KR100990336B1 - Method, Apparatus And Computer-Readable Recording Medium with Program for Calculating Location Information - Google Patents

Abstract

The present invention relates to a method, an apparatus and a computer readable recording medium for calculating position information.

The present invention includes a node interworking unit for receiving location information from neighboring nodes of the target node for measuring the position; A distance information calculator configured to calculate distance information between the target node and the neighboring node based on the location information; And a position predictor for extracting three neighboring nodes closest to the target node from the distance information, and generating position prediction data predicting the position of the target node based on the position information of the neighboring node. An apparatus for calculating position information is provided.

According to the present invention, there is provided a kind of location recognition algorithm that can increase the accuracy of the location calculation of the target node while reducing the complexity of the location calculation, there is an effect that can improve the accuracy of the location information calculation of the target node.

Location, output, forecast, distance information

Description

Method, Apparatus and Computer-Readable Recording Medium with Program for Calculating Location Information}

The present invention relates to a method, an apparatus and a computer readable recording medium for calculating position information. More specifically, by receiving the position information from the neighboring node of the target node to measure the position, and generating the position prediction data predicted the position of the target node with improved trilateration, the complexity of the position calculation while reducing the complexity of the position node It provides a kind of location recognition algorithm to increase the accuracy of the position calculation, and relates to a method, an apparatus and a computer-readable recording medium for calculating the position information to improve the accuracy of the position information calculation of the target node .

In general, a location based service (LBS) refers to a service for identifying a location of a target node to measure a location and providing additional information related to the identified location.

Location-based services can be applied to a variety of areas, including rescue requests, response to crime reports, geographic information systems (GIS) for providing information on neighboring areas, traffic information, vehicle navigation and logistics control, and customer relationship management (CRM). Can be used.

The location-based service checks the location of the target node based on the global positioning system (GPS) as a method of determining the location of the target node and then measures the location of the target node using navigation data, which is a GPS measurement. Methods, methods using probabilistic calculations, methods using triangulation, or methods using trilateration.

The method of checking the position of the target node based on GPS has a disadvantage in that a GPS module capable of receiving a GPS radio signal is required. In the case of a stochastic method of acquiring position information by using a previously distributed sensor. The positional accuracy of each sensor can be increased, but the disadvantage is that the load is increased due to a large amount of calculation in the device for calculating the positional information. In addition, the most common trilateration method has a disadvantage in that the positional accuracy is lower than the probabilistic calculation method.

In order to solve the above-mentioned problems, the present invention receives location information from neighboring nodes of a target node to measure a location, and generates location prediction data predicting the location of the target node with improved trilateration, thereby calculating the complexity of the location calculation. It provides a kind of location recognition algorithm that can increase the accuracy of location calculation of target node while lowering, and can be read by method, device and computer for calculating location information that can improve the accuracy of location information calculation of target node. The main purpose is to provide a recording medium.

The present invention to achieve the above object is a node interlocking unit for receiving location information from the surrounding nodes of the target node for measuring the position; A distance information calculator configured to calculate distance information between the target node and the neighboring node based on the location information; And a position predictor for extracting three neighboring nodes closest to the target node from the distance information, and generating position prediction data predicting the position of the target node based on the position information of the neighboring node. An apparatus for calculating position information is provided.

In addition, according to another object of the present invention, the position information receiving step of receiving position information from the surrounding nodes of the target node for measuring the position; Calculating distance information between the target node and the neighboring node based on the position information; And generating position prediction data for extracting three neighboring nodes closest to the target node among the distance information, and generating position prediction data predicting the position of the target node based on the position information of the neighboring node. It provides a method for calculating the position information, characterized in that.

Another object of the present invention is to provide a computer-readable recording medium recorded with a program for executing a method for calculating position information as described above.

As described above, according to the present invention, the positional complexity is calculated by receiving position information from neighboring nodes of the target node whose position is to be measured, and generating position prediction data predicting the position of the target node with improved trilateration. It provides a kind of location recognition algorithm that can increase the accuracy of the location calculation of the target node while lowering, and has the effect of improving the accuracy of the location information calculation of the target node.

Hereinafter, some embodiments of the present invention will be described in detail through exemplary drawings. In adding reference numerals to the components of each drawing, it should be noted that the same reference numerals are assigned to the same components as much as possible even though they are shown in different drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

In addition, in describing the component of this invention, terms, such as 1st, 2nd, A, B, (a), (b), can be used. These terms are only for distinguishing the components from other components, and the nature, order or order of the components are not limited by the terms. If a component is described as being "connected", "coupled" or "connected" to another component, that component may be directly connected to or connected to that other component, but another component may be It is to be understood that the components may be "connected", "coupled" or "connected".

1 is a block diagram schematically showing a position information calculating apparatus according to the present embodiment.

The position information calculating apparatus 110 according to the present embodiment includes a node interlocking unit 112, a distance information calculating unit 114, and a position predicting unit 116.

In the present exemplary embodiment, the location information calculating apparatus 110 includes only the node interworking unit 112, the distance information calculating unit 114, and the location predicting unit 116. As just described by way of example, those skilled in the art to which the present invention pertains various modifications to the components included in the position information calculating device 110 within the scope not departing from the essential characteristics of the present embodiment It will be applicable to the modification.

The node interworking unit 112 performs a function of receiving location information from neighboring nodes of the target node for measuring a location.

Here, the peripheral node refers to a kind of device having a sensor for measuring or generating location information, and the location information may be a kind of data or coordinate value indicating a specific location.

The distance information calculator 114 calculates distance information between the target node and the neighboring node based on the location information received from the node interworking unit 112.

The position predicting unit 116 extracts three neighboring nodes closest to the target node from the distance information, and generates position prediction data predicting the position of the target node based on the positional information of the neighboring node.

The position predictor 116 generates three circles in which distance information with respect to the target node is set as a radius based on the respective position information of three neighboring nodes. Extract the intersection point of two circles of the circle, create a triangle that is combined with three intersection points of the two circles, extract the minimum triangle with the smallest circumference length among the triangles, and calculate the center point of the minimum triangle. The center point is recognized as position prediction data.

The position predictor 116 extracts six intersections as intersections of two circles.

The position predictor 116 performs a function of generating eight triangles as triangles that are combined into three intersections of six intersections.

If there are intersections for three circles, the position predictor 116 recognizes the intersections of the three circles as position prediction data.

2 is a flowchart for explaining a method for calculating position information according to the present embodiment.

The location calculator 110 receives location information from neighboring nodes of the target node for measuring a location (S210).

The location calculator 110 calculates distance information between the target node and the neighboring node based on the location information received from the neighboring node (S220).

The location calculating device 110 extracts three neighboring nodes closest to the target node among the distance information (S230).

The position calculating apparatus 110 generates position prediction data predicting the position of the target node based on the position information of the proximity node (S240).

The position calculation device 110 recognizes the position prediction data as the position of the target node (S250).

If there is a request for the location of the target node, the location calculating device 110 transmits location prediction data (S260).

In FIG. 2, the position calculating device 110 sequentially executes steps S210 to S260, but this is merely illustrative of the technical idea of the present embodiment and is commonly known in the art. If the person having the present invention does not depart from the essential characteristics of the present embodiment, the position calculation device 110 may be executed by changing the order described in FIG. 2 or variously executing one or more steps of steps S210 to S260 in parallel. And since it will be applicable to modification, Figure 2 is not limited to the time series order.

3 is a flowchart illustrating a method of generating position prediction data according to the present embodiment.

The position calculating apparatus 110 receives position information from neighboring nodes of the target node for measuring a position, calculates distance information between the target node and the neighboring node based on the received position information, and then calculates the target node among the calculated distance information. Extract the three nearest nodes with.

The position calculating device 110 generates three circles in which distance information with respect to the target node is set as a radius based on respective position information of three neighboring nodes (S310).

The position calculating device 110 is able to extract six intersections as intersections of two circles.

If there is no intersection point for three circles, the position calculating device 110 extracts an intersection point for two circles among three circles (S320).

The position calculating device 110 generates a triangle that is combined into three intersection points of the two circles (S330).

The position calculating device 110 generates eight triangles by a triangle that is combined into three of six intersections.

The position calculating device 110 extracts the smallest triangle having the smallest circumferential length among the triangles (S340).

The position calculating device 110 calculates the center point of the minimum triangle (S350).

The center point is recognized as position prediction data (S360). That is, when there are intersections of three circles, the position calculating device 110 recognizes the intersections of three circles as position prediction data.

In FIG. 3, the position calculating device 110 sequentially executes steps S310 to S360, but this is merely illustrative of the technical idea of the present embodiment, and is commonly known in the art. If the person having the present invention does not depart from the essential characteristics of the present embodiment, the position calculation device 110 may be executed by changing the order described in FIG. 3 or variously executing one or more steps of steps S310 to S360 in parallel. And since it will be applicable to modification, Figure 3 is not limited to the time series order.

As described above, the method for calculating the position information and the method for generating the position prediction data according to the present embodiment described in FIGS. 2 and 3 may be implemented in a program and recorded in a computer-readable recording medium.

A computer-readable recording medium for recording a program for implementing the method for calculating the position information and the method for generating the position prediction data according to the present embodiment may be any type of data that can be read by a computer system. It includes a recording device.

Examples of such computer-readable recording media include ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage, etc., and also implemented in the form of a carrier wave (e.g., transmission over the Internet) . The computer readable recording medium may also be distributed over a networked computer system so that computer readable code is stored and executed in a distributed manner.

Also, functional programs, codes, and code segments for implementing the present embodiment may be easily inferred by programmers in the art to which the present embodiment belongs.

4 to 8 are exemplary views for explaining the present embodiment.

FIG. 4 is a diagram illustrating a general trilateration method. As shown in FIG. 4, a node (node P) that wants to know a location finds three neighboring nodes that know a location, and displays distance information with each other. Acquire.

As shown in FIG. 4, a triangulation as shown in FIG. 4 is performed by using the distance 'r1' between the node P and the node A, the distance 'r2' between the node P and the node B, and the distance 'r3' between the node P and the node C. It is possible to predict the position of node P whose location is unknown.

However, in a real environment, the distance measured by the sensor of the neighboring node always includes an error, and thus, the position of the target node whose location is not known should be estimated in consideration of the error.

5 is an exemplary view of a general form in which three circles may appear due to the errors as described above.

As shown in FIG. 5, since the intersection of the circle does not coincide with one point, the position of the target node cannot be predicted as shown in FIG. 4.

On the other hand, a method for calculating the position of the target node by a general trilateration survey is shown in Equation 1. It is a way to calculate the center of the three overlapping circles. By calculating the points of I, II, III shown in Figure 4 it is possible to obtain the average. 6 is an exemplary diagram of an intersection of circles for obtaining coordinates of III.

That is, as in Equation 1, the coordinates of I and II can be obtained.

In addition, the position of the target node can be obtained as shown in Equation 2.

In a typical trilateration survey, the portion where the three circles overlap most is selected. This calculation assumes that the actual distance is always smaller than the measured distance. However, the measured distance may be larger or smaller than the actual distance.

FIG. 7 is an exemplary diagram for explaining a modified trilateration survey. As shown in FIG. 7, the position of the target node may be at position i), may be at position ii), or may be at another position. It is.

That is, the present embodiment proposes the following method for the modified trilateration surveying having excellent position accuracy by modifying the conventional trilateral surveying as described above. As shown in FIG. 4, the two circles have two intersections, including the middle root (when meeting at one point or not, a middle root occurs).

As described above, three intersections generate six intersections. By selecting one intersection where two circles meet each other, three intersections are combined to generate eight triangles.

In other words, minimizing these measurement errors in a triangulation with measurement errors is the key to position measurement, and the smallest circumference of the eight triangles that can come out of the trilateral survey to minimize this measurement error. Select the triangle. In this case, the target node becomes the center point of the minimum triangle. Using the modified trilateration as described above, the position of the predicted target node as shown in FIG. 7 may be P '.

8 is an exemplary diagram comparing a position error of a general trilateration survey and a modified trilateration survey.

For example, if you run a simulation with a modified trilateration, you apply a modified trilateration to three fixed nodes in an indoor environment, and place the fixed node with known position in a 50x50 indoor environment (0,0). Assuming the positions of (50,0), (0,50), as shown in (A) of FIG. 8, the closer the position (50,50) is to a position error, the larger the position error becomes. However, in the modified trilateration survey, as shown in FIG. 8B, the overall position error value appears. That is, in the modified trilateration, the average of the position error values is reduced by about 40% compared to the general position error values.

Meanwhile, the above-described method may be applied to a distributed sensor network in which a sensor is installed in a specific area for environmental monitoring not only indoors but also outdoors.

Each sensor communicates with its surrounding sensors and triangulation as described above is possible if a particular node knows the distance from the surrounding three nodes. In this way, the relative position of all nodes installed in the area can be known, and even in a distributed network, the modified trilateration results show an improvement over the general trilateral survey.

In addition, the conventional statistical method results in a large energy consumption in the battery-operated distributed sensor network, which shortens the operating life of the sensor network, but the modified trilateration according to the present embodiment reduces the energy consumption than the conventional statistical method. In addition, the error of position prediction can be reduced.

In the above description, all elements constituting the embodiments of the present invention are described as being combined or operating in combination, but the present invention is not necessarily limited to the embodiments. In other words, within the scope of the present invention, all of the components may be selectively operated in combination with one or more. In addition, although all of the components may be implemented in one independent hardware, each or all of the components may be selectively combined to perform some or all functions combined in one or a plurality of hardware. It may be implemented as a computer program having a. Codes and code segments constituting the computer program may be easily inferred by those skilled in the art. Such a computer program is stored in a computer readable storage medium, which is read and executed by a computer, thereby implementing embodiments of the present invention. The storage medium of the computer program may include a magnetic recording medium, an optical recording medium, a carrier wave medium, and the like.

In addition, the terms "comprise", "comprise" or "having" described above mean that the corresponding component may be included, unless otherwise stated, and thus excludes other components. It should be construed that it may further include other components instead. All terms, including technical and scientific terms, have the same meanings as commonly understood by one of ordinary skill in the art unless otherwise defined. Terms commonly used, such as terms defined in a dictionary, should be interpreted to coincide with the contextual meaning of the related art, and shall not be construed in an ideal or excessively formal sense unless explicitly defined in the present invention.

The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention but to describe the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be interpreted by the following claims, and all technical ideas within the equivalent scope should be interpreted as being included in the scope of the present invention.

1 is a block diagram schematically illustrating an apparatus for calculating position information according to the present embodiment;

2 is a flowchart illustrating a method for calculating position information according to the present embodiment;

3 is a flowchart for explaining a method of generating position prediction data according to the present embodiment;

4 to 8 are exemplary views for explaining the present embodiment.

<Description of Symbols for Main Parts of Drawings>

110: location information calculation device 112: node interworking unit

114: distance information calculator 116: position predictor

Claims (8)

A node interworking unit for receiving location information from neighboring nodes of the target node for measuring a location; A distance information calculator configured to calculate distance information between the target node and the neighboring node based on the location information; And A position estimator for extracting three neighboring nodes closest to the target node among the distance information, and generating position prediction data predicting the position of the target node based on the position information of the neighboring node; Apparatus for calculating position information comprising a. The method of claim 1, The location predictor, Based on the position information of the three neighboring nodes, three circles are set, the distance of which is set to the radius of the target node as the radius, and if there are no intersections of the three circles, two of the three circles Extract the intersections of the two circles, generate a triangle that is combined into three of the intersections of the two circles, extract the minimum triangle with the smallest circumference length among the triangles, and calculate the center point of the minimum triangle And recognizing the center point as the position prediction data. The method of claim 2, The location predictor, And extracting six intersection points as intersections of the two circles. The method of claim 3, wherein The location predictor, And an eight triangle is generated by a triangle that is combined into three of the six intersections. The method of claim 2, The location predictor, And when the intersections of the three circles are present, recognize the intersections of the three circles as the position prediction data. Receiving location information from the neighboring nodes of the target node for measuring the location; Calculating distance information between the target node and the neighboring node based on the position information; And A position prediction data generation step of extracting three neighboring nodes closest to the target node from the distance information and generating position prediction data predicting the position of the target node based on the position information of the neighboring node; Method for calculating the position information comprising a. The method of claim 6, The location prediction data generation step, Three circle generation steps of generating three circles in which distance information with respect to the target node is set as a radius based on respective position information of the three neighboring nodes; If there are no intersections for the three circles, extracting intersections for two circles extracting intersections for two of the three circles; A triangle generation step of generating a triangle that is combined into three intersection points of the two circles; A minimum triangle extraction step of extracting a minimum triangle having a minimum circumference length among the triangles; And A position prediction data recognition step of calculating a center point of the minimum triangle and recognizing the center point as the position prediction data; Method for calculating the location information comprising a A computer-readable recording medium recorded with a program for executing the method for calculating the positional information according to any one of claims 6 to 7.

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