KR102024563B1 - Method for measuring magnitude of radio wave indoors, and an apparatus for said method - Google Patents

Abstract

An apparatus according to the present invention comprises: a movement monitoring unit for detecting information on the movement of a device; a communication unit for searching for a Wi-Fi access point and measuring the incident angle of a signal received from the searched access point, at each of three or more points on a movement path of the device; a storage unit for storing the signal strength of a radio wave measured by a measuring unit for measuring reception strength with respect to the specified radio waves, identification information of the searched access point and information on the signal′s incident angle measured from the access point; and a control unit which obtains positioning information on the basis of a random access point for at least one of the points of the set on the basis of the information on the movement provided by the movement monitoring unit and the signal′s incident angle information of any access point at each point of the set of three points among the points stored in the storage unit, and stores the positioning information in the storage unit. The positioning information is information including a direction angle formed by a path passing through a positioning target point and the distance to a reference access point based on a virtual line from the positioning target point to the reference access point.

Description

Method for measuring magnitude of radio wave indoors, and an apparatus for said method}

The present invention relates to a method and apparatus for measuring the intensity of radio waves, such as mobile communication network signals in a room such as a building.

Each operator operating a mobile communication network will provide a good signal quality to gain an advantage over other operators in the subscriber acquisition competition. To this end, each service provider continuously manages the quality of the communication network so that the shadow area does not occur in the operating mobile communication network.

In the case of a big city or the like, while driving on a road using a vehicle equipped with a measuring device, the strength of a mobile communication network signal is measured using the measuring device, and the measured intensity along with position information (ie, latitude and longitude coordinates) of the measured point is measured. After storage, the measured data is analyzed to determine in what areas radio signal quality is poor or excessively high signal strength.

In addition, by investing or expanding the relay facility in an area based on the identified information, the shadow area of the mobile communication network is eliminated or the existing relay facility is dispersed to efficiently manage resources while maintaining good quality.

However, such mobile communication network quality management is possible because the position where any signal quality is measured can be accurately specified as the latitude and longitude coordinates. In other words, the device for measuring the signal strength can accurately specify its position using the GPS signal when measuring the strength of the received signal in the open space.

However, GPS signals that can accurately determine the location of the measurement is not received inside the building. In order to provide a differentiated network quality that is different from other operators due to fierce competition among mobile operators, public buildings, large shopping centers, commercial facilities, or underground malls, which are frequently or frequently used by subscribers, are used. We want to manage the shadowed areas in the same place.

However, as mentioned above, it is impossible to determine the measurement position by GPS signal in a roofed space such as a building or a large facility, so it is possible to automatically measure how the strength of the wireless signal varies depending on the indoor location. Is difficult to grasp.

Although there is a method of estimating the current position from the strength of the signal reaching each of the base stations of the mobile communication network, this method may take into account that the mobile network signal propagated inside the building may be reflected by another building or the like. When the position is estimated roughly, it can only be applied. Therefore, it is not suitable for applying to the point corresponding to the measured signal strength, which requires more precise positional information.

SUMMARY OF THE INVENTION An object of the present invention is to provide a method and an apparatus for the method capable of accurately determining the position even in a room such as a building in measuring the intensity of radio waves.

It is another object of the present invention to provide a method and apparatus for the method that enables the measurement of the propagation intensity in a room, such as a building, automatically together with its position through a move in the room.

The object of the present invention is not limited to the object explicitly stated above, and of course includes the purpose of achieving an effect that can be derived from the specific and exemplary description of the present invention.

According to an aspect of the present invention, an apparatus for measuring signal strength of a radio wave includes a movement monitoring unit for detecting information about movement of the apparatus, and wireless at each of three or more points on a movement path of the apparatus. A signal unit of a radio wave measured by a communication unit for searching for a connection point for providing a communication network and measuring an angle of incidence of a signal received from the retrieved connection point, and a measuring unit for measuring its reception intensity with respect to a specified radio wave, A storage unit for storing identification information of a connection point and information of a signal incident angle measured with respect to the connection point, and storing the measured radio wave intensity in the storage unit, and further comprising: Information and at each point in the set of three points of said points stored in said storage portion On the basis of the signal incident angle information of any access point, and is configured to include a control unit configured to store in the storage section with respect to at least one point of the points of the set, obtain the position information on the basis of the random access point. The positioning information obtained for the positioning target point includes a direction angle formed by a path passing through the positioning target point and a reference angle from the positioning target point to the reference connection point based on a virtual line from the positioning target point to the reference connection point. Information that includes the distance of.

In one embodiment according to the invention, the signal strength of the radio wave at each of the three or more points is measured and stored in the storage unit. That is, the signal strength of the radio wave is also measured at the point where positioning information is obtained.

In another embodiment according to the present invention, the signal strength of the radio wave is measured at a plurality of arbitrary points on the moving path and stored in the storage unit together with the measured viewpoint information. That is, the point where the positioning information is obtained and the point where the signal strength of the radio wave is measured may be independently selected.

In one embodiment according to the present invention, the control unit obtains the positioning information when the information on the movement provided by the movement monitoring unit indicates that the device has linearly moved the set points.

In one embodiment according to the present invention, the controller determines whether the random access point is on the right side or the left side on the basis of the movement path based on the change in the signal incident angle information of the random access point. In this embodiment, the directing angle is a value in the range of 0 to π for a connection point on one side of the right and left sides of the movement path, and a value in the range of -π to 0 for a connection point on the other side. Is saved.

In one embodiment according to the present invention, the control unit comprises a distance from the first point belonging to the set to the random access point at the second point calculated based on the distance from the connection point obtained for the random access point, and the The distance from the second point to the random access point obtained based on the signal incidence angle information of the random access point at three points in which the apparatus including the second point is linearly moved is different from each other by a predetermined error range or more. If present, the random access point is determined to be on a different layer from the floor where the device is located, and is excluded from the criteria for obtaining positioning information. Here, the second point is a point belonging to the set or on a straight path extending points of the set.

In a particular embodiment according to the present invention, the control unit provides a plurality of connection point identification information stored in the storage unit to a specific server at a remote location, and the position coordinates are received for two or more specific connection points with respect to the provided connection point identification information. When the location information is obtained, a mapping operation of calculating the location coordinates of the location points based on the location coordinates of the specific connection point is performed. Alternatively, the mapping operation may be performed in a separate analysis device separate from the apparatus, which receives the information stored in the storage unit through communication.

In the specific embodiment, the control unit stores the time point information at which the device was at the location point in the storage unit, and the location information is not obtained, and the position coordinate is measured for the point where the signal strength of the radio wave is measured. The signal strength is calculated based on both position coordinates obtained for both positioning points having the viewpoint information before and after closest to the measured viewpoint information and the time interval between the viewpoint information. In the present embodiment, the control unit obtains the position coordinates of the point by determining the point based on a time interval between viewpoint information on a path that linearly connects the position coordinates of the two positioning points, or Based on the information on the movement provided from the movement monitoring unit, the apparatus estimates a route on which the device moves the section between the two positioning points, and determines a point on the estimated route based on the time interval between the viewpoint information. By doing so, the position coordinates of the point are obtained.

When estimating the route, the apparatus estimates the route based on a shape obtained by aligning motion vectors having respective magnitudes and phases sequentially provided from the movement monitoring unit while the device is in the interval. For each motion vector, the phase of the motion vector is positioned in the direction of an angle relative to the direction of the previous motion vector so that the start point of the motion vector coincides with the end point of the previous motion vector. Sorted in a way.

In the above-described embodiments, when the position coordinates of the points where the signal strengths are respectively measured are obtained, the controller causes the measured signal strengths to be displayed on the screen in such a manner that the actual position of the measuring point is known.

According to an embodiment of the present invention, the movement monitoring unit may include a photographing unit which photographs a subject to obtain image frames, and processes the images of the image frames to obtain information necessary for constructing the information about movement from the images. And an image processor configured to detect. In this embodiment, the image processing unit detects the leading edges of both feet of the measurer who attached the device in the images, and detects the distance the measurer has moved one step based on the number of pixels between the detected edges. do. In this case, while selecting frames by applying an artificial neural network algorithm to the image frame, it is possible to detect the distance moved by the measurer in the image of the selected frame. In order to select such a frame, the image processing unit detects a leading edge of both feet for each image of the image frames for a predetermined time after starting the measurement of the device, and makes a specific frame at which the maximum number of pixels between the detected edges is maximized. Find one or more, and after the predetermined time, a frame having the same characteristic value is compared by comparing the characteristic value obtained by applying an artificial neural network algorithm to each of the image frames and the characteristic value obtained by applying an artificial neural network algorithm to the specific frame. Find. In the present exemplary embodiment, a characteristic value may be obtained by applying an artificial neural network algorithm to only frames in the search zone while designating a search zone for the image frames. In this case, the time interval between the search zones is determined based on the time interval between the previously selected frames.

In an embodiment in which the motion monitoring unit includes the photographing unit and the image processing unit, the image processing unit detects a motion vector from the images and constructs a motion vector based on the detected motion vectors to perform a motion. The information is provided to the controller. The motion vector is expressed as a phase based on the magnitude and the moving direction reflecting the moving distance. In the present exemplary embodiment, the image processing unit may configure the motion vector by configuring a sum vector of the plurality of detected motion vectors and inverting the direction of the sum vector. The motion vector at this time is determined based on the direction of the phase to the frame boundary corresponding to the moving direction side in the captured image.

In another embodiment according to the present invention, the movement monitoring unit, the first means for measuring the movement distance in accordance with the number of revolutions of the wheel of the carrier on which the device is mounted, and detecting the difference in the number of revolutions of both wheels of the carrier It comprises a second means for doing so. In this embodiment, the movement monitoring unit constructs a motion vector based on the measured difference in the movement distance and the rotation speed, and provides the movement vector to the controller as the information on the movement. In this case, the motion vector may be expressed as a phase having a magnitude reflecting the movement distance and a value positive or negative reflecting the difference in rotational speed, or zero.

In an embodiment in which a motion vector is provided from the motion monitoring unit, the control unit includes a final vector obtained by aligning a plurality of provided motion vectors in the provided order, or in which the phase of the provided motion vector is within a specified range or in the provided order. When the phase of P is within a specified range, it is determined that the apparatus has been linearly moved with respect to the movement section whose motion vectors are obtained. The alignment at this time is performed in the same manner as the alignment as described above.

In one embodiment according to the invention, the measuring unit is integrated with the apparatus. Alternatively, the measuring unit may be detachably signal-connected to the device, and configured to measure the intensity of the received radio wave and transmit it to the control unit.

In accordance with another aspect of the present invention, an apparatus for measuring signal strength of a radio wave is based on signal incidence angle information of an arbitrary access point at each of a pair of points stored in the storage unit. Location information based on the random access point may be obtained and stored in the storage unit for at least one of the points of. And in this apparatus, it is presupposed that the axis | shaft used as the reference | standard by which the said communication part measures the angle of incidence of a signal is fixed to a measuring instrument or a carrier so that the said apparatus may form the specified specific angle with the direction intended to move in a measurement.

In one embodiment according to the present invention, a directing angle based on the random connection point at the random connection point is obtained by subtracting a signal incident angle obtained by measuring the random connection point at the specific angle.

According to another aspect of the invention, one method of measuring the signal strength of a radio wave is wireless at each of three or more points, while measuring and storing the signal strength for a specified radio wave while the device is moving. A step of searching for an access point for providing a communication network, detecting an angle of incidence of a signal received from the found access point, and storing it together with identification information of the access point; and a random access point at each point of the set of three points among the points Based on the signal incidence angle information of and the measured distance between the points of the set, the distance to the random access point for at least one of the points in the set, and the virtual line from that point to the random access point. In step 2, the device obtains and stores a directing angle formed by a path passing through the corresponding point, and stores by the first step. When the plurality of access point identification information is provided to a specific server at a remote location, and the position coordinates are received for two or more specific access points with respect to the provided access point identification information, the point where the distance to the access point and the direction angle are obtained by the above two steps. And three steps of calculating the position coordinates based on the position coordinates of the specific connection point.

In an embodiment according to the invention, the second step finds the distance to the random connection point and the directivity angle when the device moves linearly through the set points.

At least one embodiment of the present invention described above, or described in detail in conjunction with the accompanying drawings below, is intended to measure radio waves to be measured, even in a room such as a building where a GPS signal is not reached, which makes it possible to identify an absolute position, For example, the strength of a mobile communication network signal or harmful electromagnetic waves may be measured and provided along with corresponding location information, for example, longitude and latitude coordinates.

Therefore, according to the present invention, a mobile communication network operator who wants to relay a radio signal to a roofed indoor space such as a building or a large facility can select a indoor area such as a building based on the measurement data accompanied by the location information. By determining how much of the relay facility should be invested or expanded, operators can reduce costs and make efficient investments.

1 illustrates a configuration of an apparatus for measuring radio wave strength in a room, such as a building, according to an embodiment of the present invention.
2 is a diagram for explaining a principle of obtaining relative position information and the like for an arbitrary point based on an access point of a wireless communication network, according to an embodiment of the present invention.
3 is an exemplary flowchart for a method of measuring radio wave strength with positioning information while moving indoors, according to an embodiment of the present invention;
4 is an example of a structure in which information measured while moving indoors is stored according to an embodiment of the present invention.
5a and 5b are views showing the relative positional relationship between the positioning information, the movement path and the connection points obtained in accordance with the present invention,
6 is a diagram illustrating a relationship between a unit path and a point at which location information is obtained when a linearly moved unit path is formed according to an embodiment of the present invention.
7A and 7B are diagrams illustrating a method of detecting such a connection point in order to exclude connection points in other layers from the location reference when obtaining location information at any point, according to an embodiment of the present invention.
8 is a map illustrating an example of a relative positional relationship between a moving trajectory and connection points constructed by positioning information obtained according to the present invention.
9A and 9B are diagrams illustrating acquiring actual position coordinates of points from which positioning information is obtained from a map indicating a relative positional relationship between positioning information and connection points as reference of the positioning, according to an embodiment of the present invention. Diagrammatically showing the method,
10A and 10B exemplarily illustrate respective methods of estimating the position coordinates using measured viewpoint information on signal strength measurement points on a missing region in which positioning information is not obtained, according to embodiments of the present invention. ,
FIG. 11A illustrates a method of detecting a stride in which a measurer moves at a step by image processing a frame of a photographed image, according to an embodiment of the present invention.
11B illustrates an example of selecting an image frame for detecting a maximum stride length of a measurer based on an image characteristic value of a frame obtained by applying an artificial neural network algorithm, according to an embodiment of the present invention.
12 is a diagram illustrating a relationship between a motion vector and a motion path obtained from a motion vector obtained through pixel comparison between image frames, according to an embodiment of the present invention.
FIG. 13 illustrates an example of using a sum vector of a plurality of motion vectors as a motion vector to reduce an error of a motion vector due to vibration or shaking, according to an embodiment of the present invention.
FIG. 14 illustrates a method of arranging motion vectors to determine an actual movement route from the motion vector according to an embodiment of the present invention.
FIG. 15 is a diagram illustrating a method of estimating an actual movement route in a defective zone from movement vectors belonging to the defective zone according to an embodiment of the present invention.
FIG. 16 is a diagram for explaining a principle of obtaining relative position information, etc. for an arbitrary point based on an incident angle of a signal at two points, based on an access point of a wireless communication network, according to another embodiment of the present invention.

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

In the following description of the embodiments and the accompanying drawings, like reference numerals or symbols refer to like elements unless otherwise specified. Of course, for convenience of explanation and understanding, different numbers or symbols may be added to the same component as necessary.

1 shows a configuration of an apparatus for measuring radio wave strength in a room such as a building according to an embodiment of the present invention.

The measurement apparatus 100 according to an embodiment of the present invention, as shown, the signal strength measuring unit 101 for measuring the signal strength of the radio wave of a specified band, for example, a mobile communication network of a specific band, The mobile monitoring unit 102 obtains information on the mobility (movement distance, straightness, etc.) of the device, and a communication network providing wireless data service for a local area, for example, WiFi WLAN (hereinafter, ' WiFi modem 103, which configures a communication unit for acquiring the information of the signal transmitted and received with the WiFi network by modulating the data into an RF signal or demodulating the RF signal according to a specified signaling method of the " WiFi network. &Quot; Receives the operator's input through the storage unit 104 for storing data necessary for the measurement operation of the information and the information on the measured signal strength, and the input means (for example, keyboard, touch pad, etc.), In addition The WiFi modem for the interface unit 105 for visually expressing necessary information and the like through the display means and the access points (APs) forming the WiFi networks, specifically WiFi networks, respectively. The relative position information of the measuring device based on the connection point is obtained from the information of the signal reception direction detected by the 103, and the signal strength measured by the signal intensity measuring unit 101 together with the relative position information is stored in the storage unit ( And the input / output associated with the execution of the measurement operation are configured to include a control unit 110 performed through the interface unit 105.

The movement monitoring unit 102 analyzes image data of the photographing unit 102a photographing the subject and the photographed image of the photographing unit, and extracts information on mobility (hereinafter, referred to as 'mobility information'). It is comprised as the image processing part 102b.

The signal strength measuring unit 101 is a component for measuring the strength of a signal band of a designated mobile communication network, and may be a cellular modem capable of transmitting and receiving a signal according to a specified method with the corresponding mobile communication network. In addition, the signal strength measuring unit 101 may be a component for measuring the intensity of electromagnetic waves, particularly harmful electromagnetic waves. In this case, the signal strength measuring unit 101 may not be integrally formed with the measuring device 100. When the radio wave measurement is necessary, the signal strength measuring unit 101 provides an interface of an appropriate signal exchange method provided in the measuring device 100. By being detachably connected through, the received radio wave strength measurement operation is performed under the control of the controller 110.

In addition, the controller 110 executes pre-stored command codes such as firmware provided by the CPU, thereby performing various operations described in detail below together with the peripheral hardware elements provided therein. It may be configured in a form that performs, as well as some other components (102). In addition, in order to help the understanding of the concept and technical idea of the present invention, the components of the measuring device 100 are functionally divided as illustrated in the drawings, but these components are further divided into components as necessary. The components may be disassembled, or some components may be selectively combined with each other to form a single component, and according to an exemplary embodiment of the present invention, components not shown (for example, may be exchanged with other devices). I / O interface, a short-range communication module, etc.) may be further included to configure the measuring device 100.

The measuring device 100 according to an embodiment of the present invention measures the strength of a radio wave intended for measurement, for example, a mobile network signal, and based on any APs searched in the vicinity of the measured point. The signal strength measured along with the relative position information is recorded. First, the process of obtaining the relative position information will be described.

The measuring device 100 according to an embodiment of the present invention is preferably operated with the main body on the back of the measurer 10, as illustrated in FIG. 2. In consideration of such an operation, the photographing unit 102a of the movement monitoring unit 102 is provided in the measuring device 100 so that the subject to be photographed becomes the floor.

On the other hand, when an arbitrary AP is found in the vicinity of the WiFi modem 103, an arbitrary reference axis ax _S (the direction of the reference axis is not about an absolute orientation) from a signal transmitted by the AP. It is a direction of a line in which a plurality of antennas 103a constituting a modem are arranged side by side.The angle of the incident direction of the signal (hereinafter referred to as an 'incident angle') with respect to the signal is detected and the information is transmitted to the controller 110. to provide.

At each point in the set of three points mP _i , i = 1,2,3 moved by the specified distance d _S while the meter goes straight, the WiFi modem 103 is connected to the same access point AP _a . Knowing the three incident angles (θ _i , i = 1,2,3, ..) obtained from the transmission signal, each point (mP _i , i = 1,2) from the three incident angles and the specified basic distance d _S , 3) and the connection point (AP _a) between the distance (L _1, L _2, L ₃₎ and the angle (this, the "orientation of the direction of movement of the contact point relative to the direction towards the connection point (AP _a) at each point Angle 'is obtained as follows. As described above, the method for obtaining the distance and the orientation angle is referred to as 'three point surveying'.

식 [1]-1

Equation [1] -1

식 [1]-2

Equation [1] -2

식 [2]-1

Equation [2] -1

식 [2]-2

Equation [2] -2

식 [3]-1

Equation [3] -1

식 [3]-2

Equation [3] -2

Here, Δ ₁ = θ ₁ -θ ₂ , Δ ₂ = θ ₁ -θ ₃ .

The direction angle to be obtained has a range of 0 to π. If the direction angle is in the range of 0 to π / 2, it means that the measuring device is moving in the direction closer to the connection point (i.e. the distance between the connection points is shorter), and the value in the range of π / 2 to π If it is, it means moving in the direction away from the connection point (that is, the distance between the connection point is long).

Information on the distance to the connection point and the directing angle at each point by the above equations (in this specification, obtaining information about the distance and the directing angle is called 'positioning', and the point where the positioning is performed is 'positioning point', In order to obtain the information obtained by the location, it is called 'location information'). It is assumed that the measurer advances each point (mP ₁ , mP ₂ , mP ₃ ) in a straight line. Therefore, in the present invention, it is possible to determine whether the measurer goes straight and optionally perform positioning on a point on the corresponding path, which will be described in detail later.

3 is a view illustrating a process of performing a radio wave intensity measurement and a positioning operation on a point in a room according to the present invention while the measuring device 100 moves in a room according to a walking movement of a measurer. Referring to the illustrated flowchart of FIG. 3, the operation of the measuring device 100 having the configuration as illustrated in FIG. 1 will be described in detail.

The operator carrying the measuring device 100 requests to start measuring the radio wave strength through the interface unit 105 when the measurement preparation is completed in a room such as a building to measure the radio wave intensity. In this case, a signal band (for example, a specific mobile communication network) for measuring radio wave strength may be designated through the interface unit 105.

When the measurement start request is received from the interface unit 105, the controller 110 activates the WiFi modem 103 (S30) and instructs to start searching for a neighboring AP, and the mobile monitoring unit 102. Also commands the detection of mobility information.

When there is a search start command, the WiFi modem 103 periodically searches for a valid signal in a designated signal band, and when there is a searched signal, obtains an incidence angle of the signal from the signal, and identifies unique identification information of the corresponding AP. For example, the control unit 110 performs an operation provided to the controller 110 together with the MAC address.

In addition, when a command for detecting mobility information is received, the image capturing unit 102a of the movement monitoring unit 102 captures image frames obtained by capturing the front of the lens, that is, the floor on which the measurer is walking. ), And the image processing unit 102b performs an operation of obtaining information on the stride length and linearity of the walking person by analyzing the image data of the received image frames and providing the information to the controller 110.

The photographing unit 102a includes a lens having an angle of view in which the measuring device 100 shows both feet of the measurer when the measuring apparatus 100 is in the main state of the measurer's back. Also, preferably, the photographing unit 102a is fixed to face downward from the front of the measurer by a chest or a waist belt to be worn across the upper part of the measurer so that the front of the foot of the measurer walking can be photographed. do.

The controller 110 checks whether two or more APs are searched in the current vicinity based on the information received from the WiFi modem 103 (S31). If two or more are searched and the incident angle information of the signal is received for the two or more APs, the operation proceeds to the operation in which the incident angle information is recorded in association with the strength of the received signal and the positioning information is obtained from the incident angle information.

The control unit 110 allows the WiFi modem 103 to repeatedly measure the incident angle of the signal within a very short time (for example, 0.1 or 0.5 seconds, etc.) and averages the incident angles measured during the incident angle information. It can also be recorded as This is to offset the error of the incident angle measurement that may be caused by the vibration during movement. The same can be applied to the incident angle measurement in the other embodiments described below.

Next, the controller 110 checks whether it is time to measure (S32). The time point to be measured may be a time point at which the measurement operation is started and every time point moved by a specified base distance from the start time point. The determination of whether the measuring device 100 is moved by a certain distance by a measurer is made based on distance information or speed information provided by the movement monitoring unit 102. The operation of providing the information by the mobile monitoring unit 102 will be described later.

When the speed information is provided, the controller 110 calculates a period in which the basic distance designated by the speed is moved and determines the measurement time point whenever the period is reached. For example, when the speed information currently input is cV _w , the measurement operation described below is performed whenever the time T _m (= d _S / cV _w ) obtained by dividing the specified basic distance d _S by the speed information elapses. do. This period T _m is updated and applied whenever the speed information is provided from the movement monitoring unit 102.

If the present time is the measurement time point, the control unit 110 receives the signal strength measured by the signal strength measuring unit 101 for the radio wave signal to be measured, and at the same time, the WiFi modem 103 of each AP The angle of incidence of the signal is received and the information is listed as a single item 401 in the measurement information table 40 having the structure illustrated in FIG. 4 together with the measured signal strength and the measured date and time information. . In this case, if the incident angle information is for a limited number of APs or more, only a limited number of incident angle information may be taken and recorded.

In another embodiment according to the present invention, each of the movements of the base distance may not be a measurement time point, but may be a measurement time point every fixed period. In this embodiment, since the movement distance between every measurement time point may vary, the movement distance between the measurement time points is obtained by using the speed information provided from the movement monitoring unit 102 and a specified period, and the movement distance is measured by the movement information. In addition to the corresponding items of the table 40 will be described.

After the recording of the above-mentioned measurement information, the control unit 110 confirms whether the unit of the diameter path is configured (S34). As used herein, the term 'diameter unit' refers to the point where the current measurement information is recorded and the two points where the measurement information was recorded immediately before the point when the measurer is on the path traveled straight. It means the interval by. Whether the unit is formed by the diameter is determined based on the information provided by the movement monitoring unit 102, which will be described later.

If the unit is not formed by the diameter, as described above, the controller 110 checks whether it is the measurement time point and newly registers the measured signal strength and incident angle information in the measurement information table 40 according to the result of the check. Proceed to the step where

FIG. 5A illustrates an example of a relative positional relationship between a path 50 that the measuring device 100 moves by a measurer's walking and a connection point around the same. FIG. 4 illustrates a structure of the building illustrated in FIG. 5A. The following shows an example in which items are listed assuming an AP installation environment and a moving path.

In the case where the diameter unit is configured, for example, when the diameter unit (ps) is configured at the point P ₃ as illustrated in FIG. 5A, the controller 110 controls the respective APs in the diameter unit. Each measurement point P ₁ , P by applying the measured incident angle information 402 and the basic distance (d _S in the illustrated example) to equations [1] -1 to [3] -2 as described above. ₂ , P ₃ ) to the AP (L _i1 , L _i2 , L _i3 , i = 1,2, ..) and the orientation angles α _i1 , α _i2 , α _i3 , i = 1,2,. Information, i.e., location information, is obtained.

According to one embodiment of the present invention described above, when the distance between the measurement points is not constant as the measurement time based on the time is applied, the control unit 110, the measurement information table 40 Obtain the positioning information by using the recorded moving distance between the measured points in the following equations [4] -1 and [4] -2.

식 [4]-1

Equation [4] -1

식 [4]-2

Equation [4] -2

Here, r _d = d ₂ / d ₁ , and d ₁ and d ₂ represent distances between mP ₂ and mP _{1 and} between mP ₃ and mP ₂ in the example of FIG. 2, respectively.

The control unit 110 determines whether the inclination of the right side or the left side of the inclination angle is determined based on the traveling direction with respect to the orientation angle obtained by the equation [1] -1 (or equation [4] -1), If the angle is (the connection point on the left side based on the direction of travel), the obtained angle is corrected to the negative angle. (Reversely, the angle to the right side may be corrected to the negative angle.) That is, when the obtained orientation angle is α ₀ (this value is a value within the range of 0 to π as described above.), The angle is changed to the angle of − α ₀ .

FIG. 5B is a diagram conceptually explaining the principle of the controller 110 determining whether the connection point for which the direction angle is obtained is rightward or leftward.

The WiFi modem 103 has a reference axis (ax _S1 ) according to the antenna array direction with respect to the received signal, as shown in (a) of FIG. 5B, the incident angles θ _i , θ _{i + 1} , θ _{i + 2} . If it is measured in the counterclockwise direction, the incident angle decreases at the time of movement when the connection point is directed to the right side based on the traveling direction 51 (in the drawing, the connection point is closer to the movement, but the connection point is illustrated. The incident angle measured in the counterclockwise direction also decreases when it is moved away.) That is, the measured incident angle has a relationship of θ _i > θ _{i + 1} > θ _{i + 2} , on the contrary, the connection point on the left side , The measured incident angle increases at the time of movement. That is, θ _i '<θ _{i + 1} '<θ _{i + 2} 'has a relationship.

If, as shown in (b) of Figure 5b, the WiFi modem 103 measures the incident angle in the clockwise direction with respect to the reference axis (ax _S2 ), the connection point of the right direction based on the traveling direction 52 The angle of incidence with respect to (θ _i <θ _{i + 1} <θ _{i + 2} ) increases, and the angle of incidence with respect to the leftward connection point decreases (θ _i '> θ _{i + 1} '> θ _{i + 2} ').

Therefore, the controller 110 checks the change in the incident angle information measured for the AP used to obtain the orientation angle after obtaining the orientation angle as described above, and confirms the orientation when the angle is toward the left side. Change the angle to a negative value. Of course, the information on the incident angle measurement direction (counterclockwise or clockwise) of the WiFi modem 103 is confirmed in advance is set in the control unit 110. According to this determination method, even if the same directivity angle is obtained for a plurality of connection points at any one point (α _i '= α _i ), they are divided into left or right directions, respectively.

When distance and orientation angle information (angles within a range of -π to π) are obtained in the above-described manner, the controller 110 records the positioning information in a corresponding field of the corresponding item of the measurement information table 40. (S35, P40).

To do this with a single diameter for each point in the unit (P _1, P _2, P ₃₎ when determined that the position information based on each AP, the controller 110 in the are, the path unit for determining the unit with the diameter The start point is designated as the point of the next measurement time point (S36), and the above-described measurement time point check (S32) and the operations according thereto are performed.

When the next measurement point is reached, as described above, the incident angle of the signal from each AP is acquired at the corresponding point P ₄ , recorded in the corresponding field of the corresponding item of the measurement information table 40, and then the point. When it is confirmed that the unit cannot be formed in diameter with the two previous points P ₂ and P ₃ , the controller 110 deletes the information such as the incident angle and the like recorded with respect to the point P ₄ (403). .

In the example of FIG. 5A, since the interval between the point P ₄ and the previous point P ₃ corresponds to the movement of the curve, the incident angle obtained at the point P ₄ is expressed by Equations [1] -1 to [[ 3] -2 is not applicable. Therefore, such points are deleted beforehand in order not to obtain positioning information. Of course, it is also possible to mark a flag indicating not to obtain the positioning information for the item 404 without deleting the recorded incident angle information.

Whether it is a linear movement or a curve movement in the section between the point to be the measurement point and the point is determined based on the mobility information provided by the movement monitoring unit 102 as described above, the movement monitoring unit 102 A method of making information that enables the user to discriminate straight or curved movements will be described later.

In another embodiment according to the present invention, when a unit is configured by one diameter, all positioning information at three points on the unit by the diameter is not obtained and recorded, but instead, as illustrated in FIG. When the unit is composed of diameters (61 _i , i = 1,2,3, ..), only the location information at the first point can be obtained and recorded (62 _i , i = 1,2,3, ..) have. In this embodiment, of course, each time a new measuring point is created, it is checked whether three points including the two points included in the unit of the preceding diameter connected to the measuring point form the unit by the diameter.

In the above-described embodiment, when the measurement time point is reached, the measurement of the received signal strength of the radio wave and the measurement of the incident angle of the signal from each AP at the corresponding point are recorded together in the measurement information table 40. This is to obtain positioning information for all measurement points of signal strength. However, in another embodiment according to the present invention, the measured signal strength of the radio wave is repeatedly measured between the points to be measured by the measuring device 100 and the information on the date and time in the measurement information table 40 You can also write together. That is, in this embodiment, the period for measuring the received signal strength is applied shorter than the period for positioning the point.

Of course, in the present embodiment, the incident angle of the signal from each AP is measured at each time of positioning (for example, when the base distance is shifted or when the positioning period is elapsed) and recorded along with the intensity of radio waves measured at that time. In addition, the controller 110 checks whether the unit is configured in diameter based on the points where the incident angle is recorded, and when the unit is configured in diameter, the incident angle is changed as described above using the recorded incident angle. The location information of the recorded point is obtained and recorded.

In another embodiment according to the present invention, the measurement of the received signal strength of the radio wave and the operation of obtaining the positioning information for the point on the movement path based on the retrieved AP are independent of each other, that is, as described with reference to FIG. 4. The information measured as described above may be performed in a manner that is recorded independently of each other, rather than recorded in association with each other. In this embodiment, when the received signal strength is measured and recorded in the table, the date and time information at that time is recorded, and the point of time at which the incident angle for obtaining the positioning information is obtained even in the table for obtaining and recording the positioning information for the points on the movement route. In other words, the date and time of the measurement device 100 was recorded at the corresponding point.

Thereafter, after the measurer has grasped the path traveled relative to the APs in the building from the recorded location information, the date and time information recorded for each location point is mapped with the recorded date and time information. It is possible to know what point the measured position is on the relative movement path.

Meanwhile, as the measurer moves, as illustrated in FIG. 5A, a new access point APm is searched along with at least one access point AP1 previously discovered by the WiFi modem 103 of the measuring device 100. Then, the incident angle information on the signal from the new access point APm at the point P _{n + 1} is recorded in the measurement information table 40 together with the unique identification information of the access point (411). If the connection point is unique when a new connection point is found, the signal incidence angle with respect to the connection point may not be recorded in the measurement information table 40.

While measuring the received signal strength of radio waves in a room such as a building described above, the location information of points on a moving path based on connection points installed in the building (or outside) is obtained, and the measured signal strength information is measured. The operation of storing in the storage unit 104 continues continuously until the measurement is finished (S37). When the measurement ends, the operator may request to stop the measurement through the interface unit 105.

In the above-described embodiments, the positioning information is also obtained while measuring the signal strength while moving, but the positioning information may be obtained collectively after the measurement of the signal strength is finished. Of course, such a batch operation may be performed by another analysis device that receives the information of the measurement information table 40, not the control unit 110. In the present embodiment, information on whether or not to form a diameter with respect to the point to be measured to record the incident angle information of the signal is recorded and referred to the subsequent calculation of the positioning information.

In one embodiment according to the present invention, among the connection points searched according to the movement of the measurer, the connection points of the layer which is different from the currently moving layer may not be listed in the measurement information table 40. 7A and 7B are diagrams for explaining an operation of determining whether the measuring device 100 is a connection point on a different layer among the searched connection points.

As illustrated in FIG. 7A, the signal received from the connection point AP _{o_F} on the other layer is refracted by the interlayer bottom Flr. Accordingly, after measuring the horizontal distance L _{P_R} to the connection point AP _{o_F} by the three-point _survey method described above at any one point P _P , the arbitrary distance ΔL _R is moved toward the connection point. When the distance from the point P _C to the connection point AP _{o_F} is measured again, the distance L _{C_R} obtained from the measurement is taken into account when the distance ΔL _R is moved from the previous point P _P. it is possible that - (ΔL _R = pL _{C_R P_R} L) to the difference _(R eL) of the current point (P _C) and the distance between the connection points. As illustrated in the figure, a distance shorter than the expected distance pL _{C_R} at the previous point P _P is measured. Of course, if away from the connection point, the longer distance is measured on the contrary.

Accordingly, the control unit 110 of the measuring device 100 calculates and records positioning information as described above with respect to any one connection point, and as shown in FIG. 7B, the connection point AP _wF is shown. In FIG. 2, location information of both location points P _P and P _C of the maximum distance md_D at which the moving straightness is maintained is determined to determine whether the corresponding connection point is in a different layer.

The distance (L _C ) from the current point (P _C ) to the corresponding connection point (AP _wF ) calculated by the three-point survey, and the positioning information calculated from the previous point (P _P ) of the two positioning points on the movement path. The distance to the connection point (pL _C = L _{P ·} sin α _P / sin α _C ) computed for the current point (P _C ) is compared with each other (S71), and the value is out of the allowable error range. If it is another value, the said control part 110 determines that the said connection point was installed in the other floor.

Any movement on the two-dimensional plane is, as illustrated, and have a movement component (ΔL _R) of the radial (radial) direction (rdir) for the access point (AP _wF), the components are as described above, other This will cause an error in the measurement distance for the connection point in the layer.

The control unit 110 deletes all the information previously recorded in the measurement information table 40 with respect to the connection point determined to be installed on another floor, and the reference point for positioning the connection point in a subsequent operation until a specific situation is reached. Exclude from (S72). That is, it is ignored if found. In this case, the specific situation may be when there is an input of a measurer that starts a measurement operation with different layers. As such, when there is an input of different layers, the controller 110 may record the measured signal strength and location information in a new measurement information table.

On the other hand, the information of the measurement information table 40 of the structure as shown in FIG. 4 stored in the storage unit 106, when the operator requests the output through the interface unit 105, to the control unit 110 By the output format of the appropriate format by the output to the interface unit 105, or may be transmitted to the desired device via the WiFi modem (103). Of course, when the measuring device 100 has an interface for connecting to an external device, it may be transmitted as a file to a storage device or a computer connected through the interface.

Positioning information of the measurement information table 40 obtained as described above represents the relative positional relationship of each positioning point on the moving path based on the connection points installed in the building (or may be outside). FIG. 8 is a map (hereinafter referred to as a "relative relationship map") showing an example of the relative positional relationship between the movement trajectory 80 and the connection points constructed by the positioning information of the measurement information table 40. FIG. It is shown for part of a path. In the example shown, the disconnected (or otherwise indicated to be identified) sections 81 of the trajectory have no location information recorded due to the curve movement of the measurer (or one or more connection points are discovered), as described above. Defective zone. Of course, during the movement of the missing area 81, as described above, the measurement of the received signal strength of the radio wave may be made and recorded in the measurement information table 40.

By the way, from the trajectory 80 which shows that it moved while measuring the signal strength of the electric wave illustrated in FIG. The unique location) is unknown. As illustrated in FIG. 9A, the relative relationship map 90 constructed by the positioning information of the measurement information table 40 must be rotated by how much (δ) relative to an arbitrary point aPt. This is because they do not know the actual location of the map and whether it is a map that corresponds to the actual path taken while measuring indoors.

Therefore, when the operator requests the measured data through the interface unit 105, the controller 110 provides the specific identification information of the connection points recorded in the measurement information table 40 to an external specific server. Query the actual position information (eg, longitude coordinates) of the connection points. In this case, the transmission may be performed through the WiFi modem 103, or alternatively, may be performed through a cellular modem capable of transmitting and receiving data by accessing a mobile communication network.

In response to such an inquiry, the specific server provides the coordinate information with respect to the identification information whose position coordinates are known among the unique identification information received.

Upon receiving such a response, the controller 110 corresponds to a position on the relative relationship map 90 of access points having the same unique identification information as the access points where the position coordinates are received, as illustrated in FIG. 9B. After matching the actual location information of the connection point (P90), each location point is set to the actual location using the relative positional relationship on the relative relationship map 90 of each connection point and other connection points with respect to the connection points provided with the actual location information. Map to coordinates. In this process, the position coordinates of other connection points for which no actual position coordinates are provided are also obtained. Of course, such mapping is performed when location coordinates are provided for two or more connection points from the particular server.

In addition, when there is information in the measurement information table 40 in which the received signal strength of the radio wave is measured at a point other than the positioning point (or on the missing area in which the positioning point cannot be formed), the control unit 110 indicates In the mapping operation, the actual position of the measured point is estimated using time information relative to the location point to which the position coordinate is mapped.

10A and 10B show examples of such position estimation, respectively. Referring first to the method of FIG. 10A for linearly estimating the actual position, the control unit 110 measures the item 1001 in which the received signal strength is recorded without the positioning information in the measurement information table 40. the date and time check (t _{mss_a),} and the date and time (t _{mss_a)} closest to the date and time (t _mco1, t _mco2) has positioning information recorded before and after the recorded items (that is, the amount of the positioning points of the front and rear of the measuring point (P _m1 to , P _m2 )), and the time difference (t _{mss_a} -t _mco1 ,) between the actual position coordinates ([lo _m1 , la _m1 ], [lo _m2 , la _m2 ]) obtained for the two positioning points and the recorded date information. Based on t _mco2- t _{mss_a} ), the actual position coordinate 1002 for the corresponding measurement item 1001 is linearly estimated (P100).

In another embodiment according to the present invention, the actual position coordinates may be estimated for the measurement point without the positioning information in such a manner that the measurer approaches the route actually moved for the measurement. 10B exemplarily illustrates this estimation method.

In the embodiment according to FIG. 10B, the controller 110 estimates a movement route between each location point from the mobility information provided from the movement monitoring unit 102. This will be described in more detail later.

The control unit 110, as described above, for the item 1011 in which the received signal strength is recorded without the positioning information in the measurement information table 40, both positioning points P _m1 before and after the time point t _{mss_a} . , P _m2 ), and then the ratio of the time difference between the temporal information of the total length D _btw2 of the route on the estimated route 1020 between the two positioning points (= (t _{mss_a} -t _mco1 ) / (t _mco2 − t _mco1 )) is _estimated a point of the distance (D _{mss_a} ) corresponding to the actual position 1012 for the measurement item 1011 and calculates coordinate information of the estimated actual position.

When the mapping as described above is completed, the controller 110 knows the orientation of the relative relationship map 90, and thus, propagates through the interface unit 105 by adding a mark 901 indicating the orientation. The output signal (for example, displayed on the screen) in the form of a map indicating the points of the received signal strength measured.

In one embodiment according to the present invention, the latitude and longitude coordinates of the measurement points of each signal strength may be calculated and output through the interface unit 105 in the form of a list together with the signal strength information measured at the measurement points.

In another embodiment according to the present invention, on the basis of the positioning information of the measurement information table 40 as described above, the operation of providing the operator and the like to determine the absolute position of the measurement points in the room and the result May be performed in a separate analysis device (eg, a separate computer, laptop, smart phone, etc.) separated from the measuring device 100. Of course, in this case, the analysis device receives the information of the measurement information table 40 stored in the storage unit 104 from the measurement device 100 through an appropriate interface or mutual communication.

On the other hand, the information on the mobility of the measuring device 100 used to obtain the positioning information by the control unit 110 as described above is provided by the movement monitoring unit 102, which will be described in detail below. .

As described above, the photographing unit 102a of the movement monitoring unit 102 photographs the floor with an angle of view including the foot of the measurer attached to the body of the measurer, and moves the captured image to the image processor. 102b).

The image processing unit 102b converts the image of each image frame applied to the image 1110 into which edge detection is easy by signal processing the data as illustrated in FIG. 11A. Then, in the data of the converted image 1110, the respective leading edges of the left and right feet and both edges of the front foot width are respectively detected, and the number of pixels 1111 between the leading edges and the width of the front foot are detected. The pixel number 1112 is calculated.

When the number of pixels is calculated in this manner, the length StLen of the stride length in the image 1110 is calculated by the following equation [5] from the general paw width oLen _fw of an adult who wears shoes or sneakers.

StLen = oLen _fw ⅹ pxL _ST / pxL _fw expression [5]

Here, pxL _ST is the number of pixels between each leading edge of the left and right feet detected in the image, and pxL _fw is the number of pixels of the front foot width.

In another embodiment according to the present invention, before the measurer starts the measurement by using the measuring device 100, the information of the paw width may be input to the controller 110 through the interface unit 105. have. If there is such an input, the control unit 110 sets the information of the width to the image processing unit 102b so that it can be used for the stride length calculation as described above.

In another embodiment according to the present invention, in consideration of the height of the photographing unit 102a attached to the measurer and the refractive index of the lens, the photographing unit 102a is parallel to the direction in which the measurer proceeds (in a frame to be photographed). An actual length corresponding to the corner) may be set and used in the controller 110 through the interface unit 105. If there is such a setting, the controller 110 sets the value rLpPx obtained by dividing the actual length input by the number of vertical pixels of the photographing unit 102a to the image processing unit 102b, and the image processing unit 102b captures the image. The length of the stride length in the image to be calculated is calculated by the following equation [6].

StLen = rlpPx ⅹ pxL _ST equation [6]

The image processing unit 102b detects the length StLen of the stride length for each image in this way, and provides the value as the mobility information to the control unit 110 when the value becomes the maximum value. Of course, when the number of pixels pxL _ST between the leading edges is maximized, the stride length StLen may be calculated and provided to the controller 110 using Equation [5] or Equation [6]. The information provided in this way becomes the maximum stride length of the measurer, and since the maximum stride length represents the distance traveled by the measurer in one step, the controller 110 determines whether it is the current measurement time point based on the provided value (S32). )

In another embodiment according to the present invention, the image processing unit 102b may provide the moving speed information to the controller 110 instead of the maximum stride length. In this embodiment, whenever the video frame having the maximum stride length is detected, the length of the maximum stride length calculated at that time is divided by the elapsed time, and the speed is calculated and provided to the controller 110. The elapsed time at this time is obtained by dividing the number of frames between the previous maximum stride detection image frame by the number of shot frames per second of the imaging unit 102a (that is, the frame rate).

In one embodiment according to the present invention, in order to determine the maximum stride length, image processing for precisely detecting the leading edge may not be performed for every image frame. Instead, in the present embodiment, an artificial neural network (ANN) algorithm is applied to first select an image frame to be precisely detected, and then perform precise image processing on the selected image frame to perform the maximum stride length (that is, the maximum The maximum number of pixels between the leading edges corresponding to the stride length is detected. This will be described in more detail with reference to FIG. 11B.

When the measurement process starts, the image processing unit 102b performs image processing on all frames applied from the photographing unit 102a at an initial stage, so that the frame having the largest number of pixels between the leading edges (hereinafter, 'maximum'). The stride frame '. This initial precision image processing is performed for the time it takes for the measurer to walk a few steps (T _init ). When the maximum step length frame 1120 found in the initial operation, the image processing unit (102b) has, for the video frames by applying neural network algorithm 1130, a frame (1121 _i of the maximum step length frames with the same properties, i = 1,2,…).

In more detail, the image processing unit 102b includes windows of a plurality of characteristic images (hereinafter referred to as "characteristic windows"), and includes a maximum stride frame (in which the characteristic windows are initially found). Sliding with respect to 1120 convolves to obtain a characteristic value by the corresponding characteristic window. In addition, a vector of characteristic values obtained by applying each characteristic window to the maximum stride frame 1120 is set as the reference vector 1141, and the characteristics are provided in the same manner as the characteristic windows provided for the image frames input thereafter. By obtaining a value vector and comparing it with the previously obtained reference vector, the frames 1121 _i , i = 1, 2,... Having the same characteristics as the initially found maximum stride frame 1120 are found.

In one embodiment according to the present invention, the image processing unit 102b may apply both RNN (Recurrent Neural Network) and FNN (Feedforward Neural Network) in addition to the above-described algorithm of Convolutional Neural Network (CNN). Applying the RNN can compensate for noise between video frames and compensate for missing frames. In addition, by applying the FNN, the image frames can be classified by type, which makes the process of finding the maximum stride frame from the input image frames faster and more accurate.

Then, by performing precise image processing on each of the frames 1121 _i , i = 1, 2, .. so found, the leading edges of both feet are detected and the number of pixels between the edges is calculated to determine the maximum stride length therefrom.

In one embodiment according to the present invention, the artificial neural network algorithm is applied only to the frames of the section in which the maximum stride frame is expected, without applying the artificial neural network algorithm to all input frames to find a frame having the same characteristics as the maximum stride frame. You can also apply In this embodiment, at least two or more maximum stride frames are found in the initial operation T _init . Then, time intervals between the maximum stride frames are identified, and an artificial neural network algorithm is applied based on the identified time intervals.

For example, if the time between the detected maximum stride frames is T _{one_w} , the image processing unit 102b _starts T _{one_w} + T _off from the time T _{one_w} -T _off has elapsed based on the time when the maximum stride frame has been detected last. The artificial neural network algorithm can be applied only to the frames of time period up to. Here, T _off may be set to a suitable time less than T _{one_w} / 2, for example T _{one_w} / 10 or T _{one_w} / 5.

In this embodiment, the amount of calculation for artificial neural network processing is reduced. In addition, in the present embodiment, the period T _{one_w} serving as a reference for the search zones T _{one_w} -T _off to T _{one_w} + T _off to which the artificial neural network algorithm is applied can be adaptively changed. For example, the next search zone is set based on the period while continuously changing the period to an average value of the number of time intervals between the maximum stride frames found through the application of the artificial neural network algorithm. By adaptively setting the search zone, it is possible to reduce the amount of computation for the artificial neural network algorithm and to find the maximum stride frame without missing the maximum stride frame even with a change in the stride length of the measurer.

On the other hand, the image processing unit 102b, in addition to the moving distance or the moving speed from the images taken and incident, the control unit 110 determines whether the movement is straight from the images so that it can determine whether the diameter is formed Information that can be detected is provided to the controller 110 together with mobility information.

To this end, the image processing unit 102b, as illustrated in FIG. 12, obtains a motion vector between successive frames or between two frames spaced apart by a predetermined time interval. The time interval between the images captured to obtain a motion vector is taken in consideration of the frame rate photographed by the photographing unit 102a, the average walking speed of an adult, the angle of view of the lens, and the height attached to the measurer. The area is preferably set to the time at which images overlapping at least 50% can be captured.

When obtaining the motion vector, the image processing unit 102b sets a plurality of blocks for a region other than the region where both feet are photographed, preferably an image region corresponding to the front side of the moving direction, in the photographed images. Then, motion vectors are obtained for the blocks. Then, the direction of the motion vectors is reversed to obtain an averaged vector (hereinafter referred to as a 'movement vector') (1210 _i , i = 1, 2,...). This motion vector is specified by a magnitude and a phase. The magnitude may be expressed by the number of pixels in an image frame or by a moving distance proportional to the number of pixels, and in the phase, the direction indicated by the motion vector is a reference direction, that is, photographing. It refers to the angle formed with the direction to the image boundary (for example, the top of the image frame) to be forward when viewed from the viewpoint of moving in the image. If the direction of the motion vector is angled clockwise with the reference direction, it is expressed as a positive angle, and if it is angled counterclockwise, it is expressed as a negative angle.

Therefore, the motion vector provided to the control unit 110 as mobility information has a phase of 0 ^o when going straight, a positive phase when switching to the right, and a negative when the direction is reversed to the left. Has a phase of.

In one embodiment according to the present invention, when the average vector obtained as described above in consideration of the vibration during the movement is a certain number, as shown in Fig. 13, after aligning them, the sum vector 1300 is obtained and moved. It may be provided to the control unit 110 as a vector. The alignment of the vectors in FIG. 13 is a phase (β _i , i) given for the aforementioned reference direction 1301 when the start point of each vector is connected to each other by coinciding with the end point of the previous vector. = 1,2, .., 7).

When the measurement time point is reached, the controller 110 determines whether the movement is a linear movement in the corresponding section based on the motion vector received from the image processing unit 102b between the previous measurement time point. That is, if the phase of the motion vector is 0 ^o within the error range, it is determined that there is a linear movement in the corresponding section, otherwise there is a curved movement. In the case where a plurality of motion vectors are received during the interval, the final vector by them is obtained, and the linearity is determined according to whether or not the phase of the final vector is 0 ^o in the error range.

When obtaining the final vector, first, as illustrated in FIG. 14, for the plurality of motion vectors 1400, the start point of each motion vector mdv _k is determined by the previous vector mdv _k-1 . The magnitude of the angle relative to the direction 1411 to which the previous vector mdv _k-1 is directed lies in the direction of the phase β _k of the vector mdv _k . After aligning the plurality of motion vectors 1400 in a manner, the line segment size in a direction connecting the start point of the first motion vector to the end point of the last motion vector, and the angle of the line segment with the reference direction of the first motion vector (i.e., , The phase vector) is determined.

In another embodiment according to the present invention, if all of the plurality of motion vectors 1400 have a phase within an allowable range specified with reference to 0 ^o , it is determined that there is a linear movement, otherwise there is a curved movement.

If it is determined that there is a curve movement, the control unit 110 transmits the information indicating the non-linearity movement to the corresponding item of the measurement information table 40 so that the controller 110 can refer to the determination of positioning at a later time of measurement. It is recorded, and since the unit is not formed by the diameter at the present point, positioning information is not obtained as mentioned above.

Meanwhile, in one embodiment according to the present invention, whenever the image processing unit 102b provides mobility information including a motion vector, the motion vector is received and stored in order. When the measurement time is reached, all motion vectors received and stored starting from the previous measurement time point are associated with the corresponding measurement time point. The associated motion vectors become a vector set (hereinafter, referred to as an 'section vector set') that reflects a movement route in a section between a current point and a point corresponding to a previous measurement point.

In the embodiment of storing the interval vector set between the measurement points, the moving route is estimated as shown in FIG. 10B based on the stored interval vector set for the missing region for which positioning information is not obtained. 15 exemplarily shows this movement route estimation.

The controller 110 (or an external analysis device provided with the measurement information table 40 including the interval vector set) is connected to one or more measurement points belonging to the missing region (or interval vector set). Construct a base trajectory 1510 from the motion vectors 1500 belonging to the vector sets). As described with reference to FIG. 14, the elementary trajectory 1510 is a movement constituted by aligning each of the motion vectors to the corresponding phase with the previous motion vector as the reference direction and matching the viewpoint to the end point of the previous motion vector. The shapes are a series of vectors.

When the foundation trajectory 1510 is configured in this way, the starting point 1511 of the foundation trajectory is located at the position coordinate lo _k , la _k of the positioning point P _{k at} which the corresponding defect zone starts, and the end point 1512 is the corresponding defect. 1530 corresponding to the actual position coordinates lo _{k + 1} and la _{k + 1} of the location point P _{k + 1} where the zone ends, and at the end point (or starting point) of each vector according to the corresponding proportional relationship. Calculate the position coordinate for. In addition, the virtual line 1540 which follows the actual position coordinates thus calculated is estimated as the movement route of the measurer for the corresponding missing area. When linking the position coordinates, they are connected in a straight line or corresponding to the total curvature formed by the position coordinates. After estimating the movement route 1540, as described in FIG. 10B in a chopstick, the position on the estimated movement route is determined with respect to the measurement point at which the received signal strength is measured in the missing region.

Through the operation of the measuring device 100 described above, the operator simply attaches the measuring device 100 to the body and moves the room such as a building, and receives the received signal strength of the radio wave measured in the room. The absolute position of each measured point can be identified.

Until now, the measuring device 100 described the operation according to various embodiments is assumed to be attached to the back of the measurer and the like, but the principle, concept or technical idea of the present invention must be moved by the walk of the measurer to be implemented. If the wheel is provided and mounted on a carrier (eg, a cart, etc.) that is moved manually or electrically, the technical idea may be implemented as it is.

In an embodiment mounted on a vehicle moving by a wheel or the like, such as a cart, the measuring device 100 may be configured by a movement monitoring unit, different components than in the above-described embodiment.

For example, it may be configured as a first means for measuring the moving distance in accordance with the number of revolutions of the wheel and a second means for determining whether the movement is straight in accordance with the difference in the number of revolutions of the two wheels. Of course, the second means is a movement vector having a phase of zero when the number of revolutions of the two wheels is the same (this magnitude may be a value representing the movement distance measured by the first means). A motion vector having a positive or negative phase according to the difference may be calculated and provided to the control unit 110. For the provided motion vector, the control unit 110 uses the above-described motion vector in the missing region. Estimation of the movement route can be performed.

In another embodiment according to the present invention, all the movement trajectories of the measuring device being moved by the carrier can be directly estimated based on the information provided by the first means and the second means without introducing the intermediate information called the motion vector. It may be. That is, since the first and second means can accurately know the angle shifted in the moving distance and the traveling direction, the movement trajectory is immediately obtained by sequentially aligning the moved distance in consideration of the angle.

On the other hand, in the above-described embodiments, when the three measuring points on the moving path of the measuring device 100 formed a diameter path, based on the incident angle obtained by measuring the signal of any connection point at each measuring point Three-point surveying is assumed to obtain positioning information at the measurement points. However, in other embodiments according to the present invention, positioning information can also be obtained through two-point surveying by imposing special conditions on the measuring device or measuring method. Hereinafter, such an embodiment will be described in detail.

First, in one embodiment according to the present invention, a plurality of antennas (103a) of the WiFi modem 103 is fixedly installed in the housing of the measuring device 100, the direction in which the antennas are arranged side by side, the movement of the measurer The measuring device 100 or the portion of the WiFi modem 103 is attached to the measurer or fixed to the carrier so that the measuring device 100 is always at a specific angle, for example, at a right angle with the direction in which the measuring device 100 moves. . When the conditions for such a measuring device or measuring method are satisfied, positioning information can also be obtained through two point surveying as illustrated in FIG. 16.

Since the WiFi modem 103 measures an angle of incidence of a signal from an access point with respect to the direction in which the antennas are arranged, as illustrated in FIG. 16, the direction in which the antennas are arranged in the movement for measurement. When fixed to a specific angle (for example, a right angle) with respect to the intended direction of travel, the reference axis (ax _S ) and the direction of movement of the measuring device 100 always achieves that specific angle.

Thus, the orientation angles α _ij , i = 1,2, .., M, j = 1,2, .. are the incident angles θ _ij , i = 1 measured at that particular angle, for example π / 2. It can be found by subtracting (2, ..., M, j = 1, 2, ...). If the direction angle thus obtained is negative or greater than π, change the value to a positive value or subtract π and proceed to the connection point for which the direction angle in the range of 0 to π is obtained for the connection point for which the incident angle is obtained. It is determined to be on opposite sides with respect to the direction.

The determination of whether it is the left side or the right side of the advancing direction may be based on the method described with reference to FIG. 5B. Alternatively, when the WiFi modem 103 is fixed to the measuring instrument or the carrier by mounting a series of antennas so that the reference axis (ax _S ) measuring the angle of incidence of the signal is the right (or left) in the direction of travel, from the measured angle of incidence It is possible to immediately determine whether the connection point is on the right side or the left side of the moving direction.

In this embodiment in which the directivity angle can be directly known from the incidence angle measured at an arbitrary measurement point (P _i , i = 1,2, .., k, ..), the following equation is obtained from the directivity angle at the pair of measurement points. [7] can calculate the distance to the connection point. Of course, it is assumed at this time to pass a pair of measuring points corresponding to the linear movement. That is, a diameter path should be formed between the pair of measurement points, and whether the diameter path is formed is determined based on the mobility information provided by the movement monitoring unit 102 as described above.

식 [7]-1

Equation [7] -1

식 [7]-2

Equation [7] -2

i = 1, .., M

In Equation [7], the movement distance d _i , i = 1, .. M is provided by the movement monitoring unit 102 as described above.

Various methods applied to the method of measuring the radio wave intensity together with the positioning information in a room such as a building, which are described in detail in the above-described embodiments, may be appropriately combined and executed unless they are mutually incompatible.

Up to now, the embodiments of the present invention have been described in detail using the WiFi network as a wireless communication network installed indoors as an example. However, the principle and concept of the present invention can be applied to the connection points of the communication network, as long as there is a wireless communication network in which the data service area is limited and the service area is also locally distributed. The scope of the rights under the claims cannot be excluded for reasons that the indoor communications network selected for the purpose is different from the wireless communications network illustrated herein.

As mentioned above, preferred embodiments of the present invention described above are disclosed for the purpose of illustration, and those skilled in the art can improve other various embodiments within the spirit and technical scope of the present invention disclosed in the appended claims below. Changes, substitutions or additions will be possible.

100: measuring device 101: signal strength measuring unit
102: movement monitoring unit 102a: photographing unit
102b: image processing unit 103: WiFi modem
104: storage unit 105: interface unit
110: control unit

Claims (30)

In the device for measuring the signal strength of radio waves,
A movement monitoring unit for detecting information on movement of the device;
At each of three or more points on the movement path of the device, a communication unit for searching for an access point for providing a wireless communication network and for detecting an incident angle of a signal received from the found access point;
A storage unit for storing the signal strength of the radio wave measured by the measurement unit measuring the reception intensity for the specified radio wave, the identification information of the searched connection point, and the information of the signal incident angle measured for the connection point;
Configured to store the measured propagation intensity in the storage unit, and further comprising: at each point in the set of three points of the information stored in the storage unit and the information about the movement provided by the movement monitoring unit. Based on the signal incidence angle information of the connection point, and obtains location information based on the random access point for at least one of the points of the set and stores the location information on the storage unit, wherein the movement monitoring unit provides The information comprises a control unit configured to obtain the positioning information when the device indicates that the device has moved linearly;
The positioning information obtained for the positioning target point includes a direction angle formed by a path passing through the positioning target point and a distance from the positioning target point to the reference connection point based on an imaginary line from the positioning target point to the reference connection point. Apparatus that is information comprising a. The method of claim 1,
The signal strength of the radio wave at each of the three or more points is measured and stored in the storage unit. The method of claim 1,
The signal strength of the radio wave is measured at a plurality of arbitrary points on the movement path and stored in the storage unit together with the measured viewpoint information. delete The method of claim 1,
And the controller is configured to determine whether the random access point is on the right side or on the left side of the movement path based on the change in the signal incident angle information of the random access point. The method of claim 5,
The direction angle is obtained by a value in the range of 0 to π for a connection point on one side of the right and left sides of the movement path, and a value in the range of -π to 0 for a connection point on the other side. . The method of claim 1,
The control unit may include the distance from the first point belonging to the set to the random access point at the second point calculated based on the distance from the connection point obtained with respect to the random access point, and the second point. If the distances from the second point to the random access point obtained based on the signal incident angle information of the random access point at the three linearly moved points are different from each other by more than a certain error range, the random access point receives the positioning information. Configured to exclude from the criteria obtained,
The second point is a point belonging to the set or a point on a straight path extending points of the set. In the device for measuring the signal strength of radio waves,
A movement monitoring unit for detecting information on movement of the device;
At each of three or more points on the movement path of the device, a communication unit for searching for an access point for providing a wireless communication network and for detecting an incident angle of a signal received from the found access point;
A storage unit for storing the signal strength of the radio wave measured by the measurement unit measuring the reception intensity for the specified radio wave, the identification information of the searched connection point, and the information of the signal incident angle measured for the connection point;
Configured to store the measured propagation intensity in the storage unit, and further comprising: at each point in the set of three points of the information stored in the storage unit and the information about the movement provided by the movement monitoring unit. Based on the signal incidence angle information of the connection point, location information based on the random access point is obtained for at least one of the points of the set and stored in the storage unit, and the plurality of access point identification information stored in the storage unit is stored. Provided to a specific server at a remote location, and when the location coordinates are received for two or more specific connection points with respect to the provided connection point identification information, the location coordinates of the location points for which the location information is obtained are configured to be calculated based on the location coordinates of the specific connection point. It is configured to include a control unit,
The positioning information obtained for the positioning target point includes a direction angle formed by a path passing through the positioning target point and a distance from the positioning target point to the reference connection point based on an imaginary line from the positioning target point to the reference connection point. Apparatus that is information comprising a. The method of claim 8,
The control unit is configured to store the time point information that the device was at the positioning point in the storage unit,
Positioning information is not obtained and the position coordinates are obtained for the point at which the signal strength of the radio wave is measured, both position coordinates obtained for both positioning points having the front and rear view information closest to the viewpoint information at which the signal strength is measured; And calculate based on a time interval between viewpoint information. The method of claim 9,
And the control unit is configured to obtain a position coordinate of the point by determining a point based on a time interval between viewpoint information on a path that linearly connects each position coordinate of the two positioning points. The method of claim 9,
The controller estimates a route on which the apparatus has moved a section between the two positioning points based on the information on the movement provided from the movement monitoring unit, and based on the estimated route, a time interval between viewpoint information. And determine the location based on the location to determine the location coordinates of that location. The method of claim 11,
The control unit is configured to estimate the route based on a shape obtained by aligning motion vectors each having a magnitude and a phase sequentially provided from the movement monitoring unit while the apparatus is in the interval,
In the above alignment, with respect to each motion vector, the phase of the motion vector is positioned in a direction that becomes an angle with respect to the direction of the previous motion vector so that the viewpoint of the motion vector is set to the previous motion vector. Wherein the device is aligned in a manner consistent with the endpoint. The method according to any one of claims 8 to 12,
The controller may allow the measured signal strengths to be displayed on the screen in such a manner that the signal strengths may know the actual position corresponding to the position coordinates of the measured points. The method of claim 1,
Receiving the information stored in the storage unit, and provides a plurality of access point identification information included in the received information to a specific server of the remote location, and if the position coordinates are received for two or more specific access point for the provided access point identification information And an analysis device in communication with the device, configured to calculate the location coordinates of the location points for which the location information included in the received information is obtained based on the location coordinates of the specific connection point. The method of claim 1,
The movement monitoring unit,
A photographing unit which photographs a subject to acquire image frames;
And an image processing unit configured to process the images of the image frames and detect information necessary for constructing the information about movement from the images. The method of claim 15,
The image processing unit is configured to detect a leading edge of both feet of the measurer with the device attached to the images and detect the distance the measurer has moved by one step based on the number of pixels between the detected edges . The method of claim 16,
And the image processing unit is configured to apply an artificial neural network algorithm to the image frames, and to detect a distance traveled by the measurer one step in the image of the selected frame. The method of claim 17,
The image processing unit detects a leading edge of both feet for each image of the image frames for a predetermined time after starting the measurement of the device, and searches for one or more specific frames in which the number of pixels between the detected edges is maximum, Thereafter, the apparatus is configured to select frames by comparing a characteristic value obtained by applying an artificial neural network algorithm to each of the image frames and a characteristic value obtained by applying an artificial neural network algorithm to the specific frame. The method of claim 18,
The image processing unit obtains a characteristic value by applying an artificial neural network algorithm to the frames in the search zone while designating a search zone for the image frames, wherein the time interval between the search zones is a time interval between the previously selected frames. And determine the basis for the determination. The method of claim 15,
The image processing unit is configured to detect a motion vector in the images, construct a motion vector based on the detected motion vectors, and provide the motion vector to the controller as the information about the movement.
And the motion vector is expressed as a phase based on a magnitude and a moving direction reflecting the moving distance. The method of claim 20,
The image processing unit configures the motion vector by configuring a sum vector of the plurality of detected motion vectors and inverting the direction of the sum vector, wherein the phase of the motion vector is a frame corresponding to the movement direction side in the captured image. Apparatus as defined based on the direction to the boundary. The method of claim 1,
The movement monitoring unit,
First means for measuring a moving distance according to the number of revolutions of the wheel of the vehicle on which the apparatus is mounted;
And second means for detecting a difference in rotational speed of both wheels of the vehicle. The method of claim 22,
The motion monitoring unit is configured to configure a motion vector based on the measured movement distance and the rotation speed difference and provide the control vector as the information on the movement,
Wherein the motion vector is expressed as a phase having a magnitude reflecting the distance of travel and a value of positive or negative, or zero, reflecting the difference in rotational speed. The method of claim 20 or 23,
When the phase of the motion vector provided from the motion monitoring unit is within a specified range, or when the phase of the final vector obtained by aligning a plurality of motion vectors in the provided order is within a specified range, the motion vectors Configured to determine that the device is linearly moved with respect to the obtained moving section,
In the above alignment, with respect to each motion vector, the phase of the motion vector is positioned in a direction that becomes an angle with respect to the direction of the previous motion vector so that the viewpoint of the motion vector is set to the previous motion vector. Wherein the device is aligned in a manner consistent with the endpoint. The method of claim 1,
And the measuring unit is integrally configured with the apparatus or is detachably connected to the apparatus and configured to measure and transmit the received radio wave intensity to the controller. In the device for measuring the signal strength of radio waves,
A movement monitoring unit for detecting information on movement of the device;
At each of two or more points on the movement path of the device, a communication unit for searching for an access point for providing a wireless communication network and for measuring an incident angle of a signal received from the found access point;
A storage unit for storing the signal strength of the radio wave measured by the measurement unit measuring the reception intensity for the specified radio wave, the identification information of the searched connection point, and the information of the signal incident angle measured for the connection point;
Configured to store the measured propagation intensity in the storage unit, and further comprising the information on the movement provided by the movement monitoring unit and an arbitrary connection point at each of a pair of points stored in the storage unit. Based on signal incidence angle information, obtain location information based on the random access point for at least one of the pair of points, and store the location information in the storage unit, wherein the movement monitoring unit provides the movement information. Information comprises a control unit configured to obtain the positioning information when the pair of points indicate that the device has moved linearly,
The positioning information obtained for the positioning target point includes a direction angle formed by a path passing through the positioning target point and a distance from the positioning target point to the reference connection point based on an imaginary line from the positioning target point to the reference connection point. Apparatus that is information comprising a. The method of claim 26,
And the communication unit is fixed to the measuring instrument or the carrier such that an axis as a reference for measuring an angle of incidence of the signal has a specified specific angle with a direction in which the device is intended to move in the measurement. The method of claim 27,
And a direction angle based on the random connection point at the random connection point is obtained by subtracting a signal incident angle obtained by measuring the random connection point at the specific angle. In the method of measuring the signal strength of radio waves,
While the device is moving, at each of three or more points, it searches for access points to provide a wireless network and detects the angle of incidence of signals received from the detected access points, while measuring and storing the signal strength for a specified radio wave. A first step of storing the identification information of the connection point;
Based on the signal incident angle information of the random access point at each point of the set of three points of the points and the measured distance between the points of the set, to the random access point for at least one of the points of the set A second step of obtaining and storing a directivity angle formed by a path through the point of the device, based on the distance between the point and the virtual line from the point to the random connection point;
If the plurality of access point identification information stored in step 1 is provided to a specific server at a remote location, and the position coordinates are received for two or more specific access points with respect to the provided access point identification information, the distance to the access point is determined by the second step. And calculating the position coordinates of the points for which the direction angles are obtained based on the position coordinates of the specific connection point. The method of claim 29,
The second step is to find the distance to the random connection point and the direction angle when the device is moved in a straight line.

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