Method for determining a position of an object using sensing data from a sensing network with at least three sensing units and a data processing apparatus

Abstract

A method for determining a position of an object (18) using sensing data from a sensing network (10) with at least three sensing units (12) and a data processing apparatus (14), wherein each sensing unit (12) of the sensing network (10) is configured to capture the object (18) and the respective other sensing units (12) of the sensing network (10), and the method comprises: - Receiving, by the data processing apparatus (14), for each sensing unit (10), sensing data representing distances of the object (18) and the respective other sensing units (12) relative to the respective sensing unit (12); - Receiving and / or determining, by the data processing apparatus (14), for each sensing unit (12), a position information regarding a position of the respective sensing unit (12); - Identifying, by the data processing apparatus (14), a subset of the sensing data corresponding to distances between the sensing units (12) based on the received and / or determined position information; and - Determining, by the data processing apparatus (12), the position of the object (18) based on a result of the identifying.

Description

[0001] R. 415749

[0002] - 1 -

[0003] Specification

[0004] Title

[0005] A method for determining a position of an object using sensing data from a sensing network

[0006] The invention concerns a method for determining a position of an object using sensing data from a sensing network with at least three sensing units and a data processing apparatus. Further, the invention concerns a data processing apparatus, a computer program, and a non-transitory computer readable medium.

[0007] Background

[0008] Modern automotive radars rely on a complex system of multiple antennas and backend processing units to accurately locate objects. The cost of this processing increases with the number of transceiver antennas. Additionally, advanced methods for positioning using multiple antennas, like ESPRIT and MUSIC, require specific parameter settings, which can be challenging.

[0009] Estimating the direction of objects using local sensors and complex algorithms, such as Al, demands significant computational power. Despite this, the accuracy of these estimations has not yet reached an acceptable level. As a result, accurately determining the heading of sensed targets using local or infrastructure sensors remains a difficult problem to solve.

[0010] Integrated communication and sensing, also referred to as joint communication and sensing, refers to the seamless integration of wireless communication capabilities with sensing functionalities within a wireless communication network. It encompasses the capability of a wireless device or system to perform both communication tasks, such as transmitting and receiving data, and sensing R. 415749

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[0012] tasks, such as collecting and analyzing environmental information, preferably by using radio resources of the wireless communication network.

[0013] Disclosure of the invention

[0014] According to a first aspect, there is provided a method for determining a position of an object using sensing data from a sensing network with at least three sensing units and a data processing apparatus, wherein each sensing unit of the sensing network is configured to capture the object and the respective other sensing units of the sensing network.

[0015] The method according to the first aspect comprises:

[0016] Receiving, by the data processing apparatus, for each sensing unit, sensing data representing distances of the object and the respective other sensing units relative to the respective sensing unit;

[0017] Receiving and / or determining, by the data processing apparatus, for each sensing unit, a position information regarding a position of the respective sensing unit;

[0018] Identifying, by the data processing apparatus, a subset of the sensing data corresponding to distances between the sensing units based on the received and / or determined position information; and

[0019] Determining, by the data processing apparatus, the position of the object based on a result of the identifying.

[0020] According to a second aspect, there is provided a data processing apparatus comprising a processor adapted to or configured to perform the steps of the method according to the first aspect, or its embodiments.

[0021] According to a third aspect, there is provided a sensing network, wherein

[0022] the sensing network is comprised by a wireless communication network, at least one of the sensing units is a radio node configured for both sensing and communication using radio resources of the wireless communication network, and

[0023] optionally, the data processing apparatus is a network node. R. 415749

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[0025] According to a fourth aspect, there is provided a computer program comprising instructions which, when the program is executed by a data processing apparatus according to the second aspect and / or a sensing network according to the third aspect, cause the data processing apparatus and / or the sensing network to carry out the steps of the method according to the first aspect, or its embodiments.

[0026] According to a fifth aspect, there is provided a non-transitory computer readable medium having stored thereon the computer program as defined by the fourth aspect.

[0027] The object may be a stationary or preferably a mobile object, e.g., a vehicle, a bike, a scooter, a pedestrian etc., whose position is of interest. The object is in a field of view of the at least three sensing units of the sensing network.

[0028] The determined position of the object may be an absolute position, e.g., in a global coordinate system, or a relative position, e.g., in a local coordinate system of one of the sensing units.

[0029] One, some, or all of the sensing units of the sensing network may be stationary or mobile sensing units. Preferably, the sensing units are arranged or situated spatially apart from each other.

[0030] The sensing unit may be a radar sensor, preferably equipped with a single radar antenna. Further the sensing unit may comprise a communication interface, for wired or preferably wireless communication with the data processing apparatus and / or the other sensing unit(s) of the sensing network. The communication interface between the sensing units and the data processing apparatus is used for providing the sensing data for a holistic evaluation by the data processing apparatus instead of determining the position of the object by the individual sensing units independent from the sensing data of the other sensing units. The sensing unit may be arranged on a vehicle, an infrastructure unit, a smartphone, a wearable, or any other IoT device. R. 415749

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[0032] Each of the sensing units is configured to capture or determine a position of the object(s) and the other sensing units relative to the sensing unit and preferably also a radial velocity of the object and the other sensing units relative to the sensing unit. In other words, each sensing unit of the sensing network is configured and arranged or positioned to simultaneously capture the object and the respective other sensing units of the sensing network. The sensing unit(s) are preferably configured for monostatic sensing.

[0033] Specifically, the sensing unit is not configured to determine, solely based on the sensing data it generates, an absolute position or an absolute velocity vector of the object and / or the other sensing units. More precisely, a sensing unit with a single antenna is not configured to measure the absolute position and also not the absolute velocity vector of the object and / or the other sensing units.

[0034] The sensing data may comprise a set of data points, wherein each data point corresponds to a tuple of delay time or relative distance and corresponding amplitude or intensity of a sensing signal received by the sensing unit. Here, the sensing data may comprise data of one measurement cycle, e.g., of reflections of one sensing signal transmitted by the respective sensing unit.

[0035] Preferably, the respective sensing data is provided to the data processing apparatus by each sensing unit. The sensing data may be transmitted from the respective sensing unit to the data processing apparatus via a wired or wireless communication link. Alternatively, the sensing data from the sensing units may be collected by one of the sensing units and transmitted jointly to the data processing apparatus.

[0036] For a sensing network with a first, a second and a third sensing unit, the step of receiving, for each sensing unit, sensing data representing distances of the object and the respective other sensing units relative to the respective sensing unit preferably comprises

[0037] receiving first sensing data representing relative distances between the first sensing unit and the object, between the first sensing unit and the R. 415749

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[0039] second sensing unit, and between the first sensing unit and the third sensing unit,

[0040] receiving second sensing data representing relative distances between the second sensing unit and the object, between the second sensing unit and the first sensing unit, and between the second sensing unit and the third sensing unit, and

[0041] receiving third sensing data representing relative distances between the third sensing unit and the object, between the third sensing unit and the first sensing unit, and between the third sensing unit and the second sensing unit.

[0042] For a sensing network comprising at least one further sensing unit, further sensing data may be received in the step of receiving sensing data, wherein the further sensing data represents relative distances between the further sensing unit and the object, between the further sensing unit and the first sensing unit, between the further sensing unit and the second sensing unit, and between the further sensing unit and the third sensing unit.

[0043] In other words, the received sensing data may comprise or consist of first sensing data, second data, and third sensing data.

[0044] The position information may comprise an absolute position of the respective sensing unit. For each of the sensing units, a separate position information may be received. The position information may also comprise the position of all sensing units of the sensing network.

[0045] The position information may be received via a wired or preferably wireless communication link between the data processing apparatus and at least one of the sensing units. Additionally, or alternatively, the position of at least one of the sensing units may be determined by the data processing apparatus using a sensor connectable with or connected to the data processing apparatus, wherein sensing data regarding the position of the sensing units are provided by the sensor. R. 415749

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[0047] The received or determined position information is preferably used for determining relative distances between the sensing units. This allows to identify the subset of the sensing data of each of the sensing units corresponding to signals reflected from other sensing units. Consequently, information in the sensing data that is not relevant for determining the position of the object may be eliminated.

[0048] Identifying or determining the subset of the sensing data may comprise determining all data points which represent relative distances between the sensing units. More specifically, if the sensing data comprises first sensing data of a first sensing unit, second sensing data of a second sensing unit, and third sensing data of a third sensing unit of the sensing network,

[0049] the relative distance between the first and the second sensing unit is comprised by both the first and the second sensing data,

[0050] the relative distance between the first and the third sensing unit is comprised by both the first and the third sensing data, and

[0051] the relative distance between the second and the third unit is comprised by both the second and the third sensing data.

[0052] For determining the position of the object, the identified subset is preferably neglected. In other words, the relative distances between the sensing units are identified to determine the position of the object without interference from signal parts generated by transmissions or reflections from the other sensing units.

[0053] The position of the object may be determined by solving a non-linear equation system representing the relation between differences of absolute positions of the sensing units and the object and the respective distances.

[0054] The data processing apparatus may be comprised by one of the sensing units of the sensing network. For instance, the data processing apparatus may be configured as a processor of one of the sensing units. The data processing apparatus may alternatively be an apparatus spatially separated from the sensing units of the sensing network, e.g., comprised by a cluster master, a road site unit etc.. The data processing apparatus may be any computing device in a vehicle, R. 415749

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[0056] mobile device, or in the infrastructure such as a road site unit, an edge computer, or a cloud computing unit, or a part of one of these devices.

[0057] The data processing apparatus may comprise

[0058] a radio modem,

[0059] a non-transitory computer readable medium comprising machine- readable instructions, and

[0060] a processor configured to load and to execute the machine-readable instructions to cause the data processing apparatus to execute the method according to the first aspect, or its embodiments.

[0061] The proposed solution addresses the challenge of accurately determining the absolute position information for a target object by utilizing sensing data from at least three sensing units that capture the target object. This solution enables the determination of the absolute position of the target object, even in cases where the sensing units only have a single antenna each, thus being limited to providing relative position and velocity information and falling short of individually determining the absolute position of the object.

[0062] According to an embodiment, in the step of identifying a further subset of the received sensing data is identified, wherein the further subset corresponds to interference between at least two of the sensing units, and / or

[0063] at least one sensing signal with multiple reflections between a sensing unit transmitting the at least one sensing signal and a sensing unit receiving the at least one transmitted sensing signal.

[0064] Interference between at least two sensing units generates peaks or channel taps in the sensing data at the same position in the respective sensing data. Multiple reflections can be identified based on detecting similar patterns in the sensing data of different sensing units. Such patterns may help in identifying destructive line of sight interference which may potentially shadow the object(s) of interest. Consequently, interference effects can be removed from mono-static sensing at the sensing units. Here, associating LoS interference taps and object-relevant taps following particular patterns may be determined using machine learning algorithms. In other words, joint processing of channel delay spread (power delay R. 415749

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[0066] profiles) of multiple sensing units at the data processing apparatus allows for removing interference effects.

[0067] This allows to identify the subset of the sensing data of each of the sensing units corresponding to signals reflected from other sensing units. Consequently, information in the sensing data that is not relevant for determining the position of the object may be eliminated. In other words, determining multi-path artifacts in the sensing data or sensing spectra and identifying the target (reflection over line of sight path) from multipath reflections. Notice that multi-path reflections could yield ghost object (increases false positives) or any clutter types. Hence, clutter removal can be done via joint processing at the, e.g., central, data processing unit. Due to interference cancellation and clutter removal feasibility at the data processing apparatus, sensing resources can be used efficiently. Even without orthogonalization of resources or scheduling, all sensing units may use the same or almost same resources for their transmissions.

[0068] According to an embodiment, the method further comprises:

[0069] Determining modified sensing data based on the received sensing data and the result of the identifying by removing the identified subset and / or the identified further subset; and

[0070] Determining the position of the object based on the determined modified sensing data.

[0071] In other words, information regarding the relative position between the sensing units and / or interference between the sensing units and / or sensing signals with multiple reflections are removed from the sensing data. This allows to improve the quality and accuracy of the position determination of the object.

[0072] According to an embodiment, the received sensing data further comprise radial velocities of the object and the respective other sensing units relative to the respective sensing unit, and the method further comprises:

[0073] Receiving and / or determining, by the data processing apparatus, for each sensing unit, a velocity information regarding a velocity of the respective sensing unit; and R. 415749

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[0075] Determining, by the data processing apparatus, a velocity of the object based on the determined position of the object, a position of the object relative to each of the sensing units,

[0076] the radial velocities of the object relative to the respective sensing unit, and the received and / or determined velocity information.

[0077] The velocity information may comprise the velocity (vector) of the respective sensing unit. For each of the sensing units, a separate velocity information may be received. The velocity information may also comprise the velocity (vectors) of all sensing units of the sensing network. The velocity information may also be comprised by the position information.

[0078] The velocity information may be received via a wired or preferably wireless communication link between the data processing apparatus and at least one of the sensing units. Additionally, or alternatively, the velocity (vector) of at least one of the sensing units may be determined by the data processing apparatus using a sensor connectable with or connected to the data processing apparatus, wherein sensing data regarding the velocity (vectors) of the sensing units are provided by the sensor.

[0079] The velocity, specifically the velocity vector, i.e., speed and direction of the velocity, of the object may be determined by solving a linear equation system representing the relation between

[0080] the velocity of the object,

[0081] the position of the object,

[0082] the position of the object relative to each of the sensing units,

[0083] the radial velocities of the object relative to each of the sensing units, and the velocity of the sensing units.

[0084] This allows for an accurate calculation of the velocity vector of the object with single-antenna sensing units without tracking the object / using time series of sensing data.

[0085] According to an embodiment, the method further comprises:

[0086] Initiating, by the data processing apparatus, a transmission for transmitting the determined position and / or velocity of the object to at R. 415749

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[0088] least one, preferably all sensing units, of the sensing network, and / or a further entity connectable to or connected with the data processing apparatus.

[0089] Initiating a transmission can be understood as any action performed by the data processing apparatus to start or begin a transmission, e.g., requesting for the allocation of resources, to provide the determined position and / or velocity via a hardware and / or software interface. The position and / or the velocity may be transmitted using a wired or wireless communication link. Based on the transmitted position and / or velocity a control signal for controlling one of the sensing units and / or a vehicle comprising the sensing units and / or a vehicle in the environment of the sensing network may be generated, e.g., for avoiding a collision with the object by planning a respective driving manoeuvre. To this end, a trajectory of the object may be estimated based on the determined position and velocity of the object.

[0090] According to an embodiment,

[0091] the sensing network is comprised by a wireless communication network, at least one of the sensing units is a radio node configured for both sensing and communication using radio resources of the wireless communication network, and

[0092] optionally, the data processing apparatus is a network node, and the received sensing data are generated, by the at least one sensing unit, by using the radio resources of the wireless communication network, wherein the used radio resources are preferably at least partially non-orthogonal.

[0093] The wireless communication network may be configured as a cellular network, preferably according to 3GPP specifications. The wireless communication network comprises the sensing network with the at least three sensing units.

[0094] Preferably, multiple of the at least three sensing nodes, specifically all the sensing nodes of the sensing network, are radio nodes. The radio node may be a base station, or a user equipment, e.g., a connectivity unit of a vehicle, a smartphone, a wearable, or any other IoT device. The radio node may also be a radar unit capable of both wireless communication and radar sensing, specifically R. 415749

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[0096] of joint or integrated communication and sensing (ICAS). The network node may be a base station or a core network node.

[0097] Using non-orthogonal resources allows for further increasing the efficiency of the radio resources while potential interference may be detected and removed by the data processing apparatus. In other words, the sensing units may be configured to transmit over the same or partially same radio resources if certain interference patterns yield corresponding delay profiles at the respective sensing unit. Then, the data processing apparatus is configured to resolve the interference by proper association, either with or without being provided with the state vectors (position, velocity) of the sensing units.

[0098] The non-transitory computer readable medium is preferably configured to store the computer program to be executed by a processor of the first LAN element and / or the second LAN element and / or the communication network. The non-transitory computer readable media may include RAM, ROM, EEPROM, and any other non-volatile storage device.

[0099] Description of the figures

[0100] Exemplary embodiments of the present invention are depicted in the figures, which are not to be construed as limiting the claims, and are explained in greater detail below.

[0101] Fig. 1 schematically illustrates a sensing network according to an embodiment of the invention;

[0102] Fig. 2 schematically illustrates the sensing network of Fig. 1 and corresponding sensing data as generated by the sensing network;

[0103] Fig. 3 schematically illustrates the sensing data according to Fig. 2; R. 415749

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[0105] Fig. 4 schematically illustrates radial velocities of a target object as captured by the sensing units 12;

[0106] Fig. 5 schematically illustrates geometric relations for determining the velocity of the target object; and

[0107] Fig. 6 schematically illustrates a method according to an embodiment of the invention.

[0108] Fig. 1 schematically illustrates a sensing network 10 with three sensing units 12a, 12b, 12c and a data processing apparatus 14. According to an embodiment, the sensing network 10 may comprise further sensing units 12d, 12e,...12n. Without loss of generality, the totality of the sensing units 12a, 12b,..., 12n may be denoted by reference sign 12.

[0109] Each of the sensing units 12 may be comprised by or arranged on a respective device 16 = {16a, 16b,..., 16n}. The devices 16 may be selected from a group comprising: vehicles, mobile devices, infrastructure units as road-site units, edge computers, or cloud computing units.

[0110] The sensing units 12 are configured to capture a (target) object 18 in an environment 20 of the sensing network 10. Here, the object 18 is a cyclist 18. According to an embodiment, the sensing units 12 are configured as radar units 12. According to another embodiment, the sensing units 12 are radio nodes 12 of a wireless communication network comprising the sensing network 10, wherein the sensing units 12 are configured for both communication and sensing using radio resources of the communication network. According to a further embodiment, at least one sensing unit of the sensing units 12 is a radar unit, and at least one other sensing unit of the sensing units 12 is a radio node.

[0111] The sensing units 12 are configured to transmit a sensing signal, preferably a radar waveform, to the environment. The sensing units 12 are configured to receive a reflected or back-scattered sensing signal generated by reflections or R. 415749

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[0113] scatterings of the transmitted sensing signals at the object 18 and / or the other sensing units 12. In other words, the sensing units 12 are preferably configured for monostatic sensing. For the sensing, radio resources of the wireless communication network comprising the sensing network 10 may be used according to an embodiment.

[0114] Further, the sensing units 12 are configured to generate sensing data based on the received sensing signals, e.g., by processing the received sensing signals using processing algorithms know to the person skilled in the art. The generated sensing data {(d 'i)} represent distances

[0115]

[0116] of the object 18 and the respective other sensing units 12 relative to the respective i-th sensing unit, i e {a, b, c}. Further, the generated sensing data represent radial velocities i of the object 18 and the respective other sensing units 12 relative to the respective i-th sensing unit.

[0117] Besides, the sensing units 12 are configured to provide, specifically transmit, the generated sensing data {(d 'i)}tothe data processing apparatus 14 using a wired or wireless communication link. To this end, the sensing units 12 may comprise an interface, e.g., a radio modem, for transmitting the generated sensing data {(d ^i)}-

[0118] The data processing apparatus 14 is configured to receive the provided sensing data {(d 'i)} from the sensing units 12. To this end, the data processing unit 14 may comprise an interface, e.g., a radio modem, for receiving the generated sensing data {(d ^i)}-

[0119] The data processing apparatus 14 may be part of one of the sensing units 12, or part of one of the devices 16 comprising at least one of the sensing units 12, or configured as a separate entity 12.

[0120] Fig. 2 schematically illustrates the sensing network 10 of Fig. 1 and corresponding sensing data as generated by the sensing network 10. R. 415749

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[0122] The sensing data represent intensities I or amplitudes I as a function of the distance di to the respective sensing unit 12i. For instance, da(12c) denotes the intensity or amplitude corresponding to a relative distance between the sensing unit 12a and the sensing unit 12c. This peak in the sensing data may also be referred to as channel tap.

[0123] The sensing data are transmitted to the data processing apparatus 14 via communication links 20a, 20b, 20c, e.g., configured as wireless communication links, particularly according to 3GPP or IEEE 802.11 be specifications. In other words, the sensing units 12 are configured to perform the sensing locally and provide the sensing results to the data processing apparatus 14. The data processing apparatus 14 is configured to first determine the position of the object 18 and, optionally, to subsequently determine the velocity vector of the object 18 as explained above and below.

[0124] Fig. 3 schematically illustrates sensing data as generated by the sensing units 12 according to an aspect of the invention, e.g., the sensing units 12 according to Fig. 1 and Fig. 2, specifically the sensing data of Fig. 2.

[0125] In case the positions of the sensing units 12 are known by the data processing apparatus 14, the data processing apparatus 12 is configured to distinguish the object 18 from the sensing units 12 and to remove the channel taps corresponding to the sensing units 12 from the sensing data. Consequently, modified sensing data are determined by removing a subset of the sensing data corresponding to distances between the sensing units 12.

[0126] In other words, the data processing apparatus 14 is configured to remove the peaks corresponding to direct channels between sensing units 12 by centrally processing the sensing data of the sensing units 12. Removing the direct channels may be either based on the state vectors (comprising position, optionally further velocity) of the sensing units 12, or by bi-lateral sensing data association, as illustrated in Fig. 3. For instance, relative distances between two sensing units 12a appear at the same positions or in the same channel tap of the sensing data. R. 415749

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[0128] Position determination

[0129] The data processing apparatus 14 is configured to determine a position of the object 18. To this end, the data processing apparatus 14 is configured to identify a subset of the sensing data {(d;, ';)} corresponding to distances between the sensing units 12.

[0130] According to an embodiment, for identifying the subset, the data processing apparatus 14 is configured to receive, from each sensing unit 12, a position information regarding a position of the respective sensing unit 12. The position information comprises the position of the respective sensing unit 12. For the i-th sensing unit 12i of the sensing network 10, the position is given by

[0131]

[0132] The data processing apparatus 14 may be configured to determine relative distances di between the sensing units 12 based on the received position information to identify the subset.

[0133] The data processing apparatus 14 may be configured to identify a further subset of the received sensing data {(d;, ';)}, wherein the further subset corresponds to interference between at least two of the sensing units 12, and / or a sensing signal with multiple reflections between a sensing unit 12 transmitting the sensing signal and a sensing unit 12 receiving the transmitted sensing signal.

[0134] Besides, the data processing apparatus 14 may be configured to determine modified sensing data based on the received sensing data {(d i'i)} and the result of the identifying by removing the identified subset and / or the identified further subset. Here, the data processing apparatus 14 is configured to determine the position of the object 18 based on the determined modified sensing data, i.e., based on sensing data which do not comprise data points corresponding to relative distances between the sensing units 14 and which are preferably also cleared from at least one of interference between the sensing units 12 or sensing signals generated by multiple reflections. Specifically, the modified sensing data may only comprise the relative distances between the object 18 and the respective sensing unit 12. R. 415749

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[0136] For determining the position (xt,yt) of the object 18, the data processing apparatus 14 is configured to solve the non-linear equation system

[0137] (

[0138]

[0139] xt- X;)2+ (yt- yj2= di2, V i e {a, b, c} or i e {1, 2,..., N} based on the positions by (x^yj of the sensing units 14.

[0140] A unique solution (xt,yt) exists if the object is detected, captured, or sensed by at least three sensing units 12. As an alternative, and specifically to account for measurement noise, the data processing apparatus 14 may be configured to use a least square method for determining the position of the object 18 based on the positions by (x^yj of the sensing units 12.

[0141] Velocity (vector) determination

[0142] Furthermore, the data processing apparatus 14 may be configured to determine a velocity (vector) of the object 18.

[0143] Preferably, the data processing apparatus 14 is configured to receive, for each sensing unit, a velocity information. The velocity information comprises the velocity of the respective sensing unit 12. For the i-th sensing unit 12i of the sensing network 10, the velocity is given by Ui, i e

[0144]

[0145] {a, b, c] or i e {1, 2,..., N}„ wherein the velocity vector it, comprises the velocity components in at least two, preferably three spatial dimensions.

[0146] According to an alternative, the velocity information and / or the position information can be at least partly determined a, e.g., radar, sensor connectable with or connected to the data processing apparatus 14. Here, only the missing velocity information and / or position information is received by the data processing apparatus 14 from the respective sensing units 12.

[0147] According to this embodiment, the data processing apparatus 14 is configured to determine the velocity vector v of the object 18 based on the determined position (xt,yt) of the object 18, the radial velocities i of the object 18 relative to the respective sensing unit 12 as comprised by the received sensing data, and the positions (x^yj and the velocities it, of the sensing units 12. Notably, the data processing apparatus 14 is configured to determine the velocity without tracking R. 415749

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[0149] the object 18, without requiring sensing data for successive points in time, i.e., the data processing apparatus 14 is configured for single shot position and velocity determination.

[0150] Fig. 4 illustrates radial velocities i of the target object 18 as captured by the sensing units 12. Here, each of the sensing units 12i has a different velocity vector Ui as schematically illustrated by the respective triangle in Fig. 3. The captured radial velocity i of the object 18 is based on a relative position between the object 18 and the respective sensing unit 12i and the velocity vector of the respective sensing unit 12i.

[0151] Suppose that vector v represents the velocity vector for the object 18 to be computed. Moreover, letr; = (xt- xt,yt— y^ denote the vector from the i-th sensing unit 12i to the object 18, wherein the relative radial velocity vector is in the direction of the position vector of the object 18 with respect to the corresponding sensing unit 12. Here, the relative radial velocity can be considered as a radial component of the velocity vector in the direction of the position vector of the object 18. Hence, one can write the measured radial velocity i of the object 18 relative to the i-th measuring unit 12i (using a constant velocity model) as

[0152]

[0153] Fig. 5 schematically illustrates the relation between the velocities utof the sensing units 12, the vectors rLand the velocity v of the object 18.

[0154] For the position (xt,yt) of the object 18, the position (xi,y ) and the velocity vector Ui of the sensing units 12 being available to the data processing apparatus 14, it is configured to compute

[0155] vT8i = t + u Si, wherein

[0156]

[0157] Now, the goal is to extract the velocity vector v of the object 18 from observations vTSi = rji,

[0158] wherein R. 415749

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[0160] i = i t +u St.

[0161] By defining

[0162] r = [<5i s2••• <5W]Te KWXD

[0163] T) = [T)l 112 •••T6 ]RWxl

[0164] with D denoting the dimension of the velocity vectors, the matrix equation to be solved is given by

[0165] Fv = T|.

[0166] Here, the data processing apparatus 14 is configured to compute

[0167] v = (rrr)-1rrT],

[0168] thus obtaining the velocity vector of the object 18.

[0169] Optionally, the data processing apparatus 14 is configured to initiate a transmission for transmitting the determined position and / or velocity of the object 18 to at least one, preferably all sensing units 12, of the sensing network 10, and / or a further entity connectable to or connected with the data processing apparatus 14.

[0170] Consequently, the proposed method allows for determining the position and velocity (heading (movement direction) and absolute speed) of the object 18 with single antenna sensing units 12. The method is elaborated for a single object, however, can be generalized to multiple objects located in a common scenery.

[0171] Fig. 6 schematically illustrates a method 100 for determining a position of an object using sensing data from a sensing network with at least three sensing units and a data processing apparatus according to an embodiment of the invention. Here, each sensing unit of the sensing network is configured to capture the object and the respective other sensing units of the sensing network.

[0172] The method 100 comprises a step 110 of

[0173] receiving, by the data processing apparatus, for each sensing unit, sensing data representing distances of the object and the respective other sensing units relative to the respective sensing unit, and R. 415749

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[0175] receiving and / or determining, by the data processing apparatus, for each sensing unit, a position information regarding a position of the respective sensing unit

[0176] Further, the method 100 comprises a step 120 of identifying, by the data processing apparatus, a subset of the sensing data corresponding to distances between the sensing units based on the received and / or determined position information.

[0177] Moreover, the method 100 comprises a step 130 of determining, by the data processing apparatus, the position of the object based on a result of the identifying.

Claims

R. 415749- 20 -Claims1. A method (100) for determining a position of an object (18) using sensing data from a sensing network (10) with at least three sensing units (12) and a data processing apparatus (14),wherein each sensing unit (12) of the sensing network (10) is configured to capture the object (18) and the respective other sensing units (12) of the sensing network (10), andthe method (100) comprises:Receiving (110), by the data processing apparatus (14), for each sensing unit (12), sensing data representing distances of the object (18) and the respective other sensing units (12) relative to the respective sensing unit (12);Receiving (110) and / or determining, by the data processing apparatus (14), for each sensing unit (12), a position information regarding a position of the respective sensing unit (12);Identifying (120), by the data processing apparatus (14), a subset of the sensing data corresponding to distances between the sensing units (12) based on the received and / or determined position information; and Determining (130), by the data processing apparatus (14), the position of the object (18) based on a result of the identifying (120).

2. The method (100) according to claim 1, wherein in the step of identifying (120) a further subset of the received sensing data is identified, wherein the further subset corresponds tointerference between at least two of the sensing units (12), and / or at least one sensing signal with multiple reflections between a sensing unit (12) transmitting the at least one sensing signal and a sensing unit (12) receiving the at least one transmitted sensing signal.

3. The method (100) according to one of the preceding claims, furthercomprising:R. 415749- 21 -Determining modified sensing data based on the received sensing data and the result of the identifying (120) by removing the identified subset and / or the identified further subset; andDetermining (130) the position of the object (18) based on the determined modified sensing data.

4. The method (100) according to one of the preceding claims, wherein the received sensing data further comprise radial velocities of the object (18) and the respective other sensing units (12) relative to the respective sensing unit (12), and the method (100) further comprises:Receiving and / or determining, by the data processing apparatus (14), for each sensing unit (12), a velocity information regarding a velocity of the respective sensing unit (12); andDetermining, by the data processing apparatus (14), a velocity of the object (18) based on the determined position of the object (18), a position of the object (18) relative to each of the sensing units (12), the radial velocities of the object (18) relative to the respective sensing unit (12), and the received and / or determined velocity information.

5. The method (100) according to one of the preceding claims, further comprising:Initiating, by the data processing apparatus (14), a transmission for transmitting the determined position and / or velocity of the object (18) to at least one, preferably all sensing units (12), of the sensing network (10), and / or a further entity connectable to or connected with the data processing apparatus (14).

6. The method (100) according to one of the preceding claims, whereinthe sensing network (10) is comprised by a wireless communication network,at least one of the sensing units (12) is a radio node configured for both sensing and communication using radio resources of the wireless communication network,optionally, the data processing apparatus (14) is a network node, andR. 415749- 22 -the received sensing data are generated, by the at least one sensing unit (12), by using the radio resources of the wireless communication network, wherein the used radio resources are preferably at least partially non-orthogonal.

7. A data processing apparatus (14) comprising a processor configured to perform the steps of the method (100) to one of claims 1 to 6.

8. A sensing network (10) comprising at least three sensing units (12) and a data processing apparatus (14) according to claim 7.

9. The sensing network (10) according to claim 8, whereinthe sensing network (10) is comprised by a wireless communication network,at least one of the sensing units (12) is a radio node configured for both sensing and communication using radio resources of the wireless communication network, andoptionally, the data processing apparatus (14) is a network node.

10. A computer program comprising instructions which, when the program is executed by a data processing apparatus (14) according to claim 7 and / or a sensing network (10) according to claim 8 or 9, cause the data processing apparatus (14) and / or the sensing network (10) to carry out the steps of the method (100) of one of claims 1 to 7.

11. A non-transitory computer readable medium having stored thereon the computer program according to claim 11.

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