KR100790041B1 - 무선 클럭 동기 - Google Patents

무선 클럭 동기 Download PDF

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KR100790041B1
KR100790041B1 KR1020027006258A KR20027006258A KR100790041B1 KR 100790041 B1 KR100790041 B1 KR 100790041B1 KR 1020027006258 A KR1020027006258 A KR 1020027006258A KR 20027006258 A KR20027006258 A KR 20027006258A KR 100790041 B1 KR100790041 B1 KR 100790041B1
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South Korea
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receiving
receiving station
receiving stations
stations
arrival
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KR1020027006258A
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KR20020079734A (ko
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벤자민제이. 베크리트스키
데이비드 고렌
윌리엄 사코다
라즈 브리제랄
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심볼테크놀로지스,인코포레이티드
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Abstract

위치측정 시스템의 수신국의 내부클럭을 동기화하는 시스템 및 방법이 설명된다. 비컨(beacon)은 알고 있는 위치에서의 기준 데이터 패킷을 송신한다. 상관 도착시간 데이터를 결정하기 위하여, 제1 도착시간은 제2 도착시간과 비교된다. 상기 제1 도착시간은 제1 수신국에 의한 상기 기준 데이터 패킷의 수신시간이고, 상기 제2 도착시간은 제2 수신국에 의한 상기 기준 데이터 패킷의 수신시간이다. 선형 다항식이 상기 상관 도착시간 데이터와 상기 제1 및 제2 도착시간의 함수로서 연산된다. 상기 제1 및 제2 수신국에서의 데이터 패킷의 도착시간은 선형 다항식의 함수로서 동기화된다.

Description

무선 클럭 동기{WIRELESS CLOCK SYNCHRONIZATION}
[ 관련 출원에 대하여 ]
본 출원은 2000년 11월 14일자 미합중국 가출원 번호 제60/248,357호 및 2001년 2월 20일자 미합중국 제60/270,254호의 이익을 주장하며, 상기 가출원의 모든 내용은 전적으로 본 명세서에 참조자료로서 포함된다.
본 발명은 무선장치들의 클럭을 동기시키기 위한 방법 및 시스템에 관한 것이다. 특히, 본 발명은 휴대장치의 위치를 판단하는데 이용되는 무선 수신국의 클럭을 동기시키는 것에 관한 것이다.
최근의 무선 장치들의 번창은 매우 이례적인 것이었으며, 이들에는 상호간에 그리고/또는 중심점과 데이터나 음성 신호를 교환할 수 있는 통신 및 연산 장치가 포함된다. 이러한 장치들은 일반적으로, 전용 주파수 또는 전자기 스펙트럼의 전용 세그먼트를 통하여, 무선파를 통해 통신한다. 이들 무선 통신의 범위는 가변적이며, 자동중계장치(repeater), 셀룰러 타워(cellular tower), 장치 네트워크의 기타 노드는 그 범위를 확장시키기 위해 이용될 수 있다.
이러한 장치들 중의 일부는 휴대전화기일 수 있지만, 장치들은 점점 더 무선 기능, 휴대형 또는 포켓형 소형 컴퓨터, 이-메일 송수신 장치, 호출기, 양방향 무선 통신 장치 등과 같은 다중 기능을 가지게 되어가고 있다. 이러한 장치들에 의해 전송되는 신호들은, 그 장치의 위치, 즉 그 장치를 사용하는 사람의 위치를 파악하는데 이용될 수 있다. 예컨대, 휴대전화기는 응급시에 호출자의 정확한 위치를 파악하기 위하여 수정될 수 있다. 어떤 경우에는, 비컨(beacon)이나 위치판단장치(locator)는, 소방수 또는 구조대와 같은 위험한 상황에서 일하는 사람의 위치를 추적하는 특정 기능을 가질 수 있다.
무선 신호를 전송하는 장치의 위치를 판단하기 위해 많은 방법이 개발되어 왔다. 예를 들면, 두 개 이상의 방향 수신기를 사용함으로써 송신자의 위치를 파악하는데 삼각측량이 이용될 수 있다. 그러나, 수신기들은 무선 신호가 도착하는 방향 또는 방위를 결정할 수 있어야 하기 때문에, 더욱 세련되어야 한다.
본 발명은 위치판단 시스템의 수신국의 내부 클럭을 동기화하는 방법 및 시스템에 관한 것이다. 비컨(beacon)은 알고 있는 위치에 기준 데이터 패킷(reference data packet)을 전송한다. 제1 도착시간이 제2 도착시간과 비교되어, 상관적(correlated) 도착시간 데이터가 결정된다. 제1 도착시간은 제1 수신국에 의한 기준 데이터 패킷의 수신 시간이고, 제2 도착시간은 제2 수신국에 의한 기준 데이터 패킷의 수신시간이다. 상관적 도착 시간 데이터와, 제1 및 제2 도착 시간의 함수로서, 선형 다항식이 연산된다. 제1 및 제2 수신국에서의 데이터 패킷의 도착시간은 선형 다항식의 함수로서 동기화된다.
다른 측면에서는, 본 발명은 수신국의 내부 클럭을 동기화시키는 단계, 수신국 쌍에서 이동장치로부터 데이터 패킷을 수신하는 단계, 각 수신국 쌍에서 데이터 패킷의 동기화된 도착시간을 결정하는 단계, 동기화된 도착시간에 기초하여 쌍곡선 삼변측량술(hyperbolic trilateration)을 이용하여 이동장치의 위치를 연산하는 단계를 포함하는, 이동장치의 위치파악방법이다.
도 1은 본 발명의 일례에 따른, 이동장치의 위치 판단에 이용되는 쌍곡선 교점을 나타내는 그래프,
도 2는 본 발명의 일례에 따른, 예시적인 무선 송수신 장치의 레이아웃을 나타내는 도면,
도 3은 본 발명에 따라, 이동장치의 위치파악에 이용되는 수신국의 클럭을 동기화하는 방법의 일례를 나타내는 흐름도이다.
본 발명은 무선장치의 내부클럭을 동기화하는 방법 및 시스템이다. 많은 경우에, 무선장치의 위치를 결정하는 것이 많이 요구된다. 장치사용자가 처한 긴급상황에서는, 이러한 능력이 매우 중요할 수 있다. 예를 들어, 119 등의 긴급 호출자가 그 위치를 제공하는 능력이 없거나 불가능할 때라도, 휴대전화를 사용하여 119 등의 긴급 호출자의 위치를 파악하는 것은 유용할 수 있다. 많은 경우에, IEEE 802.11,IEEE 802.11b, 블루투스(Bluetooth) 또는 무선 랜에 관련된 차기 표준(이들을 " 802.11x 네트워크 표준" 이라고 부른다)을 활용할 수 있는 피디에이(PDA)와 같은 무선 장치의 위치를 아는 것은, 그 장치의 위치 감지 정보를 제공하는데에 유용하다.
신호를 송신할 수 있는 장치의 위치를 정확히 판단하는 열쇠는 정확한 시간 연산(timing operation)을 행하는 것이다. 이동 유닛의 위치를 결정하는데 이용될 수 있는 한가지 방법으로서 쌍곡선 삼변측량술(hyperbolic trilateration)이 있다. 이 설계안에 따르면, 시간 정보가 위치 정보로 사상(寫像;mapping)될 수 있다. 위치파악의 대상인 이동 장치는, 예컨대 송신자의 식별을 나타내는 데이터와 같은 정보를 담고 있는 패킷 또는 전파를 내보낸다. 패킷은 알려진 위치를 가지고 있는 많은 수신기에 의해 수신된다. 수신기의 위치가 고정되어 있을 수도 있고, 또는 수신기가 이동 가능할 수도 있다. 수신기가 이동 가능하면, 그 위치는 시스템에 의해 파악되어야 한다.
어떤 두 개의 수신기에서 패킷의 수신 시간이 다르면, 이동 장치가 위치하고 있는 공간에서, 독특한 쌍곡선의 연산이 가능하다. 추가적인 한 쌍의 두 수신기에서의 패킷의 도착시간의 차이를 고려함으로써, 이동 유닛이 위치하고 있는 공간에서 제2의 쌍곡선이 연산될 수 있다. 그렇게 정의된 두 개의 쌍곡선들의 교점은 이동 장치의 정확한 위치를 결정한다.
쌍곡선 삼변측량술(hyperbolic trilateration)의 한가지 중요한 특징은, 절대적 도착 시간 또는 패킷이 수신되는 실제 시간이 아니라, 각 쌍의 수신국에서 패킷의 상대적인 도착시간만 파악되면 된다는 것이다. 일단, 두 개의 수신국에서 패 킷의 상대적 도착시간이 파악되면, 송신하고 있는 이동 장치의 위치가 파악될 수 있다.
도 1은 위에서 설명한 방법의 그래프적인 표현을 나타내고 있다. 이동 장치(M)는 수신국(A,B,C)에 의해 수신될 수 있는 데이터의 패킷을 송신한다. 패킷은 예컨대 쌍 A,B와 B,C와 같이 적어도 두 쌍의 수신국에 의해 교대로 수신된다. 각 쌍으로부터는, A-B 및 B-C와 같이, 이동 장치가 위치하는 쌍곡선이 연산된다. 그 쌍곡선들을 따르는 각 점은, 도 1에 나타난 바와 같이, 한 세트의 위치 좌표에 대응한다. 두 개의 쌍곡선의 교점은 그 이동 장치의 위치를 정의한다. 본 실시예에서, X 좌표에 따라 -33 단위와 Y 좌표에 따라 22 단위에 배치되어 있다.
본 발명에 따른 위치파악 시스템에서, 각 수신기는 다른 수신국의 클럭에 대해 독립적으로 실행되는 클럭을 가지고, 독특한 위치에 배치되어 있다. 그 클럭들이 완전히 동일하게 제조될 수 없기 때문에, 각 클럭은 매우 유사하지만 독특한 주파수를 가지며, 개별적인 무작위의 시작 시간을 가진다. 이동 장치의 위치를 정확히 결정하기 위하여, 모든 수신국에서의 클럭들은 동기되어야 한다. 수신국들이 동일한 위치에 있다면, 또는 서로 상대적으로 가까이 있다면, 그 클럭들을 서로 함게 배선함으로써 요구되는 동기가 이루어질 수 있다. 그러나, 수신국들이 서로 떨어진 외부적 위치에 있다면, 수신기들을 같이 배선하기에 터무니 없는 비용이 든다.
본 발명의 실시예는, 실제로 함게 배선될 수 없는 수신국들의 클럭을 동기시키는 방법 및 시스템을 제공하는 것이다. 일례로, 비컨(beacon) 수신국들의 지리 적으로 중심점에 가까이 있는 고정된, 알려진 위치에 제공된다. 도 2에 나타난 바와 같이, 비컨(10)은 수신국들(12,14,16,18)에 대하여 중앙에 배치되어 있다. 모든 시스템은 이동하는 송신장치(20)의 위치를 파악하도록 설계되어 있다. 비록 하나의 이동장치(20)만 나타나 있지만, 시스템은 하나 이상의 장치의 위치를 파악하도록 적용될 수 있다.
비컨(10)은 각 수신 유닛(12-18)에 의해 수신되는 데이터의 기준 패킷(22)을 연속적으로 전송할 수 있다. 그러한 기준 패킷(22)은 802.11x 네트워크 표준에 기초하여 만들어질 수 있고, 그 네트워크 내에서 소정의 위치에 고정된 액세스 포인트에 의해 전송될 수 있다. 각 수신 유닛은 패킷이 도달할 때 그 패킷들의 시간을 새긴다. 예컨대 기지국(14) 및 기지국(16)과 같이 비컨(10)이 수신국 쌍으로부터 동등한 거리에 배치되어 있고 그 수신국들의 클럭이 동일한 이상적 조건에서는, 그들 수신기에서 패킷의 도착시간차(TDOA;Time Difference Of Arrival)는 0이 될 것인데, 왜냐하면 두 수신기 각각은 그 내부 클럭에 따라 정확히 동시에 패킷을 수신할 것이기 때문이다. 실제로는, 수신국(14) 및 수신국(16)이 비컨(10)으롭터 정확히 동등하게 떨어져 있다고 하더라도, 그 두 클럭이 동기되지 않으면 도착시간차(TDOA)는 0이 되지 않을 것이다.
본 발명에 따라 모든 수신국들의 클럭을 동기화하는데, 비컨(10)으로부터 수신된 패킷들로부터 연산되는 도착시간차(TDOA)는 0과 동일하도록 강제된다. 클럭들을 동기화하기 위하여, 비컨(10)이 모든 수신국들로부터 동등하게 떨어져 있지 않더라도, 모든 수신국들(12-18)에 대한 도착시간차(TDOA)는 0으로 강제된다. 비 컨(10)과 수신국들(12-18)이 서로 상대적으로 이동하지 않기 때문에, 도착시간차의 예상 값은 일정하므로, 도착시간차를 0으로 강제하는데 기인하는 부정확은 크지 않으며, 나중에 본 발명에 의한 연산으로 보상될 수 있다.
본 발명의 일례에 의하면, 수신국(14,16)이 될 수 있는 두 수신기(A,B)간의 도착시간차(TDOA)는, 기지국(A)의 클럭 기록시간으로부터 기지국(B)의 클럭 기록시간을 삭감함으로써 연산된다. 다시 말하면, TDOAA/B = tB-tA 이다. 비컨(10)이 모든 수신기로부터 동등하게 떨어져 있는 경우에는, 도착시간차는 0이 될 것이며 TDOAA/B = 0이 될 것이다. 일단, 이것은 사실로 가정한다. 만약 완전히 동기된 클럭들을 사용하면서, 두 수신기에 의해 수신되는 일련의 패킷들에 대한 기록시간이 서로 상관(correlation)되면, 수신기(B)의 기록시간에 대한 수신기(A)의 기록시간의 그래프는 기울기 1의 직선이 될 것이다. 예를 들어, 클럭(A)에 의해 지시되는 도착시간이 y 축상에 나타나고 클럭(B)에 의해 지시되는 도착시간이 x 축에 나타나면, 직선의 방정식은 y -x = 0 또는 y = x가 된다.
그러나, 앞에서 설명한 바와 같이, 수신국(12-18) 각각의 클럭들은 서로 독립적이며, 따라서 조금은 상이한 주파수 및 시작시간을 가진다. 따라서, 실제로는 도착 시간의 그래프는 절대로 기울기 1의 직선이 아니다. 그 대신에, 그 선의 방정식은 y = mx + b이다. 방정식에서, m 은 선의 기울기이고, b는 y 절편이다. 산의 기울기는 고려되는 두 클럭의 주파수차의 함수인 반면에, y 절편은 두 수신기의 무작위의 클럭 시작시간차의 함수이다. 본 발명의 실시예에 따르면, 데이터로부터 적절한 기울기 및 y 절편을 결정하기 위하여 선형 다항식이 이용된다. 그 선형 다항식(linear polynominal fit)은 최소제곱법(least squares methodology)을 이용하여 결정될 수 있다.
수신국(A,B) 쌍들로부터의 클럭이 완전히 동기되면, 기울기(m)는 항상 1이며, 절편(b)은 항상 0과 같을 것이다. 실제로는, 기울기와 절편은 본 발명의 실시예에 따르면, 연속적으로 연산되고 업데이트된다. 이 실시에에서, 한 수신국의 클럭은 기준 클럭으로 사용되며, 모든 다른 수신국들의 클럭들은 그 기준 클럭의 주파수 및 시작시간과 조화하기 위해 교정된다. 본 발명의 실시에 따른 기준 클럭은 수신국 사이에서 독립적으로 선택될 수 있는데, 절대적 시간이 아니라 데이터 패킷들의 상대적 도착시간이 중요하기 때문이다.
본 발명에 따른 기울기와 y 절편에 대한 다항계수가 결정되면, 수신국 쌍들에 대한 0이 아닌 도착시간차(TDOA)는 보상된다. 두 수신국 세트 사이의 실제 도착시간차(TDOA)에 적용되는 교정인자 또는 바이어스(bias), 및 비컨(10)과 수신기(12-18)의 알고 있는 위치로부터 연산되는 예산 도착시간차를 결정하는데 수신국(12-18) 각각과 비컨(10) 사이의 알려진 상이한 거리가 이용된다.
본 발명에 따라 적절한 단계가 취해지면, 모든 클럭은 그에 관련하여, 클럭을 동기화시키는데 사용되는, 세 개의 숫자를 가진다. 각 클럭은 주파수 오프셋에 기인하여 일반적으로 1이 아닌 값을 가지는 기울기(m)과, 클럭의 무작위 시작시간으로 결정되는 y 절편(b)과, 각 수신국(12-18)으로부터의 거리차에 기인하는 바이어스(bias)를 가진다.
이동장치(20)에 의해 송신되는 패킷(24)이 수신국(12-18)중 하나로 수신되면, 그 패킷은 수신국의 클럭에 의해 시간이 기록된다. 그리고 나서, 그 기록시간은 주파수 오프셋 및 내부 클럭의 무작위 시작 시간을 보상하도록 조절된다. 그러면, 수신국 쌍들 사이의 도착시간차(TDOA)는 공식 TDOAA/B = tB-tA 를 이용하여 연산된다. TDOAA/B = tB-tA 가 결정된 후에는, 클럭 동기화 단계에서 수행되었던 m 과 b의 연산에 관련된 0 이 아닌 도착시간차(TDOA)를 보상하기 위해, 바이어스(bias)가 첨가된다. 두 쌍의 수신국들의 도착시간차(TDOA)가 연산되면, 이동장치(20)의 우치는 쌍곡선 삼변측량술(hyperbolic trilateration)을 이용하여 결정될 수 있다.
도 3은 본 발명의 실시예에 따라, 수신국들의 클럭들을 동기화하고 이동장치의 위치를 결정하기 위한 방법을 설명하는 흐름도를 나타낸다. 상기 방법이 다른 수의 수신국들, 이동장치들, 비컨(beacon)들과 관련된 구성에 적용될 수 있더라도, 상기 방법은 도 2에 나타난 구성요소를 기준으로 설명될 것이다. 단계 100에서, 기준 패킷(22)들은 비컨(10)으로부터 나와서, 수신국들(12-18)에 의해 수신된다. 위에서 설명한 바와 같이, 단계 102에서, 비컨(10)과 수신국들(12-18)의 각각 사이의 거리가 동등하다고 가정하고, 기울기(m)와 y 절편(b)이 각 수신국들에 대해 연산된다. 일단 기울기와 y 절편이 연산되면, 단계 104에서는, 바이어스(bias)가 각 수신국에 대해 연산된다. 상기한 바와 같이, 바이어스는 비컨(10)과 수신국(12-18)의 알려진 위치로부터 연산된다. 단계 100,102,104는 동기화 단계 부분으로서, 수신국들의 클럭을 교정하는데 사용되어, 이동장치(20)의 위치 측정이 이루어질 수 있도록 하는 것이다. 단계 106 내지 112는, 클럭들이 동기화 된 후에, 이동장치(20)의 위치를 파악하도록 지향되는 단계이다.
단계 106에서, 패킷(24)이 이동장치(20)로부터 송신되어, 적어도 두 쌍의 수신국에서 수신된다. 수신국 쌍에 대한 도착시간차(TDOA)는, 내부 클럭을 동기화하기 위해 이전에 연산되었던, 기울기 및 y 절편을 활용하여 단계 108에서 연산된다. 단계 110에서는, 단계 104에서 연산된 바이어스 값을 이용하여 연산된 TDOA들이 교정되며, 수신국 쌍들에 대한 도착시간차(TDOA)의 교정값은 이동장치(20)가 배치된 쌍곡선을 연산하는데 이용된다. 위에서 설명한 바와 같이, 적어도 두 쌍의 수신국을 위해 연산되는 쌍곡선들은 이동장치(20)의 위치를 파악하기 위하여 이용된다.
본 발명은 하나의 이동장치와 네 개의 고정된 수신국을 가지는 실시예에 관하여 설명되었다. 그러나, 추가적 이동장치 및/또는 추가적 비컨 및/또는 추가적이거나 더 적은 수신국을 가지는 다른 실시예도 안출될 수 있다. 따라서, 다음의 특허청구범위에서 나타나는 바와 같이 본 발명의 최광의의 기술적 사상과 범위를 벗어나지 않고 상기 실시예에 대해 여러 수정 및 변경이 가능하다. 따라서, 본 상세한 설명과 도면은 제한적 의미가 아니라 예시적인 것으로 간주된다.

Claims (17)

  1. 시스템의 제1 쌍의 제1 및 제2 수신국들인 A 및 B의 내부 클럭을 동기화하는 방법으로서,
    제1 쌍의 제1 및 제2 수신국들인 A 및 B의 지리적인 중앙지점에 근접한 알려진 위치에서의 비컨(beacon)으로부터 일련의 기준 데이터 패킷들을 송신하는 단계;
    상기 비컨이 상기 지리적인 중앙지점에 있다는 것을 가정하는 단계;
    일련의 기준 데이터 패킷들에 대하여 서로 반대로 하여 작도(作圖)됨으로써, 수신국 A에 의해 특별한 기준 데이터 패킷의 수신한 시간인 제1 도착시간 tA과 수신국 B에 의해 특별한 기준 데이터 패킷을 수신한 시간인 해당 제2 도착시간 tB를 상관시키는 단계;
    선형 다항식 tB = mtA + b를 연산하는 단계;
    기울기 m은 수신국들 A와 B의 내부의 클럭들의 주파수차의 함수이고, y절편 b는 수신국들 A와 B의 내부 클럭들의 상이한 시작 시간들에 기인한 오프셋이며,
    상기 비컨과 상기 수신국들 A 및 B사이에 거리상 알려진 차이를 이용하여 상기 내부 클럭들에 대한 바이어스(bias)를 결정하는 단계;
    상기 기울기m와, 상기 오프셋 b 및 상기 바이어스에 따라 상기 수신국들 A 및 B의 내부의 클럭들을 동기화하는 단계를 포함하는, 시스템의 수신국의 내부 클럭을 동기화하는 방법.
  2. 삭제
  3. 제1항에 있어서,
    제3 및 제4 수신국에 대한 기울기, y 절편, 바이어스를 더 결정하기 위하여, 제3 및 제4 수신국에 대한 상기 상관 및 연산 단계를 반복하는 것을 더 포함하는, 시스템의 수신국의 내부 클럭을 동기화하는 방법.
  4. 제3항에 있어서,
    제1 및 제3 수신국에 대한 기울기, y 절편, 바이어스를 더 결정하기 위하여, 상기 제1 수신국 A에 관련하여 제3 수신국에 대한 상기 상관 및 연산 단계를 반복하는 단계를 더 포함하는, 시스템의 수신국의 내부 클럭을 동기화하는 방법.
  5. 제4항에 있어서,
    이동장치에 의해 송신된 제1 데이터 패킷의 도착시간 및 상기 수신국의 제1 및 제2 쌍에 대해 연산된 기울기, y 절편 및 바이어스의 함수로서 상기 제1 및 제2 수신국과 상기 제3 및 제4 수신국 사이의 도착시간차를 교정하는 단계를 더 포함하는 방법으로서, 각각의 상기 제1 및 제2 쌍은 제1, 제2, 제3 및 제4 수신국 중 어느 두 기지국을 포함하고, 상기 제1 쌍은 상기 제2 쌍에 포함되지 않은 적어도 하나의 수신국을 포함하는, 시스템의 수신국의 내부 클럭을 동기화하는 방법.
  6. 제1항에 있어서,
    소정의 속도로 상기 수신국의 내부 클럭의 동기화를 업데이트하기 위하여, 상기 전송, 비교 및 연산 단계를 반복하는 단계를 더 포함하는, 시스템의 수신국의 내부 클럭을 동기화하는 방법.
  7. 이동장치의 위치를 결정하는 방법으로서,
    제1항의 방법에 따라 수신국의 내부 클럭을 동기화하는 단계와;
    상기 수신국 중의 제1 및 제2 수신국에 의해 상기 이동장치로부터의 데이터 패킷을 수신하는 단계와;
    상기 제1 및 제2 수신국에서 상기 데이터 패킷의 동기화된 도착시간을 결정하는 단계와;
    상기 제1 및 제2 수신국간의 도착시간차를 연산하는 단계와;
    동기화된 도착시간의 함수로서, 쌍곡선 삼변측량술을 이용하여, 상기 이동장치의 위치를 연산하는 단계를 포함하는, 이동장치의 위치를 결정하는 방법.
  8. 제7항에 있어서,
    적어도 제1 및 제2 쌍의 수신국들에 대해 대응하는 동기화된 도착시간을 결정하는 단계를 더 포함하는 방법으로서, 각각의 상기 제1 및 제2 쌍은 상기 제1 수신국, 제2 수신국, 제3 수신국 및 제4 수신국 중 어느 두 가지를 포함하고, 상기 제1 쌍은 상기 제2 쌍에 포함되지 않은 적어도 하나의 수신국을 포함하는, 이동장치의 위치를 결정하는 방법.
  9. 제7항에 있어서,
    상기 수신국 중의 적어도 제1, 제2, 제3 쌍에 대해 대응하는 동기화된 도착시간을 결정하는 단계를 더 포함하는 방법으로서, 상기 제1, 제2, 제3 쌍의 수신국은 상기 제1 수신국, 상기 제2 수신국, 상기 제3 수신국, 상기 제4 수신국, 제5 수신국 및 제6 수신국 중의 어느 두 가지를 포함하고, 상기 제1 쌍은 상기 제2 및 제3 쌍에 포함되지 않은 적어도 하나의 수신국을 포함하며, 상기 제2 쌍은 상기 제3 쌍에 포함되지 않은 적어도 하나의 수신국을 포함하는, 이동장치의 위치를 결정하는 방법.
  10. 제7항에 있어서,
    상기 동기화 단계는,
    알고 있는 위치에 있는 비컨(beacon)으로부터 기준 데이터 패킷을 송신하는 단계와;
    상관 도착시간 데이터를 결정하기 위하여 상기 제1 수신국에서의 상기 기준 데이터 패킷의 수신시간인 제1 도착시간과 상기 제2 수신국에서의 상기 기준 데이터 패킷의 수신시간인 제2 도착시간을 비교하는 단계와;
    상기 상관 도착시간 데이터와 상기 제1 및 제2 도착시간의 함수로서 선형 다항식을 연산하는 단계와;
    선형 다항식으로서 상기 제1 및 제2 수신국에서의 상기 기준 데이터 패킷의 도착시간을 동기화하는 단계를 포함하는, 이동장치의 위치를 결정하는 방법.
  11. 내부 클럭을 가지는 수신국과;
    상기 수신국에 연결된 프로세서와;
    상기 수신국에 일련의 기준 데이터 패킷들을 송신하도록 되어 있고, 상기 수신국의 지리적인 중앙지점에 근접한 알려진 위치를 가지고 있는 비컨(beacon)을 포함하는, 이동장치 위치측정 네트워크의 내부클럭을 동기화하는 시스템에 있어서,
    각각의 상기 수신국은 상기 일련의 기준 데이터 패킷들의 도착시간을 상기 프로세서로 보내주도록 되어 있고,
    상기 프로세서는 제1 쌍의 수신국들 A 및 B에 대한 선형 다항식 tB = mtA + b과, 상기 비컨과 상기 수신국들 A 및 B사이에 거리상 알려진 차이를 이용하여 상기 수신국들 A 및 B의 상기 내부 클럭들에 대한 바이어스(bias)를 연산하는데 응용되며,
    tA와 tB는 수신국들 A와 B에서 상기 일련의 기준 데이터 패킷들의 수신 시간들이고,
    기울기 m은 수신국들 A와 B의 내부의 클럭들의 주파수차의 함수이며,
    y절편 b는 수신국들 A와 B의 내부의 클럭들의 상이한 시작 시간들에 기인한 오프셋이고,
    상기 프로세서는 상기 기울기 m와, 상기 오프셋 b 및 상기 바이어스에 따라 상기 수신국들 A 및 B의 내부의 클럭들을 동기화하는데 더 응용되는, 이동장치 위치측정 네트워크의 내부클럭을 동기화하는 시스템.
  12. 제11항에 있어서,
    상기 수신국은 쌍으로 나뉘어져 있고, 적어도 두 쌍은 상기 이동장치의 위치를 측정하는데 이용되는, 이동장치 위치측정 네트워크의 내부클럭을 동기화하는 시스템.
  13. 제11항에 있어서,
    상기 프로세서는 제1 및 제2 도착시간을 수신하고, 상기 제1 도착시간은 상 기 수신국들 중 제1 수신국에 의한 상기 기준 데이터 패킷의 도착시간이며, 상기 제2 도착시간은 상기 수신국들 중 제2 수신국에 의한 상기 기준 데이터 패킷의 도착시간이고, 상기 프로세서는 상관 도착시간 데이터를 결정하기 위하여 상기 제1 도착시간을 상기 제2 도착시간과 비교하며, 상기 프로세서는 비컨(beacon)과 제1 및 제2 수신국 사이의 거리가 동등하다고 가정하여 상기 상관 도착시간 데이터와 상기 제1 및 제2 도착시간의 함수로서 기울기와 y 절편을 연산하고, 상기 프로세서는 상기 비컨과 상기 제1 및 제2 수신국 사이의 알고 있는 거리차로부터 상기 상관 도착시간 데이터의 바이어스(bias)를 연산하는, 이동장치 위치측정 네트워크의 내부클럭을 동기화하는 시스템.
  14. 위치추적 시스템의 수신국의 내부클럭을 동기화하는 방법으로서,
    상기 위치 시스템에서의 제1 쌍의 수신국들인 A와 B에 대하여, 알고 있는 위치에 있는 비컨(beacon)으로부터 일련의 기준 데이터 패킷들을 송신하는 단계;
    상기 비컨이 수신국들 A와 B사이에 지리적이 중앙지점에 있다고 가정하는 단계:
    일련의 기준 데이터 패킷들에 대하여 서로 반대로 하여 작도(作圖)됨으로써, 수신국 A에 의해 특별한 기준 데이터 패킷의 수신한 시간인 제1 도착시간 tA과 수신국 B에 의해 특별한 기준 데이터 패킷을 수신한 시간인 해당 제2 도착시간 tB를 상관시키는 단계;
    선형 다항식 tB = mtA + b를 연산하는 단계;
    기울기 m은 수신국들 A와 B의 내부의 클럭들의 주파수차의 함수이고, y절편 b는 제1 및 제2수신국들의 내부 클럭들의 상이한 시작 시간들에 기인한 오프셋이며,
    상기 비컨과 상기 제1 및 제2 수신국들 사이에 거리상 알려진 차이를 이용하여 상기 내부 클럭들에 대한 바이어스(bias)를 결정하는 단계;
    상기 기울기m와, 상기 오프셋 b 및 상기 바이어스에 따라 제1 쌍의 상기 수신국들 A 및 B의 내부 클럭들을 동기화하는 단계; 및
    상기 위치 시스템에서의 제2 쌍의 수신국들에 대하여 상기 단계들을 반복하여주는 단계를 포함하는, 위치추적 시스템의 수신국의 내부클럭을 동기화하는 방법.
  15. 삭제
  16. 제14항에 있어서,
    상기 수신국들 중의 제1 수신국은 상기 수신국들 중의 제1 및 제2 쌍에 포함되는, 위치추적 시스템의 수신국의 내부클럭을 동기화하는 방법.
  17. 제14항에 있어서,
    상기 제1 쌍의 수신국들은 제1 및 제2 수신국들을 포함하고, 상기 제2 쌍의 수신국들은 제3 및 제4 수신국들을 포함하는, 위치추적 시스템의 수신국의 내부클럭을 동기화하는 방법.
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