System and method for indoor location tracking in a multi-floor environment

Abstract

The present invention relates to a system (100) and method (200) for floor recognition in a multi-floor environment, comprising a tag (102), a gateway (104), and a server (106). The tag (102) includes modules for Location Data Transmit Module (102a), Command Receive Module (102b), and IOT Data Transmit Module (102c), while the server (106) comprises of floor level determination processing module (106a) and decision module (106b). The method involves calibrating and creating tables (202) which includes creating an anchor-floor table (302), a z-axis floor pattern table (304), and a porting point table (306). The system triggers z-axis patterns (204), triggers porting points (206), and triggering start of IOT data from the server or self-trigger IOT data from the tag (208), processing floor determination and decision-making (210). The invention enhances precision in identifying floor levels, contributing to efficient navigation and data transmission in multi-floor settings.

Description

[0001] SYSTEM AND METHOD FOR INDOOR LOCATION TRACKING IN A MULTI-FLOOR

[0002] ENVIRONMENT

[0003] FIELD OF INVENTION

[0004] The present invention relates to a reliable means to identify floor recognition of tracked tag in a multi-floor environment for indoor location. In particular, the present invention provides tag to transmit anchor ranging data selectively and enhance floor detection efficiency.

[0005] BACKGROUND ART

[0006] In multi-floor environments, traditional indoor location tracking systems, rooted in technologies such as Global Positioning System, GPS and basic indoor positioning systems, face inherent limitations. GPS is designed primarily for outdoor applications and falls short when tasked with providing precise location data within the intricate structures of multi-level buildings. The inherent signal obstructions and reflections within these structures impede the satellite signals, resulting in compromised accuracy. Similarly, basic indoor positioning systems, often reliant on Wi-Fi or Bluetooth, encounter challenges in maintaining precision as users navigate between different floors. As such, the complexities of multi-floor environments demand a novel approach to indoor location tracking that transcends the constraints of existing technologies.

[0007] Further, the limitations of conventional systems become especially pronounced in scenarios where users seamlessly transition between different floors. In such instances, the vertical precision of traditional technologies is inadequate, leading to inaccuracies in location tracking. The challenge lies not only in pinpointing a user's horizontal position but also in accurately determining their elevation within the building. As users traverse staircases, elevators, or escalators, these transitions exacerbate the difficulties faced by traditional tracking systems, resulting in imprecise and unreliable data. Consequently, there exists a critical need for an innovative solution that can navigate the intricacies of multi-floor environments, providing accurate and seamless indoor location tracking across all levels of a building. The demand for enhanced indoor location tracking becomes particularly pronounced in diverse settings such as shopping malls, airports, and office complexes. In these dynamic environments, users frequently move between floors for various purposes, necessitating a tracking system capable of adapting to the unique challenges posed by multi-floor structures. The shortcomings of existing technologies underscore the urgency for a solution that not only addresses the inaccuracies associated with vertical movement but also ensures a smooth and continuous tracking experience. This establishes a clear imperative for the development and implementation of a sophisticated system and method for indoor location tracking tailored specifically for the demands of multi-floor environments.

[0008] One example of an existing prior art that relates to floor recognition of tracked tag in a multi-floor environment is disclosed in China Patent No. CN 109974694 A, hereinafter referred to as CN 694 A entitled “Indoor pedestrian 3D positioning method based on UWB / IMU / barometer” having a filing date of 5 July 2019, Applicant: Univ Southeast. CN 694 A disclose an indoor pedestrian Three-Dimensional, 3D positioning method that combines Ultra-Wide Band, UWB, Inertial Measurement Unit, IMU, and a barometer. Further, CN 694 A disclose the barometer to differentiate whether the person is walking on a specific floor or using stairs. The UWB positioning principle involves an unknownposition UWB tag determining its coordinates by solving equations based on measured distances.

[0009] Another example of floor recognition of tracked tag in a multi-floor environment is disclosed in United States of America Patent No. US 10064012 B1 , hereinafter referred to as US 012 B entitled “Multi-floor and multi-building ultra-wideband, UWB location device, system, and method” having a filing date of 28 August 2018, Applicant: US Air Force. US 012 B disclose an ultra-wideband, UWB tracking system comprising anchor transmitters, a location device, and a processing system. The location device comprising a storage device configured to store at least one anchor transmitter identifier and a predetermined position in space for each anchor transmitter. Further, the processing system can further comprise a storage device configured to store a plurality of anchor transmitter identifiers and a predetermined position in space for each anchor transmitter.

[0010] A further example is disclosed in China Patent No. CN 113709860 A, hereinafter referred to as CN 860 A entitled “Indoor positioning device and method for interlayer transition area”, Applicant: Univ Electronic Sci & Tech China. CN 860 A disclose an indoor positioning device and method for interlayer transition areas. The low-frequency base stations and transmitting antennas positioned in floor transition areas to determine the position of the tag card on the stairs in the floor transition area. Further, CN 860 disclose the height of tag cards is calculated by deploying UWB base stations at fixed locations at floor transitions.

[0011] As outlined above, various system and method has been developed for indoor location tracking in a multi-floor environment. However, none of the prior arts disclose the system that only requires tag to transmit anchor ranging data when only needed to minimize physical air resource usage.

[0012] SUMMARY OF INVENTION

[0013] The present invention relates to a reliable means to identify the floor recognition of tracked tag in a multi-floor environment for indoor location. In particular, the present invention provides the tag to transmit anchor ranging data selectively and enhance floor detection efficiency.

[0014] One aspect of the present invention provides a system (100) for a floor recognition in a multi-floor environment for indoor location comprising a tag (102), a gateway (104) and a server (106), characterized in that the tag (102) further comprising a Location Data Transmit Module (102a) configured for periodical update interval and execute ranging communication with surrounding anchors to obtain an x,y,z-axis position, a Command Receive Module (102b) configured for receiving and processing IOT Data sent via the gateway (104) and an IOT Data Transmit Module (102c) configured for receiving trigger from Location Data Transmit Module (102a) or Command Receive Module (102b). The server (106) further comprising a floor level determination processing module (106a) and a decision module (106b) to identify floor recognition in a multi-floor environment.

[0015] Another aspect of the present invention provides that a method for a floor recognition in a multi-floor environment for indoor location, the method comprises steps of (200) calibrating and creating tables from a server (202), triggering a z-axis pattern from the server (204), triggering a porting point from the server (206), triggering start of IOT data from the server or self-trigger IOT data from the tag (208) and processing floor level determination and decision module from the server to obtain the location of the tag in the multi-floor environment ( (210), characterised in that calibrating and creating tables from the server (202) further comprises steps of creating an anchor-floor table (302), creating a z-axis floor pattern table (304) and creating a porting point table (306).

[0016] Yet another aspect of the present invention provides that the method of creating the anchor-floor table (302) further comprises steps of initiating a calibration process by the server (302a) and creating the anchor-floor table by associating anchor identifications, IDs with respective floors to obtain an initial of the tag location (302b).

[0017] Still another aspect of the present invention provides that the method of creating the z- axis floor pattern table (304) further comprises steps of initiating a calibration process by the server (304a), determining lowest, highest, and average z-positions of tags per floor (304b) and generating the z-axis pattern table based on the determined positions to obtain a maximum line-of-sight within the multi-floor environment (304c).

[0018] A further aspect of the present invention provides that the method of creating porting point table (306) further comprises steps of initiating a calibration process by the server (306a), mapping interconnection areas between floors using a position coordinate diagram (306b) and populating a table with position coordinates to identify porting points to obtain a presence of marked stairways or elevators (306c).

[0019] Another aspect of the present invention provides that the method of triggering the z-axis pattern (204) further comprises receiving the x,y, z-axis location data from tag (402), cross-checking a z-axis position against the z-axis floor pattern table (404) and determining if the z-axis position matches to a different floor from a previous z-axis floor pattern table (406). If the z-axis position matches to a different floor pattern table, sending a command for the tag to start transmitting IOT data (208), else, repeating step 402.

[0020] Yet another aspect of the present invention provides that the method of triggering the porting point (206) further comprises receiving the x,y, z-axis location data from the tag (502), cross-checking the tag x,y-axis against the porting point table (504) and determining if the x,y-axis matches with the porting point area (506). If the x,y-axis matches with the porting point area, sending a command for the tag to start transmitting IOT data (208), else, repeating step 502.

[0021] A further aspect of the present invention provides that the method of self-triggering to transmit IOT data from the tag (208) further comprises, receiving the z-axis floor pattern table from the server and storing to a memory (602), performing periodic ranging data to obtain x,y, z-axis (604), cross-checking obtained z axis against the z-axis pattern floor table (606) and determining if z-axis matches to different floor from previous z-axis floor pattern table (608). If the z-axis matches to a different floor from the previous z-axis floor pattern table, determining if the tag already received a command from the server (610). If the command has been received, ending process, else, sending command for the tag to start transmitting IOT data (208), else, ending the process. Another aspect of the present invention provides that the method of processing floor level determination and decision module from the server to obtain the location of the tag in the multi-floor environment (210) further comprises receiving IOT data from the tag (702), extracting anchor IDs from a packet payload (704), cross-checking the anchor IDs against an anchor-floor table (706) and determining if the anchor IDs matches to a different floor from previous anchor floor table (708). If anchor IDs matches to different floor from previous anchor floor table, updating the user interface and displaying the tag at a new detected floor (710), else, repeating step 702. Yet another aspect of the present invention that the method of triggering to start transmit IOT data from the server to the tag (204) further comprises the tag to transmit data when only needed.

[0022] The present invention consists of features and a combination of parts hereinafter fully described and illustrated in the accompanying drawings, it being understood that various changes in the details may be made without departing from the scope of the invention or sacrificing any of the advantages of the present invention.

[0023] BRIEF DESCRIPTION OF ACCOMPANYING DRAWINGS

[0024] To further clarify various aspects of some embodiments of the present invention, a more particular description of the invention will be rendered by references to specific embodiments thereof, which are illustrated in the appended drawings. It is appreciated that these drawings depict only typical embodiments of the invention and are therefore not to be considered limiting of its scope. The invention will be described and explained with additional specificity and detail through the accompanying drawings in which:

[0025] Figure 1 (a-b) illustrates a general architecture of the system for indoor location tracking in a multi-floor environment.

[0026] Figure 2 is a flowchart illustrating a general methodology for a floor recognition in a multifloor environment.

[0027] Figure 3 is a flowchart illustrating the steps for calibrating and creating tables from the server.

[0028] Figure 4 is a flowchart illustrating the steps for triggering z-axis pattern to send command for the tag to start transmitting IOT data.

[0029] Figure 5 is a flowchart illustrating the steps for triggering porting point to send command for the tag to start transmitting IOT data.

[0030] Figure 6 is a flowchart illustrating the steps for triggering from server to tag to start transmit IOT data or self-triggering to transmit IOT data from the tag to the server.

[0031] Figure 7 is a flowchart illustrating the steps for processing floor level determination and decision module to update the user interface and displaying the tag at a new detected floor. DETAILED DESCRIPTION OF THE INVENTION

[0032] The present invention relates to a reliable means to identify the floor recognition of tracked tag in a multi-floor environment. In particular, the present invention provides the tag to transmit anchor ranging data selectively and enhance floor detection efficiency. Hereinafter, this specification will describe the present invention according to the preferred embodiments. It is to be understood that limiting the description to the preferred embodiments of the invention is merely to facilitate discussion of the present invention and it is envisioned without departing from the scope of the appended claims.

[0033] The present invention provides a system (100) designed for floor recognition in a multifloor environment. The system includes a tag (102) functioning as a tracking device, which actively seeks and communicates or ranges with surrounding anchors to measure distances, iteratively determine its position, and subsequently broadcast the calculated position. Additionally, the system (100) incorporates a gateway (104) serving as a primary tag location data collector or receiver. The gateway (104) also operates as a data transceiver, capable of receiving and transmitting configuration and Internet of Things, IOT data from tags (102) or anchors within the system (100). In scenarios where multiple gateways (104) are deployed, one gateway (104) is designated as the primary gateway responsible for direct communication with a server (106). The other gateways (104) act as secondary gateways, relay data to the primary gateway for the purpose of data consolidation. The connectivity between the gateway (104) and the server (106) encompasses, but is not limited to, Ethernet, WiFi, etc. Furthermore, the system (100) includes a server (106) positioned indoors. The server (106) tracks, receives, stores, and visualizes indoor positioning data of tracked tags (102) while implementing applications associated with this data.

[0034] With the present invention, a transformative leap is achieved in floor change detection through a multi-pronged analysis encompassing both server-side and tracked tag-side evaluations. In stark contrast to existing solutions mandating a large-scale deployment of anchors with varying height installations for precise z-position determination, this innovative system streamlines the process, eliminating the need for extensive infrastructure. Notably, the system enhances efficiency by instructing the tag to transmit anchor ranging data selectively, minimizing physical air resource usage only when necessary for confirming floor detection. Reference is first made to FIG. 1a which illustrates a general architecture of the system and method for indoor location tracking in a multi-floor environment while FIG. 1b illustrates a general architecture of the system for indoor location tracking in a multi-floor environment. The tag (102) is equipped with a Location Data Transmit Module (102a), configured for periodic updates and the execution of ranging communication with surrounding anchors to obtain x,y,z-axis position. Additionally, it includes a Command Receive Module (102b) designed for receiving and processing IOT data transmitted via the gateway (104). Moreover, the tag features an IOT Data Transmit Module (102c) configured to receive triggers from the Location Data Transmit Module (102a) or Command Receive Module (102b). IOT data can encompass of information on the number of anchors it can detect, the identifications, IDs of these anchors, the distances from each anchor, and the overall quality of ranging. The location data from the tag (102) comprises the x, y, and z positions in a network, where z denotes its vertical position, along with the overall ranging quality. In parallel, the server (106) is equipped with a floor level determination processing module (106a) and a decision module (106b). These components work collaboratively to identify floor recognition in a multi-floor environment.

[0035] Reference is now made to FIG. 2 showing a flowchart illustrating a general methodology for a floor recognition in a multi-floor environment. The method for a floor recognition in a multi-floor environment (200) comprises steps of calibrating and creating tables from a server (202). Subsequently, the method progresses to triggering a z-axis pattern from the server (204) and followed by triggering a porting point (206). Following this, the server autonomously triggers the transmission of IOT data to the tag (208). Finally, the server processing the floor level determination and decision module to obtain the location of the tag in the multi-floor environment (210).

[0036] In describing further on FIG. 2, reference is made to FIG. 3 showing a flowchart illustrating the steps for calibrating and creating tables from the server (202). The method involves creating specific tables, starting with the anchor-floor table (302), which includes the steps of initiating a calibration process by the server (302a) and establishing the anchor-floor table by associating anchor IDs with their corresponding floors (302b). Additionally, for the z-axis floor pattern table (304), the method comprises initiating a calibration process by the server (304a), determining the lowest, highest, and average z- positions of tags per floor (304b), and generating the z-axis pattern table based on these determined positions (304c). Furthermore, in the creation of the porting point table (306), the steps encompass initiating a calibration process by the server (306a), mapping interconnection areas between floors using a position coordinate diagram (306b) and populating a table with position coordinates to identify porting points (306c). These knowledge bases serve as the foundation for judgment by both the server and the tag , enabling the subsequent triggering of double-checks with tracking tags when necessary. This method not only ensures accurate floor determination but also optimizes the utilization of physical air-space resources.

[0037] In describing further on the method for a floor recognition in a multi-floor environment, reference is made to FIG. 4 which illustrates a flowchart of the steps for triggering z-axis pattern (204) to send command for the tag to start transmitting IOT data. In the z-axis pattern triggering process on the server side, when the tag transmits its location data position, the gateway receives and relays this data to the server. Upon receiving the x,y, z-axis of the location data (402), the server scrutinizes the x,y, z-axis position and cross-checking the z-axis position with the z-axis floor pattern table (404) to determine if z-axis matches to a different floor (406). If the z-axis position corresponds to a different floor than the last broadcasted location data position from the tag or if it is the tag's initial location data transmission, the server commands the tag to initiate the sending of IOT data (208) via the gateway. Conversely, if the z-axis position aligns with the same floor as the last broadcasted location data position, the server awaits the next received location data broadcasted from the tag (402). This server mechanism effectively monitors the tag's location in relation to the floor it is previously known to be on and takes appropriate action, triggering a double-check with the tag via an IOT data request if the z-axis position suggests a potential change in floor.

[0038] In describing further on FIG. 2, reference is made to FIG. 5 illustrating a flowchart illustrating the steps for triggering porting point (206) to send command for the tag to start transmitting IOT data. In the process of tag location data transmission, the gateway receives and relays x,y, z-axis location data from the tag (502). Upon reception, the server examines the x,y, z-axis position of the tag and cross-checking the x,y-axis position with the porting point table (504) to determine if the x, y-axis matches with the porting point area (506). If the x, y-axis position corresponds to entry into a designated porting point area , the server commands the tag to initiate the sending of IOT data (208) via the gateway. Conversely, if the x, y-axis position does not align with any porting point areas on the current floor, as indicated by the last broadcasted location data position, the server awaits the next received location data broadcasted from the tag (502). This server mechanism efficiently monitors the tag's location concerning entry into boundary regions interconnecting between floors, triggering actions to initiate a doublecheck with the tag via an IOT data request if necessary.

[0039] In describing further on the method for a floor recognition in a multi-floor environment, reference is made to FIG. 6 which illustrates a flowchart of the steps for self-triggering to transmit IOT data from the tag (208). The tag is equipped with the capability to autonomously analyze and detect potential floor changes. The tag is prepared to receive the z-axis floor pattern table from the server via the gateway and stores it in memory (602) for floor change analysis. At configurable intervals, the tag performing periodic ranging data to obtain x,y, z-axis (604). The tag conducts ranging with surrounding anchors, gathers distances, calculates its exact position through multilateration based on anchor positions, and subsequently broadcasts the calculated location data position. The tag then cross-checking the calculated z-axis position with the z-axis floor pattern table (606) to determine if z-axis matches to different floor from previous z-axis floor pattern table (608). If z-axis position matches to the same floor from the location previously calculated, the process concludes. However, if the z-axis position matches a different floor from the location previously calculated, the tag checks if it has received the command from the server to initiate the sending of IOT data via the gateway (610). If the command is received, the process concludes; otherwise, the tag activates the IOT Data Transmit Module to commence sending IOT data to the server through the gateway (208). This comprehensive methodology ensures the tag's proactive role in floor change detection and communication with the server.

[0040] In describing further on FIG. 2, reference is made to FIG. 7 showing a flowchart for processing floor level determination and decision module to update the user interface and displaying the tag at detected floor (210). The three strategy approaches of monitoring the tag for possible floor change shall trigger the tag to transmit IOT Data. The server patiently awaits the reception of IOT data from the tag(s) via the gateway (702). Upon reception, the server extracts anchor IDs from the payload packet (704). The anchor IDs are those of the anchors which the tag ranged with to determine its position. Subsequently, the server cross-checking these anchor IDs against the anchorfloor table (706) to identify the detected anchors and confirm the floor at which the tag is located. The server then checks if the matched floor differs from the previously tracked floor of the tag (708). If affirmative, the server takes action to update the user interface to visualize the tag at the newly detected floor (710) and executes any relevant applications. In the absence of a floor change, the server proceeds to await the next received IOT data broadcasted from the tag, maintaining an efficient and responsive floor monitoring system.

[0041] The present invention marks a significant advancement in floor change detection, utilizing a multifaceted analysis involving both server-side and tracked tag-side evaluations. In contrast to existing solutions that necessitate extensive anchor deployment with varying height installations for precise z-position determination, this inventive system streamlines the process, eliminating the requirement for extensive infrastructure. Importantly, the system enhances efficiency by guiding the tag to selectively transmit anchor ranging data, minimizing physical air resource usage only when essential for confirming floor detection.

[0042] Throughout this specification, unless the context requires otherwise, the word “comprise”, or variations such as “comprises” or “comprising”, will be understood to imply the inclusion of a stated step or element or integer or group of steps or elements or integers, but not the exclusion of any other step or element or integer or group of steps, elements or integers. Thus, in the context of this specification, the term “comprising” is used in an inclusive sense and thus should be understood as meaning “including principally, but not necessarily solely”.

Claims

CLAIMS1. A system (100) for a floor recognition in a multi-floor environment for indoor location comprising a tag (102), a gateway (104) and a server (106), characterized in that, the tag (102) further comprising: a Location Data Transmit Module (102a) configured for periodical update interval and execute ranging communication with surrounding anchors to obtain an x,y,z-axis position; a Command Receive Module (102b) configured for receiving and processing Internet of Things, IOT data sent via the gateway (104); and an IOT Data Transmit Module (102c) configured for receiving trigger from the Location Data Transmit Module (102a) or the Command ReceiveModule (102b); and the server (106) further comprising: a floor level determination processing module (106a) to process an incoming tag location data and triggers a request for IOT data; and a decision module (106b) to identify floor recognition in a multi-floor environment.

2. A method (200) for a floor recognition in a multi-floor environment for indoor location, the method (200) comprises steps of : calibrating and creating tables from a server (202); triggering a z-axis pattern from the server (204); triggering a porting point from the server (206); triggering start of IOT data from the server or self-trigger IOT data from the tag (208); and processing floor level determination and decision module from the server to obtain the location of the tag in the multi-floor environment (210), characterised in that the step of calibrating and creating tables from the server (202) further comprises steps of: creating an anchor-floor table (302); creating a z-axis floor pattern table (304); andcreating a porting point table (306).

3. The method (200) of claim 2, wherein creating the anchor-floor table (302) further comprises steps of: initiating a calibration process by the server (302a); and creating the anchor-floor table by associating anchor identifications, IDs with respective floors to obtain an initial location of the tag (302b).

4. The method (200) of claim 2, wherein creating the z-axis floor pattern table (304) further comprises steps of: initiating a calibration process by the server (304a); determining lowest, highest, and average z-positions of tags per floor (304b); and generating the z-axis pattern table based on the determined z-positions to obtain a maximum line-of-sight within the multi-floor environment (304c).

5. The method (200) of claim 2, wherein creating the porting point table (306) further comprises steps of: initiating a calibration process by the server (306a); mapping interconnection areas between floors using a position coordinate diagram (306b); and populating a table with position coordinates to identify porting points to obtain a presence of marked stairways or elevators (306c).

6. The method (200) of claim 2, wherein triggering the z-axis pattern from the server (204) further comprises: receiving the x,y, z-axis location data from the tag (402); cross-checking a z-axis position against the z-axis floor pattern table (404); and determining if the z-axis position matches to a different floor from a previous z-axis floor pattern table (406), wherein,if the z- axis position matches to a different floor pattern table sending a command for the tag to start transmitting IOT data (208), else repeating step 402.

7. The method (200) of claim 2, wherein triggering the porting point from the server (206) further comprises: receiving the x,y,z-axis location data from the tag (502); cross-checking x,y-axis positions of the tag against the porting point table (504); and determining if the x,y-axis positions matches with a porting point area (506), wherein: if the x,y-axis matches with the porting point area sending a command for the tag to start transmitting IOT data (208), else repeating step 502.

8. The method (200) of claim 2, wherein self-triggering to transmit IOT data from the server to the tag (208) further comprises: receiving the z-axis floor pattern table from the server and storing to a memory (602); performing periodic ranging data to obtain x,y, z-axis (604); cross-checking the obtained z-axis against the z-axis pattern floor table (606); and determining if the obtained z-axis matches to a different floor from previous z-axis floor pattern table (608), wherein, if the z-axis matches to different floor from the previous z-axis floor pattern table, determining if the tag already received a command from the server (610), wherein, if the command has been received, ending the process,else sending command for the tag to start transmitting IOT data (208), else ending the process.

9. The method (200) of claim 2, wherein processing floor level determination and decision module from the server to obtain the location of the tag in the multi-floor environment (210) further comprises: receiving IOT data from the tag (702); extracting anchor identifications, IDs from a packet payload (704); cross-checking the anchor IDs against an anchor-floor table (706); and determining if the anchor IDs matches to a different floor from a previous anchor-floor table (708), wherein, if the anchor IDs matches to a different floor from a previous anchor-floor table, updating the user interface and displaying the tag at new detected floor (710), else repeating step 702.

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