Automatic egress/ingress detection in an acoustic positioning system
A method for finding door location in an automated way based on observations of people that are equipped with a device whose position is determined acoustically. By observing positioning transitions across internal structures such as walls, the location of doors can be automatically identified.
1. A computing system for determining a door location in an indoor environment comprising:
one or more processors; and
one or more memory devices, the one or more memory devices storing computer-readable instructions that when executed by the one or more processors cause the one or more processors to perform operations, the operations comprising:
locating, by an acoustic location system, a location tag at a first location in a first region within the indoor environment;
locating at a later time, by the acoustic location system, the location tag at a second location in a second region within the indoor environment, wherein the first region is separated from the second region by a partition;
determining a velocity vector of the location tag while the location tag is transitioning from the first region to the second region; and
determining a presence of a door located in the partition, the determining based on a magnitude of an inner product of the velocity vector with a normal vector of the partition exceeding a predetermined threshold.
2. The computing system of claim 1 , the operations further comprising:
determining an abrupt change of a property of an acoustic signal in locating the location tag at the first location and at the second location; and
confirming the presence of the door based on the determining of the abrupt change.
3. The computing system of claim 2 , wherein the property is one of time-of-flight-based range or a root sum square (RSS) level.
4. The computing system of claim 1 , wherein the acoustic location system includes a first acoustic beacon transceiver located in the first region and a second acoustic beacon transceiver located in the second region.
5. The computing system of claim 1 , wherein the predetermined threshold is 0.15 meters/second.
6. A computing system for determining a door location in an indoor environment comprising:
one or more processors; and
one or more memory devices, the one or more memory devices storing computer-readable instructions that when executed by the one or more processors cause the one or more processors to perform operations, the operations comprising:
locating, by an acoustic location system, a location tag at a first location in a first region within the indoor environment;
receiving data showing a partition associated with the first region;
determining a velocity vector of the location tag in a vicinity of the partition; and
determining a presence of a door located in the partition based on a magnitude of an inner product of the velocity vector with a normal vector of the partition exceeding a predetermined threshold.
7. The computing system of claim 6 , wherein the predetermined threshold is 0.15 meters/second.
8. The computing system of claim 6 , wherein the determining the presence of the door further includes determining a location error of the location tag exceeds another predetermined threshold.
9. The computing system of claim 6 , wherein the acoustic location system includes a first acoustic beacon transceiver located in the first region and a second acoustic beacon transceiver located in the second region.
10. The computing system of claim 6 , the operations further comprising:
repeating the determining a velocity vector and the determining a presence of a door located in the partition over a number of transition events from the first region to the second region; and
analyzing statistically data from the repeating to yield a location of the door.
11. One or more tangible, non-transitory computer-readable media storing computer-readable instructions that when executed by one or more processors cause the one or more processors to perform operations, the operations comprising:
locating, by an acoustic location system, a location tag at a first location in a first region within an indoor environment;
locating at a later time, by the acoustic location system, the location tag at a second location in a second region within the indoor environment, wherein the first region is separated from the second region by a partition;
determining a velocity vector of the location tag while the location tag is transitioning from the first region to the second region; and
determining a presence of a door located in the partition, the determining based on a magnitude of an inner product of the velocity vector with a normal vector of the partition exceeding a predetermined threshold.
12. The non-transitory computer-readable media of claim 11 , the operations further comprising:
determining an abrupt change of a property of an acoustic signal in locating the location tag at the first location and at the second location; and
confirming the presence of the door based on the determining of the abrupt change.
13. The non-transitory computer-readable media of claim 12 , wherein the property is one of time-of-flight-based range or a root sum square (RSS) level.
14. The non-transitory computer-readable media of claim 11 , wherein the acoustic location system includes a first acoustic beacon transceiver located in the first region and a second acoustic beacon transceiver located in the second region.
15. The non-transitory computer-readable media of claim 11 , wherein the predetermined threshold is 0.15 meters/second.
16. One or more tangible, non-transitory computer-readable media storing computer-readable instructions that when executed by one or more processors cause the one or more processors to perform operations, the operations comprising:
locating, by an acoustic location system, a location tag at a first location in a first region within an indoor environment;
receiving data showing a partition associated with the first region;
determining a velocity vector of the location tag in a vicinity of the partition; and
determining a presence of a door located in the partition based on a magnitude of an inner product of the velocity vector with a normal vector of the partition exceeding a predetermined threshold.
17. The non-transitory computer-readable media of claim 16 , wherein the predetermined threshold is 0.15 meters/second.
18. The non-transitory computer-readable media of claim 16 , wherein the determining the presence of the door further includes determining a location error of the location tag exceeds another predetermined threshold.
19. The non-transitory computer-readable media of claim 16 , wherein the acoustic location system includes a first acoustic beacon transceiver located in the first region and a second acoustic beacon transceiver located in the second region.
20. The non-transitory computer-readable media of claim 16 , the operations further comprising:
repeating the determining a velocity vector and the determining a presence of a door located in the partition over a number of transition events from the first region to the second region; and
analyzing statistically data from the repeating to yield a location of the door.