WO2013171679A1 - Système et procédé de positionnement intérieur basé sur dispositif portatif - Google Patents

Système et procédé de positionnement intérieur basé sur dispositif portatif Download PDF

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Publication number
WO2013171679A1
WO2013171679A1 PCT/IB2013/053954 IB2013053954W WO2013171679A1 WO 2013171679 A1 WO2013171679 A1 WO 2013171679A1 IB 2013053954 W IB2013053954 W IB 2013053954W WO 2013171679 A1 WO2013171679 A1 WO 2013171679A1
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WIPO (PCT)
Prior art keywords
handheld device
mobile handheld
receivers
sound signals
mobile
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Ceased
Application number
PCT/IB2013/053954
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English (en)
Inventor
Fabian HÖFLINGER
Johannes WENDEBERG
Leonhard Reindl
Christian SCHINDELHAUER
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Albert Ludwigs Universität Freiburg
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Albert Ludwigs Universität Freiburg
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Priority to EP13737377.5A priority Critical patent/EP2850451A1/fr
Publication of WO2013171679A1 publication Critical patent/WO2013171679A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • 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
    • G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic or infrasonic waves
    • G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings

Definitions

  • the invention relates to the field of indoor localization systems.
  • the invention relates to indoor localization systems using handheld-devices, which use sound impulses emitted from said handheld devices.
  • satellite-supported localization systems e.g. GPS
  • GPS satellite-supported localization systems
  • Ultra-wideband (UWB) radio to localize objects or people with high accuracy in indoor areas.
  • UWB ultra-wideband
  • Such systems are sold e.g. by Ubisense solutions (see www.ubisense.net) .
  • Ubisense solutions see www.ubisense.net
  • the user of the mobile device needs additional hardware, which is often impractical in real world scenarios, and also costly.
  • RSSI Received Signal Strength Indicator
  • the RSSI value is distorted by objects in the direct path and in the vicinity and by environmental influences like air humidity.
  • Another method is to use the ToF (Time of Flight) or RTT (Round Trip Time) measurement to measure the distances from immobile, so called anchor nodes to a mobile device.
  • ToF Time of Flight
  • RTT Random Trip Time
  • the microphone of COTS smart phones can only detect relatively low frequencies (i.e. frequencies in the audible range) due the limitation of its built in microphone (made for normal speaking which uses the band between 80 Hz and 12 kHz) . Outside this frequency range the microphone has low sensitivity to receive sound from larger distances. Additionally there exists a maximum sampling rate of the analog to digital converter of COTS smart phones. The corresponding sampling frequency needs to be greater than twice of the maximum signal frequency. As a result, the sound emitted by the handheld device lies in the audible range, detectable by the user. Furthermore, this frequency band is crowded with natural sounds, making it more difficult to distinguish the localization signal from noise. Due to permanently receiving the sound signals by the mobile device, increased power consumption is necessary for signal identification and calculation.
  • the object of the invention is to provide a system for indoor- localization which avoids the disadvantages known from the art.
  • the system shall provide high accuracy and robustness when navigating people for example between exhibition stands or to products in supermarkets.
  • the cost for the user of the mobile device should be minimal, and no additional hardware shall be necessary for him.
  • the additional power consumption of the mobile device shall be reduced.
  • the installation effort for the provider shall be reduced to a minimum.
  • the system provided by the present invention is used for localizing a mobile handheld device, i.e. a device which can be carried around by a subsequently called “user".
  • the system comprises at least one mobile handheld device which is capable of creating "sound signals", i.e. signals in a frequency band of 10 to 50 kHz, to be emitted from a loudspeaker of said mobile handheld device.
  • the frequency range is not limited to sounds audible by humans.
  • the sound signals are subsequently also called "chirps”.
  • the sound signals comprise a unique identifier which is contained (encoded) within the sound signal in the form of a sequence of so called “symbols”, i.e. a representation of a number of bits.
  • symbols i.e. a representation of a number of bits.
  • ID serves for the purpose of distinguishing the mobile device from others which might be part of the system at the same time.
  • the system further comprises a multitude of stationary receiver devices which are capable of detecting said sound signals and generating time stamps consisting of the time points of said sound signals.
  • the stationary receivers can detect the presence of a specific handheld device and determine the exact time when its sound signal reaches the receiver.
  • the receivers are capable of communicating with each other, preferably by a wireless, e.g. GSM/UMTS/LTE/WiFi, or wired, e.g. Ethernet/USB/Firewire/Homeplug connection .
  • the receivers are capable of communicating with a server.
  • This server can be a stand-alone device, or it can be functional part of one or more of the receivers. It can also be part of a cloud service or the like, i.e. a pure software architecture .
  • the server is capable of calculating the position of the mobile handheld device, and of wirelessly transmitting a position information signal of said calculated position to the mobile handheld device.
  • the receivers and the server are capable of synchronizing their clocks.
  • the server may provide a "master time" to which the receivers adjust themselves.
  • the microphones of these receivers can be designed specifically for the task at hand, i.e. sensitivity for inaudible frequencies.
  • the microphones of the handheld devices need not to fulfill any specific requirements; in fact, the mobile devices need no microphones at all.
  • Another advantage of having the receivers stationary lies in the fact that for stationary receivers, the problem of ambient noises resulting from mechanical contact between the user and the device can not occur. In contrast, for mobile receivers, especially when the device is worn inside a pocket, ambient noises can become significant. As a result, the present invention improves the efficiency and robustness of a localization system.
  • the localization system can be used everywhere where people or mobile objects such as AGVs (automated guided vehicles) need to be navigated towards a target.
  • AGVs automated guided vehicles
  • the proposed invention introduces a novel method for localization of handheld devices in indoor areas .
  • Envisaged applications are for example finding gates in airports or in supermarkets to find specific products or in museums and fairs to find places. Furthermore, it can be used for measuring the dimensions of objects and rooms in buildings with the help of e.g. smart phones.
  • the frequency of the sound signal is above the audible range of a human and preferably ranges between 18 kHz and 21 kHz or 23 kHz.
  • the mobile handheld device is a smart phone, i.e. a so called "COTD" (common off-the shelve) device.
  • COTD common off-the shelve
  • a microphone limited to the frequency range audible, and also typically, producible by humans .
  • speakers of such smart phones are capable of producing sounds in the range between 18 and 21 kHz, or even 23 kHz.
  • the microphones of these devices could not detect such sounds.
  • mobile handheld devices which are smart phones are not usable as receivers for inaudible sound signals, but they serve sufficiently as emitters for such signals. This fact makes it possible to transmit short sound pulses from customary handheld devices to receivers without disturbing humans .
  • the position of the handheld device is received from a server.
  • An "app" of the handheld device optionally visualizes these positions in context of the environment, with a map and surrounding items, on the screen of the handheld device.
  • every registered handheld device in a room is assigned a unique ID by the infrastructure (server unit) .
  • the ID can e.g. be the unique IMEI number of a mobile phone, or a MAC address of network hardware present in the mobile device. These IDs are "statically" and need only be propagated into the system by the mobile device.
  • the mobile handheld device is capable of displaying its position information visually, acoustically and/or tactically to the user.
  • the user gets information back from the server, so that not only the server calculates the position of the handheld device, but the user of this device can make personal use of this information.
  • a scenario where it might be sufficient to keep the position information available at the server site for third party use is in security systems.
  • rescue teams need to exactly know how many and where people are located inside a building with e.g. restricted visibility.
  • the position can be displayed together with optional additional information, as will be described later on, to the user on the handheld device.
  • the transfer of this information preferably takes place via wireless communication (see above) . It is also clear that the handheld device as well as the server must comprise according hardware necessary for said wireless communication. In case that the server is physically integrated with one or more receivers, they can share their communication hardware .
  • a system as described above has a the mobile handheld device which comprises a storage medium with a software, wherein this software is capable of controlling the speaker of the mobile handheld device in order to produce the aforementioned sound signals, and wherein the mobile device is further capable of equipping said signals with the aforementioned unique identifier, and optionally of receiving the position information of the mobile handheld device.
  • the system comprises a storage medium (RAM, ROM, memory card or the like) which contains a software that controls hardware parts of the handheld device which is in particular a smart phone, so that no additional hardware is necessary on the end user side, because all necessary functions are provided by the software and the usual smart phone hardware (loudspeaker, display) .
  • the invention is also directed towards a software for a mobile handheld device as defined above, wherein the software is capable of performing the tasks as defined in the foregoing paragraph.
  • the user has to install the software ("app") on his handheld device, which preferably is a smart phone.
  • the interface for the user is as simple as starting the app, which connects to a server and receives an ID using his usual internet connection.
  • the mobile handheld device is assigned specific parameters (unique ID) , such that several devices can be distinguished by the appearance of their sound signals (“chirps”) .
  • the invention also discloses a method for localizing a mobile handheld device relatively to known positions of a network of at least three stationary receivers. It comprises the following steps : 1. Emitting sound signals comprising a unique identifier by the handheld device.
  • the accuracy of the localization system relies on precise synchronization between the receivers.
  • the connected receiver clients negotiate one master receiver which acts as a time reference. Then, the other clients adjust their clocks to the master. The calculation is done in an adaption of the Network Time Protocol algorithm. Both, the time offset and the timer drift are considered.
  • a synchronization precision of better than 0.1 ms can be achieved.
  • the handheld device (s) transmit the sound signals to the receivers.
  • the chirp signals are received by sound receiver devices which detect the specific sounds of each mobile handheld device which preferably is a smart phone.
  • a cross-correlation between the received signal and each symbol is performed. Highly measured peaks indicate the time of arrival.
  • the fixed (stationary) receivers are connected in a wired or wireless network (e.g. Wi- Fi network) , such that they can easily synchronize their clocks and exchange the time differences of arrived signals of the received chirps.
  • the receiver (s) generate global timestamps for the received sound signal.
  • the receiver transmits the received timestamps and the ID via network to an server unit.
  • This server can be a separate computer, or the receivers can act as server, alternatively.
  • the server unit calculates the position of the handheld device with a "Time Difference of Arrival" (TDoA) algorithm. By knowing the propagation speed of sound and the arrival times at the receivers, the position of the handheld device can be calculated. In case that also the mobile device is synchronized with the receivers, other algorithms such as time-of-flight can be used as well .
  • TDoA Time Difference of Arrival
  • the TDoA position estimation is enhanced through analysis of the incoming sound signal strength. This means, that the accuracy of the localization can be improved.
  • a plausibility test can be carried out, using e.g. a probabilistic filter algorithm.
  • the unique identifier is provided by the server unit during an initial sign-in step of the mobile handheld device.
  • This sign-in step can e.g. occur when the user enters the building in which the localization shall take place.
  • the unique identifier is transmitted wirelessly (WLAN, GSM, NFC, ...) , but it can also be typed in manually or scanned in using barcode or the like, displayed on paper or on a screen connected to the server.
  • the position to the mobile handheld device is transmitted subsequently to its calculation from the server unit to the mobile handheld device. This is done by providing this position with the according unique identifier e.g. in a computer network accessible by mobile handheld device which then selects the according position matching its unique identifier.
  • the server unit transmits the position information of the handheld device, preferably together with a map of the room, to the handheld device.
  • a local map, text, graphics, and/or audible information regarding the environment of the mobile handheld device are being transmitted to the handheld device from the server unit.
  • This information can e.g. stem from dedicated services such as advertisers for local shops or the like, or it can stem from search machines which contain information about the surrounding of certain positions.
  • GPS coordinates can be calculated by the server and used as reference for the current position which additional information is looked for.
  • the mobile device emits only short impulses (e.g. 10 ms of the sound signal, followed by longer breaks (e.g. 300 ms) , thus reducing its power consumption while transmitting.
  • the pulse duty factor can range between 1:1 and 1:1000, and preferably between 1:20 and 1:50.
  • the generation of sound signals can preferably be quitted when a certain command is sent from the server, e.g. because the user leaves the "gate" of the system, or it can simply quit when no position data is received for a certain time, indicating that the user is likely to be beyond the covered area of the system, so that the receivers cannot detect the sound signals any more.
  • the sound signal comprises encoded digital information, e.g. by way of representing different bits using a rising and falling frequency sweep ("chirp spread spectrum", CSS) .
  • the digital information relates to the unique identifier (ID) of the mobile handheld device.
  • ID unique identifier
  • the reflections reach the receiver in/out of phase which generates a greater or lower amplitude (interferences) .
  • LOS line of sight
  • the invention also relates to a method for the automatic calibration of a system as defined above, wherein sound signals comprising an unique identifier are provided by a moving mobile handheld device, detected by at least three stationary synchronized receivers which generate time stamps of these signals, and transfer the unique identifier together with the according time stamps to a server unit which calculates the positions of said receivers.
  • a calibration method is presented in order to achieve these positions with no manual interaction for a provider of the system.
  • the positions must neither be measured nor entered into the system (i.e. the server and/or the receivers) .
  • a system equipped with the according software can calibrate itself automatically and autonomously.
  • TDoA Time Difference of Arrival
  • the invention is capable of using a setting wherein the positions of the transmitter and receivers are unknown.
  • the only source of information is the time when the smart phones' chirps are received.
  • the discrete signals occur at unknown positions and times, but measures are taken that they can be distinguished from each other.
  • the clocks of the receivers are synchronized, so the time differences of arrival (TDoA) of the signals can be computed.
  • TDoA time differences of arrival
  • the calculation of the positions of said receivers is achieved by means of a self-calibrating TDoA algorithm using a non-linear optimization approach and a probabilistic state estimation algorithm (particle filter and/or Kalman filter), that solves a non-linear equation system imposed by the received sound signals as defined above.
  • a probabilistic state estimation algorithm particle filter and/or Kalman filter
  • the so called "Iterative Cone Alignment algorithm” solves iteratively a non-linear optimization problem of time differences of arrival (TDoA) by a physical spring-mass simulation.
  • the success rate of solving the calculation of the receiver positions was increased in comparison to the gradient descent method, using only six received signals and four receivers.
  • Another algorithm that is used in the system is based on probabilistic state estimation of the receiver and the sender, here the handheld device.
  • a sequential Monte-Carlo sampling method also known as particle filter, and/or by using a Kalman filter, the configuration of the receivers is robustly calculated during the calibration phase.
  • the two algorithms constitute a novel development in the field of TDoA localization that allows for creation of a quick-setup system for smart phone localization.
  • TDoA algorithms By using these self-calibrating TDoA algorithms, in contrast to conventional TDoA localization algorithms, there is no need to measure the positions of the receivers by external means, which is time-consuming and tedious.
  • the calculation of the positions of said receivers is achieved by means of an iterative optimization and probabilistic state estimation by the Sequential Monte-Carlo method and by the Kalman Filter.
  • the invention is directed towards a method for localizing a mobile handheld device and using a system as defined above, wherein the method comprises an initial automatic calibration step as defined above, followed by the localization steps as defined above.
  • the method preferable comprises all necessary steps for setting up (calibrating) and then running the system according to the invention.
  • the presented system and method avoid the drawbacks known from the art. In particular, it provides high accuracy and robustness, and the cost for the user of the mobile device is minimal, since no additional hardware needs to be provided on the handheld device side.
  • the additional power consumption of the mobile device is reduced to a minimum, since all calculation effort is shifted to the server. Also, the installation effort for the provider is reduced to a minimum, since the system is capable of self-calibration.
  • Figure 1 shows an implementation example of the method.
  • Figure 2 shows a detailed overview of a receiver.
  • Figure 3 shows the measured frequency response of the built-in loudspeakers of different smart phones.
  • Figure 4 shows a "Spread Spectrum”: Sequence of five chirps with varying frequency, consisting of two different symbols “up” and “down”.
  • Figure 5 shows a runtime example of the sequential Monte-Carlo method auto-calibrating.
  • FIG. 6 shows the example of fig. 5 after sufficient long calibration time.
  • a mobile handheld device 1 such as a smart phone generates specific chirp impulses (sound signals 2), preferably in a frequency range of 18-21 kHz.
  • the signal 2 contains also a unique identifier (ID) 5 of the handheld device 1.
  • the receivers 3A, 3B and/or 3C receive these sound impulses 2 and generate time stamps 4 of the arrival time via synchroniza ⁇ tion (network time 9) . These time stamps 4 together with the according ID 5 are communicated to the server 6.
  • the position information 7 of the mobile handheld device 1 is then calculated using an iterative multilateration algorithm by the server 6. Subsequently, position information 7 of the handheld device 1 is transmitted to the handheld device 1 and shown at its display, or acoustically signaled (e.g. using speech).
  • Fig. 2 shows a detailed overview of one receiver 3A.
  • the sound impulses 2 containing the ID 5 are received by a microphone 8 with a bandwidth preferably up to 21 kHz or more, at least slightly within in the (for humans) inaudible range.
  • the impulses 2 are then filtered, amplified and digitalized by an ADC (Analog Digital Converter) .
  • a microcontroller detects and analyzes the chirp impulses 2 and sends the information of the ID 5 with the synchronization time (time stamp 4) to a server unit (not shown) .
  • the receiver 3A is capable to communicate with other receivers (not shown) for synchronization purposes of network time 9.
  • Fig. 3 the measured frequency response of the built-in loudspeakers of different smart phones is depicted.
  • COTS smart phones are perfectly suitable for being used as mobile handheld devices for the systems and method provided.
  • Fig. 4 a "Spread Spectrum” is shown.
  • the exemplary sequence consists of five chirps with varying frequency, consisting of two different symbols “up” and “down”.
  • chirp spread spectrum CSS
  • Fig. 5 and Fig. 6 a runtime example of the sequential Monte- Carlo method (“particle filter”) is shown while auto-calibrating, therefore localizing, the positions of eleven receivers and of one handheld device (all reference numerals omitted) .
  • fig. 5 shows the situation after a short time of calibration
  • fig. 6 shows the situation after a sufficient long time (10 time steps later) .
  • the scatter-plots symbolizing the calculated positions of the receivers converge into rather small spots.
  • the path of the moving mobile handheld device 1 is also shown as continuous line between the surrounding receivers (reference numerals omitted) . Reference numerals
  • server unit 6 server, server unit

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Telephone Function (AREA)

Abstract

La présente invention concerne le domaine de systèmes de positionnement intérieur. En particulier, la présente invention concerne des systèmes de positionnement intérieur utilisant des dispositifs portatifs, qui utilisent des impulsions sonores émises par lesdits dispositifs portatifs. Selon la présente invention, le système de positionnement de dispositif portatif mobile (1) comprend au moins un dispositif portatif mobile (1) apte à créer des signaux sonores (2) comprenant un unique identificateur (5) à émettre depuis un haut-parleur dudit dispositif portatif mobile (1), une multitude de dispositifs de récepteur immobiles (3A, 3B, 3C) aptes à détecter lesdits signaux sonores (2) et à générer des estampilles temporelles (4) consistant des points temporels desdits signaux sonores (2), et communiquant les uns avec les autres et avec un serveur (6), ledit serveur (6) étant apte à calculer la position du dispositif portatif mobile (1), et à transmettre de manière sans fil un signal d'informations de position (7) de ladite position au dispositif portatif mobile (1). La présente invention porte en outre sur un procédé de positionnement de dispositif portatif mobile (1) par rapport à des positions connues d'un réseau d'au moins trois récepteurs immobiles (3A, 3B, 3C), et un procédé pour l'étalonnage automatique d'un système.
PCT/IB2013/053954 2012-05-15 2013-05-15 Système et procédé de positionnement intérieur basé sur dispositif portatif Ceased WO2013171679A1 (fr)

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US201261647107P 2012-05-15 2012-05-15
US61/647,107 2012-05-15

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WO2016054691A1 (fr) * 2014-10-07 2016-04-14 Commonwealth Scientific And Industrial Research Organisation Procédé d'installation d'un système de suivi
US20170311125A1 (en) * 2014-10-07 2017-10-26 Commonwealth Scientific And Industrial Research Organisation Method of setting up a tracking system
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WO2018191425A1 (fr) * 2017-04-11 2018-10-18 Portland State University Positionnement acoustique à large bande avec étalonnage de précision et estimation de paramètre de joint
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