Ultra-wideband positioning system and method

Abstract

A real-time positioning system includes a master beacon device (MB), one or more beacon repeater devices (BR), multiple tag devices (T1, T2, ...), multiple tag response receiver units (TRR), and at least one distance determination unit. The master beacon device and the beacon repeater device transmit an interleaved pair of ultra-wideband beacon frames received by the tag device, the beacon repeater device, and the tag response receiver unit. The tag device transmits an ultra-wideband tag response frame received by the tag response receiver unit. Transmission and reception are performed using an exchange protocol that defines a specific position rate frame format, which adapts to the main time delay and the optional tag-specific time delay, and each tag to be localized uses only a limited number of frame transmissions. The position of the tag device is determined by a time measurement based on the ultra-wideband tag response frame received at the tag response receiver unit. Calibration of the clock of the component can be performed using continuous beacon frames transmitted with the main time delay. Using the calibrated clock, arrival time information can be derived, and the arrival time information can be used for flight time and / or arrival time difference analysis.

Description

Technical Field

[0001] The present disclosure generally relates to localizing mobile tag devices, also referred to as "tags". Moreover, the present disclosure generally relates to implementing an ultra-wideband positioning system based on communicating ultra-wideband signals between mobile tag devices and fixed devices. Specifically, the present disclosure relates to (particularly, indoor) ultra-wideband positioning methods and systems. Background Art

[0002] Knowing the indoor position of an object can be a basic functional requirement for applications such as industrial or commercial storage handling, manufacturing in so-called smart factories, or motion detection of physical gestures. For this purpose, indoor positioning systems have been developed that provide position information with an accuracy down to a few centimeters or millimeters.

[0003] An ultra-wideband (UWB) positioning system uses UWB signals to measure the distance between components of the UWB positioning system (specifically, mobile tag devices and fixed devices). Knowing the distance from a mobile tag device to some fixed devices enables the location of the mobile tag device in two-dimensional (2D) or three-dimensional (3D) space to be determined. For example, in an indoor environment, such a UWB positioning system can be used to track workpieces, work tools, workers, packages, shopping carts, etc. Various aspects to consider when operating a UWB positioning system include localization accuracy, how often localization can be repeated (also called positioning rate), and the number of mobile tag devices that can be located using one UWB positioning system.

[0004] UWB positioning systems are typically based on precise measurements of well-defined UWB signal transmission and reception times. Precise timing of the transmission and reception of UWB signals is required to allow measurements such as time of flight (ToF) measurements (also called time of arrival (ToA) measurements) or time difference of arrival (TDoA) measurements to be made with the required accuracy. Repeating measurements at the positioning rate allows further tracking of the movement of the mobile tag device. When increasing the positioning rate, the temporal resolution of the tracked movement increases while the time used to exchange UWB signals decreases.

[0005] Typically, positioning systems are based on a positioning rate frame format that defines in time the corresponding activities that are typically performed within one cycle of positioning measurements. This is also referred to herein as a location protocol. The positioning protocol essentially defines the maximum positioning rate at which localization measurements can be repeated. Positioning systems are also based on a UWB frame format that defines the content of the UWB signal, i.e., the data included in the UWB signal. The UWB frame format defines the amount of time required for a UWB signal and the amount of information transmitted by the UWB signal.

[0006] US 2016 / 0100289 A1 discloses a localization and tracking system for determining the position of a mobile wireless device, in particular using UWB technology. For example, US 2015 / 0356332 A1 discloses a motion sensor based on UWB technology for performance analysis in sports.

[0007] WO 2017 / 178779 A1 relates to calibrating indoor and outdoor position measurement systems. Specifically, it refers to standard ToF measurements and compensated ToF measurements to achieve parabola-based position calculations. US 2009 / 0243934 A1 also discloses a reference tag transmission from a known position for synchronizing an independent spatial positioning clock of a fixed receiver / monitoring station. Thus, the arrival time interval between pulse pairs of UWB pulses is used.

[0008] US 2015 / 0303991 A1 discloses a UWB receiver with time drift correction. US 2015 / 0295620 A1 discloses a method for determining the time of arrival of a UWB pulse at a receiver. US 2015 / 0280758 A1 discloses a pulsed multi-channel UWB receiver. In addition, US 7,492,316 B1 discloses a wireless time reference system that uses the inter-arrival time interval between pairs of UWB pulses as a timing metric. Based on this, a timing correction can be performed so that the arrival time information can be used to determine the position of an object.

[0009] For completeness, in the field of RFID tracking, US 2014 / 0111313 A1 discloses a method for implementing low power RFID communication. Thus, synchronization of an internal clock is used for periodic signals including beacon signals. US 2010 / 0277284 A1 discloses data separation in high density RF signal environments. Specifically, data separation that can be employed when receiving and processing RFID tag data in those RF signal environments (e.g., when multiple RFID tags are tracked) is disclosed.

[0010]

[0013] Accordingly, the present disclosure is directed, at least in part, to improving or overcoming one or more aspects of existing systems. Summary of the invention

[0011] In a first aspect, the present disclosure relates to a real-time positioning method for determining the location of one or more tag devices. The method comprises the following steps:

[0012] Transmitting an ultra-wideband beacon frame from a master beacon device and one or more beacon repeater devices, wherein the ultra-wideband beacon frame is transmitted as an interlaced pair of ultra-wideband beacon frames, wherein each interlaced pair is transmitted from either the master beacon device or the one or more beacon repeater devices, and each interlaced pair includes a first ultra-wideband beacon frame and a second ultra-wideband beacon frame, and for each interlaced pair, the first ultra-wideband beacon frame and the second ultra-wideband beacon frame are transmitted with a master time delay;

[0013] Receiving at least one interleaved pair of the ultra-wideband beacon frame interleaved pairs using one or more tag devices;

[0014] receiving, using one or more beacon repeater devices, at least one of the interleaved pairs of ultra-wideband beacon frames;

[0015] receiving, with one of the plurality of tag response receiver units (typically, with the plurality of tag response receiver units), at least one of the interleaved pairs of ultra-wideband beacon frames;

[0016] Ultra wideband tag response frames are sent from one or more tag devices, and at least one of the ultra wideband tag response frames is received by one tag response receiver unit of a plurality of tag response receiver units (typically, by a plurality of tag response receiver units).

[0017] In the real-time positioning method, transmission and reception are performed using an exchange protocol that defines a positioning rate frame format, which includes:

[0018] - a beacon segment comprising a series of time slots,

[0019] wherein the time slots are respectively associated with one of the first and second ultra-wideband beacon frames of an interlaced pair, such that the time interval of the time slots associated with each of the interlaced pairs is given by the primary time delay, and

[0020] wherein there is an array of time slots between time slots allocated to a first ultra-wideband beacon frame and a second ultra-wideband beacon frame of a first pair of interlaced pairs, the first pair of the interlaced pairs comprising an initial ultra-wideband beacon frame of ultra-wideband beacon frames within the beacon segment, the time slots being allocated to first ultra-wideband beacon frames of the remaining pairs, respectively; and

[0021] - A tag response segment comprising a sequence of time slots, wherein the time slots are respectively associated with one UWB beacon frame in the UWB tag response frame.

[0022] The real-time positioning method further comprises the step of determining the position of one or more tag devices by time measurement based on the ultra-wideband tag response frames received at the plurality of tag response receiver units.

[0023] In some embodiments of the real-time positioning method, the beacon segment includes a time slot for each ultra-wideband beacon frame of two ultra-wideband beacon frames of an interlaced pair, so that the beacon segment has a length of at least the primary time delay.

[0024] In some embodiments of the real-time positioning method, the beacon segment includes a time slot for only one ultra-wideband beacon frame of the first ultra-wideband beacon frame and the second ultra-wideband beacon frame of each interlaced pair, so that the beacon segment and the tag response segment together have a length of at least the primary time delay.

[0025] In some embodiments of the real-time positioning method, for a continuous positioning rate frame conforming to the positioning rate frame format, there is a time slot of a tag response segment and a time slot of only one ultra-wideband beacon frame of the first ultra-wideband beacon frame and the second ultra-wideband beacon frame of each interleaved pair between the time slots of two initial ultra-wideband beacon frames allocated to the beacon segment of the continuous positioning rate frame.

[0026] In some embodiments of the real-time positioning method, determining the location of a tag device in one or more tag devices includes:

[0027] - determining a path time period, wherein each path time period is associated with one of two consecutive ultra-wideband beacon frames, a corresponding ultra-wideband tag response frame, and a transmission path from a master beacon device to one of a plurality of tag response receiver units,

[0028] - deriving a cumulative flight time period from the path time period to indicate a cumulative signal propagation time of one of two consecutive UWB beacon frames and an UWB tag response frame along the transmission path, and

[0029] - determining a distance value associated with the tag device location from the accumulated flight time period and a plurality of installation location data representing a distance between each of a plurality of tag response receiver units and the master beacon device.

[0030] In some embodiments, the real-time positioning method further includes the following steps:

[0031] setting a master time delay between a first ultra wideband beacon frame and a second ultra wideband beacon frame of an interleaved pair based on a master clock provided in a master beacon device, and

[0032] sending the interleaved pairs using the master beacon device in the corresponding time slot of the beacon segment;

[0033] receiving the interleaved pairs using the tag device to be located;

[0034] Using the master time delay between the first ultra-wideband beacon frame and the second ultra-wideband beacon frame of the received interleaved pair to calibrate the tag clock of the tag device to be located relative to the master clock;

[0035] receiving the interleaved pairs using a plurality of tag response receiver units respectively;

[0036] calibrating receiver clocks of a plurality of tag response receiver units relative to a master clock using a master time delay between a first ultra wideband beacon frame and a second ultra wideband beacon frame of a received interleaved pair;

[0037] Transmitting an ultra-wideband tag response frame in a time slot of a tag response segment associated with the tag device to be located;

[0038] receiving the tag response frames using a plurality of tag response receiver units; and

[0039] Based on the relative position information of the master beacon device relative to each of the multiple tag response receiver units, distance information from the tag device to be located to the master beacon device and the multiple tag response receiver units is determined.

[0040] In some embodiments, the real-time positioning method further includes the following steps:

[0041] for a tag response receiver unit of a plurality of tag response receiver units located at the primary beacon device, determining a primary time of flight by a primary time of flight measurement using the ultra-wideband tag response frame; and

[0042] For another tag response receiver unit among the plurality of tag response receiver units located at a known distance from the primary beacon device, a flight time period from the tag device to one of the plurality of tag response receiver units is derived using the primary flight time, the known distance, and the ultra-wideband tag response frame.

[0043] In some embodiments, the real-time positioning method further includes the following steps:

[0044] setting a master time delay between a first ultra wideband beacon frame and a second ultra wideband beacon frame of an interleaved pair based on a master clock provided in a master beacon device, and

[0045] transmitting the interleaved pairs using the master beacon device in the corresponding time slot of the beacon segment;

[0046] receiving, with a beacon repeater device of the one or more beacon repeater devices, the interleaved pair transmitted from the master beacon device;

[0047] calibrating a repeater clock of one of the one or more beacon repeater devices relative to a master clock using the received master time delay data between the first ultra wideband beacon frame and the second ultra wideband beacon frame of the interleaved pair;

[0048] transmitting the interleaved pair using a beacon repeater device of the one or more beacon repeater devices in a corresponding time slot of the beacon segment;

[0049] Receiving, by the tag device to be located, an interleaved pair transmitted from one of the one or more beacon repeater devices;

[0050] Using the master time delay between the first ultra-wideband beacon frame and the second ultra-wideband beacon frame of the received interleaved pair, calibrating the tag clock of the tag device to be located relative to the master clock;

[0051] receiving, using a plurality of tag response receiver units, interleaved pairs transmitted from one of the one or more beacon repeater devices, respectively;

[0052] calibrating receiver clocks of a plurality of tag response receiver units relative to a master clock using a master time delay between a first ultra wideband beacon frame and a second ultra wideband beacon frame of a received interleaved pair;

[0053] Transmitting an ultra-wideband tag response frame in a time slot of a tag response segment associated with the tag device to be located;

[0054] receiving the tag response frames using a plurality of tag response receiver units; and

[0055] Based on the relative position information of a beacon repeater device among the one or more beacon repeater devices relative to each of the multiple tag response receiver units, the distance information from the tag device to be located to a beacon repeater device among the one or more beacon repeater devices and the multiple tag response receiver units is determined.

[0056] In some embodiments, the real-time positioning method further includes the following steps:

[0057] setting a master time delay between a first ultra wideband beacon frame and a second ultra wideband beacon frame of an interleaved pair based on a master clock provided in a master beacon device, and

[0058] transmitting the interleaved pairs using the master beacon device in the corresponding time slot of the beacon segment;

[0059] receiving, with one or more beacon repeater devices, the interleaved pairs transmitted from the master beacon device;

[0060] calibrating respective repeater clocks of one or more beacon repeater devices relative to a master clock using the received master time delay data between a first ultra wideband beacon frame and a second ultra wideband beacon frame of an interleaved pair;

[0061] transmitting an ultra-wideband beacon frame using each of the one or more beacon repeater devices in a corresponding time slot of the beacon segment;

[0062] Receiving, using a tag device, an ultra-wideband beacon frame transmitted from one or more beacon relay devices; and

[0063] Based on the relative position information of the main beacon device and one or more beacon repeater devices, the distance information from the tag device to the main beacon device and each beacon repeater device in the one or more beacon repeater devices is determined by analyzing the arrival time difference of the tag beacon time point at the tag device relative to the corresponding beacon time slot.

[0064] In some embodiments of the real-time positioning method, in the positioning rate frame, there is at least one of the following:

[0065] The idle time slot between the beacon segment and the tag response segment, and

[0066] The random access slot after the tag response segment.

[0067] In some embodiments of the real-time positioning method, a time slot in a beacon segment and / or a tag response segment includes a buffer time window that is not used between ultra-wideband frames of consecutive time slots, and the buffer time window is not used to transmit an ultra-wideband signal, and / or

[0068] The time slot length of each of the time slots in the beacon segment and / or the tag response segment is longer than the time slot length of the ultra wideband frame.

[0069] In another aspect, the present disclosure relates to a real-time location system for:

[0070] The location of the tag device is determined by the arrival time difference measurement. The real-time positioning system includes:

[0071] a) Exchange protocol for sending and receiving UWB frames,

[0072] The sending and receiving of ultra-wideband frames includes:

[0073] Transmitting an ultra-wideband beacon frame from a master beacon device and one or more beacon repeater devices, wherein the ultra-wideband beacon frame is transmitted as an interleaved pair of ultra-wideband beacon frames, wherein each interleaved pair is either transmitted from the master beacon device or from one of the one or more beacon repeater devices, and each interleaved pair includes a first ultra-wideband beacon frame and a second ultra-wideband beacon frame, and for each interleaved pair, the first ultra-wideband beacon frame and the second ultra-wideband beacon frame are transmitted with a master time delay; receiving at least one interleaved pair of the ultra-wideband beacon frame interleaved pairs using one or more tag devices;

[0074] receiving, using one or more beacon repeater devices, at least one of the interleaved pairs of ultra-wideband beacon frames;

[0075] receiving, with one of the plurality of tag response receiver units, at least one of the interleaved pairs of ultra-wideband beacon frames;

[0076] sending an ultra-wideband tag response frame from one or more tag devices, and

[0077] receiving at least one of the ultra-wideband tag response frames using a tag response receiver unit of the plurality of tag response receiver units, and

[0078] The exchange protocol defines a positioning rate frame format, which includes:

[0079] i) beacon segment, including a sequence of time slots,

[0080] wherein the time slots are respectively associated with one of the first and second ultra-wideband beacon frames of an interlaced pair, such that the time interval of the time slots associated with each of the interlaced pairs is given by the primary time delay, and

[0081] - wherein between the time slots of the first ultra wideband beacon frame and the second ultra wideband beacon frame allocated to an open interleaved pair including an initial ultra wideband beacon frame of an ultra wideband beacon frame within a beacon segment, there exists an array of time slots respectively allocated to the first ultra wideband beacon frames of the remaining pairs; and

[0082] ii) a tag response segment, comprising a sequence of time slots respectively associated with one of the ultra-wideband tag response frames;

[0083] b) a master beacon device and optionally one or more beacon repeater devices, each comprising:

[0084] i) a beacon transmission unit configured to transmit two consecutive ultra-wideband beacon frames in a time slot of a beacon segment associated with one of the interlace pairs, and

[0085] ii) a master clock, defining the master time to ensure that the separation of two UWB beacon frames is delayed by the master time or a repeater clock that is calibrated to the master clock;

[0086] c) A plurality of tag devices, each tag device comprising:

[0087] i) a tag clock, defining a tag time specific to a corresponding tag device, wherein the tag time is calibrated relative to a master time using a master time delay,

[0088] ii) a receiving unit configured to receive two consecutive ultra-wideband beacon frames transmitted from a master beacon device or from one of the one or more beacon repeater devices in a time slot of a beacon segment, and

[0089] iii) a tag response transmitting unit, configured to transmit an ultra-wideband tag response frame in a time slot of the tag response segment;

[0090] d) a plurality of tag response receiver units, each tag response receiver unit comprising:

[0091] i) a receiver clock defining a respective receiver time of a respective tag response to a receiver unit, wherein the receiver time is calibrated relative to a master time using a master time delay, and

[0092] ii) wherein each tag response receiver unit is configured to:

[0093] - receiving an ultra-wideband tag response frame sent from the tag device in a corresponding time slot of the tag response segment; and

[0094] e) at least one distance determination unit, comprising:

[0095] i) a calculation unit, configured to: for the continuously executed positioning rate frames and for each tag device in the tag devices:

[0096] - Determine a path time period for each tag device in the tag devices, wherein each path time period is associated with:

[0097] Any UWB beacon frame in two consecutive UWB beacon frames,

[0098] The corresponding UWB tag response frame, and

[0099] a transmission path from a master beacon device or a beacon repeater device of the one or more beacon repeater devices to a tag response receiver unit of the plurality of tag response receiver units,

[0100] - deriving a cumulative flight time period from the path time period to indicate a cumulative signal propagation time of one of two consecutive UWB beacon frames and an UWB tag response frame along the transmission path, and

[0101] -Determine a distance value associated with the tag device location from the accumulated flight time period and a plurality of installation location data, wherein the plurality of installation location data optionally represents a distance between each of a plurality of tag response receiver units and a beacon transmitting unit of a master beacon device or one of the one or more beacon repeater devices.

[0102] In some embodiments of the real-time positioning system, sending and receiving UWB frames is based on an UWB frame format including a start frame entry, and

[0103] At least one of the receiving unit of the tag device and the tag response receiver unit is configured to detect a start frame entry contained in an ultra-wideband frame and associate a time point with the corresponding ultra-wideband frame; and / or

[0104] The ultra-wideband frame format includes a payload entry, a reference beacon time slot and / or a reference beacon source on an ultra-wideband reference beacon frame, at least one tag device among the plurality of tag devices is configured to select an ultra-wideband beacon frame among ultra-wideband beacon frames received from a master beacon device and one or more beacon repeater devices as an ultra-wideband reference beacon frame, transmit an ultra-wideband tag response frame by temporally referencing the ultra-wideband reference beacon frame, and include information related to the ultra-wideband reference beacon frame, the corresponding reference beacon time slot and / or the corresponding reference beacon source in the ultra-wideband tag response frame, and

[0105] At least one of the receiving units of the tag response receiver unit is configured to read a payload entry related to an ultra-wideband reference beacon frame, a reference beacon slot and / or a reference beacon source from an ultra-wideband tag response frame and communicate the payload entry to at least one distance determination unit.

[0106] In some embodiments of the real-time location system, for calibration of a clock to a master time, a tag device, a receiver device, or one or more beacon repeater devices includes:

[0107] A calibration and calculation unit is configured to detect a time delay between a time point associated with a first ultra-wideband beacon frame of two consecutive ultra-wideband beacon frames of an interlaced pair and a time point associated with a second ultra-wideband beacon frame of two consecutive ultra-wideband beacon frames, and adjust the clock time so that the detected time delay corresponds to the main time delay.

[0108]

[0011] In another aspect, the present disclosure is directed to a real-time location system (RTLS) for determining a location of a tag device.

[0109] The RTLS comprises a master beacon device, a plurality of tag devices, a plurality of tag response receiver units, and (at least one) distance determination unit.

[0110] The main beacon equipment includes:

[0111] i) a beacon transmitting unit, configured to transmit two consecutive beacon frames. The consecutive beacon frames include a first beacon frame transmitted at a first beacon transmitting time point and a second beacon frame transmitted at a second beacon transmitting time point;

[0112] ii) a master clock defining a master time; and

[0113] iii) A primary storage unit configured to store primary time delay data therein.

[0114] Two consecutive beacon frames are transmitted with a primary time delay corresponding to the primary time delay data.

[0115] A label device among the plurality of label devices comprises:

[0116] i) Tag clock, which defines the tag time specific to the corresponding tag device;

[0117] ii) a receiving unit, configured to:

[0118] - receive two consecutive beacon frames sent from the master beacon device,

[0119] - determining a first tag beacon time point and a second tag beacon time point for receiving two consecutive beacon frames at the corresponding tag device, and

[0120] - Generate a tag from the first tag beacon time point and the second tag beacon time point

[0121] Specific reception time delay data;

[0122] iii) a tag data storage unit configured to store therein:

[0123] - Master time delay data,

[0124] - a reference point in time associated with receiving one of the beacon frames used as a reference beacon frame, and

[0125] - Tag specific transmission time delay data, relative to the corresponding tag device and reference time

[0126] Point specific relevance;

[0127] iv) a calibration and calculation unit, configured to:

[0128] - calibrating the tag clock relative to the master time by comparing the tag specific received time delay data and the master time delay data; and

[0129] v) a tag response transmitting unit, configured to:

[0130] - deriving a tag specific transmit time delay from the calibrated tag clock and the tag specific transmit time delay data at a reference time point, and

[0131] - After waiting for a tag specific transmission time delay at a reference time point, transmit a tag response frame.

[0132] A tag response receiver unit of the plurality of tag response receiver units comprises a receiver clock defining a corresponding receiver time. Each tag response receiver unit is configured to:

[0133] - receiving a plurality of tag response frames sent from a plurality of tag devices; and

[0134] - determining a plurality of receiver response time points for the time of arrival of the tag response frame at the respective response receiver unit, wherein each receiver response time point is specific to the respective tag response receiver unit and the respective tag device due to the tag specific transmission time delay.

[0135] The distance determination unit comprises:

[0136] i) a data storage unit configured to store therein:

[0137] - Tag specific transmit time delay data, and

[0138] - a plurality of installation location data representing the location of each tag response receiver unit and beacon transmission unit in a plurality of tag response receiver units of the master beacon device; and

[0139] ii) A computing unit configured to determine, for a selected tag device, a distance value associated with the location of the selected tag device using the first beacon transmission time point or the second beacon transmission time point, the receiver response time point and the tag-specific transmission time delay data, as well as optional main time delay data and multiple installation location data.

[0140] For example, the computing unit is configured to: for a selected tag device,

[0141] - determining the path time period elapsed between the time point associated with the transmission of two consecutive beacon frames and the receiver response time point of the arrival time of the tag response frame;

[0142] - deriving cumulative flight time periods by subtracting the tag specific transmission time delay of the selected tag device from the determined path time period, wherein each cumulative flight time period is associated with a transmission path from the master beacon device to one of the corresponding responding receiver units via the selected tag device; and

[0143] - Determining a distance value associated with a location of a selected tag device from the determined cumulative flight time period and the plurality of installation location data.

[0144] "Real-time" in real-time locating systems in this context means that both hardware and software systems should obey "real-time constraints" from events to system responses. Real-time systems (especially RTLS as mentioned) must guarantee responses within specified time constraints. The correctness of these types of systems depends on their temporal aspects as well as their functional aspects. Systems that cannot guarantee responses within any time frame, although typical or expected response times may be given, are not appropriate and are not within the meaning of RTLS.

[0145] In another aspect, a method for providing distance values ​​between a tag device and a plurality of tag response receiver units of a real-time location system is disclosed. The method comprises:

[0146] operating a master beacon device to transmit consecutive beacon frames, thereby setting a master time delay between two adjacent beacon frames in the consecutive beacon frames;

[0147] operating the tag device and the tag response receiver unit to receive consecutive beacon frames and calibrating clocks of the tag device and the tag response receiver unit using the master time delay;

[0148] operating a tag device to transmit a tag response frame with a preset tag specific transmission time delay relative to a transmission time point associated with a received reference beacon frame, the reference beacon frame being one of the consecutive beacon frames;

[0149] operating a tag response receiver unit to receive a tag response frame and determine receiver response time points of times when the tag response frame arrives at a corresponding response receiver unit, wherein each receiver response time point is specific to a corresponding tag response receiver unit and a tag device due to a tag specific transmission time delay; and

[0150] A distance value associated with the location of the tag device is determined from the receiver response time point and installation location data representing the location of each tag response receiver unit of the plurality of tag response receiver units and the master beacon device.

[0151] In another aspect, a method for providing distance values ​​between a tag device and a plurality of tag response receiver units of a real-time location system is disclosed. The method comprises the following steps:

[0152] Transmitting two consecutive beacon frames using a beacon transmission unit of a master beacon device at a first beacon transmission time point and a second beacon transmission time point, wherein the two consecutive beacon frames are transmitted with a master time delay corresponding to the master time delay data;

[0153] The tag device receives two consecutive beacon frames sent from the master beacon device.

[0154] determining a first tag beacon time point and a second tag beacon time point for receiving two consecutive beacon frames at a tag device,

[0155] generating tag specific reception time delay data from a first tag beacon time point and a second tag beacon time point,

[0156] By comparing the tag-specific reception time delay data with the master time delay data, the tag time of the tag device is calibrated to the master time of the master beacon device.

[0157] deriving the tag specific emission time delay from the preset tag specific emission time delay data of the calibrated tag time,

[0158] transmitting a tag response frame from the tag device after waiting for a tag specific transmission time delay at a reference time point associated with receiving one of two consecutive beacon frames serving as a reference beacon frame,

[0159] Receive the tag response frame sent from the tag device,

[0160] determining a plurality of receiver response time points of the time at which the tag response frame arrives at the corresponding responding receiver unit, wherein each receiver response time point is specific to the responding tag response receiver unit and the tag device due to the tag specific transmission time delay,

[0161] determining a path time period elapsed between a transmission time point associated with the transmission of a reference beacon frame and a receiver response time point of the time at which a tag response frame arrives at a corresponding responding receiver unit,

[0162] deriving a cumulative flight time period by subtracting a tag specific transmission time delay of the tag device from the determined path time period, wherein each flight time period is associated with a transmission path from the master beacon device to one of the corresponding responding receiver units via the tag device, and

[0163] A distance value associated with the location of the selected tag device is determined from the determined accumulated flight time period and the installation location data representing the location of each of the plurality of tag response receiver units and the beacon transmitting unit of the master beacon device.

[0164] In another aspect, a method for determining the locations of a plurality of tag devices is disclosed. The method comprises the following steps:

[0165] providing a plurality of tag response receiver units;

[0166] providing a plurality of tag devices, each tag device being associated with a particular tag-specific transmission time delay data that is different from the remaining tag-specific transmission time delay data;

[0167] performing a method for providing, for each of a plurality of tag devices, a distance value between the tag device and a plurality of tag response receiver units of a real time location system; and

[0168] The position of each tag device of the plurality of tag devices is derived from the distance value associated with the position of the corresponding tag device.

[0169] In another aspect, a method for providing distance values ​​between a tag device and a plurality of beacon transmitters including a master beacon device and a plurality of beacon repeater devices of a real-time positioning system is disclosed. The method comprises the following steps:

[0170] operating a master beacon device to transmit consecutive beacon frames, thereby setting a master time delay between two adjacent beacon frames in the consecutive beacon frames;

[0171] operating the tag devices and the beacon repeater devices to receive successive beacon frames from the master beacon device and calibrating the clocks of the tag devices and the beacon repeater devices using the master time delay;

[0172] operating a beacon repeater device to transmit consecutive beacon frames, whereby a primary time delay is set between two adjacent beacon frames in the consecutive beacon frames;

[0173] operating the tag device to receive consecutive beacon frames of the beacon repeater device and determine the tag beacon time points of the master beacon device and the beacon repeater device; and

[0174] A distance value associated with the location of the tag device is determined from the tag beacon time point and the installation location data representing the locations of the master beacon device and the plurality of beacon repeater devices.

[0175] Other embodiments of the above aspects are disclosed in the dependent claims, which are incorporated herein by reference. For example, in some embodiments, the master beacon device includes a tag response receiver unit among a plurality of tag response receiver units, so that the corresponding installation position data indicates the same position of the tag response receiver unit of the master beacon device and the beacon transmitting unit of the master beacon device (for example, there is no distance between the tag response receiver unit of the master beacon device and the beacon transmitting unit of the master beacon device), and wherein for the master beacon device, the master clock is optionally the corresponding receiver clock. Optionally, the distance determination unit can be configured to calculate the flight time and / or distance between the master beacon device and the selected tag device based on the first beacon transmission time point or the second beacon transmission time point, the receiver response time point at the master beacon device, and the tag-specific transmission time delay data of the selected tag device and the optional master time delay data.

[0176] In some embodiments, at least one tag response receiver unit of the plurality of tag response receiver units is further configured to:

[0177] - receiving two beacon frames sent from the master beacon device at the response receiver beacon time point; and

[0178] - generate receiver specific time delay data from the receiver beacon time points,

[0179] And at least one tag response receiver unit of the plurality of tag response receiver units further comprises:

[0180] The calibration and calculation unit is configured to:

[0181] - calibrating the respective receiver clocks relative to the master clock by comparing the receiver specific time delay data and the master time delay data, so that the receiver response time point of the arrival time of the tag response frame is based on the calibrated receiver time.

[0182] In some embodiments, the RTLS further comprises at least one beacon repeater device, the at least one beacon repeater device comprising one of the plurality of tag response receiver units and a beacon transmitting unit within a housing to form an integrated device, the integrated device being configured as an anchor device mountable to a wall or ceiling or any other fixed installation. The at least one beacon repeater device may be configured to transmit consecutive beacon frames separated by a master time delay using a receiver clock calibrated to the master clock. Then, at least one of the plurality of tag devices may be configured to:

[0183] - selecting one of the beacon frames received by at least one beacon repeater device as a reference beacon frame,

[0184] - deriving a tag specific transmit time delay from the tag specific transmit time delay data of the calibrated tag clock and a reference time point, wherein the reference time point is associated with the reception of a selected beacon frame;

[0185] - transmitting a tag response frame after waiting for a tag-specific transmission time delay at a reference time point; and

[0186] - Including in the tag response frame information related to the reference beacon frame, the corresponding reference beacon slot and / or the repeater beacon device.

[0187] In some embodiments, the RTLS further comprises a control unit connected to the plurality of response receiver units to exchange data, wherein the control unit comprises a distance determination unit configured to receive timing data from the plurality of response receiver units and determine a distance value of the location of the tag device based on the timing data.

[0188] In some embodiments, the tag specific transmission time delay is associated with a tag beacon time point as a reference time point (e.g., a predetermined time point in the first tag beacon time point and the second tag beacon time point). For example, the tag specific transmission time delay is a time period to wait after receiving the second beacon frame of two consecutive beacon frames at the second tag beacon time point. Additionally or alternatively, due to the relative geometric positions of the beacon transmission unit, the corresponding tag device and the corresponding tag response receiver unit, each receiver response time point is also specific to the corresponding tag response receiver unit and the corresponding tag device.

[0189] As will be understood in the context of the present application, a first tag beacon time instant and a second tag beacon time instant refer to a pair of consecutive beacon frames received at respective tag devices and originating from the same source.

[0190] As disclosed herein, using a master beacon device may be sufficient for various embodiments. The pair of consecutive beacon frames then originates from the master beacon device, and thus the first tag beacon time point and the second tag beacon time point (or generally, the time point associated with receiving at least one of the two consecutive beacon frames) are associated with the master beacon device.

[0191] However, the positioning rate frame format disclosed herein can provide additional time slots associated with beacon repeater devices to the beacon segment. In the case of operating a master beacon device and one or more beacon repeater devices, multiple beacon frames are each transmitted within a corresponding time slot of the beacon segment. Thus, a tag device can receive multiple beacon frames, and thus, the tag device can be configured to select a specific beacon frame pair associated with the master beacon device or one of the multiple beacon repeater devices for calibration.

[0192] Likewise, the tag device may be configured to select a specific beacon frame with respect to a tag-specific transmission time delay. The beacon frame of the selected master beacon device or multiple beacon repeater devices may be referred to as a reference beacon frame; the corresponding master beacon device or beacon repeater device is referred to as a reference beacon source; and the corresponding time slot in the positioning rate frame format is referred to as a reference beacon time slot.

[0193] One or more selections may be based on, for example, signal strength and / or signal quality. The tag device may also be configured to adjust the tag-specific transmission time delay based on the selected reference beacon device so that the tag response frame is transmitted during a time slot associated with the tag device within the positioning rate frame format. Typically, the tag device may also be configured to derive the tag-specific transmission time delay required for the corresponding selected reference beacon device from the tag-specific transmission time delay data.

[0194] For example, if the frames of the beacon repeater devices associated with the time slots respectively immediately following the time slots associated with the master beacon device have a preferred signal quality, the corresponding beacon repeater device may become the selected reference beacon device. In this case, the tag specific transmission time delay may be set to a duration of one time slot shorter than the tag specific transmission time delay when the master beacon device has been used as the reference beacon device.

[0195] In the case where the reference beacon device can also detect the tag response frame, a time-of-flight measurement can be performed on the reference beacon frame / reference beacon device (i.e., a selected master beacon device or a beacon repeater device). Based on the time-of-flight measurement of the reference beacon device, a time-of-flight measurement of other tag response receiver units (installed in any of the master beacon device, the beacon repeater device, or a specific tag response receiver unit) can be performed, as explained herein.

[0196] Furthermore, it should be understood that the beacon transmission time point of one of the respectively selected master beacon devices or beacon repeater devices is used when analyzing the corresponding accumulated flight time to the tag response repeater unit.

[0197] It should be noted that in view of the above, the payload entry in the underlying UWB frame format may include data about the corresponding source (UWB transmitter, such as a master beacon device, a beacon repeater device or a tag device), for example in the form of an identification code (ID) of the corresponding transmitter.

[0198] In addition, the payload may provide an entry for data on a selected reference beacon device. The entry includes information entered by the tag device into the transmitted tag frame to indicate which beacon frame or repeater frame is used for time reference when transmitting a tag response frame in the correct time slot, specifically for adjusting the tag specific transmission time delay. It should be understood that this information about the reference beacon device used will ensure that a consistent cumulative flight time can be derived and further processed as described above. Specifically, this information is used for time of flight (ToF) measurements that apply the correct reference beacon for localization calculations.

[0199] In some embodiments of the RTLS, the computing unit is configured to: for a selected tag device,

[0200] determining a path time period elapsed between a transmission time point associated with the transmission of a reference beacon frame and a receiver response time point of the time at which a tag response frame arrives at a tag response receiver unit;

[0201] deriving a cumulative flight time period by subtracting the tag specific transmission time delay of the selected tag device from the determined path time period, wherein each cumulative flight time period is associated with a transmission path from a master beacon device (or optionally, a selected beacon repeater device) to one of the corresponding response receiver units via the selected tag device, wherein the arrival time of a tag response frame at the master beacon device (or optionally, the selected beacon repeater device) is twice the master flight time period between the master beacon device and the selected tag device (or optionally, twice the repeater flight time period between the selected beacon repeater device and the selected tag device);

[0202] subtracting the master (or repeater) flight time period from each of the remaining accumulated flight time periods to derive a receiver flight time period associated with the tag responsive receiver unit and the tag device; and

[0203] The location of the selected tag device is determined from the determined receiver flight time period and the optional main flight time period by time-of-flight analysis using the plurality of installation location data.

[0204] In some embodiments of the RTLS, the computing unit is configured to: for a selected tag device,

[0205] determining a path time period elapsed between a transmission time point associated with the transmission of a reference beacon frame and a receiver response time point of an arrival time of a tag response frame;

[0206] deriving a cumulative flight time period by subtracting a tag-specific transmission time delay of the selected tag device from the determined path time period, wherein each cumulative flight time period is associated with a transmission path from the master beacon device to one of the corresponding responding receiver units via the selected tag device;

[0207] for a plurality of tag-responding receiver units, determining a time difference of arrival; and

[0208] The location of the selected tag device is determined by performing a time difference of arrival analysis using the determined time difference of arrival value and the plurality of installation location data.

[0209] Optionally, if the reference time point is inconsistent with the tag beacon time point of the reference beacon frame, the time period between the reference time point and the tag beacon time point may be subtracted from the determined path time period in addition to the tag specific transmission time delay.

[0210] In some embodiments, the computing unit is configured to determine a path time period specifically elapsed between a beacon transmission time point among a first beacon transmission time point and a second beacon transmission time point as a reference time point and a receiver response time point, and to determine a cumulative flight time period by subtracting a tag-specific transmission time delay and an optional main time delay from the path time period.

[0211] In some embodiments, transmitting two consecutive beacon frames and / or tag response frames is performed based on an ultra-wideband frame format having a plurality of bits including:

[0212] - a header portion comprising bits associated with at least one of a frame length, a data rate and a data correction; and

[0213] - A payload portion comprising bits associated with at least one of a frame type, an identification of a transmitter, an identification of a reference beacon frame and / or a reference beacon frame source, and a data correction.

[0214] The frame format defines a so-called transmit frame and is related to the time at which one transmitter sends a series of UWB pulses, as explained in more detail below. In some embodiments, the frame format does not include bits in the payload portion that represent beacon transmit time points, tag beacon time points, and / or time periods such as master time delays and tag specific transmit time delays.

[0215] In some embodiments, tag-specific transmission time delay data is preset for multiple tag devices, so that the tag-specific transmission time delay causes the time displacement of multiple receiver response time points to the tag-specific time slots, and the receiver response time points can be associated with the tag devices through the tag-specific transmission time delay data.

[0216] In some embodiments, the tag specific transmission time delay data is arranged such that the time displacement between receiver response time points associated with different tag devices is in the range from 500 μs to several milliseconds, such as at least 1 ms.

[0217] In some embodiments, the positioning rate frame format used by the components of the positioning system has a duration in the range of from about 1 ms to 250 ms. Typically, the duration depends on a series of consecutive transmissions organized in a time pattern (positioning rate frame format) that recurs at the positioning rate. Additionally or alternatively, transmitting two consecutive primary beacon frames is performed at a positioning rate from about 1 ms to 250 ms.

[0218] In some embodiments, the RTLS further includes:

[0219] At least one beacon repeater device is located at a preset repeater position (eg, at a preset distance) and is configured to receive a beacon frame and transmit a repeated beacon frame.

[0220] Two repeating beacon frames are associated with time slots within the positioning rate frame format, which are interleaved with time slots within the positioning rate frame format that are associated with two consecutive beacon frames transmitted from the master beacon device and optionally other repeater devices.

[0221] Additionally, repetitive beacon frames may be associated with time slots within the positioning rate frame format that are interleaved with time slots within the positioning rate frame format that are associated with single beacon frames and tag frames transmitted from a master beacon device and optionally other repeater devices (BRs).

[0222] A tag device and / or a tag response receiver unit receiving two repeated beacon frames can use the time delay between the two repeated beacon frames for calibration. For example, two repeated consecutive beacon frames transmitted in one positioning rate frame or in consecutive positioning rate frames can be used.

[0223] The tag device may be configured to select one of the repeated beacon frames as a reference frame and derive a tag-specific transmission time delay based on a reference time point associated with reception of the selected repeated beacon frame.

[0224] In some embodiments, the master beacon device includes one of the tag response receiver units such that the installation distance data (derivable from the installation position data) for a transmission path from the master beacon device to the master beacon device via the tag device is clearly zero. In other words, for the transmission path from the master beacon device to the master beacon device via the tag device, the installation position data indicates that the distance between the location where the beacon frame is transmitted and the location where the tag response frame is received is zero.

[0225] In some embodiments, tag response frames are transmitted at the same rate as beacon frames. In some embodiments, tag response frames may be transmitted at double the rate of beacon frames, or transmission may be enabled by the tag device and blocked during periods when localization is not required.

[0226] To summarize the concepts disclosed herein, a self-synchronizing positioning system may include components such as a master beacon device, an optional beacon repeater device, a tag device, and an optional tag response receiver unit. The components transmit and / or receive frames such as ultra-wideband RF frames. Calibration of the component clocks can be performed using continuous beacon frames transmitted with a master time delay. In some embodiments, the tag response frame is started with a tag-specific time delay. Using a calibrated clock, arrival time information that can be used for flight time and / or arrival time difference analysis can be derived. The positioning system can be based on a specific positioning rate frame format that adapts to the master time delay and the tag-specific time delay, so that each tag to be localized uses only a limited number of frame transmissions. The positioning rate frame format can also adapt to a dual-purpose positioning system that allows device-centric and server-centric localization approaches.

[0227] The concepts disclosed herein may provide a high performance positioning system, since a trilateration algorithm based on a two-way ranging approach may be used. Specifically, these concepts may allow obtaining information about all distances from a tag response receiver unit (which is typically a completely stationary fixed mounted device, the so-called anchor) to a tag device. In other words, the concepts disclosed herein allow converting TDoA measurements into time of arrival (ToA) measurements.

[0228] Other features and aspects of the present disclosure will be apparent from the following description and accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0229] The accompanying drawings, which are incorporated herein and constitute a part of the specification, illustrate exemplary embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure. In the drawings:

[0230] Figure 1 shows a schematic illustration of an exemplary UWB symbol composed of UWB pulses;

[0231] Figure 2 A schematic diagram illustrating an exemplary frame format defining a transmit frame for UWB communications is shown;

[0232] Figure 3 shows a schematic illustration of an exemplary positioning rate frame as a basis for a localization protocol;

[0233] Figure 4shows a schematic diagram of a positioning system including a master beacon device, several mobile tag devices, several tag response receivers and a beacon repeater device;

[0234] Figure 5 A schematic illustration of a fixed anchor such as a master beacon device or a beacon repeater device is shown;

[0235] Figure 6 A schematic diagram of a mobile tag device is shown;

[0236] Figures 7 to 12 Schematic diagram showing the combination of Figure 4 The various actions performed by the components of the described positioning system in accordance with the exchange protocol disclosed herein for tag localization;

[0237] Fig.13 A flow chart showing a first method of determining a tag device location;

[0238] Fig.14 A flow chart showing a second method for determining the location of a tag device;

[0239] Fig.15 shows a schematic illustration of another exemplary positioning rate frame as a basis for a localization protocol;

[0240] Fig.16 A schematic diagram of a positioning system for tag device-centric localization is shown; and

[0241] 17A to 17C Various actions performed during a tag device-centric localization protocol are schematically illustrated. DETAILED DESCRIPTION

[0242] The following is a detailed description of exemplary embodiments of the present disclosure. The exemplary embodiments described herein and illustrated in the accompanying drawings are intended to teach the principles of the present disclosure, thereby enabling a person of ordinary skill in the art to implement and use the present disclosure in many different environments and in many different applications. Therefore, the exemplary embodiments are not intended to and should not be considered as limiting descriptions of the scope of patent protection. Instead, the scope of patent protection should be defined by the attached claims.

[0243] The present disclosure is based in part on the following recognition: For "two-way / three-way UWB technology" such as disclosed in the prior art, a large number of frames are sent between participating devices. If the number of tag devices (and fixed units) is further increased, the number of frames to be exchanged will increase significantly.

[0244] In addition, the inventors have realized that the short UWB frame format can increase the size of the localization area. Moreover, the short frame allows more frames at a time or an increased time window between frames, thereby reducing any interference or overlapping risks of consecutive frames of the UWB signal and enabling a large number of tag devices to be located within one positioning protocol.

[0245] In view of these aspects, a new UWB protocol and a new positioning system are proposed for high spatial resolution of tag devices. In the following, the contributing features are first generally described and then illustrated in conjunction with the corresponding figures.

[0246] UWB (localization) protocol

[0247] The proposed UWB protocol is based on the use of a UWB frame format with a short size and a UWB positioning rate frame format that allows efficient UWB frame communication. Specifically, each positioning rate only requires a few (at least two) beacon frames to be sent from the master beacon device. In addition, each positioning rate frame can only send a single response frame from each tag device to be located.

[0248] The UWB positioning rate frame format defines the time slots of the UWB frames of the master beacon device and the tag device. For example, each positioning rate frame can send a frame pair as the basis of the UWB positioning protocol. The frame pair is also referred to as a (twin) beacon frame or a dual beacon or a master beacon pair in this article. Moreover, the transmission of a (twin) beacon frame is called a dual transmission. All tag devices reply to those (twin) beacon frames. Based on time calibration and pre-assigned time slots, tag devices can adjust their timing with a unique timing reference. The unique timing reference is provided by the master beacon device. Specifically, a (high-precision) master clock of the master beacon device and a transmission process performed with high precision are provided, so that the master time delay between the twin beacons can be set with high accuracy. The master clock can be implemented as a clock pulse generator or a clock wave generator. The master clock defines the master time used as the time reference of the system. If the UWB receiver detects the twin beacon frame with the corresponding time accuracy, the time distance between the twin beacon frames allows calibration of any clock associated with the UWB receiver. For example, a UWB receiver may be provided in the tag device to be located, in any fixedly mounted (or at least temporarily fixed) tag response receiver unit, and in the master beacon device and optional repeater devices. For example, a repeater device may be calibrated by receiving twin beacon frames and may be configured to transmit time-shifted twin beacon frames to increase the range. In the latter case, the UWB positioning rate frame format also provides time slots for repeater devices. In embodiments of tag device-centric localization, tag time slots may not be required.

[0249] Although the summary provided above takes twin beacons as an example, the master beacon can transmit an integer number of beacon frames, for example, to improve calibration accuracy. However, additional time for the positioning rate can then be associated with the beacon transmission. However, it should be understood that transmitting an integer number of beacon frames always also includes: transmitting a beacon frame pair. However, for simplicity, the description herein is generally exemplarily related to two master beacons or master beacons. However, it should be recognized that the same concept can also be transmitted to three, four or more master beacons. Obviously, only transmitting two master beacons requires less time in the positioning frame, leaving more time for the tag response (thereby enabling more tag devices) or a higher positioning rate. Typically, for calibration, the drift between the master clock and the receiver clock is measured, whereby the accuracy of the calibration is related to the time period between consecutive beacons of the same beacon transmitter (master beacon device or beacon repeater device) (for example, between the first beacon and the second beacon of a twin beacon pair of two consecutive beacons).

[0250] It should be noted that the primary beacon is repeated at the positioning rate. Therefore, the duration of the positioning rate frame is the time distance between consecutive "first" primary beacon frames.

[0251] The positioning rate frame of the UWB positioning protocol disclosed herein may include a beacon segment and a tag response segment.

[0252] A beacon segment may include a sequence of time slots associated with interleaved beacon frame pairs. Specifically, the first beacon frame and the second beacon frame of each pair are separated in time by a primary time delay. Considering an open pair within a positioning rate frame, the open pair includes an initial beacon frame among all beacon frames within the beacon segment. Then, between the time slots of the beacon frames assigned to the initial pair, the beacon segment includes an array of time slots that are respectively assigned to the first beacon frames of the remaining pairs. Similarly, between the time slots of the beacon frames assigned to the closed pair (including the last beacon frame within the beacon segment), there is an array of time slots that are respectively assigned to the second beacon frames of the remaining pairs.

[0253] The tag response segment includes a time slot sequence associated with the tag response frame. Specifically, for each tag device to be localized in real time, a time slot may be given / predefined.

[0254] Typically, a time slot is a time window at least as long as the time window required by the UWB frame format. Typically, there may be additional unused time periods after and / or before a corresponding beacon frame or tag response frame. Those unused time periods can reduce or avoid interference and make the received UWB frame more clearly associated with its time slot.

[0255] Furthermore, a transition slot may be introduced between the beacon segment and the tag response segment and / or at the end of the tag response segment.

[0256] Generally, such a positioning rate frame may be defined and form the basis of an exchange protocol for sending and receiving ultra-wideband frames based on the ultra-wideband frame format.

[0257] It should be noted that a tag device can be temporarily fixed (set to fixed position mode) and then used as a tag response receiver unit or a repeater device. In the latter case, the temporarily fixed tag device can additionally be associated with a (repeater) time slot in the beacon segment of the positioning rate frame.

[0258] Based on the new positioning protocol and as explained in this article, the number of frames to be sent to localize a tag device within one positioning rate period (LRT) can be 2+1 (i.e., two beacon frames and one tag response frame). For n beacon slot pairs to be localized and m tag devices, the number of frames to be sent to localize all tag devices within one positioning rate period is 2*n+1*m. This number may be the minimum number of slots required for calibration based on twin master beacons within the positioning rate frame format, and (n-1) repeater devices are used to extend the range or improve signal performance.

[0259] UWB Communication Basics

[0260] The concepts disclosed herein relate to communication within a radio frequency range using continuous repetitive localized transmissions of pulsed UWB signals that follow the UWB protocol. Each UWB signal is transmitted according to a UWB frame format. (Thus, a UWB signal is also referred to as a UWB frame.)

[0261] From a basic point of view, each UWB signal includes a plurality of preset and predefined UWB pulse series. Each series represents a symbol such as a "0" bit and a "1" bit. The UWB pulse can have a wide bandwidth of, for example, 1 GHz and a low energy of -43 dBm / Hz. A single UWB pulse can have a duration of, for example, 0.3 ns to 10 ns, such as 3 ns (e.g., 1 ns at 1 GHz and 2 ns at 500 MHz). The UWB pulse is transmitted at a UWB pulse repetition rate. The corresponding UWB pulse repetition frequency can typically be in the range of from tens of hertz to hundreds of hertz, such as 500 MHz. An exemplary UWB pulse repetition rate is 60 ns or 64 ns or 65 ns, which corresponds to a pulse repetition frequency of about 15 MHz to 17 MHz.

[0262] A symbol may consist of only a few to hundreds or more UWB pulses, such as 3, 15, or 127 UWB pulses. Thus, a UWB pulse may be followed by a spreading code that defines the polarization state of each UWB pulse, wherein the overall polarization of subsequent symbols may be used to differ between bit states.

[0263] The UWB signal (i.e., the sequence of symbols forming the UWB frame) follows the underlying UWB frame format. The frame format defines the structure and content of the UWB signal. The frame format may include defined segments such as:

[0264] - Synchronization Header (SHR) with preamble and Start Frame Delimiter (SFD);

[0265] - Physical layer header (PHR) with information about the frame length, data rate and correction part (such as) cyclic redundancy check (PHR CRC) or forward error correction (FEC PHR); the physical layer header is used to decode the PHY payload;

[0266] -Physical layer (PHY) payload with payload and payload correction (payload CRC and payload FEC); the data embedded in the payload may include the type of frame, the identifier (ID) of the transmitter (such as the master beacon device / tag device / repeater), and the ID of the reference beacon device (specifically for tag frames).

[0267] For the concepts disclosed herein, it is generally advantageous to include only a small amount of data to keep the frame format as short as possible. Moreover, the spreading code may be different in different segments. The duration associated with the frame format may be in the range of, for example, from 1 μs to 150 μs, such as about 100 ps.

[0268] UWB frames are transmitted at a large repetition rate. For tag devices, the repetition rate is usually governed by the positioning rate, which can be in the range of a fraction of a hertz to several hundred hertz. However, the positioning rate on the tag side may be different; for example, the positioning rate can be adjusted to save power for quasi-fixed or temporarily fixed tag devices. For the master beacon device, the time between twin beacons is a fraction of the positioning rate, and the twin beacon itself repeats again at the positioning rate.

[0269] It should be noted that for the concepts disclosed herein, the start frame delimiter (SFD) can be used to detect the time point associated with the reception of a frame with high accuracy. Likewise, the SFD can be used as a time landmark to ensure a predefined transmission time point of a UWB frame.

[0270] As will be explained herein, distance information may generally be calculated based on time points measured with a high degree of accuracy within a calibrated time.

[0271] UWB frequency range

[0272] The concepts disclosed herein relate to radio frequency ranges for UWB communications. Specifically, UWB channels can be used in the range of 3 GHz to 10 GHz, for example, in the range of 3.244 GHz to 4.742 GHz or 5.944 to 10.234 GHz. Exemplary definitions of UWB channels are given in the standard "IEEE Standard 802.15.4-2015 - Standard for Low-Rate Wireless Networks", such as channel 1: 3.5 GHz, channel 2: 4 GHz, channel 3: 4.5 GHz, channel 4: 4 GHZ 1 GHz bandwidth.

[0273] UWB frame format

[0274] The UWB protocol is based on adopting a UWB frame format that is kept short. In particular, the frame format may not have a timestamp, which means that it does not contain timestamp data. Then, for example, the UWB frame does not include a data entry for information about the time point or duration or distance value / result of transmission or reception. Because the information containing the timestamp may require a large number of additional bits, the frame format without a timestamp can be significantly shorter than the frame format containing a timestamp. Timestamps may not be used because the calibration concept disclosed in this article is based on the measurement of the time difference between beacon frames (specifically, at the tag device). Further, this decentralized calibration is enabled by a UWB chip such as the UWB chip disclosed in the present application mentioned above.

[0275] refer to Figures 1 to 3 , schematically illustrating the above-described aspects of using UWB communication in a positioning system.

[0276] Figure 1 The formation of constant alternating bit information of an exemplary symbol composed of multiple UWB pulses along time line t is illustrated.

[0277] Specifically, in Figure 1 In the upper part A of , a series 101 of several UWB pulses 103 is schematically shown. A subgroup 105 consisting of fifteen UWB pulses 103 has a predefined order of polarization states. The different polarization states of the UWB pulses 103 are illustrated by threaded curves or dashed lines, thereby indicating the polarization state by a mirror image pattern. The subgroup 103 of fifteen UWB pulses forms a symbol. The pulse repetition rate PRR is indicated as: For example, PRR = 60ns. For the example of 15 UWB pulses, the time duration of the symbol TDsymbol is given by the following formula:

[0278] TDsymbol=15*60ns=900ns.

[0279] like Figure 1As shown in the lower part B of , the overall polarity between consecutive symbols can remain unchanged (according to the same symbol representation of the series 101) or alternate (according to the symbol representation of the series 101 and 101'), thereby allowing, for example, to distinguish between bit "0" and bit "1". It should be noted that polarization coding is one of the implementations of UWB coding known in the art.

[0280] Figure 2 The diagram shows that, for example, Figure 1 An exemplary frame format 111 is composed of a plurality of symbols such as the symbols shown. The frame format 111 includes three exemplary parts referred to (as above) as a synchronization header SHR, a physical layer header PHR and a physical layer payload PHY.

[0281] The synchronization header SHR is used to temporarily find the frame during the reception process. The synchronization header SHR may include a preamble 113 consisting of, for example, several dozen symbols. In addition, the synchronization header SHR includes a start frame delimiter SFD consisting of, for example, several dozen symbols. The start frame delimiter SFD is used to define a unique timing reference within the frame to associate, for example, a specific reception time point with the received frame.

[0282] The physical layer header PHR does not need to include specific information related to the frame length, data rate, but usually includes a correction part 115 to allow correct detection of the frame. Generally, the physical layer header PHR may consist of, for example, a few symbols to tens of symbols.

[0283] The physical layer payload PHY may include a payload 117 and a payload correction 119. The payload 117 may include data such as a frame type, an ID of a transmitter such as a master beacon device / tag device / repeater, etc. (In addition, see the diagram above the corresponding timeline, for example, Figure 8 and Fig. 9 The primary beacon frame in is used as a time reference, Fig.11 and Fig.12 The repeater beacon frames in are used as a time reference, e.g. for calibration. )

[0284] Additionally, the payload 117 may include an entry that includes information of the tag frame to indicate which beacon frame (and more specifically, its source) is used as a time reference for transmitting the tag response frame. This information may then be used to perform a correct ToF analysis using a reference beacon device as a starting point for the specific localization procedures disclosed herein. (Also, see the illustration below the corresponding timeline, e.g., Figure 8 The main beacon frame in provides the starting beacon transmission time point of the path time period, for example, Fig.12The relay beacon in the path provides the starting beacon transmission time point of the path time period.) The physical layer payload PHY does not include the timestamp discussed above to keep the total frame short. The physical layer payload PHY can consist of, for example, dozens of symbols.

[0285] As indicated above, the type of symbol (particularly the spreading code) may vary between segments.Thus, the duration TDframe of the frame format may be in the range as indicated above, such as about 100 ps.

[0286] Figure 3 An exemplary positioning rate frame format 121 consisting of a plurality of (time) slots 123 along a timeline t is illustrated. Exemplary time slot durations may be in the range from 1 ms to 250 ms, such as 3 ms or 8 ms. The positioning rate frame format 121 is configured to allow all processes required to localize the tag device involved to be performed. The first portion of the time slot 123 is associated with a beacon segment 125, while the second portion of the time slot 123 is associated with a tag response segment 127.

[0287] exist Figure 3 In the example of , the first twelve time slots are associated with twin frames transmitted from a master beacon (e.g., time slot 1 and time slot 7) and five beacon repeater devices (e.g., time slot 2 and time slot 8, ...). In other words, each of time slots 1 to 12 includes the time of beacon frames BF1A, BF2A, ... BF1B, BF2B, ... BF6B. In addition, each time slot includes a guard period 129 as a buffer window to clearly separate beacon frames as exemplarily indicated by time slots 7 and time slots 8. Therefore, the series of time slots within the beacon segment 125 is formed by time slots associated with interleaved beacon frame pairs (see also, Figure 3 corresponding shading of the beacon frame in the figure).

[0288] It can be seen that time slot 1 includes the initial beacon frame (ie, beacon frame BF1A) among all beacon frames, and time slot 12 includes the closing frame (ie, beacon frame BF6B) among all beacon frames.

[0289] For each pair, the first beacon frame and the second beacon frame can be separated in time. For example, time slot 1 and time slot 7 include an open pair of beacon frames, and time slot 6 and time slot 12 include a closed pair of beacon frames. Between time slots 1 and 7 of the open pair, all remaining first beacon frames are transmitted. Between time slots 6 and 12 of the closed pair, all remaining second beacon frames are transmitted. The order of the first beacon frame and the second beacon frame is selected so that the time delay between the corresponding first frame and the second frame of all pairs can be forced to correspond to each other. For the concepts disclosed herein, this common time interval is referred to as the main time delay MTD. The main time delay MTD can be initially defined by the main beacon device, but can also be subject to the beacon repeater device as disclosed herein (see the dotted arrow indicating the main time delay MTD of the beacon repeater device).

[0290] exist Figure 3 In the example of , a transition time slot 13 after the beacon segment 125 is provided as a transition period 131 to distinguish the segments 125 and 127 in time.

[0291] exist Figure 3 In the example of , eighteen time slots 14 to 31 of the tag response segment 127 are associated with tag response frames TF1, TF2, TF3, ... TF18 transmitted from the tag device to be located. Therefore, from time slot 14 to time slot 31, there are multiple but temporally separated time slots in which tag response frames can be transmitted. Since each of the time slots 14 to 31 is associated with one of the tag devices to be located, the reception of the tag response frame can also be associated with the tag device.

[0292] from Figure 3 As can be seen from the positioning rate frame format shown, the localization protocol implements a tag-specific transmission time delay. Specifically, the tag-specific transmission time delay is caused by different time slots associated with different tag devices. Therefore, each tag device will wait for a specific time delay from the receipt of the dual beacon frame before transmitting its tag response frame. In other words, the tag-specific transmission time delay can be provided to the component in the form of stored tag-specific transmission time delay data. The tag-specific transmission time delay data is preset for multiple tag devices in such a way that the tag-specific transmission time delay causes a time displacement of multiple receiver response time points. Therefore, the receiver response time point can be associated with the tag device by the tag-specific transmission time delay data, such as identifying the corresponding time slot. Thus, the frame format may not even need to include tag identification information. For example, the tag-specific transmission time delay data can be set so that the time displacement between the receiver response time points associated with different tag devices is in the range from 500μs to several milliseconds, such as at least 1ms and up to 250ms and more. (In addition, see with Figures 7 to 12 Descriptions of the activities performed by the various components.

[0293] As for the time slots of the beacon segment 125, time slots 14 to 31 within the tag response segment 127 may include a guard period 129 as a buffer window to clearly separate the tag response frames and additionally allow for time offsets caused by their possible positions within the space that can be used to localize the buffer window. Exemplarily, the guard period 129 of time slot 15 is schematically indicated.

[0294] Similar to the transition slot 13, at the end of the tag response segment 127, a transition slot 32 is provided as a transition period 131 to distinguish consecutive positioning frames in time. At least one of the transition slots 13 and 32 can be used to transmit data from the control unit (server) to the components of the positioning system. For example, a random access channel can be provided to transmit data between the server and the main beacon device, the tag device and / or the tag response receiver unit. Moreover, device pairing and device registration can be performed in these idle transition slots.

[0295] The time duration of the positioning rate frame 121 (also referred to herein as the positioning rate period LRT) defines the corresponding positioning rate (LR). The positioning rate (LR) is the rate at which localization can be performed and localization actions can be repeated according to the various components of the positioning system; for example, sending twin master beacons and tag response frames. The duration of the positioning rate frame 121 defines the highest rate at which positioning processing can be performed. For example, if the positioning system operates in mobile tracking mode, the transmission of the positioning rate frame 121 and therefore two consecutive beacon frames can be repeated at a positioning rate in the range of 1ms to 250ms, that is, for tracking the movement of the tag device. If the positioning system operates in position monitoring mode, in which the tag device is not expected to move at all or moves only at a very slow speed, the transmission of the positioning rate frame 121 and therefore two consecutive beacon frames can be repeated at a speed of several seconds to several days. The positioning rate frame 121 can be adjusted depending on the number of tag devices to be tracked.

[0296] It should be pointed out that Figures 1 to 3 The schematic diagram shown here only indicates the structure of the positioning rate frame format. Figures 1 to 3 For example, no real time relative relationships beyond those described herein are shown. Specifically, timing aspects may involve Figure 3 It should also be understood that although a pair of beacon frames may have a common relative time delay, only the primary beacon may have a preset position within the positioning rate frame 121. Beacons sent from repeater devices as well as tag response frames may be offset within corresponding time slots.

[0297] The implementation of the new UWB protocol in a positioning system (specifically, components of a positioning system) is first generally described below and then illustrated in conjunction with the corresponding figures. As used anywhere in this specification, any feature described as a "unit" can be embodied as a discrete physical unit, such as a software code (operating program) stored in a storage unit (memory), a conceptual functional unit, a routine executed by a microprocessor, and / or embodied within a hybrid hardware / firmware structure. For example, the "units" disclosed herein are not particularly limited in the present teachings. In addition, two or more "units" can be integrated together into a single physical circuit structure (e.g., an integrated unit or structure), such as a CPU controlled by different sets of programming code (stored instructions) that are capable of performing specific functions when executed by a processor such as a microprocessor or at least one programmable logic device (PLD).

[0298] Therefore, the "unit" specifically referred to in the claims can be implemented as software, hardware and / or a combination of hardware and software. The specific details of specific units are described throughout the specification, and more specifically, are described in exemplary sections, which provide sufficient information for a person of ordinary skill in the art to identify the corresponding structure, such as a hardware circuit or a software code segment. As another example, the "operation determination unit" disclosed herein can be embodied in the structure of a central processing unit (CPU), which is configured with instructions to perform operations to derive location information from a provided time point. The central processing unit can be part of a local unit / local device or a central server configuration. It can include one or more PLDs, such as a microprocessor that communicates with one or more memories. The memory can store one or more microprocessor-readable instructions (programs), which, when executed by the PLD or microprocessor, perform, for example, triangulation calculations. Moreover, devices such as tag devices, master beacon devices, or repeater devices can include various units that interact with each other to perform desired actions such as receiving and / or transmitting UWB signals, identifying timing characteristics of UWB frames, performing clock calibration, etc.

[0299] Real-time Location System (RTLS)

[0300] The RTLS disclosed herein includes components required to perform actions that comply with the UWB positioning protocol. Specifically, the positioning system may include components (such as structural units, devices, systems) that transmit and / or receive UWB signals and / or perform distance determination. Components for transmitting and / or receiving UWB pulses may be provided in a (mobile) tag device to be located, a fixed device such as a master beacon device and a beacon repeater device, and a tag response receiver unit.

[0301] Fixed devices can transmit, receive or both, i.e., transmit and receive (as an integrated device). In addition, during the localization action, non-mobile tag devices can be used as at least temporarily fixed devices acting as tag response receiver units or beacon repeater devices. It should be noted that completely fixed devices (fixedly mounted transceivers) are often referred to as anchors or satellites. For example, these devices are fixedly mounted to a wall or ceiling or other types of installations that are fixed relative to the area to be localized (e.g., the wall of a hall or container).

[0302] The components performing the distance determination may be part of the control system. Alternatively or additionally, it may be distributed to a certain extent; for example, at a master beacon device or a tag response receiver unit, a part of the calculations may be done locally. Typically, however, these components may also provide all measurement data (arrival times) to the control system. The control system may be a central server unit with corresponding computing power to perform the calculations for many tags in real time and data storage in order to be able to take into account other data such as position data of the master beacon device and the tag response receiver units and optional repeater devices.

[0303] Master beacon device

[0304] The master beacon device is usually a fixed unit. The master beacon device (in particular, the master beacon) ensures that the positioning frames are substantially aligned in time for all participating components. Moreover, the master beacon device provides calibration of other components of the positioning system, for example by transmitting the master beacon with a preset master beacon time delay. Moreover, the master beacon device can participate in (master) ToF measurements.

[0305] The master beacon device includes a beacon transmission unit, a master clock defining the master time, and a local memory (also referred to herein as a master storage unit). A microprocessor or at least one PLD may be provided to interact with these components, for example, to start UWB transmission controlled by the master clock and to receive or store data at the local memory. Some or all of these elements may be part of a UWB chip. The UWB chip may include, for example, a power voltage controlled oscillator (VCO) and / or a 26 MHz (or 52 MHz) voltage controlled crystal oscillator and a temperature compensated crystal oscillator (VcTcXO) as a master clock.

[0306] The beacon transmission unit is configured to transmit UWB pulses. The beacon transmission unit may include a transmit (Tx) antenna. Using a master clock, the beacon transmission unit is configured to transmit twin beacon frames at very accurately timed transmission time points. For example, accuracy may be given by a transmission with a step size of 125ps.

[0307] (Mobile) Tag Equipment

[0308] A tag device is a unit to be located within the location area of ​​a location system. Preferably, the tag device is a mobile unit, which means that it is not permanently located in the same place, which makes it interesting to localize the tag device. It can be moved by being attached to or becoming part of a mobile object. The tag device participates in the UWB signal exchange with the master beacon device and the tag response receiver unit.

[0309] The tag device may include a (beacon) receiving unit, a tag response transmitting unit, a tag clock, and a calibration and calculation unit. The tag clock can be implemented as a clock pulse generator or a clock wave generator. The tag clock defines the tag time of each tag. For the main beacon device, some or all of these elements can be part of the UWB chip. The tag device can receive UWB pulses using a receiving unit, specifically, a main (or repeater) beacon frame. The receiving unit may include a receiving (Rx) antenna. The tag device is also configured to transmit a tag response. The tag response can be a (single) tag response frame that is transmitted with a tag-specific transmission time delay after the tag device receives the beacon frame. The tag response transmitting unit may include a UWB transmitting unit such as a beacon transmitting unit. The UWB transmitting unit can use an Rx antenna to transmit or include a separate Tx antenna.

[0310] Using the tag clock, the receiving unit and the transmitting unit are configured to receive the beacon frame and transmit the tag response frame at a very accurately timed transmission time point. For example, the reception and transmission at the tag device can be performed in steps of 125ps. The tag clock is calibrated by the calibration and calculation unit using the master time delay.

[0311] Regarding transmissions, the UWB chip may be set up, for example, similarly to the UWB chip of the master beacon device (eg, accurate timing of transmissions with a step size of 125 ps).

[0312] The tag can be formed and / or used as a tag or mobile (transmitting and receiving) unit described in one or more of the following patent applications: WO 2018 / 073421 A3, WO 2019 / 052742A1, WO 2019 / 048149 A1, W=2019 / 048153A1, WO 2019 / 048152A1, WO 2018 / 073422 A3, WO 2019 / 048151 A1, and unpublished German patent applications DE 102018110145.7, DE 102018110150.3, DE 102018110074.4. In these applications, the use of tag devices and other preferred embodiments and aspects are disclosed. The entire contents of these applications are incorporated herein by reference in their entirety. One of the advantages of incorporating the UWB positioning system and / or method described herein into an industrial manufacturing, production control or manufacturing system and / or method (as described in the above-mentioned application generally referred to as an "internal tracking or positioning system") is the possibility for a manufacturing entity or industrial manufacturing plant to change its procedures and equipment from manual manufacturing procedures or paper-based manufacturing procedures to fully automated and digital procedures in one step, but rather the possibility to change these procedures step by step. By connecting a mobile UWB tag to a work order or workpiece, it becomes extremely easy to find such an order or workpiece in the work area of ​​the manufacturing entity or industrial manufacturing plant.

[0313] The tag may be placed in a housing that may also contain other functionality, such as, for example, a smartphone, a computer, a control system for an automated guided vehicle, etc.

[0314] Receiving unit

[0315] The receiving unit is typically configured to receive UWB signals and derive corresponding timing information of the UWB frame, for example, from a start frame delimiter SFD. Thus, the receiving unit may be arranged in a tag device, a tag response receiver unit, a beacon repeater device, and an optional master beacon device. The receiving unit may include its own Rx antenna, which receives the UWB frame at a very accurately measured time point. For example, it allows the (twin) beacon frame beacon time point to be measured at the tag or receiver beacon time point of the time when the (twin) beacon frame arrives at the tag response receiver unit. As said, the Rx antenna and the Tx antenna may be combined in the tag device, the master beacon device, and the beacon repeater device. For an exemplary method of measuring the (twin) beacon frame beacon time point, reference is made to the patent application mentioned above.

[0316] The receiving unit may also be configured to select a beacon frame pair of a master beacon device or a beacon repeater device in an optional beacon repeater device for calibration and a beacon frame of the master beacon device (MB) or a beacon repeater device in an optional beacon repeater device (BR) as a reference beacon frame.

[0317] Calibration and calculation unit

[0318] The calibration and calculation unit is typically configured to perform clock calibration. In the concepts disclosed herein, calibration of the local clock can be performed using a master (or repeater) beacon frame and a master time delay. The calibration and calculation unit is provided in the tag device, the tag response receiver unit and the beacon repeater device. The calibration ensures that, at least in time, the clocks of all participating components are synchronized (aligned) with the master time or master clock, respectively.

[0319] The calibration and calculation unit is configured to receive and / or derive timing information from beacon frames (usually pairs) that can be selected by the receiving unit for calibration. The timing information can be used to synchronize a tag clock, a receiver clock or a repeater clock with a master clock based on the (twin) beacon frames. The calibration specifically compensates for frequency drift between the master clock and any clock to be calibrated.

[0320] Specifically, for tag devices, calibration allows for tag-specific transmit time delays to be achieved with a properly calibrated tag clock.

[0321] Tag Response Receiver Unit

[0322] The tag response receiver unit is a typically fixed (or at least temporarily fixed) unit that is configured to measure the arrival time of the tag response frame.

[0323] The tag response receiver unit may include a receiving unit and a receiver clock. For a master beacon device, some or all of these elements may be part of a UWB chip. The receiving unit is operated to receive tag response frames and associate a corresponding receiver response time point with each tag response frame with the participation of the receiver clock.

[0324] Since the tag response receiver unit is configured to derive arrival time information for each tag response frame, time alignment is performed for tag devices having a primary beacon frame and a primary time delay.Therefore, the receiving unit is also operated to receive the primary beacon frame.

[0325] The tag response receiver unit may provide said arrival time information to the distance determination unit to perform a positioning analysis.For this purpose, the tag response receiver unit may also comprise a data exchange device, such as a LAN or WLAN communication unit, which provides a data communication channel to the distance determination unit or a control system in general.

[0326] By means of the above components of the positioning system (master beacon device and optional beacon repeater device, (mobile) tag device and tag response receiver unit), a localization procedure can be implemented for the UWB protocol outlined above. Specifically, the master beacon device and the tag device are configured to receive and transmit UWB signal sequences having a common underlying frame format.

[0327] The reception time point of the UWB frame is measured at the components of the positioning system. The high-precision measurement of the reception time point is completed using a common defined segment of the UWB frame format (usually the start frame delimiter SFD). The reception time point is then associated with the UWB frame.

[0328] The reception time points associated with the beacon frames are used to perform time calibration of various components. Specifically, the preset time delay of the master beacon pair is known to the components to be calibrated; that is, the time between the arrival of the beacon frame at the tag device or the tag response receiver unit (which also receives the beacon frame) is calibrated to correspond to the preset known master time delay.

[0329] The time point of receipt of the tag response frame can then be used to determine the distance of the corresponding tag device from the tag response receiver unit. This can be based on a trilateral measurement analysis. For example, determining one of the distances can be based on a ToF measurement of a master beacon device (or beacon repeater device), where the master beacon device transmits a beacon frame and also receives a tag response frame, thereby generating a master flight time period representing the path from the master beacon device to the tag device.

[0330] When the tag response frame is received at any other tag response receiver unit other than the main beacon device or the beacon repeater device, the distance from the tag device to the corresponding tag response receiver unit can be determined based on the TDoA measurement. The TDoA measurement can be corrected by the main ToF duration (period) related to the signal path from the main beacon device to the tag device or the (repeater) ToF duration (period) related to the signal path from the repeater device to the tag device. The correction can be implemented in an enhanced algorithm that can use a flight time (measured between, for example, the main beacon and the tag) and then reconstruct the (receiver) flight time period from the tag device to all other receiver units. This results in the location analysis possibly having the quality of three-way ranging to a certain extent, while the cost of the required number of transmissions is only a small part of it. Moreover, since the distance between the main beacon device (or beacon repeater device) and each tag response receiver unit is known, the time measurement / time point can be corrected relative to each other. The corrected TDoA measurement indicated above can be understood as an indirect ToF measurement using those corrected TDoA time points.

[0331] Specifically, the positioning system has information about the locations of the primary beacon devices, beacon repeater devices, and tag response receiver units. This is used for TDoA analysis, for example, when the distances between the primary beacon, beacon repeater, and tag response receiver units are used to correct for any relative time offsets. Moreover, these locations are used to derive the location of the tag, since the distances between the identified tag response receiver units start from those known locations.

[0332] For example, it will be appreciated that a plurality of those corrected TDoA measurements will transform into circles around the locations of the tag response receiver units in the underlying Cartesian coordinates, whereby the circles intersect at the locations of the tags to be localized. This analysis is in contrast to analysis based on deriving parabolas / hyperbolas from conventional TDoA measurements extending relative to those locations of the tag response receiver units.

[0333] In the following, combined Figures 4 to 6 The positioning system and contributing components are described. Furthermore, Figures 6 to 12 The exchange of UWB signals between contributing components is described.

[0334] exist Figure 4 In the figure, various components of the positioning system 201 are schematically shown, such as a master beacon device MB, several mobile tag devices T1, T2, ..., several tag response receivers TRR, and an exemplary beacon repeater device BR. In the exemplary embodiment, the master beacon device MB and the beacon repeater device BR also each include a tag response receiver unit, thereby also having the function of the tag response receiver TRR. It should be noted that more than one beacon repeater device BR is usually installed in the positioning system 201. For the sake of clarity, Figure 4 Also shown in FIG. 5 is only one beacon repeater device BR.

[0335] The positioning system 201 is configured to determine the position of the tag devices T1, T2, ... in space (specifically,) within a positioning area 203 (continuously and in real time) by exchanging UWB signals. In the current localization field, real time means that the position information is available quickly enough compared to the movement speed of the tag device so that the movement can be resolved to a sufficient degree in time. The positioning area 203 is defined by the coverage of the UWB signal exchange between various components.

[0336] exist Figure 4 In an exemplary embodiment of the present invention, the positioning system 201 further comprises a control unit 205, which is connected for data exchange with the master beacon device MB, the tag response receiver TRR and the beacon repeater device BR. The data connection may be based on a cable 207 or may be wireless. Thus, the components may be part of a LAN and / or WLAN network or other communication network.

[0337] in addition, Figure 4 The UWB signal exchange is schematically illustrated in FIG. The beacon frame BF is sent from the master beacon device MB to the tag devices T1, T2, ..., the tag response receiver TRR and the beacon repeater device BR within the location area 203. The beacon frame can be used for clock calibration by those devices that can derive the timing information of the beacon frame BF. In addition, those tag devices T1, T2, ... operating in the change position mode for localization can transmit a tag response frame with a tag-specific time delay according to the positioning protocol. Exemplarily, Figure 4 It is indicated in FIG. 1 that the tag response frame TF1 is transmitted from the tag device T1 .

[0338] The tag response receiver TRR will receive the tag response frame TF1 and derive the specific time of arrival (ToA) of the tag device T1 of the tag response frame TF1. In combination with the transmission time of the beacon frame BF from the master beacon device MB or the beacon repeater device BR, the arrival time difference analysis A_TDoA can be performed by the corresponding tag response receiver TRR. Alternatively or in addition, the timing information can be forwarded to the control system 205 via a network connection for a comprehensive localization analysis based on all available timing information.

[0339] In addition, the master beacon device MB will receive the tag response frame TF1 and derive the specific arrival time of the tag device T1 of the tag response frame TF1. However, based on the two-way ranging, the flight time analysis A_ToF1 between the master beacon device MB and the tag device T1 can be easily determined. The flight time analysis A_ToF1 can be performed by the master beacon device MB. Alternatively or in addition, the timing information can be forwarded to the control system 205 via a network connection for a comprehensive localization analysis based on all available timing information.

[0340] It should be noted that by using the time of flight analysis A_ToF1 of the master beacon device MB, the time difference of arrival analysis A_TDoA of the tag response receiver TRR may be simplified. Such analysis of the corrected time difference of arrival measurements may be performed within the control unit 205, for example.

[0341] also, Figure 4 Indicates the concept of using a beacon repeater device BR to extend the range of the positioning system 201 and / or improve signal processing. To this end, the beacon repeater device BR transmits a repeater beacon frame BFs_BR covering the same or different areas. Therefore, the signal strength of the repeater beacon frame BFs_BR at one of the tag devices may be higher than the signal strength of the beacon frame BF of the master beacon device MB.

[0342] Then, the tag devices T1, T2, ... may decide to use the repeater beacon frame BFs_BR to calibrate their clocks and independently calibrate the tag devices T1, T2, ... to also calculate the tag specific transmission time delay using the repeater beacon frame BFs_BR. It should be noted that the tag device transmits its tag response frame with correct timing so that it is sent in its corresponding time slot. It should also be noted that the tag response frame may contain an identifier (ID) of the beacon repeater device BR, and the tag repeater beacon frame BFs_BR is used to calculate the tag specific transmission time delay based on the identifier (ID).

[0343] also, Figure 4 The concept of establishing an ultra-wideband network synchronized in timing based on a master beacon device MB and one or more beacon repeater devices BR is indicated. When a tag device is configured to have sufficient computing power required to perform analysis and calculation of reception time points of a master frame and a repeater frame (and assuming that the tag device knows the exact position of each beacon transmitter such as a master beacon and a repeater beacon), when receiving a beacon frame transmitted in a time slot of a beacon segment, the tag can determine the distance information of the distance between the master beacon device and the multiple beacon repeater devices based on the relative position information of the distances between the tag device and the master beacon device and the multiple beacon repeater devices, such as in combination with the distance information. Figures 16 to 17C disclosed in more detail.

[0344] Figure 5 An exemplary fixed anchor 211, such as a master beacon device MB or a beacon repeater device BR, is schematically illustrated. An anchor with a similar setup may be configured as Figure 4 The tag response receiver TRR is shown. The anchor 211 comprises a housing 213 having several through holes 215 for fastening screws to securely attach the anchor to a wall or ceiling.

[0345] Within the housing 213, the anchor 211 comprises a beacon transmission unit 217, which is configured to perform, for example, a (double) transmission of two consecutive beacon frames. Specifically, the beacon transmission unit 217 is configured to transmit two consecutive beacon frames with a master time delay MTD. Thus, two consecutive beacon frames are transmitted at a first beacon transmission time point and a second beacon transmission time point. Thus, the double transmission is performed with a master time delay MTD between the beacon frames.

[0346] The anchor 211 further comprises a master (repeater) clock 219, which defines a master (repeater) time, and a master (repeater) memory unit 221, which stores therein master time delay data 223 and optionally repeater delay data 225 for a beacon repeater device BR.

[0347] The master time delay corresponds to master time delay data 223 which defines a time slot within the positioning rate frame format associated with two consecutive beacon frames. Beacon time delay data 225 defines a time slot within the positioning rate frame format associated with a corresponding beacon repeater device. It should be noted that although the transmission of a pair of beacons may be considered continuous from the perspective of a master beacon device or a beacon repeater device, additional time slots of frames may be transmitted between pairs of beacons transmitted from a master beacon device, for example, from the perspective of the positioning rate frame format.

[0348] The anchor 211 may be configured as an integrated unit also comprising a tag response receiver unit 227. Alternatively, the anchor may be configured as a tag response receiver TRR only, thus substantially comprising only the tag response receiver unit 227, but excluding the beacon transmitting component.

[0349] The technicians will Figure 5 The components schematically shown in FIG. 1 are respectively associated with the main beacon device MB, the beacon repeater device BR and ( Figure 4 Those components associated with the tag response receiver TRR) as shown.

[0350] For the tag response receiver TRR, the tag response receiver unit 227 may include a receiver clock defining the corresponding receiver time (in an integrated unit, the master (repeater) clock 219 may be used as the receiver clock). For example, the tag response receiver unit 227 is used to receive the corresponding receiver time from the tag device T1 (see Figure 4 ) The tag response frame TF1 sent by the tag device. Due to the tag-specific transmission time delay, the respectively measured receiver response time points are specific to the corresponding tag response receiver unit 227 and the corresponding tag device.

[0351] To ensure time synchronization, the anchor 211 operating as a beacon repeater device or a tag response receiver unit may also include a calibration and calculation unit 229. As a UWB frame receiver, the tag response receiver unit 227 may also receive beacon frames. The UWB frame receiver (e.g., the tag response receiver unit 227 or a corresponding receiver in a beacon repeater device) may be configured to be able to select those beacon frames to be used for calibration from all received beacon frames (sent from a master beacon device or a repeater beacon device). For example, the UWB frame receiver may be configured to evaluate the signal strength and / or signal quality of all received beacon frames to identify the beacon frame pair that is most suitable for calibration. The UWB frame receiver may also be configured to provide the calibration and calculation unit 229 with a corresponding determined time point (received at the tag response receiver or beacon repeater device).

[0352] The calibration and calculation unit 229 is configured to calibrate the repeater / receiver time relative to the master time by comparing the received time delay data derived from the corresponding (receiver response) time points of the detected beacon frames with the master time delay data 223 .

[0353] The receive time delay data, the master time delay data, and / or the beacon time delay data 219 may be stored in a local memory (eg, a repeater, a receiver, or a master storage unit 221).

[0354] As indicated above, the anchor 211 may optionally include a local distance determination unit 231 configured to at least partially perform the step of position analysis.

[0355] ( Figure 5 The above components (schematically shown in ) may be at least partially integrated within a common UWB chip and / or may be mounted to a baseboard or substrate 233.

[0356] Figure 6 Schematically illustrated is a mobile tag device 241. The tag device may comprise a housing 242 having an opening, eg for attachment to some object to be located.

[0357] The tag device 241 includes a tag clock 243 that defines a tag time specific to the respective tag device 241. The tag device 241 also includes a tag data storage unit 245 in which the master time delay data 223 and tag specific transmission time delay data 247 are stored. The tag specific transmission time delay data 247 is specifically associated with the respective tag device 241 and may define a time slot within the positioning rate frame format associated with the respective tag device 241. The tag specific transmission time delay data 247 is also associated with the reception of two consecutive beacon frames.

[0358] The tag device 241 also includes a receiving unit 249 and a calibration and calculation unit 229. The receiving unit 249 is configured as a UWB frame receiver to receive beacon frames sent from a master beacon device or a beacon repeater device, thereby measuring corresponding tag beacon time points and generating tag-specific reception time delay data 251 from the tag beacon time points. As further disclosed in detail below, the receiving unit 249 can be configured to be able to select those beacon frames to be used for calibration from all received beacon frames (sent from a master beacon device or a repeater beacon device). For example, the receiving unit 249 can be configured to evaluate the signal strength and / or quality of all received beacon frames to identify the beacon frame pair that is most suitable for calibration. The receiving unit 249 can also be configured to provide the calibration and calculation unit 229 with corresponding determined time points (received at the tag response receiver or beacon repeater device).

[0359] The calibration and calculation unit 229 (similar to the calibration and calculation unit of the repeater device or tag response receiver described above) is configured to calibrate the tag clock relative to the master time by comparing the tag specific reception time delay data 251 with the master time delay data 223.

[0360] The tag device 241 also includes a tag response transmitting unit 253, which is configured to derive a tag specific transmission time delay from the tag specific transmission time delay data 247 within a calibrated tag time. As further disclosed in detail below, the tag specific transmission time delay at a time point associated with a reference beacon frame can be derived. Thus, the receiving unit 249 and / or the tag response transmitting unit 253 can be configured to select a reference frame from all received beacon frames (sent from a master beacon device or a repeater beacon device). For example, the receiving unit 249 and / or the tag response transmitting unit 253 can be configured to evaluate the signal strength and / or quality of all received beacon frames to identify the beacon frame that is most suitable for setting an application tag specific transmission time delay.

[0361] For example, a beacon frame may be selected that is also used for calibration. However, since calibration may not be required for every positioning rate frame, it is also possible to select only a beacon frame that is used to transmit a tag response frame.

[0362] The tag response transmitting unit 253 may also be configured to calculate the tag specific transmission time delay to be used for the set time point according to the tag specific transmission time delay data. For example, the tag specific transmission time delay data may be stored in the tag data storage unit 245 with reference to the main beacon frame (e.g., the second main beacon frame). For example, if the time point for applying the tag specific transmission time delay is set to one of the repeater beacon frames as a reference frame, the tag response transmitting unit 253 is configured to calculate the tag specific transmission time delay according to the tag specific transmission time delay data while taking into account the time difference of the time slots associated with the main beacon frame and the corresponding repeater beacon frame.

[0363] Using the derived tag specific transmission time delay, the tag device 241 transmits a tag response frame (typically one tag response frame per positioning rate frame) after waiting for the tag specific transmission time delay at a time point associated with a reference beacon frame such as one of the tag beacon time points.

[0364] The tag response transmitting unit 253 can also be configured to enter information of the reference beacon device for the (reference) time point associated with the received (reference) beacon frame BF in the UWB frame sent as the tag response frame, typically the main beacon device ID or the beacon repeater device ID.

[0365] The letter information on the ID makes it possible, in particular, to reconstruct the path time period that has passed between the time point associated with the transmission of the reference beacon frame and the receiver response time point of the time when the tag response frame arrives at the tag response receiver unit that receives the tag response frame. Thus, the UWB frame receiver (e.g., the tag response receiver unit 227 or a corresponding receiver in a beacon repeater device) can be configured to read the information about the ID related to the source of the reference beacon frame and provide the information to the control unit 205.

[0366] Label equipment ( Figure 6 The above components (schematically shown) may be at least partially integrated within a common UWB chip and / or may be mounted to a baseplate or substrate 255 .

[0367] Regarding location analysis, refer again Figure 4 The control unit 205 may include a distance determination unit 261 .

[0368] Therefore, the distance determination unit 261 can be configured as a centralized distance determination unit including a data storage unit 263 and a calculation unit 265. The data storage unit 263 stores the master time delay data 223 and the tag specific transmission time delay data 247 specific to each tag device. Optionally, the data storage unit 263 can also store installation position data representing the position of each tag response receiver unit of the plurality of tag response receiver units and the beacon transmission unit of the master beacon device and / or the beacon repeater device, and optionally the distance between them.

[0369] The data storage unit 261 may also receive timing information from a receiver unit, a master beacon device, a repeater device, such as tag / receiver beacon time points, receiver response time points, time durations, such as data values ​​of accumulated flight time periods or arrival time difference periods, once measured / determined by a receiver unit or a control unit, and store these data values ​​at least temporarily during the calculation.

[0370] The calculation unit 265 is configured to determine, for a selected tag device, a path time period elapsed between, for example, a second beacon transmission time point and a receiver response time point of an arrival time of a tag response frame. Based on the determined path time period, the tag-specific transmission time delay of the responding tag device can be subtracted to derive a cumulative flight time period associated with a transmission path from the master beacon device to the responding receiver unit via the corresponding tag device, respectively. Based on the cumulative flight time period, the calculation unit 265 is configured to determine a distance value associated with the position of the tag device T1, T2, ..., and optionally determine corresponding installation distance data. The corresponding installation position data is related to the components involved in the corresponding transmission path.

[0371] Combination Figures 7 to 12, which illustrates how Figure 4 The components of the described positioning system perform various actions during a UWB exchange. Figure 3 The positioning rate frame format and the corresponding time of the components are shown. It should be noted that Figures 7 to 12 The timelines in the localization system are synchronized relative to the master time, but may be offset in time due to the distance between the transmitting and receiving locations (i.e., due to the travel time of the signal). However, through knowledge of the location (position information), the time offset within the localization system is known and can be included in the analysis at various points, such as when performing localization calculations or when determining the TDoA at the responding tag responding receiver unit.

[0372] To simplify the drawings, the start of the time slot in the drawings is shown as coinciding with the main beacon frame for each master / repeater beacon MB, BR. Those skilled in the art will appreciate that for different repeater beacon frames, a relative time offset is also given and can be included in the localization analysis. In this case, it refers to Fig. 9 and Fig.11 The reception of tag response frames in the tag response receiver unit are offset relative to the start of the time slot in a tag-specific and tag response receiver unit-specific manner. The different time offsets originate from the underlying path via the tag device and the corresponding tag response receiver unit.

[0373] refer to Figure 7 , the actions performed by the master beacon device MB include transmitting twin master beacon frames BF1A, BF1B. The twin master beacon frames BF1A, BF1B are transmitted in time slot 1 and time slot 7 defined for the master time t_MB given by the master clock. The twin master beacon frames BF1A, BF1B represent two consecutive beacon frames transmitted at the first beacon transmission time point ToT1 and the second beacon transmission time point ToT2. The twin master beacon frames BF1A, BF1B are separated in time by the master time delay MTD. The master time delay MTD is provided to various components and stored in the corresponding memory as master time delay data 223.

[0374] exist Figure 7 In FIG. 1 , the transmission time point is exemplarily indicated at the beginning of the primary beacon frame BF1A, BF1B. The transmission time point is usually related to a specific timing feature of the frame format (e.g., Figure 2 The indicated start frame delimiter (SFD) is related.

[0375] exist Figure 7During the time period shown, the master beacon device MB does not receive a tag response frame, for example, because there is no tag device operating in the change position mode within the positioning area 203 of the positioning system 210. The transmission of the twin master beacons BF1A, BF1B is repeated at the positioning rate (LR). Specifically, if an additional beacon repeater is operated, the master beacon frames BF1A and / or BF1B (especially the payload of BF1A and / or BF1B) can include data related to the ID of the master beacon device MB.

[0376] Figure 8 The timeline of the tag time t_T2 of the tag device T2 (i.e., the tag device associated with time slot 15) is illustrated. As indicated above the timeline, the tag device T2 receives the twin master beacons BF1A, BF1B in time slots 1 and 7. It derives the tag beacon time points ToA1_T and ToA2_T indicating the arrival of the measured twin master beacons BF1A, BF1B. Based on this, the tag device T2 can derive the master time delay MTD and calibrate the tag clock, that is, the tag time t_T2 is calibrated relative to the master time t_MB. In order to calibrate the tag clock 243, the time difference between the tag beacon time points ToA1_T and ToA2_T (as measured using the tag time) is suitable for the master time delay MTD stored in the tag data storage unit 245. Based on the calibrated tag time, the tag response frame TF2 is transmitted during time slot 15 at the tag specific time of transmitting ToTTF2. The tag specific time delay TSTD_TF2 is enforced between the tag response frame and the tag beacon time point. The transmitted tag response frame TF2 may be repeated at the positioning rate (LR) or at a reduced rate (every other or every three ... positioning frames).

[0377] As in Figure 8 In the exemplary embodiment shown, indicated below the timeline, the tag-specific transmission time delay TSTD_TF2 is associated with the second beacon frame of two consecutive beacon frames BF. Specifically, the tag-specific transmission time delay TSTD_TF2 starts at the second tag beacon time point ToA2_T. However, the tag-specific transmission time delay can also be set so that it starts at the first tag beacon time point ToA1_T or any time point defined with respect to receiving two consecutive beacon frames BF at the tag.

[0378] refer to Fig. 9, the actions performed by the tag response receiver TRR include receiving the twin master beacon frames BF1A, BF1B at the corresponding receiver beacon time points ToA1_R, ToA2_R and the corresponding calibration of the receiver clock (as shown above the timeline of the receiver time t_TRR). For example and for the tag device, the receiver beacon time points ToA1_R, ToA2_R of the received beacon frame BF are determined; for those receiver beacon time points ToA1_R, ToA2_R, receiver specific time delay data is generated, and the receiver specific time delay data is compared with the master time delay data 223. Based on the comparison, the receiver clock can be set to ensure a calibrated receiver time t_TRR.

[0379] Based on the corrected receiver time t_TRR, the tag response receiving unit will further receive a tag response frame TF2 during time slot 15 of the receiver response time point ToATF2_R. However, due to the flight time from the master beacon device to the tag device T2 and from the tag device T2 to the tag response receiver TRR, some additional time has passed, and for example, the measured reception time point is delayed by a period X2 relative to the end of the tag specific time delay TSTD_TF2 of the tag device T2 (as shown below the time t_TRR timeline).

[0380] It should be noted that due to the distance between the master beacon device MB and the tag response receiver TRR, there is also a delay between the reception time point of the twin master beacon frames BF1A, BF1B relative to the transmission time point. However, this distance is known from the installation location data including the spatial position of each of the tag response receiver TRR and the master beacon device MB. Therefore, the positioning system knows the position relative to each other and therefore also knows the distance that can be included in the analysis.

[0381] Since more than one tag device can be located within one location frame, a tag response frame TF18 received at a receiver response time point ToATF18_R during a time slot 31 of the tag device 18 is also indicated by way of example. The receiver response time point ToATF18_R is subject to the tag-specific time delay TSTD_TF18 of the tag device T18 and the corresponding distance between the tag device T18 and the tag response receiver TRR.

[0382] Based on the time periods X2 and X18, the arrival time differences TDoA of the tag devices T2 and T18 can be derived respectively. Using multiple tag response receivers and an optional master beacon device as a response receiver (see also Fig.10 ), the position of the tag device within the positioning area can be calculated.

[0383] Fig.10The diagram shows a special case where the master beacon device (or, equally, a repeater device) acts as a reference transmitter of the twin beacon frame and a receiver of the tag response frame T2. This corresponds to a delayed time-of-flight measurement, making it easy to derive the distance between the tag device T2 and the master beacon device and the master time-of-flight ToF1 between them, and this master time-of-flight ToF1 is included in the analysis of the timing information received from the tag response receiver.

[0384] Fig.11 The diagram illustrates a beacon repeater device BR for extending the range or improving the quality and / or signal strength of a provided twin beacon signal ( Fig.11 Tag response frame not shown). In view of the continuous repeated reception of the twin master beacon frames BF1A, BF1B (with positioning rate), the beacon repeater device BR can calibrate the repeater time t_BR to the master time, thereby replicating the master beacon by transmitting repeater frames BF6A and BF6B with the master time delay MTD. However, the repeater frames BF6A and BF6B are shifted to time slots 7 and 12 and transmitted relative to the calibrated repeater time t_BR. The repeater frames BF6A and / or BF6B (in particular the payload of BF6A and / or BF6B) may include data related to the ID of the transmitting beacon repeater device BR. All installed beacon repeater devices BR can do this.

[0385] like Fig.12 As shown above, at the timeline of the receiver time t_TRR', the tag response receiver TRR can use the time delay separated by the main time delay MTD. Fig.11 The receiver uses the repeater frames BF6A and BF6B of the position frame to calibrate itself, assuming a calibrated beacon repeater device associated with the repeater frames BF6A and BF6B. The reception of the repeater frame BF6A and the reception of the repeater frame BF6B are offset in time relative to the master beacon frame by the repeater time delay RTD_BR assigned to the beacon repeater device BR. Specifically, the repeater frames BF6A and BF6B are received in time slots 7 and 12 of the position frame. Since the calibration of the receiver clock uses the repeater time (which can be offset relative to the master time), Fig.12 Indicates the modified receiver time t_TRR'.

[0386] In general, synchronization (time alignment) can be performed using those beacon frame pairs with a desired or preferred signal quality, i.e. the tag response receiver TRR selects the beacon frame transmitter it prefers for synchronization. It should be noted that the localization procedure (in Fig.12 The receiver time t_TRR' below the timeline Fig.12) is also used on repeater frame BF6B. However, the localization procedure is separate from the synchronization procedure, so there is no need to perform synchronization with repeater frames BF6A and BF6B. For example, if the primary beacon frame has a stronger signal and / or quality, then as in Fig. 9 As illustrated above the timeline of receiver time t_TRR in , synchronization with the master beacon may be performed.

[0387] Once locked / synchronized with the beacon repeater device acting as a reference beacon device, the tag response receiver TRR similarly allows for a time difference of arrival analysis illustrated below the timeline t_TRR'; this time uses the time periods X2' and X18' indicated with respect to the repeater frame BF6B in the accumulated flight time. It should be noted that due to Fig.12 The start of the time slot of the beacon frame BF6B does not coincide with the transmission time of the repeater beacon frame BF6B from the beacon repeater device, so the accumulated flight time cannot be correctly shown at the time line t_TRR' of the tag response receiver unit TRR. Fig.12 This accumulated flight time is only schematically illustrated in FIG. 1 , since it is necessary to include the time offset between the time t_TRR′ of the tag response receiver unit and the beacon repeater device.

[0388] It should be understood that because the accumulated flight time begins at the transmission time of the repeater beacon frame associated with repeater frames BF6A and BF6B, ( Fig.12 The time periods X2' and X18' in ( Fig. 9 In other words, Fig. 9 In comparison, different reference beacon devices were used, and for most locations, Fig. 9 The reference beacon device is at a different distance from the tag device than the master beacon device (or any other beacon repeater device) used (selected) in the tag device. Fig. 9 The reference beacon device is also at a different distance from the tag response receiver unit than the master beacon device (or any other beacon repeater device) used (selected) in the tag response. Therefore, in addition to the position information of the tag response receiver TRR, the position information of the beacon repeater device BR can also be included in the localization calculation, for example, to calculate the distance from the tag device to the beacon repeater device. Thus, information about the selected beacon repeater device (herein the beacon repeater device associated with the repeater frames BF6A and BF6B) can be included in the tag response frame transmitted from the tag device.

[0389] Likewise, tagging devices can use Fig.11Repeater frames BF6A and BF6B are used for calibration. Generally, the tag device can use the same beacon frame to calibrate and transmit the tag response frame, assuming that in both cases, preferably, the beacon frame signal with the best signal quality and / or strength is used. Therefore, in Fig.11 In the embodiment, when setting the transmission time of the tag response frame, that is, when determining the tag specific transmission time delay from the tag specific transmission time delay data, the tag response frame can be based on the repeater frames BF6A and BF6B (or the time points associated therewith) with corresponding consideration of the repeater time delay RTD_BR.

[0390] refer to Fig.13 The flowchart shown (and also refer to Figures 7 to 12 ), a method for providing distance values ​​between a tag device and a plurality of tag response receiver units of an RTLS comprises the following steps:

[0391] The beacon transmission unit of the master beacon device MB transmits (step 401) a first beacon frame BF1A at a first beacon transmission time point ToT1 and a second beacon frame BF1B at a second beacon transmission time point ToT2. Because two consecutive beacon frames are transmitted with a master time delay MTD corresponding to the master time delay data, the time difference between the beacon frames is set (timing as Figure 7 shown);

[0392] Receiving (step 403) two consecutive beacon frames at tag devices T1, T2, ...,

[0393] Determine (step 405) the first tag beacon time point ToA1_T and the second tag beacon time point ToA2_T (timing such as Figure 8 shown);

[0394] Generate (step 407) tag specific reception time delay data 251 from the first tag beacon time point ToA1_T and the second tag beacon time point ToA2_T;

[0395] Calibrate the tag time of the tag device to the master time of the master beacon device (step 409) by comparing the tag specific reception time delay data with the corresponding master time delay data;

[0396] The tag specific transmission time delay TSTD_TF2 is derived (step 411) from the preset tag specific transmission time delay data 247 within the calibrated tag time. The tag specific transmission time delay TSTD_TF2 is, for example, associated with one of the tag beacon time points ToA1_T and ToA2_T as a starting point (as a time point associated with receiving two consecutive beacon frames);

[0397] After waiting for the tag specific transmission time delay TSTD_TF2 at the time point associated with receiving two consecutive beacon frames, a tag response frame ( TSTD_TF2 ) is transmitted (step 413 ) from the tag device. Figure 8 Timing shown);

[0398] For example, a plurality of tag response receiver units TRR such as tag response receiver units in a master beacon device MB and / or a beacon repeater device BR are used to receive (step 415) the tag response frame ( Figures 9 to 12 Timing shown);

[0399] determining (step 417) a plurality of receiver response time points ToATF2_R of the time at which the tag response frame arrives at the corresponding tag response receiver unit, wherein each receiver response time point is specific to the corresponding tag response receiver unit and the tag device due to the tag specific transmission time delay TSTD_TF2;

[0400] determining (step 419) a path time period elapsed between a time point associated with the transmission of two consecutive beacon frames ToT1, ToT2 and a receiver response time point ToATF2_R of the time of arrival of a tag response frame at a corresponding responding receiver unit;

[0401] deriving (step 421) cumulative flight time periods by subtracting the tag specific transmission time delay TSTD_TF2 of the tag device from the determined path time period, wherein each cumulative flight time period is associated with a transmission path from the master beacon device to one of the responding receiver units via the tag device,

[0402] A distance value associated with the location of the selected tag device is determined (step 423) based on the determined cumulative flight time period and the installation location data, wherein the installation location data optionally represents the distance between each tag response receiver unit of a plurality of tag response receiver units and the beacon transmitting unit of the master beacon device.

[0403] In step 403, receiving two consecutive beacon frames at the tag devices T1, T2, ... may also be receiving two consecutive beacon frames of the beacon relay BR; therefore, step 401 may also include: using the beacon transmission unit of the beacon relay device BR to transmit (step 401) the first beacon frame at the first beacon transmission time point and transmit the second beacon frame at the second beacon transmission time point (step 402). Fig.11Timing shown). Because two consecutive beacon frames are transmitted with a master time delay MTD (corresponding to the master time delay data), the time difference between the beacon frames is set accordingly. Since all beacon repeaters are synchronized with the master time and calibrated with the master time, they can all send two consecutive beacon frames with a master time delay corresponding to the master time delay data.

[0404] As indicated above, the distance value associated with the location of the selected tag device can be derived in various ways. In the first approach, where the master beacon device (or selected beacon repeater device) also acts as a tag response receiving unit, a (standard) ToF calculation can be performed to determine the (master / repeater) flight time between the master beacon device (or selected beacon repeater device) and the tag response receiving unit. Then, each accumulated flight time from the master beacon device (or selected beacon repeater device) to other tag response receiving units can be reduced by the (master / repeater) flight time to obtain the flight time between the tag device and the corresponding tag response receiving unit (also known as the receiver flight time period). If the flight time between the master beacon device (or selected beacon repeater device) and the tag response receiving unit is not available, the transmission time from the master beacon device (or selected beacon repeater device) to several tag response receiving units and the tag-specific delay time period and the location information (i.e., installation location data) of the relevant devices (herein, the master beacon device or the selected beacon repeater device and the tag response receiving unit) can be used to perform TDoA calculations.

[0405] refer to Fig.14 The flowchart shown (and also refer to Figure 2 and Figure 3 ), a real-time positioning method for determining the position of one or more tag devices comprises the following steps:

[0406] An ultra-wideband frame is sent and received (step 431) using an exchange protocol based on an ultra-wideband frame format 111, wherein the exchange protocol defines a positioning rate frame format 121, which includes:

[0407] - a beacon segment, comprising a series of time slots associated with an interleaved beacon frame pair,

[0408] wherein the first beacon frame and the second beacon frame of each pair are separated in time by a primary time delay, and

[0409] wherein between time slots allocated to beacon frames of an open pair including an initial beacon frame among beacon frames within a beacon segment, there are time slot arrays allocated to first beacon frames of the remaining pairs, respectively; and

[0410] - Optionally, a tag response segment, comprising a sequence of time slots associated with the tag response frame.

[0411] In some embodiments, the sending and receiving step 431 may include the following steps:

[0412] transmitting (step 431A) a beacon frame pair using a master beacon device or a beacon repeater device in a corresponding time slot of the beacon segment, wherein a master clock of the master beacon device or a calibrated beacon repeater of the beacon repeater device is used to transmit the beacon frame pair based on a calibrated master time or a repeater time with a master time delay;

[0413] The beacon frame pairs transmitted at the time slots of the beacon segment are received (step 431B) by the tag device to be located and a plurality of tag response receiver units.

[0414] The real-time positioning method may further include the following steps:

[0415] The tag clock of the tag device and the receiver clocks of the plurality of tag response receiver units are calibrated (step 433) relative to the master clock using the master time delay.

[0416] The sending and receiving step 431 may also include the following steps:

[0417] Send (step 431C) a tag response frame in the time slot of the tag response segment associated with the tag device to be located;

[0418] The tag response frames are received (step 431D) using a plurality of tag response receiver units.

[0419] The real-time positioning method may further include the following steps: based on the relative position information of the main beacon device or the beacon repeater device relative to the plurality of beacon repeater devices,

[0420] The distance information from the tag device to be located to the master beacon device or beacon repeater device and the plurality of tag response receiver units is determined (step 435).

[0421] In some embodiments, the determining step 435 may be performed in a centralized control unit of the positioning system and include the following steps, for example, for consecutively executed positioning rate frames and for each tag device:

[0422] Determine (step 435A) a path time period for each tag device in the tag devices, wherein each path time period is associated with:

[0423] - any beacon frame of two consecutive beacon frames,

[0424] - the corresponding tag response frame (and thus the specific time delay of the tag response), and

[0425] - a transmission path from a master beacon device or a beacon repeater device to one of the plurality of tag response receiver units,

[0426] A cumulative flight time period is derived (step 435B) from the path time period to indicate the cumulative signal propagation time of one of two consecutive beacon frames and the tag response frame along the transmission path, and

[0427] A distance value associated with the tag device location is determined (step 435C) based on the accumulated flight time period and multiple installation location data, wherein the multiple installation location data optionally represent the distance between each tag response receiver unit in the multiple tag response receiver units and the beacon transmitting unit of the main beacon device or the beacon repeater device.

[0428] In some embodiments, the sending and receiving step 431 may include the following steps:

[0429] transmitting (step 431E) a plurality of interleaved beacon frame pairs using a master beacon device and a plurality of beacon repeater devices in corresponding time slots of the beacon segment; and

[0430] The beacon frame transmitted in the time slot of the beacon segment is received (step 431F) by the tag device.

[0431] The real-time positioning method may further include the following steps:

[0432] calibrating (step 437) a tag clock of the tag device and a repeater clock of a plurality of beacon repeater devices relative to the master clock using the master time delay, thereby establishing an ultra-wideband anchor network based on timing synchronization of the master beacon device and the plurality of beacon repeater devices; and

[0433] Based on the relative position information of the master beacon device and the plurality of beacon repeater devices, distance information from the tag device to the master beacon device and the plurality of beacon repeater devices is determined (step 439).

[0434] For example, the difference in arrival time ToA1 for received beacon frames (primary frames and repeater frames) can be analyzed to derive the position relative to the primary beacon device and the beacon repeater device (assuming that the relative positions of the primary beacon device and the beacon repeater device are known, for example, stored in the tag device as relative position information).

[0435] refer to Fig.15 , another embodiment of the positioning protocol is illustrated based on a functional positioning rate frame with a functional positioning rate period LRT. The functional positioning rate frame consists of two positioning frames, which are identical with respect to the underlying positioning rate frame format 121 ', which respectively define:

[0436] - Master beacon and repeater beacon transmission time slots 1 to 6 (in Fig.15 125A and 125B), and

[0437] -Tag time slots 7 to 16 of the tag device (in Fig.15 is referred to as tag response segment 127).

[0438] Despite Fig.15 It is not specifically shown in FIG, but there may be a time gap between the beacon segment and the tag segment, such as in Figure 3 In the time slots 13 and 32, there can also be a combination of Figure 3 Guard periods as indicated between time slots.

[0439] and Figure 3 In contrast to the configuration shown, two adjacent positioning frames provide twin beacons; that is, the master time delay MTD used for the clock calibration function is given by the respectively identical beacon slots of consecutive positioning frames. Fig.15 As shown, for the main beacon slot 1', the main time delay MTD spans all the remaining slots (i.e., slots 2' to 16' of the UWB frames BF2A...BF6A of the repeater beacons and TF1...TF10 of the tag slots). Similarly, the main time delay MTD spans the slots of consecutive repeater beacons BF2A / BF2B or BF6A / BF6B and the main beacon and the remaining repeater beacon slots and the tag slots between them.

[0440] In other words, the functional positioning rate frame can be the basis of the positioning system, where the functional positioning rate period LRT defines in time the corresponding activities performed for calibration, while the positioning measurement can occur in half of the functional positioning rate period LRT'. In this sense, the positioning protocol essentially defines the maximum positioning rate in which the localization measurement can be repeated, and this maximum positioning rate is twice the synchronization rate, which is given by the functional positioning rate period LRT'.

[0441] As Figure 3 and Fig.15 The common aspects of the positioning frame can be used Fig.15The two positioning rate frames 121' shown similarly perform the clock calibration described above for the positioning frame 121. This means that the master beacon device MB transmits a sequence of beacon frames that are received by the tag devices T1, ... and the tag response receiver unit 227 and the optional beacon repeater devices BR1, BR2, ... BR6. The underlying master time delay MTD is then used to also force the master time delay MTD to be, for example, the time difference between the tag response frame sent from the tag device and the beacon frame sent from each of the beacon repeater devices BR1, BR2, ... BR6. In addition, the receiver clock of the tag response receiver TRR can be calibrated based on the master time delay MTD.

[0442] In other words, when the localization process is performed with the functional positioning rate period LRT' and the positioning rate frame format 121', the tag data storage unit is configured to store the master time delay data, and at least one time point associated with receiving two consecutive beacon frames, the tag specific transmission time delay data specifically associated with the corresponding tag device, and at least one time point associated with receiving two consecutive beacon frames (e.g., Fig.15 After waiting for a tag-specific transmission time delay at at least one time point associated with receiving two consecutive beacon frames, a tag response frame (e.g., Fig.15 BF1A in the figure).

[0443] refer to Fig.16 and 17A to 17C , discloses an alternative or additional localization approach that can be based on, for example, Figure 3 or Fig.15 In contrast to the solution described above, this solution can be implemented as a server-centric solution, and the device-centric solution does not require the transmission of tag response frames. Moreover, instead of multiple tag response receivers, multiple beacon repeater devices BR1, BR2, ... BR6 are required. It should be noted that the concept of positioning rate frames disclosed in this article allows the simultaneous operation of server-centric solutions and device-centric solutions. For illustration, Fig.16 Also shown in dashed / dotted lines are the tag device T1, the tag response receiver TRR and the (service-based) distance determination unit 261. Figure 3 Other tag devices T2, T3, ... operate as described.

[0444] Fig.16The device-centric localized installation of a tag T_dc with beacon frames transmitted from a master beacon device MB and beacon repeater devices BR1, BR2, ... BR6 is illustrated. As a result of the device-centric localization procedure, the location P of the tag T_dc is available at the tag T_dc itself. It should be understood that the corresponding tag device can be incorporated into various types of mobile devices, such as autonomous / mobile vehicles, drones, and robots.

[0445] As a combination Figure 3 A common aspect of the described localization solution is that a clock calibration of the positioning frames can also be performed. This means that the master beacon device MB transmits a clock signal which is received by the beacon repeater devices BR1, BR2, ... BR6 and used to force the master time delay to be the time difference between the beacon frames BF sent from the beacon repeater devices BR1, BR2, ... BR6. Fig.17A The illustrated beacon frame BF sequence. Fig.17A The transmission of a repeater beacon frame is illustrated in . In addition, the tag devices T_dc, ... or several of them may also be calibrated based on the master time delay MTD between consecutive beacon frames BF (sent from the master beacon device MB or beacon repeater devices BR1, BR2, ... BR6).

[0446] Although Figure 4 The mobile tag device in needs to receive beacon frames from at least one reference beacon device, but Fig.16 The tag device T_dc in receives beacon frames from a sufficient number of transmitting master / beacon repeater devices. For example, five TDoA measurements may be sufficient to calculate on board Figure 6 The calibration and calculation unit 229 is configured to measure the corresponding time offset of the received beacon frame relative to the relevant time slot based on the calibrated tag time of the calibrated tag clock. Fig. 17C , which exemplarily illustrates the Figure 3 Time slots 1 to 6 (similarly, Fig.15 The offsets X_MB, X_BR1, ... X_BR6 within the time slots 1'-6'). Fig. 17CAs shown, for the corresponding arrival times ToA1_T, ToA2_T, ... ToA6_T (measured at the tag device T_dc), an arrival time difference analysis can be performed in the calibration and calculation unit 229. The arrival time difference analysis also uses the knowledge of the precise location of the transmitting master beacon repeater device (installation location information), which is correspondingly stored in the tag data storage unit 245 of the tag device T_dc. If the tag device T_dc (specifically, the calibration and calculation unit 229) provides sufficient computing power on board, the positioning rate period ( Figure 3 LRT and Fig.15 1 / 2*LRT) in the basic online calculation position.

[0447] Alternatively or additionally, the tag device T_dc can use fast data exchange with a network-based processor to perform calculations also in a server-centric solution. For example, the tag T_dc can communicate with a distance determination unit 261, which can derive information about the position P, albeit with some delay.

[0448] The location of (the location of the tag device T_dc) is calculated by applying the TDoA location calculation. The TDoA analysis is based on the knowledge of the precise location of the locally fixed transmitter device (master / relay beacon or tag device temporarily fixed at its location) and the measured arrival time difference of each received beacon frame with respect to the relevant time slot. This localization approach allows fast location determination with fast refresh rate and low latency. It is particularly suitable for localizing fast moving objects.

[0449] As mentioned above, a temporarily fixed tag device can be used for device-centric localization of the tag device T_dc. Fig.16 The illustrated tag device T1 can operate simultaneously with the tag device T_dc using the same infrastructure to perform a server-based localization procedure. If the location of the tag device T1 is known (and fixed) and transmitted to the tag device T_dc, the tag device T1 can be used as a temporary fixed transmitter device during those time periods when it does not (at least temporarily) change its spatial position. Specifically, it is assumed that within the tag time slot included in the positioning rate frame of the tag device T1, a tag frame can be transmitted, which is received by the tag device T_dc and evaluated within the TDoA analysis (such as a beacon frame).

[0450] It should also be noted that the positioning rate frames can only be based on beacon slots if no tag device transmits a tag response frame that needs to be localized.

[0451] Those skilled in the art should also recognize that the design of tag devices for server-centric solutions may be less complex because they "only" receive and transmit, while tag devices for device-centric solutions may require more features, such as processing units (for calculations), storage space (for location of transmitters), etc., and therefore also a larger power source.

[0452] Other aspects of the concepts disclosed herein include:

[0453] In a real-time positioning system (201), at least one of the tag devices (T1, T2, ...) comprises a tag response receiver unit (227) and at least a part of an optional distance determination unit (231). The tag device (T1, T2, ...) is configured to be operable as a tag device to be localized when set in a changing position mode and as a tag response receiver unit when set in a fixed position mode.

[0454] For a real-time positioning system (201), if the positioning system is operated in a mobile tracking mode, the emission of two consecutive beacon frames may be repeated at a positioning rate ranging from 1 ms to 250 ms, for example, for tracking a fast-moving tag device. When a localization process is required at a very low frequency rate, typically determining the position once an hour, the tag device may be deregistered and re-registered within the positioning system. Typically, the positioning frame rate will not exceed 250 ms.

[0455] The positioning system can be based on positioning frames that are repeated at a positioning rate. The positioning frame is based on the positioning rate frame format used by the components of the positioning system and can typically have a duration in the range from about 1 ms to 250 ms. The positioning rate frame format includes a defined number of time slots, each time slot being associated with a frame transmission from the components of the positioning system and having a time slot duration. Using this terminology, a tag-specific transmission time delay that is the shortest of a plurality of tag-specific transmission time delays (measured from the last beacon frame transmitted within the positioning frame) can be within the range of the time slot duration (e.g., the positioning rate divided by the number of time slots). Moreover, a tag-specific transmission time delay that is the longest of a plurality of tag-specific transmission time delays can reduce the positioning rate by a maximum of two time slot durations (typically reducing the time slot duration of all time slots associated with the beacon frame transmission).

[0456] In some embodiments, the tag device and the optional tag response receiver unit can provide the calibration and calculation unit with timing information associated with the received frame, such as time points or time intervals between time points. Specifically, integration can be performed by an integration window of 2ns with a step size of 1ns (locally 125ps).

[0457] Then, the calibration and calculation unit within one of the components may be configured to receive timing information from the receiver unit and perform calibration, in particular based on a comparison of time delays of timing information such as time points or time intervals between time points associated with the received frames.

[0458] In the following, further aspects of the inventive concepts disclosed herein are summarized:

[0459] Aspect 1. A real-time positioning method for determining the position of one or more tag devices, comprising:

[0460] An ultra-wideband frame is sent and received using an exchange protocol based on an ultra-wideband frame format, wherein the exchange protocol defines a positioning rate frame format, the positioning rate frame format including:

[0461] - a beacon segment comprising a series of time slots associated with at least one frame of an interleaved beacon frame pair,

[0462] wherein the first beacon frame and the second beacon frame of each pair are separated in time by a primary time delay, and

[0463] wherein between the time slots allocated to the beacon frames of the open pair including the initial beacon frame among the beacon frames within the beacon segment, there are time slot arrays respectively allocated to the first beacon frames of the remaining pairs; and

[0464] - A tag response segment comprising a sequence of time slots associated with a tag response frame.

[0465] Aspect 1A. A real-time positioning method according to Aspect 1, wherein the beacon segment 125 includes time slots (1, 2, 3, ... 6, 7, 8, ... 12) for two frames in an interleaved beacon frame pair, so that the beacon segment has a length of at least the main time delay (and the length of the beacon segment is less than the length of the positioning rate frame minus the length of the tag response segment, so that two consecutive beacons from the same source are received during the beacon segment to enable calibration).

[0466] Aspect 1B. A real-time positioning method according to aspect 1, wherein the beacon segment includes a time slot (1', 2', 3', ... 6') of only one frame in each interleaved beacon frame pair, so that the beacon segment and the tag response segment together have a length of at least the primary time delay, and

[0467] Specifically for continuous positioning rate frames that comply with the bit rate frame format, there are time slots (7'-16') of the tag response segment and time slots (2'-6') of one frame in each interleaved beacon frame pair between the time slots (1', 17') of the two initial beacon frames of the beacon segment allocated to the continuous positioning rate frame.

[0468] Aspect 2. The real-time positioning method according to Aspect 1, Aspect 1A, and Aspect 1B, wherein between the time slots allocated to the beacon frames of a closed pair including at least one beacon frame in the beacon segment, there is an array of time slots allocated to the second beacon frames of the remaining pairs respectively.

[0469] Aspect 3. The real-time positioning method according to aspect 1, aspect 1A, aspect 1B or aspect 2, further comprising:

[0470] transmitting a plurality of interleaved beacon frame pairs using a master beacon device and a plurality of beacon repeater devices in corresponding time slots of a beacon segment;

[0471] Using the master time delay to calibrate the repeater clocks of the plurality of beacon repeater devices relative to the master clock, thereby specifically establishing an ultra-wideband network based on the master beacon device and the plurality of beacon repeaters being synchronized in timing;

[0472] Receiving, using a tag device, a beacon frame transmitted at a time slot of a beacon segment;

[0473] Distance information from the tag device to the main beacon device and the plurality of beacon repeater devices is determined based on relative position information of the main beacon device and the plurality of beacon repeater devices.

[0474] Aspect 3A. The real-time positioning method according to aspect 1 or aspect 2 further includes:

[0475] transmitting a plurality of consecutive beacon frames using a master beacon device (MB) or a beacon repeater device (BR) in corresponding time slots of a beacon segment (125), thereby setting a master time delay (MTD) between two adjacent beacon frames in beacon frames (BF1A, BF1B) transmitted by the master beacon device for the beacon frames transmitted by the master beacon device;

[0476] Using the master time delay data (223) to calibrate the repeater clocks of the plurality of beacon repeater devices (BR) relative to the master clock, so that also for the beacon repeater device (BR), a master time delay (MTD) is set between two adjacent beacon frames in a beacon frame transmitted by one of the beacon repeater devices (BR), so as to establish an ultra-wideband network that is synchronized in timing based on the master time (t_MB) and the plurality of beacon repeater devices;

[0477] receiving a beacon frame transmitted by a tag device at a time slot of a beacon segment; and

[0478] Determine the distance information from the tag device to the main beacon device and the multiple beacon repeater devices based on the relative position information of the main beacon device and the multiple beacon repeater devices,

[0479] Optionally, an arrival time difference analysis of tag beacon time points (ToA1_T, ToA2_T, . . . ) is performed at the tag device relative to the corresponding beacon time slot.

[0480] Aspect 4. The real-time positioning method according to aspect 1 or aspect 2 further includes:

[0481] In a corresponding time slot of the beacon segment, a beacon frame pair is transmitted using a master beacon device or a beacon repeater device, wherein a master clock is provided in the master beacon device for setting a master time delay between beacon frames in the beacon frame pair;

[0482] receiving a beacon frame pair transmitted at a time slot of a beacon segment by a tag device to be located and a plurality of tag response receiver units;

[0483] calibrating a tag clock of the tag device and a receiver clock of a plurality of tag response receiver units relative to the master clock using the master time delay;

[0484] Transmitting a tag response frame at a time slot of a tag response segment associated with the tag device to be located;

[0485] receiving the tag response frames using a plurality of tag response receiver units; and

[0486] The distance information from the tag device to be located to the main beacon device or beacon repeater device and the multiple tag response receiver units is determined based on the relative position information of the main beacon device or beacon repeater device relative to the multiple beacon repeater devices.

[0487] For example, the step of transmitting the beacon frame pair includes: transmitting the beacon frame pair at corresponding time slots of a beacon segment (125) separated by a master time delay (MTD);

[0488] - utilizing a master beacon device (MB), wherein a master clock of the master beacon device (MB) is used to ensure a master time delay (MTD) when transmitting beacon frame pairs based on a calibrated master time, and / or

[0489] - Utilizing a beacon repeater device (BR), wherein a repeater clock of the repeater beacon device (MB) is calibrated to a master clock to ensure a master time delay (MTD) when transmitting beacon frame pairs based on the calibrated repeater time.

[0490] Aspect 5. A real-time positioning method according to aspect 4, wherein for a tag response receiver unit located at a primary beacon device, a primary flight time (ToF1) is determined by a primary flight time measurement (M_ToF1); and / or for a tag response receiver unit located at a beacon repeater device, a repeater flight time is determined by a repeater flight time measurement; and

[0491] For a tag responding receiver unit located at a known distance from a primary beacon device or a beacon repeater device, the corresponding time of flight (ToF2) from the tag device to the tag responding receiver unit is derived using the primary time of flight (ToF1) measurement or the repeater time of flight measurement.

[0492] Aspect 6. The real-time positioning method according to any one of aspects 1 to 5, wherein in the positioning rate frame, there is at least one of the following:

[0493] There is an idle time slot between the beacon segment and the tag response segment, and

[0494] In the random access time slot after the tag response segment.

[0495] Aspect 7. A real-time positioning method according to any one of Aspects 1 to 6, wherein the time slots in the beacon segment and / or the tag response segment include a buffer time window between frames of consecutive time slots, and the buffer time window is not used to transmit an ultra-wideband signal, and / or

[0496] The time slot length of each of the time slots in the beacon segment and / or the tag response segment is greater than the time slot length of the ultra-wideband frame.

[0497] Aspect 8. A real-time positioning system for determining the location of a tag device, the real-time positioning system comprising:

[0498] a) an exchange protocol for sending and receiving ultra-wideband frames based on an ultra-wideband frame format, wherein the exchange protocol defines a positioning rate frame, the positioning rate frame comprising:

[0499] i) a beacon segment, comprising a sequence of time slots associated with an interleaved beacon frame pair,

[0500] - wherein the first beacon frame and the second beacon frame of each pair are separated in time by a primary time delay, and

[0501] - wherein between the time slots allocated to the beacon frames of an open pair including the initial beacon frame among the beacon frames within the beacon segment, there are time slot arrays respectively allocated to the first beacon frames of the remaining pairs; and

[0502] ii) a tag response segment, comprising a sequence of time slots associated with a tag response frame;

[0503] b) A master beacon device (MB) and an optional beacon repeater device (BR), each comprising:

[0504] i) a beacon transmission unit (217) configured to transmit two consecutive beacon frames (BF) at a time slot of a beacon segment associated with one of the interlace pairs; and ii) a master clock (219) defining a master time (t_MB) to ensure separation of the two beacon frames as a master time delay or a repeater clock (219) calibrated to the master clock (219);

[0505] c) a plurality of tag devices (T1, T2, ...), each tag device (T1, T2, ...) comprising:

[0506] i) a tag clock (243) defining a tag time (t_T2) specific to a respective tag device (T1, T2, ...), wherein the tag time is calibrated relative to a master time using a master time delay,

[0507] ii) a receiving unit (249) configured to receive two consecutive beacon frames (BF) transmitted from a master beacon device (MB) or from one of the beacon repeater devices (BR) in a time slot of a beacon segment, and

[0508] iii) a tag response transmitting unit, configured to transmit a tag response frame in a time slot of the tag response segment;

[0509] d) a plurality of tag response receiver units (227), each tag response receiver unit comprising:

[0510] i) a receiver clock, defining the corresponding receiver time (t_TRR) of the corresponding tag response receiver unit, where the receiver time is calibrated relative to the master time using the master time delay, and

[0511] ii) wherein each tag response receiver unit is configured to:

[0512] - receiving a tag response frame sent from the tag device in a corresponding time slot of the tag response segment; and

[0513] e) at least one distance determination unit (261, 231), comprising:

[0514] i) a calculation unit, configured to: for the continuously executed positioning rate frames and for each tag device in the tag devices:

[0515] - Determine a path time period for each tag device in the tag devices, wherein each path time period is associated with:

[0516] - any beacon frame of two consecutive beacon frames,

[0517] - the corresponding tag response frame, and

[0518] - (via beacon device) from a master beacon device (MR) or a beacon repeater device (BR) to multiple tag response receiver units (227)

[0519] A tag in the receiver unit responds to the transmission path,

[0520] - deriving a cumulative flight time period from the path time period to indicate the cumulative signal propagation time of one beacon frame and a tag response frame of two consecutive beacon frames along the transmission path, and

[0521] -Determining a distance value associated with a tag device location from a cumulative flight time period and a plurality of installation location data, the plurality of installation location data optionally representing the location of each tag response receiver unit among a plurality of tag response receiver units (227) and a beacon transmitting unit (217) of a master beacon device (MB) or an optional beacon repeater device (BR).

[0522] Aspect 9. The real-time positioning system according to aspect 8, wherein the ultra-wideband frame format includes a start frame entry; and

[0523] At least one of the receiving unit and the tag response receiver unit of the tag device is configured to detect a start frame entry included in the ultra-wideband signal and associate a time point with a corresponding ultra-wideband frame; and / or

[0524] wherein the UWB frame format includes a payload entry on a reference beacon frame, a reference beacon slot and / or a reference beacon source,

[0525] At least one tag device among the plurality of tag devices (T1, T2, ...) is configured to select one of the beacon frames received from the master beacon device (MB) and the beacon repeater device (BR) as a reference beacon frame, transmit a tag response frame by temporally referencing the reference beacon frame, and include information related to the reference beacon frame, the corresponding reference beacon time slot and / or the corresponding reference beacon source in the tag response frame, and

[0526] At least one of the receiving units of the tag response receiver unit is configured to read a payload entry on a reference beacon frame, a reference beacon slot and / or a reference beacon source from a tag response frame and communicate the payload entry to at least one distance determination unit (261, 231).

[0527] Aspect 10. The real-time positioning system according to aspect 8 or aspect 9, wherein for calibration of the clock to the master time, the tag device, the receiver device or the beacon repeater device comprises:

[0528] A calibration and calculation unit is configured to detect a time delay between a time point associated with a first beacon frame of two consecutive beacon frames and a time point associated with a second beacon frame of two consecutive beacon frames, and to adjust the clock time so that the detected time delay corresponds to a main time delay.

[0529] In another aspect 11, a tag device (T1, T2, ...) for a real-time positioning system is configured to operate using a positioning protocol, which positioning protocol optionally applies a positioning rate frame format as described in one of the claims and / or aspects disclosed herein, and the tag device comprises:

[0530] Tag clock (243), defining a tag time (t_T2) specific to a corresponding tag device (T1, T2, ...);

[0531] a tag data storage unit (245) configured to store therein master time delay data (223) of the real-time positioning system and tag specific transmission time delay data (247) specifically associated with a preset time point associated with a received beacon frame (BF), such as a reception time point of a first beacon frame or a second beacon frame (BF);

[0532] The receiving unit (249) is configured to:

[0533] - receiving a beacon frame (BF) transmitted from a master beacon device (MB) and optionally from one or more beacon repeater devices (BR) of a real-time positioning system according to preset master time delay data (223),

[0534] - a beacon frame pair (BF) selecting a master beacon device (MB) or a beacon repeater device (BR) among the optional beacon repeater devices (BR);

[0535] - determining tag specific reception time delay data (251) between beacon frames of a selected beacon frame pair (BF), and

[0536] - selecting a beacon frame of a master beacon device (MB) or a beacon repeater device (BR) in an optional manner as a reference beacon frame; a calibration and calculation unit (229) configured to:

[0537] - calibrating the tag clock (243) relative to the master time (t_MB) by comparing the tag specific received time delay data (251) and the master time delay data (223), and

[0538] The tag response transmitting unit (253) is configured to:

[0539] - deriving a tag specific transmit time delay (TSTD_TF2) from tag specific transmit time delay data (247) at a point in time associated with a reference beacon frame;

[0540] - A tag response frame (TF1, TF2, ...) is transmitted after a tag specific transmit time delay (TSTD_TF2) has elapsed from a point in time associated with a reference beacon frame of a calibrated tag time (t_T2).

[0541] In some embodiments, the tag response transmitting unit (253) is further configured to include information of the reference beacon frame for deriving the tag specific transmission time delay (TSTD_TF2) in the tag response frame (TF1, TF2, ...).

[0542] In some embodiments, for example, a tag device having a response transmission unit 253 described herein may be configured to determine a (reference) time point associated with the reception of a (reference) beacon frame BF of one of the master beacon device MB or the beacon repeater device BR. Moreover, the tag response transmission unit 253 may also be configured to calculate the tag-specific transmission time delay TSTD_TF2 also regarding information about which beacon device is used for the (reference) time point associated with the reception of the (reference) beacon frame BF. Finally, the tag response transmission unit 253 may also be configured to send (specifically, in its tag response frame) information about which beacon device is used for the (reference) time point associated with the reception of the (reference) beacon frame BF.

[0543] In another aspect 12, a tag device (T_dc) for a real-time location system is configured to operate using a location protocol, the location protocol optionally applying a location rate frame format according to one of the claims and / or aspects disclosed herein, the tag device comprising:

[0544] Tag clock (243), defining a tag time (t_T2) specific to a corresponding tag device (T1, T2, ...);

[0545] a tag data storage unit (245) configured to store therein master time delay data (223) of the real-time positioning system and a set of location data for locations of a master beacon device (MB) and a plurality of beacon repeater devices (BR) of the real-time positioning system;

[0546] The receiving unit (249) is configured to:

[0547] - receiving a beacon frame (BF) transmitted from at least a subset of a master beacon device (MB) and a beacon repeater device (BR) according to a positioning protocol,

[0548] - a beacon frame pair (BF) of a master beacon device (MB) or of one of the optional beacon repeater devices (BR),

[0549] - determining tag specific reception time delay data (251) between beacon frames of a selected beacon frame pair (BF), and

[0550] - determining the arrival times (ToA1_T, ToA2_T, ... ToA6_T) of beacon frames sent from a subset of master beacon devices (MB) and beacon repeater devices (BR); and

[0551] The calibration and calculation unit (229) is configured to:

[0552] - calibrating the tag clock (243) relative to the master time (t_MB) by comparing the tag specific received time delay data (251) and the master time delay data (223), and

[0553] - performing a time difference of arrival analysis using the determined arrival times (ToA1_T, ToA2_T, ... ToA6_T) and a set of location data associated with respective subsets of master beacon devices (MB) and beacon repeater devices (BR).

[0554] In some embodiments, the calibration and calculation unit (229) is also configured to measure, based on the calibrated tag time of the calibrated tag clock (specifically, for beacon frames (BF) received by a subset of master beacon devices (MB) and beacon repeater devices (BR)) a corresponding time offset (X_MB, X_BR1, ... X_BR6) relative to a time slot associated with the corresponding master beacon device (MB) or beacon repeater device (BR) (for example, a time difference relative to the start of the corresponding time slot).

[0555] In some embodiments, the tag device (T_dc) can also be configured to include the arrival time of the tag response frame received by the receiving unit (249) and sent by another tag device (T1, T2,...) in the arrival time difference analysis, wherein the tag device (T_dc) receives and stores a set of position data indicating the temporary stationary position of the other tag device in the tag data storage unit (245).

[0556] It should also be understood that the positioning system disclosed herein (specifically, the positioning system described in each claim and / or each aspect) may include and use a device-centric positioning program and / or a server-centric positioning program to operate any tag device of the type disclosed herein (specifically, the tag device stated in each claim and / or each aspect).

[0557] Although Figure 3 and Fig.15 The positioning frame includes a tag segment, but the above aspect 12 can also be used when the tag part is not included in the positioning rate frame format. In that case, it may correspond to a self-synchronizing indoor positioning system. However, if the tag segment is provided in the positioning rate frame format, the mobile tag device can calculate its position relative to the TDoA of those frames received from the master beacon device and the beacon repeater device (sent in one or more beacon segments) and from the fixed-identified tag device (sent in one or more tag segments) at least for a period of time.

[0558] Although preferred embodiments of the present invention have been described herein, improvements and modifications may be incorporated without departing from the scope of the appended claims.

[0559] It should be explicitly stated that for the purpose of original disclosure as well as for the purpose of limiting the claimed invention, all features disclosed in the description and / or claims are intended to be disclosed individually and independently of each other, regardless of the composition of features in the embodiments and / or claims. It should be explicitly stated that for the purpose of original disclosure as well as for the purpose of limiting the claimed invention, in particular, all value ranges or indications of groups of entities disclose every possible intermediate value or intermediate entity, as limitations of value ranges.

Claims

1. A real-time positioning method for determining the position of one or more tag devices (T1, T2, ...), comprising: Transmitting an ultra-wideband beacon frame from a master beacon device (MB) and one or more beacon repeater devices (BR), wherein the ultra-wideband beacon frame is transmitted as an ultra-wideband beacon frame interlaced pair, wherein each interlaced pair is transmitted from either the master beacon device (MB) or the one or more beacon repeater devices (BR), and each interlaced pair includes a first ultra-wideband beacon frame (BF1A-BF6A) and a second ultra-wideband beacon frame (BF1B-BF6B), and for each interlaced pair, the first ultra-wideband beacon frame (BF1A-BF6A) and the second ultra-wideband beacon frame (BF1B-BF6B) are transmitted with a master time delay (MTD); Receiving at least one of the interlaced pairs of ultra-wideband beacon frames using the one or more tag devices (T1, T2, ...); receiving, using the one or more beacon repeater devices (BR), at least one of the interlaced pairs of ultra-wideband beacon frames; Receiving at least one of the interleaved pairs of ultra-wideband beacon frames using a tag response receiver unit among a plurality of tag response receiver units (227); sending an ultra-wideband tag response frame from the one or more tag devices (T1, T2, ...), and receiving at least one of the ultra-wideband tag response frames using one of the plurality of tag response receiver units (227), wherein The sending and the receiving are performed using an exchange protocol, the exchange protocol defining a positioning rate frame format (121), the positioning rate frame format (121) comprising: - includes a series of time slots (1-12; 1'-6") beacon segment, wherein the time slots are respectively associated with one of the first ultra-wideband beacon frame (BF1A-BF6A) and the second ultra-wideband beacon frame (BF1B-BF6B) of an interlaced pair, such that the time interval of the time slots associated with each frame of the interlaced pair is given by the primary time delay, and wherein between time slots (1, 7; 1', 7') of the first ultra-wideband beacon frame (BF1A) and the second ultra-wideband beacon frame (BF1B) allocated to a first interleaved pair of the interleaved pairs, the first interleaved pair of the interleaved pairs including an initial ultra-wideband beacon frame of the ultra-wideband beacon frame within the beacon segment (125), there is a time slot array (2-6; 2'-6'), the time slot array is allocated to the first ultra-wideband beacon frames (BF2A-BF6A) of the remaining pairs respectively; and - a tag response segment (127) comprising a sequence of time slots (14-31; 7'-16'), wherein the time slots (14-31; 7'-16') are respectively associated with one of the ultra-wideband tag response frames (TF1, ...); and Based on the ultra-wideband tag response frames received at the plurality of tag response receiver units (227), the location of one or more tag devices (T1, T2, ...) is determined by time measurement.

2. The real-time positioning method according to claim 1, wherein the beacon segment includes a time slot (1, 2, 3, ... 6, 7, 8, ... 12) of each ultra-wideband beacon frame of the two ultra-wideband beacon frames of the interlaced pair, so that the beacon segment has a length of at least the main time delay.

3. The real-time positioning method according to claim 1, wherein the beacon segment includes a time slot of only one ultra-wideband beacon frame of the first ultra-wideband beacon frame (BF1A-BF6A) and the second ultra-wideband beacon frame (BF1B-BF6B) for each interlaced pair, so that the beacon segment and the tag response segment together have a length of at least the main time delay.

4. The real-time positioning method according to claim 3, wherein for the continuous positioning rate frames conforming to the positioning rate frame format, there are the time slots (7'-16') of the tag response segment, and the time slots (2'-6') of only one ultra-wideband beacon frame of each interleaved pair of the first ultra-wideband beacon frame (BF1A-BF6A) and the second ultra-wideband beacon frame (BF1B-BF6B) between the time slots (1', 17') of the two initial ultra-wideband beacon frames of the beacon segment allocated to the continuous positioning rate frames.

5. The real-time positioning method according to any one of claims 1 to 4, wherein determining the position of one tag device among the one or more tag devices (T1, T2, ...) comprises: - Determine path time periods, wherein each path time period is associated with: - any one of two consecutive ultra-wideband beacon frames, - the corresponding UWB tag response frame, and - a transmission path from said master beacon device (MR) to a tag response receiver unit of said plurality of tag response receiver units (227), - deriving a cumulative flight time period from the path time period to indicate a cumulative signal propagation time of one of the two consecutive UWB beacon frames and the UWB tag response frame along the transmission path, and -determining a distance value associated with the tag device location based on the accumulated flight time period and a plurality of installation location data, wherein the plurality of installation location data represent the distance between each of the plurality of tag response receiver units (227) and the master beacon device (MB).

6. The real-time positioning method according to any one of claims 1 to 4, further comprising: setting the master time delay (MTD) between the first ultra wideband beacon frame (BF1A-BF6A) and the second ultra wideband beacon frame (BF1B-BF6B) of the interleaved pair based on a master clock provided in the master beacon device (MB), and transmitting an interleaved pair using the master beacon device (MB) in a corresponding time slot of the beacon segment (125); Receiving the interlaced pair using the tag device to be located; Using the master time delay between the first ultra-wideband beacon frame (BF1A-BF6A) and the second ultra-wideband beacon frame (BF1B-BF6B) of the received interleaved pair, calibrate the tag clock of the tag device to be located relative to the master clock; receiving the interleaved pairs using the plurality of tag response receiver units, respectively; calibrating receiver clocks of the plurality of tag response receiver units relative to the master clock using the master time delay between the received first ultra wideband beacon frame (BF1A-BF6A) and the second ultra wideband beacon frame (BF1B-BF6B) of the interleaved pair; Transmitting an ultra-wideband tag response frame (TF1-TF18) at a time slot (14-31) of the tag response segment (127) associated with the tag device to be located; receiving the tag response frame using the plurality of tag response receiver units; as well as Based on the relative position information of the master beacon device relative to each of the plurality of tag response receiver units, distance information from the tag device to be located to the master beacon device and the plurality of tag response receiver units is determined.

7. The real-time positioning method according to claim 6, further comprising: for a tag response receiver unit of the plurality of tag response receiver units located at the master beacon device, determining a primary time of flight (ToF1) by a primary time of flight measurement (M_ToF1) using the ultra-wideband tag response frame (TF1-TF18); as well as For another tag response receiver unit among the multiple tag response receiver units that is located at a known distance from the main beacon device, the flight time period (ToF2) from the tag device to the one tag response receiver unit among the multiple tag response receiver units is derived using the main flight time (ToF1), the known distance and the ultra-wideband tag response frame (TF1-TF18).

8. The real-time positioning method according to any one of claims 1 to 4, further comprising: setting the master time delay (MTD) between the first ultra wideband beacon frame (BF1A-BF6A) and the second ultra wideband beacon frame (BF1B-BF6B) of the interleaved pair based on a master clock provided in the master beacon device (MB), and transmitting an interleaved pair using the master beacon device (MB) in a corresponding time slot of the beacon segment (125); receiving, with one of said one or more beacon repeater devices (BR), said interlaced pair transmitted from said master beacon device (MB); calibrating a repeater clock of one of the one or more beacon repeater devices (BR) relative to the master clock using the received master time delay data (223) between the first ultra wideband beacon frame (BF1A-BF6A) and the second ultra wideband beacon frame (BF1B-BF6B) of the interleaved pair; transmitting an interlaced pair using said one of said one or more beacon repeater devices (BR) in a corresponding time slot of said beacon segment; Receiving, by the tag device to be located, the interlaced pair transmitted from the one beacon repeater device among the one or more beacon repeater devices (BR); Using the master time delay between the first ultra-wideband beacon frame (BF1A-BF6A) and the second ultra-wideband beacon frame (BF1B-BF6B) of the received interleaved pair, calibrate the tag clock of the tag device to be located relative to the master clock; receiving, respectively, with said plurality of tag response receiver units, said interleaved pairs transmitted from said one of said one or more beacon repeater devices (BR); calibrating receiver clocks of the plurality of tag response receiver units relative to the master clock using the master time delay between the first ultra wideband beacon frame (BF1A-BF6A) and the second ultra wideband beacon frame (BF1B-BF6B) of the received interleaved pair; Transmitting an ultra-wideband tag response frame (TF1-TF18) in a time slot (14-31) of the tag response segment (127) associated with the tag device to be located; receiving the tag response frame using the plurality of tag response receiver units; as well as Based on the relative position information of the one beacon repeater device among the one or more beacon repeater devices relative to each of the multiple tag response receiver units, the distance information from the tag device to be located to the one beacon repeater device among the one or more beacon repeater devices and the multiple tag response receiver units is determined.

9. The real-time positioning method according to any one of claims 1 to 4, further comprising: setting the master time delay (MTD) between the first ultra-wideband beacon frame (BF1A-BF6A) and the second ultra-wideband beacon frame (BF1B-BF6B) of the interleaved pair based on a master clock provided in the master beacon device, and transmitting an interleaved pair using the master beacon device (MB) in a corresponding time slot of the beacon segment (125); receiving, with said one or more beacon repeater devices (BR), said interlaced pairs transmitted from said master beacon device (MB); calibrating respective repeater clocks of the one or more beacon repeater devices (BR) relative to the master clock using the received master time delay data (223) between the first ultra wideband beacon frame (BF1A-BF6A) and the second ultra wideband beacon frame (BF1B-BF6B) of the interleaved pair; transmitting an ultra-wideband beacon frame using each of the one or more beacon repeater devices (BR) in a corresponding time slot of the beacon segment (125); Receiving, by a tag device, the ultra-wideband beacon frame transmitted from the one or more beacon relay devices (BR); as well as Based on the relative position information of the main beacon device and the one or more beacon repeater devices, the distance information from the tag device to the main beacon device and each beacon repeater device in the one or more beacon repeater devices is determined by analyzing the arrival time difference of the tag beacon time point (ToA1_T, ToA2_T, ...) at the tag device relative to the corresponding beacon time slot.

10. The real-time positioning method according to any one of claims 1 to 4, wherein in the positioning rate frame, there is at least one of the following: an idle time slot between the beacon segment and the tag response segment, and The random access time slot after the tag response segment.

11. The real-time positioning method according to any one of claims 1 to 4, wherein the time slots in the beacon segment and / or the tag response segment include a buffer time window between ultra-wideband frames of consecutive time slots, the buffer time window is not used to transmit ultra-wideband signals, and / or A time slot length of each of the time slots in the beacon segment and / or the tag response segment is longer than a time slot length of the ultra wideband frame.

12. A real-time positioning system (201) for determining the position of a tag device by time difference of arrival measurement, the real-time positioning system (201) comprising: a) an exchange protocol for sending and receiving UWB frames, The sending and receiving of ultra-wideband frames comprises: An ultra-wideband beacon frame is transmitted from a master beacon device (MB) and one or more beacon repeater devices (BR), wherein the ultra-wideband beacon frame is transmitted as an ultra-wideband beacon frame interlaced pair, wherein each interlaced pair is transmitted from either the master beacon device (MB) or one of the one or more beacon repeater devices (BR), and each interlaced pair includes a first ultra-wideband beacon frame (BF1A-BF6A) and a second ultra-wideband beacon frame (BF1B-BF6B), and For each interlace pair, the first ultra-wideband beacon frame (BF1A-BF6A) and the second ultra-wideband beacon frame (BF1B to BF6B) are transmitted with a master time delay (MTD); Receiving at least one of the interlaced pairs of ultra-wideband beacon frames using the one or more tag devices (T1, T2, ...); receiving, using the one or more beacon repeater devices (BR), at least one of the interlaced pairs of ultra-wideband beacon frames; Receiving at least one of the interleaved pairs of ultra-wideband beacon frames using a tag response receiver unit among a plurality of tag response receiver units (227); sending an ultra-wideband tag response frame from the one or more tag devices (T1, T2, ...), and receiving at least one of the ultra wideband tag response frames using the one tag response receiver unit of the plurality of tag response receiver units (227), and The exchange protocol defines a positioning rate frame format (121), wherein the positioning rate frame format (121) includes: i) a beacon segment (125), comprising a sequence of time slots (1-12; 1'-6'), - wherein the time slots are respectively associated with one of the first ultra-wideband beacon frame (BF1A-BF6A) and the second ultra-wideband beacon frame (BF1B-BF6B) of an interlaced pair, such that the time interval of the time slots associated with each frame of the interlaced pair is given by the primary time delay, and - wherein between the time slots (1, 7; 1', 7') of the first ultra-wideband beacon frame (BF1A) and the second ultra-wideband beacon frame (BF1B) allocated to an open interleaved pair, there is a time slot array (2-6; 2'-6'), the open interleaved pair comprising an initial ultra-wideband beacon frame of the ultra-wideband beacon frames within the beacon segment (125), the time slot array (2-6; 2'-6') being allocated to the first ultra-wideband beacon frames (BF2A-BF6A) of the remaining pairs respectively; and ii) a tag response segment (127), comprising a sequence of time slots (14-31; 7'-16'), wherein the sequence of time slots (14-31; 7'-16') is respectively associated with one of the ultra-wideband tag response frames (TF1, ...); b) A master beacon device (MB) and one or more beacon repeater devices (BR), each comprising: i) a beacon transmission unit (127) configured to transmit two consecutive ultra-wideband beacon frames (BF) in a time slot of the beacon segment associated with one of the interlace pairs, and ii) a master clock (219) defining a master time (t_MB) to ensure the separation of the two ultra-wideband beacon frames is respectively delayed by the master time or a repeater clock (219) calibrated to the master clock (219); c) a plurality of tag devices (T1, T2, ...), each tag device (T1, T2, ...) comprising: i) a tag clock (243) defining a tag time (t_T2) specific to a respective tag device (T1, T2, ...), wherein said tag time is calibrated relative to said master time using said master time delay, ii) a receiving unit (249) configured to receive, in a time slot of the beacon segment, the two consecutive ultra-wideband beacon frames transmitted from the master beacon device (MB) or from one of the one or more beacon repeater devices (BR), and iii) a tag response transmitting unit, configured to transmit an ultra-wideband tag response frame in a time slot of the tag response segment; d) a plurality of tag response receiver units (227), each tag response receiver unit comprising: i) a receiver clock defining a respective receiver time (t_TRR) for said respective tag response receiver unit, wherein said receiver time is calibrated relative to said master time using said master time delay, and ii) wherein each tag response receiver unit is configured to: - receiving the ultra-wideband tag response frame sent from the tag device in the corresponding time slot of the tag response segment; and e) at least one distance determination unit (261, 231), comprising: i) a calculation unit, configured to: for the continuously executed positioning rate frames and for each tag device in the tag devices: - determining a path time period for each tag device in the tag devices, wherein Each path time period is associated with: - any ultra-wideband beacon frame in two consecutive ultra-wideband beacon frames, - the corresponding UWB tag response frame, and - a transmission path from said master beacon device (MR) or one of said one or more beacon repeater devices (BR) to one of said plurality of tag response receiver units (227), - deriving a cumulative flight time period from the path time period to indicate a cumulative signal propagation time of one of the two consecutive UWB beacon frames and the UWB tag response frame along the transmission path, and -Determine a distance value associated with the tag device position from the accumulated flight time period and a plurality of installation position data, wherein the plurality of installation position data represent a distance between each of the plurality of tag response receiver units (227) and the beacon transmitting unit (217) of the master beacon device (MB) or the one of the one or more beacon repeater devices (BR).

13. The real-time positioning system of claim 12, wherein the transmitting and receiving UWB frames are based on an UWB frame format including a start frame entry, and At least one of the receiving unit of the tag device and the tag response receiver unit is configured to detect the start frame entry contained in an ultra-wideband frame and associate a time point with the corresponding ultra-wideband frame; and / or wherein the ultra-wideband frame format includes a payload entry, a reference beacon time slot and / or a reference beacon source on an ultra-wideband reference beacon frame, At least one tag device among the plurality of tag devices (T1, T2, ...) is configured to select one of the ultra-wideband beacon frames received from the master beacon device (MB) and the one or more beacon repeater devices (BR) as the ultra-wideband reference beacon frame, transmit an ultra-wideband tag response frame by temporally referencing the ultra-wideband reference beacon frame, and include information related to the ultra-wideband reference beacon frame, the corresponding reference beacon time slot and / or the corresponding reference beacon source in the ultra-wideband tag response frame, and At least one of the receiving units of the tag response receiver unit is configured to read the payload entry related to the ultra-wideband reference beacon frame, the reference beacon time slot and / or the reference beacon source from the ultra-wideband tag response frame, and communicate the payload entry to the at least one distance determination unit (261, 231).

14. A real-time positioning system according to claim 12 or claim 13, wherein for calibration of a clock to the master time, the tag device, the receiver device or the one or more beacon repeater devices comprises: A calibration and calculation unit is configured to detect the time delay between the time point associated with the first ultra-wideband beacon frame of two consecutive ultra-wideband beacon frames of an interlaced pair and the time point associated with the second ultra-wideband beacon frame of the two consecutive ultra-wideband beacon frames, and adjust the clock time so that the detected time delay corresponds to the main time delay.

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