Traceable node system and method using an Electromagnetic Field, EMF

Abstract

A method for determining, by a mesh node, a relative position of each of at least one neighbouring mesh node in a mesh network, said mesh network comprising a plurality of mesh nodes, wherein said method comprises the step of: determining, by said mesh node, measures for magnetic field strengths originating from each of said at least one neighbouring mesh node by receiving magnetic fields oriented in three orthogonal directions from each of said at least one neighbouring mesh node. [Fig. 1]

Description

& Traceable node system and method using an Electromagnetic Field, EMF Technical Field The present invention relates to a traceable node system and method for tracing a plurality of nodes using an Electromagnetic Field, EMF. Background Motion capture (mocap) is a technology used to record the movement of objects or people and translate these movements into digital data for use in various fields such as film, video games, sports analysis, and virtual reality. The process typically begins with the placement of reflective markers on key points of the subject's body, such as joints and limbs. These markers enable the system to accurately track the movement of the subject. Once the markers are in place, a series of cameras, often infrared, are used to capture the positions of these markers as the subject moves. The cameras are positioned around the capture area to ensure they can record the movements from multiple angles. The data collected by the cameras is then processed by specialized software, which interprets the positions of the markers and reconstructs the subject's movements in a digital 3D space. This digital representation can be used to animate characters or objects. This software must handle vast amounts of data captured by multiple cameras, accurately synchronizing and integrating it to form a cohesive representation of motion. Advanced algorithms are required to track each marker's position frame by frame, and even minor errors can lead to noticeable inaccuracies in the final animation. Traditional mocap systems may also struggle with capturing multiple people simultaneously, a limitation that becomes particularly problematic in scenarios involving group interactions. When several subjects are recorded in the same environment, their overlapping markers can cause confusion for both the cameras and the software. The cameras, which rely on visual tracking of reflective markers, may have difficulty distinguishing between markers that are close together or obscured by other subjects. This overlapping can result in "marker bleed," where the system mistakenly identifies markers from one subject as being on another, leading to inaccuracies in the motion data. Current motion capture technologies are limited for high precision fine movement due to occlusion and constraints in effective placement of cameras. One of the problems with current mocap systems is that they cannot accurately determine the positions of the markers in all kinds of situations. Summary The inventors have found that it would be advantages to apply magnetic fields to replace optical tracking as magnetic fields do not suffer from occlusion or marker bleed. Magnetic fields pass through permeable surfaces including the human body. A downside of magnetic fields is that the power requirement for an increased field size is a quadratic formula. Creating a field large enough to capture the entire human body quickly becomes unrealistic in, amongst other, power consumption. To overcome the above described disadvantages, it is proposed to create a system of mesh nodes, where each mesh node is arranged to emit a magnetic field large enough to be in range with a neighboring mesh node. In a first aspect of the present disclosure, there is provided a method for determining, by a mesh node, a relative position of each of at least one neighbouring mesh node in a mesh network, said mesh network comprising a plurality of mesh nodes, wherein said method comprises the step of: - determining, by said mesh node, measures for magnetic field strengths originating from each of said at least one neighbouring mesh node by receiving magnetic fields oriented in three orthogonal directions from each of said at least one neighbouring mesh node. The inventors have found that it might be beneficial to use (electro)magnetic fields in a method for determining, by a mesh node, a relative position. Using each relative position of the nodes, a construction of the simultaneous position of the nodes may be given. This allows for a capture of the position of the nodes, which may be used for example in motion capture, wherein the movement of separate parts is captured. Nodes in the plurality of nodes may be attached to a moveable entity, to trace the position of each node. The position of the node is first traced with respect to each other, after which a construction of the full traceable node system may be executed. Magnetic fields follow the relation B~1 / r2, wherein the magnetic field is given by B and a distance to the magnetic field source is given by r. The further we get from the magnetic field source, the lower the magnitude of the magnetic field. This allows the distance of a point to an magnetic field source to be determined. Furthermore, the different orthogonal axes on the source and the sensor may be used for calculating the cartesian positions and the rotation of the sensor relative to the source. In an example of the disclosure, the step of determining comprises: - determining magnetic field strengths of the magnetic fields in each of the three orthogonal directions. The inventors have found that it may be beneficial to determine the magnetic field strengths of the magnetic fields in each of the three orthogonal directions. This, because this allows for a determination of not only the position of the mesh node with respect to its neighbouring mesh node but also its rotation with respect to its neighbouring mesh node. In a further example of the present disclosure, the mesh node comprises three receiving coils arranged orthogonal to one another, wherein said step of determining comprises: - receiving, by a first of said three receiving coils, said magnetic fields oriented in said three orthogonal directions from each of said at least one neighbouring mesh node, - receiving, by a second of said three receiving coils, said magnetic fields oriented in said three orthogonal directions from each of said at least one neighbouring mesh node, and - receiving, by a third of said three receiving coils, said magnetic fields oriented in said three orthogonal directions from each of said at least one neighbouring mesh node. The inventors have found an advantageous way for determining the position and rotation of the mesh node relative to its neighbouring mesh node. This may be explained as follows. First, the neighbouring mesh node may transmit a magnetic field having a first direction. Such a magnetic field may be transmitted using a first coil for example. This magnetic field will be received by the first, the second and the third receiving coil. Each receiving coil will thus determine a received magnetic field strength that corresponds to the magnetic field strength that has been transmitted in the first direction. Then, the neighbouring mesh node may transmit a magnetic field having a second direction. Such a magnetic field may be transmitted using a second coil for example. This magnetic field will be received by the first, the second and the third receiving coil. Each receiving coil will thus determine a received magnetic field strength that has been transmitted in the second direction. Finally, the neighbouring mesh node may transmit a magnetic field having a third direction. Such a magnetic field may be transmitted using a third coil for example. This magnetic field will be received by the first, the second and the third receiving coil. Each receiving coil will thus determine a received magnetic field strength that has been transmitted in the third direction. The end result of the above is that a 3x3 data matrix may be provided. The position and orientation of the mesh node with respect to the neighbouring mesh node may then be determined based on this 3x3 data matrix. In an example of the disclosure, the method further comprises the step of: - transmitting, by said mesh node, said measures for said magnetic field strengths within said mesh network. The inventors have found that there may be multiple ways for calculating the position of the mesh node with respect to the neighbouring mesh node. First, the above mentioned 3x3 matrix may be resolved by the mesh node itself. The mesh node may perform the required calculations for obtaining the distance between the mesh node and the neighbouring mesh node as well as the rotation of the mesh node with respect to the neighbouring mesh node. This requires computational power at the mesh node. Second, the mesh node may also transmit the measures for the received magnetic field strengths within the mesh network. In such a way, the 3x3 matrix may be resolved by another entity, for example a dedicated computer or the like. In an example of the disclosure, said method further comprises the step of: - transmitting, by said mesh node, magnetic fields oriented in three orthogonal directions. As mentioned above, it may be beneficial to transmit the magnetic fields oriented in three orthogonal directions, such that neighbouring mesh nodes can use those magnetic fields to determine their distance, and orientation, with respect to the mesh nodes that transmits the magnetic fields. In a further example of the present disclosure, the mesh node comprises three transmitting coils arranged orthogonal to one another, wherein said step of transmitting comprises: - transmitting, by a first of said three transmitting coils, said magnetic fields oriented in one of said three orthogonal directions, followed by - transmitting, by a second of said three transmitting coils, said magnetic fields oriented in a second of said three orthogonal directions, followed by - transmitting, by a third of said three transmitting coils, said magnetic fields oriented in a third of said three orthogonal directions. As mentioned before, the magnetic field is provided in the three orthogonal directions, to ensure the receiving coil will be able to detect the magnetic field arising from all three directions. This allows the receiver coil to detect the magnetic field strength in each of the 3D magnetic field coordinates. Using the magnetic field of each of the 3 direction, a matrix representation of the magnetic field strength may be constructed, which is representable for the distance to, and the orientation with respect to, the transmitter coil or source in each of the three coordinates or directions. Therefore, determining a position of the transmitter / receiver with respect to the receiver / transmitter is possible. In an example of the disclosure, said step of transmitting is repetitive, wherein a non-active period in between said repetitive transmissions is different than an active period of said repetitive transmissions. The active period may alternatively be regarded as the duration at which the magnetic field is switched on, and may have a duration of 1 ms or any other suitable duration. The non-active period may be regarded as the time between the on state of the magnetic field. The non-active period may be 7 ms. This division between the active and non-active periods allows the activity of 8 transmitter coils or sources in a period of in total 8 ms. Each 8 ms, 8 transmitter coils may emit their respective magnetic field which may be captured by receiver coils in their proximity. For example, when multiple humans, with attached nodes may be in close proximity such that the position of each node will be able to be determined. This may, for example, be of importance in motion capture sessions or during VR games or any other suitable situation. If there is need for an increased number of transmitter coils in close proximity, the non-active period may be increased, such that an increased number of transmitter coils are allowed to emit their respective magnetic field in a period. In a further example of the present disclosure, the method comprises the step of: - performing, by said mesh node, a listen-before-talk, LBT, procedure prior to the step of transmitting. Prior to the providing or transmitting of a magnetic field, a mesh node may perform a LBT in order to determine whether active nodes are near and to check / determine whether there is a spot free in the period of first and second predetermined durations combined, which as mentioned above is typically 8ms, but may be different in some circumstances. The LBT ensures that no two transmitter coils transmit any magnetic field at the same time, which would deny the determination of their respective positions with respect to an EMF receiver in vicinity of both transmitter coils. N.B. when two transmitter coils are not in close proximity, such that the magnetic field strength is below a certain threshold, then these, transmitter coils are allowed to emit their respective magnetic field at the same time. This way, any receiver coil will only detect a specific magnetic field at one time, which may then be used to determine the position or location or distance between the receiver coil and transmitter coil. In an alternative example to the different magnetic field emission times, said magnetic fields oriented in three orthogonal directions are provided at different frequencies. An alternative to choosing distinct on times of the transmitter coils. The transmitter coils may alternatively choose or receive or determine a unique emission frequency, such that the magnetic field may be provided simultaneously. In an example of the present disclosure, said method comprises the step of: - receiving, by a central node, from any of said mesh nodes in said mesh network, measures for magnetic field strengths oriented in three orthogonal directions, wherein each of said measures correspond to a mesh node in said mesh network; - determining, by said central node, relative positions of said mesh nodes in said mesh network to one another. A central node may be included in a mesh node system, which is configured to handle the calculation and modelling of the locations of all the nodes, for example in a virtual world. To calculate and / or model the locations of the nodes of the plurality of nodes, a central computing unit is included. The central computing unit requires data regarding the relative locations of the nodes of the plurality of nodes. The data is required in the calculation / modelling of the position or location of the nodes. In this calculation, any node may be chosen as a reference node, from which the other nodes are related. The reference node may, for example, be a node that is provided with markers or a tracker in relation to an absolute tracking system. The absolute positions, and orientations, of the mesh nodes of the mesh network may then be determined based on the absolute position and orientation of the reference node. Data regarding the magnetic field strength or location of the transmitter coil with respect to the receiver coil may comprise values of the magnetic field strength in the three orthogonal directions or coordinates, or it may comprise the direct values of the location or position of the transmitter coil with respect to the receiver coil, or it may comprise an induced voltage due to the (change in) magnetic field or any other suited data. If for example the voltage is transmitted, the number of windings and area of the magnetic field coils may also need to be transmitted or determined in any other way by the central node, such as in a memory storage. This is not limited to the windings and area, but may also comprise other data. In an example of the present disclosure, the central node further comprises a registry comprising the starting position of the nodes. This allows the construction / calculation of the (change of the) position of each of the nodes of the plurality of nodes. In a further example of the present disclosure, a calibration of the starting position of the plurality of nodes is performed prior to the determining of the position of the nodes. By calibrating the starting position, the construction / calculation of the (change of the) position of each of the nodes of the plurality of nodes is possible. The calibrated starting position may be stored in a registry in the central node. This calibration may comprise a calibration movement / pose of a user of the nodes. Using these movements / poses, a skeleton may be constructed with the locations of the nodes. This calibration may be used by an external computer to construct said skeleton. The plurality of nodes may in an example of the disclosure further comprise batteries and / or power supplies. In a further example of the present disclosure, the plurality of nodes comprise processors to calculate the relative position of a transmitter coil transmitting a magnetic field that is detected by the receiver coil of a node. The processors may be able to estimate the absolute position in space by tracking its movements relative to the other nodes. In a further example of the present disclosure, the nodes are attached to a movable entity, such as a human body. Herein the movement of the body parts of the body may be tracked by the mesh network of the present disclosure. Therefore, the mesh network may be used for motion capture purposes for, for example, tracking movement of actors for a film. In a second aspect of the present disclosure, there is provided a mesh node of a mesh network, and arranged for determining a relative position of each of at least one neighbouring mesh node in a mesh network, said mesh network comprising a plurality of mesh nodes, wherein said mesh node comprises: - receiving means arranged to determine measures for magnetic field strengths originating from each of said at least one neighbouring mesh node by receiving magnetic fields oriented in three orthogonal directions from each of said at least one neighbouring mesh node. A mesh node of a mesh network is arranged to determine a relative position and rotation of a neighboring node, by calculating the distance in each of the three received orthogonal directions, from which a calculation of the relative position of the neighboring node may be done. This first results in a 3x3 matrix, which contains three dimensional data from each of the three magnetic field coils of the receiving means. In an example ofthe present disclosure, said receiving means are further arranged for: - determining magnetic field strengths of the magnetic fields in each of the three orthogonal directions. As mentioned, the 3x3 matrix is resulted from the received measures for the magnetic field strength. This matrix may comprise values for the current running through the magnetic field coils, or an induced current or the magnetic field strength or any other suitable alternative. In an example of the present disclosure, the mesh node comprises three receiving coils arranged orthogonal to one another, wherein said step of receiving means are further arranged for: - receiving, by a first of said three receiving coils, said magnetic fields oriented in said three orthogonal directions from each of said at least one neighbouring mesh node, - receiving, by a second of said three receiving coils, said magnetic fields oriented in said three orthogonal directions from each of said at least one neighbouring mesh node, and - receiving, by a third of said three receiving coils, said magnetic fields oriented in said three orthogonal directions from each of said at least one neighbouring mesh node. Magnetic fields are provided in the three orthogonal directions, which is typically performed in three phases, to ensure the receiving coils will be able to detect the magnetic fields arising from all three directions. The positions of the plurality of nodes over time may be used in a simulation or any other program to construct a (movement of a) virtual entity, for example for use in a film or for use in a virtual environment for use for a robot, for example to machine-learn the robot. In a third aspect of the present disclosure there is provided a central node arranged for determining a relative position of mesh nodes in a mesh network, wherein said central node comprises: - receiving means arranged for receiving from any of said mesh nodes in said mesh network, measures for magnetic field strengths oriented in three orthogonal directions, wherein each of said measures correspond to a mesh node in said mesh network; - processing means arranged for determining relative positions of said mesh nodes in said mesh network to one another A central node may be included in a mesh node system, which is configured to handle the calculation and modelling of the locations of all the nodes, for example in a virtual world. To calculate and / or model the locations of the nodes of the plurality of nodes, processing means are included. processing means require data regarding the relative locations of the nodes of the plurality of nodes. The data is required in the calculation / modelling of the position or location of the nodes. In this calculation, any node may be chosen as a reference node, from which the other nodes are related. Every sensor node calculates its position and orientation relative to a source node, however if two sensor nodes know their position and orientation relative to the same source node, it is also possible to use one of these sensor nodes as the origin. Thus giving the relative positions between each node in the system. Data regarding the magnetic field strength or location of the transmitter coil with respect to the receiver coil may comprise values of the magnetic field strength in the three orthogonal directions or coordinates, or it may comprise the direct values of the location or position of the transmitter coil with respect to the receiver coil, or it may comprise an induced voltage due to the (change in) magnetic field or any other suited data. If for example the voltage is transmitted, the number of windings and area of the magnetic field coils may also need to be transmitted or determined in any other way by the central node, such as in a memory storage. This is not limited to the windings and area, but may also comprise other data. In a fourth aspect of the disclosure there is provided a mesh network comprises a plurality of mesh nodes in accordance with the present disclosure. A mesh network is arranged to provide the relative position of each of the mesh nodes of the mesh network. This means that a simulation of the movement of the mesh network, which is typically attached to a movable entity, such as a human or animal or other movable entity. Using the method of the first aspect of the disclosure and the following aspects, the problem stated may be overcome, as this mesh network is able to track the relative positions of the mesh nodes in the mesh network, and the change of the relative positions, therefore the movement of the mesh nodes, which is important in applications such as motion capture and VR gaming, among others. Brief description of the figures Fig. 1 depicts the traceable node system according to the present disclosure; Fig. 2 depicts the traceable node system according to the present disclosure; Fig. 3 depicts a node of the plurality of nodes of the traceable node system according to the present disclosure. Detailed description It is noted that in the description of the figures, same reference numerals refer to the same of similar components performing a same of essentially similar function. A more detailed description is made with reference to particular examples, some of which are illustrated in the appended drawings, such that the features of the present disclosure may be understood in more detail. It is noted that the drawings only illustrate typical examples and are therefore not to be considered to limit the scope of the subject matter of the claims. The drawings are incorporated for facilitating an understanding of the disclosure and are thus not necessarily drawn to scale. Advantages of the subject matter as claimed will become apparent to those skilled in the art upon reading the description in conjunction with the accompanying drawings. The ensuing description above provides preferred exemplary embodiment(s) only, and is not intended to limit the scope, applicability, or configuration of the disclosure. Rather, the ensuing description of the preferred exemplary embodiment(s) will provide those skilled in the art with an enabling description for implementing a preferred exemplary embodiment of the disclosure, it being understood that various changes may be made in the function and arrangement of elements, including combinations of features from different embodiments, without departing from the scope of the disclosure. Unless the context clearly requires otherwise, throughout the description and the claims, the words "comprise," "comprising," and the like are to be construed in an inclusive sense, as opposed to an exclusive or exhaustive sense; that is to say, in the sense of "including, but not limited to." As used herein, the terms "connected," "coupled," or any variant thereof means any connection or coupling, either direct or indirect, between two or more elements; the coupling or connection between the elements can be physical, logical, electromagnetic, or a combination thereof. Additionally, the words "herein," "above," "below," and words of similar import, when used in this application, refer to this application as a whole and not to any particular portions of this application. Where the context permits, words in the Detailed Description using the singular or plural number may also include the plural or singular number respectively. The word "or" in reference to a list of two or more items, covers all the following interpretations of the word: any of the items in the list, all of the items in the list, and any combination of the items in the list. These and other changes can be made to the technology considering the following detailed description. While the description describes certain examples of the technology, and describes the best mode contemplated, no matter how detailed the description appears, the technology can be practiced in many ways. Details of the system may vary considerably in its specific implementation, while still being encompassed by the technology disclosed herein. ln Fig. 1, the traceable node system in accordance with the present disclosure is depicted. Herein nodes 100 of the plurality of nodes are presented attached to a human body, but it might also be attached to any other movable entity, such as an animal. The plurality of nodes is able to determine the (relative) position of each of the plurality of nodes. Any node may be a reference / central node. In this case, all nodes may be arranged to communicate with a computer, which is able to compute the positions and rotations of the nodes. This could be a single object or could be multiple objects when close together. This is useful for the modelling of the movement of the body using a computer, for example for motion capture or for use in a virtual world or for use as data for machine-learning or as direct input for a robot, which may mimic the movement of the plurality of nodes. In Fig. 2, the traceable node system in accordance with the present disclosure is depicted. Herein nodes 100 of the plurality of nodes are presented as attached to a human body. Also depicted is a central node, which is comprised by the traceable node system in order to provide the calculation of the (relative) position of each of the plurality of nodes. This is useful for the modelling of the movement of the body using a computer, for example for motion capture or for use in a virtual world or for use as data for machine-learning or as direct input for a robot, which may mimic the movement of the plurality of nodes. ln Fig. 3, an example of a node of the plurality of nodes is depicted. Comprised by this example is an transmitter coil arranged to provide a three- dimensional magnetic field by three, orthogonal, magnetic field coils. Each magnetic field coil is arranged to provide one direction of the magnetic field. A receiver coil is comprised by the node in order to detect or determine or sense the magnetic field or the magnitude of the magnetic field of a different node in the plurality of nodes. The receiver coil is able to detect magnetic field in each of the three directions, as it comprises three magnetic field coils. Using the magnetic field strength of each of the three directions, an evaluation or calculation of the position of the transmitting transmitter coil of a different node may be performed. The node further comprises a data transmitter, which is able to transmit the values of the captured magnetic field strengths. This may be accompanied by the number of windings of the receiver coil magnetic field coils, as well as the voltage generated by the (changing) magnetic field and / or a current running through the magnetic field coil as a result of the (changing) magnetic field, or it may provide any other suitable parameters. As noted above, particular terminology used when describing certain features or aspects of the technology should not be taken to imply that the terminology is being redefined herein to be restricted to any specific characteristics, features, or aspects of the technology with which that terminology is associated. ln general, the terms used in the following claims should not be construed to limit the technology to the specific examples disclosed in the specification, unless the Detailed Description section explicitly defines such terms. Accordingly, the actual scope of the technology encompasses not only the disclosed examples, but also all equivalent ways of practicing or implementing the technology under the claims.

Claims

1. A method for determining, by a mesh node, a relative positive of each of at least one neighboring mesh node in a mesh- network, the mesh network comprising a multitude of mesh nodes, where the method includes the step of: - determining, through the mesh node, dimensions for magnetic field strengths arising from each of the at least one neighboring mesh node by receiving magnetic fields oriented in three orthogonal directions of each of the at least one neighboring mesh node.

2. A method according to conclusion 1, whereby the step of determining includes: - determining the magnetic field strengths of the magnetic fields in each of the three orthogonal directions.

3. A method according to conclusion 2, where the mesh node three comprises receiving coils that are orthogonally arranged to each other, where the step of the determination includes: - the reception, by a first of the three receiving coils, of magnetic fields in the three orthogonal directions of each of the at least one neighboring mesh node; - received, by a second of the three receiving coils, of magnetic fields in the three orthogonal directions of each of the at least one neighboring mesh node; - the reception, by three of the three receiving coils, of magnetic fields in the three orthogonal directions of each of the at least one neighboring mesh node.

4. A method in accordance with one of the preceding conclusions, whereby the method further includes the steps of: - sending, through the mesh node, of the dimensions for the magnetic field strengths within the mesh network.

5. A method in accordance with one of the preceding conclusions, whereby the method further includes the steps of: - transmitting magnetic fields through the mesh node oriented in three orthogonal directions.

6. A method according to conclusion 5, where the mesh node three includes sending spools that are orthogonally arranged to each other, where the step of Shipping includes: - the sending, by a first of the three sending coils, of the magnetic fields oriented in a first of the three orthogonal directions, followed by - the transmission, by a second of the three transmission coils, of the magnetic fields oriented in a second of the three orthogonal directions, followed by - the sending, by a three of the three sending coils, of the magnetic fields oriented in one third of the three orthogonal directions.

7. A method according to conclusion 6, whereby the step of sending is repetitive, whereby an inactive period between the repetitive shipments is otherwise is then an active period of repetitive shipments.

8. A method in accordance with one of conclusions 6-7, whereby the method the steps include from: - executing a listen-before- by the mesh node talk, LBT, procedure before the sending step.

9. A method in accordance with one of the preceding conclusions, whereby the Magnetic fields oriented in three orthogonal directions are provided on different frequencies.

10. A method for determining a relative position of mesh- nodes in a mesh network, where the method includes the step of: - the receiving, by a central node, of one of the mesh nodes in the mesh network, measures for the magnetic field strengths oriented in three orthogonal directions, where each of the dimensions corresponds with a mesh node in the mesh network.

11. A mesh node of a mesh network, and configured for the determining a relative position of each of the at least one neighboring mesh node in a mesh network, where the mesh network is a multitude of mesh- includes nodes, where the mesh node includes: - receiving devices designed for magnetic dimensions to determine field strengths arising from each of the at least one neighboring mesh node by receiving magnetic fields oriented in three orthogonal directions of each of the at least one neighboring mesh node.

12. A mesh node within the meaning of claim 11, where the reception facilities are further configured for: - determining the magnetic field strengths of the magnetic fields in each of the three orthogonal directions.

13. A mesh node according to one of the conclusions 11-12, where the mesh node comprises three receiving coils that are orthogonally arranged of each other, whereby the receiving facilities are further configured for: - the reception, by a first of the three receiving coils, of magnetic fields in the three orthogonal directions of each of the at least one neighboring mesh node; - received, by a second of the three receiving coils, of magnetic fields in the three orthogonal directions of each of the at least one neighboring mesh node; - the reception, by three of the three receiving coils, of magnetic fields in the three orthogonal directions of each of the at least one neighboring mesh node.

14. A central node configured for determining a relative position of mesh nodes in a mesh network, where the central node includes: - receiving facilities equipped for receiving one of the mesh nodes in the mesh networks, measures for magnetic field strengths oriented in three orthogonal directions, where each of the dimensions corresponds with a mesh node in the mesh network; - processing equipment designed for determining relative relative positions of the mesh nodes.

15. A mesh network comprising a multitude of mesh nodes according to one of the conclusions 11-14.

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