Methods for tracking and locating a target in an environment

Abstract

The invention relates to a method (100) for tracking and locating a target (5) in an environment (1), comprising the following steps, which are performed by a distributed ISAC system (30): - Receiving (101) a request to track and locate the target (5) in the vicinity (1) from a requesting unit, - Initiating (102) the execution of a data collection task by at least one local node (20) by forwarding the received request, wherein the execution of the data collection task includes transmitting a data collection signal, - estimation (103) of the size of an obstacle (4) in front of the target (5) by at least one local node (20) depending on a distortion of a reflected detection signal of the transmitted detection signal caused by the obstacle (4) in front of the target (5) in the environment (1), - estimating (104) the position and size of the target (5) by means of at least one local node (20) based on reflections of the detection signal and on the basis of the distortion of the reflected signal caused by the obstacle (4) in front of the target (5), - Transmitting (105) a message about the respective estimated size of the obstacle (4) and the respective estimated position of the target (5) from the at least one local node (20) to the central node (10), - merging (106) the respective messages received from the at least one local node (20) by the central node (10) to determine the actual location of the target (5) and the actual size of the obstacle (4), - Sending (107) the respective result regarding the request via a message to the requesting unit.

Description

[0001] The invention relates to a method for tracking and locating a target in an environment. Furthermore, the invention relates to a computer program, a system, a central node, and a local node for this purpose. State of the art

[0002] Significant progress has been made in recent years in the field of distributed sensing and communication systems, with various approaches exploring the use of existing communication infrastructure for sensing purposes. One promising direction is the use of radio waves from sensing-capable base stations, also known as ISAC (Integrated Sensing and Communication) signals. ISAC signals have proven effective in enabling distributed sensing and monitoring applications, such as environmental monitoring and industrial automation.

[0003] Current systems relying on ISAC signals often struggle with signal distortion and attenuation caused by obstacles or materials, which can degrade the quality of the received data. To overcome this limitation, researchers have used ground truth information obtained from reference sensors or external sources to adaptively adjust equalizer parameters and improve signal quality.

[0004] Despite these advances, there remains a need for more robust and reliable tracking and tracing solutions that can effectively navigate complex environments and overcome obstacles such as shadowing. Disclosure of the invention

[0005] According to aspects of the invention, a method with the features of claim 1, a central node with the features of claim 7, a local node with the features of claim 8, a system with the features of claim 9, and a computer program with the features of claim 10 are provided. Further features and details of the invention are disclosed in the respective dependent claims, the description, and the drawings. The features and details described in connection with the method also apply to the computer program, the nodes, and the system according to the invention, and vice versa.

[0006] According to one aspect of the invention, a method for tracking and locating a target in an environment is provided. The method comprises the following steps, which are performed by a distributed ISAC system: - Receiving a request to track and locate the target in the vicinity from a requesting entity at a central node of the distributed ISAC system, - Initiating the execution of a data collection task by at least one local node of the ISAC system by forwarding the received request from the central node to the at least one local node, wherein the execution of the data collection task includes the transmission of a data collection signal, - estimating the size of an obstacle in front of the target by at least one local node, depending on a distortion of a reflected detection signal of the transmitted detection signal caused by the obstacle in front of the target in the environment, - estimating the position and size of the target by at least one local node based on reflections of detection signals and on the distortion of the reflected signal caused by the obstacle in front of the target, - Transmitting a message about the respective estimated size of the obstacle and the respective estimated position of the target from the at least one local node to the central node, - the central node merging the respective messages received from at least one local node to determine the actual location of the target and the actual size of the obstacle, - Sending the respective result of the merging (106) via a message to the requesting unit for tracking and locating the target.

[0007] Here, the reflected detection signal is generated by a reflection of the transmitted detection signal caused by the obstacle in front of the target in the environment.

[0008] This has the advantage that the inventive method provides a cost-effective and scalable solution for collecting environmental data or monitoring specific parameters by using radio waves as "X-rays." This application makes it possible to detect the depth of obstacles or the width of attenuating material in front of the receiver, thus enabling the localization of a target. The system's ability to estimate the size of obstacles and the position of targets based on reflected detection signals and distortions caused by these obstacles advantageously enables the precise tracking and localization of static or moving targets in various fields such as environmental monitoring or industrial automation. Furthermore, this can significantly improve the field of localization and tracking technology.Furthermore, the method according to the invention enables an estimation of the size of obstacles and the position of targets based on reflected detection signals and distortions caused by these obstacles, which enables accurate tracking and locating of targets.

[0009] It is also possible that the target includes a radio tag, whereby the radio tag reflects a signal upon receiving a detection signal.

[0010] It is possible for the target to include a radio beacon that can reflect a signal upon receiving a detection signal. This enables the identification of targets or beacons and has the further advantage that the width of the obstacle and the position of the target can be estimated by analyzing the reflected signals. The presence of a radio beacon on the target allows the use of radio waves to detect the depth of obstacles or the width of attenuating material, thus facilitating the tracking and localization process. Furthermore, by optionally incorporating machine learning algorithms into the signal processing, it may be possible to develop predictive models that forecast changes in environmental conditions or anticipate potential disturbances.

[0011] It is possible that the procedural steps are performed iteratively in the case of a moving target, with the procedure including the following additional step: - Regularly sending a position message from the central node to the requesting unit, especially at defined times and / or in defined time intervals.

[0012] It is possible that iterative execution of the process steps becomes necessary when tracking a moving target. In such cases, the process can include an additional step where the central node sends regular position updates to the requesting unit, enabling real-time monitoring and updating of the target's location. This feature allows for more accurate and timely tracking of the target, especially in scenarios where the target is dynamic or exhibits unpredictable movements. Furthermore, the process could be optimized for real-time execution by using cloud-based processing and distributed data processing architectures, allowing the system to scale up or down depending on the tracking task requirements.

[0013] Furthermore, the inclusion of advanced detection modalities such as lidar, radar or thermal imaging could improve the system's ability to detect and track targets in various environments and under different conditions, for example in poor visibility, heavy rain or in smoke-filled areas.

[0014] It is also possible that the procedure after receipt includes the following further step: - Forwarding the request to at least one local node in the vicinity of the destination.

[0015] It is possible that, upon receiving a request to track and locate a target in an environment, the central node can forward the request to at least one local node in the target's vicinity. This additional step allows the local nodes to initiate their sensing tasks, which can lead to more accurate estimates of obstacle sizes and target positions. The forwarded request enables the local nodes to perform their respective tasks, thereby improving the overall tracking and locating capabilities of the DISAC system. Furthermore, by leveraging the distributed nature of the system according to the invention, the method can be further improved to enable real-time adaptation and learning from the environment.This can be achieved through a feedback loop mechanism, where the central node receives and processes messages from individual ISAC nodes and uses this information to update and refine its understanding of the environment. For example, while the system tracks and locates targets in the environment, it can continuously collect and analyze data on object sizes and target positions. This information can be used to refine the signal equalization methods employed by the ISAC nodes, enabling more accurate estimates of obstacle widths and target locations.

[0016] It is possible that the process includes at least one of the following further steps during initiation: - Sending the detection signal to the target in the vicinity, - Receiving the reflection of the detection signal from the target.

[0017] It is possible that during the initiation step of the method according to the invention, the at least one local node sends a detection signal to the target in the environment and receives a reflection of the detection signal from the target. This step enables the estimation of the target's position and the size of any obstacles in front of the target, which is crucial for tracking and localization purposes. The reception of the detection signal's reflection advantageously provides valuable information about the target's location and the presence of obstacles, allowing the local node to accurately estimate the target's position and the size of the obstacles.

[0018] In industrial automation, this approach could facilitate real-time monitoring and tracking of materials, components, or products in manufacturing processes, thus enabling just-in-time production and optimized supply chain management. This would lead to improved quality control, less waste, and greater efficiency.

[0019] It is also possible that the central node includes a data collection management function of a communication network, wherein the at least one local node includes a base station of the communication network.

[0020] It is possible for the central node to include a data acquisition management function within a communication network, enabling efficient management of acquisition tasks and coordination with individual ISAC nodes. This allows for optimal resource utilization and ensures seamless communication between nodes of the system according to the invention. Furthermore, each local node can utilize its existing infrastructure for transmitting and receiving signals, simplifying the process and reducing complexity. This also enables seamless integration of data acquisition functions into existing infrastructure, allowing for a more comprehensive understanding of the environment. By leveraging the power of radio waves and signal processing, this technology can provide real-time insights into the presence and movement of objects, even in complex or dynamic environments.

[0021] According to a further aspect of the invention, a central node is provided for tracking and locating a target in an environment, wherein the central node comprises means for receiving the transmitted message from the at least one local node, wherein the central node is designed to perform steps of receiving, initiating, fusing and sending.

[0022] Thus, the central node according to the invention offers the same advantages as have been described in detail with reference to the method according to the invention.

[0023] Optionally, the central node can be designed to optimize the tracking process by processing received messages, thereby increasing the overall accuracy and efficiency of the target tracking operation. This optimization can be achieved through advanced algorithms that utilize machine learning techniques, such as neural networks or decision trees, to analyze the data and make predictions about the target's movement.

[0024] In another example, the central node could include a user-friendly interface that allows users to visualize tracking results in real time, enabling them to make informed decisions based on the updated information. This interface could include features such as 3D visualizations, heatmaps, or charts illustrating the target's movement over time, providing valuable insights for applications like environmental monitoring or industrial automation.

[0025] Another aspect of the invention consists of a local node for tracking and locating a target in an environment, wherein the local node is configured to perform the estimation and estimation steps, and wherein the local node includes means for transmitting a message to a central node. Thus, the local node according to the invention offers the same advantages as described in detail with reference to the method according to the invention.

[0026] Another aspect of the invention consists of a system for tracking and locating a target in an environment, comprising a central node according to the invention and at least one local node according to the invention.

[0027] Thus, the system according to the invention offers the same advantages as those described in detail with reference to the method according to the invention.

[0028] Another aspect of the invention consists of a computer program, in particular a computer program product, comprising instructions which, when executed by a computer at a local node, cause the computer to perform estimation and estimation steps and to transmit a message to a computer at a central node. Thus, the computer according to the invention offers the same advantages as described in detail with reference to the method according to the invention.

[0029] According to a further aspect of the invention, a data processing device can be provided which is configured to perform the method according to the invention. For example, a computer can be provided as the device, which executes the computer program according to the invention. The computer can comprise at least one processor that can be used to execute the computer program. In addition, a non-volatile data storage device can be provided in which the computer program can be stored and from which the computer program can be read for execution by the processor.

[0030] According to a further aspect of the invention, a computer-readable storage medium can be provided which comprises the computer program according to the invention and / or instructions which, when executed by a computer, cause the computer to perform the steps of the method according to the invention. The storage medium can be designed as a data storage device such as a hard drive and / or non-volatile memory and / or a memory card and / or semiconductor memory. The storage medium can, for example, be integrated into the computer.

[0031] Furthermore, the method according to the invention can be implemented as a computer-implemented method. Alternatively or additionally, at least one of the disclosed method steps can be computer-implemented and / or automated.

[0032] Further advantages, features, and details of the invention will become apparent from the following description, in which embodiments of the invention are described in detail with reference to the drawings. In this context, the features mentioned in the claims and in the description can be essential to the invention, individually or in any combination. The drawings show: Fig. 1: a method, a computer program, a storage medium and a device according to embodiments of the invention, and Fig. 2 a schematic representation of a distributed system according to embodiments of the invention.

[0033] Fig. Figure 1 shows a method 100, a system 30 with a central node 10 and a local node 20, and a computer program 50 according to embodiments of the invention.

[0034] Fig. Figure 1 shows in particular an embodiment of a method 100 for tracking and locating a target 5 in an environment 1. The method 100 comprises the following steps by a distributed ISAC system 30: In step 101, a request to track and locate target 5 in environment 1 is received from a requesting unit at a central node 10 of the ISAC system 30.

[0035] In step 102, the execution of a data acquisition task is initiated at at least one local node 20 of the ISAC system 30 by forwarding the received request from the central node 10 to the at least one local node 20. In step 103, the at least one local node 20 then estimates the size of an obstacle 4 in front of the target 5 as a function of a distortion of the reflected data acquisition signal caused by an obstacle 4 in front of the target 5 in the environment 1.

[0036] In step 104, the at least one local node 20 estimates the position of target 5 based on the reflection of detection signals and the distortion of the reflected signal caused by the obstacle 4 in front of target 5. In the next step 105, a message about the respective estimated size of obstacle 4 and the respective estimated position of target 5 is transmitted from the at least one local node 20 to the central node 10.

[0037] In step 106, the central node 10 merges the respective result it received from the at least one local node 20 to determine the actual location of the target 5 and the size of the one or more obstacles 4. In step 107, the respective result regarding the request is sent to the requesting entity via a message.

[0038] Fig. Figure 2 shows a schematic representation of a distributed system according to embodiments of the invention. In particular, it shows Fig. 2. A system 30 with a central node 10 and a local node 20. Part of the system 30, in particular at least one local node 20, may be located in an environment 1 of the target 5. The system 30 may be deployed as a distributed integrated sensing and communication (DISAC) system, as described in Fig. 2 shown. The DISAC system 30 can include at least one local node 20 or one or more local nodes.

[0039] The central node 10 can comprise a data acquisition management function of a communications network, a base station, a DISAC node, or another communications network function. The at least one local node 20 can comprise a base station or a DISAC node. The at least one local DISAC node 20 and the central DISAC node 10 can be communicatively connected to send and receive a message, notification, or the like in a communications network.

[0040] As in Fig. As shown in Figure 2, at least one node 20 performs a detection task by sending a detection signal to a target 5 201. This execution is initiated by the central node 10 based on the receipt 204 of a request to track and locate the target 5 from a requesting unit (in Fig. 2 not shown) initiated 203. The at least one local node 20 can receive a distorted signal as a reflection of the transmitted 201 detection signal 202.

[0041] A key aspect of the invention, as in Fig. 1 and Fig. The technology shown in Figure 2 involves the use of radio waves, particularly from a local node 20 such as a base station capable of detection. The ISAC system 30 aims to use sensor or ISAC signals as “X-rays” for target detection.

[0042] The one or more local ISAC nodes receive the reflection of the acquisition signals and identify the target 5 or, as in Fig.Figure 2 shows a marker for the target. The width of one or more obstacles 4 in front of the target 5 is then estimated by one or more local DISAC nodes 20 from the distortion of the reflected signal. The one or more local DISAC nodes 20 can then also estimate the position of the target 5. Afterward, the one or more local DISAC nodes 20 can transmit or send a message containing the estimated position and width of the one or more shadowing obstacles 4. The central node, specifically the central DISAC node 10, can collect the message and fuse the information for further processing. The central DISAC node 10 can send the result, which includes, for example, the target location, to the requesting unit.In the case of a moving target, this process can be performed iteratively by initiating or activating a tracking mode with regular position reporting.

[0043] Furthermore, the invention can utilize the ability of the system 30 to use a distortion of a signal reflected from the target 5, such as a radio beacon, to detect the depth of obstacle objects 4 or the width of attenuating material 4 in front of the target 5. Based on this information, the location of the target can be estimated. Such a capability can be particularly useful in an environment 1, such as a factory or warehouse, where the material 4 from which infrastructure and crates are manufactured is well known.

[0044] Advantageously, the attenuation coefficient of the known material 4 is derived at the detection signal frequency. Thus, the system 30 can calculate the width of the obstacle object 4 from the signal attenuation.

[0045] The preceding explanation of the embodiments describes the present invention by way of examples. Naturally, individual features of the embodiments can be freely combined with one another, provided this is technically feasible without deviating from the scope of the present invention.

Claims

[1] Method (100) for tracking and locating a target (5) in an environment (1), comprising the following steps performed by a distributed ISAC system (30): - Receiving (101) a request to track and locate the target (5) in the vicinity (1) from a requesting unit at a central node (10) of the distributed ISAC system (30), - Initiating (102) the execution of a data acquisition task by at least one local node (20) of the ISAC system (30) by forwarding the received request from the central node (10) to the at least one local node (20), wherein the execution of the data acquisition task includes transmitting a data acquisition signal, - estimation (103) of the size of an obstacle (4) in front of the target (5) by at least one local node (20) depending on a distortion of a reflected detection signal of the transmitted detection signal caused by the obstacle (4) in front of the target (5) in the environment (1), - estimating (104) the position and size of the target (5) by means of at least one local node (20) based on reflections of the detection signal and on the basis of the distortion of the reflected signal caused by the obstacle (4) in front of the target (5), - Transmitting (105) a message about the respective estimated size of the obstacle (4) and the respective estimated position of the target (5) from the at least one local node (20) to the central node (10), - merging (106) the respective messages received from the at least one local node (20) by the central node (10) to determine the actual location of the target (5) and the actual size of the obstacle (4), - Sending (107) the respective result of the merging (106) via a message to the requesting unit for tracking and locating the target (5). [2] Method (100) according to claim 1, characterized by , that the procedure steps (101, 102, 203, 104, 105, 106) are performed iteratively in the case of a moving target (5), the procedure (100) comprising the following further step: - regular sending of a position message from the central node (10) to the requesting unit, especially at defined times and / or in defined time intervals. [3] Method (100) according to any one of the preceding claims, characterized by, that after receiving (101) the procedure (100) includes the following further step: - Forwarding the request to at least one local node (20) in the vicinity (1) of the target (5). [4] Method (100) according to any one of the preceding claims, characterized by , that during initiation (102) the procedure (100) includes at least one of the following further steps: - Sending the detection signal to the target (5) in the environment (1), - Receiving the reflection of the detection signal from the target (5). [5] Method (100) according to any one of the preceding claims, characterized by , that the central node (10) comprises a data acquisition management function of a communication network, wherein the at least one local node (20) comprises a base station of the communication network. [6] Method (100) according to any one of the preceding claims, characterized by, that the target (5) comprises a radio tag, wherein the radio tag (5) reflects a signal upon receiving a detection signal. [7] Central node (10) for tracking and locating a target (5) in an environment (1), comprising means for receiving the transmitted (104) message from the at least one local node (20), wherein the central node (10) is designed to perform the steps of receiving (101), initiating (102), merging (106) and sending (107) according to any of the preceding claims. [8] Local node (20) for tracking and locating a target (5) in an environment (1), wherein the local node (20) is designed to perform the estimating (103) and gauging (104) steps according to any one of claims 1 to 6, and wherein the local node (20) comprises means for transmitting (105) a message to a central node (10) according to any one of claims 1 to 6. [9] System (30) for tracking and locating a target (5) in an environment (1) comprising a central node (10) according to claim 7 and at least one local node (20) according to claim 8. [10] Computer program (50) comprising instructions which, when the program (50) is executed by a computer (21) of a local node (20), cause the computer (21) to perform steps to estimate (103), estimate (104) and transmit (105) a message to a computer (11) of a central node (10) according to any one of claims 1 to 6.

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