EP3400417A2 - Calibrage de la position d'objets mobiles dans des bâtiments - Google Patents

Calibrage de la position d'objets mobiles dans des bâtiments

Info

Publication number
EP3400417A2
EP3400417A2 EP16804732.2A EP16804732A EP3400417A2 EP 3400417 A2 EP3400417 A2 EP 3400417A2 EP 16804732 A EP16804732 A EP 16804732A EP 3400417 A2 EP3400417 A2 EP 3400417A2
Authority
EP
European Patent Office
Prior art keywords
mobile object
building
position information
transmitting device
mol
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Withdrawn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
EP16804732.2A
Other languages
German (de)
English (en)
Inventor
Christian Frey
Oliver Zechlin
Christiane Mann
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 Schweiz AG
Original Assignee
Siemens Schweiz 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 Schweiz AG filed Critical Siemens Schweiz AG
Publication of EP3400417A2 publication Critical patent/EP3400417A2/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • 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
    • G01S1/022—Means for monitoring or calibrating
    • G01S1/026—Means for monitoring or calibrating of associated receivers
    • 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
    • G01S1/0423—Mounting or deployment thereof
    • 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
    • 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
    • G01S1/68—Marker, boundary, call-sign, or like beacons transmitting signals not carrying directional information
    • 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
    • G01S5/0244—Accuracy or reliability of position solution or of measurements contributing thereto
    • 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
    • G01S2205/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S2205/01—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations specially adapted for specific applications
    • G01S2205/02—Indoor
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/024—Guidance services

Definitions

  • the invention relates to a method and an arrangement for calibrating the position of mobile objects in buildings.
  • the object is achieved by a method for calibrating the position of mobile objects in buildings, the method comprising the following steps:
  • the position information of the transmitting device is uniquely assigned, and thus transmits the current location to the mobile object in the building;
  • the mobile objects are portable electronic devices, such as smart phones, smart watches, smart glasses or tablet computers, which have sensors such as accelerometers, magnetometers, gyroscopes , Barometer.
  • Sensors can be used for position determination and / navigation. This sensor has the disadvantage that their measurement results easily “get out of control”. Due to the auto ⁇ -automatic calibration of the position of the measurement error is eliminated. This is done without interaction of the user of this state-bilen devices.
  • a transmission device with its respective eindeu ⁇ If the mobile object is located in a radio emission area of a transmission device, the calibration or recalibration of the mobile objects takes place based on the mobile radio field in the respective radio emission area
  • the transmitting device may be, for example, WLAN, Bluetooth, or Zigbee transmitters or a combination of transmitters (beacons).
  • One concept of the invention is based on the fact that the transmitting device corresponds to a reference beacon which, in the sense of a beacon, emits its position information and this is then used for calibrating or recalibrating the position of a mobile object (mobile device).
  • the object is further achieved by a method for calibrating the position of mobile objects in buildings (GB1, GB2), the method comprising the following steps:
  • the position information of the transmitting device is uniquely assigned, and thus transmits the current location to the mobile object in the building;
  • the mobile object sensor for determining the position of the mobile object, based on the received position information, wherein the transmission of the position information or the reference thereof takes place within a focused, in particular directed, radio emission.
  • portable electronic devices such as Smart Phones, Smart Watches (smart watches), Smart Glasses (intelli ⁇ gent glasses) or tablet computers that up have a sensor such as accelerometers, magnetometers , Gyroscope, barometer. This sensor can be used for position determination
  • a first advantageous embodiment of the invention is as ⁇ rin that the bundled Funkabstrahl Scheme is radiated at an angle of at most 10 degrees about its central axis from the Sendevor ⁇ direction (resulting in a radiation angle of 19 degrees at 3 m distance of the light cone has a diameter of 1 m).
  • the central axis of the main ⁇ beam direction corresponds to the transmission device emits the Funkabstrahl Scheme directed.
  • the bundled (directed) Funkabstrahl Scheme is emitted in the form of a substantially straight circular cone of the transmitting device, wherein the central axis of the circular cone is directed substantially perpendicular to a receiving plane, wherein the Kreiskegel forming ⁇ réelleswin ⁇ is not more than 19 degrees.
  • a light cone or a radio cone at a distance of 3 m gives a diameter of 1 m on a receiving plane opposite the transmitter.
  • a mobile object which is located in the circular cone is obtained by a position Informa ⁇ tion for a calibration of the position of the mobile object in sufficient accuracy.
  • a further advantageous embodiment of the invention is that the bundled radio emission range is radiated in the form of a substantially straight circular cone of the transmitting device in the direction of a receiving plane, the central axis of the circular cone is directed substantially perpendicular to the receiving plane, which form the circular cone de opening angle is chosen so that by the
  • Circular cone formed on the receiving level passage width is not more than 1 m.
  • a light cone or a radio cone results in a diameter of 1 m on one of the transmitting devices lying reception level.
  • a mobile object located in the circular cone thereby obtains position information for a calibration of the position of the mobile object with sufficient accuracy.
  • a further advantageous embodiment of the invention is that the cone is emitted in the vertical direction from top to bottom or vice versa, or in the horizontal direction, such. between two walls of the building. This ensures secure reception of the position information on the mobile device (mobile object).
  • a further advantageous embodiment of the invention is that the position information and / or the reference thereto are received by the mobile object in a radius of ⁇ 100 cm, in particular ⁇ 50 cm, around the central axis of the radio beam when hitting the mobile object can.
  • the position information and / or the reference thereto can be received by the mobile object only in a radius of ⁇ 100 cm, in particular ⁇ 50 cm, around the central axis of the radio beam when hitting the mobile object.
  • the radio beam is aligned starting from the transmitting device vertically downwards. Then possible errors with regard to the position information received on the mobile device are very small.
  • the emission angle for the radio emission range (essentially a circular cone) is chosen such that the mobile object (eg smartphone) traverses this radio emission range within a radius of ⁇ 100 cm, in particular ⁇ 50 cm.
  • the bundled radio beam is tracked by the transmitting device directed to the mobile object. Targeted tracking can be done, for example, by dynamic antenna setting, ie by adjusting the radio beam to the passing mobile object (eg smartphone, smartwatch, smartglasses, tablet, etc.).
  • the Zielge ⁇ advises receives the transmitted position information, or an ID of each transmission device from which the position of each transmission device can be determined. This can be offline in an app in the mobile object. take place, or online by means of a connection of the mobile object to a server (eg a building automation system).
  • a server eg a building automation system.
  • a further advantageous embodiment of the invention is that the method is used for navigating mobile objects in a building,
  • the received position information of the transmitting device defines a first location as a reference point (or starting point) of the mobile object in the building; starting from the first location of the mobile object using the one integrated in the mobile object
  • Navigation sensor for example, gyroscope, acceleration sensors, barometer, WLAN
  • a further transmitting device for transmitting a further position information, which is associated with the further transmitting device attached
  • the currently determined location is calibrated to the second location of the transmitting device (reference point) when the further position information is received by the mobile object.
  • This can be used not only to determine the position, but also to navigate in a building a correspondingly turned teach ⁇ tes mobile object.
  • a further advantageous embodiment of the invention is that, based on the calibrated position to be recalibrated or the calibrated sensor, stored in the mobile object digitally tale cards or floor plans of the building Positionsan ⁇ see.
  • the building plans can be provided, for example, by a building automation system.
  • the building plans are part of a BIM (Building infor mation ⁇ Model) or building information model or system.
  • the building plans are beneficial to the mobile object
  • the object is further achieved by an arrangement for calibrating the position of mobile objects in buildings, comprising the arrangement:
  • a transmitting device located in the building for transmitting position information and / or a reference thereto, wherein the position information of the transmitting device is uniquely assigned and thus transmits the current location to the mobile object in the building;
  • a mobile object with integrated sensors for determining the position of the mobile object in a building and a receiving device for receiving the position information and / or the reference thereto;
  • the mobile object is set up, based on the received position information, to calibrate the position indicated on the mobile object for position determination, wherein
  • the transmitting device is set up to emit a bundled, in particular directional, radio beam with the position information and / or the reference thereto.
  • the arrangement can be with anyway already usually in one Realize building components.
  • the beam emitted from the transmission device bundled, especially court ⁇ ended, the radio beam can be, for example, back-shifted by a corresponding From ⁇ screen panel or (by other constructional measures such as placing the transmitter in a blind hole, through its opening exit the beams.
  • the transmitting device (Beacon) can The object is furthermore achieved by an arrangement for calibrating the sensor technology of mobile objects in buildings, the arrangement comprising:
  • a transmitting device located in the building for transmitting position information and / or a reference thereto, wherein the position information of the transmitting device is uniquely assigned and thus transmits the current location to the mobile object in the building;
  • a mobile object with integrated sensors for determining the position of the mobile object in a building and a receiving device for receiving the position information and / or the reference thereto; wherein the mobile object is ⁇ directed is to make based on the received position Informa ⁇ tion, a calibration of the integrated mobile object sensor for determining the position, wherein the transmitter devorraum adapted to be a focused, in particular directional radio beam with the position information and / or of the reference to send out.
  • a further advantageous embodiment of the invention is that the transmitting device is adapted to emit the bundled, advantageously directed, radio beam at an angle of at most 10 degrees about the central axis of the radio ⁇ beam from the transmitting device.
  • Advantage corresponds to the central axis of the main radiation direction in which the transmitting device radiates the radio emission area directed.
  • a mobile object which is located in the radio emission area thereby obtains position information for a calibration of the position of the mobile object with sufficient accuracy.
  • a further advantageous embodiment of the invention is that the transmitting device is set up so that the bundled, in particular directed, radio emission range in the form of a substantially straight circular cone is emitted by the transmitting device in the direction of a receiving plane, wherein the central axis of the circular cone substantially perpendicular the reception plane is directed, wherein the, the circular cone forming opening angle is chosen so that the passage width formed by the circular cone on the receiving plane is at most 1 m.
  • a mobile object which is located in the circular cone is replaced by a positi ⁇ onsinformation for a calibration of the position of the mobile object in sufficient accuracy.
  • a further advantageous embodiment of the invention is that the mobile object is set up, based on the received position information, to carry out a referencing of the digital maps or building plans stored in the mobile object for calibrating the position display on the mobile object or the sensors integrated in the mobile object.
  • the maps may be e.g. of a mobile object building automation system (e.g., Smart Phone, Smart Watch, Smart Glass)
  • Tablet computer For example, by a corresponding download to the mobile object.
  • the mobile object may be used as Navigation device, dedicated to the particular building ver ⁇ be used.
  • a further advantageous embodiment of the invention is that the transmitting device is adapted to directed the trunked radio beam to the mobile object by performing ⁇ .
  • the targeted tracking can be done eg by dynamic antenna setting, ie by the adjustment of the radio beam on the passing mobile object (eg smartphone, smartwatch, smart glasses, tablet, etc.).
  • a further advantageous embodiment of the invention lies in the fact that the transmitting device is mounted in the building in places where conditioned by the construction of the building or by technical facilities in the building, in
  • a further advantageous embodiment of the invention is that the transmitting device is mounted in particular at one of the following locations in the building: entrance, exit, passageways, access to elevators, beginning and end of escalators, access to toilets. Such places are likely to be visited or entered by people carrying the mobile object.
  • mechanical barriers in the building can be attached to guide Perso ⁇ nen in a Funkabstrahl Scheme (with reference Beacon).
  • the transmitting device is integrated in an infrastructure element of the building, in particular a fire detector or a lighting element.
  • the infrastructure element is part of the usual equipment of a building, eg danger detector, access control, loudspeakers, lamps, camera. This results in only small officersskos ⁇ th.
  • the transmitting devices are mounted hidden in the infrastructure elements.
  • FIG. 1 shows a first exemplary arrangement for calibrating the position of mobile objects in a building
  • FIG. 2 shows a second exemplary arrangement for calibrating the position of mobile objects in a building
  • FIG. 3 shows an example flow chart for a method for calibrating the position of mobile objects in a building
  • Bluetooth is, for example, which is already supported by vie ⁇ len smartphones a technology. It was originally ge ⁇ uses to work with PDAs or mobile phones with each data hinderau ⁇ rule. In the meantime, more and more accessories for mobile phones are coming onto the market, such as headsets that communicate with the device via Bluetooth.
  • Bluetooth is a short-range communication ( ⁇ 10 m), with Bluetooth devices transmitting only in the frequency range between 2.402 GHz and 2.480 GHz. However, this makes it quite susceptible to interference for wireless networks, cordless telephones or microwave ovens.
  • a special feature of Bluetooth is the asymmetric data transmission, which means that it can be sent and received at the same time.
  • a sufficiently accurate navigation via Bluetooth beacons can be done by domestic ner Halb a building attached sufficient sensors ⁇ to which its fixed location to tell the device, after this its location calculated Late ration with sufficiently many Sustainer ⁇ requested signals by means of (tri) can.
  • the average indoor transmission range is approximately ten meters, depending on the type and type of implementation, which leads to high investment costs for full coverage in a building.
  • some built-in mobile phones chips only support the connection to a single station, which in turn makes trilateration more difficult. This results in an unnecessary loss of time in the construction and dismantling of compounds, as well as further vulnerability in the navigation itself.
  • the known WLAN networks today work mainly on a frequency of 2.4-2.4835 GHz and have established themselves as a technology for determining the location within buildings.
  • Today's WLAN implementations enable already an accurate determination of signal strength, as a Sen ⁇ destation sends usually ten times a second so-called "Beacon" with the lowest transmit power. This ensures that a stable connection can be made upon receipt of a beacon, which then However, this beacon also allows the signal strength to be measured without connecting to the respective network, which is logged at the receiver as RSS (Received Signal Strength) and normally decreases as the receiver farther from the receiver transmitter is removed.
  • RSS Receiveived Signal Strength
  • the positioning within wireless networks can be done by several Various ⁇ ne ways of implementation. These include the (tri) Late ration and the so-called fingerprinting.
  • Fingerprinting is done in two phases. In the so-called offline phase, a grid is created with points in the area in which you want to use the navigation later. Signal values of surrounding wireless networks at each of these points measured and vomit ⁇ chert - so it is the RSS of the different networks in range, as well as the unique identifier of the networks saved yourself. This identifier is called Basic Service Set Identifier (BSSID) and is described in the IEEE standard as
  • BSSID Basic Service Set Identifier
  • MAC address Medium Access Control
  • This combination of different BSSIDs and their signal strength is usually unique, like a fingerprint. If you have collected enough comparative values, so in Onli ne ⁇ phase the position determination can be made. For this purpose, currently measured values are sent to a server (eg building management system, cloud) if the data was stored externally or processed internally within the mobile device (mobile object).
  • a server eg building management system, cloud
  • wel ⁇ cher differs from process to process, most or best matches the values of the two phases are found and the corresponding point in the grid ER averages.
  • the fingerprinting is a very time-consuming procedural ⁇ ren due to the long prepara ⁇ -up time in the offline phase, but it is the basis for the exact Ortsbe ⁇ mood in stable radio environments as easily in very many existing comparative data entertaining measurement errors or inaccuracies balance out.
  • WiFi has established itself as a technology for indoor Naviga ⁇ tion. Not only inside, but also outside of buildings various techniques were used to achieve a precise position determination.
  • WLAN radios on the Re ⁇ sonanzfrequenz 2.4 GHz of water The biggest Wi-Fi problem is moisture.
  • WLAN radios on the Re ⁇ sonanzfrequenz 2.4 GHz of water Thus, the WLAN is disturbed wherever there is moisture in the masonry (or plasterboard or wooden walls) or, for example, a floor heating system is installed. Reinforced concrete floors and columns dampen the expansion of WLAN signals over several floors.
  • the inventive idea consists in using so-called reference beacons for calibration and thus precisely determining the starting or passing position.
  • beacon electronics are installed in a housing which radiates as bundled as possible by material property (radiation protection / shielding) and / or use of antenna characteristics ('directional antenna').
  • this trunked radio beam can also assume an optimized radiation characteristic, eg 10 °, 20 °, 30 ° beam angle. This can be realized as written by design of housing, antenna or software setting.
  • a trunked radio beam can eg by a corresponding shielding (eg aperture) realized ⁇ who.
  • a further technological realization would be the use of a directional radio beam which automatically adjusts to the whereabouts of the user.
  • the detection of the current location of a human or device is relatively coarse resolved by means of sensors and / or algorithms (e.g., sound, light, or evaluation of radio wave reflection) in the reference beacon or separate hardware. This works almost similar to a motion detector.
  • the reference beacon can then be targeted by e.g. dynamic antenna setting (e.g., mechanical modification, or software solution) radio-beamed its reference beacon ID to the passing mobile object (smartphone, smartwatch,
  • the target device emp ⁇ captures the sent ID and the beam direction of the antenna and can thus determine its position in the building and space. This can be done offline in an app or online via server connection. Thereafter, until the next (reference) beacon is reached, the navigation or position determination is carried out on the basis of the sensors used by the user. When the next reference beacon is reached, the terminal can re-calibrate the deviation caused by the internal sensors.
  • the present invention reduces the investment in the building infrastructure enormously, since only a few reference beacons have to be used on "strategic passages.”
  • the positioning accuracy remains sufficiently accurate, in principle, the position determination in high halls is possible, if at the hall entrances , Toilet entrances and other "narrow passages" the reference beacon are installed.
  • the reference beacons are advantageously so positio- When passing, the position (or the plan of the building) can be calibrated to the nearest meter with the greatest signal strength, down to less than one meter. This reference then serves as a starting point for further position determination via the sensors installed in the smartphone.
  • the exact position data are optionally recorded in the building management system and made available to the user via WLAN or other transmission technology (eg 2G, 3G, 4G, etc. mobile radio, light or sound signal, etc.), for example by means of a server connection or by download to his mobile communication terminal ,
  • the reference beacon is installed in a (at least) partially shielded housing, so that the least possible reflection radiation is produced.
  • the multipath problem is thereby reduced or avoided.
  • Another advantage of the invention is that the receiving of the position information on the part of the owner of the mobile device is passive, by simply traversing the room. The owner or user does not have to become active himself and actively log in to a dedicated point in the room, e.g. by positioning the mobile device at a location in the building provided with an NFC beacon, bar or QR code, and capturing the NFC beacon, bar or QR code by the mobile device.
  • Figure 1 shows a first exemplary arrangement for Kali ⁇ -calibration of the position of mobile objects MOI in a building Coll
  • the arrangement comprises an in building Coll befind ⁇ Liche transmitting device SV1 -. SV7 for transmitting a position information PS1 - PS7 and / or a reference thereon, where the position information PS1 - PS7 of the respective transmitting device SV1 - SV7 is unambiguously assigned (eg as pole position) in a building plan transmitted to the mobile device MO by a building management system GMS) and thus transmit the current location to the mobile object MO in the building GB1.
  • the arrangement furthermore comprises a mobile object MO1 (eg smart phone, smart watch, smart glass, tablet computer).
  • a mobile object MO1 eg smart phone, smart watch, smart glass, tablet computer
  • the mobile object MOI includes a sensor (eg, accelerometer, magnetometer, gyroscope, barometer) for determining the position of the mobile object MOI in the building GBL and ei ⁇ ner receiving device (eg radio antenna for receiving radio signals) for receiving the position information and / or the reference thereto.
  • the radio signal may include the positi ⁇ onsinformation itself thereby, that the Positionsinformati ⁇ one may be (mobile object) Mol be discharged via ⁇ directly to the mobile device or indirectly in the form of a reference (for example, URL) to the respective position information.
  • the mo ⁇ bile object MOI is set up based on the emp ⁇ captured position information PS1 - make PS7, calibration of displayed on the mobile object MOI position for position determination.
  • the transmitting device SV1-SV7 is set up to transmit a bundled, in particular directional, radio beam FS1-FS7 with the position information PS1-PS7 and / or the reference thereto.
  • a user P usually has a mobile device MOI (eg a smart phone) equipped as described above.
  • the transmitting devices SV1 - SV7 are positioned in the building GB1 at those places where visitors P in the building pass anyway, for example at hubs, elevators, toilets, entrances and exits.
  • the building Coll is operated with a building management system ⁇ GMS.
  • building plans can be loaded onto the mobile device MO by the building management system GMS.
  • the mobile device MOl can thus also be used for indoor navigation in the building.
  • FIG. 2 shows a second exemplary arrangement for calibrating the position of mobile objects M02 in a building GB2.
  • the second exemplary arrangement according to FIG. 2 comprises:
  • the position information PS8 the transmission ⁇ device SV8 is uniquely associated with and thus the refreshes ⁇ economic location of the mobile object M02 in the building GB2 via ⁇ averages;
  • a mobile object M02 for example smart phone
  • integrated sensor system for determining the position of the mobile object M02 in the
  • the mobile object M02 is set up, based on the received position information PS8, to perform a calibration of the position indicated on the mobile object M02 for position determination.
  • the transmitting device is adapted for For SV8 it ⁇ send a bundled, especially directional radio beam FS8 sitionsinformation with the Po PS8 and / or of the reference.
  • the transmitting device SV8 is attached to a ceiling or gangway, the radiation of the bundled, in particular special directed, radio beam FS8 with advantage in wesent ⁇ union perpendicular to the opposite floor, as a receiving plane EE.
  • the central axis MA of the radio emission range FS8 is formed by the main radio beam.
  • the Funkabstrahlbe- FS8 is essentially rotationally symmetric or conical around the central axis MA.
  • the bundled (in particular directional) radio emission area FS8 is radiated in the form of a substantially straight circular cone KK from the transmitting device SV8, where ⁇ is directed at the central axis MA of the circular cone substantially perpendicular ⁇ right on a receiving plane EE, wherein, the circular cone KK forming opening angle at most 19 degrees be ⁇ contributes.
  • the bundled (particularly directed) Funkabstrahl Scheme FS8 in the form of a substantially right circular cone KK from the transmission device SV8 in the direction of a receiving plane EE is radiated, wherein the central axis MA of the circular cone KK is directed substantially perpendicular to the Emp ⁇ capturing plane EE, wherein the, the circle cone KK forming opening angle is chosen so that the fürgangssbrei ⁇ te formed by the circular cone on the receiving plane EE is at most 1 m.
  • the position information and / or the reference thereto by the mobile object only within a radius of ⁇ 100 cm, in particular ⁇ 50 cm, about the central axis MA of the radio ⁇ beam FS8 when hitting the mobile object M02 receivable. This ensures that the position allocation takes place in the respective corresponding spatial area in the building.
  • the radio beam is perpendicularly directed downwardly ⁇ , then error is smallest ( ⁇ 50 cm), add description.
  • the angle (emission angle) for the radio emission area FS8 is chosen such that the mobile object M02 (for example a smartphone) traverses this emission area FS8 within a radius RA of ⁇ 100 cm, in particular ⁇ 50 cm.
  • the bundled radio beam is directed through the FS8 Sen ⁇ devorraum SV8 on the mobile object M02 nachge ⁇ leads.
  • the bundling of the radio beam FS8 serves to optimize the accuracy of the reference position PS8.
  • the radiation angle therefore depends on the environmental conditions and can therefore vary.
  • the variables are the installation height H and the passage width B.
  • the arrangements of Figure 1 or Figure 2 can also be used to calibrate the sensor system of mobile objects in buildings, wherein an in-building Sendevor ⁇ direction for transmitting a position information and / or a reference is present thereon, the Positionsin- formation of the transmitting device is uniquely assigned and thus transmits the current location to the mobile object in the building; being a mobile object with integrated
  • Sensors for determining the position of the mobile object in egg nem building is equipped kitchens it ⁇ tet with a receiving means for receiving the position information and / or the reference; wherein the mobile object is set up, based on the received position information, to calibrate the sensors integrated in the mobile object to determine the position, wherein the transmitting device is set up to emit a focused, in particular directional, radio beam with the position information and / or the reference thereto ,
  • the mobile objects are portable electronic devices, such as smart phones, smart watches, smart
  • Glasses smart glasses or tablet computers with sensors such as accelerometers, magnetometers, gyroscopes, barometers, accelerometers.
  • This sensor can be used for position determination and / navigation.
  • This sensor has the disadvantage that its measurement resulting ⁇ nit slightly "out of hand”. The automatic calibration of the position of the measurement error is eliminated. This is done without interaction of the user of this mobile device.
  • a transmission device with its respective unique associated position information acts For calibration or recalibration like a reference beacon If the mobile object is located in a radio emission area of a transmission device, the calibration or recalibration of the mobile objects takes place based on the respective position information received by the mobile object in the respective radio emission area
  • the transmitting device can be, for example, WLAN, Bluetooth, or Zigbee transmitters or a combination of transmitters (beacons).
  • One concept of the invention is based on the fact that the transmitting device corresponds to a reference beacon which, in the sense of a beacon, emits its positional information and then this for the calibration or recalibration of the position of a mobile object (mobile device) and / or for the ka ⁇ -calibration or re-calibration of the sensor system of a mobile object is used.
  • FIG. 3 shows an exemplary flow chart for a method for calibrating the position of mobile objects in buildings, the method comprising the following steps:
  • VS1 located sending a position information or a reference thereon by a in the building, radio equipment assisted transmission device, wherein the position information of the transmitting device is uniquely associated with and forwarded to the refreshes ⁇ economic location of the mobile object in the building, wherein the transmission of the position information or the reference is made to it within a bundled, in particular directed, radio emission area;
  • VS3 Calibrating the position displayed on the mobile object to determine the position of the mobile object, based on the position information received.
  • the method can be implemented based on infrastructure that is already in the building or on the infrastructure (for example, smart phone) of a user (visitor).
  • FIG. 4 shows an exemplary building plan GP with an exemplary position display.
  • the building plan GP shows an exemplary layout for a floor of a building.
  • the building plan GP can be on a mobile device (eg smartphone, tablet, Smart Glass) ei ⁇ ner person in the building shown, especially with the current position of the mobile device in the building.
  • the current position can be displayed on the GP chart, eg by a flashing dot.
  • a navigation in the building can be displayed on the plan GP and the distance traveled so far in the building.
  • the red line on the chart GP indicates the position or the path traveled without calibration (POK) and the green line indicates the position or the path with calibration (PMK).
  • GP sender devices SV9-SV12 eg beacons
  • the beacons SV9 - SV12 allow the current position of the mobile object (eg smartphone, tablet, smartglass) to be calibrated on the plans (GP) displayed on the mobile object based on the position information received from the mobile object which the beacons SV9 - SV12 send out.
  • a re-calibration at a position on the plan GP is represented by the respective black double arrows.
  • a re-calibration of the position of the mobile object on the plan GP for example, can be effected by a corresponding displacement of the respective position of the mobile object on the plan GP, according to the time from jewei ⁇ Beacon SV9 - emitted SV12 position information.
  • the building plan GP can be downloaded to the mobile object through a download (eg by a corresponding app).
  • the building plan GP or the corresponding can be provided, for example, by a corresponding Internet provider or by a building management system.
  • Method and corresponding arrangement for calibrating the position or the sensor of mobile objects in buildings wherein a position information or a reference thereto is sent out by a radio-based transmitting device located in the building; wherein the position information of the transmission ⁇ device is uniquely assigned, and thus transmits the current location to the mobile object in the building; wherein the position information is received by the mobile object; wherein a calibration of the mobile object (eg smart phone, tablet computer) displayed position or integrated in mobile objects sensors (eg accelerometer, magnetometer, gyroscope, barometer) for determining the position of the mobile object, based on the received Positi ⁇ onsinformation takes place and wherein the transmission of the positi ⁇ onsinformation or the reference afterwards he ⁇ follows within a ge ⁇ pooled, especially directed Funkabstrahl Schemes.
  • a calibration of the mobile object eg smart phone, tablet computer
  • mobile objects sensors eg accelerometer, magnetometer, gyroscope, barometer

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Manufacturing & Machinery (AREA)
  • Automation & Control Theory (AREA)
  • Signal Processing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Navigation (AREA)

Abstract

L'invention concerne un procédé et un ensemble correspondant pour le calibrage de la position ou du système de détection d'objet mobiles dans des bâtiments. Une information de position ou un renvoi vers celle-ci est émis par un dispositif d'émission par voie radioélectrique qui se trouve dans le bâtiment. L'information de position est explicitement associée au dispositif d'émission et communique ainsi l'emplacement actuel à l'objet mobile dans le bâtiment et l'information de position est reçue par l'objet mobile. Un calibrage de la position affichée sur l'objet mobile (par exemple Smartphone, tablette électronique) ou du système de détection (par exemple accéléromètre, magnétomètre, gyroscope, baromètre) intégré dans l'objet mobile est effectué en vue de déterminer la position de l'objet mobile en se basant sur l'information de position reçue. L'émission de l'information de position ou du renvoi vers celle-ci s'effectue à l'intérieur d'une zone de rayonnement radioélectrique en faisceaux, notamment dirigée.
EP16804732.2A 2016-01-04 2016-11-24 Calibrage de la position d'objets mobiles dans des bâtiments Withdrawn EP3400417A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016200010.1A DE102016200010A1 (de) 2016-01-04 2016-01-04 Kalibrierung der Position von mobilen Objekten in Gebäuden
PCT/EP2016/078692 WO2017118502A2 (fr) 2016-01-04 2016-11-24 Calibrage de la position d'objets mobiles dans des bâtiments

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EP3400417A2 true EP3400417A2 (fr) 2018-11-14

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US (1) US20190007809A1 (fr)
EP (1) EP3400417A2 (fr)
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WO (1) WO2017118502A2 (fr)

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US10950105B2 (en) * 2018-09-28 2021-03-16 Intel Corporation Autonomous sensor placement discovery method and apparatus
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WO2017118502A3 (fr) 2017-09-28
DE102016200010A1 (de) 2017-07-06
US20190007809A1 (en) 2019-01-03
WO2017118502A2 (fr) 2017-07-13

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