EP2057479A1 - Procédé et dispositif pour une localisation basée sur le temps de propagation avec l'aide d'un signal de référence déclenché ou se déclenchant automatiquement - Google Patents

Procédé et dispositif pour une localisation basée sur le temps de propagation avec l'aide d'un signal de référence déclenché ou se déclenchant automatiquement

Info

Publication number
EP2057479A1
EP2057479A1 EP07802812A EP07802812A EP2057479A1 EP 2057479 A1 EP2057479 A1 EP 2057479A1 EP 07802812 A EP07802812 A EP 07802812A EP 07802812 A EP07802812 A EP 07802812A EP 2057479 A1 EP2057479 A1 EP 2057479A1
Authority
EP
European Patent Office
Prior art keywords
signal
stations
reference station
transmission
time
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP07802812A
Other languages
German (de)
English (en)
Inventor
Stefan Schwarzer
Claus Seisenberger
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Original Assignee
Siemens AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens AG filed Critical Siemens AG
Publication of EP2057479A1 publication Critical patent/EP2057479A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0205—Details
    • G01S5/021—Calibration, monitoring or correction

Definitions

  • the present invention relates to a method according to the preamble of the main claim and a device according to the preamble of the independent claim.
  • TDOA time-difference-of-arrival
  • time difference of arrival a location of objects, in particular terminals.
  • an object to be located sends out a signal that is received by several fixed stations.
  • the time difference between the arrival times at the individual stationary stations allows using triangulation calculations to determine the position of the object to be located.
  • Figure 1 shows the situation according to the closest prior art.
  • An object X to be located emits a signal which reaches the fixed stations B1, B2 and B3 after the transit times ⁇ ti, ⁇ t 2 and ⁇ t3. If all stations are measuring along the same time axis, ie if they have the same initial time offset To, then correct time differences are determined which can be used to determine the location of object X using triangulation (Formula 1):
  • AtI 2 (T 2 + ⁇ t 2 ) - (Ti + ⁇ ti)
  • At 23 (T 3 + ⁇ t 3 ) - (T 2 + ⁇ t 2 )
  • ⁇ t 3 i (Ti + ⁇ ti) - (T 3 + ⁇ t 3 )
  • a temporal synchronization between the individual stationary stations is due to the possible inaccuracies of great importance for the use of a positioning system.
  • a clock offset when using electromagnetic or optical signals must not be greater than a few pico seconds.
  • TDOA Time-Difference-of-Arrival
  • the object is achieved by a method according to the main claim.
  • the object is achieved by means of a device according to the independent claim. Further advantageous embodiments can be found in the subclaims.
  • An object X to be located transmits a signal which is received by a number of stationary stations B 1 having known positions.
  • the transit times of the signals from the station X to be located to the stationary stations B 1 are denoted by ⁇ t Xl .
  • the clocks in the stationary stations B 1 can now have any time offsets T 1 . However, it should be given about the same frequency. Deviations of less parts-per-million (ppm), as is common with high quality quartz, are reasonable, as they lead to a small error that is acceptable.
  • a reference station R is additionally added to a conventional arrangement.
  • the position of the relative station R relative to the fixed stations B 1 must be known.
  • Each stationary station B 1 (i element of N) now does not determine the absolute time of the signal arrivals, but only the transit time difference At 1 between the arrival of the signals from the object X and the reference station R.
  • time offset ⁇ t XR between the transmission of the signal from object X and the transmission of the signal from the reference station R.
  • This unknown time offset or transmission offset .DELTA.t XR can be eliminated by forming the difference between the time differences At 1 between the stationary stations.
  • Triangulation is a method of finding the distance to a point in trigonometry and elementary geometry.
  • the essential advantage of the present invention is that addressed, high-precision time synchronization between the stationary stations B 1 no longer need to take place.
  • Another stationary station R is used, which transmits in the same channel as X or in another channel, time-synchronized or delayed.
  • a determination of the unknown clock offsets T 1 , nor those of the unknown transmission offset ⁇ t XR is required, since these can be calculated out by means of mathematical formulas used. If object X and reference station R transmit in only one channel, then a transmission offset ⁇ t XR is at least as long as the length of the signal from object X.
  • the transmission of the signal from the object X and the transmission of the signal from the reference station R occur simultaneously in two different channels.
  • the use of two different channels for object X and reference station R allows the fully synchronous transmission of signals from both stations. In this way, the measurement rate, ie the number of measurements per second, and an achievable accuracy can be advantageously improved.
  • the transmission offset .DELTA.t XR between the transmission of the signal from the object X and the transmission of the signal from the reference station R is zero and thus need not be considered further.
  • the object X and the reference station R are excited by means of a common trigger line from a station B 1 for the simultaneous transmission of their signals.
  • Both reference station R and object X are excited via a common trigger line, which may be wired or wireless, for the simultaneous transmission of their signals.
  • the reference station R transmits in a first channel or in a second channel when the reference station R has determined that the object X is transmitting in a first channel, wherein a time offset ⁇ t XR between the transmission of the signal from the object X and the transmission of the signal from the reference station R is given.
  • R sends only after X has sent. It is particularly advantageous if no synchronization between the two signals has been generated. It is possible to use a common channel or two different channels.
  • the reference station R is passive until it has detected a signal from object X.
  • the transmission of the signal of the reference station R can be carried out either with the signal from object X in the same or a different channel, or almost simultaneously with the object X in another channel.
  • R sends only when R has determined that X is transmitting.
  • This embodiment is particularly teilhaft, since in this way a communication of the base stations Bi with the reference station R is unnecessary.
  • communication with X does not have to take place since the object X sends out a signal, for example, with a permanently set time interval or upon detection of an event.
  • This embodiment can be improved particularly advantageously by using two channels.
  • the emission of the signal from the object X and the transmission of the signal from the reference station R are arbitrarily time-delayed in two different channels.
  • An arbitrary time offset ⁇ t XR is generated between the transmission of the signal from the object X and the transmission of the signal from the reference station R. It must be particularly advantageous no synchronization between the two signals generated.
  • the smaller the transmission offset ⁇ t XR or the time offset ⁇ t XR the smaller the error due to slightly different clock frequencies of the stations B 1 , which should have approximately the same frequency.
  • the transmission of the signal from the object X and the transmission of the signal from the reference station R can also be done with a time delay in a channel.
  • a communication between the stationary stations B 1 so that the differences of the time differences At 1 can be determined.
  • Such communication may be wireline or wireless and does not impose any special requirements on the duration of the communication signals.
  • the clock frequency of the reference station R are determined by means of the signal transmitted by the reference station R and deviations of the clock frequencies of the stations B 1 are excluded. In this way, there is a possibility to compensate for a difference of the clock frequencies in the individual stationary Stations B 1 , which are a reason for inaccuracies in determining the position of object X.
  • objects X are terminals according to the standard IEEE 802.15.4.
  • devices are claimed by means of which methods according to the method claims can be carried out.
  • Figure 1 shows an embodiment of a measuring method according to the prior art
  • Figure 2 shows an embodiment with the errors according to the
  • Figure 3 shows an embodiment of a device according to the invention
  • FIG. 4 shows exemplary embodiments of the transmission of signals.
  • Figure 1 shows an object X and three stationary stations Bl, B2 and B3.
  • the object X emits a signal which reaches the fixed stations Bl, B2 and B3 after the transit times ⁇ ti, ⁇ t 2 and ⁇ t 3 . If all stations are in the same time axis, ie all stations have the same initial time offset T 0 , then correct time differences are determined, which can lead to the location of X by means of triangulation (Formula 1):
  • FIG. 2 shows that with unknown different time offsets Ti, T 2 and T 3 no longer fall out of the time differences (formula 2):
  • AtI 2 (T 2 + ⁇ t 2 ) - (Ti + ⁇ ti)
  • At 23 (T 3 + ⁇ t 3 ) - (T 2 + ⁇ t 2 )
  • ⁇ t 3 i (Ti + ⁇ ti) - (T 3 + ⁇ t 3 )
  • Position determination can only be carried out with inaccuracies.
  • FIG. 3 shows an exemplary embodiment of an arrangement according to the invention.
  • This arrangement corresponds to that described in FIG. 2, but in addition a reference station R is inserted whose position relative to the fixed stations Bi, B 2 and B 3 is known.
  • the transit times of the signals from the station to be located X to the stationary stations Bl, B2 and B3 are denoted by ⁇ t ⁇ i, ⁇ t x2 and ⁇ t x3 .
  • the transit times of the signals of the stationary reference station R to the fixed stations Bi, B 2 and B 3 are denoted by ⁇ t R i, ⁇ t R2 and ⁇ t R3 .
  • the use of three stations for determining two spatial coordinates is preferred. However, more or fewer stations can be used.
  • a mathematical method for localization can be, for example, a hyperbola method.
  • the clocks or time recording devices in the fixed stations Bi, B 2 and B 3 may now have the unknown and arbitrary time offsets Ti, T 2 and T 3 , but these should have approximately the same frequency.
  • R and X transmit at the same time in two different channels, for example by jointly triggering from a fixed station B 1 via a trigger line (case Fig. 4a);
  • R and X transmit time-shifted in two different channels (cases Fig. 4: b and c);
  • both R and X are excited via a common trigger line (wired or wireless) for the simultaneous transmission of their signals.
  • R is passive until it detects a signal from X. Then the emission of the signal from R can be done either after the signal of X in the same or another channel (cases c and d), or almost simultaneously with X in another channel (b).
  • Each stationary station Bi, B 2 and B 3 does not determine the absolute time of the signal arrivals, but only the time difference between the arrival of the signals of X and R.
  • the error is due to slightly different clock frequencies of the clocks in the stationary stations Bi, B 2 and B 3, the lower the X and R send their signals. It is particularly advantageous if, for example, the time offset ⁇ t XR is less than 10% of the duration of the signal from the object X.
  • the knowledge of the clock offsets Ti, T 2 and T 3 is not necessary. It results for the transit time difference of Signals from X and R at the three fixed stations Bl, B2 and B3 (formula 3):
  • ⁇ t XR need not be known. Consequently, the three variables determined by means of formula 4 can be determined by measuring the transit time differences ⁇ ti, ⁇ t 2 and ⁇ t 3 , which can be carried out by conventional algorithms of digital signal processing. For determining the position or location of the object X according to the modified TDOA principle described here, the following quantities are sufficient:
  • ⁇ ti 2 , ⁇ t 23 and ⁇ t 3 i requires communication between the fixed stations Bi, B 2 and B 3 .
  • the communication can be wired or wireless and makes no special demands on the transit times of the communication signals.
  • the method and apparatus according to the present invention differ substantially from the prior art methods. According to the present application, communication with X and R need not occur.
  • the industrial radio standard IEEE 802.15.4 and the routing algorithms of the ZigBee Alliance based on it are already being used increasingly for building and production automation today and in the future.
  • the advantages are a particularly robust data transmission through the use of low data rates at high bandwidths and the ability to build a self-organizing mesh network for data transmission over long distances.
  • the low power consumption allows small terminals with high battery life.
  • the ZigBee routing according to the standard IEEE 802.15.4 is particularly advantageous if accurate location of the ZigBee terminal is possible. In this case, it is possible to dispense with the assignment of physical addresses and to address via positions.
  • a light switch is called, which should not turn on lamp No. 547, but the lamp at position (X / Y / Z) equal (5m / 7m / lm). This requires a high level of accuracy in order to distinguish the lamp clearly from the neighboring lamps.
  • Invention is of particular interest for this application, since a location system can be constructed inexpensively and flexibly.
  • the advantageous omission of communication links to the stations to be located X in particular ZigBee terminals benefit that have no receiver, but only in certain events (for example, when printing a light switch) emit a signal.
  • the reference station R receives this signal and sends the required reference signal afterwards.
  • ZigBee allows the use of multiple channels, which also allows these embodiments to be used.

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

La présente invention concerne un procédé pour localiser un objet X à l'aide du principe de la TDOA (Time-Difference-of- Arrival - différence de temps d'arrivée), l'objet (X) émettant un signal qui est reçu par plusieurs stations (B<SUB>i</SUB>) fixes, présentant des positions connues, les horloges des stations (B<SUB>i</SUB>) pouvant présenter différents décalages temporels (Ti) inconnus les unes par rapport aux autres. Une précision de mesure élevée pour un coût raisonnable doit être obtenue et une synchronisation temporelle entre les différentes stations fixes n'est pas nécessaire. La présente invention est caractérisée par le fait qu'en supplément, une station de référence (R) fixe, présentant une position connue par rapport aux stations (B<SUB>i</SUB>) émet un signal qui est reçu par les stations (B<SUB>i</SUB>), un décalage d'émission inconnu (?t<SUB>XR</SUB>) peut être produit entre l'émission du signal de l'objet (X) et l'émission du signal de la station de référence (R), la différence de temps de propagation (?t<SUB>i</SUB>) entre la réception du signal de l'objet (X) et du signal de la station de référence (R) est déterminée pour chaque station (B<SUB>i</SUB>), les différences des différences de temps de propagation (?t<SUB>i</SUB>) entre les stations (B<SUB>i</SUB>) sont déterminées et des procédés mathématiques appropriés pour la localisation sont mis en oevre.
EP07802812A 2006-08-30 2007-08-22 Procédé et dispositif pour une localisation basée sur le temps de propagation avec l'aide d'un signal de référence déclenché ou se déclenchant automatiquement Withdrawn EP2057479A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102006040497A DE102006040497A1 (de) 2006-08-30 2006-08-30 Verfahren und Vorrichtung zur laufzeitbasierten Ortung mit Hilfe eines getriggerten oder selbstauslösenden Referenzsignals
PCT/EP2007/058747 WO2008025713A1 (fr) 2006-08-30 2007-08-22 Procédé et dispositif pour une localisation basée sur le temps de propagation avec l'aide d'un signal de référence déclenché ou se déclenchant automatiquement

Publications (1)

Publication Number Publication Date
EP2057479A1 true EP2057479A1 (fr) 2009-05-13

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EP07802812A Withdrawn EP2057479A1 (fr) 2006-08-30 2007-08-22 Procédé et dispositif pour une localisation basée sur le temps de propagation avec l'aide d'un signal de référence déclenché ou se déclenchant automatiquement

Country Status (4)

Country Link
US (1) US7889132B2 (fr)
EP (1) EP2057479A1 (fr)
DE (1) DE102006040497A1 (fr)
WO (1) WO2008025713A1 (fr)

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Also Published As

Publication number Publication date
US20090322615A1 (en) 2009-12-31
WO2008025713A1 (fr) 2008-03-06
US7889132B2 (en) 2011-02-15
DE102006040497A1 (de) 2008-03-27

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