KR100789420B1 - 실내 비가시선 환경에서의 초광대역 무선측위를 위한 오차보정방법 - Google Patents
실내 비가시선 환경에서의 초광대역 무선측위를 위한 오차보정방법 Download PDFInfo
- Publication number
- KR100789420B1 KR100789420B1 KR1020060075781A KR20060075781A KR100789420B1 KR 100789420 B1 KR100789420 B1 KR 100789420B1 KR 1020060075781 A KR1020060075781 A KR 1020060075781A KR 20060075781 A KR20060075781 A KR 20060075781A KR 100789420 B1 KR100789420 B1 KR 100789420B1
- Authority
- KR
- South Korea
- Prior art keywords
- trajectory
- environment
- virtual
- error correction
- invisible
- Prior art date
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/80—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using ultrasonic, sonic or infrasonic waves
- G01S3/802—Systems for determining direction or deviation from predetermined direction
- G01S3/808—Systems for determining direction or deviation from predetermined direction using transducers spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/80—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using ultrasonic, sonic or infrasonic waves
- G01S3/802—Systems for determining direction or deviation from predetermined direction
- G01S3/808—Systems for determining direction or deviation from predetermined direction using transducers spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems
- G01S3/8086—Systems for determining direction or deviation from predetermined direction using transducers spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems determining other position line of source
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
Abstract
Description
Claims (5)
- 삭제
- 무선측위를 위한 오차 보정방법에 있어서, 비가시선 환경의 특성을 내장한 광선추적기를 사용하여 비가시선 환경 내에서 가상의 전파경로 및 속도를 구하는 단계; 및 상기 가상의 전파경로 및 속도를 통해 광선추적기를 사용 광선추적법에 의해 전파시간을 기준으로 목적물 위치의 가상의 궤적을 구하는 단계; 및 상기 가 상의 궤적을 통해 궤적의 교점 또는 근사치를 찾아 목적물의 위치를 추정하는 단계; 로 이루어진 것을 특징으로 하는 실내 비가시선 환경에서의 초광대역 무선측위를 위한 오차 보정방법.
- 제 3항에 있어서,상기 가상의 궤적을 구하는 단계에 있어서, 폴라서치방식을 이용하여 가상의 궤적을 구하는 것을 특징으로 하는 실내 비가시선 환경에서의 초광대역 무선측위를 위한 오차 보정방법.
- 제 3항에 있어서,상기 궤적의 교점 또는 근사치를 찾아 목적물의 위치를 추정하는 단계에 있어서, 상기 궤적들까지의 거리의 제곱의 합이 최소가 되는 지점의 좌표를 찾는 최소제곱법을 사용하여 위치를 추정하는 것을 특징으로 하는 실내 비가시선 환경에서의 초광대역 무선측위를 위한 오차 보정방법.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020060075781A KR100789420B1 (ko) | 2006-08-10 | 2006-08-10 | 실내 비가시선 환경에서의 초광대역 무선측위를 위한 오차보정방법 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020060075781A KR100789420B1 (ko) | 2006-08-10 | 2006-08-10 | 실내 비가시선 환경에서의 초광대역 무선측위를 위한 오차보정방법 |
Publications (1)
Publication Number | Publication Date |
---|---|
KR100789420B1 true KR100789420B1 (ko) | 2007-12-28 |
Family
ID=39148179
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR1020060075781A KR100789420B1 (ko) | 2006-08-10 | 2006-08-10 | 실내 비가시선 환경에서의 초광대역 무선측위를 위한 오차보정방법 |
Country Status (1)
Country | Link |
---|---|
KR (1) | KR100789420B1 (ko) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2016125931A1 (ko) * | 2015-02-05 | 2016-08-11 | (주)위니텍 | 무선신호 발신장치를 이용한 실내 위치측정 시스템 및 그 방법 |
KR20180077861A (ko) * | 2016-12-29 | 2018-07-09 | 주식회사 지오천사로봇기술 | 실내환경에서의 확률기반 근거리 무선 위치 측정 시스템 및 방법 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20010064743A (ko) * | 1999-12-18 | 2001-07-11 | 이계철 | 무선통신시스템에서의 위치 측정 방법 |
KR20030091310A (ko) * | 2002-05-27 | 2003-12-03 | 주식회사유진로보틱스 | 무선신호를 이용한 로봇의 상대적 위치 추정 장치 및 방법 |
US20050021284A1 (en) | 2003-07-21 | 2005-01-27 | Peter Gaal | Multiple measurements per position fix improvements |
JP2006023267A (ja) * | 2004-06-09 | 2006-01-26 | Ntt Docomo Inc | マルチパス遅延成分を用いた位置測定装置および位置測定方法 |
-
2006
- 2006-08-10 KR KR1020060075781A patent/KR100789420B1/ko active IP Right Grant
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20010064743A (ko) * | 1999-12-18 | 2001-07-11 | 이계철 | 무선통신시스템에서의 위치 측정 방법 |
KR20030091310A (ko) * | 2002-05-27 | 2003-12-03 | 주식회사유진로보틱스 | 무선신호를 이용한 로봇의 상대적 위치 추정 장치 및 방법 |
US20050021284A1 (en) | 2003-07-21 | 2005-01-27 | Peter Gaal | Multiple measurements per position fix improvements |
JP2006023267A (ja) * | 2004-06-09 | 2006-01-26 | Ntt Docomo Inc | マルチパス遅延成分を用いた位置測定装置および位置測定方法 |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2016125931A1 (ko) * | 2015-02-05 | 2016-08-11 | (주)위니텍 | 무선신호 발신장치를 이용한 실내 위치측정 시스템 및 그 방법 |
KR20180077861A (ko) * | 2016-12-29 | 2018-07-09 | 주식회사 지오천사로봇기술 | 실내환경에서의 확률기반 근거리 무선 위치 측정 시스템 및 방법 |
KR101911503B1 (ko) | 2016-12-29 | 2018-10-24 | 모노리스로보테크 주식회사 | 실내환경에서의 확률기반 근거리 무선 위치 측정 시스템 및 방법 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
Yang et al. | A novel NLOS error compensation method based IMU for UWB indoor positioning system | |
US7679561B2 (en) | Systems and methods for positioning using multipath signals | |
CN108535687B (zh) | 基于tof和rssi信息融合的室内无线定位方法 | |
Röhrig et al. | Indoor location tracking in non-line-of-sight environments using a IEEE 802.15. 4a wireless network | |
US9407317B2 (en) | Differential ultra-wideband indoor positioning method | |
US20070139269A1 (en) | System and method for model-free position estimation and tracking | |
KR101040705B1 (ko) | 무선 측위 시스템 및 측위 방법 | |
JP4957770B2 (ja) | 位置推定システム、位置推定装置、位置推定方法及びプログラム | |
JP2012514210A (ja) | 一般化した誤差分布を用いる位置推定方法 | |
JP5278365B2 (ja) | 位置推定装置及び位置推定方法 | |
US10567918B2 (en) | Radio-location method for locating a target device contained within a region of space | |
JP2011214920A (ja) | 位置推定装置、位置推定方法及びプログラム | |
CN108882149B (zh) | 距离相关概率的nlos补偿定位方法 | |
WO2017088814A1 (zh) | 室内定位方法和相关设备 | |
WO2016112758A1 (zh) | 终端的定位方法及装置 | |
Galov et al. | Bayesian filters for ToF and RSS measurements for indoor positioning of a mobile object | |
Zhao et al. | Comparing centralized Kalman filter schemes for indoor positioning in wireless sensor network | |
Piwowarczyk et al. | Analysis of the influence of radio beacon placement on the accuracy of indoor positioning system | |
Jung et al. | Indoor localization using particle filter and map-based NLOS ranging model | |
Kulmer et al. | Cooperative localization and tracking using multipath channel information | |
KR100789420B1 (ko) | 실내 비가시선 환경에서의 초광대역 무선측위를 위한 오차보정방법 | |
Gentner | Channel-SLAM: Multipath assisted positioning | |
Chóliz et al. | Evaluation of algorithms for UWB indoor tracking | |
Buehrer et al. | Fundamentals of time‐of‐arrival‐based position locations | |
Chen et al. | An algorithm for fast, model-free tracking indoors |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A201 | Request for examination | ||
A302 | Request for accelerated examination | ||
E902 | Notification of reason for refusal | ||
E701 | Decision to grant or registration of patent right | ||
GRNT | Written decision to grant | ||
G170 | Publication of correction | ||
FPAY | Annual fee payment |
Payment date: 20130206 Year of fee payment: 6 |
|
FPAY | Annual fee payment |
Payment date: 20131007 Year of fee payment: 7 |
|
FPAY | Annual fee payment |
Payment date: 20150114 Year of fee payment: 8 |
|
FPAY | Annual fee payment |
Payment date: 20160113 Year of fee payment: 9 |
|
FPAY | Annual fee payment |
Payment date: 20170104 Year of fee payment: 10 |
|
FPAY | Annual fee payment |
Payment date: 20180219 Year of fee payment: 11 |
|
FPAY | Annual fee payment |
Payment date: 20200107 Year of fee payment: 13 |