FI129917B - System and method for determining the positions of participants on a track at certain intermediate points - Google Patents
System and method for determining the positions of participants on a track at certain intermediate points Download PDFInfo
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- FI129917B FI129917B FI20215823A FI20215823A FI129917B FI 129917 B FI129917 B FI 129917B FI 20215823 A FI20215823 A FI 20215823A FI 20215823 A FI20215823 A FI 20215823A FI 129917 B FI129917 B FI 129917B
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- beacon
- tag
- distance
- uwb
- track
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Classifications
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/22—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people in connection with sports or games
- G07C1/24—Race time-recorders
-
- 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
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/74—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
Keksinnön kohteena on järjestelmä ja menetelmä urheilutapahtumaa varten osallistujien sijainnin määrittämiseksi radalla (2) tietyissä välipisteissä, joka järjestelmä käsittää vähintään yhden etäisyyttä mittaavan ultralaajakaistaisen (UWB) laitteen (4) ja lähetinvastaanottimen tunnisteet (1) kunkin osallistujan mukana. Yksi UWB-laite (4) on järjestetty tuottamaan ajoitustietoa virtuaalisella mittauslinjalla (3) halutussa välipisteessä radalla (2). UWB-laite (4) on järjestetty lähettämään sähkömagneettista säteilyä mittaamaan etäisyydet (d) jokaiseen tunnisteeseen (1) virtuaalisen mittauslinjan (3) ympärillä, 5-100Hz taajuuksilla, jolloin kukin tunniste (1) on järjestetty lähettämään tunnistus- ja vastaanottoinformaatiota laitteelle (4). Mittaukset perustuvat edestakaisiin matka-aikoihin laitteen (4) ja kunkin tunnisteen (1) välillä, ja mitattu data välitetään laskentavälineille matemaattista mallintamista varten käyttämällä mallin parametreina tunnisteen nopeutta, läpikulkuetäisyyttä ja lähimmän etäisyyden aikaa. Mallinnettuja parametreja verrataan mitattuihin etäisyyksiin, jotta saadaan arviot nopeudesta, etäisyydestä ja kulumisajasta kullekin tunnisteelle välipisteessä, joka välitetään katsojille katselua varten.
Description
System and method for determining the positions of participants on a track at certain intermediate points
TECHNICAL FIELD The invention relates to a system for determining the positions of participants on a track at certain intermediate points, the system comprising at least one distance measuring Ultra-Wide Band (UWB) beacon and tags carried by each participant as well as a method for determining the positions of participants on a track at certain intermediate points.
BACKGROUND OF THE INVENTION In many sport events, such as horseraces, it is desired to have information about the relative positions of participants at one or more intermediate points. Such infor- mation is of particular interest for spectators or for betting industry. In US patent 4142680 is disclosed a system for indicating the lapsed time from the start point for each of the plurality of entities, such as racehorses, to reach a succession of sta- tions along a path of movement. The entities carry a radio frequency transmitter emanating a radio frequency signal discrete to each entity. Radio frequency receiv- ing means, such as loops buried in the track, are located at each of the stations and are adapted to receive an interval of signals from each transmitter on each entity when it passes within a reception area of each station. The receiving means com- municates to detector means which is adapted to discriminate and detect each dis- N 25 crete radio frequency and screen out the remaining discrete radio frequencies. The O system provides information of each horse, as it proceeds along the path of move- N ment, with respect to its identity and time of passes recorded at each station.
LO z The aim of the present invention is to provide an alternative, accurate low-cost tim- > 30 ing system to produce accurate real-time information when the participants pass a S measurement line. The produced timing information can be delivered to external = systems over software interfaces (API) to be further processed or utilized. A further N aim of the invention is to provide an alternative method for determining the posi- tions of participants.
The solution shall fulfill the following requirements. - Position accuracy: The produced timing information shall be accurate enough to resolve relative positions of the participants with a maximum error of 0.5 meters.
- Latency: The produced timing information shall be available as an API call in less than 2 seconds from crossing the measurement point. - Racetrack installation: The timing system must operate at racetracks where no eguipment can be located within 5-10 meters from the track edge and the track be- ing up to 20 meters wide.
—- Portability: The system shall be simple and lightweight enough that it can be in- stalled and de-installed for each individual race event, if necessary. The system must be independent on fixed power supplies.
- All-weather: The system must be usable in all weather conditions where horsera- ces or other applicable sports events are arranged.
-Lowcost: The total cost of one measurement system must be low enough for indi- vidual racetracks or contest organizers to afford it.
Document CN 112009507 A describes an underground locomotive unmanned sys- tem and a control method where the position on the track of the locomotive is de- termined by the use of a UWB distance measuring device.
The document "Real-time Adaptive UWB Positioning System Enhanced by Sensor Fusion for Multiple Targets Detection” by Benny Wijaya et al, discusses an enhanced system with added sensor fusion which creates more effective multi targets localiza- N 25 tion in real-time conditions. This system is based on the use of multiple transmitters O measuring distance of a target at all times.
S 0 Because of the requirements of racetrack installations and low cost, typical RFID = based timing systems cannot be used. RFID range is too short for reliable reading > 30 with an antenna located well outside the track, and using long distance RFID tags S (active RFID) would also make the timing too inaccurate. Using a wire loop antenna 5 under the track is not an option because of the cost and portability requirements.
SUMMARY OF THE INVENTION The present invention, which addresses the requirements and limitations presented above, provides a system for determining the positions of participants on a track at certain intermediate points, the system comprising at least one distance measuring Ultra-Wide Band (UWB) beacon and transceiver tags carried by each participant, the system being characterized by the features of the characterizing part of the inde- pendent claim 1. The method is characterized by the features of the characterizing part of the independent claim 7.
An essential design concept is to use a single distance measuring beacon at each measurement location, thus making the installation lightweight and affordable. Ac- cording to the present invention a virtual measurement line is defined as a refer- ence point at which the timing information for each participant is produced as the — said participant crosses the measurement line. The timing information shall contain time differences of the instants the participants pass a given measurement line, as well as their relative positions (along and perpendicular to the direction of move- ment) at the measurement line. Additionally, instantaneous speed of each partici- pant will be produced at each measurement line.
The presented solution uses Ultra-Wide-Band (UWB) radio distance measurements from an antenna (later referred to as a beacon) to transceivers carried by each par- ticipant (tags), as they pass the measurement line. Distance measurements with UWB technology are based on the propagation delay of electromagnetic radiation N 25 and accurate measuring of round-trip time between the beacon and the tag. Indi- O vidual UWB distance measurements are typically accurate to within 10 cm, with ran- N domly occurring errors of larger magnitude.
LO z Distance measurements to each tag are performed at a high enough freguency to > 30 acquire a sufficient number of measurements around the measurement line. A large S measurement data set is reguired for error filtering. Preferably the measurement = frequency is between 5 and 100 Hz, more preferably between 10 and 20 Hz, and N more preferably 16 Hz to obtain about 50 measurements per three seconds for each tag. A measurement data sequence between 2 seconds before the closest approach and 1 second after is used for calculation. Accumulating data for 1 second after the closest approach gives 1 second for data transmission and processing delays while still satisfying the 2 second latency requirement. With a large number of distance measurements for each pass of the measurement line, good error tolerance is achieved as individual measurement errors can be filtered out. The residual error between the measurements and the mathematical model gives a powerful tool to estimate the quality of the measurement data and accuracy of the timing solution. With only one beacon installed outside the track for each measurement line, hard- ware cost associated to each measurement line is low, with practically no installa- tion cost, except for possible power supply connections. The system remains fully portable when used with battery power and can be set up within minutes.
MATHEMATICAL MODEL Passing of the area around a measurement line is mathematically modelled by using the tag speed, passing distance and the time of the closest distance as parameters of the model. The time-speed-distance solution is obtained by finding the best fit of the model parameters with the measured distances.
In the simplest form of the mathematical model of the pass, a constant speed and constant distance from the edge of the track are assumed. Additionally, it is as- sumed that the beacon and the tag are at the same height above the ground, i.e., the calculation is performed on a two-dimensional plane.
S With these assumptions, the distance d between the beacon and the tag can be cal- 5 culated with the equation
LO a 0 Where y is the tag distance from the track edge y “plus the beacon distance from 3 30 the track edge s, and x is the distance from the measurement line.
S In the model the tag moves at a constant speed v along the track:
x=uvt where v is the tag speed. As the purpose of the model is to find the time each tag passed across the meas- 5 urement line, the time of closest distance is denoted as fy. The distance d between the beacon and the tag, as a function of time, is expressed as d(t) = J v?(t — ty)? + y? The units of measurement timestamps f can be freely selected. The model output fo at which time the tag crossed the measurement line is in the same units with the measurement timestamps. Fig. 1 shows schematically the above parameters used for calculation in x-y coordi- nates, wherein 1 denotes a receiver tag, 2 denotes a track, 2’ denotes a track edge, 3 denotes a virtual measurement line and 4 denotes a beacon.
When plotted as a function of time, the distance measurements form a U-shaped curve as shown in Fig. 2. With multiple measurements of distances d and their timestamps ¢, timing infor- mation related to passing of the beacon is obtained by finding the values of v, y, and fo which result in the smallest possible total error between the measurements N and the mathematical model. Fig. 3 shows an example of matching the mathemati-
N N. cal model to the plotted measurements.
LO = 25 — Finding the optimum parameter values is done by a non-linear least squares
I T method. Several methods exist for solving non-linear curve fitting problems. The S currently selected algorithm for finding the solution is Levenberg-Marguardt algo- 00 O rithm (LMA or just LM), also known as the damped least sguares (DLS) method.
Curve-fitting algorithms generally find a local minimum, which is not necessarily a global minimum. To avoid converging into wrong parameter values or ending up into a diverging solution, reasonable initial values must be provided. For y and fy, the initial values are selected to be the smallest measured distance and its timestamp. These are generally rather close to the actual solution. For v, a typical speed of the participant can be assumed and used as a fixed initial value. The solution provides the best estimates for the speed, distance and pass time for each tag.
As the estimated value for y is the closest distance between the beacon and the tag — not the tag and the track edge — the beacon distance from the track edge must be subtracted from the estimated y to obtain the actual tag distance y' from the track edge.
EXTENSIONS TO THE MATHEMATICAL MODEL The mathematical model presented above is a simple model assuming a constant speed and constant distance from the edge of the track. These assumptions may not always be valid, as the participants may be accelerating or decelerating during the distance measurements, or they may be changing the distance from the track edge, when looking for a better lane. When these changes occur, the model is oversimplified, resulting in averaged N 25 — speed/distance to be obtained as a solution. This does not represent the actual path . of the contestant in the measurement area and may cause inaccuracies to the pro- 7 duced timing information. i - The following improvements to the simple model can be considered. N 30 3
Constant speed v can be replaced with a changing speed at a constant acceleration. In this case the speed v in the above mathematical model equation becomes v = a(t — to) + Vg Where A = acceleration Uj = speed at time fa Constant track edge distance y' can be replaced with a linearly changing distance, modelling a steady movement towards or away from the track edge. In this case the distance y in the model equation becomes y=u(t — ty) + yo Where U = speed of change of the track edge distance Yo = combined tog and beocon distance from the track edge of time tt In the simple model, the beacon antenna and the tag are assumed to be at the same height, i.e., the vertical component of the distance equation being zero.
Height difference between the beacon and the tags can be taken into account by in- troducing a height parameter h into the equation.
With all the presented extensions, the mathematical model equation would be N d(t) = (a(t — to) + vyt — to)? + (ut — to) + yo)? + h?
N N Fig. 4 shows schematically the above parameters used for calculation in x-y-z coor- O . LO dinates.
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BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 shows schematically parameters used for calculation in x-y coordi- nates, Fig. 2 shows exemplary distance measurements plotted as a function of time, Fig. 3 shows an example of matching a calculated model to the plotted measurements, Fig. 4 shows schematically parameters used for calculation in x-y-z coordi- nates, Fig. 5 shows a schematic top plan view of a portion of a racetrack provided with the system of the present invention, Fig. 6 shows a diagrammatic plan of the system of the present invention, Figs. 7-9 show some alternative network connection solutions.
DETAILED DESCRIPTION OF THE INVENTION Ql
N N 25 — Fig. 5 shows an exemplary schematic top plan view of a portion of a racetrack pro- S vided with the system of the present invention. The participants having transceiver O tags 1 move on the track 2 in the direction A. A virtual measurement line 3 is de- E fined as a reference point at which the timing information for each participant is a 0 produced as the said participant crosses the virtual measurement line. A UWB bea-
N x 30 con 4 sends electromagnetic radiation via antenna 5 to measure distances to each N tag 1 around the virtual measurement line 3. Each tag is arranged to send identify-
N ing and receiving information to the beacon. Preferably the distance measurement freguency for each tag is between 5 and 100 Hz, more preferably between 10 and
20 Hz, and more preferably 16 Hz. The distance measurements are based on round trip times between the beacon 4 and each tag 1. The number of distance measure- ments around a measurement line to be used for the calculation is in the range be- tween 10 and 100. The virtual measurement line 3 is at the location of the beacon 4, and perpendicular to the direction of the track 2. Fig. 6 shows a diagrammatic plan of the system of the present invention, compris- ing two beacons 4 each provided with an antenna 5 and a dedicated modem 6 which transmit the measured data to the cloud 7 for mathematical modelling by us- ing the tag speed, passing distance and the time of the closest distance as parame- ters of the model. Modelled parameters are compared to the measured distances to obtain estimates for the speed, distance, and pass time for each tag at the interme- diate point. Estimates are communicated to spectators for viewing via displays 8.
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ALTERNATIVE NETWORK CONNECTION SOLUTIONS In addition to the preferred network connection with dedicated modems at each measurement location, alternative local connections between measurement points can be used, when installation cost or other factors make alternative approaches more reasonable. As alternative solutions only one measurement point in the track can have a net- work connection and other measurement points are routed via it using wired or — wireless connections between the measurement points. Network connections can also be created by using any combination of the above, where some measurement points have modems and others are connected via them using local wired or wireless connections.
Fig. 7 shows a diagrammatic plan of the system of the present invention wherein one beacon 4 is provided with a modem 6, others 4’ being connected with wired connections 9. Fig. 8 shows a diagrammatic plan of the system of the present in- vention wherein one beacon 4 is provided with a modem 6, others 4’ being con- nected with wireless connections 10. Fig. 9 shows a diagrammatic plan of the sys- tem of the present invention wherein some beacons 4 are provided with dedicated modems 6, others 4’ being connected with wired 9 or wireless 10 connections. Ql
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Claims (9)
1. A system for a sporting event, for determining the positions of participants on a track (2) at certain intermediate points, the system comprising at least one distance measuring Ultra-Wide Band (UWB) beacon (4) and transceiver tags (1) carried by each participant, characterized in that a single UWB beacon (4) is arranged to produce timing infor- mation at a virtual measurement line (3) at a desired intermediate point along the track (2), wherein the UWB beacon (4) is arranged to send electromagnetic radiation to meas- ure distances (d) to each tag (1) around the virtual measurement line (3), each tag (1) being arranged to send identifying and receiving information to the beacon (4), wherein the measurements are based on round trip times between the beacon (4) and each tag (1), wherein the measured data is transmitted to computing means for mathematical modelling by using the tag speed, passing distance and the time of the closest dis- tance as parameters of the model, wherein a measurement data sequence between 2 seconds before the closest ap- proach and 1 second after is used for calculation, wherein the modelled parameters are compared to the measured distances to ob- tain estimates for the speed, distance, and pass time for each tag at the intermedi- ate point to be communicated to spectators for viewing.
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2. The system of claim 1, characterized in that the computing means are arranged
O LO 25 in the at least one beacon (4).
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3. The system of claim 1, characterized in that the at least one beacon (4) is ar- S ranged to send measured data to the cloud (7).
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4. The system according to any of the claims 1 to 3, characterized in that there are at least two beacons (4, 4’) at spaced apart distance to each other, each performing independent measurements for their respective measurement lines, the distance between the beacons being such that they do not interfere with each other.
5. The system of claim 4, characterized in that each beacon (4) is provided with a dedicated modem (6) for sending the measured data to the cloud (7) for further processing.
6. The system of claim 4, characterized in that at least one beacon (4) is without a dedicated modem and is connected to another beacon (4) provided with a modem (6) using a local wired (9) or wireless (10) network connection.
7. A method for a sporting event, for determining the positions of participants on a track (2) at certain intermediate points, the method using at least one distance measuring Ultra-Wide Band (UWB) beacon (4) and transceiver tags (1) carried by each participant, characterized in that in the method a single UWB beacon (4) is arranged to per- form distance measurements at a measurement frequency of 5-100 Hz to each tag around a virtual measurement line (3) at a desired intermediate point along the — track (2), wherein the UWB beacon (4) sends electromagnetic radiation to measure distances (d) to each tag (1) around the virtual measurement line (3), each tag (1) sending identifying and receiving information to the beacon (4), N wherein the measurements are based on round trip times between the beacon (4)
N < 25 and each tag (1),
K ? wherein the measured data is transmitted to computing means for mathematical
LO modelling by using the tag speed, passing distance and the time of the closest dis-
I = tance as parameters of the model, 0 S wherein a measurement data seguence between 2 seconds before the closest ap-
LO N 30 proach and 1 second after is used for calculation,
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N wherein the modelled parameters are compared to the measured distances to ob- tain estimates for the speed, distance, and pass time for each tag at the intermedi- ate point and the estimates are communicated to spectators for viewing.
8. The method of claim 7, characterized in that the distance measurements are per- formed at a frequency of 10 to 20 Hz, preferably at a frequency of 16 Hz to each tag (1).
9. The method of claim 7 or 8, characterized in that around the virtual measure- ment line (3), the number of distance measurements carried out as a basis for the calculation is in the range between 10 and 100.
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Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FI20215823A FI129917B (en) | 2021-07-29 | 2021-07-29 | System and method for determining the positions of participants on a track at certain intermediate points |
| PCT/FI2022/050498 WO2023007057A1 (en) | 2021-07-29 | 2022-07-15 | System and method for determining the positions of participants on a track at certain intermediate points |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FI20215823A FI129917B (en) | 2021-07-29 | 2021-07-29 | System and method for determining the positions of participants on a track at certain intermediate points |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| FI129917B true FI129917B (en) | 2022-10-31 |
| FI20215823A1 FI20215823A1 (en) | 2022-10-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| FI20215823A FI129917B (en) | 2021-07-29 | 2021-07-29 | System and method for determining the positions of participants on a track at certain intermediate points |
Country Status (2)
| Country | Link |
|---|---|
| FI (1) | FI129917B (en) |
| WO (1) | WO2023007057A1 (en) |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4142680A (en) | 1977-03-21 | 1979-03-06 | Oswald Robert A | High resolution timing recording system |
| GB2376585B (en) * | 2001-06-12 | 2005-03-23 | Roke Manor Research | System for determining the position and/or speed of a moving object |
| ES2601138B1 (en) * | 2015-06-04 | 2018-01-26 | Zih Corp. | System and procedure for variable speed ultra-wideband communications |
-
2021
- 2021-07-29 FI FI20215823A patent/FI129917B/en active IP Right Grant
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2022
- 2022-07-15 WO PCT/FI2022/050498 patent/WO2023007057A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| WO2023007057A1 (en) | 2023-02-02 |
| FI20215823A1 (en) | 2022-10-31 |
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