KR102046017B1 - Method for measuring position using low-power bluetooth in and ad-hoc network and appartus for supporting the same - Google Patents

Abstract

The present invention is a location estimation method using low power Bluetooth using low power Bluetooth. And an apparatus for supporting the same. According to an embodiment of the present invention, a method for estimating a location using low power Bluetooth uses a GPS module in each of a plurality of first devices of a first type installed at a specific location to indicate an absolute position of each of the plurality of first devices. Measure a value and transmit, at each of the plurality of first devices, a first data packet including the first location value to at least one of the plurality of second devices of an adjacent second type; The first data packet includes a first identifier for identifying each of the plurality of first devices, first state information indicating a state of each of the plurality of first devices, and a first signal indicating a transmission signal strength of each of the plurality of first devices. 1 receiving signal strength information (RSI), wherein each of the plurality of second devices includes: at least three of the plurality of first devices; Measure a first low power Bluetooth received signal strength of the transmitted first data packet, wherein each of the plurality of second devices uses the first low power Bluetooth received signal strength and the first location value Compute a second position value representing a relative position of each of the plurality of second devices relative to the device, and in each of the plurality of second devices, each of the plurality of second devices using the second position value Calculate a third position value representing an absolute position of the second device; and transmitting, from each of the plurality of second apparatuses, a second data packet including the third position value to at least one third apparatus of an adjacent third type; The second data packet includes a second identifier for identifying each of the plurality of second devices, second state information indicating a state of each of the plurality of second devices, and an image. Second received signal strength information (RSSI) indicating a transmission signal strength of each of the plurality of second devices, wherein each of the at least one third device comprises at least three of the plurality of second devices; Measure a second low power Bluetooth received signal strength of the second data packet transmitted from two devices, and at each of the at least one third device, using the second low power Bluetooth received signal strength and the second location value Calculate a fourth position value representing a relative position of each of the at least one third apparatus relative to at least three devices, and in each of the at least one third apparatus, using the fourth position value, the at least one third Calculate a fifth position value representing an absolute position of each of the three devices, and in each of the at least one third device, the fifth Transmit a third data packet including a value to a server through the plurality of adjacent second types of devices, wherein the server sends a fourth data packet including the fifth location value to the plurality of second devices. And transmitting to another device of a third type through at least one of the at least one third device, wherein the first type indicates a device type for measuring the absolute position by using a GPS module. A device type for collecting environmental information related to the transmission and fire of the second data packet for calculating the relative position of each of the at least one third device, fixed in a specific space, the third type being attached to the user Device for estimating the location of the user by calculating relative and absolute positions of the at least one third device. It denotes a.

Description

METHOD FOR MEASURING POSITION USING LOW-POWER BLUETOOTH IN AND AD-HOC NETWORK AND APPARTUS FOR SUPPORTING THE SAME}

The present invention relates to a method for measuring the location of a device, and more particularly, to a method for measuring the location of a device using low power Bluetooth technology in an ad hoc network and a device for supporting the same.

Bluetooth is a short-range wireless technology standard that can transmit and receive data by wirelessly connecting various devices in a short distance. When performing wireless communication between two devices using Bluetooth communication, a user performs a procedure of searching for a Bluetooth device and requesting a connection. do. In the present invention, the device may mean an apparatus and an apparatus.

Recently, as most activities such as work, entertainment, and shopping are performed in indoor spaces, various types of location-based services provided for indoor spaces have also started to attract attention. In particular, the indoor positioning system can be classified in various ways according to location accuracy, available service area, applicable service, applicable sensor, and the like. For example, base stations, Wi-Fi, inertial navigation, high sensitivity Global Navigation Satellite System (GNSS), Ultra Wide Band (UWB), Radio Frequency Identification (RFID), pseudosatellite, ultrasound, It is classified into positioning technology utilizing various physical resources such as infrared, geomagnetic field and camera.

Currently, fingerprinting technology using Wi-Fi has been commercialized as indoor location recognition technology. However, the fingerprinting technique using Wi-Fi has the following problems. First, the fingerprinting technology using Wi-Fi is difficult to objectify because the received signal strength (RSSI) value depends on the output power set in the AP because the output power can be set differently for each Wi-Fi AP. There is this. In addition, fingerprinting technology using Wi-Fi may be subject to interference of Wi-Fi outside the building, Wi-Fi has a problem that the interference occurs because the bandwidth (bandwidth) overlap when using adjacent channels. In addition, Wi-Fi needs to re-measure RSSI periodically because the traffic status of the channel changes in real time as the user's mobility increases, and the Wi-Fi AP needs to supply power at all times and incur initial installation and maintenance costs. There are a variety of problems that require the development of new indoor positioning techniques.

The technique for measuring the location of the device may be implemented through GPS, Wi-Pi, Bluetooth, and the like, and may measure the location of the device through various methods.

GPS or Wi-FI can only locate devices when indoor positioning infrastructure and / or mobile networks are configured.

As the modern society develops, the rise of buildings and the deepening of the building are accelerating, and the internal structure of the building is becoming more complicated, which threatens the safety of firefighters in the indoor fire scene.

As the height and depth of buildings increase, the problem is that the location of firefighters cannot be known in situations where indoor positioning infrastructure and mobile communication networks are unavailable (eg indoor fire conditions).

According to an aspect of the present invention for achieving the above or another object, in each of a plurality of first type of first type device installed at a specific position, the absolute position of each of the plurality of first devices using a GPS module Measuring a first position value representative; In each of the plurality of first devices, transmitting a first data packet including the first location value to at least one of the plurality of second devices of an adjacent second type, wherein the first data packet is A first identifier for identifying each of the plurality of first devices, first state information indicating a state of each of the plurality of first devices, and a first transmission signal strength indicating a transmission signal strength of each of the plurality of first devices Information Received Signal Strength Information (RSSI); Measuring, at each of the plurality of second devices, a first low power Bluetooth received signal strength of the first data packet transmitted from at least three of the plurality of first devices; A second position in each of the plurality of second devices indicating a relative position of each of the plurality of second devices relative to the at least three devices using the first low power Bluetooth received signal strength and the first position value Calculating a value; Calculating, at each of the plurality of second devices, a third position value representing an absolute position of each of the plurality of second devices using the second position value; Transmitting, at each of the plurality of second devices, a second data packet comprising the third location value to at least one third device of an adjacent third type, the second data packet being the plurality of second devices; A second identifier for identifying each device, second state information indicating a state of each of the plurality of second devices, and second transmitted signal strength information indicating a transmission signal strength of each of the plurality of second devices. Information: RSSI); Measuring, at each of the at least one third device, a second low power Bluetooth received signal strength of the second data packet transmitted from at least three of the plurality of second devices; A fourth position in each of the at least one third device indicating a relative position of each of the at least one third device relative to the at least three devices using the second low power Bluetooth received signal strength and the second position value Calculating a value; Calculating, at each of the at least one third device, a fifth position value representing an absolute position of each of the at least one third device using the fourth position value; Sending, at each of the at least one third device, a third data packet including the fifth location value to a server via a plurality of adjacent second type devices; And transmitting, at the server, a fourth data packet including the fifth location value to at least one of the plurality of second devices and the at least one third device to another device of a third type. The first type represents a device type for measuring the absolute position using a GPS module, and the second type is fixed in a specific space to calculate the relative position of each of the at least one third device. A device type for collecting environmental information related to transmission and fire of a second data packet, wherein the third type is attached to a user to calculate a relative position and an absolute position of the at least one third device to locate the user Represents a device type for estimating.

In addition, the present invention is to measure the first position value indicating the absolute position of each of the plurality of first devices using a GPS module in each of the plurality of first devices of the first type installed in a specific space, A plurality of first devices of a first type installed in a specific space, the first data packet including a first position value being transmitted to at least one of the plurality of second devices adjacent to the second type; The data packet includes a first identifier for identifying each of the plurality of first devices, first state information indicating a state of each of the plurality of first devices, and a first signal indicating a transmission signal strength of each of the plurality of first devices. Includes Received Signal Strength Information (RSSI); Measure a first low power Bluetooth received signal strength of the first data packet transmitted from at least three of the plurality of first devices, and at each of the plurality of second devices, the first low power Bluetooth received signal strength And calculate a second position value representing a relative position of each of the plurality of second devices relative to the at least three devices using the first position value, wherein, in each of the plurality of second devices, the second position value; A third position value representing an absolute position of each of the plurality of second devices is calculated using the position value, and the second data packet including the third position value is adjacent to each of the plurality of second devices. A plurality of second devices of a second type transmitting to at least one third device of a third type, wherein the second data packet identifies each of the plurality of second devices A second identifier, second state information indicating a state of each of the plurality of second devices, and second transmitted signal strength information (RSI) indicating a transmission signal strength of each of the plurality of second devices. Including; Measure a second low power Bluetooth received signal strength of the second data packet transmitted from at least three of the plurality of second devices, and in each of the at least one third device, the second low power Bluetooth received signal strength And calculate a fourth position value representing a relative position of each of the at least one third apparatus relative to the at least three apparatuses using the second position value, and in each of the at least one third apparatus, Calculate a fifth position value representing an absolute position of each of the at least one third device using the position value, and in each of the at least one third apparatus, adjacent to a third data packet comprising the fifth position value At least one third device of a third type for transmitting to a server through a plurality of said second type devices; And a server for transmitting a fourth data packet including the fifth location value to another device of a third type through at least one of the plurality of second devices and the at least one third device. The first type represents a device type for measuring the absolute position using a GPS module, and the second type is fixed in a specific space so as to calculate the relative position of each of the at least one third device. A device type for collecting environmental information related to transmission and fire of the third type, the third type being attached to a user to calculate a relative position and an absolute position of the at least one third device to estimate the position of the user Provided is a location estimation system using low power Bluetooth indicating a device type.

A method for measuring location using low power Bluetooth in an ad hoc network and an effect of a device for supporting the same will be described below.

According to at least one of the embodiments of the present invention, there is an advantage in that complementary operations can be performed by exchanging position coordinates and sensing values between servers for indoor positioning through a server.

In addition, according to at least one of the embodiments of the present invention, there is an advantage that the location of the device can be measured in a situation where the indoor positioning infrastructure and the mobile communication network is unavailable.

In addition, according to at least one of the embodiments of the present invention, each device senses the surrounding situation and transmits it to the server, there is an advantage that can determine and control the overall indoor situation.

In addition, according to at least one of the embodiments of the present invention, by transmitting the overall indoor situation to each device located in the room has the advantage that each device can perform a specific operation according to the indoor situation.

Further scope of the applicability of the present invention will become apparent from the following detailed description. However, various changes and modifications within the spirit and scope of the present invention can be clearly understood by those skilled in the art, and therefore, specific embodiments, such as the detailed description and the preferred embodiments of the present invention, should be understood as given by way of example only.

Figure 1 is a schematic diagram showing the overall method of the indoor positioning method using a low power Bluetooth according to the present invention.
2 and 3 are diagrams showing an example of a method for measuring the position of the device using the triangulation method according to the present invention.
4 and 5 are diagrams showing an example of a method for measuring the position of the device using the indoor positioning method associated with the present invention.
6 is a flowchart illustrating an example of an indoor positioning method according to the present invention.
7 and 8 are flowcharts illustrating an example of a method of transmitting a data packet for indoor positioning according to the present invention.
9 is a flow chart illustrating an example of a method for measuring position in accordance with the present invention.
10 is a flowchart illustrating yet another example of a method for measuring a position related to the present invention.
11 is a flowchart illustrating an example of a method for controlling an operation through a server according to the present invention through a position value and a sensing value.
12 is a flowchart illustrating an example of a method for transmitting and receiving a measured position value and a sensing value between servers according to the present invention.
13 is a block diagram of a device supporting an indoor positioning method using low power Bluetooth according to the present invention.

Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings, and the same or similar components are denoted by the same reference numerals regardless of the reference numerals, and redundant description thereof will be omitted. The suffixes "module" and "unit" for components used in the following description are given or used in consideration of ease of specification, and do not have distinct meanings or roles from each other. In addition, in describing the embodiments disclosed herein, when it is determined that the detailed description of the related known technology may obscure the gist of the embodiments disclosed herein, the detailed description thereof will be omitted. In addition, the accompanying drawings are intended to facilitate understanding of the embodiments disclosed herein, but are not limited to the technical spirit disclosed herein by the accompanying drawings, all changes included in the spirit and scope of the present invention. It should be understood to include equivalents and substitutes.

Terms including ordinal numbers such as first and second may be used to describe various components, but the components are not limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

When a component is said to be "connected" or "connected" to another component, it may be directly connected to or connected to that other component, but it may be understood that another component may be present in the middle. Should be. On the other hand, when a component is said to be "directly connected" or "directly connected" to another component, it should be understood that there is no other component in between.

Singular expressions include plural expressions unless the context clearly indicates otherwise.

In this application, the terms "comprises" or "having" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, and one or more other features. It is to be understood that the present invention does not exclude the possibility of the presence or the addition of numbers, steps, operations, components, components, or a combination thereof.

The mobile terminal described herein includes a mobile phone, a smart phone, a laptop computer, a digital broadcasting terminal, a personal digital assistant, a portable multimedia player, a navigation, a slate PC , Tablet PCs, ultrabooks, wearable devices, such as smartwatches, glass glasses, head mounted displays, and the like. have.

As modern society develops, building heights and depths are accelerating, and the internal structure of buildings is becoming more complex, threatening the safety of firefighters in the fire scenes. In addition, there is a limit in obtaining detailed information on the site situation, which makes it difficult to direct suppression and activities. Recently, firefighters are frequently killed during on-site activities, so it is necessary to collect and utilize information on the location and situation of firefighters put into the field for effective response.

 Conventional positioning technologies include Global Positioning System (GPS) and Global Navigation Satellite System (GNSS), but due to the nature of indoor positioning, GPS cannot be used, so WLAN (Wireless Lan), Ultra Wide Band (UWB), and Radio Frequency Identification (RFID) Research on the IPS (Indoor Positioning System) using the back is being actively conducted.

 Numerous unpredictable hazards at the fire site and harsh environments, such as heat and smoke, can damage or fail to operate existing indoor infrastructure in buildings. This requires a mobile indoor positioning system that is different from the existing indoor positioning. The system itself utilizing the mobile IPS needs communication for the purpose of connecting to an external server. In general, cellular networks such as LTE are used, but considering that cell size reduction policy reduces base station distance from 10m to 200m in 5G era, it is highly likely that base stations are installed in each building. Therefore, there is a high probability that the base station installed indoors will be damaged in case of fire.

 In the present invention, the indoor positioning infrastructure and the mobile communication network is unavailable (for example, indoor fire repayment, etc.) to check the position of the device using a mobile indoor positioning technique and transmit and receive sensor data sensed by the device installed indoors An indoor positioning method is proposed.

Figure 1 is a schematic diagram showing the overall method of the indoor positioning method using a low power Bluetooth according to the present invention.

 Referring to FIG. 1, an indoor monitoring system may be constructed through an indoor positioning method using low power Bluetooth, and the indoor monitoring system may include an external related organization 10, a mobile comprehensive monitoring server 20, and a first type of device 100_1. , 100_2, 100_3), the second type device 200, and the third type device 300.

Externally related organs 10 represent organs located away from the fire site. For example, as illustrated in FIG. 1, the external related organization 10 may include a 119 general situation room, a site commander, a gas corporation, an electric work, or a 112 general situation room.

The external related organization 10 may communicate with the mobile comprehensive monitoring server 20 through the backbone network.

The mobile comprehensive monitoring server 20 communicates with devices for indoor positioning, and obtains a data packet including various information for indoor positioning from devices for indoor positioning, and based on the obtained information. Various information can be provided to devices for indoor positioning.

For example, at the fire site, the mobile comprehensive monitoring server 20 can determine the situation of each location (eg, carbon dioxide, temperature, carbon monoxide, etc.) and the absolute position value of each firefighter from each device installed at the fire site. Can be sent.

In addition, the mobile comprehensive monitoring server 20 may transmit the received information back to the devices of the fire site, or generate a location value indicating the escape route of the firefighters, a danger area or a location requiring rescue through the received information. The generated information and values can be transmitted directly to each device at the fire site or through relay operation.

The mobile comprehensive monitoring server 20 is an external network interworking module for communication with an external related organization 10, a monitoring collection system for collecting sensing values, a rescue worker real-time location module, a suppression situation monitoring module, and an ad hoc communication. ad hoc network management module, and a plurality of databases (eg, monitoring DB, indoor schematic DB, device DB, etc.).

In addition, the monitoring system through the indoor positioning method may be based on short-range communication technology, it may be composed of devices of the type shown in Table 1 below.

The first type of device may include an Arduino module, a GPS module, a Bluetooth module, and a coaxial antenna to perform the functions of Table 1.

The first type of devices 100_1, 100_2, and 100_3 are devices installed outside of a building and the like, and calculate a position value (position coordinate) indicating an absolute position of each device of the first type by using a GPS module.

For example, in the case of a fire site, firefighters who are introduced to the fire site may install at least three devices of the first type 100_1, 100_2, and 100_3 in the first access road before the operation. Devices can locate their absolute position using a GPS module.

The device 200 of the second type includes an Arduino module, an IMU module, a sensing module for measuring carbon monoxide and oxygen, a gyro sensor, a compass, an altitude sensor, a router, a Bluetooth module, and the like to perform the functions of Table 1. It may include a coaxial antenna.

The second type of device 200 is devices that are attached and fixed inside the building, and may be used for building an indoor network for ad hoc communication in an environment without infrastructure.

That is, it increases the ad hoc communication distance, senses various information at the attached position, and periodically transmits the sensed values to other second type and / or third type devices 200 and 300 through adjacent devices, It may transmit to the server 20.

In addition, the second type of device 200 has its relative position value based on signals transmitted from other first type devices and / or second type devices 100_1, 100_2, 100_3, 200 over a BLE communication distance. The absolute position value can be calculated using the calculated relative position value.

For example, at a fire site, firefighters can install a second type of device 200 at a particular distance as they enter the building, and the second type of installed device measures the relative and absolute positions of the installed location. Information related to the environment can be sensed.

In addition, the second type and / or third type of devices 200 and 300 may use various methods (e.g., blinking of an LED light, a warning sound, and a warning voice) when the second and / or third type devices 200 and 300 are to be moved out of the range in which communication with other devices is possible. Outputs, etc., to alert firefighters that they are unable to communicate, which prevents them from being located at distances where communication with other types of devices is impossible.

The device 300 of the third type includes an Arduino module, an IMU module, a sensing module for measuring carbon monoxide and oxygen, a gyro sensor, a compass, an altitude sensor, a router, and a user's bio to perform the functions of Table 1. It may include a bio information sensing module, a Bluetooth module, and a coaxial antenna for sensing information.

The third type of device 300 may calculate its relative position value based on a signal transmitted from an adjacent second type and / or third type device attached to the user, and may use the calculated relative position value. The absolute position value can be calculated.

In addition, the third type of device 300 may periodically measure the location of the user, and may sense the bio information (eg, heart rate, body temperature, blood pressure, etc.) of the user.

The third type device 300 may periodically transmit the measured relative position value, the absolute position value, and the sensed bio information to other adjacent devices and servers.

In addition, if a problem occurs in the user's body (for example, the user falls down or is in a dangerous situation) based on the user's bio-information, a rescue signal or danger signal is transmitted to an adjacent device to inform the user of the situation. Can be.

For example, at the fire site, the device 300 of the third type is attached to the body of each of the firefighters to periodically measure and sense the position and bio information of the firefighters, and periodically measure the measured position value and the sensing information. The transmission may be transmitted to the adjacent second type device 200 and the third type device 300, or may be transmitted to the server through the adjacent second type device 200 and the third type device 300.

The server 20 may obtain and store the location value and the sensing information transmitted from the second type device 200 and the third type device 300, and the situation inside the building through the acquired location value and sensing information. By inferring this can instruct a specific operation to each device, it can be transmitted to the external relevant organ (10).

For example, at the fire site, the server 20 may collect location values and sensing information transmitted from the second type device 200 and the third type device 300, and collect the collected location values and sensing information. By inferring the situation of the indoor fire site and passing it not only to the commander of the fire site, but also to the related organizations (10) such as 119 general situation room, gas construction, electric construction, etc. It predicts and transmits it to the third type of device 300 so that firefighters can respond quickly to each situation.

In addition, the server 10 may determine an absolute position coordinate value indicating the location of each device from the second type device 200 and / or the third type device 300, and information about the surrounding environment sensed by each device, and The user's information can be acquired directly or through a relay operation, and the obtained information can be processed or directly transmitted to each device constituting the monitoring system using indoor positioning.

Such a monitoring system using indoor positioning can recognize various situations occurring indoors and can provide various information by measuring the user's location.

In particular, it is possible to provide a variety of information for the safety of firefighters by recognizing the location of the firefighters at the fire site.

2 and 3 are diagrams showing an example of a method for measuring the position of the device using the trilateration method related to the present invention.

Referring to FIGS. 2 and 3, each of the second type device 200 and the third type device 300 described in FIG. 1 is adjacent to another adjacent first type device, second type device, and third type device. Based on the signal transmitted from the device, you can measure your position using trilateration.

Specifically, the device of the second type and the device of the third type may calculate a location by using an identifier and a distance of a signal transmitted from other adjacent devices.

That is, the device 4 of the second type or the third type may calculate the distance between the device 4 and the device 1 by using a signal transmitted from the device 1, and use the calculated distance to form a prototype in which the device 4 may exist from the device 1. It can recognize the position range of.

In addition, the same method as the device 2 may recognize a circular position range in which the device 4 may exist from the device 1.

The device 4 may recognize a portion where the location range recognized by the device 1 and the location range recognized by the device 2 intersect as an area where the device 4 is located.

However, as shown in FIG. 2, since two different locations exist, device 4 may recognize another location range through signals transmitted from adjacent device 3, and may recognize the location ranges from devices 1, 2, and 3. You can recognize the point where the location range intersect as your location.

In this case, the device 4 may calculate a D value representing the distance from each device through the method as shown in Equation 1 below.

In Equation 1, n denotes a correction constant for compensating an error value.

Equation 1 is just an example for obtaining a distance, and various methods such as triangulation, time of arrival (TOA), or time difference of arrival (TDOA), etc. may be used to obtain a distance between devices. Can be.

FIG. 3A illustrates an example of a triangulation method, and FIG. 3B illustrates an example of TDOA.

Triangulation A triangulation method is a surveying method performed in a large area. If the length of one side of a triangle and the angle of both sides are known, the length of the other side can be calculated by using an equation.

Triangulation is a simple geometric method that can be used to estimate the real-time position of an object moving on a two-dimensional plane in an RTRL system.

In order to estimate the position of an object moving in two dimensions in real time by triangulation, at least three reference points (ie APs) are required.In order to estimate the position of an object moving in three dimensions, at least four reference points are required. need.

For example, as shown in (a) of FIG. 3, when the triangulation method is used with the devices _1, the device _2, and the device _3 as reference points, the distance from each device to the device 4 can be calculated.

Specifically, the coordinates of the device_1 which is the moving object are the coordinates of the device_1 (x1, y1), the coordinates of the device 2 are (x2, y2), the coordinates of the device 3 are (x3, y3), and (x4 , y4).

In this case, when the distance from each device to the device _4 is D1, D2, and D3, respectively, D1, D2, and D3 may be calculated using Pythagorean theorem of the triangulation method as shown in Equation 2 below.

Alternatively, D1, D2, and D3 may be calculated using Time Of Arrival (TOA) or Time Difference of Arrival (TDOA).

TOA is a method of determining the position of a device through distance measurement using the concept.

For example, the distance can be measured by measuring the time until the transmission signal transmitted to the known point where the fog horn is located reaches the device to measure the distance.

This time length may be calculated by multiplying the propagation time of the signal by the speed of the signal, where the speed of the signal may be the speed of sound or light.

1) Illustrates the distance between the time the mobile device sent the location information and the time the location information was received at the reference point.

2) Use the physical formula of speed = distance / time (c = d / t).

3) All reference points should be synchronized with each other in terms of time.

For example, if the position information of the device transmitted in t (sec) is received after 0.2 (usec) at a specific reference point, the difference between the arrival time and the transmission time is 0.2 (usec), and the propagation speed of the radio wave is 3 Assuming X 108 (m / sec), the distance d between the moving object and the reference point may be calculated as 60 (m) through Equation 3 below.

In the case of the TOA, when synchronization is not performed between a device requesting a signal for calculating a distance and a device transmitting a signal, the TOA cannot be used, and in this case, the TDOA method may be used.

TDOA is a method of obtaining a distance by using a speed difference between a radio signal and a sound wave signal, as shown in FIG.

Specifically, in FIG. 3 (b), the transmitting side simultaneously transmits the radio signal and the sound wave signal, and then the receiving side measures the arrival time of each signal.

Since the radio signal is faster than the sound wave signal, the receiving side receives the radio signal before the sound wave signal, and the transmission speed can be obtained by using the time difference of the time when each signal arrives. The distance between them can be calculated.

For example, each device transmits a radio signal and a sound wave signal at the same time, and the device _4 receives a radio signal and a sound wave signal transmitted from each device, by using the arrival time difference between the radio signal and the sound wave signal. The distance to the device may be calculated. In this manner, the second type device 200 and the third type device 300 described with reference to FIG. 1 may measure their positions.

4 and 5 are diagrams showing an example of a method for measuring the position of the device using the indoor positioning method associated with the present invention.

4 and 5, the position of the third type device 300 may be measured using the first type device 100 and the second type device 200 described above.

Below. A fire situation is described as an example to explain a method for positioning, but this is only one example.

Specifically, at the fire site, the fire crews constructed the infrastructure using the first type of device 100, the second type of device 200, and the third type of device 300 as shown in FIG. 4. Assume the case.

First, A1, A2 and A3, which are devices of the first type first installed by firefighters, can measure absolute position values (position coordinates) using GPS.

Then, as shown in (a) of FIG. 4, B1 is based on the absolute position value and the received signal strength of the data packet transmitted from A1, A2 and A3 whose absolute position value is calculated via GPS. The relative position value is calculated using the trilateration method discussed in, and the absolute position value (position coordinate) is calculated based on the calculated relative position value.

Then, as shown in (b) of FIG. 4, B2 is an absolute position value and a reception of a data packet transmitted from A1, A2 whose absolute position value is calculated through GPS, and B1 whose absolute position value is calculated through trilateration. The relative position value is calculated using the same method as B1 based on the signal strength, and the absolute position value (position coordinate) is calculated based on the calculated relative position value.

Then, as shown in (c) of FIG. 4, the second type of devices B3, B4, B5, and B6 can calculate their absolute position values using the same method, and the third attached to the firefighter. A device of the type C1 can calculate its relative position value through the same method based on the absolute position value and the received signal strength of the data packet transmitted from the adjacent second type devices B4, B5 and B6. The absolute position value (position coordinates) can be calculated based on the relative position value.

In this manner, the second type devices and the third type devices shown in FIG. 4 calculate their relative position values using data packet and received signal strength transmitted from adjacent devices, and calculate the calculated relative position. The value can be used to calculate the position coordinates representing the absolute position.

In this case, each type of device must be able to receive signals from at least three adjacent devices in order to measure its relative and absolute positions, and at least three adjacent devices measure their relative and absolute positions, respectively. It must be a device.

However, when measuring the position of the device by using trilateral surveying method through RSSI, an error may occur as shown in FIG. 5 according to the distance at which the signal is transmitted, and the measured position may appear as a range due to the error. Can be.

Accordingly, various methods for accurately calculating the distance between devices may be used to reduce such errors.

6 is a flowchart illustrating an example of an indoor positioning method according to the present invention.

Referring to FIG. 6, a plurality of devices located indoors may measure their location using signals transmitted from adjacent devices.

Specifically, the server 10 builds a mobile comprehensive monitoring server for an indoor positioning system, and the first type of device 100 of the first type described above may be installed outside the building to build a system for positioning. Using the GPS module, absolute position values can be calculated (or measured).

In this case, a plurality of first devices 100 may exist, and each of the first devices 100 may be disposed at a distance capable of communicating with each other.

The plurality of first devices 100 may calculate absolute position coordinate values indicating their absolute positions through the GPS module, and periodically generate a first data packet including the calculated absolute position coordinate values (first position values). The Ack may be transmitted to the server and the second device adjacent to the second type and receive an Ack in response thereto (S6010).

The first data packet includes a first identifier (ID) for identifying the first device 100, a unique number, first state information indicating a state of the first device 100, and a position coordinate value of the first device 100. It may include at least one of a flag indicating whether this has been calculated or the first transmission signal strength.

The first state information included in the first data packet may indicate whether the first device 100 is activated and / or a battery state.

Thereafter, the second type of second device 200 may be attached to a specific location from the user and be built, and receive data packets transmitted from the adjacent first device 200 and / or other second devices of the second type. Received Signal Strength Indication is measured.

The second device 200 measuring the received signal strength of the data packet may be compared with the first device 200 and / or another second device using the trilateration method described above using the position coordinate value and / or the received signal strength. The relative position coordinate value (second position value) representing the relative position of the second position value is calculated, and the absolute position coordinate value (third position value) indicating the absolute position of the second device 200 using the calculated relative position coordinate value. Can be calculated

The second device 200 may calculate a relative coordinate value when receiving a data packet from at least three adjacent first device 200 and / or other second devices.

In addition, the second device 200 may sense environmental information such as temperature, carbon monoxide, carbon dioxide, or the like at the position where the second device 200 is attached.

Thereafter, the second device 200 periodically transmits a second data packet including the calculated coordinate value to the adjacent first device 200, another second device, and / or the third type of third device 300. Ack, which is a response thereto, may be received (S6020).

In this case, the second data packet includes a second identifier (ID) for identifying the second device, a unique number, second state information indicating a state of the second device, and a flag indicating whether a position coordinate value of the second device has been calculated. , At least one of the sensing information sensed by the second device or the strength of the second transmission signal.

When the first device 100 receives the second data packet from the second device, the first device 100 may transmit the received second data packet to the server through a relay operation, and receive an Ack in response thereto (S6030). .

The second state information included in the second data packet may indicate whether the second device 100 is activated and / or a battery state.

Thereafter, the third type of the third device 300 measures a received signal strength indication of the second data packet transmitted from at least three of the plurality of adjacent second devices 200.

The third device 300 measuring the received signal strength of the second data packet is relative to the plurality of second devices 200 using the trilateration method described above using the position coordinate value and / or the received signal strength. The relative position coordinate value (fourth position value) indicating the position may be calculated, and the absolute position coordinate value (five position value) indicating the absolute position of the third device 200 may be calculated using the calculated relative position coordinate value. have.

In addition, the third device 300 may sense environmental information such as temperature, carbon monoxide, or carbon dioxide of a place where the user is currently located, and bio information such as body temperature, heart rate, blood pressure, and physical activity of the user.

Thereafter, the third device 300 periodically transmits a third data packet including the calculated coordinate value to the adjacent second device 200 and / or another third type of device and receives an Ack in response thereto. It may be (S6040).

In this case, the third data packet includes a third identifier (ID) for identifying the third device, a unique number, third state information indicating a state of the third device, and a flag indicating whether a position coordinate value of the third device is calculated. For example, the third device 300 may include at least one of sensing information sensed by the third device 300 or strength of the third transmission signal.

When the second device 100 receives the third data packet from the third device 300, the second device 100 may transmit the received third data packet to the first device 100 through a relay operation, and the first device 100. ) May transmit the transmitted third data packet to the server.

In this way, when the infrastructure and mobile communication network for positioning in a building cannot be used, the location of the user can be located, and the environment information of each place where the devices are located can be instructed to instruct actions for each situation. have.

7 and 8 are flowcharts illustrating an example of a method of transmitting a data packet for indoor positioning according to the present invention.

Referring to Figures 7 and 8, before deploying devices indoors to build a monitoring system for positioning, information related to a particular type of device is transmitted to other types of devices and servers, and then the devices are placed indoors. By deploying, it is possible to construct a monitoring system using positioning.

Specifically, FIG. 7 illustrates a method for transferring information related to a particular type of device to other types of devices and servers before deploying the devices indoors to build a monitoring system for positioning. FIG. A method for constructing a monitoring system using location positioning by placing devices in the system is shown.

First, as shown in FIG. 7, the server 10 constructs a mobile comprehensive monitoring server for an indoor positioning system, and the first type of device 100 of the first type as described above is installed outside of a building to provide positioning. A system can be built, and the absolute positioning value can be calculated (or measured) through the GPS module.

In this case, a plurality of first devices may exist and may be disposed at a distance at which communication with each other is possible.

The plurality of first devices may calculate an absolute position coordinate value indicating their absolute position through the GPS module, and periodically transmit a first data packet including the calculated absolute position coordinate value (first position value) to the server and the adjacent one. A second device of the second type may be transmitted and an Ack in response thereto may be received (S7010).

The first data packet includes a first identifier (ID) for identifying the first device, a unique number, first status information indicating a state of the first device, a flag indicating whether a position coordinate value of the first device has been calculated, or a first data packet. At least one of one transmission signal strength may be included.

The first state information included in the first data packet may indicate whether the first device 100 is activated and / or a battery state.

Thereafter, the second device 200 may transmit the first data packet received from the first device 100 to another adjacent second device and / or third device 300 (7020).

In this way, the location coordinate values and information of the first device disposed outside may be transmitted to other devices before the devices for building the indoor monitoring system are arranged indoors through the indoor positioning method.

Subsequently, as shown in FIG. 8, the second device 200 of the second type may be attached to a specific location from the user, and the second device 300 and the third device 300 may be constructed in FIG. 6. As described above, its relative position and absolute position may be measured through data packets transmitted from at least three adjacent second type and / or third type devices.

In addition, as shown in FIG. 6, the second device 200 may sense environmental information, and the third device may sense environmental information and bio information of the user.

Thereafter, the second device 200 periodically transmits a second data packet including the calculated coordinate value to the adjacent first device 200, another second device, and / or the third type of third device 300. It may be (S8010).

In this case, the second data packet includes a second identifier (ID) for identifying the second device, a unique number, second state information indicating a state of the second device, and a flag indicating whether a position coordinate value of the second device has been calculated. , At least one of the sensing information sensed by the second device or the strength of the second transmission signal.

When the first device 100 receives the second data packet from the second device, the first device 100 may transmit the received second data packet to the server 10 through a relay operation, and receive an Ack in response thereto. (S8020).

In addition, the third device may also periodically transmit the third data packet including the calculated coordinate value to the adjacent first device 200, another second device and / or third type third device 300 ( S8030).

The third data packet includes a third identifier (ID) for identifying the third device, a unique number, third status information indicating a state of the third device, a flag indicating whether a position coordinate value of the third device is calculated, The third device 300 may include at least one of sensing information sensed by the third device 300 and strength of the third transmission signal.

When the second device 200 receives the third data packet from the third device 300, the second device 200 transmits the received third data packet to the first device 100 (S8040), and the first device 100 receives the received third data packet. The third data packet may be transmitted to the server 10 and an Ack may be received in response (S8050).

9 is a flow chart illustrating an example of a method for measuring position in accordance with the present invention.

Referring to FIG. 9, the device of the second type described above may calculate an absolute position coordinate value indicating its absolute position using a signal received from an adjacent device.

Specifically, the second type of device in Table 1 periodically broadcasts a specific data packet to adjacent devices (S9010).

In this case, the specific data packet includes an identifier for identifying the device that transmitted the data packet, a unique number, state information indicating the state of the device, a flag indicating whether a position coordinate value has been calculated, sensing information sensed by the device, or transmission signal strength. It may include at least one of.

At this time, since the device has not yet measured its position, the flag indicates that the position has not been measured.

In this case, even when adjacent devices receive a specific data packet transmitted from the device, other adjacent devices discard without using the specific data packet transmitted from the device to measure its location.

The device also receives data packets from a plurality of adjacent first and second type devices to measure the received signal strength of the received data packet.

The device calculates a relative position value representing its relative position using the trilateration method shown in FIG. 2 based on the measured received signal strength and the received data packet, and uses the calculated relative position value to represent the absolute position. The absolute position coordinate value is calculated (S9020).

In this case, when the device calculates the relative position value using data packets received from fewer than three devices, or the absolute position coordinate value included in the received data packet is '0', the calculated absolute position coordinate value Can be '0'.

When the calculated absolute position coordinate value is '0', the device may receive a data packet again from a plurality of devices of the adjacent second type and / or third type to calculate the relative coordinate value and the absolute position coordinate value.

If the calculated absolute position coordinate value is not '0', the device stores the calculated absolute position coordinate value, and includes the absolute position coordinate value calculated by a plurality of devices of the adjacent second type and / or third type. The data packet can be transmitted (S9030, S9040).

In this case, the data packet includes an identifier (ID) for identifying the device, a unique number, state information indicating the state of the device, a flag indicating whether the absolute position coordinate value of the device has been calculated, sensing information related to the surrounding environment of the device, or It may include at least one of the transmission signal strength.

Although the present embodiment has been described using the second type of device as an example, it can be applied to other types of devices.

10 is a flowchart illustrating yet another example of a method for measuring a position related to the present invention.

Referring to FIG. 10, the above-described third type device may calculate an absolute position coordinate value indicating its absolute position using a signal received from an adjacent device.

In detail, the third type of device in Table 1 may periodically receive a specific data packet from a plurality of devices of the adjacent second type and / or third type (S10010).

In this case, the specific data packet includes an identifier for identifying each device transmitting the data packet, a unique number, status information indicating the status of the device, a flag indicating whether a position coordinate value has been calculated, and an absolute value of each device transmitting the data packet. It may include at least one of an absolute position coordinate value indicating a position, sensing information sensed by the device, or strength of a transmission signal.

If the absolute position coordinate value included in the received data packet is '0', the device deletes the received position coordinate value and receives the data packet again from a plurality of devices of the adjacent second type and / or third type. (S10020).

However, when the absolute position coordinate value included in the received data packet is not '0', the device stores the received absolute position coordinate value (S10030).

Since the apparatus needs the absolute position coordinate values of three or more adjacent apparatuses to calculate the relative position using the trilateration method described above, the apparatus performs the scanning operation until the three or more absolute position coordinate values are transmitted.

That is, if the received absolute position coordinates of the adjacent devices are two or less, since the device cannot calculate its relative position value using the trilateration method, it can calculate its absolute position coordinate value as '0'. In operation S10040, the data packet is received again from a plurality of devices of the adjacent second type and / or third type.

However, when three or more absolute position coordinate values of neighboring devices are received, the device may calculate its relative position value using the trilateration method described in FIG. 2 using stored absolute position coordinate values and measured received signal strength. In operation S10050, the absolute position value thereof may be calculated using the calculated relative position value.

Thereafter, the device may generate a data packet including the absolute position value calculated by the device and transmit the generated data packet to the server through the adjacent device and / or the adjacent device.

11 is a flowchart illustrating an example of a method for controlling an operation through a server according to the present invention through a position value and a sensing value.

Referring to FIG. 11, the server may receive a sensing value and an absolute position coordinate value indicating a location of each device from devices for an indoor monitoring system using an indoor positioning method, and transmit specific information to each device.

In detail, the server may receive a data packet including a sensing value and an absolute position coordinate value indicating the position of each device from the devices for the indoor monitoring system using the indoor positioning method directly or through a relay operation (S11010). ).

In this case, the data packet indicates an identifier for identifying the device that transmitted the data packet, a unique number, status information indicating the status of the device, a flag indicating whether a position coordinate value has been calculated, and an absolute position of the device transmitting the data packet. It may include at least one of an absolute position coordinate value, sensing information sensed by the device, or a transmission signal strength.

In this case, the sensing information may include at least one of environment information related to a place where each device is located or bio information of a user to which each device is attached.

The environmental information may include at least one of sensing information such as a temperature of a place where the device is located, or a concentration of carbon monoxide, a concentration of carbon dioxide, and the like, and the bio information may include, for example, a body temperature, a heart rate, and a blood pressure of a user to which the device is attached. It may include at least one of information that can be sensed.

Thereafter, the server may generate specific information based on the obtained absolute position coordinate value and the sensing information (S11020).

For example, based on the absolute position coordinate values and sensing information, the server may display path information indicating a firefighter's escape route, danger zone information indicating a danger zone, danger information indicating a danger level of each region, and a problem with the body of the firefighter. It is possible to generate the structure information indicating the existence or the support request information for requesting the support of the structure.

In addition, the server may generate a command for instructing each device of a particular operation.

For example, when the user moves to a high risk area, a command for outputting a warning sound may be generated.

Thereafter, the server may broadcast the generated specific information to be transmitted to the apparatus for location measurement directly or through a relay operation (S11030).

In addition, the generated information may be transmitted to an external agency.

Through such a method, the server may acquire absolute position coordinate values and sensing information from the devices for the indoor monitoring system using the indoor positioning method and control the respective devices.

12 is a flowchart illustrating an example of a method for transmitting and receiving a measured position value and a sensing value between servers according to the present invention.

Referring to FIG. 12, devices for an indoor monitoring system using an indoor positioning method may transmit calculated absolute position coordinate values and sensing information to a server, and the server may process the received absolute position coordinate values and sensing information as they are or by processing the same. It can then be sent back to the devices for the indoor monitoring system.

Hereinafter, the devices described in the present embodiment may be the first type, the second type, or the third type devices described above.

Specifically, the device _2 may calculate its relative position value and absolute position coordinate value through the above-described method, and may sense environment information and / or bio information.

In addition, the device_1 may also calculate its relative position value and absolute position coordinate value through the method described above, and may sense environment information and / or bio information.

The device_2 may generate a first data packet including at least one of the calculated relative position value, absolute position coordinate, or sensing information, and transmit the generated first data packet to the server directly or through an adjacent device ( S12010).

The server may collect and store various pieces of information transmitted from devices configuring the indoor monitoring system using indoor positioning, and transmit necessary information to each device.

In addition, the stored information may be processed and transmitted to each device so that each device performs a specific operation.

The first data packet may be an identifier for identifying the device that generated the data packet, a unique number, status information indicating the status of each device, a flag indicating whether the location coordinate value of the device has been calculated, or transmitted. At least one of the signal strength may be further included.

Hereinafter, a method of transmitting the received data packet to other devices as it is will be described as an example.

The server may transmit the first data packet received from the device_2 to the device_1 through other adjacent devices (S12020).

Thereafter, the device_1 may perform a specific operation based on the absolute position coordinate value and / or the sensing information included in the first data packet transmitted from the server through the adjacent devices (S12030).

For example, the device_1 outputs the position of the third type of devices through the output unit through the output unit based on the absolute position coordinate value included in the first data packet transmitted from the server, or configures the monitoring system. If the location where the location is located is a dangerous location, on the basis of the absolute position coordinate value and the sensing information included in the first data packet, when the device_1 moves to a dangerous place, a warning sound or the like may be output to notify the user.

Device_2 may also receive a data packet from the server and perform an operation similar to device_1.

Thereafter, when a specific operation requires a response, the device_1 may generate a second data packet and transmit the second data packet generated directly or through an adjacent device to the server (S12040). Ack may be received directly or through adjacent devices (S12050).

For example, if the specific action is a request for assistance for rescue, the device_1 may include a third data packet including information indicating a user ID for identifying users existing at the current location, a location requiring rescue, the number of persons, and the like. Can be generated and sent to the server.

The server may transmit the received third data packet directly or through other devices to the third type of device constituting the monitoring system so that the rescue operation can be performed smoothly.

Alternatively, when a specific operation is output of an alarm sound indicating a danger, a third data packet including information indicating whether the alarm sound is successfully output or whether the device_1 is out of the danger area is generated to directly or adjacent devices. Can be sent to the server.

Through this method, devices constituting the indoor monitoring system using the indoor positioning method may exchange position coordinate values and sensing information calculated through a server.

13 is a block diagram of a device supporting an indoor positioning method using low power Bluetooth according to the present invention.

Referring to FIG. 13, an apparatus 1300 constituting an indoor monitoring system using an indoor positioning method may include a controller 1320, a communication unit 1310, an output unit 1330, and a sensor 1340.

The communication unit 1310 may be configured as a mobile communication module 1314 for communication with the outside and a low power Bluetooth module 1312 for communication via BLE with other devices for indoor positioning.

Signals of other devices received through the low power Bluetooth module 1312 may be measured for the strength of the received signal for positioning.

The control unit 1320 of the device 1300 measures (or calculates) a received signal strength of a signal received from other devices, and uses the absolute position coordinate values and the received signal strength of other devices included in the received signal. The triangulation method described above may calculate a relative position value representing the relative position of the device 1300, and the absolute position coordinate representing the absolute position of the device 1300 may be calculated using the calculated relative position value.

In addition, the controller 1320 may receive the specific information transmitted from the other device or the server described above through the low power Bluetooth module 1312, and perform a specific operation based on the specific information received through the output unit 1330. can do.

The output unit 1330 may include a display module 1332 and a sound output module 1334.

The controller 1320 may output information such as an escape route, etc. to the user through the display module 1332, and output a warning sound informing the user of the dangerous area through the audio output module 1334.

The sensor 1340 may sense environment information where the device 1300 is located or sense bio information of a user.

The environmental information may include at least one of sensing information such as a temperature of a place where the device is located, or a concentration of carbon monoxide, a concentration of carbon dioxide, and the like, and the bio information may include, for example, a body temperature, a heart rate, and a blood pressure of a user to which the device is attached. It may include at least one of information that can be sensed.

The controller 1340 may transmit the information sensed through the sensor 1340 to another adjacent device or server through the low power Bluetooth module 1312.

The present invention described above can be embodied as computer readable codes on a medium in which a program is recorded. The computer-readable medium includes all kinds of recording devices in which data that can be read by a computer system is stored. Examples of computer-readable media include hard disk drives (HDDs), solid state disks (SSDs), silicon disk drives (SDDs), ROMs, RAMs, CD-ROMs, magnetic tapes, floppy disks, optical data storage devices, and the like. This also includes implementations in the form of carrier waves (eg, transmission over the Internet). In addition, the computer may include the controller 180 of the terminal. Accordingly, the above detailed description should not be construed as limiting in all aspects and should be considered as illustrative. The scope of the invention should be determined by reasonable interpretation of the appended claims, and all changes within the equivalent scope of the invention are included in the scope of the invention.

10: server 100: device of the first type
200: device of the second type 300: device of the third type

Claims (4)

Measuring, at each of a plurality of first devices of a first type installed at a specific location, a first position value representing an absolute position of each of the plurality of first devices using a GPS module;
At each of the plurality of first devices, transmitting a first data packet comprising the first location value to at least one of the plurality of second devices of an adjacent second type;
The first data packet includes a first identifier for identifying each of the plurality of first devices, first state information indicating a state of each of the plurality of first devices, and a transmission signal strength of each of the plurality of first devices. A first transmitted signal strength information (RSSI) indicating;
Measuring, at each of the plurality of second devices, a first low power Bluetooth received signal strength of the first data packet transmitted from at least three of the plurality of first devices;
A second position in each of the plurality of second devices indicating a relative position of each of the plurality of second devices relative to the at least three devices using the first low power Bluetooth received signal strength and the first position value Calculating a value;
Calculating, at each of the plurality of second devices, a third position value representing an absolute position of each of the plurality of second devices using the second position value;
Transmitting, at each of the plurality of second devices, a second data packet comprising the third location value to at least one third device of an adjacent third type,
The second data packet includes a second identifier for identifying each of the plurality of second devices, second state information indicating a state of each of the plurality of second devices, and a transmission signal strength of each of the plurality of second devices. A second transmitted signal strength information (RSSI) indicating;
Measuring, at each of the at least one third device, a second low power Bluetooth received signal strength of the second data packet transmitted from at least three of the plurality of second devices;
A fourth position in each of the at least one third device indicating a relative position of each of the at least one third device relative to the at least three devices using the second low power Bluetooth received signal strength and the second position value Calculating a value;
Calculating, at each of the at least one third device, a fifth position value representing an absolute position of each of the at least one third device using the fourth position value;
Sending, at each of the at least one third device, a third data packet including the fifth location value to a server via a plurality of adjacent second type devices; And
Sending, at the server, a fourth data packet including the fifth location value to another device of a third type through at least one of the plurality of second devices and the at least one third device; ,
The first type represents a device type for measuring the absolute position using a GPS module,
The second type represents a device type for collecting environmental information related to transmission and fire of the second data packet for calculating a relative position of each of the at least one third device, fixed in a specific space,
And the third type is attached to a user and indicates a device type for estimating the location of the user by calculating relative and absolute positions of the at least one third device. The method of claim 1,
Transmitting, at each of the plurality of second devices, the environment information to the server via at least one of the plurality of first devices,
The environmental information includes at least one of risk information due to fire, temperature information, oxygen information, gas information, or carbon monoxide information;
Calculating, at the server, a route value representing an optimal escape route of the at least one third device based on the environment information;
Transmitting, at the server, a fourth data packet including the calculated path value to each of the at least one third device through at least one of the plurality of first devices or the plurality of second devices;
Scanning, at the at least one third apparatus, a signal transmitted from adjacent devices until each receiving the second data packet from the at least three apparatuses; And
In each of the at least one third device, further comprising the step of outputting the path value received from the server through an output unit,
And the third data packet further includes body information indicating a physical condition of a user measured by the at least one third device. The method of claim 1,
Receiving, at the at least one third device, a fourth data packet including an absolute position and a sensing value of another device of the third type through adjacent devices from the server; And
In the at least one third device, outputting an absolute position and a sensing value of the other device,
Each of the plurality of second devices and the at least one third device periodically transmits a specific data packet to adjacent devices,
The specific data packet includes a flag indicating whether at least one of a relative position or an absolute position of each of the plurality of second devices and the at least one third device is calculated;
And the second position value and the fourth position value are calculated using trilateration. In the position estimation system using a low power Bluetooth including a plurality of devices,
In each of a plurality of first devices of a first type installed in a specific space, a first position value indicating an absolute position of each of the plurality of first devices is measured using a GPS module, and includes the first position value. Transmitting a first data packet to at least one of the plurality of second devices adjacent to the second type, wherein the plurality of first devices of the first type are installed in a specific space;
The first data packet includes a first identifier for identifying each of the plurality of first devices, first state information indicating a state of each of the plurality of first devices, and a transmission signal strength of each of the plurality of first devices. A first transmitted signal strength information (RSSI) indicating;
Measure a first low power Bluetooth received signal strength of the first data packet transmitted from at least three of the plurality of first devices, and at each of the plurality of second devices, the first low power Bluetooth received signal strength And calculate a second position value representing a relative position of each of the plurality of second devices relative to the at least three devices using the first position value, wherein, in each of the plurality of second devices, the second position value; A third position value representing an absolute position of each of the plurality of second devices is calculated using the position value, and the second data packet including the third position value is adjacent to each of the plurality of second devices. A plurality of second devices of a second type transmitting to at least one third device of a third type,
The second data packet includes a second identifier for identifying each of the plurality of second devices, second state information indicating a state of each of the plurality of second devices, and a transmission signal strength of each of the plurality of second devices. A second transmitted signal strength information (RSSI) indicating;
Measure a second low power Bluetooth received signal strength of the second data packet transmitted from at least three of the plurality of second devices, and in each of the at least one third device, the second low power Bluetooth received signal strength And calculate a fourth position value representing a relative position of each of the at least one third apparatus relative to the at least three apparatuses using the second position value, and in each of the at least one third apparatus, Calculate a fifth position value representing an absolute position of each of the at least one third device using the position value, and in each of the at least one third apparatus, adjacent to a third data packet comprising the fifth position value At least one third device of a third type for transmitting to a server through a plurality of said second type devices; And
A server for transmitting a fourth data packet including the fifth location value to another device of a third type through at least one of the plurality of second devices and the at least one third device,
The first type represents a device type for measuring the absolute position using a GPS module,
The second type represents a device type for collecting environmental information related to transmission and fire of the second data packet for calculating a relative position of each of the at least one third device, fixed in a specific space,
And the third type is attached to a user and indicates a device type for estimating the location of the user by calculating the relative and absolute positions of the at least one third device.

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