WO2022010340A1 - Système et procédé pour la fourniture d'un suivi de positionnement en intérieur - Google Patents

Système et procédé pour la fourniture d'un suivi de positionnement en intérieur Download PDF

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Publication number
WO2022010340A1
WO2022010340A1 PCT/MY2020/050189 MY2020050189W WO2022010340A1 WO 2022010340 A1 WO2022010340 A1 WO 2022010340A1 MY 2020050189 W MY2020050189 W MY 2020050189W WO 2022010340 A1 WO2022010340 A1 WO 2022010340A1
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WO
WIPO (PCT)
Prior art keywords
predicted location
location
wireless tag
predicted
positioning algorithm
Prior art date
Application number
PCT/MY2020/050189
Other languages
English (en)
Inventor
Kee Ngoh Ting
Heng Tze Chieng
Putri Shahnim BINTI KHALID
Khong Neng Choong
Chrishanton Vethanayagam A/L SEBASTIAMPILLAI
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 WO2022010340A1 publication Critical patent/WO2022010340A1/fr

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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
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
    • 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
    • G01S5/01—Determining conditions which influence positioning, e.g. radio environment, state of motion or energy consumption
    • 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
    • G01S5/0257—Hybrid positioning
    • G01S5/0263—Hybrid positioning by combining or switching between positions derived from two or more separate positioning systems
    • 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
    • G01S2205/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S2205/01—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations specially adapted for specific applications
    • G01S2205/02—Indoor
    • 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
    • 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
    • G01S5/14—Determining absolute distances from a plurality of spaced points of known location

Definitions

  • the present invention relates to a system and method for providing an indoor positioning tracking. More particularly, the present invention relates to a system employing at least two techniques for indoor positioning tracking and its method thereof.
  • GPS Global Positioning System
  • GSM Global System for Mobile communication
  • UMTS Universal Mobile Telecommunication System
  • a United States patent with publication no. US8063820B2 discloses a hybrid positioning system and method, more specifically a system and method of integrating a wireless local area network (WLAN) based positioning system (WLAN-PS) and a satellite positioning system (SPS) to improve accuracy of location estimates by selecting the best set of measurements from both systems.
  • the method includes determining a wireless local area network based location estimate for a wireless local area network, and a satellite enabled device based on one or more wireless local area network access points.
  • the document further describes the method of obtaining satellite measurements for the wireless local area network and satellite-enabled device from at least three different satellites. As such, the final location estimate is then determined using the WLAN access points and the selected set of satellite measurements.
  • Another United States patent with publication no. US8737279B1 discloses a method and system for position location of clients in wireless local area networks (WLAN), whereby the position location technique utilizes time-of-flight (TOF) measurements of signals transmitted from a client to a number of wireless access points or vice versa to determine the distances between them.
  • Another technology as disclosed in United States patent with publication no. US10192416B2 recites a system and method for indoor positioning and tracking of devices and objects using a multi -band wireless networking system.
  • multiple wireless networking devices are interconnected via a dedicated wireless backhaul to collectively form a single multi band wireless network providing broad coverage to a client device. By coordinating the wireless networking devices via the dedicated backhaul and applying positioning processes to the received signals, a position of the client device or object is determined.
  • the present invention discloses a system for providing an indoor positioning tracking, the system comprising a wireless tag, configured to establish a communication link with one or more sensors to obtain a first predicted location through a first positioning algorithm; a database handling module, configured to employ at least one second positioning algorithm to obtain a second predicted location; a hybrid positioning algorithm module, configured to determine conditions of the first predicted location of the wireless tag and its respective movement patterns, apply weighting adjustments to coordination values of the first and second predicted locations based on the determined conditions, and combine the adjusted coordination values of the first and second predicted locations to obtain an accurate final predicted location.
  • the system further comprising a positioning gateway module, configured to transmit information received from the wireless tag to the hybrid positioning algorithm module.
  • the wireless tag applies a trilateration approach as the first positioning algorithm to obtain the first predicted location.
  • the database handling module applies a fingerprint positioning technique as the second positioning algorithm to obtain the second predicted location.
  • the conditions include the first predicted location is within a predefined area, the movement pattern has an illogical movement speed, the movement pattern has an illogical movement direction, or the first predicted location is in an illogical standing location.
  • the database handling module is further configured to store the final predicted location in a location database and retrieve a previously predicted location from the location database for comparison with the current predicted location.
  • a method for providing an indoor positioning tracking comprising the steps of: establishing a communication link with one or more sensors to obtain a first predicted location through a first positioning algorithm, by a wireless tag; employing at least one second positioning algorithm to obtain a second predicted location, by a database handling module; determining conditions of the first predicted location of the wireless tag and its respective movement patterns, applying weighting adjustments to coordination values of the first and second predicted locations based on the determined conditions, and combining the adjusted coordination values of the first and second predicted locations to obtain an accurate final predicted location, by a hybrid positioning algorithm module.
  • the method further comprising the step of transmitting information received from the wireless tag to the hybrid positioning algorithm module, by a positioning gateway module.
  • the first positioning algorithm is a trilateration approach to obtain the first predicted location, wherein the trilateration approach comprises the steps of determining multiple distances of the wireless tag from three of more sensors through a ranging process, and computing an average value of the distances to obtain a subsequent predicted location of the wireless tag from the sensors.
  • the second positioning algorithm is a fingerprint positioning technique to obtain the second predicted location
  • the fingerprint positioning technique comprises the steps of determining multiple distances of the wireless tag from surrounding sensors at all reference points through the ranging process, acquiring previously collected fingerprints which were stored in a fingerprint database, and computing the distances of the wireless tag from the sensors with the previously collected fingerprints from the fingerprint database to obtain a subsequent predicted location.
  • the conditions include the first predicted location is within a predefined area, the movement pattern has an illogical movement speed, the movement pattern has an illogical movement direction, or the first predicted location is in an illogical standing location.
  • FIG. l is a block diagram of a system for providing an indoor positioning tracking, according to the present invention.
  • FIG. 2 is a flow chart illustrating an exemplary embodiment for a method for providing an indoor positioning tracking based on the above-mentioned system.
  • FIG. 3A illustrates a preferred embodiment for a ranging process between a wireless tag and one or more sensors.
  • FIG. 3B illustrates an exemplary embodiment for the ranging process with an obstacle in between the wireless tag and the sensor.
  • FIG. 4 illustrates a preferred embodiment of fingerprints used in a fingerprint positioning technique to obtain a second predicted location of the wireless tag.
  • FIG. 5 is a flow chart illustrating an exemplary embodiment of a hybrid positioning algorithm to determine a final predicted location of the wireless tag.
  • These computer program instructions may be stored in a computer-readable memory that can direct a computer or a programmable data processing apparatus to function in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means that implement the functions specified in the flowchart or block diagrams.
  • the computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions that execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart or block diagrams.
  • a system for providing an indoor positioning tracking comprising of a wireless tag 102 with an established communication link with a one or more sensors 101, wherein the wireless tag 102 may be a mobile device such as a mobile phone capable of processing information and performing complex tasks over an established wireless network connection such as Long Term Evolution (LTE) cloud, Code Division Multiple Access (CDMA) and its derivatives, Enhanced Data Rates for GSM Evolution (EDGE), 3G protocol, High Speed Packet Access (HSPA), 4G protocol, 5G protocol and the likes, Wireless Fidelity (Wi-Fi) or Bluetooth, in accordance to the advancement of wireless technology with time.
  • LTE Long Term Evolution
  • CDMA Code Division Multiple Access
  • EDGE Enhanced Data Rates for GSM Evolution
  • 3G protocol High Speed Packet Access
  • HSPA High Speed Packet Access
  • Wi-Fi Wireless Fidelity
  • Bluetooth Wireless Fidelity
  • the sensors 101 employed are capable of performing a ranging 201 process with the wireless tag 102, which is a process to determine the distance from one location or position to another location or position, wherein the sensors 101 may be a an infra-red (IR) distance sensors, ultrasonic sensors, a Light Detection and Ranging (LiDAR) sensor, and the likes, with each varying in range capabilities, frequencies, cost and such.
  • the outcome from the ranging 201 process is transferred over to a server 103 comprising a plurality of modules 104, 105, 106, in which these modules 104, 105, 106 may be in a form of software or hardware-based computer-implementable instructions.
  • the server 103 may be defined as a software or hardware device that is dedicated to managing network resources. Further, the server 103 is connected to a fingerprint database 107 and location database 108 for retrieving and storing of information, wherein the databases may be an internal or external computer system in wired or wireless communication with the server 103. Preferably, the plurality of modules 104, 105, 106 communicate with one another to form an interconnected communication network.
  • the server 103 comprises a positioning gateway module 104, configured to receive predicted locations from the wireless tag 102.
  • the wireless tag 102 firstly establishes a communication link by performing the ranging 201 process with one or more sensors 101 to obtain an estimated initial location, then subsequently applies a trilateration approach 202 as a first positioning algorithm to obtain a first predicted location, in which this information is then transferred over to the positioning gateway module 104, before being transmitted into the hybrid algorithm module 106.
  • the trilateration approach 202 is a common method for position calculation, whereby the trilateration approach 202 determines relative positions of objects using geometry of triangles in a similar fashion as tri angulation, as illustrated in FIG. 2.
  • the trilateration approach 202 uses the known locations of two or more reference points and the measured distance between the subject and each reference point.
  • the position of the subject can be accurately and uniquely determined by measuring distances from at least three reference points.
  • the positioning gateway module 104 works in parallel with a data handling module 105, which will be further discussed herein.
  • the server 103 comprises the database handling module 105, configured to employ a second positioning algorithm to obtain a second predicted location of the wireless tag 102, wherein the second positioning algorithm is a fingerprint positioning technique 203, such as illustrated in FIG. 2.
  • the database handling module is further configured to retrieve a previously determined fingerprint 109 from the fingerprint database 107 to be compared with the fingerprints 109 acquired from the fingerprint positioning technique 203 and subsequently computed to obtain the second predicted location.
  • the fingerprint positioning technique 203 may be carried out in two phases, an offline phase and an online phase.
  • the offline phase may involve pre-collecting wireless signals or Received Signal Strength (RSS) of all detected Wi-Fi access points at different reference points.
  • RSS Received Signal Strength
  • each reference point is then represented by a fingerprint 109.
  • the fingerprint 109 mentioned may include an Internet Protocol (IP) address, a Media Access Control (MAC) address or the serial number of the wireless access point router, and the likes.
  • IP Internet Protocol
  • MAC Media Access Control
  • the online phase may involve a real time Received Signal Strength (RSS) signature to be collected and compared to the fingerprint 109 collected during the offline phase to obtain a predicted location of the wireless tag 102.
  • the database handling module is further configured to store the final predicted location calculated from the hybrid positioning algorithm module 106 in the location database 108.
  • the database handling module 105 is able to collect a previously predicted location from the location database 108 to be compared with the current predicted location of the wireless tag 102
  • the server 103 comprises the hybrid positioning algorithm module 106, configured to initiate a hybrid positioning algorithm 205 upon receiving an input of the predicted locations gathered from the positioning gateway module 104 and the data handling module 105.
  • the hybrid positioning algorithm 205 operates by determining if the predicted locations fulfill one or more conditions, whereby the hybrid positioning algorithm 205 as in FIG. 2 will initiate a calculation process to obtain final predicted location if any of the determined conditions are fulfilled.
  • the final predicted location will be obtained from combining the trilateration approach 202 and fingerprint positioning technique 203 if any one of the determined conditions are fulfilled.
  • the hybrid positioning algorithm 205 will then determine if the confidence level of the predicted location from using the trilateration approach 202 is high enough to be used as the final predicted location of the wireless tag 102, which will be discussed further herein.
  • FIG. 2 illustrates an exemplary embodiment for a method for providing an indoor positioning tracking based on the above-mentioned system.
  • the wireless tag 102 performs a ranging 201 process with one or more sensors 101, wherein an initial location of the wireless tag 102 is determined therewith.
  • Step 202and Step 203 occur in parallel, whereby the trilateration approach 202 is applied by the wireless tag 102 to obtain a first predicted location with a coordination value, t location, and the fingerprint positioning technique 203 is applied by the database handling module 105 to obtain a second predicted location with the coordination value, f location, by using the fingerprints 109 collected from the fingerprint database 107.
  • the gross predicted location from both the trilateration approach 202 and the fingerprint positioning technique 203 are determined and subsequently transmitted into the hybrid positioning algorithm module 106 for further calculation.
  • the hybrid positioning algorithm 205 then initiates a series of calculations to determine a final predicted location of the wireless tag 102, which will be discussed further herein. The steps shown in FIG. 2 are further elaborated in FIG. 3 to FIG. 5.
  • FIG. 3A illustrates an exemplary embodiment of the ranging 201 process between the wireless tag 102 and one or more sensors 101a, 101b, 101c, and lOld. It should be understood that each sensor 101a, 101b, 101c, and lOld will perform the ranging 201 process respectively, denoted by R, according to the location of the wireless tag 102 from the sensors 101a, 101b, 101c, and lOld.
  • a minimum of 3 sensors 101a, 101b, 101c, and lOld are required to perform the ranging 201 process with the wireless tag 102 when the wireless tag 102 is in direct line of sight relative to the sensors 101a, 101b, 101c, and lOld, wherein the sensors 101a, 101b, 101c, and lOld operate by providing necessary information for the wireless tag 102 to calculate an initial location from the ranging 201 process.
  • the wireless tag 102 then calculates the first predicted location by applying the trilateration approach 202, wherein multiple distances between the wireless tag 102 and the sensors 101a, 101b, 101c and lOld which were determined from the ranging 201 process are computed to obtain the location of tag 102 through relative distances between tag 102 and each sensor 101a, 101b, 101c, and lOld denoted by Rl, R2, R3, or R4.
  • the accuracy of the ranging 201 process between the wireless tag 102 and the sensor 101 is greatly affected in the presence of an obstacle 303, wherein the wireless tag 102 is no longer in direct line of sight of the sensor 101 and would have to rely on reflecting the signals off adjacent walls 304 in order for the signals to reach the wireless tag 102, and wherein the reflected signals are denoted by R_l.
  • the trilateration approach 202 suffers from a multipath and a None Line of Sight (NLOS) effect, whereby the multipath occurs when radio signals are deflected from their direct path due to reflections on obstacles 303 or walls 304.
  • NLOS None Line of Sight
  • the multipath propagation of the signals causes longer times for the signals to travel between the transmitter and receiver and is especially detrimental when the None Line of Sight (NLOS) effect occurs between the wireless tag 102 and the sensors 101, causing the direct path signal to be blocked or attenuated, resulting in the reflected signal being mistaken as a main direct path signal.
  • NLOS None Line of Sight
  • any delay in the signals causes a transfer of information between the wireless tag 102 and the sensors 101 to be slower than normal, potentially causing a positioning error in the ranging 201 process, whereby the predicted location will be deviated from the true location of the wireless tag 102.
  • FIG. 4 illustrates an exemplary embodiment of the fingerprints 109 used in the fingerprint positioning technique 203 to obtain a second predicted location of the wireless tag 102.
  • Multiple distances from the wireless tag 102 are obtained through the collection of direct and reflected path signals by the sensors 101a, 101b, 101c, and lOld during the ranging 201 process as shown in FIG. 4, wherein each distance obtained are represented by the fingerprint 109. .
  • the direct path signals are denoted by Rl, R2, R3, and R4 whereas the reflected path signals are denoted by Rl_l, Rl_2, R2_l, R3_l, R4_l and R4_2.
  • Table 1 refers to the representation of the fingerprint 109 of the wireless tag 102 relative to the sensors 101a, 101b, 101c, and lOld employed at one particular location.
  • the fingerprints 109 of the wireless tag 102 are then subsequently collected at every location until a fingerprint map is produced.
  • R2i represents the direct path signal of the wireless tag 102 at Sensor 2
  • R22, R23 until R2 m represents all other reflected signal paths of the wireless tag 102 at Sensor 2
  • the Index 1 indicates the direct path signal for all sensors 101a, 101b, 101c, and lOld present in the particular location.
  • each fingerprint 109 comprising the distance between the wireless tag 102 and the sensors 101a, 101b, 101c, and lOld will be computed with previously collected fingerprints 109 acquired from the fingerprint database 107 to obtain the second predicted location.
  • newly collected fingerprints 109 will also be stored in the fingerprint database 107 for future use, whereby the issue of the reflected signals during the trilateration approach 202 can be rectified by employing the fingerprints 109 when necessary.
  • the fingerprint positioning technique 203 together with the trilateration approach 202 can therefore be used to obtain a predicted location for the wireless tag 102.
  • FIG. 5 illustrates an exemplary embodiment of the hybrid positioning algorithm 205 to determine the final predicted location of the wireless tag 102 by determining conditions that needs to be met before proceeding to the next step in the hybrid positioning algorithm 205.
  • the hybrid positioning algorithm 205 will determine whether the predicted location of the wireless tag 102 is in a predefined area. If the predicted location of the wireless tag 102 is in the predefined area, the hybrid positioning algorithm 205 will initiate a calculation process to predict the final predicted location by using an equation as illustrated at Step 502, which is as follows: b * t location + y * / location
  • b and y are weightage adjustments in the hybrid positioning algorithm 205 for the coordination values of the first and the second predicted location respectively.
  • the hybrid positioning algorithm 205 will determine whether the wireless tag 102 meets the next set of conditions. At Step 503, the hybrid positioning algorithm 205 will determine whether the wireless tag 102 exhibits an illogical movement speed by moving too far or too fast within a short period of time. This condition is determined by comparing the distance of the current location of the wireless tag 102 with its previously predicted location. If the wireless tag 102 fulfills this condition, Step 507 will be initiated to calculate the final predicted location, wherein the equation is as follows: a * t location + ( 1-a ) * / location
  • a and (1-a) are weightage adjustments in the hybrid positioning algorithm 205 for the coordination values of the first and second predicted location respectively, if the wireless tag 102 is found to fulfill any one of the determined conditions.
  • Step 503 the hybrid positioning algorithm 205 will proceed to initiate Step 504, whereby the hybrid positioning algorithm 205 will determine whether the wireless tag 102 has performed any illogical movement direction.
  • an illogical movement direction can be characterised as, by way of example but not limited to, the wireless tag 102 passing through an obstacle 303 or an adjacent wall 304. If the wireless tag 102 is found to have shown this, then Step 507 will be initiated. However, if the wireless tag 102 does not fulfil this condition, Step 505 shall then be initiated with a different condition to be checked.
  • the hybrid positioning algorithm 205 will determine whether the first predicted location of the wireless tag 102 is in an illogical standing location, wherein the first predicted location of wireless tag 102, by way of example, may be within a wall or in a blind spot that prevents the wireless tag 102 from receiving signals from the sensors 101. If the wireless tag 102 is found to have fulfilled this condition, Step 507 will subsequently be initiated. Further, Step 506 will only be initiated if none of the conditions of the first predicted location being within the predefined area, illogical movement speed, illogical movement direction, and/or illogical standing location are met.
  • the hybrid positioning algorithm 205 will compare a confidence level of the coordination value, t location, for the predicted location using the trilateration approach 202 with a predefined threshold. If the confidence level of the coordination value, t location, exceeds the predefined threshold, the hybrid positioning algorithm 205 will then use the predicted location from the trilateration approach 202 as the final predicted location of the wireless tag 102 as illustrated at Step 508 However, if the confidence level of the coordination value, t location, is lower than the predefined threshold, Step 507 will then be initiated to obtain the final predicted location of the wireless tag 102

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

La présente invention concerne un système pour la fourniture d'un suivi de positionnement en intérieur, le système est caractérisé par le fait qu'il possède une étiquette sans fil (102), un module de manipulation de base de données (105) et un module d'algorithme de positionnement hybride (106). Le système exécute les étapes suivantes : établir une liaison de communication avec un ou plusieurs capteurs (101) pour obtenir un premier emplacement prédit par l'intermédiaire d'un premier algorithme de positionnement, employer au moins un second algorithme de positionnement pour obtenir un second emplacement prédit, déterminer des conditions du premier emplacement prédit de l'étiquette sans fil (102) et ses profils de déplacement respectifs, appliquer des ajustements de pondération sur des valeurs de coordination des premier et second emplacements prédits sur la base des conditions déterminées, et combiner les valeurs de coordination ajustées des premier et second emplacements prédits pour obtenir un emplacement prédit final précis. :
PCT/MY2020/050189 2020-07-08 2020-12-04 Système et procédé pour la fourniture d'un suivi de positionnement en intérieur WO2022010340A1 (fr)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010059934A2 (fr) * 2008-11-21 2010-05-27 Qualcomm Incorporated Détermination sans fil d’une position à l’aide de mesures de temps de propagation en boucle ajustées
US20150029945A1 (en) * 2013-07-26 2015-01-29 Qualcomm Incorporated Communications between a Mobile Device and an Access Point Device
CN106792524A (zh) * 2016-12-12 2017-05-31 太原理工大学 一种基于动态环境双向校正的混合室内定位系统算法
US20170265041A1 (en) * 2016-03-09 2017-09-14 Honeywell International Inc. Systems, methods, and devices for indoor location
EP3514564A1 (fr) * 2018-01-19 2019-07-24 Centre National D'etudes Spatiales Système de positionnement intérieur

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010059934A2 (fr) * 2008-11-21 2010-05-27 Qualcomm Incorporated Détermination sans fil d’une position à l’aide de mesures de temps de propagation en boucle ajustées
US20150029945A1 (en) * 2013-07-26 2015-01-29 Qualcomm Incorporated Communications between a Mobile Device and an Access Point Device
US20170265041A1 (en) * 2016-03-09 2017-09-14 Honeywell International Inc. Systems, methods, and devices for indoor location
CN106792524A (zh) * 2016-12-12 2017-05-31 太原理工大学 一种基于动态环境双向校正的混合室内定位系统算法
EP3514564A1 (fr) * 2018-01-19 2019-07-24 Centre National D'etudes Spatiales Système de positionnement intérieur

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