WO2019239365A4 - System and method for position and orientation tracking of multiple mobile devices - Google Patents
System and method for position and orientation tracking of multiple mobile devices Download PDFInfo
- Publication number
- WO2019239365A4 WO2019239365A4 PCT/IB2019/054944 IB2019054944W WO2019239365A4 WO 2019239365 A4 WO2019239365 A4 WO 2019239365A4 IB 2019054944 W IB2019054944 W IB 2019054944W WO 2019239365 A4 WO2019239365 A4 WO 2019239365A4
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- wireless receiver
- receiver
- orientation
- wireless
- angular velocity
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
- G01C21/1654—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with electromagnetic compass
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/026—Services making use of location information using location based information parameters using orientation information, e.g. compass
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
- G01C21/1656—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with passive imaging devices, e.g. cameras
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Electromagnetism (AREA)
- Gyroscopes (AREA)
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
One or more systems and methods are provided for performing estimation of position and orientation (localization) of an object using wireless signals. This localization can be done either with sensors already built into the device or via a module installed onto the object. The method further includes obtaining a channel state information (610) from a wireless receiver (1204) and obtaining an angular velocity (608) from an inertial measurement unit. Further, the data between the inertial sensor (602) and the wireless sensor (606) is fused by maximum likelihood, expectation maximization and other such variants to perform Angles of Arrival (AoAs) and Times of Flight (ToFs) estimation on the wireless receiver. The orientation can be estimated by combining the estimates from gyroscope (1104) with these estimated AoAs and with accelerometer (1106) and magnetic sensor (604) inputs, making the orientation estimation driftless. Once the estimations are calculated, the values can be used to perform displacement calculations and these calculated displacements can be used for tracking of the wireless receiver.
Claims
1. A method for position and orientation tracking of one or more objects, said method comprising:
obtaining, by a wireless sensor (606), a channel state information (610) on a wireless receiver (1204), wherein the wireless receiver (1204) includes static receiver, a rotating receiver, a vibrating receiver, a moving receiver and the like;
obtaining, by an inertial sensor (602) and/or a magnetic sensor (604), an angular velocity (608) from an inertial measurement unit, wherein the inertial measurement unit includes accelerometer ( 1106), gyroscope ( 1104), magnetometer and the like;
fusing, by a minimization module (612), the data of the channel state information (610) with the angular velocity (608);
determining, by the minimization module (612), a plurality of angles of arrival and a plurality of times of flight (614) of a plurality of electromagnetic signals arriving at the wireless receiver;
tracking, by a tracking module (1100), orientation of the wireless receiver by combining the determined angles of arrival and the obtained angular velocity (608) with the gyroscope input (1104);
performing, by the tracking module (1100), displacement calculation with the tracked orientation; and
tracking, by the tracking module (1100), position of the wireless receiver with the calculated displacement. 2. The method as claimed in claim 1, wherein the tracking step further comprises implementing simultaneous localization and mapping (SLAM) technique for creating and using a map of estimated parameters such as angles of arrivals, phase and/or amplitude of complex amplitudes of incoming wireless signals and magnetic field data, to determine absolute position of the wireless receiver (1204).
2
3. The method as claimed in claim 1, further comprises:
determining, by a transmitter (1202), an angle of departure at the transmitter;
comparing, by the tracking module (1100), the angle of departure and the angles of arrival for determining the absolute orientation of the wireless receiver (1204).
4. The method as claimed in claim 1, wherein the tracking module (1100) further comprises calculating a change in phase of complex amplitudes of the electromagnetic signals occurring between the reception of consecutive data packets arriving at the wireless receiver (1204), wherein the change in phase is related to the displacement (912) of the wireless receiver (1204).
5. The method as claimed in claim 4, wherein the tracking module (1100) further comprises analyzing said change in phase of complex amplitudes of incoming wireless signals between reception of consecutive data packets and change in orientation for performing localization.
6. The method as claimed in claim 1, wherein fusing, by the minimization module (612), the data of the channel state information (610) with the angular velocity (608) takes place via maximum likelihood, expectation maximization and other such variants.
7. The method as claimed in claim 1, wherein the angular velocity (608) is measured by the gyroscope (1104) with the additional input from the magnetic sensor (604) and/or the accelerometer (1106).
8. The method as claimed in claim 1, wherein the angular velocity (608) and/or displacements (912) are measured by a camera with the additional input from the inertial sensor (602) and /or the magnetic sensor (604) .
3
9. A system for position and orientation tracking of one or more objects, said system comprises:
a wireless sensor (606) configured to obtain a channel state information (610) on a wireless receiver (1204), wherein the wireless receiver (1204) includes static receiver, a rotating receiver, a vibrating receiver, a moving receiver and the like;
an inertial sensor (602) and/or a magnetic sensor (604) configured to obtain an angular velocity (608) from an inertial measurement unit, wherein the inertial measurement unit includes accelerometer (1106), gyroscope (1104), magnetometer and the like;
a minimization module (612) configured to:
fuse the data of the channel state information (610) with the angular velocity (608);
determine a plurality of angles of arrival and times of flight (614) of a plurality of electromagnetic signals arriving at the wireless receiver (1204);
a tracking module (1100) configured to:
track orientation of the wireless receiver (1204) by combining the determined angles of arrival and the obtained angular velocity (608) with the gyroscope input (1104);
perform displacement calculation with the tracked orientation; and
track position of the wireless receiver (1204) with the calculated displacement.
10. The system as claimed in claim 9, wherein the tracking module (1100) is further configured to implement technique of simultaneous localization and mapping (SLAM) to create and use a map of estimated parameters such as angles of arrivals, phase and/or amplitude of complex amplitudes of incoming wireless signals and magnetic field data, to determine absolute position of the wireless receiver (1204).
4
11. The system as claimed in claim 9, further comprises:
a transmitter (1202) is configured to determine an angle of departure at the transmitter (1202); and
the tracking module (1100) is configured to compare the angle of departure and the angles of arrival to determine the absolute orientation of the wireless receiver (1204).
12. The system as claimed in claim 9, wherein the tracking module (1100) is further configured to calculate a change in phase of the complex amplitudes of electromagnetic signals occurring between the reception of consecutive data packets arriving at the wireless receiver (1204), wherein the change in phase is related to the displacement (912) of the wireless receiver.
13. The system as claimed in claim 12, wherein the tracking module (1100) is configured to analyze the change in phase of complex amplitudes of incoming wireless signals and change in orientation of receiver, between reception of consecutive data packets to perform localization.
14. The system as claimed in claim 9, wherein the gyroscope (1104) is configured to measure the angular velocity (608) with the additional input from the magnetic sensor (604) and/or the accelerometer (1106).
15. The system as claimed in claim 9, wherein a camera is configured to measure the angular velocity (608) and displacements (912) with the additional input from the accelerometer (1106) and/or the magnetic sensor (604).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| IN201821022131 | 2018-06-13 | ||
| IN201821022131 | 2018-06-13 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| WO2019239365A1 WO2019239365A1 (en) | 2019-12-19 |
| WO2019239365A4 true WO2019239365A4 (en) | 2020-03-05 |
Family
ID=68843042
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/IB2019/054944 WO2019239365A1 (en) | 2018-06-13 | 2019-06-13 | System and method for position and orientation tracking of multiple mobile devices |
Country Status (1)
| Country | Link |
|---|---|
| WO (1) | WO2019239365A1 (en) |
Families Citing this family (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE112021000822T5 (en) * | 2020-01-31 | 2022-11-10 | 7hugs Labs SAS | SENSOR FUSION FOR FLAT POINTING DEVICE |
| CN111708008B (en) * | 2020-05-08 | 2022-08-05 | 南京工程学院 | Underwater robot single-beacon navigation method based on IMU and TOF |
| US20210349177A1 (en) * | 2020-05-08 | 2021-11-11 | 7hugs Labs SAS | Low profile pointing device |
| JP2022028544A (en) * | 2020-08-03 | 2022-02-16 | 京セラ株式会社 | Electronic apparatus |
| US11233544B1 (en) * | 2020-08-17 | 2022-01-25 | Qualcomm Incorporated | Methods and apparatus for multipath improvements using multiple antennas |
| CN112179332A (en) * | 2020-09-30 | 2021-01-05 | 劢微机器人科技(深圳)有限公司 | Hybrid positioning method and system for unmanned forklift |
| CN114543844B (en) * | 2021-04-09 | 2024-05-03 | 恒玄科技(上海)股份有限公司 | Audio playing processing method and device of wireless audio equipment and wireless audio equipment |
| CN113219447A (en) * | 2021-04-09 | 2021-08-06 | 国电南瑞科技股份有限公司 | Power transmission line distance stability measuring method based on millimeter wave array |
| US20230003863A1 (en) * | 2021-07-01 | 2023-01-05 | SWORD Health S.A. | Assessment of position of motion trackers on a subject based on wireless communications |
| CN114509069B (en) * | 2022-01-25 | 2023-11-28 | 南昌大学 | Indoor navigation positioning system based on Bluetooth AOA and IMU fusion |
| WO2023184538A1 (en) * | 2022-04-02 | 2023-10-05 | Oppo广东移动通信有限公司 | Information processing method, and device |
| CN114938490B (en) * | 2022-05-16 | 2024-04-09 | 中国联合网络通信集团有限公司 | Terminal positioning method, device and storage medium |
| US20230392955A1 (en) * | 2022-06-03 | 2023-12-07 | Sword Health, S.A. | Gyroscope drift estimation and compensation with angle of arrival of electromagnetic waves |
| CN115334448B (en) * | 2022-08-15 | 2024-03-15 | 重庆大学 | Accurate dynamic positioning method of unmanned self-following device based on Bluetooth and inertial sensor |
| CN116761253B (en) * | 2023-08-17 | 2023-10-20 | 湘江实验室 | UWB weighted positioning method based on triangular area |
-
2019
- 2019-06-13 WO PCT/IB2019/054944 patent/WO2019239365A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| WO2019239365A1 (en) | 2019-12-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2019239365A4 (en) | System and method for position and orientation tracking of multiple mobile devices | |
| Hol et al. | Tightly coupled UWB/IMU pose estimation | |
| US8203487B2 (en) | Tightly coupled UWB/IMU pose estimation system and method | |
| US7970491B2 (en) | Robot localization system | |
| CN105652306A (en) | Dead reckoning-based low-cost Big Dipper and MEMS tight-coupling positioning system and method | |
| US20200217921A1 (en) | Method for determining the position of an object and system employing same | |
| Zwirello et al. | Sensor data fusion in UWB-supported inertial navigation systems for indoor navigation | |
| KR20100131682A (en) | Method and device for measuring location, and moving object | |
| KR101908534B1 (en) | Apparatus and method for determining position and attitude of a vehicle | |
| Ens et al. | Unsynchronized ultrasound system for TDOA localization | |
| WO2015086062A1 (en) | Method for positioning humans and devices in underground environments | |
| CN108871325B (en) | A kind of WiFi/MEMS combination indoor orientation method based on two layers of Extended Kalman filter | |
| Huang et al. | Smartphone-based indoor position and orientation tracking fusing inertial and magnetic sensing | |
| Tarrío et al. | Fusion of RSS and inertial measurements for calibration-free indoor pedestrian tracking | |
| KR100896320B1 (en) | Device and method for purchasing location | |
| Chiang et al. | Pedestrian tracking by acoustic Doppler effects | |
| WO2020030966A1 (en) | Methods and systems for estimating the orientation of an object | |
| Chen et al. | TDOA/FDOA mobile target localization and tracking with adaptive extended Kalman filter | |
| CN110658515A (en) | Multi-user IMU positioning and aligning method based on UWB single base station | |
| Lategahn et al. | Robust pedestrian localization in indoor environments with an IMU aided TDoA system | |
| Lategahn et al. | Extended Kalman filter for a low cost TDoA/IMU pedestrian localization system | |
| CN108332749B (en) | Indoor dynamic tracking and positioning method | |
| KR20160089039A (en) | Method of location detecting by movable beacons | |
| KR101478642B1 (en) | System for localizing signal source and method thereof | |
| Wei et al. | iMag+: An accurate and rapidly deployable inertial magneto-inductive SLAM system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 19819470 Country of ref document: EP Kind code of ref document: A1 |
|
| NENP | Non-entry into the national phase |
Ref country code: DE |
|
| 122 | Ep: pct application non-entry in european phase |
Ref document number: 19819470 Country of ref document: EP Kind code of ref document: A1 |