WO2016182561A1 - Détection de position sans fil en utilisant un champ magnétique de deux émetteurs - Google Patents

Détection de position sans fil en utilisant un champ magnétique de deux émetteurs Download PDF

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Publication number
WO2016182561A1
WO2016182561A1 PCT/US2015/030318 US2015030318W WO2016182561A1 WO 2016182561 A1 WO2016182561 A1 WO 2016182561A1 US 2015030318 W US2015030318 W US 2015030318W WO 2016182561 A1 WO2016182561 A1 WO 2016182561A1
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WO
WIPO (PCT)
Prior art keywords
receiver
computing unit
magnetic field
transmitting
coils
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/US2015/030318
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English (en)
Inventor
Byunghoo Jung
Mohit Singh
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.)
Purdue Research Foundation
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Purdue Research Foundation
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Publication date
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Priority to PCT/US2015/030318 priority Critical patent/WO2016182561A1/fr
Publication of WO2016182561A1 publication Critical patent/WO2016182561A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/14—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring distance or clearance between spaced objects or spaced apertures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04M—TELEPHONIC COMMUNICATION
    • H04M1/00—Substation equipment, e.g. for use by subscribers
    • H04M1/72—Mobile telephones; Cordless telephones, i.e. devices for establishing wireless links to base stations without route selection
    • H04M1/724—User interfaces specially adapted for cordless or mobile telephones
    • H04M1/72448—User interfaces specially adapted for cordless or mobile telephones with means for adapting the functionality of the device according to specific conditions
    • H04M1/72457—User interfaces specially adapted for cordless or mobile telephones with means for adapting the functionality of the device according to specific conditions according to geographic location
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/20—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature
    • G01D5/204—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the mutual induction between two or more coils
    • G01D5/2086—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the mutual induction between two or more coils by movement of two or more coils with respect to two or more other coils

Definitions

  • the present application relates to wirelessly detecting positions of devices, e.g., portable or mobile devices.
  • FIG. 1 is a simplified block diagram of a positioning system according to one embodiment.
  • FIG. 2 is a block diagram showing the system of FIG. 1 in a 3-dimensional environment.
  • FIG. 3A is a simplified block diagram illustrating envelope detection using a computing unit according to one embodiment.
  • FIG. 3B is a simplified block diagram illustrating envelope detection using an analog envelope detector according to one embodiment.
  • FIG. 4 is a plot showing a predicted field model for a single coil according to one embodiment.
  • FIG. 5 is a plot showing a predicted field model for two coils according to one embodiment.
  • FIG. 6 is a simplified block diagram of a positioning process according to one embodiment.
  • FIG. 7 is a diagram showing an example experimental setup of the system of FIG. 1.
  • FIG. 8 is a flowchart illustrating a positioning process according to one embodiment.
  • the attached drawings are for purposes of illustration and are not necessarily
  • Various aspects herein advantageously permit position to be determined rapidly using a low-power microcontroller. No large database of hotspots or antennas is required. Various aspects permit very high-speed tracking of motion.
  • the term "coil" when used in reference to an antenna is not limiting, and other types of antennas capable of performing the listed functions can be used.
  • Various aspects herein use low frequencies, e.g., ⁇ 1 MHz or ⁇ 500kHz, -70 kHz, or -80 kHz or ⁇ 35kHz. Other frequencies can also be used, e.g., >1 MHz.
  • Magnetic sensors described herein can include sensors including two or more substantially orthogonal coils for measuring components of a magnetic field.
  • a triaxial or other magnetoresistive sensor can also or alternatively be used.
  • references to the Earth's coordinate system include other reference coordinate systems common or substantially common to transmitter and receiver.
  • an approximate location can be used as a starting point to locate the magnetic-field vector of interest. Initial estimates of the approximate location can be made in various ways. The approximate location is within an area determined using the determined signal strengths (magnetic field strengths) of the arriving signals and a corresponding estimate of distance to each transmitter (as in distance estimation using WiFi, Bluetooth, RFID signal strength).
  • an exhaustive search is performed of coarsely- spaced sample points in the search area. More closely- spaced sample points are then tested around the coarsely-spaced point that gives the minimum error. This procedure is repeated with successively more closely-spaced sets of sample points (successively finer sampling grids) until the required spatial accuracy is satisfied.
  • a position or orientation of the receiver is determined with respect to the transmitter, that position or orientation can be transformed into other coordinate systems, e.g., Earth-relative systems such as WGS84 or local systems such as a coordinate frame of a room or building. Coordinate transforms can be done using rotations, skews, and other techniques well known in the computer-graphics and cartographic arts.
  • a technical effect is to detect magnetic fields from the transmitter(s) and determine the location of the receiver using the detected fields. Further technical effects of various aspects include presenting an indication of the receiver's position on an electronic display and transmitting the determined position to the transmitter, a computer or computing unit, or another device.
  • FIG. 1 illustrates a basic block diagram of a positioning system 100 according to one embodiment.
  • the positioning system 100 includes two transmitters (shown as antenna coils 102) and at least one receiver 104.
  • the receiver 104 includes a tri-axis magnetic sensor 106.
  • the coils 102 are placed in different positions and can have any two-dimensional and three-dimensional shape: circular, elliptic, rectangle, square, diamond, triangle, etc.
  • Signal generator 110 and drivers 112 may be included to generate waveforms and drive the coils 102 simultaneously to transmit periodic beacon signals which have a fixed frequency. Any periodic signal can be used, but a sinusoidal signal is preferred as it is most effective for simplifying the transmitter and receiver design.
  • the frequencies f 1 and f2 of the two periodic signals from the two transmitting coils are close to each other but different.
  • the transmitting coils 102 will generate a spatial magnetic field where the field strength and direction depends on the position in the space. Because the two signals from the two transmitters have slightly different frequencies, the amplitude of the magnetic field signal at any given position (x, y, z) will be modulated where the modulation frequency is the difference between the two transmitting signal frequencies Ifl - f2l.
  • Amplifiers 112, A/D converters 116 may be operatively connected as shown to amplify and convert the output of the magnetic sensor 106 to a digital form suitable for input by a computing unit 118.
  • FIG. 2 illustrates operation of the system 100 in a 3-dimensional environment.
  • the tri-axis magnetic sensor 106 in the receiver 104 measures the signal transmitted by the two transmitting coils 102.
  • the sensor 106 may comprise three planar coils orthogonally placed relative to each other as a tri- axis magnetic sensor.
  • a solid state tri-axis magnetic sensor such as three orthogonally placed magnetoresistive sensors may be used as sensor 106.
  • the computing unit 118 may be placed in the receiver 104, in the transmitter, or remoted located somewhere else. When the computing unit 118 is not placed in the receiver 104, the measured data may be sent to a remote computing unit placed outside of the receiver 104 through a wireless channel or wired channel.
  • the envelope of the amplitude modulated signal 113 from the coils 102 may be detected using the computing unit 118 (FIG. 3A).
  • the envelope detection may be performed by an analog envelope detector 115 connected to the sensor 106 (FIG. 3B).
  • FIG. 4 shows an equi-magnetic field magnitude surface 400 when one transmitting coil 102 transmits.
  • the equi-magnitude surface 400 has an ellipsoid shape.
  • the crossing line between the two ellipsoids is an oval shaped closed line 503 on a curved 2-dimensional plane, and the receiver 104 is located on the crossing line of the two ellipsoids 501 and 502.
  • the crossing line 503 may be only using the magnitudes of the measured magnetic fields by the receiver 104, no orientation information is required.
  • the receiver position may be found by comparing the estimated angle ⁇ with the measured angle ⁇ because the difference between the estimated angle and the measured angle ⁇ - ⁇ will be the minimum, ideally zero, at the receiver 104 position. This works because the angle between any two vectors remains the same when the coordinate frame rotates, and hence the calculated angle between the two estimated vectors in the transmitter' s 104 coordinate frame (X, Y, Z) and the angle between the two measured vectors in the receiver' s own coordinate frame (U, V, W) must be the same ideally at the position of the receiver 104. [0032] Note that the position of the receiver 104 above is found without its orientation information.
  • FIG. 6 shows a simplified block diagram of the positioning process 600 using two transmitting coils.
  • the process starts at stage 602 where the magnetic sensor 106 senses the transmitter 102 magnetic field vector in the receiver 104 coordinate frame.
  • the envelope detector 115 (or alternatively the computing unit 118) detects the envelope of the magnetic field signals.
  • the computing unit 118 calculates the magnetic field signal vectors in the receiver 104 coordinate fram using the maxima and minima of the envelope.
  • the magnitudes of the magnetic field vectors are evaluated.
  • the position of the receiver 104 is determined using the magnitudes and angle of the expected (modeled) and measured values of the transmitting coil 102 field.
  • coordinate correction is optionally applied to the position.
  • the receiver 104 position is used to determine the magnetic field vectors at the receiver location in the transmitter coil' s (X., Y, Z) coordinate frame.
  • the rotation matrix is determined to find the orientation of the receiver 104.
  • FIG. 7 shows an example implementation of the system 100 for determining the location and orientation of the receiver relative to the transmitters 102 using a distributed magnetic field model from the two transmitters 102. Use of the distributed model improves location accuracy significantly.
  • FIG. 8 shows a process 800 for implementing the disclosed method. The process starts at stage 802 where the amplitudes from the three orthogonal coils in the magnetic sensor 106 are read. At stage 804, the envelope of the received signals is detected and the magnetic field vectors in the receiver coordinate system (u, v, w) are computed. At stage 808, the absolute magnetic field vectors from the two transmitter coils 102, along with the angle between the two vectors, is calculated using the dot product formula.
  • the computing unit 118 checks the error between the magnetic model of the transmitter coils 102.
  • the model is constructed by breaking the transmitter loop into smaller sections and applying Biot- Savart law to calculate the magnetic-filed vector at any given location (x,y,z) using it. To reduce the compute time, this calculation is done for just one loop of the coil 102 and the resultant field is multiplied be the total number of turns. If the error between the measured field values and the modeled values is not less than a predetermined minimum error, the process moves to stage 812. At stage 812, the expected magnetic field values for a plurality of positions around the estimated position are calculated.
  • 27 corners are evaluated ( ⁇ - ⁇ : ⁇ : ⁇ + ⁇ , y-Ay:Ay:y+Ay, ⁇ - ⁇ : ⁇ : ⁇ + ⁇ ), where ⁇ is the step size.
  • the Euclidean distance is then found between the expected magnetic-field value and the one calculated for the 27 corners.
  • the corner with the least distance (out of 27) is selected as the new starting position (stage 814) and the process is repeated (returns to step 810) until the solution converges and the error is within the predetermined limit.
  • step 810 If the error from step 810 is within the predetermined limit, the process moves to stage 816, where the x/y/z step size is compared to a predetermined minimum. If the step size is at the minimum, the computing unit 118 outputs the estimated x,y,z position of the receiver 104 (stage 820). If not, the step size is reduced (stage 818) and the error is again evaluated (step 810).
  • the magnetic-field vector at the receiver 104 position (x, y, z) in the transmitter coil 102 co-ordinate system is determined. From the magnetic field vectors (3 ⁇ 4 ana 3 ⁇ 4) in the transmitter coil 102 co-ordinate system (which uses (X, Y, Z)) and its projection in the receiver 104 co-ordinate system (which uses (U, V, W)), the rotation or orientation angles are determined and output (stage 824). [0037] In order to resolve potential problems with polarity ambiguity, the following method may be used in one embodiment.
  • the receiver 104 can possibly be located in one of the four quadrants relative to the transmitter coils 102: (+X, +Y), (+X, -Y), (-X, +Y), (+X, +Y).
  • the signals directly from the tri-axial magnetic sensor 106 are processed to determine the polarity.
  • a 3-Dimensional sensor e.g., a compass + accelerometer
  • a compass + accelerometer can be used to find out the rotation angle direction with respect to the transmitter 102 which can be used to detect the quadrant of the receiver 104.
  • one of the sensors can be removed. E.g. if the transmitter coils 102 are laid flat on a table and the receiver 104 hovers above it, only pitch and roll angles are required to detect the correct quadrant of the receiver and hence the quadrant detection will be achieved only with an
  • Indoor RF transmission modalities can be heavily affected by channel characteristics, e.g., the structure of buildings.
  • frequencies ⁇ 1 MHz are used for effective propagation through, e.g., walls, human bodies, and other features of indoor environments.
  • Such frequencies have wavelengths in the tens of meters, so the receivers can operate in the near field of the transmitting antenna, and not in the far field. Therefore radiative effects do not need to be considered or compensated for, in various examples.
  • Lower frequencies increase the antenna size and provide improved penetration of objects.
  • position accuracy can be more affected by walls than at lower frequencies.
  • frequencies of 12MHz and above can be used, and advantageously still pass through human bodies.
  • various low frequencies can be used since the electromagnetic spectrum is not heavily used at LF.
  • Other users include ham radio operators.
  • Multiple frequencies can be used for different transmitters, and receivers can include notch filters corresponding to specific transmitter frequencies to avoid interference.
  • any of the computing units 118, the receiver 104, the magnetic sensor 106, the signal generator 110, the driver 112 may include one or more computer processors, memory, and data storage units for analyzing data and performing other analyses described herein, and related components.
  • the processors can each include one or more microprocessors, microcontrollers, field-programmable gate arrays (FPGAs), application- specific integrated circuits (ASICs), programmable logic devices (PLDs), programmable logic arrays (PLAs), programmable array logic devices (PALs), or digital signal processors (DSPs).
  • the data storage unit can include or be communicatively connected with one or more processor-accessible memories configured to store information.
  • the memories can be, e.g., within a chassis or as parts of a distributed system.
  • processor-accessible memory is intended to include any data storage device to or from which processor 186 can transfer data, whether volatile or nonvolatile; removable or fixed; electronic, magnetic, optical, chemical, mechanical, or otherwise.
  • Exemplary processor-accessible memories include but are not limited to: registers, floppy disks, hard disks, tapes, bar codes, Compact Discs, DVDs, read-only memories (ROM), erasable programmable read-only memories (EPROM, EEPROM, or Flash), and random-access memories (RAMs).
  • One of the processor- accessible memories in the data storage system 140 can be a tangible non-transitory computer-readable storage medium, i.e., a non-transitory device or article of manufacture that participates in storing instructions that can be provided to processor for execution.
  • aspects described herein may be embodied as systems or methods. Accordingly, various aspects herein may take the form of an entirely hardware aspect, an entirely software aspect (including firmware, resident software, micro-code, etc.), or an aspect combining software and hardware aspects. These aspects can all generally be referred to herein as a "service,” “circuit,” “circuitry,” “module,” or “system.”
  • various aspects herein may be embodied as computer program products including computer readable program code stored on a tangible non-transitory computer readable medium. Such a medium can be manufactured as is conventional for such articles, e.g., by pressing a CD-ROM.
  • the program code includes computer program instructions that can be loaded into the processor (and possibly also other processors), to cause functions, acts, or operational steps of various aspects herein to be performed by the processor.
  • Computer program code for carrying out operations for various aspects described herein may be written in any combination of one or more programming language(s).

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Environmental & Geological Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

La présente invention un système de positionnement pour déterminer l'emplacement d'un récepteur par rapport à un émetteur. Le système comprend deux bobines d'émission conçues pour émettre un signal périodique avec une fréquence sélectionnée respective durant un événement de positionnement, les fréquences des deux signaux émis par les deux bobines d'émission durant l'événement de positionnement étant différentes. Un récepteur comprend une unité de détection pour mesurer les vecteurs de champ magnétique produits par les deux bobines qui émettent simultanément. Une unité de calcul est conçue pour utiliser les vecteurs de champ magnétique mesurés pour calculer la position et l'orientation du récepteur par rapport à la trame de coordonnées de l'émetteur.
PCT/US2015/030318 2015-05-12 2015-05-12 Détection de position sans fil en utilisant un champ magnétique de deux émetteurs Ceased WO2016182561A1 (fr)

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Application Number Priority Date Filing Date Title
PCT/US2015/030318 WO2016182561A1 (fr) 2015-05-12 2015-05-12 Détection de position sans fil en utilisant un champ magnétique de deux émetteurs

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/US2015/030318 WO2016182561A1 (fr) 2015-05-12 2015-05-12 Détection de position sans fil en utilisant un champ magnétique de deux émetteurs

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108235227A (zh) * 2016-12-13 2018-06-29 中国移动通信集团上海有限公司 一种终端位置的监测系统及方法
CN111624547A (zh) * 2019-02-27 2020-09-04 北方数字化技术公司 跟踪电磁场中的对象

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US4710708A (en) * 1981-04-27 1987-12-01 Develco Method and apparatus employing received independent magnetic field components of a transmitted alternating magnetic field for determining location
WO2000009088A1 (fr) * 1998-08-14 2000-02-24 Incept Llc Systemes d'administration de medicaments au moyen d'hydrogels composites
US6188355B1 (en) * 1997-12-12 2001-02-13 Super Dimension Ltd. Wireless six-degree-of-freedom locator
US6295022B1 (en) * 1999-05-25 2001-09-25 Raytheon Company Apparatus and method for determination of a receiver position
US6789043B1 (en) * 1998-09-23 2004-09-07 The Johns Hopkins University Magnetic sensor system for fast-response, high resolution, high accuracy, three-dimensional position measurements
US20050037730A1 (en) * 2003-08-12 2005-02-17 Albert Montague Mobile wireless phone with impact sensor, detects vehicle accidents/thefts, transmits medical exigency-automatically notifies authorities
US7321228B2 (en) * 2003-07-31 2008-01-22 Biosense Webster, Inc. Detection of metal disturbance in a magnetic tracking system
US20090009410A1 (en) * 2005-12-16 2009-01-08 Dolgin Benjamin P Positioning, detection and communication system and method
US7902817B2 (en) * 2007-03-26 2011-03-08 General Electric Company Electromagnetic tracking method and system
US20130157721A1 (en) * 2010-09-03 2013-06-20 Sony Ericsson Mobile Communications Ab Method for determining the relative position of devices
US20140043017A1 (en) * 2009-04-28 2014-02-13 Brown University Electromagnetic position and orientation sensing system

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Publication number Priority date Publication date Assignee Title
US4710708A (en) * 1981-04-27 1987-12-01 Develco Method and apparatus employing received independent magnetic field components of a transmitted alternating magnetic field for determining location
US6188355B1 (en) * 1997-12-12 2001-02-13 Super Dimension Ltd. Wireless six-degree-of-freedom locator
WO2000009088A1 (fr) * 1998-08-14 2000-02-24 Incept Llc Systemes d'administration de medicaments au moyen d'hydrogels composites
US6789043B1 (en) * 1998-09-23 2004-09-07 The Johns Hopkins University Magnetic sensor system for fast-response, high resolution, high accuracy, three-dimensional position measurements
US6295022B1 (en) * 1999-05-25 2001-09-25 Raytheon Company Apparatus and method for determination of a receiver position
US7321228B2 (en) * 2003-07-31 2008-01-22 Biosense Webster, Inc. Detection of metal disturbance in a magnetic tracking system
US20050037730A1 (en) * 2003-08-12 2005-02-17 Albert Montague Mobile wireless phone with impact sensor, detects vehicle accidents/thefts, transmits medical exigency-automatically notifies authorities
US20090009410A1 (en) * 2005-12-16 2009-01-08 Dolgin Benjamin P Positioning, detection and communication system and method
US7902817B2 (en) * 2007-03-26 2011-03-08 General Electric Company Electromagnetic tracking method and system
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US20130157721A1 (en) * 2010-09-03 2013-06-20 Sony Ericsson Mobile Communications Ab Method for determining the relative position of devices

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Publication number Priority date Publication date Assignee Title
CN108235227A (zh) * 2016-12-13 2018-06-29 中国移动通信集团上海有限公司 一种终端位置的监测系统及方法
CN108235227B (zh) * 2016-12-13 2020-10-16 中国移动通信集团上海有限公司 一种终端位置的监测系统及方法
CN111624547A (zh) * 2019-02-27 2020-09-04 北方数字化技术公司 跟踪电磁场中的对象
CN111624547B (zh) * 2019-02-27 2024-07-19 北方数字化技术公司 跟踪电磁场中的对象

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