IPC분류정보
국가/구분 |
United States(US) Patent
등록
|
국제특허분류(IPC7판) |
|
출원번호 |
US-0514847
(2007-11-28)
|
등록번호 |
US-8089827
(2012-01-03)
|
우선권정보 |
IT-RM2006A0638 (2006-11-30) |
국제출원번호 |
PCT/IT2007/000830
(2007-11-28)
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§371/§102 date |
20090514
(20090514)
|
국제공개번호 |
WO2008/065691
(2008-06-05)
|
발명자
/ 주소 |
|
출원인 / 주소 |
|
대리인 / 주소 |
|
인용정보 |
피인용 횟수 :
6 인용 특허 :
18 |
초록
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Localization of remote devices by: the emission of pulses from acoustic transmitters, whose wavefronts propagate in the space region occupied by the remote devices and finally reach them; the emission of radiofrequency pulses from each remote device at the time of detection of the wavefront by an on
Localization of remote devices by: the emission of pulses from acoustic transmitters, whose wavefronts propagate in the space region occupied by the remote devices and finally reach them; the emission of radiofrequency pulses from each remote device at the time of detection of the wavefront by an on-board microphone; the acquisition, by a radio base, of the radiofrequency signals propagating from the remote devices, to evaluate the arrival time delays proportional to the distance between the i-th acoustic source and the j-th remote device; the formation of a reception vector for each emission by the i-th source, this vector having a maximum length M equal to the number of remote devices and consisting of the sequence of distances obtained as the product of the reception times and the estimated sound velocity. These steps are repeated for all acoustic sources, to form N+1 reception vectors, to calculate the position of the device by solving derived matrix equations.
대표청구항
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1. A method for localization of M remote devices (3′, 3″, . . . 3M) by their coordinates within an N-dimensional system, through a) the emission of acoustical pulses and b) the emission of radiofrequency pulse from each remote device (3′, 3″, . . . 3M), at the time of detection of said acoustical wa
1. A method for localization of M remote devices (3′, 3″, . . . 3M) by their coordinates within an N-dimensional system, through a) the emission of acoustical pulses and b) the emission of radiofrequency pulse from each remote device (3′, 3″, . . . 3M), at the time of detection of said acoustical wave front by its on-board microphone, and c) the acquisition from a radio base (2) unit, of the radiofrequency signals and time delays which are proportional to the distance (dij) between the i-th acoustical source (4) and the remote j-th device (3); comprising:d—for each emission from the i-th source, successive insertion of components in a reception vector (Di), formed by the sequence of distances obtained from the product of the arrival time delays with an estimated sound velocity, said vector,i—in the absence of disturbances, having a maximum length M corresponding to the number of remote devices;ii—in presence of disturbances of an acoustical or electromagnetic kind, that could erroneously be interpreted as additional reception signals, being “oversized” according to the noise/disturbances, the number of evaluations being increased up to L1·L2· . . . LN+1, with Li>M;e—repetition of the steps a, b, c, d for all N+1 acoustical sources, in order to form N+1 reception vectors;f—the calculation of the position Xj=(x1j, x2j, . . . xNj) of the j-th remote device, starting from the N+1 distances d1j, d2j, . . . dN+1j, as the intersection point of N+1 spheres of radius dij centred at the positions (xSi, ySi, zSi, where I=1, 2, . . . N+1), of the N+1 acoustical sources. 2. The method for localization of remote devices (3′, 3″, . . . 3M) by their coordinates within a 3-dimensional system according to claim 1, wherein after putting xij=xj, x2j=yj, x3j=zj, one follows the following steps of matrix calculus: a—subtraction of the first equation from the other equations, in the system {(xj-xS1)2+(yj-yS1)2+(zj-zS1)2-d1j2=0(xj-xS2)2+(yj-yS2)2+(zj-zS2)2-d2j2=0(xj-xS3)2+(yj-yS3)2+(zj-zS3)2-d3j2=0(xj-xS4)2+(yj-yS4)2+(zj-zS4)2-d4j2=0(1)in order to obtain a linear system of three equations with three unknowns (xj, yj, zj) from which one obtains the matrix equation for the coordinates of the remote device in the 3-dimensional reference system defined for the acoustical sources;b—solving the above equation in vector form, Xj=A−1Bj (4),the matrix A being invertible due to the arrangement of the sources, and calculating the position Xj of the j-th remote device (3) based on the knowledge of A determined from the known positions of the sources, and from the N+1-ple (d1j, d2j, . . . dN+1j). 3. The method for localization of remote devices (3′, 3″, . . . 3M) by their coordinates within an N-dimensional system, according to claim 1, wherein an a priori distinction for each remote device j, of the N+1-ple (d1j, d2j, . . . dN+1j) within the reception vectors (D1, D2, . . . DN+1), occurs according to a search procedure that selects the possible candidates (d1j, d2j, . . . dN+1j,) within the reception vectors (D1, D2, . . . DN+1), in order to calculate the vector Xj by the equation Xj=A−1Bj (4), said vector Xj being considered in equation (1) an admissible solution of the localization problem, provided that the obtained residue is zero, or less than a predetermined threshold taking account of the total noise affecting the calculation as a whole. 4. The method for localization of remote devices (3′, 3″, . . . 3M) by their coordinates within an N-dimensional system, according to claim 1, wherein, in case the sources lie within a sphere of radius rmax so that the elements of each N+1-ple (d1j, d2j, . . . dN+1j) do not differ from each other by more than 2rmax, the reduction of the computational work is obtained by a process comprising the following steps: i—extracting the first element from one of the vectors Di;ii—extracting from the remaining vectors Di, all elements that differ at most by 2rmax, and which therefore are possible candidates, the number of these elements slightly exceeding N+1 for reasonable choices of rmax;iii—calculating all combinations of the extracted elements, without exchanging the elements of different vectors, these combinations being used for calculating a set of Xj from equation (4);iv.a—if, via equation (4) one of said combinations gives a null or sufficiently small residue in equation (1), acquiring the first extracted element as a valid reception signal, and memorising the just obtained coordinate of the remote device while eliminating, from the respective vectors Di, the N+1 elements which produce the vector Xj solution of equation (1);iv.b—if, none of the above combinations provides a valid result, invalidating the first element extracted from the vector, which represents a disturbance to be eliminated from that vector;v—after both of the above cases iv.a and iv.b, selecting again the first element of Di and iterating the steps i, ii, iii, iv, until the elements of the vector are exhausted. 5. The method for localization of remote devices (3′, 3″, . . . 3M) by their coordinates within an N-dimensional system, according to claim 1, wherein all acoustic sources, tuned according to a single pulse emitting source, simultaneously emit their pulses which are possibly indistinguishable from each other in their signal behaviour, thereby using a single frequency of pulse repetition and establishing a wait regime bound to a single propagation time for the acoustical wavefronts in the space region of interest. 6. The method for localization of remote devices by their coordinates within an N-dimensional system, according to claim 4, wherein when using only one reception vector (D) for the search of the elements belonging to the j-th N+1-ple, one also takes account of the exchange of position within the N+1-ple, of the elements extracted from the vector D, in order to employ a procedure involving N+1 vectors Di identical to each other, each one being a copy of the unique available vector D, the procedure comprising the following steps: i—extracting the first element from one of the vectors Di;ii—extracting from the remaining vectors Di all elements differing from each other at most by 2rmax and which therefore are possible candidates, the number of such elements slightly exceeding N+1 for reasonable choices of rmax;iii—calculation of all combinations of extracted elements without exchanging elements belonging to different vectors, these combinations being used forcalculating a set of Xj from equation (4);iv.a—if, in equation (1) one of these combinations, based on equation (4), produces a null or sufficiently small residue, the step of acquiring the first extracted element as valid reception signal, and thereafter the step of storing the just obtained coordinate of the remote device while eliminating from the respective vectors Di the N+1 elements which produce the vector Xj solution of equation (1);iv.b—otherwise, if none of the above combinations provides a valid result, the step of invalidating the first element extracted from the vector, which represents a disturbance to be eliminated from that vector;v—after both of the above cases iv.a and iv.b, selecting again the first element of Di and iterating the steps i, ii, iii, iv, until the elements of the vector are exhausted. 7. The method for localization of remote devices by their coordinates within an N-dimensional system, according to claim 1, wherein optimising the accuracy of the localization through the evaluation from time to time of the sound velocity along the (average) path from the sources to the single remote device, this being achieved by modifying equation (2) as follows: [xS2-xS1yS2-yS1zS2-zS1t2j2-t1j2xS3-xS1yS3-yS1zS3-zS1t3j2-t1j2xS4-xS1yS4-yS1zS4-zS1t4j2-t1j2xS5-xS1yS5-yS1zS5-zS1t5j2-t1j2] [xjyjzjvj]= [xS22-xS12+yS22-yS12+zS22-zS12xS32-xS12+yS32-yS12+zS32-zS12xS42-xS12+yS42-yS12+zS42-zS12xS52-xS12+yS52-yS12+zS52-zS12],(5)where tij is the arrival time delay at the j-th remote device of the wavefront emitted from the i-th source, according to the N+2-ple (t1j, t2j, . . . tN+2j) within the reception vectors (T1, . . . , TN+2), wherein the required sources are N+2 and the matrix A is inverted for each computation of Xj which involves vj, corresponding to the average velocity of sound along the path between the source and the remote device. 8. An apparatus for the localization of remote devices (3′, 3″, . . . 3M) by their coordinates within an N-dimensional system, comprising: I—a microphone that operates in an acoustical band of interest, used to detect a behaviour of the acoustical pressure field in a neighborhood of the microphone sensor and the arrival of emitted wavefronts;II—a signal processing circuit including an impedance adaptation circuit, an amplifier, an off-band noise rejection filter;III—a signal recognition circuit, used to identify the effective signal among all received sounds and including a threshold detecting circuit, or a circuit effecting a comparison through the cross-correlation with a sample signal, a circuit for estimating statistical indicators, neural networks, etc;IV—a RF transmitter with an adequate band, used to communicate the already occurred reception to a radio base unit;V—a controller, which manages the reception of the acoustic signal, the signal processing, and the transmission of the already occurred reception,wherein a) an emission of acoustical pulses and b) the emission of radiofrequency pulse from each remote device (3′, 3″, . . . 3M), at the time of detection of said acoustical wave front by the on-board microphone, and c) the acquisition from the radio base (2) unit, of the radiofrequency signals and time delays which are proportional to the distance (dij) between the i-th acoustical source (4) and the remote j-th device (3);comprising:d—for each emission from the i-th source, successive insertion of components in a reception vector (Di), formed by the sequence of distances obtained from the product of the arrival time delays with an estimated sound velocity, said vector,i—in the absence of disturbances, having a maximum length M corresponding to the number of remote devices;ii—in presence of disturbances of an acoustical or electromagnetic kind, that could erroneously be interpreted as additional reception signals, being “oversized” according to the noise/disturbances, the number of evaluations being increased up to L1·L2· . . . LN+1, with Li>M;e—repetition of the steps a, b, c, d for all N+1 acoustical sources, in order to form N+1 reception vectors;f—the calculation of the position Xj=(x1j, x2j, . . . xNj) of the j-th remote device, starting from the N+1 distances d1j, d2j, . . . dN+1j, as the intersection point of N+1 spheres of radius dij centred at the positions (xSi, ySi, zSi, where I=1, 2, . . . N+1), of the N+1 acoustical sources. 9. An for the localization of remote devices (3′, 3″, . . . 3M) by their coordinates within an N-dimensional system, comprising a radio base (2) that includes at least the following components: a—N+1 transmitters of acoustical pulses or ultrasound pulses, whose band is selected according to the localization accuracy requirements, to the maximum distance of the remote devices from the emitters, and to the noiselessness of the operations, wherein the position of the transmitters within the reference system is known in advance with a sufficient degree of accuracy;b—a radiofrequency receiver (2), suited to detect signals related to the positions of on board sensors and to the readings of on-board sensors emitted by the individual remote devices;c—a calculation system for computing the positions of the remote devices, starting from the difference between the acoustic pulse emission times and the reception time delays of the radiofrequency signal;d—an algorithm, carried out by the calculation system of the radio base, which is based on a matrix formulation of the position determination problem and is suited to determine the position of the remote devices within the given reference frame,wherein a) an emission of acoustical pulses and b) the emission of a radiofrequency pulse from each remote device (3′, 3″, . . . 3M), at the time of detection of said acoustical wave front by the on-board microphone, and c) the acquisition from the radio base (2) unit, of the radiofrequency signals and time delays which are proportional to the distance (dij) between the i-th acoustical source (4) and the remote j-th device (3);comprising:d—for each emission from the i-th source, successive insertion of components in a reception vector (Di), formed by the sequence of distances obtained from the product of the arrival time delays with an estimated sound velocity, said vector,i—in the absence of disturbances, having a maximum length M corresponding to the number of remote devices;ii—in presence of disturbances of an acoustical or electromagnetic kind, that could erroneously be interpreted as additional reception signals, being “oversized” according to the noise/disturbances, the number of evaluations being increased up to L1·L2· . . . LN+1, with Li>M;e—repetition of the steps a, b, c, d for all N+1 acoustical sources, in order to form N+1 reception vectors;f—the calculation of the position Xj=(x1j, x2j, . . . xNj) of the j-th remote device, starting from the N+1 distances d1j, d2j, . . . dN+1j, as the intersection point of N+1 spheres of radius dij centred at the positions (xSi, ySi, zSi, where I=1, 2, . . . N+1), of the N+1 acoustical sources.
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