KR102153932B1 - Apparatus for updating of positioning infrastructure database automatically and method using the same - Google Patents

Abstract

An apparatus and method for automatically updating a location infrastructure database are disclosed. The apparatus for automatically updating the positioning infrastructure database according to the present invention reconstructs the movement path of the user based on at least one user participation data received from the user's terminal, and a plurality of references corresponding to the movement path based on the positioning infrastructure database Extract locations, determine whether to update the positioning infrastructure database based on the at least one user participation data respectively corresponding to the plurality of reference locations, and correspond the positioning infrastructure database to the plurality of reference locations, respectively It may be updated according to the at least one user participation data.

Description

Location infrastructure database automatic update device and method {APPARATUS FOR UPDATING OF POSITIONING INFRASTRUCTURE DATABASE AUTOMATICALLY AND METHOD USING THE SAME}

The present invention relates to an apparatus for automatically updating a positioning infrastructure database, and more particularly, to a technology for automatically updating a positioning infrastructure database that can detect and automatically update a change in a positioning infrastructure database using positioning infrastructure information transmitted from a user terminal.

Location estimation technology using wireless communication infrastructure exists in various ways depending on the type of infrastructure and the range of services. For example, GNSS (Global Navigation Satellite System) refers to a system that determines the user's location using satellite signals in the Earth's orbit, similar to the US's Global Positioning System (GPS) and Russia's GLONASS (Global Navigation Satellite System). ) And Europe's Galileo are currently in operation or planned to operate.

Such GNSS provides high positioning accuracy and availability within 10m in suburban areas or flat lands where direct line of sight from satellites and receivers is secured, but in dense urban areas, which are non-line of sight sections. Due to the multi-path error, the position error reaches 50m, and especially in indoor areas, the reception sensitivity is deteriorated, and signal acquisition is not possible, making it difficult to determine the position.

Among other wireless communication infrastructures, a cellular-based location estimation technology is a technology that determines a user's location using location information and measurement signals of a mobile communication base station. Specifically, the cellular-based location estimation technology is classified into Cell-ID, Enhanced-Observed Time Difference (E-OTD), Advanced-Forward Link Trilateration (AFLT), and the like according to the number of base stations that can be received by the terminal device. It has the advantage of being able to determine its location not only outdoors but also indoors due to the characteristics of mobile communication infrastructure that covers most areas of the city center and church as a service range. However, the cellular-based location estimation technology is difficult to apply to indoor or outdoor navigation services that require a location accuracy of several meters because the location estimation accuracy varies according to the placement density of the base station and has a relatively low location accuracy of about 100 to 800 m on average.

Assisted-GNSS refers to a technology that acquires auxiliary information from a location estimation server in order to improve the sensitivity of the minimum received signal of the GNSS receiver built into the user terminal device and shorten the time to first fix. Assisted-GNSS enables fast positioning using GNSS in a dense urban area, which is a weak signal environment, but the signal is very weak in an indoor area, so a great effect cannot be obtained.

Indoors, mainly location estimation technology using Wi-Fi has been suggested. In general, Wi-Fi-based location estimation technology can be largely classified into location DB-based and radio map DB-based techniques. The location DB includes information such as the identifier, location, transmission signal strength, and signal attenuation coefficient of the Wi-Fi AP (base station) existing in the service area. The subject that calculates the location receives this location DB and estimates the location using Cell-ID, triangulation, and Weighted Centroid Localization (WCL). The radio map DB includes information such as base station information, signal strength, and various statistical information received at a plurality of preset reference locations within the service area. The subject calculating the location estimates a reference location having the most similar information as the current location by comparing the currently searched positioning resource with the signal strength recorded in the radio map DB.

In general, Wi-Fi AP (Access Point) is easy to install, remove, and move, so the necessity to update the positioning infrastructure DB increases as time passes. However, it takes a lot of time and cost to build a new positioning infrastructure DB whenever the need to maintain positioning accuracy, so the method of automatically detecting changes in positioning infrastructure and updating the infrastructure DB activates indoor location-based services. It is an essential skill to do.

Korean Patent Publication No. 10-2015-0080817, published on July 10, 2015 (Name: Radio Map DB Loading Device and Method, and Terminal Device)

An object of the present invention is to automatically update an already established positioning infrastructure database based on participation data transmitted from a user's terminal without consuming extra time and cost.

In addition, an object of the present invention is to save resources required to continuously update a positioning infrastructure database based on a private network where new installations or existing infrastructures are frequently moved, such as WLAN.

In addition, an object of the present invention is to promote the development of a location-based service by providing a more convenient method for updating a location infrastructure database.

An apparatus for automatically updating a positioning infrastructure database according to the present invention for achieving the above object comprises: a movement path reconfiguration unit configured to reconstruct a movement path of the user based on at least one user participation data received from a user's terminal; A reference location extraction unit for extracting a plurality of reference locations corresponding to the movement route based on the positioning infrastructure database; An update determination unit determining whether to update the positioning infrastructure database based on the at least one user participation data corresponding to each of the plurality of reference locations; And a database update unit for updating the positioning infrastructure database to correspond to the at least one user participation data corresponding to each of the plurality of reference locations.

In this case, the update determination unit compares the at least one user participation data corresponding to each of the plurality of reference positions with existing data corresponding to each of the plurality of reference positions stored in the positioning infrastructure database, and a difference is preset. When it is equal to or greater than the threshold, it may be determined that the positioning infrastructure database is updated.

In this case, the update determination unit transmits the at least one user participation data respectively corresponding to the plurality of reference positions and the existing data corresponding to each of the plurality of reference positions by using at least one of a propagation map and a Jaccard index. The difference can be calculated by digitizing and comparing the digitized values.

In this case, the update determination unit, when using the radio map, corresponds to the first radio map generated based on the at least one user participation data respectively corresponding to the plurality of reference locations and the plurality of reference locations, respectively. The distance difference is calculated based on the RSSI (Received Signal Strength Indication) value by comparing each numerical value of the second radio map generated based on the existing data, and when the distance difference is greater than or equal to a preset reference distance difference, the It can be determined by updating the positioning infrastructure database.

In this case, when using the Jaccard index, the update determination unit includes a first set corresponding to the at least one user participation data corresponding to each of the plurality of reference positions and existing data corresponding to each of the plurality of reference positions. The similarity between the second sets corresponding to is calculated, and when the similarity is less than or equal to a preset reference similarity, it may be determined that the positioning infrastructure database is updated.

In this case, the database update unit updates the existing data corresponding to each of the plurality of reference positions to correspond to the at least one user participation data respectively corresponding to the plurality of reference positions when updating the positioning infrastructure database. can do.

At this time, the at least one user participation data is the user participation data collection time, user estimated location, mobile communication base station scan information, Wi-Fi scan information, Bluetooth scan information, user walking information, walking direction information, and walking-specific geomagnetic sensor values. , It may include at least one of an acceleration sensor value for each walking, a gyroscope sensor value for each walking, and an atmospheric pressure sensor value for each walking.

In this case, the movement path reconfiguration unit is based on at least one of the wireless communication infrastructure scan information and the positioning infrastructure database corresponding to at least one of the mobile communication base station scan information, the Wi-Fi scan information, and the Bluetooth scan information. An absolute position estimating unit for estimating a corresponding absolute position; And a filter to which at least one of the user walk information, the direction information for each walk, the geomagnetic sensor value for each walk, the acceleration sensor value for each walk, the gyroscope sensor value for each walk, and the barometric pressure sensor value for each walk is applied. And a relative position estimating unit that estimates a relative position based on the absolute position, and reconstructs the movement path based on at least one of the absolute position and the relative position.

In this case, the relative position estimating unit may estimate the relative position using one of a Kalman filter and a particle filter.

In this case, the update determination unit may determine whether to update the at least one user participation data when more than a preset amount of data is collected.

In addition, a method for automatically updating a positioning infrastructure database according to an embodiment of the present invention includes the steps of reconfiguring a moving path of the user based on at least one user participation data received from a user's terminal; Extracting a plurality of reference positions corresponding to the movement route based on the positioning infrastructure database; Determining whether to update the positioning infrastructure database based on the at least one user participation data respectively corresponding to the plurality of reference locations; And updating the positioning infrastructure database to correspond to the at least one user participation data respectively corresponding to the plurality of reference locations.

In this case, the determining step is to compare the at least one user participation data corresponding to each of the plurality of reference positions with existing data corresponding to each of the plurality of reference positions stored in the positioning infrastructure database, When it is equal to or greater than a set threshold, it may be determined that the positioning infrastructure database is updated.

At this time, the determining step is to use at least one of the at least one user participation data corresponding to each of the plurality of reference positions and the existing data corresponding to each of the plurality of reference positions using at least one of a propagation map and a Jaccard index. Each digitized and digitized values may be compared to calculate the difference.

At this time, the determining step is, in the case of using the radio map, the first radio map generated based on the at least one user participation data corresponding to the plurality of reference locations, respectively, and the plurality of reference locations, respectively. Comprising a step of calculating a distance difference based on a received signal strength indication (RSSI) value by comparing each numerical value of the second radio map generated based on the corresponding existing data, wherein the distance difference is a preset reference distance If there is more than the difference, the positioning infrastructure database can be updated.

In this case, the determining step is, in the case of using the Jaccard index, a first set corresponding to the at least one user participation data corresponding to each of the plurality of reference positions, and an existing set corresponding to each of the plurality of reference positions. It includes calculating a similarity between the second sets corresponding to the data, and when the similarity is less than or equal to a preset reference similarity, it may be determined that the positioning infrastructure database is updated.

In this case, in the updating of the positioning infrastructure database, the existing data corresponding to each of the plurality of reference locations is converted to the at least one user participation data respectively corresponding to the plurality of reference locations. Can be updated.

At this time, the at least one user participation data is the user participation data collection time, user estimated location, mobile communication base station scan information, Wi-Fi scan information, Bluetooth scan information, user walking information, walking direction information, and walking-specific geomagnetic sensor values. , It may include at least one of an acceleration sensor value for each walking, a gyroscope sensor value for each walking, and an atmospheric pressure sensor value for each walking.

At this time, the step of reconfiguring is based on at least one of wireless communication infrastructure scan information and the positioning infrastructure database corresponding to at least one of the mobile communication base station scan information, the Wi-Fi scan information, and the Bluetooth scan information. Estimating a corresponding absolute position; And a filter to which at least one of the user walk information, the direction information for each walk, the geomagnetic sensor value for each walk, the acceleration sensor value for each walk, the gyroscope sensor value for each walk, and the barometric pressure sensor value for each walk is applied. And estimating a relative position based on the absolute position, and the movement path may be reconstructed based on at least one of the absolute position and the relative position.

In this case, in the step of estimating the relative position, the relative position may be estimated using one of a Kalman filter and a particle filter.

In this case, in the determining step, when the at least one user participation data is collected more than a predetermined amount of data, it may be determined whether to update.

In addition, as another means for solving the problem of the present invention, a computer program stored in a medium is provided in order to execute the above-described method.

According to the present invention, it is possible to automatically update an already established positioning infrastructure database based on participation data transmitted from a user's terminal without consuming extra time and cost.

In addition, the present invention can save resources required to continuously update a positioning infrastructure database based on a private network where new installations or existing infrastructures are frequently moved, such as WLAN.

In addition, the present invention can promote the development of a location-based service by providing a more convenient method of updating a location infrastructure database.

1 is a diagram showing a system for automatically updating a positioning infrastructure database according to an embodiment of the present invention.
FIG. 2 is a block diagram illustrating an example of an apparatus for automatically updating a positioning infrastructure database shown in FIG. 1.
3 is a block diagram illustrating an example of a movement path reconfiguration unit shown in FIG. 2.
4 is a diagram showing a positioning infrastructure database according to an embodiment of the present invention.
5 is a diagram showing a system for estimating an absolute position of a terminal according to an embodiment of the present invention.
6 is a flowchart illustrating a method of automatically updating a positioning infrastructure database according to an embodiment of the present invention.
FIG. 7 is a detailed operation flowchart illustrating a process of determining whether to update based on a radio map among the method of automatically updating a positioning infrastructure database shown in FIG. 6.
FIG. 8 is a detailed operation flowchart illustrating a process of determining whether to update based on a Jaccard index among the method of automatically updating the positioning infrastructure database shown in FIG. 6.
FIG. 9 is an operation flowchart showing in detail a process of reconfiguring a moving path of a user among the method of automatically updating a positioning infrastructure database shown in FIG. 6.

The present invention will be described in detail with reference to the accompanying drawings as follows. Here, repeated descriptions, well-known functions that may unnecessarily obscure the subject matter of the present invention, and detailed descriptions of configurations are omitted. Embodiments of the present invention are provided to more completely explain the present invention to those with average knowledge in the art. Accordingly, the shapes and sizes of elements in the drawings may be exaggerated for clearer explanation.

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

1 is a diagram showing a system for automatically updating a positioning infrastructure database according to an embodiment of the present invention.

1, a positioning infrastructure database automatic update system according to an embodiment of the present invention includes a positioning infrastructure database automatic update device 110, terminals 120-1 to 120-N, a positioning infrastructure database 130, and a user. It includes a participation database 140.

The apparatus 110 for automatically updating the positioning infrastructure database may receive positioning infrastructure data from the user's terminals 120-1 to 120-N and update the positioning infrastructure information stored in the positioning infrastructure database 130.

At this time, in order to automatically update the positioning infrastructure information, first, user participation data may be received from a user moving with the terminals 120-1 to 120-N.

In this case, the user participation data may include a mobile communication base station capable of estimating the absolute location of the user, wireless communication infrastructure scan information such as Wi-Fi and BLE, and sensor information capable of estimating a relative location.

At this time, the positioning infrastructure database automatic updating device 110 reconstructs the user's movement path based on the user's absolute position and relative position, extracts a plurality of reference positions included in the reconstructed movement path, and You can determine whether to update ).

That is, the at least one user participation data acquired from the terminals 120-1 to 120-N may be acquired by the user on the movement path. Therefore, whether the positioning infrastructure information obtained through at least one user participation data corresponding to each of the plurality of reference locations included in the movement route is the same as the existing positioning infrastructure information stored in the positioning infrastructure database 130 Compared with the two pieces of information, if there is a difference, the positioning infrastructure database 130 may be updated with the latest information.

In this case, when the user participation data of a certain amount of data or more is collected in the user participation database 140 that collects and stores the user participation data, it may be determined whether the positioning infrastructure database 130 is updated. That is, updating the positioning infrastructure database 130 whenever user participation data is received from the user's terminals 120-1 to 120-N may cause the efficiency of the entire system to be degraded. It is possible to determine whether to update the positioning infrastructure database 130 by collecting user participation data.

The positioning infrastructure database can be updated in real time through such a positioning infrastructure database automatic update system, which is expected to greatly contribute to the development of location-based services in the future.

FIG. 2 is a block diagram illustrating an example of an apparatus for automatically updating a positioning infrastructure database shown in FIG. 1.

Referring to Figure 2, the positioning infrastructure database automatic update device 110 shown in Figure 1 is a communication unit

210, a movement path reconfiguration unit 220, a reference location extraction unit 230, an update determination unit 240, a database update unit 250, and a storage unit 260.

In general, there are two ways to configure the location infrastructure database.

At this time, the first method is to convert the location of the infrastructure that can be used for positioning into a DB. In this method, information such as an identifier of the base station, the location of the base station, the strength of the transmitted signal, and a signal attenuation coefficient can be stored in the database. At this time, the subject calculating the location may receive the database information and estimate the location using methods such as Cell-ID, triangulation, and Weighted Centroid Localization (WCL).

In addition, the second method may store information such as base station identifiers, signal strengths, and various statistical information received at a plurality of reference points preset within the service area in the database. In this case, the subject calculating the location may estimate a reference location having the most similar information as the current location by comparing the currently searched positioning resource with the signal strength recorded in the database.

In the present invention, a process of updating the positioning infrastructure database will be described based on the second method having relatively good position estimation accuracy among the two methods.

The communication unit 210 serves to transmit and receive data necessary to update the positioning infrastructure database. In particular, the communication unit 210 according to an embodiment of the present invention may receive user participation data from a user's terminal and provide updated positioning infrastructure information to a user participation database that may be separately provided.

In this case, the communication unit 210 may transmit and receive data through a network.

In this case, the network provides a path for transmitting data between the user's terminal and the positioning infrastructure database update device 110, and is a concept encompassing both a network used in the past and a network that can be developed in the future. For example, a network is a wired/wireless local area communication network that provides communication of various information devices within a limited area, a mobile communication network that provides communication between mobiles and the mobile and the outside of the mobile, and a satellite that provides communication between earth stations and earth stations. It may be a satellite communication network, a wired or wireless communication network, or a combination of two or more. Meanwhile, the transmission method standard of the network is not limited to the existing transmission method standard, and may include all transmission method standards to be developed in the future.

The movement path reconfiguration unit 220 reconstructs the movement path of the user based on at least one user participation data received from the user's terminal.

In this case, the reason for reconfiguring the user's movement path may be to check a location where at least one user participation data received from the user's terminal is received. In other words, in order to update the positioning infrastructure information previously stored in the positioning infrastructure database, the latest positioning infrastructure information is obtained from the location where the existing positioning infrastructure information was collected and compared. If there is a difference between the two information, the latest information is used. Can be updated. Accordingly, in order to determine the exact location where at least one user participation data received from the user's terminal is received, a process of first reconfiguring the user's movement path may be performed.

At this time, the positioning infrastructure database includes information on the reference location, the number of base station signals at the reference location, unique identifiers for each base station, aliases for each base station, average received signal strength for each base station, distribution of average received signal strength for each base station, and various sensor value information, etc. It may include.

At this time, the at least one user participation data is the user participation data collection time, user estimated location, mobile communication base station scan information, Wi-Fi scan information, Bluetooth scan information, user walking information, walking direction information, and walking-specific geomagnetic sensor values. , It may include at least one of an acceleration sensor value for each walking, a gyroscope sensor value for each walking, and an atmospheric pressure sensor value for each walking.

In this case, the user's walking information may be information corresponding to a gait event and an accumulated number of gait steps.

In this case, the information included in the user participation data listed above may be collected and stored without a certain pattern because each collection period may be different. For example, as shown in Table 1 below, user participation data may be stored in the user participation database in the order in which they are received from the terminal.

Table NO. Information collected One Collection time, number of Wi-Fi scanned, Wi-Fi AP information 1, Wi-Fi AP information 2 2 Collection time, user walking event, accumulated number of steps, walking direction, geomagnetic sensor value, acceleration sensor value, gyroscope sensor value, barometric pressure sensor value 3 Collection time, user walking event, accumulated number of steps, walking direction, geomagnetic sensor value, acceleration sensor value, gyroscope sensor value, barometric pressure sensor value 4 Collection time, user walking event, accumulated number of steps, walking direction, geomagnetic sensor value, acceleration sensor value, gyroscope sensor value, barometric pressure sensor value 5 Collection time, number of Wi-Fi scanned, Wi-Fi AP information 1, Wi-Fi AP information 2 6 Collection time, user walking event, accumulated number of steps, walking direction, geomagnetic sensor value, acceleration sensor value, gyroscope sensor value, barometric pressure sensor value 7 Collection time, number of Wi-Fi scanned, Wi-Fi AP information 1, Wi-Fi AP information 2 8 Collection time, number of scanned BLE beacons, No. 1 BLE beacon information, No. 2 BLE beacon information 9 Collection time, user walking event, accumulated number of steps, walking direction, geomagnetic sensor value, acceleration sensor value, gyroscope sensor value, barometric pressure sensor value 10 ...

Referring to [Table 1], the user participation data first stored in the user participation database may include information stored in the first table. In other words, the collection time at which user participation data was collected, the number of Wi-Fis scanned at the current location, AP information of Wi-Fi 1 among several Wi-Fis scanned at the current location, and several Wi-Fis scanned at the current location. Among them, AP information of Wi-Fi No. 2 may be collected and stored in table No. 1 of the user participation database.

In addition, after the user participation data stored in table 1, user participation data received from the terminal may be sequentially stored in the user participation database as shown in [Table 1].

At this time, since the information included in the user participation data may have different collection periods, the types of information stored for each table, such as Table 1, Table 2, and Table 8 of [Table 1], also It can be different.

At this time, the absolute position corresponding to the movement path may be estimated based on at least one of the wireless communication infrastructure scan information and the positioning infrastructure database corresponding to at least one of the mobile communication base station scan information, the Wi-Fi scan information, and the Bluetooth scan information. have.

In this case, the absolute position may correspond to a reference position having information most similar to the wireless communication infrastructure scan information received from the terminal in the positioning infrastructure database. That is, the absolute location may be a location searched through the existing positioning infrastructure database with only the wireless communication infrastructure scan information acquired by the terminal at the current location.

In addition, based on a filter to which at least one of the user's walking information, direction information for each walk, geomagnetic sensor value for each walk, acceleration sensor value for each walk, gyroscope sensor value for each walk, and barometric pressure sensor value for each walk, You can estimate the relative position.

In this case, the movement path may be reconstructed based on at least one of an absolute position and a relative position. In this case, since noise is included in the wireless communication signal, the possibility of an error may be high in the absolute position. Therefore, in order to effectively remove this error, it is possible to use the estimated relative position based on the walking information and the sensor information.

In this case, the relative position may be estimated using either a Kalman filter or a particle filter. In addition, since the particle filter does not require a theoretical assumption or a linearization process for a user's motion model, it may be more suitable for a relatively free pedestrian motion environment.

In this case, the user's walking information in the filter can be used in the Prediction step or Time Update step of estimating the position. For example, the relative position can generally be estimated by using the following [Equation 1] using the user's stride length and azimuth angle.

[Equation 1]

일 때,

when,

는 시간 t일 때의 사용자 추정위치일 수 있다. 즉, 사용자 추정위치

는 바로 직전 시간인 시간 t-1일 때의 위치인

에 사용자의 보행정보인

을 적용한 위치에 상응할 수 있다. At this time,

May be the user's estimated position at time t. That is, the user's estimated location

Is the position at time t-1, which is the time immediately preceding

To the user's walking information

May correspond to the location where is applied.

For example, when the time is t-1, the user's absolute position is point A, and the estimated relative position by applying the walking information from t-1 to t to the filter is 10 meters north of point A. Assuming a location, the user's location at time t can be estimated to correspond to a location 10 meters north of point A.

Therefore, it is possible to reconstruct the user's movement path by estimating the user's position based on the absolute position and the relative position at each time when user participation data is collected.

The reference location extraction unit 230 extracts a plurality of reference locations corresponding to the movement route based on the positioning infrastructure database. That is, in order to update the positioning infrastructure database, it is necessary to compare the latest positioning infrastructure information for a specific location with the previously stored positioning infrastructure information. In this case, a specific location corresponds to a plurality of reference locations corresponding to the movement route. I can.

The update determination unit 240 determines whether to update the positioning infrastructure database based on at least one user participation data corresponding to each of the plurality of reference locations.

At this time, the positioning infrastructure database is compared with at least one user participation data corresponding to each of the plurality of reference locations with existing data corresponding to each of the plurality of reference locations stored in the positioning infrastructure database, and the difference is greater than or equal to a preset threshold. It can be determined by updating.

For example, assuming that the user participation data corresponding to the reference location A is A1 and the existing data is A2, information on A1 and A2 may be the same or very similar if there is no environmental change in the reference location A. Accordingly, when a difference greater than or equal to a preset threshold value occurs when comparing A1 and A2, it may be determined that an environmental change has occurred at the reference location A and the positioning infrastructure database is updated.

At this time, at least one user participation data corresponding to each of the plurality of reference positions and the existing data corresponding to each of the plurality of reference positions are respectively quantified using at least one of a radio wave map and a Jaccard index, and the numerical value The difference can be calculated by comparing.

In this case, in the case of using a radio wave map, based on the first radio map generated based on at least one user participation data corresponding to each of the plurality of reference locations and the existing data respectively corresponding to the plurality of reference locations. It is determined that the distance difference based on the RSSI (Received Signal Strength Indication) value is calculated by comparing the generated second radio map values respectively, and updating the positioning infrastructure database when the distance difference is more than a preset reference distance difference. I can.

That is, the first wave map and the second wave map are wave maps for the same area, but the first wave map was generated using the latest information, and the first wave map was generated using the previous information stored in the positioning infrastructure database. 2 May correspond to a radio map.

Therefore, when the difference between the two radio maps is quantified and compared, if the distance difference to a specific location occurs more than the preset reference distance difference, it is determined that an environmental change has occurred in the area including a plurality of reference locations, and the positioning infrastructure database It can be determined by updating.

For example, the distance difference between two radio maps generated based on Wi-Fi scan information can be calculated using [Equation 2].

[Equation 2]

값이 기설정된 기준 거리차이 이상인지 여부를 확인하여 측위 인프라 데이터베이스 갱신 여부를 결정할 수 있다.Here, a may be a component of Wi-Fi scan information stored in the first radio map, and b may be a component of Wi-Fi scan information stored in the second radio map. Therefore, calculated through [Equation 2]

It is possible to determine whether to update the positioning infrastructure database by checking whether the value is greater than or equal to a preset reference distance difference.

In this case, in the case of using the Jaccard index, between a first set corresponding to at least one user participation data corresponding to each of a plurality of reference positions and a second set corresponding to existing data corresponding to each of the plurality of reference positions. When the similarity is calculated and the similarity is less than or equal to a preset reference similarity, it may be determined that the positioning infrastructure database is updated.

In this case, the degree of similarity between the first set and the second set can be calculated using [Equation 3] corresponding to the Jaccard index.

[Equation 3]

는 0에서 1사이의 실수 값에 상응할 수 있으며, 1에 가까울수록 제1 집합과 제2 집합이 유사한 것으로 판단할 수 있다.At this time, the degree of similarity

May correspond to a real value between 0 and 1, and as it is closer to 1, it may be determined that the first set and the second set are similar.

에 상응하는 값이 기설정된 기준 유사도 이하인 경우에는 측위 인프라 데이터베이스를 갱신하는 것으로 판단할 수 있다.Thus, similarity

When the value corresponding to is less than or equal to a preset reference similarity, it may be determined that the positioning infrastructure database is updated.

In this case, when at least one user participation data is collected more than a preset amount of data, it may be determined whether to update.

For example, if it is determined whether to update the user participation data each time it is received from the user's terminal, an unnecessary load may be generated because an operation for determining whether to update is frequently performed. Therefore, it is possible to prevent unnecessary load by setting a preset amount of data so that it can be determined whether or not to be updated at appropriate intervals, and determining whether to update when user participation data is collected corresponding to the preset amount of data in the user participation database. have.

The database update unit 250 updates the positioning infrastructure database to correspond to at least one user participation data corresponding to each of the plurality of reference locations.

In this case, when updating the positioning infrastructure database, the existing data corresponding to each of the plurality of reference locations may be updated to correspond to at least one user participation data respectively corresponding to the plurality of reference locations.

That is, the positioning infrastructure database may be updated by changing the positioning infrastructure information corresponding to the plurality of reference locations to the latest positioning infrastructure information received from the user's terminal.

As described above, the storage unit 260 stores various pieces of information generated in the process of automatically updating the positioning infrastructure database according to an embodiment of the present invention.

Depending on the embodiment, the storage unit 260 may be configured independently from the location infrastructure database automatic update device 110 to support a function for automatic location infrastructure database update. In this case, the storage unit 260 may operate as a separate mass storage, and may include a control function for performing the operation.

On the other hand, the location infrastructure database automatic update device 110 is equipped with a memory and can store information in the device. In one implementation, the memory is a computer-readable medium. In one implementation, the memory may be a volatile memory unit, and in another implementation, the memory may be a non-volatile memory unit. In one implementation, the storage device is a computer-readable medium. In various different implementations, the storage device may include, for example, a hard disk device, an optical disk device, or some other mass storage device.

Such a positioning infrastructure database automatic update device 110 can automatically update the established positioning infrastructure database based on participation data transmitted from the user's terminal without consuming extra time and cost.

In addition, it is possible to save resources required to continuously update a positioning infrastructure database based on a private network where new installations or existing infrastructures are frequently moved, such as WLAN.

In addition, it is possible to promote the development of a location based service by providing a more convenient method of updating the location infrastructure database.

3 is a block diagram illustrating an example of a movement path reconfiguration unit shown in FIG. 2.

Referring to FIG. 3, the movement path reconstruction unit 220 illustrated in FIG. 2 includes an absolute position estimating unit 310 and a relative position estimating unit 320.

The absolute position estimation unit 310 is based on at least one of wireless communication infrastructure scan information and positioning infrastructure database corresponding to at least one of mobile communication base station scan information, Wi-Fi scan information, and Bluetooth scan information. Estimate the location.

In this case, the absolute position may correspond to a reference position having information most similar to the wireless communication infrastructure scan information received from the terminal in the positioning infrastructure database. That is, the absolute location may be a location searched through the existing positioning infrastructure database with only the wireless communication infrastructure scan information acquired by the terminal at the current location.

The relative position estimating unit 320 applies a filter to which at least one of information from user walking information, direction information for each walk, geomagnetic sensor value for each walk, acceleration sensor value for each walk, gyroscope sensor value for each walk, and barometric pressure sensor value for each walk is applied. Based on the absolute position, the state position is estimated.

In this case, the movement path may be reconstructed based on at least one of an absolute position and a relative position. In this case, since noise is included in the wireless communication signal, the possibility of an error may be high in the absolute position. Therefore, in order to effectively remove this error, it is possible to use the estimated relative position based on the walking information and the sensor information.

In this case, the relative position may be estimated using either a Kalman filter or a particle filter. In addition, since the particle filter does not require a theoretical assumption or a linearization process for a user's motion model, it may be more suitable for a relatively free pedestrian motion environment.

In this case, the user's walking information in the filter can be used in the Prediction step or Time Update step of estimating the position. For example, the relative position can generally be estimated by using the following [Equation 1] using the user's stride length and azimuth angle.

[Equation 1]

일 때,

when,

는 시간 t일 때의 사용자 추정위치일 수 있다. 즉, 사용자 추정위치

는 바로 직전 시간인 시간 t-1일 때의 위치인

에 사용자의 보행정보인

을 적용한 위치에 상응할 수 있다. At this time,

May be the user's estimated position at time t. That is, the user's estimated location

Is the position at time t-1, which is the time immediately preceding

To the user's walking information

May correspond to the location where is applied.

For example, when the time is t-1, the user's absolute position is point A, and the estimated relative position by applying the walking information from t-1 to t to the filter is 10 meters north of point A. Assuming a location, the user's location at time t can be estimated to correspond to a location 10 meters north of point A.

Therefore, it is possible to reconstruct the user's movement path by estimating the user's position based on the absolute position and the relative position at each time when user participation data is collected.

4 is a diagram showing a positioning infrastructure database according to an embodiment of the present invention.

4, the positioning infrastructure database 410 according to an embodiment of the present invention includes information on a reference location, the number of base station signals at the reference location, a unique identifier for each base station, an alias for each base station, an average received signal strength for each base station, It may include distribution of average received signal strength for each base station and information on various sensor values.

Accordingly, a radio wave map capable of estimating a user's location may be generated using the positioning infrastructure database 410 as shown in FIG. 4.

For example, it is possible to generate a propagation map by displaying information of at least one base station, each scanned from a plurality of reference positions stored in the positioning infrastructure database 410, in an area corresponding to a plurality of reference positions.

5 is a diagram showing a system for estimating an absolute position of a terminal according to an embodiment of the present invention.

Referring to FIG. 5, a system for estimating the absolute position of a terminal according to an embodiment of the present invention includes a positioning infrastructure server 510, a terminal 520, and a database 530.

In this case, the process of estimating the absolute position of the terminal 520 may begin by first searching for a positioning resource around the terminal 520.

At this time, the positioning resource may correspond to a base station around the terminal 520, a Wi-Fi base station, a BLE beacon signal, and the like, but is not limited to such a frequency method. However, in FIG. 5, it will be described based on Wi-Fi for ease of understanding.

In this case, in the case of terminal-based positioning in which the terminal 520 estimates its own location, when a positioning resource is searched, the search result is transmitted to the positioning infrastructure server 510 and the positioning infrastructure corresponding to the surrounding area of the terminal 520 DB can be requested.

At this time, the positioning infrastructure server 510 receives the result of searching for the positioning resource, and searches for a positioning infrastructure DB corresponding to the surrounding area of the terminal 520 from the database 530 in which the positioning infrastructure DB is stored.

Thereafter, the positioning infrastructure server 510 transmits the searched DB information to the terminal 520, and the terminal 520 receives the DB information to complete the preparation for estimating the absolute position of the terminal 520. That is, using the received DB information, a reference position having information most similar to the propagation pattern of the positioning resource searched by the terminal 520 may be estimated as a current position, that is, an absolute position.

In addition, in the case of server-based positioning in which the positioning infrastructure server 510 estimates the location, when a positioning resource is searched, the terminal 520 transmits the search result to the positioning infrastructure server 510 and the absolute position of the terminal 520 Can be requested.

At this time, the positioning infrastructure server 510 receives the result of searching the positioning resource, estimates the reference position having information most similar to the propagation pattern of the positioning resource in the database 530 as the absolute position of the terminal 520 Location information may be transmitted to the terminal 520.

As for the location estimation method as described above, NN (Nearest Neighbor), kNN (k-Nearest Neighbors), and w-kNN (weighted k-Nearest Neighbors) algorithms are representative.

6 is a flowchart illustrating a method of automatically updating a positioning infrastructure database according to an embodiment of the present invention.

In general, there are two ways to configure the location infrastructure database.

At this time, the first method is to convert the location of the infrastructure that can be used for positioning into a DB. In this method, information such as an identifier of the base station, the location of the base station, the strength of the transmitted signal, and a signal attenuation coefficient can be stored in the database. At this time, the subject calculating the location may receive the database information and estimate the location using methods such as Cell-ID, triangulation, and Weighted Centroid Localization (WCL).

In addition, the second method may store information such as base station identifiers, signal strengths, and various statistical information received at a plurality of reference points preset within the service area in the database. In this case, the subject calculating the location may estimate a reference location having the most similar information as the current location by comparing the currently searched positioning resource with the signal strength recorded in the database.

In the present invention, a process of updating the positioning infrastructure database will be described based on the second method having relatively good position estimation accuracy among the two methods.

Referring to FIG. 6, the method for automatically updating the positioning infrastructure database according to an embodiment of the present invention reconstructs a movement path of a user based on at least one user participation data received from a user's terminal (S610).

In this case, the reason for reconfiguring the user's movement path may be to check a location where at least one user participation data received from the user's terminal is received. In other words, in order to update the positioning infrastructure information previously stored in the positioning infrastructure database, the latest positioning infrastructure information is obtained from the location where the existing positioning infrastructure information was collected and compared. If there is a difference between the two information, the latest information is used. Can be updated. Accordingly, in order to determine the exact location where at least one user participation data received from the user's terminal is received, a process of first reconfiguring the user's movement path may be performed.

At this time, the positioning infrastructure database includes information on the reference location, the number of base station signals at the reference location, unique identifiers for each base station, aliases for each base station, average received signal strength for each base station, distribution of average received signal strength for each base station, and various sensor value information, etc. It may include.

At this time, the at least one user participation data is the user participation data collection time, user estimated location, mobile communication base station scan information, Wi-Fi scan information, Bluetooth scan information, user walking information, walking direction information, and walking-specific geomagnetic sensor values. , It may include at least one of an acceleration sensor value for each walking, a gyroscope sensor value for each walking, and an atmospheric pressure sensor value for each walking.

In this case, the user's walking information may be information corresponding to a gait event and an accumulated number of gait steps.

In this case, the information included in the user participation data listed above may be collected and stored without a certain pattern because each collection period may be different. For example, as shown in Table 2 below, user participation data may be stored in the user participation database in the order in which they are received from the terminal.

Table NO. Information collected One Collection time, number of Wi-Fi scanned, Wi-Fi AP information 1, Wi-Fi AP information 2 2 Collection time, user walking event, accumulated number of steps, walking direction, geomagnetic sensor value, acceleration sensor value, gyroscope sensor value, barometric pressure sensor value 3 Collection time, user walking event, accumulated number of steps, walking direction, geomagnetic sensor value, acceleration sensor value, gyroscope sensor value, barometric pressure sensor value 4 Collection time, user walking event, accumulated number of steps, walking direction, geomagnetic sensor value, acceleration sensor value, gyroscope sensor value, barometric pressure sensor value 5 Collection time, number of Wi-Fi scanned, Wi-Fi AP information 1, Wi-Fi AP information 2 6 Collection time, user walking event, accumulated number of steps, walking direction, geomagnetic sensor value, acceleration sensor value, gyroscope sensor value, barometric pressure sensor value 7 Collection time, number of Wi-Fi scanned, Wi-Fi AP information 1, Wi-Fi AP information 2 8 Collection time, number of scanned BLE beacons, No. 1 BLE beacon information, No. 2 BLE beacon information 9 Collection time, user walking event, accumulated number of steps, walking direction, geomagnetic sensor value, acceleration sensor value, gyroscope sensor value, barometric pressure sensor value 10 ...

Referring to [Table 2], the user participation data first stored in the user participation database may include information stored in the first table. In other words, the collection time at which user participation data was collected, the number of Wi-Fis scanned at the current location, AP information of Wi-Fi 1 among several Wi-Fis scanned at the current location, and several Wi-Fis scanned at the current location. Among them, AP information of Wi-Fi No. 2 may be collected and stored in table No. 1 of the user participation database.

Further, user participation data received from the terminal after the user participation data stored in table 1 may be sequentially stored in the user participation database as shown in [Table 2].

At this time, since the information included in the user participation data may have different collection periods, the types of information stored in each table, such as Table 1, Table 2, and Table 8 of [Table 2], are also It can be different.

At this time, the absolute position corresponding to the movement path may be estimated based on at least one of the wireless communication infrastructure scan information and the positioning infrastructure database corresponding to at least one of the mobile communication base station scan information, the Wi-Fi scan information, and the Bluetooth scan information. have.

In this case, the absolute position may correspond to a reference position having information most similar to the wireless communication infrastructure scan information received from the terminal in the positioning infrastructure database. That is, the absolute location may be a location searched through the existing positioning infrastructure database with only the wireless communication infrastructure scan information acquired by the terminal at the current location.

In addition, based on a filter to which at least one of the user's walking information, direction information for each walk, geomagnetic sensor value for each walk, acceleration sensor value for each walk, gyroscope sensor value for each walk, and barometric pressure sensor value for each walk, You can estimate the relative position.

In this case, the movement path may be reconstructed based on at least one of an absolute position and a relative position. In this case, since noise is included in the wireless communication signal, the possibility of an error may be high in the absolute position. Therefore, in order to effectively remove this error, it is possible to use the estimated relative position based on the walking information and the sensor information.

In this case, the relative position may be estimated using either a Kalman filter or a particle filter. In addition, since the particle filter does not require a theoretical assumption or a linearization process for a user's motion model, it may be more suitable for a relatively free pedestrian motion environment.

In this case, the user's walking information in the filter can be used in the Prediction step or Time Update step of estimating the position. For example, the relative position can generally be estimated by using the following [Equation 1] using the user's stride length and azimuth angle.

[Equation 1]

일 때,

when,

는 시간 t일 때의 사용자 추정위치일 수 있다. 즉, 사용자 추정위치

는 바로 직전 시간인 시간 t-1일 때의 위치인

에 사용자의 보행정보인

을 적용한 위치에 상응할 수 있다. At this time,

May be the user's estimated position at time t. That is, the user's estimated location

Is the position at time t-1, which is the time immediately preceding

To the user's walking information

May correspond to the location where is applied.

For example, when the time is t-1, the user's absolute position is point A, and the estimated relative position by applying the walking information from t-1 to t to the filter is 10 meters north of point A. Assuming a location, the user's location at time t can be estimated to correspond to a location 10 meters north of point A.

Therefore, it is possible to reconstruct the user's movement path by estimating the user's position based on the absolute position and the relative position at each time when user participation data is collected.

In addition, the method for automatically updating the positioning infrastructure database according to an embodiment of the present invention extracts a plurality of reference positions corresponding to a movement path based on the positioning infrastructure database (S620). That is, in order to update the positioning infrastructure database, it is necessary to compare the latest positioning infrastructure information for a specific location with the previously stored positioning infrastructure information. In this case, a specific location corresponds to a plurality of reference locations corresponding to the movement route. I can.

In addition, the method for automatically updating the positioning infrastructure database according to an embodiment of the present invention determines whether to update the positioning infrastructure database based on at least one user participation data corresponding to each of a plurality of reference locations (S630).

At this time, the positioning infrastructure database is compared with at least one user participation data corresponding to each of the plurality of reference locations with existing data corresponding to each of the plurality of reference locations stored in the positioning infrastructure database, and the difference is greater than or equal to a preset threshold. It can be determined by updating.

For example, assuming that the user participation data corresponding to the reference location A is A1 and the existing data is A2, information on A1 and A2 may be the same or very similar if there is no environmental change in the reference location A. Accordingly, when a difference greater than or equal to a preset threshold value occurs when comparing A1 and A2, it may be determined that an environmental change has occurred at the reference location A and the positioning infrastructure database is updated.

At this time, at least one user participation data corresponding to each of the plurality of reference positions and the existing data corresponding to each of the plurality of reference positions are respectively quantified using at least one of a radio wave map and a Jaccard index, and the numerical value The difference can be calculated by comparing.

In this case, in the case of using a radio wave map, based on the first radio map generated based on at least one user participation data corresponding to each of the plurality of reference locations and the existing data respectively corresponding to the plurality of reference locations. It is determined that the distance difference based on the RSSI (Received Signal Strength Indication) value is calculated by comparing the generated second radio map values respectively, and updating the positioning infrastructure database when the distance difference is more than a preset reference distance difference. I can.

That is, the first wave map and the second wave map are wave maps for the same area, but the first wave map was generated using the latest information, and the first wave map was generated using the previous information stored in the positioning infrastructure database. 2 May correspond to a radio map.

Therefore, when the difference between the two radio maps is quantified and compared, if the distance difference to a specific location occurs more than the preset reference distance difference, it is determined that an environmental change has occurred in the area including a plurality of reference locations, and the positioning infrastructure database It can be determined by updating.

For example, the distance difference between two radio maps generated based on Wi-Fi scan information can be calculated using [Equation 2].

[Equation 2]

값이 기설정된 기준 거리차이 이상인지 여부를 확인하여 측위 인프라 데이터베이스 갱신 여부를 결정할 수 있다.Here, a may be a component of Wi-Fi scan information stored in the first radio map, and b may be a component of Wi-Fi scan information stored in the second radio map. Therefore, calculated through [Equation 2]

It is possible to determine whether to update the positioning infrastructure database by checking whether the value is greater than or equal to a preset reference distance difference.

In this case, in the case of using the Jaccard index, between a first set corresponding to at least one user participation data corresponding to each of a plurality of reference positions and a second set corresponding to existing data corresponding to each of the plurality of reference positions. When the similarity is calculated and the similarity is less than or equal to a preset reference similarity, it may be determined that the positioning infrastructure database is updated.

In this case, the degree of similarity between the first set and the second set can be calculated using [Equation 3] corresponding to the Jaccard index.

[Equation 3]

는 0에서 1사이의 실수 값에 상응할 수 있으며, 1에 가까울수록 제1 집합과 제2 집합이 유사한 것으로 판단할 수 있다.At this time, the degree of similarity

May correspond to a real value between 0 and 1, and as it is closer to 1, it may be determined that the first set and the second set are similar.

에 상응하는 값이 기설정된 기준 유사도 이하인 경우에는 측위 인프라 데이터베이스를 갱신하는 것으로 판단할 수 있다.Thus, similarity

When the value corresponding to is less than or equal to a preset reference similarity, it may be determined that the positioning infrastructure database is updated.

In this case, when at least one user participation data is collected more than a preset amount of data, it may be determined whether to update.

For example, if it is determined whether to update the user participation data each time it is received from the user's terminal, an unnecessary load may be generated because an operation for determining whether to update is frequently performed. Therefore, it is possible to prevent unnecessary load by setting a preset amount of data so that it can be determined whether or not to be updated at appropriate intervals, and determining whether to update when user participation data is collected corresponding to the preset amount of data in the user participation database. have.

In addition, the method for automatically updating the positioning infrastructure database according to an embodiment of the present invention updates the positioning infrastructure database to correspond to at least one user participation data respectively corresponding to a plurality of reference locations (S640).

In this case, when updating the positioning infrastructure database, the existing data corresponding to each of the plurality of reference locations may be updated to correspond to at least one user participation data respectively corresponding to the plurality of reference locations.

That is, the positioning infrastructure database may be updated by changing the positioning infrastructure information corresponding to the plurality of reference locations to the latest positioning infrastructure information received from the user's terminal.

In addition, although not shown in FIG. 6, the method for automatically updating a positioning infrastructure database according to an embodiment of the present invention may transmit and receive data necessary to update the positioning infrastructure database. In particular, it is possible to receive user participation data from the user's terminal and provide updated positioning infrastructure information to a user participation database that may be separately provided.

In this case, data can be transmitted and received through the network.

In this case, the network provides a path for transmitting data between the user's terminal and the positioning infrastructure database update device, and is a concept encompassing both the existing network and the network capable of developing perfume. For example, a network is a wired/wireless local area communication network that provides communication of various information devices within a limited area, a mobile communication network that provides communication between mobiles and the mobile and the outside of the mobile, and a satellite that provides communication between earth stations and earth stations. It may be a satellite communication network, a wired or wireless communication network, or a combination of two or more. Meanwhile, the transmission method standard of the network is not limited to the existing transmission method standard, and may include all transmission method standards to be developed in the future.

In addition, although not shown in FIG. 6, the method for automatically updating the positioning infrastructure database according to an embodiment of the present invention stores various information generated during the automatic update of the positioning infrastructure database according to an embodiment of the present invention as described above. do.

According to an embodiment, the storage module for storing information generated during the automatic updating of the positioning infrastructure database may be configured independently of the automatic updating device for the positioning infrastructure to support a function for automatic updating of the positioning infrastructure database. In this case, the storage unit 260 may operate as a separate mass storage, and may include a control function for performing the operation.

Based on this method of automatically updating the positioning infrastructure database, it is possible to automatically update the existing positioning infrastructure database based on participation data transmitted from the user's terminal without consuming extra time and cost.

In addition, it is possible to save resources required to continuously update a positioning infrastructure database based on a private network where new installations or existing infrastructures are frequently moved, such as WLAN.

In addition, it is possible to promote the development of a location based service by providing a more convenient method of updating the location infrastructure database.

FIG. 7 is a detailed operation flowchart illustrating a process of determining whether to update based on a radio map among the method of automatically updating a positioning infrastructure database shown in FIG. 6.

Referring to FIG. 7, in the method of automatically updating the positioning infrastructure database shown in FIG. 6, the process of determining whether to update based on a radio map is first based on at least one user participation data corresponding to a plurality of reference locations. 1 Generate a radio wave map (S710). For example, assuming that a plurality of reference positions correspond to positions 1 to 10, wireless communication infrastructure scan information corresponding to position 1 is transmitted based on user participation data corresponding to position 1 Can be represented in In this way, a first radio wave map can be generated by displaying wireless communication infrastructure scan information corresponding to all locations from the 1st to the 10th location.

Thereafter, a second propagation map is generated based on the existing data corresponding to each of the plurality of reference positions (S720).

In this case, the second radio map may be generated in the same manner as the first radio map.

In addition, a second propagation map corresponding to a region including a plurality of reference positions may be obtained from a propagation map previously generated in the positioning infrastructure database.

After that, the first and second radio maps are respectively converted into numerical values (S730).

For example, a distance difference between two radio maps can be calculated based on Wi-Fi scan information.

Thereafter, it is determined whether the distance difference calculated based on the RSSI value is greater than or equal to a preset reference distance difference by comparing the first radio map and the second radio map (S735).

As a result of the determination in step S735, if the distance difference calculated based on the RSSI value is greater than or equal to the preset reference distance difference, it is determined that an environmental change has occurred in an area including a plurality of reference positions, and the positioning infrastructure database is updated (S740). )

In addition, if the distance difference calculated based on the RSSI value is less than the preset reference distance difference as a result of the determination in step S735, it is determined that no significant environmental change has occurred in the area including the plurality of reference positions, and the positioning infrastructure database May not be updated.

FIG. 8 is a detailed operation flowchart illustrating a process of determining whether to update based on a Jaccard index among the method of automatically updating the positioning infrastructure database shown in FIG. 6.

Referring to FIG. 8, the process of determining whether to update based on the Jaccard index among the automatic updating method of the positioning infrastructure database shown in FIG. 6 is performed. First, a first step corresponding to at least one user participation data corresponding to a plurality of reference locations. One set is created (S810).

After that, a second set corresponding to existing data corresponding to each of the plurality of reference positions is generated (S820).

After that, the degree of similarity between the first set and the second set is calculated (S830).

In this case, the degree of similarity between the first set and the second set may be calculated using the Jaccard index.

In this case, the degree of similarity may correspond to a real value between 0 and 1, and as it is closer to 1, it may be determined that the first set and the second set are similar.

After that, it is determined whether the calculated similarity is equal to or less than a preset reference similarity (S835).

If the similarity calculated as a result of the determination in step S835 is less than or equal to the preset reference similarity, it is determined that an environmental change has occurred in an area including a plurality of reference positions, and the positioning infrastructure database is updated (S840).

In addition, if the similarity calculated as a result of the determination in step S835 exceeds a preset reference similarity, it is determined that no environmental change has occurred in the region including the plurality of reference positions, and the positioning infrastructure database may not be updated. .

FIG. 9 is an operation flowchart showing in detail a process of reconfiguring a moving path of a user among the method of automatically updating a positioning infrastructure database shown in FIG. 6.

Referring to FIG. 9, in the process of reconfiguring a moving path of a user in the method of automatically updating the positioning infrastructure database shown in FIG. 6, first, the wireless communication infrastructure scan information obtained from at least one user participation data is compared with the positioning infrastructure database ( S910).

In this case, the wireless communication infrastructure scan information may correspond to at least one of base station scan information, Wi-Fi scan information, and Bluetooth scan information.

After that, the reference position is estimated as an absolute position for a pattern similar to the wireless communication infrastructure scan information in the positioning infrastructure database (S920).

Thereafter, the relative position based on the absolute position is estimated by applying the user's walking information to the filter (S930).

In this case, the relative position may be estimated using either a Kalman filter or a particle filter.

At this time, the user's walking information may correspond to at least one of the user's walking information, direction information for each walking, geomagnetic sensor value for each walking, acceleration sensor value for each walking, gyroscope sensor value for each walking, and atmospheric pressure sensor value for each walking. have.

After that, the moving path of the user is reconstructed based on the absolute position and the relative position (S940).

For example, when the time is t-1, the user's absolute position is point A, and the estimated relative position by applying the walking information from t-1 to t to the filter is 10 meters north of point A. Assuming a location, the user's location at time t can be estimated to correspond to a location 10 meters north of point A.

Therefore, it is possible to reconstruct the user's movement path by estimating the user's position based on the absolute position and the relative position at each time when user participation data is collected.

As described above, the apparatus and method for automatically updating the positioning infrastructure database according to the present invention are not limited to the configuration and method of the embodiments described above, but the embodiments are implemented so that various modifications can be made. All or some of the examples may be selectively combined and configured.

110: location infrastructure database automatic update device
120-1~ 120-N, 520: terminal 130: positioning infrastructure database
140: user engagement database
210: communication unit 220: movement path reconfiguration unit
230: reference position extraction unit 240: update determination unit
250: database update unit 260: storage unit
310: absolute position estimation unit 320: relative position estimation unit
410: positioning infrastructure database 510: positioning infrastructure server
530: database

Claims (20)

A movement path reconfiguration unit configured to reconstruct a movement path of the user based on at least one user participation data received from the user's terminal;
A reference location extraction unit for extracting a plurality of reference locations corresponding to the movement route based on the positioning infrastructure database;
An update determination unit determining whether to update the positioning infrastructure database based on the at least one user participation data corresponding to each of the plurality of reference locations; And
A database updating unit for updating the positioning infrastructure database to correspond to the at least one user participation data respectively corresponding to the plurality of reference locations; Including,
The update determination unit,
The at least one user participation data corresponding to each of the plurality of reference positions and the existing data corresponding to each of the plurality of reference positions stored in the positioning infrastructure database are respectively quantified, and the difference between the numerical values corresponds to A first factor to do and,
And determining whether to update the positioning infrastructure database in consideration of a second factor corresponding to the collected amount of the at least one user participation data. delete The method according to claim 1,
The update determination unit
The at least one user participation data corresponding to each of the plurality of reference locations and the existing data corresponding to each of the plurality of reference locations are respectively quantified using at least one of a radio wave map and a Jaccard index, and a numerical value Positioning infrastructure database automatic update device, characterized in that calculating the difference by comparing. The method of claim 3,
The update determination unit
In the case of using the radio map, based on a first radio map generated based on the at least one user participation data corresponding to each of the plurality of reference positions and existing data corresponding to each of the plurality of reference positions Computing a distance difference based on a received signal strength indication (RSSI) value by comparing each numerical value of the generated second radio map, and updating the positioning infrastructure database when the distance difference is greater than or equal to a preset reference distance difference. Positioning infrastructure database automatic update device, characterized in that determined to be. The method of claim 3,
The update determination unit
When using the Jaccard index, a first set corresponding to the at least one user participation data corresponding to each of the plurality of reference positions and a second set corresponding to existing data corresponding to each of the plurality of reference positions And determining that the positioning infrastructure database is to be updated when the similarity is less than or equal to a preset reference similarity. The method according to claim 1,
The database update unit
When the positioning infrastructure database is updated, the existing data corresponding to each of the plurality of reference locations is updated to correspond to the at least one user participation data respectively corresponding to the plurality of reference locations. Infrastructure database automatic update device. The method according to claim 1,
The at least one user participation data is
User participation data collection time, user estimated location, mobile communication base station scan information, Wi-Fi scan information, Bluetooth scan information, user walking information, direction information for each walking, geomagnetic sensor value for each walking, acceleration sensor value for each walking, gyro for each walking An apparatus for automatically updating a positioning infrastructure database, comprising at least one of a scope sensor value and an atmospheric pressure sensor value for each gait. The method of claim 7,
The movement path reconfiguration unit
Estimating an absolute position corresponding to the movement path based on at least one of the wireless communication infrastructure scan information and the positioning infrastructure database corresponding to at least one of the mobile communication base station scan information, the Wi-Fi scan information, and the Bluetooth scan information Absolute position estimation unit; And
Based on a filter to which at least one of the user walk information, the direction information for each walk, the geomagnetic sensor value for each walk, the acceleration sensor value for each walk, the gyroscope sensor value for each walk, and the barometric pressure sensor value for each walk Including a relative position estimation unit for estimating the relative position based on the absolute position,
And reconfiguring the movement path based on at least one of the absolute position and the relative position. The method of claim 8,
The relative position estimation unit
An apparatus for automatically updating a positioning infrastructure database, characterized in that the relative position is estimated using any one of a Kalman filter and a particle filter. delete In the method of automatically updating the positioning infrastructure database through the positioning infrastructure database automatic update device,
Reconfiguring the movement path of the user based on at least one user participation data received from the user's terminal;
Extracting a plurality of reference positions corresponding to the movement route based on the positioning infrastructure database;
Determining whether to update the positioning infrastructure database based on the at least one user participation data respectively corresponding to the plurality of reference locations; And
Updating the positioning infrastructure database to correspond to the at least one user participation data respectively corresponding to the plurality of reference locations; Including,
The determining step
The at least one user participation data corresponding to each of the plurality of reference positions and the existing data corresponding to each of the plurality of reference positions stored in the positioning infrastructure database are respectively quantified, and the difference between the numerical values corresponds to A first factor to do and,
And determining whether to update the positioning infrastructure database in consideration of a second factor corresponding to the collected amount of the at least one user participation data. delete The method of claim 11,
The determining step
The at least one user participation data corresponding to each of the plurality of reference locations and the existing data corresponding to each of the plurality of reference locations are respectively quantified using at least one of a radio wave map and a Jaccard index, and a numerical value Positioning infrastructure database automatic update method, characterized in that calculating the difference by comparing. The method of claim 13,
The determining step
In the case of using the radio map, based on a first radio map generated based on the at least one user participation data corresponding to each of the plurality of reference positions and existing data corresponding to each of the plurality of reference positions Comprising the step of calculating a distance difference based on the RSSI (Received Signal Strength Indication) value by comparing the respective numerical values of the generated second propagation map,
When the distance difference is greater than or equal to a preset reference distance difference, it is determined that the location infrastructure database is updated. The method of claim 13,
The determining step
When using the Jaccard index, a first set corresponding to the at least one user participation data corresponding to each of the plurality of reference positions and a second set corresponding to existing data corresponding to each of the plurality of reference positions Comprising the step of calculating the similarity between,
And when the similarity is less than or equal to a predetermined reference similarity, it is determined that the positioning infrastructure database is updated. The method of claim 11,
The updating step
When the positioning infrastructure database is updated, the existing data corresponding to each of the plurality of reference locations is updated to correspond to the at least one user participation data respectively corresponding to the plurality of reference locations. How to automatically update the infrastructure database. The method of claim 11,
The at least one user participation data is
User participation data collection time, user estimated location, mobile communication base station scan information, Wi-Fi scan information, Bluetooth scan information, user walking information, direction information for each walking, geomagnetic sensor value for each walking, acceleration sensor value for each walking, gyro for each walking A method for automatically updating a positioning infrastructure database, comprising at least one of a scope sensor value and an atmospheric pressure sensor value for each gait. The method of claim 17,
The reconstructing step
Estimating an absolute position corresponding to the movement path based on at least one of the wireless communication infrastructure scan information and the positioning infrastructure database corresponding to at least one of the mobile communication base station scan information, the Wi-Fi scan information, and the Bluetooth scan information step; And
Based on a filter to which at least one of the user walk information, the direction information for each walk, the geomagnetic sensor value for each walk, the acceleration sensor value for each walk, the gyroscope sensor value for each walk, and the barometric pressure sensor value for each walk Including the step of estimating a relative position based on the absolute position,
And automatically reconfiguring the movement path based on at least one of the absolute position and the relative position. The method of claim 18,
The step of estimating the relative position
A method for automatically updating a positioning infrastructure database, comprising estimating the relative position using any one of a Kalman filter and a particle filter. delete

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