WO2011116400A1 - Localisation gps améliorée dans un système de suivi des biens du type mobile - Google Patents

Localisation gps améliorée dans un système de suivi des biens du type mobile Download PDF

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Publication number
WO2011116400A1
WO2011116400A1 PCT/US2011/029284 US2011029284W WO2011116400A1 WO 2011116400 A1 WO2011116400 A1 WO 2011116400A1 US 2011029284 W US2011029284 W US 2011029284W WO 2011116400 A1 WO2011116400 A1 WO 2011116400A1
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WO
WIPO (PCT)
Prior art keywords
asset
gps
mode
movable
geofence
Prior art date
Application number
PCT/US2011/029284
Other languages
English (en)
Inventor
Herbert Perten
Original Assignee
Startrak Systems, Llc
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 Startrak Systems, Llc filed Critical Startrak Systems, Llc
Priority to AU2011227024A priority Critical patent/AU2011227024B2/en
Priority to CA2793865A priority patent/CA2793865C/fr
Priority to NZ602653A priority patent/NZ602653A/en
Publication of WO2011116400A1 publication Critical patent/WO2011116400A1/fr

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00—Burglar, theft or intruder alarms
    • G08B13/02—Mechanical actuation
    • G08B13/14—Mechanical actuation by lifting or attempted removal of hand-portable articles
    • G08B13/1427—Mechanical actuation by lifting or attempted removal of hand-portable articles with transmitter-receiver for distance detection
    • 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
    • G08B21/0261—System arrangements wherein the object is to detect trespassing over a fixed physical boundary, e.g. the end of a garden
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
    • G08G1/207—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles with respect to certain areas, e.g. forbidden or allowed areas with possible alerting when inside or outside boundaries
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences

Definitions

  • This invention relates to automatic asset locations systems, and more particularly to Automatic Vehicle Location (AVL) systems.
  • AOL Automatic Vehicle Location
  • AOL Automatic Vehicle Location
  • a satellite based location device such as a GPS receiver
  • a wireless link such as a cellular telephone
  • broadcast mobile asset locations to a central station at periodic intervals.
  • the central station presents this information in graphical or tabular form to a fleet manager, dispatcher or other users of this information.
  • AVL systems typically employ single band ('LI') GPS receivers. These give a location in approximately one minute or less and offer an accuracy of approximately 10-12 meters, which is sufficient to determine the location of a moving or stationary asset.
  • 'LI' GPS receivers These give a location in approximately one minute or less and offer an accuracy of approximately 10-12 meters, which is sufficient to determine the location of a moving or stationary asset.
  • 'LI' single band
  • Such simple systems are unable to resolve specific parking spots having spacings about 3.3 meters, loading bays with approximately 6 meter spacings, or parallel rail tracks which are about 3.3 meters apart.
  • More precision location devices are available, but their hardware costs orders of magnitude more than that of the simple GPS devices, and this makes their deployment commercially unviable.
  • An object of this invention is overcome the deficiencies of prior asset location systems.
  • An embodiment of the invention uses the GPS position within a specifically defined area to activate a higher accuracy algorithm (differential GPS) than would be used in its normal operation.
  • An embodiment of the invention involves tracking an asset with a GPS until the asset moves into a defined area and then tracking the asset with a differential GPS.
  • FIG. 1 illustrates an embodiment of the invention.
  • Figure 2 shows some of the different ways used to define geofences according to embodiments of the invention.
  • FIG. 3 is a flowchart of the operation of a mobile asset according to embodiments of the invention.
  • Figure 4 is a flowchart of a network center's response to a message from a mobile asset that it has entered a defined area such as a geofence according to embodiments of the invention.
  • Figure 5 is a flowchart of the response of a network center to position data received from the mobile asset and from a reference according to embodiments of the invention. Description Of Preferred Embodiments
  • a mobile asset MAI may be any piece of mobile equipment whose location is to be determined. It may be a trailer, a tractor, a railcar, a locomotive, an automobile, a barge, etc.
  • a GPS receiver GPS 1, mounted on the mobile asset MAI may be any GPS receiver, and may be in the form of a simple, single band device chosen for low cost and low power consumption. In one embodiment, this is a model LEA-5T made by u-blox (www . u-blox .com) .
  • a motion sensor MS I mounted on or in the mobile asset MAI is, according to various embodiments, a ball balanced on two contacts or a tri-axial accelerometer with a dedicated microprocessor used to detect motion, or any motion detecting device.
  • a two-way radio RAl provides communications.
  • the radio RAl operates on cellular telephone bands.
  • the radio RAl includes an antenna, and may, according to various embodiments, be a cellular, satellite, Wi-Fi, or any other RF device.
  • the radio RAl communicates over a wireless link WL1.
  • the radio RAl, motion sensor MS I, and the GPS receiver GPS 1 installed on the mobile asset MAI are controlled by a local microprocessor PR1.
  • the mobile asset MAI is one of a fleet of mobile devices MAI, MA2, ... MAn each equipped with corresponding sensing GPS, radio and processing equipment as mobile asset MAI.
  • a reference station RS 1 also contains a GPS receiver GPS2. This may be a simple device like GPS receiver GPS 1 or it may be of a better quality.
  • reference station RS 1 communicates with a network center NCI over wireless or wired lines. If wireless, the radio RA2 and wireless link WL2 may be of the same or different from radio RAland wireless link WL1.
  • a wired connection operates, according to an embodiment, via the internet IC1, though it may use any other suitable network.
  • a processor PR2 controls local operation of the GPS receiver GPS2 and the radio RA2 reference station RS I.
  • One reference station can service multiple mobile assets.
  • the reference station RS 1 is one of a number of reference stations RS2 ...RSn.
  • a network center NCI receives data from both mobile asset MAI and reference station RS I.
  • it includes one or more radios RA3 to receive wireless signals over wireless links WL1 and WL2 plus an internet connection IC1.
  • a post processor PP1 combines the information received over wireless links WL1 and WL2 from mobile asset MAI and reference station RS 1 to determine an accurate position for mobile asset MAI.
  • post processor PP1 utilizes post processing firmware in the form of the GrafNav product, supplied by Waypoint Software, a division of Novatel, Inc.
  • a single post processor can usually handle all the computations from a multitude of mobile assets and reference stations, though if necessary multiple post processors can share the load.
  • the processor PRl filters the GPS information before transmitting back to the network center.
  • a small processor in the GPS receiver GPS l performs this function instead of the processor PRl.
  • Such filtering involves use of a logical construct known as a "geofence". This is an imaginary boundary ring which may be circular, rectangular or polygonal in shape.
  • Geofences are drawn around terminals, loading docks or customer sites and messages are sent when assets enter or leave such locations.
  • the processor PRl determines when the GPS location indicates the mobile asset has entered or left a geofence.
  • Figure 2 shows some of the different ways used to define geofences.
  • 'A' shows a geofence described by a center point and a circle of defined radius.
  • 'B' shows a rectangle defined by the locations of two diagonal corners.
  • 'C shows a polygon defined by its nodes.
  • 'D' is similar to 'B' except that it has been rotated from a north- south-east- west coordinate system. Other embodiments exist without affecting the system.
  • Figure 3 is a flow chart of the logic present on a mobile asset MAI.
  • the decision tree resides in the code of the processor PRl. To save power, the processor PRl keeps the GPS receiver GPS l quiescently off, and only powers it on when a new reading is desired.
  • the system is initialized by a GPS reading in step 302 where the processor PRl turns of the GPS receiver GPS l, step 304 where the processor PRl takes a GPS reading of the GPS receiver GPS l, and step 306 where the processor PRl turns the GPS receiver GPS l off.
  • This synchronizes a local clock within the processor PRl with the absolute time received from the GPS satellite constellation orbiting the earth.
  • Various timers resident within the code of the processor PRl determine when specific events are to occur. In response to one such timer the processor PRl determines, how often to take a GPS reading.
  • the processor PRl actuates the GPS receiver GPS l to take GPS readings every 3 minutes.
  • the processor PRl actuates the GPS receiver GPS l to take GPS readings at other times such as any one between 30 seconds to 6 minutes or even at different intervals.
  • step 308 the processor PRl asks if it is time for a reading. If the answer is no, it is not yet time for a new GPS reading, the processor PRl waits until it is time. If the answer is yes the processor PRl decides whether or not to actually take a new GPS reading.
  • step 310 the processor PRl interrogates the motion sensor MS I to determine whether the mobile asset MAI is moving or stationary. If the answer is yes, the mobile asset MS 1 is stationary, and there is no need to expend any power to take a new GPS reading, because the position is unchanged from the last GPS reading. Thus in Step 318 the processor PRl retains the previous GPS reading that the processor PRl has memorized. If the answer in step 210 is no, the motion sensor MS I indicates that the mobile asset MAI is in fact moving, then a new GPS reading is required. In response, the processor PRl executes step 312 to turn on the GPS receiver GPS l, executes step
  • step 316 to turn off the GPS receiver GPS l.
  • Another timer within the processor PRl indicates when to send the GPS location over the radio RA1 and the wireless link WL1 to the network center
  • the processor PRl does this as infrequently as once per day or as often as once per hour.
  • the processor PRl asks whether it is time to send a location report. If the answer is no, the processor PRl sends no report, If yes, the processor PRl sends a location report via radio RA1 and wireless link WL1 to the network center
  • the processor PRl stores a listing of known geofences potentially used by the mobile asset MAI.
  • the processor PRl asks if the new GPS location determined in steps 314 and 316 falls within one of these geofences. If the answer is no, the processor PRl returns to step 308. If the answer is yes, the processor PRl executes step 326 and sends a message to this effect via radio RA1 and wireless link WL1. The processor PRl then returns to the state indicated at 308 until it is time to get the next GPS reading.
  • Figure 4 is the logic implemented within the network center NCI as controlled by the processor PR3.
  • the processor PR3 Upon receipt of a geofence message from mobile asset MAI in step 326, the processor PR3 starts a timer.
  • the processor PR3 asks if the mobile asset has been in the geofence for a time greater than t. If no, then no subsequent geofence message has arrived for a time t and the processor PR3 continues to ask until the time t has elapsed. If the answer is yes the processor PR3 then assumes the asset is still within the geofence.
  • the processor PR3 checks its database to see whether there is a local reference station RS I associated with this geofence.
  • the processor PR3 goes back to the head of the loop until such time as it receives a new geofence message from MAI through steps 308 to 324. If the answer is yes, that a reference is associated with this geofence, the processor PR3 starts the procedure for generating a more accurate position determination. In step 406 the processor PR3 sends a message over radio RA3 via wireless link WL2 and radio R2 to the processor PR2 commanding the processor PR2 in reference station RS I to direct the GPS receiver GPS2 to turn on and take GPS readings for tl minutes.
  • step 408 the processor PR3 sends a message over radio RA3 vial wireless link WL2 and radio RA1 to the processor PR1 commanding the processor PR1 in the mobile asset MAI to direct the GPS receiver GPS 1 to turn on and take GPS readings for tl minutes.
  • tl is slightly longer than t2, and since it starts first, brackets tl on both ends in time. According to an embodiment, tl is approximately slightly over 10 minutes and tl is approximately slightly less than 10 minutes in length. According to other embodiments, other times sufficiently long to provide accurate locations for particular distances are used.
  • the processor PR1 in mobile asset MAI transmits this data via radio RA1, wireless link WL1, and radio RA3 to the processor PR3 in network center NCI.
  • the processor PR2 transmits its data via radio RA2, wireless link WL2, and RA3 to the processor PR3 in network center NCI.
  • the data collected is managed as shown in Figure 5.
  • the processor PR3 decides how to handle the data.
  • step 502 when standard GPS signals are received, the processor PR3 passes them to the end user via a post processor PPl in the network center NCI and an internet connection IC1.
  • the processor PR3 passes the standard GPS signals received directly to the end user without passing them through the post processor PPl.
  • step 504 the processor PR3 receives enhanced differential GPS data from the processor PR1 and the processor PR2 in the form of raw data.
  • the processor PR3 then passes the two data streams to the post processor PPl which computes a precision location.
  • this information is then passed on to the user in place of the simple GPS information.
  • the internet connection is replaced with a wireless connection.
  • the processor PR3 starts the differential GPS process on command from the user rather than automatically.
  • steps 324 and 326 are performed in the processor PR3 of the network center NCI just before step 402.
  • the processor PR3 stores a listing of known geofences potentially used by the mobile asset MAI and any other mobile asset in the system.
  • the post processor PPl determines when to switch from ordinary GPS measurements to differential GPS measurements on the basis of data store that recognizes various geofences on the excursions of the mobile asset MAI.
  • the processor PRl in step 324 in effect constitutes a geofence asset presence detector when the mobile asset MAI is in a geofence.
  • the processor PRl it in effect constitutes an asset entry detector.
  • the processor PRl in effect constitutes an asset departure detector when the mobile asset MAI departs a geofence.
  • the network center is operating in a non-differential mode or express mode and its connection to the mobile asset forms a non-differential or express coupling via the link WL1.
  • the GPS module's power consumption is a significant portion of the power budget and the module is therefore quiescently kept in an unpowered or very low power "sleep" state.
  • the module is powered up, the reading taken, and the module is once again powered down.
  • Motion sensors allows systems to save the power they would have otherwise spent on activating their GPS systems only to find out they did't moved since the last time they checked, i.e. the previous reading was still valid.
  • the AVL system tries to ascertain its position. GPS readings typically occur at a rate far greater than that which is required for display to the end user. This allows the systems to autonomously determine whether or not they have entered or left geofences. If a particular GPS reading occurs at the time when a location message should be sent, that message is sent at this time. If a geofence has been just entered, that information is transmitted as well.
  • the flowchart of Figure 4 shows the network center' s response to a message from a mobile asset that it has entered a geofence. Its response to this message is to start a timer. If a time period t has elapsed and no subsequent messages have arrived indicating that the asset is no longer in this geofence, the network center checks its database to see if this particular geofence has a reference station associated with it and whether a precision location is required. According to an embodiment, whether a precision location is required also takes the available power on the asset into consideration, since differential GPS requires data collection for several minutes it imposes significant battery drain. If all the criteria are met, the network center begins the procedure to obtain a differential GPS. According to other embodiments, the network center also uses other information to determine whether or not to obtain a differential GPS, such as bill of lading, time of day, type of geofence, etc.
  • the network center commands the reference station to start collecting raw data.
  • This mode differs from a normal GPS's operation in that the system does not compute its position; rather it just collects the raw data that would normally be used to compute the position. This is done at a rate of once a second for a period exceeding 10 minutes.
  • the data is transmitted to the network center.
  • the mobile asset is commanded to collect data in a similar fashion.
  • the mobile asset places its GPS system in a special mode wherein it collects and transmits raw satellite data rather than its actual computed position. In an embodiment, the mobile asset is commanded to take readings every second for 10 minutes. The reason the reference station is started first and ends last is to ensure that its data set brackets the mobile asset's data set on both sides in time.
  • Figure 5 is a flowchart of the response of the network center to position data received from the mobile asset and from the reference.
  • Standard GPS messages receive no further processing and are displayed to the user.
  • Raw data messages are handled differently.
  • the differential GPS processor or post processor which computes the accurate position of the mobile asset. In an embodiment using the hardware and software mentioned above, 10 minutes of data acquisition yields better than 1 m resolution. After differential GPS is complete, the system reverts to normal or express GPS.
  • differential GPS provides greater resolution and getting a GPS reading requires a significant portion of the power budget of a mobile asset. Whereas normal GPS readings may be accomplished in nominally one minute, differential readings require continuous data collection for much longer time periods. In one embodiment, differential GPS data is acquired for 10 minutes. Thus, using differential GPS at all times is unsupportable from a power budget point of view.
  • differential GPS requires the uploading of raw data from both the mobile and reference systems. In one embodiment, 10 minutes of data collection results in 17 Mbytes of raw data. The time to upload this may be significant. When this is done wirelessly, there are real monetary costs associated with this action. The power budget is also affected, since the radio must be powered up long enough to transfer this large amount of data.
  • differential post processing of GPS data the mobile asset does not know its location. This rules out any location-based operation the asset may need to do, such as determining when it has entered or left a geofence.
  • getting a precise location using differential postprocessing of GPS data as described herein is especially useful when the asset is stationary and when precise location is required. Otherwise, conventional GPS readings are used.
  • a mobile asset is designated as a reference for a particular location.
  • This asset must be stationary for a period of time such that its location can be determined using an external reference, such as the CORS, Continuously Operating Reference Stations system operated by the National Oceanographic and Atmospheric Administration (NOAA), whose cumulative correction data is placed on the internet at fixed times, typically 0:00 GMT.
  • NOAA National Oceanographic and Atmospheric Administration
  • the mobile asset must have been stationary since before 00:00 GMT, since that is when the CORS system is updated.
  • the differential GPS engine computes the actual position of the reference asset using the CORS system. Subsequently, as long as this asset is not moved, it may be used as a reference for other assets in the area.
  • Embodiment of the invention make accurate tracking possible to use with mobile assets by permitting using differential GPS for mobile assets employing simple GPS systems, using a motion sensor to decide whether to spend the power on a new GPS reading, employing geofences to determine when to activate differential GPS, and using mobile asset as a reference station for other assets.
  • the invention overcomes the disadvantages of other known location with accuracies in the sub -centimeter range such as that used by the surveying community.
  • reference stations with known coordinates are sited, and GPS data from these stations is used to correct the data acquired by the roaming GPS receiver that is moved to points on the survey. This is a form of "differential GPS".
  • a wireless link is established between the reference and rover units, and the corrected location is computed in real time by the rover device.
  • the two data sets are merged after completion of the survey.
  • the reference stations are sited locally by the surveying teams.
  • the CORS system allows surveyors to correct their field data within a couple of days of taking that data, an acceptable latency for that industry.
  • An embodiment of the invention uses a network of other reference stations in the public domain. Reference stations may be hundreds of kilometers away and still give adequate correction to local data.
  • AWAAS Wide Area Augmentation System
  • Reference stations are sited near major airports and the correction data is transmitted to aircraft via a geostationary satellite positioned over the equator. Though planes in the air are always in the line of sight to the equator, ground-based assets on the north sides of buildings (for instance) will be unable to get good correction signals.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Health & Medical Sciences (AREA)
  • Child & Adolescent Psychology (AREA)
  • General Health & Medical Sciences (AREA)
  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

Le positionnement d'un bien mobile implique la communication de la position du bien par un GPS sur le bien à destination d'un centre de réseau quand le bien est en dehors d'une zone prédéterminée, mais aussi la communication de la position à destination du bien de manière différentielle par un GPS sur le bien et par un GPS sur une référence quand le bien se trouve à l'intérieur de la zone prédéterminée.
PCT/US2011/029284 2010-03-19 2011-03-21 Localisation gps améliorée dans un système de suivi des biens du type mobile WO2011116400A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
AU2011227024A AU2011227024B2 (en) 2010-03-19 2011-03-21 Enhanced GPS location in mobile asset tracking
CA2793865A CA2793865C (fr) 2010-03-19 2011-03-21 Localisation gps amelioree dans un systeme de suivi des biens du type mobile
NZ602653A NZ602653A (en) 2010-03-19 2011-03-21 Enhanced gps location in mobile asset tracking

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US31559010P 2010-03-19 2010-03-19
US61/315,590 2010-03-19
US201113053182A 2011-03-21 2011-03-21
US13/053,182 2011-03-21

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Publication Number Publication Date
WO2011116400A1 true WO2011116400A1 (fr) 2011-09-22

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AU (1) AU2011227024B2 (fr)
CA (1) CA2793865C (fr)
NZ (1) NZ602653A (fr)
WO (1) WO2011116400A1 (fr)

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US9363945B2 (en) 2012-10-09 2016-06-14 Husqvarna Ab Method and system for enhancing a coverage distribution of a robotic garden tool
US10081377B2 (en) 2015-11-30 2018-09-25 Progress Rail Locomotive Inc. Geo-fence control of a notification system
WO2020085817A1 (fr) * 2018-10-24 2020-04-30 Samsung Electronics Co., Ltd. Procédé de fourniture d'informations d'emplacement à un dispositif électronique externe et dispositif électronique pour prendre en charge celui-ci

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US11526835B2 (en) 2020-04-21 2022-12-13 Geotab Inc. Asset travel monitoring with linked asset tracking devices
EP4280190A1 (fr) * 2022-05-16 2023-11-22 GEOTAB Inc. Systèmes et procédés pour associer un dispositif télématique à un dispositif de suivi d'actifs

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Publication number Priority date Publication date Assignee Title
US9363945B2 (en) 2012-10-09 2016-06-14 Husqvarna Ab Method and system for enhancing a coverage distribution of a robotic garden tool
US10081377B2 (en) 2015-11-30 2018-09-25 Progress Rail Locomotive Inc. Geo-fence control of a notification system
WO2020085817A1 (fr) * 2018-10-24 2020-04-30 Samsung Electronics Co., Ltd. Procédé de fourniture d'informations d'emplacement à un dispositif électronique externe et dispositif électronique pour prendre en charge celui-ci
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Also Published As

Publication number Publication date
NZ602653A (en) 2014-04-30
AU2011227024B2 (en) 2014-10-30
CA2793865A1 (fr) 2011-09-22
CA2793865C (fr) 2018-03-13
AU2011227024A1 (en) 2012-10-25

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