Positioning system with uwb infrastructure and discovery infrastructure

Abstract

In one aspect, a positioning system (101) for interacting with a positioning sensor (109) comprises an ultra-wideband infrastructure (103), a discovery infrastructure (105), and a controller (107). The ultra-wideband infrastructure enables positioning and comprises a plurality of fixed transmitters configured to transmit ultra-wideband beacon signals (BF1, BF2) into a positioning zone (115). The discovery infrastructure performs wireless communication of infrastructure data about the ultra-wideband infrastructure to the positioning sensor (109). The discovery infrastructure comprises at least one discovery signal transceiver (105A, 105B) configured to receive a discovery advertisement signal (121) transmitted from the positioning sensor and to send a preset signal comprising the infrastructure data in response. The controller controls operation of the ultra-wideband infrastructure and of the discovery infrastructure, a data store (107B) stores infrastructure data needed for operating the positioning sensor in accordance with an ultra-wideband framing protocol, and a processor (107A) controls the at least one discovery signal transceiver to send the preset signal.

Description

TECHNICAL FIELD

[0001] The present disclosure generally relates to a positioning system for positioning trackable objects, e.g. in an indoor environment. In particular, the present disclosure relates to a positioning system enabling system-based ultra-wideband (UWB) positioning and UWB self-positioning within a positioning zone. BACKGROUND

[0002] Knowing the position of a trackable object is the basis for location-aware use cases in industrial applications like smart production and smart logistics scenarios. In particular, information about the position of a trackable object can be crucial for software applications operating in a manufacturing environment in a so-called smart factory. For this purpose, various types of positioning technologies have been developed. The positioning technologies presented herein include software- and hardware-based systems that allow for positioning (trackable) objects indoors, e.g. within a building. The positioning technologies can use wireless signals like pulsed radio ultra-wideband (UWB), Bluetooth Low Energy (BLE), WLAN / WiFi communication, 5G or any other means like magnetic fields, inertial sensors to position the objects.

[0003] For positioning a trackable object using UWB communication, i.e. exchanging UWB signals, the run-time of UWB signals between the trackable object and components of the UWB infrastructure of the positioning system is measured to determine the respective distances. Aspects to be considered when operating a UWB positioning system include the positioning accuracy, the frequency at which positioning can be performed (also referred to as positioning rate herein) and the number of trackable objects that can be subject to the UWB positioning system.

[0004] In location-aware use cases, objects can be brought into a positioning zone that is covered by a certain type of positioning service. Then, the position of the objects is tracked and the position data is used in certain applications related to the objects.

[0005] It is an object of the present disclosure, among others, to enable integration of a trackable object into a UWB positioning system installed for a given positioning zone. This object specifically relates to a trackable object that can be operated in at least one of two modes of ultra-wideband positioning operation, wherein a first mode requires transmitting an ultra-wideband response signal from the trackable object and a second mode requires computing position information based on an ultra-wideband beacon signal received by the trackable object. In this sense, the trackable object functions as a positioning sensor in both modes of operation.

[0006] Further, it is an object of the present disclosure to enable integration of a positioning sensor into a positioning system at different positioning rates by providing a certain UWB framing protocol.

[0007] Furthermore, the concepts disclosed herein aim to facilitate seamless positioning services across different positioning technologies.

[0008] Accordingly, the present disclosure relates at least in part to improving or overcoming one or more aspects of existing systems. SUMMARY

[0009] In a first aspect, the present disclosure relates to a positioning system for interacting with a positioning sensor, the positioning sensor being capable of operating in an ultra-wideband positioning mode of operation requiring computation of position information based on ultra-wideband beacon signals received by the positioning sensor. The positioning system comprises:

[0010] an ultra-wideband infrastructure configured to enable positioning for the ultra- wideband positioning mode of operation, the ultra-wideband infrastructure comprising a plurality of fixed transmitters configured to transmit ultra-wideband beacon signals into a positioning zone;

[0011] a discovery infrastructure configured to perform wireless communication of infrastructure data about the ultra-wideband infrastructure to the positioning sensor, the discovery infrastructure comprising at least one discovery signal transceiver configured to receive a discovery advertisement signal transmitted from the positioning sensor and to send a provisioning signal comprising the infrastructure data in response; and

[0012] a controller configured to control operation of the ultra-wideband infrastructure and of the discovery infrastructure, wherein the controller comprises a processor and a data memory. The data memory is configured to store infrastructure data required for operating the positioning sensor in the ultra-wideband positioning mode of operation in accordance with an ultra-wideband framing protocol, and the processor is configured to control the at least one discovery signal transceiver to send the provisioning signal.

[0013] In another aspect, a method for interacting with a positioning sensor is disclosed, the positioning sensor being capable of operating in at least one of two ultra-wideband positioning modes of operation within an ultra-wideband infrastructure, the two ultra-wideband positioning modes of operation comprising a first mode and a second mode, wherein the first mode requires transmission of an ultra-wideband response signal from the positioning sensor, and the second mode requires computation of position information based on ultra-wideband beacon signals received by the positioning sensor. The method comprises:

[0014] storing infrastructure data about the ultra-wideband infrastructure required for operating the positioning sensor in the two ultra-wideband positioning modes of operation;

[0015] The operation of the discovery infrastructure to perform a wireless communication of the infrastructure data to the positioning sensor, the wireless communication comprising:

[0016] - receiving a discovery advertisement signal transmitted from the positioning sensor, and

[0017] - in response sending a provisioning signal comprising the infrastructure data; and

[0018] The operation of the ultra-wideband infrastructure to enable the positioning in the first mode and in the second mode by:

[0019] In case of the first mode,

[0020] - transmitting, with a plurality of fixed transmitters, an ultra-wideband beacon signal into a positioning area;

[0021] - receiving, with a plurality of fixed receivers, the ultra-wideband beacon signal and an ultra-wideband response signal transmitted from the positioning sensor if the positioning sensor is operated in the first mode;

[0022] - receiving, from the plurality of fixed receivers, timing information for the ultra-wideband beacon signal and the ultra-wideband response signal;

[0023] - calculating, from the timing information, position data of the positioning sensor within the positioning area; and

[0024] - outputting the position data for use in at least one industrial application;

[0025] or

[0026] In case of the second mode,

[0027] - transmitting, with a plurality of fixed transmitters, an ultra-wideband beacon signal into the positioning area.

[0028] In another aspect, a method for operating a positioning sensor within an ultra-wideband infrastructure is disclosed. The method comprises:

[0029] receiving, with the positioning sensor, infrastructure data about the ultra-wideband infrastructure from a discovery infrastructure by a wireless communication, wherein the infrastructure data is configured for operating the positioning sensor within the ultra-wideband infrastructure, and wherein the wireless communication comprises:

[0030] - transmitting, with the positioning sensor, a discovery advertisement signal, and

[0031] - receiving, with the positioning sensor, a provisioning signal comprising the infrastructure data in response to the discovery advertisement signal;

[0032] receiving, with the positioning sensor, ultra-wideband beacon signals transmitted from a plurality of fixed transmitters of the ultra-wideband infrastructure;

[0033] transmitting, with the positioning sensor, an ultra-wideband response signal at a response time point set using the infrastructure data with respect to a reception time point of the ultra-wideband beacon signals in response to the ultra-wideband beacon signals.

[0034] In another aspect, a method for operating a positioning sensor in an ultra-wideband positioning operation mode for calculating position information by the positioning sensor is disclosed. The method comprises:

[0035] receiving, with the positioning sensor, infrastructure data on an ultra-wideband infrastructure from a discovery infrastructure by wireless communication, wherein the infrastructure data is configured for operating the positioning sensor in the ultra-wideband positioning operation mode within the ultra-wideband infrastructure, and wherein the wireless communication comprises:

[0036] - transmitting, with the positioning sensor, a discovery advertisement signal, and

[0037] - receiving, with the positioning sensor, a pre-set signal comprising the infrastructure data in response to the discovery advertisement signal;

[0038] receiving, with the positioning sensor, ultra-wideband beacon signals transmitted from a plurality of fixed transmitters of the ultra-wideband infrastructure;

[0039] deriving, with the positioning sensor, timing information from the ultra-wideband beacon signals; and

[0040] calculating, with the positioning sensor, position data of the positioning sensor from the timing information using the infrastructure data.

[0041] In another aspect, a positioning system for interacting with a plurality of positioning sensors is disclosed. Each positioning sensor can be operated in at least one of two ultra-wideband positioning operation modes. The two ultra-wideband positioning operation modes comprise a first mode and a second mode, wherein the first mode requires transmitting an ultra-wideband response signal from the positioning sensor, and the second mode requires calculating position information based on ultra-wideband beacon signals received by the positioning sensor. The positioning system comprises:

[0042] an ultra-wideband infrastructure configured to enable the positioning for each of the two ultra-wideband positioning operation modes. The ultra-wideband infrastructure comprises:

[0043] - a plurality of fixed transmitters configured to transmit ultra-wideband beacon signals into a positioning area; and

[0044] - a plurality of fixed receivers configured to receive ultra-wideband beacon signals and ultra-wideband response signals transmitted from a first group of positioning sensors operating in a first mode;

[0045] a discovery infrastructure configured to perform a wireless communication of infrastructure data about the ultra-wideband infrastructure to the positioning sensors. The discovery infrastructure comprises:

[0046] - at least one discovery signal transceiver configured to receive a discovery advertisement signal transmitted from one of the positioning sensors and to send a pre-set signal comprising the infrastructure data in response; and

[0047] a controller for controlling the operation of the ultra-wideband infrastructure and of the discovery infrastructure. The controller comprises a processor, a data memory and a data output structure. The data memory is configured to store the infrastructure data required for operating the positioning sensors in at least one of the two ultra-wideband positioning modes of operation, and the processor is configured to:

[0048] - receive timing information for the ultra-wideband beacon signals and the ultra-wideband response signals and to calculate from the timing information position data of the first group of positioning sensors within the positioning area; and

[0049] - output the position data at the data output structure (107C) for use in at least one industrial application.

[0050] Further embodiments of the above aspects are disclosed in the claims, which are incorporated herein by reference.

[0051] For example, in some embodiments, the infrastructure data can comprise at least one of:

[0052] - information of the position of the fixed transmitters within the positioning area;

[0053] - timing information about the ultra-wideband beacon signals transmitted from the fixed transmitters. Additionally or alternatively, the discovery infrastructure can be further configured to receive information about the positioning sensors from the controller.

[0054] In some embodiments, the at least one discovery signal transceiver can be configured to wirelessly receive or transmit at least one of:

[0055] - a discovery advertisement signal configured to initiate a wireless communication with a particular one of the positioning sensors entering the positioning area;

[0056] - a pre-set signal configured to provide the infrastructure data to the particular one of the positioning sensors; or

[0057] - a closing signal configured to close the ultra-wideband communication when the particular one of the positioning sensors leaves the respective positioning zone.

[0058] In some embodiments, the at least one discovery signal transceiver can be configured to communicate wirelessly in a frequency range of about 2.4 GHz and can in particular be configured to use an exchange protocol based on Bluetooth, Bluetooth Low Energy or Zigbee.

[0059] In some embodiments, the area associated with the controller can be divided into a plurality of zones, and a first zone of the plurality of zones is associated with

[0060] - a first subset of the plurality of fixed transmitters; (- a first subset of the plurality of fixed receivers; ) and

[0061] - a first discovery signal transceiver for communicating infrastructure data associated with the first zone;

[0062] a second zone of the plurality of zones is associated with

[0063] - a second subset of the plurality of fixed transmitters; (- a second subset of the plurality of fixed receivers; ) and

[0064] - a second discovery signal transceiver for communicating infrastructure data associated with the second zone, and

[0065] wherein, optionally, the second discovery signal transceiver is configured to communicate to the first discovery signal transceiver that a positioning sensor has received the infrastructure data associated with the second zone. In some embodiments, the processor can have installed thereon a computer program which, when executed, performs a calculation of a position based on time-of-flight measurements associated with the positioning sensors of the first group of positioning sensors.

[0066] In some embodiments, the positioning sensor can be one of a plurality of positioning sensors capable of operating in at least one of two ultra-wideband positioning operation modes. The two ultra-wideband positioning operation modes include a first mode and a second mode, wherein the first mode requires the transmission of an ultra-wideband response signal from the positioning sensor, and the second mode is a positioning mode requiring the calculation of position information based on an ultra-wideband beacon signal received by the positioning sensor, wherein:

[0067] The ultra-wideband infrastructure can further comprise:

[0068] - a plurality of fixed receivers configured to receive ultra-wideband beacon signals and ultra-wideband response signals transmitted from a first group of positioning sensors operating in the first mode of operation; and

[0069] The controller can further comprise a data output structure, wherein the data memory is configured to store the infrastructure data required for operating the positioning sensors in the two ultra-wideband positioning modes of operation, the processor can further be configured to:

[0070] - receive timing information for the ultra-wideband beacon signals and the ultra-wideband response signals and compute from the timing information position data of the first group of positioning sensors (109) within the positioning area; and

[0071] - output the position data at the data output structure for use in at least one industrial application.

[0072] In some embodiments, the infrastructure data can further comprise at least one of:

[0073] - information of positions of the fixed receivers within the positioning area;

[0074] - a time slot number associated with a respective one of the positioning sensors to operate it in the first mode of the ultra-wideband positioning modes of operation;

[0075] - a positioning rate associated with a respective one of the positioning sensors; or

[0076] - a type of the ultra-wideband positioning mode of operation that can be used to operate a respective one of the positioning sensors. Alternatively or additionally, one of the plurality of fixed transmitters and one of the plurality of fixed receivers can be implemented as a transceiver configured to receive the ultra-wideband beacon signals and the ultra-wideband response signals and to transmit an ultra-wideband repeater beacon signal.

[0077] In some embodiments, one of the plurality of fixed transmitters and one of the plurality of fixed receivers can be configured to:

[0078] - a fixed transceiver mounted at a fixed position in the positioning area, or

[0079] - a mobile transceiver forming a positioning sensor operating in the first mode, wherein the mobile transceiver is positioned in the positioning area and does not move during execution of the ultra-wideband positioning operation.

[0080] In some embodiments, the plurality of fixed transmitters can be configured to transmit the ultra-wideband beacon signals according to an ultra-wideband framing protocol defining an ultraframe to comprise:

[0081] - a predefined number of beacon slots,

[0082] - a predefined number of ranging slots, which are separated from the beacon slots by a predefined number of forbidden slots, and

[0083] - at least one rendezvous slot.

[0084] In some embodiments, the plurality of fixed transmitters can be configured to transmit ultra-wideband beacon signals according to an ultra-wideband framing protocol, which includes up to several hundreds of slots, such as 200 to 400 slots, in a superframe structure, based on which the positioning sensors operate in a first mode to transmit ultra-wideband response signals at a plurality of positioning rates, in particular including 8 Hz, 1 Hz and 0.2 Hz.

[0085] In some embodiments, the second mode can be set to perform self-positioning at a positioning rate given by the duration of a superframe or less; and / or

[0086] wherein the ultra-wideband framing protocol defines a superframe to include a predefined number of beacon slots, and

[0087] by using a plurality of selected superframes of the superframes in the superframe for one of the plurality of positioning rates associated with a ranging slot; and

[0088] wherein, optionally, each superframe is used for the highest positioning rate and a subset of equally spaced superframes is used for other positioning rates.

[0089] In some embodiments, the positioning system can further include at least one of:

[0090] a plurality of positioning sensors, each configured to wirelessly communicate with the discovery infrastructure to receive the infrastructure data; and operate in at least one of the two ultra-wideband positioning operation modes, or

[0091] at least one further mobile device, which is configured to wirelessly communicate with the discovery infrastructure to receive the infrastructure data; and compare the infrastructure data with environmental data, which the mobile device obtains by imaging its environment with an image acquisition system.

[0092] Further, in some embodiments of the ultra-wideband infrastructure, a fixed transmitter can be combined with a fixed receiver. For example, the respective functions can be provided with a transceiver, which is capable of receiving the ultra-wideband response signals and the ultra-wideband (master) beacon signals and transmitting the ultra-wideband (repeater) beacon signals.

[0093] Other features and aspects of the present disclosure will become apparent from the following description and the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0094] The accompanying drawings incorporated herein and constituting a part of the specification, illustrate exemplary embodiments of the present disclosure and serve to explain the principles of the present disclosure. In the drawings:

[0095] Figure 1 is a schematic illustration of an exemplary architecture for acquiring location information and using the location information in industrial applications;

[0096] Figure 2 is a schematic illustration of an exemplary "network topology" for UWB positioning;

[0097] Figure 3 is a flowchart of an exemplary auto-discovery process;

[0098] Figure 4 is an illustration of an exemplary UWB framing concept;

[0099] Figure 5A is a flowchart illustrating a method of positioning using two modes of operation;

[0100] Figure 5B is an illustration of an exemplary UWB signal exchange;

[0101] Figure 6 is a schematic illustration of an exemplary UWB positioning system; and

[0102] Figure 7 is a schematic flowchart of discovery and UWB positioning. DETAILED DESCRIPTION

[0103] The following is a detailed description of exemplary embodiments of the present disclosure. The exemplary embodiments described therein, and illustrated in the accompanying drawings, are intended to teach the principles of the present disclosure, with the understanding that the present disclosure is to be considered as a broad teaching of the principles of the present disclosure to be broadly applied, and is to be used only as a basis for the constructing a broadly conceived and fairly claimed patent. The exemplary embodiments are intended to save those skilled in the art from having to make such numerous and diverse modifications to the present disclosure as required by the particular applications.

[0104] The present disclosure is based, in part, on the recognition that advancing indoor positioning in industrial applications requires a flexible and open architecture. As a requirement of this architecture, it is recognized that a combination of various types of positioning technologies should be possible. Further, if all positioning technologies output location information to a common hub, the hub can enable the location information to be used for industrial applications. Thus, it is further recognized that a particular hub structure can provide an interface between the positioning technologies and the industrial applications.

[0105] As the size of the localization area covered by a single localization system is limited, it is further recognized that the architecture needs to allow for objects to be tracked to smoothly enter and exit the localization system. It is recognized that this can be supported by a discovery procedure provided by a specific discovery infrastructure that is part of the localization system. For example, the discovery infrastructure can enable integration of objects entering a specific localization area of a UWB localization system.

[0106] It is further recognized that providing multiple localization rates within one UWB localization system can allow for increasing the number of objects tracked by the UWB localization system while still tracking each object at a localization rate that is sufficient for its purpose.

[0107] In the following, the concepts of providing localization services in multiple localization areas across different localization systems using multiple localization technologies are described in connection with Figure 1 The concepts of providing localization services in multiple localization areas across different localization systems using multiple localization technologies are described in connection with Figure 2 UWB localization is described as an example. UWB localization in particular uses an automatic discovery procedure explained in connection with Figure 3 and allows for integration of multiple localization sensors (trackable objects) that can operate at different localization rates. The concepts of providing localization services in multiple localization areas across different localization systems using multiple localization technologies are described in connection with Figure 4 and Figure 5A and Figure 5B System-based localization and self-localization are explained in connection with Figure 6 An exemplary localization system is described in connection with Figure 7 An exemplary flowchart illustrating the discovery and UWB localization procedure is described in connection with

[0108] Referring to the schematic illustration shown in Figure 1 various types of localization technologies 1 can be used to provide location data for industrial applications 3 such as asset tracking 3A, manufacturing control 3B, anti-collision monitoring 3C, and (indoor) navigation 3D.

[0109] Examples of localization technologies 1 are, for example, based on RFID, 5G, UWB, BLE, and GPS, which are exemplary setups in respective localization areas 1A, 1B, 1C, 1D, and 1E (2D or 3D spatial regions subject to the localization technology).

[0110] A central software system 5 can act as a hub between the localization technologies 1 and the industrial applications 3. For example, the central software system 5 can manage via a first open interface 5A various localization areas 1A, 1B, 1C, 1D, and 1E covered by different localization technologies (e.g. within a production site). While the localization areas 1A, 1B, 1C, 1D, and 1E can be covered by a specific type of localization technology, the localization areas 1A, 1B, 1C, 1D, and 1E can alternatively at least partially overlap.

[0111] Furthermore, the central software system 5 can provide a second open interface 5B to the various industrial applications 3.

[0112] As further illustrated for the operation of a UWB positioning system within the (UWB) positioning zone 1C, the positioning system can comprise a controller 7 providing data to the first open interface 5A. The controller 7 can further provide a UWB interface 7A to various components of the UWB positioning system, such as stationary devices and mobile devices with positioning sensors. Figure 1 Examples of mobile devices using positioning sensors to create location information are schematically indicated: a UWB tag 9A, an automated guided vehicle (AGV) 9B, a flying object 9C (e.g. a drone), and a self-localization sensor 9D configured to perform self-localization calculations within a UWB environment.

[0113] A positioning sensor is a trackable object or simply trackable. A positioning sensor is also referred to as a mobile locator sensor, mobile locator, marker, (mobile) tag, tag device, or mobile unit. For example, a positioning sensor can be implemented as a mobile tag with an electronic ink display to be attached to a component to be tracked. A positioning sensor can further be implemented as a worker’s smart watch, e.g. within an automated guided device like the AGV 9B or the drone 9C. A positioning sensor typically comprises one or more positioning electronics comprising electronic circuitry and electronic components (such as receivers, transmitters, antennas) for UWB positioning and radio data communication (such as radio BLE or WiFi communication). A positioning sensor can optionally further comprise a GPS system for outdoor positioning. A positioning sensor can comprise various optional features such as a display (e.g. an electronic ink display), a fastening system for attachment to an object / person to be tracked, a battery, a processor, a data storage device, etc.

[0114] The mentioned self-localization sensor 9D is a special type of positioning sensor which comprises a processor configured to compute the position of the self-localization sensor from received UWB signals by itself. Such sensors can typically be used for self-localization on flying objects 9C like drones or AGVs like the AGV 9B. To improve the positioning accuracy, these autonomously movable objects can typically also use other mobile sensor(s) like inertial sensors, and can use sensor fusion of the UWB self-localization and these other sensor(s).

[0115] The central software system 5 comprises a processor 5' that receives position information about various objects as generated by respective positioning techniques and that translates the position information of objects tracked within a positioning area into, for example, global "geo" coordinates. Thereby, the position information can be used in a wide variety of respective applications.

[0116] In this context, the concept disclosed herein aims at unifying indoor positioning techniques by providing position data about objects via a common application interface embodied by the central software system 5. Thereby, the concept disclosed herein can further enable location-based services for industrial applications performed in manufacturing execution systems (MES), warehouse management systems, etc.

[0117] Reference is made to Figure 2 The "network topology" (configuration) for the UWB positioning system 101 comprises a Ultra-Wide Band (UWB) infrastructure 103, a discovery infrastructure 105 and a controller 107, see schematic overview of Fig. 1. Different components can be structurally combined where feasible; for example, the UWB infrastructure 103 and the discovery infrastructure 105 can be based on common structural components.

[0118] The UWB positioning system 101 represents a positioning technology based on radio exchanges between UWB-enabled devices (positioning sensors / trackable objects 109) to be tracked and components of the UWB infrastructure 103. The UWB infrastructure 103 is a positioning infrastructure configured to enable UWB signal exchanges between transmitters, receivers and transceivers based on a UWB framing protocol. The UWB framing protocol defines the underlying UWB procedures for positioning / ranging / position determination. The UWB procedures can be a synchronous Time Division Multiple Access (TDMA) protocol. TDMA allows multiple devices to share the same frequency channel by dividing the communication into different time slots at which various components like positioning sensors and UWB transmitters (or UWB transceivers) are supposed to transmit UWB signal frames like UWB beacon signal frames / signals or UWB response frames / signals.

[0119] Generally, the UWB air interface is described in IEEE standard 802.15.4, including the basic way in which a UWB chip can communicate with another UWB chip. The UWB infrastructure 103 described herein can be applied on top of different types of UWB chip communication schemes, including those compliant with e.g. UWB standards like IEEE standard 802.15.4 and especially including the latest versions of IEEE 802.15.4z.

[0120] The operation of the UWB positioning system 101 is based on the precise measurement of the well-defined transmission time points of the UWB signal from the transmitter and the reception time points at the receiver. Precise timing of the transmission and reception of the UWB signal is required to allow measurements such as time of flight (ToF) measurements (also known as time of arrival (ToA) measurements) or time difference of arrival (TDoA) measurements to be performed with the desired accuracy.

[0121] exist Figure 2 In FIG, the "network topology" of the UWB infrastructure 103 supports a master unit 103A managed by a root device 111A. The root device 111A ensures time synchronization between any transmitters, receivers and transceivers of the master unit 103A. Synchronization can be achieved, for example, by sending beacon frames BF at regular time intervals. Synchronization with the root device 111A is achieved in Figure 2 Indicated by line S_A.

[0122] In addition to the root device 111A, the master unit 103A may also include a plurality (e.g., up to 63) of additional fixed devices, such as a fixed receiver 113 and a relay transceiver 111B. All of these devices are positioned so that they can receive beacon frames transmitted by the root device 111A. The root device 111A may be placed, for example, at a location within a manufacturing plant.

[0123] Master unit 103A is associated with a positioning zone 115, which is defined by the locations of root device 111A, fixed receiver 113, and relay transceiver 111B if operating as part of master unit 103A. Within positioning zone 115, positioning is performed based on these infrastructure components of master unit 103A. Fixed receiver 113 and relay transceiver 111B are also referred to as anchors because they are typically installed at fixed locations within positioning zone 115. Preferably, root device 111A is positioned within line of sight with the fixed devices of master unit 103A to provide a good UWB synchronization link and, therefore, good positioning accuracy.

[0124] For example, the beacon frame transmitted by the root device 111A may not be received throughout the entire manufacturing plant. This may occur if the location of the fixed device is not within line of sight or if the distance is too far. Figure 2 As indicated in , the mentioned relay transceiver 111B can relay beacon frames, i.e. act as a beacon repeater to set up the subunit 103B via synchronization of the further fixed receiver 113 (and optionally further relay transceivers) with the relay transceiver 111B. Figure 2 Indicated by line S_B. A plurality of subunits 103B, 103C may be arranged in this manner.

[0125] The positioning sensors 109 also receive beacon frames in order to become time synchronized. The positioning sensors 109 can receive the beacon frames from one of the root device 111A or the relay transceiver 111B depending on their location.

[0126] As described in connection with Figure 4 The number of relay devices that can be used depends on the UWB framing protocol and in particular on the setup of the superframe.

[0127] The controller 107 can be set up as a computer server system that is data connected to the stationary devices via LAN and / or WLAN connections 108. The controller 107 comprises a processor 107A and a data storage 107B; and is configured to process information received from the stationary devices, to provide setting information to the stationary devices, and to store information on the stationary devices, i.e. on the UWB infrastructure. The controller 107 is implemented as an analyzer that is configured to receive timing information for the ultra-wideband beacon signals and the ultra-wideband response signals from the positioning sensors and to calculate the positions of these positioning sensors from the timing information. For example, a computer software program executed on the processor 107A can calculate the positions of the positioning sensors 109, e.g. based on a time-of-flight method. The computer software program can be a locally installed software or part of a centralized control system, e.g. of a production or logistics site.

[0128] The controller 107 can access a data table of the stationary devices (e.g. stored on the data storage 107B) that comprises position data of the stationary devices in the positioning zone(s). This table is used to calculate the respective position data of the positioning sensors 109. Knowing the relative positions of the stationary devices in the positioning zone(s), in particular a fixed ToF value between the root device 111A and the relay transceiver 111B can be calculated.

[0129] On this basis, when the positioning sensors 109 perform a UWB signal exchange with the stationary devices, the controller 107 can calculate the position data for the positions of the positioning sensors 109 even though no time stamp is sent with the UWB signals.

[0130] The controller 107 further has an output structure 107C (output interface) and outputs the position data at the data output structure 107C in a standardized format used in at least one industrial application, e.g. via a first open interface 5A shown in Figure 1

[0131] ​Similarly, the self-localizing sensor can execute a computer software program in its processor. The computer software program accesses a similar data table of fixed devices with corresponding locations. The computer software program is adapted to a specific UWB framing protocol and can derive the self-localizing sensor's self-localizing sensor "on-board" location.

[0132] The UWB infrastructure of the UWB positioning system 101 disclosed herein is based on a pulsed radio signaling scheme using UWB pulses (such as band-limited pulses) given by a UWB framing protocol. The UWB infrastructure can support at least one operating frequency band, wherein one or more channels can be used. In particular, the UWB channels can use in the range from 3 GHz to 10 GHz (e.g., in the range from 3.244 GHz to 4.742 GHz or from 5.944 GHz 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 A: 3.5 GHz (bandwidth 500 MHz), Channel B: 4 GHz (bandwidth 500 MHz), Channel C: 4.5 GHz (bandwidth 500 MHz), Channel D: 4 GHz (bandwidth 1000 MHz).

[0133] Channels A to C can have a bandwidth of 500 MHz, resulting in radio pulses with a width of 2 ns. The pulses are transmitted with a repetition rate of about 64.10 ns between two pulses (referred to as pulse repetition period). A pulse packet (sequence) can comprise, for example, 127 pulses, resulting in a duration associated with a symbol of about 8 μβ. The UWB framing protocol can use at least three channels, which are supported by defined pulse spreading codes within the pulse packet (sequence) contributing to a symbol.

[0134] The UWB framing protocol can use differential binary phase shift keying (DBPSK) of coherent receivers. DBPSK is based on a change of polarity between two consecutive pulses. For the UWB infrastructure, this requires that the UWB transmitter is able to program the polarity of the transmitted pulses and that the UWB receiver is able to read the polarity of the pulses.

[0135] For example, an exemplary UWB positioning system with UWB infrastructure and UWB frame format is disclosed in International Patent Application PCT / IB2019 / 000745 entitled “ULTRA-WIDEBAND LOCATION SYSTEMS AND METHODS” filed by BeSpoon SAS on April 19, 2019, the entire contents of which are incorporated herein in their entirety. In addition, International Patent Application PCT / IB2019 / 000745 discloses a server / system-based positioning and a mobile device-based self-positioning. Further details of the mobile device-based self-positioning are disclosed, for example, in International Patent Application PCT / FR2019 / 052514 entitled “ULTRA-WIDEBAND INDOOR LOCATION SYSTEMS AND METHODS” filed by BeSpoon SAS on October 22, 2019, the entire contents of which are incorporated herein in their entirety.

[0136] Referring again to Figure 2 , it is found that the infrastructure 105 is part of the positioning system 101. The infrastructure 105 opens the positioning system 101 to any positioning sensor that is technically able to follow the UWB framing protocol without the need to pre-install a configuration according to the UWB framing protocol. It should be noted that for positioning sensors that specifically only want to operate within a single positioning zone, this information can be pre-installed in the positioning sensor.

[0137] However, giving a positioning sensor access to a UWB positioning system specifically requires that the positioning sensor is identified, knows the organization of the UWB positioning system and is assigned its role within the UWB infrastructure. The required exchange of information can be transmitted between the UWB positioning system and the positioning sensor using a short-range wireless data exchange communication system, functionally referred to herein as the discovery infrastructure 105.

[0138] The discovery infrastructure 105 comprises a discovery signal transceiver 105A configured to wirelessly communicate, preferably in the frequency range of 2.4 GHz, with a corresponding paired discovery signal transceiver provided at the positioning sensor 109. For example, the discovery infrastructure 105 can use an exchange protocol based on Bluetooth, Bluetooth Low Energy (BLE) or Zigbee Alliance. The data connection is schematically indicated by the arrow 106.

[0139] It should be noted that although in Figure 2The discovery infrastructure 105 is specifically shown as a separate structural unit for illustration purposes, but the discovery infrastructure 105 can be installed within components of the UWB positioning system 101 like the root device 111 A, the stationary receivers 113 and the relay transceivers 111 B. These components can be set up as electronics, for example, that can have various types of communication technology installed on them.

[0140] In connection with Figure 3 the discovery is explained exemplarily with respect to BLE. However, the skilled person will understand that similar data exchange for the discovery procedure can be performed with other communication systems that provide a corresponding range, like infrared light based communication.

[0141] When the positioning sensor 109’ approaches a core zone (e.g., the positioning zone 115 in Figure 2 , either because it needs to be newly introduced or because it needs to be transferred from one core zone to another core zone, the initiation of the discovery procedure (e.g., the Bluetooth broadcast here) is started. The positioning sensor 109’ uses its discovery signal transceiver 110 to periodically emit discovery advertisement signals 121 (advertisement events) to get into contact with the discovery signal transceivers of the respective core zone. In Figure 3 the pure advertisement phase 122 shown in

[0142] As an example, the discovery signal transceiver 105 A of the respective core zone receives the discovery advertisement signal 121. The discovery signal transceiver 105 A can be a separate component or can be combined with any of the electronics of the ultra-wideband infrastructure. Preferably, the discovery signal transceiver 105 A is positioned close to the entrance area of the core zone, like the main gate or the front door of the production site. The discovery signal transceiver 105 A is data-linked to the controller 107 (see Figure 2 ) and confirms with the controller 107 whether the positioning sensor 109’ can be included in the system-based positioning or at least allowed to perform self-positioning.

[0143] The controller 107 controls the discovery signal transceiver 105 A to emit a response to the positioning sensor 109’ in order to initiate a BLE connection event. In the connection event, a wireless personal area network is set up that is used to send data packets between the discovery signal transceivers. The established Bluetooth conversation includes the emission of a pre-positioning signal 123 A, 123B to the positioning sensor 109’. The pre-positioning signal 123 A, 123B includes infrastructure data about the UWB infrastructure of the positioning zone 115.

[0144] Generally, the infrastructure data can include at least one of the following:

[0145] - information of the position of the stationary transmitters within the positioning zone;

[0146] - timing information about the ultra-wideband beacon signals transmitted from the fixed transmitters;

[0147] - a time slot number associated with a respective one of the positioning sensors to cause it to operate in a first one of the ultra-wideband positioning operation modes;

[0148] - a positioning rate associated with a respective one of the positioning sensors; or

[0149] - a type of ultra-wideband positioning operation mode in which a respective one of the positioning sensors can be operated.

[0150] With the discovery advertisement signal 121 and / or in response to the pre-set signals 123A, 123B, the discovery infrastructure can further receive information about the positioning sensor 109’ from the controller 107 or even from the positioning sensor 109’ if respective information about the positioning sensor 109’ is stored, e.g., on the data storage 107B in Figure 2

[0151] The pre-set enables the integration of the positioning sensor 109’ into the UWB positioning and the start of the positioning phase 124A. During the positioning phase 124A, the positioning sensor 109’ can establish UWB exchange if operating in the system-based operation mode and / or perform self-positioning if operating in the UWB self-positioning operation mode.

[0152] The positioning sensor can further move forward and enter a new core zone, e.g., the sub-zone 103B in Figure 2 The same advertisement and pre-set procedure is then copied to include the positioning sensor 109’ in the UWB infrastructure associated with the sub-zone 103B.

[0153] For example, once the pre-set for the discovery signal transceiver 105A is completed, the positioning sensor 109’ returns to transmit the discovery advertisement signal 121. As long as the positioning sensor is within the core zone, the discovery signal transceiver 105A knows that the required information has been communicated; no further response is needed / sent.

[0154] However, as Figure 3 ​If another discovery signal transceiver 105B receives a discovery advertisement signal 121 due to the positioning sensor 109' approaching the respective core zone, this discovery signal transceiver 105B can initiate another connection event and provide a pre-set signal 123B, as indicated in Fig. 2. Positioning can now take place, for example, within the sub-zone 103B, and a new positioning phase 124B is initiated. At the same time, the discovery signal transceiver 105B can inform the UWB infrastructure of the previous core zone that the UWB positioning is now performed in the environment of another UWB infrastructure. In Figure 3 The shutdown signal 125 sent from the discovery signal transceiver 105B to the discovery signal transceiver 105A communicates, for example, that the positioning sensor 109 acknowledges the receipt of the infrastructure data associated with the second zone 103B, as indicated in Fig. 2.

[0155] According to the above, the positioning sensor can be preconfigured or activated for UWB positioning by a secondary communication system, such as the above BLE-based discovery system.

[0156] Exemplarily, a BLE profile connection UUID (Universal Unique Identifier) specifically set for this purpose can be used. The base package structure data structure can include various commands for updating the topology configuration of the fixed UWB devices (information on the spatial distribution of the positions in space) stored in the positioning sensor. For example, one or more fixed devices in the infrastructure definition can be removed / updated or operating parameters can be changed. Furthermore, commands can be provided to set the mobile device in a server-centric mode (system-based positioning) or in a device-centric mode (self-positioning) by setting the ranging type attribute. Furthermore, commands can fix one axis in the position determination to a constant value.

[0157] The base package structure data structure can use the following features of the data format. Entries can relate to the company identification code of the manufacturer of the positioning sensor or the fixed device, the UWB MAC address (device-dependent), the installed software revision, the hardware identification; battery status information, UWB status information (such as scanning, calibration, ranging), configuration identification, and coordinates (such as 3D-GPS X coordinate, 3D-GPS Y coordinate, 3D-GPS Z coordinate of the fixed device). Furthermore, parameters relating to the position calculation mode, data filtering and post-processing control can be set.

[0158] Based on the discovery procedure, the positioning sensor is enabled and configured to participate in UWB communication. For example, in response to the received beacon frame, the positioning sensor can send a pairing request UWB response and then receive specific information about how to integrate it into the UWB framing protocol. The above-mentioned international application discloses an exemplary UWB framing protocol. For example, the provided information relates to a ranging slot at which the positioning sensor is supposed to emit a ranging frame (UWB response frame) and a repetition rate, more generally, the information includes details about the superframe and the hyperframe structure. In the following, the exemplary superframe and hyperframe structure are explained in connection with Figure 4 the exemplary UWB framing protocol.

[0159] In the exemplary UWB framing protocol, the time base for the time slot duration can be based on a clock period of 32 KHz. The duration associated with a time slot can further relate to 64 periods, for example, to about 64 x 1 / 32768 ~ 64 x 30.5 ps ~ 2 ms per time slot. Time can be divided into a plurality of time slots, which have different roles in the time-of-flight calculation.

[0160] In Figure 4 , a superframe 131 is shown which comprises a predefined number of time slots. For example, a UWB superframe can consist of 64 time slots and thus extend over a duration of about 125 ms, resulting in a first positioning rate of 8 Hz. The superframe 131 defines the first recurrence of the protocol and thus relates to the highest (maximum) positioning rate which can be used in the positioning system.

[0161] The positioning mode of the system is based on a two-way ranging method. Thus, the superframe 131 comprises beacon time slots and ranging time slots. For example, the 64 time slots can comprise 32 beacon time slots (block 133). The 32 beacon time slots can be divided into two blocks of 16 beacon time slots, which are associated with a pair of a first beacon frame and a second beacon frame, respectively. The first beacon frame and the second beacon frame in each pair can be used for synchronization.

[0162] Behind the block 133, a block 135 consists of, for example, three intermediate forbidden time slots and separates the beacon time slots from the ranging time slots.

[0163] A block 137 of ranging frames follows the block 135. For example, there can be 28 ranging time slots in the block 137.

[0164] The superframe 131 can be closed by a closing block 139 of one or more rendezvous time slots. The rendezvous time slots can be used to exchange information between the fixed device and the positioning sensor, for example, to transfer information from the positioning sensor to the root device (which then further transfers the information to the controller) and vice versa, i.e. to transfer information from the controller to the positioning sensor via the root device.

[0165] Reference is made toFigure 4 The chain 143 of superframes 131 shown in Fig. 13, the UWB framing protocol is based on successive repetitions of the superframe 131. Multiple superframes 131 are grouped to form a megafame 141. The megafame 141 can comprise, for example, 40 superframes. In this case, the megafame 141 extends over a time period of approximately 5s. The megafame 141 allows to handle more positioning sensors when there are ranging slots. Specifically, ranging can be performed for one positioning sensor only at certain superframes 131, thereby resulting in different positioning rates.

[0166] For example, the 28 ranging slots can be divided into multiple classes with different positioning rates. For example, three classes implementing three different positioning rates are explained in the following:

[0167] a) For example, ranging slots (e.g., 4 ranging slots) can be used for ranging devices with a positioning rate of 8Hz / period of 125ms; in this case, the respective ranging slots in each superframe are used for positioning of the associated positioning sensor. In Figure 4 In Fig. 13, this is indicated in the exemplary megafame illustration 141A. Each of the superframes is shaded because it is used by the sensor device for transmitting a UWB response signal. It should be noted that although the complete frame indicating the superframe is always shaded, only some of the ranging frames are used.

[0168] b) For example, ranging slots (e.g., 16 ranging slots) can be used for ranging devices with a positioning rate of 1Hz / period of 1s; in this case, the respective ranging slots in every eighth superframe are used for positioning of the associated positioning sensor. In Figure 4 In Fig. 13, this is indicated in the exemplary megafame illustration 141B. Every eighth superframe is shaded because it is used by the sensor device for transmitting a UWB response signal.

[0169] c) For example, ranging slots (e.g., 8 ranging slots) can be used for ranging devices with a positioning rate of 0.2Hz / period of 5s; in this case, the respective ranging slots in one respective superframe of the megafame 141 are used for positioning of the associated positioning sensor. In Figure 4 In Fig. 13, this is indicated in the exemplary megafame illustration 141C. Exemplarily, only the last superframe of the megafame illustration 141C is shaded because it is used by the sensor device for transmitting a UWB response signal.

[0170] Generally, the respective ranging slots can be ordered, for example, in the examples according to a), b) and c), or can be arbitrarily associated with the various positioning rates.

[0171] With reference to Figure 5A In Fig. 13, a method for generating position information for the two positioning modes discussed above comprises the steps ofFigure 3 The described discovery procedure concerns a step 151. Specifically, step 151 comprises an advertising step 151 A for initiating a contact between the positioning sensor and the respective discovery infrastructure of the positioning system. Behind the advertising step 151, a data exchange step 151 B (connection event) is used to download respective infrastructure data about the positioning system, specifically its UWB infrastructure, onto the positioning sensor.

[0172] The data exchange step 151 B can vary depending on the positioning mode to be run on the positioning sensor. For example, self-positioning does not require information about ranging slots.

[0173] As shown in Figure 5A Also related to both positioning modes is a step 153 concerning a synchronization between the positioning sensor and the fixed devices of the positioning system. Specifically, while the self-positioning mode requires a synchronization 153 A of the fixed transmitters, the system-based positioning mode requires a synchronization 153B of the fixed receivers. In both cases, the synchronization is performed with respect to the root device. An example of a synchronization procedure based on two beacon frames transmitted at predefined time intervals is described in the above-mentioned international patent application by BeSpoon SAS.

[0174] In Figure 5A The flowchart then splits into two branches respectively related to both positioning modes.

[0175] For system-based positioning, a pairing step 155 using at least one specific UWB frame is performed to specifically provide information about the UWB framing protocol (which is for example exchanged during the rendezvous slot). Specifically, the UWB infrastructure, typically the root device, provides information about the ranging slots associated with the positioning sensor. Moreover, information about the positioning rate associated with the positioning sensor can for example be exchanged.

[0176] As shown in Figure 5B The system-based positioning is performed during a step 157. Specifically, the positioning sensor listens to ultra-wide band (UWB) beacon signals BF1, BF2 (also called beacon frames) transmitted during respective beacon slots and transmits a UWB response signal RF (also called response frame) during a ranging slot associated with the positioning sensor.

[0177] The UWB response signal RF can comprise information about the UWB transmitters based on which the timing for the transmission of the UWB response signal is determined. Due to the highly accurate synchronization, the positioning sensor sends its UWB response signal very accurately according to a predefined timing formula. It should be noted that the UWB beacon signals and the UWB response signal do not comprise any exchange of timestamp information between the beacon transmitters and the positioning sensor.

[0178] Figure 5B An exemplary UWB signal exchange for synchronization and ToF analysis (between the root device 111 A and the positioning sensor 109) is shown.

[0179] The UWB beacon signals BF1, BF2 are transmitted at each superframe (e.g. at a rate of 125 ms). For example, the root device UWB transmits beacon signals BF1, BF2 which can be listened to by the positioning sensor and other stationary devices to synchronize themselves.

[0180] The timing considerations for ToF analysis depend on the selection of the UWB beacon signals BF1, BF2 used:

[0181] T2 - (T0 + ToF) = N x duration of a single time slot (N = 20 to 57 in the above example); or

[0182] T2 - (T1 + ToF) = M x duration of a single time slot (M = 4 to 31 in the above example),

[0183] wherein,

[0184] T0, T1 : transmission time points (by the root device 111 A) of the UWB beacon signals BF1, BF2, ToF: time of flight of the UWB beacon signals BF1, BF2 to the UWB receiver or positioning sensor,

[0185] T2: transmission time point of the UWB response signal RF (by the positioning sensor 109), Figure 5B wherein the reception by the root device 111 A will accordingly take place at a reception time point T2 + ToF, the respective reception time point being given for the stationary receiver 113, depending on the position of the stationary receiver 113 relative to the positioning sensor 109,

[0186] N, M: number of time slots from the (respective) beacon time slot (associated with the root device) to the ranging time slot (associated with the positioning sensor).

[0187] For calculating the position, the UWB receiver and the root device can communicate the time points of receiving the UWB response signal RF (including e.g. the above reception time point T2 + ToF) and the transmission time points T0, T1 to the controller. The controller can calculate the position data from a centralized database of the positions of the stationary devices (transmitters and receivers) and the time slots assigned to the positioning sensor.

[0188] With reference to step 163, the participation of the positioning sensor in the positioning procedure can be terminated. The rendezvous time slot of the superframe can be used to communicate respective termination information (respective disassociation signal / frame) to the associated positioning sensor.

[0189] For the self-localization of step 161, the flow chart proceeds from step 151 / step 153 to step 161. Specifically, during step 151B, the localization sensor receives configuration data for informing the correct UWB beacon signals to listen to and provides the respective "topology" information (position data) of the respective UWB signal transmitters.

[0190] During step 161, the localization sensor listens to all UWB signal transmitters and can derive its own position based on the time of arrival of the beacon frames taking into account the positions of the UWB signal transmitters, the known time of flight between the UWB signal transmitters, the references to the respective UWB signal transmitters in the beacon signals, and the exact transmission timing known by the respective UWB signal transmitters.

[0191] It is noted that the localization sensor operating in the self-localization mode has no pairing requirements, as it only receives UWB signals (and does not transmit). Accordingly, there is also no need to de-associate.

[0192] Finally, if leaving a localization zone and newly entering one (step 163 in Figure 5A ), the above-described steps can be performed again - starting with the pre- provisioning of infrastructure data (step 151A).

[0193] Reference is made to Figure 6 schematically showing various components of the (ultra-wideband indoor real-time) localization system 201, such as a master beacon device MB (corresponding to the master transceiver 11A in Figure 1 ), a (exemplary handheld) mobile tag device T (corresponding to the localization sensor 9 in Figure 1 ), a plurality of beacon satellite devices BS1, BS2, BS6 (corresponding to the receivers 13 in Figure 1 ), and an exemplary beacon repeater device BR (corresponding to the relay transceiver 1 IB).

[0194] With regard to exemplary embodiments of UWB signal transmitters, reference is made to the above-mentioned international patent application, section "Master beacon device", which sections are specifically incorporated herein by reference. With regard to exemplary embodiments of mobile tag devices / localization sensors, reference is made to the above-mentioned international patent application, section "(mobile) tag device", which sections are specifically incorporated herein by reference (see, e.g., sections "Receiving unit" and "Calibration and calculation unit").

[0195] Specifically, the tag device / localization sensor is to be located in a localization area of the localization system (corresponding to the localization zone in Figure 1115 in the positioning zone). Preferably, the tag device / positioning sensor is a mobile unit, which means that the tag device / positioning sensor is not permanently located in the same place, which makes positioning interesting. The tag device / positioning sensor can be moved by being attached to a mobile object or becoming part of a mobile object. The mobile tag device / positioning sensor receives UWB signals from multiple UWB signal transmitters. The tag device may include a (beacon / signal) receiving unit, a dual clock electronic device including a slave clock and a master clock as the tag clock, and an (optionally calibration and) calculation unit including a time detection unit, an identification unit and a control unit. The tag clock can be implemented as a clock pulse generator or a clock wave generator. The tag clock defines the tag time for each tag device / positioning sensor. As for the master beacon device, some or all of these elements, in particular the dual clock electronic device, can be part of the UWB chip. The tag device / positioning sensor can use a signal receiving unit to receive UWB signals, specifically to receive master (or repeater) beacon frames. The signal receiving unit may include a receiving (Rx) antenna. The tag device can further transmit UWB signals to be received by other components of the UWB positioning system. For example, the tag device / positioning sensor can be placed in a housing that can also contain other functions, such as a smartphone, a computer, a control system for an automated guided vehicle, etc.

[0196] For TDoA analysis, the positioning system has information about the locations of fixed devices of the UWB infrastructure (eg, the master beacon device and beacon satellite(s) devices).

[0197] In an exemplary embodiment, the beacon satellite devices BS1, BS2, BS6 and the beacon repeater device BR may each include a receiver unit, thereby also having the function of synchronizing with the master beacon device MB. It should be noted that the master beacon device MB or the beacon repeater device BR may typically be installed in a room or hall (typically a positioning sub-area covered by the positioning system 201) to ensure time synchronization of the transmitted UWB signals.

[0198] The tag device T / positioning sensor can be configured to determine its position in space, specifically within a positioning area 203 / positioning zone, from the received UWB signals. In the current field of positioning, real-time means that the position information is available quickly enough compared to the speed of movement of the tag device / positioning sensor so that the movement can be temporarily resolved to a sufficient degree. The positioning area 203 / positioning zone is defined by the coverage area of ​​the UWB signal exchange between various components.

[0199] exist Figure 6 In the exemplary embodiment of the present invention, the positioning system 201 further includes a (system) control unit 205 (with Figure 6The (system) control unit 205 is connected for data exchange with the master beacon device MB and the beacon satellite devices BS1, BS2, BS6 and the beacon repeater device BR. These data connections can be based on cables 207 or can be wireless. Thus, the components can be part of a LAN and / or WLAN network or other communication network(s). The control unit 205 can comprise a centralized computer system 261 with a data storage unit 263 and a computing unit 265 or a decentralized computer system. The data storage unit 263 can store, for example, master time delay data between UWB beacon signals and time slot information of satellite devices for, for example, clock synchronization.

[0200] Additionally, in Figure 6 UWB signal transmission is schematically shown in

[0201] The master beacon device MB and the beacon satellite devices BS1, BS2, BS6 can further receive beacon frames / UWB tag response signals TF1 transmitted from a tag device for a non-tag centric approach. For example, a tag device T / localization sensor can transmit a tag response frame with a tag specific time delay according to a localization protocol. The master beacon device MB and the beacon satellite devices BS1, BS2, BS6 can act as tag response receivers and will receive the tag response frame TF1 and derive a specific time of arrival for the tag device T for the tag response frame TF1. In combination with the transmission time of a beacon frame BF from the master beacon device MB or a beacon repeater device BR, a time difference of arrival analysis can be performed by the respective tag response receiver TRR.

[0202] Furthermore, Figure 6 The concept of extending the range (in particular the synchronization) of the localization system 201 using beacon repeater devices BR, for example, within multiple rooms is indicated. For this purpose, a beacon repeater device BR transmits a repeater beacon frame covering an associated area, typically at least one room, wherein the beacon repeater device BR can act as a master beacon device, for example, for calibration.

[0203] In case the tag device / positioning sensor is configured with sufficient computational power to perform the analysis and calculation of the reception time points of the master and repeater frames (and if the tag device knows the exact position of each beacon transmitter like the master beacon and the repeater beacon) the tag device / positioning sensor (when receiving the beacon frames transmitted at the time slots of the predefined beacon segments in the position frame format) can determine distance information for the distances between the tag device to the master beacon device and the plurality of beacon satellite devices based on the position information of the master beacon device and the plurality of beacon satellite devices. Specifically, based on the plurality of arrival time points, a time difference of arrival analysis can be performed within the mobile tag device. Alternatively, the positioning can be performed by the control unit 205.

[0204] Figure 6 An exemplary fixed anchor like the master beacon device MB or the beacon satellite device BS1,... in Fig. 1 can comprise a housing with a plurality of through-going holes for fastening screws to attach the fixed anchor to a wall or ceiling at a spatial fixed position in the 3D space. Within the housing, the anchor can comprise a beacon transmission unit configured to perform the transmission of the positioning beacon frames LFs_MB, LFs_BS1,... and / or a UWB transceiver unit. The anchor can further comprise a master (satellite) clock defining the master (satellite) time. In the latter case, the anchor can further comprise a master (satellite) storage unit and optionally a calibration and calculation unit comprising the dual clock electronics disclosed herein. Some or all of the above components can be at least partially integrated within a common UWB chip and / or can be mounted to a substrate or a base plate.

[0205] An exemplary tag device / positioning sensor can comprise a housing with a display and an opening, e.g. for attachment to some object to be positioned. Alternatively, the tag device can be integrated in some device like a self-moving object. The tag device can comprise a dual clock electronics with a master clock as tag clock defining a tag time specific for the respective tag device. The tag device can further comprise a tag data storage unit.

[0206] The tag device / positioning sensor can further comprise a UWB receiving and / or UWB transceiver unit and a (optionally calibrating and) computing unit. The receiving unit is configured as a UWB frame receiver to receive beacon frames transmitted from the master beacon device or the beacon satellite devices, thereby measuring respective points of time of arrival. The computing unit can comprise a time detection unit configured to derive respective points of time of arrival of received UWB signals, an identification unit configured to derive a unique information content from the received UWB signals, and an optional control unit configured to process the unique information content and the points of time of arrival in a positioning algorithm for at least one subset of UWB signal transmitters to derive a position of the mobile tag device relative to the subset of UWB signal transmitters. The above components of the tag device can be at least partially integrated within a common UWB chip and / or can be mounted to a substrate or a base.

[0207] For the discovery procedure, the tag device / positioning sensor and the at least one fixed anchor can comprise respective components required for a second data communication system. For example, BLE electronics such as an antenna, a BLE chip for controlling reception and transmission of BLE communication signals, and electronic circuitry for analyzing and defining BLE communication signals. The (BLE) components can be at least partially integrated within a common BLE chip and / or can be mounted to a substrate or a base.

[0208] While in some embodiments one of the plurality of fixed transmitters and one of the plurality of fixed receivers can be configured as a transceiver which is a fixed transceiver mounted at a fixed position in the positioning area, in some embodiments one of the plurality of fixed transmitters and one of the plurality of fixed receivers can be configured as a mobile transceiver forming a positioning sensor operating in a first mode, wherein the mobile transceiver is positioned in the positioning area and does not move during execution of the ultra-wideband positioning operation. Respective information can be communicated via rendezvous frames.

[0209] It is noted that the discovery procedure can also be used to transfer infrastructure data to devices which can use the infrastructure data for positioning in different ways: In particular, the positions of the anchors can be used for orientation independent of the UWB infrastructure. For example, the infrastructure data can be used by such non-UWB positioning sensors (e.g. virtual reality glasses or augmented reality glasses) which can determine their position in the UWB coordinate system using the coordinates of the anchors received via e.g. BLE communication.

[0210] For example, with reference to Figure 2Optionally, at least one further mobile device 401 (e.g. an AGV) can be configured to wirelessly communicate with the discovery infrastructure 105 to receive infrastructure data (arrow 106'). The mobile device 401 compares the infrastructure data with environment data, which the mobile device 401 has obtained by imaging the environment of the mobile device with an image acquisition system 401 A and / or a LIDAR system.

[0211] With reference to Figure 7 The positioning system and the interleaved activities of the two positioning sensors operating in two different ultra-wideband positioning operating modes are described, respectively, e.g. wherein the first mode requires the emission of an ultra-wideband response signal from the positioning sensor and the second mode requires the computation of position information based on an ultra-wideband beacon signal received by the positioning sensor. It should be noted that the positioning system can be used only in one of the ultra-wideband positioning operating modes.

[0212] Within the positioning system (e.g. at a data storage), infrastructure data about the ultra-wideband infrastructure is stored (step 301), which is required for each of the two positioning sensors to be operated in its ultra-wideband positioning operating mode. Then, the discovery infrastructure of the positioning system performs a wireless communication of the infrastructure data to the positioning sensors (step 303). As a result of the wireless communication, the positioning sensors receive the infrastructure data about the ultra-wideband infrastructure of the positioning system.

[0213] The wireless communication for the discovery (i.e. the identification procedure of a new positioning sensor wanting to be included in the operation of the positioning system) comprises the following steps:

[0214] - transmitting (step 305A, step 305B) a respective discovery advertisement signal with each of the positioning sensors;

[0215] - receiving (step 307A, step 307B) the discovery advertisement signals transmitted from the positioning sensors with the discovery infrastructure;

[0216] - transmitting (step 309A, step 309B) a provisioning signal with the discovery infrastructure (in response to each of the discovery advertisement signals), the provisioning signal comprising infrastructure data configured for operating the respective positioning sensor in the respective ultra-wideband positioning operating mode within the respective ultra-wideband infrastructure; and

[0217] - receiving (step 311A, step 311B) the respective provisioning signal comprising the respective infrastructure data with the positioning sensors.

[0218] The ultra-wideband infrastructure is operated (step 313) to enable positioning during or after the discovery of the new positioning sensor has been completed.

[0219] This comprises for the first mode transmitting ultra-wideband beacon signals into the positioning area with a plurality of fixed transmitters (step 315). The positioning sensor operating in the first mode receives the ultra-wideband beacon signals transmitted from the plurality of fixed transmitters of the ultra-wideband infrastructure (step 317). The positioning sensor then uses the infrastructure data to derive timing information from the ultra-wideband beacon signals (step 319) and calculates position data of the positioning sensor from the timing information (step 321).

[0220] The positioning further comprises for the second mode transmitting ultra-wideband beacon signals into the positioning area with a plurality of fixed transmitters (step 315). The positioning sensor operating in the second mode receives the ultra-wideband beacon signals transmitted from one of the fixed transmitters of the ultra-wideband infrastructure (step 317B). In addition, a plurality of fixed receivers receives the ultra-wideband beacon signals from the one of the fixed transmitters (step 317C). The positioning sensor and the fixed receivers can perform time synchronization, e.g. based on the ultra-wideband beacon signals.

[0221] The positioning sensor transmits (step 323) an ultra-wideband response signal at a response time point in response to the ultra-wideband beacon signal, the response time point being set relative to a reception time point of the ultra-wideband beacon signal using the infrastructure data. The plurality of fixed receivers receives (step 325) the ultra-wideband response signal transmitted from the positioning sensor operating in the first mode. The positioning system, e.g. a processor, receives (step 327) timing information for the ultra-wideband beacon signal and the ultra-wideband response signal from the plurality of fixed receivers and calculates (step 329) position data of the positioning sensor operating in the first mode within the positioning area from the timing information. The position data is then output (step 331) for use in at least one industrial application.

[0222] It is explicitly stated that all features disclosed in the description and / or the claims are intended to be independently useful and are intended to be combinable and / or non-combinable in any order and / or manner, in order to limit the claimed invention for the purpose of the original disclosure and for the purpose of limiting the claimed invention. It is explicitly stated that all value ranges or entity groups disclosed in the description and / or the claims disclose each possible intermediate value or intermediate entity, in particular as a limit of a value range, for the purpose of the original disclosure and for the purpose of limiting the claimed invention.

[0223] While preferred embodiments of the application have been described herein, improvements and modifications can be incorporated herein without deviating from the scope of the claims.

Claims

1. A positioning system (101) for interacting with a positioning sensor (109), the positioning sensor being operable in an ultra-wideband positioning mode of operation requiring calculation of position information based on ultra-wideband beacon signals (BF1, BF2) received by the positioning sensor (109), the positioning system (101) comprising: An ultra-wideband infrastructure (103) configured to enable positioning for the ultra-wideband positioning mode of operation, the ultra-wideband infrastructure (103) comprising a plurality of fixed transmitters configured to transmit ultra-wideband beacon signals (BF1, BF2) into a positioning area (115); a discovery infrastructure (105) configured to perform wireless communication of infrastructure data regarding the ultra-wideband infrastructure (103) to the positioning sensor (109), the discovery infrastructure (105) comprising at least one discovery signal transceiver (105A, 105B ... At least one discovery signal transceiver is configured to receive a discovery advertisement signal (121) transmitted from the positioning sensor (109) and to transmit a preset signal (123A, 123B) including the infrastructure data in response; and a controller (107) for controlling the operation of the ultra-wideband infrastructure (103) and the discovery infrastructure (105), the controller (107) comprising a processor (107A) and a data memory (107B), wherein the data memory (107B) is configured to store data required for operating the positioning sensor (109) in accordance with the ultra-wideband framing protocol in the ultra-wideband positioning operation mode. infrastructure data, and the processor (107A) is configured to control the at least one discovery signal transceiver (105A, 105B) to send the preset signal (123A, 123B), the positioning sensor (109) is one of a plurality of positioning sensors (109), the positioning sensor (109) is capable of operating in at least one of two ultra-wideband positioning operation modes, the two ultra-wideband positioning operation modes including a first mode and a second mode, the first mode requiring the transmission of an ultra-wideband response signal (RF) from the positioning sensor (109), the second mode requiring the transmission of an ultra-wideband response signal (RF) from the positioning sensor (109), and the second mode requiring the transmission of an ultra-wideband response signal (RF) based on a signal received by the positioning sensor (109). The controller (107) further comprises a data output structure (107C), wherein the data storage (107B) is configured to store infrastructure data required for operating the positioning sensors (109) in the two ultra-wideband positioning operation modes;The processor (107A) is further configured to: - receive timing information for the ultra-wideband beacon signal (BF1, BF2) and the ultra-wideband response signal (RF) and calculate position data of the first group of positioning sensors (109) within the positioning zone (115) from the timing information; and - output the position data at the data output structure (107C) for use in at least one industrial application.

2. The positioning system (101) according to claim 1, wherein: The infrastructure data comprises at least one of the following: - information on the location of fixed transmitters within the positioning zone (115); - timing information on ultra-wideband beacon signals (BF1, BF2) transmitted from the fixed transmitters; and / or wherein the discovery infrastructure (105) is further configured to receive information on the positioning sensor (109) from the controller (107).

3. A positioning system (101) as claimed in any one of the preceding claims, wherein: The at least one discovery signal transceiver (105A, 105B) is configured to wirelessly receive or transmit at least one of the following: - a discovery advertisement signal (121), the discovery advertisement signal being configured to initiate wireless communication with a specific one of the positioning sensors entering the positioning area; - a preset signal (123A, 123B), the preset signal being configured to provide the infrastructure data to the specific one of the positioning sensors (109); or - a shutdown signal (125), the shutdown signal being configured to shut down ultra-wideband communication when the specific one of the positioning sensors (109) leaves the corresponding positioning area (115).

4. The positioning system (101) according to claim 1 or 2, wherein: The at least one discovery signal transceiver (105A, 105B) is configured to perform wireless communication at 2.4 GHz.

5. The positioning system (101) according to claim 4, wherein: The at least one discovery signal transceiver (105A, 105B) is configured to use a Bluetooth, Bluetooth Low Energy, or ZigBee based exchange protocol.

6. The positioning system (101) according to any one of claims 1, 2 and 5, wherein: An area associated with the controller (107) is divided into a plurality of zones, and a first zone of the plurality of zones is associated with: - a first subset of the plurality of fixed transmitters; and - a first discovery signal transceiver for communicating infrastructure data associated with the first zone, a second zone of the plurality of zones being associated with: - a second subset of the plurality of fixed transmitters; and - a second discovery signal transceiver for communicating infrastructure data associated with the second zone.

7. The positioning system (101) according to claim 6, wherein: The second discovery signal transceiver is configured to communicate to the first discovery signal transceiver that the positioning sensor (109) confirms receipt of infrastructure data associated with the second zone (103B).

8. The positioning system (101) according to any one of claims 1, 2, 5 and 7, wherein: The infrastructure data further comprises at least one of: - information on the position of the fixed receiver (113) within the positioning zone (115); - a time slot number associated with a respective one of the positioning sensors (109) for operating it in a first mode of the ultra-wideband positioning operating mode; - a positioning rate associated with a respective one of the positioning sensors (109); or - a type of ultra-wideband positioning operating mode in which the respective one of the positioning sensors (109) can be operated; and / or wherein, One of the plurality of fixed transmitters and one of the plurality of fixed receivers (113) are implemented as a transceiver configured to receive the ultra-wideband beacon signal (BF1, BF2) and the ultra-wideband response signal (RF) and to transmit an ultra-wideband repeater beacon signal.

9. The positioning system (101) according to any one of claims 1, 2, 5 and 7, wherein: One of the plurality of fixed transmitters and one of the plurality of fixed receivers are configured as: - a fixed transceiver, which is installed at a fixed position in the positioning area, or - a mobile transceiver, which forms a positioning sensor operating in the first mode, wherein the mobile transceiver is positioned in the positioning area and does not move during the performance of the ultra-wideband positioning operation.

10. The positioning system (101) according to any one of claims 1, 2, 5 and 7, wherein: The plurality of fixed transmitters are configured to transmit the ultra-wideband beacon signals (BF1, BF2) according to an ultra-wideband framing protocol, the ultra-wideband framing protocol defining a superframe (131) as comprising: a predefined number of beacon slots, a predefined number of ranging slots, the ranging slots being separated from the beacon slots by a predefined number of prohibited slots, and at least one rendezvous slot.

11. The positioning system (101) according to any one of claims 1, 2, 5 and 7, wherein: The plurality of fixed transmitters are configured to transmit the ultra-wideband beacon signals (BF1, BF2) according to an ultra-wideband framing protocol, the ultra-wideband framing protocol including up to hundreds of time slots in a jumbo frame structure, based on which the positioning sensor (109) operates in the first mode to transmit ultra-wideband response signals (RF) at a plurality of positioning rates.

12. The positioning system (101) according to claim 11, wherein The ultra-wideband framing protocol includes 200 to 400 time slots in a jumbo frame structure; and / or the plurality of positioning rates include positioning rates of 8 Hz, 1 Hz, and 0.2 Hz.

13. The positioning system (101) according to any one of claims 1, 2, 5, 7, and 12, wherein: The second mode is arranged to perform self-positioning at a positioning rate given by the duration of the superframe (131) or less; and / or wherein the ultra-wideband framing protocol defines a megaframe (141) to include a predefined number of superframes (131), and different positioning rates are implemented by using multiple selected superframes of the superframes (131) in the megaframe (141) for one of the multiple positioning rates associated with the ranging time slot.

14. The positioning system (101) according to claim 13, wherein Every superframe (131) is used for the highest positioning rate, and equally spaced subsets of superframes (131) are used for the other positioning rates.

15. The positioning system (101) according to any one of claims 1, 2, 5, 7, 12, and 14, wherein: The positioning system (101) further comprises at least one of the following: a plurality of positioning sensors (109), each positioning sensor (109) being configured to wirelessly communicate with the discovery infrastructure (105) to receive the infrastructure data and to operate in at least one of the two ultra-wideband positioning operation modes; or at least one further mobile device (401), the at least one further mobile device being configured to wirelessly communicate with the discovery infrastructure (105) to receive the infrastructure data and to compare the infrastructure data with environmental data, the mobile device (401) obtaining the environmental data by imaging the environment of the mobile device using an image acquisition system.

16. A method for operating a positioning sensor (109) in an ultra-wideband positioning operation mode using a positioning system (101) according to any one of claims 1 to 15 so as to calculate position information by the positioning sensor (109), the method comprising: The positioning sensor (109) receives infrastructure data about an ultra-wideband infrastructure (103) from a discovery infrastructure (105) via wireless communication, wherein the infrastructure data is configured for operating the positioning sensor (109) in the ultra-wideband positioning operation mode within the ultra-wideband infrastructure (103), and the wireless communication comprises: - sending a discovery advertisement signal (121) by the positioning sensor (109), and - receiving a preset signal (123A, 123B) including the infrastructure data by the positioning sensor (109) in response to the discovery advertisement signal (121); receiving ultra-wideband beacon signals (BF1, BF2) transmitted from a plurality of fixed transmitters of the ultra-wideband infrastructure (103) by the positioning sensor (109); deriving timing information from the ultra-wideband beacon signals (BF1, BF2) by the positioning sensor (109); and calculating position data of the positioning sensor (109) from the timing information using the infrastructure data by the positioning sensor (109).

17. A method for interacting with a positioning sensor (109), the positioning sensor (109) being capable of operating in at least one of two ultra-wideband positioning operating modes within an ultra-wideband infrastructure (103), the two ultra-wideband positioning operating modes comprising a first mode requiring transmission of an ultra-wideband response signal (RF) from the positioning sensor (109) and a second mode requiring calculation of position information based on ultra-wideband beacon signals (BF1, BF2) received by the positioning sensor (109), the method comprising: storing infrastructure data about the ultra-wideband infrastructure (103) required for operating the positioning sensor (109) in the two ultra-wideband positioning operation modes; The invention relates to a method for operating a discovery infrastructure (105) to perform wireless communication of the infrastructure data to the positioning sensor (109), the wireless communication comprising: - receiving a discovery advertisement signal (121) transmitted from the positioning sensor (109), and - sending a preset signal (123A, 123B) comprising the infrastructure data in response; and operating the ultra-wideband infrastructure (103) to enable positioning in the first mode and the second mode by: in the case of the first mode, - transmitting ultra-wideband beacon signals (BF1, BF2) into a positioning area (115) using a plurality of fixed transmitters; - receiving the ultra-wideband beacon signals (BF1, BF2) using a plurality of fixed receivers (113). wideband beacon signals (BF1, BF2) and an ultra-wideband response signal (RF) transmitted from the positioning sensor (109) if the positioning sensor (109) operates in the first mode; - receiving timing information for the ultra-wideband beacon signals (BF1, BF2) and the ultra-wideband response signal (RF) from the plurality of fixed receivers (113); - calculating position data of the positioning sensor within the positioning zone (115) from the timing information; and - outputting the position data for use in at least one industrial application; or in the case of the second mode, - transmitting the ultra-wideband beacon signals (BF1, BF2) into the positioning zone (115) using a plurality of fixed transmitters.

18. A method for operating a positioning sensor (109) within an ultra-wideband infrastructure (103) using a positioning system (101) according to any one of claims 1 to 15, the method comprising: Receiving, by means of the positioning sensor (109), infrastructure data about an ultra-wideband infrastructure (103) from a discovery infrastructure (105) via wireless communication, wherein the infrastructure data is configured for operating the positioning sensor (109) within the ultra-wideband infrastructure (103), and the wireless communication comprises: - sending, by means of the positioning sensor (109), a discovery advertisement signal (121), and - receiving, by means of the positioning sensor (109), a preset including the infrastructure data, in response to the discovery advertisement signal (121). signals (123A, 123B); using the positioning sensor (109) to receive ultra-wideband beacon signals (BF1, BF2) transmitted from multiple fixed transmitters of the ultra-wideband infrastructure (103); and in response to the ultra-wideband beacon signals (BF1, BF2), using the positioning sensor (109) to transmit an ultra-wideband response signal (RF) at a response time point (T2) set using the infrastructure data relative to the reception time point (T0+TOF, T1+TOF) of the ultra-wideband beacon signals (BF1, BF2).

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