KR101680151B1 - Apparatus for providing indoor location information using beacons and method thereof - Google Patents
Apparatus for providing indoor location information using beacons and method thereof Download PDFInfo
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- KR101680151B1 KR101680151B1 KR1020150068293A KR20150068293A KR101680151B1 KR 101680151 B1 KR101680151 B1 KR 101680151B1 KR 1020150068293 A KR1020150068293 A KR 1020150068293A KR 20150068293 A KR20150068293 A KR 20150068293A KR 101680151 B1 KR101680151 B1 KR 101680151B1
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- South Korea
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- beacon
- signal strength
- current position
- received signal
- beacons
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
- G01S1/022—Means for monitoring or calibrating
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
- G01S11/06—Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity measurements
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Navigation (AREA)
Abstract
The present invention relates to an apparatus and method for providing indoor location information using a beacon. The present invention relates to an apparatus and method for providing indoor location information using beacons, comprising: a communication unit for receiving beacon signals of a plurality of beacons; A controller for calculating a current position using a path loss value which is a difference between a received signal strength and a transmission signal strength of the beacon signal and correcting the calculated current position according to an expected course of the user on the indoor map, The present invention provides an apparatus for providing indoor position information, and a method therefor.
Description
The present invention relates to a technique for providing indoor location information, and more particularly, to a device and method for providing indoor location information using a beacon installed indoors.
Goggle already has indoor maps for major facilities such as airports and department stores, and global smartphone makers are accelerating their efforts to cooperate to acquire indoor positioning standard technology. In addition, Google recently launched its Android app, the Goggle Maps Floor Plan Market, to enhance indoor map services. However, Google 's service is a hands - on approach by sending indoor map information to smartphones so that app users can see the map by themselves and look for the desired place.
In active mode, Korea Electronics and Telecommunications Research Institute has developed a system that informs smartphone users about location information by using WiFi signal and location information of WiFi AP. The core technology is a technology for positioning the location of a smartphone using a difference in time to reach each other by transmitting a message to locate a location between the Wi-Fi AP and the smart phone. Since the device needs to send and receive messages using Wi- Power consumption of the Wi-Fi AP is relatively high and it is advantageous to use the pre-installed Wi-Fi AP. However, since it is installed only in a limited place within a building, additional Wi-Fi AP is required for practical service. Further, there is currently no technique for providing information as to which direction the user is stationary in a stopped state.
It is an object of the present invention to provide an indoor location information providing apparatus and a method of providing indoor location information that can provide more reliable location information in a room using a beacon.
According to another aspect of the present invention, there is provided an apparatus for providing indoor position information, comprising: a communication unit for receiving a plurality of beacon beacon signals; Calculates a current position using a path loss value which is a difference between a plurality of the received signal strengths determined and the transmission signal strength of the beacon signal, corrects the calculated current position according to the expected route of the user on the indoor map, And a control unit for deriving a current position.
The control unit according to the embodiment of the present invention distributes a plurality of measured values for the received signal strength into a plurality of groups when determining the received signal strength of the beacon signal, The average value of the plurality of measured values is calculated by applying the weight, and the calculated average value is determined as the received signal strength.
A control unit according to an embodiment of the present invention distributes a plurality of measurement values to each group of a plurality of clusters having a plurality of groups, and measures the measurement values of a group belonging to a cluster other than the group belonging to one of the plurality of clusters The clusters to which the group having the largest number of measurement values belongs are designated as the clusters for measuring the received signal strength and the other clusters are designated as the spare clusters.
The control unit according to the embodiment of the present invention has information on the installation location of a previously installed beacon for each of a plurality of beacons and determines the reception signal intensity of the adjacent beacon and the transmission signal intensity The vector of the neighboring beacon direction is obtained using the ratio of the path loss value calculated by the difference, and the sum vector of the obtained vector is derived, and the intersection of the sum vector is calculated as the current position.
The control unit may calculate a relative distance of each of the plurality of beacons and the device from the path loss value which is a difference between the transmission signal strength of the beacon signal of the plurality of beacons and the received signal strength of each of the beacon signals of the plurality of beacons And calculates an intersection point of each of the calculated relative distances as a current position.
The control unit according to the embodiment of the present invention is characterized in that the intersection of the calculated current position and a straight line perpendicular to the expected career direction is corrected to the current position of the apparatus.
The controller according to the embodiment of the present invention derives an error component by a difference between the corrected current position and the calculated current position and corrects the transmission signal strength of each beacon using the derived error component.
The apparatus for providing indoor location information according to an embodiment of the present invention further includes a display unit for displaying a screen. Here, the control unit identifies the building from the specific code of the beacon signal received through the communication unit, and displays the indoor map of the identified building through the display unit.
According to another aspect of the present invention, there is provided a method for providing indoor position information, the method comprising: receiving a plurality of beacon beacon signals; Calculating a path loss value that is a difference between the determined received signal strength and a transmission signal strength of the beacon signal and calculating a current position with the calculated path loss value; In accordance with the expected course of the user.
According to the present invention as described above, a received signal intensity of a beacon signal transmitted by a beacon in the room is determined using a plurality of measured values, and a path loss value, which is a difference between the determined received signal strength and a transmitted signal strength of a beacon signal, And corrects the current position according to the expected course taking into account the entrance and the exit in the indoor map, so that more precise position information can be provided indoors. Furthermore, since the beacon transmission signal strength is continuously corrected to determine the indoor position, highly reliable position information can be provided.
1 is a view for explaining an indoor positioning system according to an embodiment of the present invention.
2 is a block diagram illustrating a user equipment for indoor positioning according to an embodiment of the present invention.
3 is a flowchart illustrating a method of guiding a vehicle through indoor positioning according to an embodiment of the present invention.
4 and 5 are views illustrating a method of guiding a vehicle through indoor positioning according to an embodiment of the present invention.
6 is a flowchart for explaining a method for indoor positioning according to an embodiment of the present invention.
7A to 7C are graphs showing received signal strengths of beacon signals received at the same position.
8A is a view for explaining a method of determining a received signal strength according to an embodiment of the present invention.
8B is a diagram for explaining a method of determining a received signal strength according to another embodiment of the present invention.
FIG. 9 is a diagram showing a position measurement result using the maximum value and the minimum value of the received signal strength.
FIG. 10 is a diagram showing a result of applying the average value of path loss values to a triangulation technique.
11 is a view for explaining a current position calculation method using a triangulation method according to an embodiment of the present invention.
12 is a diagram for explaining a method of estimating a current position using a vector.
13 is a diagram for explaining a method of correcting a calculated current position according to an embodiment of the present invention.
14A and 14B are diagrams for explaining the calculated error component of the current position according to the embodiment of the present invention.
15 is a graph for explaining a method of applying a stabilization constant according to an embodiment of the present invention.
16 is a graph for explaining a method of correcting a transmitted signal strength of a beacon according to an embodiment of the present invention.
17 is a view for explaining a compass correcting method according to an embodiment of the present invention.
Prior to the detailed description of the present invention, the terms or words used in the present specification and claims should not be construed as limited to ordinary or preliminary meaning, and the inventor may designate his own invention in the best way It should be construed in accordance with the technical idea of the present invention based on the principle that it can be appropriately defined as a concept of a term to describe it. Therefore, the embodiments described in the present specification and the configurations shown in the drawings are merely the most preferred embodiments of the present invention, and are not intended to represent all of the technical ideas of the present invention. Therefore, various equivalents It should be understood that water and variations may be present.
Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Note that, in the drawings, the same components are denoted by the same reference symbols as possible. Further, the detailed description of known functions and configurations that may obscure the gist of the present invention will be omitted. For the same reason, some of the elements in the accompanying drawings are exaggerated, omitted, or schematically shown, and the size of each element does not entirely reflect the actual size.
First, an indoor positioning system according to an embodiment of the present invention will be described. 1 is a view for explaining an indoor positioning system according to an embodiment of the present invention. An indoor positioning system according to an embodiment of the present invention includes a
The
The
The
2 is a block diagram illustrating a user equipment for indoor positioning according to an embodiment of the present invention.
2, a
The communication unit 110 is for communicating with a base station, an AP, a beacon, and the like. For this, the communication unit 110 may include an RF transmitter for up-converting and amplifying the frequency of a transmitted signal, an RF receiver for low-noise amplifying the received signal, and down-converting the frequency of the received signal. In particular, the communication unit 110 can communicate with other devices using Industrial Scientific and Medical Equipment (ISM) bands. At this time, the communication unit 110 can use communication standards such as Bluetooth, Zigbee, and IrDA, and communication standards that are equivalent to or improved or improved from these communication standards. An improved or improved communication standard may represent BLE (Bluetooth Low Energy) 4.0 for example.
The sensor unit 120 includes at least one sensor for sensing the movement of the
The input unit 130 receives a user's key operation for controlling the
The display unit 140 receives data for screen display from the control unit 160 and displays the received data on a screen. The display unit 140 visually provides menus, data, function setting information, and various other information of the
The storage unit 150 stores programs and data necessary for the operation of the
The controller 160 may control the overall operation of the
When the controller 160 receives the beacon signals of the plurality of beacons through the communication unit 110, the control unit 160 can determine the received signal strength of the beacon signals of the plurality of beacons. Here, the controller 160 determines the actual received signal strength using a plurality of received signal strength measurements.
Also, when transmitting a beacon, the beacon transmits the beacon signal including the transmission signal strength of the beacon. Accordingly, the controller 160 calculates the path loss value as a difference between the determined received signal strength and the transmitted signal strength included in the signal transmitted by the beacon. Then, the control unit 160 can calculate the current position with the calculated path loss value. According to an embodiment, the controller 160 obtains a relative distance to each beacon with a path loss value obtained from the transmission power (transmission signal strength) of each beacon and the received signal strength, calculates an intersection point according to the obtained relative distance The current position can be derived. In addition, the control unit 160 can correct the current position calculated in accordance with the expected course taking into consideration the entrance and the exit in the indoor map. Thus, more precise position information is provided in the room. Further, since the control unit 160 continuously adjusts the transmission signal strength of the
3 is a flowchart illustrating a method of guiding a vehicle through indoor positioning according to an embodiment of the present invention. 4 and 5 are views illustrating a method of guiding a vehicle through indoor positioning according to an embodiment of the present invention.
3, when the user of the
The user can input the
As shown in FIG. 5, the user finds a desired traveling direction by matching the predicted traveling direction with the stored bearing table 3 displayed on the inner map, which is a plan view, and then searches the sensor unit 120 , The direction of the
6 is a flowchart for explaining a method for indoor positioning according to an embodiment of the present invention. The embodiment illustrated in FIG. 6 is performed through a separate process from the process of displaying the current position of FIG. 3 to guide the route. The process according to the current location positioning method illustrated in FIG. 6 starts after detecting that the controller 160 enters the building, as shown in FIG. 3, and continuously locates and updates the current location. In addition, when the controller 160 requests the current position in the process according to the embodiment of FIG. 3, the controller 160 provides the latest current position derived in the embodiment of FIG.
Referring to FIG. 6, an indoor positioning method according to an embodiment of the present invention basically uses a beacon signal, which is a signal received from a
7A to 7C are graphs showing received signal strengths of beacon signals received at the same position. 7A is a graph of received signal strength measured at an actual distance of 1 m, FIG. 7B is a graph of received signal strength measured at an actual distance of 2 m, and FIG. 7C is a graph of received signal strength measured at an actual distance of 3 m. As can be seen, the measured values may be significantly different from the actual distance, and the deviation is also significant. Therefore, according to the embodiment of the present invention, the measurement values of the received signal intensity are grouped into a certain range (e.g., 5 dB) to form N groups, and the plurality of measurement values are distributed to the plurality of formed groups. In addition, we propose a method to determine a mean value by calculating weighted values in the order of the group having the largest number of measured values in a plurality of formed groups, and calculating the average value according to the received signal strength. 8A is a view for explaining a method of determining a received signal strength according to an embodiment of the present invention. 8A, according to an embodiment of the present invention, the received signal strength = ((average value of
After determining the received signal strength of the beacon signal as described above, the controller 160 calculates the path loss value from the difference between the received signal strength of the beacon signal and the transmitted signal strength of the beacon signal determined in step S230, The current position is calculated according to the path loss value. Here, the transmitted signal strength of the beacon signal is transmitted by including the beacon in the beacon signal. According to an embodiment of the present invention, the controller 160 calculates the path loss value from the received signal strength of the received beacon signal, and measures the current position using the triangulation technique according to the calculated path loss value. For example, in order to derive the current position, the controller 160 receives a beacon signal (for example, a BLE signal) transmitted from three or
Then, the triangulation technique will be described in more detail with reference to FIG. 11 is a view for explaining a current position calculation method using a triangulation method according to an embodiment of the present invention. At least three
At this time, the distance d (d1, d2, d3) between any one of the plurality of
Where c is the propagation velocity, f is the frequency, and L is the path loss, which is the difference between the transmitted signal strength of the beacon and the received signal strength, so the distance d (d1, d2, d3) can be calculated. The control unit 160 controls the positions (x1, y1) of the plurality of
On the other hand, according to an alternative embodiment to the embodiment of FIG. 11, a vector may be used to estimate the current position (x, y). 12 is a diagram for explaining a method of estimating a current position using a vector. Referring to FIG. 12, the controller 160 of the
That is, Vab is a vector having a size of 6 m in the direction from the
Then, the control unit 160 generates a new vector Va by summing the two vectors Vab and Vac. In the same manner, the control unit 160 can generate the vector Vb and the vector Vc as shown. The control unit 160 then determines the point at which the three vectors Va, Vb, and Vc meet as the current position (x, y) of the
On the other hand, the current position calculated using the triangulation method or the vector method may cause the actual position and error. This error is caused by the fact that the transmission output (transmission signal strength) of each of the
The path loss used in the triangulation technique is determined by the difference between the transmitted signal strength of the
The transmission signal strength of the
At this time, the control unit 160 applies the stabilization constant m (0 < m < 1) to the obtained distance D1 without applying the obtained distance D1 as a whole new distance value. 15 is a graph for explaining a method of applying a stabilization constant according to an embodiment of the present invention. The distance D1 obtained by applying m to the obtained distance D1 is corrected. Thus, it is possible to reduce the severe fluctuation of the D1 value and stably converge to the actual distance D.
16 is a graph for explaining a method of correcting a transmission signal strength of a beacon according to an embodiment of the present invention. Similar to the description of FIG. 15, when the transmission signal strength of the newly calculated
As described above, the present invention can repeatedly perform the procedure of continuously measuring and correcting the current position, thereby enhancing the accuracy of positional positioning in the room. Meanwhile, the above-described procedure of FIG. 6 may be continuously performed when there is a request from the user of the
If the controller 160 senses that the
According to another embodiment of the present invention, the control unit 160 detects the entry into the building, identifies the building, displays the indoor map of the identified building on the screen, periodically displays the indoor map of the building, The compass displayed through the geomagnetic sensor can be corrected in accordance with the user's anticipated course direction and the bearing table 3. 17 is a view for explaining a compass correcting method according to an embodiment of the present invention. As shown in FIG. 17, it is assumed that the user is currently looking to the north according to the bearing table 3 given in the user's expected course and indoor map, but the north of the compass is slightly distorted. Then, the control unit 160 corrects the direction of the compass according to the predicted course direction and the orientation table (3).
The method according to the present invention may be implemented in the form of software readable by various computer means and recorded in a computer-readable recording medium. Here, the recording medium may include program commands, data files, data structures, and the like, alone or in combination. Program instructions to be recorded on a recording medium may be those specially designed and constructed for the present invention or may be available to those skilled in the art of computer software. For example, the recording medium may be an optical recording medium such as a magnetic medium such as a hard disk, a floppy disk and a magnetic tape, a compact disk read only memory (CD-ROM), a digital versatile disk (DVD) A magneto-optical medium such as a floppy disk and a ROM, a random access memory (RAM), a flash memory, a solid state disk (SSD), a hard disk drive (HDD) And hardware devices specifically configured to store and perform the same program instructions. Examples of program instructions may include machine language code such as those generated by a compiler, as well as high-level language code that may be executed by a computer using an interpreter or the like. Such hardware devices may be configured to operate as one or more software modules to perform the operations of the present invention, and vice versa.
While the present invention has been described with reference to several preferred embodiments, these embodiments are illustrative and not restrictive. It will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit of the invention and the scope of the appended claims.
100: user equipment 110: communication unit
120: sensor unit 130: input unit
140: Display unit 150:
160: control unit 200: beacon
Claims (8)
Determining a received signal strength of the beacon signal of the plurality of beacons, determining a path loss value that is a difference between the determined received signal strength and the transmitted signal strength of the beacon signal,
Calculating a vector of neighboring beacon directions using a ratio of neighboring beacons to path loss values of neighboring beacons with respect to each of the plurality of beacons, deriving a sum vector of the obtained vectors, Computes the intersection of the vector to its current position,
And a controller for correcting the calculated current position according to an expected course of the user on the indoor map to derive the corrected current position.
The control unit
When the received signal strength of the beacon signal is determined, a plurality of measured values for the received signal strength are dispersed into a plurality of groups, and a weight is applied to each group according to the number of measured values belonging to each group, Calculates an average value, and determines the calculated average value as a received signal strength.
The control unit
Distributing a plurality of measurement values to each group of a plurality of clusters having a plurality of groups, setting a range of measurement values of a group belonging to one of the plurality of clusters and a group belonging to another cluster different from each other, Wherein a cluster to which a group having a large number of measurement values belongs is used as a cluster for measuring received signal strength.
The control unit
And corrects an intersection between the calculated current position and a straight line perpendicular to the expected course direction to a current position of the apparatus.
The control unit
Deriving an error component by a difference between the corrected current position and the calculated current position and correcting a transmission signal intensity of each beacon by applying a triangulation method or a vector method using the derived error component, .
And a display unit for displaying a screen,
Wherein the control unit identifies the building from a specific code of the beacon signal received through the communication unit and displays the indoor map of the identified building through the display unit.
Determining a received signal strength of the beacon signal of the plurality of beacons;
Obtaining a path loss value that is a difference between the determined received signal strength and a transmitted signal strength of the beacon signal;
Calculating a vector of neighboring beacon directions using a ratio of neighboring beacons to path loss values of neighboring beacons with respect to each of the plurality of beacons, deriving a sum vector of the obtained vectors, Calculating an intersection of the vector with the current position; And
And correcting the calculated current position in accordance with an expected course of the user on the indoor map.
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| KR1020140178307 | 2014-12-11 | ||
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| KR20180104411A (en) * | 2017-03-13 | 2018-09-21 | (주)인프라칩 | Method and apparatus for tracking location of object based on network |
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| KR101433922B1 (en) | 2012-09-05 | 2014-08-26 | 주식회사 에스원 | Apparatus and method for measuring location |
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| KR20180104411A (en) * | 2017-03-13 | 2018-09-21 | (주)인프라칩 | Method and apparatus for tracking location of object based on network |
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| KR20190094683A (en) | 2018-02-05 | 2019-08-14 | 주식회사 씨엠월드 | Method for correcting user device position information in indoor space |
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