CN107852568A - System and method for positioning and tracking - Google Patents
System and method for positioning and tracking Download PDFInfo
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- CN107852568A CN107852568A CN201680040871.3A CN201680040871A CN107852568A CN 107852568 A CN107852568 A CN 107852568A CN 201680040871 A CN201680040871 A CN 201680040871A CN 107852568 A CN107852568 A CN 107852568A
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- 238000000034 method Methods 0.000 title claims description 26
- 238000005259 measurement Methods 0.000 claims abstract description 102
- 238000004891 communication Methods 0.000 claims abstract description 6
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- 230000005540 biological transmission Effects 0.000 claims description 16
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- 230000002860 competitive effect Effects 0.000 claims description 9
- 230000004044 response Effects 0.000 claims description 4
- 230000007958 sleep Effects 0.000 claims description 2
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- 238000012545 processing Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 6
- 239000000463 material Substances 0.000 description 5
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- 238000005516 engineering process Methods 0.000 description 3
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Classifications
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- 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
- G01S5/14—Determining absolute distances from a plurality of spaced points of known location
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- Radar, Positioning & Navigation (AREA)
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- Mobile Radio Communication Systems (AREA)
Abstract
Describe the location positioning system for determining the position for being attached to assets or the mobile tag of people.Area label is installed in place to help the position location estimation to mobile tag.Interval is divided the time into, each interval includes at least one range measurement interval and idle son interval, and in idle son is spaced, area label and mobile tag dormancy are to save electric power.Designated area label or mobile tag are as anchor network element.Anchor network element starts to compete and takes communication channel each interval, to start the range measurement stage.Regularly move label position location estimation.Regularly based between the location estimation of range measurement, positioned using mobile tag sensor reading to update mobile tag position.The statistic for the difference being based between the location estimation of range measurement and sensor-based location updating adjusts the period between the location updating based on range measurement.
Description
The cross reference of related application
This application claims entitled " the Systems and Methods of Location submitted on July 13rd, 2015
The priority of and Tracking " U.S. Patent Application No. 14/797,875, entire contents are incorporated herein by reference.
Technical field
Present invention relates in general to positioning and tracking system and method, and more particularly relate to track the thing of assets
The system and method for managing position.
Copyright
The part disclosure of patent document includes material protected by copyright.Because in patent document or patent disclose
Appearance is presented in the patent document or record of Patent and Trademark Office, thus copyright holder do not oppose anyone to patent document or
Patent disclosure is replicated, but retains all copyrights in other respects.
Background technology
Many systems have been developed and deployed to position and track such as office building, hospital, shopping center and hotel
Regional area environment, such as oil plant, oil rig and manufacturing facility industrial environment in people and assets (be referred to as
" assets ") position.However, many systems in these systems are provided using existing WiFi or blueteeth network in several meters
Positioning precision.
In some applications, in the application of the instrument such as in the industrial environment of positioning oil plant, hangar etc.,
Several meters of position positioning precision may be enough.However, the precision less than one meter is needed in some applications.High position is needed to position
Many applications of precision involve setting up the close pass of two assets (for example, two people, people and some equipments or two pieces equipment)
Connection.In many cases, it is not necessary to know the exact position of people or object (that is, assets), but need both associations, this needs
Determine assets close to another assets.For example, hospital has checked that some is suffered from during wanting record doctor or nurse whether on the day of
Person.In this application, it is important that record doctor/nurse is in some time close to patient.Positioned for the position of such case
Accuracy requirement is commonly known as " room-level " precision, and " room-level " precision means that doctor/nurse must be positioned in correct room.
If however, as described above, purpose be in order to ensure doctor/nurse on the day of during checked patient, actually need to examine
The close of doctor/nurse and particular patient is surveyed, without positioning doctor/nurse exactly.In having the room of multiple,
Doctor/nurse must be associated with correct patient in the room.Another example of room class precision is hotel, in hotel
The waiter in the case of emergency in the correct room of expected location be present or be able to verify that someone has swept spy
Book room.
A kind of example for manufacturing purposes is that the specific manufacture part that fastening is attempted according to instrument adjusts the torsion of spanner
Square.This is the close situation of detection instrument and manufacture part again.Need to detect close another example and be to ensure that such as IV pumps
Some medical equipments be actually attached to some patient.Another example be register doctor/nurse for example check patient certain
Their cleaned hand before a little work.In addition, the application needs to detect the tight of doctor/nurse and pond/disinfectant platform
Contiguity is near.
For in retail environment accurate location positioning another application be by consumer guide into shop be directed to
The correct position of earnest product.Here people by desired very accurate targeting scheme to guide consumer to pass through shop, to disappear
Expense person can be in close proximity to the article that he/her is just searching.
The content of the invention
In one embodiment, the principle of present disclosure provides a kind of position with mobile tag and area label
Positioning determining system is put, the system includes：Include the first network of at least one access point (AP) network element, each AP is created
It is referred to as Basic Service Set (BSS) overlay area, other network elements of configuration in its BSS and the net into its BSS
Network element provides the access to internet；Second network of the area label network element under first network, can be with shifting
Dynamic label carries out range measurement；Range measurement period interval is divided the time into, each interval includes label and carries out range measurement
Measurement period, label dormancy is followed by save the sleep period of electric power；Network element, network element is in the range measurement period
Start to revive, and anchor network element competitive channel and busy channel；Mobile tag and area label, mobile tag and region mark
Label carry out range measurement according to scheduling；And range measurement is used for estimating that mobile tag position positions by triangulation algorithm.
In one embodiment, the principle of present disclosure provides a kind of transmission region for being used to determine wireless network
The method of the relative position of interior assets, this method comprise the following steps：There is provided for be placed in the transmission region and
At least one area label of known position, the area label have wireless transceiver, and wireless transceiver is configured to lead to
Cross the wireless network to be communicated, and receive the position of the area label in the wireless zone；There is provided and use
In at least one mobile tag for the assets being fixed in the transmission region, the mobile tag, which has, to be configured to pass through institute
State the wireless transceiver that wireless network is communicated；Will at least one of each mobile tag and the area label phase
Association, the area label is in the transmission range of the mobile tag；The area label regularly receives mobile tag and led to
Letter；The relative position of the mobile tag is determined according to the call duration time of area label to mobile tag.
Brief description of the drawings
The accompanying drawing combined below with embodiment helps to illustrate the feature and advantage of present disclosure.In accompanying drawing
In, similar part is identified using identical reference.In the accompanying drawings, multiple examples of same parts pass through in accompanying drawing mark
Dash is inserted after note and adds the second reference to distinguish.
Fig. 1 is the exemplary diagram of the element of location positioning system.
Fig. 2 is the example of the round-trip delay measurement between mobile tag according to the embodiment of the present invention and area label
Property sequential timeline.
Fig. 3 is the measurements of arrival time between mobile tag and area label according to the alternative embodiment of the present invention
Exemplary sequential timeline.
Fig. 4 is the measurements of arrival time between mobile tag and area label according to the alternative embodiment of the present invention
Exemplary sequential timeline.
Fig. 5 is the example of the round-trip delay measurement between mobile tag according to the embodiment of the present invention and area label
Property flow chart.
Fig. 6 is the example of the measurements of arrival time between mobile tag according to the embodiment of the present invention and area label
Property flow chart.
Fig. 7 is the exemplary stream of the measurements of arrival time between mobile tag and area label according to an embodiment
Cheng Tu.
Fig. 8 is to determine showing for the embodiment of the position positioned update speed of required mobile tag based on range measurement
Example property flow chart.
Embodiment
Accompanying drawing below principle and text and various embodiments for describing the present invention only as example and
It is not construed as limiting the scope of the invention in any way.Those of ordinary skill in the art (PHOSITA) will readily appreciate that, this
The principle of invention can be realized with any kind of equipment suitably arranged or system.Specifically, although in WiFi nets
In access point in network and WiFi network using and describe the present invention, but PHOSITA is without departing substantially from the scope of the present invention
In the case of will readily appreciate that other kinds of network and other application.
Before the present invention is described in further detail, it should be appreciated that the invention is not restricted to described particular implementation
Mode, because such embodiment can carry out modification completely.It will also be appreciated that term used herein is merely for retouching
The purpose of particular implementation is stated, and is not intended to be restricted, because the scope of the present invention will be wanted only by appended right
Ask to limit.
In the case where providing number range, it should be appreciated that unless the context clearly indicates otherwise, otherwise to lower limit
1/10th units, each median between the upper limit of the scope and lower limit and any in the scope stated
Other statement values or median are included in the invention.These that can be independently include in smaller range are small range of
Upper and lower bound is also included in the present invention, any limit value clearly excluded being limited in the scope.In the model stated
Enclose including in the case of one or two limit value, exclude in the limit value included by those any one or both scope also include
In the present invention.
Unless otherwise defined, otherwise all technologies used herein and scientific terminology have with the present invention belonging to
The implication identical implication that PHOSITA is generally understood that.Although can also the present invention practice or test in use with it is herein
The similar or equivalent any method of described method and material and material, but this document describes the exemplary side of limited quantity
Method and material.
It must be noted that unless the context clearly indicates otherwise, otherwise as herein and used in appended claims
, singulative " one (a) ", " one (an) " and " being somebody's turn to do (the) " include multiple referents.
All publications being mentioned above are incorporated herein by reference relevant with cited publication with disclosure and description
Method and/or material.Publication discussed herein is provided simply because disclosures of which prior to the application the applying date.
Any content herein is all not construed as recognizing that the present invention haves no right earlier than such publication due to formerly invention.This
Outside, the publication date provided may be different from actual publication date, and this may need individually to confirm.
Indoor location alignment system supplements the existing WLANs of IEEE 802.11 (WLAN) network with to being fixed to example
As the usual motionless assets of equipment or the mobile tag of mobile asset of such as cell phone provide high-precision indoor location
Location information.
Fig. 1 shows the typical network designs of IEEE 802.11.Access point (AP) is marked as APi, wherein, i is mark
Different AP integer.In the presence of the AP of multiple IEEE 802.11 for being designated as AP1, AP2 etc..Each AP is formed by unique
The Basic Service Set (BSS) or local monitor area of BSSID marks.BSS interconnection is generally set to form extended service set (ESS)
Or extension monitor area, and BSS shares identical security credence, consequently facilitating WiFi equipment is easy between different BSS
It is mobile.Fig. 1 shows the networks of example IEEE 802.11 with 2 BSS, and each BSS has an AP.BSS can be alternatively
Link to form ESS.Pay attention to, different BSS, such as adjacent BSS, can be operated on the channel of different frequency so that
Minimum interference between BSS.
AP is wireless network WiFi elements, and wireless network WiFi elements can be already installed on given building or campus
In be used for internet access and be generally attached to cable network.In addition to AP, multiple auxiliary AP are also mounted in place, auxiliary
AP is referred to as area label and is marked as zTi, and wherein i is the integer for identifying different zones label.Area label be arranged in by
The known position in local monitor area that AP transmission range limits.The use of the reason for term " area label " is that region is marked
Label are to support IEEE 802.11 equipment, can be used as network node or passively analyze network traffics, the installation of these equipment
On wall or ceiling and cover some " regions " in place.Area label has similar with WiFi AP function
Function and with mobile tag provide range measurement with determine the position of mobile tag position.In other words, area label is mended
The AP filled in traditional WiFi network in given place.Area label can provide and the AP of IEEE 802.11 or IEEE
The function identical function at 802.11 stations (STA), but the major function of area label is to carry out radio communication with mobile tag
To provide distance measurement data.In fact, in the place in the absence of traditional WiFi network, then some area labels will be configured
Into as AP.
Reference picture 1, in addition to AP, system includes multiple auxiliary area label zT1, zT2 etc..As described above, mobile mark
Label are affixed to the support WiFi of assets equipment, and can be communicated via radio frequency with AP and area label.Mobile mark
Label are marked by Tj, and wherein j is integer and represents the appearance of mobile tag.Position-location server 140 to mobile tag with
Round-trip delay (RTD) measurement or arrival time (TOA) measurement between multiple area labels are scheduled, and are surveyed using RTD
Value or TOA measured values position hair to perform triangulation to determine the position of mobile tag, and by the position calculated
Deliver to the other parts of network (Fig. 1 is not shown).
In some configurations, in order to save electric power, area label and mobile tag enter park mode, and by position
Some moment that location-server is specified revive to be measured with performing RTD or TOA for mobile tag.Pay attention to, position location services
The task of device can be positioned in other network elements, or be even distributed through in network element.It is assumed that area label and movement
The frame timing alignment of label so that mobile tag and area label can dispatched by position-location server it is roughly the same
Revived at frame boundaries.Position-location server distributes mobile tag to perform RTD/TOA measurements with the subset of following region label：
Mobile tag can detect the signal of the subset of the area label.As described above, when mobile tag and area label without away from
They are in park mode during from measurement, and in the revival of some moment dispatched by position-location server.Work as area label
During revival, it must be competed to take communication channel with the other equipment on network first.Once area label occupies channel,
Then it needs to keep channel, until it has carried out range measurement with all mobile tags in its coverage, then will
Other area labels in channel transfer to given BSS.
In the agreements of IEEE 802.11, equipment measures to the signal intensity in communication channel, and if measured
Signal intensity more than threshold value, then equipment judge channel be occupied and enter channel monitoring pattern.When in channel monitoring mould
When under formula, equipment is only in the idle time in channel and has reached DIFS (DCF interframe spaces) time interval and add and move back at random
Just start to transmit in the case of keeping away time interval.Pay attention to, if the signal intensity on measured channel below threshold value, really
Determine channel idle.Random-backoff time interval is randomly choosed by each equipment of competitive channel, and is designed to avoid possibility
Conflict between the multiple equipment of competitive channel simultaneously.In the case of IEEE 802.11, short interFrameGap also be present
(SIFS), it is defined as the period more shorter than DIFS.SIFS is to receive data frame and send back between time between Ack frames
Every.When a pair of 802.11 equipment of IEEE/AP exchange data, they are receiving bag with being carried out using the bag of such as confirmation
SIFS time interval is waited between transmission/response.Because SIFS is shorter than DIFS, and compete equipment attempt transmit before etc.
At least DIFS intervals are treated, therefore the current equipment/AP for occupying channel between their transmission by using the SIFS times
Every to prevent the other equipment in network from attempting to take the channel.Therefore, once area label busy channel with mobile tag
Range measurement is carried out, then area label can be by opening SIFS or shorter time interval with it by their transmission intercal
He will not attempt access channel at equipment, to keep channel.In some configurations, the range measurement period is defined as the following period：
During the period, the area label in given BSS competes and takes communication channel first；Then with it is scheduled in BSS
Some mobile tags in mobile tag and neighbouring BSS carry out range measurement；And when then discharging channel and entering dormancy
Section.Therefore, the range measurement period is made up of following three interval：Competitive channel；Perform range measurement；And into dormancy.
Some embodiments described in present disclosure use simply waits for SIFS or shorter time interval between transmissions
To avoid giving channel into the technology of other equipment；Until area label is within the given range measurement period and mobile tag
All scheduled range measurements are carried out.In addition, when area label and mobile tag revival are to start the range measurement period,
Once channel is changed into idle, area label can be by simply waiting for having the time interval of the duration between SIFS and DIFS
Or even less than SIFS time interval carrys out quickly busy channel.Pay attention to, because other equipment will before attempting to transmit
DIFS is waited to add random time intervals, therefore the area label for simply waiting for the time interval between SIFS and DIFS will be prior to it
He competes equipment and carrys out busy channel, and will access channel first.
Next Fig. 1 and Fig. 2 are used as example to describe area label busy channel and carry out RTD surveys with mobile tag
The embodiment of amount.In the example of fig. 1, zT1 in BSS1 be present needs to carry out three mobile tags of RTD measurements with it
T1, T2 and T3.There is each area label mobile tag to measure list, and mobile tag measurement list includes given area label
All mobile tags of range measurement are carried out with it.Three labels T1, T2 and T3 are in area label zT1, zT2 and zT3
In mobile tag measurement list.Fig. 2 shows exemplary timing chart, and the exemplary timing chart shows that area label zT1 takes
Channel and with mobile tag T1, T2 and T3 in the measurement list of area label zT1 mobile tag carry out RTD measurements when
Between order.Area label zT1 busy channels and moment TOD1 to mobile tag T1 send data frame 1.Mobile tag T1 exists
Interval SIFS (short interFrameGap) times will confirm that (Ack) frame sends back to zT1 after receiving data frame 1.ZT1 from
When T1 receives Ack frames 1, zT1 can estimate the RTD from zT1 to T1.ZT1 being received Ack frames from T1 length be SIFS or
The rear of shorter time interval sends data frame 2 to T2.Then T2 is spaced SIFS time intervals after data frame 2 is received and made
Responded with Ack frames.ZT1 repeats identical data/Ack frame sequences to measure RTD with T3.Pay attention to, such as previously in the disclosure
Described in content, area label zT1 sends packet and Ack bags with the interval at SIFS or shorter time interval, to prevent BSS
In other equipment competitive channel.Once zT1 completes RTD measurements with all mobile tags in BSS1, then zT1 can make
Data frame is sent to zT2 by the use of SIFS as inter frame temporal interval, to enable the other equipments of zT2 in a network can be with competing
Strive busy channel before channel.Similarly, mobile tag T1, T2 and T3 in area label zT2 and BSS1 perform RTD/TOA
Range measurement, and data frame is sent to zT2 as inter frame temporal interval by using SIFS, the control of channel will be shifted
To area label zT3.In superincumbent description, area label is using SIFS as inter frame temporal interval to prevent that other equipment is competing
Strive channel.However, as it was earlier mentioned, any inter frame temporal interval less than DIFS also will be effective.Therefore, SIFS is only anti-
An only example at the inter frame temporal interval of other equipment competitive channel.
Area label list is the list for the area label that needs in BSS carry out range measurement with mobile tag, region
List of labels is also known as area label catalogue.Mobile tag list is to need to carry out range measurement with BSS area label
The list of mobile tag, mobile tag list are also known as mobile tag catalogue.That is, the mobile tag in BSS and one
Individual or more area label is associated.Fig. 5 is the embodiment party for carrying out RTD measurements between area label and mobile tag
The exemplary process diagram of formula.Each area label in pass-through zone list of labels repeats the processing.Select the region in BSS
Area label in list of labels is used as " current " area label.In step S502：Current region label is in range measurement
The beginning competitive channel and busy channel of section；And currently the mobile tag at the top of mobile tag list is appointed as working as
Preceding mobile tag.Current region label is the area label for starting to carry out RTD measurements with mobile tag.In step 504, currently
Area label sends data frame to current mobile tag.In step 506, current mobile tag carrys out response data using acknowledgement frame
Frame.In step 508, current region label uses the TOD (time departure) for the data frame for leaving current region label and arrived
The RTD of current mobile tag is estimated up to the TOA of the acknowledgement frame of current region label.In step 510, current region label
Verify whether that the related mobile tag of institute in mobile tag list has carried out RTD measurements with current region label；Such as
Fruit "No", then in step 512, next mobile tag in mobile tag list is selected as current mobile tag, and locate
Reason is back to step 504.If all mobile tags have carried out RTD measurements with current region label, in step 514
In, current region label determines whether it is last area label in area label list；If "No", in step
In 516, the subsequent region label in area label list is arranged to current region label, and handles progress to step 504.
If current region label is last area label in area label list, processing is carried out to step 518, in step
In 518, area label sends their RTD measurement results to position-location server.
As shown in figure 1, the also close enough BSS1 of the area label zT4 associated with BSS2 mobile tag T1 is with can be with
T1 carries out RTD measurements.As shown in the dotted arrow in Fig. 1, position-location server distribute zT4 with the mobile tag in BSS1
Mobile tag T4, T5 and T6 in T1 and BSS2 carry out range measurement.In other words, zT4 mobile tag measurement list
Include a label in three labels and BSS1 in BSS2.Therefore, the movement of close multiple BSS area label
Label can be in the mobile tag measurement list for the area label being associated from different BSS；These mobile tags will need
The range measurement interim revival of each BSS in corresponding BSS.
Presently disclosed alternative embodiment, Fig. 3 are the timing diagrams that bag is exchanged between mobile tag and area label, its
In, the area label of at least two distal ends measures the TOA of the bag transmitted by each mobile tag.In this embodiment, select
An area label in BSS, i.e., the zT1 in Fig. 3 example, as anchor area label, in as described by next
Control the order of TOA measurements.Beginning competitive channels of the area label zT1 in the range measurement period, and after busy channel
Initiate to measure with mobile tag T1 TOA.Data frame 1 is sent to mobile tag T1 in moment TOD1, zT1, wherein, in the disclosure
TOD represents time departure in content.Mobile tag T1 is after data frame 1 is received and after SIFS time interval
Ack frames 1 are sent, the bag frame identifier in frame is encoded in exemplary configuration.Area label zT1, zT2, zT3 and
ZT4 receives Ack frames 1 in moment TOA1, TOA2, TOA3 and TOA4, wherein, TOA represents arrival time.Area label zT1 exists
After receiving the SIFS duration after Ack frames 1, the data frame 2 for going to mobile tag T2 is sent in moment TOD2.Mobile mark
Label T2 sends Ack frames 2 in response to data frame 2.All areas label measurement Ack frames 2 TOA (TOA5, TOA6, TOA7 and
TOA8).The processing is repeated for mobile tag 3.All areas label sends the TOA values measured from all mobile tags to position
Location-server is put, for carrying out triangulation to determine the position of mobile tag.In exemplary configuration, position positioning clothes
Business device uses PID Packet Identifier and time window to be grouped to frame to carry out TOA calculating.Pay attention to, instead of area label zT1, Xiang Yi
The task that dynamic label sends data frame alternatively can be undertaken by BSS AP.
Fig. 6 is used by area label to carry out the embodiment of TOA measurements to the acknowledgement frame received from mobile tag
Exemplary process diagram.In step S602：Selection region label is as anchor area label；Anchor area label is in range measurement
Section starts competition and busy channel；Anchor area label selection mobile tag list top at mobile tag as " when
Before " mobile tag.In step 604, anchor area label sends the data frame for going to current mobile tag.In step 606, when
Preceding mobile tag to anchor area label by sending Ack frames to be responded.In step 608, all of Ack frames can be detected
Area label carries out TOA measurements to Ack frames.In step 610, whether anchor area label verifies its warp-wise mobile tag list
In all mobile tags have sent data frame：If "No", in rapid 612, next shifting in mobile tag list is selected
Dynamic label handles progress to step 604 as current mobile tag；If "Yes", processing is carried out to step 614,
In step 614, area label sends TOA measurement results to position-location server.
In alternative embodiment, Fig. 4 is the timing diagram of another embodiment, wherein, mobile tag send data frame with
Area label is enabled to carry out TOA measurements with mobile tag.In this embodiment, by area label use from mobile tag
The data frame received measures TOA, and in exemplary configuration, mobile tag is to the mobile mark in bag frame identifier, such as frame
Label identification number is encoded, and Ack frames are sent back without receiving station.This method shortens TOA measurement periods.In order to ask
Recipient does not send Ack frames, and mobile tag can send the IEEE with the Ack strategy subfields for being arranged to no Ack
802.11QoS (service quality) data frame, the recipient for causing QoS data frame is not sent Ack frames by this.In exemplary configuration
In, position-location server uses PID Packet Identifier and time window to be grouped to frame to carry out TOA calculating.
As shown in Figure 4, it is assumed that beginning busy channels, and pass through transmission of the mobile tag T1 in the range measurement period
Data frame 1 measures to start TOA.As described above, data frame will ask receiving terminal not send Ack.Receive the region mark of data frame 1
Sign the TOA of zT1, zT2, zT3 and zT4 measured data frame 1, i.e. TOA1, TROA2, TOA3 and TOA4.Mobile tag T2, i.e.,
Next mobile tag in mobile tag list, also receive data frame 1 and after duration SIFS send data frame 2 with
Area label is enabled to carry out TOA measurements to data frame 2, for estimating the position coordinates of mobile tag 2.Continue the processing
Until all mobile tags have sent data frame, the TOA of measured data frame at each area label.All areas label will
Send to position and position from the TOA values of each data frame measurement received, estimate each mobile mark to carry out triangulation
The position of label.In other words, mobile tag sends data frame successively during the range measurement period.Pay attention to, as shown in figure 4, by
Time interval between the data frame that mobile tag is sent is selected as SIFS or shorter so that the other equipment in network is not
Access channel can be attempted.
Fig. 7 is the exemplary process diagram of embodiment, wherein, mobile tag can be initiated and controlled and area label
TOA is measured.In a step 702：The mobile tag at the top of mobile tag list is selected to be used as " current " mobile tag；Currently
Mobile tag competes and busy channel.In step 704, current mobile tag sends data frame.In step 706, can be with
The all areas label for detecting the data frame sent by current mobile tag carries out TOA measurements to the data frame received.In step
In rapid 708, current mobile tag verifies whether it is last mobile tag in mobile tag list：If "No",
In step 720, next mobile tag in mobile tag list is selected as next current mobile tag, and handles progress
To step 704；If "Yes", processing is carried out to step 712, and in step 712, area label is sent out to position-location server
Give their TOA measurement results.
Mobile tag may be fitted with the sensor such as accelerometer, gyroscope, compass, to be moved with carrying
The assets of label or people move in place and update the position coordinates of label.Firstly the need of the side using such as triangulation
Case determines the position of mobile tag based on RTD the or TOA measurements between mobile tag and multiple area labels.It is once initial true
Mobile tag position is determined, then sensor can update the position of label.However, after a certain time period, use sensor
The error of the location updating of reading will accumulate, and the mobile tag position of sensor renewal will become inaccurate.Therefore, also need
Regularly to refresh the position coordinates of mobile tag based on RTD/TOD measurements using triangulation.Various embodiments are adopted
Refresh distance measurement data with different processing.In one embodiment, as next described by adaptively
It is determined that it is referred to as the position positioned update period based on range measurement of the positioning period based on range measurement.Select initial base
In the positioning period of measurement.In the end of each positioning period based on range measurement, calculate the position based on range measurement and determine
Position estimation and according to sensor update position location estimation between difference.If based on the location estimation and base of range measurement
The average value of difference between the estimation of sensor or some other statistical measures will then reduce more than threshold value and are based on distance
The interval of the positioning period of measurement.On the other hand, the location estimation if based on range measurement and sensor-based estimation
Between difference average value or some other statistical measures below threshold value, then will increase the positioning period based on range measurement
Interval.
Fig. 8 is for determining the position positioned update for the mobile tag based on range measurement needed for following system
The flow chart of embodiment, the system are updated mobile position using sensor measurement between range measurement location estimation and determined
Position.In step 802, position-location server is measured come to mobile tag based on the distance between mobile tag and area label
Carry out initial position fix estimation.In step 804, updated at discrete time point using the sensor reading at mobile tag
Mobile tag position positions, and increases time counting.In step 806, whether the proving time, which counts to be higher than, is based on distance survey
The positioning period of amount：If "No", processing is back to step 804；If "Yes", processing is carried out to step 808.In step
In 808, the new position positioning of the mobile tag based on range measurement is carried out, and time counting is initialized as 0.In step
In 810, the difference between sensor-based position location estimation and position location estimation based on range measurement is calculated.Step
812 calculate the statistic of the difference between two kinds of position location estimation.Step 814 is positioned based on two kinds of position
The statistic of difference between estimation updates the positioning window duration based on range measurement.
Claims (20)
1. a kind of position positioning determining system with mobile tag and area label, the system include：
Include the first network of at least one access point AP network elements, each AP, which is created, is referred to as covering for Basic Service Set BSS
Other network elements of cover area, configuration in its BSS and the network element into its BSS provide the access to internet；
Second network of the area label network element under the first network, row distance survey can be entered with mobile tag
Amount；
Range measurement period interval is divided the time into, each interval includes the measurement period that label carries out range measurement, is followed by
Label dormancy is to save the sleep period of electric power；
Network element, it starts to revive the range measurement period, and anchor network element competitive channel and takes the channel；
Mobile tag and area label, the mobile tag and the area label carry out range measurement according to scheduling；And
The range measurement is used for estimating that mobile tag position positions by triangulation algorithm.
2. system according to claim 1, wherein, area label is the anchor network element, and the system also includes：
The anchor area label sends data frame to each mobile tag, and the mobile tag is responded using acknowledgement frame, with
And the anchor area label is past to estimate using the time departure TOD of the data frame and the arrival time TOA of the acknowledgement frame
Return delay RTD；And
The anchor area label specifies second area label as anchor area label.
3. system according to claim 2, wherein：
The network element is the equipment for supporting IEEE 802.11；And
Continuous data frame and acknowledgement frame are spaced by inter frame temporal interval short enough, to prevent other from supporting IEEE
802.11 hold facility described in channel.
4. system according to claim 1, wherein：
Area label is the anchor network element；And
Anchor area label sends data frame to each mobile tag, and the mobile tag is responded using acknowledgement frame, Yi Jisuo
There is area label while measure the arrival time TOA of the acknowledgement frame.
5. system according to claim 4, wherein：
The network element is the equipment for supporting IEEE 802.11；And
The data frame and acknowledgement frame that continuously transmit are spaced by inter frame temporal interval short enough, to prevent other from supporting IEEE
802.11 hold facility described in channel.
6. system according to claim 1, wherein, mobile tag is the anchor network element, and the system also includes：
The anchor mobile tag sends data frame, and all areas label measures the arrival time TOA of the data frame；And
Another mobile tag serves as anchor mobile tag.
7. system according to claim 6, wherein：
The network element is the equipment for supporting IEEE 802.11；And
The continuous data frame sent by the anchor mobile tag is spaced by inter frame temporal interval short enough, to prevent it
He supports channel described in IEEE 802.11 hold facility.
8. system according to claim 1, wherein：
Triangulation is carried out by measuring the distance between mobile tag and area label, regularly to estimate the mobile mark
Sign position positioning；
Mobile tag includes the sensor and device for being used for updating the mobile tag position positioning；And regularly be based on away from
From between the mobile tag position location estimation of measurement, the position of the mobile tag is updated using mobile tag sensor reading
Put positioning.
9. system according to claim 8, wherein：
Calculate the statistic of the regularly location estimation based on range measurement and the difference of sensor-based location updating；And
Time between location estimation renewal based on range measurement is changed based on the statistic calculated.
10. system according to claim 9, wherein：
If the average value of the difference or some other measurements increase the location estimation based on range measurement below threshold value
Time between renewal；And
If the average value of the difference or some other measurements reduce the location estimation based on range measurement more than threshold value
Time between renewal.
11. a kind of method for being used to determine the relative position of assets in the transmission region of wireless network, methods described include with
Lower step：
There is provided for being placed in the transmission region and at least one area label of known position, the area label
With wireless transceiver, the wireless transceiver is configured to that the region is communicated and received by the wireless network
The position of the label in the transmission region；
At least one mobile tag of assets for being fixed in the transmission region is provided, the mobile tag have by with
It is set to the wireless transceiver to be communicated by the wireless network；
Each mobile tag is associated with least one of the area label, and the area label is in the movement
In the transmission range of label；
The area label regularly receives mobile tag communication；
The relative position of the mobile tag is determined according to the call duration time of area label to mobile tag.
12. according to the method for claim 11, wherein, the area label is configured in the mobile tag and region
Label enters resting state between being communicated.
13. the method according to claim 11, in addition to：
The area label sends data frame to the mobile tag；
The mobile tag is responded using acknowledgement frame；
The area label receives the acknowledgement frame；
Calculate the relative position according to round trip delay time, the round trip delay time is based on the data when leaving
Between reach the area label the acknowledgement frame arrival time between difference.
14. according to the method for claim 13, wherein, the round trip delay time is offset including interframe space.
15. according to the method for claim 13, wherein, the mobile tag is cooperatively into the area label
The frame is transmitted in inter frame temporal interval, to keep channel control in the wireless network.
16. the method according to claim 11, in addition to：
There is provided for being placed in the transmission region and in multiple area labels of known position；
One of described area label sends data frame to the mobile tag；
The mobile tag is responded using acknowledgement frame；
The area label receives the acknowledgement frame；
The relative position is calculated according to arrival time, the arrival time is to reach the region mark based on the acknowledgement frame
The time difference of label.
17. according to the method for claim 16, wherein, the arrival time offsets including interframe space.
18. according to the method for claim 16, wherein, the mobile tag is cooperatively into the area label
The frame is transmitted in inter frame temporal interval, to keep channel control in the wireless network.
19. according to the method for claim 16, wherein, the acknowledgement frame includes being used to carry out received acknowledgement frame
The encoded frame identifier of packet.
20. according to the method for claim 11, wherein, the frequency response of range measurement is at least one of following and change
Become：The frequency of the previous position difference of mobile tag, the timing of previous position difference of mobile tag and the elder generation of mobile tag
The size of front position difference.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
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| US14/797,875 | 2015-07-13 | ||
| US14/797,875 US9998859B2 (en) | 2014-02-25 | 2015-07-13 | Systems and methods of location and tracking |
| PCT/US2016/041848 WO2017011434A1 (en) | 2015-07-13 | 2016-07-12 | Systems and methods of location and tracking |
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| WO (1) | WO2017011434A1 (en) |
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