KR101273125B1 - Real Time Location Apparatus and method thereof - Google Patents

Abstract

The real-time location tracking device according to an embodiment of the present invention receives a distance value of a wireless recognition tag mounted on a location tracking target through a wireless recognition reader, and maps data that coordinates the entire space where the wireless identification tag can be located. And track the location of the RFID tag using the distance value.

Description

Real-time location tracking device and its location tracking method {Real Time Location Apparatus and method

The present invention relates to a real-time location tracking device and its location tracking method, and more particularly to a real-time location tracking device and its location tracking method that can perform effective location determination indoors using real-time location tracking technology.

Real Time Locating System (RTLS) consists of RTLS tag, RTLS reader and RTLS server. RTLS tag is responsible for delivering its own information, and RTLS reader receives signals from RTLS tag, Based on the calculation, the distance from the RTLS tag is calculated and delivered to the RTLS server.

Finally, the RTLS server receives the distance value from the RTLS readers and uses it to determine the location of the RTLS tag.

These applications are used to track the location of people or objects such as amusement parks, ports, logistics, warehouses, etc.

RTLS has a large number of tags due to the characteristics of the applied environment, and there are factors that adversely affect positioning performance such as multipath and non-line of sight (NLOS).

In the case of general RTLS, since the number of tags is much higher than the number of readers, one reader transmits and receives signals from several tags, and a collision occurs when one reader communicates with several tags. Increases as the number of tags increases. In addition, the reader is installed at a high place for LOS (Line of Sight) with the tag, the transmission distance is reduced due to the height difference between the reader and the tag.

Accordingly, even when the reader receives the signal of the tag, when the signal is received through the multipath or the like, the distance value having a large error is measured, so that accurate positioning of the tag is difficult.

In addition, in order to measure the position of the tag, three or more readers must receive the signal of the tag. Therefore, when less than three readers receive the signal of the tag because no signal is received due to communication failure or NLOS. The location tracking of the tag will fail. Due to many errors in such a real environment, the real-time location tracking system cannot guarantee the precise tracking of the location and the operation of the tag.

Embodiments according to the present invention to provide a real-time location tracking device and method that can track the exact location of the tag with a minimum reader.

Preferably, the embodiment according to the present invention to provide a real-time location tracking device and a location tracking method that can recognize the exact location of the tag approached in the independent space with only one reader installed in the independent space.

The technical problems to be solved in the proposed embodiments are not limited to the above-mentioned technical problems, and other technical problems which are not mentioned are clearly described from the following description to those skilled in the art It can be understood.

The real-time location tracking device according to an embodiment of the present invention receives a distance value of a wireless recognition tag mounted on a location tracking target through a wireless recognition reader, and maps data that coordinates the entire space where the wireless identification tag can be located. And track the location of the RFID tag using the distance value.

Preferably, the real-time location tracking device, the receiving unit for receiving a distance value transmitted from the radio reader, the storage unit for storing the map data, the wireless by using the received distance value and the stored map data It includes a position tracking unit for tracking the position of the recognition tag.

More preferably, the map data stored in the storage unit includes first coordinate information that coordinates the entire space where the radio recognition tag can be located and the radio recognition reader is installed based on the first coordinate information. And second coordinate information including coordinate values corresponding to the position.

More preferably, the position tracking unit tracks a first coordinate value corresponding to a position of a wireless recognition reader that transmits the distance value using the second coordinate information, and uses the first coordinate information to determine the first coordinate value. A plurality of second coordinate values existing within the transmitted distance value radius are tracked from coordinate values, and a second coordinate value of the tracked second coordinate values is recognized as a position of the radio recognition tag.

More preferably, the entire space includes a plurality of independent spaces, and the first coordinate information includes a plurality of third coordinate information divided according to the respective independent spaces.

More preferably, the position tracking unit, based on the tracked first coordinate value, checks the third coordinate information corresponding to the independent space in which the wireless recognition reader is installed, and the tracked second coordinate values of the tracked second coordinate values. The second coordinate value included in the third coordinate information is recognized as the position of the radio recognition tag.

More preferably, the map data further includes fourth coordinate information corresponding to a position to which the radio recognition tag can actually approach, and the location tracking unit includes the fourth coordinate information among the tracked second coordinate values. The second coordinate value included therein is recognized as the location of the radio recognition tag.

More preferably, the RFID reader transmits a distance value of the RFID tag to the receiver by installing a single device in one independent space.

More preferably, the RFID reader measures a distance value with the approached RFID tag by using a two way ranging (TWR) technique.

Real-time location tracking method according to an embodiment of the present invention comprises the steps of accessing the radio recognition reader to the radio recognition tag attached to the location tracking target; Measuring a distance to the approached RFID tag via the RFID reader, and transmitting a distance value with respect to the measured distance to a location recognition server; And tracking the location of the radio recognition tag using the pre-stored map data and the transmitted distance value in the location recognition server, wherein the map data coordinates the entire space where the radio recognition tag can be located. It includes the first coordinate information.

Preferably, the map data further includes second coordinate information corresponding to a location where the radio recognition reader is installed, and the tracking of the location may be performed at an installation location of the radio recognition reader using the second coordinate information. Tracking a first coordinate value according to the first coordinate value, and tracking a plurality of second coordinate values positioned within the radius of the transmitted distance value based on the first coordinate value among all coordinate values included in the first coordinate information; And recognizing a second coordinate value of any one of the tracked second coordinate values as the position of the radio recognition tag.

More preferably, the entire space is divided into a plurality of independent spaces, and the first coordinate information includes a plurality of third coordinate information coordinates of each independent space.

More preferably, the tracking of the position may include identifying third coordinate information including the tracked first coordinate value among the plurality of third coordinate information, and among the tracked second coordinate values. The method may further include recognizing a second coordinate value included in the checked third coordinate information as a location of the radio recognition tag.

More preferably, the entire space is divided into an accessible space of the radio recognition tag and an inaccessible space, and the map data includes fourth coordinates consisting of coordinate values of the accessible space of the radio identification tag. It contains more information.

More preferably, the tracking of the position may include reconfirming a second coordinate value included in the fourth coordinate information among the checked second coordinate values when the second coordinate value included in the third coordinate information is confirmed. And recognizing the reconfirmed second coordinate value as the final position of the RFID tag.

More preferably, the radio recognition reader is installed in one single space.

More preferably, the RFID reader measures a distance value with the approached RFID tag by using a two way ranging (TWR) technique.

According to an embodiment of the present invention, since the location of the radio recognition tag is measured using map data coordinated with the entire space for location tracking, the location of the radio tag can be tracked more accurately even in an environment in which location tracking is impossible. have.

In addition, according to an embodiment of the present invention, by tracking the location of the radio recognition tag using the map data, it is possible to track the location of the radio recognition tag using only one radio reader.

1 is a schematic structural diagram of a real-time location tracking system according to an embodiment of the present invention.
2 is a view for explaining a distance measuring technique according to an embodiment of the present invention.
3 is a detailed configuration diagram of the position recognition device of FIG.
4 to 7 are diagrams for describing map data according to an exemplary embodiment of the present invention.
8 to 9 are flowcharts illustrating step-by-step method of real-time location tracking according to an embodiment of the present invention.

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail.

It should be understood, however, that the invention is not intended to be limited to the particular embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component. And / or < / RTI > includes any combination of a plurality of related listed items or any of a plurality of related listed items.

When a component is referred to as being "connected" or "connected" to another component, it may be directly connected to or connected to that other component, but it may be understood that other components may be present in between. Should be. On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, the terms "comprise" or "have" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, and one or more other features. It is to be understood that the present invention does not exclude the possibility of the presence or the addition of numbers, steps, operations, components, components, or a combination thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the relevant art and are to be interpreted in an ideal or overly formal sense unless explicitly defined in the present application Do not.

Hereinafter, with reference to the accompanying drawings, it will be described in detail a preferred embodiment of the present invention. In order to facilitate the understanding of the present invention, the same reference numerals are used for the same constituent elements in the drawings and redundant explanations for the same constituent elements are omitted.

1 is a schematic structural diagram of a real-time location tracking system according to an embodiment of the present invention.

Referring to FIG. 1, the real-time location tracking system includes a wireless recognition tag 100, a wireless recognition device 200, and a location recognition server 300.

The radio recognition tag 100 is attached to the location tracking object, and transmits the recognition information stored therein to the radio recognition device 200.

That is, a plurality of targets on which the radio recognition tag 100 is mounted may be provided. The target tag may be a person, an animal, or an object for checking or tracking a location through real-time location tracking. For example, it may be a person or an animal such as a commuter, a child, an elderly person, a mentally disabled person, a pet, or an object such as a product, an artwork, a laptop, a PDA, a car, or the like.

Here, the radio recognition tag 100 recognizes a search signal of the radio recognition apparatus 200 to be described later, and in response thereto transmits a response signal including its own identification information through radio frequency.

The wireless recognition device 200 receives a response signal transmitted from the wireless recognition tag 100 as the wireless recognition tag 100 approaches, and acquires information of the approaching wireless recognition tag 100.

In addition, the wireless recognition device 200 measures a distance value with the wireless recognition tag 100 according to the distance request of the location recognition server 300 to be described later, and transmits the measured distance value to the location recognition server 300. do. In this case, the wireless recognition device 200 transmits a response signal including the recognition information of the obtained wireless recognition tag 100 in addition to the distance value to the location recognition server 300. The wireless recognition device 200 may also be called a wireless recognition reader that recognizes the access of the tag 100.

In this case, the wireless recognition device 200 measures a distance value with the wireless recognition tag 100 by using a two way ranging (TWR) technique.

The Two Way Ranging (TWR) technique is one of the RTLS-based technologies capable of bidirectional communication, and may use technologies such as IR-UWB, CSS, and the like. These techniques may include radio wave arrival times, that is, time of flight (ToF). Is a method for recognizing the position value.

That is, as shown in FIG. 2, the wireless recognition device 200 measures a distance from the tag 100 using a time-of-arrival (TOA) of a wireless signal. To this end, the tag 100 periodically transmits a blink signal, and the wireless recognition device 200 measures the distance based on a reception state (reception time) of the blink signal.

The arrival time of the radio signal can be calculated by the following equation.

The wireless recognition device 200 transmits the distance value for the measured distance to the location recognition server 300 when the distance to the approached tag 100 is measured.

The location recognition server 300 recognizes the location of the tag 100 by using the location information of the location recognition server 300 transmitting the distance value and the transmitted distance value.

In this case, as shown in FIG. 3, the location recognition server 300 includes a receiver 310, a storage 320, and a location tracker 330.

The receiver 310 communicates with the wireless recognition device 200 to receive a distance value of the tag 100 measured through the wireless recognition device 200. In this case, the receiver 310 receives unique identification information of the approached tag 100 in addition to the distance value.

The storage unit 320 stores various pieces of information necessary for the location recognition server 300 to perform a recognition operation on the location of the tag 100.

In particular, the storage unit 320 stores map data including coordinate information indicating the entire space accessible by the tag 100 in one coordinate.

The map data is coordinate information for displaying the entire space requiring location tracking in one coordinate and tracking the location of the approached tag 100 using the coordinates. That is, the map data may be information obtained by pre-databaseting the coordinate scale and the position coordinate of each region into blocks on the map data.

Here, the entire space for which the position tracking is required is shown in FIG. 4.

That is, the entire space may be an indoor space including an office and a conference room. In the entire space, a wireless recognition device 200 for recognizing the approach of the tag 100 and measuring the distance to the approached tag 100 is installed.

As shown in FIG. 4, when the position of the tag 100 is to be recognized in the entire space, as shown in FIG. 5, first coordinate information 500 that coordinates the entire space is generated, and the generation is performed. The map data including the first coordinate information 500 is stored in the storage unit 320.

The first coordinate information 500 may be formed in a predetermined unit.

For example, when the total space is 50m * 50m, the first coordinate information 500 may be formed in units of 50cm * 50cm. At this time, when the first coordinate information 500 is formed of 50cm * 50cm, the coordinate values of the four corners of the first coordinate information 500 are (0,0), (0,100), (100,0) And (100, 100).

In this case, since the first coordinate information 500 is formed in a predetermined specific unit, if the tag 100 is located at a (50,50) coordinate value in the first coordinate information 500, the The position tracking unit 330 may recognize the position of the tag 100 as the position of the tag 100 at a distance 25 m in the right direction and 25 m in the lower direction from the initial starting point of the entire space. In conclusion, the position tracking unit 330 recognizes a coordinate value corresponding to the position of the tag 100 in the first coordinate information 500 to recognize the position of the tag 100.

However, when only the first coordinate information 500 exists as described above, since only the distance value between the radio recognition device 200 and the tag 100 is transmitted from the radio recognition device 200, the tag ( The location of 100) cannot be recognized.

Accordingly, the map data according to an embodiment of the present invention is not only the first coordinate information 500 as described above, but also within the first coordinate information 500, the wireless recognition apparatus 200 according to the embodiment of the present invention. The apparatus further includes second coordinate information 600 including coordinate values according to the installed position.

That is, as shown in FIG. 6, the map data further includes second coordinate information 600 corresponding to a location where each of the radio recognition devices 200 is installed in the first coordinate information 500.

At this time, each of the radio recognition device 200 has a unique identification information, accordingly, when transmitting the distance value with the tag 100 to the location recognition server 300, also transmits its own unique identification information together do.

When the distance value is transmitted from the wireless recognition device 200, the location tracking unit 300 first recognizes the location of the wireless recognition device 200 by using identification information of the wireless recognition device 200.

That is, the position tracking unit 300 is a coordinate value corresponding to the identification information of the wireless recognition apparatus 200 in the second coordinate information 600 (hereinafter, to distinguish it from other coordinate values, the first coordinate value) Is called). For example, when the wireless recognition device 200 is the first wireless recognition device 200a, the location tracking unit 300 may recognize the first coordinate value as (1, 3).

Thereafter, the location tracking unit 300 recognizes the location of the tag 100 by using the recognized first coordinate value and the transmitted distance value.

For example, when the transmitted distance value is 50 cm, the position tracking unit 300 may determine a coordinate value (hereinafter, referred to as another coordinate value) located within the transmitted distance value radius from the first coordinate value. 2 coordinate values), more specifically, the second coordinate value 50cm away from the first coordinate value.

In this case, since the second coordinate value is a coordinate value located within a predetermined radius from the first coordinate value, a plurality of second coordinate values may exist. For example, in the above case, the second coordinate value is (0,2), (1,2), (2,2), (2,3), (2,4), (1,4) , (0,4) and (0,2).

Accordingly, the position tracking unit 300 recognizes the second coordinate value of any one of the plurality of second coordinate values as the position of the approached tag 100.

In this case, when the wireless recognition device 200 includes a plurality of antennas having directionality, the location tracking unit 300 receives the directional information from the wireless recognition device 200 to accurately position the tag 100. You will be able to recognize. For example, when the directional information is right directional information, the position tracking unit 300 moves the (2,3) coordinate value located in the right direction based on the first coordinate value to the position of the tag 100. I can recognize it.

However, since the wireless recognition device 200 may not be configured with a plurality of directional antennas, the map data according to the embodiment of the present invention further includes third coordinate information for recognizing a more accurate tag position.

The third coordinate information divides the entire space as shown in FIG. 4 into a plurality of independent spaces, and is thus coordinate information for each of the separated independent spaces.

That is, as illustrated in FIG. 7, the map data divides the entire space into a plurality of independent spaces, and includes third coordinate information indicating coordinate information 710, 720, 730, 740, 750, 760, 770, 780, 790 for each of the divided independent spaces.

In other words, the first coordinate information 500 is one coordinate information for the entire space for tracking the position of the tag 100, and the third coordinate information 710, 720, 730, 740, 750, 760, 770, 780, 790 is independent of the one coordinate information. Coordinate information is divided into spaces. In conclusion, the third coordinate information 710, 720, 730, 740, 750, 760, 770, 780, 790 may be included in the first coordinate information 500, and the set of the third coordinate information 710, 720, 730, 740, 750, 760, 770,780, 790 may mean the first coordinate information 500. .

On the other hand, the wireless recognition device 200 in the embodiment according to the present invention is preferably installed in a single single space. That is, such an independent space generally consists of a narrow space, and if a plurality of wireless recognition devices 200 are installed in a narrow space, the cost for installing a real-time location tracking system increases.

Therefore, in the present invention, after installing only one wireless recognition device 200 in one independent space, the tag 100 by using the map data and the wireless recognition device 200 installed as a single in the independent space. Make it possible to recognize the position of.

The location tracking unit 330 recognizes the location of the tag 100 using map data further including the third coordinate information.

In other words, when the tag 100 enters the first independent space, the location information on the tag 100 will be recognized by the wireless recognition device installed in the first independent space.

That is, since the independent space is separated from each other by the separation wall, the position of the tag is likely to be recognized by the wireless recognition device installed in the independent space where the tag enters. In this case, the position of the tag may be recognized in another independent space, but since the strength of the signal transmitted from the tag is weak in the wireless recognition device located in the other independent space, the approached tag using the strength of the signal is You will see the independent space in which you are located.

For example, when the approach of the tag 100 is recognized by the first wireless recognition device, the location tracking unit 330 firstly has a first coordinate in which the first wireless recognition device is installed within the second coordinate information. Check the value. In addition, when the first coordinate value is confirmed, the location tracking unit 330 checks third coordinate information including the first coordinate value. In other words, the location tracking unit 300 checks the third coordinate information corresponding to the independent space in which the wireless recognition device that recognizes the approach of the tag 100 is installed. When the third coordinate information is confirmed, the location tracking unit 300 recognizes the second coordinate value included in the third coordinate information among the checked second coordinate values as the position of the tag 100. do.

That is, the second coordinate value located within a predetermined radius based on the first coordinate value may include only coordinate values corresponding to one same independent space, but may include coordinate values corresponding to a plurality of independent spaces. Can be.

Accordingly, the position tracking unit 330 recognizes the position of the tag 100 using only the second coordinate value included in the independent space where the wireless recognition device is located among the identified second coordinate values. For example, the identified second coordinate values are six in total, three of which are coordinate values included in a first independent space, and three others are coordinate values included in a second independent space, and the tag ( When the wireless recognition device that recognizes the approach of 100 is installed in the first independent space, the location recognizing unit 330 selects a second coordinate value of any one of three second coordinate values included in the first independent space. It may be recognized as the position of the tag 100.

Meanwhile, even if the position of the tag 100 is tracked as described above, the position of the tag 100 may be recognized as a plurality of coordinate values. That is, as described in the above example, the position of the tag 100 may be recognized as a total of three coordinate values.

Accordingly, the present invention may further include fourth coordinate information including a coordinate value for a space where the tag 100 can be located and a coordinate value for a space where the tag 100 cannot be located. .

That is, the map data may include information about a space in which the tag 100 may be located, for example, a space without a separate obstacle, and a space where the tag 100 may not be located, eg, an obstacle. It may include fourth coordinate information including information on the space located.

For example, the fourth coordinate information may include information about a coordinate value of a location where an obstacle, for example, a table, a bookcase, a locker, etc. is installed, and information about a coordinate value where the obstacle is not located.

Accordingly, the position recognition unit 330 recognizes the second coordinate value of any one of the second coordinate values checked as described above using the fourth coordinate information as the position of the tag 100. For example, when the identified second coordinate values are a total of three, and only one of the coordinate values is included in the fourth coordinate information indicating information on the coordinate where the tag 100 may be located, the coordinates The value is recognized as the position of the tag 100.

In conclusion, in an embodiment according to the present invention, the map 100 including the first, second, third and fourth coordinate information is used to calculate the exact position of the tag 100 using the minimum wireless recognition device 200. do.

That is, first, the position of the wireless recognition device 200 that recognizes the approach of the tag 100 is checked, and accordingly, an independent space corresponding to the identified position of the wireless recognition device 200 is identified. Then, when the independent space is confirmed, within the radius of the distance value of the tag 100 measured from the position of the wireless recognition device 200 among the positions in the independent space with respect to the position of the wireless recognition device 200. Check the included location. In addition, when the position included in the distance value radius is confirmed, the position included in the space in which the actual tag 100 can be located among the checked position, and accordingly the final confirmed position The location of the 100 will be recognized.

As described above, according to the embodiment of the present invention, since the location of the radio recognition tag is measured using map data coordinated with the entire space for location tracking, the location of the radio recognition tag is more accurately determined even in an environment in which location tracking is impossible. Can be traced.

In addition, according to an embodiment of the present invention, by tracking the location of the radio recognition tag using the map data, it is possible to track the location of the radio recognition tag using only one radio reader.

8 and 9, a real-time location tracking method according to an embodiment of the present invention will be described.

Referring to FIG. 8, first, the wireless recognition device 200 periodically detects the approach of the tag 100 and accordingly recognizes the access of the specific tag 100 (step 800).

In this case, the wireless recognition device 200 may be installed in a fixed position, respectively, the installed wireless recognition device 200 is to detect the approach of the specific tag 100 in the installation position.

Next, when the approach of the tag 100 is recognized, the wireless recognition device 200 measures the distance value with the tag 100 according to the distance measurement command of the location recognition server 300 (step 810).

That is, the wireless recognition device 200 measures a distance value with the tag 100 based on the arrival time of the radio signal using the TWR technique.

When the distance value with the tag 100 is measured, the wireless recognition device 200 transmits the measured distance value to the location recognition server 300. In this case, the wireless recognition device 200 transmits the unique identification information of the tag 100 obtained from the tag 100 and its own identification information together with the distance value to the location recognition server 300. Can be.

The location recognition server 300 recognizes the location of the approached tag 100 using the signal transmitted from the location recognition server 300 and pre-stored map data (step 820).

Hereinafter, the location recognition step (step 820) of the tag 100 will be described in more detail.

Referring to FIG. 9, the location recognition server 300 recognizes the location of the wireless recognition device 200 that has transmitted the distance value based on the second coordinate information included in the map data (step 900).

The second coordinate information refers to a coordinate value in which the wireless recognition device 200 is installed in the first coordinate information that coordinates the entire space for location tracking.

That is, the location recognition server 300 corresponds to a location where the wireless recognition device 200, which recognizes the access of the wireless recognition device 200, preferably the tag 100, is installed using the second coordinate information. Check the first coordinate value. The first coordinate value refers to a coordinate value of a location where the wireless recognition device 200 that actually transmits the distance value is installed in the first coordinate information.

Next, the location recognition server 300 identifies a plurality of second coordinate values located within the radius of the distance value from the identified first coordinate value by using the distance value transmitted from the wireless recognition device 200. (Step 910).

That is, the location recognition server 300 identifies a plurality of second coordinate values spaced apart by the distance value based on the first coordinate value. The second coordinate value may be a coordinate value located in front, rear, left, and right directions based on the first coordinate value.

Next, the location recognition server 300 checks the independent space in which the wireless recognition device 200 is installed based on the third coordinate information (step 920).

The third coordinate information divides the entire space for the location tracking into a plurality of independent spaces, and thus means the coordinate information for each of the separated independent spaces. The independent space may be divided into a separation wall or the like with respect to the entire space.

When the independent space is confirmed, the location recognition server 300 checks the second coordinate values included in the third coordinate information among the checked second coordinate values by using the third coordinate information (step 930). .

That is, the location recognition server 300 includes a second coordinate value included in the independent space in which the wireless recognition device 200 is installed, or an independent space in which the first coordinate value exists among the checked second coordinate values. Check the set second coordinate value. In this case, the checked second coordinate value may be plural.

Next, the location recognition server 300 re-confirms the second coordinate value corresponding to the space where the actual tag 100 may be located among the checked second coordinate values using the fourth coordinate information (step 940). .

That is, the tag 100 may not be located in an area where obstacles such as a table, an air conditioner, and a desk are installed. Accordingly, the fourth coordinate information including coordinate values for an area where the tag 100 can be located and coordinate values for an area where the tag 100 cannot be located is stored, and thus the first coordinate information is stored. The second coordinate value corresponding to the area where the actual tag 100 can be located among the second coordinate values is finally confirmed by using the 4 coordinate information.

Next, the location recognition server 300 recognizes the finally confirmed second coordinate value as the final location of the approached tag 100 (step 950).

According to an embodiment of the present invention, since the location of the radio recognition tag is measured using map data coordinated with the entire space for location tracking, the location of the radio tag can be tracked more accurately even in an environment where location tracking is impossible. have.

In addition, according to an embodiment of the present invention, by tracking the location of the radio recognition tag using the map data, it is possible to track the location of the radio recognition tag using only one radio reader.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, It will be understood that various modifications and applications other than those described above are possible. For example, each component specifically shown in the embodiments of the present invention can be modified and implemented. It is to be understood that all changes and modifications that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

100: radio recognition tag
200: wireless recognition device
300: location recognition server

Claims (17)

A receiving unit receiving a distance value of a wireless recognition tag mounted on a location tracking object through a wireless recognition reader;
A map including first coordinate information that coordinates the entire space where the RFID tag can be located and second coordinate information including coordinate values corresponding to a location where the RFID reader is installed based on the first coordinate information. A storage unit for storing data; And
The first coordinate value corresponding to the position of the wireless recognition reader for transmitting the distance value is transmitted using the second coordinate information, and the transmitted distance value radius from the first coordinate value is used using the first coordinate information. Tracking a plurality of second coordinate values existing in the location, the location tracking to recognize the second coordinate value included in the independent space in which the wireless recognition reader is located among the tracked second coordinate values as the position of the radio recognition tag Real-time location tracking device comprising a part. delete delete delete The method of claim 1,
The total space includes a plurality of independent spaces,
And the first coordinate information comprises a plurality of third coordinate information divided according to the independent spaces. 6. The method of claim 5,
The position-
Based on the tracked first coordinate values, confirming third coordinate information corresponding to the independent space in which the wireless recognition reader is installed,
And a second coordinate value included in the third coordinate information among the tracked second coordinate values as the position of the radio recognition tag. The method according to claim 6,
The map data,
Further comprising fourth coordinate information corresponding to a position that the radio recognition tag can actually approach,
The position-
And a second coordinate value included in the fourth coordinate information among the tracked second coordinate values as the position of the radio recognition tag. 6. The method of claim 5,
The wireless recognition reader,
Real-time location tracking device installed in a single independent space to transmit the distance value of the radio recognition tag to the receiving unit. The method of claim 8,
The wireless recognition reader,
A real-time location tracking device for measuring the distance value with the wireless identification tag mounted on the tracking target using the TWR (Two Way Ranging) technique. Accessing the radio reader by the radio tag attached to the location tracking object;
Measuring a distance to the approached RFID tag via the RFID reader, and transmitting a distance value with respect to the measured distance to a location recognition server; And
Tracking the location of the radio recognition tag using the pre-stored map data and the transmitted distance value in the location recognition server,
The map data includes first coordinate information that coordinates the entire space where the radio recognition tag can be located and second coordinate information corresponding to the location where the radio recognition reader is installed.
Tracking the location,
Tracking a first coordinate value according to an installation position of the wireless recognition reader using the second coordinate information;
Tracking a plurality of second coordinate values located within the transmitted distance value radius based on the first coordinate values among all coordinate values included in the first coordinate information;
Real-time location tracking method comprising the step of recognizing a second coordinate value included in the independent space in which the radio recognition reader is located among the tracked second coordinate values as the position of the radio recognition tag. delete The method of claim 10,
The entire space is divided into a plurality of independent spaces,
And the first coordinate information comprises a plurality of third coordinate information obtained by coordinates each independent space. 13. The method of claim 12,
Tracking the location,
Identifying third coordinate information including the tracked first coordinate value among the plurality of third coordinate information;
And recognizing a second coordinate value included in the checked third coordinate information among the tracked second coordinate values as the position of the radio recognition tag. The method of claim 13,
The total space is,
The wireless recognition tag is divided into an accessible space and an inaccessible space,
The map data further comprises a fourth coordinate information consisting of coordinate values for the accessible space of the radio recognition tag. The method of claim 14,
Tracking the location
Reconfirming a second coordinate value included in the fourth coordinate information among the checked second coordinate values when the second coordinate value included in the third coordinate information is confirmed;
And recognizing the reconfirmed second coordinate value as the final position of the RFID tag. 13. The method of claim 12,
The wireless recognition reader,
Real-time location tracking method installed in one independent space. 17. The method of claim 16,
The wireless recognition reader,
A real-time location tracking method for measuring the distance value with the approached RFID tag using the TW (Two Way Ranging) technique.

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