US20030114115A1 - Positioning - Google Patents

Positioning Download PDF

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Publication number
US20030114115A1
US20030114115A1 US10/182,615 US18261502A US2003114115A1 US 20030114115 A1 US20030114115 A1 US 20030114115A1 US 18261502 A US18261502 A US 18261502A US 2003114115 A1 US2003114115 A1 US 2003114115A1
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US
United States
Prior art keywords
receiver
probability density
transmitter
density function
pdf
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Abandoned
Application number
US10/182,615
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English (en)
Inventor
Michael Overy
Natividade Lobo
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nokia Oyj
Original Assignee
Nokia Oyj
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from GB0002404A external-priority patent/GB0002404D0/en
Priority claimed from GB0019366A external-priority patent/GB0019366D0/en
Application filed by Nokia Oyj filed Critical Nokia Oyj
Assigned to NOKIA CORPORATION reassignment NOKIA CORPORATION ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: LOBO, NATIVIDADE, OVERY, MICHAEL
Publication of US20030114115A1 publication Critical patent/US20030114115A1/en
Abandoned legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0284—Relative positioning
    • G01S5/0289—Relative positioning of multiple transceivers, e.g. in ad hoc networks
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/14—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by recording the course traversed by the object
    • 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
    • G01S13/876—Combination of several spaced transponders or reflectors of known location for determining the position of a receiver
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0205—Details
    • G01S5/0244—Accuracy or reliability of position solution or of measurements contributing thereto
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management

Definitions

  • the present invention relates to the positioning of a transceiver using other transceivers. It has particular application to the positioning of a transceiver by forming an ad hoc network of transceivers without the use of a dedicated infrastructure.
  • GPS Global position system
  • Cellular positioning systems have also been proposed in which the existing network of fixed base station transceivers is used to locate a mobile phone. The unchanging position and identity of the fixed base stations and the distance of the mobile phone from the base stations is used to estimate the phones location. Both of these systems operate over large distances exceeding many kilometres.
  • FIG. 1 illustrates a distribution of transceivers T
  • FIG. 2 illustrates an exemplary probability density function representing the chances of successful transmission between transmitter and receiver as the distance between transmitter and receiver varies
  • FIG. 3 illustrates an exemplary probability density function representing the probable location of a transceiver on the x-axis
  • FIG. 4 illustrates a transceiver
  • FIG. 1 illustrates a transceiver Ti which is capable of forming an ad hoc network 2 via radio communications with the transceivers Tj.
  • the network may be formed by Ti acting as a Master with the transceivers Tj functioning as Slaves.
  • the transceivers are Bluetooth transceivers and the network is a piconet.
  • the transceiver Ti acquires its position it forms a network with neighbouring transceivers Tj which have already acquired their positions.
  • the communication range of transceiver Ti is illustrated by the circle 4 . There are a number of transceivers Tj which are outside the range 4 and cannot participate in the network 2 .
  • the transceiver Ti once it has acquired its position it can participate as a Slave in a different network formed by another transceiver to acquire its position.
  • Each of the transceivers T are the same. Each acts as a Master to form a network with Slave transceivers to acquire a position and then it can participate as a Slave in a different network formed by another transceiver to acquire its position.
  • the transceivers T are not infrastructure. They are preferably integrated into host devices such as mobile phones, desk telephones, computers etc. The transceivers which are available to participate in a network may therefore vary as transceivers move into and out of range of the Master transceiver.
  • prob TransSuccessful.ji [y] may be replaced by prob TransSuccessful [y] which represents the probability that any one of the transceivers Tj can transmit successfully to the transceiver Ti when separated by distance y.
  • FIG. 2 illustrates an exemplary probability density function representing the chances of successful transmission between a transmitter and receiver Ti as the distance between transmitter and receiver varies.
  • the probability density function may be based on measurements for example by sounding the communication channel between transmitter and receiver.
  • the probability density function may be an approximation, chosen to ease subsequent calculations.
  • the illustrated probability density function is an approximation which eases subsequent calculations. It assumes that within a certain range of the transmitter the chances of reception are good and constant, but at a certain threshold distance from the transmitter the chances of reception decrease proportionally with the distance travelled from the threshold.
  • the transceivers T are preferably positioned in three dimensions with respect to three orthogonal linear axes. Although this is not essential, it provides advantages because the positioning of a transceiver with respect to one of the axes is independent of the positioning with respect to the other two axes. The transceiver is therefore positioned in three dimensions by positioning it separately with respect to each axes. In the following description the positioning of a transceiver Ti with respect to one axes is described. Analogous procedures are carried out for the remaining axes.
  • Each transceiver is positioned with respect to the linear axis using a probability density function.
  • the transceiver Tj is positioned with respect to the linear axis by pdf j [z] where the argument indicates a position of the transceiver Tj from an origin common to the transceivers Tj .
  • the function pdf j [z] varies as the argument varies having a maximal value at where the most likely acquired position for transceiver Tj is.
  • the transceiver Ti will acquire its position by calculating a probability density function pdf i [z] for itself.
  • FIG. 3 illustrates an exemplary probability density function pdf i [z] representing the probable location of a transceiver on the x-axis, where z represents a distance along the x-axis.
  • each of the transmitters j may be equal, there is no necessity for each of the transmitters j to send prob TransSuccessful.ji [y].
  • the values of prob TransSuccessful [y] may be stored in Ti. However, if the transmitters Tj have different transmission characteristics such as different transmission power levels then it may be appropriate for each of the transceivers Tj to transmit prob TransSuccessful.ji [y] to the transceiver Ti.
  • the transceiver Ti can calculate its position density function pdf i [z], which takes into account all the transceivers Tj, by combining the intermediate probability density functions pdf ij [y] calculated because the particular Transceiver Tj can communicate with Ti, for all j.
  • pdf ij [y] ( ⁇ - ⁇ ⁇ ⁇ pdf j ⁇ [ ⁇ ] ⁇ prob TransSuccessful ⁇ ji ⁇ [ y - ⁇ ] ⁇ ⁇ ⁇ ) ⁇ - ⁇ ⁇ ⁇ ( ⁇ - ⁇ ⁇ ⁇ pdf j ⁇ [ ⁇ ] ⁇ prob TransSuccessful ⁇ ji ⁇ [ y - ⁇ ] ⁇ ⁇ ) ⁇ ⁇ y
  • the probability density function representing the position of the receiver Ti is therefore given by the convolution of the probability density function representing the position of the transmitter Tj with the probability density function representing the likelihood of successful transmission from the transmitter to receiver.
  • the method can be coded as follows:
  • pdf iTempj pdf iTempj - 1 ⁇ ⁇ y ⁇ ⁇ ⁇ j ⁇ pdf ij ⁇ ⁇ y ⁇ ⁇ y ′ ⁇ ( pdf iTempj - 1 ⁇ [ y ′ ] ⁇ pdf ij ⁇ [ y ′ ] )
  • Information about the second order transceivers can be used to additionally refine pdf i [y] so that it takes account not only of where the transceiver Ti could be because it can directly communicate with transceivers Tj but also where it could not be because it cannot communicate with the second order transceivers.
  • prob TransSuccessful.ki [y] should also be transmitted to Ti via the first order transceivers Tj. However, if all the second order transceivers are the same then prob TransSuccessful.ki [y] will be a constant and can be stored. According to a one embodiment, the approximate value prob TransSuccessful [y] which was used in the first order calculations is also used in the second order calculations.
  • FIG. 4 illustrates a transceiver suitable for carrying out the invention. It comprises transmitter circuitry, receiver circuitry, a processor and a memory.
  • the memory stores the above described algorithm.
  • the processor executes the algorithm.
  • the parameters used as input to the algorithm are stored in the memory and the result of the algorithm, the position of the transceiver, is also stored in the memory.
  • the transceiver operates as a receiver, to acquire its position, it receives the parameters it requires for the algorithm from the transceivers it is in communication with and stores them in the memory.
  • the transceiver operates as a transmitter, it is operable to transmit its stored position to the receiving transceiver using its transmission circuitry.
  • the algorithm may be transported for transfer to a transceiver using a carrier such as a CD-ROM or floppy disc.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Mobile Radio Communication Systems (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Wire Bonding (AREA)
  • Die Bonding (AREA)
  • Window Of Vehicle (AREA)
  • Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
  • Eye Examination Apparatus (AREA)
  • Finger-Pressure Massage (AREA)
  • Transceivers (AREA)
  • Vehicle Body Suspensions (AREA)
US10/182,615 2000-02-02 2001-02-02 Positioning Abandoned US20030114115A1 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
GB0002404A GB0002404D0 (en) 2000-02-02 2000-02-02 Position acquisition
GB0002404.2 2000-02-02
GB0019366A GB0019366D0 (en) 2000-08-07 2000-08-07 Positioning
GB0019366.4 2000-08-07

Publications (1)

Publication Number Publication Date
US20030114115A1 true US20030114115A1 (en) 2003-06-19

Family

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Family Applications (3)

Application Number Title Priority Date Filing Date
US10/182,826 Expired - Fee Related US7107065B2 (en) 2000-02-02 2001-02-02 Position acquisition
US10/182,615 Abandoned US20030114115A1 (en) 2000-02-02 2001-02-02 Positioning
US11/429,937 Expired - Fee Related US7272404B2 (en) 2000-02-02 2006-05-09 Position acquisition

Family Applications Before (1)

Application Number Title Priority Date Filing Date
US10/182,826 Expired - Fee Related US7107065B2 (en) 2000-02-02 2001-02-02 Position acquisition

Family Applications After (1)

Application Number Title Priority Date Filing Date
US11/429,937 Expired - Fee Related US7272404B2 (en) 2000-02-02 2006-05-09 Position acquisition

Country Status (8)

Country Link
US (3) US7107065B2 (ja)
EP (3) EP1264193B1 (ja)
JP (2) JP2003521856A (ja)
CN (1) CN1441910A (ja)
AT (2) ATE314663T1 (ja)
AU (2) AU2001228711A1 (ja)
DE (2) DE60116267T2 (ja)
WO (2) WO2001057548A1 (ja)

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US7272404B2 (en) 2007-09-18
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ATE293255T1 (de) 2005-04-15
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US7107065B2 (en) 2006-09-12
ATE314663T1 (de) 2006-01-15
US20030129993A1 (en) 2003-07-10
AU2001228715A1 (en) 2001-08-14
EP1264193A1 (en) 2002-12-11
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EP1264193B1 (en) 2005-12-28
WO2001057547A1 (en) 2001-08-09
JP2003521714A (ja) 2003-07-15
WO2001057548A1 (en) 2001-08-09
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CN1441910A (zh) 2003-09-10
US20060270349A1 (en) 2006-11-30

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