WO2019059478A1 - 무선 송수신을 이용한 앵커와 태그의 좌표 동시 설정 방법 및 통신 시스템, 그리고 측위 시스템 내 시간 차이 보상 방법 및 그에 따른 측위 시스템 - Google Patents
무선 송수신을 이용한 앵커와 태그의 좌표 동시 설정 방법 및 통신 시스템, 그리고 측위 시스템 내 시간 차이 보상 방법 및 그에 따른 측위 시스템 Download PDFInfo
- Publication number
- WO2019059478A1 WO2019059478A1 PCT/KR2018/003230 KR2018003230W WO2019059478A1 WO 2019059478 A1 WO2019059478 A1 WO 2019059478A1 KR 2018003230 W KR2018003230 W KR 2018003230W WO 2019059478 A1 WO2019059478 A1 WO 2019059478A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- master
- anchor
- anchors
- signal
- message
- Prior art date
Links
Images
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
- G01S5/02—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
- G01S5/0295—Proximity-based methods, e.g. position inferred from reception of particular signals
-
- 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
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
- G01S1/68—Marker, boundary, call-sign, or like beacons transmitting signals not carrying directional information
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
Definitions
- the present invention relates to a method and apparatus for setting coordinates of an anchor and a tag, and more particularly, to a method and apparatus for setting coordinates of an anchor and a tag, in which the frequency of positioning update does not decrease even when the number of tags increases.
- the present invention also relates to a time difference compensation method in a positioning system, and more particularly, to a method for compensating time differences between an anchor, an anchor and an anchor.
- WiFi has advantages of high speed data transmission rate, but it has a problem of handover and is suitable for location tracking technology.
- location information In the case of providing location information using CDMA technology, it is impossible to provide accurate location information because the base station has a measurement range of 1 km in the center radius.
- RFI Receiveived Signal Strength Indicator
- RF Radio Frequency
- a time slot having a certain time is allocated for anchor and tag position measurement, and anchor and tag are controlled to transmit and receive radio waves in a specific time slot in order to perform positioning Respectively.
- anchor and tag are controlled to transmit and receive radio waves in a specific time slot in order to perform positioning Respectively.
- a time slot is allocated to each additional tag.
- decawave's TREK1000 uses two slots to measure the position of anchors, and a separate slot (slot) to measure the distance between tags and anchors. Therefore, if the number of tags increases and the number of corresponding slots increases to increase the number of tags, the time of the superframe including the total number of slots increases, thereby reducing the overall position update frequency. have.
- 1 is a time profile of a real time positioning system using a TWR scheme between a tag and an anchor.
- superframe processing time and system frequency can be calculated as follows.
- the time is as follows.
- the difference in the clock (skew) The error of the above time is , And the corresponding distance error is The distance error due to the clock error is not large.
- This delay time is considerable (about 450 microseconds) and the corresponding error is , And the distance the light travels during this time to be. That is, in order to prevent the preparation of the signal message and the transmission / reception error during the transmission and reception of the UWB signal, the error due to the clock skew due to the allocation of the delay time until reception after transmission is 2.7 m. Therefore, this problem must be resolved in order to accurately calculate the position of the device in the Real Time Location System (RTLS).
- RTLS Real Time Location System
- reference works (1) and (2) as conventional methods to solve this problem.
- Ref. (1) a digital tracking loop was used to eliminate the clock offset, but this method should know the distance between the slave beacon and the master beacon in advance.
- reference works (1) and (2) send the first signal and send the second signal after a certain delay to perform time synchronization, so that all the devices need to know this delay time to be able to synchronize There are disadvantages.
- the present specification intends to provide a coordinate setting method and communication system of an anchor and a tag that do not reduce the frequency of positioning update.
- the present invention intends to provide a time difference compensation method and a positioning system in a positioning system capable of time synchronization even if the receiving side does not know the delay time and the distance to the transmitting and receiving side.
- a method of setting coordinates of an anchor and a tag comprising the steps of: (a) determining three master anchors for providing reference coordinates in a communication system including an anchor and a tag Anchor); (b) measuring the distance between the slave anchors and the slave anchors in a TWR (Two Way Ranging) manner by sequentially transmitting the polling signal and the final signal from the three master anchors; And (c) an OWR (One Way Ranging) method using a Time Difference of Arrival (TDoA) of a polling signal transmitted from the three master anchors and a response signal transmitted to the polling signal transmitted from the slave anchor And calculating a position of the mobile terminal 100 with its own location.
- TWR Time Difference of Arrival
- the superframe for positioning in the communication system is composed of three slots, and in step (b), the three master anchors control each one of the three slots And sending a polling signal and a final signal.
- the first master anchor of the three master anchors transmits the polling signal of the first master anchor sent to the second and third master anchors and the slave anchors
- the slave anchors are configured to poll the response signals of the third master anchor with respect to the polling signal of the second master anchor
- the slot includes a time at which the second and third master anchors can transmit a final signal
- the step (c) includes the step of determining whether or not the tag transmits the polling signal transmitted by the three master anchors, It is possible to calculate its own position using the response signal to the polling signal transmitted by the slave anchors.
- the superframe for positioning comprises an initialization period composed of three slots and a tag positioning interval composed of one slot
- the step (b) The master anchor measures the distance to the slave anchors using the initialization interval
- the step (c) may be a step of calculating the position of the tag using the tag positioning interval.
- the tag uses only the polling signal transmitted by the first master anchor and the response signal to the polling signal of the first master anchor transmitted by the remaining anchors except for the first master anchor, And calculating the position.
- the three master anchors may transmit their own coordinate information to the final signal.
- the step (b) may further include a step in which the slave anchor transmits its own coordinate information to the response signal for the final signal transmitted by the three master anchors.
- a communication system for solving the above-mentioned problems is configured to provide reference coordinates and sequentially transmit a polling signal and a final signal to measure distance from the slave anchors in a TWR (Two Way Ranging) Master anchors;
- a slave anchor which transmits a polling signal transmitted by the three master anchors (hereinafter, referred to as first to third master anchors) and a response signal to the final signal, and calculates its own coordinates by a TWR (Two Way Ranging) method;
- TDoA Time Difference of Arrival
- a tag to be used for generating the tag.
- the superframe for positioning in the communication system is composed of three slots, and the three master anchors control each one of the three slots to transmit a polling signal and a final signal can send.
- the superframe for positioning in the communication system is composed of one slot, and a first master anchor among the three master anchors is connected to second and third master anchors and slave anchors
- the third master anchor and the slave anchors recognize the response signal of the second master anchor to the polling signal of the first master anchor that is sent from the third master anchor to the polling signal of the second master anchor
- the slave anchors may recognize the response signal of the master anchor as a polling signal
- the slot including a time at which the second and third master anchors can send the final signal
- the superframe for positioning comprises an initialization period composed of three slots and a tag positioning interval composed of one slot, To measure the distance from the slave anchors, and the tag can calculate its position using the tag positioning interval.
- the tag calculates its position using only the polling signal transmitted by the first master anchor and the response signal to the polling signal of the first master anchor transmitted by the remaining anchors except for the first master anchor .
- the three master anchors may transmit their own coordinate information to the final signal.
- the slave anchor may transmit its own coordinate information to the response signal for the final signal transmitted by the three master anchors.
- a time difference compensation method in a positioning system comprising: (a) transmitting a first message and a second message at a preset time interval ; (b) the tag sequentially receiving the first message and the second message and calculating a time interval (hereinafter referred to as 'signal reception interval') at which the two messages are received; And (c) the tag calculating the signal reception interval for the signal transmission interval.
- the signal transmission interval is set in advance
- the master anchor and the tag may store information on the signal transmission interval in advance.
- the master anchor in the step (a), may include information on the signal transmission interval in the first message or the second message.
- the master anchor in the step (a), includes the transmission time of the first message in the first message, the transmission time of the second message in the second message Lt; / RTI >
- the step (c) may further include calculating the signal transmission time using the transmission time information included in the first message and the transmission time information included in the second message.
- the step (a) includes: (a-1) receiving a reception response signal for the first message from at least one slave anchor after the master anchor transmits the first message step; (a-2) calculating a clock error value and an antenna delay value for at least one slave anchor using the reception time of the reception response signal by the master anchor; And (a-3) transmitting, by the master anchor, a clock error value and an antenna delay value for the at least one slave anchor in the second message.
- step (b) may further include receiving a reception response signal for the first message from the at least one slave anchor after the tag receives the first message.
- a positioning system comprising: a master anchor for transmitting a first message and a second message at predetermined time intervals (hereinafter, referred to as 'signal transmission intervals'); And a tag for sequentially receiving the first message and the second message, calculating a time interval (hereinafter referred to as 'signal reception interval') at which two messages are received, and calculating the signal reception interval for the signal transmission interval can do.
- the signal transmission interval is set in advance
- the master anchor and the tag may store information on the signal transmission interval in advance.
- the master anchor may include information on the signal transmission interval in the first message or the second message.
- the master anchor may include the transmission time of the first message in the first message and the transmission time of the second message in the second message.
- the tag may further calculate the signal transmission time using transmission time information included in the first message and transmission time information included in the second message.
- the master anchor receives a reception response signal for the first message from at least one slave anchor after transmitting the first message, and uses the reception time of the reception response signal A clock error value and an antenna delay value for at least one slave anchor and a clock error value and an antenna delay value for the at least one slave anchor in the second message.
- the tag may receive the first response message for the first message from the at least one slave anchor after receiving the first message.
- the coordinates of an anchor and a tag that do not reduce the positioning update frequency property can be set.
- time synchronization is possible even when the receiver does not know the delay time and the distance to the transmitter because the transmission time and reception time of the message are used.
- a signal transmitted from a master anchor can be used for time synchronization, thereby enabling time synchronization without decreasing a position update frequency.
- 1 is a time profile of a real time positioning system using a TWR scheme between a tag and an anchor.
- FIG. 2 is an exemplary view schematically showing a configuration of a communication system according to the present invention.
- FIG. 3 is a flowchart schematically showing a method of setting coordinates of an anchor and a tag according to the present invention.
- Figures 4-6 are time profiles in accordance with one embodiment of the present disclosure.
- FIG. 7 is a diagram illustrating an exemplary configuration of a slot according to an embodiment of the present invention.
- FIG. 8 is a message table of a slot according to an embodiment of the present invention.
- FIG. 9 is a diagram illustrating an exemplary configuration of a slot according to another embodiment of the present invention.
- FIG. 9 is a diagram illustrating an exemplary configuration of a slot according to another embodiment of the present invention.
- FIG. 10 is a diagram illustrating an example of the configuration of a slot according to another embodiment of the present invention.
- FIG. 11 is a conceptual diagram briefly showing a configuration of a positioning system.
- 12 is a time profile showing the operation between the master anchor and a plurality of tags.
- FIG. 13 is a flow chart schematically illustrating a time difference compensation method in a positioning system according to the present invention.
- 14 is a time profile showing the operation between a master anchor and a plurality of slave anchors.
- 15 is a time profile for positioning according to the TDoA scheme according to the tag according to the present invention.
- 16 is a flowchart schematically illustrating a time difference compensation method in a positioning system according to another embodiment of the present invention.
- 17 is a time profile of a master anchor, a slave anchor and a tag according to the present invention.
- FIG. 2 is an exemplary view schematically showing a configuration of a communication system according to the present invention.
- a plurality of anchors and tags can be identified.
- the plurality of anchors can be divided into three master anchors and the remaining slave anchors.
- the anchor and the tag can perform wireless communication with each other, and can carry out a communication protocol widely known to the ordinary artisan such as TWR (Two Way Ranging) and positioning technique through OWR (One Way Ranging).
- TWR Transmission Way Ranging
- OWR One Way Ranging
- the positioning technique and the communication protocol are widely known to those of ordinary skill in the art, and a detailed description thereof will be omitted.
- the communication system can calculate the three-dimensional coordinates of anchors and tags at the same time by measuring a line of sight distance between anchors, anchors, anchors and tags using positioning techniques. More specifically, first, the master anchors MA0, MA1, and MA2 are set as reference when the user calculates the positions of the anchors, and the coordinates of MA0 (Master Anchor 0) are arbitrarily set to (x1, y1, z1) The distance between the master anchors is measured by TWR (Two Way Ranging) method, and the distance between the master anchor and the other anchors is measured by TWR (Two Way Ranging) method Calculate the relative coordinates of the slave anchors.
- the tags receive the signals transmitted by the anchors in the One Way Ranging (OWR) manner during the execution of the TWR between the anchors, calculate the Time Difference of Arrival (TDoA) of the received signals, Calculate relative coordinates.
- OWR One Way Ranging
- FIG. 3 is a flowchart schematically showing a method of setting coordinates of an anchor and a tag according to the present invention.
- Figures 4-6 are time profiles in accordance with one embodiment of the present disclosure.
- FIG. 5 shows the profile of the polling signal and the final signal of the second master anchor MA1.
- FIG. 6 shows a profile of the polling signal and the final signal of the third master anchor MA2, Signal and the final signal profile.
- the signals between the tags are not shown for the sake of simplification of the figure, but have the same relationship as shown in Fig.
- three master anchors may be set to provide reference coordinates in a communication system including an anchor and a tag.
- three master anchors are named as a first master anchor MA0, a second master anchor MA1, and a third master anchor MA2.
- the criterion for setting the master anchor may be arbitrarily set by a user or an administrator of the communication system.
- the three master anchors may each store coordinate values in advance to provide reference coordinates.
- the coordinate values may be coordinate values such as latitude and longitude and may be set to arbitrary coordinates (x1, y1, z1) based on the first master anchor MA0.
- the second master anchor MA1 and the third master anchor MA2 are set to the coordinates of the first master anchor MA0 and the second master anchor MA2 in accordance with the TWR method, It is possible.
- the three master anchors sequentially transmit a polling signal and a final signal Final.
- the three master anchors transmit the polling and final signals in order from the first master anchor MA0 to the second master anchor MA1 and then to the third master anchor MA2.
- the remaining anchors and tags within the communication radius can receive the polling signal.
- the second master anchor MA1, the third master anchor MA2 and the slave anchors A1, A2, and A3-Ax except for the tag are connected to the first master anchor MA0, And transmits a response signal to the signal.
- the first master anchor MA0 receives the response signals and transmits the final signals.
- the second master anchor MA1 transmits a polling signal.
- the remaining anchors and tags within the communication radius of the second master anchor MA1 may receive the polling signal.
- the third master anchor MA2 and the slave anchors A1, A2 and A3 through Ax except for the tag and the first master anchor MA0 are connected to the first master anchor MA1, And transmits a response signal to the signal.
- the second master anchor MA1 transmits the final signal after receiving all of the response signals.
- the third master anchor MA2 transmits a polling signal.
- the remaining anchors and tags within the communication radius of the third master anchor MA2 can receive the polling signal.
- the remaining anchors except for the tag, the first master anchor MA0 and the second master anchor MA1, that is, the slave anchors A1, A2, A3 to Ax And transmits a response signal to the signal.
- the third master anchor MA2 receives the response signals and transmits the final signals.
- the three master anchors can measure the distance with the slave anchors in a TWR (Two Way Ranging) manner in the course of sequentially transmitting the polling signal and the final signal.
- TWR Transmission Way Ranging
- the slave anchor recognizes the polling signal, sends a response signal, and finally receives the final signal after the master anchor receives the response signal of the slave anchor, in the TWR (Two Way Ranging) distance measurement.
- the master anchor sends information including the polling signal, the time of sending the final signal, and the time of receiving the response signal of the slave anchor in the form of a message in the final signal.
- the distance between the master anchor and the slave anchor is calculated using the time information sent from the master anchor, the polling signal sent from the master anchor, the time of sending the final signal, and the time of receiving the response signal of the slave anchor.
- step S30 the tag transmits a One Way Ranging (OWR) message using the Time Difference of Arrival (TDoA) of the polling signal transmitted by the three master anchors and the response signal to the polling signal transmitted by the slave anchor ) Method. ≪ / RTI > Since the slave anchors transmit a response signal to the polling signal transmitted by the master anchor, the distance can be measured by the TWR (Two Way Ranging) method. On the other hand, since the tags according to the present invention do not transmit a response signal to the polling signal transmitted by the master anchor, their positions can be calculated by the One Way Ranging (OWR) method.
- the One Way Ranging (OWR) method calculates the Time Difference of Arrival (TDoA) using the times the tag received the rolling signals and response signals sent by the anchors, and calculates the coordinates of the tags along with the coordinates of the anchors do.
- the three master anchors may transmit their own coordinate information to the final signal.
- the slave anchor may transmit its own coordinate information to the response signal for the final signal transmitted by the three master anchors.
- the tag receives the response signals of the respective anchors and the coordinate information of the anchors in the final signal, and can calculate its position using the One Way Ranging (OWR) method using TDoA (Time Difference Of Arrival) between the received anchors.
- ORR One Way Ranging
- the time of the positioning update does not increase because the tag does not occupy a time slot to transmit the response signal as in the prior art. Since the positioning update time does not increase regardless of the number of the tags, there is an advantage that the position update frequency is not reduced as compared with the prior art.
- slots in a superframe for positioning can be variously set.
- the superframe for positioning may be composed of three slots.
- the three slots may control one slot for each of the three master anchors. For example, when three slots are divided into Slot 0, Slot 1 and Slot 2, the first master anchor MA 0 controls Slot 0, the second master anchor MA 1 controls Slot 1, and the third master anchor MA 1 MA2) can control Slot2.
- FIG. 7 is a diagram illustrating an exemplary configuration of a slot according to an embodiment of the present invention.
- a signal is transmitted / received with remaining anchors under the control of the first master anchor MA0.
- signals are transmitted and received to and from the remaining anchors except for the first master anchor.
- the message of Slot 2 is not shown for simplification of the drawing.
- FIG. 8 is a message table of a slot according to an embodiment of the present invention.
- a superframe for positioning may be composed of one slot.
- the system is optimized by integrating the operations of Slot 0, Slot 1, and Slot 2 into one slot Slot 0 in comparison with the embodiment of the present specification (the embodiment shown in FIGS. 7 and 8).
- FIG. 9 is a diagram illustrating an exemplary configuration of a slot according to another embodiment of the present invention.
- FIG. 9 is a diagram illustrating an exemplary configuration of a slot according to another embodiment of the present invention.
- a first master anchor MA0 among the three master anchors transmits a second master anchor MA1 and a second master anchor MA2
- the third master anchor MA2 and the slave anchors are allowed to recognize the response signal of the master anchor MA1 as a polling signal and the response signal of the third master anchor MA2 to the polling signal of the second master anchor MA1, To the slave anchors as a polling signal.
- Each slot Slot0 further includes a time at which the second and third master anchors MA1 and MA2 can send the final signal.
- Tag performs OWR by collecting the polling signals of the first to third master anchors and the response signals of the slave anchors. If you use this method, you can get the effect of performing TWR and OWR on Slot0, Slot1, and Slot2 simultaneously as shown below with only Slot0.
- the superframe for positioning may be composed of an initialization period composed of three slots and a tag positioning interval composed of one slot.
- FIG. 10 is a diagram illustrating an example of the configuration of a slot according to another embodiment of the present invention.
- the initialization interval is a period in which the distance between the slave anchors is measured using a polling signal, a response signal, and a final signal to which three master anchors are exchanged between anchors, And may be a section for calculating its own position using the polling signal and the response signal transmitted by the anchor. More specifically, a task composed of Slot 0, Slot 1, and Slot 2 is set as initialization, and the distance between all anchors including the master anchor is measured during this interval. Based on this, the three-dimensional coordinates (x, y, z ). After the initialization is completed, the operation of Slot0 is repeated and the positions of the tags are calculated.
- the coordinates of the calculated tag can be transmitted to the server or the main computer in each tag, and the position of the tag alone is calculated without measuring the distance between the anchors and calculating the position during the Slot 0 period. If the position of the anchors is changed or a reset is required, the initialization is performed again through the external input, thereby maximizing the efficiency of the system.
- FIG. 11 is a conceptual diagram briefly showing a configuration of a positioning system.
- FIG. 11 it can be seen that three anchors and one tag are shown.
- the tag receives the signal transmitted by three anchors and can calculate the distance between itself and each anchor. And the tag can calculate its position through triangulation by using distances from each measured anchor. At this time, since the tag knows the position (coordinate) of each anchor in advance, the accurate position can be measured through triangulation.
- an anchor and a tag are shown, and the target of the positioning is shown as a tag.
- the positioning system disclosed in this specification is not necessarily applied between the anchor and the tag.
- the anchor that is the center of positioning in the anchor is referred to as a 'master anchor'
- the remaining anchor is referred to as a 'slave anchor'
- a communication node performing positioning is referred to as a 'tag'.
- 12 is a time profile showing the operation between the master anchor and a plurality of tags.
- a time interval during which the plurality of tags T 0 to T n receive the two signals is constant.
- the signal transmission interval of the master anchor is shown in Equation 1-1 below.
- the signal reception interval of the tag is expressed by the following Equation 1-2.
- the receiver calculates the exact position by correcting the time received at the time of the transmitter, which is a reference in positioning by Time of Arrival (TOA) or Time Difference of Arrival (TDoA) can do.
- TOA Time of Arrival
- TDoA Time Difference of Arrival
- FIG. 13 is a flow chart schematically illustrating a time difference compensation method in a positioning system according to the present invention.
- the master anchor can transmit the first message and the second message at a preset time interval (hereinafter referred to as 'signal transmission interval').
- the tag may sequentially receive the first message and the second message, and calculate a time interval (hereinafter referred to as 'signal reception interval') at which the two messages are received.
- the tag can calculate the signal reception interval for the signal transmission interval.
- Information on the signal transmission interval in the receiving tag can be acquired by various methods.
- the signal transmission interval is set in advance, and the master anchor and the tag may store information on the signal transmission interval in advance. That is, the transmitting side and the receiving side operate by a predetermined signal transmission interval.
- the master anchor may include information on the signal transmission interval in the first message or the second message. That is, the transmitting side directly transmits the information on the signal transmission interval to the receiving side when transmitting the first message or the second message.
- the master anchor may include the transmission time of the first message in the first message and the transmission time of the second message in the second message and transmit .
- the tag may further calculate the signal transmission time using the transmission time information included in the first message and the transmission time information included in the second message. That is, the transmitting side provides information on the transmission time of each message and calculates the signal transmission time on the receiving side.
- the reception time of the response signal to the polling signal is compared with the actual value and the predicted value, and the error due to the clock skew at each slave anchor And an antenna are provided in the form of a message upon transmission of a second message signal, a distance measurement error due to a minute error including a clock skew and an antenna delay .
- 14 is a time profile showing the operation between a master anchor and a plurality of slave anchors.
- the master anchor MA first transmits a first message Tx1, and each of the slave anchors A0 through An receives the first message A0Rx1 through AnRx1. Then, each slave anchor transmits response signals (A0Tx to AnTx) for the first message, and the master anchor can confirm that it receives the response signals (MARx0 to MARxn) transmitted by the respective slave anchors.
- the predicted time and the actual measurement time from when the first message Tx1 is transmitted by the master anchor to when the response signal MARx0 is received from the A0 slave anchor are expressed as follows.
- the master anchor may combine the values of Equation 2-3 for each slave anchor into the second message and send it to the tag.
- the tag can then use this value to compute ToA or TDoA.
- 15 is a time profile for positioning according to the TDoA scheme according to the tag according to the present invention.
- a tag T0 receives the first message (T0Rx1), receives a reception response signal for the first message from a plurality of slave anchors (A0-An) T0Rx2 to T0Rxn).
- Equation 3-2 ⁇ is the constant value of the distance between MA and A0 divided by the speed of light, and delay is a known value set by the program.
- delay * skew + antenna_delay is a value obtained through the difference between the predicted values of r s and measured values in MA and A0, and is included in the second message and transmitted to the tag, the tag transmits the signal sent from the master anchor and the A0 slave The time difference of the signal sent from the anchor can be accurately known.
- the tag will correct the error caused by the skew error, so that the master anchor and the A0 slave It is possible to know the reception time difference of the signal transmitted from the anchor and calculate the position of the tag by the TDoA method based on this value.
- the antenna_delay is an anchor rx delay time required to reach the processor after receiving the response signal of the A0 slave anchor from the master anchor to the processor, delay error correction on the positioning system is also possible if the tag rx delay time to reach the processor is the same. That is, when designing the master anchor and the tag, the electrode distance from the same antenna and the antenna to the MMIC chip is used, and when the same processor and signal processing program are used, the reception delay is basically the same. have.
- 16 is a flowchart schematically illustrating a time difference compensation method in a positioning system according to another embodiment of the present invention.
- step S10 is embodied in the embodiment shown in FIG.
- a master anchor may receive a reception response signal for the first message from at least one slave anchor after transmitting the first message.
- the master anchor can calculate the clock error value and the antenna delay value for at least one slave anchor using the reception time of the reception response signal.
- the master anchor may include the clock error value and the antenna delay value for the at least one slave anchor in the second message. Then, the process may proceed from step S10 to step S20.
- the tag may further receive a reception response signal for the first message from the at least one slave anchor.
- 17 is a time profile of a master anchor, a slave anchor and a tag according to the present invention.
- FIG. 17 it can be confirmed that the timing profiles shown in FIGS. 12 and 14 are integrated into one timing profile.
- the method shown in Fig. 12 can be used between a master anchor and a tag, and the method shown in Fig. 14 can be used between a master anchor and a slave anchor to construct one positioning system time-synchronized with respect to the master anchor.
- the steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in software modules executed in hardware, or in a combination of the two.
- the software module may be a random access memory (RAM), a read only memory (ROM), an erasable programmable ROM (EPROM), an electrically erasable programmable ROM (EEPROM), a flash memory, a hard disk, a removable disk, a CD- May reside in any form of computer readable recording medium known in the art to which this disclosure belongs.
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Radar Systems Or Details Thereof (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
Description
Claims (26)
- (a) 앵커와 태그를 포함하는 통신 시스템에서 기준 좌표를 제공하는 3개의 마스터 앵커(이하 '제1 내지 제3 마스터 앵커)를 설정하는 단계;(b) 상기 3개의 마스터 앵커가 순차적으로 폴링 신호와 최종 신호를 전송하여 TWR(Two Way Ranging) 방식으로 슬레이브 앵커들과 거리를 측정하는 단계; 및(c) 태그가 상기 3개의 마스터 앵커가 전송한 폴링 신호 및 슬레이브 앵커가 전송한 상기 폴링 신호에 대한 응답 신호의 도착 시간차(Time Difference of Arrival, TDoA)를 이용하여 OWR(One Way Ranging) 방식으로 자신의 위치를 산출하는 단계;를 포함하는 것을 특징으로 하는 앵커와 태그의 좌표 설정 방법.
- 청구항 1에 있어서,상기 통신 시스템에서 측위를 위한 슈퍼프레임은 3개의 슬롯으로 구성되어 있으며,상기 (b) 단계는, 상기 3개의 마스터 앵커가 3개의 슬롯 중 각 하나의 슬롯을 통제하여 폴링 신호와 최종 신호를 보내는 단계인 것을 특징으로 하는 앵커와 태그의 좌표 설정 방법.
- 청구항 1에 있어서,상기 통신 시스템에서 측위를 위한 슈퍼프레임은 1개의 슬롯으로 구성되어 있으며,상기 (b) 단계는,상기 3개의 마스터 앵커 중 제1 마스터 앵커가 제2, 제3 마스터 앵커와 슬레이브 앵커들에게 보낸 상기 제1 마스터 앵커의 폴링 신호에 대한 상기 제2 마스터 앵커의 응답 신호를 상기 제3 마스터 앵커와 상기 슬레이브 앵커들은 폴링 신호로 인식하도록 하며, 상기 제2 마스터 앵커의 폴링 신호에 대한 상기 제3 마스터 앵커의 응답 신호를 상기 슬레이브 앵커들은 폴링 신호로 인식하도록 하며,상기 슬롯은 상기 제2, 제3 마스터 앵커가 최종 신호를 보낼 수 있는 시간을 포함하고,상기 (c) 단계는,태그가 상기 3개의 마스터 앵커가 전송한 폴링 신호와 상기 슬레이브 앵커들이 전송한 상기 폴링 신호에 대한 응답 신호를 이용하여 자신의 위치를 산출하도록 하는 것을 특징으로 하는 앵커와 태그의 좌표 설정 방법.
- 청구항 1에 있어서,상기 통신 시스템에서 측위를 위한 슈퍼프레임은 3개의 슬롯으로 구성된 초기화 구간과, 1개의 슬롯으로 구성된 태그 측위 구간으로 되어 있으며,상기 (b) 단계는, 상기 3개의 마스터 앵커가 상기 초기화 구간을 이용하여 슬레이브 앵커들과 거리를 측정하는 단계이고,상기 (c) 단계는, 태그가 상기 태그 측위 구간을 이용하여 자신의 위치를 산출하는 단계인 것을 특징으로 하는 앵커와 태그의 좌표 설정 방법.
- 청구항 4에 있어서,상기 (c) 단계는, 태그가 제1 마스터 앵커가 전송한 폴링 신호 및 상기 제1 마스터 앵커를 제외한 나머지 앵커들이 전송하는 상기 제1 마스터 앵커의 폴링 신호에 대한 응답 신호만을 이용하여 자신의 위치를 산출하는 단계인 것을 특징으로 하는 앵커와 태그의 좌표 설정 방법.
- 청구항 1에 있어서,상기 (b) 단계는, 상기 3개의 마스터 앵커가 최종 신호에 자신의 좌표 정보를 포함시켜 전송하는 단계인 것을 특징으로 하는 앵커와 태그의 좌표 설정 방법.
- 청구항 6에 있어서,상기 (b) 단계는, 슬레이브 앵커가 상기 3개의 마스터 앵커가 전송한 최종 신호에 대한 응답 신호에 자신의 좌표 정보를 포함시켜 전송하는 단계를 더 포함하는 것을 특징으로 하는 앵커와 태그의 좌표 설정 방법.
- 기준 좌표를 제공하도록 설정되며, 순차적으로 폴링 신호와 최종 신호를 전송하여 TWR(Two Way Ranging) 방식으로 슬레이브 앵커들과 거리를 측정하는 3개의 마스터 앵커;상기 3개의 마스터 앵커(이하 '제1 내지 제3 마스터 앵커)가 전송하는 폴링 신호 및 최종 신호에 대한 응답 신호를 전송하며, TWR(Two Way Ranging) 방식으로 자신의 좌표를 산출하는 슬레이브 앵커; 및상기 3개의 마스터 앵커가 전송한 폴링 신호 및 슬레이브 앵커가 전송한 상기 폴링 신호에 대한 응답 신호의 도착 시간차(Time Difference of Arrival, TDoA)를 이용하여 OWR(One Way Ranging) 방식으로 자신의 위치를 산출하는 태그;를 포함하는 것을 특징으로 하는 통신 시스템.
- 청구항 8에 있어서,상기 통신 시스템에서 측위를 위한 슈퍼프레임은 3개의 슬롯으로 구성되어 있으며,상기 3개의 마스터 앵커는, 3개의 슬롯 중 각 하나의 슬롯을 통제하여 폴링 신호와 최종 신호를 보내는 것을 특징으로 하는 통신 시스템.
- 청구항 8에 있어서,상기 통신 시스템에서 측위를 위한 슈퍼프레임은 1개의 슬롯으로 구성되어 있으며,상기 3개의 마스터 앵커 중 제1 마스터 앵커가 제2, 제3 마스터 앵커와 슬레이브 앵커들에게 보낸 상기 제1 마스터 앵커의 폴링 신호에 대한 상기 제2 마스터 앵커의 응답 신호를 상기 제3 마스터 앵커와 상기 슬레이브 앵커들은 폴링 신호로 인식하도록 하며, 상기 제2 마스터 앵커의 폴링 신호에 대한 상기 제3 마스터 앵커의 응답 신호를 상기 슬레이브 앵커들은 폴링 신호로 인식하도록 하며,상기 슬롯은 상기 제2, 제3 마스터 앵커가 최종 신호를 보낼 수 있는 시간을 포함하고,상기 태그가 상기 3개의 마스터 앵커가 전송한 폴링 신호와 상기 슬레이브 앵커들이 전송한 상기 폴링 신호에 대한 응답 신호를 이용하여 자신의 위치를 산출하도록 하는 것을 특징으로 하는 통신 시스템.
- 청구항 8에 있어서,상기 통신 시스템에서 측위를 위한 슈퍼프레임은 3개의 슬롯으로 구성된 초기화 구간과, 1개의 슬롯으로 구성된 태그 측위 구간으로 되어 있으며,상기 3개의 마스터 앵커는, 상기 초기화 구간을 이용하여 슬레이브 앵커들과 거리를 측정하고,상기 태그는, 상기 태그 측위 구간을 이용하여 자신의 위치를 산출하는 것을 특징으로 하는 통신 시스템.
- 청구항 11에 있어서,상기 태그는, 상기 제1 마스터 앵커가 전송한 폴링 신호 및 상기 제1 마스터 앵커를 제외한 나머지 앵커들이 전송하는 상기 제1 마스터 앵커의 폴링 신호에 대한 응답 신호만을 이용하여 자신의 위치를 산출하는 것을 특징으로 하는 통신 시스템.
- 청구항 8에 있어서,상기 3개의 마스터 앵커는, 최종 신호에 자신의 좌표 정보를 포함시켜 전송하는 것을 특징으로 하는 통신 시스템.
- 청구항 13에 있어서,상기 슬레이브 앵커는, 상기 3개의 마스터 앵커가 전송한 최종 신호에 대한 응답 신호에 자신의 좌표 정보를 포함시켜 전송하는 것을 특징으로 하는 통신 시스템.
- (a) 마스터 앵커가 미리 설정된 시간 간격(이하 '신호 송신 간격')으로 제1 메시지와 제2 메시지를 전송하는 단계;(b) 태그가 상기 제1 메시지와 제2 메시지를 순차적으로 수신하고 두 메시지가 수신된 시간 간격(이하 '신호 수신 간격')을 산출하는 단계; 및(c) 태그가 상기 신호 송신 간격에 대한 상기 신호 수신 간격을 산출하는 단계;를 포함하고,상기 (a) 단계는,(a-1) 마스터 앵커가 제1 메시지를 송신한 후 적어도 하나 이상의 슬레이브 앵커로부터 상기 제1 메시지에 대한 수신 응답 신호를 수신하는 단계;(a-2) 마스터 앵커가 상기 수신 응답 신호의 수신 시간을 이용하여 적어도 하나 이상의 슬레이브 앵커에 대한 클럭 오차값 및 안테나 지연값을 산출하는 단계; 및(a-3) 마스터 앵커가 상기 적어도 하나 이상의 슬레이브 앵커에 대한 클럭 오차값 및 안테나 지연값을 상기 제2 메시지에 포함시켜 전송하는 단계;를 포함하는 것을 특징으로 하는 측위 시스템 내 시간 차이 보상 방법.
- 청구항 15에 있어서,상기 신호 송신 간격은 미리 설정되어 있으며,상기 마스터 앵커 및 태그는 상기 신호 송신 간격에 대한 정보를 미리 저장한 것을 특징으로 하는 측위 시스템 내 시간 차이 보상 방법.
- 청구항 15에 있어서,상기 (a) 단계는, 상기 마스터 앵커가 상기 신호 송신 간격에 대한 정보를 상기 제1 메시지 또는 제2 메시지에 포함시켜 전송하는 단계인 것을 특징으로 하는 측위 시스템 내 시간 차이 보상 방법.
- 청구항 15에 있어서,상기 (a) 단계는, 상기 마스터 앵커가 상기 제1 메시지의 송신 시간을 제1 메시지에 포함시키고, 상기 제2 메시지의 송신 시간을 제2 메시지에 포함시켜 전송하는 단계인 것을 특징으로 하는 측위 시스템 내 시간 차이 보상 방법.
- 청구항 18에 있어서,상기 (c) 단계는, 상기 태그가 상기 제1 메시지에 포함된 송신 시간 정보 및 상기 제2 메시지에 포함된 송신 시간 정보를 이용하여 상기 신호 송신 시간을 더 산출하는 단계인 것을 특징으로 하는 측위 시스템 내 시간 차이 보상 방법.
- 청구항 15에 있어서,상기 (b) 단계는, 태그가 상기 제1 메시지를 수신한 후 상기 적어도 하나 이상의 슬레이브 앵커로부터 상기 제1 메시지에 대한 수신 응답 신호를 더 수신하는 단계인 것을 특징으로 하는 측위 시스템 내 시간 차이 보상 방법.
- 미리 설정된 시간 간격(이하 '신호 송신 간격')으로 제1 메시지와 제2 메시지를 전송하는 마스터 앵커; 및상기 제1 메시지와 제2 메시지를 순차적으로 수신하고 두 메시지가 수신된 시간 간격(이하 '신호 수신 간격')을 산출하며, 상기 신호 송신 간격에 대한 상기 신호 수신 간격을 산출하는 태그;를 포함하고,상기 마스터 앵커는,제1 메시지를 송신한 후 적어도 하나 이상의 슬레이브 앵커로부터 상기 제1 메시지에 대한 수신 응답 신호를 수신하고,상기 수신 응답 신호의 수신 시간을 이용하여 적어도 하나 이상의 슬레이브 앵커에 대한 클럭 오차값 및 안테나 지연값을 산출하며,상기 적어도 하나 이상의 슬레이브 앵커에 대한 클럭 오차값 및 안테나 지연값을 상기 제2 메시지에 포함시켜 전송하는 것을 특징으로 하는 측위 시스템.
- 청구항 21에 있어서,상기 신호 송신 간격은 미리 설정되어 있으며,상기 마스터 앵커 및 태그는 상기 신호 송신 간격에 대한 정보를 미리 저장한 것을 특징으로 하는 측위 시스템.
- 청구항 21에 있어서,상기 마스터 앵커는, 상기 신호 송신 간격에 대한 정보를 상기 제1 메시지 또는 제2 메시지에 포함시켜 전송하는 것을 특징으로 하는 측위 시스템.
- 청구항 21에 있어서,상기 마스터 앵커는, 상기 제1 메시지의 송신 시간을 제1 메시지에 포함시키고, 상기 제2 메시지의 송신 시간을 제2 메시지에 포함시켜 전송하는 것을 특징으로 하는 측위 시스템.
- 청구항 24에 있어서,상기 태그는, 상기 제1 메시지에 포함된 송신 시간 정보 및 상기 제2 메시지에 포함된 송신 시간 정보를 이용하여 상기 신호 송신 시간을 더 산출하는 것을 특징으로 하는 측위 시스템.
- 청구항 21에 있어서,상기 태그는, 상기 제1 메시지를 수신한 후 상기 적어도 하나 이상의 슬레이브 앵커로부터 상기 제1 메시지에 대한 수신 응답 신호를 수신하는 것을 특징으로 하는 측위 시스템.
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR10-2017-0123759 | 2017-09-25 | ||
KR10-2017-0123760 | 2017-09-25 | ||
KR1020170123759A KR101814698B1 (ko) | 2017-09-25 | 2017-09-25 | 무선 송수신을 이용한 앵커와 태그의 좌표 동시 설정 방법 및 통신 시스템 |
KR1020170123760A KR101836837B1 (ko) | 2017-09-25 | 2017-09-25 | 측위 시스템 내 시간 차이 보상 방법 및 그에 따른 측위 시스템 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2019059478A1 true WO2019059478A1 (ko) | 2019-03-28 |
Family
ID=65811480
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/KR2018/003230 WO2019059478A1 (ko) | 2017-09-25 | 2018-03-20 | 무선 송수신을 이용한 앵커와 태그의 좌표 동시 설정 방법 및 통신 시스템, 그리고 측위 시스템 내 시간 차이 보상 방법 및 그에 따른 측위 시스템 |
Country Status (1)
Country | Link |
---|---|
WO (1) | WO2019059478A1 (ko) |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113038359A (zh) * | 2019-12-09 | 2021-06-25 | 广东博智林机器人有限公司 | 定位方法、装置、电子设备以及存储介质 |
WO2021211228A1 (en) * | 2020-04-17 | 2021-10-21 | Enlighted, Inc. | Clock domain translation for non-synchronized sensors |
CN113630865A (zh) * | 2020-05-09 | 2021-11-09 | 北京金坤科创技术有限公司 | 一种多基站多终端定位方法 |
CN113671441A (zh) * | 2021-09-10 | 2021-11-19 | 哈尔滨工程大学 | 一种基于超宽带技术的室内无源实时定位方法 |
IT202000014089A1 (it) | 2020-06-12 | 2021-12-12 | Esteco S P A | Metodo e sistema computerizzato per la localizzazione di bersagli in uno spazio |
EP4286881A1 (en) * | 2022-06-02 | 2023-12-06 | Ecole Royale Militaire - Koninklijke Militaire School | Positioning method and system for compensation of internal propagation delays |
WO2024051625A1 (zh) * | 2022-09-09 | 2024-03-14 | 上海朗帛通信技术有限公司 | 一种被用于定位的方法和装置 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR100769673B1 (ko) * | 2006-06-14 | 2007-10-24 | 삼성전자주식회사 | 위치인식방법 및 위치인식시스템 |
KR20090096141A (ko) * | 2008-03-07 | 2009-09-10 | 한국전자통신연구원 | 무선 센서망에서 이동 노드의 위치 추정 방법 |
KR101219913B1 (ko) * | 2012-04-09 | 2013-01-09 | 동국대학교 경주캠퍼스 산학협력단 | 이동 노드 위치 추정 방법 |
JP2013074338A (ja) * | 2011-09-26 | 2013-04-22 | Nec Saitama Ltd | タイムサーバ、端末、時刻同期システム、時刻同期方法、及びプログラム |
KR101627419B1 (ko) * | 2014-08-22 | 2016-06-07 | 동국대학교 경주캠퍼스 산학협력단 | 이동 노드의 위치 추정 방법 및 그 장치 |
-
2018
- 2018-03-20 WO PCT/KR2018/003230 patent/WO2019059478A1/ko active Application Filing
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR100769673B1 (ko) * | 2006-06-14 | 2007-10-24 | 삼성전자주식회사 | 위치인식방법 및 위치인식시스템 |
KR20090096141A (ko) * | 2008-03-07 | 2009-09-10 | 한국전자통신연구원 | 무선 센서망에서 이동 노드의 위치 추정 방법 |
JP2013074338A (ja) * | 2011-09-26 | 2013-04-22 | Nec Saitama Ltd | タイムサーバ、端末、時刻同期システム、時刻同期方法、及びプログラム |
KR101219913B1 (ko) * | 2012-04-09 | 2013-01-09 | 동국대학교 경주캠퍼스 산학협력단 | 이동 노드 위치 추정 방법 |
KR101627419B1 (ko) * | 2014-08-22 | 2016-06-07 | 동국대학교 경주캠퍼스 산학협력단 | 이동 노드의 위치 추정 방법 및 그 장치 |
Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113038359A (zh) * | 2019-12-09 | 2021-06-25 | 广东博智林机器人有限公司 | 定位方法、装置、电子设备以及存储介质 |
CN113038359B (zh) * | 2019-12-09 | 2022-11-29 | 广东博智林机器人有限公司 | 定位方法、装置、电子设备以及存储介质 |
WO2021211228A1 (en) * | 2020-04-17 | 2021-10-21 | Enlighted, Inc. | Clock domain translation for non-synchronized sensors |
US11467624B2 (en) | 2020-04-17 | 2022-10-11 | Building Robotics, Inc. | Clock domain translation for non-synchronized sensors |
CN113630865A (zh) * | 2020-05-09 | 2021-11-09 | 北京金坤科创技术有限公司 | 一种多基站多终端定位方法 |
IT202000014089A1 (it) | 2020-06-12 | 2021-12-12 | Esteco S P A | Metodo e sistema computerizzato per la localizzazione di bersagli in uno spazio |
CN113671441A (zh) * | 2021-09-10 | 2021-11-19 | 哈尔滨工程大学 | 一种基于超宽带技术的室内无源实时定位方法 |
CN113671441B (zh) * | 2021-09-10 | 2023-10-03 | 哈尔滨工程大学 | 一种基于超宽带技术的室内无源实时定位方法 |
EP4286881A1 (en) * | 2022-06-02 | 2023-12-06 | Ecole Royale Militaire - Koninklijke Militaire School | Positioning method and system for compensation of internal propagation delays |
WO2023232981A1 (en) * | 2022-06-02 | 2023-12-07 | Ecole Royale Militaire - Koninklijke Militaire School | Positioning method and system for compensation of internal propagation delays |
WO2024051625A1 (zh) * | 2022-09-09 | 2024-03-14 | 上海朗帛通信技术有限公司 | 一种被用于定位的方法和装置 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2019059478A1 (ko) | 무선 송수신을 이용한 앵커와 태그의 좌표 동시 설정 방법 및 통신 시스템, 그리고 측위 시스템 내 시간 차이 보상 방법 및 그에 따른 측위 시스템 | |
US10142778B2 (en) | Direction finding for legacy bluetooth devices | |
KR101836837B1 (ko) | 측위 시스템 내 시간 차이 보상 방법 및 그에 따른 측위 시스템 | |
JP6749419B2 (ja) | ポジショニングシステム | |
WO2012081740A1 (ko) | 위치 측정을 위한 기준신호 송출 방법 및 시스템, 이를 이용한 위치 측정 방법, 장치 및 시스템, 이를 이용한 시각 동기 방법 및 장치 | |
JP3510549B2 (ja) | 限局的測位システム | |
US7302269B1 (en) | Radiolocation in a wireless network using time difference of arrival | |
WO2015030520A1 (ko) | 무선 통신시스템의 무선 기기 탐색 장치 및 방법 | |
US20130336131A1 (en) | Rtt based ranging system and method | |
Lazik et al. | Ultrasonic time synchronization and ranging on smartphones | |
JP2003057326A (ja) | 狭帯域幅ワイヤレス通信システムにおける位置判定 | |
JP2009229393A (ja) | 無線測位システム及び無線測位方法 | |
WO2013108243A1 (en) | Hybrid-based system and method for indoor localization | |
EP1185877A1 (en) | Improvements in radio positioning systems | |
JP2004503787A (ja) | 位置の推定値を提供する方法 | |
WO2014011381A1 (en) | Method for performing measurements and positioning in a network based wlan positioning system | |
JP2002540691A (ja) | Cdma通信システムにおける移動加入者局の位置特定方法およびシステム | |
KR101814698B1 (ko) | 무선 송수신을 이용한 앵커와 태그의 좌표 동시 설정 방법 및 통신 시스템 | |
Li et al. | TDOA-based passive localization of standard WiFi devices | |
WO2017041850A1 (en) | Fingerprint positioning for mobile terminals | |
US20140274125A1 (en) | Performance enhancements for local network of beacons | |
CN112797984A (zh) | 基于超宽带和远距离无线通信技术的室内高精度定位系统 | |
HRP20000240A2 (en) | Positioning system for digital telephone networks | |
CN109633533A (zh) | 一种uwb高精度定位方法 | |
CN104703274A (zh) | 一种带内伪卫星无线定位方法、系统及装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 18858349 Country of ref document: EP Kind code of ref document: A1 |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 18858349 Country of ref document: EP Kind code of ref document: A1 |
|
32PN | Ep: public notification in the ep bulletin as address of the adressee cannot be established |
Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 22.01.2021) |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 18858349 Country of ref document: EP Kind code of ref document: A1 |