WO2021096348A1 - A system and method for object tracking - Google Patents

A system and method for object tracking Download PDF

Info

Publication number
WO2021096348A1
WO2021096348A1 PCT/MY2020/050102 MY2020050102W WO2021096348A1 WO 2021096348 A1 WO2021096348 A1 WO 2021096348A1 MY 2020050102 W MY2020050102 W MY 2020050102W WO 2021096348 A1 WO2021096348 A1 WO 2021096348A1
Authority
WO
WIPO (PCT)
Prior art keywords
signal
fingerprint
emitter
database
radio
Prior art date
Application number
PCT/MY2020/050102
Other languages
French (fr)
Inventor
Heng Tze Chieng
Kee Ngoh Ting
Putri Shahnim BINTI KHALID
Mohamad Yusri BIN MOHAMAD YUSOF
Original Assignee
Mimos Berhad
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 Mimos Berhad filed Critical Mimos Berhad
Publication of WO2021096348A1 publication Critical patent/WO2021096348A1/en

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—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
    • G01S5/02523—Details of interaction of receiver with 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
    • 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
    • G01S5/02525—Gathering the radio frequency fingerprints
    • G01S5/02526—Gathering the radio frequency fingerprints using non-dedicated equipment, e.g. user equipment or crowd-sourcing

Definitions

  • the present invention relates to a system and method for object tracking. More specifically, the present invention relates to a system and method for object tracking using radio signal.
  • Radio tracking is a type of positioning system using radio frequency. Radio tracking is often used to determine the location of various inanimate or animate objects.
  • One of the solutions for radio tracking is by tagging an object that a user wants to track with a tag. Usually, this tag is a radio transmitter which can be detected by a radio receiver.
  • the information that the user may receive from the tag is the signal strength of a radio signal, which can be used to estimate the direction and distance of the tag from the radio receiver.
  • the signal strength received by one radio receiver is not practical especially in a building. The presence of walls and furniture disturb and alter the signal strength of the radio signal. As a result, it is difficult to estimate the location of a tagged object with good accuracy.
  • a positioning system utilising a plurality of transmitters and emitters was developed by Dong, Mengjiao, and Wenjuan (2017).
  • the system utilises wireless signal pattern matching, also known as signal fingerprinting, to determine the location of an object.
  • a map of signal strength received by the mobile receiver from the plurality of fixed emitters is produced by associating the signal strength of each emitter with a known coordinate of the receiver during the time the fixed emitters emit a radio signal.
  • the map of signal strength is populated with signal strength measurements from a plurality of coordinates.
  • the location of the receiver is estimated by matching the signal strength received by the receiver with the map of signal strength.
  • the location on the map with similar signal strength received by the receiver is estimated to be the most likely position of the receiver.
  • a United States Patent Publication No. 2005/0261004 A1 disclosed a system for estimating the location of wireless nodes in a radio frequency environment.
  • the system comprises a plurality of radio transceivers which transmit and receive radio signal and a wireless node which only receives radio signal.
  • the system constructs a coverage map.
  • the coverage map is constructed by associating the signal strength with the location data of the wireless node.
  • the location of a wireless node is determined by matching the signal strength received by the wireless node with the coverage map.
  • the invention relates to a system (1000) and method for object tracking.
  • the system (1000) comprising at least one emitter (1001) configured to emit radio signal, a plurality of listeners (1002) configured to receive the radio signal from the at least one emitter (1001), a Signal Harvester (1003) configured to assign a timestamp to radio signal data, a Signal Batcher (1005) configured to convert the radio signal data into time batch data, an Offline Fingerprint Database (1008) configured to store signal fingerprint for the at least one emitter (1001) tagged with location data, an Online Fingerprint Database (1009) configured to store signal fingerprint for the at least one emitter (1001), and a Signal Fingerprint Matcher (1010) configured to compare signal fingerprint from the Online Fingerprint Database (1009) with signal fingerprint from the Offline Fingerprint Database (1008).
  • the system (1000) further comprising a Signal Fingerprint Generator (1007) configured to generate a signal fingerprint for the at least one emitter (1001 ) by compiling radio signal received by the plurality of listeners (1002) from the at least one emitter (1001) based on detection of a predetermined number of emitters (1001) within a predefined period with a predetermined signal strength value by the plurality of listeners (1002).
  • the Signal Fingerprint Generator (1007) is connected to the Offline Fingerprint Database (1008) and the Online Fingerprint Database (1009).
  • the Signal Flarvester (1003) is connected to the plurality of listeners (1002).
  • the Signal Fingerprint Matcher (1010) is connected to the Offline Fingerprint Database (1008) and the Online Fingerprint Database (1009)
  • the signal strength values include maximum, mean, minimum and standard deviation values of the signal strength.
  • the system (1000) further comprising a time-series signal database (1004) configured to store the time-series data from the Signal Flarvester (1003).
  • the time-series database (1004) is connected to the Signal Flarvester (1003) and the Signal Batcher (1005).
  • the system (1000) further comprising a time batch signal database (1006) configured to store the time batch data.
  • the time batch signal database (1006) is connected to the Signal Batcher (1005) and the Signal Fingerprint Generator (1007).
  • the system (1000) further comprising a location database (1011) configured to store the coordinates of the at least one emitter (1001) being located.
  • the location database (1010) is connected to the Signal Fingerprint Matcher (1010).
  • the method for object tracking comprising the steps of emitting radio signal by at least one emitter (1001), receiving a radio signal from the at least one emitter (1001) by a plurality of listener (1002), acquiring radio signal data from the plurality of listeners (1002) by a Signal Flarvester (1003), assigning a timestamp to the radio signal data by the Signal Flarvester (1003), storing the radio signal data from the Signal Flarvester (1003) on a Time-Series Signal Database (1004), converting radio signal data into time batch signal data by a Signal Batcher (1005), storing time batch signal data on a Time Batch Signal Database (1006), generating a signal fingerprint by the Signal Fingerprint Generator (1007), determining the operation mode of the system by a Signal Fingerprint Generator (1000), storing the signal fingerprint with location tag on an Offline Fingerprint Database (1008) if the system is in calibration mode, storing the signal fingerprint on an Online Fingerprint Database (1009) if the system (1000) is in tracking mode, comparing signal fingerprint from the Online Finger
  • the step of generating the signal fingerprint by the Signal Fingerprint Generator (1007) further comprises the sub-steps of filtering the radio signals received by the plurality of listeners (1002) based on the number of unique emitters detected by each listener (1002) within a predefined period, filtering the radio signals received by the plurality of listeners (1002) based on a predetermined signal strength values of the radio signal from the emitter (1001) received by the listeners (1002), and converting the time batch signal data from emitter-per-listener to listener-per-emitter.
  • the radio signals received by the plurality of listeners (1002) from the emitters (1001) within the predefined period are filtered out.
  • any particular listener (1002) receives at least one radio signal with a signal strength of less than predetermined signal strength values, all radio signals received by the particular listener (1002) are filtered out.
  • the signal strength values include maximum, mean, minimum and standard deviation values of the signal strength.
  • FIG. 1 illustrates a system (1000) for object tracking according to an embodiment of the present invention.
  • FIGS. 2a and 2b illustrate flow charts of a method for object tracking according to an embodiment of the present invention.
  • FIG. 3 illustrates a flow chart of sub-steps of generating fingerprint data by a Signal Fingerprint Generator (1007) of the method of FIGS. 2a and 2b.
  • FIG. 1 illustrates a system (1000) for object tracking according to an embodiment of the present invention.
  • the system (1000) comprises at least one emitter (1001), a plurality of listeners (1002), a Signal Harvester (1003), a Time Series Signal Database (1004), a Signal Batcher (1005), a Time Batch Signal Database (1006), a Signal Fingerprint Generator (1007), an Offline Fingerprint Database (1008), an Online Fingerprint Database (1009), a Signal Fingerprint Matcher (1010), and a Location Database (1011).
  • the system (1000) utilises the emitter (1001) and the listeners (1002) to build a radio signal map of an area in a calibration stage.
  • the system (1000) utilises the radio signal map to predict the location of the emitter (1001).
  • the system (1000) may be implemented using various wireless technology including but not limited to Wi-Fi, Bluetooth Low Energy, Ultra-wideband, and Radio Frequency Identification.
  • the emitter (1001) emits a radio signal.
  • the radio signal carries identification information of the emitter (1001).
  • the identification information includes but not limited to a hardware identification number and MAC address.
  • the emitter (1001) is either powered by a battery or passively powered.
  • the emitter (1001) is attached to an object that is being tracked.
  • the listeners (1002) receive the radio signal emitted by the emitter (1001).
  • the listeners (1002) are always powered on to be able to receive the radio signal periodically emitted by the emitter (1001).
  • Each listener (1002) is placed on a fixed location within an area of interest.
  • the area of interest is an area within the range of the at least one listener (1002).
  • the object attached with the emitter (1001) is expected to be only within the area of interest.
  • the listeners (1002) are electrically connected to the Signal Harvester (1003).
  • the listeners (1002) convert the radio signal into an electrical signal and transmits the electrical signal to the Signal Harvester (1003).
  • the Signal Harvester (1003) is configured to receive the electrical signal from the listeners (1002).
  • the Signal Harvester (1003) interprets the electrical signal into the identification information of the emitter (1001).
  • the Signal Harvester (1003) assigns the identification information of the emitter (1001 ) with a timestamp which indicates the time of receipt of the identification information.
  • the Signal Harvester (1003) also measures a signal strength of the radio signal.
  • the signal strength of the radio signal is preferably quantified as Received Signal Strength Indicator, RSSI.
  • the Signal Harvester (1003) is connected to the Time Series Signal Database (1004).
  • the Signal Harvester (1003) stores the identification information and the signal strength of the emitter (1001) inside the Time Series Signal Database (1004).
  • the Signal Harvester (1003) compiles the identification information and the signal strength of each emitter (1001) in an emitter-per-listener format.
  • the identification information and the signal strength from a plurality of emitters (1001) received by a listener (1002) are compiled.
  • the identification information and the signal strength of each emitter (1001) are compiled and separated based on the timestamp of the identification information.
  • the Time Series Signal Database (1004) stores the identification information and the signal strength of the emitter (1001) which has been assigned with the timestamp.
  • the Time Series Signal Database (1004) is connected to the Signal Batcher (1005).
  • the Signal Batcher (1005) retrieves the identification information and the signal strength of each emitter (1001) from the Time Series Signal Database (1004).
  • the Signal Batcher (1005) runs statistical analysis on the signal strength of each emitter (1001) for some predetermined periods, for example, 30 seconds, 1 minute, or 5 minutes.
  • the statistical analysis produces information including but not limited to a maximum, a minimum, a mean, and a standard deviation value of the signal strength of each emitter (1001) detected by each listener (1002) within the predetermined period.
  • Each information within the predetermined period is called a time batch data.
  • the Signal Batcher (1005) is connected to the Time Batch Signal Database (1006).
  • the time batch data in the Time Batch Signal Database (1006) is stored in the emitter- per-listener format.
  • the time batch data is compiled according to the time period assigned for each time batch data. For example, all time batch data collected over a period of 30 seconds are separated from time batch data collected over a period of 1 minute.
  • the Time Batch Signal Database (1006) stores the time batch data produced by the Signal Batcher (1005).
  • the Time Batch Signal Database (1006) is connected to the Signal Fingerprint Generator (1007).
  • the Signal Fingerprint Generator (1007) retrieves time batch data from the Time Batch Signal Database (1006) to generate a signal fingerprint for each emitter (1001).
  • the signal fingerprint is a signal strength value received by a plurality of listeners (1002) for an emitter (1001).
  • the signal fingerprint for the emitter (1001) comprises the mean, maximum, minimum and standard deviation value of the signal strength received by the listeners (1002).
  • the mean, maximum, minimum and standard deviation value of the signal strength received by each listener (1002) is compiled. This compilation of signal strength information collected by the listeners (1002) is assigned as the signal fingerprint for the emitter (1001) for a similar time period.
  • the Signal Fingerprint Generator (1007) compiles radio signals received by the listener (1002) only if the listener (1002) receives a radio signal from a predetermined minimum number of emitters (1001) within a predefined period.
  • the radio signals received by each listener (1002) are stored as time batch data, whereby the radio signals that are received within the predefined period are compiled together. For example, all radio signals received over a period of 30 seconds are compiled in a group, while the radio signals received over the next 30 seconds are compiled in another group.
  • the radio signals received by the listener (1002) from the emitters (1001 ) for the predefined period are not compiled. For example, assuming the predetermined number of unique emitters (1001 ) is 2, the radio signals received by the listener (1002) from only one emitter (1001) during the 30 seconds period are not compiled.
  • the value of the predetermined number of unique emitter affects the performance of the system (1000).
  • a higher value of the predetermined number of unique emitters (1001) may reduce computation time but results in reduced accuracy of positioning.
  • a lower value of the predetermined number of unique emitters (1001) may increase positioning accuracy at the expense of higher computational load.
  • the Signal Fingerprint Generator (1007) also compiles radio signal received by the listener (1002) only if the listener (1002) receives a radio signal of a predetermined mean, maximum, minimum, and standard deviation value of signal strength from the emitter (1001). For example, if a predetermined mean value of signal strength of a radio signal is -50 dBm, the Signal Fingerprint Generator (1007) only compiles the radio signal received by the listeners (1002) with a mean value of signal strength of at least -50 dBm.
  • the Signal Fingerprint Generator (1007) transforms the time batch data from the emitter-per-listener format into a listener-per-emitter format.
  • the identification information and the signal strength from the emitter (1001) received by the plurality of listeners (1002) are compiled.
  • a compilation of maximum, minimum, mean, and standard deviation values of signal strength is unique to an emitter (1001) at a distinct location for a distinct period. The compilation is used as a signal fingerprint for the emitter (1001).
  • the Signal Fingerprint Generator (1007) also collects other information such as the listener (1002) that measures the highest signal strength from the emitter (1001) and the last listener (1002) that receives the radio signal from the emitter (1001). The information allows the system (1000) to infer an approximate location before a more accurate location is pinpointed.
  • the Signal Fingerprint Generator (1007) is connected to the Offline Fingerprint Database (1008) and the Online Fingerprint Database (1009). If the system (1000) is set up for calibration mode, the signal fingerprint for the emitter (1001) is tagged with a known location of the emitter (1001), preferably with a 3-dimensional Cartesian coordinate and is stored in the Offline Fingerprint Database (1008). In contrast, if the system (1000) is set up for tracking mode, the signal fingerprint for the emitter (1001) is stored in the Online Fingerprint Database (1009).
  • the Signal Fingerprint Matcher (1010) compares a signal fingerprint from the Online Fingerprint Database (1009) with the signal fingerprints from the Offline Fingerprint Database (1008).
  • the signal fingerprint from the Offline Fingerprint Database (1008) which has the best or closest match to the Online Fingerprint Database (1009) is regarded as having the same position as the detected emitter (1001).
  • the matching process uses an algorithm such as but not limited to k-nearest neighbour, Bayesian Classifier, Support Vector Machine, and Deep Learning for matching the signal fingerprints.
  • the Signal Fingerprint Matcher (1010) is connected to the Location Database (1011).
  • the Location Database (1011) stores the location of a detected emitter (1001).
  • the Location Database (1011) allows the user to identify the last known location of the emitter (1001).
  • FIGS. 2a and 2b illustrate flow charts of a method for tracking an object according to an embodiment of the present invention.
  • the radio signal is emitted periodically by the emitter (1001) as in step 2001.
  • the radio signal carries the identification information of the emitter (1001).
  • the identification information includes but not limited to the hardware identification number and MAC address.
  • the radio signal is received by the listeners (1002) as in step 2002.
  • the listener (1002) converts the radio signal into the electrical signal.
  • the electrical signal from the listeners (1002) is acquired by the Signal Flarvester (1003) as in step 2003.
  • the Signal Flarvester (1003) interprets the electrical signal into the identification information of the emitter (1001).
  • the identification information of the emitter (1001) is then assigned with a timestamp as in step 2004.
  • the timestamp indicates the time of receipt of the identification information by the Signal Flarvester (1003).
  • the Signal Flarvester (1003) also measures a signal strength of the radio signal.
  • the Signal Harvester (1003) compiles the identification information and the signal strength of each emitter (1001) in an emitter-per-listener format. In the emitter-per-listener format, the identification information and the signal strength from a plurality of emitters (1001) received by a listener (1002) are compiled. For each listener (1002), the identification information and the signal strength of each emitter (1001) are compiled and separated based on the timestamp of the identification information.
  • the identification information and the signal strength of the emitter (1001) is stored inside the Time Series Signal Database (1003) as in step 2005. If there is more than one emitter (1001), the Signal Harvester (1004) compiles the identification information and the signal strength of each emitter (1001) with respect to the receiving listener (1002) inside the Time Series Signal Database (1004).
  • the identification information and the signal strength of the emitter (1001) are then converted into time batches by the Signal Batcher (1005) as in step 2006.
  • the Signal Batcher (1005) runs statistical analysis on the signal strength of each emitter (1001) for some predetermined periods of time, for example, 30 seconds, 1 minute, or 5 minutes.
  • the statistical analysis produces information including but not limited to a maximum, a minimum, a mean, and a standard deviation value of the signal strength of each emitter (1001) detected by each listener (1002) within the predetermined period.
  • Each information within the predetermined period is called a time batch data.
  • the time batch data stored in the Time Batch Signal Database (1006) is grouped according to the time period assigned for each time batch data.
  • the time batch data in the Time Batch Signal Database (1006) is stored in the emitter-per- listener format.
  • the time batch data is compiled according to the time period assigned for each time batch data. For example, all time batch data collected over a period of 30 seconds are assigned in a group, while time batch data collected over a period of 1 minute are assigned in another group.
  • the signal fingerprint is generated by the Signal Fingerprint Generator (1007) as in step 2008.
  • the signal fingerprint comprises the mean, maximum, minimum and standard deviation value of the signal strength received by the listeners (1002) for each emitter (1001).
  • the sub-steps for generating signal fingerprint by a Signal Fingerprint Generator (1007) are further explained in relation to
  • the Signal Fingerprint Generator (1007) determines the operation mode of the system as in decision 2009. There are two modes of operation, which are calibration mode and tracking mode. If the system (1000) is set up for calibration mode, the signal fingerprint for the emitter (1001) is tagged with the known location of the emitter (1001), preferably with a 3-dimensional Cartesian coordinate. The tagged signal fingerprint is then stored in the Offline Fingerprint Database (1008) as in step 2010a.
  • the signal fingerprint for the emitter (1001) is directly stored in the Online Fingerprint Database (1009) without any tagging as in step 2010b.
  • the signal fingerprint from the Online Fingerprint Database (1009) is compared with the signal fingerprint from the Offline Fingerprint Database (1010) by the Signal Fingerprint Matcher as in step 2011.
  • the coordinates of the emitter (1001) are then stored in the Location Database (1011) as in step 2012.
  • the user is able to identify the last known position of the emitter (1001) by referring to the Location Database (1011).
  • FIG. 3 illustrates a flow chart of sub-steps of generating a signal fingerprint by the Signal Fingerprint Generator (1007) of the method of FIG. 2a and 2b.
  • the radio signals received by the plurality of listeners (1002) are filtered based on the number of unique emitters detected by each listener (1002) within a predefined period as in sub-step 2101.
  • the radio signals received by each listener (1002) are stored as time batch data, whereby the radio signals that are received within the predefined period are compiled together. For example, all radio signals received over a period of 30 seconds are compiled in a group, while the radio signals received over the next 30 seconds are compiled in another group.
  • the radio signals received by the listener (1002) from the emitters (1001) for the predefined period are filtered out. For example, assuming the predetermined number of unique emitters (1001) is 2, the radio signals received by the listener (1002) from only one emitter (1001) during the 30 seconds period are filtered out.
  • the radio signals received by the listeners (1002) are filtered based on the signal strength of the emitters (1001) received by the listeners (1002) as in step 2102. If any particular listener (1002) receives at least one radio signal with a signal strength of less than predetermined mean, maximum, minimum, and standard deviation values of signal strength, all radio signals received by the particular listener (1002) are filtered out. For example, if the predetermined mean value of signal strength of the radio signal is -50 dBm, the Signal Fingerprint Generator (1007) filters out the radio signals received by the listeners (1002) which receives any radio signal with mean values of signal strength of less than -50 dBm.
  • the predetermined value of the signal strength used in the present invention depends on the technology being used and the situation of the location.
  • the time batch data is converted from the emitter-per-listener format into a listener-per-emitter format as in step 2103.
  • the identification information and the signal strength from the emitter (1001) received by the plurality of listeners (1002) are compiled.
  • a compilation of maximum, minimum, mean, and standard deviation values of signal strength detected by a plurality of listeners (1002) is unique to an emitter (1001) at a distinct location for a distinct period. The compilation is used as a signal fingerprint for the emitter (1001).

Abstract

The present invention relates to a system (1000) and method for object tracking. The system (1000) comprising at least one emitter (1001) configured to emit radio signal, a plurality of listeners (1002) configured to receive the radio signal, a Signal Harvester (1003) configured to assign a timestamp to the acquired radio signal data, a Signal Batcher (1005) configured to convert the radio signal data into time batch data, an Offline Fingerprint Database (1008) configured to store signal fingerprint with location data, an Online Fingerprint Database (1009) configured to store signal fingerprint for the emitter (1001), and a Signal Fingerprint Matcher (1010) configured to compare signal fingerprint from the Online Fingerprint Database (1009) with signal fingerprint from the Offline Fingerprint Database (1008). The system (1000) further comprising a Signal Fingerprint Generator (1007) configured to generate a signal fingerprint for the at least one emitter (1001).

Description

A SYSTEM AND METHOD FOR OBJECT TRACKING
FIELD OF INVENTION
The present invention relates to a system and method for object tracking. More specifically, the present invention relates to a system and method for object tracking using radio signal.
BACKGROUND OF THE INVENTION
Radio tracking is a type of positioning system using radio frequency. Radio tracking is often used to determine the location of various inanimate or animate objects. One of the solutions for radio tracking is by tagging an object that a user wants to track with a tag. Usually, this tag is a radio transmitter which can be detected by a radio receiver. By using a single radio receiver, the information that the user may receive from the tag is the signal strength of a radio signal, which can be used to estimate the direction and distance of the tag from the radio receiver. However, depending only on the signal strength received by one radio receiver is not practical especially in a building. The presence of walls and furniture disturb and alter the signal strength of the radio signal. As a result, it is difficult to estimate the location of a tagged object with good accuracy.
To overcome the limitations of a single radio transmitter and a single emitter, many object tracking systems utilise a plurality of transmitters and emitters. An example of a positioning system utilising a plurality of transmitters and emitters was developed by Dong, Mengjiao, and Wenjuan (2017). The system utilises wireless signal pattern matching, also known as signal fingerprinting, to determine the location of an object. Using a plurality of fixed emitters and a mobile receiver, a map of signal strength received by the mobile receiver from the plurality of fixed emitters is produced by associating the signal strength of each emitter with a known coordinate of the receiver during the time the fixed emitters emit a radio signal. The map of signal strength is populated with signal strength measurements from a plurality of coordinates. In operation, the location of the receiver is estimated by matching the signal strength received by the receiver with the map of signal strength. The location on the map with similar signal strength received by the receiver is estimated to be the most likely position of the receiver. A United States Patent Publication No. 2005/0261004 A1 disclosed a system for estimating the location of wireless nodes in a radio frequency environment. The system comprises a plurality of radio transceivers which transmit and receive radio signal and a wireless node which only receives radio signal. In calibration mode, the system constructs a coverage map. The coverage map is constructed by associating the signal strength with the location data of the wireless node. The location of a wireless node is determined by matching the signal strength received by the wireless node with the coverage map.
Although there are many known systems and methods for object tracking, most system that computes a fingerprint or coverage map does the computation on the tracked device. The computation for the fingerprint or coverage maps is usually complex and demanding. Therefore, a device with limited computation capacity may not be able to compute the fingerprint or coverage maps. Furthermore, the accuracy of most system and method for radio positioning depends on the quality of the radio signal that is being exchanged between a transmitter and a receiver. Inconsistent quality of radio signal results in an inaccurate positioning estimation. Therefore, there is a need for a system and method for object tracking that can solve the aforementioned problems.
SUMMARY OF INVENTION
The invention relates to a system (1000) and method for object tracking. The system (1000) comprising at least one emitter (1001) configured to emit radio signal, a plurality of listeners (1002) configured to receive the radio signal from the at least one emitter (1001), a Signal Harvester (1003) configured to assign a timestamp to radio signal data, a Signal Batcher (1005) configured to convert the radio signal data into time batch data, an Offline Fingerprint Database (1008) configured to store signal fingerprint for the at least one emitter (1001) tagged with location data, an Online Fingerprint Database (1009) configured to store signal fingerprint for the at least one emitter (1001), and a Signal Fingerprint Matcher (1010) configured to compare signal fingerprint from the Online Fingerprint Database (1009) with signal fingerprint from the Offline Fingerprint Database (1008). The system (1000) further comprising a Signal Fingerprint Generator (1007) configured to generate a signal fingerprint for the at least one emitter (1001 ) by compiling radio signal received by the plurality of listeners (1002) from the at least one emitter (1001) based on detection of a predetermined number of emitters (1001) within a predefined period with a predetermined signal strength value by the plurality of listeners (1002). The Signal Fingerprint Generator (1007) is connected to the Offline Fingerprint Database (1008) and the Online Fingerprint Database (1009). The Signal Flarvester (1003) is connected to the plurality of listeners (1002). The Signal Fingerprint Matcher (1010) is connected to the Offline Fingerprint Database (1008) and the Online Fingerprint Database (1009)
Preferably, the signal strength values include maximum, mean, minimum and standard deviation values of the signal strength.
Preferably, the system (1000) further comprising a time-series signal database (1004) configured to store the time-series data from the Signal Flarvester (1003). The time-series database (1004) is connected to the Signal Flarvester (1003) and the Signal Batcher (1005).
Preferably, the system (1000) further comprising a time batch signal database (1006) configured to store the time batch data. The time batch signal database (1006) is connected to the Signal Batcher (1005) and the Signal Fingerprint Generator (1007).
Preferably, the system (1000) further comprising a location database (1011) configured to store the coordinates of the at least one emitter (1001) being located. The location database (1010) is connected to the Signal Fingerprint Matcher (1010).
The method for object tracking comprising the steps of emitting radio signal by at least one emitter (1001), receiving a radio signal from the at least one emitter (1001) by a plurality of listener (1002), acquiring radio signal data from the plurality of listeners (1002) by a Signal Flarvester (1003), assigning a timestamp to the radio signal data by the Signal Flarvester (1003), storing the radio signal data from the Signal Flarvester (1003) on a Time-Series Signal Database (1004), converting radio signal data into time batch signal data by a Signal Batcher (1005), storing time batch signal data on a Time Batch Signal Database (1006), generating a signal fingerprint by the Signal Fingerprint Generator (1007), determining the operation mode of the system by a Signal Fingerprint Generator (1000), storing the signal fingerprint with location tag on an Offline Fingerprint Database (1008) if the system is in calibration mode, storing the signal fingerprint on an Online Fingerprint Database (1009) if the system (1000) is in tracking mode, comparing signal fingerprint from the Online Fingerprint Database (1009) with a signal fingerprint from the Offline Fingerprint Database (1008) by a Signal Fingerprint Matcher (1010), and storing the coordinates of the at least one emitter (1001) on a Location Database (1011). The step of generating the signal fingerprint by the Signal Fingerprint Generator (1007) further comprises the sub-steps of filtering the radio signals received by the plurality of listeners (1002) based on the number of unique emitters detected by each listener (1002) within a predefined period, filtering the radio signals received by the plurality of listeners (1002) based on a predetermined signal strength values of the radio signal from the emitter (1001) received by the listeners (1002), and converting the time batch signal data from emitter-per-listener to listener-per-emitter.
Preferably, if the number of unique emitters (1001 ) during the predefined period is less than a predetermined number of emitters (1001), the radio signals received by the plurality of listeners (1002) from the emitters (1001) within the predefined period are filtered out.
Preferably, if any particular listener (1002) receives at least one radio signal with a signal strength of less than predetermined signal strength values, all radio signals received by the particular listener (1002) are filtered out.
Preferably, the signal strength values include maximum, mean, minimum and standard deviation values of the signal strength.
BRIEF DESCRIPTION OF THE DRAWINGS
The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.
FIG. 1 illustrates a system (1000) for object tracking according to an embodiment of the present invention.
FIGS. 2a and 2b illustrate flow charts of a method for object tracking according to an embodiment of the present invention. FIG. 3 illustrates a flow chart of sub-steps of generating fingerprint data by a Signal Fingerprint Generator (1007) of the method of FIGS. 2a and 2b.
DESCRIPTION OF THE PREFERRED EMBODIMENT
A preferred embodiment of the present invention will be described hereinbelow with reference to the accompanying drawings. In the following description, well-known functions or constructions are not described in detail since they would obscure the description with unnecessary detail.
An initial reference is made to FIG. 1 which illustrates a system (1000) for object tracking according to an embodiment of the present invention. The system (1000) comprises at least one emitter (1001), a plurality of listeners (1002), a Signal Harvester (1003), a Time Series Signal Database (1004), a Signal Batcher (1005), a Time Batch Signal Database (1006), a Signal Fingerprint Generator (1007), an Offline Fingerprint Database (1008), an Online Fingerprint Database (1009), a Signal Fingerprint Matcher (1010), and a Location Database (1011). The system (1000) utilises the emitter (1001) and the listeners (1002) to build a radio signal map of an area in a calibration stage. Then, during a positioning stage, the system (1000) utilises the radio signal map to predict the location of the emitter (1001). The system (1000) may be implemented using various wireless technology including but not limited to Wi-Fi, Bluetooth Low Energy, Ultra-wideband, and Radio Frequency Identification.
The emitter (1001) emits a radio signal. The radio signal carries identification information of the emitter (1001). The identification information includes but not limited to a hardware identification number and MAC address. Preferably, the emitter (1001) is either powered by a battery or passively powered. The emitter (1001) is attached to an object that is being tracked.
The listeners (1002) receive the radio signal emitted by the emitter (1001). The listeners (1002) are always powered on to be able to receive the radio signal periodically emitted by the emitter (1001). Each listener (1002) is placed on a fixed location within an area of interest. The area of interest is an area within the range of the at least one listener (1002). The object attached with the emitter (1001) is expected to be only within the area of interest. The listeners (1002) are electrically connected to the Signal Harvester (1003). The listeners (1002) convert the radio signal into an electrical signal and transmits the electrical signal to the Signal Harvester (1003).
The Signal Harvester (1003) is configured to receive the electrical signal from the listeners (1002). The Signal Harvester (1003) interprets the electrical signal into the identification information of the emitter (1001). The Signal Harvester (1003) assigns the identification information of the emitter (1001 ) with a timestamp which indicates the time of receipt of the identification information. The Signal Harvester (1003) also measures a signal strength of the radio signal. The signal strength of the radio signal is preferably quantified as Received Signal Strength Indicator, RSSI. The Signal Harvester (1003) is connected to the Time Series Signal Database (1004). The Signal Harvester (1003) stores the identification information and the signal strength of the emitter (1001) inside the Time Series Signal Database (1004). The Signal Harvester (1003) compiles the identification information and the signal strength of each emitter (1001) in an emitter-per-listener format. In the emitter-per-listener format, the identification information and the signal strength from a plurality of emitters (1001) received by a listener (1002) are compiled. For each listener (1002), the identification information and the signal strength of each emitter (1001) are compiled and separated based on the timestamp of the identification information.
The Time Series Signal Database (1004) stores the identification information and the signal strength of the emitter (1001) which has been assigned with the timestamp. The Time Series Signal Database (1004) is connected to the Signal Batcher (1005).
The Signal Batcher (1005) retrieves the identification information and the signal strength of each emitter (1001) from the Time Series Signal Database (1004). The Signal Batcher (1005) runs statistical analysis on the signal strength of each emitter (1001) for some predetermined periods, for example, 30 seconds, 1 minute, or 5 minutes. The statistical analysis produces information including but not limited to a maximum, a minimum, a mean, and a standard deviation value of the signal strength of each emitter (1001) detected by each listener (1002) within the predetermined period. Each information within the predetermined period is called a time batch data. The Signal Batcher (1005) is connected to the Time Batch Signal Database (1006). The time batch data in the Time Batch Signal Database (1006) is stored in the emitter- per-listener format. The time batch data is compiled according to the time period assigned for each time batch data. For example, all time batch data collected over a period of 30 seconds are separated from time batch data collected over a period of 1 minute.
The Time Batch Signal Database (1006) stores the time batch data produced by the Signal Batcher (1005). The Time Batch Signal Database (1006) is connected to the Signal Fingerprint Generator (1007).
The Signal Fingerprint Generator (1007) retrieves time batch data from the Time Batch Signal Database (1006) to generate a signal fingerprint for each emitter (1001). The signal fingerprint is a signal strength value received by a plurality of listeners (1002) for an emitter (1001). Preferably, the signal fingerprint for the emitter (1001) comprises the mean, maximum, minimum and standard deviation value of the signal strength received by the listeners (1002).
For example, if there are five listeners (1002) that received the radio signal from the emitter (1001) for a period of 30 seconds, the mean, maximum, minimum and standard deviation value of the signal strength received by each listener (1002) is compiled. This compilation of signal strength information collected by the listeners (1002) is assigned as the signal fingerprint for the emitter (1001) for a similar time period.
To generate the signal fingerprint for the emitter (1001), the Signal Fingerprint Generator (1007) compiles radio signals received by the listener (1002) only if the listener (1002) receives a radio signal from a predetermined minimum number of emitters (1001) within a predefined period. The radio signals received by each listener (1002) are stored as time batch data, whereby the radio signals that are received within the predefined period are compiled together. For example, all radio signals received over a period of 30 seconds are compiled in a group, while the radio signals received over the next 30 seconds are compiled in another group. If the number of unique emitters (1001) during the predefined period is less than a predetermined number of unique emitters (1001), the radio signals received by the listener (1002) from the emitters (1001 ) for the predefined period are not compiled. For example, assuming the predetermined number of unique emitters (1001 ) is 2, the radio signals received by the listener (1002) from only one emitter (1001) during the 30 seconds period are not compiled.
The value of the predetermined number of unique emitter affects the performance of the system (1000). A higher value of the predetermined number of unique emitters (1001) may reduce computation time but results in reduced accuracy of positioning. On the other hand, a lower value of the predetermined number of unique emitters (1001) may increase positioning accuracy at the expense of higher computational load.
The Signal Fingerprint Generator (1007) also compiles radio signal received by the listener (1002) only if the listener (1002) receives a radio signal of a predetermined mean, maximum, minimum, and standard deviation value of signal strength from the emitter (1001). For example, if a predetermined mean value of signal strength of a radio signal is -50 dBm, the Signal Fingerprint Generator (1007) only compiles the radio signal received by the listeners (1002) with a mean value of signal strength of at least -50 dBm.
The Signal Fingerprint Generator (1007) transforms the time batch data from the emitter-per-listener format into a listener-per-emitter format. In the listener-per- emitter format, the identification information and the signal strength from the emitter (1001) received by the plurality of listeners (1002) are compiled. A compilation of maximum, minimum, mean, and standard deviation values of signal strength is unique to an emitter (1001) at a distinct location for a distinct period. The compilation is used as a signal fingerprint for the emitter (1001).
The Signal Fingerprint Generator (1007) also collects other information such as the listener (1002) that measures the highest signal strength from the emitter (1001) and the last listener (1002) that receives the radio signal from the emitter (1001). The information allows the system (1000) to infer an approximate location before a more accurate location is pinpointed.
The Signal Fingerprint Generator (1007) is connected to the Offline Fingerprint Database (1008) and the Online Fingerprint Database (1009). If the system (1000) is set up for calibration mode, the signal fingerprint for the emitter (1001) is tagged with a known location of the emitter (1001), preferably with a 3-dimensional Cartesian coordinate and is stored in the Offline Fingerprint Database (1008). In contrast, if the system (1000) is set up for tracking mode, the signal fingerprint for the emitter (1001) is stored in the Online Fingerprint Database (1009).
The Signal Fingerprint Matcher (1010) compares a signal fingerprint from the Online Fingerprint Database (1009) with the signal fingerprints from the Offline Fingerprint Database (1008). The signal fingerprint from the Offline Fingerprint Database (1008) which has the best or closest match to the Online Fingerprint Database (1009) is regarded as having the same position as the detected emitter (1001). The matching process uses an algorithm such as but not limited to k-nearest neighbour, Bayesian Classifier, Support Vector Machine, and Deep Learning for matching the signal fingerprints. The Signal Fingerprint Matcher (1010) is connected to the Location Database (1011).
The Location Database (1011) stores the location of a detected emitter (1001). The Location Database (1011) allows the user to identify the last known location of the emitter (1001).
Reference is now made to FIGS. 2a and 2b which illustrate flow charts of a method for tracking an object according to an embodiment of the present invention. Initially, the radio signal is emitted periodically by the emitter (1001) as in step 2001. The radio signal carries the identification information of the emitter (1001). The identification information includes but not limited to the hardware identification number and MAC address.
Then, the radio signal is received by the listeners (1002) as in step 2002. The listener (1002) converts the radio signal into the electrical signal.
Afterwards, the electrical signal from the listeners (1002) is acquired by the Signal Flarvester (1003) as in step 2003. The Signal Flarvester (1003) interprets the electrical signal into the identification information of the emitter (1001).
The identification information of the emitter (1001) is then assigned with a timestamp as in step 2004. The timestamp indicates the time of receipt of the identification information by the Signal Flarvester (1003). The Signal Flarvester (1003) also measures a signal strength of the radio signal. The Signal Harvester (1003) compiles the identification information and the signal strength of each emitter (1001) in an emitter-per-listener format. In the emitter-per-listener format, the identification information and the signal strength from a plurality of emitters (1001) received by a listener (1002) are compiled. For each listener (1002), the identification information and the signal strength of each emitter (1001) are compiled and separated based on the timestamp of the identification information.
Furthermore, the identification information and the signal strength of the emitter (1001) is stored inside the Time Series Signal Database (1003) as in step 2005. If there is more than one emitter (1001), the Signal Harvester (1004) compiles the identification information and the signal strength of each emitter (1001) with respect to the receiving listener (1002) inside the Time Series Signal Database (1004).
The identification information and the signal strength of the emitter (1001) are then converted into time batches by the Signal Batcher (1005) as in step 2006. The Signal Batcher (1005) runs statistical analysis on the signal strength of each emitter (1001) for some predetermined periods of time, for example, 30 seconds, 1 minute, or 5 minutes. The statistical analysis produces information including but not limited to a maximum, a minimum, a mean, and a standard deviation value of the signal strength of each emitter (1001) detected by each listener (1002) within the predetermined period. Each information within the predetermined period is called a time batch data.
Subsequently, the time batch data stored in the Time Batch Signal Database (1006) as in step 2007. The time batch data stored in the Time Batch Signal Database (1006) is grouped according to the time period assigned for each time batch data. The time batch data in the Time Batch Signal Database (1006) is stored in the emitter-per- listener format. The time batch data is compiled according to the time period assigned for each time batch data. For example, all time batch data collected over a period of 30 seconds are assigned in a group, while time batch data collected over a period of 1 minute are assigned in another group.
Afterwards, the signal fingerprint is generated by the Signal Fingerprint Generator (1007) as in step 2008. The signal fingerprint comprises the mean, maximum, minimum and standard deviation value of the signal strength received by the listeners (1002) for each emitter (1001). The sub-steps for generating signal fingerprint by a Signal Fingerprint Generator (1007) are further explained in relation to
FIG. 3.
The Signal Fingerprint Generator (1007) then determines the operation mode of the system as in decision 2009. There are two modes of operation, which are calibration mode and tracking mode. If the system (1000) is set up for calibration mode, the signal fingerprint for the emitter (1001) is tagged with the known location of the emitter (1001), preferably with a 3-dimensional Cartesian coordinate. The tagged signal fingerprint is then stored in the Offline Fingerprint Database (1008) as in step 2010a.
In contrast, if the system (1000) is set up for tracking mode, the signal fingerprint for the emitter (1001) is directly stored in the Online Fingerprint Database (1009) without any tagging as in step 2010b.
In tracking mode, the signal fingerprint from the Online Fingerprint Database (1009) is compared with the signal fingerprint from the Offline Fingerprint Database (1010) by the Signal Fingerprint Matcher as in step 2011.
Finally, the coordinates of the emitter (1001) are then stored in the Location Database (1011) as in step 2012. The user is able to identify the last known position of the emitter (1001) by referring to the Location Database (1011).
Reference is now made to FIG. 3 which illustrates a flow chart of sub-steps of generating a signal fingerprint by the Signal Fingerprint Generator (1007) of the method of FIG. 2a and 2b. Initially, the radio signals received by the plurality of listeners (1002) are filtered based on the number of unique emitters detected by each listener (1002) within a predefined period as in sub-step 2101. The radio signals received by each listener (1002) are stored as time batch data, whereby the radio signals that are received within the predefined period are compiled together. For example, all radio signals received over a period of 30 seconds are compiled in a group, while the radio signals received over the next 30 seconds are compiled in another group. If the number of unique emitters (1001) during the predefined period is less than a predetermined number of unique emitters (1001), the radio signals received by the listener (1002) from the emitters (1001) for the predefined period are filtered out. For example, assuming the predetermined number of unique emitters (1001) is 2, the radio signals received by the listener (1002) from only one emitter (1001) during the 30 seconds period are filtered out.
Subsequently, the radio signals received by the listeners (1002) are filtered based on the signal strength of the emitters (1001) received by the listeners (1002) as in step 2102. If any particular listener (1002) receives at least one radio signal with a signal strength of less than predetermined mean, maximum, minimum, and standard deviation values of signal strength, all radio signals received by the particular listener (1002) are filtered out. For example, if the predetermined mean value of signal strength of the radio signal is -50 dBm, the Signal Fingerprint Generator (1007) filters out the radio signals received by the listeners (1002) which receives any radio signal with mean values of signal strength of less than -50 dBm. The predetermined value of the signal strength used in the present invention depends on the technology being used and the situation of the location.
Afterwards, the time batch data is converted from the emitter-per-listener format into a listener-per-emitter format as in step 2103. In the listener-per-emitter format, the identification information and the signal strength from the emitter (1001) received by the plurality of listeners (1002) are compiled. A compilation of maximum, minimum, mean, and standard deviation values of signal strength detected by a plurality of listeners (1002) is unique to an emitter (1001) at a distinct location for a distinct period. The compilation is used as a signal fingerprint for the emitter (1001).
While embodiments of the invention have been illustrated and described, it is not intended that these embodiments illustrate and describe all possible forms of the invention. Rather, the words used in the specifications are words of description rather than limitation and various changes may be made without departing from the scope of the invention. REFERENCE
[1] Dong, Z., Mengjiao, C. and Wenjuan, L. (2017). Implementation of Indoor Fingerprint Positioning Based on ZigBee. In: 201729th Chinese Control and Decision Conference (CCDC). IEEE, pp.2654-2659.

Claims

1 . A system (1000) for object tracking comprising : a) at least one emitter (1001) configured to emit radio signal; b) a plurality of listeners (1002) configured to receive the radio signal from the at least one emitter (1001); c) a Signal Harvester (1003) configured to assign a timestamp to radio signal data, wherein the Signal Harvester (1003) is connected to the plurality of listeners (1002); d) a Signal Batcher (1005) configured to convert the radio signal data into time batch data; e) an Offline Fingerprint Database (1008) configured to store signal fingerprint for the at least one emitter (1001) tagged with location data; f) an Online Fingerprint Database (1009) configured to store signal fingerprint for the at least one emitter (1001); and g) a Signal Fingerprint Matcher (1010) configured to compare signal fingerprint from the Online Fingerprint Database (1009) with the signal fingerprint from the Offline Fingerprint Database (1008), wherein the Signal Fingerprint Matcher (1010) is connected to the Offline Fingerprint Database (1008) and the Online Fingerprint Database (1009), characterised in that the system (1000) further comprising: h) a Signal Fingerprint Generator (1007) configured to generate a signal fingerprint for the at least one emitter (1001) by compiling radio signal received by the plurality of listeners (1002) from the at least one emitter (1001) based on detection of a predetermined number of emitters (1001) within a predefined period with a predetermined signal strength value by the plurality of listeners (1002), wherein the Signal Fingerprint Generator (1007) is connected to the Offline Fingerprint Database (1008) and the Online Fingerprint Database (1009).
2. The system (1000) as claimed in claim 1, wherein the signal strength values include maximum, mean, minimum and standard deviation values of the signal strength.
3. The system (1000) as claimed in claim 1, wherein the system (1000) further comprising a time-series signal database (1004) configured to store the time- series data from the Signal Harvester (1003), wherein the time-series database (1004) is connected to the Signal Harvester (1003) and the Signal Batcher
(1005).
4. The system (1000) as claimed in claim 1, wherein the system (1000) further comprising a time batch signal database (1006) configured to store the time batch data, wherein the time batch signal database (1006) is connected to the Signal Batcher (1005) and the Signal Fingerprint Generator (1007).
5. The system (1000) as claimed in claim 1, wherein the system (1000) further comprising a location database (1011) configured to store coordinates of the at least one emitter (1001) being located, wherein the location database (1010) is connected to the Signal Fingerprint Matcher (1010).
6. A method for object tracking comprising the steps of: a) emitting radio signal by at least one emitter (1001); b) receiving a radio signal from the at least one emitter (1001) by a plurality of listener (1002); c) acquiring radio signal data from the plurality of listeners (1002) by a Signal Harvester (1003); d) assigning a timestamp to the radio signal data by the Signal Harvester
(1003); e) storing the radio signal data from the Signal Harvester (1003) on a Time-Series Signal Database (1004); f) converting the radio signal data into time batch signal data by a Signal Batcher (1005); g) storing time batch signal data in a Time Batch Signal Database (1006); h) generating a signal fingerprint by a Signal Fingerprint Generator (1007); i) determining the operation mode of the system by the Signal Fingerprint Generator (1007); j) storing the signal fingerprint with location tag in an Offline Fingerprint Database (1008) if the system is in calibration mode; k) storing the signal fingerprint in an Online Fingerprint Database (1009) if the system (1000) is in tracking mode; L) comparing signal fingerprint from the Online Fingerprint Database (1009) with the signal fingerprint from the Offline Fingerprint Database (1008) by a Signal Fingerprint Matcher (1010); and m) storing coordinates of the at least one emitter (1001) on a Location Database (1011), characterised in that the step of generating the signal fingerprint by the Signal Fingerprint Generator (1007) further comprises the steps of: a) filtering the radio signals received by the plurality of listeners (1002) based on number of unique emitters detected by each listener (1002) within a predefined period; b) filtering the radio signals received by the plurality of listeners (1002) based on a predetermined signal strength value of the radio signal from the emitter (1001) received by the listeners (1002); and c) converting the time batch signal data from emitter-per-listener to listener-per-emitter.
7. The method as claimed in claim 6, wherein if the number of unique emitters (1001) during the predefined period is less than a predetermined number of emitters (1001), the radio signals received by the plurality of listeners (1002) from the emitters (1001) within the predefined period are filtered out.
8. The method as claimed in claim 6, wherein if any particular listener (1002) receives at least one radio signal with a signal strength of less than predetermined signal strength values, all radio signals received by the particular listener (1002) are filtered out.
9. The method as claimed in claims 8, wherein the signal strength values include maximum, mean, minimum and standard deviation values of the signal strength.
PCT/MY2020/050102 2019-11-15 2020-10-12 A system and method for object tracking WO2021096348A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
MYPI2019006687 2019-11-15
MYPI2019006687 2019-11-15

Publications (1)

Publication Number Publication Date
WO2021096348A1 true WO2021096348A1 (en) 2021-05-20

Family

ID=75912168

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/MY2020/050102 WO2021096348A1 (en) 2019-11-15 2020-10-12 A system and method for object tracking

Country Status (1)

Country Link
WO (1) WO2021096348A1 (en)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013021552A1 (en) * 2011-08-05 2013-02-14 パナソニック株式会社 Positioning server device and positioning control method
US20140323149A1 (en) * 2013-04-26 2014-10-30 The Morey Corporation Method and apparatus for a local positioning system
CN105588566A (en) * 2016-01-08 2016-05-18 重庆邮电大学 Indoor positioning system and method based on Bluetooth and MEMS (Micro-Electro-Mechanical Systems) fusion
CN106792554A (en) * 2016-11-23 2017-05-31 长安大学 A kind of localization method based on Dual Matching fingerprint location technology
CN106851573A (en) * 2017-01-22 2017-06-13 西安交通大学 Joint weighting k nearest neighbor indoor orientation method based on log path loss model

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013021552A1 (en) * 2011-08-05 2013-02-14 パナソニック株式会社 Positioning server device and positioning control method
US20140323149A1 (en) * 2013-04-26 2014-10-30 The Morey Corporation Method and apparatus for a local positioning system
CN105588566A (en) * 2016-01-08 2016-05-18 重庆邮电大学 Indoor positioning system and method based on Bluetooth and MEMS (Micro-Electro-Mechanical Systems) fusion
CN106792554A (en) * 2016-11-23 2017-05-31 长安大学 A kind of localization method based on Dual Matching fingerprint location technology
CN106851573A (en) * 2017-01-22 2017-06-13 西安交通大学 Joint weighting k nearest neighbor indoor orientation method based on log path loss model

Similar Documents

Publication Publication Date Title
US7697458B2 (en) Node for self localization, clustering method using the same, and localization method
US11428773B2 (en) Systems and methods to determine room occupancy
US9335399B2 (en) Location detection system and method with fingerprinting
JP2022516082A (en) Systems and methods that use ranging and triangulation to locate radio sensor nodes based on radio frequency communication between the node and various RF-enabled devices.
TWI587717B (en) Systems and methods for adaptive multi-feature semantic location sensing
JP2020531824A (en) Systems and methods for adaptively selecting distance estimates for node positioning based on error index information
US20050285792A1 (en) System and method for locating radio emitters using self-calibrated path loss computation
CA2967905A1 (en) Positioning method and system based on wireless signals
Lazaro et al. Room-level localization system based on LoRa backscatters
CN110244702A (en) For generating or updating the method and positioning system of ambient enviroment map
KR100950941B1 (en) System and method for estimating the location of a mobile node based on snooping node using a Received Signal Strength Indication
Qiu et al. BLE-based collaborative indoor localization with adaptive multi-lateration and mobile encountering
KR20190014907A (en) Apparatus for measuring location using signal strength of access point and method thereof
WO2021096348A1 (en) A system and method for object tracking
KR20180046080A (en) Method, Apparatus and System for Positioning
Fahama et al. An Experimental Comparison of RSSI-Based Indoor Localization Techniques Using ZigBee Technology
KR101614941B1 (en) Method for pairing a first terminal with at lesat one terminal selected among second terminals by using rssi information, terminal and computer-readable recording media using the same
Zhang et al. Efficient BLE fingerprinting through UWB sensors for indoor localization
Zimmermann et al. Dynamic live wireless communication monitoring for jamming and interference detection in industry 4.0
CN108882155B (en) Particle swarm algorithm-based blind signal power and blind source position determination method and system
WO2020154071A1 (en) Ble networking systems and methods providing central and peripheral role reversal with enhanced peripheral location determination using ultrasonic waveform
CN111654843A (en) Method and system for automatically updating fingerprint database and wifi positioning method and system
CN111726743A (en) Wifi positioning method and system based on online learning
Yang et al. A self-adaptable indoor localization scheme for wireless sensor networks
Rodríguez-Damián et al. Indoor Tracking Persons Using Bluetooth: A Real Experiment with Different Fingerprinting-Based Algorithms

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: 20886364

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: 20886364

Country of ref document: EP

Kind code of ref document: A1