KR100397325B1 - Land position-tracking system - Google Patents

Abstract

The present invention relates to a terrestrial location tracking system for tracking the location of a wireless transmission device that transmits a location signal using delay times measured by a plurality of base stations.

According to an aspect of the present invention, there is provided a system for tracking a geographical position of a wireless transmitter, comprising: at least one wireless transmitter for transmitting a radio wave including a specific type of position signal for position tracking and a unique number for identification thereof; Delay time detection means for receiving the transmission wave of the radio transmitter and detecting the arrival time and the delay time of the position signal for each unique number of each radio transmitter, and overall control of the transmission and reception operations of the base station, and base station identification Control means for generating delay information data including a unique number for the terminal, the arrival time, the delay time, and a unique number of the radio transmitting apparatus, and a data network interface means for transmitting the generated delay information data to a location tracking center. A plurality of base stations; Position tracking for processing the delay information data sent from each base station based on the position coordinates of the plurality of base stations installed on the previously known coordinates, and obtaining a relative delay distance at the center of each base station to track the actual position of the radio transmitter. It is composed of a center, so it is possible to manufacture a separate wireless transmitter that transmits a location signal for location tracking or to add software to transmit a location signal to an existing digital cellular phone or PCS. Location tracking can be performed using a communication network.

Description

Ground Position Tracking System {LAND POSITION-TRACKING SYSTEM}

The present invention relates to a terrestrial position tracking system that tracks the position of a wireless transmitter that transmits a position signal using delay times measured by a plurality of base stations.

Conventional location tracking systems have been proposed in various ways. These include: location tracking system using GPS satellites, progressive source location tracking system using high-directional antennas, beacon location tracking system that detects the location of vehicles passing through the road by installing many transceivers on the road, PCS or Local tracking method that analyzes the radio wave received at base station such as cellular phone to determine the approximate location, and transmits the signal for calculating the synchronized position at regular intervals from base station of mobile phone and receives the received signal at portable receiver Location tracking method that calculates its own location using the signal delay and the information of the base station.

Since the methods used in the location tracking system are methods for tracking the location of the person carrying the receiver, there are inadequate problems as a countermeasure when an emergency situation occurs.

GPS signal reception method, which is used most frequently, cannot track location in obstacle areas such as indoors, tunnels, dense buildings, and forests, and requires a lot of power at all times for fast location tracking. There are disadvantages.

In addition, if the GPS receiver does not respond in case of emergency, the utilization of the GPS receiver is very poor. The gradual position tracking method using the high-directional antenna has a receiver equipped with the high-directional antenna to continuously track and approach the radio wave. In this manner, there is a disadvantage that the tracking time is very long and the system is expensive.

The location tracking system using beacons requires a large amount of transmission and reception devices at regular intervals on the road. Therefore, the location tracking system requires a lot of cost, and it is difficult to track the location in the off-road area. The method of calculating the delay time can reduce the obstacles of location tracking, but the price of mobile phones continues to increase considerably, and additional system installation costs are inevitably high for many applications other than mobile phones. There are problems such as a distance error caused by reference time inaccuracy when receiving a pilot signal from a base station.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and calculates the position coordinates of the wireless transmitter by using a delay time for transmitting a specific signal in the wireless transmitter and receiving the specific signal in a plurality of base stations. The purpose is to provide a ground location tracking system.

In order to achieve the above object, the terrestrial location tracking system of the present invention is a system for tracking the geographical location of a wireless transmission apparatus, the radio wave including a specific type of location signal for location tracking and a unique number for identification thereof. At least one radio transmitting apparatus for transmitting the radio wave to a base station; delay time detecting means for receiving the transmission wave of the radio transmitting apparatus and detecting the arrival time and the delay time of the position signal according to a unique number of each radio transmitting apparatus, and transmission of the base station; Control means for controlling the reception operation as a whole, and generating delay information data including a unique number for identifying a base station, the arrival time, the delay time, and a unique number of the radio transmitter, and the generated delay information data. A plurality of base stations comprising data network interface means for transmitting the data to a location tracking center; A location tracking center that processes the delay information data sent from each base station based on the position coordinates of the plurality of base stations installed on the coordinates of the plurality of base stations, obtains a relative delay distance of each base station center, and tracks the actual position of the radio transmitter; Characterized in that it comprises a.

1 is a view showing the configuration of a terrestrial position tracking system according to the present invention

2 is a block diagram showing the configuration of the radio transmitting apparatus of FIG.

3 is a flowchart illustrating the operation of the radio transmitter of FIG.

4 is a block diagram showing the configuration of a base station of FIG.

5 is a flowchart illustrating the operation of the base station of FIG.

6 is a block diagram showing the configuration of the location tracking center of FIG.

7 is a diagram for explaining a delay time when a position signal arrives at a base station from a radio transmitter.

8 is a diagram for explaining a position estimation method of a wireless transmission apparatus using three relative delay distances.

<Explanation of symbols for the main parts of the drawings>

10: radio transmitter 20a, 20b, 20c: base station

30: location tracking center

Hereinafter, with reference to the accompanying drawings, a preferred embodiment of the ground position tracking system of the present invention will be described in detail.

1 is a configuration diagram schematically showing a location tracking system of the present invention.

In FIG. 1, the location tracking system is composed of a radio transmitter 10, base stations 20a, 20b, 20c, and a location tracking center 30.

The radio transmitter 10 transmits a radio wave including a specific type of location signal for location tracking and a unique number for its identification at an arbitrary location in an area where radio reception is possible at a base station at any time. It is provided. The band used for the radio transmitter uses the VHF / UHF band.

Here, the location signal has a predefined shape so as to know the start point of the signal and the end point of the signal when it is received from a plurality of base stations and is continuously transmitted for a predetermined time. In addition, a unique number of the radio transmitter is added at the start or end of the position signal so that it is possible to distinguish which radio signal is the position signal of a radio transmitter even if a radio wave is received at a receiver base station.

The base station 20a, 20b, 20c receives and analyzes the radio wave transmitted from the radio transmitter 10, detects the position signal transmitted from a specific radio transmitter, measures the reception time of the position signal, and transmits radio. Compute the propagation delay time from the transmission of the device to the reception of the base station.

Each base station 20a, 20b, 20c receives only the position signal and the unique number of the radio transmitter 10 under a constant self delay condition. Depending on the received location signal and the unique number, the delay information data including one or more parameters for tracking the location of the radio transmitter is generated and sent to the location tracking center 30 for each reference time zone.

Here, the delay information data includes the delay time, a unique number of the radio transmitter and a unique number of the received base station.

On the other hand, in order to increase the accuracy of the delay information data, it is preferable to increase the carrier frequencies of the radio transmitter 10 and the base stations 20a, 20b, and 20c as much as possible. If you use the same frequency as the PCS, you will theoretically get 20cm to 40cm accuracy. However, in a cellular phone or a PCS, there is an error precision of an oscillator and an error necessary for detecting an internal signal of an actual electronic circuit, and thus a propagation delay error of about 40 m is generated. In order to minimize such errors, the present specification proposes to add a receiver delay time detection function, which will be described below.

The location tracking center 30 processes the delay information data sent from each base station based on the location coordinates of the plurality of base stations installed on the previously known coordinates to track the actual location of the radio transmitter.

For this purpose, the location tracking center 30 uses each delay information data received from a plurality of base stations 20a, 20b, 20c, ... through a period communication network (wireless period communication network), and each base station configured in advance. Based on the position coordinates of the base station receiving the position signal from the position information database, the position coordinates of the wireless transmission apparatus that has transmitted the position signal are calculated.

That is, the base station receives the location signal from the base station unique number included in the delay information data and the unique number of the radio transmitter, and the radio transmitter that transmits the position signal is distinguished, and each base station is relatively one radio transmitter. The relative distance of how far apart is located using the delay time data. Now, when the relative distance data is applied to the position coordinates of the base station, the position of one radio transmitter can be calculated.

In this way, it is possible to track the exact position of the radio transmitter using the delay information data obtained from a plurality of base stations, and display the position of the radio transmitter tracked on the numerical map displaying the position coordinates of the base stations of the computer monitor. Done. In addition, the positional coordinates of the tracked radio transmitter can be output as numerical values, which can be used for various applications.

Consideration here is that when the radio transmitter 10 transmits radio waves according to the received delay information data, the delay time of the circuit itself for detecting the signal of the base station itself, the surrounding climate and temperature, humidity, etc. It is impossible to directly calculate the distance to the radio wave source directly from the delay information data because it includes a significant error depending on the conditions.

However, in the present invention, regardless of the magnitude of such error information or when the radio wave transmission device 10 transmits radio waves, the equivalent error is obtained by using delay information data received from at least three base stations 20a, 20b, and 20c. We propose a method of calculating a position from three or more distance information including a. This proposal can yield a theoretically very accurate position, as described in Figures 7-8 below.

FIG. 2 is a block diagram showing the configuration of the radio transmitter of FIG. 1, and FIG. 3 is a flowchart illustrating the operation of the radio transmitter of FIG.

Referring to FIG. 2, the wireless transmitter 10 includes a transceiver module 11 including a call signal receiver 11a and a signal transmitter 11b directly connected to a wireless network, a user interface 12, and a controller 13. ), A unique number generator (14), a position signal generator (15) and an antenna (15).

The call signal receiver 11a receives a call signal when calling the wireless transmitter 10 from a remote place by a third party's request, and transmits the call signal to the controller 13 to activate the wireless transmitter 10. To do that.

The user interface 12 is a part directly manipulated by the user to receive the position tracking start command of the device from the user and transmits the command to the control unit 13 to operate the radio transmitter 10.

The control unit 13 is a device connected to the transmission / reception module 11 and includes software related to overall system operation of the wireless transmission device 10. The control unit 13 receives a start command from the user interface 12 or the call signal receiving unit 11a. The overall operation of the apparatus is started, and the hardware for driving each component of the radio transmitter is controlled.

The unique number generator 14 stores a unique number for identifying the wireless transmitter 10 or generates a unique number of the wireless transmitter according to a command of the controller 13. In addition, the unique number generation unit 14 is preferably configured to store a variety of information of the required device in addition to it can store and generate additional necessary data when using the function of the device in the future.

The position signal generator 15 receives a command from the controller 13 to generate a specific position signal for position tracking and transmits the signal to the signal transmitter 11b, and also receives a unique number of the radio transmitter from the controller 13. The signal is transmitted to the signal transmitter 11b.

The signal transmitter 11b converts the position signal and the unique number provided from the position signal generator 15 into a radio signal and transmits it through the antenna 16.

Meanwhile, the unique number may be provided directly to the signal transmitter 11b without passing through the position signal generator 15.

More preferably, the radio transmitter 10 is a personal mobile radio transmitter such as carried by a user or mounted in a vehicle. The hardware / software of the radio transmitter 10 is a conventional pager, cellular phone, or cellular device. It is simply installed or applied to a mobile communication terminal such as a phone.

In addition, it is manufactured to be easy to use by the mobile user, so that it is simple to use in case of emergency and instant location is realized, and it is manufactured to communicate by using the existing wireless communication network. Of course.

Referring to FIG. 3, the control unit 13 of the wireless transmission apparatus 10 is in a standby state and determines that there is a user's operation (101), or is not transmitting a position signal when a call signal is received. If it is determined (102, 112), the radio transmitter 10 is driven and controlled to generate a position signal through the position signal generator 15 (105).

The generated position signal is transmitted and continues for a predetermined time, and when the transmission is completed (106, 107), and transmits the unique number of the radio transmitter from the unique number generator 14 (108).

If the number of times of location signal and unique number transmission is specified, the process of generating and transmitting the location signal and unique number 105 to 108 and 111 is repeated (109, 111).

On the other hand, when receiving a call signal by a third party's request while transmitting a large number of location signals and unique numbers (102), since the location tracking from a remote location is not necessary, the radio transmitter 10 transmits the location signal. If it is determined that the transmission is in operation 112, the transmission of the position signal is stopped (113). By doing so, location tracking wireless network traffic can be efficiently operated.

When the process of transmitting the position signal and the unique number of the designated number of times in step 109 is completed, or when the position signal transmission in the step 113 is stopped, the control unit 13 of the wireless transmitter 10 initializes its own position signal generation. The device enters the standby state again to stop the operation.

4 is a block diagram illustrating the configuration of the base station of FIG. 1, and FIG. 5 is a flowchart illustrating the operation of the base station of FIG. 4.

Referring to FIG. 4, the base station 20a includes a delay time detector 21, a unique number discrimination unit 26, a receiver control unit 27, and a data network connection unit 28. As shown in FIG.

The delay time detector 21 amplifies the radio signal received from the antenna 21 and demodulates and detects the position signal included in the radio signal, and the time when the radio wave arrives from the detected position signal to the base station. The delay time determination unit 23 generates a self-delay signal for measuring the processing delay time of the circuit itself, and uses a self delay signal generated by the delay time determination unit 23. It consists of a magnetic delay discrimination unit 24 for generating a transmission radio signal and transmitting it to the signal reception unit 22. More preferably, the delay time detector 21 may further include a GPS reference time unit 25 to precisely synchronize time synchronization between a plurality of other base stations 20a, 20b, and 20c.

The unique number discriminating unit 26 analyzes the unique number of the radio transmitting apparatus from the detected signal of the signal receiving unit 22 to determine the radio transmitting apparatus 10 which transmitted the position signal.

The receiving device controller 27 includes software for operating the base station 20a, controls various hardware of the base station 20a, and transmits the data to be transmitted to the location tracking center 30 through the data communication network, that is, the wireless transmission device. Generate delay information data including the unique number, the relative delay time measured by the base station, and the unique number of the base station.

The data communication network interface unit 28 transmits the delay information data received from the receiving device control unit 27 to the data communication network 30 for each reference time zone. Here, the delay information data may be packetized and transmitted through the reception device controller 27.

Referring to FIG. 5, the base station 20a initializes the parameters of the system at the first operation (201), waits for signal reception from the radio transmitter 10 (203), and detects a signal on the reception channel. If not (204), the self delay check is performed (202), and returns to the signal reception standby state (203).

If a signal is received in the channel (204), the signal reception start time is collected and stored in seconds (205), and the time difference between the actual received signal is calculated and detected based on the received start time and the GPS reference time ( 207, the actual reception delay time data is calculated together with the self delay time data (208).

If it is confirmed that the position signal from the self delay time data and the actual reception delay time data (209), it is determined whether the unique number of the radio transmitter is defined by extracting the unique number of the radio transmitter (210).

As a result of the determination of step 210, if the extracted data is determined to be a signal different from or different from the configuration of the defined wireless transmitter unique number, self-delay check is performed again (202).

As a result of the determination of step 210, if the received data is a unique number of a defined wireless transmitting device, the unique number of the wireless transmitting device is extracted, the delay information packet data is generated and transmitted (212, 213), and then the received information is initialized ( 214), a series of position signal receiving processing is completed.

After step 214, the self-delay check step 202 is entered again to repeat a series of processes in order.

If necessary, the delay time data obtained in step 208 may be converted into a delay distance value (211), and the delay time data may be included and transmitted.

6 is a block diagram showing the configuration of the location tracking center of FIG.

Referring to FIG. 6, the location tracking center 30 includes a data network connection unit 31, a base station data table 32, a radio transmitter device data table 33, a base station location database 34, and a location. It consists of a calculator module 35, a map display module 36, a location database 37 for each radio transmitter and a location tracking service application module 38.

The data network connection unit 31 is connected to the data network and is in charge of data communication.

The base station-specific data table 32 analyzes the data received from the plurality of base stations 20a, 20b, and 20c through the data network connection unit 31, classifies each base station, and transmits the packet data sent from each base station by radio transmitter. In addition, it has a function to table the delay information data for each signal reception time.

The radio transmission apparatus-specific data table 33 has a function of classifying and tabulating the base station, the signal reception time, and the delay information data for each radio transmission apparatus from the base station-specific data table 32 for each radio base station.

The base station location database 34 stores the position coordinates of each base station built in advance, and provides the position calculator module 35 with data on the location information of the base station provided from the base station-specific data table 32.

The position calculator module 35 uses a plurality of position coordinate information provided from the base station position database 34 and each delay information data provided from the data table 33 for each radio transmission device, according to the position calculation algorithm. ) Is calculated and printed. That is, the relative delay time of the position signal of the delay information data received for each reference time zone is converted into the relative distance data to calculate the position coordinate of the corresponding radio transmitter based on the position coordinate of the base station (see FIG. 8).

The map display module 36 displays the calculation result of the position calculator module 35 on the map.

The location database 37 for each radio transmitter receives the output result from the position calculator module 35 and stores the location tracking result for each tracking time for each radio transmitter.

The location tracking service application module 38 uses the result in connection with the location calculator module 35, the location database 37 for each wireless transmitting device, and the map display module 36, and the application in the location tracking center 30. It can control various modules linked to the unit and has the function of transmitting location tracking result to the service application user through the communication network.

As such, the location tracking system can be installed separately from a plurality of base stations or by building a location tracking center, so that emergency situations of emergency patients who need to look for lost children, silver towns, and health at all times in the amusement facilities used by many people Location tracking at the time of occurrence, vehicle anti-theft system to prevent theft of the car, fire alarm system to automatically inform the location of the fire in the event of a fire, accident alarm system to automatically inform the location of the car accident in the event of a car accident, etc. It can be used for the system.

In addition, by implementing a location tracking system on a general mobile communication device can be utilized in a passive location tracking system that can track the location only when the location tracking needs of the radio transmitter.

FIG. 7 is a diagram for explaining a delay time when a position signal reaches a base station from a radio transmitter, and FIG. 8 is a diagram for explaining a position estimation method of the radio transmitter using three relative delay distances.

Referring to Fig. 7, it is assumed that the position signal transmission start time composed of specific format data in the radio transmitter 10 is T0 and the duration of the position signal is Tdat. Further, assume that the synchronization time output of the GPS standard time apparatus at the base station 20a is T1, and the time at which the transmitted position signal reaches the base station and is actually detected is T2.

Theoretically, the base station 20a can obtain the delay distance L between the radio transmitter and the base station by using the delay time Tdob which actually takes to reach the position signal transmitted from the radio transmitter as shown in Equation 1. have.

Here, Tdob is a delay time during propagation of actual radio waves, and the speed of radio waves in the air is equal to the speed C of light.

However, since Tdob is a value that cannot be measured, the relative delay time Trel that can be measured by the base station is used. The relative delay distance is obtained from this relative delay time. This corresponds to the relative distance from the transmitter to at least three base stations, not the absolute distance, and can be collected at the location tracking center to track the absolute position of the transmitter.

Then, the relative delay time Trel corresponds to the remaining time obtained by subtracting the self delay time Tdck in the base station circuit from the delay time Tdms measured by the base station, as shown in Equation (2).

Here, Tdms is T2-T1.

Now, a method of calculating the distance from the location tracking center 30 to the radio transmitter 10 will be described with reference to FIG. 8.

1. Referring to FIG. 8A, it is assumed that the calculated distances from the radio transmitter to three base stations B1, B2, and B3 are L1, L2, and L3. If the coordinates of each base station in two dimensions are (x1, y1), (x2, y2), and (x3, y3), then the coordinates of the radio transmitter are the radius L1, L2 of the coordinates of each base station as the center of the circle. , The position A (x, y) of the intersection of three circles, L3.

2. Although not shown, in order to calculate the position in the three-dimensional space, the coordinates of each base station are three-dimensional coordinates {xn, yn, zn}, and the distances L1, L2, L3, The intersection (x, y, z) of the sphere with L4 as the center of the sphere becomes the position coordinate of the radio transmitter.

3. Now, referring to (b) of FIG. 8, distance calculation using the relative delay time Trel measured and calculated by the base station 20a is the same as the calculation method of 1, but three intersection points can be obtained. none. This is because the distance calculated from the relative delay time Trel is the result of calculating the time at which the radio transmitter transmits the radio wave in an unknown state.

Therefore, in this case, instead of using the actual distance to the radio transmitter, each relative delay distance L ', L' '(= relative delay time x C) is the radius of the circle and the coordinates of each base station are the center of the circle ( When one circle is found with B1, B2, and B3) and the circle inscribed to the arc of three circles is found, the center of the circle becomes the exact two-dimensional position coordinate (A) of the radio transmitter.

Although not shown, in order to find the position of the radio transmitter in three-dimensional space, a sphere is drawn with a radius of the relative delay distance measured at each base station centered on each coordinate of four or more base stations, and the surface of each sphere. If we find the center of the sphere inscribed at, the center of the sphere becomes the exact position coordinate in space of the radio transmitter.

The relative delay distance Lrel at this time is calculated as in Equation 3 below.

However, when the absolute time received for each base station receiving the position signal is measured before and after the GPS reference time, the relative delay distance may be negative in Equation 3 (when T _dck > T _dms ). Calculation as shown in 4 can yield accurate calculation results.

Of course, when the reception of radio waves is impossible, the relative delay distance cannot be calculated.

On the other hand, when there is a radio wave obstacle, a specific method of tracking the position of the transmitter is based on a signal reaching the shortest time among the multi-paths of the received radio waves reflected by various obstacles, although it is an obstacle to accurate location tracking when there is a radio wave obstacle. Calculating the relative delay distance for position calculation enables position tracking with minimum error.

In this case, if the difference between the total propagation distance of the multipath and the linear distance between the radio transmitter and the base station is L _diff , the position calculation error due to the multipath is about 1/2 L _diff .

In order to reduce the error caused by the multipath, it is preferable to install the base station at a high position so as not to make at least one reflected wave as possible.

The present invention is not limited to the above-described embodiments, and various modifications and changes can be brought by the network service providers, which are included in the spirit and scope of the present invention as defined in the appended claims.

As described above, the present invention does not use a conventional GPS device or a large number of location tracking transmitters and receivers, and manufactures a separate wireless transmitter that transmits a position signal capable of tracking a position or a conventional Additional software can be used to transmit location signals to digital cellular phones or PCS.

In addition, the present invention does not need to supply the power of the position tracking radio transmitter at all times for the position tracking, while using the transmission power only when the position tracking is required, unlike the conventional position tracking apparatus, the tracking time is relatively small, The advantage is that location tracking can be done immediately after a tracking request has occurred.

Claims (13)

delete In the system for tracking the geographic location of the radio transmitter, Receiving the transmission radio wave of at least one radio transmitting apparatus for transmitting a radio wave including a specific type of position signal for location tracking and a unique number for its identification to the base station, the location by the unique number of each of the radio transmitters Delay time detection means for detecting the arrival time and the relative delay time of the signal; Control means for controlling overall transmission / reception of a base station and generating delay information data including a unique number for identifying a base station, the arrival time, the relative delay time, and a unique number of the wireless transmission device; A plurality of base stations comprising data network interface means for transmitting the generated delay information data to a location tracking center; And A position for processing the delay information data sent from each base station based on the position coordinates of the plurality of base stations installed on the known coordinates, and obtaining the relative delay distance of the center of each base station to track the actual position of the radio transmitter. Includes a tracking center, The actual position of the radio transmitting apparatus is obtained by calculating a relative delay distance using the relative delay time of each base station among the delay information data, and then setting the relative delay distance as a radius, and using a plurality of circles with each base station as the center of the circle or sphere. Terrestrial position tracking system, characterized in that the center of the circle to the sphere inscribed or circumscribed to the sphere. The method of claim 2, wherein the position signal is previously defined to measure a start time of the data and an end time of the data in the demodulation process upon reception, so that calculation of the delay time from the time of transmission of the position signal to the time of reception is possible. Terrestrial location tracking system, characterized in that the specific type of signal. The apparatus of claim 2, wherein the wireless transmitter is User interface means operable by a user to generate the position signal; Control means for controlling the overall transmission operation of the transmission means by the user's operation signal; Means for generating a position signal according to the control of the control means; Means for generating a unique number of the wireless transmitting device according to the control of the control means; And And a means for modulating the position signal and the unique number generated according to the control of the control means and transmitting the position signal for a predetermined period in a predetermined order. The radio transmitting apparatus according to claim 2 or 4, wherein Means for receiving a call signal requiring location tracking from the outside; And control means for controlling the overall transmission operation of said transmission means in response to said call signal. 6. The terrestrial position tracking system according to claim 5, wherein the control means stops the position signal when the call signal is received during the position signal transmission. The method of claim 2, wherein the delay time detection means A signal receiver for demodulating and analyzing the received radio wave to detect the position signal; A delay time determination unit for calculating and extracting a time received from the detected position signal and generating a self delay signal for measuring a circuit delay time required for signal detection; And And a self-delay discrimination unit for measuring a self-delay time by using the generated self-delay signal. 3. The terrestrial position tracking system according to claim 2, further comprising means for discriminating a unique number among the received signals to determine a radio transmitting apparatus which has transmitted a corresponding position signal. 3. The terrestrial position tracking system according to claim 2, wherein the control means packetizes the delay information data including the unique number of the base station, the relative delay time and the unique number of the radio transmitter. The method of claim 2, wherein the location tracking center is Base station-specific data table means for analyzing data received from a plurality of base stations, classifying the base stations, and classifying the data sent from each base station into delay information data for each radio transmission apparatus and signal reception time, and table the data first; Receiving data firstly received from the data table means for each base station, and reclassifying the information into delay information data for each base station and signal reception time for receiving the location signal for each wireless transmitting apparatus, and performing a second table for data. Table means; A base station location database which stores the position coordinates of each base station constructed in advance and provides the position coordinates of the base station which has received the identified position signal from the data table means for each base station; And And position coordinate calculating means for calculating the actual position coordinates of the radio transmitter using the delay information data provided from the data table means for each radio transmitter based on the position coordinates of the base station. Ground location tracking system. The method of claim 2, wherein the location tracking center is And a means for displaying the position coordinate result of the wireless transmission device on a map. The method of claim 2, wherein the location tracking center is And terrestrial position tracking system for storing the position coordinate result of the radio transmitter as a result data of the tracking time for each radio transmitter. 13. The method according to any one of claims 10 to 12, wherein the location tracking center is In connection with the position coordinate means and / or the map display means and / or the position database means for each transmitter, the output result of the one or more means is used, and various position tracking services are connected through a communication network in connection with a separate application unit. The location tracking system further comprises a location tracking service application module for providing a service user.