KR102164278B1 - Terminal for cooperative localization and method thereof - Google Patents

Abstract

The present invention relates to a cooperative positioning terminal and a method for predicting the location of a terminal using the received absolute location information and relative physical quantity information, and updating the terminal location information of the terminal by compensating for the error. The cooperative positioning terminal according to an embodiment of the present invention includes a receiver for receiving the absolute position measurement value of the terminal, the neighboring terminal position information of one or more neighboring terminals, and the relative physical quantity measurement value between the terminal and the adjacent terminal, and the absolute position measurement value. The predicted value calculation unit calculates the predicted value of the absolute position in the current iteration, calculates the predicted value of the relative physical quantity in the current iteration based on the location information of the adjacent terminal and the measured value of the relative physical quantity, and transfers based on the predicted value of the absolute position in the current iteration The absolute position compensation value in the iteration is updated to calculate the absolute position compensation value in the current iteration, and the relative physical quantity compensation value in the previous iteration is updated based on the relative physical quantity measurement value in the current iteration, and the relative physical quantity in the current iteration Based on the first result value reflecting the absolute position compensation value to the absolute position predicted value in the current iteration and the second result value reflecting the relative physical amount compensation value to the relative physical quantity predicted value in the current iteration And a location information calculator that updates the terminal location information of the terminal and calculates the terminal location information in the current iteration.

Description

Cooperative positioning terminal and cooperative positioning method {TERMINAL FOR COOPERATIVE LOCALIZATION AND METHOD THEREOF}

The present invention relates to a cooperative positioning terminal and a cooperative positioning method. More specifically, the present invention relates to a cooperative positioning terminal and a method for predicting the location of a terminal using the received absolute location information and relative physical quantity information, and compensating for the error to update the terminal location information of the terminal.

There are a wide variety of services based on wireless communication networks, and one of them is location-based services. The location-based service is a service that provides various information related to location, such as location tracking, public safety, and location-based information service based on location information of a wireless communication terminal.

In order to provide a location-based service, a technology for tracking the location of a wireless communication terminal is essential, and a network-based method and a GPS-based method are exemplified as a location tracking method.

The network-based location tracking method uses location information measured from a base station, and has a problem that the accuracy is slightly inferior because the error range is about 100m, but even if it is located in a shaded area of a GPS satellite, for example, inside a building or underground, etc. It has the advantage of being able to be traced.

On the other hand, the GPS-based location tracking method can be applied when a GPS receiver is embedded in the wireless communication terminal, and has an error range of about 50m, and has an advantage of having higher accuracy than the network-based method. However, the GPS-based method has a problem that location tracking is impossible when the terminal is located in a shaded area of a GPS satellite, for example, in a building or underground.

Accordingly, there is a need for a positioning technology capable of positioning a location of a wireless communication terminal with high accuracy and capable of positioning a location in a shaded area.

The present invention conceived from the above background is to propose a cooperative positioning terminal and a cooperative positioning method capable of positioning the exact location of the terminal through cooperative positioning.

In addition, the present invention is to propose a cooperative positioning terminal and cooperative positioning method capable of positioning an accurate location even if entering a shaded area that is an obstacle in receiving a signal.

An embodiment for solving the above-described problem is in a cooperative positioning terminal for cooperative positioning of the terminal, the absolute position measurement value of the terminal, the neighboring terminal location information of one or more neighboring terminals, and the relative physical quantity measurement value between the terminal and the adjacent terminal A receiving unit for receiving, and a predicted value calculating unit that calculates an absolute position predicted value in the current iteration based on the absolute position measurement value, and calculates a relative physical quantity predicted value in the current iteration based on the neighboring terminal position information and the relative physical quantity measured value, , Based on the absolute position predicted value in the current iteration, the absolute position compensation value in the current iteration is calculated by updating the absolute position compensation value in the previous iteration, and the relative physical quantity in the current iteration A compensation value calculator that updates the physical quantity compensation value to calculate the relative physical quantity compensation value in the current iteration, and the first result value reflecting the absolute position compensation value in the absolute position prediction value in the current iteration and the relative physical quantity prediction value in the current iteration It provides a cooperative positioning terminal, characterized in that it comprises a location information calculator for calculating the terminal location information in the current repetition by updating the terminal location information of the terminal based on the second result value reflecting the physical quantity compensation value.

In addition, another embodiment in the cooperative positioning method for cooperative positioning of the location of the terminal,

A receiving step of receiving the absolute position measurement value of the terminal, the neighboring terminal position information of one or more adjacent terminals, and the relative physical quantity measurement value between the terminal and the adjacent terminal, and calculating an absolute position prediction value in the current iteration based on the absolute position measurement value. , A predicted value calculation step of calculating a predicted value of a relative physical quantity in the current iteration based on the neighboring terminal location information and a measured value of the relative physical quantity, and updating the absolute position compensation value in the previous iteration based on the absolute position predicted value in the current iteration. Compensation value calculation step of calculating the relative physical quantity compensation value in the current iteration by calculating the absolute position compensation value in the iteration and updating the relative physical quantity compensation value in the previous iteration based on the relative physical quantity measurement value in the current iteration and the present In the current iteration, the terminal location information of the terminal is updated based on the first result value reflecting the absolute position compensation value in the iteration and the second result value reflecting the relative physical quantity compensation value in the current iteration. It provides a cooperative positioning method comprising the step of calculating the location information of the terminal location information.

The present invention provides an effect of positioning the location of a terminal in real time by performing cooperative positioning capable of performing fast computational processing.

In addition, the present invention provides the effect of positioning the exact location of the terminal through cooperative positioning.

In addition, the present invention provides an effect of positioning an accurate position even when entering a shaded area that is an obstacle in receiving a signal.

1 is a diagram showing the configuration of a cooperative positioning terminal according to an embodiment of the present invention.
2 is a view for explaining a cooperative positioning operation according to an embodiment of the present invention.
3 is a view for explaining a mobile station including a cooperative positioning terminal according to an embodiment of the present invention.
4 is a diagram for describing a mobile station located in a shaded area according to an embodiment of the present invention.
5 is a diagram schematically showing a positioning result of a location of a mobile station in a shaded area and a non-shaded area according to an embodiment of the present invention.
6 is a graph showing an error value of terminal location information over time in a shaded area and a non-shaded area according to an embodiment of the present invention.
7 is a graph showing an error value of terminal location information and an absolute position measurement value over time in a shaded area and a non-shaded area according to an embodiment of the present invention.
8 is a flow chart illustrating a cooperative positioning method according to an embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail through exemplary drawings. In describing the constituent elements of the present invention, terms such as first, second, A, B, (a), (b) may be used. These terms are only used to distinguish the component from other components, and the nature, order, or order of the component is not limited by the term. When a component is described as being "connected", "coupled" or "connected" to another component, the component may be directly connected or connected to that other component, but another component between each component It should be understood that elements may be “connected”, “coupled” or “connected”.

The cooperative positioning terminal described in the present specification may mean a terminal capable of cooperative localization between adjacent terminals and terminals existing in the vicinity of the terminal. That is, the aforementioned terminal and the adjacent terminal may mean a cooperative positioning terminal in the present specification.

Therefore, in the present specification, for convenience, the contents of the present invention are described assuming that the cooperative positioning terminal is the terminal, but the neighboring terminal may operate in the same manner as the cooperative positioning terminal.

Meanwhile, the neighboring terminal may be included as long as it is a terminal that exists in the vicinity of the terminal, and may mean a terminal to be relatively distinguished from the terminal.

1 is a diagram showing the configuration of a cooperative positioning terminal 100 according to an embodiment of the present invention.

1, in the cooperative positioning terminal 100 for cooperative positioning of the terminal (meaning the cooperative positioning terminal, hereinafter the same) according to an embodiment of the present invention, the cooperative positioning terminal 100 is the location of the terminal Cooperative positioning may be performed by repeatedly performing an operation of reflecting the value of the previous state to the current state. That is, the cooperative positioning terminal 100 basically updates the information calculated in the previous iteration to calculate the information in the current iteration.

The cooperative positioning terminal 100 may include a receiving unit 110, a predicted value calculating unit 120, a compensation value calculating unit 130, a location information calculating unit 140, and the like.

The receiver 110 may receive an absolute position measurement value of the terminal, information on the position of adjacent terminals of one or more adjacent terminals, and a measurement value of a relative physical quantity between the terminal and the adjacent terminal.

Here, the absolute position measurement value may mean a measurement value indicating the exact position of the terminal, and may be a vector.

은 아래와 같이 표현될 수 있다.Absolute position measurement at any time (t)

Can be expressed as follows.

[Equation 1]

는 임의의 시간(t)에서의 단말의 위치 좌표(Coordinate)이고, 단말의 위치 좌표

는 바람직하게는 2차원의 위치 좌표, 즉

으로 표현될 수 있다. 그리고,

는 절대 위치 오차(Error)이다.

Is the location coordinate of the terminal at an arbitrary time (t), and the location coordinate of the terminal

Is preferably two-dimensional positional coordinates, i.e.

It can be expressed as And,

Is the absolute position error.

은 RSU(Road Side Unit), OBU(On Board Unit) 등과 같은 하나 이상의 앵커(anchor) 또는 하나 이상의 인공 위성에 의해 생성될 수 있다. 하지만, 이에 한정되는 것은 아니다. 그리고, 절대 위치 측정값

은 UTDoA(Uplink-Time Difference of Arriva)이나 GNSS 신호, 예를 들어 GPS 신호를 이용한 통신을 통하여 수신부(110)에 수신될 수 있다. 하지만, 이에 한정되는 것은 아니다.Absolute position measurement

May be generated by one or more anchors such as a road side unit (RSU), an on board unit (OBU), or one or more satellites. However, it is not limited thereto. And, the absolute position measurement value

May be received by the receiver 110 through communication using an Uplink-Time Difference of Arriva (UTDoA) or a GNSS signal, for example, a GPS signal. However, it is not limited thereto.

Here, the neighboring terminal location information may mean information on the location of the neighboring terminal that is generated in the neighboring terminal and finally transmitted, and may include the location coordinates of the neighboring terminal.

는 단말의 위치 좌표

와 동일하게 표현될 수 있고 바람직하게는 2차원의 좌표로 표현될 수 있다. 즉, 임의의 시간(t)에서의 인접 단말의 위치 좌표

는

으로 표현될 수 있다. 하지만, 이에 한정되는 것은 아니다.At this time, the location coordinates of the adjacent terminal

Is the location coordinate of the terminal

It can be expressed in the same way as and preferably can be expressed in two-dimensional coordinates. That is, the position coordinates of the adjacent terminal at an arbitrary time (t)

Is

It can be expressed as However, it is not limited thereto.

, 도달 각도

(Angle of Arrival, 이하 AOA) 등이 있고 이에 따라 상대 물리량 측정값은 상대 거리 측정값

, 도달 각도 측정값

등이 있을 수 있다. 하지만 이에 한정되는 것은 아니다.Here, the relative physical quantity measurement value may mean a measurement value for a physical quantity generated between a terminal and an adjacent terminal, and may be a vector. At this time, the relative distance between the terminal and the adjacent terminal as a relative physical quantity

, Reaching angle

(Angle of Arrival, hereinafter AOA), etc., and accordingly, the relative physical quantity measurement value is the relative distance measurement value.

, Reach angle measurement value

Etc. However, it is not limited thereto.

은 아래와 같은 수식에 의해 표현될 수 있다.For example, a measure of relative distance at any time (t)

Can be expressed by the following equation.

[Equation 2]

는 임의의 시간(t)에서의 상대 거리이고,

는 임의의 시간(t)에서의 상대 거리 오차이다.

Is the relative distance at any time t,

Is the relative distance error at any time t.

는 단말의 위치 좌표

와 인접 단말의 위치 좌표

간의 유클리드 거리(Euclidean distance,

를 구하여 획득될 수 있다.At this time, the relative distance at any time (t)

Is the location coordinate of the terminal

And the location coordinates of adjacent terminals

Euclidean distance,

It can be obtained by obtaining.

은 아래와 같은 수식에 의해 표현될 수 있다.Another example, the measure of the angle of arrival at any time t

Can be expressed by the following equation.

[Equation 3]

는 임의의 시간(t)에서의 도달 각도(AOA)이고,

는 임의의 시간(t)에서의 도달 각도 오차이다.

Is the angle of arrival (AOA) at any time (t),

Is the angle of arrival error at any time t.

는 단말의 위치 좌표

와 인접 단말의 위치 좌표

간의 아크탄젠트값(

)을 구하여 획득될 수 있다.At this time, the angle of arrival at an arbitrary time (t)

Is the location coordinate of the terminal

And the location coordinates of adjacent terminals

Arc tangent value between (

) Can be obtained.

The neighboring terminal location information and the relative physical quantity measurement value may be transmitted to the receiving unit 110 using Vehicle To Everything (V2X) communication. However, it is not limited thereto.

The predicted value calculator 120 may calculate an absolute position predicted value in the current iteration based on the absolute position measured value.

Here, the absolute position predicted value may be a value predicted (Prediction) of the absolute position of the terminal in a specific repetition step and may be a vector.

Specifically, the predicted value calculating unit 120 may calculate a value for minimizing an optimization function including an absolute position function having an absolute position error and an absolute position variance for the absolute position measured value as an absolute position predicted value.

Here, the absolute position error may mean a difference value between the absolute position measurement value and the position coordinates of the terminal, and specifically, the absolute position error is a difference value between the position component of the absolute position measurement value and the position coordinate of the terminal. Can mean

Here, the absolute position variance may mean a variance value for the absolute position of the terminal.

The absolute position function, which takes the absolute position error and the absolute position variance as factors, can be calculated using the following equation.

[Equation 4]

와

는 절대 위치 측정값을 구성하는 성분들이고,

는 절대 위치 분산이다.

Wow

Are the components that make up the absolute position measurement,

Is the absolute positional variance.

In addition, the predicted value calculator 120 may set a function including the absolute position function and a penalty parameter generated by noise or other errors due to the surrounding environment as the optimization function.

Using the optimization function, the predicted value of the absolute position in the current iteration can be calculated by the following equation.

[Equation 5]

와

는 임의의 시간(t)에서 현재 반복(k+1)에서의 절대 위치 예측값을 구성하는 성분들이고,

는 절대 위치 함수이며,

와

각각은 패널티 파라미터들이다. 이때,

은 괄호 안에 있는 최적화 함수를 최소로 만드는 x값(또는 y값)을 찾기 위한 기호이다.

Wow

Is the components constituting the absolute position prediction value at the current iteration (k+1) at an arbitrary time (t),

Is the absolute position function,

Wow

Each is a penalty parameter. At this time,

Is a symbol to find the x-value (or y-value) that minimizes the optimization function in parentheses.

Meanwhile, the predicted value calculator 120 may calculate a predicted value of the relative physical quantity in the current iteration based on the location information of the adjacent terminal and the measured value of the relative physical quantity.

Here, the predicted value of the relative physical quantity may be a predicted value of the relative physical quantity in a specific iteration step and may be a vector.

Specifically, the predicted value calculating unit 120 may calculate a value for minimizing an optimization function including a relative physical quantity function having a relative physical quantity error with respect to the relative physical quantity measurement value and a relative physical quantity variance as factors as the relative physical quantity predicted value.

Here, the relative physical quantity error may mean a difference value between the measured value of the relative physical quantity and the relative physical quantity, and may mean, for example, a relative distance error or an angle of arrival error. However, it is not limited thereto.

Here, the relative physical quantity variance may mean a variance value for the relative physical quantity.

The relative physical quantity function using the relative physical quantity error and the relative physical quantity variance as factors may be calculated using an equation.

For example, the relative distance function using the relative distance error and the relative distance variance as factors is calculated using the following equation.

[Equation 6]

는 상대 거리 측정값이고,

는 상대 거리이며,

는 상대 거리 분산이다.

Is the relative distance measure,

Is the relative distance,

Is the relative distance variance.

For another example, the angle of arrival function using the error of the angle of arrival and the variance of the angle of arrival as factors is calculated using the following equation.

[Equation 7]

는 도달 각도 측정값이고,

는 도달 각도이며,

는 도달 각도 분산이다.

Is the measure of the angle of arrival,

Is the angle of arrival,

Is the angle of arrival variance.

In addition, the predicted value calculator 120 may set a function including the relative physical quantity function and the penalty parameter as an optimization function.

Using the optimization function, the predicted value of the relative physical quantity in the current iteration may be calculated by an equation similar to the equation for calculating the absolute position predicted value in the current iteration.

For example, using the optimization function, the predicted value of the relative distance in the current iteration is calculated by the following equation.

[Equation 8]

와

는 임의의 시간(t)에서 현재 반복(k+1)에서의 상대 거리 예측값을 구성하는 성분들이고,

는 상대 거리 함수이며,

와

각각은 패널티 파라미터들이다. 이때,

은 괄호 안에 있는 최적화 함수를 최소로 만드는 x값(또는 y값)을 찾기 위한 기호이다.

Wow

Is the components constituting the predicted value of the relative distance at the current iteration (k+1) at an arbitrary time (t),

Is the relative distance function,

Wow

Each is a penalty parameter. At this time,

Is a symbol to find the x-value (or y-value) that minimizes the optimization function in parentheses.

As another example, using the optimization function, the predicted value of the angle of arrival in the current iteration is calculated by the following equation.

[Equation 9]

와

는 임의의 시간(t)에서 현재 반복(k+1)에서의 도달 각도 예측값을 구성하는 성분들이고,

는 도달 각도 함수이며,

와

각각은 패널티 파라미터들이다. 이때,

은 괄호 안에 있는 최적화 함수를 최소로 만드는 x값(또는 y값)을 찾기 위한 기호이다.

Wow

Are components constituting the predicted value of the angle of arrival at the current iteration (k+1) at an arbitrary time (t),

Is the angle of arrival function,

Wow

Each is a penalty parameter. At this time,

Is a symbol to find the x-value (or y-value) that minimizes the optimization function in parentheses.

The above-described absolute position function and relative physical quantity function, for example, a relative distance function and an angle of arrival function may mean a function derived in the process of solving an optimization problem using a likelihood function for cooperative positioning.

Here, the likelihood function is a value representing the degree to which the parameter of the probability distribution is consistent with the sampled value of a random variable. Specifically, the likelihood of a parameter for a given sample value is the probability that the distribution along this parameter gives for a given observation value. The likelihood function is not a probability distribution and refers to a function that may not be 1 in total.

Specifically, the absolute position function, the relative distance function, and the arrival angle function may be determined by the following process.

는 아래와 같은 수식을 이용하여 산출될 수 있다.First, the likelihood function for the absolute position measure

Can be calculated using the following equation.

[Equation 10]

는 절대 위치 측정값

을 구성하는 위치 성분 중 x 성분이고,

는 절대 위치 측정값

을 구성하는 위치 성분 중 y 성분이며,

는 절대 위치 분산이다.

Is the absolute position measurement

Is the x component of the positional components constituting

Is the absolute position measurement

Is the y component of the positional components constituting

Is the absolute positional variance.

는 아래와 같은 수식을 이용하여 산출될 수 있다.And, the likelihood function for the relative distance measure

Can be calculated using the following equation.

[Equation 11]

는 상대 거리 측정값이고,

는 상대 거리이며,

는 상대 거리 분산이다.

Is the relative distance measure,

Is the relative distance,

Is the relative distance variance.

는 아래와 같은 수식을 이용하여 산출될 수 있다.Then, the likelihood function for the angle of arrival measure

Can be calculated using the following equation.

[Equation 12]

는 도달 각도 측정값이고,

는 도달 각도이며,

는 도달 각도 분산이다.

Is the measure of the angle of arrival,

Is the angle of arrival,

Is the angle of arrival variance.

는 아래와 같은 수식을 이용하여 산출될 수 있다.When each likelihood function is calculated, the likelihood function for cooperative positioning

Can be calculated using the following equation.

[Equation 13]

에 자연 로그를 취하여 다시 정리하면 아래와 같은 수식으로 표현될 수 있다.For convenience of calculation, likelihood function for cooperative positioning

If we take the natural logarithm of and reorganize it, it can be expressed as the following formula.

[Equation 14]

는 협력 측위를 위한 우도 함수

의 다시 정리한 목적 함수(Objective function)를 의미할 수 있다.

Is the likelihood function for cooperative positioning

It can mean a reorganized objective function.

와 상대 거리 함수

와, 도달 각도 함수

각각을 추출할 수 있다.Absolute Position Function from Equation 14

And relative distance function

With, angle of arrival function

Each can be extracted.

Meanwhile, the process of solving Equations 5, 8, and 9 can be very complicated. Therefore, in order to further increase the computational speed, the predicted value calculator 120 uses the above-described Equations 5, 8, and 9 using parameters generated based on the terminal location information of the terminal and the neighboring terminal location information of the adjacent terminal in the previous iteration. Can be solved by simpler transformation.

Here, the terminal location information means information on the location of the terminal determined by cooperative positioning and may be a vector.

Regarding the absolute position predicted value in the current iteration, the predicted value calculating unit 120 uses the absolute position factor reflecting the absolute position compensation value from the previous iteration to the absolute position information from the previous iteration and the absolute position measurement value. The predicted value can be calculated.

Here, the absolute position information may mean the absolute position of the terminal used when the position of the terminal in a specific repetition is calculated, and may be a vector.

Here, the absolute position compensation value may be a value for compensating the absolute position of the terminal in a specific repetition step, or may be a vector.

를 생성할 수 있다.Specifically, the predicted value calculation unit 120 uses the terminal location information of the terminal in the previous iteration and the neighboring terminal location information of the adjacent terminal, and the first parameter expressed by the following equation:

Can be created.

[Equation 15]

와

는 임의의 시간(t)에서 이전 반복(k)에서의 단말 위치 정보를 구성하는 성분들이고,

와

는 임의의 시간(t)에서 이전 반복(k)에서의 인접 단말 위치 정보를 구성하는 성분들이다.

Wow

Are components constituting the terminal location information in the previous iteration (k) at an arbitrary time (t),

Wow

Are components constituting the location information of the neighboring terminal in the previous iteration (k) at an arbitrary time (t).

를 이용하여 아래와 같은 수식으로 표현된 제2 파라미터

를 생성할 수 있다.Then, the predicted value calculating unit 120 is the first parameter

The second parameter expressed by the following equation using

Can be created.

[Equation 16]

와

는 제1 파라미터

를 구성하는 성분들이다.

Wow

Is the first parameter

These are the components that make up.

를 이용하여 아래와 같은 수식으로 표현된 제3 파라미터

와 제4 파라미터

를 생성할 수 있다.In addition, the predicted value calculation unit 120 is a first parameter

The third parameter expressed by the following formula using

And the fourth parameter

Can be created.

[Equation 17]

[Equation 18]

와

는 제3 파라미터

를 구성하는 성분들이고,

와

는 제4 파라미터

를 구성하는 성분들이다.

Wow

Is the third parameter

Are the components that make up

Wow

Is the fourth parameter

These are the components that make up.

와 제2 파라미터

및 제3 파라미터

와 제4 파라미터

를 기반으로 테일러 시리즈(Taylor), ADMM(Alternating Direction Method of Multipliers) 알고리즘 등을 통해 수식 5를 간단하게 변형시켜 아래와 같은 수식을 생성할 수 있다.Then, the predicted value calculating unit 120 is the first parameter

And the second parameter

And the third parameter

And the fourth parameter

Based on the Taylor series (Taylor) and ADMM (Alternating Direction Method of Multipliers) algorithms, Equation 5 can be simply modified to generate the following equation.

[Equation 19]

와

는 임의의 시간(t)에서 현재 반복(k+1)에서의 절대 위치 예측값을 구성하는 성분들이고,

는 절대 위치 분산이고,

는 패널티 계수이고,

와

는 임의의 시간(t)에서 이전 반복(k)에서의 절대 위치 정보를 구성하는 성분들이고,

와

는 임의의 시간(t)에서 이전 반복(k)에서의 절대 위치 보상값을 구성하는 성분들이며,

와

는 절대 위치 측정값을 구성하는 성분들이다.

Wow

Is the components constituting the absolute position prediction value at the current iteration (k+1) at an arbitrary time (t),

Is the absolute positional variance,

Is the penalty factor,

Wow

Is the components constituting the absolute position information in the previous iteration (k) at an arbitrary time (t),

Wow

Is the components constituting the absolute position compensation value in the previous iteration (k) at a certain time (t),

Wow

Are the components that make up the absolute position measurement.

Regarding the predicted value of the relative physical quantity in the current iteration, the predicted value calculating unit 120 includes a first relative physical quantity factor reflecting the relative physical quantity compensation value in the previous iteration in the relative physical quantity information in the previous iteration, and the relative physical quantity in the relative physical quantity measurement value. The predicted value of the relative physical quantity may be calculated using the parameter and the second relative physical quantity factor reflecting the relative physical quantity information in the previous iteration.

Here, the relative physical quantity information may mean a relative physical quantity used when the location of the terminal is calculated in a specific repetition step, and may be a vector.

Here, the relative physical quantity compensation value may be a value for compensating the relative physical quantity in a specific repetition step, and may be a vector.

Here, the relative physical quantity parameter may be calculated using the terminal location information in the previous iteration and the neighboring terminal location information of the adjacent terminal in the previous iteration.

와 제2 파라미터

및 제3 파라미터

와 제4 파라미터

를 생성하고, 전술한 파라미터들을 기반으로 테일러 시리즈(Taylor), ADMM(Alternating Direction Method of Multipliers) 알고리즘 등을 통해 수식 8을 간단하게 변형시켜 아래와 같은 수식 20을 생성할 수 있다.Specifically, the predicted value calculation unit 120 uses Equations 15 to 18 as described above to determine the first parameter

And the second parameter

And the third parameter

And the fourth parameter

Equation 8 can be generated by simply transforming Equation 8 through a Taylor series (Taylor), an Alternating Direction Method of Multipliers (ADMM) algorithm, etc. based on the above-described parameters to generate Equation 20 as follows.

[Equation 20]

와

는 임의의 시간(t)에서 현재 반복(k+1)에서의 상대 물리량 예측값에 포함되는 상대 거리 예측값을 구성하는 성분들이고,

는 상대 거리 분산이고,

는 패널티 계수이고,

와

는 제3 파라미터

를 구성하는 성분들이고,

와

는 임의의 시간(t)에서 이전 반복(k)에서의 상대 물리량 정보에 포함되는 상대 거리 정보를 구성하는 성분들이며,

와

는 임의의 시간(t)에서 이전 반복(k)에서의 상대 물리량 보상값에 포함된 상대 거리 보상값을 구성하는 성분들이고,

는 상대 물리량 측정값에 포함되는 상대 거리 측정값이고,

는 제1 파라미터이다.

Wow

Are components constituting the predicted relative distance value included in the predicted value of the relative physical quantity at the current iteration (k+1) at an arbitrary time (t),

Is the relative distance variance,

Is the penalty factor,

Wow

Is the third parameter

Are the components that make up

Wow

Is the components constituting the relative distance information included in the relative physical quantity information in the previous iteration (k) at an arbitrary time (t),

Wow

Is the components constituting the relative distance compensation value included in the relative physical quantity compensation value in the previous iteration (k) at an arbitrary time (t),

Is the relative distance measurement included in the relative physical quantity measurement,

Is the first parameter.

In addition, the predicted value calculation unit 120 simply uses Equations 15 to 18 as described above, and uses Equation 9 to simplify Equation 9 through a Taylor series, Alternating Direction Method of Multipliers (ADMM) algorithm, etc. By transforming it, you can create Equation 21 as shown below.

[Equation 21]

와

는 임의의 시간(t)에서 현재 반복(k+1)에서의 상대 물리량 예측값에 포함되는 도달 각도 예측값을 구성하는 성분들이고,

는 도달 각도 분산이고,

는 패널티 계수이고,

와

는 임의의 시간(t)에서 이전 반복(k)에서의 상대 물리량 정보에 포함되는 도달 각도 정보를 구성하는 성분들이며,

와

는 임의의 시간(t)에서 이전 반복(k)에서의 상대 물리량 보상값에 포함된 도달 각도 보상값을 구성하는 성분들이고,

와

는 제4 파라미터

를 구성하는 성분들이고,

는 도달 각도 측정값이고,

는 제2 파라미터이다.

Wow

Is the components constituting the predicted value of the angle of arrival included in the predicted value of the relative physical quantity at the current iteration (k+1) at an arbitrary time (t),

Is the angle of arrival variance,

Is the penalty factor,

Wow

Are components constituting the angle of arrival information included in the relative physical quantity information in the previous iteration (k) at an arbitrary time (t),

Wow

Are components constituting the angle of arrival compensation value included in the compensation value of the relative physical quantity in the previous iteration (k) at an arbitrary time (t),

Wow

Is the fourth parameter

Are the components that make up

Is the measure of the angle of arrival,

Is the second parameter.

The compensation value calculating unit 130 may calculate an absolute position compensation value in the current iteration by updating the absolute position compensation value in the previous iteration based on the absolute position prediction value in the current iteration.

Specifically, the compensation value calculation unit 130 calculates a difference value between the absolute position predicted value in the current iteration and the terminal position information in the previous iteration, and adds the difference value to the absolute position compensation value in the previous iteration in the current iteration. The absolute position compensation value of can be calculated.

If the above-described operation is expressed mathematically as follows.

[Equation 22]

와

는 임의의 시간(t)에서 현재 반복(k+1)에서의 절대 위치 보상값을 구성하는 성분들이고,

와

는 임의의 시간(t)에서 이전 반복(k)에서의 절대 위치 보상값을 구성하는 성분들이고,

와

는 임의의 시간(t)에서 현재 반복(k+1)에서의 절대 위치 예측값을 구성하는 성분들이며,

와

는 임의의 시간(t)에서 이전 반복(k)에서의 단말 위치 정보를 구성하는 성분들이다.

Wow

Is the components constituting the absolute position compensation value at the current iteration (k+1) at an arbitrary time (t),

Wow

Is the components constituting the absolute position compensation value in the previous iteration (k) at an arbitrary time (t),

Wow

Are the components constituting the absolute position prediction value at the current iteration (k+1) at an arbitrary time (t),

Wow

Are components constituting the terminal location information in the previous iteration (k) at an arbitrary time (t).

In addition, the compensation value calculating unit 130 may calculate the relative physical quantity compensation value in the current iteration by updating the relative physical quantity compensation value in the previous iteration based on the relative physical quantity measurement value in the current iteration.

Specifically, the compensation value calculation unit 130 calculates a difference value between the predicted value of the relative physical quantity in the current iteration and the terminal location information in the previous iteration in the previous iteration, and adds the difference value to the relative physical quantity compensation value in the previous iteration. Thus, the relative physical quantity compensation value in the current iteration can be calculated.

Here, in the case of a relative physical quantity, for example, a relative distance, the above-described motion is expressed mathematically as follows.

[Equation 23]

와

는 임의의 시간(t)에서 현재 반복(k+1)에서의 상대 거리 보상값을 구성하는 성분들이고,

와

는 임의의 시간(t)에서 이전 반복(k)에서의 상대 거리 보상값을 구성하는 성분들이고,

와

는 임의의 시간(t)에서 현재 반복(k+1)에서의 상대 거리 예측값을 구성하는 성분들이며,

와

는 임의의 시간(t)에서 이전 반복(k)에서의 단말 위치 정보를 구성하는 성분들이다.

Wow

Is the components constituting the relative distance compensation value at the current iteration (k+1) at an arbitrary time (t),

Wow

Is the components constituting the relative distance compensation value in the previous iteration (k) at an arbitrary time (t),

Wow

Are components constituting the predicted relative distance value at the current iteration (k+1) at any time (t),

Wow

Are components constituting the terminal location information in the previous iteration (k) at an arbitrary time (t).

[Equation 24]

와

는 임의의 시간(t)에서 현재 반복(k+1)에서의 도달 각도 보상값을 구성하는 성분들이고,

와

는 임의의 시간(t)에서 이전 반복(k)에서의 도달 각도 보상값을 구성하는 성분들이고,

와

는 임의의 시간(t)에서 현재 반복(k+1)에서의 도달 각도 예측값을 구성하는 성분들이며,

와

는 임의의 시간(t)에서 이전 반복(k)에서의 단말 위치 정보를 구성하는 성분들이다.

Wow

Are components constituting the angle of arrival compensation value at the current iteration (k+1) at an arbitrary time (t),

Wow

Are components constituting the angle of arrival compensation value in the previous iteration (k) at an arbitrary time (t),

Wow

Are components constituting the predicted value of the angle of arrival at the current iteration (k+1) at an arbitrary time (t),

Wow

Are components constituting the terminal location information in the previous iteration (k) at an arbitrary time (t).

The location information calculation unit 130 is based on the first result value reflecting the absolute position compensation value in the absolute position prediction value in the current iteration and the second result value reflecting the relative physical quantity compensation value in the relative physical quantity prediction value in the current iteration. Update the terminal location information to calculate the terminal location information in the current iteration

Specifically, the location information calculation unit 130 may calculate the terminal location information in the current iteration by calculating an average value between the first result value, the second result value, and the terminal location information in the previous iteration.

If the above-described operation is expressed by an equation, it is as follows.

[Equation 25]

와

는 임의의 시간(t)에서 현재 반복(k+1)에서의 단말 위치 정보를 구성하는 성분들이고,

는 인접 단말의 개수이고,

와

는 임의의 시간(t)에서 이전 반복(k)에서의 단말 위치 정보를 구성하는 성분들이다.

Wow

Are components constituting the terminal location information in the current iteration (k+1) at an arbitrary time (t),

Is the number of adjacent terminals,

Wow

Are components constituting the terminal location information in the previous iteration (k) at an arbitrary time (t).

와

는 임의의 시간(t)에서 현재 반복(k+1)에서의 절대 위치 예측값을 구성하는 성분들이고,

와

는 임의의 시간(t)에서 현재 반복(k+1)에서의 절대 위치 보상값을 구성하는 성분들이다.Regarding the factors included in the first result value,

Wow

Is the components constituting the absolute position prediction value at the current iteration (k+1) at an arbitrary time (t),

Wow

Is the components constituting the absolute position compensation value at the current iteration (k+1) at an arbitrary time (t).

와

는 임의의 시간(t)에서 현재 반복(k+1)에서의 상대 거리 예측값을 구성하는 성분들이고,

와

는 임의의 시간(t)에서 현재 반복(k+1)에서의 상대 거리 보상값을 구성하는 성분들이다. 인

와

는 임의의 시간(t)에서 현재 반복(k+1)에서의 도달 각도 예측값을 구성하는 성분들이고,

와

는 임의의 시간(t)에서 현재 반복(k+1)에서의 도달 각도 보상값을 구성하는 성분들이다.Regarding the factors included in the second result,

Wow

Is the components constituting the predicted value of the relative distance at the current iteration (k+1) at an arbitrary time (t),

Wow

Is the components constituting the relative distance compensation value in the current iteration (k+1) at an arbitrary time (t). sign

Wow

Are components constituting the predicted value of the angle of arrival at the current iteration (k+1) at an arbitrary time (t),

Wow

Are components constituting the angle of arrival compensation value at the current iteration (k+1) at an arbitrary time (t).

는

으로,

과

은 각각

과

으로 변형될 수 있다.The case of Equation 25 above corresponds to the case where there is one anchor or satellite, and if there are R anchors or satellites (2≤R), the denominator of Equation 25

Is

to,

and

Is each

and

Can be transformed into

Although not shown, the cooperative positioning terminal 100 may further include a transmitter capable of transmitting terminal location information and a relative physical quantity measurement value to an adjacent terminal.

Each of the components included in the cooperative positioning terminal 100, the neighboring terminal, and the cooperative positioning terminal 100 described above can be wired or wirelessly communicated using a message passing method.

Hereinafter, the above-described operations will be described in terms of message transmission between a terminal and an adjacent terminal.

2 is a view for explaining a cooperative positioning operation according to an embodiment of the present invention.

2, in order to implement a cooperative positioning operation according to an embodiment of the present invention, a terminal 210 corresponding to the cooperative positioning terminal 100 according to an embodiment of the present invention, and M (1≤M) N anchors and N (1≤N) adjacent terminals are required.

At this time, between the terminal 210 and the anchors 220 and 230 and adjacent terminals 240, 250 and 260, the above-described absolute position measurement value, adjacent terminal position information, terminal position information, and relative physical quantity measurement value, etc. are included. You can send or receive messages that say.

를 포함하는 메시지 ①을 생성하여 보상 프로세서로 전송한다.Assuming that the cooperative positioning is performed at the current iteration (k+1) at a certain time (t), the terminal 210 is in the previous iteration (k) at a certain time (t) in the terminal location information processor. Terminal location information

It generates a message ① including a and sends it to the compensation processor.

를 포함하는 메시지 ①을 보상값 산출부(130)에 전송한다.For example, the location information calculation unit 140 is the terminal location information in the previous iteration (k) at a certain time (t).

A message ① including a is transmitted to the compensation value calculation unit 130.

을 포함하는 메시지 ②를 예측 프로세서에 전송한다.Then, the terminal 210 is the compensation value at the previous iteration (k) at an arbitrary time (t) based on the message ① in the compensation processor

The message ② containing is transmitted to the prediction processor.

, 인접 단말과 관련된 상대 물리량 보상값

을 모두 포함하는 것을 의미한다.Here, the compensation value is the absolute position compensation value related to the anchor

, Relative physical quantity compensation value related to adjacent terminals

It means to include all.

부터 제M 앵커(230)와 관련되는 임의의 시간(t)에서 이전 반복(k)에서의 절대 위치 보상값

각각을 포함하는 메시지 ②를 예측값 산출부(120)에 전송한다.For example, the compensation value calculation unit 130 is the absolute position compensation value at the previous iteration (k) at a random time (t) related to the first anchor 220

The absolute position compensation value at the previous iteration (k) at a random time (t) related to the M-th anchor 230 from

The message ② including each is transmitted to the predicted value calculation unit 120.

, 제2 인접 단말(250)과 관련되는 임의의 시간(t)에서 이전 반복(k)에서의 상대 물리량 보상값

부터 제N 인접 단말(260)과 관련되는 임의의 시간(t)에서 이전 반복(k)에서의 상대 물리량 보상값

각각을 포함하는 메시지 ②를 예측값 산출부(120)에 전송한다.As another example, the compensation value calculation unit 130 may be a relative physical quantity compensation value at a previous iteration (k) at an arbitrary time (t) related to the first adjacent terminal 240

, The relative physical quantity compensation value in the previous iteration (k) at an arbitrary time (t) related to the second neighboring terminal 250

The relative physical quantity compensation value at the previous iteration (k) at an arbitrary time (t) related to the Nth neighboring terminal 260 from

The message ② including each is transmitted to the predicted value calculation unit 120.

을 포함하는 메시지 ③을 단말(210)에 전송하고, 제1 인접 단말(240)부터 제N 인접 단말(260) 각각은 관련되는 임의의 시간(t)에서 이전 반복(k)에서의 인접 단말 위치 정보들

과 상대 물리량 측정값

을 포함하는 메시지 ③을 단말(210)에 전송한다. 단말(210)은 수신한 메시지 ③을 예측 프로세서에 전달한다.On the other hand, each of the first anchor 220 to the M-th anchor 230 is the absolute position measurement value of the terminal 210 at a random time (t)

A message ③ is transmitted to the terminal 210, and each of the first neighboring terminal 240 to the Nth neighboring terminal 260 is the neighboring terminal position in the previous iteration (k) at an associated random time t Information

And relative physical quantity measurements

A message ③ including a is transmitted to the terminal 210. The terminal 210 transmits the received message ③ to the prediction processor.

각각을 산출하고, 산출된 예측값

을 포함하는 메시지 ④를 보상 프로세서에 전송한다.Then, the terminal 210 is the prediction value at the current iteration (k+1) at an arbitrary time (t) based on the messages ② and ③ in the prediction processor.

Each is calculated, and the calculated predicted value

It transmits a message ④ including a to the compensation processor.

과 인접 단말과 관련된 상대 물리량 예측값

을 모두 포함하는 것을 의미한다.Here, the predicted value is an absolute position predicted value related to the anchor

And predicted relative physical quantity related to adjacent terminals

It means to include all.

부터 제M 앵커(230)와 관련되는 임의의 시간(t)에서 이전 반복(k)에서의 절대 위치 보상값

, 임의의 시간(t)에서 단말(210)의 절대 위치 측정값

및 임의의 시간(t)에서 이전 반복(k)에서의 단말 위치 정보

를 입력값으로 하고 전술한 수식 19를 이용하여 임의의 시간(t)에서 현재 반복(k+1)에서의 절대 위치 예측값들(

)을 산출하고, 산출된 절대 위치 예측값들(

)을 포함하는 메시지 ④를 보상값 산출부(130)에 전송한다.For example, the predicted value calculation unit 120 is an absolute position compensation value in the previous iteration (k) at a random time (t) related to the first anchor 220

The absolute position compensation value at the previous iteration (k) at a random time (t) related to the M-th anchor 230 from

, The absolute position measurement value of the terminal 210 at an arbitrary time (t)

And terminal location information in the previous iteration (k) at a random time (t).

As an input value and using Equation 19 above, the absolute position predicted values at the current iteration (k+1) at an arbitrary time (t) (

) And the calculated absolute position prediction values (

The message ④ including) is transmitted to the compensation value calculation unit 130.

, 제2 인접 단말(250)과 관련되는 임의의 시간(t)에서 이전 반복(k)에서의 상대 물리량 보상값

부터 제N 인접 단말(260)과 관련되는 임의의 시간(t)에서 이전 반복(k)에서의 상대 물리량 보상값

수식 20과 수식 21을 이용하여 임의의 시간(t)에서 현재 반복(k+1)에서의 상대 물리량 예측값들(

)을 산출하고, 산출된 상대 물리량 예측값들(

)을 포함하는 메시지 ④를 보상값 산출부(130)에 전송한다.For another example, the predicted value calculating unit 120 is a relative physical quantity compensation value at a previous iteration (k) at an arbitrary time (t) related to the first neighboring terminal 240

, The relative physical quantity compensation value in the previous iteration (k) at an arbitrary time (t) related to the second neighboring terminal 250

The relative physical quantity compensation value at the previous iteration (k) at an arbitrary time (t) related to the Nth neighboring terminal 260 from

Using Equation 20 and Equation 21, the predicted values of the relative physical quantity at the current iteration (k+1) at an arbitrary time (t) (

) And calculated relative physical quantity predicted values (

The message ④ including) is transmitted to the compensation value calculation unit 130.

을 산출하고, 산출된 보상값

을 포함하는 메시지 ⑤를 단말 위치 정보 프로세서에 전송한다.Then, the terminal 210 is the compensation value at the current iteration (k+1) at an arbitrary time (t) based on the message ④ in the compensation processor

Is calculated, and the calculated compensation value

The message ⑤ including the is transmitted to the terminal location information processor.

)과 임의의 시간(t)에서 이전 반복(k)에서의 절대 위치 보상값들(

) 및 단말 위치 정보

를 입력값으로 하고 수식 22를 이용하여 임의의 시간(t)에서 현재 반복(k+1)에서의 절대 위치 보상값들(

)을 산출하며, 산출된 절대 위치 보상값들(

)을 포함하는 메시지 ⑤를 위치 정보 산출부(140)에 전송한다.For example, the compensation value calculating unit 130 relates to the first anchor to the M-th anchor, and the absolute position predicted values at the current iteration (k+1) at an arbitrary time (t) (

) And absolute position compensation values in the previous iteration (k) at any time (t) (

) And terminal location information

As an input value and using Equation 22, the absolute position compensation values at the current iteration (k+1) at an arbitrary time (t) (

) Is calculated, and the calculated absolute position compensation values (

A message ⑤ including) is transmitted to the location information calculation unit 140.

)과 임의의 시간(t)에서 이전 반복(k)에서의 상대 물리량 보상값들(

) 및 단말 위치 정보

를 입력값으로 하고 수식 23 및 수식 24를 이용하여 이용하여 임의의 시간(t)에서 현재 반복(k+1)에서의 상대 물리량 보상값들(

)을 산출하며, 산출된 상대 물리량 보상값들(

)을 포함하는 메시지 ⑤를 위치 정보 산출부(140)에 전송한다.For another example, the predicted values of the relative physical quantity in the current repetition (k+1) from the first neighboring terminal to the Nth neighboring terminal (

) And relative physical quantity compensation values from the previous iteration (k) at any time (t) (

) And terminal location information

As an input value and using Equation 23 and Equation 24, the relative physical quantity compensation values at the current iteration (k+1) at an arbitrary time (t) (

) Is calculated, and the calculated relative physical quantity compensation values (

A message ⑤ including) is transmitted to the location information calculation unit 140.

)과 상대 물리량 보상값들(

)이 포함되어 있다.Then, the terminal 210 calculates the terminal location information in the current repetition (k+1) at an arbitrary time (t) based on the message ⑥ in which the message ⑤ was added in the terminal location information processor. At this time, in the message ⑥, the absolute position compensation values at the current repetition (k+1) at an arbitrary time (t) (

) And relative physical quantity compensation values (

) Is included.

과 단말 위치 정보

가 산출된다.Cooperative positioning result, compensation value at current iteration (k+1) at any time (t)

And terminal location information

Is calculated.

As described above, the present invention provides the effect of positioning the exact location of the terminal through the cooperative positioning between the terminal 210 and one or more adjacent terminals (240, 250, 260).

3 is a diagram for explaining a mobile station 310 including a cooperative positioning terminal 100 according to an embodiment of the present invention, and FIG. 4 is a mobile station located in a shaded area 320 according to an embodiment of the present invention. It is a figure for explaining (310).

3, the cooperative positioning terminal 100 according to an embodiment of the present invention described above is included in the mobile station 310 and provides the location of the mobile station 310 by positioning the cooperative positioning terminal 100. .

Here, the mobile station 310 may be a vehicle as illustrated in FIG. 3, but is not limited thereto, and may be a movable object such as a drone, an aircraft, or a ship.

When the mobile station 310 moves, the cooperative positioning terminal 100 cooperates through communication between other mobile stations 341 and 342 based on the absolute position measurement value received from the anchor 320 in the vicinity of the mobile station 310. The location of the positioning terminal 100 can be positioned.

However, when the mobile station 310 continues to move and enters the shaded area 330 such as a tunnel or an urban area, the cooperative positioning terminal 100 may be difficult to receive the absolute position measurement value from the anchor 320.

In this case, the cooperative positioning terminal 100 performs the above-described cooperative positioning operation through communication with the absolute position measurement value received before entering the shaded area 330 and one or more other mobile stations 341 and 342 to cooperate. The location of the positioning terminal 100 can be measured.

4, the cooperative positioning terminal 100 included in the mobile station 310 entering the shaded area 330 uses the absolute position measurement value received from the anchor 320 before entering the shaded area 330. Thus, the absolute position prediction value and the absolute position compensation value are repeatedly calculated as described above.

Then, the cooperative positioning terminal 100 included in the mobile station 310 entering the shaded area 330 communicates with the adjacent terminal included in the other mobile stations 341 and 342, and the adjacent terminals from the adjacent terminals Each neighboring terminal location information and a relative physical quantity measurement value for each of the mobile station 330 and other mobile stations 341 and 342 are received, and a predicted value of a relative physical quantity and a compensation value of a relative physical quantity are repeatedly calculated as described above.

The cooperative positioning terminal 100 included in the mobile station 310 entering the shaded area 330 uses the absolute position predicted value, the absolute position compensation value, the physical quantity predicted value, the relative physical quantity compensation value, etc. in the current iteration as described above. Calculate terminal location information.

As described above, the present invention provides an effect of positioning an accurate location even if the mobile station 310 including the cooperative positioning terminal 100 enters the shaded area 330.

5 is a diagram schematically showing a positioning result of a location of a mobile station in a shaded area and a non-shaded area according to an embodiment of the present invention.

5, cooperation calculated whenever a mobile station 310 including a cooperative positioning terminal 100 and another mobile station (eg, 341) move while entering different sections (A, B, C) The positioning result can be experimentally represented as shown in FIG. 5.

Section A means a non-shaded area such as a non-urban area (Rural), section B means a shaded area such as an urban area (Urban) and a tunnel, and section C means a non-shaded area, the same as the old building A. .

As described above, the shaded area refers to an area in which transmission and reception of a GNSS signal or a position signal generated by an anchor is difficult compared to a non-shaded area. Nevertheless, the location of the mobile station 310 including the cooperative positioning terminal 100 is constantly positioned without being affected by the section. Likewise, the positions of other mobile stations including the cooperative positioning terminal 100 are also constantly positioned without being affected by the section.

Meanwhile, the ranges of section A, section B, and section C shown in FIG. 5 are for understanding of the present invention and are not limited thereto.

6 is a graph showing an error value of terminal location information over time in a shaded area and a non-shaded area according to an embodiment of the present invention.

Referring to FIG. 6, a result of comparing the error value of the terminal location information calculated according to the conventional location positioning with the error value of the terminal location information calculated according to the cooperative positioning of the present invention can be experimentally shown.

In the case of section A and section C, which are non-shaded sections, it can be seen that the error value of the terminal location information according to the present invention is measured to be lower than that of the conventional terminal location information.

In the case of section B, which is a shaded section, it can be seen that the error value of the terminal location information according to the present invention increases very slightly, while the error value of the terminal location information according to the related art increases significantly.

Taken together, the cooperative positioning of the cooperative positioning terminal 100 according to an embodiment of the present invention can provide more accurate and stable positioning results than the conventional positioning technology.

7 is a graph showing an error value of terminal location information and an absolute position measurement value over time in a shaded area and a non-shaded area according to an embodiment of the present invention.

Referring to FIG. 7, the result of comparing the error value of the result of measuring the position using only the absolute position measurement value received by the anchor 320 and the error value of the terminal position information generated according to the cooperative positioning of the present invention. Can be expressed experimentally.

In the case of the non-shaded section, section A and section C, it can be seen that the error value of the terminal location information generated according to the cooperative positioning of the present invention is measured lower than the error value of the result of measuring the location using only the absolute location measurement .

In the case of the shaded section, section B, it can be seen that the deviation between the error value of the terminal location information generated according to the cooperative positioning of the present invention and the error value of the result of measuring the location using only the absolute location measurement value is very large.

Taken together, it can be seen that the cooperative positioning of the cooperative positioning terminal 100 according to an embodiment of the present invention is more accurate than when positioning the position using only the absolute position measurement value received by the Kerr 320.

As described above, the present invention provides the effect of being able to locate the terminal in real time while being affected by the surrounding environment to a minimum.

8 is a flow chart illustrating a cooperative positioning method according to an embodiment of the present invention.

Referring to FIG. 8, in the cooperative positioning method for cooperatively positioning the location of the terminal according to an embodiment of the present invention, a receiving step (S810), a predicted value calculating step (S820), a compensation value calculating step (S830), and It may include a location information calculation step (S840), and the like.

In the receiving step (S810), the absolute position measurement value of the terminal, adjacent terminal position information of one or more adjacent terminals, and a relative physical quantity measurement value between the terminal and the adjacent terminal may be received.

In the predicted value calculation step S820, an absolute position predicted value in the current iteration may be calculated based on the absolute position measurement value.

Specifically, in the predicted value calculation step S820, the absolute position predicted value may be calculated using an absolute position factor in which the absolute position compensation value in the previous iteration is reflected in the absolute position information in the previous iteration and the absolute position measurement value.

및

)을 계산함으로써 절대 위치 예측값을 산출한다.For example, in the predicted value calculation step (S820), the components constituting the absolute position predicted value at the current iteration (k+1) at an arbitrary time (t) using Equation 19 (

And

) To calculate the absolute position prediction value.

In addition, the predicted value calculating step S820 may calculate a predicted value of the relative physical quantity in the current iteration based on the location information of the adjacent terminal and the measured value of the relative physical quantity.

Specifically, the predicted value calculation step (S820) includes a first relative physical quantity factor reflecting the relative physical quantity compensation value from the previous iteration to the relative physical quantity information from the previous iteration, the relative physical quantity parameter to the relative physical quantity measurement value, and the relative physical quantity from the previous iteration. The predicted value of the relative physical quantity may be calculated by using the second relative physical quantity factor reflecting the information.

및

)과 도달 각도 예측값을 구성하는 성분들(

및

)을 계산함으로써 상대 거리 예측값 및 도달 각도 예측값을 각각 산출한다.For example, in the predicted value calculation step (S820), the components constituting the relative distance predicted value at the current iteration (k+1) at an arbitrary time (t) using Equation 20 and Equation 21 described above (

And

) And the components constituting the predicted angle of arrival (

And

) Is calculated to calculate a relative distance predicted value and an arrival angle predicted value, respectively.

In step S830 of calculating the compensation value, the absolute position compensation value in the current iteration may be calculated by updating the absolute position compensation value in the previous iteration based on the absolute position prediction value in the current iteration.

Specifically, the compensation value calculation step (S830) calculates a difference value between the absolute position predicted value in the current iteration and the terminal position information in the previous iteration, and adds the difference value to the absolute position compensation value in the previous iteration in the current iteration. The absolute position compensation value of can be calculated.

및

)을 계산함으로써 절대 위치 보상값을 산출한다.For example, in the compensation value calculation step (S830), components constituting the absolute position compensation value at the current iteration (k+1) at an arbitrary time (t) using Equation 22 (

And

) To calculate the absolute position compensation value.

In addition, the compensation value calculation step S830 may calculate the relative physical quantity compensation value in the current iteration by updating the relative physical quantity compensation value in the previous iteration based on the relative physical quantity measurement value in the current iteration.

Specifically, the compensation value calculation step (S830) calculates a difference value between the predicted value of the relative physical quantity in the current iteration and the terminal location information in the previous iteration in the previous iteration, and adds the difference value to the compensation value of the relative physical quantity in the previous iteration. Thus, the relative physical quantity compensation value in the current iteration can be calculated.

및

)과 도달 각도 보상값을 구성하는 성분들(

및

)을 계산함으로써 상대 거리 보상값 및 도달 각도 보상값을 각각 산출한다.For example, in the compensation value calculation step (S830), the components constituting the relative distance compensation value at the current iteration (k+1) at an arbitrary time (t) using Equations 23 and 24 respectively (

And

) And components constituting the angle of arrival compensation value (

And

) To calculate the relative distance compensation value and the arrival angle compensation value, respectively.

The position information calculation step S840 may generate a first result value by reflecting the absolute position compensation value to the absolute position prediction value in the current iteration.

및

를 의미한다.For example, the first result is Equation 25

And

Means.

In addition, the location information calculation step S840 may generate a second result value reflecting the relative physical quantity compensation value to the relative physical quantity predicted value in the current iteration.

및

를 의미한다.For example, the second result is Equation 25

And

Means.

When the first result value and the second result value are generated, the location information calculation step (S840) updates the terminal location information of the terminal based on the first result value and the second result value to calculate the terminal location information in the current iteration. can do.

Specifically, in the location information calculation step (S840), the terminal location information in the current iteration may be calculated by calculating an average value between the first result value, the second result value, and the terminal location information in the previous iteration.

및

)을 계산함으로써 단말 위치 정보를 산출한다.For example, in the location information calculation step (S840), the components constituting the terminal location information in the current iteration (k+1) at an arbitrary time (t) using Equation 25 (

And

) To calculate the terminal location information.

As described above, the present invention provides the effect of positioning the exact location of the terminal through cooperative positioning.

In addition, the present invention provides an effect of positioning an accurate position even when entering a shaded area that is an obstacle in receiving a signal.

In the above, even if all the constituent elements constituting the embodiments of the present invention have been described as being combined into one or operating in combination, the present invention is not necessarily limited to these embodiments. That is, within the scope of the object of the present invention, all the constituent elements may be selectively combined and operated in one or more. The above description is merely illustrative of the technical idea of the present invention, and those of ordinary skill in the art to which the present invention pertains will be able to make various modifications and variations without departing from the essential characteristics of the present invention. The scope of protection of the present invention should be interpreted by the following claims, and all technical ideas within the scope equivalent thereto should be interpreted as being included in the scope of the present invention.

Claims (15)

In the cooperative positioning terminal cooperatively positioning the location of the terminal,
A receiving unit configured to receive an absolute position measurement value of the terminal, information on the position of adjacent terminals of one or more adjacent terminals, and a measurement value of a relative physical quantity between the terminal and the adjacent terminal;
A predicted value calculator configured to calculate an absolute position predicted value in the current iteration based on the absolute position measurement value, and calculate a relative physical quantity predicted value in the current iteration based on the neighboring terminal position information and the relative physical quantity measured value;
The absolute position compensation value in the current iteration is calculated by updating the absolute position compensation value in the previous iteration based on the absolute position prediction value in the current iteration, and in the previous iteration based on the relative physical quantity measurement value in the current iteration A compensation value calculating unit that updates the compensation value of the relative physical quantity and calculates the compensation value of the relative physical quantity in the current iteration; And
Update the terminal location information of the terminal based on a first result value reflecting the absolute position compensation value in the absolute position prediction value in the current iteration and a second result value reflecting the relative physical quantity compensation value in the relative physical quantity prediction value in the current iteration And a location information calculator that calculates the terminal location information in the current iteration,
The compensation value calculation unit,
Calculate a difference value between the absolute position prediction value in the current iteration and the terminal position information in the previous iteration,
And calculating the absolute position compensation value in the current iteration by adding the difference value to the absolute position compensation value in the previous iteration. The method of claim 1,
The predicted value calculation unit,
A cooperative positioning terminal, characterized in that calculating a value for minimizing an optimization function including an absolute position function that takes an absolute position error and an absolute position variance for the absolute position measurement value as the absolute position predicted value. The method of claim 1,
The predicted value calculation unit,
A cooperative positioning terminal, characterized in that calculating a value for minimizing an optimization function including a relative physical quantity function that has a relative physical quantity error with respect to the relative physical quantity measurement value and a relative physical quantity variance as factors as the relative physical quantity predicted value. The method of claim 1,
The predicted value calculation unit,
A cooperative positioning terminal, characterized in that calculating the absolute position predicted value by using the absolute position factor reflecting the absolute position compensation value in the previous iteration in the absolute position information in the previous iteration and the absolute position measurement value. The method of claim 1,
The predicted value calculation unit,
A first relative physical quantity factor reflecting the relative physical quantity compensation value in the previous iteration in the relative physical quantity information in the previous iteration, and a second relative physical quantity reflecting the relative physical quantity parameter in the relative physical quantity measurement value and the relative physical quantity information in the previous iteration Cooperative positioning terminal, characterized in that calculating the predicted value of the relative physical quantity using a factor. The method of claim 5,
The relative physical quantity parameter,
Cooperative positioning terminal, characterized in that calculated using the terminal location information in the previous iteration and the neighboring terminal location information of the adjacent terminal in the previous iteration. delete The method of claim 1,
The compensation value calculation unit,
Calculate a difference value between the predicted relative physical quantity in the current iteration and the terminal location information in the previous iteration in the previous iteration,
And calculating the relative physical quantity compensation value in the current iteration by adding the difference value to the relative physical quantity compensation value in the previous iteration. The method of claim 1,
The location information calculation unit,
And calculating an average value between the first result value, the second result value, and the terminal position information in the previous iteration to calculate the terminal position information in the current iteration. In the cooperative positioning method for cooperative positioning of the location of the terminal,
A receiving step of receiving an absolute position measurement value of the terminal, adjacent terminal position information of one or more adjacent terminals, and a measurement value of a relative physical quantity between the terminal and the adjacent terminal;
A predicted value calculating step of calculating an absolute position predicted value in the current iteration based on the absolute position measurement value, and calculating a relative physical quantity predicted value in the current iteration based on the neighboring terminal position information and the relative physical quantity measured value;
The absolute position compensation value in the current iteration is calculated by updating the absolute position compensation value in the previous iteration based on the absolute position prediction value in the current iteration, and in the previous iteration based on the relative physical quantity measurement value in the current iteration A compensation value calculation step of calculating the relative physical quantity compensation value in the current iteration by updating the relative physical quantity compensation value of And
The terminal location information of the terminal is updated based on a first result value reflecting the absolute position compensation value in the absolute position prediction value in the current iteration and a second result value reflecting the relative physical quantity compensation value in the relative physical quantity prediction value in the current iteration. And a location information calculation step of calculating the terminal location information in the current iteration,
The step of calculating the compensation value,
Calculate a difference value between the absolute position prediction value in the current iteration and the terminal position information in the previous iteration,
And calculating the absolute position compensation value in the current iteration by adding the difference value to the absolute position compensation value in the previous iteration. The method of claim 10,
The predicted value calculation step,
And calculating the absolute position prediction value using an absolute position factor reflecting the absolute position compensation value in the previous iteration to the absolute position information in the previous iteration and the absolute position measurement value. The method of claim 10,
The predicted value calculation step,
A first relative physical quantity factor reflecting the relative physical quantity compensation value in the previous iteration in the relative physical quantity information in the previous iteration, and a second relative physical quantity reflecting the relative physical quantity parameter in the relative physical quantity measurement value and the relative physical quantity information in the previous iteration Cooperative positioning method, characterized in that calculating the predicted value of the relative physical quantity by using a factor. delete The method of claim 10,
The step of calculating the compensation value,
Calculate a difference value between the predicted relative physical quantity in the current iteration and the terminal location information in the previous iteration in the previous iteration,
And calculating the relative physical quantity compensation value in the current iteration by adding the difference value to the relative physical quantity compensation value in the previous iteration. The method of claim 10,
The location information calculation step,
And calculating the terminal location information in the current iteration by calculating an average value between the first result value, the second result value, and the terminal location information in the previous iteration.

Images