WO2018065087A1 - Procédé de localisation, dispositif associé et utilisation d'un logiciel - Google Patents

Procédé de localisation, dispositif associé et utilisation d'un logiciel Download PDF

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Publication number
WO2018065087A1
WO2018065087A1 PCT/EP2017/001134 EP2017001134W WO2018065087A1 WO 2018065087 A1 WO2018065087 A1 WO 2018065087A1 EP 2017001134 W EP2017001134 W EP 2017001134W WO 2018065087 A1 WO2018065087 A1 WO 2018065087A1
Authority
WO
WIPO (PCT)
Prior art keywords
transmitter
receiver
calculation unit
receivers
signals
Prior art date
Application number
PCT/EP2017/001134
Other languages
German (de)
English (en)
Inventor
Johannes WENDEBERG
Joan Bordoy Andreu
Fabian HÖFLINGER
Original Assignee
Pyramid Computer Gmbh
Telocate GmbH
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 Pyramid Computer Gmbh, Telocate GmbH filed Critical Pyramid Computer Gmbh
Publication of WO2018065087A1 publication Critical patent/WO2018065087A1/fr

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
    • 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
    • G01S5/0009—Transmission of position information to remote stations
    • G01S5/0018—Transmission from mobile station to base station
    • G01S5/0036—Transmission from mobile station to base station of measured values, i.e. measurement on mobile and position calculation on base station
    • 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
    • G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
    • G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
    • 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
    • G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
    • G01S5/30—Determining absolute distances from a plurality of spaced points of known location

Definitions

  • the invention relates to a method for locating a transmitter relative to at least one stationary receiver, wherein the transmitter emits sound wave packets, each transporting a uniform identifier, wherein the at least one stationary receiver receives acoustic signals caused by the sound wave packets, wherein the identifier is taken from the signals wherein the at least one receiver generates time stamps representing the respective time of receipt of an acoustic signal in the at least one receiver, wherein the at least one receiver transmits the time stamp and the associated identifier to a computing unit, and wherein the calculating unit derives from the time stamps the current position of the transmitter calculated.
  • Another class of indoor location systems uses sound waves to locate moving targets.
  • systems are known in which stationarily installed transmitters permanently emit inaudible human ultrasonic waves, which are detected by a mobile receiver.
  • the position of the receiver relative to the transmitters is determined by measuring the distances between the individual transmitters and the mobile receiver by means of TOF (time of flight) measurements.
  • TOF time of flight
  • the transmitters must be synchronized with the receiver, which typically requires the replacement of an additional electromagnetic RF signal between the receiver and at least one of the transmitters, thus significantly increasing the complexity of the system and the requirements for the mobile receiver.
  • a contrary approach is to equip the mobile target, such as a portable electronic device, with an ultrasound transmitter and use stationary installed receivers that detect acoustic signals caused by sound waves emitted by the transmitter.
  • a great advantage of this approach is that localization of the device can only be done on the basis of sound waves, so that the exchange of electromagnetic waves can be dispensed with.
  • a major disadvantage of the TDOA approach with stationary receivers and a mobile transmitter is the high number of receivers that have to be installed in a building: for example, with this technology, the 2D position of a mobile transmitter within a room of the building. At least three stationary receivers must be present, with a direct line of sight (LOS), so that sound signals from the transmitter can be routed directly to each of the three receivers. Since objects in the room can mask a LOS connection between the sender and one of the receivers, in practice the receivers often have to be designed redundantly, which further increases the necessary number of receivers for a robust system. Another challenge in these systems is to distinguish LOS signals usable for localization from unusable none-line-of-sight (NLOS) signals.
  • NLOS none-line-of-sight
  • a prior art localization method which forms the starting point of the present invention, provides that a plurality of receivers are stationarily installed to receive acoustic signals from a transmitter.
  • the transmitter emits sound wave packets, with each of these sound wave packets carrying a uniform identifier. Uniformly, it can be understood here that different sound wave packets of the transmitter always carry one and the same identifier.
  • the transport of the identifier can be technically achieved, for example, by the transmitter coding the identifier in each of the sound wave packets. This can be done, for example, with the aid of frequency modulation methods known from the prior art.
  • Using the identifier makes it possible, among other things, that several stations can be located with a set of stationary receivers, as acoustic signals of different countries Sen ⁇ aid of a respective identifier can be distinguished from each other.
  • each of the stationary receivers continuously detects audible signals coming from the transmitter Sender emitted sound wave packets are caused. Furthermore, the identifier is taken from each of the received signals.
  • each of the receivers may have a decoding device to extract the identifier from the signals. Subsequently, the individual receiver transmits the identifier to a calculation unit.
  • the identifier can be transmitted together with the received signal to a downstream unit, for example a calculation unit, wherein the downstream unit extracts the identifier from the signals.
  • This system is, for example, ideally suited for navigating in a building with the aid of a smart phone, because the loudspeakers of conventional smart phones are able to serve as transmitters according to the invention and to emit sound waves with frequencies in the range of 18-21 kHz.
  • receivers are stationarily installed on a ceiling of a room, typically at approximately the same height, often to prevent the detection of echoes.
  • receivers are stationarily installed on a ceiling of a room, typically at approximately the same height, often to prevent the detection of echoes.
  • such an application preferred arrangement of the receiver has the disadvantage that the accuracy and resolution in the determination of the z-coordinate of the transmitter compared to those of the x and y coordinates is reduced.
  • time stamps representing the reception times of NLOS signals be used to calculate the current position of the device.
  • the Emp ⁇ catch points in time of, in particular one or more times reflect reflected acoustic signals.
  • the "use of time stamps that reproduce reception times of NLOS signals” can be understood here in particular as meaning that the calculation unit not only processes such time stamps, but that such time stamps flow directly into the calculation of the current position of the transmitter and thus the calculated position directly influence.
  • each NLOS signal may be assigned a "virtual receiver" located on an axis corresponding to the original direction of propagation of the signal as it is transmitted from the transmitter, thus enhancing the utilization of an increased number of real and virtual receivers the accuracy in the location determination, since more data can be taken into account for the calculation of the position of the transmitter, in particular, unlike methods known in the prior art, a location determination becomes possible even in those situations in which there is no LOS connection to one of the receivers If only one 2D position of the transmitter is required, then the localization method according to the invention already provides reliable position data of the receiver with a single stationary receiver A significant advantage of the present invention in comparison with statization methods known from the prior art ionic receivers is thus that with the same number of receivers, the
  • the invention has recognized that in the prior art there are hardware which Provides sufficient computing power to perform the necessary arithmetic operations in real time and that the invention can be implemented in particular with embedded systems.
  • the calculation unit generates tuples by random selection of time stamps. In this case it is sufficient for a 2D determination if tuples are generated from at least three time stamps; For a 3D position determination, it is accordingly sufficient if tuples are generated from at least four time stamps.
  • a stored calculation rule to a respective one of these tuples, estimated values of a transmission time tO of a sound wave packet are calculated.
  • classes can be formed from the calculated estimated values on the basis of a statistical estimator t0 * for the emission time t0, the statistical estimator being calculated continuously from estimated values t0 of the most heavily populated class.
  • the current position of the transmitter can then be calculated, for example, from the current statistical estimator t0 *, a selection of n time stamps, which may correspond, for example, to the currently most populated class, and from local positions of the receivers.
  • the formation of tuples as well as the computational operations described in this section can advantageously be performed directly by the computation unit. For example, for the statistical estimator t0 *, a median value of a most populated class can be used.
  • the calculation rule is a quadratic equation.
  • the calculation rule can be based on the assumption for example, that all the receivers are arranged in a common plane, said common plane may be parallel to a floor below the receiver insbeson ⁇ particular.
  • receiver arrangements can also be used and / or taken into account, in which the receivers are arranged, for example, in a vertically extending common plane. Such arrangements have in common that they allow a particularly efficient use of NLOS signals for the calculation of the spatial position of the transmitter.
  • the computational effort can be further reduced if, for example, at most three timestamps or at most four timestamps are taken into account by the calculation rule. Because such an approach is already sufficient to allow using the method according to the invention, a 2D or 3D localization of the transmitter.
  • the method may be designed such that a single one of the tuples used to calculate the location of the transmitter has at most three, preferably at most four, time stamps.
  • the location determination can thus be carried out by the device itself.
  • the at least one receiver or the at least two stationary receivers can transmit the time stamp, the associated identifier and / or a respective unique receiver identifier wirelessly to the device.
  • a method of locating a transmitter relative to at least two stationary receivers in which transmitter transmits sound wave packets each carrying a unique identifier, the at least two stationary receivers receiving acoustic signals caused by the sonic wave packets, the identifier being the signals is removed, said at least two receiver time stamp generated ⁇ Center, representing the respective reception timing of a akusti ⁇ rule signal in the respective receiver, wherein the at least two receivers transmit the time stamp and the associated identifier to a calculation unit, and wherein the calculation unit from the timestamps calculates the current position of the transmitter, and wherein according to the invention timestamps are used to calculate the current position of the device, the reception times of NLOS signals play.
  • the at least one receiver or the at least two receivers transmit a respective unique receiver identifier to a computing unit, in particular together with each transmitted time stamp.
  • a computing unit in particular together with each transmitted time stamp.
  • the calculation unit can assign received time stamps to the individual receivers, as a result of which, in particular, the time stamps of several receivers can be utilized for calculating the spatial position of the transmitter.
  • the receiver identifier can also be estimated from measured data.
  • the calculation can also be based on the assumption that the transmitter and the receiver are / are located in a parallelepipedic space, in particular with rectangular walls.
  • the assumption may thus relate to the relative or absolute position of a reflection plane with respect to the transmitter and / or with respect to at least one of the receivers and / or with respect to a further reflection plane.
  • the relative position of at least one receiver to one or the reflection plane can be taken into account in the calculation. All of these assumptions can be based on known information or estimated information in accordance with the invention.
  • a further preferred embodiment according to the invention provides that at least one spatial position of a receiver is estimated by the calculation unit. According to the invention, this estimation can take place by means of an initial calibration method.
  • the advantage here is that the cost of installing the receiver can be kept low because the exact location positions of the receiver does not have to be determined consuming. Rather, each time the localization method is used again, the calculation unit may perform an initial calibration during which the location positions are obtained by estimation.
  • a TDOA algorithm is used to estimate the position of a receiver. Because this requires in particular no synchronization between the transmitter and the / the receiver (s). Furthermore, timestamps generated by NLOS signals may be used to estimate the position of the receiver during an initial calibration procedure.
  • equal height can be understood in particular as meaning that the receivers are arranged at heights above the ground, which can not be differentiated within the scope of the measuring accuracy of the method 2, since a simple quadratic equation can be used for the calculation of the spatial position, as already described above, so that the computational outlay for the localization of the transmitter can be kept low, which is particularly advantageous if the method according to the invention is based on a portable electronic device with limited computing capacity, such as a smart phone, to be executed.
  • the device comprises at least two stationary receivers and a calculation unit for calculating the position of the transmitter relative to the at least two stationary receivers, that each of the at least two receivers for receiving acoustic signals produced by the sound wave packets, for taking out an identifier is set up from a received acoustic signal and for generating time stamps, wherein the time stamps reproduce the respective time of reception of an acoustic signal in the respective receiver, that the at least two receivers are set up for data transmission to the calculation unit and that the calculation unit is set up such that it Uses NLOS signals to calculate the position of the transmitter.
  • the invention provides for the solution of the problem mentioned above, the use of software on a portable ⁇ ble electronic device.
  • This software is for the application of one of the methods of the invention discussed herein, and is characterized in that it is adapted to drive a transmitter of the apparatus to transmit sound wave packets and to provide them with an identifier, and that it is set to a Be ⁇ output the calculated unit of position of the device graphically or acoustically.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

L'invention concerne un procédé de localisation permettant de déterminer la position spatiale d'un émetteur mobile (1) par rapport à au moins un émetteur fixe (2), en particulier à l'intérieur d'un bâtiment. Selon l'invention, des signaux acoustiques (4) reçus par ledit au moins un récepteur, lesquels ont été générés par des ondes sonores (3) réfléchies sur des objets, sont utilisés dans le calcul la position spatiale de l'émetteur, le but étant d'augmenter la précision de la localisation. Cette approche permet en particulier d'augmenter la solidité de la localisation de l'émetteur dans des situations où des liaisons en visibilité directe (7) entre l'émetteur et des récepteurs fixes, utilisés pour la détermination de position, sont absentes ou présentes seulement en nombre insuffisant.
PCT/EP2017/001134 2016-10-04 2017-09-22 Procédé de localisation, dispositif associé et utilisation d'un logiciel WO2018065087A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016011772.9A DE102016011772A1 (de) 2016-10-04 2016-10-04 Lokalisierungsverfahren, zugehörige Vorrichtung und Verwendung einer Software
DE102016011772.9 2016-10-04

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Publication Number Publication Date
WO2018065087A1 true WO2018065087A1 (fr) 2018-04-12

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WO (1) WO2018065087A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202020002056U1 (de) 2020-05-11 2021-08-12 Sascha Blümle Elektronisches Kommunikationsgerät mit Anzeige zur Einhaltung von Sicherheitsabständen Smart Distance Tag

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109212534B (zh) * 2018-09-21 2023-06-30 北京小米移动软件有限公司 移动终端的握持姿态检测方法、装置、设备及存储介质

Citations (3)

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Publication number Priority date Publication date Assignee Title
WO2005088339A1 (fr) * 2004-03-09 2005-09-22 Koninklijke Philips Electronics N.V. Estimation de la position d'un objet
WO2010084308A2 (fr) * 2009-01-20 2010-07-29 Sonitor Technologies As Système acoustique de localisation
DE102015002962A1 (de) * 2015-03-07 2016-09-08 Hella Kgaa Hueck & Co. Verfahren zur Lokalisierung einer Signalquelle eines Körperschallsignals, insbesondere eines durch mindestens ein Schadensereignis erzeugtes Körperschallsignal an einem flächig ausgebildeten Bauteil

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005088339A1 (fr) * 2004-03-09 2005-09-22 Koninklijke Philips Electronics N.V. Estimation de la position d'un objet
WO2010084308A2 (fr) * 2009-01-20 2010-07-29 Sonitor Technologies As Système acoustique de localisation
DE102015002962A1 (de) * 2015-03-07 2016-09-08 Hella Kgaa Hueck & Co. Verfahren zur Lokalisierung einer Signalquelle eines Körperschallsignals, insbesondere eines durch mindestens ein Schadensereignis erzeugtes Körperschallsignal an einem flächig ausgebildeten Bauteil

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
DIJK E ET AL: "Estimation of 3D Device Position by Analyzing Ultrasonic Reflection Signals", PRORISC/IEEE ANNUAL WORKSHOP ON CIRCUITS AND SYSTEMS AND SIGNALPROCESSING, XX, XX, 26 November 2003 (2003-11-26), pages 88 - 94, XP002351808 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202020002056U1 (de) 2020-05-11 2021-08-12 Sascha Blümle Elektronisches Kommunikationsgerät mit Anzeige zur Einhaltung von Sicherheitsabständen Smart Distance Tag

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