DE102022115597A1 - METHOD FOR IMPROVING ACCURACY OF INDOOR POSITIONING AND SYSTEM FOR POSITION ESTIMATION OF AN INDIVIDUAL OR OBJECT - Google Patents

Abstract

A method for improving the accuracy of indoor positioning and a system for estimating the position of a person or object are provided. The method includes determining one or more first ranges based on a radio signal received from a mobile device associated with a person or object, monitoring an intensity and/or a frequency of electromagnetic radiation incident on a sensor, and mapping a change in intensity and/or frequency caused by an interaction between the electromagnetic radiation and the individual or object to one or more second areas, and assigning a position of the individual or object to a third area based on the one or more first areas and the one or more second areas.

Description

FIELD

The present disclosure relates to a method for improving indoor positioning accuracy and a system for estimating a position of a person or an object. In particular, the present disclosure relates to determining a position of a person or an object based on electromagnetic radiation.

BACKGROUND

There are a variety of devices that can be used to determine the position of a person or object. For example, cameras, lidars or radars can be used to determine the position of passive targets that reflect electromagnetic radiation. In addition, radio receivers can be used to determine the position of active targets that send radio signals to the radio receiver. However, using such devices indoors may produce unsatisfactory results due to the large number of obstacles typically present indoors.

SUMMARY

The present invention is directed to a method for improving the accuracy of indoor positioning and a system for estimating the position of a person or object.

The method includes determining one or more first ranges based on a radio signal received from a mobile device associated with a person or object, monitoring an intensity and/or a frequency of electromagnetic radiation incident on a sensor, and mapping a change in intensity and/or frequency caused by an interaction between the electromagnetic radiation and the individual or object to one or more second areas, and associating a position of the individual or object based on a third area on the one or more first areas and the one or more second areas.

In this context, the term "area" as used throughout the specification and claims specifically refers to a portion of a map of an indoor environment, the probability that the person or object is at a location in the area indicated by the shown area is above a (static or dynamic) threshold value. The contour of the area may be partially defined by obstacles such as walls or other objects that restrict the movement of people or objects within the interior space. In addition, the term “radio signal” as used throughout the specification and claims specifically refers to, but is not limited to, a radio signal intentionally generated by the mobile device in the course of data transmission to another device. For example, the mobile device may communicate with an access point and the one or more first areas may be determined by assigning a signal strength to a radius (with the access point in the center) and excluding those parts occupied by or facing obstacles otherwise access is blocked by obstacles.

In addition, as used throughout the specification and claims, the term “mobile device” refers specifically to mobile devices that have a processor and a battery that powers the processor, such as cell phones, tablets, etc . Laptops, etc. In this context, the language that the mobile device is "connected to a person or object" as used throughout the specification and claims is intended only to express that the mobile device is connected to the Person or object moves, but does not mean that knowledge of the identity of the person or object is required, although information about the identity of the person or object, if available, can be used to further improve the accuracy of indoor positioning improve. Additionally, since the mobile device moves with the person or object, but the position of the mobile device relative to the person or object may be unknown, the position of the person or object can be assumed to match the position of the mobile device .

In addition, the phrase "monitoring the intensity and/or frequency of electromagnetic radiation" as used throughout the specification and claims refers, in particular, to monitoring whether electromagnetic radiation is traveling along a known (or easily determinable) Widespread, but not limited to it. The path is disturbed by a moving person or object. For example, electromagnetic radiation may travel along a straight line or other known (or easily determinable) path from a sensor which propagates to a receiver, and a disturbance in the electromagnetic radiation may indicate that the person or object is crossing the straight line or path. Electromagnetic radiation can also propagate through one or more different areas, so that any disturbance in the electromagnetic radiation may indicate that the person or object has entered one of said one or more specific areas (which are then referred to as the second one or more). areas can be designated).

In addition, the phrase "assigning a position of the person or object to a third region" as used throughout the specification and claims refers, in particular, but is not limited to, an attempt to narrow down in which Area the person or object is most likely to be located. For example, if there is a first region and a second region that partially or completely overlap, the person or object can be considered to be in the intersection region (which may be referred to as the third region). Similarly, if there is a first area and a second area that are relatively close to each other (compared to other first and second areas), the person or object can be considered to be in an area that is the first and/or comprises the second area (and which may be referred to as the third area).

If the probability that the person or object is in the first area is comparatively high while the probability that the person or object is in the second area is comparatively low, the third area may have comparatively more of the first area as comprising the second area. Likewise, if the probability that the person or object is in the second area is comparatively high, while the probability that the person or object is in the first area is comparatively low, the third area may contain a comparatively larger part of the second area than the first area. That is, the center of the third area may tend to the area where the person or object is most likely to be located. In the rare case that both the first range and the second range are equally likely but substantially different, the midpoint of the third range may be midway between the midpoints of the first range and the second range. Furthermore, the third area may overlap with the first area and the second areas if the confidence regarding the presence of the person or object in both the first and second areas is sufficiently high. Otherwise, the third region may intersect with either the first region or the second region (or neither).

The sensor can be attached to the ceiling or integrated into it. The sensor can be an image sensor. For example, the indoor environment may include one or more video cameras, each of the one or more cameras enabling observation of an area below the camera. The cameras can be placed over areas where people are most likely to move through indoors. In addition, the cameras may be placed over regions where radio signals are known or are not expected to be indicative of the position of the person or object carrying the mobile device when that person or object is in one regions. Mounting or integrating the sensor in the ceiling may also be preferred from a privacy perspective, as a person may not be identified in a top view.

The radio signal can be received by a network device. The network device may be, for example, a wireless access point such as a Wi-Fi access point. The network device may include directional antennas or an antenna array that enable beam shaping. The use of directional antennas or an antenna array can make it possible to determine or estimate the direction from which the radio signal was received. Using the determined/estimated direction and the determined/estimated distance, it may be possible to determine an area (to be called the first area) in which the person or object may be located.

A direction in which the person or object is moving can be derived from the position and one or more positions assigned one after the other. The direction can then be used to track the movement of the user or object. For example, a velocity vector and/or an acceleration vector may be used to predict a position of the person or object within a particular prediction horizon.

A system according to the present invention includes a network of stationary devices and a server communicatively connected to the network and storing a map of an indoor environment in which the stationary devices are positioned are. The server of the system is configured to determine one or more first areas in which the person or object is located based on a radio signal received by one or more of the stationary devices from a mobile device connected to the person or the object could stop the object. The server is further configured to monitor an intensity and/or a frequency of electromagnetic radiation incident on a sensor of one or more of the stationary devices and a change in intensity and/or frequency caused by an interaction between the electromagnetic radiation and causing the individual or object to map onto one or more second areas. The server is further configured to associate a location of the person or object with a third region based on the one or more first regions and the one or more second regions.

In particular, the features of the system can be features of the method and vice versa.

BRIEF DESCRIPTION OF THE DRAWINGS

• 1 und 2 veranschaulichen die Zuordnung einer Position zu einer Person oder einem Objekt, wobei die Person oder das Objekt elektromagnetische Strahlung auf ihrem Weg von einem Sender zu einem Empfänger stört;
• 2a veranschaulicht die Vorhersage einer Bewegung des Individuums oder Objekts durch Ableiten eines Geschwindigkeits-/Beschleunigungsvektors aus nacheinander zugewiesenen Positionen;
• 3 zeigt die Zuordnung einer Position zu einer Person oder einem Objekt auf der Grundlage elektromagnetischer Strahlung, die von der Person oder dem Objekt reflektiert wird;
• 4 zeigt eine Modifikation des in 3 gezeigten Aufbaus, wobei der Sensor in die Decke integriert ist;
• 5 zeigt eine Modifikation des in 4 gezeigten Aufbaus, wobei der Sensor eine Kamera ist;
• 6 veranschaulicht das Ableiten einer Bewegungsrichtung des Individuums oder des Objekts und die Verwendung der Bewegungsrichtung zum Verfolgen einer Bewegung des Individuums oder des Objekts;
• 7 veranschaulicht ein System zum Schätzen einer Position einer Person oder eines Objekts;
• 8 zeigt eine Karte einer Innenumgebung und bietet Innennavigation; und
• 9 zeigt ein Flussdiagramm einer Methode zur Verbesserung der Genauigkeit der Innenpositionierung.

The foregoing aspects and many of the attendant advantages will be more easily appreciated when better understood by reference to the following description of embodiments taken in conjunction with the accompanying drawings, in which like reference numerals refer to like elements throughout the several views not otherwise stated.

• 1 and 2 illustrate the assignment of a position to a person or object, where the person or object interferes with electromagnetic radiation as it travels from a transmitter to a receiver;
• 2a illustrates predicting motion of the individual or object by deriving a velocity/acceleration vector from sequentially assigned positions;
• 3 shows the assignment of a position to a person or object based on electromagnetic radiation reflected from the person or object;
• 4 shows a modification of the in 3 structure shown, with the sensor integrated into the ceiling;
• 5 shows a modification of the in 4 shown structure, wherein the sensor is a camera;
• 6 illustrates inferring a direction of movement of the individual or object and using the direction of movement to track movement of the individual or object;
• 7 illustrates a system for estimating a position of a person or object;
• 8th displays a map of an indoor environment and provides indoor navigation; and
• 9 shows a flowchart of a method for improving the accuracy of indoor positioning.

In particular, the drawings are not to scale and, unless otherwise indicated, are intended solely to provide conceptual illustration of the structures and methods described herein.

DESCRIPTION OF EMBODIMENTS

1 shows elements of a system 10 for estimating a position of a person/object 12. The system 10 includes a plurality of stationary devices 14, 16a and 16b and a server 18 which is communicatively coupled to the stationary devices 14, 16a and 16b. The server 18 stores a map of an indoor environment 20 (an office building) in which the devices 14, 16a, 16b are positioned. The map may also contain information about where in the indoor environment 20 the stationary devices 14, 16a and 16b are positioned.

As the person/object 12 moves through the indoor environment 20, a mobile device 12a connected to the person/object 12 (and omitted from the remaining figures for clarity) exchanges data with the stationary device 14 by sending radio signals to the stationary device 14 and receiving radio signals from the stationary device 14. For example, the stationary device 14 may be a wireless access point that may be used by the mobile device 12a to access an intranet (which may be available to residents and/or visitors to the indoor environment 20) or via a browser application available on the mobile device 12a access the Internet.

The device 14 can then forward information indicating the signal strength and/or the signal directionality to the server 18. The server 18 may use this information to determine one or more first areas 22 in which the person/object 12 may be located, as shown schematically in 1 and 2 shown. In determining the first areas 22, the server 18 may consider features of the indoor environment 20 (as reflected in the map). For example, the server 18 can assume this This means that the person/object 12 moves along or within corridors, rooms, halls, etc. on one of the floors that are part of the indoor environment 20.

In addition, the server 18 may be trained to assign a change in signal strength and/or signal direction properties to one or more first areas 22. For example, the server 18 can be provided with location information of one or more mobile devices 12a that are carried through the indoor environment 20 during a training phase. For example, the server 18 may learn from the data collected during the training phase that a sudden drop in signal occurs when the mobile device 12a passes a certain location, or that a signal strength above a certain value is (typically) only observed when the mobile Device 12a is located in a certain part of the indoor environment 20.

If, as in 1 , the first area 22 is relatively large or if, as in 2 If multiple first areas 22 are present, the server 18 may attempt to improve positioning accuracy by looking for a change in electromagnetic radiation that may have been caused by an interaction between the electromagnetic radiation and the individual/object 12. Like for example in 1 and 2 Illustrated schematically, the person/object 12 may cross a path along which electromagnetic radiation is transmitted from one device 16a (transmitter) to another device 16b (receiver). When the person/object 12 crosses the path, electromagnetic radiation interference may occur due to the interaction with the person/object 12. This can lead to a change in the intensity and/or frequency of the electromagnetic radiation received by the receiving device 16b. For example, as in 2 shown, the person/object 12 hinders electromagnetic radiation that would otherwise be detected by a sensor of the receiving device 16b. Due to the obstruction, the sensor may detect a drop in signal intensity or a shift in signal frequency as other signal transmission pathways may become dominant.

The server 18 can conclude from this change that the person/object 12 is in the second area 24. The server 18 may then assign the position of the person/object 12 to the third area 26 that corresponds to the intersection of the second area 24 and that of the first areas 22 that is closest to the second area 24. If there is no intersection, the third region 26 may be chosen to include (in whole or in part) the second region 24 and the first region 22 that is closest to the second region 24, or the third region 26 may be between that second area 24 and the first area 22, which is closest to the second area 24.

$\left(\begin{array}{c}{\nu }_x\\ {\nu }_y\end{array}\right),\left(\begin{array}{c}{a}_x\\ a_y\\ a_z\end{array}\right),$

und/oder $\left(\begin{array}{c}{a}_x\\ a_y\end{array}\right),$

und die Geschwindigkeits-/Beschleunigungsvektoren verwenden, die Bewegung der Person/des Objekts 12 vorherzusagen. Beispielsweise kann angenommen werden, dass die Person/das Objekt 12 in der Mitte des dritten Bereichs 26 positioniert ist, und der Geschwindigkeitsvektor $\left(\begin{array}{c}{\nu }_x\\ {\nu }_y\\ {\nu }_z\end{array}\right)$

oder $\left(\begin{array}{c}{\nu }_x\\ {\nu }_y\end{array}\right)$

der Person/des Objekts 12 kann durch Division des Vektors, der die Verschiebung der Person/des Objekts 12 zwischen zwei nacheinander zugewiesenen Positionen beschreibt, z. B. $\left(\begin{array}{c}{x}_n\\ y_n\\ z_n\end{array}\right)-\left(\begin{array}{c}{x}_{n-1}\\ y_{n-1}\\ z_{n-1}\end{array}\right)$

oder $\left(\begin{array}{c}{x}_n\\ y_n\end{array}\right)-\left(\begin{array}{c}{x}_{n-1}\\ y_{n-1}\end{array}\right),$

$$

durch die Zeit, t_n - t_n-1, die das Individuum/Objekt 12 benötigte, um von einer Position zur anderen zu gelangen, geschätzt werden. Ebenso kann der Beschleunigungsvektor $\left(\begin{array}{c}{a}_x\\ a_y\\ a_z\end{array}\right)$

oder $\left(\begin{array}{c}{a}_x\\ a_y\end{array}\right)$

der Person/des Objekts 12 geschätzt werden, indem der Vektor, der die Geschwindigkeitsänderung der Person/des Objekts 12 zwischen zwei nacheinander zugewiesenen Positionen beschreibt, z. B. $\left(\begin{array}{c}{\nu }_{x,n}\\ {\nu }_{y,n}\\ {\nu }_{z,n}\end{array}\right)-\left(\begin{array}{c}{\nu }_{x,n-1}\\ {\nu }_{y,n-1}\\ {\nu }_{z,n-1}\end{array}\right)$

oder $\left(\begin{array}{c}{\nu }_{x,n}\\ {\nu }_{y,n}\end{array}\right)-\left(\begin{array}{c}{\nu }_{x,n-1}\\ {\nu }_{y,n-1}\end{array}\right),$

durch die Zeit t_n - t_n-1 dividiert wird, die das Individuum/Objekt 12 gebraucht hat, sich von einer Position zur anderen zu bewegen.After the server 18 assigns the position of the person/object 12 to the third area 26, the server 18 may begin collecting data that allows the server 18 to track the movement of the person/object 12 (in the future). to predict. For example, the server 18 may use two or more sequentially assigned positions to calculate one or more (two-dimensional or three-dimensional) velocity/acceleration vectors, e.g. b. $\left(\begin{array}{c}{\nu }_x\\ {\nu }_y\\ {\nu }_{\mathrm{e.g}}\end{array}\right),$

$\left(\begin{array}{c}{\nu }_x\\ {\nu }_y\end{array}\right),\left(\begin{array}{c}{a}_x\\ a_y\\ a_{\mathrm{e.g}}\end{array}\right),$

and or $\left(\begin{array}{c}{a}_x\\ a_y\end{array}\right),$

and use the velocity/acceleration vectors to predict the movement of the person/object 12. For example, it may be assumed that the person/object 12 is positioned in the center of the third area 26 and the velocity vector $\left(\begin{array}{c}{\nu }_x\\ {\nu }_y\\ {\nu }_{\mathrm{e.g}}\end{array}\right)$

or $\left(\begin{array}{c}{\nu }_x\\ {\nu }_y\end{array}\right)$

the person/object 12 can be determined by dividing the vector describing the displacement of the person/object 12 between two successively assigned positions, e.g. b. $\left(\begin{array}{c}{x}_n\\ y_n\\ {\mathrm{e.g}}_n\end{array}\right)-\left(\begin{array}{c}{x}_{n-1}\\ y_{n-1}\\ {\mathrm{e.g}}_{n-1}\end{array}\right)$

or $\left(\begin{array}{c}{x}_n\\ y_n\end{array}\right)-\left(\begin{array}{c}{x}_{n-1}\\ y_{n-1}\end{array}\right),$

$$

can be estimated by the time, t _n - t _n-1 , that the individual/object 12 took to move from one position to another. Likewise, the acceleration vector $\left(\begin{array}{c}{a}_x\\ a_y\\ a_{\mathrm{e.g}}\end{array}\right)$

or $\left(\begin{array}{c}{a}_x\\ a_y\end{array}\right)$

of the person/object 12 can be estimated by using the vector describing the change in speed of the person/object 12 between two successively assigned positions, e.g. b. $\left(\begin{array}{c}{\nu }_{x,n}\\ {\nu }_{y,n}\\ {\nu }_{\mathrm{e.g},n}\end{array}\right)-\left(\begin{array}{c}{\nu }_{x,n-1}\\ {\nu }_{y,n-1}\\ {\nu }_{\mathrm{e.g},n-1}\end{array}\right)$

or $\left(\begin{array}{c}{\nu }_{x,n}\\ {\nu }_{y,n}\end{array}\right)-\left(\begin{array}{c}{\nu }_{x,n-1}\\ {\nu }_{y,n-1}\end{array}\right),$

is divided by the time t _n - t _n-1 that the individual/object 12 took to move from one position to another.

As in 3 shown, the functionality of the stationary device 16a and the stationary Device 16b can be integrated into a single stationary device 16, which emits electromagnetic radiation and detects electromagnetic radiation that is reflected in the direction of the stationary device 16. The stationary device 16 may be attached to a ceiling 28 and may be oriented to emit electromagnetic radiation vertically downward such that a person/object 12 moving beneath the stationary device 16 may be affected due to a change in intensity and/or or frequency of the reflected electromagnetic radiation can be detected. As in 4 shown, the stationary device 16 can be integrated into the ceiling 28. For example, the stationary device 16 can be integrated into the ceiling 28 in such a way that the stationary device 16 does not protrude from the ceiling 28. The stationary device 16 can even be integrated into the ceiling 28 in such a way that the stationary device 16 cannot be visually distinguished from other parts of the ceiling 28 or is hidden behind part of the ceiling 28.

As in 5 shown, the stationary device 16 can be a camera that is integrated into the ceiling 28. The camera may include an image sensor that may be oriented to record an area below the camera. When the person/object 12 enters the area below the camera, the camera can detect the person/object 12 based on the change in intensity and/or a frequency of the electromagnetic radiation incident on the image sensor, resulting in a change in brightness and/or or color across the recorded images or across the video stream. The recorded images or recorded video stream may also enable determination of a contour of the individual/object 12, which may enable distinction between (different) individuals and objects.

As in 6 As shown, the stationary device 16 can be positioned in the middle of a corridor 34 through which the person/object 12 moves. If the person/object 12 is within the area 30 monitored by the device 16, the person/object 12 can be tracked with (relatively) high precision. Therefore, the server 18 may increase the frequency with which the position of the person/object 12 is updated as long as the person/object 12 is within the area 30. As in 6 As shown, the area 30 may only cover a portion of the corridor 34 in the width direction. However, the area 30 may also cover the entire widthwise corridor 34 to ensure that all people/objects 12 moving past the stationary device 16 along the corridor 34 are detected.

7 shows another indoor environment 20 equipped with a server 18 that stores a map of the indoor environment 20 and is communicatively connected to a network of stationary devices 14 and 16. As shown by the dashed lines in 7 As shown, a person 12 within the indoor environment 20 can leave a room 32 and enter a corridor 34 in search of a destination. Upon entering the corridor 34, the person 12 may open an application on a mobile device 12a carried by the person 12 and enter/select the destination within the indoor environment 20. For example, person 12 can enter the “next building exit” or “employee X’s office” as the destination.

The application can then forward the target to the server 18, which can begin to estimate the current position of the person 12.

Since the mobile device has established a radio connection to the nearest access point 14, the server 18 may be able to make a rough estimate of the location of the person 12 and begin forwarding map data to the mobile device for display to the person 12, as shown in 8th shown schematically. As in 8th As shown, the map data may include a schematic representation of the interior environment 20 representing rooms 32 and corridors 34. The map data may also contain an indication of a path 36 along which the individual 12 can reach the destination. Once the person 12 enters the area 30, the server 18 may use the additional information provided by the stationary device 16 to improve the accuracy of indoor positioning as described above.

9 shows the steps of the process. The process begins at step 38 by determining one or more first areas 22 based on the radio signal received from mobile device 12a. The process begins at step 40 with monitoring an intensity and/or frequency of electromagnetic radiation incident on a sensor and mapping a change in intensity and/or frequency caused by an interaction between the electromagnetic radiation and the person Object 12 is caused, continues on one or more second areas 24. The process ends at step 42 with the assignment of a position of the individual/object 12 to a third area 26 based on the one or more first areas 22 and the one or more second areas 24.

LIST OF REFERENCE CHARACTERS

10

system

12

Individual/object

12a

Mobile device

14

Device

16

Device

16a

Device

16b

Device

18

server

20

Indoor climate

22

Area

24

Area

26

Area

28

Ceiling

30

Area

32

Room

34

corridor

36

Away

38

Step

40

Step

42

Step

Claims (11)

Method for improving indoor positioning accuracy, comprising: determining (38) one or more first areas (22) based on a radio signal received by a mobile device (12a) and associated with a person (12) or an object (12); Monitoring (40) an intensity and/or frequency of electromagnetic radiation incident on a sensor and associating a change in intensity and/or frequency caused by an interaction between the electromagnetic radiation and the individual (12) or the object (12 ) is caused to one or more second areas (24); and Assigning (42) a position of the individual (12) or the object (12) to a third area (26) based on the one or more first areas (22) and the one or more second areas (24). Procedure according to Claim 1 , wherein the third region (26) forms an intersection with a region of the one or more first regions (22) and a region of the one or more second regions (24). Procedure according to Claim 1 or 2 , wherein the sensor is attached to a ceiling (28) or integrated into it. Procedure according to Claim 3 , where the sensor is an image sensor. Procedure according to one of the Claims 1 until 4 , wherein the radio signal is received by a network device (14). Procedure according to Claim 5 , wherein the network device (14) comprises directional antennas or an antenna array that enables beam shaping. Procedure according to one of the Claims 1 until 6 , further comprising: deriving a direction of movement of the individual (12) or the object (12) from the position and one or more sequentially assigned positions and using the direction of movement to track movement of the individual (12) or object (12). System (10) for estimating a position of an individual or an object, comprising: a network of stationary devices (14, 16a, 16b); and a server (18) communicatively connected to the network and storing a map of an indoor environment (20) in which the stationary devices (14, 16, 16a, 16b) are positioned; whereby the server (18) is set up for this purpose to determine one or more first areas (22) in which the person (12) or the object (12) could be located, based on a radio signal received from one or more of the stationary devices (14) from a mobile device connected thereto (12a) is received, which is assigned to the person (12) or the object (12); to monitor an intensity and/or a frequency of electromagnetic radiation incident on a sensor of one or more of the stationary devices (16, 16a, 16b) and a change in the intensity and/or frequency caused by an interaction between the electromagnetic radiation and causing the individual (12) or the object (12) to image onto one or more second areas (24); and to assign a position of the individual (12) or the object (12) to a third area (26) based on the one or more first areas (22) and the one or more second areas (24). System (10) after Claim 8 , wherein the third region (26) forms an intersection with a region of the one or more first regions (22) and a region of the one or more second regions (24). System (10) after Claim 8 or 9 , wherein the stationary devices (14, 16, 16a, 16b) comprise directional antennas or antenna arrays that enable beam shaping. System (10) according to one of the Claims 8 until 10 , where the sensor is an image sensor.

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