KR101629449B1 - The method and apparatus for measuring distance based on compensation in consideration of change of interference - Google Patents

Abstract

The purpose of the present invention is to provide a method of measuring a distance based on compensation in consideration of changes in interference and a device thereof. The method comprises: a step in which a distance measuring device transmits distance measuring signals to a user device through BLE and receives distance response signals in response to the distance measuring signals from the user device through BLE; a step in which the distance measuring device firstly measures a distance between a pedestrian and the BLE based on the distance response signal and computes a first measurement distance; a step in which the distance measuring device computes a final determined distance of the pedestrian considering the first measurement distance, the maximum movement figure, a previously determined distance and pedestrian′s movement figure; and a step in which the distance measuring device verifies the accuracy of the final determined distance based on a produced signal feature map considering the changes in interference in a space.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a method and apparatus for measuring a distance based on a correction,

More particularly, the present invention relates to a method and apparatus for measuring distances on the basis of previous distance measurement results and intra-spatial signal interference.

The emergence of location-based services (LBS) using GPS (Global Positioning System) has led to many changes in society as a whole. GPS has been developed by the US Department of Defense and used only for military purposes, and it has been developed and used to identify the current location and destination on an airplane or ship and to know its exact route. In addition, GPS is also utilized for car navigation, maximizing the convenience of the driver, and the location based service of individual users using the smart phone with the GPS sensor is becoming more active.

Mapping services of large portal companies have become a necessity for strengthening competitiveness, and customized coupon according to the location of the user and marketing techniques for providing content have been created. Recently, the application field of location - based services has been expanded, and indoor positioning for indoor location - based services such as location guidance services for large buildings and emergency evacuation guidance services have been actively researched.

Since GPS is based on satellite communication, it is not suitable as a positioning method in terraces with interior obstacles or obstacles that are disconnected from satellite signals. Unlike the outdoor space where GPS is generalized and users and terminal positions can be obtained anytime and anywhere, there is no positioning technology that is applied and utilized in public space yet in public space. Various methods using Bluetooth 4.0, infrared, ultrasound, Wi-Fi, Zigbee, Ultra Wide-Band (UWB) and RFID are currently being used and developed for indoor positioning.

KR 10-2007-0097437

One aspect of the present invention provides a calibration-based distance measurement method that takes into account changes in interference.

Another aspect of the present invention provides a calibration-based distance measuring device that takes into account changes in interference.

A distance-based distance measurement method considering interference change according to an aspect of the present invention is characterized in that the distance measuring device transmits a distance measurement signal to a user device of the pedestrian via bluetooth low energy (BLE) Receiving a distance response signal in response to the distance measurement signal, the distance measuring device primarily measures a distance between the pedestrian and the BLE based on the distance response signal to calculate a first measurement distance Calculating a final determination distance of the pedestrian by considering the primary measurement distance, the maximum motion coefficient, the previous final determination distance, and the motion coefficient of the pedestrian; Based on the signal characteristic map generated in consideration of the change, the accuracy of the final determination distance It may comprise the step of verifying.

On the other hand, the change of the interference in the space includes a change in the position of the object in the space, a change in the number of pedestrians and a distribution of the pedestrians in the space, and a change in setting of the beacon installed in the space, .

The previous final determination distance includes at least one of a first final determination distance and a second final determination distance, and the first final determination distance is calculated based on the distance measurement method performed prior to the calculation of the final determination distance The second final determination distance is a previous final determination distance of the pedestrian calculated based on the distance measurement method performed before the calculation of the first final determination distance, The moving distance is a maximum movable distance of the pedestrian during the execution period of the distance measurement method, and the motion coefficient may be a preset value to prevent a rapid increase in the final determination distance.

The step of calculating the final determination distance may further include calculating a second measurement distance based on whether the difference between the first measurement distance and the first final determination distance exceeds the maximum motion coefficient Calculating a third measurement distance of the pedestrian based on at least one of the secondary measurement distance, the first final determination distance, and the second final determination distance; Calculating the final determination distance based on the third measurement distance, the first final determination distance, and the motion coefficient.

The first measurement distance is calculated based on a received signal strength indication (RSSI) included in the distance response signal, and the second measurement distance is calculated based on a difference between the first measurement distance and the first final determination distance, And the second measurement distance is the same as the first measurement distance when the difference between the first measurement distance and the first final determination distance exceeds the maximum motion coefficient, And may be determined as a value obtained by adding the maximum motion coefficient to the measurement distance.

In addition, when the first final determination distance and the second final determination distance are available, the third measured distance is weighted to each of the secondary measured distance, the first final determination distance, and the second final determination distance And when the first final determination distance is available, the third measured distance is determined by weighting each of the secondary measured distance and the first final determined distance, and the final determined distance is determined by the third measured distance And assigning a weight determined based on the motion coefficient to each of the first final determination distances.

The correction based distance measuring apparatus according to another aspect of the present invention includes a processor that transmits a distance measurement signal to a user device of the pedestrian via a bluetooth low energy (BLE) Receiving a distance response signal from the user equipment in response to the distance measurement signal, calculating a first measurement distance by first measuring a distance between the pedestrian and the BLE based on the distance response signal, Calculating a final decision distance of the pedestrian by taking into account the difference between the measured distance, the maximum motion coefficient, the previous final decision distance and the motion coefficient of the pedestrian, and calculating the final decision distance of the pedestrian based on the signal characteristic map, And to verify the accuracy of the determination distance.

On the other hand, the change of the interference in the space includes a change in the position of the object in the space, a change in the number of pedestrians and a distribution of the pedestrians in the space, and a change in setting of the beacon installed in the space, .

The previous final determination distance includes at least one of a first final determination distance and a second final determination distance, and the first final determination distance is calculated based on the distance measurement method performed prior to the calculation of the final determination distance The second final determination distance is a previous final determination distance of the pedestrian calculated based on the distance measurement method performed before the calculation of the first final determination distance, The moving distance is a maximum movable distance of the pedestrian during the execution period of the distance measurement method, and the motion coefficient may be a preset value to prevent a rapid increase in the final determination distance.

The processor may further calculate a secondary measurement distance based on whether a difference between the primary measurement distance and the first final determination distance exceeds the maximum motion coefficient, Calculating a third measured distance of the pedestrian based on at least one of a first distance, a second distance, a first distance, a second distance, and a second distance, . ≪ / RTI >

The first measurement distance is calculated based on a received signal strength indication (RSSI) included in the distance response signal, and the second measurement distance is calculated based on a difference between the first measurement distance and the first final determination distance, And the second measurement distance is the same as the first measurement distance when the difference between the first measurement distance and the first final determination distance exceeds the maximum motion coefficient, And may be determined as a value obtained by adding the maximum motion coefficient to the measurement distance.

In addition, when the first final determination distance and the second final determination distance are available, the third measured distance is weighted to each of the secondary measured distance, the first final determination distance, and the second final determination distance And when the first final determination distance is available, the third measured distance is determined by weighting each of the secondary measured distance and the first final determined distance, and the final determined distance is determined by the third measured distance And assigning a weight determined based on the motion coefficient to each of the first final determination distances.

According to one aspect of the present invention, the distance between the BLE (beacon) and the pedestrian for measuring the distance in the room is accurately measured based on the correction-based distance measurement method and apparatus, A high distance measurement value can be obtained. In addition, it is possible to further improve the reliability by performing additional correction and verification on the calculated measurement distance in consideration of the change in interference within a specific space.

FIG. 1 is a graph showing a distance measurement result according to a signal strength of a conventional beacon.
2 is a conceptual diagram illustrating a method of measuring a pedestrian distance according to an embodiment of the present invention.
3 is a graph showing a result of performing a method of measuring a pedestrian distance according to an embodiment of the present invention.
4 is a conceptual diagram illustrating a pedestrian position measuring system using a method of measuring a pedestrian distance according to an embodiment of the present invention.
5 is a conceptual diagram illustrating an operation of the docent server according to an embodiment of the present invention.
6 is a conceptual diagram illustrating a beacon-based distance measurement method for a pedestrian according to an embodiment of the present invention.
7 is a conceptual diagram illustrating a method of correcting an error of a pedestrian distance according to an intra-spatial interference according to an embodiment of the present invention.
8 is a conceptual diagram illustrating a method of correcting an error of a pedestrian distance according to an intra-spatial interference according to an embodiment of the present invention.
9 is a conceptual diagram illustrating a method of correcting an error of a pedestrian distance according to intra-spatial interference according to an embodiment of the present invention.
10 is a conceptual diagram illustrating a method of correcting an error of a pedestrian distance according to an intra-spatial interference according to an embodiment of the present invention.
11 is a conceptual diagram illustrating a distance measuring apparatus according to an embodiment of the present invention.
12 is a conceptual diagram illustrating a docent server according to an embodiment of the present invention.

The following detailed description of the invention refers to the accompanying drawings, which illustrate, by way of illustration, specific embodiments in which the invention may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the invention. It should be understood that the various embodiments of the present invention are different, but need not be mutually exclusive. For example, certain features, structures, and characteristics described herein may be implemented in other embodiments without departing from the spirit and scope of the invention in connection with an embodiment. It is also to be understood that the position or arrangement of the individual components within each disclosed embodiment may be varied without departing from the spirit and scope of the invention. The following detailed description is, therefore, not to be taken in a limiting sense, and the scope of the present invention is to be limited only by the appended claims, along with the full scope of equivalents to which such claims are entitled, if properly explained. In the drawings, like reference numerals refer to the same or similar functions throughout the several views.

Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to the drawings.

As the outdoor positioning based on global positioning system (GPS) is becoming common, interest in indoor positioning has been increasing and various studies are being conducted to support indoor positioning. Indoor location positioning technology using Bluetooth, Bluetooth 4.0, infrared, ultrasound, Wi-Fi, Zigbee, ultra wide band (UWB) and radio frequency identification (RFID) has been proposed. Recently, indoor positioning using Bluetooth 4.0 Research on technology has been active.

However, in indoor positioning using Bluetooth 4.0 (or Bluetooth low energy (BLE) beacon), more than three BLE beacons (beacons) must be used at one time to enable accurate indoor positioning. Therefore, since a large number of beacons are arranged closely in order to perform indoor positioning, it is difficult to apply the beacon in practice.

In addition, in the indoor positioning method using the beacon, the user equipment (for example, a smartphone) of the pedestrian (or a specific person located indoors) receives the received signal strength indication (RSSI) for the distance measurement signal for distance measurement transmitted by the beacon, In response to the distance measurement signal. When a method of estimating the distance between the beacon and the smartphone based on the RSSI transmitted by the user equipment of the pedestrian is used, there is a problem that reliability is lowered because it is difficult to verify the error.

Hereinafter, a method for measuring the position of a pedestrian carrying a user device (e.g., a smartphone) capable of communicating with a beacon is disclosed in the embodiment of the present invention. The location location method according to the embodiment of the present invention can verify and compensate for the occurrence of errors based on the limitation of travel distance of each pedestrian or measurement unit.

FIG. 1 is a graph showing a distance measurement result according to a signal strength of a conventional beacon.

1, an error between the actual distance and the measured distance is initiated in the received signal strength indication (RSSI) based distance measurement method.

The beacon may transmit the distance measurement signal and the user equipment of the pedestrian (hereinafter, the user equipment) may transmit the RSSI of the distance measurement signal received from the beacon as a response to the distance measurement signal as a beacon. The beacon can measure the distance between the beacon and the pedestrian (or user device) based on the RSSI for the distance measurement signal. In such an RSSI-based distance measurement method, a large error may occur as the intensity of the measured signal is small and the distance between the beacon and the user device becomes farther away.

1, the distance measurement result based on the distance measurement signal of 4 dBm generated by the beacon is started, and the lower stage of FIG. 1 shows the distance measurement result based on the distance measurement signal of 0 dBm generated by the beacon, do.

Referring to the graph of FIG. 1, it can be seen that the error between the actual distance and the measured distance between the beacon and the pedestrian increases as the distance between the beacon and the pedestrian increases.

When a distance measurement signal of 4 dBm is transmitted from a beacon, the beacon may have a relatively small error compared to a case where a 0dBm position positioning signal is transmitted. However, if a 4 dBm intensity signal is too strong and a 4 dBm distance measurement signal is used, the distance between the measured beacon and the pedestrian may be measured closer to the distance between the actual beacon and the pedestrian.

Hereinafter, a distance measuring method for reducing the error of the distance measurement result is disclosed in the embodiment of the present invention. Hereinafter, the pedestrian distance may indicate the distance between the beacon and the pedestrian (or the user equipment carried by the pedestrian).

2 is a conceptual diagram illustrating a method of measuring a pedestrian distance according to an embodiment of the present invention.

FIG. 2 discloses a method for measuring the distance between a beacon and a pedestrian by means of a beacon-based distance measuring device (or a network distance measuring server connected to a BLE beacon).

According to an embodiment of the present invention, the distance measuring apparatus may correct the RSSI-based first measurement distance based on at least one previous final measurement result previously calculated using the distance measurement method according to the embodiment of the present invention, The measurement result can be calculated. If there is no at least one previous final measurement result, the distance measurement device may determine the primary measurement distance as the final measurement result without any correction to the RSSI-based primary measurement distance based on at least one previous final measurement result have.

Hereinafter, a method for calculating a final measurement result by correcting an RSSI-based primary measurement distance based on at least one previously calculated previous measurement result is disclosed.

Referring to FIG. 2, the distance measuring apparatus primarily measures a distance of a pedestrian to determine a first measurement distance (step S200).

The distance measuring device can transmit the distance measuring signal via the beacon, and the user equipment can receive the distance measuring signal. The user equipment can transmit a distance response signal including information on the strength of the received distance measurement signal in a beacon. The distance response signal may include information on the strength of the received distance measurement signal (e.g. RSSI).

The distance measuring device receiving the distance response signal through the beacon can primarily measure the distance of the pedestrian based on the following equation. The distance of the primary measured pedestrian can be expressed in terms of the primary measurement distance.

&Quot; (1) "

는 전파의 파장이고 d는 RSSI일 수 있다.In Equation (1), L is a primary measurement distance,

Is the wavelength of the radio wave and d may be RSSI.

The first measured distance may be calculated based on the following equation (2) or (3) as polynomials as well as equation (1).

&Quot; (2) "

&Quot; (3) "

A, B, and A, B, C, D, and E used in Equation (2) can be determined according to the system dl environment and frequency band used.

The distance measurement apparatus determines whether the difference between the first measurement distance and the first final determination distance measured before the first measurement distance exceeds the maximum motion coefficient per tick, and calculates the second measurement distance (step S210).

The distance measuring apparatus can calculate the difference between the first measurement distance and the first final determination distance calculated by the distance measuring apparatus before the determination of the first measurement distance. Hereinafter, in the embodiment of the present invention, the final determination distance of the pedestrian calculated using the distance measurement method according to the embodiment of the present invention immediately before the present primary measurement distance is determined as a first final determination distance, The final determined distance of the calculated pedestrian can be expressed by the term second final determined distance.

The distance measuring apparatus can calculate the secondary measurement distance based on the determination as to whether or not the difference between the primary measurement distance and the first final determination distance measured before the primary measurement distance exceeds the maximum motion coefficient per tick.

The maximum motion coefficient per tick may be the maximum of the difference between the primary measurement distance and the first final determination distance. The maximum motion coefficient per tick may be a maximum value (e.g., 1) of the positional difference of the pedestrian that can be changed according to the measurement period of the distance measuring device.

If the difference between the primary measurement distance and the first final final determination distance does not exceed the maximum motion coefficient per tick, then the secondary measurement distance may be the same value as the primary measurement distance. A correction procedure that reflects at least one of a first final decision distance and a second final decision distance with respect to the secondary measurement distance is then performed and the final decision distance of the pedestrian can be determined.

If the difference between the primary measurement distance and the first previous final determination distance exceeds the maximum motion coefficient per tick, then the secondary measurement distance may be changed to reflect the maximum motion coefficient per tick in the primary measurement distance. For example, the secondary measurement distance may be a value obtained by adding a maximum motion coefficient per tick (e.g., 1) to the first final determination distance.

That is, according to the embodiment of the present invention, the distance measuring apparatus can determine the secondary measurement distance in which the primary measurement distance is primarily corrected based on the maximum motion coefficient per tick.

The distance measuring apparatus calculates the final determination distance of the pedestrian based on the secondary measurement distance and the previous final determination distance (step S220).

The distance measuring apparatus calculates the final determination distance of the pedestrian based on the secondary measurement distance and the previous final determination distance (at least one of the first final determination distance and the second final determination distance)

For example, the distance measuring apparatus may assign a weight to each of the first final determination distance and the second final determination distance when the first final determination distance and the second final determination distance exist, and the secondary measurement distance determined based on step S210, respectively The final decision distance of the pedestrian can be calculated. For example, a weight of 0.5 for the secondary measurement distance, a weight of 0.3 for the first final determination distance, and a weight of 0.2 for the second final determination distance are given, so that the third measurement distance of the pedestrian can be calculated. After the calculation of the third measurement distance, weights are assigned to each of the third measurement distance and the first final determination distance in consideration of the motion coefficient (or motion coefficient) of the pedestrian, so that the final decision distance of the pedestrian can be calculated. When the motion coefficient is 0.15, the distance measuring apparatus can determine the final determination distance of the pedestrian by assigning a weight of 0.15 to the third measurement distance and a weight of 0.85 to the first final determination distance. The motion coefficient used for calculation of the final decision distance may be a value set to prevent the rapid increase of the final decision distance.

The distance measuring apparatus may calculate a final determination distance of the pedestrian by assigning weights to the first final determination distance and the second measurement distance, respectively, when only the first final determination distance exists. For example, a weight of 0.5 for the secondary measurement distance and a weight of 0.5 for the first final determination distance may be given, so that the third measurement distance of the pedestrian can be calculated. After the calculation of the third measurement distance, weighting considering movement coefficients is given to each of the third measurement distance and the first final determination distance, so that the final decision distance of the pedestrian can be calculated. When the motion coefficient is 0.15, the distance measuring apparatus can determine the final determination distance of the pedestrian by assigning a weight of 0.15 to the third measurement distance and a weight of 0.85 to the first final determination distance.

In addition, the distance measuring device may determine that the first measuring distance is the final determining distance of the pedestrian if only the first measuring distance exists (for example, the first final determining distance and the second final determining distance do not exist) .

The final determined distance of the pedestrian determined by the distance measuring device through the procedure described above is then used as the first final determined distance in the measurement of the pedestrian's distance and the first determined final distance used for determining the final determined distance of the pedestrian in the above- Can be used as the second final decision distance in the pedestrian distance measurement.

That is, the method of measuring the distance of the pedestrian according to the embodiment of the present invention can measure the distance of the pedestrian in consideration of the fact that the movement distance is limited within a predetermined time of the moving pedestrian in the room. In addition, the current pedestrian distance can be determined in consideration of the first measurement distance measured based on the RSSI as well as the previous final determination distance. In addition, in the method of measuring the distance of the pedestrian according to the embodiment of the present invention, the motion coefficient is separately set for calculating the final decision distance, and the range of the error of the distance measurement is reduced by preventing the pedestrian distance from rapidly increasing within a predetermined time have.

3 is a graph showing a result of performing a method of measuring a pedestrian distance according to an embodiment of the present invention.

Referring to FIG. 3, the first graph shows a measurement result of measuring a pedestrian distance based on a conventional pedestrian distance measurement method when a pedestrian is located at 3 m.

The second graph shows the result of measuring the distance of the pedestrian based on the existing pedestrian distance measurement method when the pedestrian is located at the 3m position.

The second graph represents a result value adjacent to a line indicating a relative distance of 3 m from the first graph. That is, when the pedestrian distance measuring method according to the embodiment of the present invention is used, it can be seen that the distance of the pedestrian can be predicted with a relatively small error.

4 is a conceptual diagram illustrating a pedestrian position measuring system using a method of measuring a pedestrian distance according to an embodiment of the present invention.

In Fig. 4, a docent system using a pedestrian distance measuring method according to an embodiment of the present invention is exemplarily disclosed. The pedestrian distance measuring method according to the embodiment of the present invention may be used not only on a docent system but also on a system operated based on various distance measurements, and such embodiments are also included in the scope of the present invention.

When a user device 400 (hereinafter referred to as a user device) of a pedestrian installing a docent application is located at a position where a description of an artwork displayed in a museum is required, the user device 400 displays a beacon 420 corresponding to the artwork (E.g., the MAC layer address of the beacon 420) and may request content corresponding to the identification information of the beacon 420 to the docent server 440 based on the identification information of the beacon 420 .

The docent server 440 may search for a playback content matched with the identification information of the beacon 420 received from the database and transmit the content playback message instructing the user device 400 to play the corresponding content. The user apparatus 400 having received the content reproduction message can reproduce the content according to the content reproduction message using the docent application. Or the docent server 440 may search for a content matched with the identification information of the beacon 420 received from the database and transmit the content information to be reproduced in the user device 400 directly.

In addition, the docent server 440 can provide the position information of the pedestrian through the docent application. Pedestrians can be provided with guidance service through the docent application in places where it is difficult to find the current location and destination of pedestrians such as large art museums. Based on the guidance service, pedestrians can receive various information such as information on locations of public places such as restrooms and convenience facilities as well as information on emergency escape routes as well as places where desired works are provided.

That is, based on the docent application, the user device 400 requests content information and / or location information corresponding to the identification information of the beacon 420 to the docent server 440 based on the identification signal received from the beacon 420 .

The beacon 420 may transmit information about identification information (e.g., a Mac address of a beacon), location information of the beacon 420, contents related to the beacon 420, and the like to the docent server 440 in advance in the installation step . The docent server 440 may store information about the identification information of the beacon 420, the location information of the beacon 420, the content related to the beacon 420, and the like in the database. Beacon 420 may broadcast a message containing identification information such that user device 400 located within certain coverage may receive it.

That is, when the user device 400 requests the content information and / or the location information based on the identification information broadcast by the beacon 420, the docent server 440 transmits the content information and / Or location information. For example, if the user device 400 requests content information from the doc- tor server 440 based on the identification information of the beacon 420, the doc- tor server 440 may determine the content of the content associated with the identification information of the beacon 420 To the user device 400, a content reproduction message instructing reproduction.

The docent server 440 may also be configured to determine whether the beacon 420 is associated with the identification information of the beacon 420 when the user device 400 requests information about the current position of the pedestrian based on the identification information of the beacon 420. [ The position information of the pedestrian determined based on the positional information can be provided to the pedestrian.

The position of the pedestrian determined based on the location information of the beacon 420 can be determined based on the pedestrian distance measurement method described above with reference to FIGS. For example, the docent server 440 may determine the distance of a pedestrian by considering information on a previous last determined determination distance based on the location of the beacon 420. [ The docent server 440 may command transmission of the beacon 420 periodic distance measurement signal. The pedestrian distance and the pedestrian position based on the beacon 420 may be determined based on the distance measurement signal periodically transmitted by the beacon 420. [

If the user device 400 requests the docent server 440 for information on the current location and the destination location of the pedestrian based on the identification information of the beacon 420, The current location information of the pedestrian determined based on the location information of the beacon 420 associated with the identification information may be provided to the pedestrian. In addition, the docent server 440 tracks the movement of the pedestrian based on the identification information of another beacon received by the user device 400 according to the movement of the pedestrian, estimates the position of the pedestrian to the target position, can do. Likewise, the positional information of the pedestrian can be determined based on the distance between the beacon and the pedestrian calculated using the method of measuring the pedestrian distance described above with reference to FIG. 1 to FIG. That is, the position of the pedestrian can be measured based on the position measurement signal transmitted by the beacon, and the position of the pedestrian can be measured by taking into account the previously measured measurement result (previous final determination distance).

5 is a conceptual diagram illustrating an operation of the docent server according to an embodiment of the present invention.

5, a procedure for registering beacon related information and content corresponding to a beacon is disclosed in the docent server.

Referring to FIG. 5, in order to implement the docent system based on the distance measurement method according to the embodiment of the present invention, beacons 510, 520, 530, and 540 may be appropriately installed according to the indoor structure.

For example, the beacons 510, 520, 530, and 540 may be arranged at intersections or corners so as to serve as a map (location) guidance service. Also, beacons 510, 520, Must be deployed. The docent server 500 may perform a procedure for testing whether the transmission of the positioning signals of the installed beacons 510, 520, 530, 540 and the transmission of the position response signals by the user equipment is normally performed.

After installation of the beacons 510, 520, 530 and 540, the docent server 500 determines the location of each of the plurality of beacons 510, 520, 530, 540 and the location information of each of the plurality of beacons 510, 520, 530, Identification information (e.g., MAC address of the beacon) can be stored in the database. As described above, the user equipment can request content information and location information corresponding to the beacon to the docent server 500 based on the MAC address of the adjacent beacon received. The location of each of the plurality of beacons 510, 520, 530, and 540 may also be represented as coordinate information on a map that can represent the location of the installed room.

When the docent application installed in the user device is executed, a pedestrian can be provided with a map icon for providing location information to the pedestrian and a content icon for providing content information to the pedestrian. When the pedestrian selects the map icon, the pedestrian receives the thumbnail indoor map information indicating the position of the work or the public facility through the user device, and provides information on the current position and / or route information to the destination location Can receive.

When a pedestrian selects a video icon, a list of contents for the docent function is displayed. If the user touches the desired content in the list, the video, voice or text is provided according to the contents registered by the administrator. As described above, when the pedestrian is located around a specific beacon, the user equipment of the pedestrian may request the contents to the docent server based on the identification information of the beacon broadcast by the beacon. The docent server may transmit a content reproduction message to the user device so that the content corresponding to the identification information of the beacon is reproduced.

When such a docent application is used, it is possible to provide a high-quality description service, and it is possible to acquire information about a work using its own smartphone, which is less burdensome than a description of a work by a device or a person. Also, when a map guidance service is provided through a docent application, pedestrians can receive location information and route information to a destination in a museum having a complicated structure.

In addition to this, information on the number of viewers who acquire work information for each work through the docent application, notices, question and answer service, and community service may be provided.

6 is a conceptual diagram illustrating a beacon-based distance measurement method for a pedestrian according to an embodiment of the present invention.

6 shows a method for determining the position of a pedestrian in consideration of a moving line of a pedestrian or a movable area of a pedestrian even if a small number of beacons are installed.

Referring to FIG. 6, the position of the pedestrian can be determined based on the geographical information in the building, such as the location of the beacon, the wall around the beacon, and the inaccessible area of the pedestrian.

For example, if the distance between a beacon and a pedestrian is determined to be 3 m based on a specific beacon, the distance measuring apparatus calculates a distance between the beacon and the pedestrian excluding a pedestrian's inaccessible area (access restricted area (600) It is possible to determine the position of the pedestrian by limiting to an accessible area (walkable area 620).

For example, the distance measuring device can more reliably determine the position of the pedestrian based on the combination of the pedestrian's walkable area 620 and the final decision distance between the beacon and the pedestrian. Therefore, even if only one beacon signal is received (only the distance is known, and the direction is unknown) in a region where a signal of a plurality of beacons can not reach, such as a corner of a toilet or an exhibition hall, the position of the pedestrian can be more accurately predicted .

Also, according to the embodiment of the present invention, cumulative position information (route information) of a pedestrian is received and used for the next position information update. Therefore, if the previous position of the pedestrian can be known, it can be predicted that the pedestrian is located in the shade region even if the shade region (the region where the beacon signal is not reached) 640 is moved between the beacons.

7 is a conceptual diagram illustrating a method of correcting an error of a pedestrian distance according to an intra-spatial interference according to an embodiment of the present invention.

In Fig. 7, a method of correcting the error of the pedestrian distance according to intra-spatial interference is improved.

Referring to FIG. 7, the docent server may determine a change in interference (step S700).

The interference of the signal may be different depending on each position in the art gallery. The interference of the signal at a specific position may vary depending on various factors such as the change of the object located in the museum, the beacon setting change, the number of the pedestrian, and the like. If these signal interference factors acting as signal interference are analyzed and the analyzed signal interference factors are used to determine the position of the pedestrian, the accuracy of pedestrian position determination can be increased.

The docent server can generate a signal characteristic map according to the change of the interference (step S710).

The docent server can generate a signal property map for a specific space based on an analysis of signal interference factors, and a prediction on the pedestrian distance can be performed based on the signal property map.

That is, the docent server can determine the final decision distance of the pedestrian by performing an additional correction on the pedestrian distance based on the information on the change of the received signal intensity according to various signal interference factors. Alternatively, the docent server may determine a final determination distance of the pedestrian by inputting a correction value (e.g., a corrected RSSI value) according to signal interference in the process of calculating the final determination distance.

Hereinafter, a method of performing an additional correction on the pedestrian distance based on information on a change in received signal strength according to various signal interference factors is developed.

8 is a conceptual diagram illustrating a method of correcting an error of a pedestrian distance according to an intra-spatial interference according to an embodiment of the present invention.

FIG. 8 discloses a method of compensating a pedestrian distance according to an interference factor based on the congestion of a pedestrian in a specific space.

Referring to FIG. 8, the docent server collects positional information of a pedestrian based on at least one beacon, and generates access data (data on whether or not a pedestrian is positioned on a specific space) for a pedestrian entering and leaving a specific space have. In addition, the docent server can obtain information about the distribution of pedestrians within a specific space based on beacons installed in specific spaces.

The docent server can continuously manage based on information on the number of pedestrians in a specific space and the distribution of pedestrians in a specific space.

The docent server can update the signal property map based on information about the number of pedestrians in a particular space and the distribution of pedestrians in a particular space.

The signal characteristic map may be indicative of signal strength varying based on movement of the user equipment within a particular space. The signal characteristic map can be generated by modeling the number of pedestrians and the distribution of pedestrians within a specific space and predicting a change in signal intensity according to a change in the position of the user equipment in a specific space through simulation.

In addition to this, the docent server calculates the number of pedestrians and the number of pedestrians, not the value received from the user device, as input RSSI for calculating the primary measurement distance according to the number of pedestrians in a specific space and the distribution of pedestrians in a specific space, Based on the distribution of pedestrians in the vehicle. The corrected RSSI value may be a value that is greater than the RSSI value transmitted by the user device in consideration of interference due to a plurality of pedestrians in a particular space.

For example, the docent server can continuously measure the RSSI variation according to the number of pedestrians and the distribution of pedestrians in a particular space to determine RSSI correction values that take into account the number of pedestrians in a particular space and the distribution of pedestrians in a particular space . When there is only one pedestrian in a specific space, the docent server calculates the number of pedestrians based on the information about the default RSSI included in the distance response signal transmitted from the user equipment of the pedestrian and the change in RSSI due to the distribution of pedestrians in the specific space Can be measured. The measured RSSI variation can be used for determining the corrected RSSI to determine the primary measurement distance.

Or the docent server may store information on the correction of the RSSI value according to the number of pedestrians in a specific space and the distribution of pedestrians in a specific space based on the simulation, and the docent server may store information of the pedestrian And correct the RSSI value according to the distribution of pedestrians in the specific space.

9 is a conceptual diagram illustrating a method of correcting an error of a pedestrian distance according to intra-spatial interference according to an embodiment of the present invention.

FIG. 9 discloses a method of performing correction on a pedestrian distance according to an interference factor based on a change in the arrangement of objects in a specific space.

Referring to FIG. 9, when the arrangement of the objects changes, the interference to the distance measurement signal in the specific space can be changed, and the intensity of the distance measurement signal received by the user equipment at the same position in the same space can be measured before and after the placement .

The docent server can newly generate a signal property map between the beacon and the user device when the position of the object (e.g., an exhibit) is changed. The signal characteristic map may be indicative of signal strength varying based on movement of the user equipment within a particular space. The signal characteristic map can be generated by measuring a change in signal intensity according to a change in the position of the user apparatus while locating the test user apparatus on various spaces in a specific space. Alternatively, the signal characteristic map may be generated by modeling the position of an object in a specific space through simulation and measuring a change in signal intensity according to a change in the position of the user equipment in a specific space.

When the position of an object in space has been transformed, the docent server can perform the regeneration procedure of the signal characteristic map. The docent server can measure the distance and position of the pedestrian based on the regenerated signal characteristic map.

10 is a conceptual diagram illustrating a method of correcting an error of a pedestrian distance according to an intra-spatial interference according to an embodiment of the present invention.

FIG. 10 discloses a method of performing correction on a pedestrian distance according to an interference factor based on a setting change of a beacon in a specific space.

Referring to FIG. 10, the setting change of the beacon may be on / off of the operation of the specific beacon, a change of the position of the beacon of the specific beacon, a change of the signal transmission strength of the beacon, and the like. When the setting change of the beacon occurs, the interference to the distance measurement signal in the specific space may be changed, and the intensity of the distance measurement signal received by the user apparatus at the same position in the same space may be changed.

The docent server can update the signal property map if the setting of the beacon is changed. As described above, the signal property map may be indicative of signal strength varying based on movement of the user equipment within a particular space. The signal characteristic map can be generated by measuring a change in signal intensity according to a change in the position of the user apparatus while locating the test user apparatus on various spaces in a specific space. Alternatively, the signal characteristic map may be generated by modeling the position of an object in a specific space through simulation and measuring a change in signal intensity according to a change in the position of the user equipment in a specific space.

That is, when a setting change of the beacon occurs, the docent server can perform the regeneration procedure of the signal characteristic map. The docent server can measure the distance and position of the pedestrian based on the regenerated signal characteristic map.

When using the signal characteristic map generation method disclosed in Figs. 7 to 10, it can be utilized as a verification condition for distance measurement (or position measurement) of a pedestrian. Also, when the initial distance measurement is performed on the user equipment, compensation is not possible due to the lack of a reliable initial value. Therefore, the verification procedure for the distance measurement result obtained based on the above-described signal characteristic map can be performed. Also, it is possible to perform distance measurement (or position measurement) on the user equipment by analyzing the received signal characteristics to the user equipment based on the signal characteristics map.

11 is a conceptual diagram illustrating a distance measuring apparatus according to an embodiment of the present invention.

In Fig. 11, a distance measuring device for measuring the distance of a pedestrian is changed.

11, the distance measuring apparatus may include a distance measuring unit 1100, a beacon unit 1110, a memory 1120, an additional distance determining unit 1130, and a processor 1140. Each component of the distance measuring apparatus can be implemented to perform the distance measuring method described above with reference to Figs. For example, each component of the distance measuring device can perform the following operations.

The distance measuring unit 1100 can determine the pedestrian distance based on the maximum motion coefficient of the pedestrian, the first measurement distance measured based on the RSSI, and the previous final determination distance. Specifically, based on the procedure of FIG. 2 described above, the distance of the pedestrian is firstly measured to determine the first measurement distance, and the difference between the first measurement distance and the first final determination distance measured before the first measurement distance And to determine whether the maximum motion coefficient is exceeded. The distance measurement unit 1100 calculates a secondary measurement distance based on whether the difference between the primary measurement distance and the first final determination distance measured before the primary measurement distance exceeds the maximum motion coefficient per tick, And calculate the final determination distance of the pedestrian based on the measured distance and the previous final determination distance.

The beacon unit 1110 may acquire information on the position of the pedestrian through communication with the user equipment of the periodic pedestrian. The beacon unit 1110 can transmit a distance measurement signal, and the user equipment can transmit a distance response signal including information on the strength of the received distance measurement signal in a beacon. The distance response signal may include information on the strength of the received distance measurement signal (e.g. RSSI).

The memory 1120 may store information on a previous final determination distance and may provide a distance measurement unit when determining the pedestrian distance by the distance measurement unit.

The additional distance determination unit 1130 may perform an additional correction procedure for calculating the final determination distance of the pedestrian according to various interference factors such as an object change, a beacon setting change, the number of pedestrians, and the like. The additional distance determiner 1130 may generate a signal characteristic map and perform a verification on the final determination distance of the pedestrian based on the distance measurement unit 1100 based on the signal characteristic map.

The processor 1140 may be implemented to control the operation of the distance measuring unit 1000, the beacon unit 1010, the memory 1020, and the additional distance determination unit 1030.

12 is a conceptual diagram illustrating a docent server according to an embodiment of the present invention.

In Fig. 12, a docent server for providing contents to pedestrians and providing positional information of pedestrians in a museum is disclosed.

The docent server may include a beacon information storage unit 1200, a content providing unit 1210, a location information providing unit 1220, a beacon setting unit 1230, and a processor 1240.

The beacon information storage unit 1200 may be implemented to store information related to the installed beacon. For example, the beacon information storage unit 1200 may store information on beacon identification information (e.g., Mac address) transmitted from the beacon, location information of the beacon, contents related to the beacon, and the like.

Content provisioner 1210 may be implemented to receive beacon identification information from a user device and to store information about content related to beacon identification information.

The location information providing unit 1220 may be implemented to receive beacon identification information from the user equipment and store information on the location of the pedestrian associated with the beacon identification information. The position information providing unit 1220 can determine the position of the pedestrian based on the distance determined by the distance measuring unit (not shown). The distance measuring unit may determine the distance between the pedestrian and the beacon based on the distance measuring method disclosed in Figs.

The position information providing unit 1220 performs an additional correction procedure for calculating the final decision distance of the pedestrian according to various interference factors such as the change of the object, the beacon setting change, the number of the pedestrians, etc. using the additional distance determination unit You can proceed. An additional distance determiner (not shown) may generate a signal characteristic map and perform a verification of the final determined distance of the determined pedestrian determined by the distance measurer (not shown) based on the signal characteristic map.

The beacon setting unit 1230 may be implemented to control the operation of the beacon.

The processor 1240 may be implemented to control the beacon information storage unit 1200, the content providing unit 1210, the location information providing unit 1220, and the beacon setting unit 1230.

Such a correction-based distance measurement method may be implemented in an application or implemented in the form of program instructions that can be executed through various computer components, and recorded in a computer-readable recording medium (recording medium recording the access restriction method) . The computer-readable recording medium may include program commands, data files, data structures, and the like, alone or in combination. The program instructions recorded on the computer-readable recording medium may be ones that are specially designed and configured for the present invention and are known and available to those skilled in the art of computer software.

Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks and magnetic tape, optical recording media such as CD-ROMs and DVDs, magneto-optical media such as floptical disks, media, and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like.

Examples of program instructions include machine language code such as those generated by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like. The hardware device may be configured to operate as one or more software modules for performing the processing according to the present invention, and vice versa.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those skilled in the art that various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined in the appended claims. It will be possible.

400: User device
420: Beacon
440: Docent server
1100: distance measuring unit
1110: Beacon portion
1120: Memory
1130: additional distance judging unit
1140: Processor

Claims (20)

A method for distance-based correction based on interference variation,
Transmitting a distance measurement signal to a user equipment of a pedestrian via a bluetooth low energy (BLE) beacon and receiving a distance response signal from the user equipment in response to the distance measurement signal via the BLE beacon;
Calculating a first measurement distance by firstly measuring a distance between the pedestrian and the BLE beacon based on the distance response signal;
Calculating a final determination distance of the pedestrian by considering the primary measurement distance, the maximum motion coefficient, the previous final determination distance, and the motion coefficient of the pedestrian; And
Wherein the distance measuring device verifies the accuracy of the final determination distance based on a signal property map generated in consideration of a change in interference in the space. The method according to claim 1,
The change in interference in the space includes a change in the position of the object in the space, a change in the number of pedestrians and a pedestrian distribution in the space, and a change in the setting of the BLE beacon installed in the space
Wherein the signal property map is updated when the change occurs. 3. The method of claim 2,
Wherein the previous final decision distance comprises at least one of a first final decision distance and a second final decision distance,
Wherein the first final determination distance is a previous final determination distance of the pedestrian calculated based on the distance measurement method performed prior to the calculation of the final determination distance,
Wherein the second final determination distance is a previous final determination distance of the pedestrian based on the distance measurement method performed prior to the calculation of the first final determination distance,
Wherein the maximum motion coefficient is a maximum movable distance of the pedestrian during the execution period of the distance measurement method,
Wherein the motion coefficient of the pedestrian is a preset value to prevent a rapid increase in the final decision distance. 4. The method of claim 3, wherein calculating the final decision distance
Calculating a secondary measurement distance based on whether a difference between the primary measurement distance and the first final determination distance exceeds the maximum motion coefficient;
Calculating a third measurement distance of the pedestrian based on at least one of the secondary measurement distance, the first final determination distance, and the second final determination distance; And
And calculating the final decision distance on the basis of the third measurement distance, the first final decision distance and the motion coefficient of the pedestrian, wherein the distance measuring device calculates the final decision distance based on the interference change. Way. 5. The method of claim 4,
The primary measurement distance is calculated based on a received signal strength indication (RSSI) included in the distance response signal,
Wherein the secondary measurement distance is equal to the primary measurement distance when the difference between the primary measurement distance and the first final determination distance does not exceed the maximum motion coefficient,
Wherein the secondary measurement distance is determined as a value obtained by adding the maximum motion coefficient to the primary measurement distance when the difference between the primary measurement distance and the first final determination distance exceeds the maximum motion coefficient A calibration - based distance measurement method considering interference variation. 6. The method of claim 5,
When the first final determination distance and the second final determination distance are available, the third measured distance is determined by weighting each of the secondary measured distance, the first final determination distance, and the second final determination distance ,
If only the first final determination distance is available, the third measured distance is determined by weighting each of the secondary measurement distance and the first final determination distance,
Wherein the final determination distance is determined by assigning a weight determined based on the motion coefficient of the pedestrian to the third measurement distance and the first final determination distance, respectively, based on the interference change. A recording medium on which a computer program for carrying out the method according to any one of claims 1 to 6 is recorded. A calibration-based distance measuring device that takes into account interference variations,
Wherein the distance measuring device comprises a processor,
The processor transmits a distance measurement signal to a user equipment of a pedestrian via a bluetooth low energy (BLE) beacon and receives a distance response signal from the user equipment in response to the distance measurement signal via the BLE beacon,
Calculating a first measurement distance by firstly measuring a distance between the pedestrian and the BLE beacon based on the distance response signal,
Calculating a final determination distance of the pedestrian by considering the primary measurement distance, the maximum motion coefficient, the previous final determination distance, and the motion coefficient of the pedestrian,
And the accuracy of the final determination distance is verified based on the signal characteristic map generated in consideration of the change of the interference in the space. 9. The method of claim 8,
The change in interference in the space includes a change in the position of the object in the space, a change in the number of pedestrians and a pedestrian distribution in the space, and a change in the setting of the BLE beacon installed in the space
And the signal characteristic map is updated when the change occurs. 10. The method of claim 9,
Wherein the previous final decision distance comprises at least one of a first final decision distance and a second final decision distance,
Wherein the first final determination distance is a previous final determination distance of the pedestrian calculated based on the distance measurement method performed prior to the calculation of the final determination distance,
Wherein the second final determination distance is a previous final determination distance of the pedestrian based on the distance measurement method performed prior to the calculation of the first final determination distance,
Wherein the maximum motion coefficient is a maximum movable distance of the pedestrian during the execution period of the distance measurement method,
Wherein the motion coefficient of the pedestrian is a preset value to prevent a rapid increase in the final determination distance. 11. The apparatus of claim 10,
Calculating a secondary measurement distance based on whether a difference between the primary measurement distance and the first final determination distance exceeds the maximum motion coefficient,
Calculating a third measured distance of the pedestrian based on at least one of the secondary measurement distance, the first final determination distance, and the second final determination distance,
And the final determination distance is calculated based on the third measurement distance, the first final determination distance, and the motion coefficient of the pedestrian. 12. The method of claim 11,
The primary measurement distance is calculated based on a received signal strength indication (RSSI) included in the distance response signal,
Wherein the secondary measurement distance is equal to the primary measurement distance when the difference between the primary measurement distance and the first final determination distance does not exceed the maximum motion coefficient,
Wherein the secondary measurement distance is determined as a value obtained by adding the maximum motion coefficient to the primary measurement distance when the difference between the primary measurement distance and the first final determination distance exceeds the maximum motion coefficient Distance measuring device. 13. The method of claim 12,
When the first final determination distance and the second final determination distance are available, the third measured distance is determined by weighting each of the secondary measured distance, the first final determination distance, and the second final determination distance ,
If only the first final determination distance is available, the third measured distance is determined by weighting each of the secondary measurement distance and the first final determination distance,
Wherein the final determination distance is determined by assigning a weight determined based on the motion coefficient of the pedestrian to each of the third measurement distance and the first final determination distance. In a pedestrian service method of a docent server,
Receiving, by the docent server, identification information of a bluetooth low energy (BEO) beacon adjacent to the user equipment from a user equipment of a pedestrian; And
At least one of a location information message including a location information of the BLE beacon and a location information of the pedestrian determined based on a signal characteristic map, based on a playback command message of a content related to the BLE beacon, To the user device,
The docent server receives the location information of the BLE beacon received from the BLE beacon after the installation of the BLE beacon and information on the content corresponding to the BLE beacon,
The signal characteristic map is generated in consideration of a change in interference in the space where the pedestrian is located,
Wherein a change in the interference in the space includes a change in a position of an object in the space, a change in a number of pedestrians and a pedestrian distribution in the space, and a change in setting of a BLE beacon installed in the space,
Wherein the signal property map is updated when the change occurs. 15. The method of claim 14,
The position information of the pedestrian is determined based on a final determination distance between the pedestrian and the beacon,
The final distance,
Transmitting the distance measurement signal to the user equipment via a bluetooth low energy (BLE) and receiving a distance response signal from the user equipment in response to the distance measurement signal via the BLE;
Calculating a first measurement distance by firstly measuring a distance between the pedestrian and the BLE based on the distance response signal;
Calculating, by the docent server, the final determination distance of the pedestrian in consideration of the primary measurement distance, the maximum motion coefficient, the previous final determination distance, and the motion coefficient of the pedestrian; And
Wherein the docent server is based on verifying the accuracy of the final decision distance based on the signal property map generated in consideration of the change in interference in the space. 16. The method of claim 15,
Wherein the previous final decision distance comprises at least one of a first final decision distance and a second final decision distance,
Wherein the first final determination distance is a previous final determination distance of the pedestrian calculated based on the distance measurement method performed prior to the calculation of the final determination distance,
Wherein the second final determination distance is a previous final determination distance of the pedestrian based on the distance measurement method performed prior to the calculation of the first final determination distance,
Wherein the maximum motion coefficient is a maximum movable distance of the pedestrian during the execution period of the distance measurement method,
Wherein the motion coefficient of the pedestrian is a preset value to prevent a rapid increase in the final determination distance. 17. The method of claim 16, wherein calculating the final determination distance comprises:
Calculating a secondary measurement distance based on whether a difference between the primary measurement distance and the first final determination distance exceeds the maximum motion coefficient;
Calculating a third measurement distance of the pedestrian based on at least one of the secondary measurement distance, the first final determination distance, and the second final determination distance; And
And calculating the final decision distance based on the third measurement distance, the first final decision distance and the motion coefficient of the pedestrian, by the distance measuring device. 18. The method of claim 17,
The primary measurement distance is calculated based on a received signal strength indication (RSSI) included in the distance response signal,
Wherein the secondary measurement distance is equal to the primary measurement distance when the difference between the primary measurement distance and the first final determination distance does not exceed the maximum motion coefficient,
Wherein the secondary measurement distance is determined as a value obtained by adding the maximum motion coefficient to the primary measurement distance when the difference between the primary measurement distance and the first final determination distance exceeds the maximum motion coefficient,
When the first final determination distance and the second final determination distance are available, the third measured distance is determined by weighting each of the secondary measured distance, the first final determination distance, and the second final determination distance ,
If only the first final determination distance is available, the third measured distance is determined by weighting each of the secondary measurement distance and the first final determination distance,
Wherein the final determination distance is determined by assigning a weight determined based on the motion coefficient of the pedestrian to each of the third measurement distance and the first final determination distance. A docent server for carrying out a pedestrian service,
Wherein the docent server comprises a processor,
The processor receives identification information of a beacon adjacent to the user equipment from a user equipment of the pedestrian,
And a location information message including location information of the beacon and location information of the pedestrian determined based on the signal characteristic map, to the user device in response to a request from the user device However,
Wherein the processor is configured to receive the location information of the beacon received from the beacon after the installation of the beacon and the information about the content corresponding to the beacon,
The signal characteristic map is generated in consideration of a change in interference in the space where the pedestrian is located,
The change in the interference in the space includes a change in the position of the object in the space, a change in the number of pedestrians and a pedestrian distribution in the space, and a change in setting of a beacon installed in the space
Wherein the signal property map is updated when the change occurs. 20. The method of claim 19,
The position information of the pedestrian is determined based on a final determination distance between the pedestrian and the beacon,
The processor transmits a distance measurement signal to the user equipment via a bluetooth low energy (BLE) and receives a distance response signal from the user equipment in response to the distance measurement signal via the BLE,
Calculating a first measurement distance by firstly measuring a distance between the pedestrian and the BLE based on the distance response signal,
Calculating the final determined distance of the pedestrian in consideration of the primary measurement distance, the maximum motion coefficient, the previous final determination distance, and the motion coefficient of the pedestrian,
And verifies the accuracy of the final determination distance based on the signal property map generated in consideration of a change in interference in the space.

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