Method, computer program and system for characterizing a radio frequency environment

Abstract

The present invention relates to a method for characterizing a radio frequency environment, the method comprising: obtaining measurements of geometric properties of physical objects in the radio frequency environment, the geometric properties including at least respective positions and dimensions of the physical objects; simulating radio frequency ray tracings involving a plurality of simulated rays, each ray being transmitted by a transmitter located at a transmitter position in the radio frequency environment and / or received by a receiver located at a receiver position in the radio frequency environment, each pair of transmitter and receiver positions defining a radio frequency path between them along which the simulated ray interacts with at least a portion of the physical object; selecting, from among all the radio frequency paths, at least one radio frequency path defined by a simulated ray interacting with a physical object that interacts most with the simulated ray; obtaining radio frequency measurements of a radio frequency channel defined by the selected path and estimating radio frequency properties of the interacting physical objects on the selected path, the radio frequency properties and the geometric properties of the physical objects thereby characterizing the radio frequency environment.

Description

[Technical Field]

[0001] The present disclosure relates to a method for automating the creation of a radio propagation digital twin. [Background technology]

[0002] "Digital twin" is the concept of creating a virtual representation of a physical object. Digital twins allow for gaining insight into the real object in a flexible, fast and cost-effective way. Typically, having a digital twin of a propagation channel allows for better allocation of radio resources, optimization of transmission parameters and planning of optimized network deployments. This digital representation can be used for various purposes such as evaluation, prediction, optimization, etc. In wireless communications, a physical object can exist in the form of a radio propagation environment.

[0003] A wireless channel between a transmitter and a receiver can be modeled as the propagation of electromagnetic radiation in an environment. The electromagnetic radiation starts from the transmitter, travels through the environment, and finally reaches the receiver. On its way to the receiver, the radiation may encounter several objects, where, according to the nature of such objects, the path of the radiation and its electromagnetic properties may change, such as reflection, refraction, and diffraction. These changes also depend on the radio frequency band and the material of the objects.

[0004] Given a 3D sketch of the real environment, ray tracing techniques simulate the propagation of radiation and provide details of the interaction between the radiation and the environment. A radio propagation digital twin can be constructed of the radiation and their interactions. The fidelity of this digital representation typically depends on: -Details of the geometric characteristics of the radiation; and -Accuracy of the dielectric properties of materials involved in radiation interaction.

[0005] The former factor can be achieved by modern ray tracing algorithms with the help of powerful graphics processing units (GPUs). The latter factor is more complex to obtain. The dielectric property is related to the permittivity. This parameter actually depends not only on the material of the object, but also on the current temperature, humidity, and, more importantly, the operating frequency band.

[0006] To obtain an accurate digital twin of a wireless propagation channel, the permittivity of objects in the environment must be calibrated. This calibration is based on channel measurements, and the model can be adjusted by adjusting the permittivity coefficients, which are parameters of the model. The measurement phase is performed with at least one pair of transmitter (Tx) and receiver (Rx) locations, but preferably with multiple pairs. In practice, a single Tx-Rx link may not be able to capture all the required permittivity values ​​or to fully characterize the dependency between the wireless channel and the permittivity.

[0007] Typically, the determination of the measurement locations is heuristic and not based on any solid evidence of efficiency. This type of approach has at least the following drawbacks: First, this method requires human intervention, which is costly. Second, heuristic methods cannot guarantee that the measurements are sufficient for a given calibration performance (on the other hand, in some cases the measurements may be redundant, causing a waste of resources). Summary of the Invention [Problem to be solved by the invention]

[0008] The present disclosure aims to improve the situation. [Means for solving the problem]

[0009] To that end, the present disclosure provides a computer-implemented method for characterizing a radio frequency environment, the method comprising: Obtaining measurements of geometric properties of physical objects in a radio frequency environment (see S1.1 of FIG. 1), the geometric properties including at least respective positions and dimensions of the physical objects; Simulating radio frequency ray tracing with a plurality of simulated rays (see S1.2), each ray comprising: transmitted by a transmitter (hereinafter referred to as Tx) located at a transmitter location within the radio frequency environment; and / or received by a receiver (hereinafter referred to as Rx) located at a receiver location within a radio frequency environment; each pair of transmitter and receiver locations defining a radio frequency path between them along which simulated radiation interacts with at least a portion of a physical object; selecting (S2.1) from among all radio frequency paths at least one radio frequency path defined by the simulated radiation interacting with a physical object that interacts most with the simulated radiation; Obtaining radio frequency measurements of a radio frequency channel defined by the selected path (S2.2) and estimating radio frequency characteristics of physical objects interacting in the selected path (O3.1); Including, A method is presented to characterize a radio frequency environment by the radio frequency and geometric properties of physical objects.

[0010] Thus, the subject matter of this disclosure can minimize radio frequency measurements taken in the environment, preserving time and memory resources.

[0011] Once the radio frequency and geometric properties of the physical object are obtained, it is possible to characterize the radio frequency environment, and therefore in one embodiment the method comprises: -Generating a radio propagation digital twin from the characterization of the radio frequency environment; It may further include:

[0012] It is therefore possible to make a digital copy of the radio environment, to optimize the deployment of transmitting and / or receiving antennas, to optimize the location of access points (e.g. base stations or Wifi™ home gateways), to predict the radio frequency performance of base stations or gateways, their coverage, etc. in a room or in nature or in an urban environment with buildings etc. Another application is to aid resource allocation, for example to provide more power locally (typically in network planning applications).

[0013] Typically, in one embodiment, the selected radio frequency path defines a transmitter Tx location and a receiver Rx location, and the method further includes positioning at least one robot at one of the transmitter location and the receiver location, and maneuvering a robot equipped with at least one of a transmitting antenna and a receiving antenna to control the robot to make radio frequency measurements (S2.2) at one of the transmitter location and the receiver location.

[0014] In such an embodiment, if multiple radio frequency paths are selected (S2.1), a fixed transmitting antenna Tx may be provided, while the robot may be equipped with a receiving antenna Rx and maneuvered to occupy successive receiver positions defined by the selected paths.

[0015] Alternatively, a receiving fixed antenna can be provided, while the robot carries a transmitting antenna and moves from successive transmitter locations.

[0016] In one embodiment, the ray tracing simulation includes: subdividing each simulated ray into sub-paths along which the simulated ray is considered to encounter physical objects in the radio frequency environment; estimating interactions of the simulated radiation with physical objects encountered in the partial path; For each interaction, at least: At least the nature of the interactions among reflection, refraction, and diffraction, the angle of incidence of the radiation with respect to the physical object encountered; data on the physical objects encountered; and Includes.

[0017] For example, the data of an object encountered can be the identifier k of the material forming this object, or, in the example of an embodiment presented below, the radio frequency permittivity value of that material.

[0018] In the definition given above, the selected (S2.1) radio frequency paths defined by the simulated radiation interacting with the physical objects that "interact most with the simulated radiation" can be defined by assigning a score for each of the interactions to those physical objects that interact with the simulated radiation.

[0019] In the example embodiment presented below, the highest interaction score may correspond to the greatest overall change in the radio frequency channel (meaning the greatest overall change on the channel ultimately defined by the selected radio frequency path).

[0020] Alternatively, the selected path can be the path with the largest number of partial paths (i.e., the path that encounters the most objects), which can be an alternative indicator for selecting "at least one radio frequency path."

[0021] In the "Effect on Radio Frequency Channel" embodiment, the physical object that interacts most with the radiation can be defined as the one that has the greatest effect on the estimate of the radio frequency channel h, which is modeled by the radiation that leaves the transmitter Tx, interacts with physical objects in the radio frequency environment, and successfully reaches the receiver Rx.

[0022] More specifically, the estimation of the radio frequency channel h is

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[0023] Selecting a radio frequency path (S2.1) then, in one embodiment, comprises: Count the number of physical objects K in the environment and calculate the values ​​of certain parameters (η1,...,η K ) to each object; For each given value of the given parameter η k The possible range R k Define the range R kwhile fixing all other values ​​of the predetermined parameter to their assigned respective default values; Given the value η k By using the radiation obtained from ray tracing simulations, all channels h(η) in the radio frequency environment are calculated as k ) and assessing changes in For each physical object,

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[0024] Alternatively, selecting a radio frequency path (S2.1) may be performed by: The value η of a given parameter of the radio frequency characteristic determined by radio frequency measurements k to each object k, and For each ray p defined by the ray tracing simulation, count the number of times n(p,k) that the ray p interacts with an object k, where n(p,k) is the number of times ... and

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[0025] Highest scores k Once the score is estimated, before selecting at least one path that interacts with the physical object having the parameter, a filtering can be performed that removes objects that have a value of a predetermined parameter that is below a negligence threshold.

[0026] Highest scores k Selecting at least one path that interacts with a physical object having a predetermined parameter value above a significance threshold can be done by minimizing the number of radio frequency measurements taken while ensuring that a physical object having a value of a predetermined parameter above a significance threshold is captured.

[0027] Of course, the significance threshold is greater than the negligence threshold.

[0028] In one embodiment, as indicated above, the value of the predetermined parameter of the radio frequency characteristic may be a value of the radio frequency permittivity, and the radio frequency characteristic (related to element O3.1 of FIG. 1) may include at least the respective radio frequency permittivity of the physical object.

[0029] However, in addition to the permittivity as a radio frequency characteristic, it is also possible to estimate the roughness coefficient of an object using the aforementioned radio frequency measurements, either supplementally or alternatively. This is actually done through the radio frequency scattering mechanism of wave propagation (also known as "diffuse reflection"). When waves encounter a rough (i.e., uneven) surface, energy is scattered in several directions (not just the single reflection direction that would occur if the surface were perfectly flat). This scattering effect is greater when the roughness value is within the same scale as the radio frequency wavelength.

[0030] Thus, in this alternative embodiment, the value of the predetermined parameter of the radio frequency characteristic may be a roughness value, and the radio frequency characteristic (related to element O3.1 in Figure 1) may include at least the respective roughness value of the physical object.

[0031] The present disclosure is also directed to a computer program comprising instructions that, when executed by a computer, cause the computer to perform a method. The present disclosure is also directed to a non-transitory computer storage medium storing instructions for such a computer program.

[0032] The present disclosure provides a system for implementing a method, comprising: a physical object sensor for obtaining measurements (S1.1) of geometric properties of a physical object in a radio frequency environment; a computer having a computing circuit connected to the physical object sensor to receive data of geometric characteristics, and simulating radio frequency ray tracing (S1.2) and selecting (S2.1) at least one radio frequency that defines the respective positions of a transmitter Tx and a receiver Rx; a transmitting antenna and a receiving antenna respectively located at the transmitter Tx and receiver Rx positions for performing radio frequency measurements (S2.2); This also applies to systems that include:

[0033] Typically, in one embodiment of the system, the system may further comprise at least one robot equipped with at least one of a transmitting antenna and a receiving antenna and connected to a computer that receives control data including point coordinates of at least one of a transmitter (Tx) position and a receiver (Rx) position to control the robot to position the robot at one of a transmitter position and a receiver position and perform radio frequency measurements (S2.2) at one of the transmitter position and the receiver position.

[0034] Further details and advantages of the present disclosure will be understood from the following description of exemplary embodiments and will become apparent from the associated drawings, in which: [Brief explanation of the drawings]

[0035] [Figure 1] FIG. 1 illustrates an example embodiment of a method for automated generation of a radio propagation digital twin. [Figure 2] FIG. 2 is a diagram illustrating an example of an embodiment of step S2 in FIG. [Figure 3] FIG. 1 shows an example 3D sketch of an environment. [Figure 4] FIG. 1 shows the scores of substances using the comprehensive scoring method presented below. [Figure 5] FIG. 10 shows the cumulative distribution function (CDF) of the channel prediction error for three different methods of path selection. [Figure 6] FIG. 1 illustrates an exemplary embodiment of a system for performing the method presented above. DETAILED DESCRIPTION OF THE INVENTION

[0036] The process of creating a radio propagation digital twin is described below with reference to FIG. 1.

[0037] The first general step S1 is related to ray tracing simulation. More specifically, given a real environment, the first step S1.1 aims to create a sketch including the geometric properties of physical objects in the environment. This can be done by using an autonomous device (hereinafter referred to as "unmanned device") equipped with a camera sensor, a LIDAR sensor, or any sensor capable of capturing geometric properties. The geometric properties can include: -position -Azimuth -size.

[0038] Next, a multi-link deployment is set up, which consists in defining multiple pairs of Tx and Rx locations in the environment. In the next step S1.2, a ray tracing algorithm is used to characterize the geometry of the given Tx-Rx location and the environment in order to obtain the ray that leaves the Tx location and arrives at the Rx location. In step O1.1, the ray is finally represented by its partial paths and its interactions with objects in the environment. For every interaction, the nature of the interaction (reflection, refraction, diffraction, etc.), the angle of incidence, and the material encountered are recorded.

[0039] Next, general step S2 concerns the implementation of measurements. More specifically, in step S2.1, at least one pair of Tx-Rx locations is selected to measure the channel. Generally, it is preferable to use multiple pairs. The selection is performed autonomously by a computer using the radiation information from O1.1. This step S2.1 ensures that all materials that play an important role in the propagation environment are sufficiently captured in the channel measurements. In step S2.2, given the Tx-Rx locations, at least one radio frequency device moves within the scene to measure the channel. This device can move autonomously. Next, step O2.1 is performed to determine whether the measured channel can exist in at least one of the following forms: channel impulse response (CIR), channel gain, etc. More generally, step O2.1 is performed to determine whether the currently measured channel can exist according to any parameters that define the radio frequency channel.

[0040] Next, the general step S3 concerns calibration. More specifically, in step S3.1, the channel is modeled by the radiation that leaves Tx, interacts with the environment and arrives at Rx. This can be expressed by the following mathematical formula:

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[0041] The ray tracing simulation is p ) values. This step O3.1 uses the measured channels, i.e., step O2.1, and the corresponding modeled channels, i.e., equation (5), to calculate the permittivity η(i p ) estimates. Finally, the output of step O3.1 is the estimated permittivity. These permittivity values ​​are used together with the geometric properties of the radiation (provided by ray tracing) to predict the channel for every channel in the environment.

[0042] The present disclosure intends to eliminate human intervention in step S2.1, making the process fully autonomous, since all remaining steps can be easily automated. To automate this step S2.1, we propose to use the radiation data output from S1. This allows the computer to analyze the situation independently and thus autonomously determine the appropriate position for the measurement. Step S2 of Figure 1 is detailed in Figure 2.

[0043] All materials involved in the interaction of the radiation delivered by step S1 are scored according to the importance of the role they play in the propagation channel.

[0044] Once the scores are obtained, a location selection step S2.1 globally evaluates the materials and locations to find the best location for the measurement. The selection criteria may vary depending on the objective, e.g., maximizing accuracy, minimizing cost (time, effort, etc.).

[0045] The selected positions can then be divided into two main categories: -Subject position, and -Opportunistic position.

[0046] The first category, "subjective locations", refers to locations that depend on the environment and that the unmanned device can access to make measurements. The second category, "opportunistic locations", refers to the fact that some locations may be inaccessible and are therefore reserved for opportunistic measurements. This type of measurement is triggered if any device (with measurement capabilities) accesses such a location in the future.

[0047] In another application of the present disclosure related to an opportunistic measurement mechanism, a digital twin of the radio propagation channel is already constructed and updated over time, so the communication system is operational and it is then of interest to utilize the current location of some of the active terminals (such as user equipment) requesting measurements and update the database of the radio frequency environment.

[0048] The following focuses on step S2.1 because this is the only step that needs to be automated compared to the typical prior art.

[0049] Step S2.1.1 concerns the so-called "facet scoring", which consists in scoring the materials involved in all radiation interactions. This is due to the arrangement of objects in the environment, which results in some obstacles playing a more important role in defining the propagation channel than others. In the following, K is defined as the set of all permittivities (η,...,η K ) represents the number of facets in the environment such that: Two scoring methods can be proposed as follows: - Comprehensive scoring: each permittivity η k The possible range of R k is defined, and this dielectric constant η k is this range R k While all other permittivities are fixed to their assigned default values, as the participating permittivities vary within their ranges, the change in all channels in the environment is evaluated using radiation (simulated by ray tracing). The higher the score, the greater the overall change in the channel.

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[0050] Based on the remaining materials and their scores, location selection proceeds in step S2.1.2. Two methods for selecting measurement locations can be implemented as follows. Minimum Number of Measurements (hereafter abbreviated as "MinNb"): The principle is to minimize the number of measurement points while ensuring that all important permittivities are captured. - Best score measurement ("best score" for short): With the same basic requirement that all important permittivities are captured, the goal is to increase the accuracy of the calibration in step S3 by selecting locations where the permittivity under consideration has a strong influence.

[0051] The outputs can then be divided into two categories: - Subjective location: in this method, which is preferable for the initial construction of the aforementioned database, measurement locations are calculated in advance, allowing the definition of the mission of an unmanned (or manned) measurement campaign. Due to the geometric characteristics of the environment (factory, urban, rural, etc.) and the type of unmanned device (robot, drone, etc.), not all locations will be accessible, and this must be taken into account when planning; Opportunistic location: In this approach, a digital twin of the wireless propagation channel is already constructed and updated over time. The communication system is therefore operational and it is of interest to utilize the current locations of active terminals to request measurements and update the aforementioned database. To avoid excessively large overhead, it is of interest to have a criterion to determine whether the current terminal location is favorable for updating the database. Thus, previous scores can be combined with a current reliability metric of the database. The use of such a reliability metric can be illustrated by the following two examples: Prediction reliability: When using a digital twin to predict the propagation channel, a reliability metric can be defined as the prediction error. A tolerance threshold can be set for this prediction error. If the prediction error exceeds this threshold, a measurement request can typically be triggered to update the digital twin. Reliability of optimization: Digital twins can be used to optimize processes in wireless communication, such as beamforming, channel estimation, etc. The performance of the optimization using the updated digital twin is denoted as Perf0, and the performance at a certain moment t is denoted as Perf0. t and define the threshold ε, Perf0-Per t If >ε, the digital twin can be said to be out of date, in which case a request for a new measurement can be initiated.

[0052] Referring to FIG. 6 , a sensor such as a camera CAM can be attached to a first robot R1 to determine the position, dimensions, orientation, etc. of physical objects (walls W, ceiling, floor, tables, chairs, etc.) in the environment. The robot R1 can be maneuvered to move within the environment to determine the presence of all physical objects in the environment. Data on the geometric properties (position, dimensions, orientation, etc.) of these physical objects are transmitted to a computer CP and stored in a memory MEM of the computer CP. The computer CP is therefore provided with a communication interface COM for receiving data. The computer CP further includes a computing circuit comprising a processor PROC and a memory MEM that typically stores code of instructions for a computer program according to the present disclosure. The processor PROC is configured to read the aforementioned instructions, perform the calculations presented above, and ultimately cooperate with the memory MEM to select a best path that defines the respective positions of a transmitter (Tx) and a receiver (Rx) positioned within the environment. Note that the above positions are positions where radio frequency measurements are most effective for characterizing the radio frequency twin of the environment.

[0053] In the example of Figure 6, a fixed transmitting antenna (Tx) is positioned in the environment, while an automated robot R2 moves from a receiver position (Rx) to another position, carrying a receiving antenna to perform the aforementioned radio frequency measurements on a channel defined by the radio frequency path between the transmitting antenna position (Tx) and the current robot position (Rx).

[0054] Alternatively, the robots carry a transmitting antenna (Tx) while the receiving antenna (Rx) can have a fixed position, or a first robot can carry a transmitting antenna (Tx) and a second robot can carry a receiving antenna (Rx), both robots being connected to and controlled by a computer CP.

[0055] Of course, the same robot R1, R2 can be used both to detect objects in the environment (and be equipped with a camera CAM) and to perform radio frequency measurements (and be equipped with a transmitting or receiving antenna).

[0056] In the example embodiment shown below, we consider a warehouse with measurements of 80 meters wide, 180 meters long, and 20 meters high. Several shelves SH, benches BE, boxes BO, etc. are arranged in the scene as shown in Figure 3. In this warehouse, one access point (Tx) is deployed at a fixed position as a transmitting antenna, and a set of possible receiver positions (Rx) is determined (also shown in Figure 3).

[0057] A 3D sketch of the warehouse is input into a ray tracing algorithm to obtain the radiation. In this scenario, 45 permittivity values ​​are considered. An exhaustive scoring method is used to evaluate the importance of all permittivity values. The resulting scores are shown in Figure 4.

[0058] These scores are then used to select receiver locations (Rx) for measurement. Two proposed autonomous selection methods, MinNb and best score, are then implemented. The MinNb method determines four Rx locations, and the best score method determines seven Rx locations. Based on the results of the MinNb selection method, a heuristic selection (performed by human intervention) is used to determine the same four Rx locations for measurement. The goal is to have a benchmark to compare machine labor with human labor in this task. In this example, all locations are considered accessible to a measurement device (a robot with a receiving antenna that can occupy consecutive Rx locations).

[0059] Measurements for all methods are performed at selected Rx locations. Then, a neural network is used to calibrate the permittivity based on measurements and a radiation-based channel model. The calibrated channel model is finally used to predict the channel impulse response for all possible Rx locations (shown in the example of Figure 3). Next, Figure 5 shows the channel prediction error statistics for the three selection methods mentioned above. When using the same number of Rx locations, the proposed MinNb method appears to produce smaller errors than the heuristic method. When using Rx locations with better scores and a larger number of measurements (seven compared to four), the best-score method shows particularly noteworthy improvement.

Claims

1. 1. A computer-implemented method for characterizing a radio frequency environment, the method comprising: obtaining measurements of geometric properties of physical objects within the radio frequency environment, the geometric properties including at least respective positions and dimensions of the physical objects; simulating radio frequency ray tracing involving a plurality of simulated rays, each said ray comprising: transmitted by a transmitter located at a transmitter location within said radio frequency environment; and / or received by a receiver located at a receiver location within the radio frequency environment; each pair of the transmitter location and the receiver location defining a radio frequency path therebetween along which simulated radiation interacts with at least a portion of the physical object; selecting at least one radio frequency path from among all of said radio frequency paths; obtaining radio frequency measurements of a radio frequency channel defined by the selected radio frequency path and estimating radio frequency characteristics of the physical object interacting on the selected radio frequency path; Including, characterizing the radio frequency environment by the radio frequency characteristics and the geometric characteristics of the physical objects; The selecting comprises: The physical object is assigned a score s of the simulated interaction with radiation. ｋ and assigning Among all the radio frequency paths, the highest score ｋ and selecting at least one radio frequency path defined by said simulated radiation interacting with a physical object having a

2. generating a radio propagation digital twin from the characterization of the radio frequency environment; The method of claim 1 further comprising:

3. the selected radio frequency path defines a transmitter location and a receiver location; The method comprises: positioning at least one robot at one of the transmitter locations and the receiver locations, and maneuvering the robot, the robot carrying at least one of a transmitting antenna and a receiving antenna, to control the robot to make the radio frequency measurements at the one of the transmitter locations and the receiver locations; The method of claim 1 or 2, further comprising:

4. Multiple radio frequency paths are selected; A fixed transmitting antenna is provided, The method of claim 3 , wherein the robot is equipped with the receiving antenna and is maneuvered to occupy successive receiver positions defined by the selected radio frequency path.

5. The ray tracing simulation includes: subdividing each of the simulated rays into sub-paths along which the simulated rays are considered to encounter physical objects in the radio frequency environment; estimating interactions of the simulated rays with the physical objects encountered in the partial paths; For each of said interactions, at least At least the nature of the interactions among reflection, refraction, and diffraction, the angle of incidence of the radiation relative to the encountered physical object; data of the physical objects encountered; and 3. The method of claim 1 or 2, comprising:

6. The interaction score of the physical object is calculated by estimating a radio frequency channel h modeled by radiation leaving a transmitter, interacting with the physical objects in the radio frequency environment, and arriving at a receiver, using a score s of the physical object's influence. ｋ is given by The method according to claim 1 or 2, wherein the effect relates to a global change in the estimate of the radio frequency channel h.

7. The estimation of the radio frequency channel h is [Equation 1] where: p represents the radiation index, and δ(τ ｐ ) is the Dirac function applied to the delay of ray p leaving the transmitter and arriving at the receiver, i ｐ represents the index of the contingency that the ray p encounters and that results from its interaction with the physical object; β ｐ is the radio frequency path loss of said ray p, F ｐ Ｔｘ is the transmit antenna response at the departure angle of said ray p, F ｐ Ｒｘ is the receive antenna response at the angle of arrival of the ray p, [Equation 2] is the contingency i ｐ is a depolarization matrix of the radiation p due to the contingency i ｐ the angle of incidence to the physical object interacting at [Equation 3] and the radio frequency characteristics η(i ｐ 7. The method of claim 6, wherein the method is dependent on

8. selecting the radio frequency path comprises: Counting the number K of physical objects in the radio frequency environment and calculating the value (η) of a predetermined parameter of the radio frequency characteristics determined by the radio frequency measurements. １ ,... ,η Ｋ ) to each of said physical objects; For each given value η of said predetermined parameter ｋ possible range R ｋ By defining the range R ｋ while fixing all other values ​​of said predetermined parameters to their assigned respective default values; The given value η ｋ When varies in the range, all channels h(η) in the radio frequency environment are calculated by using the rays obtained from the ray tracing simulation. ｋ ) and assessing changes in For each of the physical objects, a score s of the physical object's influence on the estimate of the radio frequency channel h is calculated. ｋ and estimating the score s ｋ teeth, [Equation 4] where m ｈ is the value η ｋ is the range R ｋ When the channel h(η ｋ ) and Among the possible radio frequency paths, the highest impact score is ｋ selecting at least one radio frequency path that interacts with a physical object having a The method of claim 7, comprising:

9. The interaction score s of the physical object ｋ 3. The method of claim 1, wherein {overscore (x)} is determined by counting the number of interactions of the simulated radiation with the physical object.

10. selecting the radio frequency path comprises: The value η of a predetermined parameter of the radio frequency characteristic determined by said radio frequency measurement ｋ to each physical object k; For each ray p defined by the ray tracing simulation, count the number of times n(p, k) that the ray p interacts with an object k, where n(p, k) is the number of times ... [Equation 5] For each of the physical objects, the interaction score s ｋ and the radio frequency path loss β of the radiation p corresponds to ｐ The value of the predetermined parameter η is obtained by weighting the number of times by ｋ and estimating the score of [Equation 6] Among the possible radio frequency paths, the highest impact score is ｋ selecting at least one radio frequency path that interacts with a physical object having a 10. The method of claim 9, comprising:

11. The highest impact score s ｋ 9. The method of claim 8, wherein once the score is estimated, before selecting at least one radio frequency path that interacts with a physical object having a value of the predetermined parameter below a negligence threshold, a filtering is performed to remove physical objects having a value of the predetermined parameter below a negligence threshold.

12. The highest impact score s ｋ 9. The method of claim 8, wherein selecting at least one radio frequency path that interacts with a physical object having a value of the predetermined parameter above a significance threshold is performed by minimizing the number of radio frequency measurements taken while ensuring that a physical object having a value of the predetermined parameter above a significance threshold is captured.

13. The highest impact score s ｋ Once the score is estimated, before selecting at least one radio frequency path that interacts with a physical object having a value of the predetermined parameter below a negligence threshold, a filtering is performed to remove physical objects having a value of the predetermined parameter below a negligence threshold; The method of claim 12 , wherein the significance threshold is higher than the negligence threshold.

14. 9. The method of claim 8, wherein the value of the predetermined parameter of the radio frequency characteristic is a value of a radio frequency permittivity, and the radio frequency characteristic includes at least each radio frequency permittivity of the physical object.

15. A computer program comprising instructions which, when executed by a computer, cause the computer to carry out the method of claim 1 or 2.

16. A system for implementing the method according to claim 1 or 2, comprising: a physical object sensor that obtains measurements of the geometric properties of the physical objects in the radio frequency environment; a computer comprising computing circuitry coupled to the physical object sensor to receive data of the geometric characteristics and to simulate the ray tracing of the radio frequencies and to select the at least one radio frequency that defines the respective positions of a transmitter and a receiver; a transmitting antenna and a receiving antenna, respectively, located at the respective locations of the transmitter and receiver for performing the radio frequency measurements; A system comprising:

17. 17. The system of claim 16, further comprising at least one robot carrying at least one of a transmitting antenna and a receiving antenna and connected to the computer receiving control data including point coordinates of at least one of the transmitter location and the receiver location to control the robot to position the robot at one of the transmitter location and the receiver location and perform the radio frequency measurements at the one of the transmitter location and the receiver location.

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