KR100882590B1 - Device and method for measuring location - Google Patents

Abstract

The present invention relates to an apparatus and method for determining a position of a target, the fixed sensor for transmitting a first signal to the target and the movement sensor; And a movement sensor which receives a first signal from the fixed sensor and transmits a second signal to the target, thereby processing a signal received from the movement sensor as well as the fixed sensor. Accurately determine and predict the position, and the robot can actively track the position of the target to cope with changes in the sensor network environment.

Motion sensor, RSSI, TDOA

Description

DEVICE AND METHOD FOR MEASURING LOCATION}

1 is a view schematically showing the configuration and operation of the first embodiment of the position determining apparatus according to the present invention,

2 is a view schematically showing the configuration and operation of the first embodiment of the position determining apparatus according to the present invention,

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

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

10: first fixed sensor 20: second fixed sensor

30: third fixed sensor 40: fourth fixed sensor

50: mobile robot 53: the second tag

56: moving sensor 60: the first tag

The present invention relates to an apparatus and method for determining a location, and more particularly, to a method for tracking a location of a tag attached to an object or a person by a mobile robot in a wireless sensor network environment.

In a conventional wireless sensor network environment, the position of an object is measured using the measured radio signal strength. In addition, a tag is attached to the object and the location of the tag is measured or determined by tracking the location of the tag, and the object to be measured is an indoor intelligent robot or the like.

On the basis of sensor networks, various methods have been used for calculating indoor location.

First, there is an angle of arrival (AOA) method, which receives a signal transmitted from a tag at a reference node and measures the angle of incidence of the received signal, or conversely receives a signal transmitted from a reference node to a tag at a tag and receives The position of the tag is determined by applying the direction of incidence of the signal to triangulation. In addition, there is a time of arrival (TOA) method, which measures a received time of a signal and calculates a position by using a time difference of the measured signal. In addition, the time difference of arrival (TDOA) method calculates a position using a difference in the reception time of a signal received by two or more reference sensors. In addition, the RSSI (received signal strength index) method calculates the location using the difference in the strength of the signal reached in free space, there is a hybrid method that combines the above-described methods.

However, the above-described position tracking or determination method of the conventional robot or the like has the following problems.

The object location tracking method based on the RSSI method is applied to network structure design, robot autonomous driving technology, sensor interface and indoor navigation system, signal processing technology for measuring radio wave strength. However, there are only data on a technique using a magnet for positioning a mobile robot, and there is no method for estimating the position of an object. In addition, there is no technique for generating a model of the environment in real time using the strength of radio waves in a wireless sensor network environment.

In addition, the conventional sensor network based positioning system described above simply calculates the position of the tag using only the received signal strength and fixed parameters of the signal transmitted from the reference sensors installed at the fixed position. The robot approaches the calculated tag position and performs the service. Therefore, when relying on the existing method, the robot may not be able to actively estimate the position of the object and may not actively cope with changes in the sensor network environment.

The present invention is to solve the above problems, an object of the present invention is to provide a position determination method for determining the position of the tag by processing the signal received from the mobile sensor as well as the fixed sensor.

It is still another object of the present invention to provide a position determination method in which a robot actively tracks the position of a target to actively cope with changes in the sensor network environment.

In order to achieve the above object, the present invention provides a fixed sensor for transmitting the first signal to the target and the movement sensor; And a movement sensor receiving a first signal from the fixed sensor and transmitting a second signal to the target.

Here, the fixed sensor is provided with at least three, and further includes a first tag provided on the target and a second tag moving together with the movement sensor, it is possible to track the location of the target based on the RSSI.

In addition, the fixed sensor is provided with at least two, and further includes a first tag provided on the target and a second tag moving together with the movement sensor, it is possible to track the location of the target using the TDOA.

The position determining apparatus may further include a mobile robot provided with a movement sensor and the second tag.

According to another embodiment of the present invention, the method comprises the steps of: obtaining a position of a movement sensor; Obtaining an expected position of a target from the position of the movement sensor; Comparing the expected position and the actual position of the target, to provide a position determination method comprising the step of estimating the movement of the target.

Here, at least three fixed sensors are provided, and the step of obtaining the position of the movement sensor includes receiving first signals transmitted from the fixed sensors at a second tag provided in the movement sensor, Can be obtained from size. In addition, the fixed sensor is provided with at least two, the step of obtaining the position of the movement sensor, by receiving the first signals transmitted from the fixed sensors in the second tag provided in the movement sensor, Can be obtained from the arrival time.

And, in obtaining the expected position of the target, from the position of the movement sensor, it is possible to obtain a signal model of the fixed sensor.

Here, at least three fixed sensors may be provided, and the actual position may be obtained from the magnitude of the second signals by receiving the second signals transmitted from the fixed sensor at the target. In addition, at least two fixed sensors are provided, and the actual position may be obtained from the arrival time of the second signals by receiving the second signals transmitted from the fixed sensor at the target.

Hereinafter, with reference to the accompanying drawings, preferred embodiments of the present invention that can specifically realize the above object will be described.

The same components as in the prior art are given the same names and the same reference numerals for convenience of description, and detailed description thereof will be omitted.

1 is a view schematically showing the configuration and operation of the first embodiment of the position determining apparatus according to the present invention. Referring to FIG. 1, a first embodiment of a position determining apparatus according to the present invention will be described.

The position determining device according to the present embodiment includes a first fixed sensor 10, a second fixed sensor 20, a third fixed sensor 30, a fourth fixed sensor 40, and a mobile robot 50. The second tag 53, the movement sensor 56, and the first tag 60 are included. In addition, the present exemplary embodiment is characterized by attaching the mobile reference sensor 56 and the second tag 53 to the mobile robot 50 to accurately model the propagation environment in real time to increase the positional accuracy of the calculated target. It is done.

The fixed sensor transmits radio waves to the second tag 53 and the first tag 60 mounted on the mobile robot. In addition, the movement sensor 56 is mounted on the mobile robot 50 to transmit radio waves to the second tag 60 to improve position accuracy and to improve reliability of the determined position information. The second tag 53 is attached to the mobile robot 50 to which the movement sensor 56 is mounted. The role of the second tag 53 is to receive the radio wave transmitted from the fixed sensor, measure the intensity of the radio wave, and correct the radio wave environment model in real time. That is, the distance between the first tag 60 and the fixed sensor is obtained by using the known position of the second tag 53 and the known position of the fixed sensor, and then the environmental model constants A and a are described in real time as described below. The values are corrected and used to calculate the position of the first tag 60.

In the present embodiment, the mobile tag 53 (second tag) may receive radio waves from the transmitters (first to fourth fixed sensors) and determine its position by measuring the strength of the received signal. In the present embodiment, a method of using the radio wave strength is referred to as a received signal strength index (RSSI) for convenience. The second tag 53 calculates its position by triangulation using the propagation intensity from three or more fixed reference sensors. Four fixed reference sensors are shown in this embodiment. In addition, the mobile robot 50 performs a desired service by tracking the location of the first tag 60 determined by the aforementioned RSSI method. That is, in the present invention, the mobile robot 50 tracks the target and determines its position.

Specifically, it is as follows.

In FIG. 1, the mobile robot 56 is added in addition to the four fixed sensors for positioning the first tag 60, and the second tag 53 having the same performance as the first tag 60 is a mobile robot. 50 is provided. The second tag 60 receives radio waves 1 to 4 from the first to fourth fixed sensors and receives radio wave 5 from the movement sensor 56. The second tag 53 receives radio waves 1 to 4 from the fixed first to fourth fixed sensors, because the position of the movement sensor 56 is the same as that of the mobile robot 50. This can be easily determined by connecting an electrical interface to the robot, thus the position of the movement sensor 56 is precisely determined in real time, where the position of the first tag 60 is four fixed sensors and one reference sensor. The information from can be used to estimate more precisely.

Using the above-described apparatus, since the movement sensor 56 is provided in the mobile robot 50 that tracks the first tag 60, the closer the mobile robot 50 approaches the first tag 60, the first is the first sensor 60. The tag 60 receives a strong intensity radio signal from the movement sensor 56 mounted on the mobile robot 50. At this time, the first tag 60 can easily be sure that the mobile robot 50 is in close proximity, and thus the position of the first tag 60 can be reliably determined. In addition, in the positioning system of the thing based on the RSSI method, Equation 1 is required as a model for the change of the propagation signal strength according to the distance.

Where A is a proportionality constant and a represents an exponent indicating the decay of intensity, and S ₀ , S _r represent the strength of the transmitted and received signals, respectively. In general, since these constants A and a change with environment and time, it is very difficult to find the exact value, and even if the initial value is measured at an early stage, an error occurs over time. Therefore, it is necessary to overcome such a problem, in FIG. 1, the second tags 53 may be mounted on the mobile robot 50 to calculate the constants A and a in real time.

Next, the specific method regarding a radio wave environment model is demonstrated.

The basic idea is to know the position of the mobile robot 50 and calculate the distance information between the fixed sensor and the tag and determine A and a inversely based on that information. Table 1 below shows the strength of radio waves transmitted from N fixed sensors, the strength of radio waves received from tags, and the distance between transceivers.

Transmitter number Outgoing signal strength Received signal strength Street #One S ₀ ¹ S ¹ r ₁ #2 S ₀ ² S ² r ₂ ... ... ... ... #N S ₀ ³ S ^N r _N

And, the following equation can be easily obtained through Equation 1 and Table 1.

Then, taking the logarithm function in Equations 2 to 4, the following relational expression is obtained.

Then, if the constant A is eliminated, the following equation is obtained.

In the above process, N-1 a values can be obtained and the desired a values can be obtained by averaging these values. However, there is a disadvantage in that it does not cancel the effect of noise generated during the observation. Therefore, in this embodiment, in order to receive the radio waves from the N reference sensors in order to minimize the influence of noise, the value of a is determined by the combination of all these sensors. For example, if there are four sensors, (Sensor # 1-Sensor # 2), (Sensor # 1-Sensor # 3), (Sensor # 1-Sensor # 4), (Sensor # 2-Sensor # 3), Determine the value of a using 6 combinations of (Sensor # 2-Sensor # 3) and (Sensor # 3-Sensor # 4). In general, when using N sensors, a combination of N (N-1) / 2 is possible. Therefore, the following N (N-1) / 2 generalized equations can be used.

Therefore, N (N-1) / 2 as are obtained from the equations (9) to (14), and then averaged to obtain a constant a. Through the above-described process, the effects of noise cancel each other and obtain a value close to a true value.

Subsequently, the determined a is substituted into Equations (2) to (4) to obtain A from each equation, and then these N equations are also averaged to finally obtain A.

2 is a view schematically showing the configuration and operation of the first embodiment of the position determining apparatus according to the present invention. The configuration and operation of the first embodiment of the position determining apparatus according to the present invention will be described with reference to FIG.

The position determining apparatus according to the present embodiment includes a first fixed sensor 10 and a second fixed sensor 20, a mobile robot 50, a second tag 53, a movement sensor 56, and a first. Tag 60. Each function is as described above in principle. However, the present embodiment is not an RSSI-based method, but tracks and determines the position of a target by measuring the arrival time of a signal transmitted from a sensor. Here, in the case of the time of arrival (TOA) method of calculating a position by calculating the arrival time of the radio wave, it is necessary to know the time at which the radio wave is transmitted from the reference sensor. In general, however, it is not easy to know the radio transmission time, and the uncertainly measured transmission time information causes a lot of errors.

In order to overcome the foregoing, in this embodiment, a time difference of arrival (TDOA) method using a time difference between signals arriving from two or more fixed reference sensors is used. However, the TDOA method requires time synchronization between reference sensors, and for synchronization, it is necessary to know the difference in signal transmission time between two sensors on a reference time axis. As an example, the case where TDOA is used by calculating the arrival time of the radio wave using the ultra wide band (UWB) will be described. Since the UWB signal has a pulse shape, the receiver detects the pulse signal and detects the reception time.

In this case, it is assumed that the pulse signal is transmitted to T1 at a reference time coordinate axis in the first fixed sensor 10, and the pulse signal is transmitted to T2 at the same time coordinate axis in the second fixed sensor 20. At this time, in order to use TDOA, it is necessary to know the difference T1-T2 between two times. In FIG. 2, the second tag 52 receives a pulse signal from the first fixed sensor 10 at T1 in the time coordinate axis of the second tag 53, and receives the pulse signal from the second fixed sensor 20 at the same time. Receive to T2 in the coordinate axis. At this time, since the position of the mobile robot 50 and the positions of the first and second fixed sensors 10 and 20 are known, the time at which the pulse is transmitted by the first fixed sensor 10 can be calculated in reverse. Assume that the time is T1 'in the time coordinate axis of the second tag 53.

Similarly, when it is possible to know when the pulse is transmitted from the second fixed sensor 20 and assumes that the time is T2 'in the time coordinate axis of the second tag 53, the first fixed sensor 10 and the first fixed sensor 10 are determined. The difference in pulse generation time point between the two fixed sensors 20 is T1'-T2 '. Therefore, in the first tag 60, the time difference t1-t2 at which the same pulse arrives can be seen as shown in the figure, and the transmission time difference T1 '-T2' obtained above can be known, so that the first tag ( 60) can be calculated.

Here, the more the number of fixed sensors, the better the performance, but when given the required performance in terms of the operation of the system, by determining the number of reference sensors N appropriately to adjust the required performance using the minimum sensor Can be achieved. This reference sensor number determination is environment dependent and can be determined experimentally or can be determined analytically by substituting the noise model into the formula given by Equations (9)-(14).

3 is a flowchart of an embodiment of a position determination method according to the present invention. An embodiment of a position determination method according to the present invention will be described with reference to FIG. 3.

This embodiment is a method of predicting or determining the position of a target from the above-described position determining apparatus. First, the position of the movement sensor is obtained (S310). Here, the position of the mobile sensor is determined by receiving a signal transmitted from the fixed sensor by the second tag provided in the mobile robot. In addition, the determination method is performed by the TDOA or RSSI method as described above. Subsequently, the position of the target is obtained based on the position of the movement sensor (S320). Here, the target may be an object such as a robot, but may be a person, a pet, or other object to which the first tag is attached. At this time, the step of estimating the position of the target, is obtained with a propagation model using the signals received in the S310. That is, the calculation device provided in the mobile robot calculates this, or calculates after receiving a signal from the robot server.

The actual position of the target is then obtained. The actual position of the target is determined by processing the signal transmitted from the fixed sensor. In addition, two or three or more fixed sensors should be provided for accurate position determination as described above. Then, the expected position and the actual position of the target is compared (S330). That is, by comparing the position predicted by the radio wave model with the actual position, an error, etc. of an expected position of the radio wave model can be obtained and corrected. Subsequently, the movement of the target is predicted again according to the modified model (S340).

As described above, the location of the moving object is determined while monitoring the propagation environment in real time based on the TDOA method using the RSSI method or the arrival time of the signal using the radio signal strength. At this time, not only the fixed sensor but also the sensor installed in the mobile robot not only improves the reliability and accuracy of the determined position, but also predicts the position of the target.

The present invention is not limited to the above-described embodiment, and as can be seen by the appended claims, such modifications are included within the scope of the present invention even if they can be modified by those skilled in the art. .

The effects of the position determining apparatus and method according to the present invention described above are as follows.

First, the signal received from the mobile sensor as well as the fixed sensor can be processed to accurately determine and predict the position of the target.

Second, the robot actively tracks the position of the target and actively copes with changes in the sensor network environment.

Claims (10)

delete A fixed sensor configured to transmit and receive a first signal to and from the target and the movement sensor; And A mobile sensor for transmitting and receiving a first signal from the fixed sensor and transmitting and receiving a second signal to and from the target; The fixed sensor is provided with at least two, and further comprises a first tag provided on the target and a second tag moving with the movement sensor, the position determination, characterized in that tracking the position of the target based on the RSSI Device. A fixed sensor configured to transmit and receive a first signal to and from the target and the movement sensor; And A mobile sensor for transmitting and receiving a first signal from the fixed sensor and transmitting and receiving a second signal to and from the target; The fixed sensor is provided with at least two, and further comprises a first tag provided on the target and a second tag moving together with the movement sensor, the position determination, characterized in that to track the position of the target using the TDOA Device. The method of claim 2 or 3, Positioning device further comprises a mobile robot provided with the movement sensor and the second tag. Obtaining a position of the movement sensor; Obtaining an expected position of a target from the position of the movement sensor; And comparing the expected position with the actual position of the target to predict the movement of the target. The method of claim 5, wherein The fixed sensor is provided with at least three, The determining of the position of the movement sensor may include obtaining first signals transmitted from the fixed sensors from a second tag provided in the movement sensor and obtaining the first signals from the magnitudes of the first signals. The method of claim 5, wherein the step of obtaining the expected position of the target, And a signal model of the fixed sensor is obtained from the position of the moving sensor. The method of claim 5, wherein The fixed sensor is provided with at least three, And the actual position is obtained from the magnitude of the second signals by receiving at the target second signals transmitted from the fixed sensor. The method of claim 5, wherein the fixed sensor is provided with at least two, The determining of the position of the movement sensor may include obtaining first signals transmitted from the fixed sensors from a second tag provided in the movement sensor and obtaining the first signals from the arrival times of the first signals. . The method of claim 5, wherein the fixed sensor is provided with at least two, And the actual position is obtained from the arrival time of the second signals by receiving at the target second signals transmitted from the fixed sensor.

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