WO2019110107A1 - Reconfiguration d'un système de support de positionnement radio intérieur sur la base d'informations d'environnement radio - Google Patents

Reconfiguration d'un système de support de positionnement radio intérieur sur la base d'informations d'environnement radio Download PDF

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Publication number
WO2019110107A1
WO2019110107A1 PCT/EP2017/081862 EP2017081862W WO2019110107A1 WO 2019110107 A1 WO2019110107 A1 WO 2019110107A1 EP 2017081862 W EP2017081862 W EP 2017081862W WO 2019110107 A1 WO2019110107 A1 WO 2019110107A1
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WO
WIPO (PCT)
Prior art keywords
radio
positioning support
radio positioning
support devices
indoor
Prior art date
Application number
PCT/EP2017/081862
Other languages
English (en)
Inventor
Lauri Aarne Johannes Wirola
Jari Tapani SYRJÄRINNE
Original Assignee
Here Global B.V.
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 Here Global B.V. filed Critical Here Global B.V.
Priority to PCT/EP2017/081862 priority Critical patent/WO2019110107A1/fr
Priority to EP17816645.0A priority patent/EP3721247A1/fr
Publication of WO2019110107A1 publication Critical patent/WO2019110107A1/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
    • 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
    • G01S1/04—Details
    • G01S1/042—Transmitters
    • G01S1/0423—Mounting or deployment thereof
    • 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
    • G01S5/0252—Radio frequency fingerprinting
    • G01S5/02521—Radio frequency fingerprinting using a radio-map
    • G01S5/02524—Creating or updating the radio-map
    • 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
    • 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
    • G01S2201/00—Indexing scheme relating to beacons or beacon systems transmitting signals capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters
    • G01S2201/01—Indexing scheme relating to beacons or beacon systems transmitting signals capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters adapted for specific applications or environments
    • G01S2201/02—Indoor positioning, e.g. in covered car-parks, mining facilities, warehouses
    • G01S2201/025—Indoor pedestrian positioning

Definitions

  • the invention relates to the field of indoor radio positioning support systems and more specifically to at least partially reconfiguring an indoor radio positioning support system or at least a partial reconfiguration of an indoor radio positioning support system.
  • Satellite signal based positioning technologies which are mainly used outdoors, are usually not suited to deliver a satisfactory performance when used for indoor positioning, since satellite signals of global navigation satellite systems (GNSS), like the global positioning system (GPS), do not penetrate through walls and roofs strongly enough for an adequate signal reception indoors. Thus, these positioning technologies are not able to deliver a performance indoors that would enable seamless, equal and accurate navigation experience outdoors and indoors.
  • GNSS global navigation satellite systems
  • GPS global positioning system
  • solutions for indoor positioning have been developed and commercially deployed during the past years. Examples comprise solutions that are based on pseudolites, which are ground based GPS-like short-range beacons, ultra-sound positioning solutions, Bluetooth low energy (BLE) based positioning solutions, cellular network based positioning solutions and wireless local area network (WLAN) based positioning solutions.
  • pseudolites which are ground based GPS-like short-range beacons
  • ultra-sound positioning solutions Bluetooth low energy (BLE) based positioning solutions
  • BLE Bluetooth low energy
  • cellular network based positioning solutions cellular network based positioning solutions
  • WLAN wireless local area network
  • a Bluetooth based positioning solution such as a self-contained positioning system, for instance, may be divided in at least three stages, an installation stage, a training stage and a positioning stage.
  • Bluetooth beacons are installed in the environment for which a positioning solution is to be provided.
  • the data may be collected in the form of fingerprint observation reports that are based on measurements by mobile devices.
  • a fingerprint observation report may contain a location estimate and measurements taken from the radio interface.
  • the location estimate may be for example GNSS based, sensor-based, or manually inputted.
  • Measurements taken from the radio interface may comprise, by way of example, measured radio signal strengths and an identification of Bluetooth beacons transmitting the radio signals.
  • the training may be a continuous background process, in which mobile devices of a large number of consumers are continuously observation reporting measured data to a server. Consumers may consent to a participation in such a data collection, if their device is equipped with the needed functionality. This approach is also referred to as crowd-sourcing.
  • mobile devices may be used for collecting fingerprints in a systematic manner. Collected fingerprint data may be uploaded to a database in a server or in the cloud, where algorithms may be run to generate radio coverage area models of Bluetooth beacons and/or radio maps for positioning purposes.
  • a mobile device may estimate its current location based on own measurements taken from the radio interface and on the data or a subset of data that is available from the training stage.
  • Coverage area model data or radio map data that has been generated in the training stage may be transferred to mobile devices by a server via the Internet as assistance data for use in position determinations.
  • coverage area model data and/or radio map data may be stored in a positioning server to which the mobile devices may connect to via the Internet for obtaining a position estimate.
  • a similar approach could be used for a positioning that is based on other types of terrestrial transmitters or on a combination of different types of terrestrial transmitters.
  • a method for reconfiguring one or more radio positioning support devices of an indoor radio positioning support system comprising:
  • radio environment information that are indicative of a radio environment associated with the one or more radio positioning support devices of the indoor radio positioning support system
  • the one or more radio positioning support devices determine whether the one or more radio positioning support devices are to be reconfigured at least partially based on the received or determined radio environment information; and if it is determined that the one or more radio positioning support devices are to be reconfigured, adapting or causing adapting a radio transmission interval of the one or more radio positioning support devices.
  • the method may be performed by an apparatus, for example by any one embodiment of the below disclosed apparatus(es).
  • the indoor radio positioning support system may be any one embodiment of the below disclosed system.
  • the indoor radio positioning support system may be a positioning system for a predetermined indoor environment (e.g. for a building or a complex of buildings like a shopping center, a parking garage, an airport, a stadium, a museum, a company site, a warehouse, etc.].
  • a predetermined indoor environment may be understood to represent an environment and/or an area which is at least partially indoors (i.e. inside of a building or a complex of buildings like a shopping center, a parking garage, an airport, a stadium, a museum, a company site, etc.).
  • the indoor radio positioning support system may be an indoor positioning system or a self-contained positioning system or a combination thereof, for example a self-contained indoor positioning system.
  • the one or more radio positioning support devices of the indoor radio positioning support system may transmit (e.g. broadcast) or trigger to transmit or may be configured to transmit or to trigger to transmit a respective radio positioning support signal.
  • the one or more radio positioning support devices may transmit (e.g. broadcast) or trigger to transmit or may be configured to transmit or to trigger to transmit (a) respective radio positioning support signal(s) automatically and/or repeatedly, for example on a periodic basis.
  • the radio transmission interval of the one or more radio positioning support devices may be a radio transmission interval of the one or more radio positioning support devices for transmitting respective radio positioning support signals, for example it represents (e.g. specifies) how often (e.g. with which frequency) the respective radio positioning support signal(s) are transmitted or triggered to be transmitted by the one or more radio positioning support devices.
  • the one or more radio positioning support devices may use the same radio transmission interval for transmitting respective radio positioning support signals.
  • the respective radio positioning support signal(s) may contain positioning support data.
  • the positioning support data are for example configured to enable one or more mobile devices receiving the respective radio positioning support signal(s) to estimate their position at least partially based on these positioning support data.
  • An example of such positioning support data is an identifier of the radio positioning support device by which the respective radio positioning support signal is transmitted (e.g. broadcasted) or triggered to be transmitted.
  • the one or more mobile devices may accordingly estimate their position as disclosed above (e.g. by additionally using data representing a coverage area model or a radio map that has been generated in a training stage of the indoor radio positioning support system as disclosed above).
  • a coverage area of the indoor radio positioning support system may be understood to represent an area of a predetermined indoor environment within which the indoor radio positioning support system supports or is expected to support one or more mobile devices to estimate their positions.
  • the coverage area of the indoor radio positioning support system may be defined by an environment and/or an area within which the indoor radio positioning support system is capable or is expected to be capable to support one or more mobile devices to estimate their positions.
  • the coverage area of the indoor radio positioning support system may at least partially depend on the combined coverage areas of the one or more radio positioning support devices (or all radio positioning support devices) of the indoor radio positioning support system.
  • the coverage area of the indoor radio positioning support system is defined by the area overlapped by at least three (e.g. five) respective coverage areas of the one or more radio positioning support devices (or all radio positioning support devices) of the indoor radio positioning support system.
  • a coverage area of a respective radio positioning support device may describe (e.g. define) a radio coverage or an expected radio coverage of the respective radio positioning support device within which a radio positioning support signal transmitted or triggered to be transmitted by the respective radio positioning support device (e.g. installed at an installation position) is observable or expected to be observable.
  • Examples for mobile devices that may be supported to estimate their positions by the indoor radio positioning support system are (i) a handheld device like a smartphone, a tablet computer, a notebook computer, smart watch, a smart band or a portable navigation device, or (ii) a vehicle, or (iii) a module for installation in a vehicle like a navigation device for installation in a vehicle.
  • Examples of such a vehicle may be (i) indoor vehicles like a forklift for indoor use, or (ii) indoor transportation vehicles, or (iii) autonomous vehicles for indoor use like an automated guided vehicle, or (iv) any combinations of the vehicles according to (i) to (iii) like an autonomous indoor vehicle.
  • the radio environment associated with the one or more radio positioning support devices of the indoor radio positioning support system may be understood to describe one or more radio environment parameters that are characteristic or expected to be characteristic for the quality of the positioning service provided by the indoor radio positioning service in the coverage area of the one or more radio positioning support devices and/or for the propagation and/or reception of radio signals (e.g. radio positioning support signals) transmitted or triggered to be transmitted by the one or more radio positioning support devices.
  • radio signals e.g. radio positioning support signals
  • the radio environment information may be understood to represent one or more of such radio environment parameters that are characteristic or expected to be characteristic for the quality of the positioning service provided by the indoor radio positioning service in the coverage area of the one or more radio positioning support devices and/or for the propagation and/or reception of radio signals (e.g. radio positioning support signals) transmitted or triggered to be transmitted by the one or more radio positioning support devices.
  • radio signals e.g. radio positioning support signals
  • a radio environment parameter may be expected to be characteristic for a quality of the positioning service in terms of positioning accuracy provided by the indoor radio positioning service in the coverage area of the one or more radio positioning support devices if the radio environment parameter enables determination of the expected minimum number of radio positioning support signal that is observable (e.g. receivable with a minimum reception quality, e.g. in terms of a minimum signal-to- noise ratio or a minimum signal power) at any position within the coverage area of the one or more radio positioning support devices.
  • a radio environment parameter may be expected to be characteristic for propagation and/or reception of radio signals (e.g. radio positioning support signals) transmitted or triggered to be transmitted by the one or more radio positioning support devices if the radio environment parameter is observable (e.g. measurable or detectable) by at least one radio positioning support device of the one or more radio positioning support devices or within a coverage area of the one or more radio positioning support devices.
  • a radio environment parameter that is expected to be characteristic for propagation and/or reception of radio positioning support signals transmitted or triggered to be transmitted by the one or more radio positioning support devices may at least partially enable determination of the expected minimum number of radio positioning support signal that is observable (e.g. receivable with a minimum reception quality, e.g.
  • the one or more radio positioning support devices may also be a radio environment parameter that is expected to be characteristic for a quality of the positioning service (e.g. in terms of positioning accuracy).
  • radio environment parameters that are characteristic or expected to be characteristic for propagation and/or reception of radio signals (e.g. radio positioning support signals) transmitted or triggered to be transmitted by the one or more radio positioning support devices are (i) a radio environment parameter that is indicative of or enable determination of noise observable or expected to be observable by the one or more radio positioning support devices or within a coverage area of the one or more radio positioning support device, or (ii) a radio environment parameter that is indicative of or enable determination of attenuation experienced or expected to be experienced by radio signals (e.g. radio positioning support signals) transmitted or triggered to be transmitted by the one or more radio positioning support devices, or (iii) a radio environment parameter that is indicative of or enable determination of likelihood of collision of radio signals (e.g. radio positioning support signals) transmitted or triggered to be transmitted by the one or more radio positioning support devices with other radio signals, or (iv] any combination of these radio environment parameters according to (i) to [iii).
  • Receiving the radio environment information may be understood to mean that the radio environment information is received by a communication interface (e.g. a radio interface and/or a network interface, for example a radio interface and/or a network interface of the apparatus performing the method).
  • the radio environment information is received in one or more signals (e.g. one or more communication signals like one or more radio signals).
  • the radio environment information may be received from at least one of the one or more radio positioning support devices or another entity (e.g. a hub or a server of the indoor radio positioning support system or a mobile device).
  • the radio environment information received from at least one of the one or more radio positioning support devices or another entity may represent (e.g. qualitatively or quantitatively represent) one or more radio environment parameters that have been evaluated by the at least one of the one or more radio positioning support devices or the another entity.
  • Determining the radio environment information may at least partially be performed by evaluating (e.g. measuring or monitoring or detecting) radio environment parameters that are characteristic or expected to be characteristic for propagation and/or reception of radio signals (e.g. radio positioning support signals) transmitted or triggered to be transmitted by the one or more radio positioning support devices.
  • the determined radio environment information may represent (e.g. qualitatively or quantitatively represent) the evaluated radio environment parameters.
  • the determining the radio environment information may be performed according to predefined rules (e.g. a predefined algorithm).
  • Determining, at least partially based on the received or determined radio environment information, whether the one or more radio positioning support devices are to be reconfigured may be understood to mean that the received or determined radio environment information is at least partially used for determining whether the one or more radio positioning support devices are to be reconfigured.
  • the one or more radio positioning support devices are to be reconfigured if the quality of the positioning service (e.g. in terms of positioning accuracy) provided by the indoor radio positioning system (e.g. within the coverage area of the one or more radio positioning support devices) is expected to be lower than a desired minimum quality of the positioning service in view of the received or determined radio environment information.
  • the quality of the positioning service e.g. in terms of positioning accuracy
  • the indoor radio positioning system e.g. within the coverage area of the one or more radio positioning support devices
  • the determining whether the one or more radio positioning support devices are to be reconfigured may be performed according to (i) predefined rules (e.g. a predefined algorithm and/or one or more predefined threshold values for one or more radio environment parameters represented by the received or determined radio environment information) or (ii) predefined associations (e.g. one or more predefined associations between one or more radio environment parameters represented by the received or determined radio environment information and one or more predefined radio transmission intervals of the one or more radio positioning support devices) or (iii) a combination thereof.
  • predefined rules e.g. a predefined algorithm and/or one or more predefined threshold values for one or more radio environment parameters represented by the received or determined radio environment information
  • predefined associations e.g. one or more predefined associations between one or more radio environment parameters represented by the received or determined radio environment information and one or more predefined radio transmission intervals of the one or more radio positioning support devices
  • a representation of these predefined rules or associations may be stored in a memory (e.g. a memory of an apparatus performing the
  • a new radio transmission interval or an increment or decrement for adapting the radio transmission interval of the radio positioning support devices may be also predefined and for example be stored (e.g. as part of the representation of the predefined rules or associations) in a memory (e.g. a memory of an apparatus performing the method).
  • a memory e.g. a memory of an apparatus performing the method.
  • An example for such (a) representation(s) or a part of such (a) representation(s) may be an array, a database or a look up table. This may have the effect that, when the method is performed, the respective predefinitions can be retrieved from the memory (e.g. by a simple indexing operation). Such a retrieval operation does not require signification computation resource and is thus particularly suited for devices with limited computational resources or battery powered devices (e.g. radio positioning support devices having limited computation resources which are battery powered).
  • the determining whether the one or more radio positioning support devices are to be reconfigured may also be performed by estimating (e.g. calculating) the expected quality of the positioning service (e.g. in terms of positioning accuracy or positioning update rate) provided by the indoor radio positioning system (e.g. within the coverage area of the one or more radio positioning support devices) at least partially based on the received or determined radio environment information. If the estimated expected quality of the positioning service is lower than a desired minimum quality of the positioning service, it may be determined that the one or more radio positioning support devices are to be reconfigured. Otherwise, it may be determined that the one or more radio positioning support devices are not to be reconfigured.
  • Such estimation may enable a more precise result, but may also require more computational resources than the above examples relating to respective predefinitions.
  • Adapting the radio transmission interval of the one or more radio positioning support devices may involve decreasing or increasing the radio transmission interval of the one or more radio positioning support devices.
  • a new radio transmission interval or an increment or decrement for adapting the radio transmission interval of the radio positioning support devices if it is determined that the one or more radio positioning support devices are to be reconfigured, is predefined, the radio transmission interval of the one or more radio positioning support devices may be adapted to this predefined new radio transmission interval or may be increased according to this predefined increment or decreased according to this predefined decrement.
  • the scope of the invention is not limited to these examples.
  • the radio transmission interval of the radio positioning support devices may for example be adapted dynamically.
  • Causing adapting the radio transmission interval of the one or more radio positioning support devices may be understood to mean that this adapting is controlled, for example by determining and/or transmitting or triggering transmitting control information to the one or more radio positioning support devices which are configured to cause the one or more radio positioning support devices to adapt their radio transmission interval.
  • Adapting the radio transmission interval of the one or more radio positioning support devices by decreasing the radio transmission interval [e.g. increasing the frequency for transmitting the radio positioning support signals) of the one or more radio positioning support devices may have the effect that the likelihood of successful reception of the radio positioning support signals transmitted by the one or more radio positioning support signals is expected to be increased and, thus, the quality of the positioning service provided by the indoor radio positioning system in the coverage area of the one or more radio positioning support devices may be expected to be increased. This may for example be advantageous if it has been determined that the one or more radio positioning support devices are to be reconfigured, because the quality of the positioning service provided by the indoor radio positioning service (e.g. within the coverage area of the one or more radio positioning support devices) is lower than a desired minimum quality of the positioning service.
  • adapting the radio transmission interval of the one or more radio positioning support devices for example by increasing the radio transmission interval (e.g. decreasing the frequency for transmitting the radio positioning support signals) of the one or more radio positioning support devices, if it is determined that the one or more radio positioning support devices are to be reconfigured, may have the effect that the energy consumption of the one or more radio positioning support devices is reduced. This may for example be advantageous if it has been determined that the one or more radio positioning support devices are to be reconfigured, because the quality of the positioning service provided by the indoor radio positioning service (e.g. within the coverage area of the one or more radio positioning support devices) is greater than a desired minimum quality of the positioning service.
  • the present invention is for example advantageous for indoor positioning support systems for indoor environments with frequently changing radio environments such as busy or crowded indoor environments like an airport, a stadium or a museum.
  • the multitude of other devices e.g. mobile devices of people being in the indoor environment
  • the quality of the positioning service provided by the indoor radio positioning support system is degraded.
  • This may be a problem if a minimum quality of positioning service provided by the indoor radio positioning support system needs to be guaranteed, for example for cases of emergency.
  • an apparatus comprising means for performing the steps of any one embodiment of the disclosed method.
  • the means of the disclosed apparatus can be implemented in hardware and/or software. They may comprise for instance a processor for executing computer program code for realizing the required functions, a memory storing the program code, or both. Alternatively, they could comprise for instance circuitry that is designed to realize the required functions, for instance implemented in a chipset or a chip, like an integrated circuit
  • the disclosed apparatus may comprise a single means for all functions, a common plurality of means for all functions, or a plurality of different means for different functions.
  • 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 with the at least one processor configured to cause the apparatus at least to perform any one embodiment of the disclosed method (e.g. the steps of any one embodiment of the disclosed method).
  • the disclosed apparatus(es) may be modules or components for a device, for example chips.
  • the disclosed apparatus(es) may be devices.
  • the disclosed apparatus(es) may be a radio positioning support device (e.g. a radio positioning support device of the one or more radio positioning support devices and/or a radio positioning support device nominated as PAN and/or subgroup coordinator as disclosed below in more detail) or a server or a hub, for example a radio positioning support device or a server or a hub for the indoor radio positioning support system or of the indoor radio positioning support system.
  • the server or the hub may be embodied as a single device.
  • the server or the hub may be embodied as a cloud (e.g. a plurality of servers connected via the Internet) and/or a as a virtual device (e.g. a virtual server operated in a cloud).
  • the disclosed apparatus(es) may comprise only the disclosed components (e.g. means) or may further comprise one or more additional components (e.g. means).
  • additional components are a communication interface, a network interface, a radio interface (e.g. a receiver, a transmitter and/or a transceiver), a data interface, a user interface (e.g. a touch-sensitive display, a keyboard, a touchpad, a display, etc.) etc.
  • a system which comprises a plurality of radio positioning support devices and an apparatus according to any one embodiment of the disclosed apparatus(es).
  • a non-transitory computer readable storage medium in which computer program code is stored.
  • the computer program code causes an apparatus to perform any one embodiment of the disclosed method (e.g. the steps of any one embodiment of the disclosed method) when executed by a processor.
  • the computer program code could be stored in the computer readable storage medium in the form of instructions encoding the computer-readable storage medium.
  • the computer readable storage medium may be intended for taking part in the operation of a device, like an internal or external hard disk of a computer, or be intended for distribution of the program code, like an optical disc.
  • a computer program code is disclosed, the computer program code when executed by a processor causing an apparatus to perform any one embodiment of the disclosed method (e.g. the steps of any one embodiment of the disclosed method).
  • the disclosed method, apparatus(es), system, non-transitory computer readable storage medium and computer program code may be for at least partially reconfiguring the indoor radio positioning support system or at least a partial reconfiguration of the indoor radio positioning support system at least partially based on the radio environment information by reconfiguring the one or more radio positioning support devices (e.g. by adapting the radio transmission interval of the one or more radio positioning support devices).
  • the radio environment information represents (e.g. contains) at least one of the following radio environment parameters:
  • a radio transmitter parameter that is indicative of a number of radio transmitters observable or expected to be observable by the one or more radio positioning support devices of the indoor radio positioning support system
  • a radio positioning support device parameter that is indicative of a number of radio positioning support devices observable or expected to be observable by the one or more radio positioning support devices of the indoor radio positioning support system
  • the radio environment information may also represent (e.g. contain) any combination of the radio environment parameters according to (i) to (iv).
  • determining the radio environment information comprises determining at least one of the radio environment parameters.
  • the at least one of the radio environment parameters may be determined by evaluating (e.g. monitoring or measuring or detecting) the at least one of the radio environment parameters.
  • the one or more radio positioning support devices observe the same radio environment parameters (e.g. because the one or more radio positioning support devices are located in the same vicinity). Based on this expectation, the at least one of the radio environment parameters may be determined by evaluating (e.g. monitoring or measuring or detecting) the power (e.g. the power of the background noise and all radio signals) the at least one of the radio environment parameters observable by at least one of the one or more radio positioning support devices or at at least one position within a coverage area of the one or more radio positioning support devices. For example, at least one of the one or more radio positioning support devices or another entity (e.g.
  • the radio noise parameter may be indicative of noise in a radio transmission band or radio transmission channel in which respective radio positioning support signals are transmitted or triggered to be transmitted by the one or more radio positioning support devices.
  • the radio noise parameter may represent (e.g. qualitatively or quantitatively) the power (e.g.
  • the power of the background noise and all radio signals that is expected to be observable at the one or more radio positioning support devices over the bandwidth of the radio transmission band or radio transmission channel in which respective radio positioning support signals are transmitted or triggered to be transmitted by the one or more radio positioning support devices.
  • An example for such a radio transmission band is an industrial, scientific and medical [ISM) radio band like the 2.45 GHz ISM radio band (e.g. used for transmitting Bluetooth or wireless local area network (WLAN) radio signals) or the 5.8 GHz ISM radio band (e.g. used for transmitting WLAN radio signals).
  • a radio transmission channel may be a Bluetooth channel as specified by the Bluetooth standards or a WLAN channel as specified by the WLAN standards.
  • the Bluetooth standards are specified by the Bluetooth Special Interest Group and are presently available under https://www.bluetooth.com/.
  • WLAN is for example specified by the standards of the IEEE 802.11 family fhttp://www.ieee.org/).
  • the radio noise parameter may for example be determined by evaluating (e.g. monitoring or measuring by a communication interface) the power (e.g. the power of the background noise and all radio signals) observable (e.g. observable with a predefined minimum quality, e.g. in terms of signal-to-noise ratio) by at least one of the one or more radio positioning support devices or at at least one position within a coverage area of the one or more radio positioning support devices over the bandwidth of the radio transmission band or radio transmission channel in which respective radio positioning support signals are transmitted or triggered to be transmitted by the one or more radio positioning support devices.
  • the radio noise parameter may represent the power over this bandwidth resulting from a single measurement or an average power over this bandwidth (e.g. monitored over a predefined period of time or resulting from a predefined number of measurements).
  • the radio noise parameter may enable determination of an (e.g. expected) reception quality of radio positioning support signals transmitted by the one or more radio positioning support signals.
  • the radio noise parameter may be considered to be a radio environment parameter that is characteristic for the reception of radio positioning support signals transmitted by the one or more radio positioning support signals.
  • the radio transmitter parameter that is indicative of a number of radio transmitters transmitting radio signals in a radio transmission band or radio transmission channel in which respective radio positioning support signals are transmitted or triggered to be transmitted by the one or more radio positioning support devices.
  • the radio transmitter parameter may represent (e.g.
  • radio transmitters transmitting radio signals in a radio transmission band or radio transmission channel in which respective radio positioning support signals are transmitted or triggered to be transmitted by the one or more radio positioning support devices that are expected to be observable at the one or more radio positioning support devices.
  • the radio transmitter parameter may for example be determined by evaluating (e.g. monitoring or detecting by a communication interface) the number of radio transmitters transmitting radio signals in a radio transmission band or radio transmission channel in which respective radio positioning support signals are transmitted or triggered to be transmitted by the one or more radio positioning support devices observable (e.g. observable with a predefined minimum quality, e.g. in terms of signal-to-noise ratio) by at least one of the one or more radio positioning support devices or at at least one position within a coverage area of the one or more radio positioning support devices.
  • the radio transmitter parameter may represent the number of radio transmitters from which radio signals in this radio transmission band or radio transmission channel have been detected over a predefined period of time.
  • the radio transmitter parameter may enable determination of likelihood of collision of radio positioning support signals transmitted or triggered to be transmitted by the one or more radio positioning support devices with other radio signals. Accordingly, the radio transmitter parameter may be considered to be a radio environment parameter that is characteristic for the (e.g. likelihood of successful) reception of radio positioning support signals transmitted by the one or more radio positioning support signals,
  • the radio positioning support device parameter may be indicative of the number of radio positioning support devices transmitting radio positioning support signals that are expected to be observable at the one or more radio positioning support devices.
  • the radio positioning support device parameter may represent (e.g. qualitatively or quantitatively) the number of radio positioning support devices transmitting radio positioning support signals that are expected to be observable at the one or more radio positioning support devices.
  • the radio positioning support device parameter may be determined by evaluating (e.g. monitoring or detecting by a communication interface) the number of radio positioning support devices transmitting radio positioning support signals observable by at least one of the one or more radio positioning support devices or at at least one position within a coverage area of the one or more radio positioning support devices. It is to be understood that the radio positioning support device parameter may represent the number of radio positioning support devices from which radio positioning support have been detected over a predefined period of time.
  • the radio positioning support device parameter may enable determination of an expected positioning accuracy of the positioning service provided by the indoor radio positioning support system in the coverage area of the one or more radio positioning support devices. For example, it may be considered that the number of radio positioning support devices indicated by the radio positioning support device parameter is proportional to the positioning accuracy. Accordingly, the radio positioning support device parameter may be considered to be a radio environment parameter that is characteristic for the quality of the positioning service provided by the indoor radio positioning support system.
  • the population parameter may represent (e.g. qualitatively or quantitatively) the number of people observable or expected to be observable in a coverage area of the one or more radio positioning support devices. Based on the expectation as described above, the population parameter may be determined by evaluating (e.g. monitoring or detecting by a presence sensor) the number of people observable by at least one of the one or more radio positioning support devices or at at least one position within a coverage area of the one or more radio positioning support devices. It is to be understood that the population parameter may represent the average number of people that have been detected over a predefined period of time.
  • the number of people observable or expected to be observable in a coverage area of the one or more radio positioning support devices indicated by the population parameter may enable determination of an expected attenuation of radio positioning support signals transmitted or triggered to be transmitted by the one or more radio positioning support devices. For example, if there are people in the coverage area of the one or more radio positioning support devices, the attenuation experienced by the radio positioning support signals may be considered higher than if there are no people in the coverage area of the one or more radio positioning support devices. Accordingly, the population parameter may be considered to be a radio environment parameter that is characteristic for the propagation of radio positioning support signals transmitted by the one or more radio positioning support signals.
  • the determining whether the one or more radio positioning support devices are to be reconfigured is at least partially based on one or more predefined threshold values.
  • one or more respective (upper and/or lower) threshold values for one or more radio environment parameters may be predefined.
  • a respective configuration of the one or more radio positioning support devices may be understood to represent a configuration of the one or more radio positioning support devices for transmitting respective radio positioning support signals.
  • a respective configuration of the one or more radio positioning support devices may be understood to represent a respective radio transmission interval of the one or more radio positioning devices for transmitting respective radio positioning support signals.
  • a respective configuration of the one or more radio positioning devices may be understood to represent a respective combination of a radio transmission interval and at least one of a radio transmission power and a radio transmission channel and a radio transmission band of the one or more radio configuration devices for transmitting respective radio positioning support signals.
  • a representation of these predefmitions may be stored in a memory (e.g. a memoiy of an apparatus performing the method).
  • a memory e.g. a memoiy of an apparatus performing the method.
  • An example for such (a) representation [s] or a part of such (a) representation(s) may be an array, a database or a look-up table.
  • the respective threshold values may be predefined such that it is expected that the quality of the positioning service provided by the indoor radio positioning support system is above a desired minimum quality of the positioning service if the current configuration of the one or more radio positioning support devices corresponds to the configuration for which the respective threshold values have been predefined and if the one or more radio environment parameters represented by the received or determined radio environment information are inside a range defined by these respective threshold values (e.g. lower than an upper threshold value and/or greater than an lower threshold value).
  • the one or more radio environment parameters represented by the received or determined radio environment information are outside the range defined by the respective (upper and/or lower) threshold values that have been predefined for the current configuration of the one or more radio positioning support devices, it may be determined (e.g. according to predefined rules) that the one or more radio positioning support devices are to be reconfigured. Otherwise, it may be determined (e.g. according to predefined rules) that the one or more radio positioning support devices are not to be reconfigured.
  • one or more respective upper threshold values may be accordingly predefined.
  • Each of these upper noise threshold values may be predefined for a respective configuration of the one or more radio positioning support devices such that a desired minimum reception quality for the radio positioning support signal transmitted or triggered to be transmitted by the accordingly configured one or more radio positioning support devices and, thus, a desired minimum quality of the positioning service provided by the indoor radio positioning support system in the coverage area of the one or more radio positioning support devices is expected, if the noise indicated by the above disclosed radio noise parameter is lower than or equal to the upper noise threshold value.
  • one or more respective upper threshold values may be accordingly predefined, and/or for the above disclosed radio positioning support device parameter one or more respective lower threshold values may be accordingly predefined.
  • the radio transmission interval is or represents (e.g. specifies) a frequency with which one or more radio positioning support signals are transmitted or triggered to be transmitted by the one or more radio positioning support devices.
  • the radio transmission interval of the one or more radio positioning support devices may be a radio transmission interval of the one or more radio positioning support devices for transmitting respective radio positioning support signals.
  • the one or more radio positioning support devices may use the same radio transmission interval may be the same for transmitting respective radio positioning support signals.
  • the radio transmission interval of the one or more radio positioning support devices is adapted by increasing or decreasing the radio transmission interval.
  • a new radio transmission interval or an increment or decrement for adapting the radio transmission interval of the one or more radio positioning support devices may be predefined and for example be represented by a representation in a memory (e.g. a memory of an apparatus performing the method). Accordingly, the radio transmission interval of the one or more radio positioning support devices may be adapted to this predefined new radio transmission interval by increasing or decreasing the radio transmission interval or may be increased according to this predefined increment or decreased according to this predefined decrement.
  • the method further comprises:
  • the one or more radio positioning support devices are to be reconfigured, adapting or causing adapting a radio transmission power of the one or more radio positioning support devices.
  • the radio transmission power of the one or more radio positioning support devices is adapted or caused to be adapted in addition to adapting or causing adapting the radio transmission interval of the one or more radio positioning support devices.
  • the radio transmission power of the one or more radio positioning support devices may be a radio transmission power of the one or more radio positioning support devices for transmitting respective radio positioning support signals.
  • the one or more radio positioning support devices may use the same radio transmission interval may be the same for transmitting respective radio positioning support signals.
  • the radio transmission power may be or may represent (e.g. specify) a transmission power with which one or more radio positioning support signals are transmitted or triggered to be transmitted by the one or more radio positioning support devices.
  • the radio transmission power of the one or more radio positioning support devices may for example be adapted by increasing or decreasing the radio transmission power.
  • a new radio transmission power or an increment or decrement for adapting the radio transmission power of the one or more radio positioning support devices may be predefined (e.g. in addition to a new radio transmission interval or an increment or decrement for adapting the radio transmission interval) and for example be represented by a representation in a memory (e.g. a memory of an apparatus performing the method). Accordingly, the radio transmission power of the one or more radio positioning support devices may be adapted to this predefined new radio transmission power by increasing or decreasing the radio transmission power or may be increased according to this predefined increment or decreased according to this predefined decrement.
  • adapting the radio transmission power of the one or more radio positioning support devices by increasing the radio transmission power of the one or more radio positioning support devices may have the effect that the likelihood of successful reception of the radio positioning support signals transmitted by the one or more radio positioning support signals is expected to be increased and, thus, the quality of the positioning service provided by the indoor radio positioning system in the coverage area of the one or more radio positioning support devices may be expected to be increased.
  • adapting the radio transmission power of the one or more radio positioning support devices by decreasing the radio transmission power of the one or more radio positioning support devices, if it is determined that the one or more radio positioning support devices are to be reconfigured, may have the effect that the energy consumption of the one or more radio positioning support devices is reduced.
  • the one or more radio positioning support devices are one of:
  • Bluetooth beacon enabling Bluetooth low energy (BLE) mode
  • BLE Bluetooth low energy
  • the beacons may comprise a Bluetooth and/or BLE radio interface, which includes at least a Bluetooth and/or BLE transmitter.
  • the Bluetooth and/or BLE transmitter may also be a part of a Bluetooth and/or BLE transceiver.
  • the Bluetooth and/or BLE radio interface may be configured to transmit Bluetooth and or BLE radio signals.
  • the Bluetooth and/or BLE radio interface may be configured to receive (e.g. detect) Bluetooth and/or BLE radio signals that are for example broadcast by other Bluetooth and/or BLE beacons.
  • the radio positioning support signal transmitted by such a beacon may be a Bluetooth and/or BLE radio signal (e.g. a periodically transmitted Bluetooth and/or BLE advertisement signal containing and/or representing advertising data).
  • Such beacons can be easily installed at various installation positions and require little to no maintenance.
  • a plurality of beacons may be easily distributed across a certain area and may cover a certain area (e.g. the coverage area of the indoor radio positioning support system ) with radio signals transmitted (e.g. broadcasted) by the beacons.
  • Bluetooth technologies are supported by many mobile devices by default such as most smartphones, most tablet computers, most notebook computers, most smart watches and most smart bands, etc. Using Bluetooth beacons and/or BLE beacons may thus have the effect that the many mobile devices may use the indoor radio positioning support system without any adaptation of hardware. As a result, the approach may be globally scalable and have low maintenance and deployment costs.
  • the beacons may be stand-alone devices or be integrated into or attached to some other device.
  • a radio positioning support device may be a Bluetooth tag or token or a part thereof comprising such a beacon.
  • Bluetooth beacons in particular in low energy mode, require comparably little energy and the use of Bluetooth low energy may enable a positioning with limited energy consumption at all involved devices.
  • the mobile device may comprise a Bluetooth and/or BLE radio interface which includes at least a Bluetooth and/or BLE receiver.
  • the Bluetooth and/or BLE receiver may also be a part of a Bluetooth and/or BLE transceiver.
  • the Bluetooth and/or BLE radio interface may be configured to detect radio signals that are broadcast by Bluetooth and/or BLE beacons.
  • a Bluetooth beacon that is employed for the invention may be any kind of Bluetooth beacon complying with any present or future standard.
  • the Bluetooth standards are specified by the Bluetooth Special Interest Group and are presently available under https://www.bluetooth.com/.
  • one or more radio positioning support devices of the one or more radio positioning support devices may be an access point and/or a router of a wireless local area network (WLAN).
  • WLAN wireless local area network
  • Such an access point and/or router of a WLAN may comprise a WLAN radio interface, which for example includes a WLAN transceiver.
  • the WLAN radio interface may be configured to transmit and/or receive (e.g. detect) WLAN radio signals.
  • the radio positioning support signal transmitted by such an access point and/or router of a WLAN may be a WLAN radio signal (e.g. a periodically transmitted beacon signal containing and/or representing a service set identifier (SS1D) of the WLAN of the access point and/or router).
  • WLAN is for example specified by the standards of the IEEE 802.11 family (http:/ /www.ieee.org/) .
  • the method further comprises:
  • the one or more radio positioning support devices have been reconfigured, updating or causing updating a radio map representing the coverage area of the indoor radio positioning support system .
  • a radio map representing the coverage area of the indoor radio positioning support system may be understood to be a representation of the (e.g. expected) coverage area of the indoor radio positioning support system.
  • a radio map may represent the (e.g. fixed) installation positions of the radio positioning support devices of the indoor radio positioning support system and (e.g.
  • the (e.g. expected) radio coverage associated with a radio positioning support device may describe (e.g. define) the area within which a radio signal (e.g. a radio positioning support signal) transmitted or triggered to be transmitted by the radio positioning support devices is (e.g. expected to be) observable (e.g. receivable with a minimum quality).
  • a radio signal e.g. a radio positioning support signal
  • triggered to be transmitted by the radio positioning support devices is (e.g. expected to be) observable (e.g. receivable with a minimum quality).
  • the radio map representing the coverage area of the indoor radio positioning support system may contain or represent a respective radio coverage model for each radio positioning support device of the indoor radio positioning support system.
  • a radio coverage model for a radio positioning support device may be understood to represent the expected radio coverage associated with this radio positioning support device.
  • a radio coverage model may represent an estimate of a two-dimensional or a three-dimensional coverage map. It may describe (e.g. define) the expected radio coverage (e.g. an expected coverage area) of a radio positioning support device within which a radio positioning support signal transmitted or triggered to be transmitted by the radio positioning support device (e.g. installed at an installation position) is expected to be observable. The real radio coverage of the radio positioning support device may however deviate from such an expected radio coverage.
  • a radio positioning support signal may be understood to be observable at a specific position and/or in a specific area if the radio positioning support signal is receivable with a minimum quality (e.g. a minimum signal-to-noise ratio and/or a minimum signal power) at this specific position and/or within this specific area.
  • a radio coverage model may be a hard-boundary model or a soft-boundary model (e.g. a hard-boundary model or a soft-boundary model describing an expected radio coverage).
  • An example for a soft-boundary radio coverage model may be a parametric radio model.
  • Data of such a parametric radio model may be considered to be data which enable determination of one or more characteristics of one or more radio signals (e.g. radio positioning support signals) transmitted or triggered to be transmitted by a radio positioning support device that are expected to be observable at different positions.
  • data of such a parametric radio model may represent radio transmission parameters of the parametric radio model.
  • Using radio transmission parameters of the parametric radio model may have the effect that the required amount of data for defining the one or more characteristics of one or more radio signals may be particularly small.
  • An example of a parametric radio model is a path loss model for radio signals (e.g.
  • radio positioning support signals transmitted or triggered to be transmitted by a radio positioning support device.
  • the radio transmission parameters may comprise a path loss exponent and an indication of a transmission power used by the transmitter of the radio positioning support device.
  • Based on data of a parametric radio model an expected radio coverage of a radio positioning support device installed at a (potential) installation position may be determined.
  • An example for a hard-boundary radio coverage model may be a geometric model.
  • Data of such a geometric radio model may be considered to be data which represent parameters (e.g. geometrically) describing (e.g. defining) an expected radio coverage of a radio positioning support device (e.g.
  • the installation position of a radio positioning support device may be within the geometric model, for example it may be at the center of the geometric model.
  • the perimeter and/or the circumferences and/or the surface of the geometric model may for example describe (e.g. define) a boundary of an expected radio coverage (e.g. an area and/or a spatial dimension) of the radio positioning support device within which radio signals (e.g. radio positioning support signals) transmitted or triggered to be transmitted by the radio positioning support device are expected to be observable (e.g. receivable with a minimum quality such as a minimum signal-to-noise ratio and/or a minimum signal power).
  • radio signals transmitted or triggered to be transmitted by the radio positioning support device are for example expected to be not observable (e.g. only receivable with a quality less than a minimum reception quality such as a minimum signal-to-noise ratio and/or a minimum signal power).
  • a geometric model are a polygon, a rectangle and/or a square, a cuboid and/or a cube, an ellipse and/or a circle, an ellipsoid and/or a sphere.
  • Parameters of a geometric model of a radio coverage of a radio positioning support device are for example a diameter, a radius and/or an edge length of the geometric model.
  • the parameters of the geometric model may be selected from a list of parameters according to a predetermined mapping with one or more radio transmission parameters associated of the radio positioning support device.
  • an edge length of 16 m is selected for a square as geometric model of an (e.g. expected) radio coverage of a radio positioning support device having a radio transmission power of 0 dBm and a path loss exponent of 4.
  • learning data like fingerprint data are collected in a learning stage to generate radio coverage area models of the radio positioning support devices of the indoor radio positioning support system and/or a radio map representing the coverage area of the indoor radio positioning support system for positioning purposes.
  • the data may be collected in the form of fingerprint observation reports that are based on measurements by mobile devices.
  • the data may be collected in the form of fingerprint observation reports that are based on measurements by radio positioning support devices of the indoor radio positioning support system.
  • a fingerprint observation report may contain a location estimate and measurements taken from the radio interface.
  • the location estimate may be for example GNSS based, sensor-based, or manually inputted.
  • Measurements taken from the radio interface may comprise, by way of example, measured radio signal strengths and an identification of Bluetooth beacons transmitting the radio signals.
  • Updating the radio map representing the coverage area of the indoor radio positioning support system may be understood to mean to collect new learning data like new fingerprint data (e.g. fingerprint observation reports) that are for example based on
  • Causing updating the radio map representing the coverage area of the indoor radio positioning support system may be understood to mean that the updating the radio map representing the coverage area of the indoor radio positioning support system is controlled, for example by determining and transmitting control information to one or more mobile devices (e.g. certain mobile devices) and/or one or more radio positioning support devices of the one or more radio positioning support devices (e.g. all or certain radio positioning support devices of the indoor radio positioning support system) which cause them to collect new learning data like new fingerprint data.
  • mobile devices e.g. certain mobile devices
  • radio positioning support devices of the one or more radio positioning support devices e.g. all or certain radio positioning support devices of the indoor radio positioning support system
  • the indoor radio positioning support system comprises a plurality of radio positioning support devices, wherein the one or more radio positioning support devices are part of the plurality of radio positioning support devices.
  • the one or more radio positioning support devices may form or may be part of a subgroup of the plurality of radio positioning support devices. This is for example advantageous if not all radio positioning support devices of the plurality of radio positioning support devices can be reconfigured.
  • a subgroup of one or more radio positioning support devices may for example be part of or form a Personal Area Network (PAN, e.g. a PAN as specified in IEEE 802.15.4-2011 which is available from http: //www.ieee.Org/l and/or a group (e.g. a cluster) of radio positioning support devices.
  • the plurality of radio positioning support devices may comprise more than one PAN and/or more than one subgroup of radio positioning support devices.
  • the one or more radio positioning support devices of such a subgroup or PAN may for example be adjacent radio positioning support devices which are installed at installations positions of a certain section of the coverage area of the indoor radio positioning support system, wherein the coverage area of the indoor radio positioning support system may be divided into a plurality of such sections.
  • each section of this plurality of sections may represent a subarea of the coverage area of the indoor radio positioning support system. This is for example advantageous to enable adapting the configuration of the plurality of radio positioning support devices only in sections of the coverage area of the indoor radio positioning support system where the one or more mobile devices are located which require or are expected to require such an adaptation.
  • Any radio positioning support device of a PAN and/or a subgroup may be nominated as PAN and/or subgroup coordinator which is responsible for coordinating the PAN and/or the subgroup, for example by controlling the configuration of the radio positioning support devices of the PAN and/or the subgroup.
  • the PAN and/or group coordinator may adapt and/or cause adapting and/or may be configured to adapt and/or may be configured to cause adapting the radio transmission interval and, optionally, the radio transmission power of the radio positioning support devices of the PAN and/or the group.
  • all radio positioning support devices of a PAN and/or a group may use the same configuration.
  • the apparatus performing the method may for example be a radio positioning support device that is nominated as PAN and/or subgroup coordinator. This for example allows a decentralized control of the radio positioning support devices.
  • each radio positioning support device of the one or more radio positioning support devices is installed at a fixed installation position.
  • each radio positioning support device of the plurality of radio positioning support devices as disclosed above is installed at a fixed installation position.
  • a radio positioning support device may be understood to be installed at a fixed installation position if (or as long as) the position at which the radio positioning support device is operated (e.g. transmits radio signals, e.g. radio positioning support signals) does not change.
  • Fig. 1 is a block diagram of an exemplary embodiment of an apparatus according to the invention
  • Fig. 2 is a block diagram of an exemplary embodiment of a radio positioning support device according to the invention.
  • Fig. 3 is a block diagram of an exemplary embodiment of a system according to the
  • Fig. 4 is a flow chart illustrating an exemplary embodiment of a method according to the invention.
  • Fig. 5 is a schematic illustration of examples of tangible and non-transitory storage media according to the invention.
  • Fig. 1 is a block diagram of an exemplary embodiment of an apparatus according to the invention.
  • the apparatus is a server 100 for an indoor radio positioning support system.
  • Server 100 comprises a processor 101.
  • Processor 101 may represent a single processor or two or more processors, which are for instance at least partially coupled, for instance via a bus.
  • Processor 101 executes a program code stored in program memory 102 (for instance program code causing server 100 to perform one or more of the embodiments of a method (or parts thereof) according to the invention (as for instance further described below with reference to Fig. 4), when executed on processor 101), and interfaces with a main memory 103.
  • Some or all of memories 102 and 103 may also be included into processor 101.
  • One of or both of memories 102 and 103 may be fixedly connected to processor 101 or at least partially removable from processor 101, for instance in the form of a memory card or stick.
  • Program memory 102 may for instance be a non-volatile memory. It may for instance be a FLASH memory (or a part thereof), any of a ROM, PROM, EPROM, MRAM or a FeRAM (or a part thereof) or a hard disc (or a part thereof), to name but a few examples. Program memory 102 may also comprise an operating system for processor 101. Program memory 102 may for instance comprise a first memory portion that is fixedly installed in server 100 , and a second memory portion that is removable from server 100, for instance in the form of a removable SD memory card.
  • Main memory 103 may for instance be a volatile memory. It may for instance be a DRAM memory, to give non-limiting example. It may for instance be used as a working memory for processor 101 when executing an operating system and/or programs.
  • Processor 101 further controls a communication interface 104 which is for example configured to allow communication according to a 2G/3G/4G/5G cellular communication system and/or a non-cellular communication system, such as for example a WLAN network.
  • a communication interface 104 which is for example configured to allow communication according to a 2G/3G/4G/5G cellular communication system and/or a non-cellular communication system, such as for example a WLAN network.
  • the 2G/3G/4G/5G cellular communication system and/or a non-cellular communication system, such as for example a WLAN network.
  • processor 101 may control a further optional radio interface 105 configured to transmit and/or output data and/or information.
  • radio interface 105 may be configured to transmit radio signals to a beacon (e.g. beacon 200 as described below with respect to Fig. 2).
  • the radio interface 105 may at least comprise a BLE radio interface including at least a BLE transmitter (TX).
  • TX BLE transmitter
  • RX BLE receiver
  • any computer program code based processing required for transmitting (and optionally receiving) BLE signals may be stored in an own memory of the radio interface 105 and executed by an own processor of the radio interface 105 or it may be stored for example in memory 103 and executed for example by processor 101.
  • interface 105 may be additionally or alternatively a network interface configured to transmit network signals via a wired network communication path (e.g. an landline network communication paths) to a beacon.
  • a network interface may be configured to allow communication in an Local Area Network (LAN) like an Ethernet network.
  • LAN Local Area Network
  • Ethernet is for example specified by the standards of the IEEE 802.3 family (http://www.ieee.org/).
  • the components 102 to 105 of serverlOO may for instance be connected with processor 101 by means of one or more serial and/or parallel busses.
  • server 100 may comprise various other components.
  • server 100 may optionally comprise a user interface (e.g. a touch-sensitive display, a keyboard, a touchpad, a display, etc.).
  • a user interface e.g. a touch-sensitive display, a keyboard, a touchpad, a display, etc.
  • Fig. 2 is a block diagram of an exemplary embodiment of a radio positioning support device according to the invention.
  • the radio positioning support device is a beacon 200
  • Beacon 200 comprises a processor 201.
  • Processor 201 may represent a single processor or two or more processors, which are for instance at least partially coupled, for instance via a bus.
  • Processor 201 executes a program code stored in memory 202 (for instance program code causing beacon 200 to perform one or more of the embodiments of a method (or parts thereof) according to the invention (as for instance further described below with reference to Fig. 4).
  • Some or all of memory 202 may also be included into processor 201.
  • Memory 202 may for instance be a volatile or non-volatile memory. It may for instance be a RAM or DRAM memory.
  • Memory 202 may for instance be a FLASH memory (or a part thereof), any of a ROM, PROM, EPROM, EEPROM, MRAM or a FeRAM (or a part thereof) and/or a hard disc (or a part thereof), to name but a few examples. It may for instance be used as a working memory for processor 201 when executing an operating system and/or programs. Memory 202 may also comprise an operating system for processor 201. Memory 202 may for instance comprise a first memory portion that is fixedly installed in beacon 200, and a second memory portion that is removable from beacon 200, for instance in the form of a removable SD memory card.
  • Processor 201 further controls a BLE radio interface 203 configured to receive and/or output data and/or information.
  • BLE radio interface 203 may at least comprise a BLE radio interface including a BLE transmitter (TX) and a BLE receiver (RX). The transmitter and receiver may also be part of a BLE transceiver (TRX).
  • TX BLE transmitter
  • RX BLE receiver
  • TRX BLE transceiver
  • the BLE receiver enables beacon 200 to receive radio signals in line with any current or future version of the Bluetooth standard supporting a low energy mode.
  • the BLE transmitter enables beacon 200 to transmit radio signals in line with any current or future version of the Bluetooth standard supporting a low energy mode.
  • the BLE transmitter may be configured to transmit radio signals [e.g. the radio positioning support signals] according to an adaptable configuration. Therein, such a configuration may be understood to represent (e.g. specify] a radio transmission interval and, optionally, at least one of a radio transmission power and a radio transmission band and a radio transmission channel for transmitting radio signals (e.g. the radio positioning support signals] as disclosed above in more detail.
  • beacon 200 is reconfigurable by adapting the radio transmission interval and, optionally, the at least one of a radio transmission power and a radio transmission band and a radio transmission channel.
  • any computer program code based processing required for receiving and transmitting BLE signals may be stored in an own memory of the BLE radio interface 203 and executed by an own processor of the BLE radio interface 203 or it may be stored for example in memory 202 and executed for example by processor 201.
  • Beacon 200 may be a Bluetooth beacon, a Bluetooth beacon enabling Bluetooth low energy mode, and a Bluetooth low energy beacon. Accordingly, the radio signals transmitted by beacon 200 may be a Bluetooth and/or BLE radio signal (e.g. a periodically transmitted Bluetooth and/or BLE advertisement signal containing and/or representing advertising data].
  • a Bluetooth and/or BLE radio signal e.g. a periodically transmitted Bluetooth and/or BLE advertisement signal containing and/or representing advertising data.
  • beacon 200 may comprise various other components.
  • beacon 200 may additionally comprise a network interface configured to receive network signals via a wired (e.g. a landline] communication path.
  • Fig. 3 is a block diagram of an exemplary embodiment of a system 300 according to the invention.
  • System 300 at least partially illustrates an indoor radio positioning support system of a positioning solution for a predetermined indoor environment such as a building and/or a complex of buildings (e.g. a shopping center, a parking garage, an airport, a stadium, a museum, a company site, a warehouse, etc.].
  • System 300 may for example be in the positioning stage.
  • System 300 comprises beacons 200-1, 200-2 and 200-3 which have been fixedly installed at respective installation positions in the predetermined environment.
  • Beacons 200-to 200-3 may correspond to beacon 200 as described above with respect to Fig. 2.
  • system 300 may comprise further beacons (not shown].
  • beacons 200-1 to 200-3 may be beacons of a plurality of beacons that are installed in the predetermined indoor environment.
  • Beacons 200-1 to 200-3 may for example be adjacent beacons of such a plurality of beacons. Furthermore, beacons 200-1 to 200-3 may be part of or may form a subgroup of the plurality of beacons, for example beacons 200-1 to 200-3 may be part of or may form PAN. In the following, reference is only made to beacons 200-1 to 200-3 without limiting the scope of the invention.
  • system 300 comprises server 100 as described above with respect to Fig. 1.
  • Server 100 may be a management server for the beacon devices 200-1 to 200-3, for example server 100 may be a management server for all beacon devices of the indoor radio positioning support system. Accordingly, server 100 may be configured to communicate at least with beacons 200-1 to 200-3 (e.g. with all beacons of the indoor radio positioning support system).
  • server 100 may not communicate directly with beacons 200-1 to 200-3, but via optional hub 303. It is to be understood that more than a plurality of such optional hubs (not shown) may be installed in the coverage area of system 300.
  • Optional hub 303 may be installed within the coverage area of beacon devices 200-1 to 200-3 and may be configured for Bluetooth communication with beacons 200-1 to 200-3 (e.g. via communication paths 304 to 306) and for communication according to a 2G/3G/4G/5G cellular communication system and/or a WLAN system with server 100 (e.g. via communication paths 307).
  • hub 303 may for example comprise a BLE radio interface (e.g. including a BLE transmitter (TX) and a BLE receiver (RX) or a BLE transceiver (TRX)) and a further 2G/3G/4G/5G and/or WLAN communication interface.
  • beacons 200-1 to 200-3 may periodically transmit status information (e.g.
  • Fig. 3 a wireless communication path (e.g. communication paths of a wireless communication network like a WLAN and/or a Bluetooth network), it is to be understood that the invention is not limited to such wireless communication paths.
  • one or more (e.g. all) of the wireless communication paths may be received by hub 300 (e.g. via communication paths 304 to 306) and forwarded to server 100 (e.g. via communication paths 307).
  • all communication paths in Fig. 3 are shown as wireless communication paths (e.g. communication paths of a wireless communication network like a WLAN and/or a Bluetooth network), it is to be understood that the invention is not limited to such wireless communication paths.
  • Fig. 3 may at least partially be wired communication paths (e.g.
  • hub 303 may be configured to evaluate (e.g. measure or monitor or detect) radio environment parameters that are characteristic or expected to be characteristic for propagation and/or reception of radio signals (e.g. radio positioning support signals) transmitted or triggered to be transmitted by beacons 200-1 to 200-3.
  • radio environment parameters may be the following radio environment parameters:
  • a radio transmitter parameter that is indicative of a number of radio transmitters observable or expected to be observable by the one or more radio positioning support devices of the indoor radio positioning support system
  • a radio positioning support device parameter that is indicative of a number of radio positioning support devices observable or expected to be observable by the one or more radio positioning support devices of the indoor radio positioning support system
  • hub 303 may periodically evaluate one or more of these radio environment parameters and transmit radio environment information representing (e.g. qualitatively or quantitatively representing) the one or more evaluated radio environment parameters to server 100 (e.g. via communication paths 307).
  • radio environment information representing (e.g. qualitatively or quantitatively representing) the one or more evaluated radio environment parameters to server 100 (e.g. via communication paths 307).
  • server 100 may optionally be configured to provide radio maps and indoor positioning services to mobile devices within the coverage area of the indoor radio positioning support system 300 like mobile devices 301 and 302. To this end, server 100 may optionally be configured to communicate with mobile devices 301 and 302 (e.g. by optional communication interface 105).
  • mobile device 301 is carried by a pedestrian; and mobile device 302 is part of a forklift.
  • mobile device 301 is a smartphone and mobile device 302 is a navigation device for installation in a vehicle. It is to be understood that mobile devices 301 and 302 may be part of a plurality of mobile devices (not shown) that are within the within the coverage area of the indoor radio positioning support system 300.
  • beacons 200-1 to 200-3 automatically and repeatedly transmit radio positioning support signals containing positioning support data. Furthermore, beacons 200-1 to 200-3 may transmit the radio positioning support signals with the same adaptable configuration as disclosed above, for example at least with the same radio transmission interval as disclosed above.
  • the positioning support data are for example configured to enable one or more mobile devices (e.g. mobile devices 301 and 302) receiving the radio positioning support signals to estimate their position at least partially based on these positioning support data and a radio map (e.g. a radio map provided by server 100).
  • Bluetooth beacons like indoor radio positioning system 300 may suffer from radio noise (i.e. RF noise).
  • Bluetooth beacons like beacons 200-1 to 200-3 operate in the 2.4-GHz ISM band.
  • many other radio transmitters operate in the same band (e.g. WLAN Access Points, Microwave ovens, Bluetooth and/or WLAN enabled mobile devices, etc.).
  • the multitude of these other radio transmitters e.g. mobile devices
  • the Bluetooth beacons e.g. beacons 200-1 to 200- 3
  • This may be a problem if a minimum quality of positioning service provided by the indoor radio positioning support system needs to be guaranteed, for example for cases of emergency.
  • Fig. 4 is a flow chart 400 illustrating an exemplary embodiment of a method according to the invention. Without limiting the scope of the invention, it is assumed in the following that server 100 of system 300 as described above with respect to Figs. 1 and 3 performs steps 401 to 403 of flow chart 400.
  • radio environment information that are indicative of an radio environment associated with beacons 200-1 to 200-3 of indoor radio positioning support system 300 are determined or received.
  • determining the radio environment information may at least partially performed by evaluating (e.g. measuring or monitoring or detecting) radio environment parameters that are characteristic or expected to be characteristic for propagation and/or reception of radio signals (e.g. radio positioning support signals) transmitted or triggered to be transmitted by the one or more radio positioning support devices.
  • the determined radio environment information may represent (e.g. qualitatively or quantitatively represent) the evaluated radio environment parameters.
  • the determining the radio environment information may be performed according to predefined rules (e.g, a predefined algorithm).
  • Receiving the radio environment information may be understood to mean that the radio environment information is received by communication interface 104.
  • the radio environment information may be at least partially received from hub 303.
  • the radio positioning support mode information may be at least partially received from another entity like mobile devices 301 and 302.
  • the radio environment information is received from hub 303 in step 401 and that the radio environment information represents one or more radio environment parameters which have been evaluated by hub 303 as disclosed in more detail above.
  • the radio environment information may represent at least one of a radio noise parameter, a radio transmitter parameter, a radio positioning support and a population parameter that has been evaluated by hub 303.
  • a step 402 it is determined whether beacons 200-1 to 200-3 are to be reconfigured at least partially based on the radio environment information received or determined in step 401.
  • Determining, at least partially based on the radio environment information, whether beacons 200-1 to 200-3 are to be reconfigured may be understood to mean that the radio environment information is at least partially used for determining whether beacons 200-1 to 200-3 are to be reconfigured.
  • beacons 200-1 to 200-3 are to be reconfigured if the quality of the positioning service (e.g. in terms of positioning accuracy) provided by indoor radio positioning system 300 (e.g. within the coverage area of beacons 200-1 to 200-3) is expected to be lower than a desired minimum quality of the positioning service in view of the radio environment information.
  • the quality of the positioning service e.g. in terms of positioning accuracy
  • the determining in step 402 may be performed based on one or more predefined threshold values.
  • one or more respective (upper and/or lower) threshold values for one or more radio environment parameters may be predefined.
  • a representation of these predefmitions may be stored in memory 102.
  • An example for such a representation or a part of such a representation may be an array, a database or a look-up table.
  • the respective threshold values may be predefined such that it is expected that the quality of the positioning service provided by indoor radio positioning support system 300 is above a desired minimum quality of the positioning service if the current configuration of beacons 200-1 to 200-3 corresponds to the configuration for which the respective threshold values have been predefined and if the one or more radio environment parameters represented by the radio environment information received in step 401 are inside a range defined by these respective threshold values (e.g. lower than an upper threshold value and/or greater than an lower threshold value).
  • beacons 200-1 to 200-3 are to be reconfigured. Otherwise, it may be determined in step 402 that beacons 200-1 to 200-3 are not to be reconfigured.
  • one or more respective upper threshold values may be accordingly predefined.
  • Each of these upper noise threshold values may be predefined for a respective configuration of beacons 200-1 to 200-3 such that a desired minimum reception quality for the radio positioning support signals transmitted or triggered to be transmitted by the accordingly configured beacons 200-1 to 200-3 and, thus, a desired minimum quality of the positioning service provided by indoor radio positioning support system 300 in the coverage area of beacons 200-1 to 200- 3 is expected, if the noise value indicated by the radio noise parameter represented by the radio environment information received in step 401 is lower than or equal to the respective upper noise threshold value.
  • one or more respective upper threshold values may be accordingly predefined, and/or for the above disclosed radio positioning support device parameter one or more respective lower threshold values may be accordingly predefined.
  • a radio transmission interval of beacons 200-1 to 200-3 is adapted or caused to be adapted in a step 403.
  • a radio transmission power of beacons 200-1 to 200-3 may additionally be adapted or caused to be adapted in step 403 if it is determined in step 402 that beacons 200-1 to 200-3 are to be reconfigured.
  • Causing adapting the radio transmission interval of beacons 200-1 to 200-3 may be understood to mean that this adapting is controlled, for example by determining and transmitting control information to beacons 200-1 to 200-3 which are configured to cause beacons 200-1 to 200-3 to adapt their radio transmission interval and, optionally, their radio transmission power.
  • server 100 may transmit corresponding control information to hub 303 in step 403 (e.g. by communication interface 105 via communication paths 307] which may then be forwarded y hub 303 to beacons 200- lto 200-3 (e.g. via communication paths 304 to 306).
  • Adapting the radio transmission interval and, optionally, the radio transmission power in step 403 may be understood to mean that the radio transmission interval and, optionally, the radio transmission power of beacons 200-1 to 200-3 (i.e. with which beacons 200-1 to 200-3 transmit respective radio positioning support signals) are increased or decreased.
  • a new radio transmission interval or an increment or decrement for adapting the radio transmission interval of beacons 200-1 to 200-3 and, optionally, a new radio transmission power or an increment or decrement for adapting the radio transmission power of beacons 200-1 to 200-3, if it is determined that the one or more radio positioning support devices are to be reconfigured, may be predefined.
  • the radio transmission interval of beacons 200-1 to 200-3 may be adapted to this predefined new radio transmission interval by increasing or decreasing the radio transmission interval or may be increased according to this predefined increment or decreased according to this predefined decrement for adapting the radio transmission interval and, optionally, the radio transmission power of beacons 200-1 to 200-3 may be adapted to this predefined new radio transmission power by increasing or decreasing the radio transmission power or may be increased according to this predefined increment or decreased according to this predefined decrement for adapting the radio transmission power.
  • the 2.4-GHz ISM band may host a variety of other radio transmitters. Transmissions from these other radio transmitters may pollute the band so that radio positioning support signals sent by these beacons (e.g. beacons 200-1 to 200-3) get partly buried under the noise or collide with other transmissions and may thus not received by the mobile devices. In this case the quality of positioning services degrades.
  • This problem may however be solved or at least diminished by adapting the radio transmission interval and, optionally, the radio transmission power of beacons 200-1 to 200-3, if it is determined in step 402 that beacons 200-1 to 200-3 are to be reconfigured.
  • increasing the radio transmission power for transmitting the radio positioning support signals may result in an improved signal-to-noise ratio and, thus, an improved reception quality.
  • decreasing the radio transmission interval i.e. transmitting positioning packets with a higher frequency may increase the likelihood of a successful reception.
  • packet or signal loss is a statistical phenomenon which for example means that for a given noise only a certain number of packets or signals is expected to get through (i.e. to be received successfully).
  • Increasing the number of packets or signals is thus expected to proportionally increase the number of packets or signals that are received successfully by the mobile devices to be positioned.
  • Fig. 5 is a schematic illustration of examples of tangible and non-transitory computer-readable storage media according to the present invention that may for instance be used to implement program memory 102 of Fig. 1 or memory 202 of Fig. 2.
  • Fig. 5 displays a flash memory 500, which may for instance be soldered or bonded to a printed circuit board, a solid-state drive 501 comprising a plurality of memory chips (e.g. Flash memory chips), a magnetic hard drive 502, a Secure Digital (SD) card 503, a Universal Serial Bus (USB) memory stick 504, an optical storage medium 505 (such as for instance a CD-ROM or DVD) and a magnetic storage medium 506.
  • SD Secure Digital
  • USB Universal Serial Bus
  • Any presented connection in the described embodiments is to be understood in a way that the involved components are operationally coupled.
  • the connections can be direct or indirect with any number or combination of intervening elements, and there may be merely a functional relationship between the components.
  • Any of the processors mentioned in this text could be a processor of any suitable type.
  • Any processor may comprise but is not limited to one or more microprocessors, one or more processor ⁇ ] with accompanying digital signal processor(s), one or more processors] without accompanying digital signal processor(s), one or more special-purpose computer chips, one or more field-programmable gate arrays (FPGAS), one or more controllers, one or more application-specific integrated circuits (ASICS], or one or more computer(s).
  • FPGAS field-programmable gate arrays
  • ASICS application-specific integrated circuits
  • the relevant structure/hardware has been programmed in such a way to carry out the described function.
  • any of the actions described or illustrated herein may be implemented using executable instructions in a general-purpose or special-purpose processor and stored on a computer-readable storage medium (e.g., disk, memory, or the like] to be executed by such a processor.
  • a computer-readable storage medium e.g., disk, memory, or the like
  • References to 'computer-readable storage medium’ should be understood to encompass specialized circuits such as FPGAs, ASICs, signal processing devices, and other devices.
  • A, or B, or C, or a combination thereof’ or "at least one of A, B and C” may be understood to be not exhaustive and to include at least the following: (i] A, or (ii] B, or (iii] C, or (iv] A and B, or [v]

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

Abstract

Entre autres, l'invention concerne un procédé de reconfiguration d'un ou plusieurs dispositifs de support de positionnement radio (200-1, 200-2, 200-3) d'un système de support de positionnement radio intérieur (300), ledit procédé comprenant : la réception ou la détermination (401) d'informations d'environnement radio qui indiquent un environnement radio associé audit ou auxdits dispositifs de support de positionnement radio (200-1, 200-2, 200-3) dudit système de support de positionnement radio intérieur (300) ; la détermination (402) du fait que ledit ou lesdits dispositifs de support de positionnement radio (200-1, 200-2, 200-3) doivent être reconfigurés au moins en partie sur la base desdites informations d'environnement radio reçues ou déterminées ; et - s'il est déterminé que ledit ou lesdits dispositifs de support de positionnement radio (200-1, 200-2, 200-3) doivent être reconfigurés, l'adaptation ou le fait de provoquer l'adaptation (403) d'un intervalle de transmission radio dudit ou desdits dispositifs de support de positionnement radio (200-1, 200-2, 200-3).
PCT/EP2017/081862 2017-12-07 2017-12-07 Reconfiguration d'un système de support de positionnement radio intérieur sur la base d'informations d'environnement radio WO2019110107A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/EP2017/081862 WO2019110107A1 (fr) 2017-12-07 2017-12-07 Reconfiguration d'un système de support de positionnement radio intérieur sur la base d'informations d'environnement radio
EP17816645.0A EP3721247A1 (fr) 2017-12-07 2017-12-07 Reconfiguration d'un système de support de positionnement radio intérieur sur la base d'informations d'environnement radio

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PCT/EP2017/081862 WO2019110107A1 (fr) 2017-12-07 2017-12-07 Reconfiguration d'un système de support de positionnement radio intérieur sur la base d'informations d'environnement radio

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2631665A2 (fr) * 2012-02-24 2013-08-28 Broadcom Corporation Balise de localisation à faible puissance
WO2016073215A1 (fr) * 2014-11-05 2016-05-12 Beco, Inc. Système et procédés pour positionnement intérieur activé par de la lumière et établissement de rapports
EP3062122A1 (fr) * 2015-02-25 2016-08-31 Ricoh Company, Ltd. Appareil de transmission d'informations de localisation
WO2017000978A1 (fr) * 2015-06-29 2017-01-05 Here Global B.V. Support de configuration de dispositif
US20170160375A1 (en) * 2014-06-24 2017-06-08 Here Global B.V. Estimation of a level for an observation data set

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2631665A2 (fr) * 2012-02-24 2013-08-28 Broadcom Corporation Balise de localisation à faible puissance
US20170160375A1 (en) * 2014-06-24 2017-06-08 Here Global B.V. Estimation of a level for an observation data set
WO2016073215A1 (fr) * 2014-11-05 2016-05-12 Beco, Inc. Système et procédés pour positionnement intérieur activé par de la lumière et établissement de rapports
EP3062122A1 (fr) * 2015-02-25 2016-08-31 Ricoh Company, Ltd. Appareil de transmission d'informations de localisation
WO2017000978A1 (fr) * 2015-06-29 2017-01-05 Here Global B.V. Support de configuration de dispositif

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