KR101417624B1 - Indoor localization system and indoor localization method using physical map and smart device sensor - Google Patents

Abstract

The present invention provides a system and a method for measuring an indoor position using a physical map and a smart device sensor. The indoor position measuring system divides a building into sections and uses a database in which a floor plan of a building connected by a direction table is stored to obtain paths of the sections. Indoor drawing database and AP provide a reference position and obtain an initial position of a user based on a point having the strongest signal. When a user movement is detected by an acceleration sensor, the number of steps is counted to measure the distance, and the position is corrected by the reference position shown on an indoor plan view database. The orientation of the user is detected by using a direction sensor of a smartphone and a positioning algorithm of the user is initialized in every area of the building so as to operate.

Description

TECHNICAL FIELD [0001] The present invention relates to an indoor location measurement system and method using a physical map and a smart device sensor,

The present invention relates to a system and a method for measuring an indoor location of a user who owns a terminal by using a database storing a floor plan of a building in an indoor space.

Services that track location and movement indoors are becoming increasingly popular. Recently, several positioning technologies using sensors and radio maps available in smartphones have been presented. Indoor measurement and position tracking using smart phones has been extensively studied, and indoor positioning systems have been used in many applications such as medical facilities, locating children, using mobile phones for the visually impaired, and advertising in indoor environments.

So far, many techniques have been developed to provide location information and track user's movements. The best known technologies include Fingerprinting technology using Wi-Fi radio maps or Bluetooth radios or other radios. Time-of-arrival (TOA), trilateration, and angle of arrival (AOA) technologies based on wireless signals are also used to obtain location information.

Since the smartphone equipped with the acceleration sensor and the compass sensor is always carried by the user, it is possible to track the position and movement of the user using the smartphone. Many technologies using smartphone sensors have been proposed to track the user's location, such as a LifeMap with GPS, accelerometer, electronic compass, and can perform location and map configuration using Wi-Fi signals and smartphone sensors. have.

TOA, and AOA require a minimum of three different signals and sometimes require additional hardware to obtain location information. On the other hand, in the case of the technology using the sensor of the smartphone, there is the disadvantage that the noise is measured and the position is incorrectly measured.

The fingerprinting method compares the radio signal intensity formed in a specific area with the radio map of the area to find the best match and estimate the position. This method has become the most used technique with the following advantages. First, fingerprinting does not require additional hardware devices. Second, Receive Signal Strength (RSS) is widely used in infrastructure networks. Finally, the fingerprinting method has an accuracy within 2 meters. However, fingerprinting technology has some important problems that have not yet been solved. One is that re-measurements are needed in an indoor environment where periodic re-examination is required, since signal strength can be reduced or scattered due to the degree of installation of a new AP or simply moving furniture. Another problem is that the load required to search a vast radio map database is large. Therefore, when using fingerprinting techniques, it is necessary to reduce the overhead of search using complex search algorithms.

Another key issue in the location measurement and tracking system is distance estimation. This is very important because it is directly related to the accuracy of the system. Some methods use the characteristics of a radio signal such as a path loss exponent for distance estimation but have a multipath problem of the signal. Another method measures the distance by measuring the number of steps using an acceleration sensor and multiplying it by the stride. Although this method can provide a more accurate distance estimate, there is a possibility that the number of steps may be incorrectly determined due to the irrelevance of the stepping motion of the smartphone.

Korean Unexamined Patent Publication No. 2006-0082474 is disclosed in relation to an indoor location tracking system and method. The methods presented in these prior art techniques require additional database updates as the signal strength decreases and fail to reduce the average error that occurs in distance measurement and starting position measurements.

The present invention provides a system and method for tracking a user's location in an indoor space without additional database update using a step number estimation module, a direction estimation module, an initial position estimation module, and a building drawing database.

The present invention provides a system and method for correcting an error of distance measurement using a location of an AP from a database storing a floor plan of a building, in a method for overcoming the problem that a user's position is displayed incorrectly due to irregular movement of a smartphone do.

According to an embodiment of the present invention, there is provided an indoor location measurement system for grasping a location and a movement of a user who owns a terminal based on a floor plan of a building where the terminal is located in an indoor space where GPS signals are not available.

According to one aspect, the indoor positioning system includes a building drawing database (BDB) that divides a building into zones and stores the floor plan of the building generated by connecting the zones to a direction table to obtain a locus, And an indoor location measurement system for referring to the building drawing database and determining a location and a movement of a user who owns the terminal.

According to another aspect of the present invention, the indoor positioning system includes a step number estimating module, a direction estimating module, and an initial position estimating module, each of which includes an acceleration sensor, a direction sensor and a surrounding Wi-Fi signal of the terminal, And the movement of the user is detected through a tracking algorithm based on the result of the modules of the module.

According to another aspect of the present invention, the indoor location measurement system provides an indoor location measurement system that corrects an error that may occur when a user is located by using the acceleration sensor in an indoor space, using a signal generated in the AP.

According to another aspect of the present invention, a technique for correcting a location of a user using the AP signal includes determining from a Wi-Fi signal of a neighboring AP that the terminal is located at a specific AP position, And an indoor location measurement system for correcting the location of the user to the location of the AP.

According to another aspect of the present invention, the terminal continuously measures the RSS of the AP to inform that it is located at a specific AP position, and when the strongest RSS of the AP is detected, Measurement system.

According to another aspect of the present invention, the step number estimating module measures the number of steps through the peak detection algorithm by using an acceleration value as an input value from the acceleration sensor of the terminal in the building area, and when the user comes to the end of the building area The AP location of the AP is updated to a value obtained by subtracting the corresponding AP position value in the node relation table from the length / width of the building area in the present time, and provides an indoor location measurement system used to correct the user's location.

According to another aspect, if the current building area has a plurality of lower areas, the step number estimating module may use the direction estimating module to determine a direction that the user is heading in order to determine whether to use the length or width of the current building area The indoor position measurement system comprising:

According to another aspect of the present invention, the direction estimation module determines an average value from the z-axis value of the direction sensor of the terminal, determines the direction toward the user with reference to the average direction value, The present invention provides an indoor location measuring system for determining a building area to be entered next using a minimum and a maximum average azimuth angle of each building area.

According to another aspect of the present invention, the initial position estimation module detects a Wi-Fi signal from a neighboring AP to determine an initial position of an AP from which a strongest RSS is detected, Lt; RTI ID = 0.0 > a < / RTI >

According to another aspect of the present invention, the initial position estimation module finds the closest AP from the strongest RSS, obtains a building area where the corresponding AP is located using the building database, and obtains information of the building area do.

According to another aspect, the tracking algorithm of the system operates after sensing a user's movement through an acceleration exceeding a certain threshold and estimating the user's distance for each building area, And provides an indoor position measurement system in which the moving distance is initialized and the tracking algorithm is repeated again.

According to an embodiment of the present invention, there is provided a database device for storing a floor plan of a building, which is formed by dividing a building into zones and connecting them with a direction table to obtain a locus of the zones.

According to one aspect of the present invention, the database storing the plan view provides a database device which is a relational database that divides a floor plan of the building into zones and sets the database as a main relation unit, a lower relation unit, and a node relation unit.

According to another aspect of the present invention, the database storing the floor plan is divided into a corridor, a main channel such as a lobby, a main channel, a room connected with the main channel, or a lower channel, Provides a database device.

According to an embodiment of the present invention, there is provided an indoor location measurement system for grasping the location and movement of a user who owns a terminal based on a floor plan of a building where the terminal is located in an indoor space where GPS signals are not available, The method comprising the steps of: dividing a building into zones and storing the floor plan of the building generated by connecting the zones to a direction table to obtain a locus, The method comprising the steps of:

According to one aspect of the present invention, the indoor position measurement method includes: estimating the number of steps of the acceleration sensor of the terminal using an input value; Estimating a direction from an orientation sensor to an input value; Estimating an initial position of the surrounding Wi-Fi signal as an input value; And determining a movement of the user through a tracking algorithm based on the result of the steps.

According to another aspect of the present invention, there is provided a method for measuring an indoor position, comprising the steps of: correcting an error occurring when a user is located by using the acceleration sensor in an indoor space using a signal generated in an AP; Determining from the Wi-Fi signal of the neighboring AP that the terminal is in a specific AP position; And correcting the position of the user to the position of the AP by grasping the position of the corresponding AP from the database.

The present invention relates to a technology capable of tracking a user's location in an indoor space where a plurality of APs are installed but can not use GPS, and a method of using a step number estimation module, a direction estimation module, an initial position estimation module, You can track your location in the room without additional database updates.

A method for overcoming the problem that a user's position is displayed incorrectly due to irregular movement of a smartphone, can correct an error of a distance measurement using a location of an AP from a database storing a floor plan of a building.

1 is a block diagram of a system for measuring an indoor location using a physical map and a smartphone sensor according to an embodiment of the present invention.
2 is a conceptual diagram of a system and method for measuring an indoor location using a physical map and a smartphone sensor according to an embodiment of the present invention.
3 is a block diagram of a configuration of a building drawing database (Blueprint Database) storing a floor plan of a building in the embodiment of the present invention.
FIG. 4 is a flowchart illustrating a process of generating a building diagram database (Blueprint Database) in an indoor positioning system according to an embodiment of the present invention.
5 is a flowchart illustrating a process of correcting a position of a user using an AP signal in an indoor positioning system according to an embodiment of the present invention.
6 is a flowchart illustrating an operation of a tracking algorithm in an indoor positioning system according to an embodiment of the present invention.

Hereinafter, embodiments according to the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram of a system for measuring an indoor location using a physical map and a smartphone sensor according to an embodiment of the present invention.

The building drawing database 110 divides a building into a plurality of sections for storing a building plan view, and stores information such as the width and the height of each section.

The step number estimation module 120 measures the number of steps through the peak detection algorithm using the accelerometer 150 as an input value from the acceleration sensor in the room, and the position of the AP when the user comes to the end of the building area is next The length / width of the building area is updated to the value obtained by subtracting the AP position value of the node relation table, and the position of the user is corrected based on this.

The peak detection algorithm uses the acceleration sensor to find the peaks indicating the step. The peak detection algorithm operates as follows. If the current acceleration value exceeds the motion standard deviation threshold for W time, motion is detected. The peak is detected if the current acceleration value is greater than the sum of the mean and the standard deviation over a specific period (current time - W, current time). Finally, the distance is calculated by multiplying the length of the stride by the number of steps. In other words, in the indoor positioning system, the peak detection algorithm is used to store the distance in the building drawing database and obtain the corrected distance.

When the initial position of the user is determined in the indoor positioning system, the direction estimation module 130 estimates the direction of the user, and estimates the direction of the user using the minimum and maximum average azimuth angles of the respective building zones After determining the area of the building to enter, present the area of the building to the next.

The direction meter 160 begins to collect data from the sensor when the user begins to enter the area of the building with the input value of the direction estimation module 130. When the user reaches the end of the current building zone, the direction of the user is determined by the average azimuth and the next building zone is determined by the minimum average azimuth and the maximum average azimuth.

The initial location estimation module 140 may estimate the initial location of the user based on the surrounding Wi-Fi 170 signal in the indoor location measurement system. In the indoor positioning system, the initial position estimation module 140 adjusts the position of the user every time the reference position is changed. Therefore, if the strongest RSS of the AP is searched, the user's location is precisely adjusted to the location of the AP in the database and the AP signal not specified in the database is ignored.

The tracking algorithm 180 grasps the movement of the user based on the results of the step number estimation module 120, the direction estimation module 130, and the initial position estimation module 140. The tracking algorithm 180 starts to operate when it detects movement of the user through an acceleration exceeding a certain threshold value, estimates the distance of the user for each building area, and when moving to the next building area, Repeat.

2 is a conceptual diagram of a system and method for measuring an indoor location using a physical map and a smartphone sensor according to an embodiment of the present invention.

2 shows the location and movement of the user who owns the terminal 250 based on the building drawing database 210 in which the floor plan of the building is stored in the indoor space 200 where GPS signals are not available.

The building drawing database 210 divides the building into zones and links them to a direction table to obtain the locus of the zones. Based on the building drawing database 210, the user's initial departure point is determined as the point where the strongest signal among the nearby APs 220, 230, and 240 is strongest. The indoor location measurement system uses the MAC addresses of the APs 220, 230, and 240 having the strongest RSS as input values, and checks the building drawing database 210 to determine which areas of the building the APs 220, 230, and 240 exist. When the user having the terminal 250 starts to move, the user observes and collects data from the acceleration sensor and the direction sensor, and determines the next area of the building to which the user will move based on the direction information. Then, the distance is calculated using the acceleration information, and the process of determining the location and the building area of the AP 220, 230, 240 by the user searching for the strongest RSS of the current building is executed again to correct the user's location. Repeating this process is to continuously find out which part of the building is currently occupied by the user and maintain accurate distance information.

3 is a block diagram of a configuration of a building drawing database (Blueprint Database) storing a floor plan of a building in the embodiment of the present invention.

The indoor location system uses a database in which the building is divided into zones and the floor plan of the building is connected to the orientation table to obtain the locus.

The building drawing database 300 divides the floor plan of the building into the main relation unit 310, the lower relation unit 320, and the node relation unit 330 and stores the same. The main relationship part 310 represents the areas of a main building such as a hallway or a passage. The lower relation section 320 represents subdivisions such as a room, a staircase of a building, and the node relation section 330 represents fixed equipment such as an AP.

The relationship between the main relational unit 310, the lower relational unit 320, the node relation unit 330 and the user's direction estimation has the following schema

(Bldg_Section_ID, Building_Section_Name, Relation_Type, length, Width)

Sub relation unit 320: (Sub_Relation_ID, Sub_Relation_Name, Relation_Type, Description)

Node relation unit 330: (AP_ID, MAC_address, Location, Type)

Direction: (Bldg_Section_ID, MIN_Azimuth_Average, MAX_Azimuth_Average, Next_Bldg_Section_ID)

FIG. 4 is a flowchart illustrating a process of generating a building diagram database (Blueprint Database) in an indoor positioning system according to an embodiment of the present invention.

At step 410, the building's view is subdivided. Each passage represents a relationship with a specific attribute and references the subordinate relations. Each room in the corridor is represented by a subordinate relationship, and APs are represented by nodes with specific attributes.

In step 420, each relationship is represented by a key of the database.

Relation _ Name Relation _ Type Explanation Relation One Represents lobby and hallway. Sub-relation 2 Represents a room and a staircase. Node 3 AP.

Table 1 shows that the creation process of the building drawing database has been performed using the table to explain the types of relationships.

Bldg _ Section _ ID Building _ Section _ Name Relation Type Length  (m) Width  (m) One C1 One 28 7.5 2 C2 One 67 3 3 H1 One 15 15 4 C3 One 28 2.5 5 C4 One 21 2.2 6 C5 One 21 2.2

 Table 2 shows the relationships between length and width, which are the length and width of the building area, as properties.

AP_ ID MAC _ Address Location  (m) Type One d8: c7: c8: df: 1a: 21 13 3 2 d8: c7: c8: df: 04: a1 39 3 3 d8: c7: c8: df: 19: 41 56 3 4 d8: c7: c8: df: 39: a1 18 3 5 d8: c7: c8: df: 21: 61 18 3 6 d8: c7: c8: df: 00: a1 20 3

Table 3 shows the nodes such as APs and porches, and AP_ID is the database key used to associate with Table 2 through Table 5. The location is the difference between the starting point of the parent relationship and the location of the AP.

Sub _ Relation _ ID Sub _ Relation _ Name Relation _ Type Description 7 H11 2 Stairway 8 H12 2 Stairway

Table 4 shows the subordinate relations. Sub_Relation_ID (Sub-Relation ID) and Sub-Relation_Name (Sub-Relation Name) are used to refer to when they are associated with the parent relationship of the sub-relationship. Description is used to describe detailed relationships such as stairs, elevators, and rooms.

Bldg  _ Section _ ID AP_ ID One One 2 2 2 3 4 6 5 4 6 5

Table 5 is used to associate APs and subordinate relationships with their parent relationships. The building area ID (Bldg_Section_ID) is the reference area of Table 2 and is used to determine which building area the AP belongs to. AP_ID is the reference in Table 3.

Bldg  _ Section _ ID MIN _ Azimuth _ Average MAX _ Azimuth _ Average Next _ Bldg _ Section _ ID One 240 260 2 2 90 110 3 2 195 215 One 3 280 300 2 3 30 45 4 3 95 110 5 3 60 75 6 4 195 215 3 5 30 45 3 6 280 300 3

Table 6 is a direction table, and the ID of the building area to be moved next (Next_Bldg_Section_ID) is determined based on the average minimum azimuth angle (MIN_Azimuth_Average) and the average maximum azimuth angle (MAX_Azimuth_Average). The azimuth angle represents the clockwise angle between the y-axis of the smartphone and the north pole of the earth. The average azimuth angle is calculated for each zone from the start point to the end point.

5 is a flowchart illustrating a process of correcting a position of a user using an AP signal in an indoor positioning system according to an embodiment of the present invention.

In step 510, the mobile station continuously measures the RSS of the AP in order to determine from the Wi-Fi signal of the neighboring AP that the terminal is located at a specific AP position.

In step 520, the AP detects the strongest RSS. The strongest RSS in an indoor positioning system is an indicator of the closest AP and can be used to set the initial position. The indoor positioning system uses the MAC address of the AP having the strongest RSS as an input value.

Step 530 determines that the AP is located in the building drawing database when it detects the strongest RSS of the AP. If the retrieved MAC address is not in the building drawing database, the signal of the AP is ignored.

In step 540, the location of the user is corrected to the location of the AP.

That is, the process of correcting the user's position using the AP signal is performed by observing and collecting data from the acceleration sensor and the direction sensor when the user having the terminal starts moving, . The distance is calculated by using the acceleration information, and the process of determining the position of the AP and the building area by the user when the user finds the strongest RSS through the current building is executed again to correct the user location.

6 is a flowchart illustrating an operation of a tracking algorithm in an indoor positioning system according to an embodiment of the present invention.

The tracking algorithm includes a step number estimating module, a direction estimating module, and an initial position estimating module, each of which includes an acceleration sensor, a direction sensor and a surrounding Wi-Fi signal of the terminal as input values. To understand the movement of the user.

In step 610, the user's motion is sensed through accelerations that exceed a certain threshold, and the direction value is collected during the time that the user arrives at the end of the building area from entering the current building area. The average azimuth and direction are calculated using Table 6.

In step 620, the tracking algorithm starts to operate when the user's motion is detected based on the result values of the step number estimation module, the direction estimation module, and the initial position estimation module. If the user has not reached the end of the current building area, the algorithm checks to see if there is a newly discovered RSS

In step 630, the user's distance is estimated for each building area and the closest AP is updated based on the strongest RSS. After each step, the user's trajectory is calculated.

At step 640, the user enters the next building area.

In step 650, after the user enters the next building area, the distance the user moves is initialized and the tracking algorithm is repeated.

The apparatus described above may be implemented as a hardware component, a software component, and / or a combination of hardware components and software components. For example, the apparatus and components described in the embodiments may be implemented within a computer system, such as, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable array (FPA) A programmable logic unit (PLU), a microprocessor, or any other device capable of executing and responding to instructions. The processing device may execute an operating system (OS) and one or more software applications running on the operating system. The processing device may also access, store, manipulate, process, and generate data in response to execution of the software. For ease of understanding, the processing apparatus may be described as being used singly, but those skilled in the art will recognize that the processing apparatus may have a plurality of processing elements and / As shown in FIG. For example, the processing unit may comprise a plurality of processors or one processor and one controller. Other processing configurations are also possible, such as a parallel processor.

The software may include a computer program, code, instructions, or a combination of one or more of the foregoing, and may be configured to configure the processing device to operate as desired or to process it collectively or collectively Device can be commanded. The software and / or data may be in the form of any type of machine, component, physical device, virtual equipment, computer storage media, or device , Or may be permanently or temporarily embodied in a transmitted signal wave. The software may be distributed over a networked computer system and stored or executed in a distributed manner. The software and data may be stored on one or more computer readable recording media.

The method according to an embodiment may be implemented in the form of a program command that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like, alone or in combination. The program instructions to be recorded on the medium may be those specially designed and configured for the embodiments or may be available to those skilled in the art of computer software. Examples of computer-readable media include magnetic media such as hard disks, floppy disks and magnetic tape; optical media such as CD-ROMs and DVDs; magnetic media such as floppy disks; Magneto-optical media, and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like. Examples of program instructions include machine language code such as those produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. For example, it is to be understood that the techniques described may be performed in a different order than the described methods, and / or that components of the described systems, structures, devices, circuits, Lt; / RTI > or equivalents, even if it is replaced or replaced.

Therefore, other implementations, other embodiments, and equivalents to the claims are also within the scope of the following claims.

110: Building Drawing Database (Blueprint Database)
120: step number estimation module
130: Direction estimation module
140: initial position estimation module
150: Accelerometer
160: Direction meter
170: Wi-Fi
180: Tracking Algorithm

Claims (17)

delete In an indoor positioning system,
In the indoor space where the GPS signal is not available, based on the floor plan of the building where the terminal is located,
The indoor positioning system includes:
A building drawing database (Blueprint Database, BDB) for dividing a building into zones and connecting the zones to a direction table for obtaining a locus, and storing the floor plan of the building,
And a control unit configured to determine a location and a movement of a user who owns the terminal by referring to the building drawing database,
Indoor positioning system 3. The method of claim 2,
The indoor positioning system includes:
A step number estimating module, a direction estimating module and an initial position estimating module, each of which includes an acceleration sensor, a direction sensor, and a surrounding Wi-Fi signal of the terminal as input values, The user's movement,
Indoor positioning system The method of claim 3,
The indoor positioning system includes:
And correcting an error that may occur when the user's position is detected using the acceleration sensor in the indoor space by using a signal generated in the AP,
Indoor positioning system. The method of claim 4, wherein
The technique of correcting the position of the user using the AP signal detects that the corresponding terminal is located at a specific AP position from the Wi-Fi signal of the neighbor AP, grasps the location of the corresponding AP from the database, Correcting to position,
Indoor positioning system. The method of claim 5, wherein
The mobile station continuously measures the RSS of the AP to inform that it is located at a specific AP position and determines that the terminal is located at the corresponding AP position when the strongest RSS of the AP is detected,
Indoor positioning system. The method of claim 3,
The step number estimation module measures the number of steps through the peak detection algorithm with the acceleration value as an input value from the acceleration sensor of the terminal within the building area and the position of the AP when the user comes to the end of the building area is , Which is updated to the value obtained by subtracting the corresponding AP position value of the node relation table from the length / width of the building zone,
Indoor positioning system. 8. The method of claim 7,
Wherein the step number estimation module determines the direction the user is heading to by using the direction estimation module to determine whether to use the length or width of the current building zone if the current building zone has a plurality of lower zones,
Indoor positioning system. The method of claim 3,
The direction estimating module determines an average value from the z-axis value of the direction sensor of the terminal, determines the direction toward the user with reference to the average direction value, , A maximum average azimuth angle is used to determine the next building area to enter,
Indoor positioning system. The method of claim 3, wherein
The initial position estimation module detects a Wi-Fi signal from a neighboring AP to determine the position of the AP where the strongest RSS is detected as an initial position, and ignores signals from APs not assigned to the database.
Indoor positioning system. 11. The method of claim 10,
The initial position estimation module finds the closest AP from the strongest RSS and obtains the building area where the corresponding AP is located using the building drawing database,
Indoor positioning system. The method of claim 3, wherein
The tracking algorithm of the system operates after detecting a user's movement through an acceleration exceeding a certain threshold value. When the user's distance is estimated for each building area, the moving distance of the user is initialized To repeat the tracking algorithm again,
Indoor positioning system. The building is divided into zones and connected to a direction table to obtain the locus of the zones,
Database device. 14. The method of claim 13,
The database device includes a relational database which divides the floor plan of the building into zones and which has attributes as the main relation unit, the lower relation unit, and the node relation unit
Database device. 15. The method of claim 14,
The database device includes a main part for associating the corridor and the lobby, a room or a room connected to the hall and the lobby, a lower part for a stairway,
Database device. There is provided a method for measuring an indoor position in an indoor location measuring system for recognizing a location and a movement of a user who owns a terminal based on a floor plan of a building where the terminal is located,
The indoor position measuring method includes:
Dividing a building into zones and connecting the zones to a direction table to obtain a locus, and storing the generated floor plan in the building drawing database; And
Referring to the building drawing database to grasp the location and movement of the user who owns the terminal
Wherein the indoor positioning method comprises: 17. The method of claim 16,
The step of recognizing the location and the movement of the user who owns the terminal by referring to the building drawing database,
Estimating the number of steps of the acceleration sensor of the terminal with an input value;
Estimating a direction from an orientation sensor to an input value;
Estimating an initial position of the surrounding Wi-Fi signal as an input value; And
Determining a movement of the user through a tracking algorithm based on the results of the steps
Wherein the indoor positioning method comprises:

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