EP3394629A1 - Ensemble émetteur destiné à produire un motif de signal approprié pour une localisation et ensemble récepteur permettant d'effectuer la localisation - Google Patents

Ensemble émetteur destiné à produire un motif de signal approprié pour une localisation et ensemble récepteur permettant d'effectuer la localisation

Info

Publication number
EP3394629A1
EP3394629A1 EP16815861.6A EP16815861A EP3394629A1 EP 3394629 A1 EP3394629 A1 EP 3394629A1 EP 16815861 A EP16815861 A EP 16815861A EP 3394629 A1 EP3394629 A1 EP 3394629A1
Authority
EP
European Patent Office
Prior art keywords
antenna
signal
transmission
arrangement
receiving
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Withdrawn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
EP16815861.6A
Other languages
German (de)
English (en)
Inventor
Sven Hafenecker
Niels HADASCHIK
Marc Faßbinder
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.)
Fraunhofer Gesellschaft zur Forderung der Angewandten Forschung eV
Original Assignee
Fraunhofer Gesellschaft zur Forderung der Angewandten Forschung eV
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 Fraunhofer Gesellschaft zur Forderung der Angewandten Forschung eV filed Critical Fraunhofer Gesellschaft zur Forderung der Angewandten Forschung eV
Publication of EP3394629A1 publication Critical patent/EP3394629A1/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Withdrawn legal-status Critical Current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
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
    • G01S1/04—Details
    • G01S1/042—Transmitters
    • G01S1/0428—Signal details
    • 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
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
    • G01S1/04—Details
    • G01S1/042—Transmitters
    • 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
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
    • G01S1/08—Systems for determining direction or position line
    • G01S1/20—Systems for determining direction or position line using a comparison of transit time of synchronised signals transmitted from non-directional antennas or antenna systems spaced apart, i.e. path-difference systems

Definitions

  • Exemplary embodiments relate to a transmission arrangement for generating a signal pattern suitable for localization of an object and to a reception arrangement for performing the localization, based on an observed signal pattern.
  • a radio location of industrial trucks or other vehicles in the logistics or production environment is often to be carried out inside or outside a warehouse with as few installed radio infrastructure nodes as possible.
  • an absolute position of the vehicle in the hall i.e., in the local coordinate system
  • the position of other objects, such as stored goods or goods is to be determined.
  • Other objects can also be absolutely positioned in some applications by means of relative positioning to the vehicle. Due to the dimension of a positioned Euro pallet with 60 cm width, a location with an accuracy of 30 cm is often sought. Half a pallet width allows a clear assignment of a pallet to the localized vehicle or an identification of the directly located pallet.
  • the currently used methods of localization are based on the one hand on optical measurements and on the other hand on the evaluation of wirelessly transmitted signals of different signal characteristics. While optical systems suffer primarily from dirt and small opening angles, or the additional mechanical effort required to be able to adjust the optics mechanically, the currently available radio systems do not achieve the required accuracy of localization, despite the partial massive use of infrastructure. This is all the more so, as far as a localization is desired within buildings, which leads to more strong propagation of radio signals. If wireless signals are used, localization or location In addition, the number of infrastructure nodes should be low, in order to limit the installation effort, keep the radio channel utilization low and the price of the distributed infrastructure justifiable. Thus, there is a need to provide a system for locating items which, with reasonable infrastructure, allows for sufficient location accuracy.
  • Embodiments make this possible by means of a transmission arrangement for generating a signal pattern suitable for a localization, which comprises at least a first antenna and a second antenna spatially objected to by the first antenna.
  • a transmitting device is designed to generate a known signal shape and to transmit the known signal form by means of a transmission signal via the first and the second antenna.
  • the transmission arrangement thus generates a signal pattern in the space or volume in which the location is to take place. This signal pattern changes depending on the location where the signal pattern is observed, which in turn can be used for localization.
  • An embodiment of a receiving arrangement for performing localization based on the observed signal pattern comprises a receive antenna arrangement for receiving a transmit signal transmitted by the first antenna and a transmit signal transmitted by the second antenna.
  • the receiving arrangement further comprises a signal analysis device which is designed to identify a known signal shape in each case in the transmission signal received by the first or second antenna and to determine a time difference between the identified signal form in the transmission signal received by the first antenna and by the second antenna , Based on the time difference and information about the position of the first and second antennas, a locating device may determine information about a position of the receiving antenna array and thus also about the position of an object to which the receiving antenna array is attached.
  • a time difference between the known waveform received by the first and second antennas in the received transmit signals depends both on the a priori known relative orientation between the first antenna and the second antenna, as well as on the position of the receive antenna arrangement with respect to the first antenna and second antenna of the transmission arrangement. Knowing the relative position of the two antennas and the time difference in which the known waveform was found in the transmitted signal received by the first and second antennas thus allows the position of the receiving antenna array to be determined.
  • a time difference between the transmission of the known signal form via the first antenna and via the second antenna is greater than an oscillation period of the transmission signal by means of which the known signal form is transmitted. This can make it possible to increase the robustness of the method, for example in the case of heavy multipath propagation.
  • a time difference between the transmission of the known waveform through the first antenna and the second antenna is greater than 25% of the inverse of a bandwidth of the transmit signal. This can, for example, increase the robustness of the method.
  • the accuracy with which the known signal form can be identified in the transmission signal received by the first or second antenna, even at massive multipath reception, which can lead to a temporal superimposition of the known signal forms at the location of the receiving arrangement at a sufficiently large time interval little affected.
  • the time difference between the transmission of the known waveform over the first antenna and the transmission of the known waveform over the second antenna varies temporally, ie, a first time difference between the transmission of the known waveform over the first antenna and the second antenna for a first time Transmission may differ from a second time difference between the transmission of the known signal form via the first antenna and via the second antenna in the case of a subsequent transmission.
  • a first time difference between the transmission of the known waveform over the first antenna and the second antenna for a first time Transmission may differ from a second time difference between the transmission of the known signal form via the first antenna and via the second antenna in the case of a subsequent transmission.
  • the transmit arrangement is configured to modulate a carrier signal having the known waveform to obtain the transmit signal.
  • the locating device is further configured to receive information about a relative orientation of the receiving antenna arrangement with respect to the first antenna and the second antenna based on a relative phase between a carrier signal transmitted by the first antenna and a carrier signal transmitted by the second antenna determine.
  • some foreign examples of receiving arrangements include a group antenna for receiving the transmission signals transmitted from the first and second antennas.
  • Figure 1 shows schematically an embodiment of a transmission arrangement
  • Figure 2 shows an embodiment of a transmitting device that can be used in a transmitting device.
  • FIG. 3 schematically shows an example of a signal form transmitted by means of a carrier signal
  • Figure 4 shows schematically an example of a receiving arrangement
  • FIG. 5 shows an example of a signal analysis device that can be used in a receive arrangement according to FIG. 4;
  • Figure 6 shows an example of a group antenna;
  • FIG. 7 shows an example of an application of a transmission arrangement and a reception arrangement for locating industrial trucks
  • Figure 8 shows an example of a direct localization of an object
  • FIG. 9 shows a flowchart of an example of a method for generating a signal pattern suitable for a localization
  • FIG. 10 shows a flow chart of an example of a method for performing a localization based on an observed signal pattern. description
  • FIG. 1 schematically shows a transmission arrangement 100 for generating a signal pattern suitable for a localization.
  • This comprises a first antenna 102 and a second antenna 104 as well as a transmission device 106.
  • the transmission device 106 is designed to generate a known signal shape and to transmit the known signal shape via the first antenna 102 and the second antenna 104 by means of a transmission signal.
  • a time difference dT between the transmission of the known waveform via the first antenna 102 and the second antenna 104 is greater than an oscillation period of the transmission signal.
  • the time difference arises solely from the length of the supply cables used between the transmitting device 106 and the first antenna 102 and the second antenna 104, respectively.
  • the known signal form is modulated onto a carrier signal of a higher frequency in order to obtain the transmission signal
  • the time difference between the transmission of the known signal form via the first antenna and the second antenna is greater than 25%, according to some example embodiments.
  • the inverse of the bandwidth of the transmission signal That is, the time interval between the known waveforms is greater than 25% of the time corresponding to a period of oscillation of the modulation of a carrier signal causing signal.
  • the time interval between the known signal forms may also be greater, for example greater than 30%, 50% 80% or 100% of the inverse of the bandwidth of the transmission signal.
  • a transmission arrangement 106 comprises a transmitter 108 for generating the transmission signal and a delay device 110, which is configured to delay the transmission signal generated by the transmitter 108 by a delay time dT.
  • the delay can be generated by cables of suitable length.
  • the delay device 110 may alternatively or additionally comprise analog or digital delay lines.
  • the delay device 110 is designed to additionally vary the delay time in time. That is to say, the time interval in which the known signal shape is transmitted via the first antenna 102 and via the second antenna 104 may vary over time between successive transmission cycles. This imposes on the signal pattern another pattern component that can increase robustness and location accuracy.
  • FIG. 3 shows by way of example how, according to some embodiments of the invention, a carrier signal 310 with a known signal form 320 can be modulated in order to obtain the transmission signal.
  • the carrier signal can both be amplitude-modulated or phase-modulated, or both phase and amplitude modulation of the carrier signal 310 can be performed.
  • the envelope for the carrier signal 310 results as a known signal 320, the envelope 320 corresponding to the known signal shape to be identified.
  • the oscillation period of the transmission signal is given by the frequency of the carrier signal 310, wherein the time difference between the transmission of the known signal form via the first antenna and the second antenna is given by a time difference between the first reception and the subsequent receipt of a signal train with the same envelope 320.
  • the time differences dT between the known waveforms are significantly larger than the oscillation periods of the carrier signal and in the dimension of an oscillation period 330 of the envelope 320.
  • GSM Global System for Mobile Communications
  • EDGE Enhanced Data Rates for GSM Evolution
  • GE-RAN GSM EDGE Radio Access Network
  • HSPA High Speed Packet Access
  • UTRAN Universal Terrestrial Radio Access Network
  • E-UTRAN Evolved UTRAN
  • LTE Long Term Evolution
  • LTE-A LTE Advanced
  • WIMAX Worldwide Interoperability for Microwave Access
  • WLAN Wireless Local Area Network
  • TDMA Time Division Multiple Access
  • FDMA Frequency Division Multiple Access
  • OFDMA Orthogonal Frequency Division Multiple Access
  • CDMA Code Division Multiple Access
  • the modulation and waveform can be varied widely to implement an advantageous configuration.
  • a known waveform can be generated in a simple manner by defining a known sequence of in-phase (I) and quadrature (Q) values in the baseband which determine the known waveform.
  • the modulation speed, ie bandwidth of the transmission signal in these systems can often be varied.
  • the achievable spatial resolution can be adjusted within wide limits, for example to relieve the radio channel at lower requirements or to increase the bandwidth of the signal for high spatial resolution.
  • an exemplary embodiment of a transmission arrangement transmits a (broadband as possible) signal frame with known signal modulation.
  • a (broadband as possible) signal frame with known signal modulation.
  • pseudo-random sequences such as Hadamard, M, or gold sequences that define the known waveform, the embodiments are not limited to the examples mentioned.
  • the modulated signals can additionally be shaped with a filter pulse become.
  • an implementation based on known OFDM symbols, which in turn define known signal form is also conceivable.
  • the known signal form can also be defined by the preamble (or a midamble or a postamble) of a signal that is otherwise used in an already existing telecommunication system for signal detection and channel estimation and can now be used in addition to localization
  • sequences are emitted by the transmitter or transceiver at regular intervals or mixed, for example, when the transceiver triggered by a received signal in the radio band and amplified given to a signal splitter.
  • the signals are in turn given over cables of defined length and signal propagation time to the transmitting antennas.
  • the spacing between these regular transmit signals may not always be the same and could adaptively increase for a high localization rate or degrade for meaningful channel capacity distribution.
  • the transmit antennas are distributed in a specially shaped spatial pattern known to the receiver.
  • surface distributions are possible, e.g. attached to a wall, but also three-dimensional distributions may be advantageous because they include further spatial information.
  • An example of a three-dimensional distribution is the installation of four antennas in one corner: one directly in the corner and three at a defined distance from the corner on one edge each.
  • a beam former beamformer
  • a temporal component is intentionally included in the exemplary embodiments.
  • an artificially inserted delay is introduced before some of the passive transmission lines. This can be done for example by
  • An additional delay may also allow better separation of signals, for example when the artificial delay (or the differences of all artificial delays) reaches the magnitude of the reciprocal of the signal bandwidth 1 / B or larger than this.
  • these cable lengths for delays are greatly reduced when moving to higher bandwidths, eg
  • an initial calibration ie a measurement of the different transit times. These can also be determined relatively easily from the dimensions of the delay line.
  • the transmission carrier phase differences are also measured, which may already change by cable bends and a knowledge of the phase relationships allows improved pattern recognition.
  • power losses can be compensated by one active power amplifier, by attenuators on the other antennas, or simply by taking into account the additional attenuation in the pattern calculation.
  • the spatial pattern can be changed. So that there are several spatial patterns with a structure. By means of different switching patterns and thus different spatial patterns, the estimation results are improved, for example, in one position by means of averaging over different spatial patterns.
  • FIG. 4 schematically shows a receiving arrangement 400 for performing a localization, based on an observed signal pattern.
  • the receiving arrangement 400 comprises a receiving antenna arrangement 401 for receiving a transmitting signal 402 transmitted by a first antenna and a transmitting signal 404 transmitted by a second antenna.
  • the receiving antenna arrangement 404 is shown only schematically in FIG. This can consist of one antenna or several antennas, whereby the antenna number can be chosen arbitrarily large.
  • a group antenna is used which comprises phase-coherently operated individual antennas, so that by means of the array antenna, as will be explained later, in addition, a direction estimate of the entry direction of the received signals can be made.
  • the receive array 400 further comprises a signal analyzer 410.
  • the signal analyzer 410 identifies the known waveform in each of the transmit signal 402 received by the first antenna and the transmit signal 404 received by the second antenna and determines a time difference 412 (dT) between the identified waveform in the of the first antenna and the transmission signal received from the second antenna.
  • a locator 420 is configured to determine information about a position of the receiving antenna array 401 using information about a position of the first and second antennas and the time difference 412 (dT).
  • the receiving arrangement may optionally have a memory 422 in which the information about the position of the first of the second antenna is stored.
  • the information about the position can be stored in any way.
  • the absolute coordinates of the antennas may be indicated.
  • a relative position between the first of the second antennas may be stored as information about the position of the first of the second antennas, allowing for location relative to the antennas of the antenna arrangement.
  • information about multiple antennas of a broadcast system may also be stored to allow location in two dimensions or in three dimensions, as well as to increase localization accuracy if multiple antennas are used to transmit the known waveform.
  • FIG. 5 shows an example of a signal analysis device 401 that can be used when the known signal form is transmitted by modulation of a signal carrier or a carrier frequency.
  • the signal analysis device 401 has a demodulator 430, which is configured to transmit the transmission signal 402 received by the first antenna and the transmission signal 404 received by the second antenna with a carrier signal (LO) for demodulation. to obtain a first baseband signal 432 and a second baseband signal 434.
  • LO carrier signal
  • the known signal shape is subsequently determined in the baseband signals 432 and 434.
  • a receiving arrangement further includes, for each antenna, a separate receiver coupled thereto and receivable synchronously with the other receivers of the receiving arrangement.
  • some embodiments further include a first receiver coupled to the first receive antenna 403 and at least one second receiver coupled to the second receive antenna 405, which is synchronized with the first receiver.
  • the location device 401 is further configured to determine information about a relative orientation of the receive antenna arrangement with respect to the first antenna and the second antenna based on a relative phase between the carrier signal transmitted by the first antenna and the carrier signal transmitted by the second antenna .
  • some exemplary embodiments have, for example, a group antenna whose mode of operation is shown in principle in FIG. By means of the individual synchronously operated antenna elements 602a to 602e, the signals transmitted by the antennas are respectively received. As will be explained below, based on a relative phase position of the carrier signals received by the individual antennas, the direction from which the signal is received with respect to the array antenna can be estimated.
  • some embodiments of the locator may increase localization accuracy by combining the information about the position of the receive antenna array and the relative orientation information between the receive antenna array and the first antennas of the second antenna to provide both an estimate of the location and to make the orientation of the receiving antenna arrangement.
  • a group antenna (an antenna made up of various phase-coherent antenna elements in fixedly defined relative positions) can be mounted on the truck (forklift), for example, or on its front or rear side, provided that the industrial truck is to be located.
  • Group antennas can be used in different configurations. Possible designs for the group antenna are, for example: a linear array antenna of more than three elements, a 2D array antenna with antennas on one level,
  • Antennas in a plane perpendicular to the main measurement direction looks forward, for example
  • the received transmission signals may be provided by a multi-channel receiver having phase-coherent channels for each antenna element 602a; 602e the group antenna are brought into the digital baseband and processed there.
  • a multi-channel receiver having phase-coherent channels for each antenna element 602a; 602e the group antenna are brought into the digital baseband and processed there.
  • the different antennas are coupled by means of switching matrices to the receiving system. Subsequently, each antenna pair is successively switched to the receiving channels. Once all pairs have been recorded, a complete channel matrix results over all antennas by combining the individual receive data.
  • the localization takes place by the detection of a spatial signal pattern, optionally with additional consideration of a known temporal variation of the spatial signal pattern.
  • a direct spatial and possibly temporal observation of the pattern takes place, where spatially means that transit times (and thus distances) of signals and optional angles of incidence are evaluated. If additional variable signal delays are applied to the antenna, an additional temporal component is added.
  • spatially may mean that Duration differences or distance differences are considered.
  • reflections of the signal pattern produced by the known waveforms at the location of a receive array will look significantly different or give a different pattern alignment, so that multipath propagation can be detected and erroneous localization caused thereby is avoided.
  • the reception phase ⁇ results from the individual antenna distances for assumed four transmission antennas for a single position of one of the m reception antennas at the location x m> z m> z 7 rfthe channel or reception phases:
  • ⁇ ⁇ - ⁇ ⁇ % - 4 X Y + (y - ⁇ + (4? - 4 X Y + ⁇ ⁇ + ⁇ ⁇ 1
  • ⁇ % 2 - ⁇ ⁇ % - ⁇ ⁇ + (y - yf) 2 + (4? - 4 X Y + ⁇ ⁇ + ⁇ ⁇ 1
  • ⁇ % 4 - ⁇ ⁇ % - 4 ⁇ ⁇ + (y - ⁇ + (4? - ⁇ ?) 2 ] 2 + ⁇ * + ⁇ ⁇ 1
  • ⁇ ⁇ ⁇ 1 ⁇ ⁇ 1 for the same cable length as 0 are set.
  • this phase would not be related solely to the carrier frequency, but the entire frequency range should be considered.
  • a possibly ambiguous phase pattern results at each location in the room.
  • the inclusion of a receiving array antenna adds an extra degree of freedom to the orientation of the transmitting antenna and the receiving antenna array, therefore, embodiments may optionally also consider the orientation in the localization.
  • the determination of the orientation can be specified or supplemented by gyroscope and compass information and, if necessary, specified by the radio measurement data of the known signal patterns.
  • a specific implementation of locating a receive array at location x is illustrated in the following paragraphs.
  • the consideration is made on the basis of the complex baseband signal y (t), which after demodulation by means of a carrier signal and, if necessary, the application of a pulse shape feeder, is present in the receiving arrangement and comprises portions of each transmitting antenna.
  • One of L antennas with individual delay ( ⁇ ⁇ + T cable l) transmitted waveform s (t) can the receiver side as a signal sample y (t) can be described as follows in the presence of white noise w (t):
  • the time profile of the signal y (t, T ⁇ ) identifies the known signal form s (t) in each case in the transmitted signal received by the first antenna and the second antenna in the received signal pattern, for example by a local maximum in
  • the time profile of the signal y (t, ⁇ ] _) varies, which may also be referred to as the channel pattern of the propagation channel h (t, x) between the transmitting arrangement and the actual position of the receiving arrangement. This is correlated to the signal y (t, 7 ⁇ ) for various assumed locations x, preferably considering a temporal range which is determined by the times of identifying the known waveform in that of the first antenna and that of the second antenna received transmission signal (in particular includes both time points and is therefore longer than the time difference between the identified waveform in the transmission signal received by the first antenna and by the second antenna):
  • a phase difference between the identified signal shape in the transmission signal received by the first antenna and by the second antenna is taken fully into account in the position determination.
  • the search space for the possible positions x may be constrained based on a-priori knowledge or page information obtained in any manner.
  • Methods of position detection or identification of the known signal form can be arbitrary and, for example, maximize a signal metric, such as MUSIC (Schmidt, RO, “Multiple Emitter Location and Signal Parameter Estimation,” IEEE Trans. Antennas Propagation, Vol. AP-34 (US Pat. March 1986), pp.276-280.), JADE-MUSIC, ML, or similar to classical beamformers or methods according to ESPRIT (Roy, Richard, and Thomas Kailath. "ESPRIT-estimation of signal parameters via rotational invariance techniques. "Acoustics, Speech and Signal Processing, IEEE Transactions on 37.7 (1989): 984-995) or SI-JADE work (van der Veen, AJ., Michaela C.
  • ⁇ ⁇ ⁇ cos (0 (TM y TX , x RX , y RX )).
  • a steering vector can be used in the optimization and thus the localization, since the relative positions of the transmit antennas are known.
  • a correlation of the transmitted signal or the known signal form in the multi-antenna receiver could be used to identify known signal form (combined angular delay estimator). For the determination of the angular dimension, a situation would then arise which is similar to that of a (Bartlett) beamformer, the information in the time dimension corresponding to that of a fitted corrector.
  • JADE Joint angle and delay estimation
  • search spaces may be constrained from a priori information such as the last position to make the system more robust and to reduce computational effort.
  • additional information from an inertial sensor may be used to assist the position calculation or localization.
  • odometry data of the vehicle may be used to assist the position calculation or localization.
  • CDMA code, frequency or time separated
  • FDMA frequency or time separated
  • TDMA time separated
  • Further possibilities of differentiation are different polarizations (horizontal-vertical or circular RHCP and LHCP), or the transmission arrangements send opportunistic (possibly with CSMA) and send identification.
  • the transmit modulation may be narrowband.
  • a frequency hopping scheme may be employed in the transmit arrangement.
  • the modulation in the transmission arrangement can be ultra-wideband.
  • the transmission modulation may also be unknown, for example, it is possible to work on user data.
  • FIG. 7 shows an application of a receiving arrangement 700 for locating a forwarder vehicle 702, in particular a fork-lift truck.
  • the receiving assembly 700 is attached to the ground conveyance vehicle.
  • the transmission arrangement consists of the first antenna 710a, a second antenna 710b and a third antenna 710c.
  • the time difference between the transmission of the known waveform across the respective antennas 710a through 710c is produced by the different length cables used, ie, a single transmitter 712 is used to generate and transmit the transmit signal distribute passive splitter network 714 to the individual antennas 710abis 710c. If necessary, a compensation of the line losses in the cables of different lengths can be made by an additional amplifier.
  • Figure 8 shows an application of a locating system in which the transmitting device is attached to the object to be located, whereas at least two receiving devices 810a and 810b are distributed within the volume in which objects are to be located.
  • the transmission arrangement in turn consists of three transmission antennas 802a to 802c, which are arranged in a known spatial orientation relative to each other on the object.
  • the transmission signal is generated by means of a single transmitter 804 and distributed via a splitter network 806 to the individual antennas.
  • two receive arrays 810a and 810b are shown in FIG. 8, which form the infrastructure in the monitored space, further output examples can also use only one receive arrangement in this constellation.
  • FIG. 9 schematically shows an exemplary embodiment of a method for generating a signal pattern suitable for a localization.
  • the method includes generating 902 a known waveform 902.
  • the method further includes transmitting the known waveform via first antenna 904a and transmitting the known waveform via a second antenna 904b by means of a transmit signal, wherein the second antenna is subject to the first antenna ,
  • the method may further comprise delaying 906 the transmit signal 906 such that a time difference between the transmission of the transmit signal via the first antenna via the second antenna corresponds to a predetermined criterion.
  • Figure 10 shows schematically in the form of a flow chart an embodiment of a method for confusion localization based on an observed signal pattern.
  • the method comprises receiving a transmit signal 1002a transmitted by a first antenna and a transmit signal 1002b transmitted by a second antenna.
  • the method further includes identifying 1004 a known waveform in each of the transmit signals received from the first and second antennas, and determining a time difference (dT) between the identified signal forum in the transmit signal 1006 received by the first antenna and the second antenna. Determining information about a position 1008 is made using information about a position of the first of the second antenna and the determined time difference dT.
  • aspects have been described in the context of a device, it will be understood that these aspects also constitute a description of the corresponding method, so that a block or a component of a device is also to be understood as a corresponding method step or as a feature of a method step. Similarly, aspects described in connection with or as a method step also represent a description of a corresponding block or detail or feature of a corresponding device.
  • embodiments of the invention may be implemented in hardware or in software.
  • the implementation may be performed using a digital storage medium, such as a floppy disk, a DVD, a Blu-Ray Disc, a CD, a ROM, a PROM, an EPROM, an EEPROM or FLASH memory, a hard disk, or other magnetic disk or optical memory are stored on the electronically readable control signals, which can cooperate with a programmable hardware component or cooperate such that the respective method is performed.
  • the digital storage medium may therefore be machine or computer readable.
  • some embodiments include a data carrier having electronically readable control signals capable of interacting with a programmable computer system or programmable hardware component such that one of the methods described herein is performed.
  • One embodiment is thus a data carrier (or a digital storage medium or a computer readable medium) on which the program is recorded for performing one of the methods described herein.
  • embodiments of the present invention may be implemented as a program, firmware, computer program, or computer program product having program code or data, the program code or data operative to perform one of the methods when the program resides on a processor or a computer programmable hardware component expires.
  • the program code or the data can also be stored, for example, on a machine-readable carrier or data carrier.
  • the program code or the data may be present, inter alia, as source code, machine code or bytecode as well as other intermediate code.
  • Another embodiment is further a data stream, a signal sequence, or a sequence of signals that represents the program for performing any of the methods described herein.
  • the data stream, the signal sequence or the sequence of signals can be configured, for example, to be transferred via a data communication connection, for example via the Internet or another network.
  • Embodiments are also data representing signal sequences that are suitable for transmission over a network or a data communication connection, the data representing the program.
  • a program may implement one of the methods during its execution, for example, by reading out of these memory locations or writing therein one or more data, whereby switching operations or other operations in transistor structures, in amplifier structures or in other Ren electrical, optical, magnetic or operating according to another operating principle components are caused. Accordingly, by reading a memory location, data, values, sensor values or other information can be detected, determined or measured by a program.
  • a program can therefore acquire, determine or measure quantities, values, measured variables and other information by reading from one or more storage locations, as well as effect, initiate or execute an action by writing to one or more storage locations and control other devices, machines and components ,

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

Abstract

Ensemble émetteur (100) destiné à produire un motif de signal approprié pour une localisation, qui comporte une première antenne (102) et au moins une deuxième antenne (104) située spatialement à distance de la première antenne. Un dispositif émetteur (106) de l'ensemble émetteur (100) est conçu pour produire une forme de signal connue, et pour envoyer la forme de signal connue au moyen d'un signal d'émission par l'intermédiaire de la première et de la deuxième antenne (104).
EP16815861.6A 2015-12-21 2016-12-21 Ensemble émetteur destiné à produire un motif de signal approprié pour une localisation et ensemble récepteur permettant d'effectuer la localisation Withdrawn EP3394629A1 (fr)

Applications Claiming Priority (2)

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DE102015122420.8A DE102015122420A1 (de) 2015-12-21 2015-12-21 Sendeanordnung zum Erzeugen eines für eine Lokalisierung geeigneten Signalmusters und Empfangsanordnung zum Durchführen einer Lokalisierung
PCT/EP2016/082174 WO2017108947A1 (fr) 2015-12-21 2016-12-21 Ensemble émetteur destiné à produire un motif de signal approprié pour une localisation et ensemble récepteur permettant d'effectuer la localisation

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EP3394629A1 true EP3394629A1 (fr) 2018-10-31

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US (1) US11016164B2 (fr)
EP (1) EP3394629A1 (fr)
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DE102015122420A1 (de) 2017-06-22
WO2017108947A1 (fr) 2017-06-29
US20190004138A1 (en) 2019-01-03
US11016164B2 (en) 2021-05-25

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