• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The present invention relates to a system for locating a mobile element, characterized in that it comprises: at least one beacon (1) transmitting radio messages; - At least one relay (2) capable of transmitting a second message with a known delay after receiving a first message from said at least one tag (1); at least one sensor (3) capable of measuring in a local time base the arrival times of the messages coming from said at least one beacon (1) and at least one relay (2); at least one position calculator, which can be central or on board with each sensor, capable of determining the position of a mobile element from the arrival time information; the mobile element can be a beacon (1), a relay (2) or a sensor (3).
    公开号:FR3016220A1
    申请号:FR1400017
    申请日:2014-01-06
    公开日:2015-07-10
    发明作者:Matthieu Mutz；Stephane Mutz
    申请人:BLINKSIGHT；
    IPC主号:
    专利说明:

    [0001] SYSTEM AND METHOD FOR LOCATING AN OBJECT GENERAL TECHNICAL DOMAIN The context of this invention is that of the location of a mobile object within an area covered by an ad hoc infrastructure. We are particularly interested in a solution that combines a small footprint (size, weight), good location accuracy, and minimal energy consumption. STATE OF THE ART There are many proposals in the state of the art to solve this problem. Among these are in particular solutions implementing a radiofrequency wave location function, and more particularly solutions using ultra-wide band radio pulse technology, known to allow a high accuracy of location in indoor environments. Among the solutions encountered in the state of the art, there are among others: Systems using a direct measurement of flight time. Such techniques are described in particular in the IEEE 802.15.4a standard, Appendix D1, section D1.3.1. and D1.3.2, under the name Two-Way Ranging. The distance between two transceivers is thus estimated by measuring the time required for the exchange of messages. Systems using the so-called arrival time measurement technique (in English TOA for Time of Arrival). These are based on the assumption of a perfect synchronization between the time bases of a transmitter and one or more receiver (s) to determine the flight time of a message transmitted at a given instant, supposed to be known by the transmitter and picked up after a certain delay - the flight time - by the receiver (s). These systems are not widespread because of the strong synchronization constraint between the transmitter and the receiver (s).
    [0002] Systems using the so-called TDOA technique (Time Difference Of Arrival). Similar in operation to TOA systems, these systems have the advantage of only requiring a synchronization of the time bases of the receivers since we are interested here in the relative moment of arrival of the same radio message to minus two receivers (see Standard IEEE 802.14.4a section D1.4). Systems with direct flight time measurement (in particular Two Way Ranging) require the use of transceivers at each end of the link. The complexity and the cost of the location function and the amount of energy consumed are thus increased. The TOA or TDOA systems overcome this constraint, but pose the problem of the synchronization of the time bases of the receivers. Such a synchronization is in practice difficult to achieve and requires for example the use of controlled distribution devices of a common clock to all receivers TDOA system, for example in the form of a wired network. On the other hand, if these TDOA systems are well adapted to the location of an object comprising a simple transmitter, they do not directly allow the object to locate itself in the environment. In practice, it is then necessary to equip the object with a receiver and to communicate to it the position estimated by the system. In order to propose a solution more adapted to the problematic posed, one looks for a system which minimizes the number of exchanges of radio messages - thus energy consumption - necessary to a localization operation, which allows a simplification of the constitutive elements of the system for to minimize the cost, which does not have the constraints of synchronization and / or clock distribution TDOA systems and is the most versatile possible.
    [0003] PRESENTATION OF THE INVENTION The invention makes it possible to measure the difference in arrival time between a direct path of a beacon to a sensor and one or more indirect paths involving re-transmission with a known delay by one or more relays. By its principle of operation, this invention operates in a similar way to that of a TDOA system but does not require a fine alignment of the time bases of several sensors since only one time base is used to perform the measurements of time. 'arrival. Compared to direct flight time measurement systems, the present invention has a reduced complexity of the beacon that requires the use of a transmitter only, and the target that requires the use of a receiver only. For each of these two elements, the complexity - hence the cost - is reduced, as well as the expenditure required in energy. Finally, the present invention allows a great flexibility and is suitable both in the case where one seeks to locate an object, for example to determine the position of a pallet in a warehouse, as for autonomous location applications of a mobile for example for guiding purposes. The present invention thus relates to a system for locating a mobile element characterized in that it comprises: at least one beacon transmitting radio messages; . at least one relay capable of transmitting a second message with a known delay following receipt of a first message from said at least one beacon; . at least one sensor capable of measuring in its own time base the arrival times of the messages from said at least one beacon and at least one relay; . at least one position calculator, which can be central or on board with each sensor, capable of determining the position of a mobile from the arrival time information; the mobile element can be a beacon, a relay or a sensor. According to other advantageous and non-limiting features of the invention: the location system comprises a central sequencer having a radio transmitter and each beacon contains a radio receiver adapted to receive messages transmitted by said central sequencer. . the locating system comprises a plurality of sensors all connected by a telecommunication means to a position calculator. . the telecommunication means is for example wired Ethernet or WI-FI type and the position calculator is a computer server. According to a second aspect, the invention relates to a method for locating a mobile element, characterized in that it comprises steps of: (a) Transmitting by at least one beacon of a message MI. ; (b) receiving said message MI_ by at least one relay and sending an M2 message with a known delay with respect to the receipt of the message M1 by said at least one relay; (c) Receiving said messages M1 and M2 by at least one sensor and (d) determining the position of a mobile carrying the beacon, relay or sensor, from the arrival time information. According to other advantageous and non-limiting features of the invention: the message M1 issued in step (a) by a tag includes in its data the identification of the tag. . the message M1 sent in step (a) comprises a position marker identifying the transmission time in the time base of the beacon and / or the instant of reception of the message in the time base of the relay or the sensor. . the message M2 emitted in step (b) by a relay includes in its data the identification of the relay as well as that of the beacon whose message M1 has triggered the message M2 for this relay. . the message M2 emitted in step (b) by a relay includes a position marker identifying the transmission time in the time base of the relay and / or the time of reception of the message in the time base of the sensor and / or the delay between the instant of receipt of the message MI. and the instant of transmission of the message M2 in the relay's own timebase. . the delay between the reception of a message M1 emitted in step (a) and the transmission of a message M2 emitted in step (b) by a relay is of the same order of magnitude as the processing time of messages M1 or M2. The invention also relates to beacons, relays and sensors, as such, involved in the implementation of the system and / or process mentioned above.
    [0004] PRESENTATION OF THE FIGURES Other features and advantages of the present invention will appear on reading the description which follows of a preferred embodiment. This description will be given with reference to the accompanying drawings in which: - Figure 1 is a diagram of a first embodiment of the invention having a fixed beacon, a fixed relay and a movable sensor; Fig. 2 is a diagram of a second embodiment of the invention having a plurality of fixed beacons, a fixed relay and a movable sensor; FIG. 3 is a diagram of a message transmitted by a beacon according to one embodiment of the invention; FIG. 4 is a message transmission and reception diagram implemented by a location system according to the first embodiment of the invention; FIG. 5 is a diagram of a message transmitted by a relay according to one embodiment of the invention; FIG. 6 is a message transmission and reception diagram according to one embodiment of the invention making it possible to avoid collisions between the messages of beacons and relays, and FIG. 7 is a diagram of FIG. a third embodiment of the invention having several fixed beacons, a fixed relay and a mobile sensor, synchronized by a central sequencer, in particular to provide time multiplexing. DETAILED DESCRIPTION OF THE INVENTION As represented in FIGS. 1 and 2, the invention comprises one or more beacons 1, 11, 12 or 13. Each beacon 1, 11, 12 or 13 consists of at least one radio transmitter with Ultra Wide Band pulses adapted to transmit a first message Ml, M11, M12 or M13. The invention further comprises one or more relays 2, 21 or 22. Each relay comprises at least one ultra-wide band radio pulse receiver, an ultra-wide band radio pulse transmitter and a device for triggering the emission of a second radio message M2, M21 or M22 with a known delay D relative to the time of reception of the first message Ml, M11, M12 or M13 by the receiver.
    [0005] The invention comprises at least one sensor 3 which captures the first message M1, M11, M12 or M13 and the second message M2, M21 or M22. Each sensor 3 is equipped with at least one ultra-wide band pulse radio receiver, a local time base and a device for measuring, according to the local time base, the arrival times of the messages Mi, M11, M12, M13 and / or M2, M21, M22. Finally, the invention further comprises one or more position calculation devices 5, schematized in FIGS. 1 and 2. From the data contained in the messages Mi, M11, M12 or M13 and M2, M21 or 22, times of measured arrival and of supposedly known data on the position of the beacons and / or the relays and / or the sensors, a calculator makes it possible to provide an estimate of the position of the mobile to be located, said mobile being able to be a beacon, a relay or well a sensor. Each beacon 1, 11, 12 or 13 transmits, via its radio transmitter, a first radio message Ml, M11, M12 or M13, represented in FIG. 3, comprising, among other things, a marker enabling a suitable receiver to determine with precision the moment when said marker is received in the message M1, M11, M12 or M13 when it is received. The message M1, M11, M12 or M13 may further contain, for example, a data area containing an identifier for uniquely determining the identity of the tag 1, 11, 12 or 13 having transmitted the message M1, M11, M12. or M13.
    [0006] In what follows, the term "measuring the moment of arrival of the radio message" is used to measure the time, in a local time base, of the device concerned, of the precise moment of reception of the position marker contained in in the received radio message. In the embodiment shown in FIG. 4, the message M1 transmitted at a time t0 is assumed. The message M1 is received by a sensor 1 with a delay TBc linked to the flight time of the radio waves between the beacon 1 and the sensor 3. It then measures the arrival time t1 of this message M1 in its base. clean time. Almost simultaneously, the message M1 transmitted by the beacon 1 is also received by a relay 2 with a delay TBR linked to the flight time of the radio waves from the beacon 1 to the relay 2. This reception will then trigger the transmission. by the relay 2 of a second message M2 with a known delay D with respect to the instant t2 of receiving the message M1 through the relay 2. The message M2 comprises, among other things, a single position marker making it possible to accurately determine the instant reception by a receiver. It may also comprise a data zone containing for example a first identifier making it possible to uniquely determine the identity of the beacon 1 having sent the first message M1 at the origin of this second message M2, and / or a second identifier to uniquely determine the identity of the relay 2, as shown in Figure 5. In particular embodiments of the invention, the message M2 may further include information characterizing the time t2 of receiving the message M1 in the timebase specific to the relay 2. The delay D is therefore specified so that the unique position marker present in the message M2 emitted by the radio transmitter of the relay 2 is emitted exactly with a delay D with respect to the reception by the radio receiver of the relay 2 of the single position marker present in the message M1. The delay D is expressed relative to the local time base of the relay.
    [0007] The message M2 is received by the sensor 3 with a delay TRC linked to the flight time of the radio waves from the relay 2 to the sensor 3. The latter determines the time of reception t3 by its radio receiver in its own time base. If we omit any frequency offset of the time bases of the relay 2 and the sensor 3, we obtain the following equation: t3 - t1 = TBR + D + TRe - TBc The delay D is chosen so that it is greater than the maximum flight time of the radio waves from beacon 1 to sensor 3 or from beacon 1 to relay 2.
    [0008] The delay D will for example be of the same order of magnitude as the duration of reading, writing and sending messages M1 and M2. In a particular embodiment of the invention given here by way of example in FIG. 4, the duration of the first message M1 is for example 0.6 ms, that of the second message M2 is 1 ms and the duration D is also of 1 ms. In this same embodiment, the maximum range achievable by a radio communication is 60 meters and the maximum measurable flight time is 200 ns. As a result of receiving a first message M1 and a second message M2, each sensor 3 forms, for each first message M1 followed by a second message M2, a pair (t1; t3) describing the respective arrival times. the first message M1 and the second message M2 in its local time base. If necessary, these pairs can be increased to include the identity of the beacon 1 and / or that of the relay 2, for example in the form of a quadruplet (1; 2; tl; t3).
    [0009] In addition, if the message M2 contains the information t2 characterizing the instant of reception of the message M1 by the relay 2 according to its own time base, this information t2 may also be retained by the sensor 3, for example in the form of triplets (tl; t2; t3) or quintuplets (1; 2; tl; t2; t3). This information, for example the pairs (t1; t3), the triplets (t1; t2; t3), the quadruplets (1; 2; tl; t3) or the quintuplets (1; 2; tl; t2; t3) are transmitted to a position calculation unit 5. This uses, among other things, times t1 and t3 as well as parameters known to the system for estimating the position of a mobile. For example, if the position of beacons 1, 11, 12, 13 and relays 2, 21, 22 is known to the system, the position calculator will use knowledge of the respective positions of beacons 1, 11, 12, 13 and relays. 2, 21, 22 to determine the location of the sensors 3. The calculations performed in the position calculation unit 5 are similar to those performed in a similar unit of a TDOA type system. To allow for a simple implementation, an Ultra Wide Band Pulse radio receiver such as that integrated in Relay 2 or Sensor 3 is generally capable of receiving only one radio message at a time. It is important for the optimal operation of the invention to ensure proper sequencing of operations. In the case where there are in the same system several beacons 1, 11, 12 or 13 within the communication range of the same relay 2 or the same sensor 3, it is suggested to guarantee that the messages M1 sent by each beacon 1 , 11, 12 or 13 do not collide with each other. For example, a Time Division Multiplex Access (TDMA) method can be implemented. In the embodiment of which the diagram is shown in FIG. 6 and the general diagram is illustrated in FIG. 7, a central sequencer 4 is added to the system in order to avoid collisions between the different messages. This central sequencer 4 has a radio transmitter, which may be other than Ultra Wide Band radio pulse. Each beacon 11, 12 and 13 also then contains a radio receiver able to receive messages from the global sequencer 4. In the case where there are several relays 21 and 22 within the same system, as explained in FIG. it is suggested to ensure that messages M21 and M22 do not collide with each other. For example, a different delay D may be assigned statically or dynamically to each relay 21 and 22 of the system so that, if several relays 21 and 22 receive the same message M11, M12 or M13, each message M21 and M22 can be transmitted in turn. In this case, the relay 2, 21, 22 can communicate the delay D used in the data area of the message M2. In another implementation of the invention, it can be ensured that a single relay 21 or 22 has its receiver turned on at a given instant, for example using a TDMA type system as described above. This ensures that a single message M21 or M22 is transmitted following a message M11, M12 or M13. In a particular embodiment of the invention, one is interested in the location of a mobile in its environment. According to this embodiment, the coverage area is equipped with at least one tag 1i (i being given here generically between 1 and N, positive integer greater than or equal to 1) whose position is assumed to be known. In addition the coverage area is equipped with at least one relay 2i whose position is also assumed to be known. Since the position of the li and relay beacons 2i is known, the flight time of a beacon li to a relay 2i is therefore also assumed to be known. For example, the latter can be determined by calculation from the positions of the beacon and relay or determined empirically.
    [0010] The sensor 3 is here associated with a mobile whose position is sought in the environment. For example, the sensor 3 is integrated in a mobile phone whose position is to be determined for guiding purposes. The sensor 3 is assumed to be in communication range of the li and relay beacons 2i. Several mobiles all attached to a sensor can be in the coverage area, the following description is then applied for each sensor.
    [0011] According to this mode of implementation and the general principle of operation of the invention, each beacon ii in turn transmits a radio message Mli containing at least a single position marker. The message Mli may further include an identifier for uniquely determining the identity of the tag li. Each message Mli is captured almost simultaneously - unlike near flight time - by a sensor 3, which measures the instant tif of receiving the message Mli in its own time base, and by a relay 2i. The relay 2i then transmits with a delay Di a second message M2i containing at least one unique marker position. The message M2i may further contain in a data zone a first identifier making it possible to uniquely determine the identity of the tag li having transmitted the first message Mli at the origin of the second message M2i, and / or a second identifier enabling to uniquely determine the identity of the relay 2i transmitting the second message M2i. Each M2i message is picked up by the sensor 3 which determines the time of receipt ti3 by its receiver in local time base. The sensor 3 then forms, for each message Mli followed by a message M2i, a pair (til; ti3) describing the respective arrival times of the first messages Mli and second message M2i in its local time base. Where appropriate, these pairs may be increased to include the identity of the tag li and / or the relay 2i, for example in the form of a quadruplet (li; 2i; til; ti3).
    [0012] According to this embodiment of the invention, the mobile can also embark a position calculation unit 5. The pairs (tif; ti3) or the quadruplets (li; 2i; tif; ti3) are communicated from the sensor 3 to the position calculating unit 5. Thereafter, the generic term taken up will be used to designate these pairs (tif; ti3) or these quadruplets (1i; 2i; til; ti3) or any similar information containing the time measurements. tif arrival and ti3. For each pair of first message M1i followed by a second message M2i received by a sensor 3 from a beacon li via a relay 2i, the position calculation unit 5 knows an estimate of the arrival time ti1 of the first message Mli to the sensor 3, an estimate of the arrival time ti3 of the second message M2i to the sensor 3, the position of the beacon li, the position of the relay 2i, an estimation of the flight time of the message M1i from 1i to 2i and a estimation of the response time Di of relay 2i. According to this mode of operation, the measurements til and ti3 can therefore be related to two unknowns: d (1i, 3) the distance from the beacon 1i to the sensor 3, and d (2i, 3) the distance from the relay 2i to the sensor 3 If we consider the measurements associated with several beacons for the same sensor 3 and the same relay 2i, the position calculation unit 5 can then determine an estimate of the position of the mobile associated with the sensor 3. For example, and without losing in genericity, we present here the case shown in Figure 2 of the location in the plane of a mobile 15 associated with a sensor 3 of unknown position (x; y) from three position markers 11 (xl; yl), 12 position (x2; y2) and 13 position (x3; y3) and a single position relay (0; 0) in any orthonormal frame. The beacon 11 transmits a message M11 received at a time t11 by the sensor 3 and relayed by the relay 2 in a message M21 and received at a time t13 by the sensor 3. Similarly, the beacon 12 transmits an M12 message received to a time t21 by the sensor 3 and relayed by the relay 2 in a message M22 received by the sensor 3 at a time t23. Finally, the beacon 13 transmits a message M31 received at a time t31 by the sensor 3 and relayed by the relay 2 into a message M32 received by the sensor 3 at a time t33. For simplicity in the calculations, we will name the tags 11, 12 and 13 respectively Bi, B2 and B3. Relay 2 will be named R and the sensor labeled 3 in Figure 2 will be called C. The distance d (Bi, R), for i integer between 1 and 3, between Bi and R is assumed to be known. Similarly, the flight time TgiR between Bi and R is known for example by construction or by empirical measurement. Then: d (Bi, = C. TE .R We then have: ci (B1, R) d (R, C) t13-t11 = c + D + cd (132, R) d (R, C) t23 - t21 = + D + ccd (B3, R) d (R, C) t33- t31 = + D + ccd (B1, C) d (132, C) d (B3, C) - C. At t1 - c. passing in quadratic form, it comes: + y2 - = c At2, + x- + y y2 = c At3 2 + y 2 1) 2 + (y-yl) c. Atl - 12) 2 + (y-y) c. At2 r3) 2 +) 2 r. At3 - X = c.3.t1 2.1x 4-372x. x2 + y.2.y2 -x2 -y, 22 = c.At. - vs. At2 c. At2 x. 2. x3 + y. 2. 13 -x32 - o = c. Ati. - vs. At3 + c. At3 x. 2. xl + y. 2. yl - x 2 c. Atl x. 2. x- 2. y1 - 2 c. At -1 it follows that (x; y) is a solution of: One can also derive in a similar way a system of equations for a greater number of degrees of freedom or for a larger number of beacons. 10 2v2 2y1 kc. cdt1) 2y3 2y1 ti c. At3 c. , -> 2 1,, 2 c. 1t1 - c. At2 c. A tl - c. At3 c. At2 c. At1 x32 + y32 x12 c. z1i3 c. Ati 2x1 .3.1'2 c. Ati. 2x3 2x1 c. At3 c. Atl Similarly, we can generalize the previous example in the case of the re-transmission of messages of one or more tags by several relays. It is then easy to solve such a system of equations by analytical methods or by more robust numerical methods. In a variant of the present embodiment of the invention, it is possible for example to replace the preceding linearization by the use of an EKF or UKF type Kalman filter capable of solving a nonlinear equation system. In another embodiment of the invention, we are interested in the location of an object by its environment. For example, and without losing in generality, the aim here is to locate a pallet in a warehouse in order to know its location on a plane. Each object to locate has a tag. For example, the tag is in the form of an active tag attached to the object of interest. Each l tag periodically sends a first message Mli. Each beacon therefore includes, in addition to its ultra wide band pulse radio transmitter, a local time base. For example, a li tag may be configured to emit a Mi message twice a second. In this embodiment, the message Mi comprises, in addition to the unique marker making it possible to precisely determine the time of reception, a data zone containing an identifier making it possible to determine in a unique manner the identity of the tag li and information allowing to determine the instant of transmission of the message Mi in a local time base at li. The coverage area, for example the warehouse in the illustration given above, is equipped with at least one relay 2i of known position. More precisely, as many relays as necessary are installed to enable each beacon li to be within communication range of at least as many relays as degrees of freedom to be solved in the location. For example, in the case of a location in the plane, it will be ensured that at any possible position a beacon ii is able to communicate with at least two relays.
    [0013] The messages Mli from the tags li associated with the objects to be located are transformed into messages M2i by the relays 2i as described above. For example, the messages M2i comprise, in addition to the unique position marker, a first piece of information enabling the identification of the tag li, a second piece of information making it possible to determine the identity of the relay 2i, a third piece of information making it possible to determine the instant t0 d transmitting the first message Mli in the local time base to the tag li, and a fourth piece of information making it possible to determine the delay Di applied by the relay 2i for the retransmission of the message M1i in the message M2i. The coverage area is also equipped with at least one access point P of supposedly known position. Each access point P comprises at least one sensor 3. More particularly, it will install as many access points P or 3i sensors as necessary so that in any possible position a beacon Bi can communicate with at least one sensor 3i. More precisely, the position of the relays 2i and sensors 3i is chosen such that when a beacon li can communicate with a relay 2i and a sensor 3i, then a communication can also be established between 2i and 3i. According to this mode of operation, the flight time of a message M2i from a relay 2i to a sensor 3i is assumed to be known. For example, this flight time can be determined deterministically from the distance of 2i to 3i or empirically.
    [0014] In this embodiment, the access points P are interconnected by any means of communication, for example by a computer network of Ethernet or Wi-Fi type. Still according to this embodiment, the system has at least one position calculation unit 5, for example in the form of a computer server connected to the network of access points P. In accordance with the invention, each sensor 3i notes, upon the successive receipt of a first message Mli and a second message .6 M2i, the respective arrival times til and ti3 of the first message Mli and the second message M2i. For each pair of messages Mli followed by an associated message M2i, each sensor 3i transmits via the access point P on which it depends a statement to the position calculation unit 5. Such a record includes for example among others, an identifier making it possible to determine in a unique manner the identity of the sensor 3i, the information making it possible to determine the time ti0 for sending the message Mli in the time base local to the tag li, the respective arrival times respective tif and ti3 messages Mli and M2i to the sensor 3i in its own time base, the identification of the tag li having transmitted the first message Mli and that of the relay 2i having transmitted the second message M2i in response to the first message Mli. The position calculation unit 5 collects the different readings transmitted by the access points P. In one possible embodiment, the position of each beacon li is determined using an EKF type Kalman filter or UKF associated with the li tag. The readings received from the access points P are grouped by tag identifier li and ordered by increasing time ti0. For a message Mli transmitted to ti0 given, we have an estimate of the time tif reception of the first message Mli by a sensor 3i of identity and known position, the identity and the position of a relay 2i having transmitted a message M2i associated, the moment of receipt ti3 of the M2i message by the same sensor 3i, the delay Di of retransmission of the message M2i by 2i, the flight time of 2i to 3i. The Kalman filter can then be updated to estimate the position of the beacon li and thus of the associated mobile at time t 10 in its own time base. The preceding embodiments can be generalized to the case of a system that includes at least one known position beacon and at least one known position sensor. The system would also include one or more relays whose position is to be determined.
    权利要求:
    Claims (3)
    [0001]
    REVENDICATIONS1. System for locating a mobile element, characterized in that it comprises: at least one beacon (1, 11, 12, 13) transmitting radio messages; at least one relay (2, 21, 22) capable of transmitting a second message with a known delay following receipt of a first message from said at least one beacon (1, 11, 12, 13); at least one sensor (3) capable of measuring in a local time base the arrival times of the messages coming from said at least one beacon (1, 11, 12, 13) and at least one relay (2, 21, 22) ; at least one position calculator (5), which can be central or on board with each sensor, capable of determining the position of a mobile element from the arrival time information; the mobile element can be a beacon (1, 11, 12, 13), a relay (2, 21, 22) or a sensor (3).
    [0002]
    2. System for locating a mobile element according to claim 1 characterized in that it comprises a central sequencer (4) having a radio transmitter and each beacon (1, 11, 12, 13) contains a radio receiver adapted to receive messages transmitted by said central sequencer.
    [0003]
    3. Location of a mobile element system according to one of claims 1 or 2, characterized in that it comprises several sensors (3) all connected by a telecommunication means to a position calculator. of a mobile element according to claim 3 characterized in that the telecommunication means is of the wired or wireless Ethernet type and that the position calculator is a computer server. 5. System for locating a mobile element according to one of claims 1 to 4 characterized in that the beacon, the relay and the sensor use radio transmitters and receivers of the pulse type Ultra Wide Band. 6. A method of locating a mobile element characterized in that it comprises steps of: (a) transmitting by at least one beacon of a message M1; (b) Reception of said message M1 by at least one relay and transmission of a message M2 with a known delay with respect to receipt of the message M1 by said at least one relay; (c) Receiving said messages M1 and M2 by at least one sensor and (d) determining the position of a mobile carrying the beacon, relay or sensor, from the arrival time information. 7. A method of locating a mobile element according to claim 6, characterized in that the message M1 emitted in step (a) comprises a position marker identifying the transmission time in the time base of the beacon and / or the instant of reception of the message in the time base 25 of the relay or the sensor. 8. A method of locating a mobile element according to one of claims 6 and 7 characterized in that the M2 message issued in step (b) comprises a position marker identifying the instant of emission in the base time of the relay and / or the instant of reception of the message in the time base of the sensor and / or the delay between the instant of reception of the message M1 and the instant of emission of the message M2 in the proper timebase of the relay .. A method of locating a mobile element according to claim 6 characterized in that the message M1 issued in step (a) by a tag has in its data the identification of the tag. 10. A method of locating a mobile element according to one of claims 6 or 7 characterized in that the M2 message issued in step (b) by a relay has in its data the identification of the relay and that of the tag that triggered the retransmission. 11. A method of locating a mobile element according to one of claims 6 to 8 characterized in that the delay between the receipt of a message M1 issued in step (a) and the emission of a message M2 transmitted in step (b) by a relay is at least equal to the processing time of messages M1 or M2, and as much as possible of the same order of magnitude as the processing time of messages M1 or M2. Radio message transmitting beacon for implementing the system according to one of Claims 1 to 5 and / or the method according to one of Claims 6 to 11, characterized in that it transmits periodically a message M1 comprising a position marker identifying a transmission time in a time base of the tag. Radio transmission and reception relay for implementing the system according to one of Claims 1 to 5 and / or the method according to one of Claims 6 to 11, characterized in that it is configured to: - receive a message M1 from a beacon, - send a message M2 comprising in its data the message M1 and having a position marker identifying the time of transmission of the message M2 in a relay timebase the delay between the reception of the message M1 and the sending of the message M2 being known in a certain way in a timebase of the relay. 14. radio message receiving sensor for implementing the system according to one of claims 1 to 5 and / or the method according to one of claims 6 to 11, characterized in that it is configured to: - receive an M1 message transmitted from a beacon and an M2 message sent from a relay, and 10 - measure in a local time base the arrival times of messages from the beacon and / or the relay.
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    同族专利:
    公开号 | 公开日
    US10698074B2|2020-06-30|
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    法律状态:
    2016-01-13| PLFP| Fee payment|Year of fee payment: 3 |
    2017-01-12| PLFP| Fee payment|Year of fee payment: 4 |
    2018-01-12| PLFP| Fee payment|Year of fee payment: 5 |
    2019-12-16| PLFP| Fee payment|Year of fee payment: 7 |
    2020-12-10| PLFP| Fee payment|Year of fee payment: 8 |
    2021-12-14| PLFP| Fee payment|Year of fee payment: 9 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1400017A|FR3016220B1|2014-01-06|2014-01-06|SYSTEM AND METHOD FOR LOCATING AN OBJECT|FR1400017A| FR3016220B1|2014-01-06|2014-01-06|SYSTEM AND METHOD FOR LOCATING AN OBJECT|
    PCT/EP2015/050105| WO2015101674A1|2014-01-06|2015-01-06|System and method for locating an object|
    EP15700847.5A| EP3092507A1|2014-01-06|2015-01-06|System and method for locating an object|
    US15/109,518| US10698074B2|2014-01-06|2015-01-06|System and method for locating an object|
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