shows an architecture of a transmitter device or satellite according to an embodiment;
fig. 4 schematically shows an architecture of a receiver device according to an embodiment;
FIG. 5 schematically shows an architecture of a mobile device according to an embodiment;
FIG. 6 shows a method for determining a location of a mobile device according to an embodiment;
FIG. 7 shows a system for determining a location of a mobile device in accordance with another embodiment; and
FIG. 8 shows a system for determining a location of a mobile device according to yet another embodiment.
Detailed Description
In fig. 1, reference numeral 1 denotes an infrastructure or system, in this example comprising a premises 10 defining a three-dimensional space.
The mobile device DM is intended to move within the premises 10 and it is desirable to determine its location within the premises 10.
In the example shown in fig. 1, the mobile device DM itself will determine its location.
In this example, the infrastructure 1 comprises four transmitter devices or satellites S1-S4 fixed in three-dimensional space at four transmission locations EEM1-EEM4, respectively. In this regard, the satellite may be secured to one or more walls of the house, and possibly to its ceiling.
The coordinates of each satellite in three-dimensional space are known. The four satellites S1-S4 are configured to transmit successive sets of four corresponding synchronization signals SSY1-SSY4, the four synchronization signals SSY1-SSY4 being time-asynchronous with respect to each other.
Although only four satellites are shown here, it is of course fully possible that the infrastructure 1 comprises a larger number of satellites Si.
As shown more particularly in fig. 3, which will be discussed in more detail below, each satellite Si is here powered by a battery batt.
In the exemplary embodiment of fig. 1, the infrastructure 1 further comprises receiver devices DR located at fixed reception locations ER in said space 10.
The receiver device is configured to receive the synchronization signals SSYi and to determine the reception instants of these synchronization signals SSYi in a time base dedicated to the receiver device DR.
Although the receiver device DR may be powered by a battery, the receiver device DR is here powered by the mains power supply ALM.
Furthermore, as will be seen in more detail below, so that the mobile device DM can determine its position in the space 10, and since the synchronization signals SSYi are mutually asynchronous, time information inf is transmitted from the receiver device DR to the mobile device DM, the content of which will be discussed in more detail below.
As shown in fig. 2, the synchronization signal SSYi is here an Ultra Wideband (UWB) signal.
Ultra-wideband technology is well known to those skilled in the art and differs from narrowband and low spread spectrum technologies in that the bandwidth of the ultra-wideband signal is typically comprised between about 25% and about 100% of the center frequency.
Furthermore, instead of transmitting a continuous carrier modulated with information or information combined with a spreading code, ultra wideband technology provides for the transmission of a series of very narrow pulses PLS, the spreading code determining the signal bandwidth.
These extremely short pulses in the time domain are transformed in the frequency domain, resulting in obtaining the ultra-wideband spectral characteristics of UWB technology.
These pulsed PLS have a known theoretical form.
They have a predetermined time width PW, for example in the range of 2 nanoseconds. Successive pulses PLS are respectively contained in successive time windows of length T equal to the inverse of the Pulse Repetition Frequency (PRF).
As an indication, the length T of each time window is equal to, for example, 50 nanoseconds.
The position of each pulse in a time window may vary from one window to another according to a pseudorandom code.
The pulse PLS has the characteristics of an ultra-wideband type pulse in which the ratio of a bandwidth half-power pulse to a center frequency is more than a quarter. As an indication, the center frequency of the pulses may vary between 2 and 10 GHz.
There are several possibilities for encoding the transmission information.
Therefore, position modulation (PPM modulation) can be used.
In this case, when the signal carries information encoded with such position modulation, the pulse may be slightly advanced or slightly delayed with respect to the reference position of the pulse in the window, depending on the value 0 or 1 of the transmitted information.
Reverse polarity encoding of the pulses may also be used.
Each ultra-wideband synchronization signal SSY is transmitted in the UWB frame format in a conventional and per se known manner.
The UWB frame format may include the following:
the Synchronization Header (SHR) has a preamble and a Start Frame Delimiter (SFD),
a physical layer header (PHR) containing information on a frame length, a data rate, and information allowing transmission error correction to be performed. The physical layer header is also used to decode the payload field (physical layer: specifically PHY), which contains the payload data to be transmitted.
In addition to the type of frame, these payload data may also include an identifier of the transmitter device of the frame.
Further, a Start Frame Delimiter (SFD) may be used to detect the reception time instant of a frame with high accuracy.
Fig. 3 schematically shows the architecture of a transmitter device or satellite S1.
Such a structure is conventional and known per se.
More specifically, the satellite S1 comprises a basic processing device EPRMi, for example a microcontroller, which is used in particular to develop the content of the UWB frames forming the synchronization signal SSYi.
This information is then transmitted to the transmission device TRMi of conventional construction, allowing the transmission of the signal SSYi according to UWB technology.
The storage means MMi may incorporate in the space 10 the identifier of the satellite Si and its coordinates xi, yi and zi.
This information can be transmitted, for example, within the synchronization signal SSYi transmitted by the satellite Si.
Furthermore, as mentioned above, the battery batt supplies power to the satellite Si.
Fig. 4 schematically shows the architecture of the receiver device DR.
This includes a receiving device RCMR, the structure of which is conventional and known per se, for receiving and processing received UWB frames.
The information contained in these frames is processed by a basic processing device EPRMR such as a microcontroller.
As will be explained in more detail below, the basic processing device EPRMR will in particular determine the moment of reception of each received synchronization signal and perform calculations, the content of which will be discussed in more detail below.
The receiver device DR also comprises a memory MMR for containing, for example, the coordinates of the different satellites in space 10.
Fig. 5 schematically shows the architecture of a mobile device DM.
Here, this includes a transponder or tag TG which also contains a basic processing device PRM, for example a microcontroller, and a receiving device RCMM which has a conventional and per se known structure for receiving and processing UWB frames and for conveying the useful information they contain to the basic processing device PRM.
Here, the basic processing device PRM will again perform calculations, the content of which will be discussed in more detail below.
The transponder TG may also comprise a memory MMM which also contains, for example, the coordinates of the satellites Si in space.
An embodiment of the method will now be described with more specific reference to fig. 6.
In step ST60, the synchronization signal SSYi is transmitted and received by the fixed receiver device DR and the mobile device DM in step ST 61.
In step ST62, the reception time MTOA _ Si of the synchronization signal of the mobile device is determined.
Also, in step ST63, the timing RTOA _ Si of the synchronization signal of the receiver device is determined.
In step ST64, the position of the mobile device DM in the space 10, i.e. its coordinates xm, ym and zm, is determined from the reception instants MTOA _ Si, RTOA _ Si, the coordinates xi, yi, zi of the satellites Si and the distance d (Si, DR) between each satellite Si and the receiver device DR.
The location is determined by the processing device.
This location of the mobile device DM may be determined by the mobile device DM itself (in which case the basic processing device PRM comprises the processing device) or by the receiver device DR (in which case the basic processing device EPRMR comprises the processing device) or an entity such as a server coupled to the receiver device DR (in which case the third party entity comprises the processing device).
The example of fig. 1 is now taken, where the location of the mobile device DM is determined by the device DM itself.
The reception instant of the synchronization signal MTOA _ S1 of the mobile device DM in its own time base is defined by the following equation EQ 1:
MTOA_S1＝t_S1+d(S1,DM)/c-t_DM
MTOA_S2＝t_S2+d(S2,DM)/c-t_DM
MTOA_S3＝t_S3+d(S3,DM)/c-t_DM
MTOA_S4＝t_S4+d(S4,DM)/c-t_DM
in these equations, d (Si, DM) represents the distance between the satellite Si and the mobile device DM.
c denotes the propagation speed of the synchronization signal, here the speed of light.
t _ Si denotes the transmission instant of the synchronization signal SSYi transmitted by the satellite Si in its own time base.
This transmission instant t _ Si is unknown depending on the time offset of the time base dedicated to the satellite Si with respect to absolute time.
t _ DM specifies a time offset that depends on the time offset of the time base specific to the mobile device DM with respect to absolute time.
Again, the time offset is unknown.
The reception instant MTOA _ Si is the duration separating the instant at which the mobile device starts listening and the instant at which the corresponding synchronization signal SSYi is received.
As described above, the reception time is determined using, for example, the start frame delimiter SFD.
The distance d (Si, DM) is defined by the following equation EQ 2.
d(Si,DM)＝[(x i -x m ) 2 +(y i -y m ) 2 +(z i -z m ) 2 ] 1/2
As can be seen, the following set of equations EQ1 includes eight unknowns, i.e., time offset t _ Si, time offset t _ DM and the coordinates of the mobile device DM.
By performing the difference between these receive moments, the unknown parameter t _ DM can be eliminated, as shown in the following set of equations EQ 3:
MTDOA_1＝MTOA_S1-MTOA_S2＝t_S1-t_S2+d(S1,DM)/c-d(S2,DM)/c
MTDOA_2＝MTOA_S2-MTOA_S3＝t_S2-t_S3+d(S2,DM)/c-d(S3,DM)/c
MTDOA_3＝MTOA_S3-MTOA_S4＝t_S3-t_S4+d(S3,DM)/c-d(S4,DM)/c
MTDOA_4＝MTOA_S4-MTOA_S1＝t_S4-t_S1+d(S4,DM)/c-d(S1,DM)/c
it should be noted, however, that in this set of equations EQ3, the difference t _ Si-t _ Sj always remains an unknown parameter.
This is why a mobile device DM that is able to determine the difference in time instants MTDOA _ i cannot determine the coordinates xm, ym and zm of the mobile device DM.
These unknown parameters will be able to be determined by the instant at which the receiver device DR receives the synchronization signal SSYi in its own time base.
More specifically, these reception instants RTOA _ S1 are defined by the following set of equations EQ 4:
RTOA_S1＝t_S1+d(S1，DR)/c－t_DR
RTOA_S2＝t_S2+d(S2，DR)/c－t_DR
RTOA_S3＝t_S3+d(S3，DR)/c－t_DR
RTOA_S4＝t_S4+d(S4，DR)/c－t_DR
the different distances d (Si, DR) are known because the coordinates of the satellite and the receiver device DR in the space 10 are known.
The unknown parameters are therefore the time offset t _ DR and the emission instant t _ Si.
By performing the difference between these receive moments, the difference t _ Si-t _ Sj can be determined, as shown in the following set of equations EQ 5.
t_S1-t_S2＝RTOA_S1-RTOA_S2+d(S2,DR)/c-d(S1,DR)/c
t_S2-t_S3＝RTOA_S2-RTOA_S3+d(S3,DR)/c-d(S2,DR)/c
t_S3-t_S4＝RTOA_S3-RTOA_S4+d(S4,DR)/c-d(S3,DR)/c
t_S4-t_S1＝RTOA_S4-RTOA_S1+d(S1,DR)/c-d(S4,DR)/c
The reception instants RTOA _ Si thus form, for example, time information INFT (fig. 1) transmitted from the receiver device to the mobile device, allowing the mobile device to determine the difference t _ Si-t _ Sj.
In practice, with reference to these differences calculated in the above set of equations EQ3, the basic processing device PRM of the mobile device may thus solve the set of equations EQ3 and determine the positions xm, ym and zm of the mobile device.
Of course, instead of transmitting these reception times RTOA _ Si, the difference RTOA _ Si-RTOA _ Sj mentioned in the above equation set EQ5 may be transmitted directly.
Other combinations may also form the time information INFT.
Referring now more particularly to fig. 7, an alternative embodiment and implementation is shown, where it is e.g. a server SV connected to a receiver device DR, which will determine the position of a mobile device DM.
Also, in a manner similar to what has been described above, in order to determine the position of the mobile device at the instant t, the satellite Si emits a set of corresponding synchronization signals SSYi that are received by the receiver device DR and by the mobile device DM.
But this time the processing device determining the location of the mobile device is incorporated in the basic processing device EPMPR of the receiver device DR or in the server, as described above.
At this point, these processing devices will need time information INFT1 transmitted from the mobile device DM to the receiving device DR.
The instant RTOA _ S1 at which the receiver device DR receives the synchronization signal SSYi in its own time base is again defined by the above set of equations EQ 4.
The difference in these reception moments allows to define the difference in the parameters t _ Si-t _ Sj as defined by the set of equations EQ5 above.
These differences t _ Si-t _ Sj can be transmitted in the set of equations EQ3, but the receiver device DR cannot complete these equations because it lacks the information MTOA _ Si-MTOA _ Sj.
Thus, in this alternative implementation and embodiment, the time information INFT1 transmitted from the mobile device to the receiver device DR can be the instant MTOA _ Si at which the mobile device receives the synchronization signal SSY, or the difference MTOA _ Si-MTOA _ Sj, or any other combination that allows the time information INFT 1to be generated.
With this information, the basic processing device PRM of the receiver device can solve the set of equations EQ3 and determine the coordinates xm, ym and zm of the mobile device.
The signal group SSYi allows the location of the mobile device DM to be determined at a given moment. In practice, the satellite then transmits successively several sets of N +1 (here 4) synchronization signals SSYi, in order to be able to permanently determine the position of the mobile device DM.
Furthermore, in order to enable the mobile device DM or the receiver device DR to determine in the set of signals SSYi which satellite is associated with the received synchronization signal, for example, an identifier of the satellite contained in the transmitted synchronization signal may be used.
Alternatively, if a Time Division Multiple Access (TDMA) method is used, different satellites may be assigned different time intervals during which they will transmit their synchronization signals. And, a mobile device and receiver device that know these time intervals can determine the satellite associated with them when the synchronization signal is received.
Fig. 8 shows another possible embodiment of the infrastructure.
In this example, several fixed receiver devices are provided, here two receiver devices DR1, DR2.
This is particularly the case when the premises 10 is so large that a single receiver device can only receive the synchronisation signal transmitted by the satellite.
In this example, it is assumed that the mobile device will determine its location itself.
In this case, in a similar manner to that described above, the device DM will require time information inf provided by at least one of the receiver devices DR1, DR2.
In this regard, the reception time instant of the synchronization signal will be used by the receiver devices DR1 and DR2.
More specifically, here the receiver device DR1 cannot receive the synchronization signal SSY4 from the satellite S4, and the device DR2 cannot receive the synchronization signal SSY3 from the satellite S3.
The time instant R1TOA _ S1 at which the further synchronization signal is received by the first receiver device DR1 is defined by the following equation EQ 7:
R1TOA_S1＝t_S1+d(S1,DR1)/c-t_DR1
R1TOA_S2＝t_S2+d(S2,DR1)/c-t_DR1
R1TOA_S3＝t_S3+d(S3,DR1)/c-t_DR1
the reception time R2TOA _ S1 of the further synchronization signals received by the second receiver device DR2 is defined by the following set of equations EQ 8:
R2TOA_S1＝t_S1+d(S1，DR2)/c－t_DR2
R2TOA_S2＝t_S2+d(S2，DR2)/c－t_DR2
R2TOA_S4＝t_S4+d(S4，DR2)/c－t_DR2
from equation EQ7, the following set of equations EQ9 can be derived, allowing to obtain t _ S1-t _ S2 and t _ S2-t _ S3.
t_S1－t_S2＝R1TOA_S1－R1TOA_S2－d(S1,DR1)c+d(S2,DR1)/c
t_S2－t_S3＝R1TOA_S2－R1TOA_S3－d(S2,DR1)/c+d(S3,DR1)/c
From the set of equations EQ8, the following set of equations EQ10 can be derived, allowing the definition of t _ S1-t _ S2 and t _ S4-t _ S1.
t_S1－t_S2＝R2TOA_S1－R2TOA_S2－d(S1,DR2)/c+d(S2,DR2)/c
t_S4－t_S1＝R2TOA_S4－R2TOA_S1－d(S4,DR2)/c+d(S1,DR2)/c
The sets of equations EQ7 and EQ8 also allow to obtain equation EQ11, below, defining the difference t _ S3-t _ S4.
t_S3－t_S4＝R1TOA_S3－R2TOA_S4－d(S3，DR1)+d(S4，DR2)+t_DR1－t_DR2
As can be seen in this equation EQ11, there are terms t _ DR1-t _ DR2.
However, since the two devices DR1 and DR2 are synchronized in time, this difference in time offset is known or measured and is, for example, equal to the distance between the two devices DR1 and DR2 divided by the speed c.
Also, as described above, the basic processing device PRM of the mobile device may determine the locations xm, ym, and zm of the mobile device DM with reference to the differences in time offsets defined by the equations EQ9 to EQ11 in the set of equations EQ 3.
Thus, in this implementation, the time information INFT transmitted to the mobile device is, for example, the reception times of the synchronization signals R1TOA _ S1 and R2TOA _ S1 mentioned in equations EQ9 to EQ11, or the difference between these reception times, or any other suitable combination.
If the two receivers DR1 and DR2 are not synchronized, the difference t _ DR1-t _ DR2 is unknown. A third receiver device may then be added which will be used to transmit an estimate of the difference t _ DR1-t _ DR2.
The present invention is not limited to the implementations and embodiments just described, but encompasses all variants thereof.
A large number of satellites transmitting successive sets of corresponding synchronization signals may be provided, particularly in the case of large premises.
In this case, different satellites will be located so that the mobile device and the receiver device always receive a set of at least four synchronization signals.
Claims (19)
1. A method for locating a mobile device in a space of dimension N, N being greater than or equal to 1, the method comprising:
transmitting at least one set of at least N +1 mutually time-asynchronous synchronization signals from at least N +1 fixed transmission locations in said space;
receiving, by the mobile device in the space and at least one fixed reception location, the group of synchronization signals;
determining, by the mobile device, a reception instant of each synchronization signal of the at least one group in the mobile device-specific time base,
determining, at said at least one reception location, the reception instants of said synchronization signals of said at least one group in a time base dedicated to each reception location; and
determining the position of the mobile device in the space at a given moment in time based on the receive moment determined at the at least one receive location, the receive moment determined by the mobile device, the coordinates of the transmit locations in the space, and the distance between each transmit location and the at least one receive location.
2. The method of claim 1, wherein time information obtained from the reception time determined by the at least one reception location is communicated from the at least one reception location to the mobile device so that the mobile device can determine the location of the mobile device.
3. The method of claim 2, wherein the time information is communicated within an ultra-wideband signal.
4. The method of claim 1, wherein time information obtained from the receiving time instant determined by the mobile device is communicated by the mobile device to the at least one receiving location so that a third party entity different from the mobile device and coupled to the at least one receiving location can determine the location of the mobile device.
5. The method of claim 1, wherein successive groups of N +1 synchronization signals are transmitted and the location of the mobile device is determined at successive time instances respectively associated with the successive groups.
6. The method of claim 1, wherein the synchronization signal is an ultra-wideband signal.
7. The method of claim 1, wherein the synchronization signal is transmitted by a battery-powered transmitter device.
8. The method of claim 1, wherein N equals 3.
9. A system, comprising:
a space of dimension N, N being greater than or equal to 1;
at least N +1 transmitter devices located at least N +1 fixed transmission locations in the space and configured to transmit at least one set of at least N +1 respective synchronous signals that are mutually time-asynchronous;
at least one receiver device located at least one fixed reception location in the space and configured to receive the synchronization signal and to determine a first reception instant of the synchronization signal in a time base dedicated to each receiver device;
a mobile device configured to receive each synchronization signal and to determine a reception instant of each synchronization signal in the mobile device-specific time base; and
a processor configured to determine a location of the mobile device in the space at a given time based on the receive time determined by the at least one receiver device, the receive time determined by the mobile device, coordinates of the transmit locations in the space, and a distance between each transmit location and the at least one receive location.
10. The system as set forth in claim 9, wherein,
wherein the mobile device comprises the processor, wherein the processor,
wherein the at least one receiver device is configured to generate time information from the reception time instant determined by the at least one receiver device and to transmit the time information to the mobile device such that the mobile device can determine a location of the mobile device.
11. The system of claim 10, wherein the time information is transmitted in an ultra-wideband signal.
12. The system of claim 9, further comprising:
a third party entity distinct from the mobile device, the third party entity coupled to the at least one receiver device,
wherein the third party entity comprises a processor, and
wherein the mobile device is configured to:
generating time information from the reception time determined by the mobile device, and
transmitting the time information to the at least one receiver device such that the third party entity can determine the location of the mobile device.
13. The system of claim 9, wherein the transmitter device is configured to transmit successive groups of N +1 synchronization signals, and wherein the processor is configured to determine the location of the mobile device at successive time instances respectively associated with the successive groups.
14. The system of claim 9, wherein the at least one receiver device comprises a plurality of receiver devices.
15. The system of claim 14, wherein the receiver devices are time synchronized with each other.
16. The system of claim 14, wherein at least some of the receiver devices are time asynchronous with respect to each other.
17. The system of claim 9, wherein the synchronization signal is an ultra-wideband signal.
18. The system of claim 9, wherein the transmitter device is battery powered.
19. The system of claim 9, wherein N equals 3.
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| FR2105612A FR3123534B1 (en) | 2021-05-28 | 2021-05-28 | Method for locating a mobile device in a multidimensional space and corresponding infrastructure |
| FR2105612 | 2021-05-28 | ||
| US17/825,782 US20220386077A1 (en) | 2021-05-28 | 2022-05-26 | Method for locating a mobile device in a multidimensional space and corresponding infrastructure |
| US17/825,782 | 2022-05-26 |
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