KR101608976B1 - System and Method of Collaborative Localization Using Short Range Wireless Communication Network Without Location Infrastructure - Google Patents

Abstract

The present invention relates to a method and system for measuring a cooperative location based on a local area wireless communication network in an infrastructure-free environment that can effectively utilize a wireless positioning resource by performing positioning through cooperation among mobile nodes, A base station for managing a node list and a plurality of base stations for performing a mode switching of at least one of a first mode switching to a tag node or an anchor node and a second mode switching to a transmitting node or a receiving node based on a command of the base station And a positioning server for estimating positions of a plurality of mobile nodes based on data received from at least one of the mobile node and the plurality of mobile nodes or data received from the base station.

Description

TECHNICAL FIELD [0001] The present invention relates to a method and system for measuring a cooperative location based on a short-range wireless communication network in an environment without an infrastructure,

The present invention relates to a real-time wireless positioning method and system, and more particularly, to a cooperative positioning method based on a short-range wireless communication network in an infrastructure-free environment capable of efficiently utilizing wireless positioning resources by performing positioning through cooperation between mobile nodes And a system.

Conventional real time location system (RTLS) technology is composed of a base station, an anchor, a tag, and a location server.

The base station initializes the location network, manages the tag and anchor list, delivers the anchor list to the tag, and allows the tag to estimate the anchor and distance. The tag performs communication with the base station, performs distance estimation with the anchors using the anchor list transmitted from the base station, and transmits the result to the base station or performs the self-positioning. The anchor receives the command of the tag manually at a known position and operates so that the tag can estimate the distance. The positioning server is connected to the base station, receives the tag ID (identification) and the distance estimation value of the tag from the base station, and calculates the position of the tag using the distance estimate and the position information of the anchor that is stored in advance.

The above-mentioned real-time location system is used in a place where people or objects such as amusement park, harbor, logistics, warehouse, etc. are tracked (application field).

However, the existing real-time location system has a disadvantage in that it is difficult to install the network because the anchor is installed at a known location, and anchor is reinstalled and relocated when the location environment is changed.

In addition, in the existing real-time position system, when an anchor is damaged, it takes a lot of time and expense to maintain and repair an anchor.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems of the related art, and it is an object of the present invention to provide a method and apparatus for minimizing the number of mobile nodes while maximizing utilization of a mobile node by performing positioning through cooperation among mobile nodes , And a cooperative location measurement system and method based on a short range wireless communication network in an infrastructure-free environment.

According to another embodiment of the present invention, in an infrastructure-free environment that can be performed by changing the size and range of the positioning space by replacing the failure of the tag node with another anchor node and thereby expanding the positioning with respect to the unknown space The present invention provides a cooperative location measurement system and method based on a short range wireless communication network.

According to an aspect of the present invention, there is provided a cooperative location measurement system based on a short range wireless communication network (hereinafter referred to as a real time wireless positioning system) in an infrastructure-free environment according to an embodiment of the present invention, A base station for managing the list; A plurality of mobile nodes for performing a mode switching of at least one of switching a first mode to a tag node or an anchor node based on commands of a base station and switching a second mode to a transmitting node or a receiving node, The node comprising a tag node and at least one anchor node; And a positioning server for estimating a position of a plurality of mobile nodes based on data received from at least one of the plurality of mobile nodes or data received from the base station.

In one embodiment, each of the plurality of mobile nodes includes a communication module, a wireless positioning module, a sensor module, a position calculation module, an attitude determination module, or a combination thereof. Here, the communication module performs communication between a plurality of mobile nodes or between a specific mobile node and the base station. The wireless positioning module includes a Received Signal Strength Indicator (RSSI) module, a Time of Arrival (TOA) / Time Difference of Arrival (TDOA) module, an Angle of Arrival (AOA) module, or a combination thereof. The sensor module performs self-positioning using a sensor. The location calculation module performs self-positioning based on at least one radio measurement of RSSI, TOA, TDOA, AOA, or a combination thereof, and a result of a probing navigation using a Global Navigation Satellite System (GNSS) do. The attitude determination module performs attitude determination of the specific mobile node at the time of AOA position measurement.

In one embodiment, the location server includes a location calculation server, a monitoring server, a resource management server, a database server, or a combination thereof. Here, the position calculation server estimates the position of at least one of the plurality of mobile nodes using distance estimation data, angle estimation data, position estimation data, or a combination thereof received from the base station. The monitoring server monitors the location of the mobile node estimated by the location calculation server or the location estimation data of the specific mobile node received from the base station. The resource management server manages at least one of a mobile node list, a tag list, an anchor list, positioning covariance and error propagation information, mode control of each mobile node, and status information. The database server stores map information and position calculation results.

In one embodiment, the tag node receives the list of anchor nodes from the base station and performs distance estimation with the anchor node based on the list of received anchor nodes.

In one embodiment, the base station moves the anchor node, which is capable of calculating its position among a plurality of mobile nodes, around the failed tag node when the tag node fails, And transmits a mode change request signal requesting switching.

In accordance with another embodiment of the present invention, a near field wireless communication network-based collaborative position measurement system in an infrastructure-free environment includes a base station that mediates a plurality of mobile nodes and a positioning server, part; A list management unit for managing a list of a plurality of mobile nodes; A node state control unit for transmitting a command to the mobile node to perform a mode switching of at least one of a first mode switching to a tag node or an anchor node and a second mode switching to a transmitting node or a receiving node; And a data transmission unit for transmitting data for position estimation of a plurality of mobile nodes to the positioning server.

In one embodiment, the base station further comprises a node behavior control unit for controlling behavior of at least one of the plurality of mobile nodes, wherein, in the event of a tag node failure, It is possible to move a possible anchor node around the failed tag node, and then transmit a mode change request signal for requesting a mode change to the tag node to the moved anchor node.

A method for measuring a cooperative location based on a short range wireless communication network (hereinafter referred to as a real time wireless positioning method) in an environment without an infrastructure according to an embodiment of the present invention includes a plurality of mobile nodes, a positioning server, A method for real-time wireless positioning in a wireless positioning system including an intervening base station, the method comprising: initializing a location network at a base station and managing a list of a plurality of mobile nodes; Transmitting a command to a plurality of mobile nodes to perform a mode switching of at least one of switching a first mode to a tag node or an anchor node and switching a second mode to a transmitting node or a receiving node, The node comprising a tag node and at least one anchor node; Transmitting a list of anchor nodes to a tag node, wherein the tag node performs distance estimation with an anchor node based on the list of anchor nodes; And transmitting data received from a plurality of mobile nodes or tag nodes to a positioning server for position estimation of the plurality of mobile nodes.

In one embodiment, the real-time wireless positioning method is a method for moving an anchor node that is capable of calculating its own position among a plurality of mobile nodes around a faulty tag node when a tag node fails, And transmitting a mode change request signal for requesting a mode change.

According to the present invention, a real-time wireless positioning system and method can be configured such that a mobile node can be switched to a tag node or an anchor node for TOA / TDOA positioning and a transmitting node or a receiving node for AOA positioning through a base station , It is possible to utilize the mobile node effectively. In addition, by performing positioning of each mobile node through collaboration between mobile nodes, cooperative positioning can be performed efficiently using radio resources, and the number of mobile nodes used for positioning can be drastically reduced.

In addition, according to the present invention, when the positioning anchor (tag node) fails, the base station moves the anchor node capable of calculating its own position around the fault tag node, and then requests the corresponding anchor node to switch to the tag mode So that maintenance of an efficient network can be performed. Further, according to the behavioral control of the mobile node described above, it is also feasible that, when the base station fails, the positioning server operates to replace the role of the base station using a specific mobile node. That is, the real-time wireless positioning system according to the present invention can change the size and the range of the workspace through the behavior control of the mobile node, so that the positioning can be extended and performed with respect to the unknown space.

In addition, according to the present invention, it is possible to determine whether a soldier is consecutively positioned indoors or outdoors in a battlefield when applying a defense field, and can perform continuous positioning of an indoor / outdoor cluster robot when applied to a civilian field.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic configuration diagram of a cooperative location measurement system based on a local area wireless communication network in an infrastructure-free environment according to an embodiment of the present invention. FIG.
Figure 2 is a block diagram of the mobile node structure of Figure 1;
3 is a block diagram of the positioning server structure of Fig. 1;
4 is a diagram for explaining a network initialization process of the TOA / TDOA positioning system using the mobile node of FIG. 1;
FIG. 5 is a diagram for explaining a procedure for obtaining a TOA / TDOA measurement in the TOA / TDOA positioning system of FIG. 4; FIG.
FIG. 6 is a diagram for explaining a network initialization process of the AOA positioning system using the mobile node of FIG. 1;
FIG. 7 is a diagram for explaining an AOA signal transmission and arrival angle estimation process in the AOA positioning system of FIG. 6; FIG.
FIG. 8 is a diagram illustrating a process of transmitting measurements from a tag node among the mobile nodes of FIG. 1 to a positioning server;
FIG. 9 is a diagram illustrating a process of transmitting measurements from anchor nodes among the mobile nodes of FIG. 1 to a positioning server;
FIG. 10 is a diagram for explaining a replacement process of a fault tag node among the mobile nodes of FIG. 1; FIG.

Hereinafter, preferred embodiments will be described in detail with reference to the accompanying drawings. In the following description, well-known functions or constructions are not described in detail to avoid unnecessarily obscuring the subject matter of the present invention. In order to clearly explain the present invention in the drawings, parts not related to the description are omitted, and similar parts are denoted by similar reference numerals throughout the specification.

1 is a schematic block diagram of a cooperative location measurement system based on a short-range wireless communication network (hereinafter referred to as a cooperative location measurement system) in an infrastructure-free environment according to an embodiment of the present invention.

Referring to FIG. 1, the cooperative position measurement system according to the present embodiment includes a base station 10, a plurality of mobile nodes 20T and 20A, and a positioning server 30. These base stations 10, the plurality of mobile nodes 20T and 20A and the positioning server 30 are connected to each other via the communication network 50. [

The base station 10 manages a list of a plurality of mobile nodes, and initializes a location network when recognizing that a plurality of mobile nodes enter an environment 2 without an infrastructure.

When the tag node 20T fails, the base station 10 moves the anchor node capable of calculating its own position among a plurality of anchor nodes around the fault tag code, and requests the moved anchor node to switch the mode to the tag node Mode switching request signal.

The base station 10 may include an initialization unit 11, a list management unit 12, a node state control unit 13, a data transfer unit 14 and a node behavior control unit 15.

Here, the initialization unit 11 initializes the positioning network, the list management unit 12 manages a list of the plurality of mobile nodes, and the node state control unit 13 controls the plurality of mobile nodes, The mobile node transmits a predetermined command to a plurality of mobile nodes so as to perform a mode change of at least one of a first mode change and a second mode change to a transmitting node or a receiving node, For the estimation, the data received from a plurality of mobile nodes or tag nodes is transmitted to the positioning server 30, and the node behavior control unit 15 determines whether an anchor node To a tag node that is in a failed state.

The above-described base station 10 basically serves as an arbitration between the positioning server 30 and the mobile node and may include some functions of the positioning server 30 or the positioning server in the base station 10 as necessary . On the other hand, when the base station 10 is defective, the cooperative position measurement system according to the present embodiment can operate such that a specific mobile node replaces the role of the base station 10. For example, when the base station 10 is out of order and the tag node 20T can communicate directly with the positioning server 30, it can serve as the base station 10.

A plurality of mobile nodes are configured to include a tag node (hereinafter simply referred to as a tag) 20T and at least one anchor node (hereinafter, simply referred to as anchor) 20A.

The tag node 20T is a node capable of performing self positioning and communicates with the base station 10 and communicates with an anchor through a list of anchor nodes (hereinafter, referred to as " anchor list " And transmits the resultant data to the base station.

The anchor node 20A manually receives the command of the tag node at a known position and communicates with the tag node so that the tag node can estimate the distance. The plurality of anchor nodes may be configured to include an anchor node capable of calculating its own position and an anchor node unable to calculate its own position.

The positioning server 30 is connected to the base station 10 and receives a tag identifier (ID) from the base station 10, receives a distance estimate from the tag node, And the position information of the anchor node stored in advance.

As described above, the cooperative position measurement system according to the present embodiment includes a base station 10, a plurality of mobile nodes, and a positioning server 30, and the mobile node can receive a tag and anchor or TOA / TDOA positioning And AOA positioning can be used for mode switching (Mode switching).

In the case of TOA / TDOA positioning, the base station 10 initializes the location network, manages the mobile node list, and functions so that the mobile node can act as a tag or anchor. Also, the list of mobile nodes designated as an anchor to the mobile node specified by the tag, that is, an anchor list is transmitted, so that the mobile node designated by the tag functions to estimate the distance to the mobile node specified as the anchor.

The mobile node performs tag or anchor mode switching by receiving a command from the base station 10, and the mobile node designated by the tag communicates with the base station 10 and obtains a distance estimate from the mobile nodes designated as an anchor And transmits the distance estimate to the base station 10 or performs self-positioning.

The mobile node designated by the anchor receives the command from the tag at the fixed position and processes the message. At this time, the positioning server 30 obtains the ID and the distance estimate of the tag designated from the base station 10 to the mobile node, and calculates the position of the mobile nodes.

A mobile node that knows its location can be converted to an anchor node, and a mobile node that knows its location through methods such as performing absolute positioning can also be switched to an anchor or an anchor mode.

In the case of the AOA positioning, the base station 10 initializes the positioning network to perform positioning on the forward link, determines not to perform positioning on the reverse link, AOA positioning network composed of transmitting node and receiving node is constructed by using mobile nodes capable of determining attitude.

The transmitting node generates a signal to perform the AOA estimation and the receiving node estimates the arrival angle of the signal. Receiving sends a control signal so that the receiving node is stationary and does not necessarily have to be done at the same time, but can also be done at TOA / TDOA estimation.

Then, the estimated arrival angle is transmitted to the base station 10 to obtain the position, or the positioning data and the position information between the mobile nodes are exchanged and the positioning is performed.

The transmitting node and the receiving node described above can be shared with a tag node and an anchor node in a single mobile tag. The positioning using RSSI information or the TOA (TDOA) / AOA hybrid positioning technique is a well-known technology, and therefore, detailed description thereof will be omitted.

Figure 2 is a block diagram of the mobile node structure of Figure 1;

The structure of the mobile node 20 shown in FIG. 2 is basically applied to the tag node 20T shown in FIG. 1, but can also be applied to the anchor node 20A according to the implementation.

2, the mobile node 20 includes a communication module 21, a wireless positioning module 22, a sensor module 23, a position calculation module 24, a posture determination module 25, . The mobile node may activate all or a portion of its own mobile node as needed.

The communication module 21 is a module for performing communication between mobile nodes or communication with a base station. In this embodiment, the communication module 21 performs communication between the mobile nodes or between the mobile node and the base station, and is capable of multi-hop function. It is also possible to control behavior by exchanging wireless positioning measurements, positioning results, and node status information through communication.

The radio positioning module 22 is a module for calculating a self position based on a radio signal. In this embodiment, the wireless positioning module 22 may be provided with at least one module or a hybrid positioning module for wireless positioning, in which case the wireless positioning module 22 may be a module for hybrid positioning Module 231, a TOA / TDOA module 222, an AOA module 223, an RSSI module 224, a GNSS positioning module 231, a mounted sensor / speculative navigation module 232, . Here, the module for the GNSS positioning 231 and the mounting sensor / speculation navigation 232 basically has the form of an integration module 233. [

The TOA / TDOA module 222 is a module capable of performing the techniques such as OWR (One Way Ranging), TWR (Two Way Ranging), and anchors included in the anchor list. The structure of the physical layer (PHY stage) for the TOA / TDOA module includes the following: Impulse radio UWB (UWB), Chirp Spread Spectrum UWB (CSS-UWB), Chaotic-UWB, Direct Sequence Spread Spectrum (DSSS), Orthogonal Frequency Division Multiplex).

The AOA module 223 is composed of a transmitting unit, a receiving unit, or all of them. The transmitting unit is composed of one or more antennas, and the receiving unit is composed of two or more array antennas.

The RSSI module 224 is a module that can obtain the strength of a signal received in one or more AGC loops.

The sensor module 23 is a module for performing self-positioning using a sensor. In this embodiment, the sensor module is a module that performs positioning using a sensor, and may be a system such as a Global Navigation Satellite System (GNSS) sensor, an acceleration sensor, a gyro sensor, and a geomagnetic sensor.

The position calculation module 24 is a module for performing the self-positioning based on the results of the probing navigation using the radio measurement values of RSSI, TOA, TDOA, AOA or a combination thereof, the Global Navigation Satellite System (GNSS) sensor and the mounted sensor. That is, the position calculation module 24 performs self-positioning by mixing or fusing all or some of the results of the probing navigation using RSSI, TOA / TDOA, AOA, etc., and the GNSS sensor and the guess sensor.

The attitude determination module 25 is a module for determining the attitude of a specific mobile node in the AOA position measurement. The attitude determination module 25 determines the attitude of the mobile node in order to measure the position by performing the AOA by the mobile node. The attitude determination module 25 may include a geomagnetic sensor, an attitude GNSS sensor, and the like.

3 is a block diagram of the positioning server structure of FIG.

3, the positioning server 30 according to the present embodiment includes at least one or more of the position calculation server 31, the monitoring server 32, the resource management server 33, and the database server 34 .

The position calculation server 31 calculates and estimates the positions of a plurality of mobile nodes utilizing distance estimation data, angle estimation data, position estimation data, or a combination thereof, received from the base station.

The monitoring server 32 monitors the location information of the imitation node calculated by the position calculation server 31 and / or the position estimation data information of the corresponding mobile node received from the base station in real time. In addition, the monitoring server 32 can additionally provide map information and the like.

The resource management server 33 has at least one of a mobile node list, a tag node list (hereinafter referred to as a tag list), an anchor node list (hereinafter referred to as an anchor list), positioning covariance and error propagation information, Manage one. That is, the resource management server manages and controls the entire network and specifically manages the mobile node list, tag list, anchor list, positioning covariance and error propagation information, mode control and status information of each node, And the like.

The database server 34 stores map information and the like or stores the position calculation results and the like. Of course, the database server 34 can perform storage, extraction, and management of data handled by each server through interworking with the servers 31, 32, and 33.

4 is a diagram for explaining a network initialization process of the TOA / TDOA positioning system using the mobile node of FIG. FIG. 5 is a diagram for explaining a procedure of obtaining a TOA / TDOA measurement in the TOA / TDOA positioning system of FIG.

Referring to FIG. 4, when the cooperative position measurement system according to the present embodiment operates as a TOA / TDOA positioning system, the base station 10 transmits a mode change to a specific mobile node 20T among a plurality of mobile nodes And transmits a mode change request signal to anchor nodes to the remaining mobile nodes 20A1, 20A2, 20A3, and 20A4 of the plurality of mobile nodes to transmit a mode change request signal to the anchor node, Perform initialization.

5, the tag node 20T communicates with the anchor nodes 20A1, 20A2, 20A3, and 20A4 based on the anchor list received from the base station 10, Estimate the distance.

In this embodiment, the position of the first anchor node 20A1 measured based on the tag node 20T is the first position X1, Y1 and the position of the second anchor node 20A2 is the second position X2 , Y2), the third anchor node 20A3 is at a third position X3, Y3, and the fourth anchor node 20A4 is at a fourth position X4, Y4.

The TOA / TDOA measurements for the anchor nodes obtained at the tag node 20T are transmitted to the positioning server 30 via the base station 10. [

6 is a diagram for explaining a network initialization process of the AOA positioning system using the mobile node of FIG. FIG. 7 is a view for explaining an AOA signal transmission and arrival angle estimation process in the AOA positioning system of FIG. 6. FIG.

Referring to FIG. 6, when the cooperative position measurement system according to the present embodiment operates as an AOA positioning system, the base station 10 transmits a mode change request signal to a specific mobile node 20T among a plurality of mobile nodes, And sends a mode change request signal to the remaining mobile nodes 20A1, 20A2, 20A3, and 20A4 of the plurality of mobile nodes to initialize the network for cooperative location measurement based on the local area wireless communication network in an environment without infrastructure .

When the network initialization is completed, the transmitting node has the AOA module and generates a signal to perform the AOA estimation. The receiving node has the AOA module and is prepared to estimate the arrival angle of the signal from the transmitting node. The base station 10 may send a control signal to make the receiving node stationary.

The AOA module comprises a transmitting unit, a receiving unit, or a whole of the transmitting unit, the transmitting unit is composed of one or more antennas, and the receiving unit is composed of two or more array antennas. With this antenna configuration 70, the AOA module can estimate the incoming angle of the signal.

7, the transmitting node 20T transmits a signal for AOA estimation, and the receiving nodes 20A1, 20A2, 20A3, and 20A4 transmit signals for estimating the arrival angle of the received signal .

The mobile nodes in the transmission mode and the reception mode exchange positioning data and position information with each other and perform positioning. Then, the arrival data of the arrival angle is transmitted to the base station 10 and used to obtain the position of the mobile node.

FIG. 8 is a diagram illustrating a process of transmitting measurements from a tag node among the mobile nodes of FIG. 1 to a positioning server. FIG. 9 is a diagram illustrating a process of transmitting measurement values from anchor nodes among the mobile nodes of FIG. 1 to a positioning server.

Referring to FIG. 8, in the cooperative position measurement system of the present embodiment, the tag node or transmitting node 20T receives a TOA / TDOA measurement obtained between a plurality of mobile nodes forming a local wireless communication network in an infrastructure- Or AOA measurement value to the base station 10. [0050]

9, the cooperative position measurement system of the present embodiment is configured such that a plurality of anchor nodes or receiving nodes 20A1, 20A2, 20A3, and 20A4 form a short-range wireless communication network in an environment without an infrastructure A TOA / TDOA measurement obtained between a plurality of mobile nodes, or Raw data for an AOA measurement, etc., to the base station 10.

The data transmitted to the base station 10 is transmitted to the positioning server 30 and used to estimate the positions of a plurality of mobile nodes. At this time, the positioning server 30 can refer to the previous data of previously known location information of the previously stored anchor nodes.

FIG. 10 is a diagram for explaining a replacement process of a fault tag node among the mobile nodes of FIG. 1;

10, in a cooperative position measurement system according to the present embodiment, if the tag node or the transmitting node 20T is out of order, the base station 10 transmits the mobile node, for example, the first mobile node 20A1, Transmits a request for movement (RFM) requesting movement to a location adjacent to the faulty mobile node 20T, and when the first mobile node 20A1 arrives at a position adjacent to the faulty mobile node 20T , Performs mode switching to the first mobile node 20A1 to the tag node or transmitting node, and transmits a request for replacement (RFR) requesting replacement of the faulty mobile node 20T. In Fig. 10, the mobile node 20A1p shows when the first mobile node 20A1 is in the first position (X1, Y1) before moving to the location of the faulty mobile node.

According to the present embodiment, it is possible to efficiently replace a tag node or a transmitting node in a short-range wireless communication network including a plurality of mobile nodes. According to such a configuration, by configuring the mobile node to be capable of switching modes, it is possible to efficiently utilize the mobile node in an environment without the infrastructure, and furthermore, the number of mobile nodes can be reduced by using the mobile node capable of self- It is possible to change the size and the range of the workspace, and to perform positioning with respect to the unknown space or to extend the positioning space.

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 combinations and permutations and applications not illustrated in the embodiments are possible. Therefore, it should be understood that the technical contents related to the modification and application that can be easily derived from the embodiments of the present invention are included in the present invention.

10: Base station
20: mobile node
30: positioning server

Claims (9)

A base station for initiating a location network and managing a plurality of mobile node lists;
A plurality of mobile nodes performing at least one mode switching between a first mode switching to a tag node or an anchor node and a second mode switching to a transmitting node or a receiving node based on commands of the base station; And
A positioning server for estimating a position of the plurality of mobile nodes based on data received from at least one of the plurality of mobile nodes or data received from the base station;
Lt; / RTI >
The base station includes:
A mode switch requesting the anchor node to move to an anchor node after moving the anchor node capable of calculating its own position among the plurality of mobile nodes around the failed tag node when the tag node fails, Request signal, and if the base station is faulty,
Wherein the location information of the tag node is directly communicated with the tag node. The method according to claim 1,
Wherein each of the plurality of mobile nodes comprises a communication module, a wireless positioning module, a sensor module, a position calculation module, a posture determination module, or a combination thereof,
Here, the communication module performs communication between the plurality of mobile nodes or between a specific mobile node and the base station,
The wireless positioning module includes a Received Signal Strength Indicator (RSSI) module, a Time of Arrival (TOA) / Time Difference of Arrival (TDOA) module, an Angle of Arrival (AOA) module,
The sensor module performs self-positioning using a sensor,
Wherein the position calculation module performs a self positioning based on at least one radio measurement of RSSI, TOA, TDOA, AOA, or a combination thereof, and a result of a speculative navigation using a Global Navigation Satellite System (GNSS) sensor and a speculative sensor,
Wherein the attitude determination module performs attitude determination of the specific mobile node at the time of AOA position measurement in a non-infrastructure environment. The method according to claim 1,
The location server includes a location calculation server, a monitoring server, a resource management server, a database server, or a combination thereof,
Here, the position calculation server estimates the position of at least one of the plurality of mobile nodes using distance estimation data, angle estimation data, position estimation data or a combination thereof received from the base station,
Wherein the monitoring server monitors the location of the mobile node estimated by the location calculation server or the location estimation data of the specific mobile node received from the base station,
Wherein the resource management server manages at least one of a mobile node list, a tag list, an anchor list, positioning covariance and error propagation information, mode control of each mobile node, and status information,
Wherein the database server stores map information and location calculation results in a cooperative location measurement system based on a local area wireless communication network in an infrastructure-free environment. The method according to any one of claims 1 to 3,
Wherein the tag node receives a list of anchor nodes from the base station and performs distance estimation with respect to the anchor node based on the list of received anchor nodes. delete And a base station for arbitrating a plurality of mobile nodes and a positioning server,
The base station includes:
An initialization unit for initializing a positioning network;
A list management unit for managing a list of the plurality of mobile nodes;
A node state control unit transmitting a command to each of the plurality of mobile nodes to perform a mode switching of at least one of a first mode switching to a tag node or an anchor node and a second mode switching to a transmitting node or a receiving node; And
A data transmission unit for transmitting data for location estimation of the plurality of mobile nodes to the positioning server;
The base station includes:
Further comprising a node behavior control unit for controlling behavior of at least one of the plurality of mobile nodes, wherein, when the tag node is in failure, an anchor node capable of calculating its own position among a plurality of mobile nodes through the node behavior control unit And transmits a mode change request signal for requesting a mode change to the tag node to the moved anchor node,
If the base station fails,
Wherein the tag node and the location server are in direct communication with each other. delete A method for measuring a cooperative position in a real-time position measuring system, comprising: a plurality of mobile nodes and a positioning server; and a base station for arbitrating the plurality of mobile nodes and the positioning server,
Initializing a location network in the base station and managing a list of a plurality of mobile nodes;
Transmitting a command to the plurality of mobile nodes to perform a mode change of at least one of switching a first mode to a tag node or an anchor node and switching a second mode to a transmitting node or a receiving node, The mobile node of the mobile node comprises a tag node and at least one anchor node;
Transmitting a list of the anchor nodes to the tag node, wherein the tag node performs distance estimation with respect to the anchor node based on the list of received anchor nodes;
Transmitting data received from the plurality of mobile nodes or the tag node to the positioning server for position estimation of the plurality of mobile nodes;
Wherein the base station moves the anchor node capable of calculating its own position among the plurality of mobile nodes to the vicinity of the failed tag node when the tag node fails, Transmitting a mode change request signal requesting switching, and in the case where the base station is in failure, directly communicating with the tag node and the positioning server;
A method for determining a cooperative location based on a short range wireless communication network in an environment without an infrastructure.
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