LU501459B1 - Method for determining a signal origin - Google Patents

Abstract

The invention relates to a method for determining a signal origin (1), the method comprising the following steps: receiving at least one signal (2) by a first receiving unit (3) which has at least three first receivers (4), on the basis of the one received signal (2), a signal point (S1-S6) is determined, receiving at least one signal (2) by a second receiving unit (5), which has at least three second receivers (6), based on the received signal (2) another signal point (P1-P6) is determined, it being determined whether the signal point (S1-S6) and the other signal point (P1-P6) are synchronous with one another and which corresponds to the signal origin (1) depending on the signal point ( S1-S6) and the other signal point (P1-P6).

Description

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Method for determining a signal origin

The invention relates to a method for determining a signal origin. In addition, this concerns

Invention a device for determining a signal origin and a use of the

Method for one- or multi-dimensional position determination.

A variety of devices are known from the prior art by means of which the

Position of an object in space can be determined. There is one shown in Figure 1

Device 9 is known, which has a transmitter and a receiver unit with three receivers. Neither the transmitter nor the receiver unit are shown in Figure 1. The transmitter emits transmission signals 12, in particular sound pulses, which propagate spherically. The

Sound pulses hit the object 13 and are reflected by the object 13. It is assumed that the reflected sound waves come from a point below

Signal origin 1 is called, spread spherically. The reflected signals 2, in particular

Sound waves are received by the three receivers of the receiver unit.

A distance between the device 9 and the object 13 is determined via the transit time between a time at which the sound pulse is emitted and another time at which the echo, i.e. the reflected sound wave, is received. A solid angle of the

Object 13 is obtained from a phase difference between the received by the individual receivers

Determined by sound waves. As a result, based on the received signals, 2 can be selected

Signal origin 1 can be determined. In particular, the position of the signal origin 1 in space can be determined.

In most applications of the device 9, the object 13 is in an environment with one or more external signal sources 14. Such an arrangement is shown in FIG.

The external signal source 14 can be an external sound source. The external sound source can emit signals 2 that are received directly by the device 9. Alternatively or additionally, reflections of the signals 2 emitted by the external sound source can be received by the device 9.

The receivers of the device 9 thus receive the sound waves reflected by the object 13 as well as the sound waves emitted by the external sound source 14. The device now determines three signal points S1, S2, S3 based on the received sound waves. As can be seen from Figure 2, only the signal point S1 corresponds to the signal origin, i.e. the object point from which the reflected sound propagates spherically. The remaining two signal points S2 and S3 are false signals. The false signals result from the receivers not being in touch with the

External sound source is synchronized, so that determining the position of the signal origin 1 by means of transit time measurement leads to incorrect results. The direction of the received

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Signal can be determined via the phase differences of the receiver of the receiving unit. The directions of the received signals are shown in Figure 2 as straight lines on which the signal points S1-S3 are arranged.

An external signal source can be an ultrasound source. An external signal source can be another active sensor that sends out signals and is not coupled to the device. As already stated above, with such an arrangement no statement can be made about

Distance of the object 13 from the device 9 can be hit because an external signal source does not send out a transmission signal synchronized with the device. In this respect one leads

Transit time measurement produces inaccurate results because the device 9 does not know whether the received signal 2 comes from the object 13 or from the external signal source 14.

In order to be able to determine the position of the object precisely, the false signals must be filtered out. This is currently done by carrying out several measurements and identifying false signals based on the measurement results. However, the known methods have the disadvantage that filtering out the false signals is computationally intensive and therefore takes a long time. In addition, the known methods have low reliability and the latency increases due to the calculation of several measurements. In this respect, it can

Device 9 cannot be used in applications such as a moving one

Robot and / or a motor vehicle in which the position of the object must be determined quickly in order to make a decision based on the determined position

To be able to change the direction and/or speed.

An object of the invention is therefore to provide a method in which the

Signal origin can be determined quickly and reliably.

This task is solved by a method for determining a signal origin, whereby the

Procedure includes following steps:

Receiving at least one signal by a first receiving unit which has at least three first receivers, a signal point being determined on the basis of the one received signal,

Receiving at least one signal by a second receiving unit which has at least three second receivers, wherein another signal point is determined on the basis of the received signal, it being determined whether the signal point and the other signal point are synchronous with one another and depending on the signal origin the signal point and the other signal point is determined.

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A further object of the invention is to provide a device by means of which a signal origin can be quickly determined.

The object is achieved by a device for determining a signal origin with a first receiving unit for receiving at least one signal, which has at least three first receivers, a second receiving unit for receiving at least one signal, which has at least three second receivers and a computer device which a signal point is determined based on the signal received by the first receiving unit and another signal point is determined based on the signal received by the second receiving unit, the computer device determining whether the signal point and the other signal point are synchronous with one another and the

Signal origin determined depending on the signal point and the other signal point.

According to the invention, it was recognized that there is no need for time-consuming filtering out of false signals through repeated measurements, which reduces the latency of the device.

In particular, it was recognized that a signal origin can be determined in a simple manner if two receiver units are used, which are based on the received signals

Determine signal points and other signal points that are classified as to whether they are synchronous with each other or not. In particular, signal point pairs of mutually synchronous signal points are determined. As will be explained in more detail below, based on the

Classification or the pairs of signal points, the signal origin can be determined quickly and precisely, even if a large number of signal points are determined by the first and second receiver units. In this respect, the method can also be used in applications, such as a moving robot and/or a motor vehicle, in which a fast

Determining the signal origin and thus the position of the signal origin in space is necessary.

The signal origin is understood to be a real object, in particular an object point, from which the signals received by the first and second receiver units come. The

Signal origin can be a physical object on which the transmitted signals reflect. The

Transmitted signal can be reflected by the physical object for the first time. Alternatively, the physical object can also reflect a transmission signal that has already been reflected several times.

Alternatively, the signal origin can be a signal source from which a transmission signal is emitted, which is received, in particular directly, by the first and second receiver units. The

The signal source can be another transmitter that sends out a broadcast signal. Alternatively or additionally, the signal source can be any source from the environment of the device.

The signal point is one received by the first receiver unit based on the

Signal determined point in space understood. As described above, corresponds to

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In most cases the signal point does not correspond to the signal origin. In other words, the

Signal point can be a fictitious point that results due to the asynchrony of the transmission signal emitted by the device and the received signal. The other signal point is determined by the second receiver unit based on the same or a different received signal. The other signal point can be a fictitious one, analogous to the signal point

be a point that does not correspond to the signal origin.

The first and second receiver units are arranged spaced apart from one another in at least one spatial direction, in particular a maximum of two spatial directions. This means that the first receivers of the first receiver unit and the second receivers of the second

Receiver unit can receive the signal at different times.

Likewise, the individual first receivers receive the signal differently

Times and the individual second receivers also receive the signal at different times. The first receiver unit, in particular the first receivers, and the second receiver unit, in particular the second receivers, can be arranged in one plane. A more detailed arrangement of the first and second receivers is described in more detail below.

In the sense of the invention, a signal point and another signal point are synchronous with one another if the received signal is used to determine the signal point and the other

signal point is used, comes from the same signal origin. In addition, this must be on

Object reflected transmission signal, i.e. the received signal that is used to determine the signal point and the other signal point, comes from the same transmitter of the device.

In addition, the transmission of the transmission signal via the transmitter and the reception of the

Signals synchronized with each other. In other words, the transmission time is known to the device, in particular to the first and second receiver units. It will be within the framework of the

Invention exploited that the signals propagate spherically from the signal origin. Thus, a signal point and a signal point synchronous to it lie on the same wavefront of the signal.

When waves propagate in a medium, a wave front is a spherical surface on which all points have the same transit time to the signal origin.

As will be explained in more detail below, there are various ways to check whether the

Signal point and the other signal point are synchronous with each other, even if the position of the

Signal origin is unknown.

In contrast, two signal points that do not come from the same signal origin are referred to below as asynchronous. In this case, the signals received by the first and second receiver units are different reflections or the received signals come from one or more different external sound sources

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External noise sources. In addition, asynchronous signal points can be made from the same

signal origin. In this case, the receiver units receive a to

Transmission signal asynchronous received signal or the asynchronous to the transmission signal

Direct sound from an external sound source. With asynchronous signal points, the device does not know the transmission time of the received signal.

As a result, by determining the signal point and the other signal point that are synchronous with each other, the received signals can be recognized from the same

signal origin.

The computer device can have at least one processor or can be a processor.

In addition, the computer device can be part of a circuit board.

In one embodiment, the computer device can decide, depending on the determination result, whether the signal origin is determined or not. In particular, the

Computer device does not determine the signal origin if the signal point and the other

Signal points are asynchronous to each other. On the other hand, the computer device can

Determine signal origin if the signal point and the other signal point are synchronous with each other. As a result, the computational effort can be reduced by classifying the signal points into mutually synchronous or asynchronous signal points. In this way, only the signal points that are synchronous with one another can be used to determine the signal origin and the remaining signal points can be filtered out as false signals.

The first receiver unit can determine several signal points. The second receiver unit can determine several other signal points. Accordingly, the first and second can

Receiver unit receives several signals and based on the received signals

Determine signal points and the other signal points. As a result, a variety of

Signal points and other signal points can be determined and used for the previously described determination of the signal origin.

After determining the signal points and the other signal points, it can be determined which ones

Signal points and other signal points are synchronous with each other. This is done before the

Signal origin determined, the signal points and other signal points that are synchronous with one another being used to determine the signal origin. The one from the first

The first signal points determined by the receiver unit are not classified among each other.

Likewise, the second signal points determined by the second receiver unit are not classified among each other.

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In one embodiment, in order to determine mutually synchronous signal points and other signal points, it can be determined from one signal point whether another

Signal point is arranged in a predetermined area around the signal point. Likewise, starting from another signal point, it can be determined whether a signal point is arranged in a predetermined area around the other signal point. This can be for everyone

Signal points and/or other signal points can be carried out. This approach is recommended because it has been recognized that signal points and other signal points that are synchronous with one another cannot be spaced as far apart as desired. The specified area can be a spherical shape with the signal point or the other signal point as the center. In the

The result is that the computational effort is reduced because, for example, starting from one

Signal point no longer needs to be checked every other signal point to see whether it is synchronous with the signal point.

The computer device can determine that a signal point and another signal point are synchronous with one another if a first distance between the signal point and one

Line point and a second distance between the other signal point and the point meet a predetermined condition. The condition can be that the first distance and the second distance have the same value or differ from each other by a predetermined range. Focusing on the distance between the point and the

Signal point and/or the other signal point offers the advantage that it can be determined in a precise manner whether the signal point and the other signal point are synchronous with one another.

There are two synchronous signal points if they do not exceed a specified distance. In this case the points can be almost on top of each other. However, exact alignment will often not be possible due to noise from the first and second receivers. When assessing the phase difference between the received signals, it does not play a role in determining the accuracy of the classification. The given one

The area takes into account that the first and second receivers of the first receiving unit and the second receiving unit respectively noise and therefore the distances will not always match exactly mathematically.

The computational effort can be further reduced if it is checked whether the signal point and the other signal point are separated by a predetermined distance along a path

Signal point and the circular arc line contained in the other signal point are spaced apart. The

Circular arc line can be part of a sphere with a center located on the

The connecting line, in particular in the middle of the connecting line, lies between the first and second receiving units. The test can take place before or after the distance test described above.

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If the signal point and the other signal point are arranged at a predetermined distance from one another, it can be further checked whether the signal point and the other signal point are synchronous with one another. Provided the distance between the signal point and the other

If the signal point is greater than the specified distance, the test can be aborted.

This check ensures that not all signal points and/or other

Signal points can be used to determine the signal origin.

The point can be arranged on a straight line connecting the first receiving unit and the second receiving unit. The connecting line can be between one

Center of the first receiving unit and a center of the second receiving unit. The center of the first receiving unit can be at a center of a triangle that is spanned by the first receivers. The center of the second

Receiving unit can be in a center of a triangle passing through the second

Receiver is clamped. In the event that one or both receiving units have more than three

Has receiver, the center can be the center of an area spanned by the receiver. Alternatively or additionally, the connection can be between a first receiver of the first receiving unit and a second receiver of the second

Receiver unit run. The point can be a center of the connecting line.

In a special version, you can check whether one signal point and another

Signal points are synchronous with each other, a signal point straight line can be determined, which is determined by the

signal point and the other signal point. As already described above, you can

Signal point and the other signal point can be arranged spaced apart from one another in a predetermined area, so that not all signal points and / or other signal points have to be taken into account.

The computer device can determine that the signal point and the other signal point are synchronous with one another if a plumb line to the signal point runs through the center of the connecting line between the first and second receiving units or through a predetermined area around a center of the connecting line between the first and second Receiving unit runs. This makes it easy to determine whether the

Signal point and the other signal point are synchronous with each other. The method can be used as an alternative or in addition to the previously described method for classifying the signal points and the other signal points. The predetermined range takes into account that the first and second receivers of the first receiving unit and the second receiving unit respectively noise, so that the plumb line does not run exactly through the center point.

In a further embodiment for checking whether a signal point and another signal point are synchronous with one another, a first straight line can be determined, which is determined by at least one

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Signal point and the first receiving unit runs. The first straight line can go through one

Center of the first receiving unit or by a first receiver of the first

Receiver unit run. The center of the first receiving unit can be in one

Be the center of a triangle spanned by the first receivers. In addition, a second straight line can be determined which runs through at least one other signal point and the second receiving unit. The second straight line can run through a center point of the second receiving unit or through a second receiver of the second receiving unit. The center of the second receiving unit can be at a center of a triangle that is spanned by the second receiver. In the event that one or both

Receiving units have more than three receivers, the center can be the center of an area spanned by the receivers.

The first and second straight lines can run in such a way that they intersect at a point. Alternatively, the first and second straight lines can run in such a way that they are skewed relative to one another. In this case, another plumb line can be determined that is perpendicular to the first and second lines and the shortest distance between the first and second

Just has. The point can be a point of the plumb line, where the point can be a center of the plumb line. The straight lines can be skewed to each other due to noise from the receivers.

In this method, the computer device can determine that the signal point and the other signal point are synchronous with one another if there is a first distance between the other

Point and the signal point and a second distance between the other point and the other signal point meet a predetermined condition. The predetermined condition can be that the first distance between the other point and the signal point and the second distance between the other point and the other signal point are the same

Have a value or deviate from each other by a specified range. The given one

The area takes into account that the first and second receivers of the first receiving unit and the second receiving unit respectively noise and therefore the distances will not always match exactly mathematically.

This makes it easy to determine whether the signal point and the other signal point are synchronous with one another. This method exploits the spherical propagation of the signal from the signal origin. Due to the spherical propagation of mutually synchronous signal points and other signal points, their distances from the other point must be the same or almost the same. The method may alternatively or in addition to the previously described method for classifying the signal points and the others

Signal points can be used.

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In a particular embodiment, the signal origin can be determined after determining which signal points and other signal points are synchronous with one another. In particular, the signal origin can be determined taking the determination result into account.

The signal origin can be determined after a pair of signal points has been identified.

Alternatively, all signal point pairs can be determined first and then the

Signal origin or signal origins can be determined. So it is possible that several

Signal origins exist when multiple pairs of signal points are determined.

To determine the signal origin, the computer device can determine the position of the signal point and the other signal point that is synchronous with the signal point. The can

Computer device determine that the signal origin corresponds to the position of the signal point and / or the other signal point if the position of the signal point and the other signal point is the same or differ from each other by a predetermined range. The location is the

Position of the signal point and / or the other signal point in space.

In an alternative or additional procedure, a first different straight line can be determined which runs through a signal point and the first receiving unit. The first other

A straight line can run through a center point or a first receiver of the receiving unit. In addition, a second different straight line can be determined which runs through another signal point, which is synchronous to the signal point, and the second receiving unit. The second other straight line can pass through a center or a second receiver.

The computer device can determine that the signal origin corresponds to the intersection between the first and second other straight lines. This is in the event that the first and second other lines intersect. As a result, the signal origin corresponds to the point described above.

In the event that the first other straight line and the second other straight line are skewed to each other, the signal origin can be the other point on the other described above

Correspond to plumb lines.

In a special embodiment, the first receiving unit and the second

Receiving unit can be activated at the same time. “Activated” means that the two receiving units can receive and evaluate signals from this point on. Before this point in time, the first and second receiving units are in an inactive state in which no signals are received and evaluated. The time at which the first and second receiving units are activated may correspond to a time at which a transmission signal is emitted by a transmitter of the device. By activating the two

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Receiving units at the same time makes it possible for signal points to be classified as synchronous or asynchronous with one another and/or for it to be recognized whether the received signals come from the same signal origin. In this respect, by activating the two receiving units at the same time, the signal origin can be determined in a simple manner.

The device can have a transmitter for emitting a transmission signal. The

Device can be made in one piece. In this case, the two can

Receiving units and the transmitter can be arranged in or on a housing of the device.

Alternatively, the device can be designed in several pieces. In this case, the two can

Receiving units and the transmitter can be designed as separate components. The components can be connected to the computer device electrically or electronically.

In one embodiment of the device, a first receiver or a second receiver can also function as a transmitter. In this case, the device does not have a separate transmitter, but the transmission function is carried out by a first or second receiver. Such a device is designed to be compact.

The transmitter can be designed such that the transmission signal is a wave, in particular

Pressure wave, preferably sound wave, or an electro-magnetic wave.

Accordingly, the received signal is a wave, in particular

Pressure wave, preferably sound wave, or an electromagnetic wave. The transmitter can be an ultrasound source.

The transmitter can be arranged between the first and second receiving units. The transmitter can be arranged on the connecting line, in particular on the middle of the connecting line, between the first and second receiving units. In addition, the can

Transmitter be arranged at the center of the device. This arrangement is advantageous if the device has a circular housing.

The device can have more than two receiving units, in particular three receiving units. The individual receiving units can be designed identically to the first and/or second receiving unit described above. If the device is circular and more than two receiving units are provided, the

Measurement accuracy increased. The calculation is carried out several times with two receiving units each and an average of the calculated signal points is formed. .When calculating, the receiving units differ from each other. As a result, such a

Procedure to reduce noise. An arrangement with three is advantageous

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Receiving units that are offset by 120° from each other because this improves the accuracy in all three spatial directions.

In an alternative embodiment, the transmitter can be arranged at a different location. The

However, the transmitter must be positioned in such a way that the signal originating from it

Signal can be received by both receiving units.

The first receiving unit, in particular the first receivers, and the second receiving unit, in particular the second receivers, can be arranged in the same plane. The transmitter can be arranged in the same plane as the first receivers and/or the second ones

Recipient.

A distance between the first receivers and each other can be at most, in particular less than, half a wavelength of the received signal. Likewise, a distance of the second

Receivers to each other can be at most, in particular less than, half a wavelength of the received signal.

The first and second receivers can be arranged such that at least two first

Receiver of the first receiving unit and/or at least two second receivers of the second

Receiving unit are arranged on a straight line. The transmitter can be arranged on the same straight line. At least one first receiver of the first reception unit and/or at least one second receiver of the second reception unit can be spaced apart from the

be arranged in straight lines. Such a device is designed to be compact.

According to one aspect of the invention, the method according to the invention is used in a one- or multi-dimensional, preferably three-dimensional, position determination, in particular by means of a device according to the invention. In particular, the method can be used in a robot and/or motor vehicle that moves, in particular autonomously.

In the case of the robot and/or motor vehicle, the determined signal origin can be used to control the driving direction and/or driving speed.

The subject matter of the invention is shown schematically in the figures, with elements that are the same or have the same effect usually being provided with the same reference numerals. This shows:

1 shows an arrangement known from the prior art consisting of a device with a transmitter and a receiving unit and an object,

2 shows an arrangement known from the prior art consisting of a device with a transmitter and a receiving unit, an object and an external sound source,

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Fig.3 shows a device according to the invention according to a first embodiment

Signal point pairs determined according to a first variant,

4 shows the device according to the first embodiment, which determines signal point pairs according to a second variant,

Fig. 5 shows the device according to the first embodiment, the signal point pairs according to a third

variant determined,

Fig. 6 shows the device according to the first embodiment, the signal point pairs according to a fourth

variant determined,

7 shows the device according to the first embodiment, which determines a signal origin according to a first variant,

8 shows the device according to the first embodiment, which determines a signal origin according to a second variant,

9 shows a top view of a device according to the invention according to the first embodiment,

10 shows a top view of a device according to the invention according to a second embodiment and

Fig. 11 is a top view of a device according to the invention according to a third embodiment.

In the arrangement shown in Figure 3, the object 13 shown in Figure 2 and the

External signal source 14 not shown. Figure 3 shows a large number of signal points S1-S6 and other signal points P1-P6, which are determined by the device 9 on the basis of the received signals 2, not shown. This is explained in more detail below.

The device 9 differs from the device shown in Figures 1 and 2 in that it has two receiving units, namely a first receiving unit 3 and a second

Receiving unit 5 has. The first receiving unit 3 is used to receive at least one signal 2 and has three first receivers 4. The second receiving unit 5 also serves to receive at least one signal 2 and also has three second ones

Receiver 6 on. The first and second receivers 4, 6 are not shown in Figure 3. The first and second receiving units 3, 5 can also have more than three first and second receivers 4, 6.

The device 9 also has a computer device 10 which, based on the signal 2 received from the first receiving unit 3, has a signal point S1-S6 and based on the signal 2 received from the second receiving unit 5, another signal point P1-S6.

P6 determined. The computer device 10 is connected to the first receiving unit 3 and the second

Receiving unit 5 connected electrically or electronically. The computer device 10 is arranged within a housing 15 of the device 9. The first receiving unit 3, in particular the first receivers, and the second receiving unit 5, in particular the second ones

Receivers are arranged on or in the housing 15. As explained in more detail below,

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P1-P6 are synchronous with each other and determines a signal origin 1 depending on that

Signal point S1-S6 and the other signal point P1-P6.

In Figure 3, signal points S1-S6, which were determined on the basis of signals 2 received by the first receiving unit 3, are shown in a circle. The other signal points P1-

P6, which was determined on the basis of the signals 2 received by the second receiving unit 5, are rectangular in shape.

The determination of signal point pairs according to a first procedure is described below. The starting point is the first signal point S1. The computer device 10 checks in a predetermined area 7, which is shown circular in FIG. 3 and corresponds to a sphere in three-dimensional space, whether other signal points in the predetermined area

Area are arranged. In the present case, a first other signal point P1 and a second other signal point P2 are arranged in the predetermined area 7.

In a next step, it is checked whether a first distance r1 between a center point M and the first signal point S1 corresponds to a second distance r2 between the center point M and the first other signal point P1 or deviates from one another by a predetermined range. In addition, it is checked whether the first distance r1 corresponds to a third distance r3 between the center point M and the second other signal point P2 or deviates from one another by a predetermined range. The center M lies on one

Connecting straight line 8, which is shown in dashed lines in Figure 3, between the first

Receiving unit 3 and the second receiving unit 5.

In the embodiment shown in Figure 3, it is found that the first signal point S1 and the first other signal point P1 are at the same or substantially the same distance from the

Have center point M. Therefore, the first signal point is S1 and the first other signal point

P1 synchronous with each other. On the other hand, the third distance r3 between the second other signal point P2 differs significantly from the first distance r1 between the center point

M and the first signal point P1, so that the first signal point S1 and the second other

Signal point P2 can be viewed as asynchronous to each other.

In a final step, it can be checked whether the distance of the first other signal point from the first signal point S1 along a circular arc line 16 corresponds to a predetermined distance. This is the case in Figure 3, so that the computer device 10 determines that the first

Signal point S1 and the first other signal point P1 are synchronous with one another. The

Circular arc line 16 is part of a sphere with the center, which is not shown in detail

M, which is arranged on the connecting line 8.

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The above steps are used for all signal points S2-S6 and/or the others

Signal points P1-P6 repeated. It is determined that a fourth signal point S4 and a third other signal point P3 are synchronous with one another.

4 shows the device 9 according to the first embodiment, which determines signal point pairs according to a second procedure. Analogous to the procedure discussed in FIG. 3, a signal point S1-S6 can first be determined and the others based on this

Signal points P1-P6 are determined in a predetermined area 7 around the signal point

S1-S6 are arranged.

According to the second procedure, a signal point line g is determined, which passes through the first

Signal point S1 and the first other signal point P1 runs. Then one will be

Plumb straight | determined and checked whether the perpendicular runs through the center point M or through a predetermined area around the center point M. The result is a check as to whether a lot | on the signal point line g exists, which passes through the center point M or through a predetermined one

Area runs around the center M. This is the case in Figure 4, so that the first signal point

S1 and the first other signal point P1 are synchronous with one another. The plumb line | is perpendicular to the signal point line g.

In addition, another signal point line g 'is shown in dashed lines in Figure 4, which runs through a sixth signal point S6 and a sixth other signal point P6. As can be seen from Figure 4, another plumb line I' does not run through the center point or through a predetermined area around the center point M. Accordingly, the sixth signal point

S6 and the third other signal point P6 asynchronous to each other.

The above steps are for all signal points S2-S6 and/or the others

Signal points P1-P6 repeated.

5 shows the device according to the first embodiment, which determines signal point pairs according to a third procedure. Analogous to the procedure discussed in FIG. 3, a signal point S1-S6 can first be determined and, based on this, the other signal points

P1-P6 are determined, which are arranged in a predetermined area 7 around the signal point S1-S6.

In the third procedure, a first straight line g1 is determined, which passes through the first receiving unit 3, in particular through a center point of the first receiving unit 3, and the first

Signal point S1 runs. The center point corresponds to a center point of a triangle (not shown) spanned by the first three receivers. In addition, a second one

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Just g2 is determined, which runs through the second receiving unit 5, in particular a center point of the second receiving unit, and the second signal point S2. This corresponds to

Center point is a center point of a triangle (not shown) spanned by the three second receivers.

As can be seen from Figure 5, the two straight lines intersect at a point P. In a next step, it is checked whether the first signal point S1 and the first other signal point P1 are equidistant from the other point P or whether the distance differences are in one within the specified range. In the embodiment shown in Figure 5, the first

Signal point S1 and the first other signal point P1 are arranged on the arc line of the same circle k1 around the other point P, so that the condition is fulfilled. In this case, the computer device 10 determines that the first signal point S1 and the first other signal point P1 are synchronous with one another.

In Figure 5, a third straight line g1' and a fourth straight line g2' are also shown in dashed lines, which intersect at another point P*. The third straight line g1' goes through the first receiving unit 3 and a sixth signal point S6 and the fourth straight line goes through the second receiving unit 5 and a fourth other signal point P4. As can be seen from Figure 5, the third signal point S3 and the fourth other signal point S4 are not on the

Arc line of the same other circle k2, so that the distance between the sixth

Signal point S6 and the further point P* from the distance between the fourth other

Signal point P4 and the other point P' can be clearly distinguished from each other. Therefore, the computer device 10 determines that the third signal point S3 and the fourth other signal point P4 are asynchronous to one another and therefore do not form a pair of signal points.

The procedure described above also works if the straight lines are skewed to each other. In this case, a center point of another plumb line is defined as point P, which is perpendicular to the first and second straight lines g1, g2 and which has the shortest distance between the first and second straight lines g1, g2. A device in which the method is carried out on skewed straight lines is shown in Figure 6.

As can be seen from Figure 6, the first and second straight lines g1, g2 are skewed to one another. 6 shows the other plumb line I1, which runs perpendicular to the first and second lines g1, g2. The other plumb line 11 is located at a position at which the first and second lines g1, g2 have the shortest distance from one another.

The point P is on the other plumb line 11. In particular, the point P can be the

Be the center of the other plumb line 12. This checks whether the distance between the

Point P and the first signal point S1 the distance between point P and the first

002A0005LU 02/12/2022 16

LU501459 corresponds to a different signal point P1 or the difference is within a specified range.

In the event that the condition is met, the first and the first other signal points are S1,

P1 synchronous with each other. This is the case with the embodiment shown in Figure 6.

The above steps are used for all signal points S2-S6 and/or the others

Signal points P1-P6 repeated.

7 shows the device 9 according to the first embodiment, which determines a signal origin 1 according to a first procedure. As can be seen from Figure 3, the fourth signal point S4 and the third other signal point P3 are arranged very close to one another. This means that the position of the fourth signal point S4 corresponds to the position of the third other signal point P3 or differs from one another by a permissible, predetermined distance. The

Computer device 10 determines that the signal origin 1 is also in the area, for example in the middle between the fourth signal point S4 and the third other

Signal point P3 is arranged. In Figure 6, the signal origin 1 is shown as an object point of an object 13 from which the transmission signal is reflected. Alternatively, the signal origin 1 can also be a sound source.

8 shows the device according to the first embodiment, which determines a signal origin according to a second procedure. This procedure also involves the data recorded

pairs of signal points. This is how the first one recorded in Figure 3 is shown in Figure 7

Signal point S1 and the first signal point P1. There will be a first different straight line gla between the first receiving unit 3 and the first signal point S1 and a second different straight line gla between the second receiving unit 5 and the first other one

Signal point P1 pulled. The intersection of both lines corresponds to the signal origin 1, which in this case is also an object point of an object 13. The result corresponds to

Signal origin is the point P determined in Figure 5.

For the sake of completeness, it should be noted that the point P shown in Figure 6 corresponds to the signal point origin. This is because the distance between the

Point P and the first signal point S1 corresponds to the distance between the point P and the first other signal point P1 or the distance difference in a predetermined

area lies.

Fig. 9 shows a top view of a device 9 according to the invention according to the first

Execution. The device 9 has a rectangular housing. Two of the first three

Receivers are arranged on a straight line g3. The third first receiver 4 is arranged at a distance from the straight line g3. The transmitter 11 and two of the three second receivers 6 are

002A0005LU 02/12/2022 17

LU501459 also arranged on line g3. The third second receiver is spaced from the

Line g3 arranged. All receivers are arranged on the same level. In particular, all receivers are arranged on the same side of the housing of the device 9.

In Fig. 9 the connecting line 8 is between the first receiving unit 3 and the second

Receiving unit 5 shown. The connecting line 8 runs between a center point of a triangle d1 spanned by the first receiver 4 and a center point of a triangle d2 spanned by the second receiver 6.

Fig. 10 shows a top view of a device 9 according to the invention according to a second

Execution. The device differs from the device shown in FIG. 9 in that it, in particular the housing 15, has a circular cross section, while the

Housing 15 of the embodiment shown in Figure 9 is rectangular. Another difference is that the device has three receiving units 3, 5, 17, each of which

Receiving units 3, 5, 17 have at least three receivers. In addition, the

Device 9 has a transmitter 11, which is arranged in the center of the device. The

Receivers of the three receiving units and the transmitter are arranged on the same level.

Fig. 11 shows a top view of a device according to the invention according to a third

Execution. The third embodiment differs from the embodiment shown in Figure 9 in that the housing 15 is square in cross section. Another difference is that the first receiving unit 3 and the second receiving unit 4 are arranged offset from one another. A straight line g3 running through two first receivers 4 does not run coaxially with a straight line g3 running through two second receivers 6, but rather the two straight lines are arranged offset from one another. In addition, the transmitter 11 is not arranged on either of the two straight lines g3.

002A0005LU 02/12/2022 18

LU501459

REFERENCE SYMBOL LIST

1 signal origin 2 received signal 3 first receiving unit 4 first receiver 5 second receiving unit 6 second receiver 7 specified area 8 connection line 9 device 10 computer device 11 transmitter 12 transmission signal 13 object 14 external signal source 15 housing 16 circular arc line 17 third receiving unit g signal point line g' further signal point line g1 first line gla first other line g2 second line g2a second other line g3 line g1' third line g2' fourth line k1 circle k2 other circle

Plumb straight

I other plumb line rn first distance r2 second distance r3 third distance

P point

P* another point

M center of the connecting line

002A0005LU 02/12/2022 19

LU501459

S1-S6 first to sixth signal points

P1-P6 first to sixth other signal points

Claims (1)

002A0005LU 02/12/2022 20 _ LU501459 PATENT CLAIMS 1. Method for determining a signal origin (1), the method comprising the following steps: receiving at least one signal (2) by a first receiving unit (3) which has at least three first receivers (4), based on the one received signal (2), a signal point (S1-S6) is determined, receiving at least one signal (2) by a second receiving unit (5), which has at least three second receivers (6), based on the received signal (2 ) another signal point (P1-P6) is determined, it being determined whether the signal point (S1-S6) and the other signal point (P1-P6) are synchronous with one another and the signal origin (1) depends on the signal point (S1-S6 ) and the other signal point (P1-P6). 2. Method according to claim 1, characterized in that a. depending on the determination result, the signal origin (1) is determined or not and/or that b. the signal origin (1) is not determined if the signal point (S1-S6) and the other signal point (P1-P6) are asynchronous to one another and/or that C. the signal origin (1) is determined when the signal point (S1-S6) and the other signal point (P1-P6) are synchronous with one another. 3. Method according to claim 1 or 2, characterized in that several signal points (S1-S6) and several other signal points (P1-P6) are determined. 4. The method according to claim 3, characterized in that it is determined which signal points (S1-S6) and other signal points (P1-P6) are synchronous with one another, in particular before the signal origin (1) is determined. 5. The method according to claim 4, characterized in that a. starting from a signal point (S1-S6), it is determined whether another signal point (P1-P6) is arranged in a predetermined area (7) around the signal point (S1-S6) and/or that b. starting from another signal point (P1-P6), it is determined whether a signal point (S1-S6) is arranged in a predetermined area (7) around the other signal point (P1-P6). 6. The method according to claim 4 or 5, characterized in that it is determined that 002A0005LU 02/12/2022 21 LU501459 a. a signal point (S1-S6) and another signal point (P1-P6) are synchronous with each other if a first distance (r1) between the signal point (S1-S6) and a point and a second distance (r2) between the other signal point ( P1-P6) and the point (A) fulfill a predetermined condition, the point being arranged on a connecting line (8) between the first receiving unit (3) and the second receiving unit (5) and/or that b. the signal point (S1-S6) and the other signal point (P1-P6) are spaced apart from each other by a predetermined distance along a circular arc line containing the signal point (S1-S6) and the other signal point (P1-P6). 7. The method according to claim 6, characterized in that the point is a center point (M) of the connecting line (8). 8. Method according to one of claims 4 to 7, characterized in that a signal point line (g) is determined which runs through a signal point (S1-S6) and another signal point (P1-P6). 9. The method according to claim 8, characterized in that it is determined that the signal point (S1-S6) and the other signal point (P1-P6) are synchronous with one another when a plumb line (I) passes through a center point on the signal point line (g). (M) of a connecting line (8) between the first and second receiving units (3, 5) or runs through a predetermined area around a center point (M) of a connecting line (8) between the first and second receiving units (4, 5). 10. The method according to one of claims 4 to 9, characterized in that a first straight line (g1) is determined, which runs through at least one signal point (S1-S6) and the first receiving unit (4), and a second straight line (g2) is determined, which runs through at least one other signal point (P1-P6) and the second receiving unit (5). 11. The method according to claim 10, characterized in that the first and second straight lines (g1, g2) run such that a. they intersect at a point (P) or that b. they are skewed to each other, with a point (P) lying on another perpendicular line (1) to the first line (g1) and the second line (g2). 12. The method according to claim 11, characterized in that it is determined that the signal point (S1-S6) and the other signal point (P1-P6) are synchronous with one another when a first distance between the point (P) and the signal point (S1 -S6) and a second distance 002A0005LU 02/12/2022 22 LU501459 between the other point (P) and the other signal point (P1-P6) meet a predetermined condition. 13. The method according to any one of claims 1 to 12, characterized in that a. the signal origin (1) is determined after a signal point (S1-S6) and another signal point (P1-P6) that are synchronous with one another have been determined and/or that b. the signal origin (1) is determined after it has been determined which signal points (S1-S6) and other signal points (P1-P6) are synchronous with one another and/or that C. the signal origin (1) is determined taking the determination result into account. 14. The method according to one of claims 1 to 13, characterized in that the position of the signal point (S1-S6) and the other signal point (P1-P6) which is synchronous with the signal point (S1-S6) is determined, the signal origin (1) corresponds to the position of the signal point (S1-S6) and/or the other signal point (P1-P6) if the position of the signal point (S1-S6) and the position of the other signal point (P1-P6) are the same or by a predetermined range differ from each other. 15. The method according to one of claims 1 to 14, characterized in that a first other straight line (g1a) is determined which runs through a signal point (S1-S6) and the first receiving unit (3), and a second other straight line (g2a ) is determined, which runs through another signal point (P1-P6), which is synchronous to the signal point (S1-S6), and the second receiving unit (5). 16. The method according to claim 15, characterized in that the signal origin (1) is the intersection point between the first and second other straight lines (g1a, g2a). 17. The method according to any one of claims 1 to 16, characterized in that a. the first receiving unit (3) and the second receiving unit (5) are activated at the same time and/or that b. a time at which the first and second receiving units (3, 5) are activated corresponds to a time at which a transmission signal is emitted. 18. Device (9), in particular for carrying out a method according to one of claims 1 to 17, for determining a signal origin (1). 002A0005LU 02/12/2022 23 LU501459 a first receiving unit (3) for receiving at least one signal (2), which has at least three first receivers (4), a second receiving unit (5) for receiving at least one signal (2), which has at least three second receiver (6) and a computer device (10) which generates a signal point (S1-S6) based on the signal (2) received by the first receiving unit (3) and on the basis of that received by the second receiving unit (5). Signal (2) determines another signal point (P1-P6), the computer device (10) determining whether the signal point (S1-S6) and the other signal point (P1-P6) are synchronous with one another and the signal origin (1) depending on the signal point (S1-S6) and the other signal point (P1-P6). 19. Device (9) according to claim 18, characterized in that the device (9) has a transmitter (11) for emitting a transmission signal (12). 20. Device (9) according to claim 19, characterized in that a. the transmitter (11) is designed such that the transmission signal (12) is a wave, in particular a pressure wave, preferably a sound wave, or an electromagnetic wave and/or that b. a first receiver (4) of the first reception unit (3) or a second receiver (6) of the second reception unit (5) acts as a transmitter (11) and / or that C. the received signal (2) is a wave, in particular a pressure wave, preferably a sound wave, or an electro-magnetic wave. 21. Device (9) according to claim 19 or 20, characterized in that a. the transmitter (11) is arranged between the first and second receiving units (3, 5) and/or that b. the transmitter (11) is arranged at the center of the device (9). 22. Device (9) according to one of claims 18 to 21, characterized in that a. the first receiving unit (3) and the second receiving unit (5) are arranged in the same plane and/or that b. the first receivers (4) and the second receivers (5) are arranged in the same plane and/or that C. the transmitter and the first receiving unit (3) and the second receiving unit (5) are arranged in the same plane. 23. Device (9) according to one of claims 18 to 22, characterized in that 002A0005LU 02/12/2022 24 LU501459 a. a distance between the first receivers (4) from one another is at most, in particular less than, half a wavelength of the received signal (2) and/or that b. a distance between the second receivers (5) from one another is at most, in particular less than, half a wavelength of the received signal (2). 24. Device (9) according to one of claims 18 to 22, characterized in that at least two first receivers (4) of the first receiving unit (3) and / or at least two second receivers (6) of the second receiving unit (5) on a straight line (g3) are arranged. 25. Device (9) according to claim 24, characterized in that a. the transmitter (11) is arranged on the straight line (g3) and/or that b. at least one first receiver (4) of the first receiving unit (3) and/or at least one second receiver (6) of the second receiving unit (5) is arranged at a distance from the straight line (g3). 26. Use of a method according to one of claims 1 to 17 in a one- or multi-dimensional, preferably three-dimensional, position determination, in particular by means of a device (9) according to one of claims 18 to 25.