MOBILITY TRACKING METHOD AND USER LOCATION TRACKING DEVICE

• US 20090201149A1
• Filed: 12/29/2008
• Published: 08/13/2009
• Est. Priority Date: 12/26/2007
• Status: Abandoned Application

• Current Assignee: Panasonic Corporation (Panasonic Holdings Corporation)
• Original Assignee: Panasonic Corporation (Panasonic Holdings Corporation)
• Inventors: KAJI, Mitsuru
• Application Number:
  US12/344,845
• Publication Number:
  US 20090201149A1
• Time in Patent Office: Days
• US Class Current: 340/539.130
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01S 5/0294 Trajectory determination or predictive filtering, e.g. target tracking or Kalman filtering

Abstract

A user location tracking method allows a topology of a travel path taken by a user to be estimated without the use of location information such as GPS coordinates, so that a travel range of the user who only carries a small-sized terminal can be tracked at all times. The mobility tracking method is employed by a user location tracking device which uses radio waves sent from wireless devices distributed ubiquitously, the mobility tracking method including: detecting wireless device information identifying wireless devices out of the ubiquitously available wireless devices when the radio waves are received at a location where the user location tracking device is situated; storing the detected wireless device information as historical data; and estimating a topology, as the user location tracking device is moving, that shows a positional relation and a connection relation of a travel path taken by the user location tracking device, the estimation being performed on the basis that the location of the user location tracking device has deviated from a previously tracked path which has been traveled before by the user location tracking device and that the location of the user location tracking device has returned to the previously tracked path, using the stored historical data.

Claims

1. A mobility tracking method used by a device which tracks a travel range of a tracking object using radio waves sent from wireless devices which are ubiquitously available, said mobility tracking method comprising:

detecting wireless device information identifying wireless devices out of the ubiquitously available wireless devices when the radio waves are received at a location where the tracking object is situated;

storing the wireless device information detected in said detecting as historical data; and

estimating a topology which shows a positional relation and a connection relation of a travel path taken by the tracking object, from the historical data stored in said storing,

wherein, in said estimating of the topology, the topology is estimated as the tracking object is moving, on the basis that the location of the tracking object has deviated from a previously tracked path which has been traveled before by the tracking object and that the location of the tracking object has returned to the previously tracked path.

2. The mobility tracking method according to claim 1,

wherein said estimating of the topology includes:

judging whether or not a current location of the tracking object is deviating from the previously tracked path and, when it is judged that the current location of the tracking object is deviating from the previously tracked path, determining a time immediately before the deviation as a deviation time;

determining a location of the tracking object on the previously tracked path at the deviation time as a deviation intersection;

judging whether or not the current location of the tracking object has returned to the previously tracked path when it is judged that the current location of the tracking object is deviating from the previously tracked path and, when it is judged that the current location of the tracking object has returned to the previously tracked path, determining a time immediately after the return as a return time;

determining a location of the tracking object on the previously tracked path at the return time as a return intersection; and

determining a path taken by the tracking object from the deviation time to one of the return time and a current time as a newly tracked path, with a starting point of the newly tracked path being determined as the deviation intersection, and an ending point of the newly tracked path being determined as the return intersection when the return intersection has already been determined.

3. The mobility tracking method according to claim 2,

wherein in said estimating of the topology,

a triangular matrix is generated by calculating a degree of similarity, as an element of the triangular matrix, in the wireless device information stored in said storing between two detection cycles t and t′

, where t′

<

t, t′

being a row value and t being a column value,

a slope line area is extracted from the generated triangular matrix, the slope line area being formed by connecting adjacent elements whose degree of similarity exceeds a predetermined threshold value, and

it is judged that the tracking object is traveling along the previously tracked path in the detection cycle t where the extracted area exists.

4. The mobility tracking method according to claim 3, further comprising

estimating a location of the tracking object in the detection cycle t from an arrangement of the sloped line areas in the detection cycle t of the triangular matrix, when it is judged in said estimating of the topology that the tracking object is traveling along the previously tracked path in the detection cycle t.

5. The mobility tracking method according to claim 3,

wherein the degree of similarity calculated in said estimating of the topology is one of a Tanimoto coefficient and an expected value of the Tanimoto coefficient.

6. The mobility tracking method according to claim 2,

wherein the previously tracked path is held as a hidden Markov model in which the location of the tracking object is a state variable and the wireless device information detected in said detecting is an observed variable,

in said judging of the deviation, an observation probability is estimated for each time of day based on the historical data and the hidden Markov model of the previously tracked path obtained up to the current time, and the deviation time is determined from a degree of similarity between the estimated value of the observation probability at the time of day and the wireless device information detected at the time of day,

in said determining of the deviation intersection, a maximum likelihood estimate of the state variable at the deviation time is determined as a value of the state variable at the deviation intersection, from the historical data and the hidden Markov model of the previously tracked path obtained up to the deviation time,

in said judging of the return, an observation probability is estimated for each time of day in a backward direction from the current time to a past, based on the historical data and the hidden Markov model of the previously tracked path, and the return time is determined from a degree of similarity between:

the estimated value of the observation probability at the time of day that is estimated in the backward direction from the current time to the past; and

the wireless device information detected at the time of day,

in said determining of the return intersection, a maximum likelihood estimate of the state variable at the return time is determined as a value of the state variable at the return intersection, from the historical data and the hidden Markov model of the previously tracked path obtained between the return time and the current time, and

in said determining of the path;

a state-label sequence of the hidden Markov model is generated as the newly tracked path;

an observation probability of the newly generated state-label sequence is learned using the historical data obtained from the deviation time to one of the return time and the current time;

the starting point of the newly generated state-label sequence is connected to the deviation intersection; and

the ending point of the newly generated state-label sequence is connected to the return intersection when the return intersection has already been determined.

7. The mobility tracking method according to claim 6,

wherein the observation probability of the hidden Markov model is smoothed out by probabilities that the wireless devices are newly set up or relocated and that a failure occurs to the wireless devices.

8. The mobility tracking method according to claim 6,

wherein said estimating of the topology further includes

retraining to update the observation probability of the hidden Markov model using the historical data obtained from the return time to the deviation time.

9. The mobility tracking method according to claim 6,

wherein said estimating of the topology further includes

estimating the current location of the tracking object through maximum likelihood estimation using the historical data and the hidden Markov model obtained up to the current time, when the current location of the tracking object is not deviating from the previously tracked path.

10. The mobility tracking method according to claim 9,

wherein said estimating of the topology further includes

recognizing, when the current location estimated in said estimating of the current location has been indicated by a same state label for a fixed number of hours during a night for a fixed period of time, a location indicated by the state label as a home of a user who owns the tracking object.

11. The mobility tracking method according to claim 6,

wherein said estimating of the topology further includes

calculating a shortest period of time taken to travel between two state labels of the hidden Markov model, according to Dijkstra'"'"'s algorithm.

12. The mobility tracking method according to claim 6,

wherein, to the state-label sequence newly generated in said determining of the path, a plurality of state labels are assigned at a same location in order for each travel direction to have one state label, and the plurality of state labels at the same location share the observation probability.

13. The mobility tracking method according to claim 1,

wherein the wireless device information detected in said detecting is a combination of identifiers included in the radio waves received in a fixed detection cycle.

14. The mobility tracking method according to claim 13,

wherein the ubiquitously available wireless devices are IEEE 802.11 access points, and the radio waves received in said detecting are beacon signals sent from the access points, and

the identifiers included in the received radio waves are IEEE 802.11 MAC addresses.

15. The mobility tracking method according to claim 1, further comprising:

estimating a current location of the tracking object on the previously tracked path, through maximum likelihood estimation;

storing a focused location on the previously tracked path;

estimating a travel period taken from the current location to the focused location according to Dijkstra'"'"'s algorithm; and

notifying one of;

that the current location has reached the focused location when the current location has reached the focused location; and

that the travel period has fallen within a fixed period when the travel period has fallen within the fixed period.

16. The mobility tracking method according to claim 1, further comprising:

estimating a current location of the tracking object on the previously tracked path, through maximum likelihood estimation;

sending the current location of the tracking object to a separate device which tracks a travel range of a different tracking object;

receiving a current location of the different tracking object from the separate device;

estimating a travel period taken from the current location of the tracking object to the current location of the different tracking object according to Dijkstra'"'"'s algorithm; and

notifying one of;

the travel period; and

the travel period when the travel period has fallen within a fixed period.

17. A user location tracking device for tracking a travel range of said user location tracking device using radio waves sent from wireless devices which are ubiquitously available, said user location tracking device comprising:

a detection unit configured to detect wireless device information identifying wireless devices out of the ubiquitously available wireless devices when the radio waves are received;

a storage unit configured to store the wireless device information detected by said detection unit, as historical data; and

a topology estimation unit configured to estimate a topology which shows a positional relation and a connection relation of a travel path taken by said user location tracking device, from the historical data stored in said storage unit,

wherein said topology estimation unit is configured to estimate the topology as said user location tracking device is moving, on the basis that the location of said user location tracking device has deviated from a previously tracked path which has been traveled before by said user location tracking device and that the location of said user location tracking device has returned to the previously tracked path.

18. The user location tracking device according to claim 17, further comprising

an identifier sending unit configured to regularly send a radio wave including an identifier,

wherein said identifier sending unit is configured to send the radio wave to a separate user location tracking device, only when said user location tracking device is placed on a battery charger.

19. The user location tracking device according to claim 17, further comprising

a display unit configured to map the topology estimated by said topology estimation unit and to display the mapped topology.

20. The user location tracking device according to claim 17, further comprising:

a deviation judgment unit configured to judge whether or not a current location of said user location tracking device is deviating from the previously tracked path; and

a notification unit configured, when it is judged that the current location of said user location tracking device is deviating from the previously tracked path, to notify of the deviation.

21. A user location tracking system in which a travel range of a tracking object is tracked using radio waves sent from wireless devices which are ubiquitously available, said user location tracking system comprising:

a user location tracking device which is the tracking object; and

a user location tracking server,

wherein said user location tracking device includes;

a detection unit configured to detect wireless device information identifying wireless devices out of the ubiquitously available wireless devices when the radio waves are received;

a storage unit configured to store the wireless device information detected by said detection unit, as historical data;

a history sending unit configured to send the historical data to said user location tracking server; and

a tracked-path receiving unit configured to receive a hidden Markov model from said user location tracking server, and

said user location tracking server includes;

a history receiving unit configured to receive the historical data from said user location tracking device;

a path estimation unit configured to generate the hidden Markov model of a travel path taken by said user location tracking device, using the historical data received by said history receiving unit; and

a tracked-path sending unit configured to send the hidden Markov model generated by said path estimation unit to said user location tracking device.