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WO2006003124A1 - Procede d'optimisation pour systeme de localisation radio autocalibrant - Google Patents

Procede d'optimisation pour systeme de localisation radio autocalibrant Download PDF

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Publication number
WO2006003124A1
WO2006003124A1 PCT/EP2005/052967 EP2005052967W WO2006003124A1 WO 2006003124 A1 WO2006003124 A1 WO 2006003124A1 EP 2005052967 W EP2005052967 W EP 2005052967W WO 2006003124 A1 WO2006003124 A1 WO 2006003124A1
Authority
WO
WIPO (PCT)
Prior art keywords
transponders
base station
transponder
measuring
path
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2005/052967
Other languages
German (de)
English (en)
Inventor
Mark Christmann
Leif Wiebking
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Symeo GmbH
Siemens Corp
Original Assignee
Siemens AG
Symeo GmbH
Siemens Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens AG, Symeo GmbH, Siemens Corp filed Critical Siemens AG
Publication of WO2006003124A1 publication Critical patent/WO2006003124A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0205—Details
    • G01S5/021—Calibration, monitoring or correction

Definitions

  • the invention describes a solution as to how a complete reconstruction of the transponder locations can be carried out by means of a local positioning radar along an arbitrary measuring path or via any reference travel.
  • Measurements are taken along a measuring path by means of a reference run to be performed after installation of the transponder, in which the measuring distances between the individual transponders and the moving base station are continuously recorded. It can be concluded after the completion of the measurements on an optimization algorithm on the actual transponder coordinates. In this case, only small demands are placed on the type of homing or the reference path or the measuring path. For a user, it is only important that it runs off the measuring field at a constant distance from the transponders of a few meters and estimates the locations of the transponders very roughly (for example, approximately every x m for a hall width of y m). In this case, possible major deviations are focused on the recovery time of the algorithm, not on the accuracy of the calculation.
  • the measuring path can be predetermined relative to the transponders before the beginning of the measuring run.
  • the measuring process can be prepared easily.
  • a transponder and instead of the transponder base stations can be used. In this way, the process is very flexible feasible.
  • the minimum is preferably determined using the same formulas.
  • Transponder coordinates advantageously have in particular an input device for inputting the measuring path, a memory device for storing the measuring path and a device for moving the base station along the measuring path.
  • an automatic measurement is possible in a simple manner.
  • the flexibility of a device can be increased by replacing the base station with a transponder and the transponders with base stations.
  • FIG. 2 shows real measured data of the 1D distance values during a reference run according to an exemplary embodiment
  • FIG. 3 shows coordinate input for a rectangular arrangement of the transponders according to an embodiment
  • FIG. 4 shows practical basic data for the computing time required by an implementation
  • Fig. 5 shows the recorded 1D data from eight existing transponders in a test environment
  • FIG. 6 shows distance profiles obtained after a cleaning procedure of the records of multipath errors
  • FIG. 7 shows the result of the reconstructed transponder locations after evaluation of the reference travel according to the exemplary embodiment.
  • FIG. 1 shows a practicable procedure when carrying out a reference travel along seven transponders according to an exemplary embodiment.
  • the seven tan ponders are located at arbitrary locations, especially in an xy coordinate system.
  • Fig.l shows an example of a reference path in the form of a departure track of the receiver.
  • the receiver or the Base station has a data logger for the radial distances.
  • the given coordinates of B 1 are denoted by e tJ for (i, j) eN, Nc ⁇ (i, y) Iie ⁇ l, ..., 2 ⁇ , ye ⁇ l, 2 ⁇ .
  • (i, l) sN means that the * coordinate is given by B 1 and (i, 2) eN means that the y coordinate is predetermined.
  • equation (3) takes the form
  • the method (9) converges to a local extremum of F r if the HESSE matrix is invertible in each process step and the starting values have been suitably chosen.
  • the NEWTON method is generally only of first order, but is close to the extremum quadratic order of convergence, that is, the number of valid decimal places is doubled per iteration.
  • the iteration is aborted when a given accuracy is reached, such as
  • the least-squares approach ensures that the mathematical model itself already allows a high degree of stochastic noise in the input data.
  • the filtering of multipath errors of the input data is mandatory.
  • the model described below was designed.
  • test drive was carried out in a suitable manner, ideally on a one-sided (on a short side of the hall) open rectangular track close to the hall wall.
  • the transponder positions are initially known to approx. 10m.
  • the transponder positions with approximately equidistant distribution along the hall walls of a rectangular hall can be estimated with sufficient accuracy, provided that only the hall dimensions, the number of transponders and the numbering of the transponders in circulation sense of the test drive are known.
  • the GAUSS algorithm is used as the standard method. Its course is divided into two phases. First, the coefficient matrix is brought to upper triangular form by appropriate row operations, then a backward substitution takes place.
  • Table 1 Storage requirements of the HESSE matrix with double values
  • the total effort here is to set CMp + nfj, whereby the first phase determines the effort.
  • Matlab's equation solver recognizes and automatically uses this advantage in its invoices.
  • FIG. 4 shows practical basic data for the computing time required by the implementation.
  • the reference system is a PC system with AMD Athlon XP 1800+.
  • the semilogarithmic representation is good to see that the calculation time asymptotically in the third order polynomial depends on the Pxoblemdimension.
  • Table 2 shows typical calculation times on the reference system for the cases specified in the problem definition (reference case and limiting case with a maximum number of unknown occurrences). The calculation time of the limit case has been extrapolated from the measurements shown in FIG.
  • Fig. 4 shows computing time courses on a reference system AMD Athlon XP 1800+.
  • Table 3 Reconstruction accuracy of the transponder.
  • Fig. 5 shows the recorded 1D data from eight existing transponders in a test environment.
  • the measured locations may have an error of up to 10 cm - so the estimated results are even more accurate.
  • the typical computation time of the implementation for the expected usual application dimensions of the LPR system is only a few minutes on a commercial PC (see Table 2).

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

L'invention concerne un procédé et un dispositif permettant de déterminer les coordonnées xi, yi, hi d'un nombre i = 1, ,p de transpondeurs disposés dans chaque cas en une position Bi, xi, yi, hi étant de même dimension que l'élément de R. L'invention se caractérise en ce qu'il est prévu de mesurer les distances (a) entre chacun des transpondeurs disposés en une position Bi et une station de base, disposée dans chaque cas en une position Pk = (Xk, Yk, Hk), k = 1, ,n, le long d'un parcours de référence, Xk, Yk, Hk étant de même dimension que l'élément de R. Il est également prévu de calculer les coordonnées de chaque position Bi, sur la base des résultats de mesure de (a).
PCT/EP2005/052967 2004-06-30 2005-06-24 Procede d'optimisation pour systeme de localisation radio autocalibrant Ceased WO2006003124A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102004031731.3 2004-06-30
DE200410031731 DE102004031731B4 (de) 2004-06-30 2004-06-30 Verfahren und Vorrichtung zur Koordinatenbestimmung

Publications (1)

Publication Number Publication Date
WO2006003124A1 true WO2006003124A1 (fr) 2006-01-12

Family

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PCT/EP2005/052967 Ceased WO2006003124A1 (fr) 2004-06-30 2005-06-24 Procede d'optimisation pour systeme de localisation radio autocalibrant

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DE (1) DE102004031731B4 (fr)
WO (1) WO2006003124A1 (fr)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002023215A1 (fr) * 2000-09-18 2002-03-21 Motorola Inc. Procede et appareil d'etalonnage des emplacements de stations de base et decalages de polarisation temporels perçus dans un emetteur-recepteur gps assiste
US20030022675A1 (en) * 2001-07-24 2003-01-30 Koninklijke Philips Electronics N.V. Methods and apparatus for determining the position of a transmitter and a mobile communications device
WO2004023678A2 (fr) * 2002-09-05 2004-03-18 Qualcomm, Incorporated Procede et systeme d'etalonnage d'un repeteur

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10336084A1 (de) * 2003-08-06 2005-03-10 Siemens Ag Lokales Positionsmesssystem

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002023215A1 (fr) * 2000-09-18 2002-03-21 Motorola Inc. Procede et appareil d'etalonnage des emplacements de stations de base et decalages de polarisation temporels perçus dans un emetteur-recepteur gps assiste
US20030022675A1 (en) * 2001-07-24 2003-01-30 Koninklijke Philips Electronics N.V. Methods and apparatus for determining the position of a transmitter and a mobile communications device
WO2004023678A2 (fr) * 2002-09-05 2004-03-18 Qualcomm, Incorporated Procede et systeme d'etalonnage d'un repeteur

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
SOLOMON J K ET AL: "Estimation of atmospheric and transponder survey errors with a navigation Kalman filter", PROCEEDINGS OF THE IEEE 1989 NATIONAL AEROSPACE AND ELECTRONICS CONFERENCE, 22 May 1989 (1989-05-22), pages 140 - 147, XP010086826 *
VOSSIEK M ET AL: "Wireless local positioning - Concepts, solutions, applications", RADIO AND WIRELESS CONFERENCE, 2003. RAWCON '03. PROCEEDINGS AUG. 10-13, 2003, PISCATAWAY, NJ, USA,IEEE, 10 August 2003 (2003-08-10), pages 219 - 224, XP010656737, ISBN: 0-7803-7829-6 *

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DE102004031731B4 (de) 2006-06-14
DE102004031731A1 (de) 2006-02-02

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