CN1708697B - Method for continuously locating in real time at least one mobile object and transmitters and receivers for carrying out said method - Google Patents
Method for continuously locating in real time at least one mobile object and transmitters and receivers for carrying out said method Download PDFInfo
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- CN1708697B CN1708697B CN200380102326.5A CN200380102326A CN1708697B CN 1708697 B CN1708697 B CN 1708697B CN 200380102326 A CN200380102326 A CN 200380102326A CN 1708697 B CN1708697 B CN 1708697B
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0021—Tracking a path or terminating locations
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0605—Decision makers and devices using detection means facilitating arbitration
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0021—Tracking a path or terminating locations
- A63B2024/0025—Tracking the path or location of one or more users, e.g. players of a game
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/83—Special sensors, transducers or devices therefor characterised by the position of the sensor
- A63B2220/836—Sensors arranged on the body of the user
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
- A63B2225/50—Wireless data transmission, e.g. by radio transmitters or telemetry
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2243/00—Specific ball sports not provided for in A63B2102/00 - A63B2102/38
- A63B2243/0025—Football
Abstract
A method for the continuous real time tracking of the position of at least one mobile object in a defined multidimensional space comprising at least one mobile transmitter module which is attached toat least one mobile object, the signals from said module being received by a stationary receiving and signal processing network and then centrally processed. The signals emitted by the transmitter module are electromagnetic waves sent within a frequency band range using time division multiplex techniques. Due to the fact that the frequency band is used as a single channel for the purpose of maximizing the accuracy with which a position is detected, and due also to the fact that the communication process between the transmitters (Sp, Sb) and the receivers (E1, . . . , En) is based on the principle of pseudo-random time division multiplex using burst transmissions of low cross correlation with non synchronized pseudo-random patterns, there is created a method for the continuous tracking of the position of one or more mobile objects at any time and in any place which is of very high positional resolution and has a temporal resolution of just a few milliseconds.
Description
Related application
The present invention requires 102 52 934.5 the right of priority of application in 14,102 50 500.4 and 2002 on November of German patent application file application October 29 in 102 50243.9,2002 of on October 28th, 2002 application.Therefore the content of foregoing invention also clearly is combined in the content of the present invention.
Technical field
The present invention relates in the hyperspace of a regulation, the method for continuous real-time follow-up and relevant device be carried out in the position of at least one moving object.
Background technology
For a long time, the object people in the motion process in other words who understands motion all thirsts for studying in other words in various interest group, and this research shows accurately that all object space is a prerequisite so that place and time go up.What this was cherished a special interest has a ball for game, especially at the commerce ball for example football of high acceleration and tennis or golf in three dimensions.Problem comprises: who run at last recreation object, be how to run into and on what direction, make it to continue to quicken, this may be crucial for the final result of recreation according to game type.The game device that for example uses in tennis, golf, football and the similar motion in the high speed sports can accelerate to high speed, and the object when therefore measuring motion just requires the technology of various segmentations.Employed in the past technical equipment-mainly be camera-and be not suitable for above-mentioned requirements or not too suitable; Even the method that the combination of knowing in the past by means of different transmitters and receiver locates also aspect the spatial resolution of position data, navigability aspect and the especially analyzing and processing of required emitter/receiver parts also have very big space (room for development) by means of the aspect of the resulting data of emitter/receiver system, therefore also can not be to making the fastest possible evaluation by the result that these data drew.
A kind of system that is used to be positioned at the moving object in the preset range has been described in EP 700 525 B1.Specifically, be meant cellular position finding, but 0.5 to 20 mile at least at interval of these scope wherein.The subject matter of these phones navigation is: navigation procedure will use the capacity of fraction as far as possible, is voice transfer because this capacity is used to finish the main task of this phone.Under cellular situation, transmitter is shared identical frequency according to TDMA (time division multiplexing) principle, but its condition precedent is a transmitter by synchronously or be initialised, and does not have interference between the signal of emission.Therefore draw the boundary condition for this technology, they are different from the boundary condition that is produced basically when the location tasks of a game ball should be finished in one a small amount of square metre place.What receive publicity in addition provides a kind of high-precision system, and this system is firm, thereby is suitable for moving in that play and object high acceleration.Therefore just got rid of a kind of be used for proportionally convergent-divergent in the technology shown in EP 700 525 B1 in order to be adapted to the possibility of application target herein, because it can not cause improving the precision in same firm system, especially in three dimensions.
EP 514 511 B1 have also described the system that adopts wireless telephonic location, but have adopted another optional standard of conversation transmission method in the cellular mobile radiotelephone system.This instructions concentrates on finds that those satisfy the honeycomb according to a kind of a kind of specific criteria of radio signal level standard, arrive that honeycomb with selected cellular transmission.Equally also having used a kind of electromagnetic rapid emission in this article, is exactly so-called burst transmissions.Say in principle that because these problems technology proposed by the invention and being not suitable for solves the orientation problem of the centimetre-sized precision of a ball in a place same as that proposed in conjunction with EP 700525 B1.
Works " radio system of location and navigation " at E. carat sign indicating number (E.Kramar), (Funksysteme fuer Ortung und Navigation) (1973, (Verlag Berliner Union GmbH Stuttgart) published in Berlin affiliated company Stuttgart, in the 91st to 92 page) to point out: straight reciver is used for determining the position of a moving object as location receivers (for example Ou Laijia (Omega) system).
The ultimate principle of locating by the mensuration transit time has been described in DE 44 09 178 A1.But relate to improve precision in, this does not help solving at one and limits in the hyperspace task of the position of a moving object of real-time follow-up continuously.
Described a kind of tdma system for 6,041 046 li at US, it includes many subscriber stations, they and base station communication.Equally also transmit transponder pulse for this reason.But by not drawing inference in this instructions, promptly by means of its can solve hyperspace a regulation as a playground in to the continuous real-time follow-up problem of the position of an a moving object especially game ball.
DE 200 04 174 U1 disclose a kind of game device, and especially a kind of ball has been adorned a transmitter in the inner chamber of this ball.The technology of this system is based on electromagnetic reflection between transmitter and receiver, and this technology also is not suitable for solving the problem that is proposed.In order to communicate the element that transmits and receives that is provided with this technology by means of reflection process.
A kind of system that is used to locate has equally also been described in EP 0 880 712 B1.It equally is not suitable for measuring in real time the position of a moving object yet in the centimetre-sized scope.
Following technology also is known other navigation or positioning system, but these technology also are not suitable for aforesaid range of application, because they or be not suitable for reflecting and having the environment of damping characteristic, perhaps can not enough meet the requirement of aforementioned applications exactly to the explanation of position according to condition of acceptance.
Comprise:
The system of GPS (Global Positioning System (GPS)) type: mobile receiver receives the signal from least three transmitters simultaneously; Receiver can be determined its position from " time of arrival (Time-of-Arrival) " difference (TOA).For application recited above, each receiver all must be equipped with a transmitter, and it passes to central computer with its positional information unceasingly.In addition, finish whole navigation calculating in the mobile receiver module, this handles corresponding to high computing power with than the sophisticated signal of large storage capacity.US-A5 has just announced a kind of like this system in 438,518, for the more pinpoint accuracy that guarantees to locate, concentrate in addition with digital form with the signal characteristic of observed zone association to store, and the signal characteristic of received signal is relevant with canned data.Shortcoming is that system is bigger, almost can not realize the microminiaturization (referring to DE 100 53 959 A1, WO 02/037134A) of system.
Radar system: carry out the transit time with (initiatively) transponder or cable terminations and measure.A transmitter on the limit, court sends a pulse, and the object that its passive movement receives and reflected signal of reflected back after certain hour.Can determine distance between transmitter and the moving object from total transit time of signal, referring to US-A 4,660,039.The shortcoming of this technology is to be difficult to simultaneously many objects to be carried out high time resolution follow the tracks of.
Directional antenna: by having the antenna pursuit movement object of very high orientation, wherein it sends the signal of aiming at receiving antenna.If use two antennas at least, can determine the position by the angle of antenna alignment.This principle is at US-A 5,513, describes in 854, is used on the arena sportsman being located.US-A 5,583, described a system based on principle of uniformity in 517, and wherein, to many different carrier waves, resulting signal is reconfigured in receiver mobile transmitter with signal extension, propagate to stop multichannel.Weak point is: if use high frequency (near light), so only obtain a kind of suitable resolution.
Optical system: by a plurality of cameras object is followed the tracks of, can automatically be followed the tracks of by graphic system (pattern-recognition) or by electromagnetic technique (Magnetic Sensor).Can calculate the position by the analyzing and processing image.Weak point is: if object is not hidden by barrier, optical system can only be determined the position.In addition, at that time can not be immediately assess location automatically or online.
By means of " ship " (Barken) or other field strength measurement: on the stadium, be distributed with a large amount of receivers (or transmitter) (" ship ").The field intensity of signal is corresponding to the distance between " ship " and moving object.Then, can calculate the position from field intensity.Weak point is for obtaining high resolving power a lot " ship " to be set.
Become known for determining the method and the device of position, direction and/or the distortion of an object by DE 100 54 282 A1, wherein on object, be provided with the signal generator of one or more emission electromagnetic signals.To controlling of signal generator, make each signal can distinguish each other, these signals are sent on the position sensor (PSD) of at least one two dimension resolution, convert the two-dimensional position coordinate there to, convert the information of the position relevant, direction and/or distortion then to object.This system is quite complicated, but still only works on two-dimensional directional basically.
Summary of the invention
The objective of the invention is to propose a kind ofly can have very high position resolution and be at least the method for in the three dimensions of regulation of temporal resolution of Millisecond real-time continuously tracking being carried out in the position of at least one moving object, be used at any time and Continuous Tracking carried out in one or more moving objects and/or people's position in any place at one.
This purpose realizes by having a kind of method and the relevant apparatus that are used for continuous real-time follow-up.A kind of in the hyperspace of regulation the continuous method of the position of at least one moving object of real-time follow-up, comprise at least one transmitter module is placed in described at least one moving object, receive and the receiver of signal shaping network receives the signal that comes from described at least one transmitter module and handles described received signal is concentrated by fixing, wherein, signal by described at least one transmitter module emission is the electromagnetic wave of launching in a frequency band range, described frequency band is used as individual channel, be used to make the location accuracy maximization, it is characterized in that: the communication process between the receiver of described at least one transmitter module and described reception and signal shaping network is based on the principle of the pseudorandom time division multiplexing with asynchronous pseudo random pattern; Wherein transmitting of different burst transmissions has the characteristic of low cross correlation.
Service band is that all transmitters use identical frequency band as unique passage as much as to say, therefore can use high data rate and sampling rate, improving position resolution and temporal resolution, this is necessary for the object that detects even for example have up to 150km/h speed.Therefore, for the communication process between transmitter and the receiver, available bandwidth that can service band is to realize maximum precision.The member of the system that but, the present invention comprised should be firm, compact, be convenient to handle, size is as far as possible little and can resist the impact of machinery for example or the load of chemistry body sweat etc. for example.Another object of the present invention is to these members are incorporated into a ball the inside.In order to achieve this end,, utilize the burst transmissions of low cross correlation and asynchronous pseudo random pattern to realize transmitter and receiver E by the principle of pseudorandom time division multiplexing
1... E
nBetween communication process.Especially, asynchronous communication process allows especially high capacity transmitter of firmer structure, and this is because needed all parts in the synchronization process of the prior art have been removed.When combining, this time division multiplexing and non-synchronized random pattern has at random significantly increased the degree of accuracy of locating, and has avoided multipath transmission.But a plurality of if desired transmitters for example need about 100 transmitters in order to detect sportsman and ball for a kind of football game, only can detect and transmit the mass data that obtains with corresponding precision so in this way.
Therefore, the present invention relates to a kind of wireless based on wireless system, comprise the mobile transmitter module, these modules are installed on the mobile object of the system that will analyze, and the signal that it sent is received and focused on by a fixing reception and signal shaping network.
Therefore, the important point is that the burst transmissions of the low cross correlation of mechanism utilization of the pseudorandom time division multiplexing of communication process by having asynchronous pseudo random pattern between transmitter and receiver realizes that asynchronous pseudo random pattern can be understood as a kind of combination of the access mechanism of time division multiplexing and code division multiplex.When time division multiplexing (TDMA) (seeing US-A 6,204,813), the transmitter of moving object is launched with time division multiplexing, make each transmitter also must comprise a receiver, this receiver offers synchronizing pulse of transmitter, and the moment of burst transmissions has been drawn in this pulse.Each transmitter uses different pseudo-random sequences to be used for x time, so that different transmitter is with overlapping or constantly not overlapping at other.TDMA uses a kind of well-proportioned pattern, and it has the identical cycle and makes cycle synchronisation for single transmitter." phase shift " by the cycle reaches the effect that transmitter is never launched simultaneously.But its prerequisite is transmitter once more is synchronous.In code division multiplex (CDMA), the quadrature spread sequence is used to transmitter, so that transmitter needn't be synchronous.But, covered by nearer signal from the signal of farther transmitter when transmitter during in different distance.
The structure of transmitter has been simplified in the application of asynchronous pseudo random pattern, because do not need to be used to receive the receiver of a synchronizing pulse.But, owing to stopped synchronizing process, produced the mutual displacement of random pattern, these feasible more difficult movable simultaneously situations of few several transmitters of trying one's best of keeping are because all transmitters all use identical wave band; That is to say and find matched random series to become difficulty.This take place under the situation of asynchronous transmitter transmit between interference problem do not occur under the situation of mobile phone because signal transmission has been initialised (synchronization).But according to the present invention, this problem solves by the sequence of using low cross correlation, this sequence can be so that realize the separation of signal by the recognition sequence of transmitter, under the situation that at least two transmitters of reality generation transmit simultaneously, this sequence is corresponding to the determining section of burst transmissions.Because burst rate, if can not measure some value, system can not have easily to carry out work under the situation of some value, and in a word, the high power capacity of system can be employed transmission signals, carries out navigation procedure.
When pseudo random pattern be integrated in the system by the receiver module in the transmitter and and then during overlapping phenomenon when having reduced at a plurality of transmitter, degree of accuracy can further increase.
In an embodiment, all transmitter receipt data are detected and stored.Thereby, also can carry out aftertreatment according to the data of storage as required, so that can correspondingly use algorithm more accurately under certain condition as under the very important situation.
Description of drawings
Below the present invention is described in detail with reference to the accompanying drawings.Wherein:
Fig. 1: the vertical view that shows a sports ground with receiver and transmitter;
Fig. 2: be used for range of search to the burst transmissions sampling;
Fig. 3: receiver network;
Fig. 4: the transmitting sequence of different transmitters;
Fig. 5: the synoptic diagram of receiver architecture;
Fig. 6: the network that connects transmitter and receiver;
Fig. 7: burst transmissions produces synoptic diagram;
Fig. 8: the synoptic diagram of receiver.
Embodiment
Description of drawings the continuous method of the position of at least one moving object of real-time follow-up in a kind of multidimensional (herein being three dimensions) a regulation.Shown in Figure 1ly be the moving object (herein being football) of the game object form of feature and be the player of feature with transmitter Sp with transmitter Sb.Although the moving object with football in the football match and player's form is that this method has been explained on the basis, but should be noted that, also can consider other application, detect the detection that moving object just relates to the high-speed motion path as long as in these fields, relate to high position precision and temporal resolution.Below explanation and be not used in and be interpreted as the present invention and be confined to the sports applications field.
If only be meant the motion that detects football, at least one moving object at first can be the transmitter Sb in the football.But in order to analyze game process or will to study athletic motion, replenishing sportsman itself as moving object so also is reasonably, for example transmitter Sp is located in the protective device, so that can detect athletic motion and direction of motion.Thereby for example the speed by sportsman's mobile route or athletic speed and ball just can obtain on the direct statistics can analyzing and processing data.For example just can calculate: from the goal how far ball.According to these data even can develop the video-game form that makes new advances.In addition, produce ancillary method, be used for optimizing play football strategy and training program.Because data are that the sportsman is distinctive, therefore can set up objective results database or individual's training program.And, also can at length consider the performance of chess and make it to optimize.
Its result needs a large-scale network, for example comprises 8 receiver E, E
1-E
nForm, constituted a receiver network RN, and comprise the transit time data that reach 100 transmitter S, Sb, Sp, S1-S6.Need reference transmitter R in addition
1To R
n, so that for example infrastructure (die Infrastruktur) is calibrated.Since moving object herein for example football can therefore for the ball transmitter, need have burst transmissions at least to reach the speed motion of 150km/h for the high-repetition-rate of 0.5ms, this is equivalent to the position resolution of 2cm when ball moves with 150km/h.This burst transmissions comprises all necessary data for the identification of transmitter and position fixing process, also will continue deeply this.System has real-time pinpoint accuracy, so that data to be provided continuously in real time, for example to be used to support the referee and to be used for television image.But final decision is still made by the referee.
The transmission of data is preferably in transmission in the 2.4GHz frequency band range, wherein preferably selects for use the bandwidth of 80GHz to be used to make bearing accuracy to maximize as unique channel.For this reason, a mobile transmitter module is housed in moving object, its signal by static receiver-and signal shaping network receive and concentrate and handle.The signal of being launched by this transmitter module is the electromagnetic wave of launching with the time division multiplexing method.In order to improve transmission possibility and bearing accuracy at transmitter S, Sp, Sb and receiver E
1-E
nBetween communicate according to the principle of the pseudorandom time division multiplexing of the burst transmissions B that has used low cross correlation and asynchronous pseudo random pattern.Bearing accuracy also can be improved as follows: raw data associated is stored and suitably is applied in the navigation algorithm.Because storing process for example can improve precision (for example, by iterative processing) or use the significant especially data of more complicated algorithm analysis, for example shooting.
In order to obtain to measure corresponding high position resolution, use the signal of high bandwidth as far as possible with the high precision transit time.But owing to available bandwidth is restricted, so transmitter must be shared operational frequency spectrum according to code division multiplex and time division multiplexing principle.Because time of reception is preferably asynchronous, so transmitter was launched in the moment at random or pseudorandom, accidental; The sequence of these x times is nonsynchronous with use TDMA is opposite separately.Each transmitter uses different pseudo-random sequences to be used for x time, so that different transmitters is overlapping constantly not overlapping at other in other words.Random overlapping is acceptable, as shown in FIG. 4.According to the thin D of portion
xShown in, transmitter S2, S2 launch simultaneously, and according to the thin D of portion
yThen with non-simultaneous system (mode that the time changes) emission.May occur such multiple overlapping, but on the basis of suitable sampling rate, for this multiple overlappingly also can accept of the soundness that improves transmitter and cramped construction thereof.Because the available bandwidth of each transmitter is determined degree of accuracy, each transmitter is shared identical frequency, so each receiver can use whole bandwidth.The desirable precision and the soundness that combine system is obtained of " each transmitter all uses identical frequency band " and " transmitter is asynchronous ".
Each transmitter only sends one by receiver E at x time
1-E
nThe short burst transmissions B that surveys.Fixed reference transmitter R shown in Figure 3
1To R
nPerhaps R
X1To R
XnBe used as reference by location and be used to make the error minimize of system and it is calibrated, it launches as at least one mobile transmitter on the mobile object that identification code and receiver survey is used for determining the signal of their transit time.Reference signal is synchronous by the signal frequency SF2 for 250MHz in exemplary embodiments.In addition, the receiver among Fig. 6 also by the exemplary embodiments in Fig. 6 be 25MHz signal frequency SF1 and synchronously.Be arranged in a receiver in the receiver network RN therefore by clock line 13 first information of reception by shown in Figure 3, obtain a markers and obtain the power supply supply by circuit 15 by circuit 14.Be transferred to the FPDP DP of a central computer unit CPU together by data circuit 17 according to detected data of these information and the signal that detects, thereby can determine the position of moving object from the signal of obtaining.Near Fig. 3 piece R
XnRepresent a matrix, wherein δ tm
aBe the target time difference, wherein am during with respect to the transmitter ID of each reception last
nExpression is for the quality information of the being associated property of hard decision/soft decision of realizing controller.Controller C is to receiver R before match
xThe calibration of alternately transit time and make receiver network RN synchronous.C calculates R by means of controller
xThe position of relative alternate transmission time.
At least need four receivers, so that be positioned at an object in the three dimensions.In receiver separately, detect transit time difference.How much solving results of position finding can be determined by separating one group of Hyperbolic Equation.Reference signal is by cable, and preferably optical fiber is distributed.The mobile transmitter module emission of transmitter S, Sp, Sb is subjected to transmitting of time restriction, as burst transmissions B.Burst transmissions B uses asynchronous pseudo random pattern to be sent out, and this pattern is the combination of the time division multiplexing and the code division multiplex of access mechanism, thereby can as far as possible fully extensively utilize existing bandwidth.Overlapping in order to reduce, used pseudo random pattern, they are the prime number sequence preferably.Thereby the transmitter that littler prime number is allocated for faster motion just disposes the transmitter Sb that gives in the ball in an embodiment, and the prime number that reaches is distributed to the slower transmitter Sp of motion.
The separation of two random signals that arrive are simultaneously finished by receiver, and receiver can allow the monodrome that is not detected for this reason.Because high pulse rate is so this can realize.Asynchronous burst transmissions is improved its synchronization by the receiver module in transmitter.The analog receiving signal that receives at the HF front end is digitized in analysis and processing unit, and with respect to the time of reception of determining the signal of each transmitter with reference to the moment.For received signal is carried out aftertreatment, received signal is divided into a plurality of signal sources (differentiation transmitter) and each of instantaneous mobile sequence transmitted and recognize, and this is to have adopted the software of specific method to carry out by application, and this software can utilize the polyalgorithm with variable parameter.Can according to circumstances mate and make up these algorithms mutually.
In order to satisfy the real-time Transmission process, transmitter and receiver can use hardware, can accurately detect the triggering moment that is used for data recording with this hardware.In addition, provide an analysis and processing unit, it has the digital hardware that is used to handle synchronizing signal, and this synchronizing signal is transfused to by corresponding interface.
Before system is transformed into its normal operational mode, obtain important data at configuration phase.This point is essential for calibration system, so that consider the transit time in the fiber optic network for example.Also carry out system test this moment, so that detect the problem that in its various piece such as receiver, may occur.After this stage, utilize related function to make transmitter carry out synchronization.Transmitter is launched the packet of constant duration usually, positions.Thereby synchronization procedure must once " find " packet that is used for each transmitter, uses the next x time of specific accuracy of the location estimate then, and this is known because of transmission mode.Correspondingly control, so that pick up digitalized data in the storer triggering logic.According to the position in the storer and in relative program determined with reference to constantly deviate, program is calculated according to the transit time and is determined the x time t from prediction shown in Figure 2
0The distance that begins to obtain.Therefore draw a hunting zone S, next signal must occur in this scope.
The shortcoming that is used to find the solution the algebraic method of navigation equation is: they depend on infrastructure.The geometric configuration of the each measurement on the receiver and mass change are very big, and the precision that provides in many cases is not enough.Therefore, Algebraic Algorithm only is used for initialization and other algorithm of monitoring.By using averaging method and depending on the frequency of position calculation, (precision) can obtain great improvement.The information of quality that in addition, can be by considering random measurement is further optimized positional precision.In specific embodiment, used the KALMAN wave filter, it combines two kinds of improvement that illustrate, and allows other situation to reality to take in (understanding state) by the suitable predictive mode that use is used to move.
Tracked object be height in particular cases dynamically, for example, when ball ejects the goal, just produced the problem that solves under special circumstances.In order to address these problems, must adopt additional algorithm to obtain high current intelligence.For this reason will be before the position that will detect and moving situation afterwards compare.Two stages by determining motion, (before, poor between afterwards) can be determined dynamic situation.Therefore can use the rotation time axle that this situation is carried out corresponding aftertreatment.
In order further to improve positional precision, used method to the curve smoothingization of each volume coordinate.On the one hand, used an algorithm, this algorithm stands good in the real-time range of system under the situation that allows a certain special time to postpone.Curve smoothingization is carried out in specific scope.Under the situation of the dynamic situation that detects in advance, adopt this method according to different condition.In this case, curve smoothingization does not exceed this dynamic moment, but approaches this moment from both sides.The zone of not carrying out smoothing that is lacked can replenish by interpolation logical operation or mathematical property.So just improved the positional precision under current intelligence greatly.
In order to optimize these algorithms, need to introduce the combination between the volume coordinate of wanting level and smooth, to improve the detecting reliability under dynamic situation.
If desired, can use the method that is used for aftertreatment, they can not be subjected to instantaneous constraint computing time and also can be used by the outside.Compare with real time algorithm, this provides further bearing accuracy, and this is to carry out the curve smoothing because can use in the larger context.Guaranteed to consider by rights the current intelligence that detected equally in these cases.
Deal with data as follows in receiver:
In the stage of obtaining, make the x time sequence synchronous.For this reason, used the algorithm of temporal resolution with reduction.Purpose only is to estimate the moment of x time in the future.
Under tracing mode, continuation is with higher accuracy detection burst transmissions and calculate current location.Only analyzing and processing is carried out in the emission that estimates or calculated in the past or the input signal of input time.In addition the estimation of next x time is followed the tracks of.
Selectively, the data of storing under fast moving (zoom) pattern also can use other computing method to handle.Under the fast moving pattern, can also handle for example opposite seasonal effect in time series data, so that for example detect a kind of uncontinuity (for example ball rebounds at door pillar) from both sides.
Thereby receiver is with high sample frequency detection data and with its buffer-stored.According to the x time of being estimated relevant data are proceeded processing and handle, and continue optionally storage, but so that make its application examples as in the algorithm of fast moving pattern.
Combination that can be by Data Post operation and external sensor is the acceleration transducer in ball or improve precision by graph data for example.This system for example provides all position datas at the transmitter of operation with cycle second.
For example, the transmission range suggestion is the 2.4GHz frequency band, but also can use in principle than other frequency ranges in the low-frequency range, to keep the low-power consumption state.But, when lower operating distance and higher range resolution, also can consider to use at lower frequency range for example 5.8GHz, 9.4GHz, 24GHz.Because receiver detects the signal that is sent by transmitter and determine its transit time difference, so their phase mutually synchronization very accurately, this can be with a high stable reference signal by clock line 13 with reach by optical fiber in an embodiment.The data that receive are passed through a data network by receiver E
1-E
nOffer a central processing unit CPU, to calculate the position of each transmitter.These data comprise the quality evaluation of transit time and received signal.Transmitter S, the Sp, Sb and the static receiver E that are moving
1-E
nBetween backward channel dispensable for location itself, but can improve the location, but then, may improve the complexity of system, and and then improve cost.
Because according to the transmission course of pseudorandom time division multiplexing principle use quadrature burst transmissions and asynchronous pseudo random pattern, receiver can separate signal significantly.If in fact two transmitters send a signal simultaneously, " undesirable transmitter " just occurs as noise so.At least drawn a signal to noise ratio (S/N ratio), the ground detectable signal can be out of question.
The advantage of this scheme is: transmitter is that activity is arranged the short time, therefore only produces less power consumption.Transmitter is not necessarily synchronous, thereby can remove the receiver module of emitter side, thereby transmitter is simplified and firmer greatly.By the pseudo-random sequence of prime number form, transmitter identical in the emission cycle is always not overlapped, therefore can avoid the transmitter of a farther distance by the overlapping unfavorable situation of near transmitter.Therefore can eliminate the problem of " near-far away " according to statistics (result).The collision probability of burst transmissions B reduces.
The available following formula that transmits is described:
s(t)＝g(t)e
j(2πf·t)
Wherein g (t) represents baseband signal, and f is a carrier frequency.
The received signal of different receivers can be represented by the formula:
e
v(t)＝h(t)·(g(t-τ)e
j(2πf·(t-τ)))
Wherein h (t) be illustrated in distortion in the transmission channel (damping, frequency response ...), τ is the transit time between transmitter and the receiver.
Following method can be used for determining transit time τ:
As fired basis band signal g (t).
The estimation carrier phase.
If will estimate carrier phase, following situation just appears:
Consider that carrier frequency is about 2.4GHz under the situation of (use) ISM frequency band.Therefore the cycle is 0.4ns.The carrier phase estimation can have the ambiguity (uncertainty) of 0.4ns.If realize so also can only improving precision by the application vector phase estimation than the better precision of 0.4ns by other method.
Baseband signal in the receiver can be expressed from the next:
If use nonsynchronous vibrator in transmitter, Δ f represents frequency shift (FS) so herein,
Be the phase shift between the oscillator.
Transit time τ can be by relevant (value) e
v(t) utilize the known g of transmitting (t) to determine.The precision of this correlation is a key parameter of positional precision.The precision of correlation by the performance of the autocorrelation process of signal, be used for calculating relevant method and disturbing effect is determined.
In theory, the problem that influences degree of accuracy mainly is multipath transmission or object decay, and this is because those directly or at the signal that is transferred to receiver behind its target reflection do not cause.Therefore, input signal the earliest must be used in the calculating that is used for distance in the receiver E1-En, even it may not be the strongest.Utilize the following fact can in specific embodiment, more easily realize (calculating of distance): to know the burst time interval of all transmitters in the receiver, thereby also known the about moment that transmits of receiver " prediction ".
Burst transmissions B continues 25 μ s, is used for opening of transmitter output stage (final stage) and pass process comprising protection period of 5 μ s.Transmitter ID sequence continues 15 μ s and comprises 750bit.The data of all the other 5 μ s transmission 250bit.Therefore realized 50 * 10
6Bps data rate.Thereby, for example the ISM-frequency band when 2.4GHz available total bandwidth be under the situation of 80Hz, for the HF of bit sequence transmission, roll-off factor α=0.6 in the wide filtering system of base band.The burst repetition frequency is 0.5ms for ball, and the repetition frequency of athletic transmitter is 4ms.Therefore the utilization factor of time is 67.5%.This makes and to pass through the transmitter control that random series drives except asynchronous, and the synchronous transmitter control of HF backward channel that can also be by having aforesaid shortcoming is carried out.The result obtains minimum position resolution, can reach 20mm and sportsman's transmitter can reach 44mm for each burst transmissions ball.
Fig. 7 illustrates the block diagram of transmitter module.Module comprises timing control unit 80, data transmission generation unit 81 and burst transmissions generation unit 82.Sequential in timing control unit 80 control circuits.It is from burst transmissions generation unit 82 receiving system time clock, and trigger data emission generation unit 81 and burst transmissions generation unit 82.The emission data generate at data transmission generation unit 81, and wherein sensing data also can be processed together.Data are modulated onto high frequency carrier for 82 li at the burst transmissions generation unit then.Then send burst transmissions by antenna 83.
Data transmission generation unit 81 comprises that data burst forms unit 81a, transmitter-ID-module 81b and sensing data processing unit 81c.Data burst forms unit 81a and handles by the sensing data that is provided by sensing data processing unit 81c that has from the designation of emission symbol of transmitter-ID-module 81b, the designation of emission symbol shows the distinctive bit sequence of each transmitter, has formed the data burst that continues to transfer to burst transmissions generating unit 82.When the ball transmitter, sensing data is from acceleration sensor, and when sportsman's transmitter, it can comprise for example medical data.Burst transmissions generating unit 82 comprises reference oscillator 82a, high-frequency generation means, modulator 82b and output stage 82c.The emission data are at first by data filter 82d filtering, to reduce bandwidth, so that make it be demodulated to high frequency carrier by modulated subsequently device 82d.Behind the BPSK modulated process, signal is exaggerated and then filtering in bandpass filter 82e, launches with suppressed sideband.By antenna 83 burst transmissions is finally launched.The rise time of timing control unit 80 control datas burst (frame) is also inserted output stage 82c according to the time division multiplexing method.Clock signal generator is relevant with reference transmitter 84, reference transmitter 84 receives synchronous clock pulse 84b and comprises fiber optic receiver 84c, and have wave filter and processor clock signal 84d and an amplifier 84a, and having transmitter Sp, Sb, these transmitters have quartz (controlled) oscillator 85a and transistor and quartzy 85b.Clock signal is equally also passed through PIC 82j, PD ﹠amp; Divider 82k and comprise that the loop filter 82i of low-pass filter influences modulator 82b.
Fig. 8 illustrates the functional block diagram of receiver E.The high-frequency signal that receives by antenna 90 converts intermediate frequency to and is digitized by means of A/D converter there.Digital processing element 95 obtains the time interval about synchronizing pulse that transmits that is received of each transmitters, and this synchronizing pulse is assigned in all parts among the receiver E by the receiver module 94 that comprises the LWL receiver." the original transit time data " that take place so still have a kind of quality characteristic in addition, before transferring to central computer, it comprise corresponding measured value received field strength or validity.The wireless signal that receives amplified with low noise amplifier before by bandpass filter.After repeating amplification and filtering, in intermediate frequency range, mix.Because digitized process by (sub) sampling realization once more, carries out must carrying out a filtering again to obtain the constant level in the A/D converter before the variable amplification.Then, two synchronizing signals continue to reach digital signal processing unit as time clock, and wherein the sample frequency of 20MHz time clock SF2 also can offer A/D converter.Digital processing element comprises network interface card 95a, is used to transmit the data transfer rate as transit time data 96.Frequency amplifier is between LWL receiver 94a and HF part 91.
In view of the sampling rate of in high bandwidth, using about 200MHz,, the sampling numerical value that provides at first is stored in the storer with loop buffer structure 92 li of the baseband portion of each receiver.To transmit synchronously in order making, at first seek the known emission cycle in received signal, the precalculated position in storer is associated with emission mode then.Can make like this and determine the time of reception exactly.Parallel connection provides a plurality of a plurality of computing units for the necessity that is used for ball and athletic associated procedure.Central computer is used to notify the emission mode that is searched out.Must guarantee this moment: even under disadvantageous situation, also can also assess all signals.From the correlation unit transmission, transfer to central computer CPU by controller PC with by basic data network with the quality status stamp that is used to evaluate measured value the time of reception that is used for each launcher signal of wanting analyzing and processing.
All measured values (transmitter-time of reception-quality status stamp) from receiver in central computer CPU are concentrated in together.Make its classification and grouping by means of the transmitter identiflication number, then each transmitter is carried out the calculating of position with corresponding algorithm.The coordinate of being obtained can be proceeded analyzing and processing then by the interface interchange of regulation.
Owing to can utilize the accurate transit time difference measured value that transmits that is transferred to receiver to determine the position, therefore need two reference signals, they for example produce in central computer CPU in the center in the system, and are assigned in all receiver and central computer.The frequency of two necessary frequency signals for example can be in scope 15-25MHz and 150-250MHz.Signal is a square-wave signal, obtaining clear and definite markers, and is transferred to receiver by lead 14.
Reference transmitter R
1-R
nWith trigger and clock pulse signal work, these signals are imported from signal network.Receiver is preferably with the direct receiver of synchronizing frequency work.But also can be designed to simple superheterodyne receiver.Also can use intermediate frequency this moment, and this frequency is mixed with output frequency in second mixer stage then, but must also will be low pass filtering.The advantage of this scheme is fully freely to select output frequency.When given 80MHz bandwidth, the theoretical sampling rate that needs is 160MHz.But, can come to determine effectively bandwidth by simulation prefilter with feature transition function.
The above is the preferred embodiments of the present invention only, is not limited to the present invention, and for a person skilled in the art, the present invention can have various changes and variation.Within the spirit and principles in the present invention all, any modification of being done, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Symbol description
B burst transmissions CPU central computer unit
DP FPDP DPE data are processed and assessment
Dx, the thin X of section of Dy, Y E1-E
nReceiver (calibration, decoding, synchronously)
M
TThe medium that is used for transmission is Ethernet/radio/RS485 for example ...
R1-Rn，Rx1-n，R
1-R
nReference transmitter RN receiver network
S hunting zone S, the S1-S6 transmitter
The transmitter of Sb in the moving target object;
The transmitter of Sp in moving object; SDD signal/data distributor
SF1, SF2 synchronizing frequency LWL T0Transmission time
δ tm
aMistiming am
nInformation quality
10 moving 11 16m spaces
12 receiver networks, 13 clock lines
14 markers, 15 power leads
16 FPDP, 17 data lines
80 timing control unit 80a time clock
81 emission data generating unit 81a data bursts form the unit
81b transmitter-ID-module 81c sensing data processing unit
81d data filter 82 burst transmissions generating units
82a oscillator 82b modulator
82c output stage 82d data filter
82e wave filter 82f current potential is regulated
82g resistor 82i loop filter
83 antenna 84a amplifiers
The 84b clock signal is handled the 84c fiber optic receiver
84d synchronizing clock signals 85a quartz (controlled) oscillator
HFS among the 90 antenna 91E (HF part)
92 baseband portion, 93 frequency amplifiers
94 receiver module 94aLWL receiver modules
95 control device 95a network interface cards
96 transit time data
Claims (20)
1. continuous method of the position of at least one moving object of real-time follow-up in the hyperspace of regulation, comprise at least one transmitter module that moves is placed at least one moving object of the described system that will analyze, receive and the receiver of signal shaping network receives the signal that comes from described at least one transmitter module and handles described received signal is concentrated by fixing, wherein, signal by described at least one transmitter module emission is the electromagnetic wave that utilizes the emission of time division multiplexing method in a frequency band range, described frequency band is used as individual channel, be used to make the location accuracy maximization, it is characterized in that: the communication process between the receiver of described at least one transmitter module and described reception and signal shaping network is based on the principle of the pseudorandom time division multiplexing with asynchronous pseudo random pattern; Transmitting of wherein different burst transmissions (B) has the characteristic of low cross correlation.
2. method according to claim 1 is characterized in that, described pseudorandom time division multiplexing principle is included in emission independent, the random moment, and each transmitter (S, Sp, Sb) is used for the different pseudo-random sequences of x time.
3. method according to claim 1 is characterized in that, described receiver (E
1..., E
n) estimate moment of the next burst transmissions (B) of some transmitters (S, Sp, Sb) according to the knowledge of pseudorandom time division multiplexing and known pseudo random pattern.
4. method according to claim 3 is characterized in that, only those is carried out analyzing and processing at the signal that the predetermined instant of next burst transmissions (B) occurs.
5. method according to claim 3 is characterized in that, Continuous Tracking is carried out the forecasting process of the next burst transmissions of some transmitters (S, Sp, Sb).
6. method according to claim 1 is characterized in that, described transmitter module is made described transmitter module also can be contained in the ball by microminiaturization.
7. method according to claim 1 is characterized in that, described frequency band is 2.4GHz.
8. method according to claim 1 is characterized in that, the bandwidth of described frequency band is 80MHz.
9. method according to claim 1 is characterized in that, fixing reference transmitter (R
1..., R
n) as reference by location, be used to make the error minimize of system and be used for calibration system, described reference transmitter with at least one transmitter that moves (S, Sp, Sb) of at least one moving object that will analyze similarly mode launch the identification code of a sequence, described receiver (R
1..., R
n) survey signal, the time when determining that they arrive receiver separately from described reference transmitter.
10. method according to claim 9 is characterized in that, described reference transmitter is realized synchronously by cable.
11. method according to claim 1 is characterized in that, uses asynchronous pseudo random pattern emission burst transmissions (B), described asynchronous pseudo random pattern is the combination of the access mechanism of time division multiplexing and code division multiplex.
12. method according to claim 1 is characterized in that, described pseudo random pattern is the prime number sequence.
13. method according to claim 1 is characterized in that, under the situation of burst transmissions (B), and at least two Signal Separation of the separate sources at random that described receiver will arrive simultaneously.
14. method according to claim 1 is characterized in that, burst transmissions (B) is with the high like this pulse rate emission of each numerical value of allowing not detect.
15. method according to claim 1, it is characterized in that, asynchronous burst transmissions (B) from least one transmitter module that moves of described transmitter (S, Sp, Sb) is suitable for by the receiver module in transmitter (S, Sp, Sb) by synchronously, so that reduce overlapping possibility when a plurality of transmitter.
16. method according to claim 1, it is characterized in that, before the HF of fixing reception and signal shaping network-hold the analog receiving signal that is received in analysis and processing unit, to be digitized and the time of reception definite and that store the signal of corresponding transmitter (S, Sp, Sb).
17. method according to claim 16 is characterized in that, the signal that receives in order to handle, and described signal is divided into different piece, and corresponding algorithm or polyalgorithm are used for various piece simultaneously.
18. method according to claim 16, it is characterized in that, the signal that receives in order to handle, described signal is divided into different piece, used the time shaft that rotates and be used to handle different parts so that in the high speed dynamic process uncontinuity by approaching from both sides.
19. the device of a launching electromagnetic wave, be used for a kind of in the hyperspace of regulation the continuous method of the position of at least one moving object of real-time follow-up, comprising:
-at least one mobile transmitter module is connected at least one moving object of the system that will analyze,
-fixing reception and a plurality of receivers of signal shaping network are used to receive and handle the signal of being launched by transmitter module, and these signals are the ripples that use the emission of time division multiplexing method at a frequency band range,
It is characterized in that, be provided with communicator, described communicator uses has the pseudorandom time division multiplexing principle of asynchronous pseudo random pattern, as at least one transmitter on the operational frequency band of a single passage (S, Sp, Sb) and receiver (E
1... E
n) between carry out transmission course; Also be provided with emitter apparatus, be used for transmitting with the form transmission of different burst transmissions (B) with low cross correlation.
20. device according to claim 19 is characterized in that, is provided with the reference transmitter (R with trigger and clock pulse signal
1..., R
n), these signals are imported by signal network.
Applications Claiming Priority (7)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE10250243 | 2002-10-28 | ||
| DE10250243.9 | 2002-10-28 | ||
| DE10250500 | 2002-10-29 | ||
| DE10250500.4 | 2002-10-29 | ||
| DE10252934A DE10252934A1 (en) | 2002-10-28 | 2002-11-14 | Method for continuous real-time tracking of the position of at least one mobile object and associated transmitters and receivers |
| DE10252934.5 | 2002-11-14 | ||
| PCT/EP2003/011893 WO2004038448A1 (en) | 2002-10-28 | 2003-10-25 | Method for continuously locating in real time at least one mobile object and transmitters and receivers for carrying out said method |
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| Publication Number | Publication Date |
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| CN1708697A CN1708697A (en) | 2005-12-14 |
| CN1708697B true CN1708697B (en) | 2010-06-09 |
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| CN200380102326.5A Expired - Fee Related CN1708697B (en) | 2002-10-28 | 2003-10-25 | Method for continuously locating in real time at least one mobile object and transmitters and receivers for carrying out said method |
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| Country | Link |
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| CN (1) | CN1708697B (en) |
| DE (1) | DE10252934A1 (en) |
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| DE102005021579A1 (en) * | 2005-05-10 | 2006-11-16 | Ads-Tec Gmbh | Method for determining position |
| DE102007001820B3 (en) * | 2006-10-12 | 2008-01-24 | Cairos Technologies Ag | System for detecting contact of player with ball comprises magnetic field generator on player generating field with characteristic code sequence or frequency, sensor on ball detecting field and identifying player |
| DE102007015493A1 (en) * | 2007-03-30 | 2008-10-02 | Cairos Technologies Ag | Movement area for a mobile object and evaluation device for detecting a position of a mobile object |
| DE102008010702A1 (en) * | 2008-02-22 | 2009-08-27 | Robert Bosch Gmbh | Method for automatic adjustment of direction-sensitive device, for e.g. headlight, camera or microphone, on multiple moving stage participants in stage technology, involves initializing radio network with multiple wireless radio nodes |
| DE102008057705A1 (en) | 2008-11-17 | 2010-05-20 | Cairos Technologies Ag | Capture and provide player information with player-side sensor |
| CN101753852A (en) * | 2008-12-15 | 2010-06-23 | 姚劲草 | Sports event dynamic mini- map based on target detection and tracking |
| DE202011005329U1 (en) | 2011-04-15 | 2012-07-16 | Fibotec Fiberoptics Gmbh | Navigation system for driverless vehicles |
| CN105829908B (en) * | 2013-12-02 | 2019-06-07 | 安莱森德契穆普技术有限责任公司 | Local positioning and response system |
| DE102015118152A1 (en) * | 2015-10-23 | 2017-04-27 | clownfisch information technology GmbH | A method for determining a position of a mobile unit |
| CN116370938A (en) * | 2018-01-21 | 2023-07-04 | 斯塔特斯公司 | Method, system and medium for identifying team formation during positioning attack |
| CN110947164A (en) * | 2018-09-26 | 2020-04-03 | 千寻位置网络有限公司 | Door line judging system and method based on high-precision positioning |
| US11935298B2 (en) | 2020-06-05 | 2024-03-19 | Stats Llc | System and method for predicting formation in sports |
| EP4123331A1 (en) * | 2021-07-20 | 2023-01-25 | Siemens Aktiengesellschaft | Wireless location system, base station, transponder and method for operating a wireless location system |
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| CN1708697A (en) | 2005-12-14 |
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