Method for setting up a location tracking system and location tracking system

Abstract

A method for configuring a location system (1), the location system (1) comprising a number of fixed wireless transmitters (2) and at least one mobile wireless transmitter (3), the location system (1) determining a number of relative position references (4) between the mobile wireless transmitters (3) and the at least one fixed wireless transmitter (2) by ultra-wideband radio technology, the number of fixed wireless transmitters (2) each comprising a mobile wireless module, positioning of the fixed wireless transmitter (5) having the mobile wireless module is performed using coarse and fine location determination, the coarse location determination is performed by mobile radio, the positioning using the coarse location determination is improved using fine location determination, and the positioning of the fixed wireless transmitter (2) from the fine location determination is used to determine the position of the mobile wireless transmitter (3).

Description

Technical Field

[0001] The present invention relates to a method for setting a positioning system and a positioning system.

[0002] The positioning system is known from EP3002603A1.

[0003] In a positioning system, a relative position reference, such as a distance or an angle, is determined between a fixed unit and a moving unit. The position of the moving unit is determined from the known position of the fixed unit based on the relative position reference. Accurate knowledge of the position of the fixed unit is important for the accurate positioning of the moving unit. Determining the position of the fixed unit when setting up the positioning system has hitherto been very time-consuming.

[0004] Based on the object of providing a method as mentioned at the beginning, this simplifies the setup of the positioning system. Furthermore, a positioning system is provided that uses that such a method can be implemented.

[0005] This object is achieved in a positioning system according to the invention, the positioning system comprising a number of fixed radio transmitters and at least one mobile radio transmitter, the positioning system determining a number of relative position references between the mobile radio transmitter and at least one of the fixed radio transmitters by means of ultra-wideband radio technology, the plurality of fixed radio transmitters each comprising one mobile radio module, the positioning of the fixed radio transmitter having the mobile radio module being carried out by means of rough positioning and fine positioning, the rough positioning being carried out by mobile radio, Positioning via rough positioning is improved by fine positioning, and the positioning of the fixed radio transmitter from the fine positioning is used to determine the position of the mobile radio transmitter.

[0006] In principle, fixed radio transmitters and mobile radio transmitters can have the same design. Radio transmitters can exchange signals with each other using ultra-wideband radio technology. The relative position reference between radio transmitters can be determined from the received signals. The relative position reference can be determined not only between fixed radio transmitters and mobile radio transmitters, but also between different fixed radio transmitters or between different mobile radio transmitters.

[0007] At least several fixed radio transmitters can be located by mobile radio. Here, mobile radio is understood as wireless communication conforming to one of the following standards, for example, GSM, UMTS, LTE, or 5G. In this regard, wireless communication conforming to the LTE standard is preferred, and wireless communication conforming to the 5G standard is particularly preferred. It should be understood that future mobile radio standards can also be used. Since this location determination is typically only accurate to a few meters, this location determination is improved in a second stage by finer location determination. Thus, the positions of these fixed radio transmitters can be determined in a fully automatic manner. Based on these positions, the positions of other fixed radio transmitters and mobile radio transmitters can be determined. In this way, the location determination system is set up in a fully automatic manner.

[0008] Preferably, the location system includes a computing unit, which communicates via mobile radio with at least one of several fixed radio transmitters having a mobile radio module.

[0009] Communication via mobile radio means that mobile radio modules are not used solely for location determination. Radio transmitters without mobile radio modules can communicate with other radio transmitters using ultra-wideband radio technology, or other radio technologies such as WLAN or Bluetooth. In this way, the computing unit can communicate directly or indirectly with all radio transmitters without the need for cables. This further simplifies the setup of the location determination system. The use of fixed radio transmitters using wired communication is still possible but not required.

[0010] Preferably, the computing unit is part of a data center. The computing unit may also be a virtual computer. At least the last portion of the communication path between the computing unit and the wireless transmitter is preferably handled via mobile radio.

[0011] Preferably, coarse and / or fine localization is performed on a computing unit. Performing localization on a computing unit ensures consistent quality of localization for all fixed radio transmitters with mobile radio modules.

[0012] In one embodiment, at least some of the fixed radio transmitters having mobile radio modules determine at least two relative position references with respect to at least one other fixed radio transmitter having a mobile radio module, and fine positioning is performed by computationally combining the relative position references with coarse positioning, the relative position references being determined by ultra-wideband radio technology. Since the ultra-wideband radio technology can determine the relative position references to within a few centimeters, the varying inaccuracies in the coarse positioning of the fixed radio transmitters having mobile radio modules can be largely compensated for by the computational combination. The accuracy of the relative position references can be improved, for example, by using a Kalman filter, by a suitable computational combination of the relative position references and coarse positioning. Preferably, the distance and / or angle between the fixed radio transmitters having mobile radio modules is determined from the position of the fixed radio transmitters having mobile radio modules determined during coarse positioning for the computational combination.

[0013] In one embodiment, the relative position reference between radio transmitters having mobile radio modules is determined indirectly via the relative position reference to radio transmitters without mobile radio modules. This indirect determination of the relative position reference allows for computational combinations of coarse positioning of radio transmitters having mobile radio modules when direct determination of the relative position reference is not possible.

[0014] Preferably, the relative position reference includes at least one piece of distance information between radio transmitters. In this regard, the distance information can be an index of a specific length or a difference in length. The difference in length can be calculated, for example, from a time difference of arrival (TdoA) algorithm.

[0015] Preferably, the relative position reference includes at least one angle between the radio transmitters.

[0016] The relative position between a mobile radio module and a fixed radio transmitter can be calculated based on numerous distances obtained by trilateration, numerous angles obtained by triangulation, or a combination of distances and angles. Fixed radio transmitters are often mounted at the same height. In this case, two relative positional references are sufficient to determine the relative position of a fixed radio transmitter with a mobile radio module. Using multiple relative positional references can further improve the accuracy of fine-tuning.

[0017] In one embodiment, all fixed radio transmitters whose relative positional references have been determined are treated as a group on the computing unit. By treating them as groups, the computing unit can be used for multiple groups of fixed radio transmitters, and the groups are not related to one another.

[0018] Fine-grained localization is preferably performed jointly for all fixed radio transmitters in the group. Joint fine-grained localization ensures that the positions of all fixed radio transmitters in the group are determined in the same manner.

[0019] In one embodiment, fine localization is performed by comparing coarse localization with a map. By comparing with a map, deviations in coarse localization, which equally affect all fixed radio transmitters having mobile radio modules, can be corrected.

[0020] In one embodiment, multiple possible positions for fixed radio transmitters exist on a map, and each fixed radio transmitter with a mobile radio module is assigned to a possible position based on coarse localization. The possible positions indicate the precise positions of the fixed radio transmitters. Each fixed radio transmitter with a mobile radio module can be assigned to a possible position very easily, preferably automatically, using coarse localization. In a preferred embodiment, each fixed radio transmitter without a mobile radio module can be assigned to a possible position via a relative position reference with respect to the fixed radio transmitters with mobile radio modules. The number of possible positions can be more than, equal to, or less than the number of fixed radio transmitters. If there are many positions, some positions will not have fixed radio transmitters assigned. If there are few positions, the positions of fixed radio transmitters that were not assigned to a possible position are determined by other means, for example, through fine localization involving a computational combination with a relative position reference.

[0021] In one embodiment, at least one environmental boundary, particularly a building boundary, exists within the map, and at least some of the fixed radio transmitters are treated as a group, and fine-grained localization is performed in such a manner that the positions of all fixed radio transmitters in the group lie within the environmental boundary. In this regard, the assignment of fixed radio transmitters to a group can be predetermined or performed based on relative position criteria, as described above. The group of fixed radio transmitters is typically located within a fixed environment. By comparison with the map, deviations in coarse localization that lead to positions outside the area can be corrected. Environmental boundaries are preferably determined from publicly accessible maps. Such maps are available from various providers via the Internet. Environmental boundaries can also be determined from satellite imagery, particularly in the case of building boundaries.

[0022] A combination of computational calculations using relative position references for precise location determination and comparison with a map is preferably employed.

[0023] In one embodiment, the location system comprises at least one mobile radio transmitter having a mobile radio module, and the coarse location of the mobile radio transmitter having the mobile radio module is performed by mobile radio. The deviation between the positioning of a fixed radio transmitter with a mobile radio module via coarse localization and the positioning of a fixed radio transmitter with a mobile radio module via fine localization is used to improve the coarse localization of a mobile radio transmitter with a mobile radio module. For example, the deviation of the nearest fixed radio transmitter with a mobile radio module can be used to improve the coarse localization. Alternatively, the average deviation of a number of fixed radio transmitters with mobile radio modules can be used to improve the coarse localization. In this regard, the deviation can be weighted according to the distance between the fixed 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.

[0024] The present invention also relates to a location system comprising a plurality of fixed radio transmitters, each comprising one mobile radio module, and the location system is provided and designed to perform the method according to the present invention.

[0025] Preferably, the location system includes a computing unit, which is connected via mobile radio to a fixed radio transmitter having a mobile radio module.

[0026] Preferably, one or more additional information is known to the computing unit. Alternatively or additionally, the additional information may be provided by the user. Using the additional information, the fine positioning can be improved. Preferably, the computing unit comprises a user interface in the form of, for example, a website. In this regard, access to the user interface can preferably be provided by information of a wireless transmitter in the form of, for example, a QR code. The additional information can be input by the user via the user interface. In this regard, the additional information can preferably be queried via the user interface in a guided manner. Preferred additional information is as follows. - Information on which fixed wireless transmitters are in direct visual contact - Information on which fixed wireless transmitters are arranged at one level - Selection of alternatives by a number of possible fine positioning - Information on environmental boundaries on the map, especially regarding buildings - Information on the floor of one or more fixed wireless transmitters

[0027] The following description of the preferred embodiments serves to explain the present invention in more detail in connection with the drawings.

Brief Description of the Drawings

[0028] [Figure 1] A schematic diagram of the positioning system after coarse positioning is shown. [Figure 2] A schematic diagram of the positioning system from FIG. 1 by fine positioning using a relative position reference is shown. [Figure 3] A schematic diagram of the positioning system and the map is shown. [Figure 4] A schematic diagram of the positioning system from FIG. 3 after fine positioning using a comparison with the environmental boundary of the map is shown. [Figure 5] A schematic diagram of the positioning system and the map having possible positions is shown. [Figure 6]Figure 5 shows a schematic diagram of the location identification system after precise location identification using comparison with possible positions on the map. [Figure 7] This diagram shows a schematic representation of a location determination system that uses coarse position determination for a mobile radio transmitter equipped with a mobile radio module.

[0029] In all exemplary embodiments, elements having the same or equivalent function are indicated by the same reference numeral.

[0030] Figure 1 shows a schematic diagram of the location system 1. In this example, the location system 1 comprises four fixed radio transmitters 2 and one mobile radio transmitter 3. Relative position references 4 between the fixed radio transmitters 2 are determined by ultra-wideband radio technology. In this example, the relative position references 4 are determined from each fixed radio transmitter 2 to all the other fixed radio transmitters 2. Relative position references 4 are also determined between the mobile radio transmitter 3 and the number of fixed radio transmitters 2. In this example, three relative position references 4 are determined between the mobile radio transmitter 3 and the three fixed radio transmitters 2. Three of the four fixed radio transmitters 2 are fixed radio transmitters 5 with mobile radio modules. Fixed radio transmitters 5 with mobile radio modules communicate with a computing unit 6 via mobile radio. For fixed radio transmitters 5 with mobile radio modules, coarse location is performed by mobile radio. In this example, coarse location is performed by the computing unit 6. The fourth fixed radio transmitter 2 and the mobile radio transmitter 3 are radio transmitters 7 without mobile radio modules. A radio transmitter 7 without a mobile radio module and a fixed radio transmitter 5 with a mobile radio module can communicate using ultra-wideband radio technology. In this example, the relative position reference 4 includes the distance 8 between radio transmitters 2 and 3, respectively. Fixed radio transmitter 2 additionally determines two angles 9 with respect to other fixed radio transmitters 2. The positions of fixed radio transmitters 7 without mobile radio modules and mobile radio transmitters 3 are determined from the coarse positioning and relative position reference of fixed radio transmitter 5 with a mobile radio module. In particular, it should be understood that in a positioning system 1 with more fixed radio transmitters 2 than shown here, it is not necessary to determine all possible relative position references 4 between fixed radio transmitters.

[0031] Figure 2 shows a schematic diagram of the positioning system 1 from Figure 1 using fine positioning with relative position reference 4. Only the differences from Figure 1 are explained below. In the case of fine positioning, in this example, relative position reference 4 is computationally combined with coarse positioning. In this example, the computational combination is performed by computation unit 6. It should be understood that the computational combination can also be performed using computation units other than the computation unit used for coarse positioning. For simplicity, only one computation unit 6 is shown here. The circle indicates the position determined during coarse positioning of the fixed radio transmitter 5 with a mobile radio module. The position determined during fine positioning is partially offset from the position determined during coarse positioning. Because the position of the fixed radio transmitter 5 with a mobile radio module is determined more accurately, the positions of radio transmitters 7 without mobile radio modules, and especially the position of the mobile radio transmitter 3, can also be determined more accurately.

[0032] Figure 3 shows a schematic diagram of the positioning system 1 and map 10. Coarse positioning for fixed radio transmitters is performed by the mobile radio module 5. In this example, coarse positioning is performed by the calculation unit 6. Relative position references are determined between the fixed radio transmitters 2. In this example, direct relative position references 4 from each fixed radio transmitter 2 to all other fixed radio transmitters 2 are not determined. Some relative position references can only be determined indirectly through other relative position references 4. When relative position references 4 are determined indirectly, relative position references 4 to the mobile radio transmitter 3 can also be used.

[0033] Figure 4 shows a schematic diagram of the location system from Figure 3 after fine-tuning using comparison with the environmental boundary 12 on map 10. In this example, it is known that all fixed radio transmitters 2 are located within the same building. All fixed radio transmitters 2 are treated as a group by the calculation unit 6. In this example, the group is determined via the relative position criterion 4. From the coarse location and comparison of positions from the environmental boundary 12, the calculation unit 6 recognizes that the position of fixed radio transmitter 5 with a mobile radio module from the coarse location and the position of fixed radio transmitter 7 without a mobile radio module, as determined from the coarse location and relative position criterion 4, are not within the same environmental boundary 12, as shown in Figure 3. To correct this, the calculation unit 6 shifts all positions of the fixed radio transmitters in the same manner during fine-tuning so that all positions of fixed radio transmitters 2 are within the same environmental boundary 12. In addition to the comparison with map 10, the position of fixed radio transmitters 2 can be improved during fine-tuning based on the relative position criterion 4.

[0034] Figure 5 shows a schematic diagram of the positioning system 1 and a map 10 with possible positions 11. In contrast to the diagram in Figure 3, Figure 5 shows the possible positions 11 of the fixed radio transmitters 2 in the map 10. By comparing the positions from coarse positioning with the possible positions 11, the calculation unit 6 recognizes that a number of fixed radio transmitters 2 can each be assigned to a possible position 11. Since a relative position reference 4 exists between the fixed radio transmitters 2, the assignment is made by the calculation unit 6 in such a way that the relative position reference 4 matches the assigned possible position 11 as closely as possible.

[0035] Figure 6 shows a schematic diagram of the positioning system from Figure 5 after fine-tuning using a comparison with possible positions 11 on map 10. Fixed radio transmitter 2 was not assigned to a possible position 11. In this example, the assignment is not consistent with the relative position reference 4 between fixed radio transmitters 2. Fixed radio transmitter 2 was not assigned to a possible position 11, but its position was determined via the relative position reference 4.

[0036] Figure 7 shows a schematic diagram of the positioning system 1 using coarse positioning of a mobile radio transmitter 13 having a mobile radio module. The calculation unit 6 determines the position of the mobile radio transmitter 13 having a mobile radio module using coarse positioning via mobile radio. In the case of a fixed radio transmitter having a mobile radio module in the positioning system 1, the calculation unit 6 first determines the position via coarse positioning, and then improves the position via fine positioning. The calculation unit 6 determines the improvement in the position of the mobile radio transmitter 13 having a mobile radio module from the difference between the position of the fixed radio transmitter after coarse positioning and the position of the fixed radio transmitter after fine positioning. [Explanation of symbols]

[0037] List of reference symbols 1. Location tracking system 2 Fixed wireless transmitters 3. Mobile radio transmitter 4. Relative position reference 5 Fixed radio transmitter with mobile radio module 6 Computing Units 7. Wireless transmitter without a mobile wireless module 8 distance 9 angles 10 Maps 11 possible positions 12 Environmental boundaries 13 Mobile radio transmitter with mobile radio module

Claims

1. A method for setting up a location identification system (1), The positioning system (1) comprises a plurality of fixed radio transmitters (2) and at least one mobile radio transmitter (3), some of the plurality of fixed radio transmitters (2) having a mobile radio communication module, and the fixed radio transmitter (5) having the mobile radio communication module is configured to communicate wirelessly with a fixed radio transmitter (7) that does not have a mobile radio communication module using ultra-wideband radio technology, and the relative position reference (4) between each fixed radio transmitter (2) and each of the other fixed radio transmitters (2) is determined via the ultra-wideband radio technology. The positioning system (1) determines at least one relative position reference (4) between the mobile radio transmitter (3) and at least one fixed radio transmitter (2) using ultra-wideband radio technology. The positioning of the fixed wireless transmitter (5) having the mobile wireless communication module is performed by coarse positioning and fine positioning which is more accurate than the coarse positioning. The aforementioned coarse location determination is performed by mobile radio communication. The positioning via the aforementioned coarse positioning is improved by fine positioning. A method by which the position of a fixed radio transmitter (7) that does not have the mobile radio communication module is determined from the coarse position identification and relative position reference of a fixed radio transmitter (5) that has the mobile radio communication module.

2. The method according to claim 1, characterized in that the location identification system (1) comprises a computing unit (6), and the computing unit (6) communicates with at least one of the fixed wireless transmitters (5) having a mobile wireless communication module via mobile wireless communication.

3. The method according to claim 1 or 2, characterized in that the coarse positioning and / or fine positioning are performed on a calculation unit (6).

4. The method according to claim 1 or 2, characterized in that at least some of the fixed radio transmitters (5) having mobile radio communication modules determine at least two relative position references (4) with respect to at least one other fixed radio transmitter (5) having a mobile radio communication module, the fine positioning is performed by computationally combining the relative position references (4) with the coarse positioning, and the relative position references (4) are determined by the ultra-wideband radio technology.

5. The method according to claim 4, characterized in that the relative position reference (4) between the fixed wireless transmitters (5) having mobile wireless communication modules is determined indirectly via a relative position reference to a wireless transmitter (7) that does not have a mobile wireless communication module.

6. The method according to claim 4, characterized in that the relative position reference (4) includes at least one piece of distance information (8) between wireless transmitters (2, 3, 5, 7).

7. The method according to claim 4, characterized in that the relative position reference (4) includes at least one angle (9) between the wireless transmitters (2, 3, 5, 7).

8. The method according to claim 1 or 2, characterized in that all fixed wireless transmitters (2) whose relative position references (4) to each other are determined are positioned as a group on a calculation unit (6).

9. The method according to claim 8, characterized in that the aforementioned detailed location determination is performed jointly for all fixed wireless transmitters (2) in the group.

10. The method according to claim 1 or 2, characterized in that the fine location determination is performed by comparing the coarse location determination with a map (10).

11. The method according to claim 10, characterized in that a plurality of possible positions (11) of the fixed wireless transmitter (2) exist within the map (10), and each of the fixed wireless transmitters (5) having a mobile wireless communication module is assigned to one of the possible positions (11) based on the coarse position identification.

12. The method according to claim 10, characterized in that at least one environmental boundary (12) exists within the map (10), at least some of the fixed wireless transmitters (2) are located as a group, and the detailed location is performed in such a manner that the positions of all fixed wireless transmitters (2) in the group are located within the environmental boundary (12).

13. The location determination system (1) comprises at least one mobile radio transmitter (13) having a mobile radio communication module, and the rough location determination of the mobile radio transmitter (13) having the mobile radio communication module is performed by mobile radio communication. The method according to claim 1 or 2, characterized in that the deviation between the positioning of the fixed wireless transmitter (5) having a mobile wireless communication module via coarse positioning and the positioning of the fixed wireless transmitter (5) having a mobile wireless communication module via fine positioning is used to improve the coarse positioning of the mobile wireless transmitter (13) having a mobile wireless communication module.

14. A location-finding system comprising a plurality of fixed wireless transmitters (2), wherein each of the plurality of fixed wireless transmitters (2) comprises one mobile wireless communication module, and the location-finding system is provided and designed to perform the method according to claim 1 or 2.

15. The location identification system according to claim 14, characterized in that the location identification system comprises a computing unit (6), and the computing unit (6) is connected via mobile wireless communication to the fixed wireless transmitter (5) having a mobile wireless communication module.

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