WO2013132409A1 - Système et procédé de positionnement local destinés à déterminer une position - Google Patents

Système et procédé de positionnement local destinés à déterminer une position Download PDF

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Publication number
WO2013132409A1
WO2013132409A1 PCT/IB2013/051701 IB2013051701W WO2013132409A1 WO 2013132409 A1 WO2013132409 A1 WO 2013132409A1 IB 2013051701 W IB2013051701 W IB 2013051701W WO 2013132409 A1 WO2013132409 A1 WO 2013132409A1
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WO
WIPO (PCT)
Prior art keywords
unit
stationary
acoustic
time
mobile unit
Prior art date
Application number
PCT/IB2013/051701
Other languages
English (en)
Inventor
Stephen Michael Pitchers
Paul Richard Simons
Original Assignee
Koninklijke Philips N.V.
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 Koninklijke Philips N.V. filed Critical Koninklijke Philips N.V.
Publication of WO2013132409A1 publication Critical patent/WO2013132409A1/fr

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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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/74—Systems using reradiation of acoustic waves, e.g. IFF, i.e. identification of friend or foe
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/87—Combinations of sonar systems
    • G01S15/876—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector

Definitions

  • This invention relates to a local positioning system comprising a mobile unit and at least one stationary unit.
  • the mobile unit comprises a sound generating unit.
  • the at least one stationary unit comprises an acoustic-to-electric transducer.
  • a control unit of the mobile unit controls the sound generating unit to generate an initiation sound at an initiation time To.
  • the acoustic-to-electric transducer of the stationary unit detects the initiation sound at a time Roi . From the time required for the initiation sound to travel from the mobile unit to the stationary unit, a distance between the mobile unit and the stationary unit can be calculated.
  • This invention further relates to a method of determining a position of a mobile unit relative to at least one stationary device in the above described system, a mobile unit and also a stationary unit.
  • the invention also relates to a computer program product for causing a processor to perform such a method.
  • the mobile unit can use its own clock for registering the initiation time To.
  • the moment Roi of reception of the initiation sound by the acoustic-to-electric transducer of the stationary unit is determined using a clock of the stationary unit.
  • the clocks in the different units must be synchronized or should have a known time difference.
  • the stationary unit replies to the initiation sound with an acoustic response which is generated at a known time interval after receiving the initiation sound.
  • Such a two-way ranging system is described in IEEE Std 8022.15.4a-2007, pp 124-125.
  • An acoustic-to-electric transducer of the mobile unit will then detect the acoustic response at a time Rio.
  • the total travel time of the initiation sound and the acoustic response can then be determined using only the clock of the mobile unit and equals the difference between R 10 and T 0 , which is denoted T A , minus the known time interval TB between the reception of the initiation sound and the generating of the acoustic response at the stationary unit.
  • the distance between the mobile unit and the stationary unit then is half of the distance sound can travel in the total travel time.
  • a disadvantage of the above described ways of determining the distance between the mobile unit and the stationary unit is that it requires either synchronized clocks or some way of informing the mobile unit of the time interval between the reception of the initiation sound and the generating of the acoustic response at the stationary unit. If this time interval has a varying length, a communication network is needed for communicating the length of the time interval to the mobile unit. If the time interval has a fixed value, acoustic responses of different stationary units may
  • a local positioning system comprising a mobile unit and at least one stationary unit.
  • the mobile unit comprises a sound generating unit, an acoustic-to-electric transducer and a light detector, all electrically coupled to a control unit.
  • the at least one stationary unit comprises a sound generating unit, an acoustic-to-electric transducer and a lamp, all electrically coupled to a control unit.
  • the control unit of the mobile unit is operative to control the sound generating unit of the mobile unit to generate an initiation sound at an initiation time To and to determine a distance between the mobile unit and the stationary unit based on the initiation time To, a time Rio of detecting an acoustic response by the acoustic-to-electric transducer of the mobile unit and a light coded data portion detected by the light detector.
  • the control unit of the stationary unit is operative to schedule a reply message at a scheduled time T l s the reply message comprising the light coded data portion and the acoustic response, the light coded data portion comprising a time interval between a time Roi of detecting the initiation sound by the acoustic-to- electric transducer of the stationary unit and the scheduled time Ti .
  • the control unit of the stationary unit is further operative to control the lamp to send out the light coded data portion and to control the sound generating unit of the stationary unit to send out the acoustic response at the scheduled time Ti .
  • the clocks of the stationary unit and the mobile unit do not have to be synchronized.
  • the mobile unit determines the initiation time To and the time of receipt of the acoustic response Rio using its own clock.
  • the duration of the time interval between the reception of the initiation sound (Roi) and the generating of the acoustic response (Ti) at the stationary unit can be determined using the clock of the stationary unit. Because this time interval represents a time difference and is independent of what happens at the mobile unit, the clock of the stationary unit does not need to be synchronized with the clock of the mobile unit.
  • the time interval may be provided as a single value indicating the length of the interval or as a start and end time of the time interval as determined by the stationary unit.
  • the distance between the mobile unit and the stationary unit can be calculated using the known value of the speed of sound. As such, the distance of the mobile unit to one stationary unit already is a description of its position.
  • the position can be determined more accurately. With at least three stationary units, it is possible to precisely determine the position without ambiguity of the mobile unit in two dimensions. Position can be resolved without ambiguity in three dimensions from at least four stationary units. Adding more stationary units to the system improves accuracy and reliability of the position calculations.
  • the time interval is sent from the stationary unit to the mobile unit by use of coded light.
  • the stationary devices do not need to be connected to a wired network. If multiple stationary units are used, no interconnections between the separate stationary units are needed. Stationary units can be added to or removed from the system without needing to reconfigure a complete communication network.
  • control unit of the stationary unit is operative to schedule the reply message in accordance with a predetermined
  • the reply message preferably further comprises an identification code, identifying the stationary unit.
  • the identification code may be used by the mobile unit to 'recognize' the stationary unit sending the reply message. When multiple stationary units are used this is an important part of the light coded data portion for enabling the mobile unit for finding out which stationary unit is situated at which determined distance.
  • the identity of the stationary unit may be derivable from the acoustic response, e.g. by varying the frequency, amplitude and/or length of the acoustic response. Such variations may be applied within and/or between acoustic responses of different stationary units.
  • Figure 1 schematically shows a way of determining a distance between two units
  • FIG. 2 shows a system according to the invention
  • Figure 3 shows a diagram illustrating operation of a system according to the invention.
  • Figure 4 shows a flow diagram of a method according to the invention.
  • Figure 1 schematically shows a way of determining a distance between two units 100, 200.
  • Both units 100, 200 comprise a sound generating unit, such as a speaker 11, 21, and an acoustic-to-electric transducer, such as a microphone 12, 22.
  • Both units 100, 200 also comprise a control unit 14, 24 which is coupled to the speaker 11, 21 and the microphone 12, 22 for processing incoming sounds and controlling the generating of sound by the speakers 11, 21.
  • a control unit 14, 24 which is coupled to the speaker 11, 21 and the microphone 12, 22 for processing incoming sounds and controlling the generating of sound by the speakers 11, 21.
  • one of the units is a mobile unit 100 and the other on is a stationary unit 200.
  • the determining of the distance is however performed in exactly the same way when the first unit 100 would be stationary and the other unit 200 mobile or when both units 100, 200 would be mobile/stationary.
  • Both control units 14, 24 comprise a clock for timing operations.
  • the clocks (not shown) of the different control units 14, 24 do not have to be synchronized.
  • the speaker 11 of the mobile unit generates an initiation sound.
  • the sound may be audible or ultrasonic.
  • the generated sound may be a single tone of a fixed length, amplitude and frequency a special, more complex, melody or pseudo-random noise.
  • the microphone 22 of the stationary unit 200 receives the initiation sound at moment Roi . The time it takes for the initiation sound to reach the stationary unit 200 depends on the speed of sound and the distance between the mobile unit 100 and the stationary unit 200.
  • control unit 24 of the stationary unit 200 If the control unit 24 of the stationary unit 200 recognizes the incoming sound as an initiation sound, it instructs the speaker 21 to send a reply sound at moment Ti .
  • the time interval TB may be known by the control unit 14 of the mobile unit 100 if it is a fixed and predetermined interval or if both units 100, 200 are part of a communication network that allows the stationary unit 200 to communicate the time interval TB to the mobile unit 100. According to the invention, the control unit 14 of the mobile unit 100 is informed about the time interval TB via coded light.
  • FIG 2 shows a system according to the invention.
  • the mobile unit 10 in this system is similar to the mobile unit 100 in figure 1 , but additionally comprises a coded light receiver 13 which is also coupled to the control unit 14 of the mobile unit 10.
  • the stationary units may be embodied in lighting devices 20 attached to a ceiling 30.
  • the six lighting devices 20 of this system are similar to the stationary unit 200 in figure 1 , but comprise an additional coded light emitter 23.
  • Optical free space communications i.e. visible light (VL) and infra-red (IR) communications
  • VL visible light
  • IR infra-red
  • coded light CL
  • the light emitted from a lighting device or luminaire, employing coded light comprises a modulated part (which for the human eye is invisible) associated with coded light comprising information messages.
  • the emitted light also comprises an un-modulated part associated with an illumination contribution.
  • the coded light emitter 23 is coupled to the control unit 24 (not shown in this figure) of the stationary units 20.
  • the coded light emitter is a lamp 23, e.g. a LED lamp, which can be turned on/off under control of the control unit 24.
  • the lamp 23 may emit light in the visible part of the spectrum and/or in invisible parts of the spectrum.
  • the control unit 24 controls the speaker 21 to generate an acoustic response and the lamp 23 to emit a coded light response.
  • the coded light response at least comprises information about the time interval T B between receiving the initial sound (at moment Roi) and generating the response sound (at moment Ti).
  • This information may, e.g., be provided as a time interval duration which is independent of any clock offset of the clock of the control unit 24.
  • the information comprises the moments Rm and Ti which are dependent on the clock offset.
  • the light coded data portion of the reply message may include an identification of the stationary unit 20.
  • the mobile unit can use well known tri- lateration/multi-lateration techniques for calculating its current position based on the determined distances to the different known stationary unit positions.
  • the mobile unit may comprise a database with all positions and identities of the installed stationary devices. With at least four stationary units 20, the position of the mobile unit can be determined in 3D. However, additional stationary units 20 will contribute to the accuracy and reliability of the position calculation.
  • FIG 3 shows a diagram illustrating operation of a system according to the invention.
  • This system comprises a mobile unit M and three coded light lamps A, B and C.
  • the mobile unit M is a mobile unit 10 and the coded light lamps are stationary units 20 as described above with reference to figure 2.
  • the diagram indicates a position.
  • the lamp A is nearest to the mobile unit M and the lamp C is the furthest away from it.
  • the progress of time is indicated. Time progresses from top to bottom.
  • the mobile unit M sends out the initiation sound.
  • the initiation sound reaches the nearest lamp, lamp A.
  • Lamp B which is located further away from the mobile unit M receives the initiation sound at a later moment Ro 2 and lamp C on moment R03.
  • the reply message comprises an acoustic response and a light coded data portion.
  • the light coded data portion comprises information about the moment Roi, Ro 2 , R03 that the initiation sound was received and about the moment T l s T 2 , T 3 on which the reply message is scheduled to be sent.
  • the information may, e.g., be provided in the form of the measured moments or as the calculated time intervals in between those moments. For lamp C this time interval (T 3 - R03) is indicated in the figure.
  • the lamps can use their own clocks with an unknown clock offset.
  • each lamp sends its reply message at different times.
  • each lamp sends out its transmission periodically, at randomized intervals, with a low duty cycle. Even without synchronization between lamps, this procedure ensures that collisions are statistically rare.
  • the same ALOHA transmission time is utilized to send both the coded light data portion and to the acoustic response at the same moment. Both these signals can be expected to arrive intact at the mobile unit as collisions will rarely occur. These signals will arrive at approximately the same moment, which provides an easy way to associate the identity of the stationary units with the acoustic response received at the mobile unit.
  • the distance to lamp B can be calculated using the formula
  • FIG. 4 shows a flow diagram of a method according to the invention. It starts with an initiation step 41 at time To, wherein the sound generating unit 11 of the mobile unit 10 generates the initiation sound.
  • a receiving step 42 at time Rm a first stationary unit 20 receives the initiation sound at its acoustic-to-electric transducer 22. If a second, third, ... n th stationary unit 20 are present, the additional stationary units 20 will receive the initial sounds at their respective acoustic-to-electric transducers 22 at moment R01 , R02, ⁇ ⁇ ⁇ Row-
  • the control unit 24 of the stationary unit 20 schedules a reply message at a scheduled time T l s T 2 , ... T restroom.
  • the reply message is sent out.
  • the sound generating unit 21 of the stationary unit generates the acoustic response.
  • optical responding step 45 the light coded data portion of the reply message is sent out by the light source 23.
  • the light coded data portion comprises the information about the time interval between the moment R01 , Ro 2 , . . . Ro « of receiving the initial sound and the moment T ls T 2 , ... T formula of sending the acoustic response.
  • both parts of the reply message are received by the mobile unit 10.
  • acoustic response receiving step 47 at time Rio, R20, ⁇ ⁇ ⁇ R willo the acoustic-to-electric transducer 11 of the mobile unit 10 detects the acoustic response.
  • coded light receiving step 46 the light detector 13 of the mobile unit 10 detects the light coded data portion of the reply message. Because light travels faster than sound, the coded light will be received somewhat earlier than the sound. However, with the stationary units 20 not too far away from the mobile unit 10, the time difference will be relatively small and it will be easy to associate the identity of the stationary units 20 with the proper acoustic response.
  • a position determining step 48 the control unit 14 of the mobile unit 10 determines the distance(s) between the mobile unit 10 and the one or more stationary units 20.
  • the position may then, e.g., be provided to the user as a set of coordinates or as one or more distances to fixed locations.
  • the position may also be indicated on a map of the location and may be used as input for navigation software. Further applications of the position information are, of course, possible.
  • the invention also extends to computer programs, particularly computer programs on or in a carrier, adapted for putting the invention into practice.
  • the program may be in the form of source code, object code, a code intermediate source and object code such as partially compiled form, or in any other form suitable for use in the implementation of the method according to the invention.
  • a program may have many different architectural designs.
  • a program code implementing the functionality of the method or system according to the invention may be subdivided into one or more subroutines. Many different ways to distribute the functionality among these subroutines will be apparent to the skilled person.
  • the subroutines may be stored together in one executable file to form a self-contained program.
  • Such an executable file may comprise computer executable instructions, for example processor instructions and/or interpreter instructions (e.g. Java interpreter instructions).
  • one or more or all of the subroutines may be stored in at least one external library file and linked with a main program either statically or dynamically, e.g. at run-time.
  • the main program contains at least one call to at least one of the subroutines.
  • the subroutines may comprise function calls to each other.
  • An embodiment relating to a computer program product comprises computer executable instructions corresponding to each of the processing steps of at least one of the methods set forth. These instructions may be subdivided into subroutines and/or be stored in one or more files that may be linked statically or dynamically.
  • Another embodiment relating to a computer program product comprises computer executable instructions corresponding to each of the means of at least one of the systems and/or products set forth. These instructions may be subdivided into subroutines and/or be stored in one or more files that may be linked statically or dynamically.
  • the carrier of a computer program may be any entity or device capable of carrying the program.
  • the carrier may include a storage medium, such as a ROM, for example a CD ROM or a semiconductor ROM, or a magnetic recording medium, for example a floppy disc or hard disk.
  • the carrier may be a storage medium, such as a ROM, for example a CD ROM or a semiconductor ROM, or a magnetic recording medium, for example a floppy disc or hard disk.
  • the carrier may be a storage medium, such as a ROM, for example a CD ROM or a semiconductor ROM, or a magnetic recording medium, for example a floppy disc or hard disk.
  • the carrier may be a storage medium, such as a ROM, for example a CD ROM or a semiconductor ROM, or a magnetic recording medium, for example a floppy disc or hard disk.
  • the carrier may be a storage medium, such as a ROM, for example a CD ROM or a semiconductor ROM
  • transmissible carrier such as an electrical or optical signal, which may be conveyed via electrical or optical cable or by radio or other means.
  • the carrier may be constituted by such cable or other device or means.
  • the carrier may be an integrated circuit in which the program is embedded, the integrated circuit being adapted for performing, or for use in the performance of, the relevant method.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

La présente invention concerne un système de positionnement local qui comprend une unité mobile (10) et au moins une unité stationnaire (20). L'unité mobile (10) comprend une unité de génération de son (11), un transducteur acoustique vers électrique (12) et un détecteur de lumière (13), tous électriquement raccordés à une unité de commande (14). La au moins une unité stationnaire (20) comprend une unité de génération de son (21), un transducteur acoustique vers électrique (22) et une lampe (23), tous électriquement raccordés à une unité de commande (24). L'unité de commande (14) de l'unité mobile (10) est apte à commander l'unité de génération de son (11) de l'unité mobile (10) afin de générer un son d'initiation à un instant d'initiation (T0) et déterminer une distance entre l'unité mobile (10) et l'unité stationnaire (20), sur la base de l'instant d'initiation (T0), un instant (R10) de détection d'une réponse acoustique par le transducteur acoustique vers électrique (12) de l'unité mobile (10) et une partie de données codée en lumière, détectée par le détecteur de lumière (13). L'unité de commande (24) de l'unité stationnaire (20) est apte à planifier un message de réponse à un instant planifié (T1), le message de réponse comprenant la partie de données codée en lumière et la réponse acoustique, la partie de données codée en lumière comprenant un intervalle de temps entre un instant (R01) de détection du son d'initiation par le transducteur acoustique vers électrique (22) de l'unité stationnaire (20) et l'instant planifié (T1). L'unité de commande (24) de l'unité stationnaire (20) est également apte à commander la lampe (23) afin d'envoyer la partie de données codée en lumière et commander l'unité de génération de son (21) de l'unité stationnaire (20) afin d'envoyer la réponse acoustique à l'instant planifié (T1).
PCT/IB2013/051701 2012-03-07 2013-03-04 Système et procédé de positionnement local destinés à déterminer une position WO2013132409A1 (fr)

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US201261607643P 2012-03-07 2012-03-07
US61/607,643 2012-03-07

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Cited By (1)

* Cited by examiner, † Cited by third party
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CN105824006A (zh) * 2014-12-23 2016-08-03 国家电网公司 一种消除变电站人员安全隐患的方法

Citations (2)

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Publication number Priority date Publication date Assignee Title
US6327219B1 (en) * 1999-09-29 2001-12-04 Vi&T Group Method and system for directing a following device toward a movable object
US20080304361A1 (en) * 2007-06-08 2008-12-11 Microsoft Corporation Acoustic Ranging

Patent Citations (2)

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Publication number Priority date Publication date Assignee Title
US6327219B1 (en) * 1999-09-29 2001-12-04 Vi&T Group Method and system for directing a following device toward a movable object
US20080304361A1 (en) * 2007-06-08 2008-12-11 Microsoft Corporation Acoustic Ranging

Non-Patent Citations (1)

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SADAF TANVIR ET AL: "Propagation Protocols for Network-Wide Localization Based on Two-Way Ranging", WIRELESS COMMUNICATIONS AND NETWORKING CONFERENCE (WCNC), 2010 IEEE, IEEE, PISCATAWAY, NJ, USA, 18 April 2010 (2010-04-18), pages 1 - 6, XP031706612, ISBN: 978-1-4244-6396-1 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105824006A (zh) * 2014-12-23 2016-08-03 国家电网公司 一种消除变电站人员安全隐患的方法

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