US20020024448A1 - Method and a system for monitoring plurality of movable objects - Google Patents
Method and a system for monitoring plurality of movable objects Download PDFInfo
- Publication number
- US20020024448A1 US20020024448A1 US09/147,300 US14730099A US2002024448A1 US 20020024448 A1 US20020024448 A1 US 20020024448A1 US 14730099 A US14730099 A US 14730099A US 2002024448 A1 US2002024448 A1 US 2002024448A1
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- node
- transponder
- signal
- communicate
- monitoring
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Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/0202—Child monitoring systems using a transmitter-receiver system carried by the parent and the child
- G08B21/0263—System arrangements wherein the object is to detect the direction in which child or item is located
-
- 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
- G01S13/76—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein pulse-type signals are transmitted
- G01S13/765—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein pulse-type signals are transmitted with exchange of information between interrogator and responder
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/0202—Child monitoring systems using a transmitter-receiver system carried by the parent and the child
- G08B21/0227—System arrangements with a plurality of child units
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/0202—Child monitoring systems using a transmitter-receiver system carried by the parent and the child
- G08B21/023—Power management, e.g. system sleep and wake up provisions
-
- 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
- G01S13/76—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein pulse-type signals are transmitted
- G01S13/78—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein pulse-type signals are transmitted discriminating between different kinds of targets, e.g. IFF-radar, i.e. identification of friend or foe
-
- 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
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
- G01S13/878—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector
-
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
- G01S19/16—Anti-theft; Abduction
-
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/51—Relative positioning
-
- 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
- G01S2205/001—Transmission of position information to remote stations
- G01S2205/007—Transmission of position information to remote stations for management of a communication system
-
- 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
- G01S5/0009—Transmission of position information to remote stations
- G01S5/0018—Transmission from mobile station to base station
- G01S5/0027—Transmission from mobile station to base station of actual mobile position, i.e. position determined on mobile
Definitions
- the present invention relates to a method and to a system of the kind defined in the preambles of the following method and system Claims.
- the invention is thus based on a technique in which each of the objects is provided with a transponder and in which a stationary node is arranged to communicate with the transponders, wherein the node sends to each transponder a signal which is identified solely by the transponder in question, wherein each transponder sends to the node a response signal in response to the signal from the node, wherein the response signal identifies the transponder concerned.
- the node can thus be forced to detect the speed and direction of each transponder towards and away from the node.
- Node associated means can then be caused to evaluate movement of the transponder in relation to the node, on the basis of the speed and direction of the transponder.
- This technique is known from U.S. Pat. No. 5,506,584, for instance.
- the present invention finds use, for instance, in monitoring boats in harbours, and it is, of course, of interest in this regard to be able to limit the monitored area on the one hand, so that communication between node and transponder can always be maintained despite varying weather conditions. It is also of interest to be able to measure whether or not the boat/transponder moves relative to the node within the monitored area.
- An object of the present invention is to provide a method and a system with which transponder movement and distance of the transponder from the node can be monitored, and with which the transponder can be tracked between different nodes.
- the transponder delivers a unique signal enables the unique transponder signal to be associated with a telephone network subscriber. For instance, by coupling the node to a telephony system, the subscriber is able to send a message to the transponder via the telephony system when the node discovers that the transponder concerned is located outside its permitted area or moves at a speed which exceeds a predetermined value. For instance, the node can be caused to detect a Doppler-shift response from each transponder, this Doppler shift constituting a measurement of the speed at which the transponder moves towards or away from the node.
- the transponders normally respond to a coded microwave signal from the node with a coded Doppler-shift response.
- the node sends coded signals to the transponders in accordance with a given sequence at pre-programmed time intervals, preferably constant time intervals.
- the signal from the node is coded so that only the intended transponder is able to react to the node signal.
- the transponder includes a computer which is programmed to activate the transponder for transmission when the code of the node signal agrees with the identity of the transponder. When the transponder returns a coded signal to the node, this reply signal is also given a code that identifies this transponder.
- the computer in the transponder may also be programmed to add additional information to the transponder output signal.
- a theft alarm or burglar alarm may be coupled to the computer of the transponder, so as to cause the computer to add corresponding information to the transponder reply signal, thereby enabling an alarm signal to be sent by the node to an alarm receiver, via a communications system (telephony system).
- the transponder may have an identity corresponding to a telephone subscriber number, so as to enable an alarm to be signalled to the subscriber with a message corresponding to the current alarm state associated with the transponder in question, this signal being sent directly from the node via a telephony system, for instance the GSM system.
- the technique of detecting movement of the transponder towards or away from the node with the aid of a Doppler effect for instance also enables the absolute position of the transponder to be calculated by numerical integration of the speed fixes, although absolute determination of the transponder position will preferably be carried out at close intervals.
- the invention is not limited to the use of a Doppler effect for detecting transponder movement and speed.
- the invention enables movement of the transponder to be detected, or sensed, within the permitted transponder area that lies well within the range of the node/transponder, therewith giving a clear indication that the transponder is moving away from its expected position while the transponder is located within the communication range of its node.
- the fundamental concept of the invention enables several nodes to be used, each of which monitors its respective group of transponders, said nodes communicating with one another.
- the node When a transponder moves away from its node, out of the permitted area, the node is thus able to communicate with nearby nodes and initiate the nodes to search for the transponder concerned, the code of which is then passed to these remaining nodes.
- the transponder can be dismissed from the groups of objects monitored by the other nodes.
- the nodes may lie at a distance of 3 km apart, to enable such a handover to take place.
- the nodes may in turn, communicate with a main node which monitors the permitted movement area of a given transponder.
- the area can then be represented by a specific group of nodes. It is thus fully possible to connect the main node to a computer that monitors the permitted area of a given transponder.
- the main node may allow a given transponder to move within the permitted areas corresponding to overlapping of the permitted transponder areas of a predetermined number of nodes, the main node otherwise triggering an alarm to the person responsible for the transponder concerned.
- a yacht may have been hired with under the provision that it must not leave an area defined by pre-determined permitted, mutually overlapping communication areas of the nodes with the transponder, wherewith the main node is able to initiate an alarm of some kind if the transponder concerned disappears from the permitted area.
- the main node may, in turn, be connected to other main nodes via known telecommunications equipment.
- the nodes may be comprised of mobile units that have an own GPS equipment that determines the location of the node.
- the node may, in principle, include a transmitter, a receiver and logic that enables the node to monitor the transponders that are in the area monitored by the node and registered therein.
- FIG. 1 illustrates schematically an inventive monitoring system.
- FIG. 2 is a schematic illustration of several interlinked systems.
- FIG. 3 is a schematic illustration of communication between a node and a transponder.
- a transponder 10 that includes a receiver 11 , a computer 12 and a transmitter 13 . Also shown is a node 20 which includes a digital transmitter 21 , logic 22 , position determining equipment 23 and a receiver 24 .
- the transponder 10 is mounted on an object to be monitored.
- the transponder 10 may be passive or may have its own power source so as to provide better signal transmission back to the node.
- the node 20 includes a register of a number of transponders 10 to be monitored. Each transponder has a unique identity/address. This address may consist of a signal code.
- the node 20 sends a signal to respective transponders 10 at predetermined time intervals. The node 20 sends the signal with the transponder code, so that only the intended transponder will recognize the signal.
- the transponder then sends a response signal to the node, preferably directly.
- the computer 12 provides the response signal with information concerning the identity of the transponder 10 , so that the node 20 is able to decide whether or not the transponder concerned has actually replied.
- the computer 12 provided in the transponder 10 may be coupled to a burglar alarm or other alarm means, so that corresponding information can be transmitted to the node 20 .
- the node 20 is normally stationary, it may be mobile.
- the node therefore includes GPS equipment 23 which automatically monitors the position or location of the node 20 .
- the node 20 has communications equipment for communication with other nodes.
- the node 20 monitors a plurality of transponders 10 in its local area. By detecting whether or not a transponder moves towards or away from the node by means of the Doppler effect, the node logic 22 is able to decide whether or not the transponder concerned is located within a permitted area that lies well within the communications area. If a transponder 10 moves significantly, the node is able to deliver a signal to this effect either to an alarm centre or to the owner of the object on which the transponder 10 is mounted.
- the node logic is able to determine the distance of the transponders, by integrating the speeds at which the transponders move established by the Doppler effect, although parallel absolute measurements of the position of the transponders 10 in relation to the node are preferably carried out.
- the node If a transponder is detected to move in a non-permitted manner or to be located outside a permitted area in relation to the node 20 in which the transponder is registered, the node is able to communicate with neighbouring nodes, as illustrated in FIG. 2, such that the node 1 (FIG. 3) sends information P relating to the transponder concerned to a neighbouring node 2 , so that said node can search for the transponder concerned in its monitoring area. If a neighbouring node, thus the node 2 , detects the transponder concerned, the transponder can be inserted in the monitoring register of node 2 while deleting said transponder from the register of the previous node at the same time.
- the nodes 1 , 2 , etc. are also able to communicate with a main node which defines the conditions that are permissible with respect to a given transponder, and which also defines the conditions with respect to the transponder that shall initiate an alarm.
- a GSM telephone subscriber subscribes to a transponder 20 having a unique identity, for instance the telephone number of the subscriber.
- the transponder is mounted on a vessel in a harbour and monitored by a node. If the boat leaves its position or leaves the monitored area without permission, there is initiated via the node or via the main node 30 which can have a link to GSM or IMMARSAT, an alarm which passes to the subscriber telephone via the telephony system, so that the subscriber obtains this information.
- the information can, of course, be sent to a monitoring station 31 of some kind or other, e.g. an alarm centre.
- the rental company When the transponder is mounted on a rental or hired boat or a hired car, the rental company is able to readily ascertain whether or not the hired object has left the area in which it is allowed to move in accordance with the rental contract. Furthermore, it is beneficial for the rental or hire company to be able to trace the hired objected/transponder if/when it leaves the permitted area.
- the node communicates with a plurality of transponders 20 (A, B, C, D) within its monitoring area.
- the node may monitor a transponder 20 (A) with respect to a condition whereby it may not experience any movement towards or away from the node 1 .
- the node may detect whether or not a transponder is located within a permitted area in relation to the node 20 , i.e. that a transponder 10 is located within a permitted distance from the node 20 .
- the monitoring system is based on a node/base station and a plurality of units whose positions shall be monitored and which are scattered in the space within a distance R from the node. These units are equipped with transponders that respond to a coded microwave signal from the node with a coded response signal.
- the code is described below, wherein solely the problems with and possible position determining solutions with the aid of the Doppler effect are considered. Because of the nature of the system, it is assumed that the node has at most a 3-DB antenna amplification (semi-directional), whereas the transponder has an omni-directional antenna (ER).
- the antennas will preferably be circular polarized, so as to be orientation insensitive.
- g′ transponder amplification (may be smaller or greater than 1)
- f o base unit transmitting frequency
- the response frequency is essentially equal to f o .
- f o 2.45 Ghz
- a resolution of 1 Hz is required to indicate 6 cm/s, which gives a measuring time of at least 1 second.
- the object can have moved 3 m at 6 cm/s or 140 m at 10 km/h in this space of time. If lower requirements are placed on the speed resolution, both measuring time and time intervals can be reduced. The smallest detectable movement will still be 3 m, although the value are 10 km/h will decrease proportionally.
- the position of the monitored object must be calculated by numerical integration of the speed determinations. This quickly gives rise to large positional errors, particularly when monitoring vessels that are moored in a harbour, due to the reciprocatory motion that occurs. Furthermore, only movement towards or away from the base station is indicated, not sideways movement. In order to avoid false alarms or non-occurrent alarms, it will probably be necessary to effect absolute determination of the position at close intervals.
- down-mixing is effected with an intermediate frequency in the order of at least 1 kHz, and not down to the baseband. If this is not generated in the transponder (sideband modulation), e.g. when doubling or halving the frequency, it must be generated in the base station.
- a large number of the aforesaid problems can be circumvented, by effecting coherent detection to the baseband and by sampling the various monitored objects much more frequently.
- a choice can be made between homodyne detection or heterodyne detection.
- homodyne detection produces difficulties in respect of determining direction. It is possible that such difficulties can be overcome with a high degree of accuracy in A/D conversion and the choice of an intelligent interpretation algorithm, although there will always be a danger of wrong interpretation of the velocity direction at some time point, resulting in a sudden change.
- a better solution is to insert a low intermediate frequency when down-mixing in the base unit.
- V e the voltage envelope, which is slightly time-dependent due to aspect variations of the antennas.
- ⁇ is a constant phase angle.
- V e the voltage envelope, which is slightly time-dependent due to aspect variations of the antennas.
- ⁇ is a constant phase angle.
- This voltage is sampled at a rate at which the phase change between samples is kept beneath ⁇ /2 in the cosine function.
- the choice of a sampling frequency that is a multiple of f LO should be avoided, since synchronism can make determination of V e difficult (the peak values in the voltage response that are assumed to vary with a time constant much greater than 1/f LO ).
- Arc cos [V(t)/V e] is then calculated.
- P t will also be equal to the mean power consumption of the transponder. Halving of the frequency reduces the transponder power requirement 64 times in comparison with doubling the frequency, although a base-unit antenna surface area that is 16 times greater is required in return.
- the response time for each object is only 25/N ⁇ s on each activation occasion in the above example. Only one sample is taken during this period. The next sample is taken on the same object 2500/N is later.
- the sampling rate of the base unit is, in total, 50 times higher, i.e. N*20 ksa/s.
- the noise power in this band is N*4*10 ⁇ 19 W. If the receiver noise factor is 6 dB and the requisite signal/noise ratio for interpretation is assumed to be 14 dB, the requirement P 1 >N* 4 * 10 ⁇ 17 W that is required (mean power in the detected frequency band). With these above values, there is then obtained P t >N 3 *2.6*10 ⁇ 8 W and a mean output power from the transponder which is 100 times greater, since the spectrum contains, in round figures, 100 similar frequency bands that are not made use of. The requisite pulse output power of the transponder is thus N 3 *26*10 ⁇ 5 W; thus roughly the same requirement as that placed on data transmission.
- this intermediate frequency and the sampling frequency f s may either both be raised, or f s may be retained and solely f LO raised.
- the following general relationship must be fulfilled for unequivocal interpretation:
- ⁇ f the maximum value of Abs ⁇ 2*N/ ⁇ *[dR(t)/dt] ⁇ and M*2*n must be added in the calculation of arc cos [V(t)/V e ] in accordance with the aforegoing.
- ⁇ f N*50 Hz in our example.
- the above condition results in the condition f s >8* ⁇ f.
- Sampling frequency and intermediate frequency will preferably be synthesized from a common fundamental frequency, as earlier.
- the permitted time jitter of the sampling is related to f LO and must thus decrease proportionally when f LO is increased by choosing M>0.
- a sampling jitter of 0.01/f LO s can be tolerated in our example.
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Abstract
Description
- The present invention relates to a method and to a system of the kind defined in the preambles of the following method and system Claims.
- The invention is thus based on a technique in which each of the objects is provided with a transponder and in which a stationary node is arranged to communicate with the transponders, wherein the node sends to each transponder a signal which is identified solely by the transponder in question, wherein each transponder sends to the node a response signal in response to the signal from the node, wherein the response signal identifies the transponder concerned. The node can thus be forced to detect the speed and direction of each transponder towards and away from the node. Node associated means can then be caused to evaluate movement of the transponder in relation to the node, on the basis of the speed and direction of the transponder. This technique is known from U.S. Pat. No. 5,506,584, for instance.
- The present invention finds use, for instance, in monitoring boats in harbours, and it is, of course, of interest in this regard to be able to limit the monitored area on the one hand, so that communication between node and transponder can always be maintained despite varying weather conditions. It is also of interest to be able to measure whether or not the boat/transponder moves relative to the node within the monitored area.
- An object of the present invention is to provide a method and a system with which transponder movement and distance of the transponder from the node can be monitored, and with which the transponder can be tracked between different nodes.
- This object is achieved with a method according to
claim 1 and with a system according to claim 5 respectively. Further developments of the invention are set forth in the dependent Claims. - The fact that the transponder delivers a unique signal enables the unique transponder signal to be associated with a telephone network subscriber. For instance, by coupling the node to a telephony system, the subscriber is able to send a message to the transponder via the telephony system when the node discovers that the transponder concerned is located outside its permitted area or moves at a speed which exceeds a predetermined value. For instance, the node can be caused to detect a Doppler-shift response from each transponder, this Doppler shift constituting a measurement of the speed at which the transponder moves towards or away from the node.
- The transponders normally respond to a coded microwave signal from the node with a coded Doppler-shift response. The node sends coded signals to the transponders in accordance with a given sequence at pre-programmed time intervals, preferably constant time intervals. The signal from the node is coded so that only the intended transponder is able to react to the node signal. The transponder includes a computer which is programmed to activate the transponder for transmission when the code of the node signal agrees with the identity of the transponder. When the transponder returns a coded signal to the node, this reply signal is also given a code that identifies this transponder. Naturally, the computer in the transponder may also be programmed to add additional information to the transponder output signal. For instance, a theft alarm or burglar alarm may be coupled to the computer of the transponder, so as to cause the computer to add corresponding information to the transponder reply signal, thereby enabling an alarm signal to be sent by the node to an alarm receiver, via a communications system (telephony system). For instance, the transponder may have an identity corresponding to a telephone subscriber number, so as to enable an alarm to be signalled to the subscriber with a message corresponding to the current alarm state associated with the transponder in question, this signal being sent directly from the node via a telephony system, for instance the GSM system.
- The technique of detecting movement of the transponder towards or away from the node with the aid of a Doppler effect for instance, also enables the absolute position of the transponder to be calculated by numerical integration of the speed fixes, although absolute determination of the transponder position will preferably be carried out at close intervals. However, the invention is not limited to the use of a Doppler effect for detecting transponder movement and speed.
- The invention enables movement of the transponder to be detected, or sensed, within the permitted transponder area that lies well within the range of the node/transponder, therewith giving a clear indication that the transponder is moving away from its expected position while the transponder is located within the communication range of its node.
- The fundamental concept of the invention enables several nodes to be used, each of which monitors its respective group of transponders, said nodes communicating with one another. When a transponder moves away from its node, out of the permitted area, the node is thus able to communicate with nearby nodes and initiate the nodes to search for the transponder concerned, the code of which is then passed to these remaining nodes. When one of these remaining nodes receives a response from the transponder concerned, the transponder can be dismissed from the groups of objects monitored by the other nodes. For example, the nodes may lie at a distance of 3 km apart, to enable such a handover to take place. The nodes may in turn, communicate with a main node which monitors the permitted movement area of a given transponder. The area can then be represented by a specific group of nodes. It is thus fully possible to connect the main node to a computer that monitors the permitted area of a given transponder. For instance, the main node may allow a given transponder to move within the permitted areas corresponding to overlapping of the permitted transponder areas of a predetermined number of nodes, the main node otherwise triggering an alarm to the person responsible for the transponder concerned. For example, a yacht may have been hired with under the provision that it must not leave an area defined by pre-determined permitted, mutually overlapping communication areas of the nodes with the transponder, wherewith the main node is able to initiate an alarm of some kind if the transponder concerned disappears from the permitted area. The main node may, in turn, be connected to other main nodes via known telecommunications equipment.
- The nodes may be comprised of mobile units that have an own GPS equipment that determines the location of the node. The node may, in principle, include a transmitter, a receiver and logic that enables the node to monitor the transponders that are in the area monitored by the node and registered therein.
- The invention will now be described in more detail with reference to an exemplifying embodiment thereof and also with reference to the accompanying drawings.
- FIG. 1 illustrates schematically an inventive monitoring system.
- FIG. 2 is a schematic illustration of several interlinked systems.
- FIG. 3 is a schematic illustration of communication between a node and a transponder.
- Referring first to FIG. 3, there is shown a
transponder 10 that includes areceiver 11, acomputer 12 and atransmitter 13. Also shown is anode 20 which includes adigital transmitter 21,logic 22,position determining equipment 23 and areceiver 24. - The
transponder 10 is mounted on an object to be monitored. Thetransponder 10 may be passive or may have its own power source so as to provide better signal transmission back to the node. - The
node 20 includes a register of a number oftransponders 10 to be monitored. Each transponder has a unique identity/address. This address may consist of a signal code. Thenode 20 sends a signal torespective transponders 10 at predetermined time intervals. Thenode 20 sends the signal with the transponder code, so that only the intended transponder will recognize the signal. The transponder then sends a response signal to the node, preferably directly. Thecomputer 12 provides the response signal with information concerning the identity of thetransponder 10, so that thenode 20 is able to decide whether or not the transponder concerned has actually replied. Thecomputer 12 provided in thetransponder 10 may be coupled to a burglar alarm or other alarm means, so that corresponding information can be transmitted to thenode 20. - Although the
node 20 is normally stationary, it may be mobile. The node therefore includesGPS equipment 23 which automatically monitors the position or location of thenode 20. Thenode 20 has communications equipment for communication with other nodes. - The
node 20 monitors a plurality oftransponders 10 in its local area. By detecting whether or not a transponder moves towards or away from the node by means of the Doppler effect, thenode logic 22 is able to decide whether or not the transponder concerned is located within a permitted area that lies well within the communications area. If atransponder 10 moves significantly, the node is able to deliver a signal to this effect either to an alarm centre or to the owner of the object on which thetransponder 10 is mounted. - The node logic is able to determine the distance of the transponders, by integrating the speeds at which the transponders move established by the Doppler effect, although parallel absolute measurements of the position of the
transponders 10 in relation to the node are preferably carried out. - If a transponder is detected to move in a non-permitted manner or to be located outside a permitted area in relation to the
node 20 in which the transponder is registered, the node is able to communicate with neighbouring nodes, as illustrated in FIG. 2, such that the node 1 (FIG. 3) sends information P relating to the transponder concerned to a neighbouringnode 2, so that said node can search for the transponder concerned in its monitoring area. If a neighbouring node, thus thenode 2, detects the transponder concerned, the transponder can be inserted in the monitoring register ofnode 2 while deleting said transponder from the register of the previous node at the same time. - As illustrated in FIG. 2, the
nodes - It can be assumed that a GSM telephone subscriber subscribes to a
transponder 20 having a unique identity, for instance the telephone number of the subscriber. The transponder is mounted on a vessel in a harbour and monitored by a node. If the boat leaves its position or leaves the monitored area without permission, there is initiated via the node or via themain node 30 which can have a link to GSM or IMMARSAT, an alarm which passes to the subscriber telephone via the telephony system, so that the subscriber obtains this information. Alternatively, the information can, of course, be sent to amonitoring station 31 of some kind or other, e.g. an alarm centre. When the transponder is mounted on a rental or hired boat or a hired car, the rental company is able to readily ascertain whether or not the hired object has left the area in which it is allowed to move in accordance with the rental contract. Furthermore, it is beneficial for the rental or hire company to be able to trace the hired objected/transponder if/when it leaves the permitted area. - With reference to FIG. 1, it will be seen that the node communicates with a plurality of transponders20 (A, B, C, D) within its monitoring area. In this regard, the node may monitor a transponder 20 (A) with respect to a condition whereby it may not experience any movement towards or away from the
node 1. Secondarily, the node may detect whether or not a transponder is located within a permitted area in relation to thenode 20, i.e. that atransponder 10 is located within a permitted distance from thenode 20. - The monitoring system is based on a node/base station and a plurality of units whose positions shall be monitored and which are scattered in the space within a distance R from the node. These units are equipped with transponders that respond to a coded microwave signal from the node with a coded response signal.
- The code is described below, wherein solely the problems with and possible position determining solutions with the aid of the Doppler effect are considered. Because of the nature of the system, it is assumed that the node has at most a 3-DB antenna amplification (semi-directional), whereas the transponder has an omni-directional antenna (ER). The antennas will preferably be circular polarized, so as to be orientation insensitive.
- index r=received
- index t=transmitted
- ′designates transponder membership (without ′ designates base units)
- P=power
- R=distance base unit−transponder
- G=antenna amplification
- A=effective antenna area
- g′=transponder amplification (may be smaller or greater than 1)
- f=frequency
- fo=base unit transmitting frequency
- B=base unit reception bandwidth
- kT=Boltzmann's constant×temperature (Kelvin)
- v=transponder velocity relative base unit
- c=speed of light
- Δf=Doppler shift
- λ32 c/f0=transmitted wave length
- The starting equations are
- Pr′=Pt*Gt* Ar′/4/πR2
- Pr=Pt′*Gt′*Ar/4π/R2
- With respect to the antennas it can be assumed that G=2*π*A/λ2 (50% antenna efficiency). With Pt′=*g′*Pr′ there is then obtained
- Pr=Pt*g′*(G*G′/2)2*(λ/2/π/R)4
- provided that the response frequency is essentially equal to fo. Assume that we have a passive transponder (without its own power source). Since the response from the transponder must—in addition to the Doppler shift—also be frequency shifted in relation to the base frequency so as not to be drenched in other reflected signals, g′ may be at highest in the order of 0.01. G=2 and G′=1. With fo=2.45 Ghz, R=500 m and Pt=1 W there is then obtained Pr<2.3*10−20 W.
- Assume that v=+/−10 km/h is the maximum speed that can be expected. This corresponds to the Doppler shift
- Δf=2*v*fo/c=+/−45 Hz.
- Thus, the receiver bandwidth must be chosen as B=100 Hz, which gives Pnoise=k*T*B=4*10−19 W. Because the signal is coded with more than 1 kb/s, the noise may be increased by a further power of 10. Thus, the base unit must have a power output of at least 200 W, in order for the response not to be drenched in noise. The conclusion is that an active transponder should be chosen even for the relative short distance of 500 m.
- With an active transponder, Pr′=1.5*10−9 W under the same conditions. Thus, it is possible to reduce the power output to −30 dBm without being troubled by noise, and still obtain a range somewhere in the region of 3 km (B=1 kHz, signal/noise ratio 10). Naturally, this presumes that the transponder will also deliver an output signal of comparable strength.
- As before mentioned, it is necessary to add to the transponder a frequency shift in the order of at least 1 kHz in order to filter out undesirable echoes in the base station receiver. The frequency stability must be in the order of 1 Hz (v=6 cm/s). It is possible to include single-sideband or double-sideband modulation (Premid). Alternatively, frequency can be doubled or halved. This eliminates the stability requirement of the transponder, but may, instead, require separate receiving and transmitting antennas in both base station and transponder in order to fulfil the angular covering requirement. Furthermore, collision with permitted maximum radiation in these other bands may occur.
- A. Incoherent detection
- At fo=2.45 Ghz, a resolution of 1 Hz is required to indicate 6 cm/s, which gives a measuring time of at least 1 second. When 50 objects are to be monitored, it will take at least 50 seconds between the observations of an object. The object can have moved 3 m at 6 cm/s or 140 m at 10 km/h in this space of time. If lower requirements are placed on the speed resolution, both measuring time and time intervals can be reduced. The smallest detectable movement will still be 3 m, although the value are 10 km/h will decrease proportionally.
- In order to lower the bottom limit of detectable movement, it is necessary either to increase fo or to reduce the number of monitored objects.
- The position of the monitored object must be calculated by numerical integration of the speed determinations. This quickly gives rise to large positional errors, particularly when monitoring vessels that are moored in a harbour, due to the reciprocatory motion that occurs. Furthermore, only movement towards or away from the base station is indicated, not sideways movement. In order to avoid false alarms or non-occurrent alarms, it will probably be necessary to effect absolute determination of the position at close intervals.
- In order to decide whether the speed is directed towards or away from the base station, down-mixing is effected with an intermediate frequency in the order of at least 1 kHz, and not down to the baseband. If this is not generated in the transponder (sideband modulation), e.g. when doubling or halving the frequency, it must be generated in the base station.
- B. Coherent detection
- A large number of the aforesaid problems can be circumvented, by effecting coherent detection to the baseband and by sampling the various monitored objects much more frequently. A choice can be made between homodyne detection or heterodyne detection. As before mentioned, homodyne detection produces difficulties in respect of determining direction. It is possible that such difficulties can be overcome with a high degree of accuracy in A/D conversion and the choice of an intelligent interpretation algorithm, although there will always be a danger of wrong interpretation of the velocity direction at some time point, resulting in a sudden change. A better solution is to insert a low intermediate frequency when down-mixing in the base unit. This greatly reduces the accuracy requirement of the A/D converter (4-5 bit accuracy suffices) and jitter in the sampling time-points is of but small importance. However, high requirements are placed instead on the accuracy at which the product of local oscillator frequency multiplied by sample time-point is calculated when interpreting the position of the object, or target. Because it is the absolute value of the accuracy in this product calculation that is of importance, the relative error in position determination will increase linearly with time, and a 0-position will probably be required at regular intervals if this linear error growth cannot be eliminated (see the following solution to the problem).
- We double or half the frequency in the transponder and detect the signal heterodyne-wise in the base station, with a frequency double/frequency halved local oscillator signal converted up with a further intermediate frequency (±LO. The voltage from the detector obtains the following form:
- V(t)=V c *cos[
B 2*π*(f LO *t+N*2*R(t)/λ)+φ], N=2 when doubling or N=0.5 when halving freq. - where Ve=the voltage envelope, which is slightly time-dependent due to aspect variations of the antennas. φ is a constant phase angle. For an unequivocal result, it is necessary that the time derivative of the phase in the cosine-function is always positive. Thus, if V=dR(t)/dt is maximum +/−10 km/h, it is necessary that fLO is at least N*50 Hz, where fo=2.45 GHz.
- This voltage is sampled at a rate at which the phase change between samples is kept beneath π/2 in the cosine function. With maximum v=10 km/h, the sampling frequency is at least N*400 sa/s, where fo=2.45 GHz and fLO is chosen as N*50 Hz. The choice of a sampling frequency that is a multiple of fLO should be avoided, since synchronism can make determination of Ve difficult (the peak values in the voltage response that are assumed to vary with a time constant much greater than 1/fLO). Arc cos [V(t)/Ve] is then calculated. Since arc cos is not unequivocal, it is necessary when making the interpretation to rely on the condition that the phase change between mutually sequential samples is greater than 0 but less than π/2, and on an intelligent algorithm. Generally speaking, it is preferably ensured that Ve is underestimated rather than overestimated; the normalized values V(t)/Ve that exceed 1 are simply made equal to 1 in the interpretation. The characteristic of the detector (linear, quadratic) plays a relatively small part. As before mentioned, fLO*t is a critical magnitude in the evaluation. With the sampling frequency fs and a counter S of the number of samples from start t=0 results in
- fLO*/S fLO/fs
- For accurate determination of the value of the product, fs will then be chosen as a multiple of fLO, or preferably (in accordance with the earlier discussion) that both frequencies are multiples of a third frequency, e.g. fLO=2*N*25 Hz and fs=17*N*25 Hz.
- Assume that a 32-bit address code is sent from the central unit and responded to with 32-bit data. Also assume that 50 objects are to be monitored. The data rate will then be at least 50*64*N*400=N*1.28 Mb/s. Each monitoring object is activated N*400 times and responds below 1% of the total time. With N*2 MHz bandwidth in the receiver, Pnoise=N*8*10−15 W is obtained. Because the transponder transmits on N times the frequency and with the distance 500 m, the pulse power Pt′=N3*21*10−5 W is obtained for the signal/
noise ratio 10 and the receiver noise factor 6 dB. If a 1% efficiency is assumed for the frequency doubling/halving, Pt will also be equal to the mean power consumption of the transponder. Halving of the frequency reduces the transponder power requirement 64 times in comparison with doubling the frequency, although a base-unit antenna surface area that is 16 times greater is required in return. - Under the same conditions as those described above (B=N*2 MHz, signal/noise ratio=10, noise factor=6 dB, R=500 m), the continuous output power of the base unit on the frequency fo will be at least Pt=N*21*10−5 W.
- At most, 10 μ W e.i.r.p. according to Televerkets Radiodivision, 77-06-01, is permitted outside the nominal frequency 2450 MHz+/−20 Mhz. These values may be irrelevant, but they give an indication that the frequency halving option is the most practical, quite irrespective of the fact that it gives a more acceptable battery life span in the transponder.
- In the case of 50 monitored objects, the response time for each object is only 25/N μs on each activation occasion in the above example. Only one sample is taken during this period. The next sample is taken on the same object 2500/N is later. The sampling rate of the base unit is, in total, 50 times higher, i.e. N*20 ksa/s. Frequency broadening due to the pulse character of the activation is in the order of 1/pulse length=N*40 kHz. Discrete frequencies of N*400 Hz spacing? are obtained in this band. This should not present a problem with regard to signal processing, since the receiver bandwidth for Doppler detection is N*100 Hz in the case studied. The noise power in this band is N*4*10−19 W. If the receiver noise factor is 6 dB and the requisite signal/noise ratio for interpretation is assumed to be 14 dB, the requirement P1>N*4*10 −17 W that is required (mean power in the detected frequency band). With these above values, there is then obtained Pt>N3*2.6*10−8 W and a mean output power from the transponder which is 100 times greater, since the spectrum contains, in round figures, 100 similar frequency bands that are not made use of. The requisite pulse output power of the transponder is thus N3*26*10−5 W; thus roughly the same requirement as that placed on data transmission.
- If the low intermediate frequency fLO presents a problem in detection, this intermediate frequency and the sampling frequency fs, may either both be raised, or fs may be retained and solely fLO raised. The following general relationship must be fulfilled for unequivocal interpretation:
- M*f s+ δf<f LO<(M+¼)*f s −δf M=0, 1, 2, . . .
- where δf=the maximum value of Abs{2*N/λ*[dR(t)/dt]} and M*2*n must be added in the calculation of arc cos [V(t)/Ve] in accordance with the aforegoing. δf=N*50 Hz in our example. The above condition results in the condition fs>8*δf. Sampling frequency and intermediate frequency will preferably be synthesized from a common fundamental frequency, as earlier. The permitted time jitter of the sampling is related to fLO and must thus decrease proportionally when fLO is increased by choosing M>0. A sampling jitter of 0.01/fLO s can be tolerated in our example.
Claims (9)
Applications Claiming Priority (4)
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SE9601971A SE509254C2 (en) | 1996-05-23 | 1996-05-23 | Method and apparatus for monitoring a plurality of moving objects |
SE9601971.6 | 1996-05-23 | ||
SE9601971 | 1996-05-23 | ||
PCT/SE1997/000848 WO1997044683A1 (en) | 1996-05-23 | 1997-05-23 | A method and a system for monitoring plurality of movable objects |
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Also Published As
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---|---|
SE9601971L (en) | 1997-11-24 |
SE9601971D0 (en) | 1996-05-23 |
RU98123169A (en) | 2000-10-10 |
NO985435D0 (en) | 1998-11-20 |
US6366216B1 (en) | 2002-04-02 |
AU2986897A (en) | 1997-12-09 |
CA2255829A1 (en) | 1997-11-27 |
SE509254C2 (en) | 1998-12-21 |
PL329738A1 (en) | 1999-04-12 |
EP0900391A1 (en) | 1999-03-10 |
WO1997044683A1 (en) | 1997-11-27 |
NO985435L (en) | 1999-01-22 |
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