Bluetooth low energy (BLE) real-time location system (RTLS) having tags, beacons and bridges, that use a combination of motion detection and RSSI measurements to determine room-location of the tags
The present invention relates generally to a real-time location system (RTLS) and more particularly to a Bluetooth Low Energy (BLE) RTLS having tags, bridges, and beacons. To determine which room a tag is in, beacons broadcast BLE advertisements containing motion-status information about recent history of perceived motion in a room as determined from a motion sensor in the beacon. Tags report received signal strength indications (RSSI) from nearby beacons, motion-in-room status sensed and reported by those beacons, plus their own motion status based on a tag-based accelerometer. A series of location-engine steps estimates the room-location of the tags based on a combination of RSSI analysis, and a comparison of tag-motion history to the perceived and recorded motion-status in a room. The analysis of tag-motion history and motion-in-room status produces a better estimate of room-level location of the tag than an RSSI estimate can produce alone.
1. A real-time location system (RTLS) having tags, beacons, bridges, and a location server for providing people and asset-tag locating, comprising:
at least one beacon equipped with a motion sensor, that uses the motion sensor to include a history of motion status sensed in a beacon's room, embedded in radio transmissions from the at least one beacon;
at least one bridge for receiving location-update messages from at least one tag, and measuring multiple characteristics of the received location-update messages, including received signal strength, and forwarding those location-update messages to a central server;
at least one tag for listening for radio transmissions from the beacons, and measuring multiple characteristics of the received transmissions, including received signal strength and the beacons' indication of motion status in the beacon's room, where patterns of accelerometer-sensed-motion status of the tag are compared to patterns of the motion status in the beacons' transmissions, and location-update messages are transmitted to the at least one bridge; and
a central location server utilizing a plurality of location-determining methods comprising:
a first location method for determining a first location estimate for the at least one tag, based on radio characteristics of BLE beacon signals emitted by at least one beacon in fixed locations and received by the at least one tag, and transmitted to the central location server;
a second location method for determining a second location estimate for the at least one tag, based on comparing changes in the history of motion status in the beacons' rooms, and the coincident history of changes in accelerometer-determined motion status of the at least one tag that is likely in the room; and
a third location method for combining the first location estimate and second location estimate to determine a location result for the at least one tag.
2. The RTLS as in claim 1 , wherein the at least one tag further comprising:
a BLE transceiver;
a microprocessor for driving the BLE transceiver;
a battery for powering the transceiver; and
an accelerometer for detecting motion, used by the microprocessor to compare changes in the motion-status of the tag to motion status messages received by the tag from one or more beacons.
3. The RTLS as in claim 1 , wherein the at least one beacon comprising:
a BLE transceiver;
a microprocessor for operating the transceiver;
a motion sensor for detecting motion in the beacon's room and including motion status in its beacon transmissions;
a battery for powering the BLE transceiver and the microprocessor; and
at least one antenna for broadcasting the RF signal from the BLE transceiver to tags in proximity to the beacon.
4. The RTLS as in claim 1 , wherein the at least one bridge comprising:
a BLE transceiver;
a Wi-Fi transceiver;
a microprocessor for operating the transceivers and forwarding location-update messages from the one or more tags to the central location server; and
an optional motion sensor for detecting motion in the bridge's room and reporting motion status of the room to the central location server.
5. A real-time location system (RTLS) having tags, beacons, bridges, and a location server for providing people and asset-tag locating, comprising:
at least one beacon for transmitting Bluetooth low energy (BLE) advertisements, equipped with a motion sensor and transmitting recent history of motion status sensed in a beacon room;
at least one bridge for receiving location-update messages from at least one tag and measuring multiple characteristics of the received location-update messages, including received signal strength, and a motion sensor for determining motion status in the bridge's room;
at least one tag for listening for BLE advertisements from the beacons and measuring multiple characteristics of the received advertisements, including received signal strength and a series of advertisements of motion status in the beacon's room, where accelerometer-sensed-motion status of the tag is compared to the motion status in the beacons' advertisements, and location-update messages are transmitted to the at least one bridge;
a central location server utilizing a plurality of location-determining methods comprising:
a first location method for calculating a first location estimate for the at least one tag, based on radio characteristics of BLE beacon signals emitted by at least one beacon in fixed locations and received by the at least one tag, and transmitted to the central location server;
a second location method for calculating a second location estimate for the at least one tag, based on comparing changes in the history of motion status in the beacons' rooms, optional changes in the history of motion changes in the bridges' rooms, and the coincident history of changes in accelerometer-determined motion status of the at least one tag that is likely in the room; and
a third location method for combining the first location estimate and second location estimate to determine a location result for the at least one tag.
6. The RTLS as in claim 5 , wherein the at least one tag further comprising:
a BLE transceiver;
a microprocessor for driving the BLE transceiver;
a battery for powering the transceiver; and
an accelerometer for detecting motion, used by the microprocessor to determine and report changes in the motion-status of the tag.
7. The RTLS as in claim 6 , wherein the at least one tag estimates its own probability of a location change based upon at least one of current signal strength readings, past signal strength readings, changes in motion status received in the beacon advertisement, accelerometer/motion status of the tag, or fading characteristics of the environment processed by a mathematical filter.
8. The RTLS as in claim 7 , wherein the probability is used to either transmit or withhold location update information or to report location while minimizing the energy spent transmitting.
9. The RTLS as in claim 5 , wherein the at least one beacon comprising:
a BLE transceiver;
a microprocessor for operating the transceiver;
a motion sensor for detecting motion in the beacon's room;
a battery for powering the BLE transceiver and the microprocessor; and
at least one antenna for broadcasting the RF signal from the BLE transceiver to a target area(s) within the floor and room for providing the tag with an accurate floor-level location reference or room-level location reference.
10. The RTLS as in claim 5 , wherein the at least one bridge comprising:
a BLE transceiver;
a Wi-Fi transceiver;
a microprocessor for operating the transceivers; and
a motion sensor for detecting motion in the bridge's room.
11. The RTLS as in claim 10 , wherein the bridge transmits the motion-status in its room to the location engine, and the location engine may build a movement-history record for the bridge's room, to be used in locating tags.
12. The RTLS as in claim 5 , wherein the at least one beacon comprising:
a BLE transceiver;
a microprocessor for operating the transceiver;
a battery for powering the BLE transceiver and the microprocessor;
at least one antenna for broadcasting the RF signal from the BLE transceiver to tags in its proximity; and
a communication channel to the location engine, through which the location engine informs the beacon which floor of a building it has been placed on, for use of the beacon to include that floor-reference in its transmitted advertisements, so that the at least one tag may use the floor reference heard from multiple perceived beacon advertisements to determine whether a tag has been moved to a different floor, and to determine the floor location of the tag.
13. The RTLS as in claim 5 , wherein the at least one beacon comprising:
a BLE transceiver;
a microprocessor for operating the transceiver;
a battery for powering the BLE transceiver and the microprocessor;
at least one antenna for broadcasting the RF signal from the BLE transceiver to tags in its proximity; and
a communication channel to the location engine, through which the location engine informs the beacon what type of room it has been placed in, for use of the beacon to include that room-type in its transmitted advertisements, so that the at least one tag may use the room types heard from multiple perceived beacon advertisements to estimate the likelihood that a tag has moved from one beacon's room to another beacon's room.