KR101977758B1 - Real-Time Indoor Positioning Method for Improving Location Accuracy of Object and System Therefor - Google Patents

Abstract

A method of locating indoor positioning according to an embodiment of the present invention is a method of locating a location positioning system having a plurality of receivers and at least one laser scanner for receiving a radio signal in a predetermined space, Calculating coordinate information of each of the objects using a wireless signal transmitted from the at least one object at a first time period and received at the plurality of receivers; Scanning the coordinate information of each of the objects in real time in the laser scanner at a second time period; And positioning the position of each of the objects in real time based on the calculated coordinate information and the scanned coordinate information of each of the objects, wherein the second time period is shorter than the first time period, The signal includes identification information of the object.

Description

Field of the Invention [0001] The present invention relates to a real-time indoor positioning method and system for improving object position accuracy,

More particularly, the present invention relates to an indoor positioning method capable of real-time positioning of a moving object by using a wireless signal received from an object in a room and coordinate information scanned by a laser scanner And a system.

Location-based technology is a technique that acquires physical, geographical, or logical location information of an object (person or object) placed in a specific location and reacts accordingly. Typical positioning methods include triangulation, which measures the position of a subject by measuring the distance between objects, angle or azimuth, scene analysis using scenery viewed from a specific point of view (Vantage Point) (Proximity).

With the development of wireless communication technology, radio wave identification system is attracting attention as a new wireless network technology and widely used. In addition, it is required to develop a technique for measuring a position in the indoor or outdoor environment using a radio wave identification system. Such a technique is a technique for collecting or collecting data using radio wave identification And the like.

Typical position measurement techniques include a position measurement technique using a global positioning system, a position measurement technique using a received signal strength of a radio signal, and a position measurement technique using a near field wireless communication.

GPS positioning technology is a technique to measure the phase of a carrier signal transmitted from a GPS satellite floating in the Earth's orbit or to measure the distance to a satellite by tracking the code of a carrier signal (relative positioning). This positioning technique using GPS is widely used at present, because it can provide stable service through a fixed satellite with a wide signal radius. However, it has a disadvantage that it can not be serviced in a room or a shaded area where accuracy is low and reception of GPS satellite signals is difficult I have.

The location measurement technology using mobile communication is a technology for obtaining geographical location information of a mobile terminal by triangulation using the currently established mobile communication system. And a terminal based method in which a terminal having a GPS receiver transmits position information to a network separately from a base station, and a hybrid method in which both are mixed. These technologies do not require a separate infrastructure and are widely used as macro positioning technology because they have a wide service area like GPS. However, it can be used only in a cell radius within the cell radius where the base station is located or in a city center where radio waves can be received, and there is a problem that accuracy in the room is deteriorated due to diffraction, multipath, and signal attenuation due to propagation characteristics.

Such satellite communication or mobile communication location recognition technologies are suitable for outdoor use because of a wide service provision area, but they are restricted in indoor and shade areas. Recently, a positioning technique using various wireless communication technologies such as Diffuse-Infrared, Ultrasonic Wave, RF (Radio Frequency), UWB (Ultra Wideband), and radio wave identification has been actively studied.

Such a room location positioning technique can be applied to a virtual reality or an augmented reality. In the case of a game using a virtual reality or augmented reality in an indoor space, if the object to be positioned is fast to move, There is a problem in that it can not be accurately positioned.

Therefore, there is a need for a method capable of accurately and real-time positioning of the position of an object moving in the indoor space.

Embodiments of the present invention provide an indoor positioning method and system capable of real-time positioning of a moving object using a wireless signal received from an object in a room and coordinate information scanned by a laser scanner.

A method of locating indoor positioning according to an embodiment of the present invention is a method of locating a location positioning system having a plurality of receivers and at least one laser scanner for receiving a radio signal in a predetermined space, Calculating coordinate information of each of the objects using a wireless signal transmitted from the at least one object at a first time period and received at the plurality of receivers; Scanning the coordinate information of each of the objects in real time in the laser scanner at a second time period; And positioning the position of each of the objects in real time based on the calculated coordinate information and the scanned coordinate information of each of the objects, wherein the second time period is shorter than the first time period, And the signal includes identification information of the object.

The positioning step may position the position of each of the objects in real time by correcting the calculated coordinate information of each of the objects using the scanned coordinate information.

Wherein the positioning step acquires the scanned coordinate information of the object based on the history of the calculated coordinate information of each of the objects and corrects the calculated coordinate information of the corresponding object using the obtained coordinate information, The position of the corresponding object can be positioned in real time.

The object may include at least one of a Real Time Location System (RTLS), a beacon, and an RFID.

An indoor positioning system according to an embodiment of the present invention is a location positioning system having a plurality of receivers for receiving radio signals in a predetermined space and at least one laser scanner, A calculator for calculating coordinate information of each of the objects using a radio signal transmitted in a first time period from the plurality of receivers and received by the plurality of receivers; A scanning unit scanning the coordinate information of each of the objects in real time in a second time period using the laser scanner; And a positioning unit for real-time positioning of each of the objects based on the calculated coordinate information and the scanned coordinate information of each of the objects, wherein the second time period is shorter than the first time period, And the signal includes identification information of the object.

The positioning unit can position the respective objects in real time by correcting the calculated coordinate information of each of the objects using the scanned coordinate information.

The positioning unit obtains the scanned coordinate information of the object based on the history of the calculated coordinate information of each of the objects and corrects the calculated coordinate information of the corresponding object using the obtained coordinate information, The position of the object can be determined in real time.

The object may include at least one of a Real Time Location System (RTLS), a beacon, and an RFID.

According to embodiments of the present invention, positioning of moving objects can be performed in real time using the radio signal received from the object in the room and the coordinate information scanned by the laser scanner.

According to embodiments of the present invention, by real-time positioning of an object through coordinate scanning of an object using a real-time position locating module provided in the object and a laser scanner installed in an indoor space, accuracy in real- Can be improved.

1 shows a configuration of an embodiment of a system for explaining a real-time indoor positioning technique according to the present invention.
FIG. 2 is a flowchart illustrating an operation of a real-time indoor positioning method according to an embodiment of the present invention.
FIG. 3 is a flowchart illustrating an operation of an embodiment for explaining a method according to the present invention shown in FIG.
Figure 4 shows an illustrative diagram for illustrating the method according to the invention.
Figure 5 shows an example in which the method according to the invention is applied.
6 illustrates a configuration of a real-time indoor positioning system according to an embodiment of the present invention.

Hereinafter, embodiments according to the present invention will be described in detail with reference to the accompanying drawings. However, the present invention is not limited to or limited by the embodiments. In addition, the same reference numerals shown in the drawings denote the same members.

Embodiments of the present invention provide real-time positioning of a moving object by using a wireless signal received from an object in a room and coordinate information scanned by a laser scanner.

The real-time indoor location positioning technique according to the present invention is a method for real-time indoor location positioning technology for realizing the location information or coordinate information of a moving device by a user's operation at a constant speed such as an object, for example, a racing card, The accuracy with respect to the indoor positioning can be improved.

The technique according to the present invention can be applied to a theme park of a multimedia mario racing cart game utilizing an indoor positioning system. For example, in the game to which the present invention is applied, the position of the racing cart is checked in real time by utilizing the indoor positioning technique of the present invention, the real time position information of the confirmed racing card is mapped with the movement of the actual cart in cooperation with the game content, Synchronization of the content, which is the content, can be re-synthesized to the floor of the indoor space, and the cart can be controlled by mapping the game contents according to the movement of the actual cart to acquire items and penalties. Of course, the control of the racing card can be controlled by interlocking with the remote control technology. Each user using the racing cart game theme park can map the user identification information to the racing cart through user registration or the like, Information can be stored in connection with an item, record, or the like obtained through a racing-cart game, so that the stored information can be used and updated when using a racing card in the game theme park.

The real-time indoor positioning technique in the present invention includes a location positioning module, for example, a real-time location system (RTLS) UWB module provided in an object, Quot; one time period "). For example, the position of the object for the first time period can be determined based on the radio signal transmitted at a time period of 100 [ms] It is possible to scan the coordinate information of the object at a predetermined time period (hereinafter, referred to as "second time period"), for example, at a time interval of 10 to 20 ms using a laser scanner, The real-time position of the object is corrected using the coordinate information of the scanned object, and the position of the moving object in the indoor space can be positioned in real time .

For example, if the racing card is an object, the speed of the racing cart is about 20 to 30 [Km / h]. If the real-time positioning technique of the present invention can not be utilized, a virtual image, gap. Thereby, it can be easily applied to a virtual reality or an augmented reality by correcting it using the present invention.

1 shows a configuration of an embodiment of a system for explaining a real-time indoor positioning technique according to the present invention.

1, the indoor positioning system 100 according to the present invention is a system for real-time positioning of a certain space (or a positioning space), for example, the position of an object 120 moving in an indoor space, The position of an object can be calculated in a first time period using a plurality of receivers 130 that receive a radio signal transmitted from an object in a first time period and the object moved by the laser scanner 110 can be calculated in a second time period The position information of the object moving in the indoor space can be positioned in real time using the scanned position information and the position of the object calculated in the first time period by scanning the position information of the object in the second time period.

At this time, the object 120 may include at least one of an RTLS UWB module, a beacon and an RFID, so that a radio signal for calculating a position of a first time period can be broadcast to receivers provided in an indoor space, The object position in the indoor space can be calculated using the wireless signal received by each of the indoor units. Of course, a method of calculating an object position in an indoor space using a radio signal received by each of the receivers may include a Time Of Arrival (TOA) method, a Time Difference Of Arrival (TDOA) method, It will be apparent to those skilled in the art that the description thereof is omitted.

The laser scanner 110 may include a 2D laser scanner, a 3D laser scanner,

Although described with the laser scanner 110 in the present invention, it is not limited thereto, and any device capable of acquiring or scanning the position of an object moving in a time period shorter than the first time period may be used.

FIG. 2 is a flowchart illustrating an operation of a real-time indoor positioning method according to an exemplary embodiment of the present invention. FIG. 3 is a flowchart illustrating an operation of an exemplary embodiment of the present invention. Referring to FIG.

2 and 3, an indoor positioning method according to an embodiment of the present invention relates to an indoor positioning method in an indoor positioning system, which includes an indoor positioning module provided in an object, for example, an RTLS UWB module For example, 100 [ms], as shown in FIG. 4B, from a plurality of receivers at a first time period, for example, 100 [ms], as shown in FIG. 4B, (or tracking) the position of the object in the [ms] cycle, and provides the object identification information (ID) and the calculated position (or coordinate) information in a first time period (S210).

At this time, the radio signal broadcasted from the RTLS UWB module to the indoor space may include identification information of a user or object, and the system extracts identification information included in the radio signal, The identification information of the object can be known. Of course, the method of detecting the identification information of the object is not limited to this, and any method capable of detecting the identification information can be applied.

In step S220, the coordinate information of the object moving in the indoor space is scanned by using at least one laser scanner at a cycle of 20 [ms] as shown in FIG. 4B for a second time period, for example.

Here, although the step S220 is described as the step subsequent to the step S210, actually, the steps S210 and S220 are performed together.

Specifically, in step S220, the coordinates in the indoor space of the moving object are scanned by a laser scanner in a second time period, for example, 20 [ms], and the ID and coordinates of the object are tracked. Here, the coordinate information scanned by the laser scanner can be obtained through a table or the like in which the coordinate information is stored with respect to the indoor space. Of course, a method of acquiring the position of an object at a cycle of 20 [ms] using the information scanned by the laser scanner can be determined by a provider or an individual providing the present invention.

If the steps S210 and S220 are performed, the position of the object is determined in real time using the coordinate information (or the position information) of the object calculated at the first time period and the coordinate information of the object scanned at the second time period at step S230.

Here, in step S230, the coordinate information calculated in the first time period is corrected for the moving object using the coordinate information scanned in the second time period, so that the position of each object can be positioned in real time.

Here, in step S230, when a plurality of objects are moved in a direction intersecting with each other, it may be impossible to know which object coordinate information is associated with the scanned coordinate information. Therefore, a process of mapping the scanning information and the object may be added have. For example, the step S230 confirms (or acquires) the history of the coordinate information calculated for the object in the first time period, for example, the scanning coordinate information of the object based on the moving direction, moving speed, track direction, The position of the object can be positioned in real time by correcting the calculated coordinate information of the object using the obtained coordinate information. In the present invention, the coordinate information is corrected for each object by comparing the coordinate information calculated in real time with the scanned coordinate information, and if the coordinate information is out of a preset error range, the coordinate information of the object can be corrected using the scanned coordinate information . In other words, since the coordinate information is calculated at a cycle of 100 [ms], an object such as a racing cart has a high moving speed and many errors are generated. Therefore, coordinate information scanned at 20 [ms] So that the position of the object can be determined in real time.

That is, as shown in FIG. 4A, when the actual racing carts A and B travel, a delay error occurs due to the moving speed of the racing card, and thus it is difficult to locate the moving coordinates 410 in real time And corrects the position of the moving object by using the scanned coordinate information by using the laser scanner, thereby solving the problem caused by the delay error that may be caused by the moving speed, and thereby positioning the moving object in real time.

As described above, the method according to the present invention locates the position of an object moving in the indoor space in real time using the radio signal transmitted from the object and the coordinate information of the object scanned by the laser scanner, thereby improving the positioning accuracy Since it is possible to perform positional positioning in real time, it is possible to position a position in a racing cart having a fast moving speed in real time, and to position a moving object in augmented reality or virtual reality. Therefore, the technique according to the present invention can be applied to a virtual reality game, an augmented reality game, or the like, and can position the moving object in real time.

In addition, the RTLS UWB module included in the object can extract the ID and coordinates of each object and correct the data. By providing the corrected data to the position locating system, it helps to position the object in real time It is possible.

Also, in the method according to the present invention, a map of coordinate information for a corresponding indoor space is provided in advance, and a map for coordinate information of a virtual image may be provided in advance even when a virtual image is provided.

Of course, in order to apply the present invention to a game, a server or a database for storing information on coordinate information on the indoor space, user registration using the game, user history, and the like may be required. A separate input / output interface or device for data input / output may be additionally provided.

Furthermore, an algorithm applied to a game, for example, a collision avoidance algorithm for preventing collision in the case of a racing cart, may be applied.

For example, the present invention can be applied to a racing cart game as shown in FIG. 5. In the case of a racing cart game, a racing track and an item for moving an object to the floor of the interior space, And an image providing means 510 for providing images. Of course, when there are a plurality of image providing means, the image providing means can be synchronized to provide images synchronously.

FIG. 6 shows a configuration of a real-time indoor positioning system according to an embodiment of the present invention, and shows a configuration of a system for performing the methods of FIGS. 2 to 4 described above.

Referring to FIG. 6, a system 600 according to the present invention includes a calculation unit 610, a scanning unit 620, and a positioning unit 630.

The calculation unit 610 calculates coordinate information of each object using at least one or more objects moving in a certain space at a first time period and using a wireless signal received at a plurality of receivers.

At this time, the calculation unit 610 can calculate the position of the object in the first time period using the TOA method, the TDOA method, or the like.

The scanning unit 620 scans the coordinate information of each object in real time in a second time period using a laser scanner.

The positioning unit 630 positions the position of each object in real time based on the calculated coordinate information and the scanned coordinate information of each object.

At this time, the positioning unit 630 can coordinate the position of each object in real time by correcting the coordinate information calculated in the first time period with respect to the moving object using the coordinate information scanned in the second time period.

In this case, when a plurality of objects are moved in a crossing manner, the positioning unit 630 may not be able to know which object coordinate information is associated with the scanned coordinate information. Therefore, May be added. For example, the positioning unit 630 confirms (or obtains) the scanning coordinate information of the object based on the history of the coordinate information calculated in the first time period with respect to the object, for example, the moving direction of the object, the moving speed, ), And corrects the calculated coordinate information of the object using the obtained coordinate information, whereby the position of the object can be positioned in real time. Here, the positioning unit 630 may compare the coordinate information calculated in real time with the scanned coordinate information with respect to each of the objects, and may correct the coordinate information of the object using the scanned coordinate information if it deviates from a predetermined error range. In other words, since the coordinate information is calculated at a cycle of 100 [ms], an object such as a racing cart has a high moving speed and many errors are generated. Therefore, coordinate information scanned at 20 [ms] So that the position of the object can be determined in real time.

Although not described in the indoor positioning system of Fig. 6, it is obvious to those skilled in the art that the indoor positioning system of Fig. 6 may include all of the contents of Figs. 1 to 5 described above.

The system or apparatus described above may be implemented as a hardware component, a software component, and / or a combination of hardware components and software components. For example, the systems, devices, and components described in the embodiments may be implemented in various forms such as, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable array ), A programmable logic unit (PLU), a microprocessor, or any other device capable of executing and responding to instructions. The processing device may execute an operating system (OS) and one or more software applications running on the operating system. The processing device may also access, store, manipulate, process, and generate data in response to execution of the software. For ease of understanding, the processing apparatus may be described as being used singly, but those skilled in the art will recognize that the processing apparatus may have a plurality of processing elements and / As shown in FIG. For example, the processing unit may comprise a plurality of processors or one processor and one controller. Other processing configurations are also possible, such as a parallel processor.

The software may include a computer program, code, instructions, or a combination of one or more of the foregoing, and may be configured to configure the processing device to operate as desired or to process it collectively or collectively Device can be commanded. The software and / or data may be in the form of any type of machine, component, physical device, virtual equipment, computer storage media, or device , Or may be permanently or temporarily embodied in a transmitted signal wave. The software may be distributed over a networked computer system and stored or executed in a distributed manner. The software and data may be stored on one or more computer readable recording media.

The method according to embodiments may be implemented in the form of a program instruction that may be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like, alone or in combination. The program instructions to be recorded on the medium may be those specially designed and configured for the embodiments or may be available to those skilled in the art of computer software. Examples of computer-readable media include magnetic media such as hard disks, floppy disks and magnetic tape; optical media such as CD-ROMs and DVDs; magnetic media such as floppy disks; Magneto-optical 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 produced 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 devices described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

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. For example, it is to be understood that the techniques described may be performed in a different order than the described methods, and / or that components of the described systems, structures, devices, circuits, Lt; / RTI > or equivalents, even if it is replaced or replaced.

Therefore, other implementations, other embodiments, and equivalents to the claims are also within the scope of the following claims.

Claims (8)

A positioning method of a position location system having a plurality of receivers for receiving radio signals in a predetermined space and at least one laser scanner,
Calculating coordinate information of each of the objects transmitted in a first time period from at least one or more objects moving in the predetermined space and using the radio signals received at the plurality of receivers;
Scanning the coordinate information of each of the objects in real time in the laser scanner at a second time period; And
Positioning the position of each of the objects in real time based on the calculated coordinate information of each of the objects and the scanned coordinate information
Lt; / RTI >
Wherein the second time period is shorter than the first time period,
Wherein the wireless signal includes identification information of the object.
The method according to claim 1,
The positioning step
Wherein the position of each of the objects is determined in real time by correcting the calculated coordinate information of each of the objects using the scanned coordinate information.
The method according to claim 1,
The positioning step
Acquiring the scanned coordinate information of the object based on the history of the calculated coordinate information of each of the objects and correcting the calculated coordinate information of the corresponding object using the obtained coordinate information, In real time.
The method according to claim 1,
The object
A real time location system (RTLS), a beacon, and an RFID.
A positional positioning system having a plurality of receivers for receiving radio signals in a predetermined space and at least one laser scanner,
A calculation unit which calculates a coordinate information of each of the objects transmitted from the at least one object moving in the predetermined space at a first time period using the radio signal received by the plurality of receivers;
A scanning unit scanning the coordinate information of each of the objects in real time in a second time period using the laser scanner; And
A positioning unit for positioning the position of each of the objects on the basis of the calculated coordinate information of each of the objects and the scanned coordinate information,
Lt; / RTI >
Wherein the second time period is shorter than the first time period,
Wherein the wireless signal includes identification information of the object.
6. The method of claim 5,
The positioning unit
Wherein the position of each of the objects is determined in real time by correcting the calculated coordinate information of each of the objects using the scanned coordinate information.
6. The method of claim 5,
The positioning unit
Acquiring the scanned coordinate information of the object based on the history of the calculated coordinate information of each of the objects and correcting the calculated coordinate information of the corresponding object using the obtained coordinate information, Is positioned in real time.
6. The method of claim 5,
The object
A real time location system (RTLS), a beacon, and an RFID.

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