KR101945417B1 - Indoor positioning server, method and server for executing the system - Google Patents

Abstract

An indoor positioning server, an indoor positioning method using the same and a system thereof are disclosed. According to an embodiment, an indoor positioning server comprises: a communication unit for receiving a selected access point (AP) list including a predetermined number of AP identification information from a user terminal located indoor; and a position calculation unit for extracting a stored pixel map matched with the APs included in the selected AP list and determining a portion where predicted areas overlap each other as a position of the user terminal wherein the user terminal can be located in the predicted areas.

Description

TECHNICAL FIELD [0001] The present invention relates to an indoor positioning server and an indoor location measuring method and system using the same.

Embodiments of the present invention relate to an indoor location server and method and system for measuring indoor location using the same.

In recent years, a technique of measuring a user's position when a user is located outside a building has been generalized. However, when the user is located indoors, the technique of measuring the location of a user of a user is not commercially available due to low accuracy. Accordingly, a technique for measuring the indoor position of the user with improved accuracy is required.

Korean Patent Registration No. 10-1793924 (Oct. 31, 2017)

SUMMARY OF THE INVENTION It is an object of the present invention to provide an indoor positioning server with improved accuracy and a method and system for measuring indoor position using the same.

The indoor location server according to an embodiment of the present invention includes a communication unit for receiving a list of selected APs including a predetermined number of AP (Access Point) identification information from a user terminal located indoors, And a position calculating unit for calculating a position of the user terminal in which the predicted regions where the user terminal is expected to overlap in each extracted pixel map are overlapped with each other.

The indoor location server may further include a pixel map generator for generating a pixel map for each AP based on the terrain of the indoor space and the intensity of a signal broadcast by one or more APs installed in the indoor space.

The pixel map generator calculates a received signal strength indicator (RSSI), which is the signal sensitivity of the signal, based on the indoor attenuation index of a signal broadcast by the one or more APs, and outputs the calculated RSSI value A predicted area in which the user terminal is expected to be located in a communication range of the corresponding AP is set as a reference, and a pixel map including the predicted area is generated for the AP.

Wherein the pixel map generator collects the calculated RSSI values to generate an RSSI map for the AP and sets a range of the signal sensitivity expected to be located in the communication range of the AP to a proper RSSI value range, It is possible to distinguish the region where the user terminal is expected to be located from the RSSI map and the region where the user terminal is predicted not to be located according to whether the calculated RSSI value belongs to the appropriate RSSI value range.

Wherein the indoor location server further comprises a decay index calculating unit for calculating the decay index that is a degree that the signal broadcast by the at least one AP is attenuated while propagating to the user terminal via the terrain of the room, The map generator may calculate the RSSI value by converting the attenuation index according to a predetermined reference.

The indoor location server may further include a wall map generating unit for dividing the floor plan of the indoor space into blocks of a predetermined unit size and adding attribute values to the blocks according to properties of the blocks to generate a wall map for the indoor .

The attenuation index calculator may calculate the attenuation index for the signal based on the distance on the path from the AP installed in the room to each block of the wall map and the obstacles included on each route of the indoor topography.

The attenuation index calculator may calculate the attenuation index for the signal according to the following equation.

(Equation)

f (p, q): the decay index at the coordinates (p, q) on the month map

: 기 설정된 기본 감쇠 계수

: Predetermined basic damping coefficient

r is an attenuation constant determined according to presence or absence of an obstacle present on a route from an indoor AP to a predetermined block of a month map

the distance between the AP located at the coordinates (x, y) on the wall map and the block located at the coordinates (p, q), d ((p, q),

EPL (effective path loss): The damping coefficient due to obstacles existing on the path of d ((p, q), (x, y)

The attenuation index calculator may calculate the EPL based on the number of all obstacles located on the path of the distance d ((p, q), (x, y)) and the attenuation coefficient per obstacle .

The attenuation index calculator generates an attenuation graph indicating the degree to which the signal attenuates during the movement of the path of the distance d ((p, q), (x, y)), Can be calculated as the number of all obstacles located on the path of the distance d ((p, q), (x, y)).

Wherein the attenuation index calculator sets each of the different maximum values as a peak value, adds up the peak value, and outputs the sum of the peak values as the maximum value when the maximum values of the polar points are different from each other in the attenuation graph. The number of all obstacles located on the path can be calculated.

The attenuation index calculator may set the degree of attenuation of the obstacle corresponding to one of the maximum values as the reference attenuation degree and calculate the EPL by multiplying the number of all obstacles located on the path by the degree of attenuation of the reference.

A method of measuring an indoor position according to another embodiment of the present invention is a method performed in a computing device (server / terminal) having one or more processors and a memory storing one or more programs executed by the one or more processors Receiving a selected AP list including a predetermined number of AP (Access Point) identification information from a user terminal located in a room;

A step of extracting a pixel map in which the location calculation unit matches the APs included in the selected AP list and storing the stored pixel maps, and a step of extracting, from each pixel map extracted by the location calculation unit, To the position of the terminal.

The indoor location measurement method may further include generating a pixel map for each AP based on the terrain of the indoor space and the intensity of a signal broadcast by one or more APs installed in the indoor space.

The generating of the pixel map for each AP may include generating the pixel map based on the received signal strength indicator (RSSI), which is the signal sensitivity of the signal, based on the indoor index of the signal broadcast by the one or more APs ), The pixel map generator sets a predicted area where the user terminal is expected to be located in a communication range of the AP based on the calculated RSSI value, and the expected area is included for the AP And generating the generated pixel map.

Wherein the generating of the pixel map based on the calculated RSSI value comprises: generating the RSSI map for the AP by collecting the calculated RSSI values, wherein the pixel map generating unit generates the RSSI map for the AP, The method comprising: setting a range of signal sensitivities expected to be located by the user terminal to a proper RSSI value range; determining whether the user terminal is in the RSSI map according to whether the calculated RSSI value falls within the proper RSSI value range; And distinguishing between an area expected to be located and an area expected to be located by the user terminal.

Wherein the indoor location measurement method further comprises calculating the attenuation index to a degree that the attenuation index calculation unit is attenuated while the signal broadcast by the at least one AP is propagated to the user terminal via the terrain of the indoor space, The step of calculating the RSSI value may include the step of the pixel map generator converting the attenuation index according to a predetermined reference to calculate the RSSI value.

The indoor map position measuring method may further include the step of dividing the floor map of the indoor space into blocks having a predetermined unit size and generating a wall map for the indoor space by assigning attribute values to the blocks according to properties of the blocks .

The step of calculating the attenuation index may include calculating the attenuation index based on the distance on the path from the AP installed in the room to each block of the wall map and the attenuation index for the signal based on the obstacle included on each route of the indoor topography And calculating an exponent.

The step of calculating the attenuation index may include calculating the attenuation index for the signal by the attenuation index calculating part according to the following equation.

(Equation)

f (p, q): the decay index at the coordinates (p, q) on the month map

: 기 설정된 기본 감쇠 계수

: Predetermined basic damping coefficient

r is an attenuation constant determined according to presence or absence of an obstacle present on a route from an indoor AP to a predetermined block of a month map

the distance between the AP located at the coordinates (x, y) on the wall map and the block located at the coordinates (p, q), d ((p, q),

EPL (effective path loss): The damping coefficient due to obstacles existing on the path of d ((p, q), (x, y)

The step of calculating the attenuation index may include calculating the attenuation index based on the number of all obstacles located on the path of the distance d ((p, q), (x, y)) and the attenuation coefficient per obstacle And calculating the EPL with the EPL.

Wherein the step of calculating the attenuation index comprises the steps of: generating an attenuation graph representing the degree to which the attenuation index calculator attenuates the signal during the movement of the path of the distance d ((p, q), (x, y) The step of calculating the attenuation index may further include calculating the number of polar points of the attenuation graph as the number of all obstacles located on the path of the distance d ((p, q), (x, y)) .

Wherein the step of calculating the number of all obstacles comprises the steps of: when the maximum values of the polar points are different from each other in the attenuation graph, the attenuation index calculator sets each of the different maximum values as a peak value and adds the values of the peak value; And calculating the number of all obstacles located on the path by dividing the sum of the peakvalues by the attenuation index calculating unit and a maximum value of the maximum values.

Wherein the step of calculating the number of all obstacles comprises the steps of: setting the degree of attenuation of the obstacle corresponding to any one of the maximum values to a degree of attenuation of the attenuation index; and calculating the number of all obstacles And a step of calculating the EPL by multiplying the reference attenuation degree by the reference attenuation degree.

A computing device according to another embodiment of the present invention includes one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, The one or more programs are commands for the communication unit to receive a list of selected APs including a predetermined number of AP (Access Point) identification information from user terminals located indoors, A command for extracting a stored pixel map, and an instruction for calculating, as a position of the user terminal, a part where the user terminal estimates to be located in each pixel map extracted by the position calculating unit.

The indoor position measurement system according to another embodiment of the present invention includes a user terminal for detecting APs distributed around the AP and selecting a strong AP to be strongly sensed to generate a selected AP list, Wherein each of the three APs included in the selected AP list overlaps a pixel map corresponding to each of the three APs included in the selected AP list, And an indoor location server for calculating the location of the user terminal, wherein each of the pixel maps is generated based on an indoor topography of a building where the three APs are located.

The indoor location server according to the present invention, the indoor location measurement method using the same, and the system will be described as follows.

According to the disclosed embodiment, it is possible to measure the position of the user with improved accuracy through the map showing the intensity of the signal broadcast by the AP, taking into consideration the indoor topography of the building where the access point (AP) is located.

1 is a view showing a configuration of an indoor positioning system according to an embodiment of the present invention;
2 is a view for explaining a state of measuring a position of a user in an indoor position measuring system according to an embodiment of the present invention;
3 is a block diagram for explaining an indoor positioning server according to an embodiment of the present invention.
4 is a diagram showing a wall map according to an embodiment of the present invention;
5 is a view showing a wall map for explaining a maintenance index calculation according to an embodiment of the present invention;
6 is a diagram showing conversion of an RSSI map into a pixel map according to an embodiment of the present invention;
7 is a flowchart illustrating a method of measuring an indoor position according to an embodiment of the present invention
8 is a flowchart illustrating a process of generating a pixel map according to an embodiment of the present invention.
9 is a flowchart for explaining a process of calculating a decay index according to an embodiment of the present invention.
10 is a block diagram illustrating and illustrating a computing environment 10 including a computing device suitable for use in the exemplary embodiments.

Hereinafter, specific embodiments of the present invention will be described with reference to the drawings. The following detailed description is provided to provide a comprehensive understanding of the methods, apparatus, and / or systems described herein. However, this is merely an example and the present invention is not limited thereto.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, exemplary embodiments of the present invention 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 since they would obscure the invention in unnecessary detail. The following terms are defined in consideration of the functions of the present invention, and may be changed according to the intention or custom of the user, the operator, and the like. Therefore, the definition should be based on the contents throughout this specification. The terms used in the detailed description are intended only to describe embodiments of the invention and should in no way be limiting. Unless specifically stated otherwise, the singular forms of the expressions include plural forms of meanings. In this description, the expressions "comprising" or "comprising" are intended to indicate certain features, numbers, steps, operations, elements, parts or combinations thereof, Should not be construed to preclude the presence or possibility of other features, numbers, steps, operations, elements, portions or combinations thereof.

In the following description, terms such as " transmission ", "transmission "," transmission ", "reception ", and the like, of a signal or information refer not only to the direct transmission of signals or information from one component to another But also through other components. In particular, "transmitting" or "transmitting" a signal or information to an element is indicative of the final destination of the signal or information and not a direct destination. This is the same for "reception" of a signal or information. Also, in this specification, the fact that two or more pieces of data or information are "related" means that when one piece of data (or information) is acquired, at least a part of the other data (or information) can be obtained based thereon.

On the other hand, directional terms such as the top, bottom, one side, the other, and the like are used in connection with the orientation of the disclosed figures. Since the elements of the embodiments of the present invention can be positioned in various orientations, directional terms are used for illustrative purposes and not limitation.

Also, the terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms may be used for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component.

FIG. 1 is a view illustrating a configuration of an indoor position measuring system according to an embodiment of the present invention. FIG. 2 is a view for explaining a state of measuring a user's position in an indoor position measuring system according to an embodiment of the present invention. to be.

1 and 2, the indoor location measurement system 100 may include a user terminal 101 and an indoor location server 102. The user terminal 101 may be connected to communicate with the indoor location server 102 via a communication network. Also, the user terminal 101 may communicate with a neighboring access point (AP) through a communication network. An example of an AP is a wireless Internet (Wi-Fi (wireless LAN) router).

In some embodiments, the communication network includes an Internet, one or more local area networks, a wire area networks, a cellular network, a mobile network, other types of networks, or a combination of such networks can do.

The user terminal 101 can detect a plurality of distributed APs and select a predetermined number of APs according to the signal strength of the detected access point. The user terminal 101 may transmit the selected AP list to the indoor location server 102.

A concrete example is as follows.

The user terminal 101 may sense a plurality of distributed APs. The user terminal 101 can select three APs AP 1 to AP 3 whose signals are most strongly detected among the detected APs. The three APs selected may be a reference for measuring the position of the user terminal 101. The user terminal 101 may generate a list of selected APs including the three APs. The selected AP list may include at least one of identification information of each AP and identification information of buildings in which each AP is installed. The user terminal 101 can transmit the generated list of selected APs to the indoor location server 102. The user terminal 101 can receive the location information of the user terminal 101 calculated based on the three selected APs from the indoor location server 102.

The indoor location server 102 receives the selected AP list from the user terminal 101, extracts and overlaps the pixel map M236 corresponding to each of the three APs included in the selected AP list, (B) of the user terminal (101) where the expected areas (A) expected to be located on the user terminal (10) are overlapped.

The pixel map of one AP may be a map indicating a region where the user is expected to be located in the building (i.e., the expected area A) when the user terminal 101 detects the corresponding AP.

Specifically, the indoor location server 102 may receive a list of selected APs including contents of three APs that the user terminal 101 most strongly senses from the user terminal 101. The indoor location server 102 can retrieve the pixel map M236 corresponding to each of the three APs included in the selected AP list from the database (not shown). The database may be stored in the indoor location server 102 or may be stored outside the indoor location server 102 through a cloud service.

The database (not shown) may store identification information of each of the plurality of APs and a pixel map of the corresponding AP to match each other.

Each of the plurality of pixel maps M236 may represent an expected region A where the user terminal 101 is expected to be located. The indoor location measurement server 102 can calculate the overlapping portion of the pixel maps M236 of AP1 to AP3 overlapping each other to the position B of the user. The indoor location tracking server 102 may transmit location information indicating the calculated location B of the user terminal 101 to the user terminal 101.

The pixel map M236 of the AP indicates the expected area A where the user terminal 101 is expected to be based on the intensity of a signal broadcasted by the AP and the indoor terrain of the building where the AP is located It can be a map.

3 is a block diagram illustrating an indoor location server according to an embodiment of the present invention.

3, the indoor location tracking server 102 includes a month map generating unit 210, a decay exponent calculating unit 220, a pixel map generating unit 230, a communication unit 240, and a position calculating unit 250 can do.

The wall map generating unit 210 receives the floor plan of the building, divides the area of the input floor plan into a plurality of blocks, assigns a color value to each of the plurality of blocks according to properties of the area, map). This will be described in detail with reference to FIG. 4 as an example.

4 is a diagram illustrating a wall map according to an embodiment of the present invention.

The month map generating unit 210 may form a month map M212 as shown in FIG. The month map generating unit 210 may divide the floor plan of the building into a checkered pattern according to a predetermined unit size to set the area. For example, the wall map generating unit 210 may divide the floor plan into the horizontal and vertical lengths at intervals of 1 m, respectively. Here, each of the plurality of divided zones may be one block. E.g, One block may include 10 pixels horizontally and 10 pixels vertically, for a total of 100 pixels. In addition, the plurality of blocks may be classified differently depending on the nature of the zone (for example, whether the zone is an empty space or a filled space, or the type of material that is filled if it is filled).

For example, the wall map generating unit 210 may use a block in an empty space as an empty space block 212B, a block in an area having a wall made of concrete as a concrete wall block 212C, The block of the zone can be designated as a wooden wall block (212W). The month map generating unit 210 may assign a color value to each of a plurality of blocks of different types according to the block type. The empty space block 212B may correspond to black, including the RGB code on the computer language of (0, 0, 0). The wooden wall block 212W may correspond to gray, including RGB (red, green, blue) codes of (128, 128, 128). The concrete wall block 212C may correspond to white including RGB codes of (255, 255, 255).

The month map generation unit 210 may designate an attribute value (hereinafter referred to as a block code) in each block according to the RGB color values. For example, the block code of the black block (i.e., empty space block 212B) is designated as 0, the block code of the gray block (i.e., wooden block 212W) is designated as 128, The block code of the block of the concrete wall block 212C (i.e., the concrete wall block 212C)

It is possible to collect blocks of which the type and color are determined according to the property of the zone, and to generate one month map M212. The generated month map M212 may be stored in the form of a matrix of the following equation (1).

(1)

B (M, N) can mean a plan view divided into N in length and M in length. B (M, N) may include as many blocks as M and N times. px (i, j) can be a block code of a block horizontally from left to right in the month map, i-th block and from top to bottom j-th block. For example, N of the month map M212 of FIG. 4 may be 255 of the concrete wall block 212C, where M is 12 and px (3,4) is white.

Here, the type of the block is divided into three types, that is, the empty space block 212B, the wooden wall block 212W, and the concrete wall block 212C, but the type of the block in the present invention is not limited thereto.

The attenuation index calculating unit 220 will be described with reference to Figs. 3 to 5. Fig. FIG. 5 is a view showing a month map for explaining a maintenance index calculation according to an embodiment of the present invention. FIG.

The attenuation index calculating unit 220 may calculate the attenuation index f (p, q) indicating the degree of attenuation of the signal received from the AP for each block included in the month map M212. A concrete example is as follows.

The attenuation index calculating unit 220 may apply a coordinate system to the wall map M212 to assign coordinate values to each of the plurality of blocks. The applied coordinate system may be an orthogonal coordinate system. The origin of the rectangular coordinate system may be the leftmost and the bottommost block of the month map M212 as the origin. The coordinates of the block located at the p-th and q-th positions from the origin block to the right in the month map M212 may be (p, q). In order to distinguish from the coordinates (p, q) of an arbitrary block, in particular, the coordinates of a block in an area where the AP exists can be referred to as (x, y).

The attenuation index calculation unit 220 can designate a vector pointing to an arbitrary block (p, q) in a block (x, y) of an area where the AP exists as V ((p, q), (x, y) . V ((p, q), (x, y)) may represent the path of a signal broadcast in the AP provided at (x, y) and received in the area of (p, q).

The attenuation index calculation unit 220 can calculate the attenuation factor f (p, q), which is the degree to which the signal of the path V ((p, q), (x, y)) is lost. f (p, q) can be calculated by the following equation (2). Generally, the signal of the path V ((p, q), (x, y)) can be attenuated as the distance from the position (x, y)

(2)

는 V((p,q),(x,y))경로의 신호가 기본적으로 감쇠되는 정도를 나타내는 공지된 계수(기본 감쇠 계수)이다.

는 -30bB일 수 있다.

은 신호가 거리에 따라 감쇠되는 정도를 나타낸다. 여기서, r은 V((p,q),(x,y))경로 상에 존재하는 장애물의 유무에 따라 신호의 감쇠 정도를 나타내는 감쇠 상수이다. 예를 들어, V((p,q),(x,y))경로 상에 장애물이 없는 경우 r은 1이 될 수 있다. V((p,q),(x,y))경로 상에 장애물이 있는 경우 r은 1을 초과하는 값(예를 들어, 1.6)이 될 수 있다. here,

Is a known coefficient (basic damping coefficient) representing the degree to which the signal of V ((p, q), (x, y)) path is basically attenuated.

Lt; / RTI > may be -30bB.

Represents the degree to which the signal is attenuated with distance. Where r is an attenuation constant representing the degree of signal attenuation depending on the presence or absence of obstacles present on the path V ((p, q), (x, y)). For example, r can be 1 if there are no obstacles on the path V ((p, q), (x, y)). If there is an obstacle on the path V ((p, q), (x, y)), r can be a value that exceeds 1 (for example, 1.6).

d ((p, q), (x, y)) can represent the distance between (p, q) and (x, y). d ((p, q), (x, y)) can be calculated by the following equation (3). Equation 3 is also a known technique, and a detailed description thereof will be omitted.

(3)

(effective path loss, 유효 경로 손실)은 V((p,q),(x,y))경로의 신호 세기가 경로상에 위치한 장애물(O)에 의해 감쇠되는 정도를 나타낼 수 있다. 감쇠 지수 산출부(220)는 ELP를 아래의 수학식 4에 의하여 산출할 수 있다. In Equation (2)

(effective path loss) may indicate the degree to which the signal strength of the path V ((p, q), (x, y)) is attenuated by the obstacle O located on the path. The attenuation index calculator 220 can calculate the ELP by the following equation (4).

(4)

The path loss weight (PLW) can represent the number of reference obstacles on the path V ((p, q), (x, y)). The wall attenuation factor (WAF) can be a coefficient that indicates the degree to which the signal of the path V ((p, q), (x, y)) attenuates while passing through one reference obstacle.

The reference obstacle O is defined as an obstacle O of the same type when all obstacles existing on the path V ((p, q), (x, y) It can be a standard obstacle. For example, assuming that a concrete wall (O) with a thickness of 1 m is the reference obstacle (O) and PLW is a concrete wall with a thickness of 1 m, all obstacles on the path V ((p, q), The number of obstacles may be the same. Also in this case, a 1 m thick wooden wall can be cointed with 0.5 concrete walls.

WAF can indicate the degree of attenuation as a signal of V ((p, q), (x, y)) path passes through one reference obstacle. For example, it may be a degree of attenuation during passage through a 1 m thick concrete wall.

When the reference obstacle is a concrete wall with a thickness of 1 m, the wall attenuation factor (WAF) is a measure of the attenuation of the signal in the path V ((p, q), (x, y)) while passing through a 1 m thick concrete wall Is a coefficient indicating the degree to which WAF is a coefficient known as 3.5. The path loss weight (PLW) represents the number of walls when assuming that all obstacles (O) on the path passing through V ((p, q), (x, y) . The attenuation index calculator 220 may assume that the degree of damping that occurs during the passage of two wooden walls is equal to the degree of damping that occurs during one of the concrete walls.

The attenuation index calculating unit 220 can calculate the PLW through Equation (5) below.

(5)

There may be four concrete wall blocks O on the path V ((p, q), (x, y)) as shown in FIG. If there are successive walls of the same type, the direction in which the walls are connected can be set to the wall direction. The attenuation index calculator 220 calculates the attenuation index based on the signal of V ((p, q), (x, y)) based on the angle formed by V ((p, q), An attenuation graph indicating the degree of attenuation can be calculated. The shape of the attenuation graph may be a shape such as a standard distribution graph and a Gaussian graph.

The peak value of the pole point of the attenuation graph can be set to the peak value (GetPeakValues). That is, GetPeakValues (V ((p, q), (x, y)) is the maximum value of the maximum point in the graph indicating the degree of attenuation by the wall on the path V ( Lt; / RTI > The peak value can be determined according to the type of block. For example, the peak rating can be set to 255 for walls with concrete walls and 128 for walls with walls.

If the wall is continuous with two lines in a direction perpendicular to the wall direction, the peak value may be 510 (= 255 * 2) or 256 (= 128 * 2). In addition, if the wall is two or more lines apart in the direction perpendicular to the wall direction, the peak value can be calculated for each wall.

That is, assuming that all the walls are a concrete wall having a thickness of 1 m, the attenuation index calculating unit 220 calculates the number of walls that the V ((p, q), (x, y) The PLW can be calculated.

In addition, when all kinds of walls are the same, the attenuation index calculating unit 220 can set the number of maximum points of the attenuation graph directly to PLE.

If PLW is zero (i.e., there is no obstacle), the coefficient r of Equation 2 may be one. On the other hand, if PLW is greater than zero (i.e., there is an obstacle), the coefficient r of Equation 2 may be 1.6. 1.6 is an arbitrarily set coefficient. Any number exceeding 1 can be used.

The attenuation index calculator 220 may calculate the attenuation index of the signal received in the block of (p, q) with respect to the AP located at (x, y) through Equations 2 to 5. The attenuation index calculating unit 220 may calculate the attenuation index for all blocks of the month map M212. The attenuation index calculating unit 220 may transmit the calculated attenuation indexes to the pixel map generating unit 230.

The pixel map generating unit 230 converts the attenuation index according to a predetermined reference to calculate an RSSI value and collects the RSSI values of each block of the month map M212 to generate a received signal strength indicator map M234 And generate a pixel map M236 indicating an expected area A where the user terminal 101 is expected to be located from the RSSI map M212 according to a preset reference. The concrete procedure is as follows.

The pixel map generator 230 may calculate a received signal strength indicator (RSSI) by converting the attenuation index according to a predetermined reference. The RSSI value may be an indicator value indicating the strength of the received signal. The larger the attenuation index, the greater the attenuation is, which means that the signal is much weaker. Therefore, there may be a method such as taking a reciprocal of the attenuation index or converting it to a negative value. The pixel map generating unit 230 may generate the RSSI map M234 based on the RSSI value of each block of the month map M212.

For example, the pixel map generating unit 230 may collect the RSSI values of each block of the month map M212 to generate a raw RSSI map M232. The pixel map generating unit 230 may modify the raw RSSI map M232 into the RSSI map M234 by reflecting the field survey result of the actual building. Examples of site survey results may include new roads, doors, and walls that were not present in the section of the building.

The pixel map generating unit 230 may generate a pixel map M236 indicating an expected area A where the user terminal 101 is expected to be located according to a preset reference from the RSSI map M212. The specific contents of the pixel map generator 230 converting the RSSI map M234 into the pixel map 230 will be described with reference to FIG.

6 is a diagram illustrating conversion of an RSSI map into a pixel map according to an embodiment of the present invention.

Referring to FIG. 6, the pixel map generator 230 generates a pixel map M236 that indicates the RSSI map M234 by distinguishing only the predicted zone A where the user terminal 101 is expected to be located and the not- Can be converted. When the user terminal 101 receives a signal broadcast from the AP, the pixel map generator 230 may set the range of the signal sensitivity that the user terminal 101 is expected to be in the proper RSSI value range have.

When the RSSI value of the block falls within a predetermined proper RSSI value range, the pixel map generating unit 230 may assign a white RGB color code of (255, 255, 255) to the block. In addition, if the RSSI value of the block does not fall within the predetermined proper RSSI value range, the pixel map generating unit 230 may assign a black RGB color code of (0, 0, 0) to the corresponding block. The pixel map generation unit 230 may collect the color codes to generate the pixel map M236 indicating the expected area A in which the user terminal 101 is expected to be present.

The pixel map generating unit 230 may store the pixel map M236 in the form of a matrix as in the manner in which the month map generating unit 210 stores the month map M212.

The communication unit 240 may receive a list of selected APs having contents of three APs that the user terminal 101 most strongly senses from the user terminal 101. The communication unit may transmit the position information indicating the position B of the user terminal 101 calculated by the position calculating unit 250 to the user terminal 101. [

The location calculation unit 250 can retrieve the pixel map M236 corresponding to each of the three APs included in the selected AP list from the database. The data bay may be stored in the indoor location server 102 or may be stored outside the indoor location server 102 through a cloud service. Each of the three pixel maps M236 may represent an expected area A where the user terminal 101 is expected to be located. The position calculating unit 250 may calculate overlapping portions of the pixel maps M236 of AP1 to AP3 to the position B of the user.

7 is a flowchart illustrating a method of measuring an indoor position according to an embodiment of the present invention. In the illustrated flowchart, the method is described as being divided into a plurality of steps, but at least some of the steps may be performed in sequence, combined with other steps, performed together, omitted, divided into sub-steps, One or more steps may be added and performed.

Referring to FIG. 7, first, the user terminal 101 can detect a plurality of APs distributed around, including communication means (S100). A predetermined number of APs may be selected according to the strength of a signal among a plurality of detected APs (S200). For example, , Three APs (AP 1 through AP 3) may be selected. [0064] The three selected APs may be a reference for measuring the location of the user terminal 101. A list of selected APs including the selected plurality of APs And the user terminal 101 can transmit the generated list of selected APs to the indoor location server 102 in operation S300. The selected AP list includes identification information of each AP and identification Information may be included.

Subsequently, the indoor location server 102 may retrieve a pixel map M236 corresponding to each of the three APs included in the selected AP list from a database (S400). The overlapped portions of the pixel maps M236 of AP1 to AP3 may be calculated as the position B of the user (S500). The position information indicating the calculated position B of the user terminal 101 may be transmitted to the user terminal 101 (S600).

8 is a flowchart illustrating a process of generating a pixel map according to an embodiment of the present invention. In the illustrated flowchart, the method is described as being divided into a plurality of steps, but at least some of the steps may be performed in sequence, combined with other steps, performed together, omitted, divided into sub-steps, One or more steps may be added and performed.

Referring to FIG. 8, a floor map of the building may be divided into a plurality of blocks, and a color map may be created according to the properties of each block to generate a wall map (M212 of FIG. 4). The monthly map can be generated based on the floor plan of the building. The floor plan of the building can be divided into a checkered area according to a preset unit size, and a zone can be set. For example, the plan view can be divided into intervals of 1 m width and length, respectively. Here, each of the plurality of divided zones may be one block. For example, one block may include 10 pixels horizontally and 10 pixels vertically, for a total of 100 pixels. In addition, the plurality of blocks may be classified differently depending on the nature of the zone (for example, whether the zone is an empty space or a filled space, or the type of material that is filled if it is filled). Each of the plurality of blocks can be assigned a color value according to the property.

In one embodiment, the types of blocks according to their properties include an empty space block 212B representing an empty zone, a concrete wall block 212C representing a zone with a wall of concrete material, and a zone containing a wall of wood material There may be a wooden wall block 212W. A plurality of blocks of different types can be assigned a color value according to the block type. The empty space block 212B may correspond to black, including the RGB code on the computer language of (0, 0, 0). The wooden wall block 212W may correspond to gray, including RGB (red, green, blue) codes of (128, 128, 128). The concrete wall block 212C may correspond to white including RGB codes of (255, 255, 255).

For each block, an attribute value (hereinafter referred to as a block code) may be designated according to the RGB color value. For example, the block code of the black block (i.e., empty space block 212B) is designated as 0, the block code of the gray block (i.e., wooden block 212W) is designated as 128, The block code of the block (i. E., The concrete wall block 212C)

It is possible to collect blocks of which the type and color are determined according to the property of the zone, and to generate one month map M212. The generated month map M212 may be stored in the form of a matrix.

Next, for each of the plurality of blocks, the attenuation index indicating the degree of attenuation of the signal received from the AP may be calculated (220). A detailed description of the calculation of the attenuation index will be given later with reference to FIG.

Thereafter, the RSSI value may be calculated by converting the attenuation index for each of the plurality of blocks (S232). The received signal strength indicator (RSSI) value can be calculated by converting the attenuation index according to a predetermined criterion. The RSSI value may be an indicator value indicating the strength of the received signal. The larger the attenuation index, the greater the attenuation and the weaker the signal. Thus, there may be a method such as taking a reciprocal of the attenuation index or converting it to a negative value.

Next, an RSSI map may be generated based on the calculated RSSI values (S236). First, an RSSI map can be generated by collecting the RSSI values of each block. Thereafter, the RSSI map can be generated by modifying the RSSI map to take into account the actual building situation. The RSSI map M232 may be modified into the RSSI map M234 by reflecting the field survey result of the actual building. Examples of site survey results may include new roads, doors, and walls that were not present in the section of the building.

Next, the RSSI map may be transformed into a pixel map (238) that distinguishes only the predicted region A where the user terminal is expected to be located and the non-predicted region. The range of the signal sensitivity that the user terminal 101 is expected to be located in may be set to a proper RSSI value range.

For each block, if the RSSI of the block falls within a predetermined proper RSSI value range, the corresponding block may be given a white RGB color code of (255, 255, 255). Also, if the RSSI of the block does not fall within the predetermined proper RSSI value range, the corresponding block can be given a black RGB color code of (0, 0, 0). A pixel map M236 representing the expected area A in which the user terminal 101 is expected to exist can be generated by collecting color codes.

The generated pixel map M236 may be stored in the form of a matrix as in the manner in which the month map M212 is stored.

9 is a flowchart illustrating a process of calculating a decay index according to an embodiment of the present invention. In the illustrated flowchart, the method is described as being divided into a plurality of steps, but at least some of the steps may be performed in sequence, combined with other steps, performed together, omitted, divided into sub-steps, One or more steps may be added and performed.

Referring to FIG. 9, a path V ((p, q), (x, y)) with AP (x, y) is calculated for each of a plurality of blocks p and q in a month map (S222). Each of the plurality of blocks may be given a coordinate value corresponding to each block by applying a coordinate system to the month map M212. The applied coordinate system may be an orthogonal coordinate system. The origin of the rectangular coordinate system may be the leftmost and the bottommost block of the month map M212 as the origin. The coordinates of the block located at the p-th and q-th positions from the origin block to the right in the month map M212 may be (p, q). In order to distinguish from the coordinates (p, q) of an arbitrary block, in particular, the coordinates of a block in an area where the AP exists can be referred to as (x, y).

A vector pointing to an arbitrary block (p, q) in a block (x, y) of an area where the AP exists can be designated as V ((p, q), (x, y)). That is, V ((p, q), (x, y)) may represent the path of a signal broadcast in the AP provided at (x, y) and received in the area of (p, q).

Next, it is possible to calculate the number of obstacles (PLW) when all the obstacles on the path V ((p, q), (x, y)) are assumed to be 1 m thick concrete walls (S224). The path loss weight (PLW) can be calculated through Equation 5 described above. As shown in FIG. 5, there may be four concrete wall blocks on the path V ((p, q), (x, y)). If there are successive walls of the same type, the direction in which the walls are connected can be set to the wall direction. ((P, q), (x, y)) attenuation of the signal of the path V ((p, q), Can be calculated. The shape of the attenuation graph may be a shape such as a standard distribution graph and a Gaussian graph.

The peak value of the pole point of the attenuation graph can be set to the peak value (GetPeakValues). That is, GetPeakValues (V ((p, q), (x, y)) is the maximum value of the maximum point in the graph indicating the degree of attenuation by the wall on the path V ( Lt; / RTI > The peak value can be determined according to the type of block. For example, the peak rating can be set to 255 for walls with concrete walls and 128 for walls with walls.

If the wall is continuous with two lines in a direction perpendicular to the wall direction, the peak value may be 510 (= 255 * 2) or 256 (= 128 * 2). In addition, if the wall is two or more lines apart in the direction perpendicular to the wall direction, the peak value can be calculated for each wall.

Also, when all kinds of walls are the same, the number of maximum points of the attenuation graph can be set directly to PLE.

When PLW is 0 (i.e., there is no obstacle), the coefficient r of Equation 2 described above may be 1. On the other hand, if PLW is greater than zero (i.e., there is an obstacle), the coefficient r of Equation 2 may be 1.6. 1.6 is an arbitrarily set coefficient. Any number exceeding 1 can be used.

Next, ELP (effective path loss) due to a total obstacle on the path V ((p, q), (x, y)) can be calculated (S226). Effective path loss (EPL) can be calculated by multiplying the PLW and wall attenuation factor (WAF) calculated above.

When the reference obstacle is a concrete wall with a thickness of 1 m, the wall attenuation factor (WAF) is the signal of V ((p, q), (x, y)) path while passing through one concrete wall with a thickness of 1 meter Is a coefficient indicating the degree of attenuation. WAF is a coefficient known as 3.5. The degree of damping that occurs during the passage of two wooden walls can be set to be equal to the degree of damping that occurs during one of the concrete walls.

Next, the length d ((p, q), (x, y)) of the path V ((p, q), (x, y)) can be calculated (S227). The length of the path V ((p, q), (x, y)) can be calculated through Equation 3 described above.

Next, based on the effective path loss (EPL) due to the total obstacle and the length d ((p, q), (x, y) The attenuation factor f (p, q) of the phase signal can be calculated (S228). f (p, q) can be calculated through the above-described equation (2). Equation (2) is omitted because it is already described above and the detailed description thereof is duplicated.

10 is a block diagram illustrating and illustrating a computing environment 10 that includes a computing device suitable for use in the exemplary embodiments. In the illustrated embodiment, each component may have different functions and capabilities than those described below, and may include additional components in addition to those described below.

The illustrated computing environment 10 includes a computing device 12. In one embodiment, computing device 12 may be an indoor location server (e.g., indoor location server 102).

The computing device 12 includes at least one processor 14, a computer readable storage medium 16, The processor 14 may cause the computing device 12 to operate in accordance with the exemplary embodiment discussed above. For example, processor 14 may execute one or more programs stored on computer readable storage medium 16. The one or more programs may include one or more computer-executable instructions, which when executed by the processor 14 cause the computing device 12 to perform operations in accordance with the illustrative embodiment .

The computer-readable storage medium 16 is configured to store computer-executable instructions or program code, program data, and / or other suitable forms of information. The program 20 stored in the computer-readable storage medium 16 includes a set of instructions executable by the processor 14. In one embodiment, the computer-readable storage medium 16 may be any type of storage medium such as a memory (volatile memory such as random access memory, non-volatile memory, or any suitable combination thereof), one or more magnetic disk storage devices, Memory devices, or any other form of storage medium that can be accessed by the computing device 12 and store the desired information, or any suitable combination thereof.

Communication bus 18 interconnects various other components of computing device 12, including processor 14, computer readable storage medium 16.

The computing device 12 may also include one or more input / output interfaces 22 and one or more network communication interfaces 26 that provide an interface for one or more input / output devices 24. The input / output interface 22 and the network communication interface 26 are connected to the communication bus 18. The input / output device 24 may be connected to other components of the computing device 12 via the input / output interface 22. The exemplary input and output device 24 may be any type of device, such as a pointing device (such as a mouse or trackpad), a keyboard, a touch input device (such as a touch pad or touch screen), a voice or sound input device, An input device, and / or an output device such as a display device, a printer, a speaker, and / or a network card. The exemplary input and output device 24 may be included within the computing device 12 as a component of the computing device 12 and may be coupled to the computing device 12 as a separate device distinct from the computing device 12 It is possible.

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, but, on the contrary, . Therefore, the scope of the present invention should not be limited to the above-described embodiments, but should be determined by equivalents to the appended claims, as well as the appended claims.

100: Indoor positioning system
101: User terminal
102: Indoor location server
210: month map generating unit
220: attenuation index calculating section
230: Pixel map generation unit
240:
250:
A: Expected Area
B: Output position
M212: Month map
212B: empty space block
212C: Concrete wall blocks
212W: wooden wall blocks
(x, y): coordinates of the AP block
(p, q): coordinates of arbitrary block
O: Obstacle
M232: RSSI Map with
M234: RSSI map
M236: pixel map

Claims (26)

A communication unit for receiving a selection AP list including a predetermined number of AP (Access Point) identification information from user terminals located indoors;
Calculating a position of each of the extracted pixel maps by calculating a position of a portion where the expected areas expected to be located by the user terminal are overlapped with the positions of the user terminals; part;
A pixel map generation unit for generating a pixel map for each AP based on the terrain of the room and the strength of a signal broadcast by one or more APs installed in the room; And
And an attenuation index calculator for calculating an attenuation index that is a degree of attenuation while the signal broadcast by the at least one AP is propagated to the user terminal via the terrain of the room,
The attenuation index calculating unit calculates,
Calculates the attenuation index for the signal on the basis of the distance on the path from the position of the AP installed in the room to an arbitrary position in the room and the obstacle contained in each route of the indoor topography, Generating an attenuation graph representing a degree of attenuation during a movement of the spacing distance, and calculating the number of polar aggregates of the attenuation graph as the number of all obstructions located on the path of the spacing distance.
delete The method according to claim 1,
Wherein the pixel map generator comprises:
Wherein the at least one AP calculates a received signal strength indicator (RSSI), which is a signal sensitivity of the signal, based on the attenuation index according to the indoor topography of a signal broadcast by the at least one AP, Sets a predicted area where the user terminal is expected to be located in a communication range of the AP, and generates a pixel map including the predicted area for the AP.
The method of claim 3,
Wherein the pixel map generator comprises:
Generates a RSSI map for the AP by collecting the calculated RSSI values, sets a range of the signal sensitivity expected to be located in the communication range of the AP to a proper RSSI value range, and outputs the calculated RSSI value Wherein the RSSI map classifies an area where the user terminal is expected to be located and an area where the user terminal is predicted not to be located in the RSSI map according to whether the user terminal belongs to the appropriate RSSI value range.
The method of claim 3,
Wherein the pixel map generator converts the attenuation index according to a predetermined reference to calculate the RSSI value.
The method according to claim 1,
Wherein the indoor location server comprises:
Further comprising a wall map generation unit for dividing the floor plan of the room into blocks of predetermined unit sizes and adding attribute values to the blocks in accordance with properties of the blocks to generate a wall map for the room.
delete The method of claim 6,
The attenuation index calculating unit calculates,
Wherein the attenuation index for the signal is calculated by the following equation.
(Equation)

f (p, q): the decay index at the coordinates (p, q) on the month map

: Predetermined basic damping coefficient
r is an attenuation constant determined according to presence or absence of an obstacle present on a route from an indoor AP to a predetermined block of a month map
the distance between the AP located at the coordinates (x, y) on the wall map and the block located at the coordinates (p, q), d ((p, q),
EPL (effective path loss): The damping coefficient due to obstacles existing on the path of d ((p, q), (x, y)
The method of claim 8,
The attenuation index calculating unit calculates,
Wherein the EPL is calculated based on the number of all obstacles located on the path of the distance d ((p, q), (x, y)) and the attenuation coefficient per obstacle.
delete The method of claim 8,
The attenuation index calculating unit calculates,
Setting the peak values of each of the different maximum values to a value of the peak value, summing the values of the peak values when the peak values of the polar points are different from each other in the attenuation graph,
And calculates the number of all obstacles located on the path by dividing the sum of the peak values by one of the maximum values of the maximum values.
The method of claim 11,
The attenuation index calculating unit calculates,
The degree of attenuation of the obstacle corresponding to any one of the maximum values is set as a reference attenuation degree,
Wherein the EPL is calculated by multiplying the number of obstacles located on the path by the reference attenuation degree.
One or more processors, and
And a memory for storing one or more programs executed by the one or more processors, the method comprising:
Receiving a selection AP list including a predetermined number of AP (Access Point) identification information from a user terminal located in a room;
Extracting a pixel map in which the position calculation unit matches the APs included in the selected AP list and stored; And
Calculating a position of the user terminal in which the expected areas where the user terminal is expected to overlap in the respective pixel maps extracted by the position calculating unit overlap each other,
The indoor position measuring method includes:
Generating a pixel map for each AP based on the terrain of the indoor and the intensity of a signal broadcast by one or more APs installed in the indoor;
Wherein the attenuation index calculation unit calculates the attenuation index, which is the degree to which the attenuation index calculation unit is attenuated while the signal broadcast by the at least one AP is propagated to the user terminal via the terrain of the room,
The step of calculating the attenuation index may include:
The attenuation index calculation unit calculates the attenuation index for the signal based on the distance on the path from the position of the AP installed in the room to an arbitrary position in the room and the obstacle included on each route of the indoor terrain step;
Generating an attenuation graph indicating a degree to which the attenuation index calculating unit attenuates the signal while moving the path of the separation distance; And
Wherein the attenuation index calculation unit calculates the number of polar points of the attenuation graph as the number of all obstacles located on the path of the separation distance.
delete 14. The method of claim 13,
Wherein the generating the pixel map for each AP comprises:
The pixel map generator calculating a received signal strength indicator (RSSI), which is the signal sensitivity of the signal, based on the attenuation index according to the indoor geometry of the signal broadcast by the one or more APs;
The pixel map generator sets a predicted region where the user terminal is expected to be located in a communication range of the AP based on the calculated RSSI value and generates a pixel map including the predicted region for the AP Wherein the indoor position measurement method comprises the steps of:
16. The method of claim 15,
The generating of the pixel map based on the calculated RSSI value may include:
Generating the RSSI map for the AP by collecting the calculated RSSI values;
Setting the range of the signal sensitivity that the pixel map generator is expected to locate in the communication range of the AP to a proper RSSI value range;
Wherein the pixel map generator is configured to classify an area expected to be located by the user terminal in the RSSI map and an area where the user terminal is expected not to be located according to whether the calculated RSSI value belongs to the appropriate RSSI value range Wherein the indoor position measurement method comprises the steps of:
16. The method of claim 15,
The step of calculating the RSSI value includes:
Wherein the pixel map generator converts the attenuation index according to a predetermined criterion to calculate the RSSI value.
14. The method of claim 13,
The indoor position measuring method includes:
Further comprising the step of dividing the floor plan of the room into blocks of a predetermined unit size and providing a property value to each block according to the property of the block to generate a wall map for the room, Way.
delete 19. The method of claim 18,
The step of calculating the attenuation index may include:
Wherein the attenuation index calculating section includes calculating an attenuation index for the signal by the following equation.
(Equation)

f (p, q): the decay index at the coordinates (p, q) on the month map

: Predetermined basic damping coefficient
r is an attenuation constant determined according to presence or absence of an obstacle present on a route from an indoor AP to a predetermined block of a month map
the distance between the AP located at the coordinates (x, y) on the wall map and the block located at the coordinates (p, q), d ((p, q),
EPL (effective path loss): The damping coefficient due to obstacles existing on the path of d ((p, q), (x, y)
The method of claim 20,
The step of calculating the attenuation index may include:
Calculating the EPL based on the number of all obstacles located on the path of the d ((p, q), (x, y)) distance of the room and the attenuation coefficient per obstacle Further comprising the steps of:
delete The method of claim 20,
The step of calculating the number of all the obstacles includes:
If the maximum values of the pole points are different from each other in the attenuation graph, the attenuation index calculating unit sets each of the different maximum values as a peak value and adds the values of the peak value; And
Dividing the sum of the peak values into a maximum value of any one of the maximum values to calculate the number of all obstacles located on the path.
24. The method of claim 23,
The step of calculating the number of all the obstacles includes:
Setting the attenuation degree of the obstacle corresponding to the maximum value as the reference attenuation degree; And
And calculating the EPL by multiplying the number of all obstacles located on the path by the attenuation index calculator and the degree of attenuation of the reference.
One or more processors;
Memory; And
Comprising one or more programs,
Wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors,
The one or more programs,
Receiving a selection AP list including a predetermined number of AP identification information from a user terminal located indoors;
An instruction for extracting a pixel map matched and stored with the APs included in the selection AP list; And
And calculating a position of the user terminal where a predicted area where the user terminal is supposed to be located overlaps with each other in each extracted pixel map,
The one or more programs,
Wherein the pixel map generating unit generates a pixel map for each AP based on the terrain of the indoor and the intensity of a signal broadcast by one or more APs installed in the indoor;
Further comprising calculating an attenuation index that is a degree at which the attenuation index calculation unit is attenuated while the signal broadcast by the at least one AP is propagated to the user terminal via the terrain of the room,
The command for calculating the attenuation index may include:
The attenuation index calculation unit calculates the attenuation index for the signal based on the distance on the path from the position of the AP installed in the room to an arbitrary position in the room and the obstacle included on each route of the indoor terrain Command;
Generating an attenuation graph that represents the degree to which the attenuation index calculator is attenuated while the signal travels along the path of the separation distance; And
Wherein the attenuation index calculation unit calculates the number of polar points of the attenuation graph as the number of all obstacles located on the path of the separation distance. delete

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