Method for setting up a localization system, and localization system
Patent Information
- Application Number
- EP2023705236
- Authority / Receiving Office
- EP · EP
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2022-03-10
- Filing Date
- 2023-02-13
- Publication Date
- 2025-01-15
AI Technical Summary
The setup of localization systems is complex due to the need for precise knowledge of stationary unit positions, which has hindered accurate determination of mobile unit positions using relative location references.
A localization system employing ultra-wideband radio technology for determining relative location references between fixed and mobile radio transmitters, utilizing a combination of coarse and fine localization methods, including mobile radio communication, to simplify and automate the setup process, ensuring accurate positioning of both stationary and mobile units.
The system achieves precise positioning of stationary and mobile units with improved accuracy, simplifying the setup process and ensuring consistent quality of localization across all radio transmitters, with ultra-wideband technology providing centimeter-level accuracy and mobile radio communication enabling cable-free, fully automatic setup.
Smart Images
Figure 1.1
Abstract
Description
[0001] Method for establishing a localization system and localization system
[0002] The invention relates to a method for setting up a localization system and a localization system.
[0003] A localization system is known from EP 3 002 603 A1.
[0004] In a localization system, relative spatial references, such as distances or angles, between stationary units and a mobile unit are determined. From the known positions of the stationary units, the positions of the mobile unit are determined using the relative spatial references. For accurate positioning of the mobile unit, precise knowledge of the positions of the stationary units is essential. Determining the positions of the stationary units when setting up the localization system has so far been very complex.
[0005] The invention is based on the object of providing a method as mentioned above that simplifies the setup of a localization system. A localization system is also provided with which such a method can be implemented.
[0006] This object is achieved according to the invention in that the localization system comprises a plurality of stationary radio transmitters and at least one mobile radio transmitter, wherein the localization system determines a plurality of relative location references between the mobile radio transmitter and at least one stationary radio transmitter by means of an ultra-wideband radio technology, wherein a plurality of the stationary radio transmitters each comprise a mobile radio module, wherein a position determination of the stationary radio transmitter with mobile radio module takes place via a coarse localization and a fine localization, wherein the coarse localization takes place by means of mobile radio, wherein the position determination via the coarse localization is improved by means of a fine localization, wherein the position determination of the stationary radio transmitter from the fine localization is used to determine the position of the mobile radio transmitter.The fixed radio transmitters and the mobile radio transmitters can, in principle, be constructed identically. The radio transmitters can exchange signals with each other using ultra-wideband radio technology. Relative spatial references between the radio transmitters can be determined from the received signals. The relative spatial references can be determined both between fixed radio transmitters and mobile radio transmitters, as well as between different fixed radio transmitters or different mobile radio transmitters.
[0007] At least the majority of the fixed radio transmitters can be located using mobile radio. Mobile radio here refers, for example, to a radio network based on one of the GSM, UMTS, LTE, or 5G standards. A radio network based on the LTE standard is preferred, and a radio network based on the 5G standard is particularly preferred. It goes without saying that future mobile radio standards can also be used. Since this localization is typically only accurate to within a few meters, it is improved in a second step using fine localization. The position of these fixed radio transmitters can thus be determined fully automatically. Based on these positions, the positions of the other fixed radio transmitters and the mobile radio transmitters can be determined. The localization system is thus set up fully automatically.
[0008] Preferably, the localization system comprises a computing unit, wherein the computing unit communicates with at least one of the stationary radio transmitters with a mobile radio module via mobile radio.
[0009] By communicating via cellular network, the cellular module is used for more than just localization. Radio transmitters without a cellular module can communicate with other radio transmitters via ultra-wideband radio technology or another radio technology, such as Wi-Fi or Bluetooth. The processing unit can thus communicate directly or indirectly with all radio transmitters without the need for a cable. This further simplifies the setup of the localization system. The use of fixed radio transmitters with wired communication is still possible, but not required.
[0010] Preferably, the computing unit is part of a data center. The computing unit can also be a virtual computer. At least the last part of the communication link between the computing unit and the radio transmitter preferably takes place via mobile radio.
[0011] Coarse localization and / or fine localization are preferably performed on the processing unit. Performing this on the processing unit ensures consistent localization quality for all fixed radio transmitters with a mobile radio module.
[0012] In one embodiment, at least some of the fixed-location radio transmitters with a mobile radio module determine at least two relative location references to at least one other fixed-location radio transmitter with a mobile radio module, and the fine localization is performed by offsetting the relative location references with the coarse localization, wherein the relative location references are determined using ultra-wideband radio technology. Since the relative location references can be determined to within a few centimeters using ultra-wideband radio technology, the various inaccuracies in the coarse localization of the fixed-location radio transmitters with a mobile radio module can be largely compensated for by the offsetting. The accuracy of the relative location references can be increased by appropriately offsetting the relative location references with the coarse localization, e.g., using a Kalman filter.For calculation purposes, distances and / or angles between the stationary radio transmitters with mobile radio modules are preferably determined from the positions of the stationary radio transmitters with mobile radio modules determined during the rough localization.
[0013] In one embodiment, the relative spatial references between radio transmitters with a mobile radio module are determined indirectly via relative spatial references to radio transmitters without a mobile radio module. The indirect determination of the relative spatial references also allows for the calculation of rough localizations of radio transmitters with a mobile radio module for which a direct determination of the relative spatial references is not possible.
[0014] Preferably, the relative location references contain at least distance information between the radio transmitters. The distance information can be either a specific length specification or a length difference. A length difference can be calculated, for example, using time-difference-of-arrival (TdoA) algorithms.
[0015] Preferably, the relative location references include at least an angle between the radio transmitters.
[0016] The relative position of fixed radio transmitters with cellular modules can be calculated based on multiple distances using trilateration, based on multiple angles using triangulation, or based on a combination of distances and angles. Fixed radio transmitters are often mounted at the same height. In this case, just two relative location references are sufficient to determine the relative position of fixed radio transmitters with cellular modules. Using multiple relative location references can further increase the accuracy of fine localization.
[0017] In one embodiment, all stationary radio transmitters that have determined relative spatial references to each other are treated as a group on the processing unit. By treating them as a group, the processing unit can be used for multiple groups of stationary radio transmitters, whereby the groups have no relationship to each other.
[0018] Preferably, fine localization is performed jointly for all fixed radio transmitters in a group. Joint fine localization ensures that the positions of all fixed radio transmitters in a group are determined in the same way.
[0019] In one embodiment, the fine localization is carried out by comparing the coarse localization with a map. By comparing with the map, deviations in the coarse localization, which affect all stationary radio transmitters with a mobile radio module equally, can be corrected. In one embodiment, the map contains a plurality of possible positions of the stationary radio transmitters, and the stationary radio transmitters with a mobile radio module are each assigned to a possible position based on the coarse localization. The possible positions indicate the exact positions of the stationary radio transmitters. Using the coarse localization, the stationary radio transmitters with a mobile radio module can each be assigned to a possible position very easily, preferably automatically. In a preferred embodiment, stationary radio transmitters without a mobile radio module can each be assigned to a possible position via relative location references to stationary radio transmitters with a mobile radio module.The number of possible positions can be greater than, equal to, or less than the number of fixed radio transmitters. If the number of positions is greater, some positions will not be assigned a fixed radio transmitter. If the number is smaller, the positions of the fixed radio transmitters that have not been assigned a possible position will be determined differently, e.g., using fine localization with calculation of relative location references.
[0020] In one embodiment, the map contains at least one environmental boundary, in particular a building boundary, wherein at least some of the stationary radio transmitters are treated as a group and the fine localization is carried out such that the positions of all stationary radio transmitters in the group lie within the environmental boundary. The assignment of the stationary radio transmitters to a group can be predetermined or, as described above, based on the relative location references. Groups of stationary radio transmitters are typically located in a defined environment. By comparing them with the map, deviations in the coarse localization that lead to positions outside the area can be compensated for. The environmental boundaries are preferably determined from a publicly accessible map. Such maps are available from various providers via the Internet.The environmental boundaries can also be determined from a satellite image, especially in the case of building boundaries.
[0021] The fine localizations by calculating the relative location references and the comparison with the map are preferably combined with one another. In one embodiment, the localization system comprises at least one mobile radio transmitter with a mobile radio module, wherein a coarse localization of the mobile radio transmitter with a mobile radio module is carried out via mobile radio, wherein a deviation between the position determination of the stationary radio transmitter with a mobile radio module via the coarse localization and the position determination of the stationary radio transmitter with a mobile radio module via the fine localization is used to improve the coarse localization of the mobile radio transmitter with a mobile radio module. To improve the coarse localization, for example, the deviation of the nearest stationary radio transmitter with a mobile radio module can be used. Alternatively, an average deviation of several stationary radio transmitters with a mobile radio module can be used to improve the coarse localization.The deviation can be weighted according to the distance between the stationary radio transmitter with a mobile radio module and the mobile radio transmitter with a mobile radio module. Alternatively, a suitable Kalman filter can be used for weighting.
[0022] The invention also relates to a localization system comprising a plurality of stationary radio transmitters, wherein a plurality of the stationary radio transmitters each comprise a mobile radio module, wherein the localization system is provided and configured to carry out a method according to the invention.
[0023] Preferably, the localization system comprises a computing unit, wherein the computing unit is connected to the stationary radio transmitters with mobile radio module via mobile radio.
[0024] Preferably, one or more additional pieces of information are known to the computing unit. Alternatively or additionally, additional pieces of information can be provided by the user. The additional pieces of information can improve fine localization. Preferably, the computing unit comprises a user interface, e.g., in the form of a website. Access to the user interface can preferably be provided by information on a radio transmitter, e.g., in the form of a QR code. The additional pieces of information can be provided by the user via the user interface. The additional pieces of information can preferably be queried via the user interface. Preferred additional pieces of information are:
[0025] - Indication of which fixed radio transmitters have direct line of sight
[0026] - Indication of which fixed radio transmitters are on a level
[0027] - Selection of one alternative when there are several possible fine localizations
[0028] - Indication of an environmental boundary, in particular a building, on the map
[0029] - Specifying a floor for one or more fixed radio transmitters
[0030] The following description of preferred embodiments, taken in conjunction with the drawings, serves to further explain the invention. They show:
[0031] Fig. 1 is a schematic view of a localization system after coarse localization;
[0032] Fig. 2 is a schematic view of the localization system of Fig. 1 with fine localization by relative location references;
[0033] Fig. 3 is a schematic view of a localization system and a map;
[0034] Fig. 4 is a schematic view of the localization system of Fig. 3 after a fine localization by comparison with the surrounding boundaries of the map;
[0035] Fig. 5 is a schematic view of a localization system and a map with possible positions;
[0036] Fig. 6 is a schematic view of the localization system of Fig. 5 after a fine localization by comparison with the possible positions of the map; and Fig. 7 is a schematic view of a localization system with coarse localization of a mobile radio transmitter with a mobile radio module.
[0037] Identical or functionally equivalent elements are designated by the same reference numerals in all embodiments. Fig. 1 shows a schematic view of a localization system 1. In this example, the localization system 1 comprises four stationary radio transmitters 2 and one mobile radio transmitter 3. Relative location references 4 between the stationary radio transmitters 2 are determined using ultra-wideband radio technology. In this example, relative location references from each stationary radio transmitter 2 to every other stationary radio transmitter 2 are determined. Relative location references 4 are also determined between the mobile radio transmitter 3 and several stationary radio transmitters 2. In this example, three relative location references 4 are determined between the mobile radio transmitter 3 and three stationary radio transmitters 2. Three of the four stationary radio transmitters 2 are stationary radio transmitters with a mobile radio module 5.The fixed radio transmitters with mobile radio modules 5 communicate via mobile radio with a processing unit 6. For the fixed radio transmitters with mobile radio modules 5, a rough localization is performed via mobile radio. In this example, the rough localization is performed by the processing unit 6. The fourth fixed radio transmitter 2 and the mobile radio transmitter 3 are radio transmitters without mobile radio modules 7. The radio transmitters without mobile radio modules 7 and the fixed radio transmitters with mobile radio modules 5 can communicate via ultra-wideband radio technology. In this example, the relative location references 4 each comprise a distance 8 between radio transmitters 2, 3. A fixed radio transmitter 2 additionally determines two angles 9 to the other fixed radio transmitters 2.The positions of the fixed radio transmitter without a mobile radio module 7 and the mobile radio transmitter 3 are determined from the rough localization of the fixed radio transmitter with mobile radio module 5 and the relative location references. It is understood that, particularly in a localization system 1 with more fixed radio transmitters 2 than shown here, not every possible relative location reference 4 between the fixed radio transmitters needs to be determined.
[0038] Fig. 2 shows a schematic view of the localization system 1 from Fig. 1 with fine localization using relative location references 4. In the following, only the differences to Figure 1 are described. In this example, the relative location references 4 are offset against the coarse localization during fine localization. In this example, the offset is performed by the computing unit 6. It is understood that the offset can also be performed by a different computing unit than the coarse localization. For simplicity, only one computing unit 6 is shown here. For the stationary radio transmitters with a mobile radio module 5, the circles show the position determined during coarse localization. The positions determined during fine localization are partially offset from the positions determined from the coarse localization.By determining the positions of the stationary radio transmitters with mobile radio module 5 more precisely, the positions of the radio transmitters without mobile radio module 7, in particular of the mobile radio transmitter 3, can also be determined more precisely.
[0039] Fig. 3 shows a schematic view of a localization system 1 and a map 10. A rough localization is performed for the fixed radio transmitters with mobile radio module 5. In this example, the rough localization is performed by the computing unit 6. Relative location references are determined between the fixed radio transmitters 2. In this example, direct relative location references 4 are not determined from every fixed radio transmitter 2 to every other fixed radio transmitter 2. Some relative location references can only be determined indirectly via other relative location references 4. When indirectly determining the relative location references 4, relative location references 4 to mobile radio transmitters 3 can also be used.
[0040] Fig. 4 shows a schematic view of the localization system from Fig. 3 after a fine localization by comparison with environmental boundaries 12 of the map 10. In this example, it is known that all stationary radio transmitters 2 are located within the same building. All stationary radio transmitters 2 are treated as a group by the computing unit 6. In this example, the group is determined via the relative location references 4. From the comparison of the positions from the coarse localization and the environmental boundaries 12, as shown in Fig. 3, the computing unit 6 recognizes that a position of a stationary radio transmitter with a mobile radio module 5 from the coarse localization and a position of a stationary radio transmitter without a mobile radio module 7, which was determined from the coarse localization and the relative location references 4, do not lie within the same environmental boundary 12.For correction purposes, the computing unit 6 shifts all positions of the fixed radio transmitters in the same way during fine localization, so that the positions of all fixed radio transmitters 2 lie within the same environmental boundary 12. In addition to the comparison with the map 10, the positions of the fixed radio transmitters 2 can be improved during fine localization based on the relative location references 4.
[0041] Fig. 5 shows a schematic view of a localization system 1 and a map 10 with possible positions 11. In contrast to the view in Fig. 3, in Fig. 5, possible positions 11 of the stationary radio transmitters 2 are present in the map 10. By comparing the positions from the rough localization and the possible positions 11, the computing unit 6 recognizes that several stationary radio transmitters 2 can each be assigned to a possible position 11. Since relative location references 4 exist between the stationary radio transmitters 2, the assignment is carried out by the computing unit 6 such that the relative location references 4 match the assigned possible positions 11 as closely as possible.
[0042] Fig. 6 shows a schematic view of the localization system from Fig. 5 after a fine localization by comparison with the possible positions 11 on the map 10. A possible position 11 was not assigned to a fixed radio transmitter 2. In this example, an assignment would not be compatible with the relative location references 4 between the fixed radio transmitters 2. A fixed radio transmitter 2 was not assigned to a possible position 11, but its position was determined via the relative location references 4. Fig. 7 shows a schematic view of a localization system 1 with coarse localization of a mobile radio transmitter 13 with a mobile radio module. The computing unit 6 determines a position for the mobile radio transmitter with a mobile radio module 13 via coarse localization using mobile radio.For the stationary radio transmitters with mobile radio modules of the localization system 1, the computing unit 6 first determines a position using a coarse localization and then improves the position using a fine localization. Based on the difference between the positions of the stationary radio transmitters after the coarse localization and after the fine localization, the computing unit 6 determines an improvement in the position of the mobile radio transmitter with mobile radio module 13.
[0043] List of reference symbols
[0044] Localization system
[0045] Fixed radio transmitter
[0046] Mobile radio transmitter
[0047] Relative location reference
[0048] Fixed radio transmitter with mobile radio module
[0049] Computing unit
[0050] Radio transmitter without mobile radio module
[0051] distance
[0052] angle
[0053] Map
[0054] Possible position
[0055] Environmental boundary
[0056] Mobile radio transmitter with mobile radio module
Claims
Claims: Method for setting up a localization system (1), wherein the localization system (1) comprises a plurality of fixed radio transmitters (2) and at least one mobile radio transmitter (3), wherein the localization system (1) determines several relative spatial references (4) between the mobile radio transmitter (3) and at least one fixed radio transmitter (2) by means of an ultra-wideband radio technology, wherein a plurality of the fixed radio transmitters (2) each comprise a mobile communication module, wherein the position of the fixed radio transmitters with mobile communication module (5) is determined by means of coarse localization and fine localization, wherein the coarse localization is carried out by means of mobile communication, wherein the position determination via the coarse localization is improved by means of fine localization, wherein the position determination of the fixed radio transmitters (2) from the fine localization is used for determining the position of the mobile radio transmitter (3).A method according to claim 1, characterized in that the localization system (1) comprises a computing unit (6), wherein the computing unit (6) communicates with at least one of the stationary radio transmitters with mobile communication module (5) via mobile communication. A method according to any of the preceding claims, characterized in that coarse localization and / or fine localization is performed on the computing unit (6). A method according to any one of the preceding claims, characterized in that at least some of the stationary radio transmitters with a cellular module (5) determine at least two relative spatial references (4) to at least one other stationary radio transmitter with a cellular module (5), and the fine localization is performed by combining the relative spatial references (4) with the coarse localization, wherein the relative spatial references (4) are determined via ultra-wideband radio technology. A method according to claim 4, characterized in that the relative spatial references (4) between the radio transmitters with a cellular module (5) are determined indirectly via relative spatial references to radio transmitters (7) without a cellular module. A method according to claim 4 or 5, characterized in that the relative spatial references (4) include at least one distance information (8) between the radio transmitters (2, 3, 5, 7).A method according to any one of claims 4 to 6, characterized in that the relative position references (4) include at least one angle (9) between the radio transmitters (2, 3, 5, 7). A method according to any one of claims 2 to 7, characterized in that on the processing unit (6) all stationary radio transmitters (2) that have determined relative position references (4) to each other are treated as a group. A method according to claim 8, characterized in that the fine localization is performed jointly for all stationary radio transmitters (2) of a group. A method according to any one of the preceding claims, characterized in that the fine localization is performed by comparing the coarse localization with a map (10). The method according to claim 10, characterized in that the map (10) contains a plurality of possible positions (11) of the fixed radio transmitters (2) and the fixed radio transmitters with mobile communication module (5) are each assigned to a possible position (11) based on the coarse localization. The method according to any one of claims 10 to 11, characterized in that the map (10) contains at least one environmental boundary (12), in particular a building boundary, wherein at least some of the fixed radio transmitters (2) are treated as a group and the fine localization is performed such that the positions of all fixed radio transmitters (2) of the group lie within the environmental boundary (12).A method according to any one of the preceding claims, characterized in that the localization system (1) comprises at least one mobile radio transmitter with a cellular module (13), wherein a coarse localization of the mobile radio transmitter with cellular module (13) is performed by means of cellular communication, wherein a deviation between the position determination of the stationary radio transmitters with cellular modules (5) via the coarse localization and the position determination of the stationary radio transmitters with cellular modules (5) via the fine localization is used to improve the coarse localization of the mobile radio transmitter with cellular module (13). A localization system comprising a plurality of stationary radio transmitters (2), wherein a plurality of the stationary radio transmitters (2) each comprise a cellular module, wherein the localization system is provided and configured to perform a method according to any one of claims 1-12. Localization system according to claim 14, characterized in that the localization system comprises a computing unit (6), wherein the computing unit (6) is connected to the stationary radio transmitters with mobile communication module (5) via mobile communication.