Devices, methods, and systems for radio map generation

• US 8,938,255 B2
• Filed: 08/01/2011
• Issued: 01/20/2015
• Est. Priority Date: 08/01/2011
• Status: Active Grant

• Current Assignee: Aeroscout Limited (Stanley Black & Decker, Inc.)
• Original Assignee: Aeroscout Limited (Stanley Black & Decker, Inc.)
• Inventors: Tsruya, Shalom, Dalla Torre, Rafi, Aljadeff, Daniel, Lavi, Amir
• Primary Examiner(s): CUMMING, WILLIAM D
• Application Number:
  US13/195,206
• Publication Number:
  US 20130035109A1
• Time in Patent Office: 1,268 Days
• Field of Search: 455/456.1, 455/404.2
• US Class Current: 455/456.1
• CPC Class Codes: G01S 5/02526 using non-dedicated equipment, e.g. user equipment or crowd-sourcing
• CPC Class Codes: H04W 64/00 Locating users or terminals or network equipment for network management purposes, e.g. mobility management

Abstract

Systems, devices, methods, and computer-readable mediums for generating a radio map of an area are disclosed. In one aspect, the device, method, and computer-readable medium perform processes that may include receiving in at least one processor first information associated with at least one wireless device at a first location in the area. The processes may include receiving in the at least one processor second information associated with at least one wireless device at a second location in the area and different from the first location. The first location within said area and the second location within the area are unknown to the at least one processor. The processes may also include generating a radio map of the area using the first information and the second information.

Claims

1. A non-transitory computer-readable medium containing instructions that, when executed by at least one processor, cause the at least one processor to perform a method of generating a radio map of an area, the method comprising the steps of:

receiving in the at least one processor first information associated with at least one wireless device at a first location in the area, wherein the first location within said area is unknown to the at least one processor;

receiving in the at least one processor second information associated with at least one wireless device at a second location in the area and different from the first location, wherein the second location within said area is unknown to the at least one processor; and

using the first information and the second information to generate the radio map of the area, wherein generating the radio map comprises;

calculating at least one wireless signal propagation characteristic associated with each of the first location and the second location; and

using the calculated at least one wireless signal propagation characteristic to calculate at least one wireless signal propagation characteristic for other locations in the area.

2. The non-transitory computer-readable medium of claim 1, wherein the first information and the second information include received signal strength measurements associated with a plurality of known reference locations.

3. The non-transitory computer readable medium of claim 2, wherein prior to generating, the method further comprises estimating the first location and the second location within said area and based on the plurality of known reference locations.

4. The non-transitory computer readable medium of claim 3, wherein the method further comprises receiving in the at least one processor third information associated with at least one wireless device different from the at least one wireless device associated with the first and second information and using the third information to modify at least one estimated location of the at least one wireless device associated with the first and second information.

5. The non-transitory computer readable medium of claim 1, wherein the first information lacks position information defining a geographic region of the first location within said area and wherein the second information lacks position information defining a geographic region of the second location within said area.

6. The non-transitory computer-readable medium of claim 1, wherein the method further comprises generating the radio map by using the first information, the second information, and additional information associated with a known additional location of at least one wireless device in the area.

7. The non-transitory computer-readable medium of claim 1, wherein the method further comprises receiving in the at least one processor information associated with at least one wireless device from at least fifteen locations within said area, said at least fifteen locations being unknown to the at least one processor, and wherein said generating of the radio map includes using the information from the at least fifteen unknown locations.

8. The non-transitory computer-readable medium of claim 7, wherein prior to generating, the method further comprises estimating the at least fifteen locations.

9. The non-transitory computer-readable medium of claim 1, wherein the method further comprises generating a radio map using a first known transmission power associated with the at least one wireless device at the first location and a second known transmission power associated with the at least one wireless device at the second location.

10. The non-transitory computer-readable medium of claim 1, wherein the method further comprises iteratively generating at least one modified radio map using a previously generated radio map.

11. The non-transitory computer-readable medium of claim 10, wherein the method further comprises receiving in the at least one processor fourth information associated with at least one wireless device in a fourth location unknown to the at least one processor and generating the at least one modified radio map further using the fourth information.

12. The non-transitory computer-readable medium of claim 1, further comprising a location system in which the computer-readable medium is incorporated.

13. The non-transitory computer-readable medium of claim 1, wherein the method further comprises using the generated radio map to determine a location of the at least one wireless device in the area, and using the determined location of the at least one wireless device to further modify the radio map.

14. The non-transitory computer-readable medium of claim 1, wherein the method further comprises receiving in the at least one processor information characterizing the area, and wherein said generating includes using the information characterizing the area.

15. The non-transitory computer-readable medium of claim 3, wherein said area further includes a plurality of zones within said area.

16. The non-transitory computer-readable medium of claim 15, wherein in said radio map, said zones are further represented by corresponding single points inside each of said zones.

17. The non-transitory computer-readable medium of claim 15, wherein in said radio map, said zones are further represented by corresponding polygons representing each of said zones.

18. The non-transitory computer-readable medium of claim 15, wherein said radio map further comprises the at least one wireless signal propagation characteristic associated with each of at least two of said plurality of zones and wherein said method further comprises the steps of:

associating the first and second information with the first location and the second location respectively;

calculating the at least one wireless signal propagation characteristic associated with each of said first location and said second location; and

computing contents of the radio map of said area, wherein computing includes calculating at least one wireless signal propagation characteristic associated with each of two or more of said plurality of zones based on the at least one wireless signals propagation characteristic associated with the first location and the second location.

19. The non-transitory computer-readable medium of claim 18, wherein the at least one wireless signal propagation characteristic associated with each of at least two of said plurality of zones includes expected signal strength.

20. The non-transitory computer-readable medium of claim 18, wherein the at least one wireless signal propagation characteristic associated with each of at least two of said plurality of zones includes one propagation channel parameter.

21. The non-transitory computer-readable medium of claim 20, wherein said one propagation channel parameter is f_ij, wherein f_ij is calculated using the following formula or a substantially similar formula:

22. The non-transitory computer-readable medium of claim 1, wherein the at least one wireless device operates in accordance with at least one of IEEE802.11x radio signals, cellular radio signals, IEEE802.15.x signals and ultra wideband signals.

23. The non-transitory computer-readable medium of claim 1, wherein the at least one wireless device is at least one of a smartphone, laptop computer, RFID tag, notebook computer and wireless sensor.

24. The non-transitory computer-readable medium of claim 11, wherein the method further comprises generating the at least one modified radio map periodically at predetermined intervals.

25. The non-transitory computer-readable medium of claim 24, wherein a size of said area may change after one or more of said predetermined intervals and said area changes are reflected in said radio map.

26. The non-transitory computer-readable medium of claim 11, wherein the method further comprises receiving in the at least one processor fifth information associated with said at least one wireless device in a fifth location known to the at least one processor and generating the at least one modified radio map at least using a previously generated radio map and the fourth and fifth information.

27. The non-transitory computer-readable medium of claim 26, wherein a first weighting factor is associated with the fourth information and wherein a second weighting factor different from the first weighting factor is associated with the fifth information and wherein the at least one modified radio map is generated at least using the first and second weighting factors.

28. The non-transitory computer-readable medium of claim 26, wherein said at least one wireless device associated with the first information is a single device that differs from another single wireless device associated with at least one of the second, fourth and fifth information.

29. The non-transitory computer-readable medium of claim 28, wherein the method further comprises initiating said generating the at least one modified radio map after receiving in the at least one processor a predetermined amount of either said fourth or fifth information, and wherein said predetermined amount depends on at least one of a size of said area, a number of differing locations, and an amount of information received from each of the differing locations.

30. A device for generating a radio map of an area, the device comprising:

at least one memory storing instructions; and

at least one processor configured to execute the instructions to;

receive first information associated with at least one wireless device at a first location in the area, and wherein the first location is unknown to the at least one processor;

receive second information associated with the at least one wireless device at a second location in the area different from the first location, and wherein the second location is unknown to the at least one processor; and

generate a radio map of the area using the first information and the second information, wherein the instructions to generate the radio map include instructions to;

calculate at least one wireless signal propagation characteristic associated with each of the first location and the second location; and

determine from the at least one calculated wireless signal propagation characteristic at least one wireless signal propagation characteristic for other locations in the area.

31. The device of claim 30, wherein the first information and the second information include received signal strength measurements associated with a plurality of known reference locations.

32. The device of claim 31, wherein prior to generating, the at least one processor is further configured to execute the instruction to estimate the first location and the second location within said area and based on the plurality of known reference locations.

33. The device of claim 32, wherein the at least one processor is further configured to execute the instructions to receive third information associated with at least one wireless device different from the at least one wireless device associated with the first and second information and to use the third information to modify at least one estimated location of the at least one wireless device associated with the first and second information.

34. The device of claim 30, wherein the first information lacks position information defining a geographic region of the first location within said area, and wherein the second information lacks position information defining a geographic region of the second location within said area.

35. The device of claim 30, wherein the at least one processor is further configured to execute the instructions to generate the radio map by using the first information, the second information, and additional information associated with a known additional location of at least one wireless device in the area.

36. The device of claim 30, wherein the at least one processor is further configured to execute the instructions to receive information associated with at least one wireless device from at least fifteen locations within said area, said fifteen locations being unknown to the at least one processor, and wherein said generating of the radio map includes using the information from the fifteen unknown locations.

37. The device of claim 36, wherein prior to generating, the at least one processor is further configured to execute the instructions to estimate the fifteen locations.

38. The device of claim 30, wherein the at least one processor is further configured to execute the instructions to iteratively generate at least one modified radio map using a previously generated radio map.

39. The device of claim 38, wherein the at least one processor is further configured to execute the instructions to receive fourth information associated with at least one wireless device in a fourth location unknown to the at least one processor and to generate the at least one modified radio map further using the fourth information.

40. The device of claim 30. further comprising a location system in which the at least one processor is incorporated.

41. The device of claim 30, wherein the at least one processor is further configured to execute the instructions to use the generated radio map to determine a location of the at least one wireless device in the area, and to use the determined location of the at least one wireless device to further modify the radio map.

42. The device of claim 32, wherein said area further includes a plurality of zones within said area.

43. The device of claim 42, wherein in said radio map, said zones are further represented by corresponding single points inside each of said zones.

44. The device of claim 42, wherein said radio map further comprises at least one wireless signal propagation characteristic associated with each of at least two of said plurality of zones and wherein the at least one processor is further configured to execute the instructions to:

associate the first and second information with the first location and the second location respectively;

calculate the at least one wireless signal propagation characteristic associated with each of said first location and said second location; and

compute the contents of the radio map of said area including the steps of;

calculating at least one wireless signal propagation characteristic associated with each of two or more of said plurality of zones based on the at least one wireless signal propagation characteristic associated with the first location and the second location.

45. The device of claim 44, wherein the at least one wireless signal propagation characteristic associated with each of at least two of said plurality of zones includes expected signal strength.

46. The device of claim 44, wherein the at least one wireless signal propagation characteristic associated with each of at least two of said plurality of zones includes one propagation channel parameter.

47. The device of claim 39, wherein the at least one processor is further configured to execute the instructions to generate the at least one modified radio map periodically at predetermined intervals.

48. The device of claim 39, wherein the at least one processor is further configured to execute the instructions to receive fifth information associated with said at least one wireless device in a fifth location known to the at least one processor and to generate the at least one modified radio map at least using a previously generated radio map and the fourth and fifth information.

49. The device of claim 48, wherein said at least one wireless device associated with the first information is a single device that differs from another single wireless device associated with at least one of the second, fourth, and fifth information.

50. The device of claim 49, wherein the at least one processor is further configured to execute the instructions to initiate said generate the at least one modified radio map after a predetermined amount of either said third or fourth information is received, and wherein said predetermined amount depends on at least one of a size of said area, a number of differing locations, and an amount of information received from each of the differing locations.

51. A method of generating a radio map of an area, the method comprising:

receiving in at least one processor first information associated with at least one wireless device at a first location in the area, and wherein the first location is unknown to the at least one processor;

receiving in said least one processor second information associated with at least one wireless device at a second location in the area different from the first location, and wherein the second location is unknown to the at least one processor; and

generating a radio map of the area using the first information and the second information, wherein generating the radio map comprises;

calculating at least one wireless signal propagation characteristic associated with each of the first location and the second location; and

using the at least one calculated wireless signal propagation characteristic to calculate at least one wireless signal propagation characteristic for other locations in the area.

52. The method of claim 51, wherein the first information and the second information include received signal strength measurements associated with a plurality of known reference locations.

53. The method of claim 52, wherein prior to generating, the method further comprises estimating the first location and the second location within said area and based on the plurality of known reference locations.

54. The method of claim 53, further comprising receiving in the at least one processor third information associated with at least one wireless device different from the at least one wireless device associated with the first and second information, and using the third information to modify at least one estimated location of the at least one wireless device associated with the first and second information.

55. The method of claim 51, wherein the first information lacks position information defining a geographic region of the first location within said area, and wherein the second information lacks position information defining a geographic region of the second location within said area.

56. The method of claim 51, wherein the method further comprises generating the radio map by using the first information, the second information, and additional information associated with a known additional location of at least one wireless device in the area.

57. The method of claim 51, wherein the method further comprises receiving in the at least one processor information associated with at least one wireless device from at least fifteen locations within said area, said fifteen locations being unknown to the at least one processor, and wherein said generating of the radio map includes using the information from the fifteen unknown locations.

58. The method of claim 57, wherein prior to generating, the method further comprises estimating the fifteen locations.

59. The method of claim 51, wherein the method further comprises generating a radio map using a first known transmission power associated with the at least one wireless device at the first location and a second known transmission power associated with the at least one wireless device at the second location.

60. The method of claim 51, wherein the method further comprises iteratively generating at least one modified radio map using a previously generated radio map.

61. The method of claim 60, wherein the method further comprises receiving in the at least one processor fourth information associated with at least one wireless device in a fourth location unknown to the at least one processor and generating the at least one modified radio map further using the fourth information.

62. The method of claim 51, further comprising a location system in which the method is incorporated.

63. The method of claim 51, wherein the method further comprises using the generated radio map to determine a location of the at least one wireless device in the area, and using the determined location of the at least one wireless device to further modify the radio map.

64. The method of claim 53, wherein said area further includes a plurality of zones within said area.

65. The method of claim 64, wherein in said radio map, said zones are further represented by corresponding single points inside each of said zones.

66. The method of claim 64, wherein said radio map further comprises at least one wireless signal propagation characteristic associated with each of at least two of said plurality of zones and wherein said method further comprising the steps of:

associating the first and second information with the first location and the second location respectively;

calculating the at least one wireless signal propagation characteristic associated with each of said first location and said second location; and

computing the contents of the radio map of said area, wherein computing includes;

calculating at least one wireless signal propagation characteristic associated with each of two or more of said plurality of zones based on the at least one wireless signals propagation characteristic associated with the first location and the second location.

67. The method of claim 66, wherein the at least one wireless signal propagation characteristic associated with each of at least two of said plurality of zones includes expected signal strength.

68. The method of claim 66, wherein the at least one wireless signal propagation characteristic associated with each of at least two of said plurality of zones includes one propagation channel parameter.

69. The method of claim 68, wherein said one propagation channel parameter is f_ij, wherein f_ij is calculated using the following formula or a substantially similar formula:

70. The method of claim 51, wherein the at least one wireless device operates in accordance with at least one of IEEE802.11x radio signals, cellular radio signals, IEEE802.15.x signals and ultra wideband signals.

71. The method of claim 61, wherein the method further comprises generating the at least one modified radio map periodically at predetermined intervals.

72. The method of claim 61, wherein the method further comprises receiving in the at least one processor fifth information associated with said at least one wireless device in a fifth location known to the at least one processor and generating the at least one modified radio map at least using a previously generated radio map and the fourth and fifth information.

73. The method of claim 72, wherein a first weighting factor is associated with the fourth information and wherein a second weighting factor different from the first weighting factor is associated with the fifth information and wherein the at least one modified radio map is generated at least using the first and second weighting factors.

74. The method of claim 72, wherein said at least one wireless device associated with the first information is a single device that differs from another single wireless device associated with at least one of the second, fourth and fifth information.

75. The method of claim 74, wherein the method further comprises initiating said generating the at least one modified radio map after receiving in the at least one processor a predetermined amount of either said fourth or fifth information, and wherein said predetermined amount depends on at least one of a size of said area, a number of differing locations, and an amount of information received from each of the differing locations.