DE102014012099B4 - Method for tracking an object and tracking device for carrying out the method - Google Patents

Abstract

Method for tracking an object using a tracking device (1) arranged in, on or near the object, with a data determination module (2) for determining the geographic position of the tracking device (1), with a data transmission module (3) for radio transmission of data about the determined position of the tracking device (1), with a memory module (5) for storing data about the determined position of the tracking device (1) and for transferring this data to the data transmission module (3), and with a receiving module (4), the method having the following steps:- determining the geographic position of the object;- sending out data about the geographic position of the object, preferably also containing the time of position determination;- waiting for a reference signal serving as an acknowledgment signal from a reception the remote station acknowledging the transmitted data; - Storage of the data on the geographic position of the object i n in the event that no reference signal is received;- forwarding of the stored data on the geographic position of the object as soon as a reference signal is received again.

Description

The invention relates to a method for tracking an object by means of a tracking device arranged in, on or near the object, and to a tracking device with a data determination module and a data transmission module for carrying out the method.

Many technologies have been developed in the past few years in the field of tracking or tracing of objects. Tracking is understood to mean "track formation" in the dynamic application of the simultaneous tracking of mostly moving objects. This differs from tracing, which represents a time-delayed follow-up based on recordings. However, one also speaks of GPS tracking when the evaluation (follow-up) does not take place simultaneously, but subsequently.

The purpose of tracking is usually to map the actual movement observed, e.g. B. to know the current location of the tracked object or to merge the tracked object with another object.

Information about the absolute position and the movement of an object is determined for tracking. The information determined can be the speed, the acceleration or information about the position of the object either at a specific current time or also in the future. Location, position, speed and acceleration can be determined in relative or absolute terms.

The information obtained is called a track and is presented as an ordered list of points with coordinates that describe a route. In contrast, a route represents a planned route and consists of a sequence of (mostly) independent waypoints.

Is a track recorded by a satellite navigation receiver (GNSS: Global Navigation Satellite System) such as GPS (Global Positioning System; US system), GLONASS (Global Navigation Satellite System; Russian system), Galileo (European system) or Baidou (" Great Bear"; Chinese system) is also referred to as track log. In this case, each coordinate is supplemented with the date and time. In addition, the height above sea level, the temperature, the water depth or the water temperature could be recorded, among other things. The points are usually determined at short time intervals. The coordinates can be received and recorded on two separate devices that communicate with each other according to the NMEA standard (NMEA: National Marine Electronics Association).

Various tracking systems currently exist. The most common are classic tracking using a compass, acoustic tracking using ultrasound, electromechanical tracking using exoskeletons, electromagnetic tracking using magnetic fields or radar, and radio wave-based tracking using satellite navigation (GNSS).

All tracking technologies have their areas of application and therefore their right to exist. Since each technology has advantages and disadvantages, hybrid tracking systems (combinations of several tracking technologies) are also common. It is not easy to say which tracking technology is preferable for which application, since it depends on the type of application, the environmental conditions and the associated disturbances.

In this context, it is important to mention that the determination of the tracking data is only a part of today's applications. It is no less important to transfer the data received from the place of data collection to a place of data processing. For this z. B. GPS positioning combined with GSM data transmission (GSM: Global System for Mobile Communications) or GPS positioning combined with VHF data transmission. This is an attempt to exploit the advantages of two technologies while at the same time minimizing or eliminating their disadvantages.

In practical terms, this means that the position and movement data of an object are determined using radio wave-based tracking, i.e. using GNSS. The data determined is then sometimes transmitted by data transmission via cable, but also wirelessly via GSM or also on VHF, with VHF data transmission being less common in the tracking area.

In today's maritime applications, tracking is made possible by the so-called AIS method (AIS: Automatic Identification System) in both commercial and pleasure craft shipping. Using AIS, ships identify themselves and clearly announce relevant static, voyage-related and dynamic data for others.

This data is automatically transmitted between AIS transmitters and AIS receivers at short intervals using special VHF transmitters and exchanged between recipients. The position of the ship is determined by GPS.

The VHF transmitter transmits the data telegrams alternately on one of two internationally specified AIS radio frequencies (161.975 MHz and 162.025 MHz). Compared to other radio services, the AIS technology has the advantage of automatically organizing the interaction of several AIS devices on a radio frequency without mutual interference.

The process of data exchange is standardized worldwide and works on all oceans and inland waters, so that ships equipped with AIS devices from different manufacturers that meet on the open sea or on inland waters can track each other. The exchange of data takes place via so-called "messages". There are currently 27 message types, which are continuously being expanded. Based on the respective message type, the transmitted information is interpreted by the display devices connected to the AIS receiver and displayed accordingly.

With the current state of the art, however, there is a problem in the area of data transmission. If the object is located in an area in which it is possible to determine its position using radio wave-based tracking, but there is no radio cell for data transmission via GSM or no VHF receiving stations within radio range, or the object is outside the corresponding radio cell or receiving station range, the data cannot be transmitted. This means that the original purpose of tracking has lost an essential functionality.

From the U.S. 8,396,656 B1 a method for tracking ships is known, in which the determined GPS position is sent out over a mesh network as long as this is within radio range, and is otherwise stored temporarily.

Since the objects to be tracked are mostly moving objects, it is not obvious when the object is back in a corresponding radio cell or in the receiving range of a receiving station.

It is therefore the object of the invention to further develop a generic method for tracking an object and a generic tracking device for carrying out the method in such a way that the problem mentioned no longer occurs.

This object is achieved by a method for tracking an object according to patent claims 1 and 3 and a tracking device with the features of patent claim 7. Advantageous refinements and developments of the invention result from the dependent patent claims.

The problem described above is solved by the tracking device having, in addition to a data determination module and a data transmission module, a receiving module that can receive a reference signal. The reference signal is sent out by the remote station of the data transmission module. The remote station can be a GSM station or an FM transceiver. Using this reference signal, which serves as an acknowledgment signal, the data transmission module recognizes that the data to be sent could or can be received by the remote station, and in contrast to this also when there is no connection to the remote station.

Furthermore, a memory module is installed in the tracking device, which permanently records the received data that is determined via the data determination module. The data is permanently recorded. A marker is set from the point in time at which the tracker (the combination of data determination module and data transmission module is conceptually referred to as a tracker) no longer receives a reference or acknowledgment signal. The data that is written from the marker onwards has therefore not yet been transmitted, i. H. not yet properly received by a remote station. As soon as the reference signal is received again by the receiver, the stored data is read from the memory module and transmitted to the radio cell or the receiving station by the data transmission module.

If the tracking is carried out using the AIS method, it is advantageous not to send the data subsequently transmitted by the data transmission module on one of the globally standardized AIS frequencies. Subsequent transmission on one of the AIS frequencies would impede the self-organizing AIS radio process and would therefore be highly disruptive. In order to counteract this, the data transmission module can be designed in such a way that it can also transmit on frequencies other than those normally provided for the data transmission mode.

The remote station is preferably designed in such a way that it can receive the normal data transmission as well as data that may have been sent later on a special frequency. In addition the remote station designed in such a way that it can send the reference signal or signals.

Alternatively, the following second possible solution is provided: instead of a repetitive acknowledgment signal for the receiver, which implies leaving the reception range due to non-reception, it can also be provided that the reference signal is sent as a command signal by the remote station. The command signal is sent by the remote station of the tracking device. Using this command signal, the memory module and the data transmission module are activated via the receiving module in order to send the data determined by the data determination module and stored in the memory module. The (particularly AIS) working frequencies, but also other available frequencies can be used for sending.

The invention is therefore characterized in that, in addition to the data transmission module, the tracking device also has a receiver module that can receive reference signals as acknowledgment and/or command signals that are on the usual frequencies of the data transmission module (in particular AIS frequencies), but also on others Frequencies can be sent. The receiver module can be integrated in the data transmission module or also be accommodated as a separate switching unit in the tracking device. The acknowledgment and/or command signal to the receiver module for activating the data transmission from the data transmission module can be sent or received on the working frequency of the data transmission module, but also on a different frequency. The tracking device can temporarily store the data from the data determination module in a memory module until the acknowledgment signal and/or the command signal request transmission of the temporarily stored data. The data from the data determination tool can be temporarily stored in the memory module independently of the acknowledgment and/or command signal.

An exemplary embodiment of the invention is explained in more detail below with reference to the drawing. The only figure shows a greatly simplified block diagram of a tracking device according to the invention, which is restricted to the essentials.

A tracking device 1 (also called tracker for short) has a data determination module 2 , a data transmission module 3 , a receiving module 4 and a memory module 5 . In addition, of course, a battery--not shown in the drawing--is provided for powering the tracking device 1.

The data determination module 2 has a satellite navigation receiver (not shown) with a corresponding receiving antenna and can thus determine or determine the geographic position of the tracking device 1 and determine the time (date and time) of this position determination. This usually takes place repeatedly at fixed or definable time intervals or depending on the situation (every 2 seconds to every 30 minutes).

The data transmission module 3 works according to the ALS standard. It is equipped with a transmit/receive antenna (not shown) and can transmit data telegrams according to the AIS standard on the AIS frequencies (161.975 MHz and 162.025 MHz), but also other telegram types (as well as on other VHF or GSM frequencies). send out. The data transmission module 3 is operatively connected to the data determination module 2 and can receive or call up the current geographic position (including the time stamp) from it in order to integrate it into the data telegram to be sent.

In addition, a receiving module 4 is integrated in the data transmission module 3 , which can receive a reference signal via the transmitting/receiving antenna of the data transmission module 3 , which is sent to the tracking device 1 by a radio remote station (not shown). The receiving module 4 forwards the information about the receipt (and possibly also the content) of such a reference signal to the data transmission module 3 .

The memory module 5 can permanently store the data determined by the data determination module 2 about the geographic position(s) and forward it to the data transmission module 3 if necessary (also collected).

• Entsprechend der AIS-Norm sendet das Datenübertragungsmodul 3 situationsbezogen alle 2 Sekunden bis alle 30 Minuten AIS-Funktelegramme (abwechselnd auch den genannten AIS-Frequenzen) aus. Diese Funktelegramme enthalten u. a. auch die momentane geografische Position der Tracking-Einrichtung 1, welche - nach Anforderung durch das Datenübertragungsmodul 3 - kurz vorher von dem Datenermittlungsmodul 2 ermittelt und zusammen mit dem entsprechenden Zeitstempel an das Datenübertragungsmodul 3 übergeben wurde.

The operation of the tracking device 1 is as follows:

• In accordance with the AIS standard, the data transmission module 3 sends AIS radio telegrams (alternating with the AIS frequencies mentioned) every 2 seconds to every 30 minutes, depending on the situation. These radio telegrams also contain, among other things, the current geographic position of the tracking device 1, which—after being requested by the data transmission module 3—was determined shortly beforehand by the data determination module 2 and transferred to the data transmission module 3 together with the corresponding time stamp.

If the remote radio station receives the transmitted AIS radio telegram, it sends a reference signal to the tracking device 1 as an acknowledgment signal, which is received by the receiving module 4 and forwarded to the data transmission module 3 . In this way, the reliable receipt of the AIS radio telegram is acknowledged.

However, if the acknowledging reference signal does not arrive (ie it is not received by the receiving module 4 within a certain period of time), the data just sent about the determined geographic position (including the time stamp) is stored in the memory module 5 .

This is repeated until a reference signal is received again after an AIS telegram has been sent. The position data stored in the memory module 5 are then collected and transferred to the data transmission module 3 and sent out by the latter. In this way, the remote radio station receives the position information that has not been received in the meantime.

In order to prevent collisions on the AIS frequencies, the stored position data is forwarded on another frequency in the VHF or GSM band.

After the position data stored in the memory module 5 has been transmitted, it can be deleted again (in particular if its receipt is acknowledged by the remote radio station). Alternatively, to be on the safe side, they can also remain stored until the data from the tracking device 1 - e.g. B. after the return of a ship equipped with the tracking device 1 in the home port - be read in a different way (via cable or another wireless interface).

Instead of waiting for an acknowledging reference signal to be received from the wireless remote station after an AIS telegram has been sent, it can also be provided that the data on the geographic position determined by the data determination module 2 at specific (regular or irregular depending on the situation) time intervals is always stored in the memory module 5 are stored and are only passed on to the data transmission module 3 and transmitted by the receiving module 4 (collected) when a reference signal transmitted by the wireless remote station and now acting as a command signal is received. In this way, the energy for sending data telegrams outside the radio range to the remote station can be saved.

In this case, too, it makes sense if the position data collected (possibly over a longer period of time) is not transmitted on the AIS frequencies, but on other VHF or GSM frequencies.

The transmitted position data can be deleted from the memory module 5 (particularly after acknowledgment by the remote radio station) or else remain stored until they are read out elsewhere (see above).

With the described invention it can now be ensured that even if the radio range to the remote station is temporarily left, all position data of the tracking device 1 reach the remote station and thus the object equipped with the tracking device 1 is continuously tracked.

Reference List

1

tracking facility

2

data discovery module

3

data transfer module

4

receiving module

5

memory module

Claims (15)

Method for tracking an object using a tracking device (1) arranged in, on or near the object, with a data determination module (2) for determining the geographic position of the tracking device (1), with a data transmission module (3) for radio transmission of data about the determined position of the tracking device (1), with a memory module (5) for storing data about the determined position of the tracking device (1) and for transferring this data to the data transmission module (3), and with a receiving module (4), the method comprising the following steps: - Determining the geographic position of the object; - Transmission of data on the geographic position of the object, preferably also containing the time of position determination; - Waiting for a reference signal serving as an acknowledgment signal from a remote station acknowledging the receipt of the transmitted data; - storage of data on the geographic position of the object in the event that no reference signal is received; - Forwarding of the stored data on the geographic position of the object as soon as a reference signal is received again. procedure after claim 1 , characterized in that the data on the geographical (s) position (s) in situation-dependent, firmly set or definable time intervals are sent. Method for tracking an object using a tracking device (1) arranged in, on or near the object, with a data determination module (2) for determining the geographic position of the tracking device (1), with a data transmission module (3) for radio transmission of data about the determined position of the tracking device (1), with a memory module (5) for storing data about the determined position of the tracking device (1) and for transferring this data to the data transmission module (3), and with a receiving module (4), the method comprising the following steps: - Determining the geographic position of the object; - Storage of the data on the geographic position, preferably also containing the time of position determination; - Waiting for a reference signal serving as a command signal from a remote station requesting the transmission of data on the geographic position of the object; - Sending out the stored data on the geographic position of the object as soon as the reference signal is received. Procedure according to one of Claims 1 until 3 , characterized in that the geographic position is determined at regular, fixed or definable time intervals, preferably together with the respective point in time of the position determination, and the data on all positions determined since a fixed or definable point in time, in particular since the last time a reference signal was received, is stored will. Procedure according to one of Claims 1 until 4 , characterized in that after receiving a reference signal, all data stored about determined positions, in particular since the last time a reference signal was received, are transmitted. Procedure according to one of Claims 1 until 5 , characterized in that the transmission of the determined data on the geographic position takes place according to the ALS standard, but the transmission or forwarding of stored data on the determined position is preferably carried out on a radio frequency, in particular in the VHF range, which does not corresponds to AIS radio frequencies. Tracking device (1) for performing the method according to one of Claims 1 until 6 with a data determination module (2) which is set up to determine the geographic position of the tracking device (1), with a data transmission module (3) which is set up to transmit data about the determined position of the tracking device (1). To transmit radio, and also with a memory module (5) and a receiving module (4), wherein the memory module is set up to store data about the determined position of the tracking device (1) and the data transmission module (3) for transmission to hand over , wherein the receiving module (4) preferably integrated in the data transmission module (3) is set up to receive a reference signal via radio, and wherein the data transmission module (3) is set up to transmit data about the determined position of the tracking device (1) depending on upon receipt of the reference signal in the receiving module (4) and/or to transfer it to the memory module (5) for storage. Tracking setup (1) after claim 7 , characterized in that the data determination module (2) has a navigation receiver, in particular a satellite navigation receiver. Tracking setup (1) after claim 7 or 8th , characterized in that the data transmission module (3) is set up to work according to the ALS standard and/or the GSM standard. Tracking device (1) according to one of Claims 7 until 9 , characterized in that the data determination module (2) is set up to determine the position of the tracking device (1) in particular at regular, fixed or definable time intervals, preferably together with the respective point in time of the position determination, and in that the memory module (5 ) is set up to store data about all positions of the tracking device (1) determined since a fixed or definable point in time, in particular since the last time a reference signal was received in the receiving module (4). Tracking device (1) according to one of Claims 7 until 10 , characterized in that the data transmission module (3) is set up to transmit all data stored in the memory module (5) about determined positions of the tracking device (1), in particular since the last time a reference signal was received in the receiving module (4). Tracking device (1) according to one of Claims 7 until 11 , characterized in that the data transmission module (3) is set up to transmit data, in particular data stored in the memory module (5), about determined positions of the tracking device (1) on a radio frequency, preferably in the VHF range, which does not correspond to the AIS radio frequencies. Tracking device (1) according to one of Claims 7 until 12 , characterized in that the data transmission module (3) is set up to transmit data about the determined (s) position (s) of the tracking device (1) in situation-dependent, fixed or definable time intervals. Tracking setup (1) after Claim 13 , characterized in that the memory module (5) is set up so that if a reference signal is not received in the receiving module (4) after the transmission of data about the determined position of the tracking device (1) by the data transmission module (3), the transmitted Data about the determined position of the tracking device (1) is stored in the memory module (5) and during the next and/or a later transmission of data about a determined position of the Tracking device (1) are sent. Tracking device (1) according to one of Claims 7 until 12 , characterized in that the data transmission module (3) is set up to send out data about the determined position(s) of the tracking device (1) only after a reference signal has been received in the receiving module (4).

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