Multi-sensor system and system for determining a position or orientation

Abstract

The invention relates to a partitioning of signal processing and signal fusion of signals in a multi-sensor system. Individual processing steps or fusions can be implemented in separate sub-units, wherein the individual sub-units are preferably located at the signal source. The invention also relates to a multi-sensor system and a system for determining a position or orientation.

Description

Technical Field

[0001] This invention relates to a multi-sensor system. It also relates to a system for determining position or orientation using such a multi-sensor system. Background Technology

[0002] Currently, various methods and systems are known for determining location or orientation. Data from multiple signal sources can be considered in particular. The individual sampled values, or data, are typically fused and processed in a central computing unit into a unique output sampled value or output data element.

[0003] Document CN101319902 describes a combined positioning and orientation device. In addition to a microelectromechanical sensor, the device includes a GPS receiver and an electronic compass. Summary of the Invention

[0004] This invention discloses a multi-sensor system and a system for determining position and orientation. Other advantageous embodiments are described below.

[0005] Therefore, the following settings are made:

[0006] A multi-sensor system includes a first number of signal sources and a second number of signal processing devices. The signal sources are each designed to provide (discrete) signals corresponding to detected parameters. The signal processing devices are each designed to receive signals from at least one signal source and / or at least one other signal processing device. The signal processing devices are also designed to process, and in particular, fuse, the received signals. Furthermore, the signal processing devices are designed to provide the processed signals to another signal processing device or a final processing device.

[0007] Additional settings:

[0008] A system for determining position or orientation using a multi-sensor system according to the invention.

[0009] Advantages of the present invention

[0010] This invention is based on the knowledge that in a multi-sensor system, signals from various signal sources can be provided at different clock rates or sampling frequencies. The clock rates of the signal sources can be uniform. The signals may vary over time (e.g., depending on temperature) or be discontinuous. If all signal sources are processed in a central computing unit, that unit must be matched to the clock rate at which the signal sources occur most frequently. Furthermore, it may be necessary to convert the sampling rate of signals from sources with time-varying sampling rates so that the signal can be further processed along with other signals. This typically requires high-performance computing units, and consequently, high-power-consumption ones.

[0011] Now, one idea of ​​the present invention is to take this knowledge into account and provide signal processing and signal fusion in a multi-sensor system, which enables the realization of all accumulated signals from various signal sources with the lowest possible latency and high robustness, and where the power consumption is minimized. To this end, one idea of ​​the present invention is to partition / distribute the signal fusion and the overall computation. Here, the partial computation and signal fusion are preferably performed in steps and in multiple separate computation units. Feedback loops may be configured to enable a stable control loop through signal feedback.

[0012] In principle, the various signal sources in a multi-sensor system can provide any data. For example, the data or signals provided by the signal sources can relate to values ​​corresponding to relevant physical parameters. However, it is also possible to receive data, for example, via a radio interface. Thus, for example, highly accurate time information can be received and spatial location can be derived from this time information, as can be achieved, for example, in a global satellite navigation system. In principle, a signal processing device can also be considered as a signal source, for example.

[0013] In a multi-sensor system, each signal source can provide its signal at a different sampling rate or clock frequency. Accordingly, further processing of the corresponding signal must also be matched to that sampling rate or clock frequency.

[0014] If necessary, it may be necessary to first process or fuse signals from multiple signal sources together, and then use the result as an intermediate result for further processing. If necessary, this intermediate result may also require a sampling rate or clock frequency different from the sampling rate or clock frequency of the original sensor signal.

[0015] The fusion of sensor signals or the individual processing steps can be performed by multiple signal processing devices. Therefore, the processing and fusion of signals from multiple signal sources can be divided into multiple smaller units. Each of these smaller units can be individually matched to a corresponding input signal, particularly to a corresponding clock rate or sampling frequency. Since only a very small number of processing operations are required, these operations can be performed particularly efficiently, especially with low latency and low power consumption.

[0016] In this way, the fusion and processing of signals from various signal sources can be divided into multiple smaller units. In particular, cascading arrangements of signal processing devices are also possible. In this case, for example, one or more signal processing devices can first process signals from multiple signal sources, and the results of these signal processing devices can be further passed to one or more other signal processing devices for further processing or fusion. Therefore, pre-processed or fused signals can already be provided at the final processing unit, requiring relatively few operations in the final processing unit. Accordingly, the final processing unit can also perform the required tasks particularly efficiently, with low latency and low power consumption.

[0017] According to one embodiment, the processing of a received signal in a signal processing apparatus includes the fusion of the received signals. Accordingly, the fused signal can be provided to another signal processing apparatus or a final processing apparatus.

[0018] According to one embodiment, the output of the signal processing device can be coupled to the input of a signal processing device arranged prior to it in the signal flow. In this way, feedback in the signal flow between multiple signal processing devices arranged sequentially to each other can be achieved, for example.

[0019] According to one embodiment, each signal processing device preferably processes the signal at the same or at least substantially the same clock rate. Therefore, the processing speed of each signal processing device can be optimally matched to its respective clock rate. If multiple signal sources from a first number of signal sources provide signals at different clock rates or sampling frequencies, these signals can be processed by correspondingly matched different signal processing devices. In particular, signals from multiple signal sources having the same clock rate can be processed, for example, fused, at a common signal processing device.

[0020] According to one embodiment, the signal processing device is designed to provide fused, received data at a clock rate corresponding to the input clock rate of the next initiator (i.e., another signal processing device or a final processing device). In particular, the data output by the signal processing device can be provided at a clock rate corresponding to the minimum required input clock rate of the respective next initiator. In this way, intermediate results from the signal processing device are available at the optimal possible clock rate, or sampling frequency. By reducing the sampling rate to the minimum required sampling rate of the next signal processing device, data can be provided with the required quality without using unnecessarily high sampling rates that could lead to increased power consumption. Where necessary, it may also be meaningful for the downstream signal processing device to at least temporarily disable the upstream signal source and / or the upstream signal processing device. This can further reduce power consumption if necessary.

[0021] According to one embodiment, each of the first number of signal sources is either connected to a signal processing device or directly connected to a final processing device. In this way, the signals from each signal source can be processed in the best possible manner according to their respective characteristics and fused if necessary.

[0022] According to one embodiment, the signal processing apparatus may further include at least one signal source. Therefore, the signal processing apparatus and the signal sources form a common unit. In this way, signals provided by the respective signal sources can be processed directly by the respective signal processing apparatus. Thus, the transmission of unprocessed signals from the signal sources can be eliminated.

[0023] According to one embodiment, the signal processing device or a combination of a signal processing device and a signal source can be implemented as a system-on-a-chip. This enables particularly compact and efficient implementations.

[0024] According to one embodiment, the first number of signal sources may include, for example, a receiver for a Global Navigation Satellite System (GNSS), such as GPS, Galileo, etc.; a mobile radio receiver; a receiver for a local radio network, such as WLAN, Bluetooth, NFC; a magnetic field sensor; a pressure sensor; a rotational speed sensor; an accelerometer; and / or a gyroscope. Furthermore, any other suitable signal sources are of course possible. In particular, signal sources with different accuracies or reliability are possible. The multi-sensor system according to the invention can also efficiently process signal sources that require different overheads in processing, preparing, or fusing sensor data.

[0025] The signal source may also include, in particular, a sensor based on a microelectromechanical system (MEMS). Such a MEMS can be efficiently implemented as a compact common system with the aid of appropriate signal processing devices.

[0026] The above configurations and extensions can be combined arbitrarily, as long as they are meaningful. Signal processing, in particular, can be extended to more than one three-level device for signal processing. Other configurations, extensions, and implementations of the invention include combinations of features of the invention not explicitly mentioned above or below with reference to the embodiments. Those skilled in the art will also readily add individual aspects as improvements or supplements to the corresponding basic forms of the invention. Attached Figure Description

[0027] Other features and advantages of the invention are described below with reference to the accompanying drawings. As shown herein:

[0028] Figure 1 A schematic diagram showing a block diagram of a multi-sensor system according to one embodiment;

[0029] Figure 2 A schematic diagram of a multi-sensor system according to another embodiment is shown;

[0030] Figure 3 A schematic diagram showing a block diagram of a multi-sensor system according to yet another embodiment. Detailed Implementation

[0031] Figure 1 A schematic block diagram of a multi-sensor system 10 according to one embodiment is shown. This example of the multi-sensor system 10 includes four sensors 1-i and two processing devices 2-j. Furthermore, the multi-sensor system 10 may include a final processing device 3. The number of four signal sources 1-i and two signal processing devices 2-j shown herein, as well as the configurations in the following examples, do not represent any limitation on the invention and are merely examples used to illustrate the basic principles of the invention.

[0032] Signal source 1-i can, in principle, involve any suitable signal source capable of providing the desired or required signal. For example, signals from signal source 1-i can involve signals suitable for determining pose (Lage) or position or motion or direction of motion. However, in principle, any other application area is also possible.

[0033] For example, signal source 1-i may include sensors such as pressure sensors, magnetic field sensors, rotation speed sensors, acceleration sensors, gyroscopes, etc. Such sensors can be implemented, for example, as microelectromechanical systems (MEMS). However, any other suitable sensor can also be used as a signal source.

[0034] Furthermore, signal source 1-i can also include any other suitable signal source. For example, signal source 1-i can include a receiver for global satellite navigation systems such as GPS and Galileo. Additionally, a receiver for mobile radio communication systems is also possible, for example. Specifically, such a receiver for mobile radio communication systems can also receive information from a connected base station to, for example, obtain information about location. Furthermore, a receiver for local radio networks such as WLAN, Bluetooth, and NFC (Near Field Communication) is also possible, for example. Specifically, such a receiver can also derive location or motion information from the received data. This information can, for example, be included in the system data of wireless communication. However, location or motion determination based on triangulation or the like is also theoretically possible.

[0035] As can be seen from the previous implementation, the data from each signal source 1-i can have very different shapes. In particular, the data from each signal source 1-i can also have different complexities, different accuracies, or be provided at different clock rates. Furthermore, depending on the type of signal source 1-i, different further processing is required for the corresponding signals.

[0036] Therefore, depending on the signal source 1-i or the characteristics of the provided signal, different further processing and fusion are required for each signal when necessary. For this purpose, multiple signal processing devices 2-j are provided in the multi-sensor system 10. For example, each signal processing device 2-j can directly receive and process signals from one or more signal sources 1-i. Additionally or alternatively, some of the signal processing devices 2-j can also receive and process signals from other signal processing devices 2-j.

[0037] The processing speed and operation performed by the corresponding signal processing device 2-j can be individually matched to the signals received by the respective signal processing device. In particular, the processing speed can be matched to the clock rate at which each signal source 1-i provides its signal. For example, signal processing device 2-j can receive signals from multiple signal sources 1-i and fuse these signals in accordance with the clock rate at which the signals are provided. Furthermore, the processing results of signal processing device 2-j can be provided at a clock rate corresponding to the clock rate desired by the downstream signal processing device 2-j at its input.

[0038] The multi-sensor system 10 may further include a final processing unit 3, which receives output values ​​from signal processing units 2-2 connected to the final processing unit 3, and, if necessary, directly receives signals from signal sources 1-4 connected to the final processing unit, and processes these signals into a desired result. This result may include, for example, the determined position, pose, or direction of motion. However, it should be understood that any other suitable processing result is also possible.

[0039] As in Figure 1 As can be seen, the output of one signal processing device 2-1 can be connected to the input of another signal processing device 2-2. Of course, the multi-sensor system 10 is not limited to having only one signal processing device or, as in... Figure 1 The arrangement shown depicts two signal processing devices 2-j connected in series. Conversely, it is also possible to have more than two signal processing devices 2-j connected sequentially to each other. Thus, for example, three, four, five, or more signal processing devices 2-j may be arranged between each signal source 1-i and the final processing device 3.

[0040] Alternatively, it is also possible, for example, that the output of a signal processing device 2-j is coupled to the input of a signal processing device 2-j that is previously arranged in the signal flow. In this way, for example, feedback in the signal flow can be achieved.

[0041] Figure 2 A schematic block diagram of a multi-sensor system 10 according to another embodiment is shown. For better illustration, this multi-sensor system 10 relates to a system for determining position or orientation. However, as previously stated, the invention is not limited to such applications.

[0042] according to Figure 2 The embodiment includes a first signal processing unit 2-1 that receives, processes, and fuses signals from the accelerometer 1-1, the temperature sensor 1-2, and the gyroscope 1-3. For example, the first signal processing unit 2-1 can be implemented as a common unit with the accelerometer 1-1, the temperature sensor 1-2, and the gyroscope 1-3. For example, all components can be implemented as a system-on-a-chip on a common chip. The result of fusing the signals from the accelerometer 1-1, the temperature sensor 1-2, and the gyroscope 1-3 can then be combined with signals from the magnetic field sensor 1-4 and the pressure sensor 1-5 using a second signal processing unit 2-2. This fused result can then be provided to a final processing unit 3, which also receives other signals, such as signals from the GNSS receiver 1-6 and / or the radio system receiver 1-7.

[0043] Figure 3A schematic diagram showing a block diagram of a multi-sensor system 10 according to yet another embodiment is provided. Figure 3 The structure of the multi-sensor system 10 described herein is similar to that previously described. Figure 2 The multi-sensor system 10 in the middle corresponds to this. Figure 3 The difference between this embodiment and the previously described embodiment is that the signals from the GNSS receivers 1-6 are not directly provided to the final processing device 3, but are preprocessed first by means of the second signal processing device 2-2.

[0044] In summary, the present invention relates to the segmentation of processing sensor signals in a multi-sensor system. For this purpose, for example, the computation or signal fusion of signal sources (e.g., sensors) can be divided into multiple smaller steps. Therefore, suitable separate signal processing devices can be used for each sub-computation and sub-signal fusion. Preferably, the first processing of the signal is located at the corresponding signal source. In particular, therefore, only a minimum amount of information can be transmitted from one signal source or one signal processing device to the next mechanism (i.e., another signal processing device or the final processing device).

Claims

1. A multi-sensor system (10) having: A first number of signal sources (1-i), each of which is designed to provide a signal corresponding to the detected parameter; The second number of signal processing devices (2-j) are designed to: receive signals from at least one signal source (1-i) and / or at least one signal processing device (2-j), process the received signals, and provide the processed / fused signals to another signal processing device (2-j) or a final processing device (3). in, The processing of the received signal in the signal processing device (2-j) includes the fusion of the received signal. The signal processing device (2-j) is designed to process input signals having the same or at least substantially the same clock rate. The signal processing device (2-j) is designed to provide the fused, received signal at a clock rate that corresponds at least to the minimum required input clock rate of the corresponding other signal processing device (2-j) or the final processing device (3) provided with the fused, received signal.

2. The multi-sensor system (10) according to claim 1, wherein, The output of a signal processing device (2-j) is coupled to the input of a signal processing device (2-j) that is arranged first in the signal stream.

3. The multi-sensor system (10) according to claim 1 or 2, wherein, Each of the first number of signal sources (1-i) is either connected to one of the second number of signal processing devices (2-j) or to the final processing device (3).

4. The multi-sensor system (10) according to claim 1 or 2, wherein, The signal processing device (2-j) further includes at least one signal source (1-i).

5. The multi-sensor system (10) according to claim 1 or 2, wherein, The signal processing device (2-j) is implemented as a system-on-a-chip, or the combination of the signal processing device (2-j) and the signal source (1-i) is implemented as a system-on-a-chip.

6. The multi-sensor system (10) according to claim 1 or 2, wherein, The first number of signal sources (1-i) include receivers for global satellite navigation systems, mobile radio receivers, receivers for local radio networks, magnetic field sensors, pressure sensors, rotation speed sensors, acceleration sensors, and / or gyroscopes.

7. A system for determining position or orientation, the system having a multi-sensor system (10) according to any one of claims 1 to 6.

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