KR101608913B1 - Location-aware method and apparatus using cooperative communication with external terminals - Google Patents

Abstract

A method and apparatus for localization using cooperative communication with an external terminal are disclosed.
The position determination apparatus grasps the difference in distance between the first terminal and the second terminal by using the arrival time difference of signals received from the first terminal and the second terminal respectively, And the position of the user is determined by using the obtained angle.

Description

[0001] The present invention relates to a location-aware method and apparatus using cooperative communication with an external terminal,

Field of the Invention [0002] The present invention relates to a positioning method and apparatus, and more particularly, to a method and apparatus for locating a location using cooperative communication with an external terminal having location information without using a GPS or a base station.

Conventional devices use GPS (Global Positioning System) for location. In the case of GPS, the device receives a signal containing time and location information from at least three satellites and uses a triangulation method to determine the location. However, there is a problem in that it is impossible to locate using GPS in a shaded area such as a room.

Another method of localization is a network-based triangulation method using a base station in the case of a smartphone or the like. However, recently, the traffic usage of major countries including Korea is almost saturated. Especially, in order to cope with increasing traffic in a dense region, a larger number of base stations are required and there is a shortage of frequency resources due to the location. Thus, location awareness through the base station is inefficient and increases traffic.

Patent Publication No. 2010-0076340

SUMMARY OF THE INVENTION It is an object of the present invention to provide a method and apparatus for locating a location in cooperation with an external terminal having location information without using a base station in a shaded area such as a room.

According to another aspect of the present invention, there is provided a method for locating a third terminal using a first terminal and a second terminal having location information, The terminal recognizing a distance difference between the first terminal and the second terminal by using a difference in arrival time of signals received from the first terminal and the second terminal; Obtaining a separation angle between signals received from the first terminal and the second terminal, respectively; And determining a position of the third terminal based on the distance difference and the spacing angle.

According to an aspect of the present invention, there is provided a position detecting apparatus for detecting a position through wireless communication with a first terminal and a second terminal having positional information, A distance grasping unit for grasping a distance difference between a first distance from the first terminal and a second distance from the second terminal based on an arrival time difference between signals received from the terminal and the second terminal; An angle determination unit for determining a separation angle between signals received from the first terminal and the second terminal, respectively; And a position recognition unit for recognizing the position that satisfies the distance difference and the spacing angle as the position of the third terminal.

According to the present invention, it is possible to accurately grasp the position even in a room where GPS signals can not be received. In addition, since the positioning is performed through communication with neighboring terminals having positional information without using a base station, the problem of increase in traffic when locating using a conventional base station can be solved.

1 is a diagram illustrating an example of a method for a terminal according to an embodiment of the present invention to determine a position using GPS;
2 is a diagram illustrating an example in which a method for locating using cooperative communication with an external terminal is applied according to the present invention;
FIG. 3 is a diagrammatic view of a method of locating according to the present invention,
4 is a view showing a configuration of an embodiment of a position detecting apparatus according to the present invention,
FIG. 5 is a flowchart showing an example of a method of locating according to the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, with reference to the accompanying drawings, a method of locating a cooperative communication with an external terminal and an apparatus therefor according to the present invention will be described in detail.

FIG. 1 is a diagram illustrating an example of a method for a terminal according to the present invention to determine its position using GPS.

Referring to FIG. 1, a terminal 110 recognizes a current location using signals received from at least three GPS satellites 100, 102, and 104. However, in order to receive a GPS signal, the terminal 110 must be located in an open place, and when it is located in a shadow area such as a room, it can not receive a GPS signal and can not locate the location.

FIG. 2 is a diagram illustrating an example in which a method of locating using cooperative communication with an external terminal is applied according to the present invention.

Referring to FIG. 2, the first terminal 200 and the second terminal 210 are positioned outdoors and are capable of positioning using GPS, the third terminal 220 is located in the room 230, It is a terminal which can not grasp using position. The third terminal 220 grasps its position through cooperative communication with the two external terminals 200 and 210.

In this embodiment, the location of the terminals 200, 210 and 220 is not limited to the inside of the room 230 or outside, and the third terminal 220 is connected to the first terminal 200, the second terminal 210, The first terminal 200 and the second terminal 210 may transmit their position information to the base station 200 in various conventional methods (for example, GPS, base station network-based positioning, etc.) Any device known. Also, the first to third terminals 200, 210, and 220 may be fixed devices in a specific place, or may be mobile devices such as a smart phone or a navigation device.

FIG. 3 is a diagram showing a geometrical concept of the method of locating according to the present invention.

Referring to FIG. 3, hyperbola drawn at two points A and B (300 and 310) is drawn when points having a certain distance difference ab between the point C and the remaining two points A and B (300 and 310) C point 320 is located on the hyperbola.

If the coordinates of the two points A and B (300 and 310) are known, the distance c between the two points A and B (300 and 310) can be obtained. If we can grasp the internal angle of the triangle formed by connecting A, B and C, we can know the relative position of C point with respect to two points A and B by using trigonometry or Pythagorean theorem, If you know the absolute coordinates of two points A and B, you can get the absolute coordinates of point C accordingly. Using this concept, a method of locating using cooperative communication with an external terminal will be described in detail below.

4 is a diagram showing the configuration of an embodiment of the position detecting apparatus according to the present invention.

Referring to FIG. 4, the position determination apparatus 400 includes a distance determination unit 410, an angle determination unit 420, and a position recognition unit.

The distance determination unit 400 obtains a time difference of a reference signal arriving from two external terminals (the first and second terminals 200 and 210 in FIG. 2) having positional information (coordinate value). At this time, it is assumed that the two external terminals are synchronized with each other, and various conventional methods such as using a GPS signal as a synchronization method can be applied. For example, when two external terminals are located at points A and B in FIG. 3, the distance determination unit 410 can obtain the distance difference d by multiplying the time difference of the signals received from the two terminals by the velocity.

t _i and t _j are the time taken to receive a signal from two synchronized external terminals, c is the speed of light, and || is the absolute value.

In order to obtain the time difference of the received signal, the distance determination unit 400 may take the correlation of the received reference signal and derive the time difference through the peak value.

Here, argmax f () means a value of τ that maximizes the function f. S () denotes a received signal, and i and j denote two external terminals. In this embodiment, the number of external terminals is two, so K = 2.

The angle grasping unit 420 grasps angles, i.e., spacing angles, between signals incident from two external terminals. The angle detecting unit 420 can detect a separation angle using a MUSIC (Multiple Signal Classification) algorithm. However, it may be difficult to accurately measure the separation angle due to multi-path fading due to the surrounding environment when the location grasping apparatus 400 is located in a dense area or an indoor space. Accordingly, the two external terminals measure the angle of arrival (AOA) of the signal received from the position determination apparatus 400, and the angle determination unit 420 receives the arrival angle information measured from the two external terminals, It is desirable to grasp the spacing angle with a foundation. The MUSIC algorithm can be used to detect the arrival angle at an external terminal.

More specifically, the MUSIC algorithm is widely used in the problem of array signal processing. The MUSIC algorithm divides a space made up of data measured by an antenna into a signal space and a noise space, And orthogonality between the position and the position. The MUSIC algorithm can be expressed as follows.

는 공액전치(conjugate transpose)(Hermite matrix)를 나타내고,

은 잡음공간(noise subspace),

은 (N-M) 잡음 고유벡터(noise eigenvector),

는 신호 조향 벡터(signal sterring vector), M은 요소 선형 배열(elements linear array), N은 유한한 데이터 샘플들을 나타낸다. here,

Represents a conjugate transpose (Hermite matrix)

Is the noise subspace,

(NM) noise eigenvector,

Denotes a signal steering vector, M denotes an element linear array, and N denotes finite data samples.

와

이 직교가 될때 분모는 0이 된다. 따라서 MUSIC 알고리즘에서

의 값이 최대일 때의 φ가 도래각이 된다. In the above equation, if? Is the arrival direction estimation value of the signal,

Wow

When this is orthogonal, the denominator becomes zero. Therefore,

The maximum value of the angle?

When the angle detector 420 receives the angle of attack from the external terminal, the angle detecting unit 420 can determine the angle of separation between the two signals received from the two external terminals. Referring back to the example of FIG. 3, the angle determination unit 420 receives the information about the arrival angles? And? From the two terminals located at the two points 300 and 310 of A and B to grasp the separation angle?.

3) from the two external terminals obtained by the distance determination unit 410 and the separation angle (? In the case of FIG. 3) obtained by the angle determination unit 420 As a basis, it grasps its position. In other words, as described with reference to FIG. 2, the position recognition unit 430 recognizes a position that satisfies the spacing angle on the hyperbola with two external terminals as foci as the position of the position determination apparatus 400. [ 3, the distances a and b between the points A and B 300 and 310 where the two external terminals are located and the point C 320 where the position locating apparatus is located are obtained through the simultaneous equations of Equation 1 and Equation 4 The position of the C point can be grasped.

Here, c is the distance between two external terminals having position information, a and b are the distances between the two external terminals and the position detecting apparatus, respectively, and θ is the separation angle of signals received from the two external terminals in the position detecting apparatus.

3, the position detecting apparatus includes a distance difference ab between two external devices, a distance c between the two external devices, a separation angle? , β) based on the Pythagorean theorem can be applied from the two external devices can be located at a certain distance and can be located at a certain angle.

FIG. 5 is a flowchart showing an example of a method of locating according to the present invention.

Referring to FIG. 5, the localization apparatus performs cooperative communication with an external terminal that knows its location information through a GPS or the like to determine a relative distance difference from two external terminals (S500). The distance difference can be determined using the time difference of signals received from two synchronized external terminals.

Then, the position sensing device recognizes the angle between the signals received from the two external terminals, that is, the spacing angle (S510). Although the position detection apparatus can directly obtain the separation angle by grasping the reception direction between two signals, it is difficult to grasp the accurate reception angle due to the multipath fading in the case of being located in the center of the city or in the room, Thereby determining the separation angle. Here, the arrival angle received from the external terminal is an arrival angle measured with respect to a signal received from the localization apparatus by the external terminal. An example of the arrival angle measurement method is the MUSIC algorithm.

The position locating apparatus can grasp a relative position from two external terminals by using a relative distance difference and a separation angle from two external terminals, and obtains the absolute coordinates of the position locating apparatus by adding a relative position to the absolute coordinates of the two external terminals .

The present invention can also be embodied as computer-readable codes on a computer-readable recording medium. A computer-readable recording medium includes all kinds of recording apparatuses in which data that can be read by a computer system is stored. Examples of the computer-readable recording medium include ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage, and the like. The computer-readable recording medium may also be distributed over a networked computer system so that computer readable code can be stored and executed in a distributed manner.

The present invention has been described with reference to the preferred embodiments. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the disclosed embodiments should be considered in an illustrative rather than a restrictive sense. The scope of the present invention is defined by the appended claims rather than by the foregoing description, and all differences within the scope of equivalents thereof should be construed as being included in the present invention.

Claims (12)

A method for locating a third terminal using a first terminal and a second terminal having location information, the method comprising:
Determining a difference in distance between the first terminal and the second terminal using a difference in arrival time of signals received from the first terminal and the second terminal;
Obtaining a separation angle between signals received from the first terminal and the second terminal, respectively; And
And determining a position of the third terminal based on the distance difference and the spacing angle,
The step of determining the distance difference may include:
Multiplying the arrival time difference of the reference signal received from the first terminal and the second terminal synchronized by the following equation by the propagation velocity to grasp the distance difference,

, Where d is the distance difference, t _i is the arrival time of the reference signal received from the first terminal, t _j is the arrival time of the reference signal received from the second terminal, c is the speed of light, Is an absolute value),
The step of determining the location of the third terminal comprises:
Wherein a position that satisfies the spacing angle on a hyperbola focused on the first terminal and the second terminal obtained using the distance difference is identified as the position of the third terminal. delete The method according to claim 1,
Wherein the first terminal and the second terminal are mobile terminals that identify their positions using GPS. 2. The method of claim 1,
Receiving arrival angle information measured by a multiple signal classification (MUSIC) algorithm at the first terminal and the second terminal; And
And obtaining the separation angle using the arrival angle information received from the first terminal and the second terminal, respectively. delete The method of claim 1, wherein the step of determining the location of the third terminal comprises:
Obtaining a third distance between the first terminal and the second terminal based on position information of the first terminal and the second terminal;
Obtaining a first distance from the first terminal and a second distance from the second terminal based on the third distance, the distance difference, and the spacing angle;
And determining the position of the third terminal by applying Pythagorean theorem to the first distance, the second distance, and the spacing angle. 1. A position detecting apparatus for detecting a position of a first terminal and a second terminal having positional information through wireless communication,
A distance grasping unit for grasping a distance difference between a first distance from the first terminal and a second distance from the second terminal based on an arrival time difference between signals received from the first terminal and the second terminal;
An angle determination unit for determining a separation angle between signals received from the first terminal and the second terminal, respectively; And
And a position recognizing unit for recognizing a position that satisfies the distance difference and the spacing angle as a position of the third terminal,
The distance-
Multiplying the arrival time difference of the reference signal received from the first terminal and the second terminal synchronized by the following equation by the propagation velocity to grasp the distance difference,

, Where d is the distance difference, t _i is the arrival time of the reference signal received from the first terminal, t _j is the arrival time of the reference signal received from the second terminal, c is the speed of light, Is an absolute value),
The position recognizing unit,
And a position that satisfies the spacing angle on a hyperbola focused on the first terminal and the second terminal obtained using the distance difference as the position of the third terminal. delete 8. The apparatus according to claim 7,
And receives the arrival angle information measured by a MUSIC (Multiple Signal Classification) algorithm at the first terminal and the second terminal to obtain the spacing angle. delete 8. The apparatus according to claim 7,
A third distance between the first terminal and the second terminal is obtained using the position information of the first terminal and the second terminal, and the third distance is calculated using the third distance, the distance difference, And determining a second distance by using the Pythagorean theorem with respect to the first distance, the second distance, and the spacing angle to determine the position of the third terminal. A computer-readable recording medium on which a program for performing the method of claim 1 is recorded.

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