KR101580863B1 - Method and system for building position-measuring database by using moving pattern - Google Patents
Method and system for building position-measuring database by using moving pattern Download PDFInfo
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- KR101580863B1 KR101580863B1 KR1020150139322A KR20150139322A KR101580863B1 KR 101580863 B1 KR101580863 B1 KR 101580863B1 KR 1020150139322 A KR1020150139322 A KR 1020150139322A KR 20150139322 A KR20150139322 A KR 20150139322A KR 101580863 B1 KR101580863 B1 KR 101580863B1
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- 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
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Abstract
The present invention relates to a method and system for establishing a positioning database using a movement pattern. More particularly, the present invention relates to a method and system for constructing a positioning database by using a crowd sourcing method for collecting positioning environment data from a user, And more particularly, to a method and system for constructing a more accurate positioning database by using a movement pattern database of a mobile terminal holder.
According to the present invention, in order to construct the positioning database, the positioning environment data is collected from the user by the crow sourcing method to detect the change of the positioning environment therefrom, and the moving pattern database of the user is continuously updated, By using the pattern database, it is possible to estimate the data collection position more accurately, so that the positioning database of higher quality than the existing technology can be continuously built.
Description
The present invention relates to a method and system for establishing a positioning database using a movement pattern. More particularly, the present invention relates to a method and system for constructing a positioning database by using a crowd sourcing method for collecting positioning environment data from a user, And more particularly, to a method and system for constructing a more accurate positioning database by using a movement pattern database of a mobile terminal holder.
(1) WPS indoor positioning technology
This is a positioning technique used to estimate a user's location in a GPS-shadowed area or indoors. The WPS positioning technique recognizes the beacon message emitted by the WIFI AP, recognizes the position of the AP, and estimates the position of the user using a centroid or fingerprint between the APs. However, the problem of WPS,
1) The positioning quality is determined by the number and distance of surrounding WIFI APs. In the worst case, positioning is impossible without a WIFI AP around.
2) Even if the WIFI positioning environment is good, new APs are frequently installed, demolished, and moved over time, and positioning quality is degraded due to the difference between the established positioning DB and the positioning environment. In order to solve this problem, a new positioning environment must be collected and a DB should be newly constructed, and additional maintenance costs are incurred.
(2) Application of technology using sensors (PDR technology)
In the case of a smartphone-based indoor positioning, a technique (personal navigation system / PDR) for estimating the position and movement distance of a user by using a sensor built in a smart phone is used. The movement distance of the user is estimated by using the acceleration sensor and the movement direction is estimated by using the geomagnetic sensor and the gyro sensor. The problem of PDR, however,
1) Since it estimates the relative position, it can not be operated by itself, and the initial position is necessarily required
2) As the travel distance increases, relative positioning errors accumulate.
3) Relative positioning error occurs due to incorrectly estimated moving direction according to the user's posture.
(3) Indoor positioning technology using geomagnetism
All the space on Earth forms the Earth's magnetic field. Generally, it is measured by 20 ~ 70μT intensity. In case of indoor, earth magnetic field is distorted due to various steel structures and electronic equipment. Using this, a fingerprint database can be constructed and compared with the geomagnetism of the current location. However, since there are many places with similar geomagnetism values, Detect. However, geomagnetically based positioning has the following problems.
1) Since the unit of change of geomagnetism is dense, it is necessary to build a DB in grid form of at least 1m x 1m unit and to collect the geomagnetic environment more densely than WPS in order to construct a fingerprint type DB, .
2) It is difficult to perform real-time positioning due to limited capacity and performance of smart phone.
SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and it is an object of the present invention to collect positioning environment data from a user by a crowd sourcing method and to detect a change of the positioning environment therefrom, It is an object of the present invention to continuously construct a positioning database of higher quality than the existing technology by continuously estimating the data collection position by using the movement pattern database while continuously updating the database.
In order to achieve the above object, a positioning system using a moving pattern according to the present invention is characterized in that a positioning system using a moving pattern according to the present invention is a positioning system A method for constructing a database includes the steps of: (a) receiving positioning environment information from a user's mobile terminal; (b) classifying the received positioning environment information into movement pattern units stored in the movement pattern database; (c) measuring the similarity of the classified positioning environment information and the positioning environment information according to the movement pattern stored in the movement pattern database (hereinafter referred to as 'positioning environment similarity'); And (d) updating data in the movement pattern database or updating data in the positioning database according to the positioning environment similarity.
Between the step (b) and the step (c), among the information included in the classified positioning environment information (b11), the positioning point information (hereinafter referred to as 'absolute positioning point' Extracting positioning mobile line information of the mobile terminal from the mobile station in units of mobile patterns; (b12) from the positioning information calculated for the mobile terminal (hereinafter referred to as " other positioning information ") by a method other than the positioning method that calculates the absolute positioning position among the information included in the classified positioning- Extracting positioning mobile line information of the mobile terminal in units of mobile patterns; And (b13) measuring the similarity of the positional movement line in the unit of the movement pattern detected in the step (b11) on the basis of the positional movement line in the unit of the movement pattern identified in the step (b12) And determining whether the positioning environment for calculating the point is changed or not.
Wherein the step (c) includes the steps of: (c11) if it is determined that the positioning environment has not changed, searching the movement pattern database of the area where the mobile terminal is located, Comparing the positioning environment information data in the movement pattern database corresponding to the positioning environment information database to measure the positioning environment similarity; And (c12) if it is determined that the positioning environment has changed, searching for a movement pattern database of a region where the mobile terminal is located and a neighboring region, and searching for one or more of the other position information, And comparing the positioning environment information data in the movement pattern database to measure the positioning environment similarity.
If it is determined that the positioning environment has not changed, the step (d) includes the steps of: (d11) if the positioning environment information data determined to be similar to a predetermined standard or more by the positioning environment similarity does not exist in the movement pattern database, Storing a movement pattern identified by the other positioning information in the movement pattern database as a new movement pattern of the area; And (d12) when the positioning environment information data determined to be similar or more than a certain standard by the positioning environment similarity is in the movement pattern database, among the positioning environment information data received within the recent period, And updating the positioning environment information data on the positioning database with respect to the position when it is determined that the positioning environment has changed, wherein the step (d) Discarding the received other positioning information when the positioning environment information data determined to be similar to a predetermined standard or more by the moving pattern database is not present in the moving pattern database; And (d22) when the positioning environment information data determined to be similar to or more than a certain standard by the positioning environment similarity exists in the movement pattern database, a position having the closest similarity of the positioning environment similarity among the positioning environment information data received within the recent period And updating the positioning environment information data on the positioning database with respect to the position.
Wherein the other positioning information includes geomagnetism data at a current position of the mobile terminal measured by the mobile terminal and positioning environment information data in the movement pattern database for determining positioning environment similarity as compared with the other positioning information And may be geomagnetism pattern data measured for each movement pattern.
Before step (a), (a01) dividing a movable path of a person in a room or a distance into a plurality of unit paths; (a02) collecting the measured positioning data for each point on each unit path; And (a03) constructing an initial movement pattern database by mapping the unit path data and the measurement data measured for each unit path, and storing the mapping data.
According to another aspect of the present invention, there is provided a system for constructing a positioning database using each unit route (hereinafter referred to as a 'movement pattern') obtained by patterning a route of a person moving in a room or a street, A crowd sourcing data receiving module for receiving positioning environment information from the crowd sourcing data receiving module; A movement pattern classification module for classifying the received positioning environment information into movement pattern units stored in the movement pattern database; A positioning environment similarity measurement module that measures the similarity of the positioning environment information classified by the movement pattern unit and the positioning environment information by the movement pattern stored in the movement pattern database (hereinafter, referred to as 'positioning environment similarity'); A database building module for updating data of the movement pattern database or updating data of the location database according to the positioning environment similarity; A positioning database for storing positioning environment information data; A movement pattern database for storing movement pattern data; And a controller for controlling each of the modules and performing a series of processes related to a positioning database construction using a movement pattern.
The positioning environment similarity measurement module calculates, from the information included in the positioning environment information classified by the movement pattern unit, the positioning point information (hereinafter, referred to as an absolute positioning point) obtained by grasping the respective position coordinates, Extracting the location code information of the mobile terminal in units of the movement pattern, extracting, from among the information included in the location environment information classified by the movement pattern unit, the absolute position location point, Extracting positioning mobile line information of the mobile terminal from the calculated positioning information (hereinafter referred to as " other positioning information ") on a mobile-pattern-by-mobile-pattern basis, And a function of measuring the similarity of the positioning copper wire in the unit of the movement pattern detected from the positioning point, It is, for the positioning environment similarity measurement module is based on the similarity of the copper wire positioning measurement, determining a positioning environment changes to determine whether the change of the positioning environment, for calculating the absolute position of the positioning point module may further include.
Wherein the positioning environment similarity measurement module searches the movement pattern database of the area where the mobile terminal is located when it is determined that the positioning environment has not changed and updates at least one of the other position information and corresponding other position information And the location environment similarity of the location environment is measured by comparing the location environment information data in the movement pattern database with the location environment information of the mobile terminal. When it is determined that the location environment has changed, And a function of measuring the positioning environment similarity by comparing at least one of the positioning information with the positioning environment information data in the movement pattern database corresponding to the other positioning information.
If it is determined that the positioning environment has not changed, the database building module may determine that the positioning environment information does not exist in the movement pattern database, Stores the movement pattern identified by the movement pattern database as a new movement pattern in the area, and when the positioning environment information data determined to be similar to or more similar to a certain standard or more by the positioning environment similarity exists in the movement pattern database, Estimating a position having the closest similarity of the positioning environment among the received positioning environment information data as the current position and updating the positioning environment information data on the positioning database with respect to the position, Data base If the positioning environment information data determined to be similar or more than a certain standard by the positioning environment similarity does not exist in the movement pattern database, the positioning module discards the received other positioning information and determines that the positioning environment information is similar When the positioning environment information data is in the movement pattern database, a position most similar to the positioning environment similarity among the positioning environment information data received within a recent period is estimated as the current position, and the positioning environment information Data can be updated.
Wherein the other positioning information includes geomagnetism data at a current position of the mobile terminal measured by the mobile terminal and positioning environment information data in the movement pattern database for determining positioning environment similarity as compared with the other positioning information And may be geomagnetism pattern data measured for each movement pattern.
Wherein the database building module divides a movable path of a person in a room or a distance into a plurality of unit paths, collects measured measurement data for each point on each unit path, And a function of building an initial movement pattern database by mapping and storing the measured positioning data with respect to the path.
According to another aspect of the present invention, there is provided a method of determining whether a positioning system using a mobile terminal or a movement pattern changes a positioning environment in a specific positioning interval includes the steps of: (a) Extracting positioning mobile line information of the mobile terminal in the positioning interval from the positioning point information (hereinafter, referred to as 'absolute positioning point') in which the position coordinates of the mobile terminal are moved, (b) determining, from among the information included in the positioning environment information, the positioning information calculated for the mobile terminal (hereinafter referred to as " other positioning information ") by a method other than the positioning method of calculating the absolute positioning position, Extracting positioning line information of the mobile terminal in a positioning interval; And (c) measuring a degree of similarity of the positioning copper wire obtained in the step (a) based on the positioning copper wire detected in the step (b), and calculating a change in the positioning environment And judging whether or not it is possible.
According to another aspect of the present invention, a mobile terminal communicates with a positioning system using a movement pattern by operation of a positioning client program installed in the mobile terminal (hereinafter referred to as a positioning client) The method for providing the positioning environment information to the positioning system using the movement pattern includes the steps of: (a) calculating positioning point information (hereinafter, referred to as 'absolute positioning point') obtained by grasping the position coordinates of each point where the mobile terminal moves ; (b) calculating positioning information (hereinafter referred to as " other positioning information ") obtained by grasping a moving point of the mobile terminal by a method other than the positioning method of calculating the absolute positioning point; And (c) transmitting the absolute position location point and the other position information to a positioning system using a movement pattern.
The method of
The information transmitted in the step (c) may further include geomagnetism data measured at the position of the mobile terminal.
According to another aspect of the present invention, there is provided a positioning client program (hereinafter referred to as " positioning client program ") that is provided in a mobile terminal and communicates with a positioning system using a movement pattern, (Hereinafter referred to as " positioning client "), wherein the positioning client has a function of calculating positioning point information (hereinafter referred to as absolute positioning positioning point) in which position coordinates of each point at which the mobile terminal moves are obtained; A function of calculating positioning information (hereinafter referred to as " other positioning information ") obtained by grasping a moving point of the mobile terminal by a method other than the positioning method of calculating the absolute positioning point; And a crowd sourcing transmission function of transmitting the absolute position location point and the other position information to a positioning system using a movement pattern.
The positioning client has a function of grasping a moving line (hereinafter, referred to as a 'positioning line') of the mobile terminal in a specific positioning interval from the calculated absolute position positioning point information; A function of grasping a positioning line of the mobile terminal in the positioning interval from the calculated other positioning information; And a function of determining the change of the positioning environment for calculating the absolute positioning point by measuring the similarity of the positioning copper wire grasped from the absolute positioning positioning point information based on the positioning copper wire grasped from the other positioning information And the information transmitted to the positioning system using the movement pattern may further include information on whether the determined positioning environment is changed.
The information transmitted to the positioning system using the movement pattern may further include geomagnetism data measured at the position of the mobile terminal.
According to the present invention, in order to construct the positioning database, the positioning environment data is collected from the user by the crow sourcing method to detect the change of the positioning environment therefrom, and the moving pattern database of the user is continuously updated, By using the pattern database, it is possible to estimate the data collection position more accurately, thereby making it possible to continuously establish a higher-quality positioning database than the existing technology.
BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a diagram showing a network configuration for performing positioning and establishing a positioning database using a movement pattern according to the present invention. Fig.
BACKGROUND OF THE INVENTION Field of the Invention [0001]
3 is a conceptual diagram of a dynamic time wrapping (DTW) algorithm as an embodiment of an algorithm for measuring the similarity of positioning lines.
4 is a flowchart illustrating a method of constructing a positioning database using a movement pattern according to the present invention.
5 is a flowchart for performing a positioning method using a movement pattern according to the present invention.
FIG. 6 is a diagram for explaining a positioning database construction and positioning method using a movement pattern according to the present invention. FIG.
7 is a diagram showing a configuration of a positioning system using a movement pattern according to the present invention.
8 is a diagram showing a configuration of a client program of a mobile terminal for performing positioning using a movement pattern according to the present invention.
Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Prior to this, terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary terms, and the inventor should appropriately interpret the concepts of the terms appropriately It should be interpreted in accordance with the meaning and concept consistent with the technical idea of the present invention based on the principle that it can be defined. Therefore, the embodiments described in this specification and the configurations shown in the drawings are merely the most preferred embodiments of the present invention and do not represent all the technical ideas of the present invention. Therefore, It is to be understood that equivalents and modifications are possible.
FIG. 1 is a diagram illustrating a network configuration for performing a positioning database construction and positioning using a movement pattern according to the present invention.
The positioning crowd sourcing technology collects the positioning point and the positioning environment data from the user in order to minimize the deterioration of the positioning quality due to the change of the positioning environment like the WPS, and updates the positioning database by detecting the change of the positioning environment therefrom . For example, the positioning environment data may be data such as RSSI data in a Wi-Fi network or a Bluetooth network, geomagnetism pattern data in a geomagnetism-based positioning, and the like. The positioning database may include various data related to the positioning, such as the location of the access point (AP), the average value of the RSSI data in the Wi-Fi network or the Bluetooth network, and the geomagnetism pattern data in the geomagnetism-based positioning.
Generally, in case of outdoors, it is possible to see the collection position relatively accurately by using GPS. Therefore, crowdsourcing technology can be effective, but in case of indoor or GPS shading area, when the positioning environment is changed and the positioning error is increased, It is impossible to generate a normal positioning DB because accurate collection position can not be known. In order to solve this problem, the quality of the positioning DB is improved by analyzing the movement line of the user by using the map matching technique of the collected WPS positioning points and estimating the collection position thereof. The map matching technique is a technique of roughly correcting a position in accordance with an indoor map after estimating the position. However, it is difficult to accurately estimate the location of collection, but it is necessary to use additional analysis techniques for indoor positioning that requires a higher level of accuracy than outdoors.
Accordingly, in the present invention, a database for a movement pattern of users possessing the mobile terminal is constructed, and it is determined whether the positioning environment is changed using the movement pattern. Further, a database related to the positioning environment Disclosed is a technique for constructing and updating a positioning database as well as performing accurate positioning for a mobile terminal.
The term " movement pattern " as used in the present invention means each unit path patterned by dividing the path of people moving in the room or on the street. In other words, generally, in order to find the position desired by the user, various types of copper lines are shown. The copper wire can be classified into a straight line section, a rotation section, and a stationary section, and a linear section, . ≪ / RTI > For example, at a range, it appears as a 90 degree rotation or a straight line. Such a rotation section may have a junction such as a trunk, a crossroad, a crossroad, an entrance such as an escalator, a shop entrance, and a stop section may be an exit or a milestone such as an escalator, an elevator entrance, a ticket gate entrance, a shop show window, Can be. In this way, various unit sections representing a specific movement type are referred to as a movement pattern, and therefore, when the movement lines of the users are the same, a similar movement pattern appears. In addition, spatial characteristics can be reflected in the pedestrian network to associate the movement pattern with nodes or links in the pedestrian network.
Figure 1 shows several embodiments of the movement pattern with the arrows (1,2,3,4) as described above. Figure 1 shows blocks of rectangular blocks, a passage formed therebetween, and an access point (AP) installed at each location, which may represent buildings, interstices or roads or sidewalks outdoors, Indoor may represent each room and hallway. The
As described above, the
FIG. 2 is a flowchart of a method for determining whether a positioning environment change according to the present invention is performed. FIG. 3 is a conceptual diagram of a DTW (dynamic time wraping) algorithm as an embodiment of an algorithm for measuring the similarity of a positioning line.
In the case of positioning technology such as WPS in which the change of the positioning environment exists, it has been known whether the positioning environment has changed or not, and whether the current positioning quality has been analyzed so far by directly measuring the positioning environment and the positioning value. Maintenance is costly to do this periodically in real service. One aspect of the present invention shown in the flowchart of FIG. 2 is to monitor the positioning quality on-line to minimize the maintenance cost and to detect a change in the positioning environment through the monitoring.
The determination of whether or not the positioning environment change is made can be performed by the
In the case where both the
First, the
As an embodiment of the absolute positioning point, there is positioning point information of the
When a WPS positioning point (absolute positioning point) and a PDR positioning point (other positioning information) are collected from a user at the same time, the WPS positioning point and the PDR positioning point form a moving moving line, respectively. The PDR positioning line has a very similar pattern to the moving line of the actual user for a limited time before the error accumulates. Therefore, comparing the similarity between the PDR positioning line and the WPS positioning line in terms of the movement pattern unit can reflect the positioning quality of the WPS positioning area (node or link on the pedestrian net).
The algorithm for obtaining the similarity may use DTW (Dynamic Time Wrapping), but the present invention is not limited to this, and other algorithms having similar uses may be used. In Fig. 3, two
The distance between the two patterns,
Lt; / RTI > At this time,
Lt; / RTI >
Here, the similarity calculation using the DTW algorithm
NF denotes the normalization coefficient, and the smaller the result value, the more similar it is.
It is possible to monitor the quality of the WPS positioning in a given region by constructing and comparing statistics collected from various users on a daily basis. In addition, the statistics on the quality of each device can be calculated through the statistics of the users using the devices.
The relationship between the similarity to the two positioning circles and the actual positioning quality can be determined using the measured positioning quality change to determine when to distribute the updated positioning DB to the
Since the quality of positioning and the change of the positioning environment are in a proportional relation, the change of the positioning quality means that there is a change of the positioning environment of the corresponding region. Therefore, it is possible to detect the change of the positioning environment when the change of the positioning quality is changed by more than a predetermined value. In other words, when it is determined that the moving line by the WPS positioning point has a difference of more than a certain reference level and the WPS positioning quality is deteriorated by comparing the moving line by the WPS positioning point based on the moving line by the PDR positioning point, It can be determined that a change has occurred in the environment (e.g., the location of the AP). The positioning quality monitoring method is applicable not only to the WPS exemplified as an absolute positioning point but also to all the positioning methods using radio waves and varying quality according to a change in the positioning environment over time.
FIG. 4 is a flowchart illustrating a method for constructing a positioning database using a movement pattern according to the present invention. FIG. 6 is a diagram for explaining a positioning database construction method and a positioning method using a movement pattern according to the present invention.
In other words, the method in the figure illustrates a method of constructing a high-quality positioning database by estimating a more accurate collection position when updating the positioning DB by positioning crowdsourcing.
First, an initial movement pattern database is constructed (S410). In order to estimate the actual collection position from the positioning and positioning environment information collected from the user, a movement pattern database is required at first, and the actual movement pattern of the user can not be patterned until it is collected from the user. Accordingly, a predictable movement pattern database is additionally constructed at the time of establishing the initial positioning database.
A method of constructing an initial movement pattern database includes: dividing a movable path of a person in a room or a distance into a plurality of unit paths, collecting measured measurement data for each point on each unit path, Data and the measurement data measured for each unit path are mapped and stored.
That is, the initial movement pattern database can be constructed by classifying the collected data according to characteristics of the space and mapping the collected data to the actual location, and use the pedestrian network used for route guidance in order to facilitate the mapping of the collected data to the spatial characteristics. At this time, the collected data may be various positioning environment data other than the WIFI positioning environment information such as WIFI positioning environment information, PDR driving information, geomagnetism data, Bluetooth beacon information, and acoustic information.
The positioning environment information is received from the user's mobile terminal, and the received positioning environment information is classified into movement pattern units stored in the movement pattern database (S420). This movement pattern can be classified, for example, from the PDR running information of the
Thereafter, it is possible to determine whether the positioning environment has changed (S430). As described above with reference to FIG. 2, the
That is, in the case where the
Or when the
Thereafter, the degree of similarity between the classified positioning environment information and the positioning environment information according to the movement pattern stored in the movement pattern database (hereinafter, referred to as 'positioning environment similarity') is measured, and it is determined whether the positioning environment is changed based on the measurement.
That is, if it is determined in step S430 that the positioning environment change is not made (S440), the
The data of the movement pattern database is updated or the data of the location database is updated according to the measured similarity of the positioning environment.
If the positioning environment information data determined to be similar or more similar to the predetermined reference level by the similarity of the positioning environment is not found in the retrieved movement pattern database (S471), the movement pattern grasped by the received other position information is regarded as a new movement pattern (S481). If the positioning environment information data determined to be equal to or more than a certain standard by the positioning environment similarity exists in the retrieved movement pattern database (S471), the positioning environment information data stored in the positioning environment database A position having the closest similarity of the positioning environment among the information data is estimated as the current position (S482), and the positioning environment information data on the positioning database for the position is updated (S490).
Alternatively, if it is determined in step S430 that the positioning environment has changed (S440), all the movement pattern databases to the area where the mobile terminal is located and its neighboring areas are all searched (S452), and one or more of the other positioning information , The positioning environment information data in all the searched movement pattern databases corresponding to the other position information are compared with each other, and the positioning environment similarity is measured (S462).
If the positioning environment information data determined to be similar to a predetermined standard or more by the measured positioning environment similarity exists in the retrieved movement pattern database (S472), the positioning environment similarity among the positioning environment information data received within the recent period The positioning environment information data on the location database for the location is updated (S490). If the positioning environment information data determined to be similar to the reference environment by the positioning environment similarity is the search result If there is not one movement pattern database (S472), since the current position is not known, the received other position information is discarded (S483).
4, a movement pattern database construction, a location estimation and a positioning database construction method using the positioning crow sourcing described step by step will be described with reference to the following embodiments.
In the positioning environment information classified by the movement pattern unit, there are WPS positioning points as an example of an absolute positioning position, and PDR positioning positions as an example of other positioning information. The WPS positioning points and the PDR positioning points are used to determine whether the WPS positioning environment changes in the target area, as described above with reference to FIG.
end. If the WPS positioning environment has not changed (S440), all the movement pattern databases of the area where the
I. If the WPS positioning environment has changed (S440), all the movement pattern databases up to the area where the
All. If the WPS positioning environment does not change and there is no similarity in the positioning environment similarity, the corresponding movement pattern is added to the movement pattern database of the corresponding area and registered in the new movement pattern. For example, in the case where the WPS positioning environment does not change, the positioning information transmitted from the
la. If it is determined that the WPS positioning environment has not changed, or if it is determined that the WPS positioning environment has changed, if there is a similar positioning environment similarity in the retrieved movement pattern database (S471, S472) (S482, S490), the location having the closest similarity in the location environment is estimated based on the location environment information and the history information collected by the location environment information acquisition unit. That is, for example, when it is determined that the WPS positioning environment has changed (S440), the position or
FIG. 5 is a flow chart for performing a positioning method using a movement pattern according to the present invention.
That is, the invention shown in the flowchart of FIG. 5 relates to a positioning method using a movement pattern database constructed through positioning crowd sourcing.
In case of positioning using WPS and PDR, it is possible to prevent the WPS from splashing by using PDR. However, when the WIFI positioning environment is bad, the WPS quality is bad, and therefore, it frequently occurs continuously. In the worst case, the positioning can not be performed based on the WIFI, and the initial point of the PDR can not be generated. In this case, even if the PDR estimates the actual position of the user, there is no way to check whether or not the estimated position is the actual position. In order to solve this problem, we measure the reliability of other positioning environment (geomagnetism data, etc.) about the current position by using the movement pattern database constructed through positioning crowd sourcing to solve the problem.
The method of constructing the initial movement pattern database (S510) is the same as that of Fig.
A positioning system using a moving pattern is a method of performing positioning using each unit path (hereinafter referred to as a " moving pattern ") obtained by patterning a path in which people move in the room or a distance,
The
And determines the positioning accuracy from the received positioning information. The positioning accuracy of the
If the determined positioning accuracy is equal to or less than a predetermined criterion, positioning information (hereinafter referred to as "reference positioning information") calculated by the specific method is extracted from the received positioning information to the mobile terminal (S550) Information in the movement pattern database (S560), and transmits the location information of the mobile terminal detected by the search to the mobile terminal as the current location of the mobile terminal (S570).
In this case, the reference positioning information is geomagnetism data at the current position measured by the mobile terminal, and the positioning environment information held by the
7 is a diagram showing a configuration of a
A system for constructing a positioning database by using each unit route (hereinafter referred to as a " movement pattern ") obtained by patterning a route in which people move in the room or on a street,
The
The crowd sourcing
The movement
The positioning environment
The positioning environment
In addition, when it is determined that the positioning environment has not changed, the positioning environment
The
Also, the
When the positioning accuracy determined from the positioning information is less than a predetermined criterion, the position
The crowd sourcing
The positioning
The
The
FIG. 8 is a diagram showing a configuration of a client program (hereinafter referred to as 'positioning client') 200 for performing positioning using a movement pattern according to the present invention.
Absolute position measurement
The other positioning
The positioning information
The crowd sourcing
The crowd sourcing
The positioning environment
In addition, the
100: Positioning system using moving pattern
Claims (19)
(a) receiving positioning environment information from a user's mobile terminal;
(b) classifying the received positioning environment information into movement pattern units stored in the movement pattern database;
(c) measuring the similarity of the classified positioning environment information and the positioning environment information according to the movement pattern stored in the movement pattern database (hereinafter referred to as 'positioning environment similarity'); And
(d) updating data of the movement pattern database in accordance with the positioning environment similarity, or updating data of the positioning database
Wherein the location database includes at least one of the following:
Between the step (b) and the step (c)
(b11), from among the pieces of information included in the classified positioning environment information, positioning point information (hereinafter, referred to as 'absolute positioning point') obtained by grasping each positional coordinate on which the mobile terminal moves, Extracting copper wire information;
(b12) from the positioning information calculated for the mobile terminal (hereinafter referred to as " other positioning information ") by a method other than the positioning method that calculates the absolute positioning position among the information included in the classified positioning- Extracting positioning mobile line information of the mobile terminal in units of mobile patterns; And
(b13) The degree of similarity of the positional movement line in the unit of the movement pattern detected in the step (b11) is measured based on the positional movement line in the unit of the movement pattern detected in the step (b12) Determining whether the positioning environment for calculating the change
Further comprising the steps of: determining whether or not the mobile terminal is a mobile terminal;
The step (c)
(c11) if it is determined that the positioning environment has not changed, searching the movement pattern database of the area in which the mobile terminal is located, determining at least one of the other position information and the movement pattern database Comparing the positioning environment information data in the positioning environment information data to measure positioning environment similarity; And
(c12) if it is determined that the positioning environment has changed, searches the movement pattern database of the area where the mobile terminal is located and the neighboring area, and searches for one or more of the other location information, A step of comparing the positioning environment information data in the pattern database and measuring the positioning environment similarity
And generating a positioning database based on the movement pattern.
If it is determined that the positioning environment has not changed, the step (d)
(d11) If the positioning environment information data determined to be similar to a predetermined reference or more by the positioning environment similarity is not in the movement pattern database, the movement pattern grasped by the received other position information is moved Storing in a pattern database; And
(d12) If the positioning environment information data determined to be similar or more than a certain standard by the positioning environment similarity is in the movement pattern database, among the positioning environment information data received within the recent period, And updating the positioning environment information data on the positioning database with respect to the position
Lt; / RTI >
If it is determined that the positioning environment has changed, the step (d)
(d21) discarding the received other positioning information when the positioning environment information data determined to be similar to the reference environment similarity by the positioning environment similarity is not in the movement pattern database; And
(d22) When the positioning environment information data determined to be similar or more than a certain standard by the positioning environment similarity is in the movement pattern database, a position having the closest similarity in the positioning environment similarity among the positioning environment information data received within a recent period is referred to as And updating the positioning environment information data on the positioning database with respect to the position
And generating a positioning database based on the movement pattern.
In the other positioning information,
The geomagnetism data at the current location of the mobile terminal, measured by the mobile terminal,
The positioning environment information data in the movement pattern database for determining the positioning environment similarity by comparing with the other position information,
Geomagnetic pattern data measured for each movement pattern
Wherein the location database is constructed by using the movement pattern.
Prior to step (a)
(a01) dividing a movable path of a person into a plurality of unit paths in an indoor space or a distance;
(a02) collecting the measured positioning data for each point on each unit path; And
(a03) constructing an initial movement pattern database by mapping each unit path data and the measurement data measured for each unit path, and storing
Further comprising the steps of: determining whether or not the mobile terminal is a mobile terminal;
A crowd sourcing data receiving module for receiving positioning environment information from a user's mobile terminal;
A movement pattern classification module for classifying the received positioning environment information into movement pattern units stored in the movement pattern database;
A positioning environment similarity measurement module that measures the similarity of the positioning environment information classified by the movement pattern unit and the positioning environment information by the movement pattern stored in the movement pattern database (hereinafter, referred to as 'positioning environment similarity');
A database building module for updating data of the movement pattern database or updating data of the location database according to the positioning environment similarity;
A positioning database for storing positioning environment information data;
A movement pattern database for storing movement pattern data; And
A control unit for controlling each of the modules and performing a series of processes related to positioning database construction using movement patterns
The positioning system comprising:
The positioning environment similarity measurement module includes:
From the positioning point information (hereinafter, referred to as 'absolute positioning point') obtained by grasping each position coordinate in which the mobile terminal moves, out of the information included in the positioning environment information classified by the movement pattern unit, Extracts the positioning copper line information,
(Hereinafter referred to as " other location information ") calculated for the mobile terminal by a method other than the positioning method in which the absolute position location point is calculated, out of the information included in the positioning environment information classified by the movement pattern unit , Extracts positioning mobile line information of the mobile terminal in units of mobile patterns,
And a function of measuring the similarity of the positional movement line in the movement pattern unit grasped from the absolute positional position with reference to the positional movement line in the unit of movement pattern detected from the other positional information,
In the positioning system using the movement pattern,
And a positioning environment change determination module that determines whether the positioning environment for calculating the absolute positioning position is changed based on the similarity of the positioning copper lines measured by the positioning environment similarity measurement module
The positioning system further comprising:
The positioning environment similarity measurement module includes:
Searching the movement pattern database of the area in which the mobile terminal is located if it is determined that the positioning environment has not changed and transmitting at least one of the other position information and a positioning environment in the movement pattern database corresponding to the other position information The positioning environment similarity is measured by comparing the information data,
Searching for a movement pattern database of a region where the mobile terminal is located and a neighboring region when it is determined that the positioning environment has changed and searching at least one of the other position information and the movement pattern database corresponding to the other position information A function to measure the similarity of the positioning environment by comparing the positioning environment information data
The positioning system further comprising:
If it is determined that the positioning environment has not changed,
When the positioning environment information data determined to be similar to a predetermined standard or more by the positioning environment similarity does not exist in the movement pattern database, the movement pattern grasped by the received other position information is added to the movement pattern database Store,
When the positioning environment information data determined to be similar to a predetermined standard or more by the positioning environment similarity exists in the movement pattern database, a position having the closest similarity of the positioning environment among the positioning environment information data received within a recent period is estimated as the current position And updates the positioning environment information data on the positioning database with respect to the position,
If it is determined that the positioning environment has changed,
If the positioning environment information data determined to be similar or more than a certain standard by the positioning environment similarity is not in the movement pattern database,
When the positioning environment information data determined to be similar to a predetermined standard or more by the positioning environment similarity exists in the movement pattern database, a position having the closest similarity of the positioning environment among the positioning environment information data received within a recent period is estimated as the current position , And updates the positioning environment information data on the positioning database with respect to the position
And a positioning system using the movement pattern.
In the other positioning information,
The geomagnetism data at the current location of the mobile terminal, measured by the mobile terminal,
The positioning environment information data in the movement pattern database for determining the positioning environment similarity by comparing with the other position information,
Geomagnetic pattern data measured for each movement pattern
And a positioning system using the movement pattern.
The database building module comprises:
A movable path of a person in an indoor or a street is divided into a plurality of unit paths,
Collecting the measured positioning data for each point on each unit path,
A function of establishing an initial movement pattern database by mapping and storing the respective unit path data and the measurement data measured for each unit path,
The positioning system further comprising:
(a) determining, from the information included in the positioning environment information measured by the mobile terminal, position point information (hereinafter, referred to as absolute position position point) obtained by grasping each position coordinate at which the mobile terminal moves, Extracting positioning line information of the mobile terminal;
(b) determining, from among the information included in the positioning environment information, the positioning information calculated for the mobile terminal (hereinafter referred to as " other positioning information ") by a method other than the positioning method of calculating the absolute positioning position, Extracting positioning line information of the mobile terminal in a positioning interval; And
(c) measuring a degree of similarity of the positional movement line identified in the step (a) based on the positional movement line identified in the step (b) and determining whether the positioning environment for calculating the absolute positional positioning point in the step (a) ≪ / RTI >
And determining a change in the positioning environment.
(a) calculating positioning point information (hereinafter, referred to as 'absolute positioning point') obtained by grasping the position coordinates of each point at which the mobile terminal moves;
(b) calculating positioning information (hereinafter referred to as " other positioning information ") obtained by grasping a moving point of the mobile terminal by a method other than the positioning method of calculating the absolute positioning point; And
(c) transmitting the absolute position location point and the other position information to a positioning system using a movement pattern
And transmitting the positioning environment information to the mobile terminal.
Before the step (c)
(a1) identifying a moving line (hereinafter, referred to as a 'positioning line') of the mobile terminal in a specific positioning interval from absolute position location point information calculated in the step (a);
(b1) determining, from the other positioning information calculated in the step (b), a positioning line of the mobile terminal in the positioning interval; And
(c01) determining a change in the positioning environment for calculating the absolute positioning point in the step (a1) by measuring the similarity of the positioning copper wire obtained in the step (a1) on the basis of the positioning copper wire detected in the step (b1) ≪ / RTI >
Further comprising:
The information to be transmitted in the step (c)
The information about whether or not the positioning environment change determined in the step (c01) is further included
And transmitting the positioning environment information to the mobile terminal.
The information to be transmitted in the step (c)
The geomagnetism data measured at the position of the mobile terminal is further included
And transmitting the positioning environment information to the mobile terminal.
A function of calculating positioning point information (hereinafter, referred to as an " absolute positioning point ") in which the position coordinates of each point at which the mobile terminal moves are grasped;
A function of calculating positioning information (hereinafter referred to as " other positioning information ") obtained by grasping a moving point of the mobile terminal by a method other than the positioning method of calculating the absolute positioning point; And
A crowd sourcing transmission function for transmitting the absolute position location point and the other position information to a positioning system using a movement pattern
And a positioning client for receiving the positioning client.
The positioning client comprises:
A function of grasping a moving copper line (hereinafter, referred to as a 'positioning copper wire') of the mobile terminal in a specific positioning interval from the calculated absolute position positioning point information;
A function of grasping a positioning line of the mobile terminal in the positioning interval from the calculated other positioning information; And
A function of determining whether the positioning environment for calculating the absolute positioning position is changed by measuring the similarity of the positioning copper wire grasped from the absolute positioning positioning point information based on the positioning copper wire grasped from the other positioning information,
Further comprising:
The information to be transmitted to the positioning system using the movement pattern includes,
And information about whether or not the determined positioning environment is changed is further included
And a positioning client which stores the positioning client.
The information to be transmitted to the positioning system using the movement pattern includes,
The geomagnetism data measured at the position of the mobile terminal is further included
And a positioning client which stores the positioning client.
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| Application Number | Priority Date | Filing Date | Title |
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| PCT/KR2015/012003 WO2017026582A1 (en) | 2015-08-10 | 2015-11-09 | Method and system for positioning and positioning database construction, using moving pattern |
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| KR1020150112730 | 2015-08-10 | ||
| KR20150112730 | 2015-08-10 |
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