KR101582517B1 - Method and system estimating direction move by using WPS - Google Patents

Abstract

The present invention relates to a method and a system for estimating a moving direction by using a Wi-Fi positioning system (WPS). More specifically, the present invention relates to a method and a system for estimating a moving direction of a pedestrian in an environment where the direction is hard to calculate due to contamination of terrestrial magnetism. According to the present invention, the method of the moving direction estimating system using the WPS for performing moving direction estimation by using the WPS includes the following steps of: (a) setting a moving direction based on multiple positioning points (N) by performing WPS positioning of a pedestrian; (b) setting the moving direction corresponding to rotation in a PDR when rotation occurs in a gyro sensor after step (a) and determining whether a PDR positioning point and a WPS positioning point corresponding to the set moving direction exist; and (c) setting a new WPS moving direction corresponding to combination of the PDR positioning point and the WPS positioning point if the PDR positioning point and the WPS positioning point exist based on the determination in step (b) and setting a final moving direction based on a positioning point corresponding to an angle obtained by deducting a WPS positioning point, corresponding to a newly set WPS moving direction, from the WPS positioning point of the step (a).

Description

[0001] The present invention relates to a moving direction estimation method and system using a WPS (WIFI positioning system)

The present invention relates to a moving direction estimation method and system using WPS, and more particularly, to a method and system for estimating a moving direction of a pedestrian in an environment where direction calculation due to geomagnetism contamination is difficult.

The Global Positioning System (GPS), developed by the US Department of Defense, grasps the position of floating satellites in real time, receives signals from satellites at the time of arrival at the receiver through a GPS receiver, And determines the position. However, in the satellite-based positioning system, an error may occur due to the weather at the time of positioning or the surrounding environment of the positioning point, and the reflection may be reflected on the outer wall of a building or a building, .

In order to construct a positioning system indoors, various schemes are being developed. Among them, the wireless LAN based position location system inquires signal information about each access point (AP) wirelessly, And using the received sensitivity of each signal using information. However, since this method has an error of about 5m in the room, there is a problem that when the user intends to grasp the position in the indoor navigation system, the position can be displayed on another walking path due to an error. In addition, since the location of the access point can be changed or removed, the location information of the access point can always be maintained at the best level to improve the reliability of the location. When the pedestrian moves continuously, And the user can not grasp whether the user is moving or stopping in a shaded area where reception is not possible (a position where the radio wave can not be received due to the structure of the building).

In addition, since the wireless LAN based positioning system is provided by calculating only the location information of the user, it is very vulnerable because it is located without information for correcting the error that occurs in the indoor environment. In addition, the wireless LAN based positioning system applied indoors does not have the information to perform optimized positioning by correcting the error caused by the jamming propagation, the environment, and the interference due to the communication state of the wireless terminal. Also, in case of shaded areas where positioning is not available, there is no standard to judge whether the user is moving or stopping even if it is actually stopping. In case that it is necessary to perform position determination, route search and voice guidance by using continuous position information like navigation system, It is necessary to compensate for the position. Therefore, the PDR is used to reflect the movement of the user in real time in the positioning system. However, in most indoor environments, the structure composed of various electric devices and steel materials causing magnetic field distortion Wall, and the like, and the geomagnetic sensor of the PDR used in the moving direction malfunctions, so that there is a problem that the moving direction of the user can not be relied upon.

(Patent Document 0001) Domestic Patent Publication No. 2009-0121311

DISCLOSURE OF THE INVENTION It is therefore an object of the present invention to provide a method and apparatus for accurately calculating a moving direction of a pedestrian by synthesizing a moving direction between a positioning point of a WPS and a PDR in an environment in which direction calculation due to geomagnetic pollution is difficult, And an object of the present invention is to provide a moving direction estimation method and system using WPS.

In order to achieve the above object, a movement direction estimation system using a WPS (WI-FI positioning system) according to the present invention is a method for performing a movement direction estimation using a WPS, A method for performing a moving direction estimation using a WPS, the moving direction estimation system comprising: (a) performing a WPS positioning of a pedestrian to set a moving direction by a plurality of positioning points (N); (b) after the step (a), if a rotation of the gyro sensor occurs, setting a movement direction corresponding to the rotation in the PDR and determining whether a PDR positioning point and a WPS positioning point corresponding to the set movement direction exist; And (c) setting a new WPS movement direction corresponding to the synthesis of the PDR positioning point and the WPS positioning point when the determination is made in the step (b), and to correspond to the WPS positioning point in the step (a) And setting a final movement direction to a positioning point corresponding to an angle obtained by subtracting the WPS positioning point from the WPS positioning point.

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According to another aspect of the present invention, there is provided a system for estimating a moving direction using a WPS (WI-FI positioning system), comprising: a WPS positioning module for performing WPS positioning of a pedestrian; A PDR positioning module for detecting a rotation of the gyro sensor to calculate a PDR moving direction and performing a PDR positioning according to the moving direction; When the PDR positioning corresponding to the rotation of the gyro sensor and the WPS positioning according to the PDR positioning are performed, a new WPS movement direction corresponding to the combination of the PDR positioning and the WPS positioning A WPS movement direction calculating module that calculates a final movement direction based on a position corresponding to an angle obtained by subtracting the WPS positioning corresponding to the calculated movement direction and the WPS positioning corresponding to the newly calculated movement direction; And a controller for controlling the respective components of the movement direction estimation system using the WPS to perform a series of processes related to the movement direction estimation using the WPS.

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According to the method and system for estimating the moving direction using the WPS in the present invention, since the moving direction of the actual pedestrian terminal is accurately calculated and estimated, the moving direction of the pedestrian can be accurately relied on.

1 is a diagram showing a network configuration for performing a movement direction estimation using WPS
2 is a flowchart for implementing a moving direction estimation method using a WPS according to the present invention
3 is a view for explaining an implementation of a moving direction estimation method using WPS according to the present invention;
4 is a view for explaining an implementation of a moving direction estimation method using WPS according to the present invention;
5 is a view showing a moving direction estimation system using WPS 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.

1 is a diagram illustrating a network configuration for performing a movement direction estimation using WPS.

The moving direction estimation system 100 using the WPS is connected to a plurality of APs 21, 22, and 23 installed in a specific area or a specific building to manage the APs. By using the APs, The position of the target terminal 10 can be determined. Although the moving direction estimation system 100 using the WPS is shown as a separate system in this figure, it may be a separate system connected to the network in this way, or may be a system based on the movement direction estimation program installed in the terminal 10, (10) may serve as such an indoor positioning system. A moving direction estimation method using WPS according to the present invention will be described with reference to a flowchart of FIG. 2, and a configuration of a moving direction estimation system 100 using WPS for performing such a processor will be described with reference to FIG. The terminal described in FIG. 2, that is, the terminal carried by the pedestrian, the terminal sensing the movement information of the measurement object by the sensor may be a device separate from the positioning target terminal 10, The target terminal 10 may be configured to detect such a moving direction.

2 is a flowchart for implementing a moving direction estimation method using a WPS according to the present invention.

First, the WPS positioning of the pedestrian is performed and the moving direction is set by a plurality of positioning points N (S410). At this time, since the calculation is made based on a plurality of positioning points N, the direction of the geomagnetic sensor is initially used (S420)

The APs detect the signal strength from a terminal carried by a pedestrian, that is, an access point (AP) installed in the vicinity and a terminal capable of WIFI (hereinafter referred to as "pedestrian terminal") 10. The AP sends the detected signal strength value to the movement direction estimation system 100 using the WPS, and the movement direction estimation system 100 using the WPS performs the WPS positioning therefrom.

In a method of performing positioning, when there is an AP whose signal strength received from the pedestrian terminal is measured to be greater than or equal to a reference value, there is a method of determining the position of the AP as the position of the pedestrian.

If later, the rotation of a gyro sensor occurs _{(△ G k) (S430)} , and calculates the movement direction (P _k) by the PDR (S440).

The pedestrian dead reckoning (PDR) is an acceleration sensor that detects movement information of a speed, an acceleration direction, a distance, and the like using various sensors and detects acceleration information of a pedestrian terminal to detect a moving speed of the pedestrian terminal, A geomagnetic sensor for sensing the azimuth information necessary for estimating the moving direction of the pedestrian, an altimeter sensor for sensing the altitude information of the pedestrian, and a gyro sensor for sensing the angular velocity information.

Then, it is determined that the new PDR positioning points are present (S451) and if the new WPS positioning points are present (S452) in accordance with after the movement direction (P _k) by the PDR calculated (S440), the calculated PDR movement direction.

If the new PDR positioning point exists and a new WPS positioning point exists, the WPS-based moving direction is calculated by combining the PDR positioning point and the WPS positioning point (S460).

Then, the displacement? W _k in the WPS moving direction is calculated by the moving direction of (S410) and the moving direction of (S460) (S470).

If the WPS positioning point number corresponding to the calculated displacement is larger than the number of positioning points N in the step S410 (S480), the displacement (? W _k ) of the pedestrian Is calculated as the final movement direction H _k (S490).

This process can be expressed as follows.

_{Pk = Pk-1} +? _Gk

W _{k =} W _{k -1} W _k

_{Hk =} (1 -?) _Pk +?? _Wk

? = 1 / (e ^{? G k} + e ^{? w k} )

Where W _k is the final direction of the current period, P _k is the PDR direction of the current period, P _{k -1} is the PDR direction of the previous period, Δ W _k is the WPS moving direction displacement angle of the current period, Δ G _k Is the rotation angle of the gyro sensor in the current cycle, and? Is the WPS movement direction weight value of the current cycle.

In the present invention, as in step 410, the direction of movement using WPS is used as the direction between two positioning points. However, the calibration point is usually not formed in the same direction as the direction of movement of the user, so calibration is generally required. However, since the Kalman filter using the positioning point basically predicts the moving direction of the user by using the recent trend, when the user changes the direction and moves in the other direction, a completely different direction is calculated. Respectively.

In order to solve the above problem, the prediction result of a general Kalman filter can be corrected as shown in FIG. 4 by using a displacement point according to the relative position calculated in the PDR in step S440 as a correction point between WPS positioning points.

5 is a diagram illustrating a configuration of a movement direction estimation system using WPS according to the present invention.

Since the movement direction estimation performed by the movement direction estimation system 100 using the WPS has been described in detail with reference to the flowchart of FIG. 2, only the essential functions of each module performing such a method will be briefly described.

The control unit 110 controls the following components of the movement direction estimation system 100 using the WPS to perform a series of processes related to the movement direction estimation using the WPS.

The WPS positioning module 130 performs the WPS positioning of the pedestrian. The WPS positioning module 130 includes a signal strength receiving module 131 for receiving the signal intensity value of the pedestrian terminal from the APs and a WPS position calculating module 131 for calculating the position of the pedestrian based on the signal intensity values detected by the APs. (132).

The position calculation method of the WPS position calculation module 132 determines the position of the AP as the position of the pedestrian only when there is an AP (access point) whose signal intensity from the pedestrian terminal 10 is measured to be above the reference value will be.

The WPS movement direction calculation module 120 calculates the WPS movement direction by a plurality of positioning points N. [ In addition, the WPS movement direction calculation module 120 calculates the moving direction of the pedestrian by synthesizing the PDR positioning point and the new WPS positioning point according to the PDR movement direction, calculates the WPS movement displacement when the moving direction of the pedestrian is calculated again, The final moving direction of the pedestrian corresponding to the displacement is calculated.

The PDR positioning module 140 includes a movement direction calculation module 141 and a movement distance calculation module 142 that detect the rotation of the gyro sensor and calculate the movement direction of the PDR when the rotation is sensed. The PDR positioning module 140 also performs PDR positioning according to the moving direction of the PDR.

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. It will be understood that various modifications and changes may be made without departing from the scope of the appended claims.

10: Positioning target terminal
21, 22, 23: positioning AP
100: Moving Direction Estimation System using WPS
110:
120: WPS movement direction calculation module
130: WPS positioning module 131: Signal strength reception module
132: WPS position calculation module 140: PDR positioning module
141: Moving direction calculating module 142: Moving distance calculating module

Claims (8)

A movement direction estimation system using a WPS (WI-FI positioning system) performs a movement direction estimation using WPS,
(a) performing a WPS positioning of a pedestrian to set a moving direction by a plurality of positioning points (N);
(b) after the step (a), if a rotation of the gyro sensor occurs, setting a movement direction corresponding to the rotation in the PDR and determining whether a PDR positioning point and a WPS positioning point corresponding to the set movement direction exist; And
(c) a new WPS movement direction corresponding to the synthesis of the PDR positioning point and the WPS positioning point is set in the judgment of step (b), and a new WPS positioning direction corresponding to the WPS positioning point in step (a) Setting a final movement direction to a positioning point corresponding to an angle obtained by subtracting the WPS positioning point
Wherein the final movement direction in the step (c) is a movement direction estimation method using WPS calculated based on the following equation:
_{Pk = Pk-1} +? _Gk
W _{k =} W _k-1 - W _{k
Hk =} (1 -?) _Pk +?? _Wk
? = 1 / (e ^{? G k} + e ^{? w k} )
Where, H _k, the final direction, P _k is the current period of the PDR direction, P _k-1 is PDR direction in the preceding period, △ W _k is WPS moving direction displacement angle, △ G _k of the current period of the current period is the current The rotation angle of the gyro sensor in the cycle, and α is the WPS movement direction weight of the current cycle.
delete delete delete delete A system for estimating a moving direction using a WPS (WI-FI positioning system)
A WPS positioning module for performing the WPS positioning of the pedestrian;
A PDR positioning module for detecting a rotation of the gyro sensor to calculate a PDR moving direction and performing a PDR positioning according to the moving direction;
When the PDR positioning corresponding to the rotation of the gyro sensor and the WPS positioning according to the PDR positioning are performed, a new WPS movement direction corresponding to the combination of the PDR positioning and the WPS positioning A WPS movement direction calculating module that calculates a final movement direction based on a position corresponding to an angle obtained by subtracting the WPS positioning corresponding to the calculated movement direction and the WPS positioning corresponding to the newly calculated movement direction; And
A controller for controlling the respective components of the movement direction estimation system using the WPS to perform a series of processes related to the movement direction estimation using the WPS;
Wherein the WPS movement direction calculating module calculates a final movement direction based on the following formula:
_{Pk = Pk-1} +? _Gk
W _{k =} W _k-1 - W _{k
Hk =} (1 -?) _Pk +?? _Wk
? = 1 / (e ^{? G k} + e ^{? w k} )
Where, H _k, the final direction, P _k is the current period of the PDR direction, P _k-1 is PDR direction in the preceding period, △ W _k is WPS moving direction displacement angle, △ G _k of the current period of the current period is the current The rotation angle of the gyro sensor in the cycle, and α is the WPS movement direction weight of the current cycle.

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