KR20180114355A - Method and apparatus for estimating a position - Google Patents

Abstract

Disclosed are a location estimating method and an apparatus thereof which consider the characteristics and changes of data sensed according to the position of a mobile terminal and the movement of a terminal user. The location estimating apparatus includes a sensor data collecting unit, a user position judging unit, and a location determining unit. The sensor data collecting unit obtains position data by sensing the position of a location measurement target through a 6-axis sensor and a terrestrial magnetism sensor and obtains wireless signal data by sensing a wireless signal of an access point corresponding to the location measurement target. The user position judging unit judges the position of a user by comparing a preset reference position with the position data. The location determining unit selects k candidate groups by performing a location measurement using a magnetic field value-based fingerprinting technique when the position data satisfies the preset reference position and estimates a final location through a location measurement using a wireless signal-based fingerprinting technique.

Description

METHOD AND APPARATUS FOR ESTIMATING A POSITION [0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a position estimation method and apparatus, and more particularly, to a position estimation method and apparatus considering characteristics and changes of data to be sensed according to movement of a terminal user and attitude of a mobile terminal.

Recently, various mobile devices with improved portability such as smart phones and tablet PCs are increasing, and new service models such as various business models and social networks that provide services based on user's location are being developed.

In order to measure the current position of the mobile device in such a situation, a variety of position estimation techniques such as GPS position estimation or triangulation using a specific signal are being studied.

However, in the case of the technique of estimating the position by receiving the GPS signal, it is difficult to estimate the precise position of the device since it is difficult to receive the satellite signal when the GPS signal is located inside the building or between the high-rise buildings.

Particularly, as the importance of position estimation in an indoor situation such as a building is increasing, a technique for indoor position estimation is required. For example, a fingerprinting technique for estimating a position by comparing information on the strength of a signal transmitted from a transmitter and a received signal received from each point with stored signal map information has been studied.

However, in the case of such a fingerprinting technique, when there is a change in the surrounding environment between the time of constructing the signal map and the time when the actual terminal device receives the signal and estimates the position thereof, the path of the signal changes, There is a problem. In addition, there is a possibility that the strength of the received signal may vary depending on the type and direction of the terminal device, and thus the reliability of the position estimation is lowered. That is, in the fingerprinting method, there is a problem that the accuracy of the position estimation is lowered in accordance with the variation factor of the signal intensity.

Korean Patent Laid-Open Publication No. 2013-0063821 (published on Mar. 17, 2013) (Mobile Terminal Used in Magnetic Field Map-Based Positioning System and Position Estimation Method Using the Same) Korean Patent Laid-Open Publication No. 2013-0083176 (published on Mar. 21, 2013) (Magnetic field map-based stride estimating apparatus and method using the same) Korean Registered Patent No. 10-1576424 (Dec. 10, 2015) (Automatic correction method of geomagnetic sensor for indoor positioning) Korean Registered Patent No. 10-1523147 (2015. 05. 26. Announcement) (Indoor Positioning Apparatus and Method)

SUMMARY OF THE INVENTION Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art, and it is an object of the present invention to provide a mobile terminal, And a method of estimating the position utilizing the fact that the magnetic field values are measured uniformly.

Another object of the present invention is to provide a position estimating apparatus for performing the above-mentioned position estimating method.

In order to achieve the object of the present invention, a position estimation method according to an embodiment of the present invention includes: (a) acquiring attitude data by sensing an attitude of a positioning object through a six-axis sensor and a geomagnetic sensor; Sensing wireless signals of an access point (AP) to obtain wireless signal data; (b) performing positioning using a magnetic field value-based fingerprinting technique based on a magnetic field value measured by the geomagnetism sensor when the attitude data satisfies a predetermined reference attitude; (c) selecting, as candidates, a reference point satisfying a condition that a threshold value is smaller than a residual in a positioning result using the magnetic field value-based fingerprinting technique; (d) performing positioning using a wireless signal-based fingerprinting technique based on the wireless signal data; (e) If the positioning result using the wireless signal-based fingerprinting technique is more than two, the positioning result using the magnetic field-based fingerprinting technique and the residual of the positioning result using the wireless signal- Determining a position of the positioning object; (f) estimating coordinates calculated through weighting for each positioning method as a final position; (g) comparing the magnetic field-based positioning position with the wireless signal-based positioning position when the number of the candidate groups is one or less in the positioning results using the wireless signal-based fingerprinting method; (h) feeding back to step (a) if the distance between the magnetic field based positioning position and the radio signal based positioning position is not checked with a distance within the allowable range; And (i) feeding back to step (f) if the distance between the magnetic field based positioning position and the radio signal based positioning position is checked to be within a tolerance range.

In one embodiment, the position estimating method may further include: (j) estimating a final position by performing positioning combined with a radio signal-based fingerprinting technique and a PDR technique when the posture data does not satisfy the reference posture .

According to another aspect of the present invention, there is provided a position estimation apparatus including a sensor data collection unit, a user orientation determination unit, and a position determination unit. The sensor data collection unit acquires attitude data by sensing the attitude of the positioning object through the 6-axis sensor and the geomagnetic sensor, and acquires the wireless signal data by sensing the wireless signal of the access point corresponding to the positioning object. The user posture determination unit compares the posture data with a predetermined reference posture to determine a posture of the user. If the attitude data satisfies the predetermined reference attitude, the position determining unit selects k candidate groups by performing positioning using the magnetic field value-based fingerprinting technique, and estimates the final position through the positioning using the wireless signal-based fingerprinting technique do.

In one embodiment, the positioning unit compares the magnetic-field-based positioning position with the radio-signal-based positioning position when the number of candidate groups is one or less in the positioning result using the wireless signal-based fingerprinting technique, If the distance between the signal-based positioning positions is checked to be within the allowable range, the coordinates calculated through the weighting for each positioning method can be estimated as the final position.

In one embodiment, the position determination unit may select reference points having a difference between the reference data used for selecting the k candidates and the sensing data used for positioning less than or equal to a reference value.

In one embodiment, the measurements measured from the geomagnetic sensor may be used to perform positioning using fingerprinting.

In one embodiment, the geomagnetism-based fingerprinting positioning results may be weighted with the wireless signal-based fingerprinting positioning results and used for the final position estimation.

In one embodiment, if the attitude data does not satisfy the predetermined reference attitude, the position determination unit can estimate the final position by performing positioning combined with the wireless signal-based fingerprinting technique and the PDR technique.

According to the position estimation method and apparatus, the magnetic field values are constantly measured when the user is in the reference position from the same position in consideration of the characteristics and the change of the data sensed according to the movement of the terminal user and the posture of the mobile terminal Can be used to estimate the position.

1 is a block diagram for explaining a position estimation of a mobile terminal equipped with a position estimating apparatus according to an embodiment of the present invention.
2 is a block diagram for explaining a position estimating apparatus according to an embodiment of the present invention.
3 is a flowchart illustrating a method of estimating a position according to an embodiment of the present invention.
Fig. 4 is a diagram for explaining the determination of the posture satisfaction of the positioning target described in Figs. 2 and 3. Fig.
FIG. 5 is a diagram for explaining positioning using the magnetic field-based fingerprinting described in FIGS. 2 and 3. FIG.
FIG. 6 is a diagram for explaining positioning using the wireless signal-based fingerprinting described in FIGS. 2 and 3. FIG.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will now be described in more detail with reference to the accompanying drawings. The present invention is capable of various modifications and various forms, and specific embodiments are illustrated in the drawings and described in detail in the text. It should be understood, however, that the invention is not intended to be limited to the particular forms disclosed, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

Like reference numerals are used for like elements in describing each drawing. In the accompanying drawings, the dimensions of the structures are enlarged to illustrate the present invention in order to clarify the present invention.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component. The singular expressions include plural expressions unless the context clearly dictates otherwise.

In this application, the terms "comprises", "having", and the like are used to specify that a feature, a number, a step, an operation, an element, a part or a combination thereof is described in the specification, But do not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof.

Also, unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the contextual meaning of the related art and are to be interpreted as either ideal or overly formal in the sense of the present application Do not.

FIG. 1 is a block diagram for explaining position estimation of a mobile terminal 100 equipped with a position estimating apparatus according to an embodiment of the present invention. Referring to FIG. As shown in FIG. 1, a mobile terminal 100 equipped with a position estimating device (not shown) is disposed in a shaded area such as a room and a building underground.

An acceleration sensor (not shown), a gyro sensor (not shown), a geomagnetic sensor (not shown), a wireless AP receiving module (not shown), and the like are mounted on the mobile terminal 100. The mobile terminal 100 may be configured as a portable terminal or a dedicated device in which the position estimation device is embedded. The portable terminal may include any portable electronic device capable of wireless communication such as a mobile phone, a PDA, and a WiBro terminal. The wireless AP receiving module can perform any kind of wireless communication such as WiFi, Zigbee, etc., and is responsible for measuring the signal strength (RSS) from the surrounding BLE beacon.

The mobile terminal 100 determines a user's attitude through a six-axis sensor including an acceleration sensor and a gyro sensor.

When the user's attitude satisfies the established reference attitude, the mobile terminal 100 performs positioning using the magnetic field-based fingerprinting technique and positioning using the wireless signal-based fingerprinting technique. In this case, the measured values measured from the geomagnetic sensor are not used for direction determination but are used to perform positioning using the fingerprinting technique. The results of the magnetic fingerprinting positioning and wireless fingerprinting positioning are weighted and the coordinates are calculated to directly affect the final position estimation.

On the other hand, when the user's attitude does not satisfy the previously set reference attitude, the mobile terminal 100 uses the measured values measured by the 9-axis sensor including the acceleration sensor, the gyro sensor and the geomagnetic sensor, The final position is estimated by determining the travel distance. Here, the mobile terminal 100 converts the moving direction and the moving distance of the user into coordinate values and reflects the result of performing positioning using the wireless signal-based fingerprinting technique.

2 is a block diagram for explaining a position estimating apparatus 120 according to an embodiment of the present invention.

2, a position estimating apparatus 120 according to an embodiment of the present invention includes a sensor data collecting unit 122, a user attitude determining unit 124, and a position determining unit 126. In the present embodiment, the sensor data collection unit 122, the user posture determination unit 124, and the position determination unit 126 have been described as defining the position estimation apparatus 120. However, But not hardware.

The sensor data collecting unit 122 is connected to the acceleration sensor 112, the gyro sensor 114, the geomagnetic sensor 116 and the wireless AP receiving module 118 to acquire attitude data by sensing the attitude of the positioning object, The wireless signal of the access point corresponding to the positioning object is sensed to acquire the wireless signal data. In this embodiment, the acceleration sensor 112 and the gyro sensor 114 may be defined as a six-axis sensor, and the acceleration sensor 112, the gyro sensor 114, and the geomagnetic sensor 116 may be defined as nine- .

The acceleration sensor 112 measures the acceleration or shock intensity applied when the user's mobile terminal 100 moves, and detects in real time how much the object moves at a certain speed using the acceleration . In addition, it is possible to know at what speed the mobile terminal 100 moves in which direction from the current position.

The geomagnetic field measured by the geomagnetic sensor 116 varies in strength depending on the location, and is generally in the range of about 20 to 70 μT. In Korea, it appears to be about 50 μT. In particular, when entering the indoor space, the geomagnetic field is distorted by the steel structure and electronic equipment. This characteristic is a good basis for distinguishing the position in the indoor space.

The wireless AP receiving module 118 preferably applies a positioning technique using received signal strength indication (RSSI) received from at least three wireless AP modules. Trilateration or fingerprinting may be applied as a method of estimating the position of the receiving terminal using the strength information of the received signal. Here, the trilateration method is a method of estimating a position by estimating a distance between an AP and a receiving terminal using a propagation attenuation model of a signal, and the fingerprinting method measures a signal intensity transmitted from each AP, And then transmits the signal strength value received from the receiving terminal to the receiving terminal by calling the position information corresponding to the signal strength value.

More specifically, the wireless AP receiving module 118 measures the intensity of each signal from the AP wireless module to obtain a radius of a circle proportional to the reception intensity, calculates an area where the intersection is performed, Area is compared with AP coordinates to obtain spatial coordinates and the current position of the user mobile terminal 100 is calculated.

The user attitude determination unit 124 may determine the position of the user of the mobile terminal 100 using the motion and magnetic field values of the user through the data sensed by the 6-axis sensor before performing the positioning using the fingerprinting technique using the magnetic field value . That is, the user attitude determination unit 124 senses the attitude of the positioning object through the six-axis sensor and the geomagnetic sensor 116, compares the acquired attitude data with predetermined reference attitude, and determines the attitude of the user.

When the attitude data satisfies the predetermined reference attitude, the positioning unit 126 selects k candidate groups by performing positioning using the magnetic field value-based fingerprinting technique, . That is, when the determined motion of the user and the posture of the mobile terminal 100 are in a stationary state and a standard posture, the mobile station 100 performs the positioning using the magnetic field value-based fingerprinting technique to select K candidates first, The final position is determined by positioning using the signal-based fingerprinting technique.

In a state in which the condition of the reference attitude is satisfied, the positioning unit 126 receives a constant value with a small variation in the data sensed by the geomagnetic sensor 116. [ Accordingly, the positioning unit 126 performs k-th positioning using the first-order fingerprinting technique using the magnetic field values with high accuracy of position estimation, thereby selecting k candidate groups.

When the k candidate groups are selected, the positioning unit 126 selects reference points whose difference between the reference data and the sensing data used for positioning is less than or equal to the reference value.

After k candidates are selected, the positioning unit 126 estimates the final position by performing positioning using the wireless signal-based fingerprinting technique.

On the other hand, if the attitude data does not satisfy the preset reference attitude, the positioning unit 126 estimates the final position by performing positioning combined with the wireless signal-based fingerprinting technique and the PDR technique.

As described above, according to the present invention, when considering the characteristics and the change of data to be sensed according to the motion of the user holding the mobile terminal and the attitude of the mobile terminal, Can be used to estimate the position.

That is, even if the user is at the same position, the value of the magnetic field greatly changes according to the direction of the mobile terminal. In the case of a radio signal, the variation of the reception intensity according to the direction of the mobile terminal is not large. On the other hand, the intensity variation of the intensity of the received signal is larger than the magnetic field value.

Therefore, in the case of the reference posture, the position of the user is estimated using the magnetic field value having a small error width inputted in the same environment, and when the position is not the reference posture, .

3 is a flowchart illustrating a method of estimating a position according to an embodiment of the present invention.

3, the attitude data of the positioning object is sensed through the six-axis sensor and the geomagnetic sensor, and the wireless signal of the access point corresponding to the positioning object is sensed to acquire the wireless signal data (step S110) .

Next, it is checked whether or not the attitude data acquired in step S110 satisfies the predetermined reference attitude (step S120).

If it is determined in step S120 that the attitude data satisfies the reference attitude, the positioning using the magnetic field value-based fingerprinting technique is performed (step S130). The geomagnetism field varies in strength depending on the location, and it usually exists in the size of 20 ~ 70 μT. In Korea, it is about 50 μT. Especially, when entering the indoor space, the geomagnetic field is distorted by steel structure and electronic equipment. This characteristic is a good basis for distinguishing the position in the indoor space.

Next, a reference point satisfying the condition that the residual is smaller than the threshold value is selected as the candidate group (step S132). Typically, deviations refer to the information whose measurement is away from the mean, that is, the difference from the mean. An error refers to a difference between an estimated value and an actual value for prediction, that is, a degree to which the predicted value is not accurate. On the other hand, the residual refers to the difference from the value estimated by the regression equation and the like, not the average, that is, the deviation still remaining because the estimated value can not be explained.

Next, positioning using the wireless signal-based fingerprinting technique is performed based on the wireless signal data acquired in step S110 (step S134).

It is checked whether there are two or more positioning result candidates using the wireless signal-based fingerprinting technique performed in step S134 (step S140).

If two or more candidates are checked in step S140, the position is determined based on the residual of the positioning result using the two fingerprinting technique (step S150). For example, if there are positioning results using two or more fingerprinting techniques in the candidate group, the candidate group having the smallest residual can be determined as the position.

Subsequent to step S150, a weighted coordinate is calculated for the positioning method using the magnetic field-based fingerprinting method and the wireless-signal-based fingerprinting method (step S152). For example, weights may be assigned to the positioning method using the magnetic field-based fingerprinting method, and weighting may be given to the positioning method using the wireless signal-based fingerprinting method.

After calculating the weighted coordinates in step S152, the final position is estimated (step S154).

On the other hand, if it is determined in step S140 that two or more candidates are not checked, that is, if one or less is selected, the magnetic field-based positioning position and the wireless signal-based positioning position are compared (step S160).

As a result of comparison in step S160, it is checked whether the distance between the magnetic-field-based positioning position and the radio-signal-based positioning position is within a permissible range (step S170).

If it is determined in step S170 that the distance between the magnetic-field-based positioning position and the radio-signal-based positioning position does not exist within the allowable range, the process returns to step S110.

If it is checked in step S170 that the distance between the magnetic-field-based positioning position and the radio-signal-based positioning position is within the allowable range, the process returns to step S152.

If it is determined in step S120 that the attitude data does not satisfy the reference attitude, a position estimation is performed in which a wireless signal-based fingerprinting technique and a pedestrian dead reckoning (PDR) technique are combined (step S180) The process returns to step S154. Generally, when a user moves, he or she can move while viewing the screen of the mobile terminal, but may walk while waving his or her arm while holding it in his hand, or may be moved to a back pocket or the like. Therefore, we mainly apply the pedestrian navigation method using sensors such as Accelerometer, Gyoscope, Barometer and so on. A step counting method, a stride length estimation method, and a heading estimation method may be used as a pedestrian's position estimation navigation method.

Since a step is usually less than 1 meter, it is a technique that achieves a relatively high positional accuracy. However, since the error increases cumulatively as the travel time increases and the position is relatively calculated, the first fix can not be found Because of the point, it can not be used as a sole technology. However, it is possible to estimate the position of a pedestrian through combination with a wireless signal - based fingerprinting technique.

Fig. 4 is a diagram for explaining the determination of the posture satisfaction of the positioning target described in Figs. 2 and 3. Fig.

Referring to FIG. 4, a user can hold a mobile terminal, which is a positioning target, in various postures.

When the mobile terminal is up and held, the mobile terminal can acquire the pitch value and the roll value. To display a position in three dimensions, three elements - pitch, roll and yaw - are needed. The pitch is a rotation about an axis in a horizontal plane perpendicular to the direction of travel, for example, a rotation relative to an airplane wing. The roll is a rotation about an axis in a parallel horizontal plane relative to the direction of travel, for example, a rotation about the front of the plane. The yaw is a rotation around an axis in a vertical plane perpendicular to the direction of travel, for example, a rotation about an airplane ceiling.

In this embodiment, the actually measured pitch is-7.9, and the actually measured roll is -4.2.

As the pitch value and the roll value are measured, it can be confirmed whether or not the attitude of the mobile terminal satisfies the reference attitude. That is, it is possible to check whether the measured pitch value and the measured roll value exist in the table in which the pitch values and the roll values are mapped as the reference postures to determine whether the reference posture is satisfied. In the present embodiment, it is confirmed that the measured pitch value is -7.9 and the roll value is -4.2, which is close to the posture 1. [

As described above, the determination of the posture of the positioning target, such as the mobile terminal, is determined through comparison between the pitch value and the roll value according to the pre-stored posture and the pitch value and the roll value measured at the mobile terminal of the positioning target.

Referring to FIG. 4, a process of selecting a candidate group through a magnetic field-based fingerprinting technique will be described.

FIG. 5 is a diagram for explaining positioning using the magnetic field-based fingerprinting described in FIGS. 2 and 3. FIG.

Referring to FIG. 5, first, an x value, a y value, and a z value defined as a vector as magnetic field information are measured through a geomagnetic sensor. In this embodiment, the measured x value is 19, the measured y value is -4, and the measured z value is -49.

Then, the residual is calculated using the values stored in the previously stored magnetic field-based fingerprint map and the measured values of the measured geomagnetic sensor. In this embodiment, eight coordinates are mapped in the pre-stored magnetic field based fingerprint map, and the coordinate values of the predetermined geomagnetic sensor corresponding to each of the coordinates are mapped.

For example, the coordinate values of the geomagnetic sensor of (19, 12, -49) are mapped to the first position corresponding to (100, 100) Coordinate values of the geomagnetic sensor of (26, -14, -45) are mapped at the third position corresponding to (500, 100).

The coordinate values of the geomagnetic sensor of (-15, -34, -37) are mapped to the 4th position corresponding to (100, 350) -40, -35) are mapped to coordinate values of (29, -43, -23) in the sixth position corresponding to (100, 600).

The coordinate values of the geomagnetic sensor of (28, -47, 0) are mapped to the 7th position corresponding to (300, 600), and the coordinate values of (19, 49 are mapped to coordinate values of the geomagnetic sensor.

The formula for calculating the residual is shown in Equation 1 below.

[Equation 1]

Here, x _i is a group and the x value of the stored fingerprint map, xuser is the measured value of x, y _i is a group and y values of the stored fingerprint map, yuser is the measured value y, z _i is a stored finger Z is the z value of the print map, and zuser is the measured z value.

Using Equation 1, the residuals for the coordinates stored in the magnetic field-based fingerprint map are calculated. In this embodiment, the residual at position 1 is 16, the residual at position 2 is 10.488, the residual at position 3 is 12.845, the residual at position 4 is 46.904, the residual at position 5 is 58.549, the residual at position 6 Is 47.927, the residue at position 7 is 65.81, and the residue at position 8 is 10.

For example, a position corresponding to a residual of less than 20 is selected as a candidate group. In this embodiment, the position candidates corresponding to the residuals of less than 20 are the first position, the second position, the third position and the eight position.

FIG. 6 is a diagram for explaining positioning using the wireless signal-based fingerprinting described in FIGS. 2 and 3. FIG.

6, the signal intensity of AP1 detected through the mobile terminal is -51 dBm, the signal intensity of AP2 is -50 dBm, the signal intensity of AP3 is -59 dBm, and the signal strength of AP4 is -62 dBm .

The received signal strength information (RSSI) -based fingerprint map maps the signal strengths of the access points (APs).

For example, signal strengths of AP1, AP2, AP3, and AP4 are mapped to -55 dBm, -64 dBm, -48 dBm, and -53 dBm at positions 1 corresponding to (100, 100) AP1, AP2, AP3 and AP4 are mapped to -60 dBm, -64 dBm, -57 dBm and -58 dBm, respectively, and the signal strengths of AP1, AP2, The signal strengths of AP1, AP2, AP3 and AP4 are mapped to -63 dBm, -65 dBm, -57 dBm and -60 dBm, respectively.

The signal strengths of AP1, AP2, AP3, and AP4 are mapped to -46 dBm, -60 dBm, -59 dBm, and -59 dBm at positions 4 and 5 corresponding to (100, 350) The signal strengths of AP1, AP2, AP3, and AP4 are mapped to -61 dBm, -62 dBm, -59 dBm, and -59 dBm, respectively, at position 5 corresponding to Signal strengths of AP1, AP2, AP3 and AP4 are mapped to -61 dBm, -58 dBm, -62 dBm and -58 dBm, respectively.

The signal strengths of AP1, AP2, AP3, and AP4 are mapped to -64 dBm, -50 dBm, -59 dBm, and -57 dBm, respectively, at position 7 corresponding to (300, 600) The signal strengths of AP1, AP2, AP3, and AP4 are mapped to -50 dBm, -59 dBm, -58 dBm, and -56 dBm, respectively.

Since the actually measured signal strengths of AP1, AP2, AP3 and AP4 are -51 dBm, -50 dBm, -59 dBm and -62 dBm, the residuals for the coordinates stored in the RSSI-based fingerprint map can be calculated. Calculate the residuals, and the coordinates of the reference point with the small residual are the positions 4, 6 and 8. The smallest of these is the 8th position.

Thus, the final estimated position is position 8 with coordinates of (500, 600).

As described above, according to the present invention, the position of a mobile terminal user in a room can be detected by using a mobile terminal having a geomagnetic sensor, a six-axis sensor (acceleration, gyro) and a wireless signal module (Wi-Fi, BLE) Can be estimated. To this end, the movement state and the posture of the user are discriminated through the data sensed from the six-axis sensor, the candidates to which the user possessing the mobile terminal can be located are selected through the fingerprinting technique on the data sensed from the geomagnetic sensor, The location of the end user is identified through the fingerprinting method on the radio signal strength information received from the candidate group selected using the geomagnetism sensor and the radio signal strength information received by the user's mobile terminal.

The location estimation apparatus described above may be implemented as a hardware component, a software component, and / or a combination of hardware components and software components. For example, the position estimating apparatus and components described in the embodiments may be implemented by, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable array ), A programmable logic unit (PLU), a microprocessor, or any other device capable of executing and responding to instructions.

The processing device may execute an operating system (OS) and one or more software applications running on the operating system. The processing device may also access, store, manipulate, process, and generate data in response to execution of the software.

For ease of understanding, the processing apparatus may be described as being used singly, but those skilled in the art will recognize that the processing apparatus may have a plurality of processing elements and / As shown in FIG. For example, the processing unit may comprise a plurality of processors or one processor and one controller. Other processing configurations are also possible, such as a parallel processor.

The software may include a computer program, code, instructions, or a combination of one or more of the foregoing, and may be configured to configure the processing device to operate as desired or to process it collectively or collectively Device can be commanded.

The software and / or data may be in the form of any type of machine, component, physical device, virtual equipment, computer storage media, or device , Or may be permanently or temporarily embodied in a transmitted signal wave.

The software may be distributed over a networked computer system and stored or executed in a distributed manner. The software and data may be stored on one or more computer readable recording media.

The method according to an embodiment may be implemented in the form of a program command that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like, alone or in combination. The program instructions to be recorded on the medium may be those specially designed and configured for the embodiments or may be available to those skilled in the art of computer software.

Examples of computer-readable media include magnetic media such as hard disks, floppy disks and magnetic tape; optical media such as CD-ROMs and DVDs; magnetic media such as floppy disks; Magneto-optical media, and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like.

Examples of program instructions include machine language code such as those produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like.

The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention as defined in the appended claims. You will understand.

100: mobile terminal 112: acceleration sensor
114: Gyro sensor 116: Geomagnetic sensor
118: wireless AP receiving module 120: position estimating device
122: sensor data collection unit 124: user posture determination unit
126:

Claims (8)

(a) acquiring attitude data by sensing an attitude of a positioning object through a six-axis sensor and a geomagnetic sensor, acquiring wireless signal data by sensing a wireless signal of an access point (AP) corresponding to the positioning object ;
(b) performing positioning using a magnetic field value-based fingerprinting technique based on a magnetic field value measured by the geomagnetism sensor when the attitude data satisfies a predetermined reference attitude;
(c) selecting, as candidates, a reference point satisfying a condition that a threshold value is smaller than a residual in a positioning result using the magnetic field value-based fingerprinting technique;
(d) performing positioning using a wireless signal-based fingerprinting technique based on the wireless signal data;
(e) If the positioning result using the wireless signal-based fingerprinting technique is more than two, the positioning result using the magnetic field-based fingerprinting technique and the residual of the positioning result using the wireless signal- Determining a position of the positioning object;
(f) estimating coordinates calculated through weighting for each positioning method as a final position;
(g) comparing the magnetic field-based positioning position with the wireless signal-based positioning position when the number of the candidate groups is one or less in the positioning results using the wireless signal-based fingerprinting method;
(h) feeding back to step (a) if the distance between the magnetic field based positioning position and the radio signal based positioning position is not checked with a distance within the allowable range; And
(i) feedback to step (f) if the distance between the magnetic-field-based positioning position and the radio-signal-based positioning position is checked to be within a tolerance range. The method according to claim 1,
(j) estimating a final position by performing positioning combined with a radio signal-based fingerprinting technique and a PDR technique when the posture data does not satisfy the reference posture. A sensor data collecting unit for acquiring attitude data by sensing a posture of a positioning object through a six-axis sensor and a geomagnetic sensor, sensing a wireless signal of an access point corresponding to the positioning object and acquiring wireless signal data;
A user posture determination unit for comparing the posture data with a predetermined reference posture to determine a posture of the user; And
If the attitude data satisfies the predetermined reference attitude, a position determining unit that selects k candidate groups by performing positioning using the magnetic field value-based fingerprinting technique and estimates the final position through positioning using the wireless signal-based fingerprinting technique The position estimating apparatus comprising: 4. The apparatus of claim 3, wherein the positioning unit compares the magnetic-field-based positioning position with the radio-signal-based positioning position when the number of the candidate groups is one or less in the positioning results using the radio-signal-based fingerprinting technique, And estimates coordinates calculated through weighting for each positioning method as a final position when the distance between the wireless signal-based positioning positions is checked to be within the allowable range. 4. The position estimating apparatus as claimed in claim 3, wherein the position determining unit selects reference points having a difference between the reference data used for selecting the k candidates and the sensing data used for positioning less than or equal to a reference value. 4. The apparatus according to claim 3, wherein the measured values measured from the geomagnetic sensor are used for performing positioning using fingerprinting. 4. The apparatus of claim 3, wherein the geomagnetism-based fingerprinting positioning results are weighted together with the wireless signal-based fingerprinting positioning results and used for final position estimation. 4. The apparatus of claim 3, wherein the position determination unit estimates a final position by performing positioning combined with a wireless signal-based fingerprinting technique and a PDR scheme if the attitude data does not satisfy the preset reference attitude. Estimating device.

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