EP1577679A1 - Suchgerät zur Ortung eines Senders, insbesondere Lawinen-Verschütteten-Suchgerät - Google Patents
Suchgerät zur Ortung eines Senders, insbesondere Lawinen-Verschütteten-Suchgerät Download PDFInfo
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- EP1577679A1 EP1577679A1 EP05005289A EP05005289A EP1577679A1 EP 1577679 A1 EP1577679 A1 EP 1577679A1 EP 05005289 A EP05005289 A EP 05005289A EP 05005289 A EP05005289 A EP 05005289A EP 1577679 A1 EP1577679 A1 EP 1577679A1
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- European Patent Office
- Prior art keywords
- transmitter
- signals
- search
- angle
- search device
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B29/00—Apparatus for mountaineering
- A63B29/02—Mountain guy-ropes or accessories, e.g. avalanche ropes; Means for indicating the location of accidentally buried, e.g. snow-buried, persons
- A63B29/021—Means for indicating the location of accidentally buried, e.g. snow-buried, persons
Definitions
- the invention relates to a search device for locating a transmitter, in particular an avalanche transceiver, wherein for searching a search area, the search device by Panning a user in an angular range that covers the search area.
- Avalanche burial seekers work with an unmodulated transmit signal 457 kHz. All skiers in a group switch on their devices in normal operation Broadcasting. If a part of the group is buried in an avalanche, the other people receive their devices on receipt and try to cover the burials of the transmitted signal.
- the transmission signal is clocked at a frequency of about one hertz.
- the broadcasting time at the frequency of 457 kHz, the so-called duty cycle, is ten to 30 percent.
- This method has a number of disadvantages in practice. On the one hand influence the antennas mutually, even if they are turned off, so that the receiver sensitivity of the device suffers altogether. In particular, a direction determination at long distances over 50 meters almost impossible, the thus won Direction indicator so not useful. On the other hand, this technique is very sensitive to interference, so the direction indication is not optimal Conditions strongly scatters.
- a special challenge for the seeker is when he receives the signals receives several victims at the same time.
- the location purely by ear requires here a lot of practice and a cumbersome search strategy.
- the object of the invention is therefore to provide a generic search device, which the position of at least one buried on reliable and cost-effective Way determined automatically.
- such a search device further comprises a magnetic field sensor on, the earth magnetic field related sensor signals to the signal processing device outputs, which are supplied as a processing signal of the output unit and each Search direction assign a fixed search angle, relative to the Earth's magnetic field.
- An essential idea of the invention is that a search device, which the above task solves, ideally, how a radar works and the antenna constantly by an angular range, for example. 180 degrees, would rotate. Because it's known at which angle the antenna is standing, can at any time a received Signal with the respective field strength assigned to the current angle of the antenna become. This is of course not feasible in practice. After all, will but the rotation by 180 degrees achieved by the person seeking the device while walking in the hand holds and swings left and right, a procedure like this is known in the application of search devices according to the prior art. The problem then is to determine the angle to an external reference coordinate system the device is at a given time.
- information about the search angle might be from the evaluation of the GPS signal. This is the relatively high cost of a GPS Receiver and, for rescue applications, generally inadequate availability sufficient GPS signals.
- the search device gives the Magnetic field sensor three sensor signals relating to the earth's magnetic field to the signal processing device out. This allows the solid angle of the device relative to the Determine field lines in which the field strength components of the earth's magnetic field in three measured perpendicular to each other axes.
- magnetic field sensors with a precision of 1 degree are cheaper as a GPS receiver, so that the search device according to the invention made cheaper can be.
- inclination sensors are provided, the sensor signals output the signal processing device, which related to the location of the search device represent on a horizontal plane.
- the sensor signals of the tilt sensors can be the sensor signals of the magnetic field sensor advantageously correct so that the relative position of the search device to the earth's magnetic field very accurate and independent of the horizontal position of the search device can be determined.
- the signal processing device designed to from the transmitter signals and the sensor signals To generate angle signals that have a reception field strength as a function of a Represent search angle.
- the application of signal processing mechanisms to the Angular signals according to the invention allows in a particularly simple and reliable Way the determination of the transmitter location.
- the Signal processing device for calculating a transmitter search angle in which the Transmitter is formed based on the angle signals. This can be done by the search device
- the location of the transmitter can be determined as the determination of the distance between Transmitter and search device by conventional methods is easily possible. A provision the station by ear is therefore not required.
- the station search angle can after one or more panning of the search device according to the invention be determined, even if the device is already back in a completely different Direction shows.
- the signal processing device formed to at least two angle signals the transmitter search angle to determine.
- a problem with transmitters to find buried victims is that the transmitter signal the transmitter is clocked. In a random pivoting movement, it is so common happen that the transmitter is currently in a transmission pause when the searcher is in the direction of maximum or minimum field strength (during the times when the Sender sends) is held.
- the sequence of angle signals, d. H. the function of Receive field strength above the search angle therefore, is generally only in sections available.
- an algorithm is implemented in the search device to to extrapolate from the intervening values maximum and minimum. in the The principle for this are only two arbitrary points of the field strength curve (that is, two Angle signals) required when the directivity of the search antenna known is.
- Embodiment of the search device is the extrapolation or Interpolation of the complete course of the image (search angle -> field strength) Application of least squares method performed. this makes possible a constant improvement of the estimated field strength over the search angle with further measured values.
- the output unit formed for the graphic output of result signals that the transmitter search angle represent, and in particular a display panel for the graphical display of Sender location in the search area includes. This will be advantageous the fast and intuitive recording of the transmitter by the user allows.
- the signal processing device comprises a filter correlation unit configured to generate angle signals by correlation of the transmitter signals (received signal or mixed down Received signal) with predetermined pattern or filter signals to detect. hereby the detection of weak transmitter signals of a transmitter is made possible, for example, in long distance from the search device. This corresponds to finding a signal with known form in noise.
- the filter correlation unit can, for example, a so-called matched-filter mechanism be implemented, wherein a cross-correlation between the searched and the received signal is performed.
- the filter correlation unit formed to the angle signals with a sinusoidal and with a cosinusoidal Filter signal sequence to correlate.
- a cosinusoidal filter signal d .h. if a cosinusoidal transmitter signal is expected, the computational cost be significantly reduced compared to a matched filter method when the transmitter signal is decomposed into a sine and a cosine component.
- all that is needed instead of the cross-correlation a simple multiplication with the sine and the Cosine component of the pattern or filter signal with subsequent absolute value formation and moving average filtering.
- the signal processing device comprises an inventive Seeker an autocorrelation unit, which is designed to be in stored signals by autocorrelation to detect periodic signal components. If the signals of multiple stations are received, the transmitter signals of the Transmitters superimpose each other and also mutually cancel. Because two devices always have slightly different from each other repetition rates and / or duty cycles, is However, in principle, an assignment of the respective received signal to the one or other stations possible. The superposition of signals from multiple stations is is the sum of several periodically switched on and off signals. Therefore, it is suitable the autocorrelation function adjusts itself to the periodic components of this sum signal detect. For example, from the measured reception field strengths by threshold decision an on / off function are formed whose autocorrelation function Contains spectral lines at the frequencies occurring. Thus, one is Separation of the signals of several transmitters by providing an autocorrelation unit in Search device possible.
- the search device is the autocorrelation unit downstream of a filter correlation unit.
- the structure designed of the search device particularly advantageous because initially all detectable (possibly weak) transmitter signals are identified and then in a simple way these signals can be assigned to different stations.
- the search antenna of the search device according to the invention comprises a ferrite antenna, preferably with a cosinusoidal directional characteristic.
- Ferrite Antenna are special because of their pronounced directional characteristic for transmitter location suitable.
- a cosinusoidal directional characteristic allows, for example, training the filter correlation unit as stated above, wherein the angle signals correlated with a sinusoidal and with a cosinusoidal filter signal sequence become.
- the search device comprises a transmitter for Transmitting transmitter signals, the transmitter signals preferably by a transmitter identifier are individualized.
- group functions can be realized be in which of a plurality of stations at least one by his individualized identifier is identifiable, for example, the group leader one Group of skiers.
- the signal processing device is for generating processing signals corresponding to a transmitter search angle assign a transmitter identifier, wherein a transmitter is designed such that Transmitter signals of this transmitter can be customized with respect to transmitter signals of other transmitters are.
- such a method is further developed in such a way that Sensor signals related to the earth's magnetic field, as a processing signal through Result signals are displayed to the users and each search direction a solid Search angle, relative to the earth's magnetic field, is assigned. This turns the Earth's magnetic field used as a fixed reference coordinate system, and it is at any time the assignment the measured transmitter signal of a transmitter to a fixed search angle possible.
- the inclinations of the search device are measured against the horizontal plane and the Sensor signals corrected accordingly.
- the direction can be advantageous exactly be determined.
- angle signals each indicating a reception field strength at a search angle, from the Transmitter signals and the assignments of search direction and search angle generated.
- To Generating the angle signals is advantageous the application of signal processing Mechanisms on these signals possible, resulting in particularly simple and reliable Way the destination of the transmitter allowed.
- a transmitter search angle in which the transmitter is located, calculated from the angle signals and a Output result signal representing the station search angle. This allows the Location of the transmitter to be determined, since the determination of the distance between transmitters and search device is easily possible by conventional methods. A provision of the Sender location by ear is therefore not required.
- the station search angle can after one or more times pivoting of the search device according to the invention are determined even if the device is already pointing in a completely different direction.
- the transmitter search angle is at least two, in particular at least three, angle signals determined.
- a transmitter it is often the case in a random pivoting movement that the station is currently in a pause when the searcher is in the direction of maximum or minimum field strength.
- the sequence of angle signals, d. H. the Function of the reception field strength above the search angle therefore, becomes general only available in sections.
- the process of the invention is therefore advantageous designed to maximum and minimum from the intermediate values extrapolate.
- two arbitrary points of the field strength curve i.e. H. two angle signals
- the use is at least three Angle signals advantageous.
- an estimated angle signal sequence according to the least squares method from the angle signals calculated and the station search angle from the maximum of the estimated angle signal sequence is determined. From the present, sectional consequences of the angle signals can with the least squares method the determining parameters of the whole Curves are estimated. This can easily be the estimated angle signal sequence calculated as previously stated above.
- the method according to the invention are estimated transmitter signals by correlation of transmitter signals with predetermined filter signals determined and determined angle signals from the estimated transmitter signals. Becomes a cross-correlation between the filter signals and the transmitter signals, the Detection of weak transmitter signals of a transmitter allows, for example. In large Distance from the locator, this finding a signal with known form in the noise corresponds.
- this embodiment is for determining the Transmitter signal from noise interference by correlation of received transmitter signals with a sinusoidal and a cosinusoidal filter signal sequence one each Sine and a cosine signal sequence determined.
- the above-mentioned cross-correlation be performed by means of a matched filter mechanism.
- the matched filter is very expensive. This is due to the fact that the pattern function represented by the filter signals in all possible phase positions the sequence of received transmitter signals must be compared. This computational effort can be significantly reduced if the sequence of transmitter signals in a sine and a cosine component is decomposed.
- reception field strengths the signals of the estimated transmitter signal sequence from the summation of the products of the (if previously down-mixed) received signal sequence with a sine and a cosine signal sequence determined.
- the argument (angle) of the above-mentioned sine and cosine component formed complex number describes the phase position of the received signal in Ratio to the cosine pattern function, while the amount of the complex number is a measure for the reception field strength.
- the method according to the invention is for detection from several transmitters a periodic signal component of stored transmitter signals or processing signals, in particular estimation transmitter signals, by autocorrelation determined. If the signals of several victims are received, the Transmitter signals of the transmitter superimpose each other and also mutually extinguished. There two stations always slightly different from each other repetition rates and / or duty cycles However, in principle, an assignment of the respective received signal to the one or the other transmitter possible.
- the autocorrelation function is suitable for the periodic contributions to recognize this sum signal. For example, from the measured reception field strengths Threshold decision an on / off function formed whose autocorrelation function spectral lines at the frequencies occurring contains. Thus, a separation of the signals of several transmitters is possible. By averaging The autocorrelation function over several observation periods can be dominant periodic components relatively independent of the respective orientation of the transmitter be determined to the receiver very reliable.
- a determined periodic signal component which can be assigned to a transmitter, from transmitter signals or processing signals hidden to determine further periodic signal components.
- Noise and inaccuracies become the periodic components of weaker received signals often obscured.
- signal components that can be assigned to a dominant received signal hidden (set to zero).
- the transmitter signals a transmitter to transmitter signals of other stations by a transmitter identifier individualized and processing signals are generated which correspond to a station search angle assign this sender identification.
- a transmitter identifier individualized and processing signals are generated which correspond to a station search angle assign this sender identification.
- a search device 1 designed according to the invention for use as an avalanche victim search device (avalanche transceiver).
- the communication with the user via a backlit display 10 and two control buttons 12, 13th The display 10 allows the graphic display of the position of one or more buried relative to your own location.
- the device 1 also has a loudspeaker 14 for outputting a synthetically generated search sound to the user as Acoustic feedback and an LED 15, as is known for conventional devices.
- the speaker 14 and the red LED 15 also allow a conventional search without using the graphic display via the display 10.
- the display of the display 10 is divided into a Coordinate field 16 to the true to scale representation of the location of the located transmitter of Spilled, a status line 18 with the most important information and labeling fields 20 for the two control buttons 12.
- the device 1 is designed as a combined search and transmit device.
- the case has the Shape of a folding mobile phone.
- the hinge is indicated by a dashed line in FIG Line 21 indicated. If the device 1 is in search mode, it is closed by closing the Device automatically returns to the transmission mode. This will open Advantageously, an emergency downshift realized as they, for example. In the case of After avalanche, in the standards is required.
- the device 1 is equipped with an antenna not visible to the outside for sending and searching equipped on a search frequency of 457 kHz.
- the specified frequency is for Avalanche victim search devices standardized (EN 282).
- An automatic location of the Burial takes place from the natural pivoting movement of the seeker or User. According to the invention, however, no manual bearing as in conventional Devices required.
- the illustrated device 1 has a DF mode to focus on a selected victim.
- a search process is carried out so that the searcher the device 1 after switching from transmit to seek mode, swings back and forth by about 180 degrees several times.
- the achievable DF or search accuracy is initially ⁇ 10 degrees.
- All transmitter or transmitter signals of transmitters are detected by buried persons who are in Range are located.
- the range of the device is about 80 m.
- At the stations can they are conventional avalanche transceivers or identical to device 1 Equipment.
- a manual bearing, i. holding the device 1 in the direction of the strongest Signal is not required.
- the detected transmitters 22 become on the direction and distance on the display 10th displayed, wherein the scale representation of the distance of the transmitter 22 from Searcher (in the center of the coordinate field 16, i.e. the crosshairs 23) Distances 24 in meters is specified.
- the seeker can now find himself by requesting the victim, the first and press the button 12 "PEILEN" focus on this and the hide further transmitter 22.
- distance information is displayed 24 and position information 22 constantly adapted to the current position of the searcher.
- Target search in the near range can be supported by the red LED 15.
- a zoom function in the display 10 be activated (not shown).
- the seeker approaches a transmitter location 22 i.e. the suspected resting place of a buried person, becomes a circle on the display 10 superimposed, which is concentric to the base 22 and on closer approach concentrically reduced.
- an insertion of the circle is from a Distance of three meters advantageous, but the overlay can be synonymous with larger or only at smaller distances.
- a circle could also be a square or the like symbol.
- the search device By means of the search device according to the invention can easily the exact Spill depth can be determined.
- the searcher brings the detected transmitter 22 (the presumed resting place of the victim) with the center of the crosshairs 23 (the position of the seeker) to cover, so that the searcher vertically above the Spilled is located.
- the distance indication 24 then indicates the burial depth.
- the determination of the burial depth is only indirect and results in greater burial depth unreliable values, since the display at greater depth often remains the same over a diameter of up to several meters and over the depth no more accurate information is possible.
- the seeker picks up the bearing and dedicates it to the next victim.
- the search device 1 is equipped with a motion sensor (not shown). This detects whether the device 1 is being moved. If the device is in any mode, which is not the transmit mode, and will power the device for 90 seconds not moved, it automatically switches to the transmission mode. This will be the above-mentioned emergency downshift also safely triggered when the seeker due to a post-avalanche or the like surprising event no opportunity has more to close the search device.
- the search device 1 has in the embodiment described here in addition to the Search function via further functions, which can be reached via the key 13 Main menu are selectable. This includes an electronic compass, a temperature gauge and inclination measurement to assess the avalanche danger, a display of the Battery status and a remaining time display for transmit and search mode. At low Battery level is a warning regardless of the operating mode.
- the standard does not allow any additional functions (Compass, temperature display, inclination measurement).
- the inclination sensors according to the invention for its functionality. Then only care must be taken that the display of the additional Data obtained does not increase the power consumption so much that the safety of the Use is no longer guaranteed. Therefore, a security circuit in the search device 1 provided (not shown), which turns off the display of the additional functions when the Battery capacity drops below 50% of the maximum value.
- the requirements of Standard complies with the operational safety of the device.
- the integrated sensors which are described in more detail below, can do this Device 1 at any time determine in which direction the seeker is currently holding it. So that can the location of the located transmitter of the buried at any time correct relative to own point of view.
- search device 1 takes place in principle such that the received 457 kHz signals digitized and processed with a powerful microprocessor become.
- Digital signal processing algorithms enable search sounds, i. Sender signals even then filter out of the noise, if they are already below the perceptibility limit of human hearing. This allows a The range comparable to conventional, analogue devices.
- the positions of the victims are calculated.
- the algorithms used are robust against individual faults or measurement errors. There over the whole search phase the positions are constantly being recalculated, which improves the Accuracy of estimated positions for the buried quickly over time.
- Fig. 3 the functional structure of the device 1 of Fig. 1 is shown schematically.
- a Earth magnetic field sensor 30 which provides a sensor signal for each rotational degree of freedom (X, Y, vertical) outputs, and tilt sensors 32 for the two tilt axes available.
- another sensor 34 for one of the above-mentioned additional functions of Device, the temperature measurement, drawn.
- the microprocessor-controlled sample manager 36 carries the current sample to the correct destination and selects the channel for the next sample.
- the time behavior is designed so that the maximum possible sample clock essentially for the Sampling of the reception or transmitter signals is available.
- the receive signal is faded out about every 32nd time slot and held whose one of the sensor channels for temperature, magnetic field and inclination read.
- the angle estimation module 38 from the samples of the magnetic sensor 30 and the Tilt sensors 32 determines the spatial position to the Earth's magnetic field exactly. Such Methods are known per se to those skilled in the art and therefore will not be further described.
- the sin / cos correlator 40 is for the detection of transmitter signals at the sensitivity limit intended. Basically, the task consists in one
- Finding such a search sound in the noise is - in the sense of a hypothesis test - Optimal with a "matched filter” possible, where basically a cross-correlation between the searched and the received signal is performed.
- the matched filter has as impulse response exactly the mirrored along the time axis searched function.
- the gain of the matched filter is due to the fact that Nutzsignalanmaschine be added constructively by the impulse response, while noise components add up in performance.
- the transmitter signal sequence is a cosinusoidal signal sequence with constant frequency. Any scaled and phase-shifted sine wave can be divided into a cosine and a sine component.
- the performance of searched signal is the sum of the power of sine and cosine. Therefore, it is sufficient, the transmitter signal sequence with a cosine and a sinusoidal Filter sequence to multiply, the sequence of transmitter signals so in a sine and to decompose a cosine component.
- the argument (angle) of the sine and Cosine component complex number describes the phase angle of the Receive or transmitter signal sequence in relation to the cosine pattern function, while the amount of the complex number is a measure of the reception field strength.
- the sin / cos correlator 40 operating in this manner effects a demodulation of the search sound into the baseband (multiplication by sin or cos) and subsequent low-pass filtering for suppressing the image frequencies at twice the signal frequency.
- An essential advantage of the sin / cos correlator 40 is that it can be constructed in a simple and resource-saving manner. Compared to a matched filter, the detection performance is 3 dB worse.
- the RSS module 42 values are obtained from the output values a (amplitude estimate of the sine component) and b (amplitude estimate of the cosine component) of the correlator 40 by means of square mean RSS ("received signal strength") values.
- the AKF module 44 then calculates the autocorrelation function (AKF) of the RSS values.
- the output of the AKF module 44 serves as the basis for the separation of the signal components in the case of several simultaneously active transmitters.
- the search for the buried is then particularly difficult, if at the same time the signals of several victims are received.
- the transmitter signals of the transmitter can overlap each other and also mutually cancel out. Because two devices always have slightly different repetition rates and / or duty cycles from each other, However, in principle, an assignment of the respective received signal to the one or the other transmitter possible.
- the superposition of signals from multiple stations is the sum several periodically on and off signals. Basically, a suitable Autocorrelation function to detect the periodic components of this sum signal.
- the measured field strength values are determined by thresholding an on / off function is formed, their autocorrelation function Spectral lines should contain at the frequencies occurring.
- the disadvantage of this Method is that, especially at low field strengths or imperfect Align the receiving antenna with the transmitter's ON / OFF times only can be determined with insufficient accuracy. These inaccuracies are the Spectral lines of the autocorrelation function smeared, i. out of focus, and fast unusable.
- the periodic components Due to noise and inaccuracies, the periodic components become weaker Receiving signals often obscured. To be able to detect these components, be Signal components that can be assigned to a dominant received signal, hidden (set to zero).
- the assignment of individual signal sections to different transmitters is determined by the heuristic segmentation in segmentation module 46. This will be in the Essentially by thresholding those signal elements determined that the Maximum of the AKF contribute.
- the signal elements determined in this way are possibly transmitted Analysis of jumps in the correlation values again separated and different Assigned to senders.
- a signal element may, for example, starting from the left and right boundary into two separate areas at the edges and one - for the location estimation unusable - overlay area can be divided in the middle. For segmentation can jumps and discontinuities in the sin and cos correlation values be used.
- the location of the at least one received station is determined determined.
- the distance of the transmitter can be in a conventional manner on application a power law on the measured or determined field strength reliable be determined.
- the assignment of the invention obtained from the sensor data search angle ⁇ to those from the currently measured Transmitter signals resulting processing signals ⁇ , the current reception field strength specify a sender.
- the ferrite receiving antenna used in the receiving unit 28 has a cosine-shaped directivity. With a fixed transmitter, the received field strength thus changes with the cosine of the double search angle. If the device is swiveled back and forth by the searcher during the search, ie if the angle is continuously changed, then the field estimation module 48 can easily form the field strength ⁇ as a function of the search angle ⁇ . For all angle signal elements of a recording interval (from which exactly one AKF was calculated), the searcher angle and thus the location of the transmitter is estimated by linking with the search angles ⁇ . The coordinates obtained from successive recording intervals for the same transmitters can be continuously improved by weighted averaging.
- the search tone i. the received transmitter signal sequence, the Field strength function, d. H. the sequence of angular signals ⁇ ( ⁇ ), each one receiving field strength specify at a search angle, generally only partially available. However, from the given sections, you can use the least squares method the determining parameters of the entire curve are estimated. From this it is easy to calculate the angle and distance of the transmitter.
- the total field strength curve is calculated as a sequence of estimated angle signals become.
- two arbitrary points of the transmitter signal sequence were sufficient. In the Practice is the received signal, however, more or less noisy. The approximation used two points can then be randomly corrupted by noise samples so that the parameters of the actual angular signal sequence are severely flawed to be appreciated.
- all available Points of the received field strength curve or the transmitter signal sequence included and the searched parameters are optimized so that the total deviation of the calculated course of the estimated angle signal sequence from the portion of the sequence of the Transmitter signals and search angles determined angle signals is minimal.
- the estimate may be by Use of new readings can be constantly improved. First, it results thereby also at a great distance from the buried and correspondingly weak Search or receive signal quickly a relatively accurate location estimate. On the other leaves by a corresponding weighting of older ones in relation to the current values the measured search or detected angle signals a jumping or excessive Instability of the determined station search angle reliably suppress.
- Another task of the local estimation is the solution of the problem, from the field strength differences two or more consecutive recording intervals the 180 degree ambiguity of the angle estimate dissolve and the transmitter of the front (in Movement direction) or rear (opposite to the direction of movement) half-plane assign.
- the determined location of a transmitter is then displayed on the display 10, as described above with reference to FIGS. 1, 2a and 2b.
- Search device is based on modules that in Fig. 3 as separate units are drawn. These units may be in the search device in the form of software, Firmware and / or hardware. Preferably, the modules are in the form of Software on a microprocessor / DSP. For a full featured searcher like the illustrated by the figures would be a processor with 30 MIPS computing power and 8 KB RAM is suitable.
- an inventive device without AKF module or module for the separation of Be formed signal components of several transmitters can be used in which only one transmitter is to be located.
- An example of this is a group of skiers on secured runway, in which the finding of the group leader by the search devices of the group members is made possible, whereby only the transmitter of the conductor is in transmission mode.
- a search device without a module for the implementation of Cross correlation of a filter signal formed with weak search or received signals be. Then weak signals in the noise are no longer detectable, the Sensitivity of the search device is reduced accordingly.
- the Resources of the device available space, processor processing capacity
- the AKF module can be designed to a larger number of transmitters to separate. Also can be a functionally poorer device have the same battery capacity over a prolonged period of use, if about one smaller processor is used.
- a search device with a GPS system.
- the GPS system provides a true-to-nature representation of the terrain. Of the Viewpoint of the searcher and the sender location detected by the searcher, i. the Suspected lying points of the buried, will be the representation of the GPS system superimposed.
- Such a system allows the searcher to know the position of the person videins on the basis of any existing landmark terrain points intuitively, i. to quickly grasp, so that he with the least possible delay the lounger can visit.
- the search device can be combined with a voice control as is known in car GPS systems. This receives the Searching acoustic instructions, such as in the form of a voice generated by the searcher. This allows the seeker to focus on the terrain.
- a search device can furthermore be combined with a camera, as is known for mobile phones. This is advantageous from the camera recorded terrain view is displayed on the display of the search device. The detected transmitter locations are superimposed on the terrain view. The view on the display is largely consistent with the view the seeker has of his environment. Thus, the orientation of the searcher is facilitated, especially in contour rich Terrain.
- a combination of a search device according to the invention with a GPS system and camera is possible. This would be GPS system and camera to achieve a interact in a detailed and contour-rich representation of the site.
- search device instead of only as an avalanche victim search device can be inventively trained Search device also be used advantageously for other applications.
- a group of skiers who are guided by their group leader eg. in poor visibility or otherwise confusing conditions. All participants have via transmitting / searching devices.
- the device of the conductor has a transmitter whose Transmitter signal is provided with an individual station identifier.
- the search devices of the Group participants are designed to evaluate the received sender identification, such that the located transmitter of the conductor is identifiable among the plurality of located transmitters is.
- the display of the participants' search devices identifies the location of the group leader by specifying the identifier.
- all transmitters of a group can be individualized by transmitter identifications.
- the transmission of transmitter detections on the standard signal at 457 kHz not provided.
- a second transmitter may be provided, the signals with transmitter identifiers radiates.
Abstract
Description
- eine Suchantenne zum Empfang von Sendersignalen, die vom Sender aus momentanen Suchrichtungen ausgestrahlt werden,
- eine Signalverarbeitungseinrichtung zur Erzeugung von Verarbeitungssignalen aus den Sendersignalen und
- eine Ausgabeeinheit, der die Verarbeitungssignale zugeführt werden, zur Ausgabe von Ergebnissignalen, welche die Verarbeitungssignale repräsentieren, an den Benutzer.
- zum Absuchen eines Suchgebietes wird ein Suchgerät durch einen Benutzer in einem Winkelbereich von Suchwinkeln geschwenkt, der das Suchgebiet überdeckt,
- Sendersignale, die vom Sender ausgestrahlt werden, werden aus momentanen Suchrichtungen von einer Suchantenne des Suchgerätes empfangen,
- Verarbeitungssignale werden aus den Sendersignalen erzeugt und
- Ergebnissignale, welche die Verarbeitungssignale repräsentieren, werden an den Benutzer ausgegeben.
- Fig. 1
- ein Ausführungsbeispiel eines erfindungsgemäßen Suchgerätes;
- Fig. 2a, 2b
- jeweils eine Ansicht der Anzeige des Suchgerätes aus der Fig. 1;
- Fig. 3
- in schematisierter Form ein funktionales Blockschaltbild des Suchgerätes der Fig. 1.
Im RSS-Modul 42 werden aus den Ausgangswerten a (Amplitudenschätzwert der Sinuskomponente) und b (Amplitudenschätzwert der Kosinuskomponente) des Korrelators 40 durch quadratische Mittelung RSS("Received Signal Strength")-Werte gewonnen. Das AKF-Modul 44 berechnet dann die Autokorrelationsfunktion (AKF) der RSS-Werte. Die Ausgabe des AKF-Moduls 44 dient als Grundlage für die Separation der Signalbestandteile bei mehreren gleichzeitig aktiven Sendern.
Für alle Winkelsignalelemente eines Aufzeichnungsintervalls (aus denen genau eine AKF berechnet wurde), wird durch Verknüpfung mit den Suchwinkeln ϕ der Sendersuchwinkel und damit der Ort des Senders geschätzt. Die Koordinaten, die aus aufeinanderfolgenden Aufzeichnungsintervallen für dieselben Sender ermittelt werden, können durch eine gewichtete Mittelung fortlaufend verbessert werden.
- 1
- Suchgerät
- 10
- Display
- 12, 13
- Bedientasten
- 14
- Lautsprecher
- 15
- LED
- 16
- Koordinatenfeld
- 18
- Statuszeile
- 20
- Beschriftungsfeld für Bedientasten
- 21
- Klappscharnier
- 22
- Symbol erfasster Sender im Koordinatenfeld 16
- 23
- Fadenkreuz
- 24
- Entfernungsangaben im Koordinatenfeld 16
- 26
- hervorgehoben dargestellter georteter Sender
- 28
- Empfänger mit Suchantenne
- 30
- Sensor für das Erdmagnetfeld
- 32
- Neigungssensoren
- 34
- Temperatursensor
- 36
- Sample-Manager
- 38
- Winkelschätzungsmodul
- 40
- Sin/Cos-Korrelator
- 42
- RSS-Modul
- 44
- AKF-Modul
- 46
- Segmentierungsmodul für die heuristische Segmentierung
- 48
- Ortsschätzungsmodul
- a
- Amplitudenschätzwert der Kosinuskomponente
- b
- Amplitudenschätzwert der Sinuskomponente
- r
- Empfangs- bzw. Sendersignal
- R
- Ausgangssignal des RSS-Moduls
- µ
- Magnetfeldvektor
- ϕ
- Suchwinkel
- σ
- ermittelte Empfangsfeldstärke eines Senders
Claims (30)
- Suchgerät zur Ortung eines Senders, insbesondere Lawinen-Verschütteten-Suchgerät (1),
wobei zum Absuchen eines Suchgebietes das Suchgerät (1) durch einen Benutzer in einem Winkelbereich von Suchwinkeln geschwenkt wird, der das Suchgebiet überdeckt,
miteiner Suchantenne (28) zum Empfang von Sendersignalen, die vom Sender aus momentanen Suchrichtungen ausgestrahlt werden,einer Signalverarbeitungseinrichtung zur Erzeugung von Verarbeitungssignalen aus den Sendersignalen undeiner Ausgabeeinheit (14, 15), der die Verarbeitungssignale zugeführt werden, zur Ausgabe von Ergebnissignalen, welche die Verarbeitungssignale repräsentieren, an den Benutzer,
einen Magnetfeldsensor (30), der das Erdmagnetfeld betreffende Sensorsignale an die Signalverarbeitungseinrichtung (36 - 48) ausgibt, die als Verarbeitungssignal der Ausgabeeinheit (10) zugeführt werden und jeder Suchrichtung einen festen Suchwinkel (ϕ), relativ zum Erdmagnetfeld (µ), zuordnen. - Suchgerät nach Anspruch 1,
dadurch gekennzeichnet,dass
der Magnetfeldsensor (30) drei das Erdmagnetfeld betreffende Sensorsignale an die Signalverarbeitungseinrichtung (36 - 40) ausgibt. - Suchgerät nach Anspruch 1 oder 2,
dadurch gekennzeichnet,dass
Neigungssensoren (32) vorgesehen sind, die Sensorsignale an die Signalverarbeitungseinrichtung (36 - 40) ausgeben, welche die Lage des Suchgerätes (1) bezogen auf eine Horizontalebene repräsentieren. - Suchgerät nach einem der vorhergehenden Ansprüche,
dadurch gekennzeichnet,dass
die Signalverarbeitungseinrichtung (48) ausgebildet ist, um aus den Sendersignalen und den Sensorsignalen Winkelsignale zu erzeugen, die eine Empfangsfeldstärke in Abhängigkeit von einem Suchwinkel (ϕ) repräsentieren. - Suchgerät nach einem der vorhergehenden Ansprüche, insbesondere nach Anspruch 4,
dadurch gekennzeichnet,dass
die Signalverarbeitungseinrichtung (48) zur Berechnung eines Sendersuchwinkels, in dem sich der Sender befindet, anhand der Winkelsignale ausgebildet ist. - Suchgerät nach einem der vorhergehenden Ansprüche, insbesondere nach Anspruch 5,
dadurch gekennzeichnet,dass
die Signalverarbeitungseinrichtung (48) ausgebildet ist, um aus mindestens zwei Winkelsignalen den Sendersuchwinkel zu bestimmen. - Suchgerät nach einem der vorhergehenden Ansprüche, insbesondere nach Anspruch 5 oder 6,
dadurch gekennzeichnet,dass
die Ausgabeeinheit (10) zur graphischen Ausgabe von Ergebnissignalen ausgebildet ist, die den Sendersuchwinkel repräsentieren, und insbesondere ein Anzeigefeld (10) zur graphischen Anzeige (16) des Senderortes (22) in dem Suchgebiet umfasst. - Suchgerät nach einem der vorhergehenden Ansprüche,
dadurch gekennzeichnet,dass
die Signalverarbeitungseinrichtung eine Filterkorrelationseinheit (40) umfasst, die ausgebildet ist, um Winkelsignale durch Korrelation der Sendersignale mit vorgegebenen Filtersignalen zu detektieren. - Suchgerät nach einem der vorhergehenden Ansprüche, insbesondere nach Anspruch 8,
dadurch gekennzeichnet,dass
die Filterkorrelationseinheit (40) ausgebildet ist, um die Sendersignale mit einer sinusförmigen- und mit einer kosinusförmigen Filtersignalfolge zu korrelieren. - Suchgerät nach einem der vorhergehenden Ansprüche,
dadurch gekennzeichnet,dass
die Signalverarbeitungseinrichtung eine Autokorrelationseinheit (44) umfasst, die ausgebildet ist, um in gespeicherten Signalen durch Autokorrelation periodische Signalanteile zu detektieren. - Suchgerät nach Anspruch 10,
dadurch gekennzeichnet,dass
die Autokorrelationseinheit (44) einer Filterkorrelationseinheit (40) nachgeschaltet ist. - Suchgerät nach einem der vorhergehenden Ansprüche,
dadurch gekennzeichnet,dass
die Suchantenne (28) eine Ferrit-Antenne, vorzugsweise mit kosinusförmiger Richtcharakteristik, umfasst. - Suchgerät nach einem der vorhergehenden Ansprüche,
gekennzeichnet t durch
einen Sender zum Senden von Sendersignalen, wobei die Sendersignale vorzugsweise durch eine Senderkennung individualisiert sind. - Suchgerät nach Anspruch 13,
gekennzeichnet t durch
einen Bewegungssensor, der Bewegungen des Suchgerätes (1) erfasst, und
eine mit dem Bewegungssensor verbundene Notrückschaltung, die das Suchgerät (1) in einen Sendemodus schaltet, bei dem der Sender Sendersignale sendet, wenn der Bewegungssensor in einem vorgegebenem Zeitraum, beispielsweise 90 Sekunden, keine Bewegung des Suchgerätes (1) erfasst. - Suchgerät nach einem der Ansprüche 7 bis 14,
gekennzeichnet t durch
ein GPS-System und/oder eine Kamera zur Darstellung der Umgebung auf dem Anzeigefeld (10). - Suchgerät nach einem der vorhergehenden Ansprüche,
dadurch gekennzeichnet,dass
die Signalverarbeitungseinrichtung zur Erzeugung von Verarbeitungssignalen ausgebildet ist, die einem Sendersuchwinkel eine Senderkennung zuordnen, wobei ein Sender derart ausgebildet ist, dass Sendersignale dieses Senders individualisierbar gegenüber Sendersignalen weiterer Sender sind. - Verfahren zur Ortung eines Senders, insbesondere des Senders eines in einer Lawine Verschütteten,bei dem zum Absuchen eines Suchgebietes ein Suchgerät (1) durch einen Benutzer in einem Winkelbereich von Suchwinkeln geschwenkt wird, der das Suchgebiet überdeckt,Sendersignale, die vom Sender ausgestrahlt werden, aus momentanen Suchrichtungen von einer Suchantenne (28) des Suchgerätes (1) empfangen werden,Verarbeitungssignale aus den Sendersignalen erzeugt werden undErgebnissignale, welche die Verarbeitungssignale repräsentieren, an den Benutzer ausgegeben werden,
Sensorsignale, die das Erdmagnetfeld betreffen, als Verarbeitungssignal durch Ergebnissignale den Benutzern angezeigt werden und jeder Suchrichtung ein fester Suchwinkel (ϕ), relativ zum Erdmagnetfeld (µ), zugeordnet wird. - Verfahren nach Anspruch 17,
dadurch gekennzeichnet,dass
für die Zuordnung von Suchrichtung und -winkel Feldstärkekomponenten (µ) des Erdmagnetfeldes in drei zueinander senkrecht stehenden Richtungen gemessen werden (X, Y, vertikal). - Verfahren nach Anspruch 17 oder 18,
dadurch gekennzeichnet,dass
die Neigungen des Suchgerätes gegen die Horizontalebene gemessen (32) und die Sensorsignale entsprechend korrigiert werden (38). - Verfahren nach einem der Ansprüche 17 bis 19,
dadurch gekennzeichnet,dass
Winkelsignale, die jeweils eine Empfangsfeldstärke (σ) bei einem Suchwinkel (ϕ) angeben, aus den Sendersignalen (r) und den Zuordnungen von Suchrichtung und - winkel erzeugt werden. - Verfahren nach einem der Ansprüche 17 bis 20, insbesondere nach Anspruch 20,
dadurch gekennzeichnet,dass
ein Sendersuchwinkel, in dem sich der Sender befindet, anhand der Winkelsignale berechnet und ein Ergebnissignal ausgegeben wird (10, 16), das den Sendersuchwinkel repräsentiert (22). - Verfahren nach einem der Ansprüche 17 bis 21, insbesondere nach Anspruch 21,
dadurch gekennzeichnet,dass
der Sendersuchwinkel aus mindestens zwei, insbesondere mindestens drei, Winkelsignalen bestimmt wird. - Verfahren nach einem der Ansprüche 15 bis 22, insbesondere nach einem der Ansprüche 219 oder 22,
dadurch gekennzeichnet,dass
eine Schätz-Winkelsignalfolge nach der Methode der kleinsten Fehlerquadrate aus den Winkelsignalen berechnet und der Sendersuchwinkel aus dem Maximum der Schätz-Winkelsignalfolge bestimmt wird. - Verfahren nach Anspruch 23,
dadurch gekennzeichnet,dass
bei der Berechnung der Schätz-Winkelsignalfolge Winkelsignale unterschiedlich gewichtet werden, insbesondere gemäß der Zeit, die seit einem Empfang der den Winkelsignalen zugrundeliegenden Sendersignale vergangenen ist. - Verfahren nach einem der Ansprüche 17 bis 24,
dadurch gekennzeichnet,dass
Schätz-Sendersignale (40: a, b) durch Korrelation von Sendersignalen (r) mit vorgegebenen Filtersignalen ermittelt werden und Winkelsignale aus den Schätz-Sendersignalen ermittelt werden. - Verfahren nach Anspruch 25,
dadurch gekennzeichnet,dass
zur Ermittlung des Sendersignals aus Rauschstörungen durch Korrelation von empfangenen Sendersignalen (r) mit einer sinusförmigen- und mit einer kosinusförmigen Filtersignalfolge jeweils eine Sinus- und eine Kosinussignalfolge (a, b) ermittelt wird. - Verfahren nach Anspruch 26,
dadurch gekennzeichnet,dass
Empfangsfeldstärken der Signale der Schätz-Sendersignalfolge aus der Summation der Produkte der empfangenen Sendersignalfolge mit einer Sinus- und einer Kosinussignalfolge (a und b) ermittelt werden. - Verfahren nach einem der Ansprüche 17 bis 27,
dadurch gekennzeichnet,dass
zur Detektion von mehreren Sendern ein periodischer Signalanteil von gespeicherten Sendersignalen oder Verarbeitungssignalen, insbesondere Schätz-Sendersignalen, durch Autokorrelation ermittelt wird (44). - Verfahren nach Anspruch 28,
dadurch gekennzeichnet,dass
ein ermittelter periodischer Signalanteil (σ), der einem Sender zugeordnet werden kann, aus Sendersignalen oder Verarbeitungssignalen ausgeblendet wird, um weitere periodische Signalanteile zu ermitteln. - Verfahren nach einem der vorhergehenden Ansprüche,
dadurch gekennzeichnet,dass
die Sendersignale eines Senders gegenüber Sendersignalen weiterer Sender durch eine Senderkennung individualisiert werden und
Verarbeitungssignale erzeugt werden, die einem Sendersuchwinkel diese Senderkennung zuordnen.
Applications Claiming Priority (4)
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DE102004013097 | 2004-03-17 | ||
DE102004027314 | 2004-06-04 | ||
DE102004027314A DE102004027314B4 (de) | 2004-03-17 | 2004-06-04 | Lawinen-Verschütteten-Suchgerät und Verfahren zur Ortung eines Senders |
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EP1577679A1 true EP1577679A1 (de) | 2005-09-21 |
EP1577679B1 EP1577679B1 (de) | 2007-05-09 |
Family
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EP05005289A Active EP1577679B1 (de) | 2004-03-17 | 2005-03-10 | Suchgerät zur Ortung eines Senders, insbesondere Lawinen-Verschütteten-Suchgerät |
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US (1) | US7403112B2 (de) |
EP (1) | EP1577679B1 (de) |
AT (1) | ATE362112T1 (de) |
CA (1) | CA2501035C (de) |
DE (2) | DE102004027314B4 (de) |
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WO2013143015A1 (de) | 2012-03-30 | 2013-10-03 | Girsberger Elektronik Ag | Tragbare vorrichtung zum suchen und/oder zur ortung von sendern |
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Also Published As
Publication number | Publication date |
---|---|
US7403112B2 (en) | 2008-07-22 |
CA2501035C (en) | 2009-04-07 |
CA2501035A1 (en) | 2005-09-17 |
US20050231359A1 (en) | 2005-10-20 |
ATE362112T1 (de) | 2007-06-15 |
EP1577679B1 (de) | 2007-05-09 |
DE102004027314B4 (de) | 2006-03-23 |
DE502005000676D1 (de) | 2007-06-21 |
DE102004027314A1 (de) | 2005-10-06 |
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