KR101523147B1 - Indoor Positioning Device and Method - Google Patents

Indoor Positioning Device and Method Download PDF

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KR101523147B1
KR101523147B1 KR1020130165118A KR20130165118A KR101523147B1 KR 101523147 B1 KR101523147 B1 KR 101523147B1 KR 1020130165118 A KR1020130165118 A KR 1020130165118A KR 20130165118 A KR20130165118 A KR 20130165118A KR 101523147 B1 KR101523147 B1 KR 101523147B1
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signal
geomagnetism
reference position
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determining
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이효영
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코디스페이스 주식회사
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers

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  • Radar, Positioning & Navigation (AREA)
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Abstract

An indoor positioning device and method operating quickly and correctly are disclosed. The indoor positioning device according to an embodiment of the present invention is configured such that: an initial position is determined using wireless communication signals and terrestrial magnetic signals; a reference position is determined using an inertial navigation data or user′s stride data based on the initial position determined; several candidate positions are generated based on the reference position determined; and final position is determined by calculating position probability through wireless communication signals or terrestrial magnetic signals of each candidate position.

Description

[0001] INDOOR POSITIONING DEVICE AND METHOD [0002]

The present invention relates to indoor positioning technology utilizing a mobile terminal.

As the demand for indoor location information is increasing, various technologies for Indoor Positioning System are being developed. Representative technologies include positioning systems using Wi-Fi, positioning systems using inertial navigation, positioning systems using image data processing, and positioning systems using RFID.

However, there are very few cases where these techniques are applied to real life because they have disadvantages such as a large positioning error, inability to track real time location, or the necessity of additional devices.

For example, a positioning system using Wi - Fi is inadequate for real - time positioning with a positioning update period of about 2 to 4 seconds, and a positioning system using inertial navigation has a problem of increasing the initial value member and positioning error. Also, the positioning system using image data processing is inadequate for fast positioning due to a large amount of computation, and the positioning system using RFID has the inconvenience that a large number of RFIDs must be additionally installed in the positioning target area.

Korean Registered Patent No. 1217870 (published on Mar. 03, 2013) Korean Patent Laid-Open Publication No. 2013-0093025 (published on Aug. 21, 2013) Korean Patent Publication No. 2011-0072357 (published on June 29, 2011)

An object of the present invention is to provide an indoor positioning apparatus and method capable of compensating for the disadvantages of current positioning systems and reducing the amount of calculations to make the position update cycle within 1 Hz and to track the position of the mobile terminal alone without additional devices.

An indoor positioning apparatus according to an aspect of the present invention determines an initial position by using a wireless communication signal and a geomagnetism signal and determines a reference position using inertial navigation information or user stride information based on the determined initial position And a final position determination unit for generating at least one candidate position based on the determined reference position and calculating a position probability by a wireless communication signal or a geomagnetism signal of each candidate position to determine a final position .

The indoor positioning method according to an aspect of the present invention includes the steps of determining an initial position using a wireless communication signal and a geomagnetism signal, determining a reference position using inertial navigation information or user stride information based on the determined initial position And generating a plurality of candidate positions based on the determined reference positions and calculating a position probability by a wireless communication signal or a geomagnetism signal of each candidate position to determine a final position.

First, since a coarse zone is determined using a WiFi having an excellent estimation performance in a relatively wide zone and a detailed initial position is determined within a zone determined using geomagnetism having a superior estimation performance in a relatively narrow zone, The initial position can be accurately obtained.

Second, a small number of candidate positions are generated based on the reference position, and the final position is calculated based on the position probabilities with respect to the generated candidate positions.

1 shows an indoor positioning system according to an embodiment of the present invention.
2 shows a configuration of an indoor positioning apparatus according to an embodiment of the present invention.
FIG. 3 shows a flow of an indoor positioning method according to an embodiment of the present invention.

These and other objects, features and other advantages of the present invention will become more apparent by describing in detail preferred embodiments of the present invention with reference to the accompanying drawings. Hereinafter, an indoor positioning apparatus and method according to an embodiment of the present invention will be described with reference to the accompanying drawings.

1 shows an indoor positioning system according to an embodiment of the present invention.

Referring to FIG. 1, an indoor positioning system 100 according to the present embodiment includes a mobile terminal 110 and a server 120.

The mobile terminal 110 may be a portable device capable of wireless communication and may be a smart phone, a notebook, a tablet PC, a PDA, a mp3 player, etc., and performs positioning to display the current location to the user.

The server 120 updates and stores the map information of the positioning target area (e.g., a large-scale building such as a shopping center), and provides map information of the positioning target area to the mobile terminal 110, Allows you to calculate the location.

For example, when a user carrying the mobile terminal 110 moves to purchase an item at a department store, the mobile terminal 110 synthesizes the position or movement route of the user in the department store map image provided from the server 120 So that it can be displayed to the user in real time.

The mobile terminal 110 may include a measurement unit 111, a position estimation unit 112, a measurement value report unit 113, a position display unit 114, and a positioning reference acquisition unit 115. Each functional block in this specification is merely its functional or logical distinction. Therefore, any one function block may perform several functions, or one function may be divided into several function blocks. It will also be apparent to those skilled in the art that indoors positioning may be applied to outdoor positioning in accordance with the application in spite of this name as a selected term to aid understanding of the invention.

The measurement unit 111 measures acceleration, angular velocity, magnetic force, and wireless communication signals for the mobile terminal 110, the user of the mobile terminal 110, or the peripheral portion of the mobile terminal 110. For example, the measuring unit 111 includes an accelerometer 111a for measuring the acceleration, a gyrometer 111b for measuring the angular velocity, a magnetometer 111c for measuring the magnetic force (or geomagnetism) , And a wireless communication device 111d that measures wireless communication signals (e.g., Wi-Fi signals).

The position estimating unit 112 estimates the current position of the mobile terminal 110 by using various measured values measured by the measuring unit 111 and map information of the positioning target area of the server 120 obtained by the positioning reference acquiring unit 115 . The specific position calculating function of the position estimating unit 112 will be described later.

The position display unit 114 displays the calculated current position of the mobile terminal 110 to the user and the measured value report unit 113 transmits the measured value at the displayed current position to the server 120, Allow the information to be updated.

The server 120 stores, updates, and provides map information of a positioning target area. The map information of the positioning target area may include a wireless communication map database 121, a geomagnetism map database 122, and a building map database 123.

The fingerprint indicating the strength of the wireless communication signal at each position in the positioning target area is stored in the wireless communication map database 121. The fingerprint indicating the strength of the geomagnetism signal at each position in the positioning target area is stored in the geomagnetism map database 122 And the building map database 123 may store two-dimensional or three-dimensional map information (position coordinates, images, etc.) of the positioning target area, respectively.

FIG. 2 illustrates an indoor positioning apparatus according to an embodiment of the present invention. The indoor positioning apparatus according to the present invention may have various functions including the mobile terminal 110, the location estimating unit 112 of the mobile terminal 110, or the location estimating unit 112 of the mobile terminal 110, A combination of blocks, and the like. 2 shows a specific configuration of the position estimating unit 112 as an example.

Referring to FIG. 2, the indoor positioning apparatus 200 includes an initial positioning unit 210, a reference positioning unit 220, and a final positioning unit 230.

The initial position determination unit 210 determines an initial position of the mobile terminal 110 using the wireless communication signal and the geomagnetism signal measured by the mobile terminal 110 (FIG. 1).

As an example, the initial position determination unit 210 compares the WiFi signal intensity measured by the mobile terminal 110 with the WiFi fingerprint received from the server 120 (FIG. 2) to calculate a rough initial position , It is possible to calculate the final initial position by comparing the intensity of the geomagnetism signal measured by the mobile terminal 110 with the geomagnetic fingerprint provided from the server 120.

As another example, the initial positioning unit 210 compares the intensity of the geomagnetism signal measured by the mobile terminal 110 with the geomagnetism fingerprint provided from the server 120 to calculate an approximate initial position, It is also possible to calculate the final initial position by comparing the intensity of the Wi-Fi signal measured by the server 110 with the Wi-Fi fingerprint received from the server 120.

As another example, the initial positioning unit 210 may divide the positioning target area into a plurality of zones, and determine the intensity of the Wi-Fi signal measured by the mobile terminal 110 and the strength of the Wi- It is also possible to compare the prints to select at least one zone and determine the initial position by comparing the geomagnetic signal strength measured by the mobile terminal 110 with the geomagnetic fingerprint provided by the server 120 in the selected zone .

In addition, the initial positioning unit 210 may calculate the attitude (Roll, Pitch, Yaw) of the mobile terminal 110 using the measured geomagnetism signal. Where Roll is the rotation angle of the map coordinate system with respect to the X axis, Pitch is the rotation angle of the map coordinate system with respect to the Y axis, and Yaw is the rotation angle with respect to the Z axis of the map coordinate system.

A more specific example of how the initial position determination unit 210 determines the initial position will be described below.

First, the initial positioning unit 210 determines a reference zone by comparing WiFi signals measured for each zone divided in advance using a Wi-Fi signal and a Wi-Fi fingerprint previously measured for each zone. The geomagnetic location is then used in the determined reference zone to determine the final initial location.

For example, the initial position determining unit 210 measures the intensity (SL m) of a WiFi signal using a radio signal unit (111a) embedded in the mobile terminal 110, by using the likelihood function as shown in <Formula 1> Calculate the probability of being located in that zone.

Figure 112013119529498-pat00001

here,

Figure 112013119529498-pat00002
Silver zone
Figure 112013119529498-pat00003
, &Lt; / RTI &gt;
Figure 112013119529498-pat00004
Is the standard deviation of the Wifi signal intensity measurement error,
Figure 112013119529498-pat00005
Area
Figure 112013119529498-pat00006
Wifi signal strength,
Figure 112013119529498-pat00007
Represents the measured Wifi signal strength. For position estimation accuracy, the signal strength is calculated as a vector component.

Then, the probability of being located in each zone is obtained, and then a few zones with a high probability are selected. Calculate the probability for the location as shown in Equation (2) by comparing the measured geomagnetism with the existing geomagnetism fingerprint at regular intervals in the selected area.

Figure 112013119529498-pat00008

here,

Figure 112013119529498-pat00009
Location
Figure 112013119529498-pat00010
, &Lt; / RTI &gt;
Figure 112013119529498-pat00011
Is the standard deviation of the geomagnetism measurement error,
Figure 112013119529498-pat00012
Location
Figure 112013119529498-pat00013
Of the geomagnetism.

Then the initial position vector

Figure 112013119529498-pat00014
Is calculated using a probability weight as shown in Equation (3).

Figure 112013119529498-pat00015

here

Figure 112013119529498-pat00016
Is the initial position component in the final calculated map coordinate system (
Figure 112013119529498-pat00017
)to be.
Figure 112013119529498-pat00018
Location
Figure 112013119529498-pat00019
Is the position coordinate vector of

The reference position determination unit 220 determines the reference position using the inertial navigation information or the user stride information based on the determined initial position.

As an example, the reference position determination unit 220 may calculate the inertial navigation information using the measured angular velocity, and determine the reference position using the inertial navigation information. Herein, the inertial navigation information may be the acceleration on the map coordinate system derived from the angular velocity on the sensor coordinate system. The reference position determination unit 220 can calculate the velocity by integrating the acceleration on the map coordinate system, and integrate the velocity again to calculate the reference position.

More specifically, first, the attitude (Roll, Pitch, Yall) values are updated and corrected using the measured angular velocity to detect acceleration components on the map coordinates. Then, the coordinate conversion matrix (DCM, DCM) which performs coordinate transformation from the sensor coordinate system to the map coordinate system using the updated attitude,

Figure 112013119529498-pat00020
). Then, the acceleration component of the map coordinate system is calculated using Equation 4 as follows.

Figure 112013119529498-pat00021

here,

Figure 112013119529498-pat00022
Is the acceleration component in the map coordinate system,
Figure 112013119529498-pat00023
The acceleration component in the sensor coordinate system,
Figure 112013119529498-pat00024
Is the gravitational acceleration component in the map coordinate system.

Then, as shown in Equation (5)

Figure 112013119529498-pat00025
The velocity of the map coordinate system (
Figure 112013119529498-pat00026
) And position (
Figure 112013119529498-pat00027
).

Figure 112013119529498-pat00028

Where dt is the integration time interval.

As another example, the reference position determination unit 220 may calculate the user stepwise information using the measured angular velocity and the measured geomagnetism signal, and may determine the reference position using the user stepwise information.

More specifically, the reference position determination unit 220 determines the reference position using the angular velocity and the geomagnetism

Figure 112013119529498-pat00029
), And calculates the acceleration component (
Figure 112013119529498-pat00030
) And the step time interval (
Figure 112013119529498-pat00031
),
Figure 112013119529498-pat00032
), The reference position can be calculated as shown in Equation (6).

Figure 112013119529498-pat00033

It is possible to select either one of the inertial navigation method and the user pedometer method or two of them in parallel depending on the application of the present invention and the performance of the sensor. The reason why the two are selectively used is advantageous in that the method using the stride is less error and the error is not diverted when moving on the plane. However, in a case where a stride such as a moving walker, an escalator, or an eliverater can not be measured while moving within a building, the movement of the position is not known by the use of the stride. In this case, the reference position is generated by estimating the position movement using the inertial navigation method. Also, when moving the stairs, it is possible to increase the degree of accuracy of the position movement estimation by using the two methods in parallel.

The reference position calculated in this process becomes a reference position for correction of the positioning error to be described subsequently.

The final position determination unit 230 generates a plurality of candidate positions based on the determined reference position, and calculates a position probability by a wireless communication signal or a geomagnetism signal at each candidate position to determine a final position.

For example, the final position determination unit 230 generates candidate positions of 10 or less (preferably between 4 and 10) around the reference position in consideration of the movement path of the mobile terminal 110, The final position can be determined based on the first probability based on the displacement difference between the position and the generated candidate position and the position probability using the second probability based on the difference of the geomagnetism signal intensity between the reference position and the generated candidate position.

More specifically, considering the movement path, 10 or less candidate positions are determined as shown in Equation (7) around the reference position.

Figure 112013119529498-pat00034

here

Figure 112013119529498-pat00035
Is a candidate position,
Figure 112013119529498-pat00036
Is the positional displacement value determined in advance by experiment.

Then, the first position probability is calculated for each candidate position using the displacement difference of each candidate position as in Equation (8).

Figure 112013119529498-pat00037

here,

Figure 112013119529498-pat00038
Is the standard deviation of the error of the candidate position.

Then, the second location probability is calculated using the geomagnetism value of each candidate location as in Equation (9).

Figure 112013119529498-pat00039

here

Figure 112013119529498-pat00040
Candidate location
Figure 112013119529498-pat00041
The magnetic field strength,
Figure 112013119529498-pat00042
Is the measured geomagnetic field strength,
Figure 112013119529498-pat00043
Is the standard deviation of the geomagnetism measurement error.

Finally, the candidate position calculated above

Figure 112013119529498-pat00044
, The first location probability of the candidate location
Figure 112013119529498-pat00045
And the location second location probability by geomagnetism
Figure 112013119529498-pat00046
The final current position is calculated as in Equation (10).

Figure 112013119529498-pat00047

Equations (8) to (10) use geomagnetism, but wireless communication signals such as Wi-Fi signals can also be used. For example, when the mobile terminal 110 stops for a predetermined time (3 seconds) or more, it is also possible to selectively use the WiFi signal strength instead of the geomagnetic field strength.

2, the indoor positioning apparatus according to the present embodiment includes a measuring unit 111 for measuring the acceleration, the angular velocity, the wireless communication signal, and the geomagnetism signal of the mobile terminal 110, A measurement value report unit 113 for transmitting a wireless communication signal and a geomagnetism signal corresponding to a final position to an external server, a WiFi fingerprint, a geomagnetic fingerprint, A positioning reference acquiring unit 115 for receiving map information, and the like as described above.

Next, an indoor positioning method according to an embodiment of the present invention will be described.

Referring to FIG. 3, an initial position is determined using a wireless communication signal and a geomagnetism signal (S301). The initial position determination step S301 includes dividing the positioning target area into a plurality of zones, comparing the measured WiFi signal to each zone with the WiFi fingerprint to select at least one zone, To a geomagnetic fingerprint. For example, the initial position determination unit 210 can determine the initial position as shown in Equations (1) to (3).

Then, based on the determined initial position, inertial navigation information or user stride information is used to determine a reference position (S302). The step of determining the reference position S302 may include a process of calculating the inertia navigation information using the measured angular velocity or a process of calculating the user stride information using the measured angular velocity and the measured geomagnetism signal. For example, the reference position determination unit 220 can determine the reference position as in Equations (3) to (6).

Then, at least one candidate position is generated based on the determined reference position, and a final position is determined by calculating a position probability by the wireless communication signal or the geomagnetism signal at each candidate position (S303). In the step S303 of determining the final position, after generating 10 or less candidate positions around the reference position in consideration of the movement path, a first probability based on the displacement difference between the reference position and the generated candidate position, And calculating a position probability using a second probability based on the difference of the geomagnetism signal strength between the generated candidate positions. For example, the final position determination unit 230 can determine the final position as in Equations (7) to (10).

In addition, although not shown in FIG. 3, the indoor positioning method according to the present embodiment transmits the wireless communication signal and geomagnetism signal corresponding to the determined final position to the server 120 and transmits positioning reference information (for example, A map, a geomagnetism map, and the like).

As described above, according to the disclosed embodiments, since various information such as a wireless communication signal, a geomagnetism signal, and an angular velocity are used and a probability value at a small candidate position is used, the positioning can be performed accurately and quickly.

110: mobile terminal 111:
112: Position estimation unit 113: Measurement value reporting unit
114: position display section 115: positioning reference obtaining section
120: server 121: wireless communication map
122: Geomagnetism map 123: Building map

Claims (15)

An initial position determining unit for determining an initial position using a wireless communication signal and a geomagnetism signal;
A reference position determiner for determining a reference position using inertial navigation information or user stride information based on the determined initial position; And
A final positioning unit for generating at least one candidate position based on the determined reference position and calculating a position probability by the wireless communication signal or the geomagnetism signal at each candidate position to determine a final position; / RTI &gt;
The final position determination unit
A first probability based on a displacement difference between the reference position and the generated candidate position,
And calculates the position probability using a second probability based on a difference in geomagnetism signal intensity between the reference position and the generated candidate position.
2. The apparatus of claim 1, wherein the initial position determination unit
And compares the WiFi signal and the WiFi fingerprint of the positioning target area.
2. The apparatus of claim 1, wherein the initial position determination unit
And compares the geomagnetism signal and the geomagnetism fingerprint of the positioning target area.
2. The apparatus of claim 1, wherein the initial position determination unit
The method includes dividing a region to be located into a plurality of zones, comparing the measured Wi-Fi signal with each zone to a Wi-Fi fingerprint to select at least one zone,
And compares the geomagnetism signal measured in the selected zone with the geomagnetism fingerprint to determine the initial position.
2. The apparatus of claim 1, wherein the reference position determination unit
And the inertial navigation information is calculated using the measured angular velocity and acceleration.
2. The apparatus of claim 1, wherein the reference position determination unit
And calculates the user stride information using the measured angular velocity, the acceleration, and the measured geomagnetism signal.
The apparatus of claim 1, wherein the final position determining unit
And generates 10 or less candidate positions around the reference position in consideration of the movement path.
delete The method according to claim 1,
A measuring unit for measuring an acceleration of the terminal, an angular velocity, a wireless communication signal, and a geomagnetism signal;
A position display unit for displaying the final position to a user;
A measurement value report unit for transmitting a wireless communication signal and a geomagnetism signal corresponding to the final position to an external server; And
A positioning reference acquisition unit for receiving a Wi-Fi fingerprint, a geomagnetic fingerprint, and map information of a positioning target area from the external server; And an indoor positioning device.
Determining an initial position using a wireless communication signal and a geomagnetism signal;
Determining a reference position using inertial navigation information or user stride information based on the determined initial position; And
Generating at least one candidate position based on the determined reference position and calculating a position probability by the wireless communication signal or the geomagnetism signal of each candidate position to determine a final position; / RTI &gt;
Wherein determining the final position comprises:
A first probability based on a displacement difference between the reference position and the generated candidate position,
Wherein the location probability is calculated using a second probability based on a geomagnetism signal intensity difference between the reference position and the generated candidate position.
11. The method of claim 10, wherein determining the initial position comprises:
The method includes dividing a region to be located into a plurality of zones, comparing the measured Wi-Fi signal with each zone to a Wi-Fi fingerprint to select at least one zone,
Wherein the initial position is determined by comparing the geomagnetism signal measured in the selected zone with the geomagnetism fingerprint.
11. The method of claim 10, wherein determining the reference position comprises:
And calculating the inertial navigation information using the measured angular velocity and acceleration.
11. The method of claim 10, wherein determining the reference position comprises:
And calculating the user stride information using the measured angular velocity, the acceleration, and the measured geomagnetism signal.
11. The method of claim 10, wherein determining the final position comprises:
And generating 10 or less candidate positions around the reference position in consideration of the movement path.
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KR101576424B1 (en) 2015-06-16 2015-12-10 코디스페이스 주식회사 Automatic calibration method of magnetometer for indoor positioning
KR20180114355A (en) 2017-04-10 2018-10-18 한국정보공학 주식회사 Method and apparatus for estimating a position
KR101933011B1 (en) 2018-07-26 2018-12-27 영남대학교 산학협력단 Apparatus and method for indoor positioning
KR102081521B1 (en) * 2018-12-17 2020-02-25 세종대학교산학협력단 Method for precessing i/o of virtual machine
US11456809B2 (en) 2018-05-31 2022-09-27 Electronics And Telecommunications Research Institute Position estimation method for estimating position of interference signal source and position estimation system for performing the method

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Publication number Priority date Publication date Assignee Title
KR101576424B1 (en) 2015-06-16 2015-12-10 코디스페이스 주식회사 Automatic calibration method of magnetometer for indoor positioning
KR20180114355A (en) 2017-04-10 2018-10-18 한국정보공학 주식회사 Method and apparatus for estimating a position
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