UWB Positioning by Independent UWB Anchor Synchronization

Abstract

The present invention relates to a method and device (12) for localizing at least one UWB mobile unit (14). The localization is performed by a first UWB anchor antenna (22a-c) that communicates with the mobile unit (14). A second UWB anchor antenna (24a-c) may be used for precise time synchronization between the UWB anchors (20a-c). In addition, the second UWB anchor antenna (24a-c) may preferably be used to enable the UWB anchors (20a-c) to communicate with a computing unit (28).

Description

Technical Field

[0001] The present invention relates to a method for locating a UWB mobile unit. The present invention also relates to a device for locating a UWB mobile unit.

Background Art

[0002] Locating a UWB mobile unit is a well-known technique. However, the number of UWB mobile units that can be located and the update rate of the UWB mobile units that can be located are limited.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Non-Patent Documents

[0004]

Non-Patent Document 1

Non-Patent Document 2

Non-Patent Document 3

Summary of the Invention

Problems to be Solved by the Invention

[0005] Accordingly, an object of the present invention is to provide a method and a device for significantly increasing the number of UWB mobile units that can be located and the update rate of the UWB mobile units that can be located.

Means for Solving the Problem

[0006] According to the present invention, this object is achieved by the method according to claim 1 and the device according to claim 11. The dependent claims present preferred developments.

[0007] Accordingly, the method according to the present invention is achieved by a method of locating at least one UWB mobile unit (a "tag" or a "tag device") using a plurality of UWB anchors (a "beacon"). The UWB anchor includes a first UWB anchor antenna and a second UWB anchor antenna respectively. Communication for the purpose of position measurement from the UWB mobile unit to the UWB anchor is performed in a first frequency band by the first UWB anchor antenna. In contrast, accurate time synchronization of the UWB anchor is performed in a second frequency band by the second UWB anchor antenna.

[0008] In the accurate time synchronization of the UWB anchor, it is necessary to frequently (about every 100 ms) exchange synchronization data packets between the UWB anchors. As a result of the communication between the UWB anchor and at least one UWB mobile unit being separated from the mutual communication of the UWB anchors, it becomes possible to implement this method very accurately, reliably, and crash-resistant.

[0009] UWB is a wireless standard used for short distances and for location purposes within a factory (industrial manufacturing facility). The ultra-wideband is particularly robust against interference and multi-reflections from other wireless sources, which can occur frequently in factories in the metal processing industry, and ensures precise location, ordering, and navigation of automated guided vehicles (AGVs) and drones even in the presence of obstacles such as metal reflections.

[0010] The configuration, positioning, communication, and / or data protocols using UWB can be carried out, in particular, in accordance with the description of International Publication No. 2020 / 212722 (Patent Document 1), which is hereby incorporated by reference in its entirety. International Publication No. 2020 / 212722 (Patent Document 1) with the invention title of "Ultra-Wideband Location Systems and Methods" was filed on April 19, 2019 and published on October 22, 2020.

[0011] Preferably, UWB components compliant with the IEEE802.15.4z and / or IEEE802.15.4ab standards are used for UWB anchors and / or positioning systems.

[0012] Wireless communication between the mobile unit and the UWB anchor can be transmitted using available UWB, Bluetooth Low Energy (BLE), and / or ZigBee. ZigBee is a standard for low-data-volume and low-power-consumption wireless networks such as home automation, sensor networks, and lighting. ZigBee is based on the IEEE802.15.4 standard and extends its functions particularly by the possibility of routing and secure key exchange.

[0013] The UWB anchors are preferably at least 5 m apart from each other, particularly 10 m, and most preferably 20 m.

[0014] The first UWB anchor antenna and the second UWB anchor antenna can be jointly controlled by a microcontroller and / or a system-on-chip (SOC). Alternatively, the first UWB anchor antenna can be controlled by a first microcontroller and / or a first SOC respectively, and the second UWB anchor antenna can be controlled by a second microcontroller and / or a second SOC respectively.

[0015] The position of the UWB mobile unit can be determined by the Time Difference of Arrival (TDoA) method. This involves the UWB mobile unit transmitting UWB signals that are received by the UWB anchors. The UWB anchors, whose position information is known and whose system time is synchronized, compare the arrival times of these UWB signals. Subsequently, the position of the UWB mobile unit is calculated from the time difference of arrival.

[0016] The position of the UWB mobile unit can be determined using the specifications of the "Car Connectivity Consortium (CCC) (Non-Patent Document 1)" and / or the "Fine Ranging (fira) (Non-Patent Document 2)" Consortium. The communication in the specifications of the CCC and / or fira Consortium is preferably carried out in a frequency band of approximately 8 GHz. This enables the detection of UWB mobile units in the form of consumer devices, particularly in the form of smartphones and / or handheld devices.

[0017] In a particularly preferred configuration of the present invention, the synchronization of the UWB anchors is carried out in a frequency band of approximately 4 GHz.

[0018] Alternatively or additionally, the synchronization of the UWB anchors can be carried out using industrial standards, particularly the Omlox standard.

[0019] Omlox is an open standard for precise real-time positioning systems for indoor spaces. Omlox defines an open interface for interoperable positioning systems. Omlox enables different tag manufacturers to use the same infrastructure in different applications of different providers. Since the same infrastructure is used, the overall operating cost is reduced and easy integration of different applications becomes possible. The main feature of Omlox is to enable the simplification of cyber-physical and to combine the integration of industrial software and hardware solutions into a shared ecosystem.

[0020] By using UWB anchors based on omlox, various types of software such as manufacturing execution systems (MES), asset tracking and navigation with collision prevention, and hardware such as drones, AGVs, and forklift vehicles can be integrated into the location-specific area.

[0021] Omlox enables interoperability and flexibility among different providers that can be tracked within one or more tracking zones. Omlox achieves this through two core components, namely, the Omlox hub and the Omlox core zone. The Omlox hub enables interoperability and flexibility across different tracking zones, and the Omlox core zone provides interoperability and flexibility within a single tracking zone.

[0022] The Omlox hub enables interoperability and flexibility across different complementary zones. In addition to UWB, other location-specific technologies such as RFID, 5G, BLE, WIFI, and GPS are also used in production, distribution, and storage. Omlox can be used to ensure that the network functions smoothly and interoperably. As a result, enterprises can easily network applications such as production management systems, facility tracking, and navigation across different location zones.

[0023] The Omlox hub supports multiple tracking zones. Smart factories operating in UWB location-specific zones, truck loading areas with GPS positioning, and warehouses with WIFI positioning can be efficiently monitored using the Omlox hub. The Omlox hub enables the transmission, synchronization, and alignment of maps from discrete local coordinates (mapping of SLAM and other technologies) to the global geographical coordinates of a smart factory, i.e., the production environment where most of the manufacturing plant and logistics systems are organized, with little or no human intervention, in order to produce the desired products. SLAM means the simultaneous execution of self-position estimation and environmental mapping.

[0024] The Omlox core zone includes an open wireless interface and ensures interoperability within the UWB range. Omlox creates an interoperable infrastructure that operates via plug-and-play. By using the Omlox standard, companies can quickly and easily network all UWB products regardless of the manufacturer.

[0025] UWB communication takes place within the Omlox core zone. The Omlox hub is at the next higher level.

[0026] The characteristics of the Omlox anchor are described in more detail in the Omlox specification (Non-Patent Document 3) published at https: / / omlox.com.

[0027] In a variant of the present invention, the synchronization of the UWB anchor is used by the UWB mobile unit to achieve self-positioning of the UWB mobile unit. The Omlox standard may have provisions for this self-positioning. In this GPS-like mode, the "UWB mobile unit only receives UWB" and then calculates its own position by itself.

[0028] The UWB anchor can perform wired and / or wireless data transfer to the computing unit. The UWB anchor can send data regarding the position of the UWB mobile unit to the computing unit. Furthermore, the UWB anchor can send data regarding at least one signal parameter, for example, the signal strength of the UWB signal of the UWB mobile unit, to the computing unit. The computing unit may include an algorithm for positioning the UWB mobile unit based on the data from the UWB anchor.

[0029] Data transfer for particularly accurate time synchronization between UWB anchors can preferably be performed by a second UWB anchor antenna. Since the second UWB anchor antenna is not used for communicating with the UWB mobile unit, there is no bandwidth contention in this case.

[0030] The radiation by the first UWB anchor antenna can be conical. Alternatively or additionally, the radiation by the second UWB anchor antenna can be annular. The beam angle of the first UWB anchor antenna is preferably downward conical to facilitate optimal contact with the UWB mobile unit. The beam angle of the second UWB anchor antenna is preferably horizontally annular to facilitate optimal contact between the UWB anchors.

[0031] The method according to the invention can be used to locate at least five UWB mobile units. As a result of the data exchange between the UWB anchors being decoupled from the data exchange between the UWB mobile units and the UWB anchors, reliable location of a plurality of UWB mobile units is facilitated. The method is preferably used to locate at least 100, in particular at least 200, particularly preferably at least 500 UWB mobile units.

[0032] The object according to the invention is further achieved by a device for locating UWB mobile units, in particular for carrying out the method described herein. The device includes UWB mobile units. The device further includes a plurality of UWB anchors, each UWB anchor including a first UWB anchor antenna and a second UWB anchor antenna. The first UWB anchor antenna is configured to receive the UWB signal of the UWB mobile unit in a first frequency band. The second UWB anchor antenna is configured to transmit and receive UWB signals between the UWB anchors for the purpose of precise time synchronization of the UWB anchors in a second frequency band.

[0033] The device preferably includes a computing unit connected wirelessly and / or wired to the UWB anchors for the purpose of determining the position of the UWB mobile units.

[0034] The UWB anchor is particularly preferably configured to communicate with the calculation unit by means of a second UWB anchor antenna.

[0035] The device may include a central software module for setting and managing the UWB anchor. The software module may be stored in the calculation unit. Alternatively, the software module may be stored in the cloud of the device. Thus, the maintenance of the system and the system update may be performed from a remote instance of the UWB anchor.

[0036] The UWB anchor of the device has the following features: a) A common housing for the first UWB anchor antenna and the second UWB anchor antenna, b) A common printed circuit board connected to both the first UWB anchor antenna and the second UWB anchor antenna, c) A first microcontroller for controlling the first UWB anchor antenna and a second microcontroller for controlling the second UWB anchor antenna, and / or, d) A first system-on-chip (SOC) for controlling the first UWB anchor antenna and a second SOC for controlling the second UWB anchor antenna and may have one or more of them.

[0037] In a preferred development of the invention, at least one UWB anchor is built into the smoke detector and / or light of the device.

[0038] A further advantage of the invention is apparent from the description and the drawings. Similarly, according to the invention, the features described above and the features to be detailed hereinafter can be used individually in any case or together in any desired combination. It should be understood that the illustrated and described embodiments are not an exhaustive list but are of an illustrative nature for summarizing the invention.

Brief Description of the Drawings

[0039]

Figure 1

Figure 2

Figure 3

[0040] Fig. 1 shows an indoor, particularly industrial manufacturing facility 10 having a device 12 for locating a UWB mobile unit 14. The UWB mobile unit 14 can be part of a consumer device 16 in the form of a smartphone here. The UWB mobile unit 14 can alternatively be arranged on an automated guided vehicle 18 (AGV) or can be formed on the automated guided vehicle 18. The automated guided vehicle 18 is used to transport materials indoors, particularly within the industrial manufacturing facility 10. For reasons of clarity, this variant form will not be described in further detail in Fig. 1.

[0041] The device 12 includes UWB anchors 20a, 20b, 20c for locating the UWB mobile unit 14. The UWB anchors 20a - c each have a first UWB anchor antenna 22a, 22b, 22c and a second UWB anchor antenna 24a, 24b, 24c. The first UWB anchor antennas 22a - c are used for communication (shown by dashed arrows) with the UWB mobile unit antenna 26, and the second UWB anchor antennas 24a - c are used for accurate time synchronization (shown by solid arrows) of the UWB anchors 20a - c with each other. The UWB anchors 20a - c are connected wirelessly or wired to a computing unit 28 (not shown for clarity). This connection is preferably made by the second UWB anchor antennas 24a - c.

[0042] The calculation unit 28 determines the position of the UWB mobile unit 14 by means of the first UWB anchor antennas 22a to 22c and the UWB mobile unit antenna 26. This position can be specifically determined using the algorithm 30 on the computer 32.

[0043] According to the present invention, the determination of the position of the UWB mobile unit 14 is separated from the accurate time synchronization of the UWB anchors 20a to 20c. This enables the position determination to be performed in a more reliable and stable manner even for a plurality of UWB mobile units 14.

[0044] FIG. 2 shows that signal transmission from and to the UWB anchors 20a to 20c is preferably performed at frequencies of about 4 GHz and 8 MHz. More specifically, the first UWB anchor antennas 22a to 22c preferably transmit and receive at a frequency of about 8 GHz, and the second UWB anchor antennas 24a to 24c transmit and receive at a frequency of about 4 GHz. The bandwidth shown in FIG. 2 is purely illustrative. The bandwidth can typically be 500 MHz.

[0045] FIG. 3 shows the frequencies preferably used by the first UWB anchor antennas 22a to 22c and the second UWB anchor antennas 24a to 24c. From FIG. 3, it can be seen that the first UWB anchor antennas 22a to 22c preferably use the frequency band 9 having a center frequency of 7656 MHz, and the frequency bands 1, 2, and 3 having center frequencies of 3432 MHz, 3960 MHz, and 4488 MHz are preferably used for the second UWB anchor antennas 24a to 24c.

[0046] Thus, in summary, when all the figures of the drawings are combined, the present invention relates to a method and a device 12 for locating at least one UWB mobile unit 14, particularly for locating a plurality of UWB mobile units 14. The location is performed as a result of the first UWB anchor antennas 22a - c communicating with the mobile unit 14. The second UWB anchor antennas 24a - c are used for the exact time synchronization of the UWB anchors 20a - c with each other. The second UWB anchor antennas 24a - c are preferably also used to enable the UWB anchors 20a - c to communicate with the computing unit 28.

Explanation of Reference Numerals

[0047] 10 Industrial manufacturing facility 12 Device 14 UWB mobile unit 16 Consumer device 18 Autonomous vehicle 20a - c UWB anchor 22a - c First UWB anchor antenna 24a - c Second UWB anchor antenna 26 UWB mobile unit antenna 28 Computing unit 30 Algorithm 32 Computer

Claims

1. A method for locating a UWB mobile unit (14), wherein the locating is performed using a plurality of UWB anchors (20a-c) each including a first UWB anchor antenna (22a-c) and a second UWB anchor antenna (24a-c), communication for location measurement from the UWB mobile unit (14) to the UWB anchors (20a-c) is performed in a first frequency band by the first UWB anchor antenna (22a-c), accurate time synchronization of the UWB anchors (20a-c) is performed in a second frequency band by the second UWB anchor antenna (24a-c), and radiation by the second UWB anchor antenna (24a-c) is performed in an annular shape.

2. a) the first UWB anchor antenna (22a-c) is respectively controlled by a first microcontroller and / or a first system-on-chip (SOC), b) the second UWB anchor antenna (24a-c) is respectively controlled by a second microcontroller and / or a second SOC, the method according to claim 1.

3. The position of the UWB mobile unit (14) is determined by the time difference of arrival method, the method according to claim 1.

4. The position of the UWB mobile unit (14) is determined using the specifications of the Car Connectivity Consortium (CCC) and / or the Fine Ranging (fira) Consortium, the method according to claim 3.

5. The synchronization of the UWB anchors (20a-c) is performed in a frequency band of about 4 GHz, the method according to claim 1.

6. The synchronization of the UWB anchors (20a-c) is performed using the Omlox standard, The synchronization of the UWB anchors (20a-c) is the method according to claim 1, which is used for the UWB mobile unit (14) to locate itself.

7. The wired and / or wireless data transfer is performed from the UWB anchors (20a-c) to the calculation unit (28) in the method according to claim 1.

8. The data transfer from the UWB anchors (20a-c) to the calculation unit (28) is performed by the second UWB anchor antennas (24a-c) in the method according to claim 7.

9. The radiation by the first UWB anchor antennas (22a-c) is performed in a conical shape in the method according to claim 1.

10. A device (12) for implementing the method according to claim 1 for locating the UWB mobile unit (14), A) A UWB mobile unit (14), B) A plurality of UWB anchors (20a-c), each UWB anchor (20a-c) includes a first UWB anchor antenna (22a-c) and a second UWB anchor antenna (24a-c), the first UWB anchor antenna (22a-c) is configured to receive the UWB signal of the UWB mobile unit (14) in a first frequency band, and the second UWB anchor antenna (24a-c) is configured to transmit and receive UWB signals among the UWB anchors (20a-c) for the purpose of accurate time synchronization of the UWB anchors (20a-c) in a second frequency band. A device (12) including.

11. C) A calculation unit (28) wirelessly and / or wiredly connected to the UWB anchors (20a-c) for the purpose of locating the position of the UWB mobile unit (14) The device according to claim 10 including.

12. The UWB anchor (20a-c) according to claim 11, wherein the UWB anchor (20a-c) is configured to communicate with the calculation unit (28) by means of the second UWB anchor antenna (24a-c).

13. The UWB anchor (20a-c) a) a common housing for the first UWB anchor antenna (22a-c) and the second UWB anchor antenna (24a-c), b) a common printed circuit board connected to both the first UWB anchor antenna (22a-c) and the second UWB anchor antenna (24a-c), c) a first microcontroller for controlling the first UWB anchor antenna (22a-c) and a second microcontroller for controlling the second UWB anchor antenna (24a-c), and / or d) a first system-on-chip (SOC) for controlling the first UWB anchor antenna and a second SOC for controlling the second UWB anchor antenna (24a-c) The device according to claim 10, comprising

14. The device according to claim 10, wherein at least one UWB anchor (20a-c) is incorporated in a smoke detector and / or a light of the device (12).

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