ELECTRONIC DEVICE FOR LOCALIZATION CLOSE TO A GROUND OBJECT, AND METHOD FOR LOCATING SUCH OBJECT

专利摘要:
A method of locating a device E relative to a device P, at least one of the devices E or P having an inertial unit and each of the devices E and P having a transmitter - receiver module, said method comprising the steps of: (i) the devices E and P are initialized by their synchronization with respect to the terrestrial magnetic north; (ii) at a time tn, the device E receives from the device P an RSSI measurement, and the set of possible positions of the device E with respect to P in the metric space of the RSSI measurement is determined; (iii) at the moment tn + 1 the device P receives from the device E at least one information on the displacement of the device E and / or the device P, namely at least the direction as well as the distance traveled for the interval [ tn tn + 1]; (iv) transforming said distance into the "RSSI domain" and determining a set of positions in the metric space of the RSSI measurement of the device E with respect to the device P; (v) receives a new RSSI measurement at time tn + i and determines a set of positions of E with respect to P at time tn + 1; (vi) determining the relationship between the positions estimated in step (iv) and the determined position (s) of the device E at time tn + 1 from step (v); (vii) determining whether the new position or positions calculated in step (vi) are plausible, possible or likely with respect to the positions determined at the previous instants, and then determining the position of the device E with respect to the device P.
公开号:FR3030053A1
申请号:FR1551137
申请日:2015-02-12
公开日:2016-06-17
发明作者:Arnaud Roquel
申请人:Arnaud Roquel；
IPC主号:

专利说明:

[0001] BACKGROUND OF THE INVENTION The invention relates to the field of wireless electronic devices for locating an earth object in a near radius, and more particularly an object in permanent or intermittent motion which carries a specific device. The invention relates more specifically to a device and method for locating the wearer of a specific electronic device, in an open or closed space (such as: outside, shopping center, stadium, leisure center) from a second device connected to the first by a data link. The invention also relates to methods for determining the exact coordinates of the moving wearer in a Cartesian plane centered on the second device which may itself be in motion. State of the art There are known technologies for localization such as satellite systems (GPS, GLONASS), terrestrial GSM communication networks, local networks (Bluetooth, Wfi, Zigbee, ULB, Infra-Red, etc.). still the inertial units. Device localization techniques using time-based methods (known to those skilled in the art as Time Of Flight (TOF) / Time Of Arrival (TOA), Time Difference Of Arrival (TDOA) are also known. )), on an angular measurement of the arrival of the wave (Angle Of Arrival (AOA)), on the analysis of the power of the signal received from an antenna by RSSI measurement (RSSI = Received Signal Strength Indicator), the phase shift or the known zone identification.
[0002] The material required for the methods mentioned, such as the use of bitters, is also known. A bitter is a known reference material in position for exchanging a set of information with the remote device. The number of these bitters depends on the location technique used as well as the context of use.
[0003] Triangulation localization is known, which exploits information from three landmarks whose cognitive independence is assumed. Triangulation uses only angle measurements (AOA) between bitter and received signals.
[0004] Trilateration localization is also known, which requires, like triangulation, three sources of information whose cognitive independence is respected, but which uses only distance measurements. This measurement of distance can be implemented in various ways, such as by methods of radio routing, identification of known areas, or methods known as fingerprinting. The implementation of these methods requires a learning that can make their exploitation constraining. The estimation by the flight time techniques mentioned above (TOA / TOF, TDOA) use the signal velocity as well as the travel time between the transmission and the reception of the signal. This solution is subject to the context of use and must take into account the type of signal as well as the signal propagation medium; an implementation is described in document WO 2006/072697 (France Telecom). Some technologies are more suited to these methods than others. For example, the ULB (IEEE 802.15.4a) based on the interpretation of TDOA type measurements in indoor environments offers sufficient accuracy but requires the establishment of a substantial infrastructure. The necessary infrastructures for each method are also known, the limits of each, depending on the study environment as well as the constraints related to the needs of the use of the solution. More specifically, there are solutions using different technologies that allow the location of an object. Some solutions use an accelerometer whose information is transmitted by a radio frequency (RF) transmission module.
[0005] Recently, the technology known as "Bluetooth" has been used to allow communication between a "parent" device and a "child" device. GB 2 349 301 discloses the concept of a wireless child monitoring system, equipped with a transmitter which can be placed in a wristband, from a receiver worn by an adult in charge of the surveillance. . US Patent 6,246,376 (Texas Instruments) discloses a Bluetooth communication system between two devices, for detecting the position of one device relative to the other, including in the absence of GPS. The method uses a magnetometer type sensor as an electronic compass. US Patent 6,788,199 discloses a person location system, comprising a transceiver attached to the person to be located and a portable location device. The latter transmits a location signal containing an address code to the transceiver, which transmits a signal back if the code is correct. The locator uses this signal to determine the distance and / or direction of the transceiver from the locator.
[0006] US Pat. No. 6,529,131 describes a Bluetooth communication system between two devices (a "master" device and a "subordinate" device), making it possible to detect the position of one device relative to the other, in particular to monitor a child, using data from a GPS. The method uses a magnetometer type sensor 10 as an electronic compass. The system described in US 2004/0021569 uses gyroscope and accelerometer data to calculate the location of a person, which are transmitted to a master control station, via a communication system without a control station. thread. This system operates in a closed structure where GPS signals are not available. GB 2 391 991 discloses a wireless child monitoring system, comprising a device carried by the parent, and a device carried by the child, the two devices communicating with each other by radio waves. The child device is equipped with an electronic compass that indicates to the child in which direction the parent device is located. US Pat. No. 6,778,902 discloses a personal surveillance and location system which does not depend on a satellite tracking system, but which is based on a complex method of synchronizing a signal transmitted by the monitoring unit to the satellite. the supervised unit. US Pat. No. 7,110,777 discloses a motion tracking system of an object comprising an accelerometer, an external location transceiver, a processing element, and a radio transceiver (RF). The system also includes a mobile monitor that includes a processing element and an RF transceiver. This system can be used in areas where GPS signals are not available.
[0007] US Patent 7,667,646 (Nokia) discloses a system for determining the direction relative to a target from the position of a wireless communication device.
[0008] The document US2008085678 discloses a mobile control system for tracking people, the system comprising: one or more transmit units having a power supply, an RF circuit, and an RF transmitting capacitance within a portable enclosure, a mobile receiving unit having a power supply, an RF receiving circuit, and a user interface, wherein said transmission units transmit RF signals to said receiving unit so that the position of each unit transmission can be identified with respect to said portable reception unit. The RF transmission can be a Bluetooth transmission. Several other documents describe the use of Bluetooth technology to allow communication between a supervisory device and a monitored device, but without using information from a compass, gyroscope, or accelerometer to determine the direction of displacement: these are the documents EP 1 699 183 (Broadcom), DE 102005057578, WO 2010/026566, EP 2,509,343 (Nokia), DE 202013000840.
[0009] US 5,289,163 (Perez) discloses a location system for detecting whether the child is leaving a predetermined perimeter, and for determining the distance and direction in which it is located. Direction determination is based on an antenna array. US 6,344,797 also discloses the use of antennas for localization. Other similar systems based on radiofrequency signal exchange are described in US 5,900,817, US 6,078,260 (Sony) and US 2003 0034894.
[0010] Furthermore, it is known that the location protocols of a transmitter by a power measurement received from the signal of an antenna do not allow, as it is, a sufficiently precise location to estimate the distance in the sensor networks ( see the publication "The relevance of RSSI for localization in sensor networks" by Karel Heurtefeux and Fabrice Valois, published in AlgoTel, May 2012, La Grande Motte, 30 France, <hal-00690748>). An unresolved problem is the precise location (at a typical distance of 100 meters), in a Cartesian plane, of a moving object provided with a specific device from a consumer device (Smartphone type), itself even possibly in movement; this location is done independently of the external networks to which these two devices are connected (VVifi terminal, GPS, GSM, etc.).
[0011] The problem that the present invention aims to solve is to provide a device and method allowing the close localization of an object in permanent or intermittent movement, this close location extending over a radius not exceeding a few hundred meters and involving the determination of the exact coordinates in a Cartesian plane of a first object, which can be in an open (ie outside) or closed (ie in a building) space from a second object, said Cartesian plan. In particular, objects or subjects in permanent or intermittent movement may be a child or a pet or any other animate or inanimate object.
[0012] OBJECTS OF THE INVENTION The object of the invention is to determine the position of a fixed or mobile device with respect to a second device which can be fixed or mobile. More specifically, an object of the invention relates to a device comprising a method for determining absolute coordinates in a Cartesian plane of a remote object from an inertial unit and a communication module. The invention involves the use of two different electronic devices: a device called "remote" that can be "mobile", and which is here called "device E" ("E" as "child"), which is attached to the object whose position is to be determined with respect to a second reference element, a so-called "reference" device, which is here called "device P" ("P" as "parent"), which is carried by the anyone who wishes to determine and monitor the position of the device E with respect to itself. The invention relates to a method for determining absolute coordinates in a Cartesian coordinate system of an object from an inertial unit and a communication module.
[0013] The device E is a specific device, which can be in the form of a small box, which can be incorporated in a bracelet, in a collar, in a key ring or in another object carried by the subject to be monitored. . The device E comprises standard electronic components, and a specifically configured microprocessor.
[0014] More particularly, the device E comprises in particular an inertial unit including an accelerometer, a gyrometer and a magnetometer, as well as a wireless communication module.
[0015] The wireless communication module can use the Bluetooth Low Energy (BLE) technology that is retained because it is available on various consumer devices and consumes little energy. Other UHF radio waves (Ultra High Frequencies) may be used, such as GSM (which requires an access provider), Wifi (which consumes more power) or NFC technology. In an advantageous embodiment, the device P is a device of "Smartphone" type with a specific application (i.e. software).
[0016] In another embodiment, which can be combined with all the foregoing, a device P monitors a plurality of devices E. The display of the position on the device P preferably comprises an arrow which indicates the direction and an indication of the distance; this display can be integrated into a smartphone application. The invention also relates to the use of the device and method according to the invention for locating a person carrying said device. More precisely, this location is possible, within an operating perimeter, outside (field, forest, open space, stadium, leisure park, etc.) as inside (shopping center, building , basement), and the person carrying the device may be a child, an adult, a senior, a person engaged in a risky occupation, including a firefighter, or other animate or inanimate object.
[0017] Said operating perimeter is typically between 5 m and 200 m depending on the mode of communication. Thus, a first object of the invention is a method of locating in a Cartesian plane at least one device E with respect to a device P, knowing that at least one of the devices E or P has an inertial unit. , and knowing that each of the E and P devices is provided with a transmitter-receiver type communication module, said method comprising the following steps: (i) The E and P devices are initialized by their angle synchronization with respect to the north terrestrial magnetic; (Ii) At a time tn, the device E receives from the device P, or the device P receives from the device E an RSSI measurement, and the set of possible positions of the device E with respect to P in the metric space is determined. the RSSI measure; (Iii) At time tn + 1 the device P receives from the device E, or the device E receives from the device P, at least one information on the movement of the device E and / or the device P, namely at least the direction as well as the distance traveled for the interval [tn tn-o]; (Iv) transforming said distance into the "RSSI domain" and determining a set of positions in the metric space of the RSSI measurement of the device E with respect to the device P; (v) We receive a new RSSI measurement at time tn + 1 and we determine a set of positions of E with respect to P at time tn + 1; (Vi) determining the relationship between the positions estimated in step (iv) and the determined position (s) of the device E at time tn + 1 from step (v); (vii) It is determined whether the new position (s) calculated in step (vi) are plausible, possible, or likely relative to the positions determined at the previous instants, and then the position of the device E is determined relative to the device P, knowing that - step (i) is necessary in the case where the device E is provided with an inertial unit and moves during the execution of the method, and is optional if the device E does not move during the execution of the method, and the device P must be provided with an inertial unit so that its possible displacement can be taken into account during the execution of the process. In a more general way: if P is mobile and E stationary, P needs an inertial unit, but not E. If E is mobile and P stationary, E needs an inertial station, but not P. If P and E are mobile, both need an inertial unit each. The need for synchronization (step (i)) occurs if the two devices move relative to each other. According to the invention, the position of the device 30 E with respect to the device P is displayed on a display screen of the device P, preferably by a display of the direction and the distance. In one embodiment, in step (vii), the polar coordinates of E with respect to P are compared between tn + 1 and tn and / or tn_, (with mk1) and the most probable position is determined. at tn + 1, preferably by correlating these angular differences to the calculated distance between E and P at time tn.
[0018] The initialization at the instant ti is advantageously carried out by a user of the device P, at the first implementation of the measurement cycle, or is triggered automatically by a triggering event, said triggering event advantageously being the detection a movement of the device P or the device E by their respective 5 inertial units. According to one embodiment the RSSI measurement in steps (ii) and (y) is performed by the device E or by the device P.
[0019] Said communication module may be a Bluetooth type module. The method according to the invention can be executed with a plurality of devices E, each of which transmits its own identifier and / or on a different frequency and / or with a different communication module and / or with a different communication standard.
[0020] Another object of the invention is a device comprising an inertial unit, a transceiver and a microprocessor, said microprocessor being configured to execute the method of locating the device E according to the invention.
[0021] Yet another object of the invention is the use of the method according to the invention or the device according to the invention for locating a carrier of the device E with respect to the device P, said carrier being selected from the group formed by: child; an adult ; a person under supervision in a care, special education or retirement facility; a pet ; a worker from a rescue service; an avalanche or fall victim in a crevasse. DESCRIPTION OF THE FIGURES FIGS. 1 to 12 illustrate embodiments of the invention.
[0022] FIGS. 1a, 1b and 1c each represent an embodiment of the system according to the invention formed by the devices E and device P and the method according to the invention, which can be distributed in different ways on the two devices. FIG. 2a represents the measurement resulting from the BLE module, FIG. 2b represents the measurements coming from the inertial unit with respect to its reference frame.
[0023] Figure 3 represents a simplified illustration of the evolution of the RSSI information provided by the BLE.
[0024] FIG. 4 represents the method for determining absolute coordinates in a Cartesian plane of an object in motion from an inertial unit and a communication module. FIG. 5 shows an application of the Friis formula which illustrates the theoretical value of RSSI as a function of the distance between transmitter and receiver and for two values of the coefficient n. Figure 6 shows the RSSI error committed if the calculation is made with n = 3 instead of n = 2. Figure 7 shows the RSSI for a displacement of 1 meter as a function of the absolute value of the RSSI. Figure 8 shows the error on the RSSIs according to the absolute value of RSSI. Figure 9 shows the error on the RSSIs as a function of the displacement Ad in meters. Figure 10 illustrates the projection of a coordinate shift (Od, angle) in the converted Cartesian referential to a coordinate shift (ARSSI, angle) in the RSSI domain. FIG. 11 illustrates a method for determining the distance between the devices E and P. Situation where P is moving towards E or E is going towards P. FIG. 12 illustrates the measurement of the RSSI made by the device P which detects the signal emitted by the device E (dashed arrows), and the flow of information (black arrow) on the displacement of the device E transmitted by the device E to the device P, this information coming from the three sensors (A, M, G) of the plant Inertia of the device E. Description 25 1. Definitions The term "device E" refers to the material (device) held by the object or by the subject (eg by the person) whose position is to be determined: the letter E stands for here "child". The device E incorporates a set of sensors necessary for its location and a transmitter / receiver. The term "device P" here means the material held by the supervisor (the letter P here means "parent") making it possible to estimate the position of the device E with respect to itself. The device P incorporates a set of sensors necessary for the location of E as well as a transmitter / receiver.
[0025] Here "accelerometer" is understood to mean a sensor measuring the linear acceleration. In the static state we will only perceive the gravitational acceleration. With regard to the term "linear acceleration to motion", it is noted that the accelerometer provides the longitudinal acceleration of a potential motion body. The linear acceleration to the movement is obtained by removing the gravity perceived by the accelerometer: this amounts to taking into account only the acceleration specific to the movement. Here, the term "magnetometer" refers to a sensor measuring the surrounding magnetic field. In the context of the present invention, after a calibration step, the magnetometer is used to perceive the Earth's magnetic field (terrestrial magnetic north) and then the geographic north: it is a compass-type use. Here, the term "gyrometer" means a sensor measuring the angular velocity and deriving the rotational velocity (tangential to a movement). In the context of the present invention, the gyro is used to complete the orientation calculation of each device. The term "inertial unit" here means a set of sensors making it possible to determine the relative displacement in each instant. In the context of the present invention, it comprises an accelerometer, a gyrometer and a magnetometer. All of this information makes it possible to calculate a pair "distance, angle" (polar coordinate), description of the displacement in an inertial reference frame. The term "RSSI" (abbreviation of the English word "Received Signal Strength Indication") is used to measure the power of the signal received on an antenna; the signal can be a Bluetooth signal. In the context of the present invention, the RSSI is used as a distance in its own metric space or as a separation measure between the transmitter and the receiver. The attenuation of the signal received on an antenna is expressed on a logarithmic scale (generally in decibels). Therefore, the distance derived from the attenuation of the RSSI ("RSSI distance") is not directly related to the distance expressed in SI metric scale. Here, the term "filter" is understood to mean a process that reduces the imperfections of the signal (such as its noise) by focusing on the extraction of useful data. By "integration" is meant herein a mathematical operation for transforming the acceleration information into velocity information. "BLE" (abbreviation for "Bluetooth Low Energy") is a communication standard based on the 2.4 GHz ISM frequency band (Bluetooth) for the exchange of information with one or more remote hosts.
[0026] The term "orientation correction" is understood here to mean that each device E can determine (after treatment) its orientation in a three-dimensional orthonormal frame, here defined by geographic north and gravity. The correction is necessary here in order to correlate the device reference E and the device P.
[0027] Here we mean by metric space a set within which a metric defines the notion of distance. This distance will make it possible to interpret the distance between the elements of the set. The metric space of the RSSI measurement is expressed in dBm (decibels relative to a power of one milliwatt) and the metric space of a measurement of a displacement, as can be estimated by an inertial unit, is expressed in meters (basic unit length of the SI system). Here we mean by Friis equation, the telecommunications formula to obtain an order of magnitude of the radio power received by an antenna at a distance from the transmitter.
[0028] The term "aberrant" is defined here as any measurement, estimation or calculation contrary to the common sense of the original sensors or processes in the context of use. 2. DETAILED DESCRIPTION A) OBJECTS OF THE INVENTION The object of the invention is to locate a remote object E with respect to a reference P. More specifically, it aims at locating a device E by a reference device P. It takes into account In particular, the following aims: - The detection of the device E by the device P (for example the monitoring of the child by the parent) must be effective whatever the environment of use (inside, outside); - The use must not require specific additional equipment other than a box (device E) worn by the person being monitored, the device P can be a versatile consumer device type Smartphone, equipped with a program (application) specific. The system is independent of any network other than the one used for the dialogue between E and P; The accuracy of the estimate of the direction and the distance of the remote device must be sufficiently precise for the purpose pursued, ie to find E. The dependence of the process on remote localization techniques (e.g. : satellite like GPS, or GSM mobile network) for the device E can not be considered because of the inability to receive a sufficient signal in certain enclosed environments (building, commercial center), or geographical area. The so-called triangulation or trilateration methods are not conceivable because they require third-party fixed references (bitter). The pedestrian navigation from the information of the inertial unit does not make it possible to determine the distance and the direction with sufficient precision because of its deterioration in time. The so-called intelligent cooperation methods (combination of different methods) make it possible to circumvent certain drawbacks peculiar to each technique (for example the combination of pedestrian navigation and GPS), but do not agree with the aims mentioned above. . Note that the purpose of the invention is not the geolocation of the device E with respect to the terrestrial reference (terrestrial geographical coordinates); this geolocation of the device E is however possible with reference to the geolocation coordinates of the device P, for example if the device P is a smartphone with a geolocation satellite module. The objects of the invention are achieved by a method which exploits an indication of the intensity of the received signal (perception of attenuation between an emitted signal and a received signal) in relation to displacement data from a central inertia of one or more devices (E and P). B) General presentation of the invention According to the invention, the device E comprises an inertial unit, a microprocessor and a transmitter / receiver using radio waves (radio waves). Advantageously, said transceiver operates in the so-called ISM frequency bands (abbreviation of "Industrial, Scientific and Medical"). A wireless communication standard that can be used in the context of the present invention is, for example, the Bluetooth standard (2.4 GHz ISM band). The device P also includes an inertial unit and a transmitter / receiver compatible with the transmitter / receiver of the device E (preferably a Bluetooth system). Figure 1 shows the physical architecture of the system, process steps and information flows between the E and P devices. The method is based on four raw information each from a physical measurement, namely the measurement from the accelerometer, the gyrometer, the magnetometer and the measurement of the RSSI. Thus, a maximum of four pieces of raw information can pass between the device E and the device P. As will be explained below, however, it is preferred to reduce the information flow between the two devices. A detailed description of this embodiment will be given below in section J.
[0029] According to embodiments of the invention shown in the diagrams of FIG. 1, the torque (distance, angle) relative to the displacement of the device E is calculated by the microprocessor of the latter. Thus at most three pieces of information will only have to be transferred from the device E to the device P, namely: the distance, the angle, and the RSSI.
[0030] FIG. 1 has described an embodiment for the physical architecture of the system according to the invention, distributed on the device E (mobile or fixed) and the device P (here a Smartphone). Each of the two devices comprises an inertial unit. Each of the devices P and 10 E processes the data A, M, G that it measures. Both devices communicate here with a BLE data link. The calculation of the position of E with respect to P is performed by the device E and transmitted to P for display. In an advantageous embodiment of the invention, the method is executed so as to process a maximum amount of information in the microprocessor of the device E to minimize the amount of data to be transferred to the device P. Minimizing the amount of data to be transferred also decreases the power consumption of the device E. The device P comprises the means for displaying the position of the device E; these means advantageously comprise a display screen. The device E or P also comprises a memory unit. The example given in Figure la for the distribution of tasks between the devices E and P meets this objective, but it is possible to redistribute the tasks between the two devices differently. Figures 1b and 1c show other possibilities of distribution.
[0031] FIG. 1b shows an embodiment in which the device E measures and interprets the data coming from its own inertial unit, receives from the device P the information relating to the movement of P and performs all the calculations except the calculation of the aberrations. . The device P measures and interprets the data coming from its own inertial unit 30 and transmits the information relating to its movement to E. After having received from E the estimate of the position of E, the device P checks the possible aberrations of the position of E, then display the result on its screen. FIG. 1c shows an embodiment in which the device E measures and interprets the data coming from its own inertial unit and then transmits this information to P. P measures and interprets the data coming from its own inertial unit, estimates the position of E in relation to itself, calculates the aberrations and determines the position of E with respect to P and displays this result on its screen.
[0032] The method according to the invention is based on the association (intelligent cooperation) of two pieces of information, namely the RSSI measurement and the E and P displacement measurements making it possible to estimate the distance and the angle between E and P. between two instants. This is illustrated in FIG. 2. FIG. 2a represents an RSSI measurement, the cross representing the reference, ie the reference frame of the device P), the arrow representing the power of the signal received on the antenna, the circle representing the possible location of the device E.
[0033] FIG. 2b represents a measurement of the displacement of the device E obtained by means of an inertial unit, which comprises a directional component (derived from the magnetometer), an acceleration component (derived from the accelerometer) and an angular velocity (derived from the gyrometer ).
[0034] Figure 3 shows the location of the device E at time tn, whose distance from P is evaluated in the metric space of the RSSI measurement. Considering only this metric, the device E can be located anywhere on the radius circle "RSSI". When moving the device E between tn and tn + 1, the circle of radius RSSI moves in the direction of movement of the device E. According to the invention, a circle around the device P and of radius RSSI on which is located in a sure way the device E (to the uncertainty of the measure). The reasoning of the process is done by remaining in the metric space of the RSSI measure 25 "the RSSI domain". As long as none of the devices E and P device move, we can not obtain angular information or distance with sufficient accuracy. As soon as the device E and / or the device P move, this displacement will be taken into consideration after transformation into the "RSSI domain". The displacement determined from the accelerometer and the time spent as well as the direction, with respect to the reference P, is used from the combination of an accelerometer / gyrometer data pair or an accelerometer / torque pair. magnetometer (preferred) or all three at the same time (this depends on the surrounding magnetic context: the presence of a local magnetic field can disturb the measurement of the magnetometer).
[0035] In the context of the use of the inertial unit, the method according to the invention makes it possible to determine the displacement of the remote device E or P at each instant. When it is carried by a human, as in the context of pedestrian navigation, this last consists in interpreting the human displacement as a "step" and in determining a distance and a direction at each of these steps. For an E or P device in motion, the accelerometer measures the longitudinal acceleration felt in square meters per second (m 2 / s), the gyrometer measures the angular velocity (0 gyro / s) in radians per second and the magnetometer measures the device-specific datum offset angle with magnetic north (0 magn) in radian. Each of these sources of information must be parameterized, filtered, calibrated, corrected in time. Generally, the detection of a step (act of a shock followed by an acceleration) is done with the accelerometer by detecting the peak of acceleration on the axis of gravity, collinear with the sagittal axis of the wearer. . The distance measurement of the displacement can be estimated by different methods from the average distance traveled in one step, knowing the size of the legs, or by integrating the values of the accelerometer multiplied by the time spent. For the latter technique, ZUPT type processes (Zero velocity UPDATE) can make it possible to limit integration errors. Estimating a trajectory by integrating relative motion at each instant can not be envisaged according to the method of the invention. Indeed the wearer of the device E can perform "particular" movements, erratic, which differ from a "normal" movement (for example a "normal" walk). In addition, the imprecision of the sensors can also lead to integration errors. In the context of an RSSI measure (in its own metric space ie: not expressed in meters but in dBm), the use of the Friis equation (which will be explained in greater detail below) allowing to translate the measure RSSI in meter, is difficult to apply in the context of use. According to the invention, the only reliable observable values (to their accuracy of measurement) that are taken into account are the RSSI measurement (and not its interpretation in meters) 30 in a given time t, as well as the data from of each sensor of the inertial unit at the disposal of the devices E and P. According to the invention, from a measurement of the power in reception of a signal received from an antenna in dBm (RSSI measurement), we associate with each potential position of E 35 determined from the RSSI measurement at time tn, the displacement itself estimated from the inertial unit after transformation into the "RSSI domain". The step of estimating the direction is done by minimizing the error between the estimated circle by projecting the displacement of E or P on the positions of E at the instant ti, and the new 3030053 16 measurement of the RSSI, at the present moment "ti, + 1". This will be explained in greater detail below under point C in relation to FIG. 4. The device P can move. It must therefore take into account its movement in the 5 different stages. As will be explained below, the displacement of this reference P provides a solution to the problem of location of the device E in the case where the latter is stationary. After synchronizing the magnetic north of each device, initializing the process at the first instant (FIG. 2a) makes it possible to define the possible positions of E in the RSSI metric space at a time tn. At the second moment (tn + 1) (Figure 3), the displacement of E between ti, and ti, + 1 makes it possible to define the projection of the movement of the subject in the metric space RSSI of the instant tn. At this instant ti, + 1 a new measure of the RSSI is performed and is compared to each estimated position of E after projection. Next, the identification of the position of the subject is carried out by implementing a so-called aberration management or time management calculation. The implementation of the various steps of the method according to the invention in the P and E devices will be described in FIG. DETAILED DESCRIPTION OF THE METHOD ACCORDING TO THE INVENTION Here, we give a general description of the method for determining the exact coordinates of a device E in motion or not in a Cartesian plane centered on P. itself fixed or moving, from an inertial unit available in E and / or P and a communication module according to the invention with reference to FIG. 4. In a first step, if Considering that E can be mobile, the E and P devices are initialized by their angle synchronization with respect to the terrestrial magnetic north. This initialization can be performed by a user of the device P, especially at the first implementation of the measurement cycle. In a preferred embodiment of this step, the initialization is performed automatically by a triggering event. This triggering event may be the detection of a movement of the device P or the device E by the respective inertial units. In a second step, in a moment ti, we receive an RSSI measurement. Depending on the implementation of the method, this measurement can be carried out either by the device E or by the device P. It represents the attenuation of the signal emitted by E or P as a function of the separation distance of said devices and the context of the measure. At a time (eg, tn) and in a non-dispersive medium, the RSSI measurement from P to E is theoretically identical to the measure E to P.
[0036] In a third step, the set of possible positions of the device E with respect to P at time tn is determined from the RSSI measurement of step 2. These positions can be represented by a circle of radius RSSI and center P.
[0037] In a fourth step, depending on the technical configuration adopted: the device P receives at time tn + 1 information on the displacement of the device E calculated over the interval [tn t 1, - or the device E perceives at time tn + 1, information on the displacement of the device P calculated over the interval ri t 1 [tn-n + 1, - 15 After transformation of this distance into the "RSSI domain", it is estimated by projection of positions E to tn, a set of positions in the RSSI metric field of the device E with respect to the device P at tn + 1.
[0038] In a fifth step, a new measure of RSSI is available at time tn + 1. As in the third step, it is determined a set of positions of E with respect to P at time tn + 1. In a sixth step, depending on the implementation, the device P or E determines by an algorithm comparative or other association algorithms, the relationship between the positions estimated in step 4 and the determined positions of the device E at time tn + 1 from step 5. In a seventh step called "management of aberrations ", it is determined whether the new position (s) calculated in step 6 are plausible, possible or plausible with respect to the positions determined at the previous instants. Then, the position of the device E with respect to the device P is estimated. In an advantageous embodiment of this step, the polar coordinates (distance from the center of the reference and the angle) of E with respect to P are compared between tn and tn_1 and / or tn_, (with m> 1). We compare the solutions of tn with those of the previous instants and we determine what is the position at tn. The preferred criterion will be the angular difference between the points at ti, and ti, _1 (expressed in angle 0) correlated to the distance at time tn. Different techniques will be presented below for the management of aberrations. This sequence is illustrated in Figure 4 for a concrete example. Step 1 is represented by Figure 4a, Step 2 by Figure 4b at a time tn. Step 3 is represented by Figure 4c. At this moment, the direction of E can not be determined, E can be anywhere on the circle of radius "RSSI". Step 4 is shown in Figure 4d, where the arrows represent the movement of the device E in the "RSSI domain"; a projection of the circle representing the possible positions of E at time ti is made as a function of the displacement of E between t1 and t'1. The new circle represents the estimate of the positions of E at time t'1. In this case, the displacement of the device E leads to its removal from the device P. Step 5 is represented in FIG. 4e, where new positions of E can be deduced from a new RSSI measurement at the moment tn + 1. They are represented by the outer circle (black line). Step 6 is represented in FIG. 4f where the zone or zones minimizing the error between the circle estimated in step 4 (projection of the instant circle ti, by the interpretation of the displacement of E between ti, and tn + 1) and the circle resulting from the measure RSSI at time t'1 (step 5). When the circles intersect, this area represents the intersection (s) between the two circles. Step 7 is illustrated in Figures 4g and 4h. In one embodiment, the so-called "outlier" positions (illustrated in FIG. 4h) are determined so as to eliminate false measurements (intersection point identified in FIG. 4h); this point of intersection represents the position of the device E. This calculation of the aberrations is necessary in particular when the determination of the position of E (zone (s) of minimization of the error) leads to anomalies. In the theoretical case, the two circles touch at one point, and this point can serve as a reference for the next step. However, as RSSI measures and inertial measurements are, like any physical measure, uncertain and imprecise, it is possible that the two circles do not touch each other, or that they intersect and show two intersections. In these cases (which can also occur when the device P moves), each of these estimated locations (at tn) can be compared to the previous ones (at ti, _, with m k1) to eliminate the least probable location or the least plausible (we can relate this management to a temporal follow-up). In the case where the circles do not touch, we can determine the point which corresponds to the minimum distance between the two circles.
[0039] At the end of step 7, a new cycle starts automatically with step 2; thus the device P can follow in real time the direction of the device E. The time scale (At) between two cycles (i.e. the time interval [ti, tn.1]) can be constant or not. This method can be implemented in various ways, some of which will be described below by way of illustration.
[0040] In a first embodiment, the interval At is fixed. Preferably, it starts at the beginning of a motion detected by P or E. The value of At can be prefixed, for example to one or two seconds. In other embodiments, the interval At is not fixed.
[0041] In a second embodiment, the end of the interval At is defined by the stopping of the movement or by a change of acceleration typically corresponding to the end of a human step.
[0042] In a third embodiment, a fixed At is not chosen but a fixed Ad (ie the distance in meter traveled by the device P and / or the device E during a displacement), as determined from FIG. the inertial unit of the device P or the device E. The value of Ad may be of the order of one meter, but this value is advantageously chosen at a lower value if the distance between the devices P and E is low, and to a higher value if the distance between the devices P and E is higher. Indeed, the attenuation of the signal (interpreted by a value of RSSI) is more noticeable if the devices P and E are close. It is desirable to avoid that between two successive measurements, the difference between the RSSI measurements received is zero or insignificant (knowing that the RSSI measurement is in dBm, that is to say in a logarithmic scale). Note that if both P and E move (potentially at the same time), we compute each of these displacements and then project them onto the circle of initial positions deduced from E (step 2). According to the implementation, the device P or E which performs this calculation will need to know the movements of the two devices; this is described in greater detail below.
[0043] In yet another embodiment, a fixed At but a fixed RSSI (ARSSI) difference between two times is not chosen, sufficiently large to be able to be established with sufficient significance.
[0044] 3030053 20 It is noted that, in general, the lower the At, the more precise the location, but At must be large enough for the RSSI measures to be measurably different between tr, and tn + 1.
[0045] The location of the device E by the device P requires a relative movement between the two devices (a displacement of E or P or both). In a frequent case, it will be the device E that moves (and the device P can be fixed or mobile): for example the parent (carrier of the device P) sitting on a bench monitors his child (carrier of the device E) in A playground. If the device E does not move, it is the displacement of the device P which makes it possible to locate the device E. Taking into account the displacement of the device P assumes that the latter also integrates an inertial unit.
[0046] Figure 4i illustrates this case where the device P moves. At te, the device P moves, the inertial unit of P makes it possible to detect the direction and the distance of this displacement, and this displacement is projected on the positions of E determined at ti, (measure of the RSSI at te). At the end of the displacement of P (or more generally at the end of the interval At, this end being able to be determined, as described above in relation to the displacement of the device in motion, by the end of said displacement), receives a new RSSI measurement (large circle, FIG. 4j) and calculates, as described in step 6 in relation with FIG. 4f, the possible position or positions of the device E with respect to the device P. As indicated in FIG. this comparison sometimes leads to different solutions (depending on the potential inaccuracies), and it is the management of the aberrations by a temporal follow-up (ie the comparison with the previous locations, for example at ti, _1) which makes it possible to decide which position best defined the location of E (as shown in the example of Figure 4k). The method according to the invention can also be applied in the case where the devices P and E move both at the same time.
[0047] D) Implementation of the method according to the invention in the devices P and E The various steps of the method according to the invention can be implemented either in the device P or in the device E, suitably configured.
[0048] Herein we describe in greater detail three embodiments for integrating the different process functions into the P and E devices.
[0049] In a first embodiment, the device E includes all the components necessary for the calculation of the position and the management of the aberrations, namely a microprocessor configured to perform the necessary calculations, a memory allowing the recording data, a communication module, an Inertial Measurement Unit (IMU) and other hardware. In this case, during the study, the device P transmits the information relating to its movements to the device E. The result of the process, namely the estimation of the position of E with respect to P, is transmitted to the device P which will display the result.
[0050] In a second embodiment, the device E includes all the components necessary for calculating the positions, namely a microprocessor configured for performing the necessary calculations, a communication module, an inertial unit (IMU) and other materials. The device P incorporates a memory enabling it to record the polar coordinates at each instant of the position of E with respect to itself. In this case, during the execution of the method according to the invention, the device P transmits the information relating to its movements to the device E. The result is transmitted to the device P, validated by the aberration management step and displayed. In a third embodiment, the device E simply includes the components necessary for the measurement and calculation of its relative displacement to itself, namely a microprocessor adapted to the calculation, a communication module, an inertial unit (IMU ) and other materials. The device P will incorporate a memory enabling it to record the polar coordinates of the positions of E at each instant, as well as a microprocessor enabling it to perform the calculation of the position. The device E 25 transmits the estimate of its displacement to the device P which implements the other steps of the method, carries out the process and estimates the polar coordinates of the position of the device E with respect to itself (P), manages the aberrations and displays the result.
[0051] The method according to the invention can be executed with a plurality of devices E, each of which transmits its own identifier and / or a different frequency. This allows a device P to monitor multiple devices E at the same time.
[0052] 35 E) Description of the use of the RSSI measure We give here a general description of the process using the RSSI measurement interpretation of the attenuation of the signal received by an antenna.
[0053] The use of the solution imposes that the method of locating a device E with respect to P is independent of the external networks and reduced to only communications between P and E or between E and P. Thus the conventional methods of triangulation, trilateration and 5 other processes using third-party materials or recognition of the study environment (recognition of the magnetic or radioelectric field, fingerprinting methods) can not be envisaged for the method according to the invention. In addition, the solution must be able to operate in an enclosed environment or not, on a field close to a few hundred meters. This reduces the usable techniques to radio waves. In the context of the use of UHF (Ultra High Frequency) radio waves in areas such as GSM, Bluetooth, Wifi, GPRS, EDGE, UMTS, GPS (etc.), the frequency f used is in the range. 300 MHz f 3 GHz. The wavelength λ (signal period) is in the range 1 m to 0.20 m. In the vacuum or in the air, the signal propagates at the speed of light (300 km / s) and it will be almost impossible for a mass-market material to estimate a distance of a few tens of meters by a measure of time type of flight TOF, TOA or TDOA (this approach is usable for a GPS type signal, given the great distance that separates the earth from the satellites). Apart from the solutions of the inertial center type, the inter-device measurements (E and P) can, in the implementation chosen, be carried out only by analysis of a measurement reflecting the transmitter / receiver power ratio.
[0054] The method according to the invention uses an interpretation estimate of the attenuation of the power ratio of the transmitted signal with respect to the received signal; this occurs when the power of the signal received on the antenna attenuates or increases. There are different rules for determining the distance from this measurement.
[0055] It is known that the RSSI (Received Signal Strength Indicator) is a measurement in dBm representing a factor of ten of the logarithm of the ratio of the power received and the power emitted. Thus theoretically, the received power is inversely proportional to the square of the distance.
[0056] The Friis transform is an equation for transforming an RSSI measurement into a distance in meters from a set of variables specific to the transmitter and receiver systems. This distance is really the analogy of the distance separating the latter if and only if the signal travels a direct path (a straight line) between the two elements (transmitter / receiver). This estimate is based on the transmitted power, the gain of the two antennas, the wavelength used as well as the distance separating the transmitter from the receiver: 5 Pr (dBm) = - 20 * log (41-r / λ) - 10 * n * log (d) + Gt + Gr + Pt (dBm) where: - Pr, Pt represent the transmit and receive power of the signal in dBm; - A corresponds to the wavelength of the transmitted signal; n represents the signal loss factor (called the "path loss exponent"): in a free space, the power is supposed to decrease with distance by a relation inverse to the square (n = 2); - Gt, Gr represent the gains of the transmit and receive antennas. - d is the distance between the transmitter and the receiver.
[0057] The Friis equation can be formulated so as to calculate the distance between the transmitter and the receiver. log (d) = (Pr (dBm) -K) / (-10 * n) In (d) / In (10) = (-Pr (dBm) + K) / (10 * n) d = expOn (10) ) * [(-Pr (dBm) + K) / (10 * n)]) d = 10 A [(-Pr (dBm) + K) / (10 * n)] where K represents a constant relative to the different gains and power. "Exp" the exponential function and "A" the exponent function.
[0058] FIG. 5 illustrates the theoretical value of Pr or the RSSI measurement as a function of the distance in meters between the transmitter and the receiver (for a simpler observation, the figure opposite to the RSSI values) is shown. A value of K is set at -45dBm (measurement of the RSSI at 1 meter). It is observed that the coefficient n ("path loss exponent") strongly influences the values of the distance evaluated from the RSSI measurement. Most often, the values of n and K are estimated empirically. They must be recalculated for each device and "n" must be updated when the environment changes (eg, location, humidity, etc.).
[0059] The distance measurement between two devices by using only the RSSI measurement is mentioned in the literature but few technical solutions use this method. In the case of indoor operation, the interpretation of the distance using the RSSI 3030053 24 is even more difficult because of the possible rebounds of the signal on the different walls existing in this environment. The inventor realized that it is unlikely that there is a solution for estimating distance and direction directly from an RSSI processing for the following reasons: - The fact of not being able to predict the presence of interfering elements with the signal sent as a person / obstacle in the path of the signal received by the receiver. This causes attenuation of the power of the signal received by the antenna. - The more the distance increases, the more the reliability of the calculation by interpretation of the RSSI decreases. The causes are the reflection of the transmitted signal, the loss of power by the environmental context, etc. - The orientation of the "device" and its position on the carrier may change, which makes the estimation of the parameters of the Friis equation even more difficult (in practice, the emission cone may vary depending on the orientation of the antenna and the electronic design of the device may have an influence on the directivity of the latter).
[0060] Considering that the medium of the study can vary, it can be seen that none of the methods according to the state of the art make it possible to calculate with sufficient accuracy the distance between the transmitter and the receiver. It is observed that an estimation error of the coefficient n ("path loss exponent") implies an error in calculating the increasing distance with the separation distance between transmitter and receiver.
[0061] For example, consider K = -45 and n = 2. Figure 6 shows the RSSI error committed if one performs the calculation with a coefficient n = 3 instead of n = 2. The error is expressed as the absolute value of the difference of the RSSI values for n = 2 and n = 3. It is observed that the greater the distance between transmitter and receiver, the more the error increases.
[0062] Since the coefficient n ("path loss exponent") is a variable that is difficult to master, it is necessary to find a judicious compromise that makes it possible to associate the RSSI measure with the estimate of the displacement resulting from each of the inertial units. For this, the method according to the invention solves the location of the device E in the RSSI metric space and transforms the distance in meters calculated by each of the inertial units 35 in the RSSI domain. Indeed, the latter estimating distances of the order of one meter 3030053 (typically between 0.1m and 2m), the potential error due to a bad estimate of the coefficient n will have only a small effect on the result of the calculating the position. Let AD be the distance of the displacement computed from the information provided by the inertial unit of E or P between instants ti, and tn + 1. To this displacement in meters, corresponds a displacement in the "field RSSI" that we note here ARSSI. The calculation of the RSSI (transformation of Ad into ARSSI) will be explained in the following section. Due to the non-linearity of the Friis equation, the value of the RSSI for a fixed Ad changes according to the value of the RSSI at the instant ti, considered.
[0063] FIG. 7 illustrates the evolution of the "ARSSI" as a function of the RSSI measured at t 1, (case K = -45, n = 2) for a displacement of Ad = 1 meter. It is observed that the more the measured RSSI is important the lower the "ARSSI". In order to keep a significant "ARSSI" value, the measurement of the displacement Ad will have to be sufficient (i.e. evolving according to the separation distance of E and P). Consider now an error on the estimate of the parameter n (n = 3 instead of n = 2) and observe the error on the ARSSIs. This error is obtained by the absolute value of the differences of the RSSI computed with n = 2 and n = 3. We put Ad = 1 and K = -45. It is observed in FIG. 8 that the error on the RSSI values due to a bad estimation of the n coefficient ("path loss exponent") gives rise to an error that in the case of the study can be interpreted as being low (less than 1.5dBm at 10m). A normal step can be considered less than 1 m, which decreases the value of Ad compared to the illustration, so the error is even lower. However, the time tracking aberration management makes it possible to correct the result in the case where the error would impact the estimate of the position of E in the "RSSI domain". The method according to the invention therefore necessarily comprises a step in which the metric displacement in meter (from the inertial unit) is transformed into displacement in the "RSSI domain" (dBm). If, for example, the inertial unit 30 measures a displacement Ad of 1 meter (distance of displacement), this displacement distance is associated by transformation with an ARSSI of x dBm. This transformation is delicate because it involves the parameters K and n of the Friis equation that depend on the device and the environment.
[0064] We have shown that the value of the ARSSI for a given Ad depends on the distance between the devices P and E and the exosystem of these two devices (ie the environment which separates these two devices, insofar as it can influence the 3030053 26 propagation of RF waves). As explained above, this environment is taken into account by the coefficient n ("path loss exponent") in the Friis equation: Theoretically n = 2 in an "outdoor" environment (free space), but different tests show n evolves between 2 and 4 in an area disturbed by trees, walls, cars etc. The greater the value of Ad (i.e. the displacement between two measurements at tn and tn + 1) is important, the less accurate the estimate of RSSI (because of the uncertainty of n). On -. = -N + 1 -n therefore advantageously chooses a time interval At t between two instants of measurement of the displacement Ad so as to have a weak but statistically significant RSSI (the trust of the calculation based on a "small" not (typically 0.6m) will be larger than on a calculation based on a "large" step (typically 1.5m). Figure 9 illustrates the error on the CISOs for a poor estimate of the coefficient 15 n (n = 3 instead of n = 2) as a function of the Ad considered. More precisely, this figure shows the error in absolute value of the difference of the RSSIs respectively calculated with n = 2 and n = 3 as a function of the displacement Ad considered (with K = -45 and considering a distance between E and P measured by a RSSI at -70 dBm). It is observed that the more the Ad is important the greater the error which confirms the said above.
[0065] In the next section we present the different calculations and methods used to exploit the RSSI measures. F) Description of the Calculations from the RSSI Measurements 25 We describe here in greater detail solutions for interpreting the displacement of the E or P devices in the "RSSI domain" (dBm). The use of so-called "conventional" techniques for transforming a power RSSI type ratio into a distance value is subject to evaluation of the hardware exosystem. In the context of the use of the Friis equation, two parameters are to be evaluated. The first corresponds to the initial value of the power received on the antenna (RSSI measurement) at a known distance (variable K in the equation) that can be defined as a constant (typically measured at 1 meter). The second 35 relates to the signal attenuation factor called the "path loss exponent" (variable n in the equation) whose value depends on the environment of the use of the solution.
[0066] An error in the evaluation of one of these parameters implies an error in the estimation of the distance. As seen above, the latter strongly believes in the removal of the two devices P and E.
[0067] In the context of the invention, unlike in the classical case where a transformation of the RSSI measurement to a distance in meters is carried out for a reasoning based on the metric space of the SI meters, all the projections are here carried out in the RSSI measurement space (dBm). This choice makes it possible to limit the errors due to the environment (i.e. to a bad estimate of n).
[0068] In order to maintain a sufficient accuracy regardless of the context of use, it is preferred in the context of the present invention to use the Friis equation for the calculation of "small" distances such as the displacement between two instants of E or P. This transformation makes it possible to project on the potential positions from E to tn the displacement 15 of E or P between the instants tn and tn + 1 in the "RSSI domain"; this is illustrated in FIG. 10. Either the displacement vector of E or P denoted by Vect (R) in the "RSSI domain" between the instants tn and tn + 1, centered on the orthonormal reference peculiar to E or P. e [tn tn + l] 20 the argument of the displacement of E or P. Suppose a displacement of E, the origin of Vect (R) is defined by the position of E at tn (considered as the origin of the associated reference at Vect (R)), the second point constituting Vect (R) is defined by: x = IARSSI [tn tn.i] l * cos (e [tn tn.1]); y = IARSSI [tn tn.esin (e [tn tn.1]); 25 With ARSSI [tn tn.1], value of ARSSI at times tn and tn.1. Three methods can be cited for the calculation of ARSSI [tn tn + 1]: - Method 1: We use a fixed parameter n 30 Theoretically, the value of the parameter n is 2 (see equation Friis). A first method consists of setting the value of n to a determined value. It can be defined by different field tests or correspond to the theoretical value (n = 2). In practice, the latter solution is valid when the E and P devices remain in a close field and in a context favorable to the measurement (eg an outdoor park with a moderate influx). Let Pr be an RSSI value measured at tn: RSSI [tn] = - Pr [tn]; d [tn] = 10A [(RSSI [tn] + K) / 10 * n]; 3030053 28 = d [tn] + Ad [tn tn + 1]; RSSIltn + i] = -10 * nlog (Clitn + 1)) + K; ARSSI [tn tn + 1] = RSSItn + i] - RSSI [t]; With K the constant of the Friis equation calculated at a distance of do = 1m, denotes the distance E to P (or P to E) at the instant tn + 1, RSSIltn + i]. RSSI estimated at time tn + 1 and Ad [tn I.] the distance measurement of the displacement of E or P between tn and tn + 1. - Method 2: Introduce the uncertainty of the parameter n 10 In practice, the value of the parameter n evolves as a function of the context and the separation distance between E and P. A calibration of the field suitable for experimentation shows that one can evaluate the parameter n in an interval [2 4]. According to the invention, for each terminal of this interval, a solution is estimated in the RSSI domain making it possible to determine the extremums of the displacement (in the RSSI domain).
[0069] Example: The initial value of the RSSI at a known distance of 1 meter is -45dBm. At an instant to (start of movement of the device E), the value of the RSSI is -60dBm. At a second instant t1 the distance measurement of the device E is 0.7m. Assuming the lower bound of the parameter n (n = 2), the displacement measured in the RSSI domain is 1.0190 dBm. Assuming the upper bound of the parameter n (n = 4), the displacement measured in the RSSI domain is 4.4933 dBm.
[0070] The interval considered for moving the device E in the RSSI domain will be [1, 4,5]. - Method 3: Introduce the uncertainty of the parameter n by interpreting the "possible" movements of the devices E or P. n = nmin 11 = nmax ARSSI rt t 1 maxL-n -n + 1, ARSSI rt t 1 minL-n -n + 1, RSSI [tn] = - Pr [tn]; d [tn] = 10A [(RSSI [tn] + K) / 10 * n]; sayn + i] = d [tn] + Ad [tn tn-o]; RSSI '[tn + 1] = -10 * n * log (ditn + 1)) + K; ARSSI [tn tn + 1] = RSSItn + i] - RSSI [t]; As for Method 2, we consider a study interval whose minimum value will be this time depending on the movement of the E or P devices. In the context of the study, the minimum displacement in the RSSI domain is bounded by the difference of the RSSI received at tn and tn + 1. N = nmax RSSI [tn] = -Pr [t]; RSSI [tn] = - Pr [tn]; RSSI [tn + i] = -Pr [tn + 1]; d [tn] = 10A [(RSSI [t, 1 + K) / 10 * n]; sayn + i] = d [tn] + Ad [tn tmo]; RSSIltn + i] = -10 * nlog (ditn + 1)) + K; ARSSI t ARSSI rt t minrtn -n + 1.1 = RSSI [tn-ri] - RSSI [tn]; maxL-n -n + 1,1 = RSSIltn + il - RSSI [tn]; G) Description of Decision Processes for Aberration Management "Aberrant" is defined as any measurement, estimation or calculation contrary to the common sense of the original sensors or processes in the context of use. Many of these aberrations are due to spurious signals (called "glitch" in English) rendered by the sensors and / or an influence of the use in an unmaintained context. The highlighting of the aberrations can be carried out by the determination of critical values, by a temporal follow-up (study of the previous values) or by a correlation of the results with the practical use of the process. In the context of the invention, an aberration management will be performed at each new result of the process. For example, if a child wearing a bracelet with the device E hits his wrist against a table, it will generate an abrupt acceleration signal unrelated to the usual signals during a displacement of the body: this The signal will be interpreted by the method, which will produce a mathematical solution, but which must be identified as being aberrant to the data identified as "normal".
[0071] In the context of the use according to the present invention, the E and P devices can be worn by humans moving in a clean environment to accommodate walkers. Thus, depending on the separation distance perceived by the process, the direction of E with respect to P can vary only to a certain extent.
[0072] For example, if the location of the device E is determined at a distance of 20 meters with an angle of 90 degrees (by convention in front of P) then E can not be 180 degrees at the moment next (behind P).
[0073] Three methods of treatment of aberrations can be used in particular: Method 1: Management by comparison between two instants tn and tn -1 At each moment, the angle of the coordinate of E with respect to P determined by the process is compared with argument of the previous polar coordinate of E. If this comparison is greater than a certain threshold then the measurement at tn will be called aberrant. The threshold must be defined in correlation with the distance separating E and P. If I OE [tr,] - eE [tn_1] I <then the position of E with respect to P is said to be valid (with the value 15 of threshold and eE [tn] the angle of the position of E with respect to P) - Method 2: management by study of the average of the N last estimates (from tr, to tn-N) At each moment, the argument of the coordinate of E with respect to P determined by the method according to the invention, is compared with the average of the arguments of N coordinates of E previous. If this comparison is greater than a certain threshold then the measurement at tn will be considered aberrant. The threshold must be defined in correlation with the distance between E and P.
[0074] If I OE [tr] - (1 / N) * Eil = i eE [tn-i] I <a, then the position of E with respect to P is said to be valid (with a threshold, N> 0, OE [tn] the angle of the position of E with respect to P and the formulation of the sum of 1 to N). 30 - Method 3: Management by probabilistic study For each moment, an "estimate a priori" of the polar measurement at t can be determined by a Gaussian law according to the instants passed and the measurements coming from the inertial unit. Thus, for the polar measurement calculated at t, a probability is associated. If this is sufficient, the measurement is then validated. H) Determination of the distance between E and P 3030053 31 In this section the inventor presents a method for estimating the distance between the devices E and P.
[0075] In the context of the implementation of the solution, the device P goes to the device E most generally in a straight line (in order to find E faster); this is illustrated in FIG. 11. -n + 1, In this situation, there is theoretically an equality between the ARSSIrt t 1 (interpretation of the displacement of P or E in the RSSI domain between the instants tn and tn + 1) and the difference of the RSSI measures at the instants tn and tn + 1 It will be noticed that the following calculation is also valid when one notes that ARSSI '= RSSI = RSSI [tn + i] - RSSI [tn], with ARSSI' of displacement of P or E in the field RSSI.
[0076] Suppose we know K, the initial value of the RSSI measurement at a distance of 1 meter (d0 = 1). ARSSI = RSSI [tn + i] - RSSI [tn]; ARSSI = -10 * n * [log (d [tn] + Ad [tn tn + 1]) - log (d [tn])]; ARSSI / (- 10 * n) = log ((d [tn] + Ad [tn tn + i]) / d [tn]); 10 "[ARSSI / (- 10 * n)] = (d [tn] + Ad [tn tn + 1]) / d [tn]; d [tn] * 10A [ARSSI / (- 10 * n)] = d [tn] + Ad [tn tn + 1]; d [t] = Ad [tn t + 1] / (10A [ARSSI / (- 10 * n)] - 1); 25 This last equation is solution of the distance between P and E (or E and P) at the moment tn This equation can also be used for the adaptation of the parameter n ("path loss exponent") I) Use of the device according to the invention We give here a non-exhaustive list of the possible uses of the device and method according to the invention: each of these uses uses a supervisor (carrier of the device P) and one or more devices E whose position is to be determined by P. 35 - Parents, grandparents, nursery nurses: o Primary need: to know where the child or children are (carrying an E device) - Socio-cultural centers, schools: 3030053 32 o Main need: find out where groups of children are (carrying an E device) - Parks private recreation: o Primary need: manage the supervision of groups of children (carriers of a device E) / feedback on the movement of customers. - Rest home, psychological / psychiatric care centers: o Primary need: to know where the residents are (bearers of an E device). - Mountaineers, mountaineering: 10 o Main need: find a person (carrier of a device E) in danger as quickly as possible (especially under an avalanche or in a crevasse). - People with animals: o Primary need: find a pet (carrying a device E). - Museum, tourism operators: o Main need: manage the flow of tourists (carriers of an E device) during visits. - People registered on dating sites: 20 o Main need: facilitate contacts / meetings between people carrying a device having the specific application for performing the method according to the invention). - Firefighters and other emergency personnel: o Primary need: locate / find a remote object (carrying a device E) 25 or a person (carrying a device E) without access to an external network (especially in a building or a basement). - Sporting events: o Main need: to ensure the follow-up of the sportsmen (carriers of a device E) during the test.
[0077] The device according to the invention can also be used as an antitheft device and / or to detect the loss of an object carrying the device E and to find it again. J) Examples for the distribution of the calculation steps on the E and P devices Here, we will delve more deeply into the description of the various embodiments shown schematically in FIGS. 1 a, 1 b and 1c.
[0078] In a first embodiment described diagrammatically in FIG. 1a: The devices E and P each determine: (a) from the filtered signals derived, respectively, from its accelerometer, its magnetometer and its gyrometer, orientation of the device E (step 100) and P (step 200), respectively, relative to the north; (b) from the filtered signals from its accelerometer, the linear acceleration of the device E (step 110) and P (step 210), respectively; (C) from this linear acceleration, by integration (steps 120 and 220, respectively) and taking into account the time (steps 130 and 230, respectively), its displacement. The device P transmits to the device E, preferably via a Bluetooth type connection (BLE), the orientation of the device P relative to the north and its displacement. These data are used by an orientation correction step with respect to the North interpretation of P and E (step 140). A measure of the RSSI is determined (step 150). The RSSI measurement, possibly after filtering, is used for the projection of the possible 20 positions of the remote device at time t (step 160); if at this step a displacement of E or / and P is noted (step 170), taking into account said respective displacements of the devices E and P (determined, respectively, in steps 130 and 230), these displacements are taken into account for the projections (step 172) using the corrected orientation of the device E obtained in step 140. Then the RSSI is measured at a time t + 1 corresponding to the new positions of the remote device (step 174), it is minimized error between the estimated value of RSSI at t + 1 and the measured value (received) of the RSSI at t + 1 (step 176); the position of the device E (step 180) expressed by a pair "RSSI and direction" is estimated, the aberrations are managed (step 181), the distance (step 183) is determined so as to express a "distance and direction" pair. and this pair is recorded (step 182). The result obtained in step 183 is transmitted to the device P, preferably via a Bluetooth type (BLE) link, for display on the display device (step 300). FIGS. 1b and 5 show schematically other embodiments of the same process steps, but some of which are distributed differently on the two devices E and P. This implies a different programming of the microprocessors contained in the devices E and P and the amount and nature of the data passing between the two devices (preferably a Bluetooth type (BLE) link) will be different. More precisely, in the embodiment according to FIG. 1b, the steps 181, 182 and 183 are performed in the device P and not in the device E. In the embodiment according to FIG. that the steps 100, 110 and 120 which are executed in the device E, and consequently it is the data describing the orientation of the device E with respect to the north resulting from the step 100) and its displacement (resulting from the step 130) which are transmitted (preferably by a Bluetooth type (BLE) link) to the device P. Other embodiments based on a different distribution of the steps on the two devices can be devised in the context of the present invention. invention.
[0079] Other modes of communication between the device P and the device or devices E can be imagined within the scope of the present invention. 3. Example 20 In this exemplary embodiment, a radiofrequency communication means of a frequency of 2.45 GHz commonly known as Bluetooth is used. The device E used in this example is equipped with a Bluetooth 4.0 communication module (BLE CC2541) at 0 dBm allowing a coverage of 80 to 100 meters (in free field). This module is embedded on an electronic board composed of a tri-axis accelerometer (KXTJ9 Hïonix, range ± 4g), a tri-axis magnetometer (MAG3110 Freescale) a tri-axis gyrometer (internal IMU component- 300 from InvenSens) of a microprocessor (8051) as well as a battery. It allows indoor and outdoor operation. This module (which represents the device 30 E) is in direct connection with a smartphone compatible BLE and having an inertial unit consisting of at least an accelerometer and a magnetometer. This smartphone represents the device P. The application dedicated to the solution is installed on the Smartphone. The two devices are independent of any external networks, which allows operation of the solution in all areas (in the chosen application) indoors or outdoors and without pecuniary or geographical constraints.
[0080] A schematic presentation of the exchanges between E and P in the context of the implementation of the present example is given in FIG. 12, in which the full arrow represents the flow of information concerning the displacement of the device E, and the dashed arrow represents the RSSI measurement, made by P from the signal received from E. The example proposes an implementation in which the whole process is processed (estimation of the position of E relative to P), validated ( estimation of the veracity of the position E and management of the aberrations) then displayed by P.
[0081] The devices E and P calculate their own displacement by the measurements from A, M and G on each of the devices. For each, a frequency of 10 Hz is sufficient for a correct estimation of the movements of the two devices. E transmits at a frequency of 10Hz a signal for measuring the RSSI between the devices E and P. These measurements are necessary for the processing to estimate a reliable RSSI measure at the appropriate time. E transmits at a frequency of 50Hz the information relating to its displacement. Redundancy of information is very useful in order to overcome various communication problems due to the environment (loss of information).
[0082] The device E has been made in an integrable form in a bracelet type of support or in a case whose specificities allow it to be fixed on a garment of the wearer.

权利要求:
Claims (10)
[0001]
REVENDICATIONS1. Method for locating in a Cartesian plane at least one device E with respect to a device P, knowing that at least one of the devices E or P is equipped with an inertial unit, and knowing that each of the devices E and P is provided with a transmitter - receiver type communication module, said method comprising the following steps: (i) initializing the E and P devices by their angle synchronization with respect to the terrestrial magnetic north; (ii) at a time tn, the device E receives from the device P, where the device P receives from the device E, an RSSI measurement, and the set of possible positions of the device E with respect to P in the metric space is determined the RSSI measure; (iii) at the instant tn + 1 the device P receives from the device E, or the device E receives from the device P, at least one information on the displacement of the device E and / or the device P, namely at least the direction as well as the distance traveled for the interval [tn tn + 1]; (iv) transforming said distance into the "RSSI domain" and determining a set of positions in the metric space of the RSSI measurement of the device E with respect to the device P; (v) receiving a new RSSI measurement at time tn + 1 and determining a set of positions of E with respect to P at time tn + 1; (vi) determining the relationship between the positions estimated in step (iv) and the determined position (s) of the device E at time tn + 1 from step (v); (vii) determining whether the new position or positions calculated in step (vi) are plausible, possible or probable with respect to the positions determined at the previous instants, and then determining the position of the device E with respect to the device P, knowing that step (i) is necessary in the case where the device E is provided with an inertial unit and moves during the execution of the method, and is optional if the device E does not move during the execution of the method and the device P must be provided with an inertial unit so that its possible displacement can be taken into account during the execution of the process.
[0002]
2. Method according to claim 1, wherein is displayed on a display screen of the device P the position of the device E relative to the device P, preferably by a display of the direction and distance. 3030053 37
[0003]
3. Method according to claim 1 or 2, wherein in step (vii), comparing the polar coordinates of E with respect to P between ti, + 1 and ti, and / or ti, _, (with mk1). and determining the most probable position at tn + 1, preferably correlating angular differences with calculating the distance between E and P at time t'1.
[0004]
4. Method according to any one of claims 1 to 3, wherein the initialization at time ti, is performed by a user of the device P, the first implementation of the measurement cycle, or is triggered so automatically by a triggering event, said triggering event being advantageously the detection of a movement of the device P or the device E by their respective inertial units.
[0005]
The method of any one of claims 1 to 4, wherein the measure RSSI in steps (ii) and (y) is performed by the device E or by the device P.
[0006]
6. Method according to any one of claims 1 to 5, wherein the device P is a portable device type SmartPhone. 20
[0007]
7. Method according to any one of claims 1 to 6, wherein said communication module is a Bluetooth type module.
[0008]
8. Method according to one of claims 1 to 7, characterized in that it is executed with a plurality of devices E, each of which emits its own identifier and / or on a different frequency and / or with a communication module different and / or with a different communication standard.
[0009]
9. Device comprising an inertial unit, a transceiver and a microprocessor, said microprocessor being configured to execute the method of locating the device E according to one of claims 1 to 8.
[0010]
10. Use of the method according to any one of claims 1 to 8 or the device according to claim 9 for locating a carrier of the device E with respect to the device P, said carrier being selected from the group formed by: a mobile living being or immobile or a moving or immobile object, and more particularly: a child; an adult ; a person under supervision in a care, special education or retirement facility; a pet ; a worker from a rescue service; an avalanche victim or fall into a crevasse.

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AU2015356865B2|2020-04-09|

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FR3030053B1|2016-12-30|

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EP3227705B1|2021-11-24|

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AU2015356865A1|2017-07-20|

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法律状态:
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2016-06-17| PLSC| Publication of the preliminary search report|Effective date: 20160617 |

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2018-02-26| PLFP| Fee payment|Year of fee payment: 4 |

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优先权:

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申请号 | 申请日 | 专利标题

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FR1461930A|FR3030052A1|2014-12-04|2014-12-04|ELECTRONIC DEVICE FOR LOCALIZATION NEAR A LAND OBJECT AND METHOD FOR LOCATING SUCH OBJECT|AU2015356865A| AU2015356865B2|2014-12-04|2015-12-04|Electronic device for the near locating of a terrestrial object, and method of locating such an object|

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PCT/FR2015/053320| WO2016087794A1|2014-12-04|2015-12-04|Electronic device for the near locating of a terrestrial object, and method of locating such an object|

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US15/532,596| US10228437B2|2014-12-04|2015-12-04|Electronic device for the near locating of a terrestrial object, and method of locating such an object|

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CA2969807A| CA2969807A1|2014-12-04|2015-12-04|Electronic device for the near locating of a terrestrial object, and method of locating such an object|

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EP15810697.1A| EP3227705B1|2014-12-04|2015-12-04|Electronic device for the near locating of a terrestrial object, and method of locating such an object|