WO2010121915A2 - Verfahren zum rechnergestützten verarbeiten von messungen von merkmalen eines funknetzes - Google Patents
Verfahren zum rechnergestützten verarbeiten von messungen von merkmalen eines funknetzes Download PDFInfo
- Publication number
- WO2010121915A2 WO2010121915A2 PCT/EP2010/054751 EP2010054751W WO2010121915A2 WO 2010121915 A2 WO2010121915 A2 WO 2010121915A2 EP 2010054751 W EP2010054751 W EP 2010054751W WO 2010121915 A2 WO2010121915 A2 WO 2010121915A2
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- base station
- mobile object
- measurements
- evaluation
- base stations
- Prior art date
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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
- G01S5/0009—Transmission of position information to remote stations
- G01S5/0081—Transmission between base stations
Definitions
- the invention relates to a method for the computer-aided processing of measurements of features of a radio network and to a corresponding communication network.
- the radio network includes a plurality of stationary base stations, which send wireless signals or receive signals.
- a mobile object moves, which can also receive or transmit signals wirelessly.
- the position of the mobile object can then be determined via corresponding features or parameters of the fields transmitted by the base stations or the mobile object. For example, the signal strength of the field emitted by the mobile object, which is measured by the base stations, or the signal strength of the fields of the individual base stations can be used at the position of the mobile object for position determination. It is also possible to locate the mobile object over the duration of field signals or wave propagation directions.
- It localization methods are used, which are based on triangulation, on theoretical or adapted wave propagation models or on so-called pattern matching.
- the pattern matching is suitable in particular for the localization within rooms or buildings and uses a feature map, which for a large number of support points in space corresponding features of the radio network, eg in the form of signal field strengths in the positioning of the mobile object on a corresponding support point contains.
- the position of the mobile object can then be estimated.
- the measured features of a radio network can also be used to generate the above-mentioned feature map.
- the object of the invention is therefore to provide a method for the computer-aided processing of measurements of features of a radio network and a corresponding communication network, which are robust against failures and can be used flexibly for different sizes of radio networks.
- the method according to the invention serves to process measurements of features of a radio network, which comprises a plurality of base stations and one or more mobile objects, wherein measurements are carried out for a respective mobile object.
- a radio network which comprises a plurality of base stations and one or more mobile objects, wherein measurements are carried out for a respective mobile object.
- Each measurement is assigned to a base station and describes a feature of a field emitted by the respective mobile object at the assigned base station and / or a field emitted by the assigned base station at the respective mobile object.
- a plurality of evaluation units communicating with the base stations are used, which in particular are networked based on a communication network with the base stations.
- This communication network can be formed by the radio network whose features are processed, or constitute an additional wireless and / or wired communication network.
- Each evaluation unit is assigned at least one base station of the radio network, i.
- An evaluation unit can be responsible for only a single base station or for a group of several base stations.
- a base station from the plurality of base stations is selected for a respective mobile object in a step a) such that a reception of the field transmitted by the respective mobile object at the selected base station and / or a Receiving the field emitted by the selected base station is ensured at the respective mobile object.
- measurements are transmitted to the evaluation unit, which is assigned to the selected base station, which base stations are assigned, which receive the field transmitted by the respective mobile object and / or whose field is received by the respective mobile object.
- a step c) evaluates the evaluation, which is assigned to the selected base station, the transmitted Measurements from, or this evaluation determines an evaluation unit for the evaluation of the transmitted measurements, after which the transmitted measurements are evaluated in the particular evaluation unit. If necessary, it is possible for the evaluation unit itself to determine the evaluation of the transmitted measurements.
- the method according to the invention is characterized in that the respective evaluation units, depending on the position of the mobile object, are always used for a local evaluation of the features of the field in the area around the mobile object. This is achieved by first selecting a base station in which it is ensured that radio signals can be exchanged between the base station and the mobile object.
- the evaluation unit associated with this base station then serves to evaluate or delegate the evaluation of measurements of those base stations which receive fields from the mobile object in its current position or whose fields are received in the current position by the mobile object. According to the invention, it is thus ensured during the movement of the mobile object that the evaluation of the fields between the evaluation units changes as a function of the object position, so that the features of the radio network are evaluated distributed over all evaluation units.
- the evaluation unit which is assigned to the selected base station, again further criteria are checked.
- these further criteria take into account, in particular, whether the evaluation unit is suitable for evaluating the signals.
- these further criteria may take account of the resources present on the evaluation units in such a way that such evaluation units are determined to evaluate the measurements which have more resources.
- the resources available in the respective evaluation unit are memory resources. To understand computing capacities. This makes it possible to achieve that an evaluation unit, which no longer has sufficient capacity for evaluating the measurements, by means of a other evaluation unit with higher capacity or free resources is replaced.
- the term evaluation unit is to be understood broadly.
- the evaluation unit may include a corresponding computing unit within the respective base station.
- the evaluation unit can be formed by the main processor of the base station, but there is also the possibility that an additional arithmetic unit for evaluating the measurements is integrated in each base station.
- each base station can be assigned a separate evaluation unit which is not integrated in the base station. Generally, no coupling of an evaluation unit to a single base station is required. Rather, there is also the possibility that separate arithmetic units are used, which are assigned to several base stations.
- the inventive method can be used for any fields of radio networks in the form of local or possibly not local wireless networks.
- the method preferably evaluates fields of a WLAN network and / or a DECT network and / or a mobile radio network.
- any measured features of the fields can be evaluated, such as e.g. the already described features based on signal strengths and / or propagation times and / or propagation angles of the fields in the radio network. If signal strengths are used as features, the measurement of a base station particularly describes the signal strength of the field transmitted by the respective mobile object at the base station and / or the field emitted by the base station at the respective object.
- the selection of a base station in step a) of the method according to the invention can be arbitrary, it merely has to be ensured that an exchange of radio signals between the selected base station and the respective mobile object is possible. However, a good reception of the fields of the radio network in the base station or be ensured the mobile object.
- the base station is therefore selected in step a), with which the respective mobile object is associated in the radio network.
- the process of association is a common mechanism in radio networks.
- the mobile object represents in the radio network a so-called. Client, looking for the wireless exchange of data, a base station with good reception in its range.
- the client is in particular a mobile, portable terminal with WLAN functionality, which associates with a base station in the form of a corresponding access point.
- the client is a corresponding mobile phone, which is associated with a base station in its range for data exchange.
- the association is used in a radio network to ensure that the data to be transmitted is always transmitted between the client and the associated base station, whereby other base stations in the radio network, which can also receive radio signals from the client, ignore these signals.
- the above-described association between the mobile object and the base station represents a very simple and efficient variant of a selection of a base station, since already known mechanisms can be used within the framework of a communication in a radio network.
- neighborhood lists are used, with which ensures the transmission of measurements to the evaluation of the selected base station becomes.
- a respective base station manages a neighborhood list containing base stations adjacent to the respective base station according to a neighborhood criterion.
- the neighborhood criterion for generating the neighborhood lists is defined such that a neighborhood list of a respective neighborhood list Base station includes all base stations whose respective range coverage area for the field of the respective mobile object overlaps with the reception coverage area of the respective base station for the field of the respective mobile object.
- the neighborhood list may include those base stations that are located within a given radius around the base station managing the neighborhood list, in particular within an estimated range of the radio objects of the mobile object for reception by that base station, for example in radius from 100 m.
- the neighborhood list it is also possible to take into account measured or modeled properties of the signal distribution around the respective base station, so that in particular those base stations which are close to the mobile object but do not receive the signal of the mobile object due to specific spatial conditions can not be included in the neighborhood list.
- the neighborhood lists described above are used in combination with the selection of a base station based on the association between the mobile object and the base station. It is deposited in the neighborhood list of a respective base station, whether or which base station from the neighborhood list is associated with the respective mobile object.
- a respective base station sends a message to all base stations from its neighborhood list when the respective mobile object and the respective base station associate, thereby informing the base stations from the neighborhood list which base station is the selected base station.
- a respective base station transmits a feature, measured by it, of the field transmitted by the respective mobile object to the base station from its neighborhood list which is associated with the mobile object according to the neighborhood list, if the neighborhood list a base station associated with the mobile object. This ensures that the measurements of the base stations are always transmitted to the selected base station, which is the base station associated with the respective mobile object.
- the neighborhood lists also serve to select a base station if the mobile object is not associated with any base station or a criterion other than the association is to be used for selection.
- a respective base station measures a feature of the field transmitted by the respective mobile object, it informs all base stations from its neighborhood list about the existence of the mobile object and the measured feature, whereupon among the base stations which a feature of the measure each mobile object emitted field, a base station is determined as a selected base station.
- This selection can be made based on a decentralized negotiation algorithm between the base stations. In particular, that base station is determined as a selected base station which has measured the largest signal strength of the field emitted by the respective mobile object.
- Each base station checks how large the signal strengths are according to the characteristics of the other base stations transmitted to them in comparison to the signal strength measured by themselves. If a base station determines that its measured signal strength is the largest, it declares itself as a selected base station and informs the other base stations about it, whereupon the other base stations are not allowed to declare themselves as a selected base station.
- the just-described mechanism of negotiating a selected base station is particularly an option when selecting a base station based on an association, but there is no base station associated with the particular mobile object.
- a respective base station informs all Base stations from their neighborhood list on the presence of the mobile object and the measured feature only if in their neighborhood list no associated with the respective mobile object base station is included.
- a particularly simple realization of the method according to the invention can be achieved if a measurement of a base station comprises a feature, measured by the respective mobile object, of a field emitted by the base station at the respective mobile object.
- the measurements do not have to be transmitted from the base stations to the selected base station, but the features measured in the respective mobile object can be transmitted by the mobile object to the evaluation unit which is assigned to the selected base station.
- This variant of the invention is preferably combined with the embodiment in which the selected base station is the base station associated with the mobile object. In this case, the mobile object has the information about the selected base station immediately due to the association status.
- the mobile object can, for example, in the associated base station for the connection parameters to access the associated evaluation unit (for example, IP address, port, password and the like) request and then send the measurements directly to the evaluation.
- the evaluation unit for example, IP address, port, password and the like
- the base station may also buffer the measurements for later use.
- configuration data which are required for the evaluation of the measurements, are distributed locally to the evaluation units, so that each evaluation unit has at least those Includes configuration information, which it needs to evaluate the transmitted measurements.
- the configuration data include in particular the relevant feature maps, signal models, the positions of the base stations in the respective neighborhood list and the like.
- the configuration information can be used as part of a preconfiguration of the
- the configuration data can be transmitted by a corresponding data transfer, for example via a memory card or by retrieval from a central data server to the corresponding evaluation unit.
- each evaluation unit itself at least partially learns its configuration information, which may be the case, for example, in the methods for learning feature maps described above.
- the measurements transmitted in the context of the method according to the invention different evaluations can be carried out in the corresponding evaluation unit.
- the measurements can be evaluated in such a way that the position of the respective mobile object is determined and / or at least a part of a feature map is generated and, in particular, learned based on a learning method, wherein the feature map for a plurality of interpolation points in space the characteristics of the Radio network indicates when positioning the respective mobile object at the support point.
- a learning method for learning a feature map in particular in the form of a field strength map with signal field strengths as features, in particular the methods of the above-mentioned references [1] to [3] can be used.
- each evaluation unit is responsible for a predetermined subarea of the feature map, ie each evaluation unit is generated or learns the feature map in the appropriate given subsection.
- the predetermined subregions overlap at least partially, evaluation units which are responsible for mutually overlapping subregions exchange their evaluations in the overlapping zones of the subregions, wherein an evaluation unit takes into account the evaluations originating in another evaluation unit in the overlap zone during the generation of the feature map.
- each evaluation unit can be assigned a learning area in which the feature map is learned.
- a learning step of the method is performed, whereupon an updated feature map is obtained in the learning area.
- the measurement data can also be temporarily stored for later processing in order to process a larger amount of measurement data at once.
- the evaluations from the overlapping zones can be exchanged between the evaluation units.
- the features at the nodes in the overlap zone which have been determined by an evaluation unit can be combined with the features at the same nodes that were determined by another evaluation unit such that an average of these features is formed and each evaluation uses this average value at the corresponding support points of the feature map in its assigned subarea.
- one or more interfaces are provided, via which the evaluations of the evaluation units can be retrieved in a suitable manner from users or external computers.
- an interface can be configured as a central computer, the evaluations of the evaluation units being interposed with the interposition of the central computer.
- len computer can be retrieved.
- the central computer can, for example, process a request from an external computer for the position of a specific mobile object in such a way that this request is forwarded to the evaluation unit which is currently evaluating the measurements with respect to this mobile object.
- This evaluation unit can then transmit the desired information directly or with the interposition of the central computer to the external computer. It is also possible that the evaluations of the evaluation are always stored on the central computer, so that the requested information is provided directly in the central computer.
- the retrieval of evaluations can also take place in a decentralized manner.
- the evaluation units can form a peer-to-peer network, whereby the queries which are required can be retrieved via queries to the peer-to-peer network using mechanisms of such networks known per se.
- the invention further relates to a communication network for the computer-aided processing of measurements of features of a radio network, this communication network comprising a plurality of base stations and one or more mobile objects.
- the plurality of base stations and the mobile object (s) form the radio network and during operation of the radio network measurements are taken for a respective mobile object, each measurement being associated with a base station and a feature of a field transmitted by the respective mobile object at the associated base station and / or a field emitted by the associated base station at the respective object.
- the communication network comprises a plurality of networked with the base stations evaluation, each evaluation are associated with one or more base stations of the radio network.
- the communication network is designed in such a way that each variant of the previous NEN described method according to the invention in the communication network is feasible.
- FIG. 1 shows a schematic representation of a radio network with a plurality of base stations and a mobile object, wherein in the radio network, an embodiment of the method according to the invention is performed.
- Each base station includes a corresponding antenna for receiving or transmitting radio signals within the WLAN network.
- a mobile object O which also has a corresponding antenna with which radio signals can be received or transmitted in the radio network.
- the radio network is used to locate the mobile object O.
- the field emitted by the mobile object O is used, which is received by the respective base stations within reach of the mobile object.
- the individual base stations measure the signal strength of the field of the moving mobile
- Object O and based on several measured signal strengths of different base stations can then be calculated by methods known per se, the position of the mobile object O.
- the acquired measurements can also be used for learning a corresponding map, which in each case indicates for a multiplicity of interpolation points in the spatial area of the radio field which signal strengths are to be expected at the individual base stations when the mobile object is located at a corresponding interpolation point.
- the mobile object O is located at a position where the base stations AP1, AP2, AP3, AP4 and AP5 are within range of the radio signals of the object O.
- the base stations AP6, AP7, AP8 and AP9 can not receive the radio signals because of too large a distance from the object O.
- corresponding double arrows P1, P2, P3, P4 and P5 indicate that the corresponding base stations AP1, AP2, AP3, AP4 and AP5 in FIG. 1
- Radio range to the mobile object O are located.
- the individual signal strength measurements in the base stations AP1 to AP5 are sent to a central evaluation unit, which subsequently determines the position of the object O based on known methods.
- This has the disadvantage that if the evaluation unit fails, all information recorded in the radio network is lost.
- a multiplicity of evaluation units are used, which are designated by reference symbols AU1, AU2,..., AU9. Each of these evaluation units is assigned to a corresponding base station AP1, AP2,..., AP9.
- the evaluation units AU1 to AU9 are networked with each other, wherein the network is not indicated for clarity in Fig. 1.
- the networking can in turn be achieved wirelessly via a corresponding WLAN network or also via a wired network, for example in the form of a LAN network.
- a central computer R is further integrated, wherein the networking of the computer with the evaluation is again not indicated for reasons of clarity. The function of this computer R will be explained in more detail below.
- an evaluation unit which determines the signal strengths of the radio signals of the radio signal received in the base stations Object O evaluates, determined via the association of the mobile object O with one of the base stations in the radio range of the object.
- the mobile object O represents a client in the radio network which associates with one of the base stations in its range for data communication. In a subsequent data communication, the client then only communicates with the associated base station and the other base stations within range of the client ignore the data transmitted over the radio network.
- the process of association is well known from local radio networks, such as WLAN networks or DECT networks. A corresponding association also takes place in non-local radio networks, for example in mobile radio networks. If an association of a mobile object with a base station has taken place, the remaining base stations can no longer communicate with the mobile object. In the context of association, it is ensured that there is currently a very good radio connection between the mobile object O and the associated base station.
- the mobile object is currently associated with the base station AP2, as indicated by the double arrow AS.
- the object O moves away from the base station AP2 as part of its movement, finally after a predetermined time an association of the object with another base station takes place, which signals the mobile
- That evaluation unit which is assigned to the base station just associated, is selected to carry out the evaluation of all base stations within radio range to the mobile object O. That is, in the scenario of FIG. 1, the evaluation unit AU2 of the base station AP2 is determined for evaluating the radio signals of the mobile object O measured at the base stations AP1, AP2, AP3, AP4 and AP5.
- each base station manages a neighborhood list which contains those base stations in their neighborhood that are to be informed when the respective base station associates with the mobile object O.
- the neighborhood list can be given, for example, by a specific radius around the respective base station, all base stations within the radius being contained in the neighborhood list.
- the radius corresponds to eg the radio range of the mobile object for the respective base station.
- the radius may be greater than this radio range, for example, twice as large.
- the neighborhood list of the base station AP2 which has associated with the object O contains the base stations AP1, AP3, AP4 and AP5 within reach of the mobile object O. Based on the neighborhood list in the base station AP2 then this base station all base stations from the neighborhood list via the association with the mobile object O. This information is stored in the neighborhood lists of the other base stations for the entry of the base station AP2.
- each of the base stations AP1 to AP5 then sends their measurements to the evaluation unit AU2, which is assigned to the associated base station AP2. This happens because after a measurement, the respective base station looks in the neighborhood list, with which base station the mobile object is associated and subsequently transmits the measurement to the evaluation unit assigned to the associated base station.
- the corresponding neighborhood lists can also be used to determine an evaluation unit other than based on an association be used. This can be done by using the strength of a received radio signal of the mobile object as a criterion for the selection of an evaluation unit.
- the base station first checks whether a base station from its neighborhood list is associated with the mobile object. If this is not the case, the base station transmits its measured signal strength to all base stations from the neighborhood list. In this way, the corresponding received signal strengths of the base stations are distributed between the base stations within reach of the mobile object.
- That base station is selected which has received the signal of the mobile object most strongly. This base station determines itself as a selected base station and forwards this information to the base stations in its neighborhood list, which subsequently can no longer determine as selected base stations. By selecting a base station, that evaluation unit which is assigned to the selected base station is then responsible for the evaluation of the measurements. That is, the base stations that receive measurements from the mobile object now send these measurements to the evaluation unit responsible.
- the computer R connected to the evaluation units is used.
- This computer contains the corresponding information, which evaluation unit has evaluated at what time the radio signals of a particular mobile object. A corresponding request from an external computer can then be answered by the central computer R via the retrieval of the information in the corresponding evaluation unit.
- the method according to the invention described above has a number of advantages.
- one evaluation unit fails the entire data in the network will not be lost since the evaluation of the measurements is distributed among a plurality of evaluation units.
- the method can be used for arbitrary evaluations of features of a radio network, in particular both for the localization of a mobile object and for the generation or for learning a feature map.
- corresponding subregions can be defined for the feature map, each evaluation unit being responsible for a corresponding subarea of the feature map.
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
Description
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Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP10717080A EP2422212A2 (de) | 2009-04-22 | 2010-04-12 | Verfahren zum rechnergestützten verarbeiten von messungen von merkmalen eines funknetzes |
US13/265,734 US9069053B2 (en) | 2009-04-22 | 2010-04-12 | Method for the computer-assisted processing of measurements of features in a radio network |
CN201080017781.5A CN102414573B (zh) | 2009-04-22 | 2010-04-12 | 用于对无线电网络的特征的测量进行计算机辅助处理的方法 |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP09005659.9 | 2009-04-22 | ||
EP09005659 | 2009-04-22 | ||
DE102009055871A DE102009055871A1 (de) | 2009-04-22 | 2009-11-26 | Verfahren zum rechnergestützten Verarbeiten von Messungen von Merkmalen eines Funknetzes |
DE102009055871.3 | 2009-11-26 |
Publications (2)
Publication Number | Publication Date |
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WO2010121915A2 true WO2010121915A2 (de) | 2010-10-28 |
WO2010121915A3 WO2010121915A3 (de) | 2011-03-24 |
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Application Number | Title | Priority Date | Filing Date |
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PCT/EP2010/054751 WO2010121915A2 (de) | 2009-04-22 | 2010-04-12 | Verfahren zum rechnergestützten verarbeiten von messungen von merkmalen eines funknetzes |
Country Status (5)
Country | Link |
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US (1) | US9069053B2 (de) |
EP (1) | EP2422212A2 (de) |
CN (1) | CN102414573B (de) |
DE (1) | DE102009055871A1 (de) |
WO (1) | WO2010121915A2 (de) |
Families Citing this family (3)
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DE102011006181A1 (de) * | 2011-03-25 | 2012-09-27 | Vodafone Holding Gmbh | System und Verfahren zum funkbasierten Lokalisieren eines Endgeräts |
US9357458B2 (en) * | 2014-04-30 | 2016-05-31 | Aruba Networks, Inc. | Distributed method for client optimization |
US10242563B2 (en) | 2014-10-31 | 2019-03-26 | Siemens Schweiz Ag | Method, digital tool, device and system for detecting/recognizing in a radio range, in particular of an indoor area, repetitive motions, in particular rhythmic gestures, with at least one motional speed and each at least one repetition |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
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DE102006044293A1 (de) | 2006-03-31 | 2007-10-25 | Siemens Ag | Verfahren zur rechnergestützten Lokalisation eines mobilen Objekts |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
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US6987744B2 (en) * | 2000-12-01 | 2006-01-17 | Wherenet Corp | Wireless local area network with geo-location capability |
US6950663B2 (en) * | 2001-08-24 | 2005-09-27 | Nokia Mobile Phones Ltd. | Method of locating a mobile station based on observed time difference |
DE10200604A1 (de) | 2002-01-10 | 2003-07-31 | Bayer Ag | Verfahren zur schlagwortbasierten Suche eines ähnlichen Fallbeispiels und Computersystem |
US20040203870A1 (en) | 2002-08-20 | 2004-10-14 | Daniel Aljadeff | Method and system for location finding in a wireless local area network |
US7313403B2 (en) * | 2003-08-06 | 2007-12-25 | Hong Kong Applied Science And Technology Research Institute Co., Ltd. | Location positioning in wireless networks |
US7623842B2 (en) | 2005-06-15 | 2009-11-24 | Nextel Communications Inc. | System and method for determining a location of an emergency call in a sparsely-populated area |
WO2008115715A1 (en) * | 2007-03-16 | 2008-09-25 | Jon Robert Buchwald | Configurable zone-based location detection |
TW200849893A (en) * | 2007-06-08 | 2008-12-16 | Arcadyan Technology Corp | Wireless LAN local position system and method |
-
2009
- 2009-11-26 DE DE102009055871A patent/DE102009055871A1/de not_active Withdrawn
-
2010
- 2010-04-12 EP EP10717080A patent/EP2422212A2/de not_active Withdrawn
- 2010-04-12 WO PCT/EP2010/054751 patent/WO2010121915A2/de active Application Filing
- 2010-04-12 CN CN201080017781.5A patent/CN102414573B/zh active Active
- 2010-04-12 US US13/265,734 patent/US9069053B2/en active Active
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
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DE102006044293A1 (de) | 2006-03-31 | 2007-10-25 | Siemens Ag | Verfahren zur rechnergestützten Lokalisation eines mobilen Objekts |
Non-Patent Citations (2)
Title |
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B. BETONI PARODI; H. LENZ; A. SZABO; H. WANG; J. HORN; J. BAMBERGER; D. OBRADOVIC: "Initialization and Online-Learning of RSS Maps for Indoor/Campus Localization", PLANS 2006 - 2006 IEEE/ION POSITION, LOCATION AND NAVIGATION SYMPOSIUM, 2006, pages 164 - 172, XP056006440, DOI: doi:10.1109/PLANS.2006.1650600 |
B. BETONI PARODI; H. LENZ; A. SZABO; J. BAMBERGER; J. HORN: "Algebraic and Statistical Conditions for Use of SLL", ECC 2007 - EUROPEAN CONTROL CONFERENCE, 2007 |
Also Published As
Publication number | Publication date |
---|---|
CN102414573A (zh) | 2012-04-11 |
WO2010121915A3 (de) | 2011-03-24 |
DE102009055871A1 (de) | 2010-10-28 |
CN102414573B (zh) | 2015-07-22 |
EP2422212A2 (de) | 2012-02-29 |
US20120033572A1 (en) | 2012-02-09 |
US9069053B2 (en) | 2015-06-30 |
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