Determination of component positions in a positioning system within an environment.

Abstract

A method for determining the position of a component of a position determination system within an environment is provided. [Solution] The method of the present invention comprises the steps of: preparing a surveying instrument including (i) a ranging subsystem having a transmitter and a receiver and configured to generate a three-dimensional map of the shape of the environment by receiving signals sent from the receiver and signals reflected by objects in the environment, and (ii) a communication subsystem configured to transmit signals to or detect signals from the components; moving the surveying instrument within the environment while activating the ranging subsystem and the communication subsystem; and causing one or more processors to perform the steps of (i) creating the three-dimensional map of the environment, and (ii) associating data received by or from a sensor with the map, thereby determining the position of the sensor.

Description

Technical Field

[0001] The present invention relates to the measurement and evaluation of the characteristics of an object in an environment. As an example, the object can be a transmitter, a receiver, a passive marker, etc. of a positioning system.

Background Art

[0002] Fig. 1 shows one form of a positioning system. This system has a plurality of sensors 1 provided at fixed known positions in an environment. In this example, the environment is a room. This system further has a transmitter 2. The transmitter is carried by a unit 3 whose position in the above environment is to be tracked. The sensor 1 receives a signal from the transmitter 2. Since the position of the sensor is known, for example, by using the time or angle at which the signal from the transmitter arrives at the sensor, the position of the transmitter can be determined.

[0003] When installing this type of system, the above sensors are attached to appropriate structures in the above environment. Next, it is necessary to collect data for specifying the positions of the above sensors. This data is the data that will be used later to determine the position of the transmitter. Collecting this data can take time. Generally, it is performed by surveying the above environment by measuring the distance and direction of the above sensors from one or more reference points by laser triangulation.

[0004] In the above example, while the above sensor is in a fixed position, the above transmitter is movable. Other approaches are also possible. For example, the above transmitter may be in a fixed position, and the above sensor may be carried by a unit whose position is to be tracked. As yet another approach, there is also an approach in which a passive marker is fixed in the above environment and a detector capable of recognizing the passive marker is carried by a unit whose position is to be tracked.

Summary of the Invention

Problems to be Solved by the Invention

[0005] Improvements to environmental surveying methods for determining the location of the equipment are desired. [Means for solving the problem]

[0006] In one embodiment, a method described in the appended claims is provided. In another embodiment, a system described in the appended claims is provided. Other configurations described below may be described in the claims, whether or not they are specifically designated as embodiments of the invention herein.

[0007] The provided method is for determining the position of one or more components of a positioning system within an environment. This method is In the process of preparing the surveying equipment, the said surveying equipment: (i) A distance measuring subsystem having a transmitter and a receiver, configured to generate a three-dimensional map of the shape of the environment by receiving signals sent from the receiver and signals reflected by objects in the environment, and (ii) A communication subsystem configured to transmit signals to one or more components or to detect signals from one or more components, The process, including The process of moving the surveying device within the environment while operating the distance measurement subsystem and the communication subsystem, One or more processors, (i) Procedure for creating the three-dimensional map of the environment, (ii) A procedure for associating data received by or from one or more components with the map, thereby determining the location of one or more components. The process of executing and It is equipped with.

[0008] The association procedure may include a sub-procedure of comparing one or more signal characteristics of the signals obtained when the surveying device is at multiple locations, which have been received by or from one or more components, over time.

[0009] The one or more signal characteristics may include at least one of the following: the time at which the one or more components received the signal or the time at which they received the signal from the one or more components; the flight time of the signal received by the one or more components or the flight time of the signal received from the one or more components; the difference in arrival times between signals received by two different receivers; and the direction in which the one or more components received the signal or the direction in which they received the signal from the one or more components.

[0010] The surveying device may have a clock. Each of the one or more components may have a clock. For one or more of the components, the timing offset between the clock of the surveying device and the clock of the component may be known.

[0011] The surveying device may have a clock. Each of the one or more components may have a clock. The method may further include a step of determining a timing offset between the clock of the surveying device and the clock of the component among the one or more components.

[0012] The process of determining the timing offset between the clock of the surveying device and the clock of the component is as follows: A sub-process for managing a histogram representing multiple estimates of the timing offset, wherein for each estimate of the timing offset, Identify two time instances in which the measured values ​​of one or more characteristics of the signals received by or from the component are substantially identical. Identify two time-series instances in which the position or path trajectory of the surveying device is substantially identical. In response to a determination that the time difference between the two cases of signal characteristics due to the clock of the component is substantially the same as the time difference between the two cases of position or path trajectory due to the clock of the surveying device, a sub-process of managing the histogram is performed by increasing the value of the bin in the histogram that represents the estimated timing offset, where the time difference between one of the two cases of signal characteristics due to the clock of the component and one of the two cases of position or path trajectory due to the clock of the surveying device is increased, and A sub-process to determine the timing offset between the clock of the measuring device and the clock of the component, according to the controlled histogram, It may include.

[0013] The association procedure may further include a sub-procedure for determining at least one feature of the orientation of one or more of the components.

[0014] The association procedure may include a sub-procedure for determining the yaw characteristics of the orientation of the component.

[0015] The roll and / or pitch characteristics of the component's orientation can be determined by an orientation sensor associated with the component.

[0016] The association procedure may further include a sub-procedure for determining, for one or more components of the positioning system, a timing offset caused by the signal propagation delay of the network used to synchronize the clock of the component with the clock of the other component.

[0017] The method described in this specification may further include a process of refining the positions determined for the one or more components. In this process, for at least one of the components, the position of the component is provisionally determined, a shape corresponding to the shape of the component is searched from within the region of at least the provisionally determined position in the three-dimensional map, and the position of the shape within the three-dimensional map is adopted as the position determined for the component, thereby performing position refinement.

[0018] The surveying device may be capable of autonomous movement.

[0019] The one or more components may be sensors configured to receive signals from a transmitter attached to the surveying device. Alternatively, the one or more components may be transmitters configured to transmit signals to sensors attached to the surveying device. Alternatively, the one or more components may be passive markers configured to reflect signals towards a detector attached to the surveying device.

[0020] The positions of the one or more components may be determined as absolute positions or as relative positions.

[0021] The relative positions of the one or more components may be determined based on one of the same components of the positioning system or based on the starting position of the surveying device.

[0022] The method described in this specification may further include a process of providing a user interface that enables a user to confirm or adjust the positions determined for the one or more components.

[0023] The signal may be a wireless signal. The signal may be an ultra-wideband wireless signal.

[0024] The method may be a method for determining the positions of multiple components of the position determination system within the environment, wherein the communication subsystem may be configured to transmit signals to or detect signals from the multiple components, and one or more processors may determine the positions of the multiple components by associating data received by or from the multiple components with the map.

[0025] Other offerings include a system configured to determine the position of one or more components of a positioning system within a given environment. (i) A distance measuring subsystem having a transmitter and a receiver, configured to generate a three-dimensional map of the shape of the environment by receiving signals sent from the receiver and signals reflected by objects in the environment, and (ii) A communication subsystem configured to transmit signals to one or more components or to detect signals from one or more components, A surveying device comprising, configured to move within the environment while operating the distance measuring subsystem and the communication subsystem, (i) Create the three-dimensional map of the environment, and, (ii) Determine the location of one or more components by associating the data received by or from one or more components with the map. One or more processors configured as follows, It is equipped with.

[0026] Other examples provided include a method for determining the positions of multiple components of a positioning system within an environment. This method is: In the process of preparing the surveying equipment, the said surveying equipment: (i) A distance measuring subsystem having a transmitter and a receiver, configured to generate a three-dimensional map of the shape of the environment by receiving signals sent from the receiver and signals reflected by objects in the environment, and (ii) A communication subsystem configured to transmit signals to the plurality of components or to detect signals from the plurality of components, The process, including The process of moving the surveying device within the environment while operating the distance measurement subsystem and the communication subsystem, One or more processors, (i) Procedure for creating the three-dimensional map of the environment, (ii) A procedure for associating data received by or from the plurality of sensors with the map, thereby determining the positions of the plurality of sensors. The process of executing and It is equipped with.

[0027] This method further involves refining the positions obtained for the plurality of sensors, wherein for at least one of the sensors, The position of the sensor is tentatively determined, From the three-dimensional map, search for a shape that corresponds to the shape of the sensor within at least the area of ​​the tentatively determined position. By adopting the position of the shape within the three-dimensional map as the position determined for the sensor, the process of refining the position, It can be equipped with.

[0028] The present invention will be described illustratively below with reference to the attached drawings. [Brief explanation of the drawing]

[0029] [Figure 1] This is a diagram illustrating the location determination system. [Figure 2] This is a schematic diagram of the position determination system used during surveying work. [Figure 3]This is a diagram showing the surveying equipment and data processing unit. [Modes for carrying out the invention]

[0030] Figure 2 shows the environment in which the sensor device 1 is installed. The positions of these sensors are determined by a surveying device 10. The surveying device is a movable unit. The surveying device comprises a scanning unit 11 capable of generating a map of the shape of the environment. The scanning unit can be any suitable type. Examples include a laser scanner, a LiDAR unit, etc. The surveying device moves around the environment. While moving, it scans the shape of the environment. The surveying device also carries a transmitter 18. The transmitter 18 transmits a signal that can be detected by the sensor 1. In this specification, the transmitter may be referred to as a tag. The transmitter may transmit a radio signal such as an ultra-wideband radio signal (e.g., a UWB signal). Information detected by the sensor upon receiving communication from the transmitter 18 is associated with information collected by the scanning unit. This allows the position of the sensor to be determined.

[0031] To explain in detail, Figure 2 depicts the environment in which sensor 1 is installed. The sensor can be attached to an immovable component in the environment using adhesive or physical fastening means such as screws. Examples of such components include walls 4, ceilings, and fixed machinery. In a real environment, it is expected that some sensors may be obscured from certain locations. For example, sensor 1' in Figure 2 may be obscured by object 5 in some locations. For the sensor to function as a position determination system, it is desirable that the position of the sensor is known. Some position determination systems can estimate the position of an object even if the positions of some or all sensors 1 are unknown, but if the positions of the sensors are known, the positions of objects other than the sensors can be determined more quickly and accurately. The type of position determination system described above is realized by the cooperation of the sensors (see Figure 1). Each sensor 1 receives a signal from a transmitter carried by the unit whose position is to be determined. The sensor that receives the signal detects the characteristics of the received signal. One example of such characteristics is the time the signal was received. If the time the signal was transmitted is known, then, for example, if the offset between the transmitter's clock and the receiving sensor's clock is known, it becomes possible to estimate the time it takes for the signal to reach the sensor. This allows us to determine the distance from the transmitter to the sensor. Alternatively, even if the transmission time of the signal is unknown, the relative arrival time of the signal between two receiving sensors (where the clock offset is known) ("arrival time difference") can provide an indicator of the difference in distance from the transmitter to each of these two sensors ("pseudo-distance"). Another example of the above characteristics is the reception direction of the transmitted signal. This can be estimated by a phased receiving antenna array or other mechanisms. Each sensor may communicate with each other and / or with a server, allowing for the aggregation of data collected by the sensors. The distance and / or pseudo-distance and / or direction estimates from multiple sensors for a single transmitter are integrated based on the known positions of each sensor to obtain an estimate of the transmitter's position.

[0032] Figure 3 shows the details of the surveying device 10. The surveying device comprises a scanning unit 11, a processor 14, a memory 15, a battery 16, an interface 17, and a transmitter 18.

[0033] The scanning unit 11 in this example is a laser scanner, sometimes known as a LiDAR scanner. The laser scanner has one or more laser light-emitting units 12 and one or more laser light-receiving units 13. The light emitted by the laser light-emitting units may be pulsed or may change over time. This allows for the estimation of the time required for the round trip of communication from the light-emitting units 12, which is reflected by objects in the environment and received by the light-receiving units 13. This allows for the determination of the distance to the object in the environment. The direction of light emission from the light-emitting units 12 or each light-emitting unit 12 changes over time. To achieve this, the scanning unit may be driven by a motor to rotate relative to the body of the surveying device 10. Each distance measurement by the scanning unit represents a point where light was reflected in the environment. Over time, the scanning unit can accumulate a large number of such measurements. These constitute a spatial point cloud representing the three-dimensional physical shape of the environment, including the objects in the environment.

[0034] The surveying device is portable. The surveying device is capable of moving around the environment. For example, the surveying device may be mounted on a wheeled cart and pushed by a user, or it may be capable of autonomous movement. Alternatively, the surveying device may be held in an item that can be worn by a user, such as a backpack. Because the surveying device is mobile, it is possible to collect the shape of the environment from multiple locations. As a result, it becomes possible to image parts of the environment that are not visible from certain locations, such as object 5. As another result, by accumulating spatial point clouds at various locations, it becomes possible to correlate them and improve accuracy. As the surveying device moves, it becomes possible to compare the features of the collected spatial point cloud with the features of the spatial point cloud collected up to that point. This makes it possible to estimate the movement of the surveying device. This motion estimation can be improved by combining it with information from an acceleration sensor, which may be included as an optional component of the surveying device. The battery 16 supplies power to the surveying device as it moves around.

[0035] Memory 15 non-transiently stores instructions that the processor 14 can execute in order to perform its functions. These functions may include controlling the spatial scanning unit 11, processing data received from the spatial scanning unit, and transmitting data received from the spatial scanning unit via interface 17 for remote processing.

[0036] A data processing device 20 is provided. The data processing device 20 has a processor 21 and a memory 22. The memory non-transiently stores instructions that the processor 21 can execute in order to perform its functions. The data processing device can receive data from the surveying device and sensor 1. The data processing device estimates the position of the sensor by integrating the data. This estimation can later be used to estimate the position of transmitter 2.

[0037] The location of transmitter 2 can be determined in various ways. For example: 1. Each transmitter transmits a signal from time to time. This signal may be part of a discontinuous communication or data included in a continuous or extended communication. The signal is transmitted wirelessly, for example, by radio. The signal is received by multiple sensors. The time at which each sensor receives the signal is influenced by the distance of each sensor from the transmitter. 2. Each sensor that receives a signal measures the arrival time of the signal from the transmitter. 3. The position of a transmitter can be estimated by comparing the arrival times of signals from the same transmitter at separate sensors whose positions are known. To achieve this, the clocks of the sensors may be assumed to be synchronized with each other, or the offset between their clocks may be made known. Alternatively, each sensor may immediately report the reception of a signal to a central device, which may estimate the arrival time from prior information about the signal delay between the reporting sensor and the central device. As an example, consider the case where the clocks of each sensor are perfectly synchronized and the timing offset is fixed at zero. If the measurement results show that the signal from the transmitter arrived at sensor A and sensor B simultaneously, it can be inferred that the transmitter is equidistant from A and B. In practice, the synchronization of sensors is achieved by signals distributed to each sensor (from some timing source) via a wired network. This does not necessarily have to be a "star-connected" network from some central location. It may be a "daisy-chained" connection from one sensor to the next, or any combination of a "star-connected" and a "daisy-chained" connection. In a distributed clock source, the frequencies of the sensor clocks are reliably locked to each other (i.e., the clocks "tick" at the same speed). However, a certain offset occurs between the clocks of different sensors due to the delay of the signal along the timing cable (due to signal propagation at a finite speed). This can be an additional uncertainty in position calculations. For example, suppose a tag is equidistant from sensor A and sensor B. The clocks of sensor A and sensor B are synchronized via a wired network with different delays (delay dA and delay dB). If tA and tB are the measured arrival times of the communication from the tag at A and B, then (tA-dA)=(tB-dB). To estimate tA and tB, it is desirable that dA and dB are known.In this system, information about the tag's position (determined by the surveying device) can be combined with observed signal arrival times at each sensor, observed signal arrival angles at each sensor, arbitrary information about the orientation of each sensor obtained by other means (such as an accelerometer), and other information about the position of each sensor obtained by other means (such as direct identification using laser scanning data) to determine the unknown cable delay. In other words, if the position of each sensor is known precisely, as well as the position of the surveying device on which the tag is mounted, the propagation time of the wireless signal from the tag to each sensor can be calculated, and the (unknown but constant) delay of the timing cable can be determined by comparing the measured signal arrival times at each sensor with these propagation times. Generally, the processing used to determine the sensor's position using data measured by the sensor and data from the surveying device can simultaneously reveal not only the sensor's position but also its orientation and the offset due to the timing cable. The calculation of the sensor's timing delay due to the cable, the sensor's orientation, and the sensor's position can be performed as an ensemble optimization.

[0038] A central processing unit is not necessarily required. If the sensors are synchronized and their clock timing offsets are known, they can exchange messages regarding the arrival time of signals. In that case, one or more sensors can perform position estimation on their own.

[0039] This system operates as follows:

[0040] After sensor 1 is installed, the surveying device moves within the environment. The surveying device obtains a three-dimensional map of the environment and an estimate of the surveying device's movement path. This makes the relative positions from which the map was derived known. Simultaneously, transmitter 18 transmits data, which is received by sensor 1. Each sensor detects characteristic information about the transmission from the transmitter (e.g., direction and / or time of flight).

[0041] The information collected by the surveying device and the information collected by each sensor are integrated. This can be done at any suitable location. Conveniently, it can be done in the data processing unit 20.

[0042] The position of each sensor can be determined by associating the information collected by the surveying device with the information collected by each sensor. This position may be determined as an absolute position, or it may be determined based on an arbitrary reference point, such as one of the sensors or the starting position of the surveying device. Several methods for doing this are described below. These may be used individually or in any combination. In any case, an overall estimate may be generated by best fit or minimization processing.

[0043] 1. The clock of the surveying device has an offset from the clock of each sensor. This offset may be known. This allows the system to know where the surveying device was along its movement path when each sensor took a measurement. This information allows the system to compare the distance and / or direction from the sensor to the transmitter 18 carried by the surveying device over time when the surveying device was at multiple locations, and to estimate the position of each sensor. In other words, at a given point in time, the position of the surveying device relative to the environment can be determined from the information collected by the surveying device. At the same time, it is also possible to determine the position of each sensor relative to the transmitter held in the surveying device from the information collected by each sensor. Therefore, by associating the information indicating the position of the surveying device relative to the environment at that point in time with the information indicating the position of each sensor relative to the transmitter carried in the surveying device, it becomes possible to estimate the position of the sensor relative to the environment.

[0044] 2. The movement path of the surveying device may change over time. For example, the path may include two-dimensional or three-dimensional curves. The data collected by each sensor may also represent similar changes. For example, by comparing distance information from two sensors over time, it can be determined that the surveying device has moved along a curve or that its speed has changed. By comparing the path detected by the surveying device with the changes in the movement of the sensor device, it is possible to estimate the relative timing between the measured values ​​of each sensor and the measured values ​​of the surveying device. Then, by associating these two types of datasets, it becomes possible to estimate the position of each sensor. This may eliminate the need to synchronize the surveying device and each sensor. In another example, instead of or in addition to the above, the estimation of the relative timing between the measured values ​​of each sensor and the measured values ​​of the surveying device may be performed as follows: The estimation may be performed by the surveying device revisiting the same location in the environment (e.g., the same point in space). For example, the surveying device may be assumed to move autonomously and to "patrol" the same path in the environment multiple times. Alternatively, the surveying device may be autonomously moving or manually moved by a user, and it may revisit the same location in the environment (for example, intentionally or accidentally). A "candidate revisited case" can be identified by finding two time-series cases where the measured values ​​are separated by a time interval exceeding a threshold (for example, an interval of more than 10 seconds), and one or more signal characteristics received by the sensor (for example, arrival angle, arrival time, arrival time difference if the timing offset between the clock of the sensor and the clock of at least one other sensor is known (if any)) are substantially identical (for example, for the characteristic of arrival angle, the azimuth angle and / or elevation angle are within 5°, for the arrival time difference or characteristic of arrival time, they are within 3 nanoseconds), and further, two time-series cases where the position or path trajectory of the surveying device (for example, the first derivative of position with respect to time) is substantially identical (for example, a position within 1 meter, any orthogonal basis vector in the reference frame for measuring the path trajectory is within 0.2 m / s). Each of the "potential return visit cases" can be associated with a time offset.For example, let t1 be the time according to the sensor's clock, which is the time when the sensor receives a first signal having certain characteristics (or when the sensor reports it to another unit), and let t2 be the time according to the sensor's clock, which is the time when the sensor receives a second signal having substantially identical characteristics (or when the sensor reports it to another unit). Then, the amount of time between these two reception events (e.g., time difference) can be expressed as t1-t2. Also, let t3 be the time according to the surveying device's clock, which is the time when the first location was visited or the first path trajectory was used, and let t4 be the time when the second location, which is substantially the same location, was visited or the second path trajectory, which is substantially the same path trajectory, was used. Then, the amount of time between these two location events or path trajectory events (e.g., time difference) can be expressed as t3-t4. Then, it can be determined whether t1-t2 is substantially the same as t3-t4 (e.g., within 10 seconds, more preferably within 5 seconds). In "candidate revisit cases" where t1-t2 is determined to be substantially identical to t3-t4, it is highly likely that each measurement corresponds to the same location within the environment. Therefore, the time offset between the sensor's clock and the surveying device's clock, represented by t1-t3 (or t2-t4), is highly likely to accurately represent the time offset (e.g., relative timing) between the sensor's measurement and the surveying device's measurement. Here, a histogram consisting of bins for each estimated value of the time offset (e.g., the values ​​of t1-t3) can be managed. One histogram can be managed for each sensor. As a variation, if it is known that the clocks of two or more sensors are synchronized, the estimated time offsets identified by the measured values ​​of received events at those two or more sensors may be compared using the same histogram. Each time a "candidate return visit" is identified in which t1-t2 is determined to be substantially identical to t3-t4, the value of the bin in the histogram corresponding to t1-t3 (or t2-t4) may be increased (for example, by 1).After evaluating numerous potential return visit cases, it can be determined that the bin in the histogram that has seen the most value increases most frequently is most likely to accurately represent the time offset (e.g., relative timing) between the sensor's measurement and the surveying device's measurement. The time offset used to associate the data collected by the sensor with the data collected by the surveying device may be the time offset corresponding to the bin in the histogram that saw the largest value increase. As a variation, the time offset value used to associate the data collected by the sensor with the data collected by the surveying device may be an average or combined value of the time offsets corresponding to the top bins with the most value increases (e.g., a weighted sum based on the number of times each corresponding bin has seen its value increase). As described herein, once the time offset between the sensor's measurement and the surveying device's measurement is estimated, it becomes possible to estimate the sensor's position by associating the two datasets—the dataset measured by the sensor and the dataset measured by the surveying device (e.g., the signal characteristics measured by the sensor and the simultaneously measured position of the surveying device).

[0045] 3. Integrating information obtained from each sensor 1 can be made easier if all or part of the orientation of each sensor is known. Each sensor 1 may have an orientation sensor, such as a gravity sensor. Information from such sensors can be useful in relating the distances and / or directions obtained by each sensor to each other, and in relating them to the path information obtained by the surveying device. If the orientation of the sensors is known, it becomes easier to determine the position and / or orientation of other devices. The orientation of a sensor can be expressed in space as the pitch, roll, and yaw of the sensor. These angles can be expressed as angles relative to a reference orientation fixed in the environment. Pitch and roll (in the conventional sense) can be determined by comparing the orientation of the device with the local gravity vector using the accelerometer measurement of the sensor. Yaw (rotation around the local gravity vector) cannot be measured so easily. This component of the sensor orientation can be calibrated by using a laser scanner and the sensor measurements together.

[0046] 4. After the sensor's position is estimated by the above method, the accuracy of the estimation can be improved by searching one or more of the three-dimensional maps created by the surveying device. By analyzing points in the map near the estimated position of the sensor, a shape matching the shape of the sensor can be identified. This shape may be a shape pre-programmed into the device performing the analysis. Once the location of such a shape is identified, the distance from the surveying device to the sensor becomes clear and is reflected in the three-dimensional map. The location along the surveying device's path from which the distance is measured also becomes clear. Such measurements can refine the estimation of the sensor's position. The estimation of the sensor's position can be further refined by performing such distance measurements multiple times. This process is easier if the sensor has a distinctive shape. Such a shape may make it easier to identify the sensor in the three-dimensional map. For example, the sensor may have an outer perimeter or outer surface of a predetermined regular polygon, more preferably an outer perimeter or outer surface of a non-regular polygon. Alternatively, it may have a recess of a predetermined shape. As an example, the outer surface of the sensor may have multiple flat surfaces, two or more, three or more, or four or more adjacent surfaces that form angles greater than 90° with each other. In addition to or instead of the above, after the position of the sensor has been estimated by the above method, the user of the system may optionally perform a visual (e.g., via a user interface) confirmation of whether the estimated position of the sensor is accurate. The user may input (e.g., via the user interface) that one or more estimated positions are accurate, and / or that one or more estimated positions are inaccurate, and / or that one or more estimated positions be adjusted (e.g., to positions that are considered to more accurately represent the position of the sensor). This user input process may be performed before or after the search based on the provisional estimation of the sensor position in the three-dimensional map created by the surveying device.After receiving the aforementioned input from the user, the sensor position estimation process of this method may be repeated one or more times, at the user's discretion, depending on the user's input (for example, in response to a decision to improve the estimation of the sensor position). Alternatively, or in addition to this, the system may be capable of machine learning and may learn from user input to improve future sensor position estimations. In other examples, this user input process may be performed before the sensor and / or the surveying device collects data.

[0047] As described herein, a positioning system may have multiple sensors. The systems and methods described herein are used to estimate the positions of all sensors in a positioning system. By modification, the systems and methods described herein may be used to estimate the positions of some sensors in a positioning system (e.g., a number of sensors less than the total number). For example, the systems and methods described herein may be used to estimate the position of one sensor in a positioning system. In an optional configuration, the user of the system may be able to select which sensors in the positioning system to estimate and which to not. For example, this configuration may be useful when one or more sensors are added to an existing positioning system (e.g., when replacing one or more old sensors in the system or adding new sensors to the system). The positions of the other sensors in the positioning system may be known, in which case it may not be necessary to re-estimate the positions of all sensors in the system. Thus, in this example, the systems and methods described herein may be used to estimate only the positions of one or more sensors added to the positioning system.

[0048] In the explanation so far, the sensor (receiver) is fixed, while the transmitter is attached to the surveying unit. Other configurations are also possible. It is also possible to fix multiple transmitters within the environment and attach the sensor (receiver) to the surveying unit. Alternatively, it is also possible to fix multiple passive markers within the environment and detect these passive markers with a detector attached to the surveying unit (for example, a detection configuration using reflected waves from the sensor).

[0049] In the example described above, data from the surveying device was used to determine the position of each sensor. With the assistance of the surveying device, it is also possible to determine other data related to each sensor. The following are some examples:

[0050] 1. The orientation of the sensor can be determined according to the data from the surveying device. When the surveying device is within the environment, the sensor can estimate the orientation of the surveying device relative to the sensor, and can report this estimated orientation to a device capable of correlating the data from the sensor with the data from the surveying device. Since the position of the surveying device within the environment is known, and the position of the sensor within the environment can be determined by the surveying device, the orientation of the surveying device relative to the sensor with respect to the environment can be determined. The offset between the orientation of the surveying device relative to the sensor reported by the sensor and the orientation of the surveying device relative to the sensor with respect to the environment can be used to correct the orientation reported by the sensor thereafter.

[0051] 2. The sensor may report its measured values ​​to the central device 20 for processing. These measured values ​​may include timing data. For the central device, it may be useful to know the delay between the signal transmitted from the sensor and its arrival at the central device 20 in order to synchronize the sensor with a reference clock or to know the timing offset between the sensor and the reference clock, or between the sensor and the clock of another sensor. This delay or offset may be estimated by any of several methods. First, the position of the central device in the environment may be determined by the surveying device and / or this position may be input to the central device by the user. Next, with the position of the sensor in the environment known, it is possible to determine the distance between the sensor and the central device. In the first approach, this distance may be interpreted as being proportional to the timing delay. In the second approach, each sensor may receive a signal from a transmitter on the device whose position is to be determined and report this signal to the central device for processing. The position of the transmitter can be estimated by trilateration based on the relative timing at which the central device receives both signals. Since each sensor reports on the same transmitted signal, the offset between the signal reception times can represent the distance between the transmitter and each sensor. The time at which the central device 20 receives the reception report can be considered to be delayed by T (signal propagation delay between the transmitter and sensor) + P (sensor processing delay (which can be considered constant)) + C (signal propagation delay between the sensor and the central device, for example, due to wiring). Assume that the surveying device is in the environment, and its transmitter 18 transmits a signal, which is detected by a sensor and reported to the central device 20. Since the distance between the transmitter and the sensor is known, it is possible to estimate the signal propagation time T from the transmitter to the sensor. The processing time P may be known to the central device 20. The surveying device can report to the central device the time it transmitted the signal. The central device 20 also knows the time it received the report from the sensor. By subtracting T from the difference between the transmission time and the signal reception time by the central device, it becomes possible to estimate the magnitude of the remaining delays, such as P and C.The central device can store the value of the delay and correct the data subsequently reported by the sensor using the stored value. In a third approach, each sensor may have a flashing light illumination that can indicate a tick of its local clock. The illumination is detected by the surveying device and reported to the central device 20, which can then estimate the timing of the sensor's local clock.

[0052] The signal delay of the signal directed to the sensor can also be useful in adjusting the sensor's clock. If the signal delay from the clock setting device to each sensor is known, it becomes possible to estimate the arrival time of the clock setting signal at each sensor, thereby enabling more accurate clock setting.

[0053] The surveying unit may create a map of the environment's shape using techniques other than laser ranging. For example, ultrasonic ranging can be used.

[0054] In some examples, it may be desirable for a sensor in a positioning system to determine at least one of the following: (1) the position of the sensor in the environment (e.g., absolute or relative position such as xyz coordinates) and / or; (2) the orientation of the sensor (e.g., (i) roll and / or (ii) pitch and / or (iii) yaw, etc.) and / or; (3) the timing offset of the sensor due to the signal propagation delay (if any) of the sensor relative to one or more other sensors or to the central device of the positioning system. As described herein, the systems and methods described herein may be used to estimate the position of a sensor (i.e., (1) above) by relating a dataset measured by each sensor to a dataset measured by the surveying device (e.g., a signal characteristic measured by the sensor and the position of the surveying device measured simultaneously). In a preferred example, the position of a sensor may be estimated by relating an arrival angle, which is a signal characteristic measured by the sensor, to the position of the surveying device measured simultaneously. As described herein, in an optional configuration, the systems and methods described herein may also be used to determine the orientation of a sensor (e.g., (i) roll and / or (ii) pitch and / or (iii) yaw, etc.) by relating a dataset measured by a sensor with a dataset measured by a surveying device. Alternatively, as described herein, in another optional configuration, the roll and pitch of the sensor (i.e., (i) and (ii) of (2) above) may be determined by an orientation sensor (e.g., a gravity sensor, an accelerometer, etc.) provided on the sensor. In an optional configuration, a timing offset (i.e., (3) above) associated with a signal propagation delay related to the sensor (if any) may be known or determined separately, or may be input to the systems and methods described herein. As described herein, or alternatively, in another optional configuration, the systems and methods described herein may also be used to estimate a timing offset (i.e., (3) above) associated with the signal propagation delay of the sensor, if any, by correlating the data set measured by the sensor with the data set measured by the surveying device.As described herein, in a preferred example, the systems and methods described herein may be used to estimate for a given sensor: (1) the position of the sensor in the environment (e.g., absolute or relative position such as xyz coordinates); (2) the orientation of the sensor (yaw, as described in (iii) above); and (3) the timing offset of the sensor due to signal propagation delay (if any) relative to one or more other sensors or to the central unit of the position determination system; by relating a dataset measured by a sensor to a dataset measured by the surveying device. In this preferred example, the orientation of the sensor (roll, as described in (i) above and pitch, as described in (ii) above) may be determined by an orientation sensor (e.g., a gravity sensor, an accelerometer, etc.) provided on the sensor.

[0055] The applicant hereby discloses each individual configuration and any combination of two or more such configurations as described herein, regardless of whether such configuration or combination solves a problem disclosed herein, and without being limited to the claims, and insofar as such configuration or combination is implementable in light of the common sense of a person skilled in the art based on the entirety of this specification. Aspects of the present invention may consist of such individual configurations or any combination thereof. A person skilled in the art will see, based on the foregoing description, that various modifications can be made within the scope of the present invention. Furthermore, the present invention includes the following aspects. [Aspect 1] A method for determining the position of one or more components of a position determination system within an environment, In the process of preparing the surveying equipment, the said surveying equipment: (i) A distance measuring subsystem having a transmitter and a receiver, configured to generate a three-dimensional map of the shape of the environment by receiving signals sent from the receiver and signals reflected by objects in the environment, and (ii) A communication subsystem configured to transmit signals to one or more components or to detect signals from one or more components, The process, including The process of moving the surveying device within the environment while operating the distance measurement subsystem and the communication subsystem, One or more processors, (i) Procedure for creating the three-dimensional map of the environment, (ii) A procedure for associating data received by or from one or more components with the map, thereby determining the location of one or more components. The process of executing and A method that includes [a certain feature]. [Aspect 2] A method according to Embodiment 1, wherein the relating step includes a sub-step of comparing over time one or more signal characteristics of the signal obtained when the surveying device is at multiple locations, which have been received by or from the one or more components. [Aspect 3] A method according to Embodiment 2, wherein the one or more signal characteristics include at least one of: the time at which the one or more components received a signal or the time at which they received a signal from the one or more components; the time of flight of the signal received by the one or more components or the time of flight of the signal received from the one or more components; the difference in arrival times between signals received by two different receivers; and the direction in which the one or more components received a signal or the direction in which they received a signal from the one or more components. [Aspect 4] A method according to embodiment 2 or 3, wherein the surveying device has a clock, one or more components each have a clock, and for one or more components, the timing offset between the clock of the surveying device and the clock of the component is known. [Aspect 5] In the method according to embodiment 2 or 3, the surveying device has a clock, and one or more components each have a clock, and the method further, A process for determining the timing offset between the clock of the surveying device and the clock of the component for one or more of the components, A method that includes [a certain feature]. [Aspect 6] In the method of embodiment 5, the process of determining the timing offset between the clock of the surveying device and the clock of the component is: A sub-process for managing a histogram representing multiple estimates of the timing offset, wherein for each estimate of the timing offset, Identify two time instances in which the measured values ​​of one or more characteristics of the signals received by or from the component are substantially identical. Identify two time-series instances in which the position or path trajectory of the surveying device is substantially identical. In response to a determination that the time difference between the two cases of signal characteristics due to the clock of the component is substantially the same as the time difference between the two cases of position or path trajectory due to the clock of the surveying device, a sub-process of managing the histogram is performed by increasing the value of the bin in the histogram that represents the estimated timing offset, where the time difference between one of the two cases of signal characteristics due to the clock of the component and one of the two cases of position or path trajectory due to the clock of the surveying device is increased, and A sub-process that determines the timing offset between the clock of the measuring device and the clock of the component, according to the controlled histogram. Methods that include... [Aspect 7] A method according to any one embodiment of embodiments 1 to 6, wherein the association step further includes a sub-step for determining at least one feature of the orientation of one or more components. [Aspect 8] A method according to embodiment 7, wherein the relating step includes a sub-step for determining the yaw characteristics of the orientation of the component. [Aspect 9] A method according to embodiment 7 or 8, wherein roll characteristics and / or pitch characteristics relating to the orientation of the component are determined by an orientation sensor associated with the component. [Aspect 10] A method according to any one embodiment of embodiments 1 to 9, wherein the relating step further includes a sub-step for determining a timing offset for one or more components of the positioning system due to a signal propagation delay of a network used to synchronize the clock of one component with the clock of another component of the positioning system. [Aspect 11] In the method according to any one embodiment of embodiments 1 to 10, further, A process for refining the determined position for one or more of the components, wherein for at least one of the components, The position of the aforementioned component is tentatively determined, From the three-dimensional map, search for a shape corresponding to the shape of the component within at least the area of ​​the tentatively determined position. By adopting the position of the shape within the three-dimensional map as the determined position for the component, the process of refining the position, A method that includes [a certain feature]. [Aspect 12] A method according to any one embodiment of embodiments 1 to 11, wherein the surveying device moves autonomously. [Aspect 13] A method according to any one embodiment of embodiments 1 to 12, wherein one or more components are sensors configured to receive signals from a transmitter attached to the surveying device, or one or more components are transmitters configured to transmit signals to a sensor attached to the surveying device, or one or more components are passive markers configured to reflect signals toward a detector attached to the surveying device. [Aspect 14] A method according to any one embodiment of embodiments 1 to 13, wherein the absolute position of one or more components is determined, or the relative position of one or more components is determined. [Aspect 15] A method according to Embodiment 14, wherein the relative positions of one or more components are determined with reference to one of the components of the position determination system, or with reference to the starting position of the surveying device. [Aspect 16] In the method described in any one of embodiments 1 to 15, further, A process of providing a user interface that allows the user to confirm or adjust the determined position of one or more of the aforementioned components, A method that includes [a certain feature]. [Aspect 17] A method according to any one embodiment of embodiments 1 to 16, wherein the signal is a wireless signal. [Aspect 18] The method according to embodiment 17, wherein the signal is an ultra-wideband radio signal. [Aspect 19] A method according to any one embodiment of embodiments 1 to 18, wherein the method is a method for determining the positions of a plurality of components of the position determination system within the environment, wherein the communication subsystem is configured to transmit signals to or detect signals from the plurality of components, and the one or more processors determine the positions of the plurality of components by associating data received by or from the plurality of components with the map. [Aspect 20] A system configured to determine the position of one or more components of a position determination system within an environment, (i) A distance measuring subsystem having a transmitter and a receiver, configured to generate a three-dimensional map of the shape of the environment by receiving signals sent from the receiver and signals reflected by objects in the environment, and (ii) A communication subsystem configured to transmit signals to one or more components or to detect signals from one or more components, A surveying device comprising, configured to move within the environment while operating the distance measuring subsystem and the communication subsystem, (i) Create the three-dimensional map of the environment, and, (ii) Determine the location of one or more components by associating the data received by or from one or more components with the map. One or more processors configured as follows, A system that includes these features. [Aspect 21] A method for determining the positions of multiple components of a positioning system within an environment, In the process of preparing the surveying equipment, the said surveying equipment: (i) A distance measuring subsystem having a transmitter and a receiver, configured to generate a three-dimensional map of the shape of the environment by receiving signals sent from the receiver and signals reflected by objects in the environment, and (ii) A communication subsystem configured to transmit signals to the plurality of components or to detect signals from the plurality of components, The process, including The process of moving the surveying device within the environment while operating the distance measurement subsystem and the communication subsystem, One or more processors, (i) Procedure for creating the three-dimensional map of the environment, (ii) A procedure for associating data received by or from the plurality of sensors with the map, thereby determining the positions of the plurality of sensors. The process of executing and A method that includes [a certain feature].

Claims

1. A method for determining the position of one or more components of a position determination system in an environment, wherein the one or more components are (i) a sensor configured to receive a signal from a transmitter attached to a surveying device, (ii) a transmitter configured to transmit a signal to a sensor attached to a surveying device, or (iii) a passive marker configured to reflect a signal toward a detector attached to a surveying device, and each of the one or more components has a clock, The method described above is In the process of preparing the aforementioned surveying device, the surveying device is: (i) A distance measuring subsystem having a transmitter and a receiver, configured to generate a three-dimensional map of the shape of the environment by receiving a signal sent from the transmitter and a signal reflected by an object in the environment, (ii) A communication subsystem configured to transmit signals to or from one or more components, (iii) Clock, The process, including The process of moving the surveying device within the environment while operating the distance measurement subsystem and the communication subsystem, A process for determining the timing offset between the clock of the surveying device and the clock of the component, for one of the one or more components mentioned above. One or more processors, (i) Procedure for creating the three-dimensional map of the environment, (ii) A procedure for associating data received by or from one or more components with the map, thereby determining the location of one or more components. The process of executing and Equipped with, The process of determining the timing offset between the clock of the surveying device and the clock of the component is as follows: A sub-process for managing a histogram representing multiple estimates of the timing offset, wherein for each estimate of the timing offset, Identify two time instances in which one or more characteristics of the signal received by the component or received from the component are substantially identical. Identify two time-series instances in which the position or path trajectory of the surveying device is substantially identical. In response to a determination that the time difference between the two cases of signal characteristics due to the clock of the component is substantially the same as the time difference between the two cases of position or path trajectory due to the clock of the surveying device, a sub-process of managing the histogram is performed by increasing the value of the bin in the histogram that represents the estimated timing offset, where the time difference between one of the two cases of signal characteristics due to the clock of the component and one of the two cases of position or path trajectory due to the clock of the surveying device is increased, and A sub-process that determines the timing offset between the clock of the measuring device and the clock of the component, according to the controlled histogram. Methods that include...

2. A method according to claim 1, wherein the relating step includes a sub-step of comparing over time one or more signal characteristics of the signals obtained when the surveying device is at multiple locations, which have been received by or from the one or more components.

3. A method according to claim 1 or 2, wherein the one or more signal characteristics include at least one of: the time at which the one or more components received a signal or the time at which the one or more components received a signal from the one or more components; the time of flight of the signal received by the one or more components or the time of flight of the signal received from the one or more components; the difference in arrival times of signals received by two different receivers; and the direction in which the one or more components received a signal or the direction in which the one or more components received a signal from the one or more components.

4. A method according to any one of claims 1 to 3, wherein the timing offset between the clock of the surveying device and the clock of the component is known for one of the one or more components.

5. A method according to any one of claims 1 to 4, wherein the association step further includes a sub-step for determining at least one feature of the orientation of one or more components.

6. A method according to claim 5, wherein the association step includes a sub-step for determining the yaw characteristics of the orientation of the component.

7. A method according to claim 5 or 6, wherein roll characteristics and / or pitch characteristics with respect to the orientation of the component are determined by an orientation sensor associated with the component.

8. A method according to any one of claims 1 to 7, wherein the relating step further includes a sub-step of determining, for one of the one or more components of the positioning system, a timing offset due to the signal propagation delay of a network used to synchronize the clock of the component with the clock of the other component between the component and another component of the positioning system.

9. The method according to any one of claims 1 to 8, further, A process for refining the position obtained for one or more of the components, wherein for at least one of the components, The position of the aforementioned component is tentatively determined, From the three-dimensional map, search for a shape corresponding to the shape of the component within at least the area of ​​the tentatively determined position. By adopting the position of the shape within the three-dimensional map as the determined position for the component, the process of refining the position, A method that includes [a certain feature].

10. A method according to any one of claims 1 to 9, wherein the surveying device moves autonomously.

11. A method according to any one of claims 1 to 10, wherein the absolute position of one or more components is determined, or the relative position of one or more components is determined.

12. A method according to claim 11, wherein the relative positions of one or more components are determined with reference to one of the components of the position determination system, or with reference to the starting position of the surveying device.

13. The method according to any one of claims 1 to 12, further, A process of providing a user interface that allows the user to confirm or adjust the determined position of one or more of the aforementioned components, A method that includes [a certain feature].

14. A method according to any one of claims 1 to 13, wherein the signal is a wireless signal.

15. A method according to any one of claims 1 to 14, wherein the method is a method for determining the positions of a plurality of components of the position determination system within the environment, wherein the communication subsystem is configured to transmit signals to or detect signals from the plurality of components, and the one or more processors determine the positions of the plurality of components by associating data received by or from the plurality of components with the map.

16. A system configured to determine the position of one or more components of a position determination system in an environment, wherein the one or more components are (i) a sensor configured to receive a signal from a transmitter attached to a surveying device, (ii) a transmitter configured to transmit a signal to a sensor attached to a surveying device, or (iii) a passive marker configured to reflect a signal toward a detector attached to a surveying device, and each of the one or more components has a clock, (i) A distance measuring subsystem having a transmitter and a receiver, configured to generate a three-dimensional map of the shape of the environment by receiving a signal sent from the transmitter and a signal reflected by an object in the environment, (ii) A communication subsystem configured to transmit signals to or from one or more components, (iii) Clock, The surveying device includes, and is configured to move within the environment while operating the distance measuring subsystem and the communication subsystem, (i) Create the three-dimensional map of the environment, (ii) For one of the one or more components, determine the timing offset between the clock of the surveying device and the clock of the component, (iii) The position of one or more components is determined by associating the data received by or from one or more components with the map. One or more processors configured as follows, The system includes, and one or more processors, This involves managing a histogram that shows multiple estimates of the timing offset, and for each estimate of the timing offset, Identify two time instances in which one or more characteristics of the signal received by the component or received from the component are substantially identical. Identify two time-series instances in which the position or path trajectory of the surveying device is substantially identical. In response to a determination that the time difference between the two cases of signal characteristics due to the clock of the component is substantially the same as the time difference between the two cases of position or path trajectory due to the clock of the surveying device, the histogram is managed by increasing the value of the bin in the histogram that represents the estimated timing offset, where the time difference between one of the two cases of signal characteristics due to the clock of the component and one of the two cases of position or path trajectory due to the clock of the surveying device is The timing offset between the clock of the surveying device and the clock of the component is determined according to the managed histogram, A system configured to determine the timing offset by the following:

17. A method for determining the positions of multiple components of a positioning system within an environment, In a method in which one or more components are (i) a sensor configured to receive a signal from a transmitter attached to a surveying device, (ii) a transmitter configured to transmit a signal to a sensor attached to a surveying device, or (iii) a passive marker configured to reflect a signal toward a detector attached to a surveying device, each of the one or more components having a clock, The method described above is In the process of preparing the aforementioned surveying device, the surveying device is: (i) A distance measuring subsystem having a transmitter and a receiver, configured to generate a three-dimensional map of the shape of the environment by receiving a signal sent from the transmitter and a signal reflected by an object in the environment, (ii) A communication subsystem configured to transmit signals to the plurality of components or to detect signals from the plurality of components, (iii) Clock, The process, including The process of moving the surveying device within the environment while operating the distance measurement subsystem and the communication subsystem, A process for determining the timing offset between the clock of the surveying device and the clock of the component, for one of the one or more components mentioned above. One or more processors, (i) Procedure for creating the three-dimensional map of the environment, (ii) A procedure for associating data received by or from the plurality of components with the map, thereby determining the positions of the plurality of components. The process of executing and Equipped with, The process of determining the timing offset between the clock of the surveying device and the clock of the component is as follows: A sub-process for managing a histogram representing multiple estimates of the timing offset, wherein for each estimate of the timing offset, Identify two time instances in which one or more characteristics of the signal received by the component or received from the component are substantially identical. Identify two time-series instances in which the position or path trajectory of the surveying device is substantially identical. In response to a determination that the time difference between the two cases of signal characteristics due to the clock of the component is substantially the same as the time difference between the two cases of position or path trajectory due to the clock of the surveying device, a sub-process of managing the histogram is performed by increasing the value of the bin in the histogram that represents the estimated timing offset, where the time difference between one of the two cases of signal characteristics due to the clock of the component and one of the two cases of position or path trajectory due to the clock of the surveying device is increased, and A sub-process that determines the timing offset between the clock of the measuring device and the clock of the component, according to the controlled histogram. Methods that include...

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