KR100925404B1 - 3D-position tracking system and apparatus, and method thereof - Google Patents

Abstract

The present invention relates to a location tracking system, a location tracking device and a method thereof. The position tracking device may include: a GPS signal receiver for detecting position information by receiving a GPS signal from a GPS satellite; an acceleration sensor for detecting information about a movement amount and a moving direction at the time of movement; the information detected by the GPS signal receiver and the acceleration sensor; It includes a control unit for detecting the current position information by using the communication interface unit for transmitting and receiving data with the outside. The controller determines whether the data from the GPS signal receiver is valid. If the data received from the GPS signal receiver is valid, the controller determines the position information detected from the GPS signal as the current position information. If the data is not valid, the current position information is calculated using information on the amount of movement and the direction of movement detected by the acceleration sensor.

According to the present invention, not only the location can be detected in the shadow area where GPS signals are not well received, but also the highly accurate three-dimensional location tracking is possible by using an altitude sensor.

MILES, GPS, acceleration sensor, altitude sensor, location tracking

Description

Location tracking system, location tracking system and location tracking method {3D-position tracking system and apparatus, and method}

1 is a block diagram showing the overall location tracking system according to a preferred embodiment of the present invention.

Figure 2 is a block diagram schematically showing the internal configuration of the location tracking device used in the location tracking system according to a preferred embodiment of the present invention.

3 is a flowchart sequentially illustrating an operation of a controller of a location tracking apparatus according to an exemplary embodiment of the present invention.

4 is a block diagram showing the overall location tracking system according to another embodiment of the present invention.

5 is a flowchart sequentially illustrating an operation of a controller of a location tracking apparatus according to the location tracking system of FIG. 4.

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

30: location tracking system

31,... , 35: position tracking device

40: central control system

70: location information transmitter

300: control unit

310: GPS signal receiver

320: altitude sensor

330: acceleration sensor

340: communication interface unit

The present invention relates to a location tracking system, an apparatus, and a method thereof, and more particularly, a location tracking capable of determining a current location of a user in all areas including a shaded area where GPS signals are not easily received using a GPS signal receiver and an acceleration sensor. A device and method thereof, and a location tracking system using the location tracking device.

In recent years, the military has been conducting realistic simulated combat training by introducing multiple integrated laser engagement systems to soldiers' training. Multi-integrated Laser Engagement System is equipped with a small arm transmitter (M16, K2) such as a rifle or machine gun barrel that fires a laser instead of a bullet (Small Arms Transmitter). By firing, it is a training method to determine whether the hit. This multi-integrated laser engagement system is designed to improve the combat capability of individual soldiers and the commanders' command, since it is possible to engage in enemy training without actual killing.

The aforementioned multi-integrated laser engagement system is composed of a firearm simulation device equipped with a launcher for firing a laser in place of a live bullet, and a personal detector and a vehicle detector for detecting a laser emitted from the firearm simulation devices.

The above-described personal detector and a vehicle detector are provided with a GPS signal receiver to detect their current position using the GPS signal received by the GPS signal receiver. Meanwhile, the current position information of each of the sensors thus detected is continuously transmitted to the central control system, so that the central control system can grasp the current position of each sensor.

However, in the simulated warfare system using the above-described method, when a soldier equipped with a personal sensor or a vehicle equipped with a vehicle sensor does not receive GPS signals or enters a poor shaded area (for example, the simulated warfare system is used for street fighting or In the case of underground bunkers or caves), GPS signals cannot be received, and thus, the current location cannot be determined and the location tracking is impossible.

In this regard, the present applicant intends to propose a method for tracking a location even in a shaded area in which a GPS signal is not received in a simulation engagement system.

An object of the present invention for solving the above problems is to calculate the three-dimensional position from the information input from the acceleration sensor in the shaded area where the GPS signal is not received using the GPS signal and the acceleration sensor, to accurately determine the current position in all areas It is to provide a location tracking device and a method thereof.

Another object of the present invention is to provide a position tracking system that can always track the position of soldiers or individuals equipped with a personal sensor by applying the above-described position tracking device to the personal sensor of the simulated engagement system.

Position tracking device according to a feature of the present invention for achieving the above technical problem,

A GPS signal receiver for receiving GPS signals from GPS satellites and detecting three-dimensional position information;

An acceleration sensor that detects information about the amount of movement and the direction of movement at the time of movement,

A controller for detecting current location information by using information detected from the GPS signal receiver and the acceleration sensor;

It is provided with a communication interface for transmitting and receiving data with the outside,

The controller determines whether the data from the GPS signal receiver is valid. If the data from the GPS signal receiver is valid, the controller determines the position information detected by the GPS signal receiver as current position information. If the data is not valid, the current position information is calculated using the information on the amount of movement and the direction of movement detected from the acceleration sensor.

The position tracking device having the above-mentioned characteristics further includes an altitude sensor, and the altitude information of the three-dimensional position information detected by the GPS signal receiver is measured by the altitude sensor and corrected to a more accurate altitude value, thereby making it an accurate three-dimensional position. It is desirable to provide information.

In the position tracking device having a GPS signal receiving unit, an acceleration sensor and a control unit according to another aspect of the present invention, the method for tracking the position of the control unit,

(a) initializing the reference position and the reference movement direction using the GPS signals received by the GPS signal receiver;

(b) detecting first location information which is current location information from a GPS signal received by a GPS signal receiving unit, and detecting a first moving direction by using the reference location and the current location information;

(c) receiving information of the movement amount from the reference position and the movement angle for the reference movement direction from the acceleration sensor, calculating the second position information by adding the movement amounts from the reference position, and calculating the movement angle from the reference movement direction. Summing to calculate a second direction of movement,

(d) determining whether a signal received from the GPS signal receiver is valid;

(e) If the signal received from the GPS signal receiving unit is valid, the first position information and the information about the first movement direction are transmitted to the outside, and the reference position and the reference movement direction are transmitted to the first position information and the Resetting to the first direction of movement, and

(f) If the signal received from the GPS signal receiver is not valid, the second position information and the information about the second movement direction are transmitted to the outside, and the reference position and the reference movement direction are transmitted to the second position information. And resetting in the second moving direction,

Continuously repeating steps (b) to (f) to continuously detect the correct three-dimensional position and transmit it to an external central control system.

Position tracking system according to another feature of the present invention,

A location tracking device that acquires its current 3D location information and transmits it to the outside, and a central control system that receives and monitors location information from the location tracking device,

The location tracking device

A GPS signal receiver for receiving GPS signals from GPS satellites and detecting three-dimensional position information;

An acceleration sensor that detects information about the amount of movement and the direction of movement during movement, and

And a controller for detecting current position information using the information detected from the GPS signal receiver and the acceleration sensor, wherein the controller determines whether data from the GPS signal receiver is valid and, if so, data from the GPS signal receiver. If is valid, the position information detected by the GPS signal receiver is determined as the current three-dimensional position information, and if the data from the GPS signal receiver is invalid, the information on the amount of movement and the direction of movement detected by the acceleration sensor is used. Calculates and provides current 3D location information.

The location tracking system having the above-mentioned characteristics further includes a plurality of location information transmitters that periodically transmit their current location information, and the location tracking device receives the location information when the location information is received from the location information transmitter. Determine the position information from the transmitter as the current three-dimensional position information and provide it to the central control system,

The location information transmitter, a location information input unit for receiving current location information from the outside, a data storage unit for storing the current location information input through the location information input unit, a communication interface for transmitting and receiving data with the outside, the location information input It is preferable that the control unit is configured to store the position information input through the unit in the data storage unit and periodically broadcast the position information through the communication interface unit.

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

1 is a block diagram showing the overall location tracking system 30 according to a preferred embodiment of the present invention. Referring to FIG. 1, the position tracking system 30 includes position tracking devices 31,..., 35, and a central control system 40 mounted on each individual or moving object. The location tracking devices wirelessly transmit information about their current location and direction of travel to the central control system in real time, and the central control system 40 uses information received from each location tracking device to determine the location of the device. Know your current location.

2 is a block diagram schematically showing the internal configuration of the location tracking device 31 used in the location tracking system 30 according to a preferred embodiment of the present invention. Referring to FIG. 2, the location tracking apparatus 31 according to the present invention includes a controller 300, a GPS signal receiver 310, an altitude sensor 320, an acceleration sensor 330, and a communication interface 340. .

The controller 300 controls the overall operation of the apparatus, which will be described later.

The GPS signal receiver 310 receives a GPS signal from GPS satellites, detects current location information including latitude and longitude from the received signal, and provides the GPS signal to the controller.

The altitude sensor 320 detects a current altitude and provides it to the controller.

The controller receives latitude, longitude, and altitude information of the current location from the GPS signal receiver 310 to secure 3D location information.

Although the GPS signal receiver receives latitude, longitude, and altitude information from the GPS satellites, the altitude information measured by the GPS satellites is inaccurate. Accordingly, the position tracking apparatus according to the preferred embodiment of the present invention further obtains altitude information using the altitude sensor 320, and converts the altitude information obtained by the GPS signal receiver into altitude information obtained by the altitude sensor. By correcting, it is possible to obtain more accurate three-dimensional position information.

The acceleration sensor 330 detects and provides a movement amount from a reference position of a previous time and a moving angle with respect to a reference movement direction of a previous time when the device is moved. Here, the reference position and the reference movement direction represent the position and the movement direction of the previous time. Therefore, the current position is a position moved by the movement amount from the reference position which is the position of the previous time, and the current movement direction is a position moved by the movement angle from the reference movement direction which is the movement direction of the previous time. Meanwhile, the controller of the position tracking apparatus according to the preferred embodiment of the present invention continuously updates the reference position and the reference movement direction in order to calculate the current position information by using the movement amount and the movement angle detected from the acceleration sensor.

The communication interface unit 340 transmits current 3D position information and current movement direction information to an external central control system under the control of the controller. The position tracking device according to the preferred embodiment of the present invention preferably communicates wirelessly with the central control system, and the communication interface unit is preferably a wireless communication module capable of transmitting and receiving data wirelessly with the central control system.

Hereinafter, an operation of the control unit 300 of the above-described location tracking device 31 will be described in detail with reference to FIG. 3. 3 is a flowchart sequentially illustrating an operation of the control unit 300 of the location tracking device 31.

Referring to FIG. 3, first, when power is applied, it is checked whether the GPS signal receiver and the acceleration sensor operate normally (operation 500). If any one of the GPS signal receiver and the acceleration sensor does not operate normally, start again after checking their status.

Next, the reference position and the reference movement direction are initialized using the signals input to the GPS signal receiver (step 510). The process of initializing the reference position and the reference movement direction is as follows. After setting the reference variable t to '0', the current position information is received from the GPS signal receiver, and the reference movement direction is initialized using the received current position information and the position information of the previous time, and the reference position is Initialize with location information. On the other hand, the reference position is used as position information of a previous time in the continuous reference movement direction initialization process. By repeatedly performing this process a predetermined number of times, the reference position and the reference movement direction are correctly initialized. In this case, the reference position includes three-dimensional position information, that is, latitude, longitude, and altitude information.

Next, a signal is received from the GPS signal receiver, the first position information, which is current position information, is detected from the received GPS signal, and a first movement direction is detected using the reference position and the current position information (step 520). Here, the latitude, longitude, and altitude information may be obtained from the GPS signal receiver and used as 3D location information, and the altitude information is modified to altitude information obtained from the altitude sensor, thereby obtaining more accurate 3D location information. This may optionally be applied for optimization of the location tracking system.

Next, receiving the information of the movement amount from the reference position and the reference movement direction from the acceleration sensor, calculate the second position information by adding the movement amount from the reference position, and add the movement angle from the reference movement direction The second direction of movement is calculated (step 530).

Next, it is determined whether the signal received from the GPS signal receiver is valid (step 550). In this case, whether the signal received from the GPS signal receiver is valid may be determined in various ways. For example, one of the validity determination methods is to determine based on the number of GPS satellites that can be received through the GPS signal receiver, and in this case, the determination criteria may be determined to be valid when signal reception from five or more GPS satellites is possible. Another method of validity determination is to judge based on the signal strength obtained by processing data received from GPS satellites. In this case, the criterion can be determined to be valid when the signal strength is 50% or more. have.

If the signal received from the GPS signal receiver in step 550 is valid, after transmitting the first location information and the first moving direction to the central control system 40 (step 560), the reference position and the reference moving direction are adjusted. The first position information and the first movement direction are set again (step 570).

If the signal received from the GPS signal receiver in step 550 is not valid, after transmitting the second position information and the second direction of movement to the central control system 40 (step 580), the reference position and the reference The movement direction is set again to the second position information and the second movement direction (step 590).

Next, by returning to step 520 and repeating the above-described process, the position tracking device can continuously transmit its exact position to the central control system 40, so that the central control system 40 You will always be able to track your location.

4 is a block diagram showing the overall location tracking system according to another embodiment of the present invention. Hereinafter, a location tracking system according to another embodiment of the present invention will be described with reference to FIG. 4. Since the configuration of the location tracking device of the location tracking system according to the present embodiment is the same as that of the above-described preferred embodiment, the overlapping description is omitted.

The location tracking system according to the present embodiment is characterized in that at least one location information transmitter 70 is pre-installed in the shaded area (area 'A' of FIG. 4). Therefore, when the location tracking device of the location tracking system according to the present embodiment enters into the shadowed area or receives a poor signal from the GPS satellite, the location tracking device checks whether data from the location information transmitter of the nearby area is received. If the data from the position information transmitter is received, by setting the position data received from the position information transmitter as a reference position, it is possible to always obtain accurate position information.

The above-described location information transmitter 70 includes a location information input unit, a data storage unit, a wireless communication interface unit, and a control unit. The location information input unit is a module for receiving current location information of the location information transmitter 70 from the outside. The location information input unit may be configured as a keypad for receiving a user's key input, or may be configured to receive from the outside in a wired or wireless communication manner through a separate communication interface. The controller records the current location information input through the location information input unit in the data storage unit and then periodically transmits the location information to the proximity area through the wireless communication interface unit according to a preset communication protocol.

5 is a flowchart sequentially illustrating operations of the controller of the location tracking device of the location tracking system according to the present embodiment.

Referring to FIG. 5, steps 800 to 830 are the same as operations (steps 500 to 530) of the control unit of the location tracking apparatus according to the above-described preferred embodiment, and thus redundant descriptions thereof will be omitted. Next, it is checked whether data is received from the location information transmitter (step 840). If data is received from the location information transmitter, the 3D location information is extracted from the received data, the extracted 3D location information is transmitted to the central control system (step 842), and the extracted location information is set as the reference location. From this, the movement direction is calculated and set as the reference movement direction (step 844), and then the flow returns to step 820.

If no data is received from the location information transmitter, it is checked whether the GPS signal is valid (step 850). If the signal received from the GPS signal receiver in step 850 is valid, after transmitting the first location information and the first movement direction to the central control system (step 860), the reference position and the reference movement direction are transmitted to the first control unit. The position information and the first movement direction are set again (step 870).

If the signal received from the GPS signal receiver in step 850 is not valid, after transmitting the second location information and the second moving direction to the central control system (step 880), the reference position and the reference moving direction are changed. The second position information and the second movement direction are set again (step 890).

Next, by returning to step 820 and repeating the above process, the location tracking device can continuously transmit its exact location to the central control system so that the central control system can always track the location of the device. Will be.

Although the present invention has been described above with reference to preferred embodiments thereof, this is merely an example and is not intended to limit the present invention, and those skilled in the art do not depart from the essential characteristics of the present invention. It will be appreciated that various modifications and applications which are not illustrated above in the scope are possible. For example, in the embodiment of the present invention, the data validity determining method of the GPS signal receiver, the communication method between the location tracking device and the central control system, etc. may be variously modified to improve the overall performance of the system. And differences relating to such modifications and applications should be construed as being included in the scope of the invention as defined in the appended claims.

The location tracking device according to the present invention detects the current position using a GPS signal in an area where GPS signals can be received, and detects the current position using an acceleration sensor in a shadow area where GPS signals cannot be received. The location of the device can also be tracked in the shaded area.

In addition, the position tracking device according to the present invention is equipped with an altitude sensor to detect the altitude information along with the position information, it becomes possible to three-dimensional position tracking.

In addition, by applying the position tracking device having the above-described configuration to a personal detector, a vehicle detector, and a firearm that requires accurate positioning in a multiple integrated laser engagement system, a personal detector and / or a firearm is carried. Location tracking of an individual, a soldier, or a vehicle equipped with a vehicle detector can be performed. In particular, even if the engagement system is performed in underground bunkers, caves, street fighting, etc., where the GPS signal is not well received, highly accurate location tracking is possible.

In addition, the location tracking system according to the present invention additionally installs a location information transmitter in a shaded area and continuously transmits accurate location information in the shaded area, so that each location tracking device in the shaded area uses its acceleration sensor. In addition to grasping the current location information, by ensuring accurate location information received from the location information transmitter, it is always possible to provide accurate location information to the central control system.

Claims (10)

A GPS signal receiver which receives a GPS signal from a GPS satellite and detects location information; An acceleration sensor which detects information on the amount of movement and the direction of movement during the movement; An altitude sensor for detecting an altitude; And A controller configured to detect current location information by using information detected from the GPS signal receiver and the acceleration sensor; The control unit may determine whether the data from the GPS signal receiver is valid. If the data from the GPS signal receiver is valid, the controller determines the location information detected by the GPS signal receiver as the current location information. If the data from the GPS signal receiver is not valid, the current position information is calculated using information on the amount of movement and the direction of movement detected by the acceleration sensor, And the control unit changes altitude information of the 3D location information acquired by the GPS signal receiver into altitude information detected by the altitude sensor to provide accurate 3D location information at all times. delete According to claim 1, wherein the location tracking device further comprises a communication interface for transmitting and receiving data with an external central control system, the control unit transmits the current location information to the central control system using the communication interface. Location tracking device. In the position tracking device having a GPS signal receiving unit, an acceleration sensor, and a control unit, the method for tracking the position of the control unit includes: (a) initializing a reference position and a reference movement direction using the GPS signals received by the GPS signal receiver; (b) detecting first location information which is current location information from a GPS signal received by a GPS signal receiving unit, and detecting a first moving direction by using the reference location and the current location information; (c) receiving information of the movement amount from the reference position and the movement angle for the reference movement direction from the acceleration sensor, calculating the second position information by adding the movement amounts from the reference position, and calculating the movement angle from the reference movement direction. Summing to calculate a second direction of movement; (d) determining whether a signal received from the GPS signal receiver is valid; (e) If the signal received from the GPS signal receiver is valid, the first position information and the first direction of movement are transmitted to the outside, and the reference position and the reference direction of movement are the first position information and the first movement. Resetting to the direction; And (f) If the signal received from the GPS signal receiver is not valid, the second position information and the second direction of movement are transmitted to the outside, and the reference position and the reference direction of movement are the second position information and the first direction. Resetting in the moving direction; And repeating steps (b) to (f) to continuously provide an accurate location to the outside. In the position tracking device having a GPS signal receiving unit, an acceleration sensor, an altitude sensor, and a control unit, a method for tracking the position by the control unit includes: (a) initializing a reference position and a reference movement direction using the GPS signals received by the GPS signal receiver; (b) detecting first location information, which is current location information, from the GPS signal received by the GPS signal receiver, and changing altitude information of the first location information into altitude information by the altitude sensor, and correcting the first location information; Detecting a first movement direction by using the reference position and the modified first position information; (c) receiving information of the movement amount from the reference position and the movement angle for the reference movement direction from the acceleration sensor, calculating the second position information by adding the movement amounts from the reference position, and calculating the movement angle from the reference movement direction. Summing to calculate a second direction of movement; (d) determining whether a signal received from the GPS signal receiver is valid; (e) If the signal received from the GPS signal receiver is valid, the first position information and the first direction of movement are transmitted to the outside, and the reference position and the reference direction of movement are transmitted to the first position information and the first position. Resetting to the moving direction; And (f) If the signal received from the GPS signal receiver is not valid, the second position information and the second direction of movement are transmitted to the outside, and the reference position and the reference direction of movement are the second position information and the first direction. Resetting in the moving direction; And repeatedly performing steps (b) to (f) to continuously provide an accurate three-dimensional position to the outside. In the position tracking device having a GPS signal receiving unit, an acceleration sensor and a control unit, a method for tracking the position by the control unit, (a) initializing a reference position and a reference movement direction using the GPS signals received by the GPS signal receiver; (b) detecting first location information, which is current location information, from the GPS signal received by the GPS signal receiver, and changing altitude information of the first location information into altitude information by the altitude sensor, and correcting the first location information; Detecting a first movement direction by using the reference position and the modified first position information; (c) receiving information of the movement amount from the reference position and the movement angle for the reference movement direction from the acceleration sensor, calculating the second position information by adding the movement amounts from the reference position, and calculating the movement angle from the reference movement direction. Summing to calculate a second direction of movement; (d) If the location information is received from the external location information transmitter, the location information received from the location information transmitter is set as the reference position, the moving direction is calculated using the location information, and then set as the reference moving direction. , Repeating steps (b) and (c); (e) determining whether a signal received from the GPS signal receiver is valid; (f) If the signal received from the GPS signal receiver is valid, the first position information and the first movement direction are transmitted to the outside, and the reference position and the reference movement direction are transmitted to the first position information and the first movement. Resetting to the direction; And (g) if the signal received from the GPS signal receiver is not valid, transmitting the second position information and the second direction of movement to the outside, and transmitting the reference position and the reference direction of movement to the second position information and the first direction. Resetting in the moving direction; And repeatedly performing steps (b) to (g) to continuously provide an accurate three-dimensional position to the outside. A location tracking device for obtaining its current 3D location information and transmitting it to the outside; And And a central control system for receiving and monitoring location information from the location tracking device. The location tracking device A GPS signal receiver for receiving GPS signals from GPS satellites and detecting three-dimensional position information; An acceleration sensor which detects information on the amount of movement and the direction of movement during the movement; An altitude sensor for detecting an altitude; And A controller configured to detect current location information by using information detected from the GPS signal receiver and the acceleration sensor; The control unit may determine whether the data from the GPS signal receiver is valid, and if the data from the GPS signal receiver is valid, determine the position information detected by the GPS signal receiver as the current three-dimensional position information. If the data from the GPS signal receiver is invalid, the current three-dimensional position information is calculated using information on the amount of movement and the direction of movement detected by the acceleration sensor, And the control unit changes the altitude information among the three-dimensional position information acquired by the GPS signal receiver into altitude information detected by the altitude sensor, and provides modified three-dimensional position information. delete The system of claim 7, wherein the location tracking system further includes a plurality of location information transmitters that periodically transmit their current location information. And the location tracking device determines the location information from the location information transmitter as current three-dimensional location information and provides the location information from the location information transmitter to the central control system. 10. The method of claim 9, wherein the location information transmitter is A location information input unit for receiving current location information from the outside; A data storage unit for storing current location information inputted through the location information input unit; Communication interface unit for transmitting and receiving data with the outside; A controller which stores location information input through the location information input unit, and periodically broadcasts the location information through the communication interface; Position tracking system, characterized in that consisting of.

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