WO2022012721A2 - Procédé de localisation d'objets - Google Patents

Procédé de localisation d'objets Download PDF

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Publication number
WO2022012721A2
WO2022012721A2 PCT/DE2021/200090 DE2021200090W WO2022012721A2 WO 2022012721 A2 WO2022012721 A2 WO 2022012721A2 DE 2021200090 W DE2021200090 W DE 2021200090W WO 2022012721 A2 WO2022012721 A2 WO 2022012721A2
Authority
WO
WIPO (PCT)
Prior art keywords
uwb
reference system
displacement vector
data
local relative
Prior art date
Application number
PCT/DE2021/200090
Other languages
German (de)
English (en)
Other versions
WO2022012721A3 (fr
Inventor
Christian Schneider
Thomas Reisinger
Maximilian TREINDL
Martin Opitz
Lars Weisgerber
Original Assignee
Continental Automotive Gmbh
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 Continental Automotive Gmbh filed Critical Continental Automotive Gmbh
Publication of WO2022012721A2 publication Critical patent/WO2022012721A2/fr
Publication of WO2022012721A3 publication Critical patent/WO2022012721A3/fr

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
    • G01S5/0284—Relative positioning
    • G01S5/0289—Relative positioning of multiple transceivers, e.g. in ad hoc networks
    • 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
    • G01S5/0009—Transmission of position information to remote stations
    • G01S5/0072—Transmission between mobile stations, e.g. anti-collision 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
    • 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 method for locating objects.
  • the invention further relates to a UWB transceiver for carrying out the method.
  • RSSI Receiveived Signal Strength Indicator - indicator for the received signal strength
  • LF - Low-Frequency Low-frequency-based technologies
  • US 7612717 B2 discloses a localization of an ultra-wideband (UWB) transmitter using at least three other UWB transceivers.
  • UWB ultra-wideband
  • the inventive method for locating objects has the steps of activating at least a two-way measurement by means of a UWB connection between two or more UWB transceivers, sending and receiving data, creating a precise local relative reference system based on the sent and received data, and sending and/or receiving data comprising a displacement vector in order to update the position of the at least one object in the precise local relative reference system by means of the displacement vector after the position of at least one object has been changed.
  • the method for locating objects preferably also has at least one of activating danger mode, activating search mode, changing the danger level, changing radio technology or radio standard, determining the position in the precise local relative reference system, increasing transmission power, overriding transmission limitation, activating augmented reality or collecting environmental information , on.
  • the displacement vector is sent using a radio technology different from UWB.
  • the displacement vector can also be transmitted through material through which the UWB signal cannot penetrate, or through which it can only with difficulty.
  • the position determined by the displacement vector is alternatively or additionally transmitted in the precise local relative reference system and/or a precise absolute reference system. This has the advantage that the changed position of the object does not have to be retransmitted into a reference system and possible errors in the entry can be avoided.
  • the precise local relative reference system is overlaid with the precise absolute reference system and/or data from thermal and/or infrared-based imaging.
  • data in particular environmental data and/or personal data, is collected and/or used.
  • the direction and strength of the signals comprising the transmitted data are adjusted based on the direction of the locally acting gravitational force.
  • the transmission and reception module is designed to transmit and receive UWB signals, in particular UWB signals of a transit time measurement method, and signals of at least one other radio technology.
  • the sensor unit is for measuring a Displacement vector of the UWB transceiver designed, wherein the displacement vector characterizes a change in position of the object from at least a first position to at least a second position.
  • the arithmetic unit is configured to process the UWB signals and the displacement vector into a precise local relative frame of reference, and the optical output unit is configured to output the precise local relative frame of reference.
  • the UWB transceiver also includes a camera system for capturing the environment and the optical output unit is designed to output an augmented reality, in particular a reality augmented by the object.
  • the UWB link uses a time-of-flight (ToF) measurement technique, such as at least two-way measurement, to measure directions and distances between UWB transceivers.
  • ToF time-of-flight
  • Danger mode means that the UWB transceivers according to the invention carry out a so-called two-way measurement essentially continuously and advantageously pulsed, which is based on time stamps and which is generated by each of the UWB transceivers according to the invention and received by other UWB transceivers according to the invention.
  • the distances between UWB transceivers in particular can be determined with an accuracy of a few centimetres. This makes it possible to generate a precise local relative reference system using the UWB transceivers.
  • the UWB transceivers according to the invention can also determine the angle of arrival (AoA) of other UWB connections by means of an antenna network and/or a rotation. Due to this advantageous characteristic, it is possible even when only one searcher (transceivers) is present, in contrast to the network, to locate/localize the buried person.
  • Danger mode can also be activated by the UWB transceiver itself or be permanently active.
  • the intensity and frequency of the two-way measurement can depend on a danger level or on other external factors.
  • the inventive UWB transceiver may receive a signal from an external data source indicative of a past, current, near, or future event. For example, an earthquake or hurricane can be warned from a central location.
  • environmental information that can indicate an event to be received by the UWB transceiver according to the invention, analyzed and interpreted accordingly. For example, the sound of an approaching avalanche or the sound of an explosion can activate danger mode or increase the danger level.
  • the signal strength can also be adjusted to the external circumstances. For example, if the level of danger is high or if the person carrying the UWB transceiver according to the invention is buried, the transmission power of the UWB transceiver can also be increased or released above the legally permitted level.
  • Fig. 1 shows schematically an arrangement of people
  • FIG. 2 shows schematically another arrangement of people with
  • FIG. 3 shows a flow chart of the method according to the invention for locating objects
  • FIG. 1 shows a situation in which several people P1-P5 each carry a UWB transceiver (not shown) according to the invention.
  • the UWB transceivers are advantageously in mutual contact with one another via a UWB connection, among other things.
  • Figure 1 for the sake of clarity, only the connections between P1 and P2-P5 are shown, but the other UWB transceivers are also in mutual contact.
  • the UWB connections in the group and their distance information enable a very precise position localization and a precise obliteration of the UWB transceivers or of the persons P1-P5 in the precise local relative reference system (see FIG. 1).
  • FIG. 1 shows a situation in which several people P1-P5 each carry a UWB transceiver (not shown) according to the invention.
  • the UWB transceivers are advantageously in mutual contact with one another via a UWB connection, among other things.
  • FIG. 1 shows a situation in which several people P1-
  • FIG. 2 shows another situation in which person P1 has experienced a change in position from location L1 to location L2 as a result of an event.
  • the change in position is registered by various sensors of the UWB transceiver according to the invention, in particular using position, gyro and/or acceleration sensors, and evaluated in order to obtain a displacement vector V1.
  • the displacement vector V1 characterizes the change in position in particular by the temporal resolution of changing accelerations and acting forces and thus allows the trajectory of the change in position to be reconstructed.
  • the UWB connection from P1 to the other persons P2 - P5 breaks off. As a result, it is no longer possible to precisely locate the position of person P1 via the UWB connection.
  • the person P1 when the person P1 is buried or the terrain is very impassable or impenetrable, the person P1 can no longer be localized optically and acoustically by the persons P2-P5.
  • the person P1 in the case of sudden damage events such as avalanches and flash floods in particular, fast and precise localization of the people affected by the damage event is crucial for their survival.
  • the UWB transceiver can now transmit a signal comprising the displacement vector V1 using the other radio technology.
  • the inventive UWB transceiver of P1 can also use the displacement vector V1 and the precise local relative reference system to calculate an exact localization in the precise local relative reference system and to transmit its own position using the signal. If the signal is received by one of the persons P2-P5, the person P1 can be localized very precisely on the precise local relative reference system, taking into account the displacement vector V1 or taking into account the calculated position.
  • a very precise localization of the person P1 can also be carried out by just one other person with a UWB transceiver according to the invention, since no further triangulation or locating by a number of UWB transceivers is necessary. This can also allow potential helpers to independently search a larger area.
  • step S1 A method according to the invention for locating objects is shown in FIG.
  • step S1 a runtime measurement method or a two-way measurement between UWB transceivers is started.
  • signals are sent and received in step S2 in order to exchange data.
  • a precise local relative reference system is then generated or updated with the aid of the data in step S3.
  • Steps S2 and S3 can now be repeated as long as the connection between the transit time measurement method and the two-way measurement between the UWB transceivers is present.
  • step S4 data can be comprehensively Shift vector are sent and received in order to change the position of the at least one during or after the position change carried out Update UWB transceivers in the precise local relative frame of reference using the displacement vector.
  • the method according to the invention can generally be used to improve the localization of concealed objects and/or objects whose position is no longer precisely known due to a change in position.
  • the particularly advantageous processing of the data within the UWB transceiver means that a uniform information base is compiled that can be recorded particularly easily by different recipients.
  • Various technically and/or biologically active systems such as robots, for example, can be used to localize objects using optical sensors without their own complex data processing and without creating their own precise and in particular local and relative reference system.
  • Objects can in particular also be people, robots, vehicles and/or any combination thereof if they include a UWB transceiver according to the invention or carry such a UWB transceiver according to the invention.
  • the UWB transceiver 1 includes at least one UWB transmitting and receiving unit 2, a computing unit 3, an optical output device 4 and a sensor unit 5.
  • the UWB transceiver can also include one or more devices for other radio technologies (not shown). , with which in particular one or more alternative frequencies or frequency bands can be used.
  • the UWB transceiver according to the invention comprises an optical output device such as a screen, or is connected to such an output device.
  • the precise map, the position of person P1, absolute or in relation to the inventive UWB transceiver, and/or a possible path to the position of person P1 can then be communicated to the user of the inventive UWB transceiver on the output device.
  • the persons P2-P5 can rush to the aid of the person P1.
  • the position and/or the person P1 can be displayed on the output device as part of an augmented reality (AR) if the output device or the UWB transceiver according to the invention is designed to provide an augmented reality.
  • AR augmented reality
  • the UWB transceiver according to the invention or the optical output device also includes an optical sensor, such as a camera, in particular a 3D camera or stereoscopic camera, with which the surroundings can be optically recorded and in which the position of person P1 is superimposed or embedded can.
  • an optical sensor such as a camera, in particular a 3D camera or stereoscopic camera, with which the surroundings can be optically recorded and in which the position of person P1 is superimposed or embedded can.
  • other indications in particular directional arrows, also with different colors and/or intensity, can be integrated into the augmented reality.
  • thermal and/or infrared-based sensors can also be used. This means that the localization is also conceivable using thermal and/or infrared-based sensors. This enables the superimposition of virtual relative (localization using the radio technologies mentioned and thermal and/or infrared-based imaging) and absolute (GPS + map material) reference systems or maps based on them. This overlay can then be evaluated using intelligent algorithms, and the most probable position of person P1 can thus be calculated.
  • the UWB transceiver according to the invention also includes a transmitting and receiving unit for other radio technologies or frequency ranges.
  • the UWB transceiver according to the invention can also be coupled to another transmitting and receiving unit in a wired and/or wireless manner, in particular to additional ones To be able to use radio technologies or frequency ranges.
  • the possibly larger range of another radio technology such as the field strength-based avalanche transceiver, can be used to give a rough indication of the direction if the UWB connection to the buried subject is still too weak because the distance to them is too great.
  • the UWB transceiver according to the invention uses the various radio standards in order to carry out localization using field strengths or phase differences independently.
  • the precise local relative reference system can be used for improved coordination of the search for a signal from person P1.
  • the positions and movements of the persons P2-P5 can be tracked in the precise local relative reference system and communicated to one another. This can be realized, for example, through the UWB connection, which allows very precise localization.
  • the position changes of some or all persons P2-P5 can be registered by various sensors or sensor units of the UWB transceivers according to the invention carried by the respective persons P2-P5, in particular using GPS, position, gyro and/or Acceleration sensors are evaluated in order to obtain an individual displacement vector.
  • the individual displacement vector and the precise local relative reference system can also be used to calculate an exact localization in the precise local relative reference system and to communicate the individual position or the individual position changes to the other people.
  • the relative positions of the persons P1 -P5 can be converted into an absolutely precise reference system, key word: map-based.
  • the UWB transceivers according to the invention of the persons P2-P5 can form a network that tracks and stores the positions of the persons P2-P5 and mark in the precise local relative frame of reference. This can also ensure that when searching for person P1, the entire area is covered as far as possible and no gaps occur.
  • an algorithm in particular an artificial intelligence, can be used, which coordinates the movements of the persons P2-P5 with one another.
  • an augmented reality can be made available by the UWB transceiver according to the invention and/or the optical output device, the individual movement direction of the individual persons P2-P5 suggested by the algorithm can be communicated and coordinated in a particularly advantageous manner.
  • the algorithm or the artificial intelligence can in particular use available personal data of the respective persons P2 - P5 in order to achieve improved coordination of the persons in the search.
  • This is achieved in particular by analyzing and using the individual possibilities and states of the people. For example, a person with a longer stride could search a larger area with the same number of steps than a person with a smaller stride. For example, depending on the terrain, a taller person might have more difficulty, such as dealing with dense vegetation, or less difficulty, such as negotiating height differences, than a smaller person. Heavy people could also sink deeper into the snow than lighter people, for example, which results in reduced speed and/or increased effort, which could reduce the radius of movement of the person concerned, in particular because a break might be necessary earlier.
  • the coordination of the persons P2 - P5 can also be improved on the basis of measurable physical parameters, such as heartbeat or respiratory rate. It is also conceivable that the positions of the searching persons P2-P5 are coordinated by instructions from the mobile search devices in such a way that there is a better positional relationship/angle for localization (e.g. by means of trilateration), which improves the localization of person P1. In this way, individual pauses and movement parameters can be calculated for the people P2 - P5 who Improve the coordination of the people P2 - P5 with each other during the search.
  • Such measurable physical parameters can be detected either by the UWB transceiver according to the invention itself or by a device connected to it.
  • Such connected devices can be implemented, for example, in the form of a smartwatch, a chest strap, a measuring device for measuring skin conductivity or similar devices, in particular devices worn on the body or connected to the body.
  • a smartwatch a chest strap
  • a measuring device for measuring skin conductivity or similar devices in particular devices worn on the body or connected to the body.
  • the artificial intelligence can also try to estimate the displacement vector V1 of person P1 using the environmental data.
  • the estimation can restrict the primary range for the coordination of the persons P2 - P5, particularly in the precise local relative frame of reference.
  • the UWB transceivers according to the invention can collect environmental data.
  • environmental data in particular environmental data before the event, can also be requested and received by the UWB transceiver according to the invention via a communication connection from a remote data source such as a server or a satellite.
  • the position and orientation of the UWB transceiver relative to the direction of the locally acting gravitational force can be determined using the sensors, in particular the position and/or acceleration sensors, but also using the optical sensors.
  • a person who is buried will generally not want to send any signals in the direction of the acting gravitational force, since none of the people looking for them are expected in this direction.
  • a person who is looking for a buried person will generally not want to send any signals to find the buried person against the acting gravitational force, since a buried person is generally not expected in this direction. Therefore, the UWB transceiver based on the evaluation of the sensors in relation to the locally acting Adjust the direction and strength of the signals to be emitted by the force of gravity.
  • This can be implemented, for example, by beamforming and/or a directional antenna, in particular a phased array antenna.
  • the direction can also be limited in the opposite direction or in an angular segment if the local conditions, in particular the available data on the local conditions, make this appear advantageous.
  • the direction of the locally acting gravitational force can in particular also include an angular range in the directions perpendicular to this direction, in particular an angular range of 1°, 2°, 5°, 10°, 20°, 45°, 60°, 90°, 180° ° and the angular ranges in between.
  • an angular range in the directions perpendicular to this direction in particular an angular range of 1°, 2°, 5°, 10°, 20°, 45°, 60°, 90°, 180° ° and the angular ranges in between.
  • the signal radiation in the two perpendicular directions can be adjusted in such a way that no signals are emitted in an angular range of up to approximately 180° around the direction of the locally acting gravitational force are radiated. This can then lead to saving the energy source of the UWB transceiver and/or increasing the signal strength in the other directions.
  • the angular range can also only be adapted for a direction perpendicular to and/or not symmetric
  • the signals of a deeper buried person can be received by another, less deeply buried person and sent in the direction opposite to the locally acting gravitational force in order to draw the attention of potential searchers to the position of the two buried people close.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

L'invention concerne un procédé de localisation d'objets, comprenant les étapes consistant à activer une mesure bidirectionnelle au moyen d'une liaison ULB entre au moins deux émetteurs-récepteurs ULB et à émettre et recevoir des données. L'invention est caractérisée en ce que le procédé comprend en outre les étapes consistant à créer un système de référence relatif local précis sur la base des données émises et reçues et à émettre et/ou recevoir des données comprenant un vecteur de déplacement afin de mettre à jour, après une modification de position d'au moins un objet effectuée, la position dudit au moins un objet dans le système de référence relatif local précis au moyen du vecteur de déplacement.
PCT/DE2021/200090 2020-07-15 2021-07-08 Procédé de localisation d'objets WO2022012721A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102020208850.0A DE102020208850A1 (de) 2020-07-15 2020-07-15 Verfahren zur Lokalisierung von Objekten
DE102020208850.0 2020-07-15

Publications (2)

Publication Number Publication Date
WO2022012721A2 true WO2022012721A2 (fr) 2022-01-20
WO2022012721A3 WO2022012721A3 (fr) 2022-03-31

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PCT/DE2021/200090 WO2022012721A2 (fr) 2020-07-15 2021-07-08 Procédé de localisation d'objets

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DE (1) DE102020208850A1 (fr)
WO (1) WO2022012721A2 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20230168336A1 (en) * 2021-11-30 2023-06-01 Meta Platforms Technologies, Llc Systems and methods of angle-of-arrival determination in wireless devices
CN118397866A (zh) * 2024-06-26 2024-07-26 西安重装智慧矿山工程技术有限公司 一种井下无轨胶轮车运输管理方法、系统、设备及介质

Citations (1)

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Publication number Priority date Publication date Assignee Title
US7612717B2 (en) 2004-06-07 2009-11-03 Commissariat A L'energie Atomique ULB location system for rescuing avalanche victims

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US7312752B2 (en) 2003-10-22 2007-12-25 Awarepoint Corporation Wireless position location and tracking system
US8787944B2 (en) * 2011-08-18 2014-07-22 Rivada Research, Llc Method and system for providing enhanced location based information for wireless handsets
DE102015208624A1 (de) 2015-05-08 2016-11-10 Continental Automotive Gmbh Vorrichtung zum Einleiten eines autonomen Einparkens eines Fahrzeugs
US9810767B1 (en) 2015-06-16 2017-11-07 Michael Hamilton Location estimation system
US10382894B2 (en) * 2017-07-28 2019-08-13 Electronics And Telecommunications Research Institute Method of measuring inter-device relative coordinates and device using the same

Patent Citations (1)

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Publication number Priority date Publication date Assignee Title
US7612717B2 (en) 2004-06-07 2009-11-03 Commissariat A L'energie Atomique ULB location system for rescuing avalanche victims

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20230168336A1 (en) * 2021-11-30 2023-06-01 Meta Platforms Technologies, Llc Systems and methods of angle-of-arrival determination in wireless devices
US11846717B2 (en) * 2021-11-30 2023-12-19 Meta Platforms Technologies, Llc Systems and methods of angle-of-arrival determination in wireless devices
CN118397866A (zh) * 2024-06-26 2024-07-26 西安重装智慧矿山工程技术有限公司 一种井下无轨胶轮车运输管理方法、系统、设备及介质

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WO2022012721A3 (fr) 2022-03-31

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