WO2005055628A1 - Procede et systeme ainsi que programme informatique a moyens de code programme et produit-programme informatique permettant d'etablir une carte destinee a decrire un comportement de propagation d'un signal de communication emis par une station de base dans un reseau de communication - Google Patents

Procede et systeme ainsi que programme informatique a moyens de code programme et produit-programme informatique permettant d'etablir une carte destinee a decrire un comportement de propagation d'un signal de communication emis par une station de base dans un reseau de communication Download PDF

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Publication number
WO2005055628A1
WO2005055628A1 PCT/EP2004/053122 EP2004053122W WO2005055628A1 WO 2005055628 A1 WO2005055628 A1 WO 2005055628A1 EP 2004053122 W EP2004053122 W EP 2004053122W WO 2005055628 A1 WO2005055628 A1 WO 2005055628A1
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WIPO (PCT)
Prior art keywords
communication signal
communication
model
map
communication network
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PCT/EP2004/053122
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German (de)
English (en)
Inventor
Joachim Bamberger
Marian Grigoras
Clemens Hoffmann
Uwe Hanebeck
Patrick Rössler
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Siemens Aktiengesellschaft
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Publication of WO2005055628A1 publication Critical patent/WO2005055628A1/fr

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W16/00—Network planning, e.g. coverage or traffic planning tools; Network deployment, e.g. resource partitioning or cells structures
    • H04W16/18—Network planning tools

Definitions

  • the invention relates to a modeling and mapping of a propagation behavior of a communication signal emitted by a base station in a communication network.
  • Radio communication systems are based on e.g. B. ireless LAN, Bluetooth, GSM or DECT are used in a wide variety of areas. They are omnipresent in industrial production plants and office environments, but also in healthcare.
  • Propagation properties of an electromagnetic field which is generated by the communication system emitting communication signals, essentially determine the performance of the communication system with regard to area coverage, availability and transmission rate.
  • radio network operators are interested in the distribution of the field propagation properties or signal characteristics, such as. For example, to determine electromechanical field strength, bit error rate, signal-to-noise ratio, etc. in order to be able to plan the radio network optimally, to be able to demonstrate commissioned system properties within the framework of quality assurance after installation of the network, or error states during operation of the system to be able to diagnose.
  • the network service providers are interested in being able to offer their customers location-dependent services.
  • the position of the receiving device must be known for this. Since only data that is generated during normal network operation should be used for the position estimates, it is advisable to consider the signal characteristics here as well.
  • the localization is based solely on the network topology.
  • the position of the end device is determined on the basis of the base station to which it is connected and its connection history.
  • [5] describes a recursive stochastic nonlinear filter method for position estimation of DECT mobile phones.
  • the invention is therefore based on the object of specifying a simple, less complex and automatable procedure for generating such a card.
  • a physical property of the communication signal associated with the respective selected position is measured at selected positions in the communication network.
  • the physical property characterizes the propagation behavior of the communication signal.
  • the map will be determined, whereby the model itself can already be called a map or the model itself can already be the map.
  • the measurements at the selected positions are carried out using an autonomous mobile unit, such as an autonomous robot.
  • the autonomous mobile unit is set up, for example by means of a corresponding measuring device, for receiving the communication signal and for measuring the physical property of the communication signal.
  • the arrangement for determining the card has an autonomous mobile unit, which is set up, for example by a corresponding measuring device, for receiving the communication signal and for measuring a physical property of the communication signal.
  • the physical property characterizes the propagation behavior of the communication signal.
  • the autonomous mobile unit performs measurements at selected positions in the communication network.
  • the physical property of the communication signal associated with the respectively selected position is measured at selected positions in the communication network.
  • the arrangement has an evaluation unit which can be used using the selected positions or using a ModeXl for the propagation behavior is determined by ending the corresponding location information of the selected positions and the associated measured physical properties of the communication signal.
  • the evaluation unit also determines the map using the model for the propagation behavior.
  • model itself can already be called a card or that the model itself can be the card.
  • An advantage of the invention is that the autonomous mobile unit can carry out the measurements autonomously and in an automated manner and the card can thereby be generated automatically.
  • the computer program with program code means is set up to carry out all the steps according to the inventive method for determining the card when the program is executed on a computer.
  • the computer program product with program code means stored on a machine-readable carrier is set up to carry out all the steps according to the inventive method for determining the card when the program is executed on a computer.
  • the arrangement and the computer program with program code means, set up to carry out all the steps according to the inventive see performing localization processes when the program is executed on a computer, and the computer program product with program code means stored on a machine-readable medium, set up to carry out all steps according to the inventive localization process when the program is executed on a computer are particularly suitable to carry out the method according to the invention or one of its further developments explained below.
  • the invention or any further development described below can also be implemented by a computer program product which has a storage medium on which the computer program with program code means which carries out the invention or further developments is stored.
  • a communication network such as a radio network
  • a mobile communication device for example a mobile telephone
  • a base station for example an omnidirectional antenna or an omnidirectional antenna or one or more sectoral antennas
  • data the communication signals, are converted into signal packets - ten, so-called bursts.
  • the distance-dependent parameter is, for example, a field strength of a communication signal or signal packet, a bit error rate or a signal-to-noise ratio.
  • the field strength of a broadcast communication signal has a natural dependence on the distance from a transmitter, the (conversational) base station, and therefore provides information about the propagation behavior (propagation characteristic) of the transmitter.
  • This dependency between the field strength, generally the physical property, and the distance from the transmitter or the (receiving) location or the (receiving) position in the communication network can be described by physical models which describe a propagation behavior of signals .
  • the physical property of the communication signal is described as a function of a position in the communication network or a distance.
  • a backward or inverse model describes the position in the communication network as a function of the physical property of the communication signal.
  • a suitable model of the forward model type similar to that from [5], has, for example, a deterministic part (partial model) and a stochastic part (partial model).
  • the deterministic part describes the dependency between the physical property of the communication signal and a position in the communication network; the stochastic part describes an uncertainty of the deterministic part.
  • the uncertainty of the deterministic component can be an uncertainty of the communication signal, in particular a measurement noise, and / or an uncertainty of the dependency, in particular an uncertainty of the propagation model.
  • Larger communication networks generally have a plurality or a multiplicity of base stations, each of which emits a communication signal.
  • one map or model each showing the spread behavior describes a communication signal emitted by a base station in the communication network.
  • the multiple cards or models can be combined into one overall card.
  • the autonomous mobile unit can be equipped with a position measuring system for determining the position of the autonomous mobile unit in the communication network and / or a path planning system for determining a trajectory in the communication network.
  • odometers and / or image-processing position measuring systems as well as systems for dead reckoning are known.
  • the map or model created by the inventive procedure can be the basis for numerous applications in communication networks.
  • the card or the model and / or the overall map or the overall model can be used for planning and / or installation and / or commissioning and / or diagnosis of error states and / or quality assurance of the communication network.
  • the model for the propagation behavior and / or the map and / or the models for the propagation behavior and / or the overall map can also be used / becomes a localization of at least one mobile communication device in the communication network which has at least one mobile Communication device is set up to receive the communication signal and / or to receive the communication signals.
  • the communication signals that can be received at this position or their physical properties are measured at a position to be determined in the communication network.
  • the position to be determined can then be determined using the map or the model and the measured physical quantities.
  • map or * w. to make the model independent of localization.
  • the map can then be continuously updated using the autonomous mobile system and the inventive procedure, while using already created maps, mobile communication devices can be located in the communication network.
  • the invention or the inventive creation of the card is particularly suitable for use in the environment of a digital, cellular mobile radio system, such as a GSM network, and there, for example, for the localization of a GSM telephone (mobile phone).
  • a digital, cellular mobile radio system such as a GSM network
  • GSM telephone mobile phone
  • the invention is also suitable for use in the environment of further digital, cellular mobile radio systems, such as a WLAN, a network based on Bluetooth or a DECT. Network, and there for example for the localization of a DECT mobile phone.
  • FIG. 3 sketch which shows a schematic comparison of model errors and measurement noise
  • FIG. 4 omnidirectional robot according to an exemplary embodiment
  • Figure 6 is a sketch illustrating a comparison of a position estimate based on dead reckoning and camera navigation
  • FIG. 7 first (sub) card for a first base station in the radio network according to an exemplary embodiment
  • Figure 8 second (sub) card for a second base station in the radio network according to an embodiment.
  • mapping radio networks First, the basics of mapping radio networks are described. A map for describing the propagation characteristics of base stations in a radio network and their creation is then described. It describes how the map is composed of a deterministic and a stochastic part. A location based on this map is also described.
  • radio network receivers such as B. DECT handsets
  • the field strengths of all available transmitters are available.
  • this data can be used to estimate the position of the user.
  • the transmitters can be identified by a unique ID that is transmitted during communication. In this way, each measurement can be assigned to exactly one of the measurement equations, which significantly simplifies the estimation problem. Even in the localization phase, normal network operation should not be interfered with. Additional sensors on the user or the receiving device are not desired. Therefore, the localization has to be based solely on the field strength measurements of the receiver.
  • a field strength map 120 is first created 115 in the mapping phase 100 by the robot 110 on the basis of measurements 111 and an estimated reference position 112.
  • This map 120 consists of partial maps 121 which describe the transmission characteristics of a base station in each case.
  • a receiving device e.g. B. carry a DECT cell phone or a PDA equipped with Wireiess LAN or Bluetooth, can be localized 165 using the map 120.
  • mapping phase 100 maps the mapping phase 150 to the localization phase 150.
  • the robot 110 updates the map 120 while the users 160 are already localized 165, 170.
  • Deterministic measurement model In the deterministic measurement model on which the map is created, it is assumed that the logarithmic received field strength of a transmitter decreases linearly with distance.
  • the stochastic sub-model of the uncertainties must take into account both the measurement noise and the deviation between the actual transmitter characteristics and the measurement model.
  • the model uncertainties represent the difference between the exact model of the logarithmic received field strength and the deterministic measurement model h ⁇ (x k ).
  • this error stems from the model. On the other hand, it also represents local deviations that result from the specific properties of the building. These include z. B. to understand different damping or reflection properties of the different materials.
  • the model uni- Securities are shown here with the mean ⁇ ⁇ and the standard deviation described.
  • the measurement noise represents the temporal variation of the measurements at a point.
  • FIG. 3 it can be seen, by way of example, how the measurement values deviate from the actual transmitter characteristic.
  • the measurement noise can also be determined by mean ⁇ ⁇ ⁇ 'and (2)
  • the uncertainty of the overall model is the combination of model uncertainty and measurement noise. In order to obtain a simple model, it is assumed here that the uncertainties are independent and uncorrelated.
  • Localization phase In the localization phase 150, several terminals should be able to be localized at the same time.
  • the localization should, if possible, be carried out on a central computer on which the map information is also stored.
  • the computing power should be distributed as freely as possible between the different localization applications. Therefore, an anytime algorithm with adjustable accuracy is required.
  • This also uses a model for the movement of the user to improve the quality of the estimate and to enable the combination of measurements.
  • Suitable filtering methods for localization are, for example, the Progressive Bayes filter [7], which finds an optimal solution, or the PDSME filter [5]. The latter is suboptimal, but it is much simpler and has already been tested for use in localization problems in radio networks.
  • one or more measurements of the electric field strength are then carried out at the location to be determined.
  • a location estimate can be carried out using these measurements and the field strength maps created previously.
  • the method known from [12] based on pattern matching together with a spatial sampling of the field strength maps can be used.
  • the method known from [5] based on non-linear filter techniques can be used.
  • results are not limited to wireless LAN and the DUKATH network. You can also on other radio networks such. B. according to the Bluetooth or DECT standards.
  • the map is created by an autonomous mobile robot (Fig. 4, 400 or 110).
  • the platform was provided with a special structure (Fig. 4) on which a Compaq iPAQ Pocket PC 401 with a Lucent Orinoco Wireless LAN card is attached.
  • the iPAQ 401 measures the field strengths of all available transmission stations.
  • beacon signals In a network based on IEEE 802.11 [10], the base stations continuously send beacon signals. These signals are used by mobile devices to find out the station to which they can get the best connection. These beacon signals are evaluated when measuring the field strengths. The network affiliation of the stations is irrelevant. The network card used for the measurement behaves passively, ie it does not send any signals.
  • the measurement results are transmitted to the robot 400 via a serial interface, where they are further processed together with the reference position estimated by the robot.
  • the omni-directional robot platform OmniBase has a modular structure. It has four identical wheel modules, each with a standard wheel.
  • Each drive module houses two drive motors, one for steering and one for driving the wheel. Since the eight motors of the wheel modules can be controlled independently of each other, the platform can be freely moved in three degrees of freedom (position and orientation).
  • the drives are coordinated by means of a low-level control in the platform.
  • the platform always runs on instantaneous circles around the so-called ICR (Instantaneous Center of Rotation).
  • the path planning takes place in a higher-level control computer, with the communication between the control computer and the low-level control of the platform taking place via a CORBAS interface.
  • the speed vector u [ ⁇ kYk ⁇ kF indicate the target speeds along the x and y axes of the global coordinate system and the angular speed of the orientation of the robot.
  • the platform is therefore controlled in global coordinates.
  • the robot 400 uses a ceiling camera 402 to locate itself on the uniform ceiling pattern in rooms.
  • the ceiling consists, for example, of white square ceiling panels with a side length of 1200mm. There are gray struts between the plates. The intersections of the ceiling struts are considered landmarks. They are on a 1200 mm grid.
  • a corner filter from the Intel Open Source Computer Vision Library [11] is used to identify the landmarks.
  • a square is a figure made up of corner points if the
  • FIG. 5 shows a camera image 500 in which a landmark was recognized.
  • the measured position of the robot x m [x llL y ⁇ j results from the actual position of the Landmar and its position in the camera image.
  • the system error measurement error v k is assumed to be uncorrelated and normally distributed around the mean zero with the covariance R.
  • a prediction step is carried out in each time step. Where x? , the predicted location of the robot, determined by odometry. The error covariance is determined by
  • the estimated position of the robot, - k e is then set as the current position on the platform.
  • Fig. 6 shows the error of the pure dead reckoning compared to the camera navigation.
  • a corridor of a building was traversed ten times in the radio network, which corresponds to a total distance of approx. 700 m. After the ten passes, the deviation in orientation was more than 45 °. The deviation in position is several meters. If the image processing is added, the error of the position estimate is approximately 15 cm on average.
  • the 6 parameters from equation 3 are estimated for each base station, the reference position of the robot for x ⁇ and the measured field strength of the transmitter ⁇ at that point for h ⁇ ⁇ x k ) is used.
  • the partial cards for two base stations can be seen in FIGS.
  • the actual measured values and the path traveled by the robot are shown. It can be seen in FIGS. 7 and 8 that the actual measured values are well described by the model.
  • the overall uncertainty of the system can be estimated from the deviation of the measurement model from the measurement values.
  • the partial uncertainties are unknown.
  • the measurement noise could be e.g. B. Determine that the mean and standard deviation of several measurements are calculated at one point. However, since the measurements are made along different paths, there is generally only one measurement per path point.
  • the accuracy of the model can be increased if necessary by expanding the position vector to a four-dimensional position vector.
  • maps with the help of which users can be localized in radio networks.
  • the maps created describe the field strength distributions of all available transmitting stations in an analytical form.
  • the model error and the measurement noise are modeled stochastically. This means that analytical stochastic filtering methods can be used for localization based on these maps.
  • Measurements were carried out with the omni-directional robot platform Omni-Base in a radio network.

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Mobile Radio Communication Systems (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

L'invention concerne une modélisation d'un comportement de propagation d'un signal de communication émis par une station de base dans un réseau de communication. Une caractéristique physique du signal de communication, associée à un point sélectionné, est mesurée en des points sélectionnés dans ce réseau de communication. Le modèle du comportement de propagation est déterminé au moyen des points sélectionnés et des caractéristiques physiques mesurées correspondantes du signal de communication. Les mesures aux points sélectionnés sont effectuées au moyen d'une unité mobile autonome.
PCT/EP2004/053122 2003-12-04 2004-11-26 Procede et systeme ainsi que programme informatique a moyens de code programme et produit-programme informatique permettant d'etablir une carte destinee a decrire un comportement de propagation d'un signal de communication emis par une station de base dans un reseau de communication WO2005055628A1 (fr)

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DE10356656.2 2003-12-04
DE2003156656 DE10356656A1 (de) 2003-12-04 2003-12-04 Verfahren und Anordnung sowie Computerprogramm mit Programmcode-Mitteln und Computerprogramm-Produkt zur Ermittlung einer Karte zur Beschreibung eines Ausbreitungsverhaltens eines von einer Basisstation in einem Kommunikationsnetz ausgesendeten Kommunikationssignals

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Cited By (1)

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Publication number Priority date Publication date Assignee Title
WO2007024460A1 (fr) 2005-08-19 2007-03-01 Cisco Technology, Inc. Evaluation automatique d'un site radio au moyen d'un robot

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US8644853B2 (en) 2008-05-12 2014-02-04 Qualcomm Incorporated Providing base station almanac to mobile station
US8665156B2 (en) 2009-09-08 2014-03-04 Qualcomm Incorporated Position estimation assistance information for mobile station
US8437772B2 (en) 2009-09-15 2013-05-07 Qualcomm Incorporated Transmitter position integrity checking

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EP0631453A2 (fr) * 1993-06-21 1994-12-28 Telia Ab Procédé de localisation de stations mobiles dans un réseau téléphonique numérique
DE19920587A1 (de) * 1999-05-04 2000-11-16 Bernhard Walke Kombination von Meßwerten von Mobilstationen zur Erstellung und Aktualisierung der Funkfelddatenbank bei drahtlosen und mobilen Funknetzen

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007024460A1 (fr) 2005-08-19 2007-03-01 Cisco Technology, Inc. Evaluation automatique d'un site radio au moyen d'un robot
US7456596B2 (en) 2005-08-19 2008-11-25 Cisco Technology, Inc. Automatic radio site survey using a robot

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TW200525167A (en) 2005-08-01

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