KR102214499B1 - indoor positioning system and method using global positioning system location information mapping - Google Patents

Abstract

The present invention relates to an indoor positioning system using GPS position information mapping and a method thereof. More specifically, the present invention relates to the indoor positioning system using the GPS position information mapping capable of positioning a precise position of a terminal indoors by mapping GPS standard coordinate data to a locator beacon, and the method thereof. According to the present invention, by mapping the GPS standard coordinate data to the locator beacon and providing the GPS standard coordinate data mapped together with launch angle information to a terminal, it is possible to position the precise position of the terminal indoors.

Description

Indoor positioning system and method using global positioning system location information mapping}

The present invention relates to an indoor positioning system and method using GPS location information mapping, and more particularly, to a GPS location information mapping capable of positioning a precise location of a terminal indoors by mapping GPS standard coordinate data to a locator beacon. It relates to an indoor positioning system and method using.

Location identification systems include GPS (Global Positioning System, Satellite Navigation System), INS (Inertial Navigation System), LORAN (Long Range Aid to Navigation), RFID/USN (Radio Frequency Identification/Ubiquitous Sensor Network), etc. do. At this time, if the opponent's location information is required, the opponent's location information calculated by the opponent is wirelessly provided, or the opponent's location information is calculated by receiving a signal reflected by a transmitted signal such as a radar.

Conventionally, when trying to identify the location of the other device, the current location was calculated mainly through a GPS receiver held by the other device. However, there is a problem in that it is difficult to accurately identify the location of a counterpart device in an environment in which the GPS signal is unstable or an erroneous signal distortion is likely to occur due to an interference device, such as inside a building. In addition, there is a security problem that the location information of the counterpart device may be exposed to others.

On the other hand, it is also possible to estimate the location of the device using a wireless communication infrastructure in place of GPS. However, for this, a number of APs (Access Points) that can accurately identify the location of the device must be installed, and it is uneconomical especially when precise location detection is required within a limited space.

That is, a conventional location identification system using GPS or wireless communication infrastructure is not suitable within a limited space. Therefore, there is a need for an efficient and economical method to check a location within a certain space.

KR10-0838473B1

The present invention is invented to solve such a problem, and provides an indoor positioning system and method using GPS location information mapping in which GPS standard coordinate data can be mapped to a locator beacon to locate a precise location of a terminal indoors. The purpose.

According to one aspect of the indoor positioning system using GPS location information mapping according to the present invention for achieving the above object, it is installed at a fixed indoor location and includes GPS location information mapped according to the launch angle information and the GPS coordinate system. A plurality of locator beacons each transmitting a beacon signal; And a terminal that receives the beacon signal transmitted from the locator beacon and calculates a precise location by calculating an intersection point based on the launch angle information and GPS location information included in the received beacon signal.

In addition, the locator beacon includes a launch angle information providing unit that provides launch angle information when transmitting a beacon signal; A GPS location information management unit for managing GPS location information by mapping a fixed location of the locator beacon installed indoors according to a GPS coordinate system; And a beacon signal transmitter for transmitting the launch angle information provided by the launch angle information providing unit and GPS location information of the locator beacon managed by the GPS location information management unit.

In addition, the GPS location information may include height value information of the locator beacon.

In addition, the GPS location information management unit may map and manage the height value information of the locator beacon as location information of the locator beacon from the ground.

In addition, the terminal may calculate a precise location by calculating an intersection point based on at least two launch angle information and GPS location information.

In addition, the terminal may select and calculate a nearby locator beacon using a received signal strength (RSSI) when receiving at least two emission angle information when calculating the intersection point.

On the other hand, according to another aspect of the indoor positioning system using GPS location information mapping according to the present invention for achieving the above object, a locator installed at a fixed indoor location to manage GPS location information mapped according to a GPS coordinate system Beacons; And a terminal for calculating a precise location based on the distance and arrival angle information measured by the time-of-flight distance measurement (TOF) with the locator beacon and the GPS location information.

Meanwhile, according to an aspect of the indoor positioning method using GPS location information mapping according to the present invention for achieving the above object, a plurality of locator beacons installed at fixed indoor locations are respectively mapped according to the GPS coordinate system. Receiving information; Transmitting a beacon signal including launch angle information and GPS position information mapped according to the GPS coordinate system from the plurality of locator beacons, respectively; And calculating, by the terminal, a precise location by receiving a beacon signal transmitted from the plurality of locator beacons and calculating an intersection point based on the launch angle information and GPS location information included in the received beacon signal.

In addition, the GPS location information may include height value information of the locator beacon.

In addition, in the step of calculating the location, the terminal may calculate a precise location by calculating an intersection point based on at least two launch angle information and GPS location information.

In addition, the terminal may select and calculate a nearby locator beacon using a received signal strength (RSSI) when receiving at least two emission angle information when calculating the intersection point.

Meanwhile, according to another aspect of the indoor positioning method using GPS location information mapping according to the present invention for achieving the above object, a plurality of locator beacons installed at a fixed indoor location are respectively mapped according to a GPS coordinate system. Receiving information; Measuring a distance by means of a time-of-flight distance measurement (TOF) with the locator beacon in the terminal; And calculating, by the terminal, a precise location based on distance and arrival angle information measured by time of flight distance measurement (TOF) with the locator beacon and the GPS location information.

According to the present invention, by mapping GPS standard coordinate data to a locator beacon, and providing the mapped GPS standard coordinate data along with the launch angle information to the terminal, there is an effect that it is possible to accurately locate the terminal's location indoors.

1 is a diagram showing an example of a Bluetooth asset tracking system based on a general RSSI and trilateration method.
2 is a view showing an example of a Bluetooth IPS system based on a general RSSI and trilateration method.
3 is a view showing an example of a general Bluetooth-based angle of departure method (Angle of Departure).
4 is a diagram illustrating an example of location information mapping in a location information management system according to an embodiment of the present invention.
5 is a view showing an example of transmitting a beacon signal in a location information management system according to an embodiment of the present invention.
6 is a view showing an example of calculating an intersection point using launch angle information in a location information management system according to an embodiment of the present invention.
Fig. 7 shows the algorithm for Fig. 6;
FIG. 8 is a diagram illustrating an example of mapping of reference location information for Ultra Wide-Band (UWB) in a location information management system according to an embodiment of the present invention.
9 is a diagram illustrating an example of measuring a distance between an ultra wide-band (UWB) reference terminal and a locator beacon in a location information management system according to an embodiment of the present invention.
10 is a diagram illustrating an example of calculating an intersection point using distance information in a location information management system according to an embodiment of the present invention.
11 is a view showing the configuration of a locator beacon according to an embodiment of the present invention.
12 is a view showing a process of an indoor positioning method using GPS location information mapping according to an embodiment of the present invention.
13 is a view showing another example of an indoor positioning method using GPS location information mapping according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Prior to this, terms or words used in the specification and claims should not be construed as being limited to their usual or dictionary meanings, and the inventors appropriately explain the concept of terms in order to explain their own invention in the best way. Based on the principle that it can be defined, it should be interpreted as a meaning and concept consistent with the technical idea of the present invention. Accordingly, the embodiments described in the present specification and the configurations shown in the drawings are only the most preferred embodiments of the present invention, and do not represent all the technical spirit of the present invention, and thus various alternatives that can be substituted for them at the time of application It should be understood that there may be equivalents and variations.

1 is a diagram illustrating an example of a Bluetooth asset tracking system based on a general RSSI and trilateration method, and FIG. 2 is a diagram illustrating an example of a Bluetooth IPS system based on a general RSSI and trilateration method. As a diagram, a Bluetooth location-based system A location-based system can measure the physical distance between devices using Bluetooth, and can be implemented in a more sophisticated infrastructure environment than a proximity solution. Real-time locating systems (RTLS) and indoor positioning systems (IPS) are typical Bluetooth location-based systems.

FIG. 1 shows an example of a Bluetooth asset tracking system that tracks assets through tags, multiple locators, and tracking engines based on RSSI (Received Signal Strength Indicator) and trilateration, which are indicators of reception strength, 2 shows an example of a Bluetooth indoor location tracking system that tracks an indoor location using a tag and a plurality of locator beacons based on an RSSI and trilateration method.

The Bluetooth RTLS solution is based on a Bluetooth receiver environment called a locator. Locators installed at designated locations within the facility can be connected to a central server called a location engine.

Battery-operated, low-power Bluetooth transmitters are often referred to as tags, which can be operated as a system that attaches and tracks tags to assets (or people). The tags are programmed to transmit signals periodically, and the period can be determined by the expected travel distance of the tagged asset and whether real-time location measurements are required.

Each locator can continuously report all the received tag information and received signal strength (RSSI) to the location tracking engine. The location tracking engine can measure the location of the tag based on the trilateration process using the received information and the location information of each locator. In the case of Bluetooth, locators can calculate the distance to the asset tag based on the signal strength of the tag.

On the other hand, the Bluetooth IPS solution can install Bluetooth transmitters called locator beacons instead of Bluetooth receivers in a designated location within the facility. Visitors can install a smartphone app that can receive the Bluetooth frequency transmitted by the locator beacon. Through this app, according to the information of the beacon sending frequency, the received signal strength (RSSI) of each beacon, and the location of the beacon, trilateral surveying is performed and the current location can be measured.

3 is a diagram showing an example of a general Bluetooth-based angle of departure method, and if a direction search launch angle (AoD) method using the launch angle method is used, the direction such as a locator beacon of an indoor location tracking system (IPS) solution is measured. A desired device can transmit a unique signal through multiple antennas arranged in the array, and a receiving device such as a mobile phone in the same indoor location tracking system (IPS) solution environment can use a single antenna.

Several signals transmitted from the transmitting device pass through the antenna, and through this, the receiving device can obtain IQ samples and calculate the direction of the corresponding signal based on the IQ sample data. Directional navigation using this launch angle method is designed for use in indoor positioning system (IPS) solutions such as directions.

4 is a diagram illustrating an example of location information mapping in a location information management system according to an embodiment of the present invention.

As shown, in the present invention, GPS or building reference point reference position information may be mapped to a plurality of locator beacons 10.

By mapping coordinates acquired from GPS or a reference point of a building to the locator beacon 10 indoors or at a specific location, GPS location information as the reference location of the corresponding locator beacon can be managed. At this time, it is possible to map and manage the location of the locator beacon 10 from the ground by mapping the sea level.

The terminal 30 may receive mapped GPS location information from a plurality of locator beacons 10 and calculate a precise location according to the GPS standard coordinate system.

The location information management system to which the mapping technology of the present invention is applied can be applied in the same manner to Bluetooth Low Energy (BLE) and Ultra Wide-Band (UWB).

That is, according to the present invention, by mapping GPS coordinates to the fixed locator beacon 10, the locator beacon 10 installed at a specific indoor location such as a building may have GPS reference information instead of the indoor location's own coordinates.

5 is a diagram illustrating an example of transmitting a beacon signal in a location information management system according to an embodiment of the present invention.

As shown, GPS of the locator beacon 10, location information based on a building reference point, and height information may be transmitted to the beacon signal. When the locator beacon 10 transmits the beacon signal including the launch angle information to the terminal 30, the GPS location information and height information (z value) managed by the locator beacon 10 may be transmitted as a beacon signal. . Here, the terminal may use a smart phone or a tag device.

That is, when a beacon signal is transmitted from the fixed locator beacon 10 installed in a number of rooms, the terminal 30 may receive the launch angle information and calculate the position. In particular, in the present invention, GPS reference information and height information (z value) of the locator beacon 10 at the launch angle can be transmitted together with the launch angle information.

Accordingly, the terminal 30 may receive GPS reference information and height information (z value) together with the launch angle information from the locator beacon 10 to accurately calculate the location. Here, the height information (z value) may be information on the height value (z value) of the locator beacon 10 fixedly installed inside the building.

That is, when the locator beacon 10 is installed in a building, the height value (z value) is not accurate and the GPS information is not accurate, so in the present invention, the GPS location information including the floor height value in the locator beacon 10 is GPS coordinates. By mapping the x, y, and z values according to the system, the terminal 30 may receive a beacon signal including launch angle information and GPS location information to perform precise position calculation indoors.

Since the locator beacon 10 located indoors does not receive a GPS signal and the location information is not accurate, in the present invention, precise positioning can be performed to map precise GPS coordinates.

That is, since the locator beacon 10 cannot receive a GPS signal, the GPS coordinates corresponding to the location of the locator beacon 10 according to the GPS coordinate system may be mapped to the locator beacon 10.

In this way, it is possible to map standard data in the form of GPS by inputting x, y, and z values corresponding to the location of the locator beacon 10 according to the GPS coordinate system.

Accordingly, the terminal 30 receives the launch angle information transmitted from the locator beacon 10 and the standard data in the form of GPS managed by the locator beacon 10, and calculates a precise location by calculating a coordinate reference point.

That is, by mapping the GPS satellite standard data to the locator beacon 10, if the beacon signal including the mapped information along with the launch angle information is transmitted to the terminal 30, the terminal 30 can calculate GPS information even in an airplane mode where the Internet is not available. You will be able to.

As described above, in the present invention, since the fixed position values of the plurality of locator beacons 10 arranged at fixed locations indoors such as buildings are stored in advance as GPS satellite standard data mapped according to the GPS coordinate system, respectively, the terminal (smart phone or Tag device) can perform precise position calculation by calculating an algorithm equation of the intersection method.

Since Bluetooth cannot measure distance, it is not precise, but it can measure distance indirectly with RSSI, and Ultra Wide-Band (UWB) can measure distance. Accordingly, the present invention can be applied to both Bluetooth and Ultra Wide-Band (UWB) in the same manner.

6 is a diagram illustrating an example of calculating an intersection point using launch angle information in a location information management system according to an embodiment of the present invention, and FIG. 7 is a diagram illustrating an algorithm for FIG. 6.

As shown, the terminal 30 may calculate an intersection point using two or more launch angle information received from the locator beacon 10.

Using the emission angle information received from the terminal 30, it is possible to calculate the position of the GPS of the intersection or the reference coordinate position of the building reference point, and when receiving more than one emission angle information, the nearest locator beacon is selected and calculated using RSSI (received signal strength). I can.

Accordingly, the terminal 30 can calculate the GPS or building reference point reference position information in its own terminal without communication with the server or a separate terminal. Hereinafter, an algorithm for this will be described with reference to FIG. 7.

That is, as shown in FIG. 7, the equation of a straight line for calculating GPS or building reference point reference position information in the terminal, the intersection of two straight lines, the coordinates of the x and y axes, and the coordinates of the y and z axes can be expressed by the following equation.

-Equation of a straight line

-The intersection of two straight lines

-Calculate the coordinates of the x and y axes

-Calculate the coordinates of y and z axes

As described above, in the present invention, two or more locator beacons can be used, such as anchor 1 and anchor 2 of FIG. 7, and each of anchor 1 and anchor 2 transmits data mapped in the GPS standard form to tags together with launch angle information. In the triangulation method, it is possible to know the precise GPS location by calculating the intersection point by the above algorithm.

FIG. 8 is a diagram illustrating an example of mapping of reference location information for Ultra Wide-Band (UWB) in a location information management system according to an embodiment of the present invention.

As shown, the locator beacon 10 may be mapped to GPS or building reference point reference location information. By mapping coordinates acquired from GPS or a reference point of a building to the locator beacon 10 located indoors or at a specific location, GPS location information as a reference position of the locator beacon 10 may be managed. At this time, it is possible to map and manage the location of the locator beacon from the ground by mapping the sea level.

The terminal 30 may receive mapped GPS location information from a plurality of locator beacons 10 and calculate a precise location according to the GPS standard coordinate system.

9 is a diagram illustrating an example of distance measurement between an ultra wide-band (UWB) reference terminal and a locator beacon in a location information management system according to an embodiment of the present invention.

As shown, it is possible to measure the distance between the terminal 30 and the plurality of locator beacons 10 through a locator response following the terminal beacon according to an ultra-wideband communication (UWB) standard triangulation method.

First, the mobile terminal 30 may periodically perform ultra-wideband communication (UWB) broadcasting.

Accordingly, the received nearby locator beacon 10 may transmit an ultra wideband communication (UWB) response signal to the corresponding terminal 30. At this time, the GPS location information and height information (z-axis) managed in the UWB response signal may be transmitted as a beacon signal.

The terminal 30 may receive the mapped GPS location information and height information from the plurality of locator beacons 10 and calculate a precise location according to the GPS standard coordinate system.

That is, in measuring the distance between an Ultra Wide-Band (UWB) reference terminal and a locator beacon, the locator beacon is installed at a fixed location indoors to manage GPS location information mapped according to the GPS coordinate system. have.

The terminal may calculate a precise location based on distance and arrival angle information measured by time-of-flight distance measurement (TOF) with the locator beacon, and GPS location information managed by the locator beacon. Here, the GPS location information may include height value information of the locator beacon, and the height value information of the locator beacon may be mapped and managed as location information of the locator beacon from the ground.

10 is a diagram illustrating an example of calculating an intersection point using distance information in a location information management system according to an embodiment of the present invention.

As shown, the terminal 30 may calculate an intersection using the received distance information of three or more.

First, it is possible to calculate the GPS of the intersection or the reference coordinate position of the building reference point using the information received from the terminal 30 (UWB measurement distance).

The terminal 30 may calculate by selecting a nearby locator beacon using RSSI (received signal strength) when three or more emission angles are received.

Accordingly, the terminal 30 can calculate GPS or building reference point reference position information in its own terminal without communication with a server or a separate terminal.

11 is a diagram showing the configuration of a locator beacon according to an embodiment of the present invention.

As shown, the locator beacon 10 of the present invention may include an angle information providing unit 11, a GPS location information management unit 12, and a beacon signal transmitting unit 13.

The angle information providing unit 11 may provide emission angle information when transmitting a beacon signal.

The GPS location information management unit 12 may manage GPS location information obtained by mapping a fixed location of the locator beacon installed indoors according to a GPS coordinate system. Here, the GPS location information may include height value information of the locator beacon.

The GPS location information management unit 12 may map and manage the height value information of the locator beacon as location information of the locator beacon from the ground.

The beacon signal transmission unit 13 may transmit the launch angle information provided by the launch angle information providing unit 11 and GPS location information of the locator beacon managed by the GPS location information management unit 12.

12 is a diagram illustrating a process of an indoor positioning method using GPS location information mapping according to an embodiment of the present invention.

As illustrated, a plurality of locator beacons installed at fixed indoor locations may receive GPS location information mapped according to the GPS coordinate system (S10). In this case, the GPS location information may include height value information of the locator beacon.

Subsequently, a beacon signal including launch angle information and GPS location information mapped according to the GPS coordinate system may be transmitted (S11) from the plurality of locator beacons.

Subsequently, the terminal may receive a beacon signal transmitted from a plurality of locator beacons and calculate an intersection point based on the launch angle information and GPS location information included in the received beacon signal to calculate a precise location (S12). In this case, the terminal may calculate a precise location by calculating an intersection point based on at least two launch angle information and GPS location information. In addition, the terminal may select and calculate a nearby locator beacon using the received signal strength (RSSI) when receiving at least two emission angle information when calculating the intersection point.

13 is a diagram illustrating another example of an indoor positioning method using GPS location information mapping according to an embodiment of the present invention.

As illustrated, a locator beacon installed at a fixed indoor location may receive GPS location information mapped according to a GPS coordinate system (S20). In this case, the GPS location information may include height value information of the locator beacon.

Subsequently, the terminal may measure the distance (S21) by means of a time of flight distance measurement (TOF) with the locator beacon.

Subsequently, the terminal may calculate a precise location based on the distance and arrival angle information and GPS location information measured by Time of Flight (TOF) with the locator beacon (S22).

That is, in the case of the reference position positioning method of the angle of arrival in the present invention, the height of the object can be constant even with a single locator to position the position. When the distance is measured based on Time of Flight (TOF) with Ultra Wide-Band (UWB), it is possible to locate a specific location with only the angle and distance.

As described above, although the present invention has been described by limited embodiments and drawings, the present invention is not limited thereto, and the technical idea of the present invention and the following by those of ordinary skill in the art to which the present invention pertains. It goes without saying that various modifications and variations are possible within the equivalent range of the claims to be described.

10: Locator Beacon
11: angle information providing unit
12: GPS location information management unit
13: beacon signal transmission unit
30: terminal

Claims (16)

As an indoor positioning system using GPS location information mapping,
A plurality of locator beacons installed at a fixed indoor location and each transmitting a beacon signal including launch angle information and GPS location information mapped according to a GPS coordinate system; And
Including a terminal for receiving a beacon signal transmitted from the locator beacon and calculating a precise location by calculating an intersection point based on the launch angle information and GPS location information included in the received beacon signal,
The locator beacon,
A launch angle information providing unit that provides launch angle information when transmitting a beacon signal;
A GPS location information management unit for managing GPS location information by mapping the fixed location of the locator beacon installed indoors according to a GPS coordinate system; And
And a beacon signal transmitting unit for transmitting the launch angle information provided by the launch angle information providing unit and the GPS position information of the locator beacon managed by the GPS position information management unit. delete The method of claim 1,
The indoor positioning system using GPS location information mapping, characterized in that the GPS location information includes height value information of the locator beacon. The method of claim 3,
The GPS location information management unit,
An indoor positioning system using GPS location information mapping, characterized in that mapping and managing the height value information of the locator beacon as location information of the locator beacon from the ground. The method according to claim 1,
The terminal,
An indoor positioning system using GPS location information mapping, characterized in that a precise location is calculated by calculating an intersection point based on at least two launch angle information and GPS location information. The method of claim 5,
The terminal,
An indoor positioning system using GPS location information mapping, characterized in that when at least two emission angle information is received when calculating the intersection point, a nearby locator beacon is selected and calculated using a received signal strength (RSSI). As an indoor positioning system using GPS location information mapping,
A locator beacon installed at a fixed indoor location to manage GPS location information mapped according to a GPS coordinate system; And
Including a terminal for calculating a precise location based on the distance and arrival angle information and the GPS location information measured by time of flight distance measurement (TOF) with the locator beacon,
The locator beacon,
An angle information providing unit that provides arrival angle information when transmitting a beacon signal;
A GPS location information management unit for managing GPS location information by mapping the fixed location of the locator beacon installed indoors according to a GPS coordinate system; And
And a beacon signal transmitting unit for transmitting the angle of arrival information provided by the angle information providing unit and the GPS position information of the locator beacon managed by the GPS position information management unit. delete The method of claim 7,
The indoor positioning system using GPS location information mapping, characterized in that the GPS location information includes height value information of the locator beacon. The method of claim 9,
The GPS location information management unit,
An indoor positioning system using GPS location information mapping, characterized in that mapping and managing the height value information of the locator beacon as location information of the locator beacon from the ground. As an indoor positioning method using GPS location information mapping,
Receiving, by a plurality of locator beacons installed at fixed indoor locations, respectively, receiving GPS location information mapped according to a GPS coordinate system;
Transmitting a beacon signal including launch angle information and GPS position information mapped according to the GPS coordinate system from the plurality of locator beacons, respectively; And
Comprising the step of calculating a precise location by receiving a beacon signal transmitted from the plurality of locator beacons and calculating an intersection point based on the launch angle information and GPS location information included in the received beacon signal,
The step of transmitting each beacon signal,
The angle information providing unit provides arrival angle information when transmitting a beacon signal, and the GPS location information management unit manages GPS location information in which the fixed location of the locator beacon installed indoors is mapped according to the GPS coordinate system, and the beacon signal transmission unit And transmitting the angle of arrival information provided by the angle information providing unit and the GPS location information of the locator beacon managed by the GPS location information management unit. The method of claim 11,
The indoor positioning method using GPS location information mapping, characterized in that the GPS location information includes height value information of the locator beacon. The method of claim 11,
In the step of calculating the position,
The terminal is an indoor positioning method using GPS location information mapping, characterized in that to calculate a precise location by calculating an intersection point based on at least two launch angle information and GPS location information. The method of claim 13,
The terminal indoor positioning method using GPS location information mapping, characterized in that when receiving at least two emission angle information when calculating the intersection point, selecting and calculating a nearby locator beacon using a received signal strength (RSSI). As an indoor positioning method using GPS location information mapping,
Receiving, by a plurality of locator beacons installed at fixed indoor locations, respectively, receiving GPS location information mapped according to a GPS coordinate system;
Measuring a distance by means of a time-of-flight distance measurement (TOF) with the locator beacon in the terminal; And
Comprising, by the terminal, calculating a precise location based on distance and arrival angle information measured by time of flight distance measurement (TOF) with the locator beacon and the GPS location information,
The step of receiving the mapped GPS location information,
The angle information providing unit provides arrival angle information when transmitting a beacon signal, and the GPS location information management unit manages GPS location information in which the fixed location of the locator beacon installed indoors is mapped according to the GPS coordinate system, and the beacon signal transmission unit In the indoor positioning method using GPS location information mapping, characterized in that the arrival angle information provided from the angle information providing unit and the GPS location information of the locator beacon managed by the GPS location information management unit are transmitted and received. The method of claim 15,
The indoor positioning method using GPS location information mapping, characterized in that the GPS location information includes height value information of the locator beacon.

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