WO2008017617A1 - Dispositif et procédé de localisation d'un objet cible - Google Patents

Dispositif et procédé de localisation d'un objet cible Download PDF

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Publication number
WO2008017617A1
WO2008017617A1 PCT/EP2007/057876 EP2007057876W WO2008017617A1 WO 2008017617 A1 WO2008017617 A1 WO 2008017617A1 EP 2007057876 W EP2007057876 W EP 2007057876W WO 2008017617 A1 WO2008017617 A1 WO 2008017617A1
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WO
WIPO (PCT)
Prior art keywords
target object
distance
signal
transmission signal
positions
Prior art date
Application number
PCT/EP2007/057876
Other languages
German (de)
English (en)
Inventor
Daniel Evers
Sebastian Kunkel
Claus Seisenberger
Leif Wiebking
Thomas Zander
Original Assignee
Siemens Aktiengesellschaft
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
Application filed by Siemens Aktiengesellschaft filed Critical Siemens Aktiengesellschaft
Publication of WO2008017617A1 publication Critical patent/WO2008017617A1/fr

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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
    • 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
    • G01S13/75—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems using transponders powered from received waves, e.g. using passive transponders, or using passive reflectors
    • G01S13/751—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems using transponders powered from received waves, e.g. using passive transponders, or using passive reflectors wherein the responder or reflector radiates a coded signal
    • G01S13/756—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems using transponders powered from received waves, e.g. using passive transponders, or using passive reflectors wherein the responder or reflector radiates a coded signal using a signal generator for modifying the reflectivity of the 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
    • 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
    • G01S13/82—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein continuous-type signals are transmitted
    • G01S13/84—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein continuous-type signals are transmitted for distance determination by phase measurement
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
    • G01S13/343—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal using sawtooth modulation

Definitions

  • the present invention relates to a device for radio-based location of a target object, in particular an RFID transponder according to claim 1 and a method for radio-based location of a target object according to claim 8.
  • Transponder systems used to locate RFID transponders.
  • a first possibility is to determine the distance of a transponder to the base station by means of a location system based on field strength measurements.
  • locating systems which operate according to the SDMA method (space division multiple access). The removal of a transponder is obtained via the alignment of a highly concentrated transmitting / receiving antenna, in which the maximum of the reception level for determining the direction in which the transponder is located in relation to the antenna, is evaluated.
  • systems for the one-dimensional distance measurement of a backscatter transponder are in use, which are based on the transit time measurement of a reflected radio signal modulated by the transponder. It is the object of the present invention to provide an apparatus and a method for multi-dimensional location of a target object with only one antenna.
  • An advantage of the invention is that a multi-dimensional location of a target object with only one antenna is possible. This is achieved by moving the measuring device with the antenna and measuring during movement at at least two different positions. In addition, the spatial distance between the two measurement positions is determined and from this data an at least two-dimensional location of the target object is performed.
  • a target object storage angle is determined for locating the target object, which defines a direction of the target object with respect to the measuring device.
  • the location of the target object is carried out taking into account a frequency spacing of two frequency maxima in a mixed signal from receive and transmit signal.
  • a (relative) distance of the target object to the measuring device is determined on the basis of phase differences at the points of the frequency maxima of a response signal of the target object.
  • the measuring device in each case performs a distance measurement to the target object at the two measuring positions and determines a target object stacking angle. Due to the different distances and the relative distance between the two measuring positions.
  • the direction of the movement of the measuring device between two positions is detected and taken into account in locating the target object. This allows a more accurate detection of the target object.
  • a theoretical model is used to calculate the measuring position or to calculate the movement of the measuring device.
  • the theoretical model preferably uses measured values of an experimentally performed movement curve of the measuring device.
  • Figure 1 shows an embodiment of a radio-based system for two-dimensional positioning
  • Figure 2a shows a first embodiment of a one-dimensional distance measurement
  • FIG. 2b shows a spectrum of the baseband for the first embodiment of a one-dimensional distance measurement
  • FIG. 3 shows a second exemplary embodiment of a one-dimensional distance measurement
  • Figure 4 is a graphical representation of the spectrum of the baseband according to the second embodiment for one-dimensional distance measurement
  • FIG. 5 shows a first exemplary embodiment of a two-dimensional position determination
  • FIG. 6 shows the course of the phase difference over the distance range of a wavelength
  • FIG. 7 shows the system components according to the exemplary embodiment according to FIG. 5;
  • FIG. 8 shows a further exemplary embodiment for two-dimensional position determination with an extended unambiguity range.
  • Radio-based systems are technical systems that use transmitters and receivers of electromagnetic waves. These include, for example, radar waves used, for example, in the range of 500 MHz to 100 GHz, or waves used for RFID (Radio Frequency Identification), which are used, for example, in the range of 800 MHz to 2.4 GHz. Transmit signals and response signals are such electromagnetic waves.
  • radar waves used, for example, in the range of 500 MHz to 100 GHz
  • RFID Radio Frequency Identification
  • Transmit signals and response signals are such electromagnetic waves.
  • a target deviation angle ⁇ z is an angle in a horizontal x, y plane or a vertical y, z plane at the horizontal plane between a main direction of the y-axis set by a moving direction of the base station , and a projection of the line from the base station to the target object in the horizontal plane or at the vertical plane between the main axis of the base station lying on the y-axis and a projection of the line from the base station to the target object in the vertical plane.
  • the determination is carried out in each case in a simple manner by means of trigonometry.
  • the radio-based system it is possible to locate target objects, in particular transponders, which operate on the principle of modulated backscatter, with the aid of a frequency-modulated radio signal emitted by the base station.
  • the one-dimensional distance measurement takes place via a
  • Runtime measurement of the electromagnetic radio signal from the transmitter via the transponder back to the receiver is realized with a movement of the measuring device with the single antenna with the aid of a phase evaluation. From the measurement of the phase information acquired at several positions of the signal reflected by the transponder, it is possible to deduce the respective storage angle ⁇ z of the transponder. In this case, the measuring positions of the antenna are at a distance dj from one another. For two- or three-dimensional positioning only a corresponding movement of the base station with the antenna is required. By means of the acquired distance values, the exact spatial position of the transponder is determined.
  • the distance r z of a target object or target reflector located in an observation area of a radar receiver is determined, for example, from a measurement of the signal propagation time t L from the transmitter to the reflector and back to the receiver.
  • a transmission signal for example a linearly modulated in its frequency high-frequency signal (FMCW signal, are used frequency modulated continuous wave signal.
  • FMCW signal frequency high-frequency signal
  • the elevation or the z coordinate can be determined.
  • a transponder in order to distinguish a transponder to be located unambiguously from other interference targets in the detection range of the radar or radio-based system. which applies the principle known as modulated backscatter of the transmit signal.
  • the signal reflected by the transponder is also given a modulation in that the backscatter cross section or the reflection behavior of the transponder antenna is periodically varied with a modulation frequency f moc .
  • a frequency spacing ⁇ F between two maxima in the spectrum of the baseband of a transmitted transmission signal of the antenna superposed with a simultaneously received response signal is determined. Due to the transponder modulation causes the signal components originating from the transponder in the spectrum in a higher frequency band, by (f mo d) are moved. Above and below the modulation frequency f moc ⁇ of the transponder, two maxima arise whose mutual frequency difference .DELTA.F is proportional to the distance r z of the transponder from the base station.
  • a maxima detection algorithm is used. From the determined frequency difference ⁇ F the distance of the transponder can be calculated according to the following formula:
  • C Q denotes the speed of light
  • T the ramp duration
  • B the frequency deviation of the FMCW transmission signal
  • Target object to an antenna determined on the basis of maximum phase differences.
  • a maximum phase difference is the difference of the phase values at the frequency locations at which the abovementioned maxima occur. Lying two
  • distance differences ⁇ r-j_ of adjacent measuring positions to the target object or transponder can each be determined on the basis of a difference of maximum phase differences by means of the different measuring positions of the antenna. Due to the high sensitivity of the phase, the smallest distance differences ⁇ r-j_ can be resolved via a phase evaluation. This property is used to determine an occurring path difference ⁇ r-j_ between antennas and thus the target offset angle ⁇ z .
  • the distance to the target object is advantageously much larger than the mutual distance of the measuring positions to each other, that is r z »d- j . It can thus be approximately assumed that the rays reflected from the target object to the antennas run parallel to one another.
  • the measuring positions are arranged along a horizontal and along a vertical. In this way, a three-dimensional location is possible.
  • the azimuth and, on the other hand, the elevation of a target object can be determined. Together with the measured distance, the x, y and z coordinates can be calculated.
  • the base station is moved with the antenna on a circle.
  • FIG. 1 shows, for example, the construction and the measured variables of a two-dimensional locating system.
  • the motion sensor 31 is designed, for example, as an acceleration sensor or magnetic field sensor which is able to determine a movement of the base station 1 both in terms of magnitude and direction.
  • the motion sensor is firmly connected to the base station.
  • the arithmetic unit 30 can process signals of the motion sensor 31 with the aid of a sensor model and then a value for the distance traveled by the base station 1 and an angle for the
  • the arithmetic unit 30 is designed in a further embodiment to use a movement model to determine the amount of movement and / or the direction of movement, i. check and specify the movement curve of the base station.
  • the distance of the base station 1 to the target object 2 is designated by r z .
  • the base station provides a device for radio-based locations.
  • the target offset angle ⁇ z is shown.
  • a transponder 2 is used as the target object 2.
  • the transponder 2 to be located can work passively, that is to say field-powered without its own power supply. These may also be semi-passive, that is they are provided with their own battery or accumulator. Depending on the movement curve of the antenna 3 with the base station 1 during a measuring process, a one-, two- or three-dimensional locating is possible.
  • the signal reflected by the transponder 2 can be evaluated sequentially by the base station 1 during the movement of the base station 1 at the individual measuring positions. The evaluation and the calculations are performed by the arithmetic unit 30.
  • the transponder 2 may have an antenna 3a.
  • a first device Ia for distance determination and a device Ib for determining the angle can be integrated in the base station 1.
  • FIG. 2A shows a first exemplary embodiment of a one-dimensional distance measurement.
  • a device and a method for radio-based positioning, in particular of RFID tags rests in particular on the radar technology.
  • a frequency-modulated electromagnetic transmission signal is emitted by the base station 1.
  • the distance of a target object 2 or target reflector located in the observation area of the base station 1 or of the radar receiver is determined from a measurement of the signal transit time t L from the transmitter to the reflector and back to the receiver.
  • a transmission signal for example, a linearly modulated in its frequency high-frequency signal (FMCW signal) is used.
  • FMCW signal frequency high-frequency signal
  • the signal delay tL and thus the distance of the reflector can be determined.
  • the evaluation of the frequency difference which is proportional to the distance of the target object 2, takes place in the frequency domain. In the baseband according to FIG. 2B of the spectrum, this results in a signal peak at the frequency which corresponds to the frequency difference.
  • 4 denotes the transmission signal, 5 the reception signal and 6 the difference frequency signal.
  • the received signal 5 may be referred to as a response signal 5.
  • ⁇ F denotes the frequency difference, fg the start frequency of the transmission signal 4, T the ramp duration and B the frequency deviation of the FMCW transmission signal 4.
  • the signal propagation time is represented by tL.
  • FIG. 2B shows the signal peak or the maximum at the frequency which corresponds to the frequency difference ⁇ F.
  • FIG. 3 shows a base station 1 with the antenna 3, via which a transmission signal 4 is sent to a transponder 2.
  • the transponder 2 has a modulator 7, which is modulated by means of a modulation signal 8.
  • the modulator 7 which is modulated by means of a modulation signal 8.
  • Transponder 2 an antenna 3a.
  • the transponder 2 sends back a received signal or a response signal to the base station 1.
  • the response signal is a modulated reflection signal 9.
  • modulated backscatter is used. From the Transponder 2 reflected signal is in this case a modulation, by means of a modulation signal 8, imprinted by the backscatter cross section or the reflection behavior of the transponder antenna 3a periodically with the modulation onsfrequenz f m od is varied.
  • the modulation can be active or passive, but an active design, that is an active amplification of the signal in the transponder 2 is not required.
  • the principle of modulated backscattering is extremely energy efficient, making it ideal for use in field-powered RFID transponders 2.
  • a modulation method for example, an amplitude or a phase modulation can be used. Other types of modulation can also be used.
  • transponders 2 based on modulated backscatter are used with particular advantage.
  • the transponder 2 used in this case can be passive.
  • a modulator 7 is fed from the radio field. It is therefore not a separate source of energy such as a battery or a battery on the transponder 2 required. There is an unreinforced backscatter.
  • a modulator 7 is supplied with an integrated energy source on the transponder 2.
  • an unreinforced backscatter is also an unreinforced backscatter.
  • Another embodiment is active transponder 2. According to this embodiment, an energy source for amplifier and modulator 7 on the transponder 2 is present. That is, the transmission signal 4 transmitted from the base station 1 is sent back intensified, or a response signal 5 is generated and transmitted.
  • the modulation causes the signal components originating from the transponder 2 to be shifted in the spectrum to a higher frequency band (by f mo d).
  • FIG. 4 shows by way of example the spectrum relevant for the distance evaluation.
  • the modulation frequency f mo d of the transponder 2 there are two maxima whose mutual frequency spacing ⁇ F is proportional to the deviation.
  • Distance z of the transponder 2 from the base station 1 is.
  • Signal components originating from non-modulating interference reflectors are at lower frequencies.
  • the signal components relevant for the distance determination of the transponder 2 can be filtered out. In this way, it is possible to distinguish between the signal reflected by the transponder 2 and signals originating from other non-modulating reflectors.
  • One possibility for evaluating the distance information is created by means of digital signal processing.
  • the spectrum is calculated via a Fourier transform (for example FFT), whereby methods such as weighting of the signal with a window function and zero-padding can be used to optimize the evaluation.
  • FFT Fourier transform
  • a maxima detection algorithm is used. From the determined frequency difference ⁇ F the distance of the transponder can be calculated according to the following formula:
  • C Q denotes the speed of light
  • T the ramp duration
  • B the frequency deviation of the FMCW transmission signal
  • the evaluation of the magnitude spectrum gives an amount value for the distance with an accuracy of approximately + 10 cm.
  • FIG. 5 shows a first exemplary embodiment of a two-dimensional position determination by the movement of the base station 2 with the antenna 3 and a movement sensor 31 on a movement curve with two measurement positions P1, P2. Only two measuring positions are shown, wherein during a measuring process at many measuring positions a measurement of the movement curve of the base station is carried out. During a measurement, many FMCW sweeps can be performed. The motion sensor 31 determines the distance d of the measurement positions.
  • the reading device with the base station and the antenna is moved on the measuring curve to a first measuring position Pl and then to a second measuring position P2.
  • the first and second measuring positions Pl, P2 have a distance d, which is detected by the motion sensor 31.
  • a transmission signal is transmitted by the base station and a response signal is obtained.
  • phase analysis method it is possible to evaluate the propagation time difference of the signals from the transmitter 1 to the transponder 2 and back to the antenna 3 at the two measurement positions Pl, P2 and from ⁇ to the target deviation angle for closing of the transponder. 2
  • the x and y position of the transponder 2 can thus be determined from the distance value r z determined above.
  • the phase of the signals received at the two measuring positions by the antenna is used.
  • the phase values at the locations of the two maxima in the spectrum are advantageously evaluated. For this purpose, one determines the phase at the frequency points at which the maxima occur and forms their difference:
  • the determined phase difference ⁇ is according to the following formula:
  • ⁇ denotes the wavelength of the transmission signal.
  • FIG. 6 shows the course of the phase difference ⁇ over the distance range of a wavelength ⁇ .
  • FIG. 7 shows a further method which uses a base station 1 with an antenna 3 and a motion sensor 31 at two measuring positions P1, P2.
  • a target object 2 or transponder 2 is shown which has a modulator 7 modulated by means of a modulation signal 8 and an antenna 3a.
  • r - ⁇ _ and ⁇ 2 the respective distances of the two measuring positions Pl, P2 of the antenna 3 of the base station 1 to the antenna 3a of the transponder 2 are shown.
  • phase difference of the detected maxima of each of the antenna 3 of the base station 1 of the measurements at the two measuring positions Pl, P2 is determined:
  • the distance d of the measuring positions P1, P2 must be selected to be correspondingly small, specifically, the smaller the shorter the wavelength ⁇ .
  • the uniqueness range of the target delivery angle is too small, the following procedure can be used.
  • the extension of the uniqueness range is possible in the following way.
  • the uniqueness range can advantageously be achieved by means of a measuring method in which measurements are made at many closely spaced positions.
  • the base station 1 determines the phase differences of maxima at the measuring positions P1, P2, P3, as described above. In doing so, the sisstation 1 moves from the first measuring position Pl to the second measuring position P2 and then to the third measuring position P3. At each measuring position, the base station 1 performs a measurement.
  • a ⁇ 12 Aq) 1 - A ⁇ 2
  • a ⁇ 23 A ⁇ 2 - A ⁇ 3
  • ⁇ r] _2 the difference between the first and the second path length ri, T2 and with ⁇ r23 the difference between the second and third path length T 2 , r 3 is designated. From the determined path differences, the target deviation angle determined by two measurement positions results:
  • the target deposition angle ⁇ z can be determined as a function of the distance differences ⁇ r] _2 and ⁇ r23 determined by the three measurement positions P1, P2, P3:
  • a plurality of measurements of the distance are made using the transmission signals sent from the base station and the response signals received from the transponder. Due to the large number of measurements, a large number of values are available for the individual distances of the movement curve and the target object placement angles. In this way, due to further processing of the values for the distances and the target deviation angles with greater accuracy, the actual target deposition angles and the actual distance of the target object with respect to the base station can be calculated.
  • the base station is moved in one plane, preferably on a circular movement.
  • a large number of measurements are carried out with the base station.
  • a distance and a target deviation angle are determined.
  • the movement curve is detected by means of the movement sensor 31. From the detected motion curve and the measured distances and measured target deviation angles, a precise distance and a precise aiming angle with respect to a fixed position of the base station, for example the end position of the movement process, is calculated.
  • the measuring device is slowly swiveled in front of the body by an operator, wherein the pivoting process takes one or two seconds from an external ren left to an outer right position of a movement curve lasts.
  • an FMCW measurement method for determining the distance of the target object with a sweep duration ie a ramp duration at which the frequency is increased from a start value to a final value, of one millisecond theoretically 1000 measurements per second are possible.
  • 1000 distances and 1000 target drop angles could be calculated to establish an exact position of the target.
  • a problem with the motion detection with the motion sensor 31 is generated by the signal drift. However, this problem is minimized in the measurement process described, since a defined movement is performed, which regularly provides points for readjustment. At the short times, as mentioned 1 to 2 seconds for a measurement, the drift error is also relatively low.
  • the measuring method can be improved by a targeted three-dimensional movement of the measuring device in the room.
  • the basic principle is to use a base station with an antenna, to move the base station with the antenna and to perform measurements at several positions and to determine from the multiple measurements a relative spatial position of the target object to the base station.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

L'invention concerne un procédé et un dispositif (1) de localisation radio d'un objet cible (2), avec un émetteur pour générer un signal d'émission, avec un récepteur pour recevoir un signal de réponse, avec une antenne (3) reliée à l'émetteur et au récepteur, l'antenne (3) émettant le signal d'émission de l'émetteur et recevant un signal de réponse d'un objet cible (2) au signal d'émission, avec un capteur de mouvement (31) pour enregistrer un mouvement du dispositif, avec une unité de calcul (30) reliée au capteur de mouvement (31), à l'émetteur et au récepteur, l'unité de calcul (30) envoyant respectivement un signal d'émission pendant un mouvement du dispositif à au moins deux positions de mesure différentes (P1, P2) du dispositif (1) avec l'antenne (3) et recevant un signal de réponse au signal d'émission provenant de l'objet cible, l'unité de calcul (30) déterminant pour les deux positions de mesure (P1, P2) respectivement un éloignement (r<SUB>1</SUB>, r<SUB>2</SUB>) de l'objet cible, le capteur de mouvement (3) déterminant un écartement spatial (d) des deux positions de mesure (P1, P2) du dispositif (1), l'unité de calcul déterminant, à partir de l'écartement spatial (d) des deux positions de mesure (P1, P2) et des deux éloignements mesurés (r<SUB>1</SUB>, r<SUB>2</SUB>), une direction dans laquelle se trouve l'objet cible par rapport au dispositif. Produit : localisation d'étiquettes ; Logistique, sensorique, marchandises.
PCT/EP2007/057876 2006-08-09 2007-07-31 Dispositif et procédé de localisation d'un objet cible WO2008017617A1 (fr)

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DE200610037247 DE102006037247A1 (de) 2006-08-09 2006-08-09 Vorrichtung und Verfahren zur Ortung eines Zielobjektes
DE102006037247.6 2006-08-09

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