WO2013008063A1 - Positionnement d'un appareil à l'aide de signaux radio - Google Patents

Positionnement d'un appareil à l'aide de signaux radio Download PDF

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Publication number
WO2013008063A1
WO2013008063A1 PCT/IB2011/053119 IB2011053119W WO2013008063A1 WO 2013008063 A1 WO2013008063 A1 WO 2013008063A1 IB 2011053119 W IB2011053119 W IB 2011053119W WO 2013008063 A1 WO2013008063 A1 WO 2013008063A1
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WO
WIPO (PCT)
Prior art keywords
vector
antenna
coordinate system
orientation information
bearing
Prior art date
Application number
PCT/IB2011/053119
Other languages
English (en)
Inventor
Terhi Rautiainen
Fabio Belloni
Ville Ranki
Antti Kainulainen
Original Assignee
Nokia Corporation
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 Nokia Corporation filed Critical Nokia Corporation
Priority to PCT/IB2011/053119 priority Critical patent/WO2013008063A1/fr
Publication of WO2013008063A1 publication Critical patent/WO2013008063A1/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
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
    • G01S3/14—Systems for determining direction or deviation from predetermined direction
    • G01S3/46—Systems for determining direction or deviation from predetermined direction using antennas spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems
    • 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
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
    • G01S3/023—Monitoring or calibrating
    • 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
    • G01S5/0269—Inferred or constrained positioning, e.g. employing knowledge of the physical or electromagnetic environment, state of motion or other contextual information to infer or constrain a position
    • G01S5/02695—Constraining the position to lie on a curve or surface

Definitions

  • Embodiments of the present invention relate to positioning.
  • they relate to a method, an apparatus, a module, a chipset or a computer program for positioning using radio signals.
  • GPS Global Positioning System
  • Some popular techniques relate to use of the Global Positioning System (GPS), in which multiple satellites orbiting Earth transmit radio frequency signals that enable a GPS receiver to determine its position.
  • GPS is often not very effective in determining an accurate position indoors.
  • Some non-GPS positioning techniques enable an apparatus to determine its position indoors.
  • some of these techniques do not result in an accurate position being determined, and others are too complex for use simply in a portable apparatus. For example, the amount of processing power required to perform the technique may be impractical to provide in a portable apparatus, which may need to perform concurrent functions.
  • a method comprising: receiving signals associated with multiple antenna elements of an antenna arrangement; determining orientation information for the antenna arrangement; and using the received signals and the orientation information to locate an apparatus.
  • an apparatus comprising: at least one processor; and at least one memory including computer program code the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus at least to perform: determining orientation information for an antenna arrangement comprising multiple antenna elements; and using signals associated with the multiple antenna elements of the antenna arrangement and the orientation information to locate an apparatus.
  • an apparatus comprising: means for communicating using signals associated with multiple antenna elements of an antenna arrangement; means for determining orientation information for the antenna arrangement; and means for enabling location of an apparatus using the signals and the orientation information.
  • a computer program which when loaded into a processor enables the processor to: determine orientation information for an antenna arrangement comprising multiple antenna elements; and use signals communicated using the multiple antenna elements of the antenna arrangement and the orientation information to locate an apparatus.
  • Fig. 1 illustrates an apparatus receiving radio signals from a transmitter
  • Fig. 2A illustrates a bearing in an antenna coordinate system that is aligned with a global coordinate system
  • Fig. 2B illustrates a bearing in an antenna coordinate system that is not aligned with a global coordinate system
  • Fig. 3 is a schematic of a receiver apparatus when diversity reception is used
  • Fig. 4 is a flow diagram of a method of estimating a position
  • Fig. 5 is a flow diagram of a compensation method for compensating for non- alignment of an antenna coordinate system and a global coordinate system
  • Fig. 6 is method of determining orientation information that is used to transform between an antenna coordinate system and a global coordinate system
  • Fig 7 schematically illustrates an example of a suitable mobile apparatus 10.
  • Locating an apparatus typically involves measuring a parameter that depends upon a distance (or an equivalent) between a location and a plurality of diverse locations.
  • An equivalent to distance for electromagnetic waves, such as radio frequency signals, is time as their speed is constant.
  • the location may be an unknown location of the apparatus and the diverse locations may be known.
  • the location may be known and the diverse locations may be at the apparatus.
  • Time of flight or differences in time of flight for radio signals may be measured in many different ways. For example, if a transmitter and receiver are synchronized, the actual time of flight may be measured. As another example, phase differences between received signals may be measured to estimate differences in the time of flight of radio signals.
  • the radio signal When radio frequency signals are used, the radio signal may travel from the location for reception at the plurality of diverse locations. This is commonly referred to as diversity reception. A single radio signal may be transmitted for reception at all of the diverse locations or, alternatively, different radio signals may be transmitted for separate reception at the diverse locations. Alternatively, when radio frequency signals are used, the radio signal may travel to the location from the plurality of diverse locations. This is commonly referred to as diversity transmission. A single radio signal may be transmitted from all of the diverse locations for reception or, alternatively, different radio signals may be transmitted from the diverse locations for separate reception.
  • the diverse locations of transmission/reception each have at least one antenna element for performing the necessary transmission/reception.
  • the antenna elements have a known arrangement.
  • the antenna elements may form a fixed arrangement in which the antenna elements of the arrangement have a fixed relationship with each other, although the arrangement itself may move (rotation and/or translation).
  • Movement of the arrangement of antenna elements needs to be compensated for when locating an apparatus using the arrangement of antenna elements.
  • the following description describes how to compensate for movement of an arrangement of antenna elements where diversity reception at a base station is used to locate a remote transmitting apparatus and phase is used as the parameter that depends upon a distance between the remote transmitting apparatus being located and the plurality of antenna elements.
  • a common signal transmitted from the apparatus to be located is received at the diverse antenna elements of a base station.
  • the antenna arrangement functions as an antenna, rather than a plurality of independent antennas, and the antenna elements although diverse may be closely spaced. It should, however, be appreciated that the details of the specific embodiment described below does not limit the generality of the invention which, for example, covers at least the alternatives outlined above including diverse reception, diversity transmission, different locations of the arrangement of antenna elements (e.g. mobile or base station), and the use of other parameters that depends upon a distance (or an equivalent).
  • Diversity Reception Fig. 1 illustrates a person 92 (carrying a mobile radio communications apparatus 10) at a position 95 on a floor 100 of a building 94.
  • the building 94 could be, for example, a shopping center or a conference center.
  • a base station receiver apparatus 30 is positioned at a location 80 of the building 94.
  • the location 80 is on the ceiling of the building 94 (i.e. the overhead interior surface) but in other implementations the receiver may be placed elsewhere such as on a wall.
  • the location 80 is directly above the point denoted with the reference numeral 70 on the floor 100 of the building.
  • the receiver apparatus 30 is for enabling the position of the remote apparatus 10 to be determined although that is not necessarily the only function provided by the receiver apparatus 30.
  • the receiver apparatus 30 may be part of a transceiver for providing wireless internet access to users of remote apparatuses 10, for example, via wireless local area network (WLAN) radio signals.
  • WLAN wireless local area network
  • the mobile apparatus 10 may, for example, be a hand portable electronic device such as a mobile radiotelephone.
  • the apparatus 10 may transmit radio signals 50 periodically as beacons.
  • the radio signals may, for example, have a transmission range of 100 meters or less.
  • the radio frequency signals may be 802.1 1 wireless local area network (WLAN) signals, Bluetooth signals, Ultra wideband (UWB) signals or Zigbee signals.
  • Fig. 2A illustrates a schematic for estimating a position 95 of a remote apparatus 10/user 92.
  • an antenna coordinate system that moves with an antenna 36 of the receiver apparatus 30 is aligned with a global coordinate system.
  • the global coordinate system having an origin 80, can be expressed in Cartesian coordinates as (XG, y G , z G ) or in a spherical coordinates as (r, 0G, OG) or the illustrated adapted spherical coordinates as (h, 0G, ⁇ ), where
  • the position 95 can be defined by specifying a position along a bearing 82 which runs from the position 80 of the antenna 36 of the receiver apparatus 30 through the position 95 of the remote apparatus 10.
  • the bearing 82 is defined by an elevation angle ⁇ and an azimuth angle ⁇ .
  • the position along the bearing ( ⁇ , ⁇ ) is given in this example by h, the vertical distance between the location 80 and the position 95.
  • the coordinate systems are aligned and share a common origin 80 at which the antenna array 36 comprising a plurality of antenna elements 32A, 32B, 32C in a particular configuration is located.
  • the mobile user 92 is seen in the direction of the unit vector in Cartesian coordinates as: sin ⁇ . cos ⁇
  • the position 95 of the mobile user 92 in Cartesian coordinates is: h. tan ⁇ . cos ⁇
  • h is a known or determined height of the antenna array origin 80 above the mobile user 92 and ⁇ , ⁇ are resolved using bearing estimation, an example of which is described below.
  • Fig. 2B illustrates a schematic for estimating a position 95 of a remote apparatus 10/user 92.
  • an antenna coordinate system that moves with the antenna 36 is not aligned with a global coordinate system but has a rotation relative to the global coordinate system.
  • the antenna coordinate system may, in other embodiments, have a vector offset from the global coordinate system.
  • the antenna coordinate system may be rotated and/or translated relative to the global coordinate system.
  • the global coordinate system having an origin 80, can be expressed in Cartesian coordinates as (XG, y G , z G ) or in a spherical coordinates as (r, 0G, OG) or the illustrated adapted spherical coordinates as (h, 0G, G), where
  • the position 95 can be defined by specifying a position along a bearing 82 which runs from the position 80 of the antenna 36 of the receiver apparatus 30 through the position 95 of the remote apparatus 10.
  • the bearing 82 is defined by an elevation angle ⁇ and an azimuth angle ⁇ .
  • the position along the bearing ( ⁇ , ⁇ ) is given in this example by h, the vertical distance between the location 80 and the position 95.
  • the mobile user 92 is seen in the direction of the unit vector in Cartesian coordinates of the antenna coordinate system as: sm i fl ⁇ ⁇ . cos ⁇
  • the mobile user 92 is actually in the direction of the unit vector in Cartesian coordinates of the global coordinate system of: sin 0 G . cos G
  • the direction cosine matrix may be written as
  • the element c represents the cosine between the i axis of the global coordinate system and the j axis of the antenna coordinate system.
  • the direction cosine matrix is orthogonal and is formed of unit vectors orthogonal to each other.
  • the direction cosine matrix can also be written as:
  • N A is a vector defining North in the antenna coordinate system.
  • E A is a vector defining East in the antenna coordinate system, and this vector is orthogonal to N A .
  • GA is a vector defining gravity (down) in the antenna coordinate system and this vector is orthogonal to N A and E A .
  • a plurality of orthogonal vectors define a transform for transforming the bearing of the remote apparatus 10 from the antenna 36 in an antenna coordinate system to a bearing of the remote apparatus 10 from the antenna 36 in a global coordinate system.
  • An inclinometer 35 (illustrated in Fig 3) in the apparatus 30 may be used to enable determination of N A , E A ,GA.
  • the inclinometer 35 measures not only a reference vector e.g., GA but also a bearing vector that has components of N A , or E A .
  • Fig. 3 schematically illustrates one example of the base station receiver apparatus 30.
  • the receiver apparatus 30 comprises an antenna array 36 comprising a plurality of antenna elements 32A, 32B, 32C in a particular configuration.
  • the antenna elements 32 receive respective radio signals 50A,
  • the antenna array 36 is connected through switch 38 to receiver circuitry 34.
  • the switch 38 may, for example, switch each antenna element 32 to the receiver circuitry 34 according to a defined sequence.
  • the receiver circuitry 34 processes the received signals to obtain characteristics of the received signals 50.
  • the receiver circuitry 34 provides an output to a controller 33.
  • the receiver circuitry 34 needs to obtain 'displacement information' from the received signals 50A, 50B, 50C that is dependent upon inter alia the relative displacements of the respective antenna elements 32A, 32B, 32C.
  • the displacement information includes phase information.
  • the receiver circuitry 34 may also be configured to demodulate the received signals.
  • the receiver circuitry 34 may demodulate using l-Q modulation, also known as quadrature phase shift modulation.
  • l-Q modulation also known as quadrature phase shift modulation.
  • two orthogonal carrier waves (sine and cosine) are independently amplitude modulated to define a symbol.
  • the amplitude of the two orthogonal carrier waves is detected as a complex sample and the closest matching symbol determined.
  • an identical signal received at different antenna elements will be received with different phases and amplitudes because of the inherent phase characteristics of the antenna elements 32 when receiving from different directions and also because of the different times of flight for a signal 50 to each antenna element 32 from the transmitter apparatus 10.
  • the inherent presence of this 'time of flight' information within the phases of the received signals 50 enables the received signals 50 to be processed, as described in more detail below, to determine the bearing 82 of the transmitter apparatus 10 from the receiver apparatus 30.
  • antenna elements 32 In the Figure only three different displaced antenna elements 32 are illustrated, although in actual implementations more antenna elements 32 may be used. For example 16 patch antenna elements could be distributed over the surface of a hemisphere. Three is the minimum number of radio signals required at the receiver apparatus 30 to be able to determine a bearing 82.
  • the apparatus 30 determines a bearing 82 of the remote apparatus 10 from the antenna in the antenna coordination system, the apparatus 30 transforms the bearing of the remote apparatus 10 from the antenna in the antenna coordinate system to a bearing of the remote apparatus 10 in the global coordinate system and then estimates, using the bearing in the global coordinate system and constraint/height information, the position of the apparatus 10 in the global coordinate system.
  • the apparatus 30 determines a bearing 82 of the remote apparatus from the antenna in the antenna coordination system, the apparatus 30 estimates, using the bearing in the antenna coordinate system and constraint/height information, the position of the apparatus 10 in the antenna coordinate system, the apparatus 30 then transforms the position of the remote apparatus 10 from the antenna in the antenna coordinate system to a position of the remote apparatus 10 in the global coordinate system.
  • the controller 33 may be any suitable type of processing circuitry.
  • the controller 33 may be, for example, programmable hardware with embedded firmware.
  • the controller 33 may be a single integrated circuit or a set of integrated circuits (i.e. a chipset).
  • the controller 33 may also be a hardwired, application-specific integrated circuit (ASIC).
  • the controller 33 may comprise a programmable processor 12 that interprets computer program instructions 13 stored in a memory 14.
  • the processor 12 is connected to write to and read from the memory storage device 14.
  • the storage device 14 may be a single memory unit or a plurality of memory units.
  • the storage device 14 may store computer program instructions 13 that control the operation of the apparatus 30 when loaded into processor 12.
  • the computer program instructions 13 may provide the logic and routines that enables the apparatus to perform the method illustrated in Fig 4.
  • the computer program may arrive at the apparatus 30 via any suitable delivery mechanism 21 .
  • the delivery mechanism 21 may be, for example, a computer-readable storage medium, a computer program product, a memory device, a record medium such as a CD-ROM or DVD, an article of
  • the delivery mechanism may be a signal configured to reliably transfer the computer program 13.
  • the apparatus 30 may propagate or transmit the computer program 13 as a computer data signal.
  • memory 14 is illustrated as a single component it may be implemented as one or more separate components some or all of which may be integrated/removable and/or may provide permanent/semi-permanent/ dynamic/cached storage.
  • 'computer', 'processor' etc. should be understood to encompass not only computers having different architectures such as single /multi- processor architectures and sequential (Von Neumann)/parallel architectures but also specialized circuits such as field-programmable gate arrays (FPGA), application specific circuits (ASIC), signal processing devices and other devices.
  • References to computer program, instructions, code etc. should be understood to encompass software for a programmable processor or firmware such as, for example, the programmable content of a hardware device whether instructions for a processor, or configuration settings for a fixed- function device, gate array or programmable logic device etc.
  • controller 33 is described as being a separate entity to the receiver circuitry 34.
  • controller 33 may relate not only to a main processor of an apparatus, but also processing circuitry included in a dedicated receiver chipset, and even to a combination of processing circuitry included in a main processor and a dedicated receiver chipset.
  • a chipset for performing embodiments of the invention may be incorporated within a module. Such a module may be integrated within the apparatus 30, and/or may be separable from the apparatus 30.
  • the apparatus 30 may in some but not necessarily all embodiments comprise a pressure sensor for providing atmospheric pressure measurements to the controller 33.
  • the atmospheric pressure measurements may be used with an atmospheric pressure measurement made at the apparatus 10 to generate the constraint information used to position of the transmitter apparatus 10 along the bearing 82.
  • the computer program 13 when loaded into the processor 12 enables the processor 12 to:
  • the orientation information is determined using inputs from an inclinometer 35.
  • An inclinometer 35 in the apparatus 30 may be used to assist in determining N A , E A ,GA.
  • the inclinometer measures a reference vector e.g., GA . It some embodiments it may comprise additional functionality for measuring a bearing vector that has components of N A , or E A .
  • Fig. 4 illustrates a method 40 for estimating the position of the apparatus 10.
  • a radio signal is received at spatially diverse antenna elements.
  • the respective spatially diverse received radio signals 50A, 50B, 50C are received at the receiver apparatus 30 as illustrated in Figs 1 and 3.
  • the receiver apparatus 30 detects radio signals 50 including first, second and third radio signals 50A, 50B, 50C.
  • the controller 33 of the apparatus 30 uses the detected radio signals 50 to estimate a bearing 82 of the apparatus 10 from the first location 80.
  • the processor 12 obtains comparable complex samples (i.e. samples that represent same time instant) for the three respective radio signals 50A, 50B, 50C.
  • the processor 12 then estimates a bearing 82.
  • One method of determining the bearing 82 is now described, but other methods are possible.
  • the array output vector y(n) [x l , x 2 ,... ,x M ] T , (1 )
  • x is the complex signal received from the ith RX antenna element 32
  • n is the index of the measurement
  • M is the number of RX elements 32 in the array 36.
  • a Direction of Arrival (DoA) in the antenna coordinate system can be estimated from the measured snapshots if the complex array transfer function &( ⁇ ⁇ , ⁇ ⁇ ) of the RX array 36 is known, which it is from calibration data.
  • the simplest way to estimate putative DoAs is to use beamforming, i.e.
  • R — 2-,y( )y * (n) is the sample estimate of the covariance matrix of the
  • a(( ⁇ ,0 ⁇ ) is the array transfer function related to the
  • ⁇ ⁇ ( ⁇ ⁇ , ⁇ ⁇ ) , ⁇ ⁇ is the azimuth angle and ⁇ ⁇ is the elevation angle.
  • the output power of the beamformer ⁇ ⁇ ( ⁇ ⁇ , ⁇ ⁇ ) is calculated in all possible DoAs the combination of azimuth and elevation angles with the highest output power is selected to be the bearing 82 in the antenna coordinate system.
  • the performance of the system depends on the properties of the antenna array 36.
  • the array transfer functions ⁇ ( ⁇ ⁇ , ⁇ ⁇ ) related to different DoAs may have as low correlation as possible for obtaining unambiguous results.
  • the output of block 210 is a bearing 82 in a defined coordinate system that is independent of an orientation of the antenna such as the global coordinate system.
  • the processor 12 compensates for misalignment of the antenna coordinate system and the global coordinate system. This block is described in more detail below.
  • the processor 12 estimates a position of the apparatus 10 using the estimated bearing and the constraint information e.g. h m .
  • the processor 12 may access a value that is stored in the memory or it may determines h, for example using an atmospheric pressure measurement taken at the mobile apparatus 10.
  • the height h m of the mobile apparatus 10 can be expressed in terms of the measured barometric pressure p m at the mobile apparatus 10 and h re f and p re f .
  • h m h re f - H(p ref , Pm)
  • h m h ref - a "1 * Log e ( pj Pref ).
  • block 220 compensates the estimated bearing. In other embodiments it may instead compensate the determined position.
  • the block 220 determines at block 220A orientation information that is used to compensate for the misalignment between the antenna coordinate system and the global coordinate system. Then at block 220B, the method uses the orientation information to transform the bearing (or position) of the remote apparatus 10 from the antenna in the antenna coordinate system to a bearing (or position) of the remote apparatus 10 from the antenna in the defined coordinate system.
  • location or locating is intended to encompass locating a remote apparatus 10 as being positioned along a bearing in a defined coordinate system and also encompass locating a remote apparatus 10 using coordinates in a defined coordinate system.
  • the orientation information defines an orientation of the antenna relative to the defined coordinate system. It may be for example a direction cosine matrix
  • the direction cosine matrix may be expressed as:
  • the bearing of the remote apparatus 10 from the antenna in the antenna coordinate system can be converted from polar coordinates to Cartesian coordinates and then
  • a plurality of orthogonal vectors N A E A GA define a transform for transforming the bearing of the remote apparatus from the antenna in an antenna coordinate system to a bearing of the remote apparatus from the antenna in a global coordinate system.
  • the determination of the orientation information comprises at block 220C measuring in the antenna coordinate system a first vector having a specified orientation in the defined coordinate system;
  • an inclinometer one or more accelerometers with inertia
  • An accelerometer may, for example, comprise a capacitor where one capacitor plate moves relative to the other under gravity e.g. because it is suspended on a cantilever.
  • An accelerometer may therefore measure acceleration (gravity) in only one direction. It is therefore useful to mount three accelerometers in mutually orthogonal orientations so that no matter what the orientation of the apparatus 30 the vector GA can still be measured.
  • block 220C performs measuring in the antenna coordinate system a first vector GA having a specified orientation in the defined coordinate system
  • block 220D performs measuring in the antenna coordinate system a second vector B A having at least a component along a specified orientation N A in the defined coordinate system;
  • block 220E performs using the first vector GA and the second vector B A to determine the orientation information.
  • the second vector B A is a measured bearing.
  • it may be the vector M A representing magnetic north as measured by a magnetometer or compass.
  • it may be a vector representing the bearing of a radio transmitter beacon.
  • the vector M A has a component in the direction of N A and a smaller, typically non-zero, component in the direction of GA .
  • a third vector E A orthogonal to first vector GA, is determined using the first vector GA and the second vector B A .
  • the third vector E A is determined using a vector cross-product of the first vector GA and the second vector B A .
  • EA GA X BA
  • a fourth vector N A is orthogonal to the first vector GA and the third vector E A and is determined using the first vector GA and the third vector E A .
  • the fourth vector N A is determined using a vector cross-product of the first vector GA and the third vector E A .
  • N A E A x GA
  • the direction cosine matrix used to transform the bearing of the remote apparatus from the antenna in the antenna coordinate system to a bearing of the remote apparatus from the antenna in the global coordinate system is formed from the unit vectors N A , E A , G A .
  • the direction cosine matrix can be written as:
  • the determination of the orientation information may alternatively involve measuring how a reference vector having a specified fixed orientation in the defined coordinate system changes in the antenna coordinate system over time.
  • blocks 220C and 220D may perform measuring in the antenna coordinate system a reference vector having a specified orientation in the defined coordinate system at different times.
  • the reference vector may be provided by a gyroscope or the reference vector may be defined by magnetic north or gravity.
  • the Direction Cosine Matrix at time t+ dt can be calculated from a known Direction Cosine Matrix at time t using:
  • ⁇ ⁇ , ⁇ ⁇ , ⁇ ⁇ are e.g. gyroscope readings about the axis XA, yA, z A respectively.
  • an initial orientation of the antenna array 36 could be aligned with the global coordinate axes of the global coordinate system or be in some defined relationship to them. This may be achieved by, for example, using a three axis inclinometer or some other mechanism.
  • the user can then initiate Direction Cosine Matrix calculation by, for example, providing a user input e.g. pressing a button and then the antenna array is moved to its installation orientation.
  • the Direction Cosine Matrix calculation could then stop automatically or in response to a user input.
  • the calculated Direction Cosine Matrix (orientation information) can then be used in block 220B of Fig 5, for example.
  • the gravity vector GA of the Direction Cosine Matrix can be compared to a detected gravity vector obtained from an inclinometer. If the difference is less than a threshold then the determined Direction Cosine Matrix is used. If the difference is more than the threshold then the determined Direction Cosine Matrix is not used and the antenna array is returned to the initial orientation and the process of Direction Cosine Matrix calculation is repeated.
  • the determined orientation information may be used to estimate an accuracy for locating the remote apparatus 10.
  • the antenna array has a spatial resolution of ⁇ ( ⁇ , ⁇ ) in the antenna coordinate system. That is although the orientation of the antenna may change, the relative configuration of the antenna elements is fixed.
  • new orientation information may be determined and then used to transform from the antenna coordinate system to the global coordinate system.
  • a radio message may also be transmitted as an alert.
  • positioning performed by the base station apparatus 30 may be tagged as unreliable or even discarded.
  • the receiver apparatus 30 is typically a base station apparatus that is fixed. That is, the diversity is provided by the infrastructure.
  • the apparatus 30 positions the apparatus 10 which is typically a mobile apparatus relative to the known location of the apparatus 30.
  • the blocks illustrated in the Figs 4, 5 and/or 6 may represent steps in a method and/or sections of code in the computer program 13.
  • the illustration of a particular order to the blocks does not necessarily imply that there is a required or preferred order for the blocks and the order and arrangement of the block may be varied.
  • the base station apparatus 30 may use the multiple antenna elements 32 to transmit a signal to the mobile apparatus 10.
  • the base station 30 illustrated in Fig 3 would comprise a transmitter instead of receiver 34.
  • the base measurements used to determine the orientation information or the orientation information is then transferred to the mobile apparatus 10.
  • the mobile apparatus 10 determines the orientation information either by receiving it from the base station 30 or calculating it from the base measurements made at the base station 30.
  • the mobile station 10 then performs the methods illustrated in Figs 4 and 5. It may use a controller/computer program similar to that described with reference to Fig 3 to carry out the methods.
  • the mobile station 10 may download the orientation information from a remote server e.g. a web-site.
  • a remote server e.g. a web-site.
  • Fig 7 schematically illustrates an example of a suitable mobile apparatus 10.
  • the apparatus 10 is mobile and comprises a processor 2 which is connected to at least read from a memory 6. It may also write to the memory 6.
  • the processor 2 determines orientation information.
  • the processor 2 controls a radio receiver 14 to receive the diverse transmitted signals 50A, 50B, 50C for positioning the mobile apparatus 10.
  • the memory 6 stores a computer program 8 that controls the operation of the mobile apparatus 10.
  • the apparatus 10 thus receives signals 50A, 50B, 50C associated with multiple antenna elements of an antenna arrangement (of the base station 30);determines orientation information for the antenna arrangement; and uses the received signals and the orientation information to locate the apparatus 10.
  • the base station 30 receives signals associated with multiple antenna elements of an antenna arrangement; determines orientation information for the antenna arrangement; and uses the received signals and the orientation information to locate an apparatus 10.
  • the apparatus 10 may not function as a mobile telephone. It may, for example, be a portable music player having a receiver for receiving radio signals.
  • Features described in the preceding description may be used in combinations other than the combinations explicitly described.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

L'invention porte sur un procédé comprenant les étapes consistant à : recevoir des signaux associés avec de multiples éléments d'antenne d'un agencement d'antennes ; déterminer des informations d'orientation pour l'agencement d'antennes ; et utiliser les signaux reçus et les informations d'orientation pour localiser un appareil.
PCT/IB2011/053119 2011-07-12 2011-07-12 Positionnement d'un appareil à l'aide de signaux radio WO2013008063A1 (fr)

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Application Number Priority Date Filing Date Title
PCT/IB2011/053119 WO2013008063A1 (fr) 2011-07-12 2011-07-12 Positionnement d'un appareil à l'aide de signaux radio

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TWI565347B (zh) * 2015-03-31 2017-01-01 佳世達科技股份有限公司 估算基站位置的方法
CN107884747A (zh) * 2016-12-27 2018-04-06 比亚迪股份有限公司 单轨列车的定位系统和方法
CN110501670A (zh) * 2018-05-17 2019-11-26 罗德施瓦兹两合股份有限公司 天线测量系统和天线测量方法

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TWI565347B (zh) * 2015-03-31 2017-01-01 佳世達科技股份有限公司 估算基站位置的方法
CN107884747A (zh) * 2016-12-27 2018-04-06 比亚迪股份有限公司 单轨列车的定位系统和方法
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