KR102208669B1 - Positioning system, apparatus and method thereof - Google Patents

Abstract

The present invention relates to a system, an apparatus, and a method for measuring a position and, more specifically, to a system, an apparatus, and a method for measuring a position, configured to arrange a plurality of positioning nodes provided in a movable body in a right angle direction to efficiently perform calculations for positioning a target node, and configured to improve an accuracy of the positioning. Disclosed, in the present invention, is the position measurement system for measuring a position of an object using a movable body including: the movable body including a plurality of positioning nodes including a first positioning node (N_A), a second positioning node (N_B), and a third positioning node (N_C); and the object having a target node (N_T), wherein the second positioning node (N_B) and the third positioning node (N_C) form a right-angled triangular structure positioned in a direction perpendicular to each other in the movable body with respect to the first positioning node (N_A), and each of the positioning nodes calculates a distance to the target node (N_T) and uses the distance to measure the position of the object.

Description

TECHNICAL FIELD [Positioning system, apparatus and method thereof]

The present invention relates to a position measuring system, apparatus, and method, and more specifically, by arranging a plurality of positioning nodes provided in a moving object in a right angle direction, it is possible to efficiently perform an operation for positioning a target node, and further It relates to a positioning system, apparatus, and method capable of improving positioning accuracy as well.

Recently, location-based service (LBS) technology based on location information has been used in various ways. As a representative example of this, a navigation device that receives a GPS signal or the like to locate a user's current location or guide a moving route to a destination is widely used.

However, the positioning technology based on GPS as above would be easy for outdoor positioning that can smoothly receive GPS satellite signals, but positioning is impossible in an indoor environment where GPS satellite signals may be difficult to receive or signal distortion may occur. A problem of poor positioning accuracy occurs.

In contrast, conventionally, as shown in FIG. 1, positioning nodes for positioning are installed at multiple locations indoors, and distances from target nodes located in the inner regions of the plurality of positioning nodes to each positioning node are measured. A technique for calculating the location of the target node has also been used.

However, in the above case, there is a limitation that the location of the target node can be positioned only when a plurality of positioning nodes are installed in advance to cover the entire region to be positioned.

On the other hand, it would be desirable to be able to locate the target node using a moving object equipped with a positioning node, but in this case, the calculation for calculating the location of the target node may be very complicated, and the target node There may be a problem of poor positioning accuracy for.

Accordingly, positioning for the target node is possible without pre-installing a plurality of positioning nodes in the region to be positioned, and furthermore, the operation for calculating the location of the target node is prevented from being complicated, and the location of the target node with high accuracy. Although there is a demand for a method to locate the position, a specific method for adequately solving this demand has not yet been provided.

Republic of Korea Patent Publication No. 10-2019-0084405 (2019.07.17.)

The present invention was invented to solve the problems of the prior art as described above, and positioning for a target node is possible without pre-installing a plurality of positioning nodes in an area to be positioned, and further, for calculating the location of the target node. An object of the present invention is to provide a location measurement system, apparatus, and method capable of positioning the target node with high accuracy while preventing the computation from becoming complicated.

In addition, detailed objects of the present invention will be clearly understood and understood by experts or researchers in this technical field through the detailed contents described below.

A position measurement system according to an aspect of the present invention for solving the above problem is a position measurement system for measuring a position of an object using a movable moving object, the first positioning node (N _A ), the second positioning node (N _B ) and a moving body having a plurality of positioning nodes including a third positioning node (N _C ); And an object having a target node (N _T ), wherein the second positioning node (N _B ) and the third positioning node (N _C ) in the moving object are based on the first positioning node (N _A ). As a result, a right-angled triangular structure positioned in a direction perpendicular to each other is formed, and each of the plurality of positioning nodes calculates a distance to the target node N _T and is used to measure the position of the object.

In this case, the second positioning node N _B and the third positioning node N _C may form a right-angled isosceles triangle structure positioned at the same distance from each other with respect to the first positioning node N _A.

In addition, in the position calculation unit, from the first positioning node N _A on the first axis (=X axis) connecting the second positioning node N _B to the first positioning node N _A The first distance (X _TA ) to the target node (N _T ) is calculated, and from the second axis (=Y axis) connecting the third positioning node (N _B ) from the first positioning node (N _A ) _A second distance (Y _TA ) from the first positioning node (N _A ) to the target node (N _T ) is calculated, and the position of the target node based on the first positioning node (N _A ) ( X _TA , Y _TA ) can be calculated.

Further, the position calculating unit calculates the first distance (X _TA ) without considering the position value (Y _T ) of the target node (N _T ) on the Y axis, and the target node (N _T ) The second distance Y _TA may be calculated without considering the position value X _T in the X axis of.

In addition, the plurality of positioning nodes may transmit and receive RF signals to and from the target node to calculate the distance to the target node, and the position calculator may calculate a relative position of the object with respect to the moving object.

In this case, the position calculator may calculate an absolute position of the object based on a predetermined reference point in consideration of the previously calculated position information of the moving object.

Further, the plurality of positioning nodes transmits and receives RF signals to and from a reference node provided at the reference point to calculate a distance to the reference node, and the location calculator calculates the location information of the mobile object based on the reference node. And, by calculating the location information of the object based on the moving object, the absolute position of the object based on the reference point may be calculated.

In addition, in the position measuring apparatus according to another embodiment of the present invention, in the movable position measuring apparatus for measuring the position of an object having a target node (N _T ), the first positioning node (N _A ), the second A plurality of positioning nodes including a positioning node (N _B ) and a third positioning node (N _C ) are provided, and the second positioning node (N _B ) and the third positioning node (N _C ) are the first positioning node To form a right-angled triangular structure positioned in a direction perpendicular to each other with respect to the node N _A , each of the plurality of positioning nodes calculates a distance to the target node N _T to be used to measure the position of the object. Characterized in that.

In this case, the second positioning node N _B and the third positioning node N _C may form a right-angled isosceles triangle structure positioned at the same distance from each other with respect to the first positioning node N _A.

Also, the first positioning node (N _A) and the second positioning node (N _B), the first axis (= X axis) connecting the first the from the first positioning node (N _A), a target in on the node (N _T ) To calculate the first distance (X _TA ), and the first positioning on the second axis (=Y axis) connecting the first positioning node N _A to the third positioning node N _B The second distance (Y _TA ) from the node (N _A ) to the target node (N _T ) is calculated, and the position of the target node (X _TA , Y _TA ) based on the first positioning node (N _A ) ) Can be calculated.

In addition, in a position measurement method according to another embodiment of the present invention, in a position measurement method for measuring a position of an object using a movable moving object, a first positioning node (N _A ) and a second positioning node provided in the moving object A target node distance calculation step of calculating a distance from a plurality of positioning nodes including a positioning node N _B and a third positioning node N _C to a target node N _T provided in the object; And calculating the location of the object by using the distances from the plurality of positioning nodes to the target node; including, the second positioning node (N _B ) and the third positioning node in the moving object (N _C ) is characterized in that it forms a right-angled triangular structure positioned in a direction perpendicular to each other with respect to the first positioning node N _A.

In this case, the second positioning node N _B and the third positioning node N _C may form a right-angled isosceles triangle structure positioned at the same distance from each other with respect to the first positioning node N _A.

Further, in the step of calculating the object position, the first positioning node N _A on a first axis (=X axis) connecting the second positioning node N _B to the first positioning node N _{A A} second axis (=Y axis) connecting the third positioning node N _B from the first positioning node N _A to calculate a first distance X _TA from the target node N _T ) By calculating a second distance (Y _TA ) from the first positioning node (N _A ) to the target node (N _T ), and the target node based on the first positioning node (N _A ). Position (X _TA , Y _TA ) can be calculated.

In the positioning system, apparatus, and method according to an embodiment of the present invention, positioning for a target node is possible without pre-installing a plurality of positioning nodes in an area to be positioned, and further, an operation for calculating the location of the target node. It has the effect that it is possible to locate the target node with high accuracy while preventing this complexity.

The accompanying drawings, which are included as part of the detailed description to aid in understanding of the present invention, provide embodiments for the present invention, and describe the technical idea of the present invention together with the detailed description.
1 is a diagram illustrating a position measurement system according to the prior art.
2 is a block diagram of a position measurement system according to an embodiment of the present invention.
3 is a diagram illustrating an operation of a position measurement system according to an embodiment of the present invention.
4 is a diagram illustrating an operation of a position measurement system according to another embodiment of the present invention.
5 is a flowchart of a method for measuring a location according to an embodiment of the present invention.
6 is a photograph illustrating an experiment for verifying the performance of a position measuring system, apparatus, and method according to an embodiment of the present invention.
7A to 7C are graphs showing the performance of a position measurement system, apparatus, and method according to an embodiment of the present invention.

The present invention may apply various transformations and may have various embodiments. Hereinafter, specific embodiments will be described in detail based on the accompanying drawings.

The following examples are provided to aid in a comprehensive understanding of the methods, devices, and/or systems described herein. However, this is only an example and the present invention is not limited thereto.

In describing the embodiments of the present invention, when it is determined that a detailed description of a known technology related to the present invention may unnecessarily obscure the subject matter of the present invention, a detailed description thereof will be omitted. In addition, terms to be described later are terms defined in consideration of functions in the present invention and may vary according to the intention or custom of users or operators. Therefore, the definition should be made based on the contents throughout this specification. The terms used in the detailed description are only for describing the embodiments of the present invention, and should not be limiting. Unless explicitly used otherwise, expressions in the singular form include the meaning of the plural form. In this description, expressions such as "comprising" or "feature" are intended to refer to certain features, numbers, steps, actions, elements, some or combination thereof, and one or more other than those described. It should not be construed to exclude the presence or possibility of other features, numbers, steps, actions, elements, any part or combination thereof.

In addition, terms such as first and second may be used to describe various components, but the components are not limited by the terms, and the terms are used to distinguish one component from other components. Is only used.

Hereinafter, exemplary embodiments of a position measurement system, apparatus, and method according to the present invention will be described in detail with reference to the accompanying drawings.

First, FIG. 2 illustrates a configuration diagram of a position measurement system 100 according to an embodiment of the present invention. As can be seen in FIG. 2, the position measuring system 100 according to an embodiment of the present invention is a position measuring system 100 that measures the position of an object using a movable moving object, and includes a first positioning node (N _A ) (111), a second positioning node (N _B ) 112 and a mobile body 110 having a plurality of positioning nodes including a third positioning node (N _C ) 113 and a target node (N It may be configured to include an object 120 having _T ) 121.

In this case, in the mobile body 110, the second positioning node (N _B ) 112 and the third positioning node (N _C ) 113 are each other based on the first positioning node (N _A ) 111. It has a right-angled triangle structure positioned in a vertical direction, and each of the plurality of positioning nodes calculates a distance to the target node (N _T ) 121 and is used to measure the position of the object 120 It is characterized.

Further, in the position measurement system 100 according to an embodiment of the present invention, the second positioning node (N _B ) 112 and the third positioning node (N _C ) 113 are the first positioning node ( It is possible to form a right-angled isosceles triangle structure located at the same distance from each other based on N _A )(111).

In addition, the position measuring system 100 according to an embodiment of the present invention may include a position calculating unit 140 for calculating the position of the object 120, and in this case, the position calculating unit 140 In the first positioning node (N _A ) 111 in the first axis (=X axis) connecting the second positioning node (N _B ) 112 in the first positioning node (N _A ) 111 Calculate a first distance (X _TA ) to the target node (N _T ) 121, and connect the third positioning node (N _B ) 113 from the first positioning node (N _A ) 111 _A second distance (Y _TA ) from the first positioning node N _A (to the target node N _T ) on the second axis (=Y axis) is calculated, and the first positioning node N _A ) Can be calculated based on the location of the target node (X _TA , Y _TA ).

Accordingly, in the location measurement system 100 according to an embodiment of the present invention, positioning for a target node is possible without pre-installing a plurality of positioning nodes in an area to be positioned, and further calculating the location of the target node. It is possible to locate the target node with high accuracy while preventing the operation of the target from becoming complicated.

Hereinafter, with reference to FIG. 2, the position measurement system 100 according to an embodiment of the present invention is divided for each component and examined in more detail.

First, a plurality of positioning nodes including a first positioning node (N _A ) 111, a second positioning node (N _B ) 112 and a third positioning node (N _C ) 113 in the mobile body 110 May be provided.

More specifically, FIG. 3 is a diagram illustrating the configuration and operation of the position measurement system 100 according to an embodiment of the present invention.

First, as can be seen in FIG. 3(a), the first positioning node (N _A ) 111, the second positioning node (N _B ) 112 and the third positioning node ( N _C ) 113 may be arranged in an equilateral triangle, but in this case, the first positioning node N _A 111, the second positioning node N _B 112, and the third positioning node N _C ) After calculating the distance from 113 to the target node (N _T ) 121 provided in the object 120 (=R _A , R _B , R _C ), the first positioning node When the location of the target node (N _T ) 121 is calculated based on (N _A ) 111, it can be expressed as Equation 1 below.

[Equation 1]

Here, as can be seen in Figure 3 (a), the X _TA is a first axis connecting the second positioning node (N _B ) 112 from the first positioning node (N _A ) 111 =X-axis) refers to the distance from the first positioning node (N _A ) 111 to the target node (N _T ) 121, and Y _TA is the first positioning node N _A ( From the first positioning node (N _A ) 111 on the second axis (=Y axis) connecting the third positioning node (N _B ) 113 at 111), the target node N _T (121) ) Means the second distance to.

In addition, the d is the distance between the first positioning node (N _A ) 111, the second positioning node (N _B ) 112 and the third positioning node (N _C ) 113, and X _T is the It means the position of the target node (N _T ) 121 on the X axis.

At this time, as shown in Equation 1, in order to obtain the second distance (Y _TA ), the position (X _T ) value of the target node (N _T ) 121 on the X axis is reflected. .

On the other hand, as can be seen in Figure 3 (b), in the position measurement system 100 according to an embodiment of the present invention, the moving body 110 includes the second positioning node (N _B ) 112 and the The third positioning node N _C 113 may have a right-angled triangular structure positioned in a direction perpendicular to each other with respect to the first positioning node N _A 111.

In this case, when the position of the target node N _T 121 is calculated based on the first positioning node N _A 111, it may be expressed as Equation 2 below.

[Equation 2]

Here, the X _TA denotes the first positioning node in the first axis (=X axis) connecting the second positioning node (N _B ) 112 from the first positioning node (N _A ) 111 N _A ) refers to the distance from 111 to the target node (N _T ) 121, and Y _TA is the first positioning node (N _A ) 111 to the third positioning node N _B It means a second distance from the first positioning node (N _A ) 111 to the target node (N _T ) 121 in the second axis (=Y axis) connecting 113.

Further, the d denotes a distance from the first positioning node (N _A ) 111 to the second positioning node (N _B ) 112 and the third positioning node (N _C ) 113.

In this case, as shown in Equation 2, the first distance X _TA may be calculated without considering the position value Y _T of the target node N _T in the Y axis, It is possible to calculate the second distance Y _TA without considering the position value X _T of the target node N _T in the X axis.

That is, in the position measurement system 100 according to an embodiment of the present invention, the second positioning node (N _B ) 112 and the third positioning node (N _C ) 113 in the mobile body 110 By forming a right-angled triangular structure positioned in a direction perpendicular to each other with respect to the first positioning node (N _A ) 111, the values of the X-axis and the Y-axis do not affect each other (decoupling). Accordingly, the distance (=R _A ) from the first positioning node (N _A ) 111 to the target node (N _T ) 121 is commonly reflected in obtaining the X _TA and the Y _TA , but the first The distance (=R _B ) from the 2 positioning node (N _B ) 112 to the target node (N _T ) 121 is reflected only to obtain the X _TA , and the third positioning node (N _C ) ( The distance (=R _C ) from 113) to the target node (N _T ) 121 is reflected only to obtain the Y _TA .

Accordingly, in the position measurement system 100 according to an embodiment of the present invention, as shown in Equation 2, the values of the X-axis and the Y-axis do not affect each other (decoupling), One distance (X _TA ) and the second distance (Y _TA ) can be calculated through a simpler operation.

In particular, Equation 2 illustrates a case of a two-dimensional plane, but when the dimension such as 3D is increased, the equation must be expressed as a more complex equation, and accordingly, a more complex operation must be performed.

Further, Equation 2 illustrates a case in which the position of the object 120 is calculated based on the moving object 110, but a different moving object 110 or different between the moving object 110 and the object 120 In a situation in which the first distance (X _TA ) and the second distance (Y _TA ) must be calculated in a structure in which the object 120 is additionally linked and connected in a plurality of steps, Equation 2 may become more complicated. Bar, by preventing the values of the X-axis and the Y-axis from affecting each other (decoupling), it is possible to concisely model the equation for calculating the first distance (X _TA ) and the second distance (Y _TA ). In addition, it is possible to effectively reduce the amount of computation required for this.

In addition, in the position measurement system 100 according to an embodiment of the present invention, the plurality of positioning nodes may calculate a distance to the target node 121 by transmitting and receiving an RF signal to the target node 121 (R _A , R _B , R _C ), and using this, the position calculator 140 may calculate a relative position of the object 120 with respect to the moving object 110.

At this time, the plurality of positioning nodes may calculate the distance to the target node 121 using a Time of Flight (ToF) technique while transmitting and receiving RF signals to the target node 121, but the present invention In addition, the distance to the target node 121 may be calculated by applying various techniques such as phase shift or frequency modulation.

Further, in the position measurement system 100 according to an embodiment of the present invention, the absolute position of the object 120 based on a predetermined reference point 130 in consideration of the previously calculated position information of the moving object 110 It is possible to calculate

For a more specific example, as can be seen in FIG. 4, the plurality of positioning nodes transmit and receive RF signals to and from the reference node 131 provided in the reference point 130 to determine the distance to the reference node 131. After calculating, the location calculator 140 may calculate location information of the moving object 110 based on the reference node 131. Subsequently, the position calculator 140 calculates the position information of the object 120 based on the moving object 110, and finally determines the absolute position of the object 120 based on the reference point 130. Can be calculated.

More specifically, the position of the reference node 131 of the reference point 130 may be measured and stored in advance. Accordingly, the reference node 131 from the first positioning node (N _A ) 111, the second positioning node (N _B ) 112 and the third positioning node (N _C ) 113 of the mobile body 110. ) To transmit and receive an RF signal, and the reference node 131 from the first positioning node (N _A ) 111, the second positioning node (N _B ) 112 and the third positioning node (N _C ) 113. ) After calculating the distance to each (=R _A0 , R _B0 , R _C0 ), using the position of the reference node 131, the first positioning node N _A (111), and the second positioning node ( The positions of the N _B ) 112 and the third positioning node N _C 113 may be calculated.

Further, when the positions of the first positioning node (N _A ) 111, the second positioning node (N _B ) 112 and the third positioning node (N _C ) 113 are calculated, the moving body 110 Considering the location information of the object 120 as a reference, the location of the target node 131 (T(X) in FIG. 4) based on the location of the reference node 131 ((0,0) in FIG. _T , Y _T )) can be calculated.

In addition, FIG. 5 illustrates a flow chart of a method for measuring a location according to an embodiment of the present invention.

Hereinafter, a method of measuring a location according to an embodiment of the present invention will be reviewed. However, the present invention has been described in more detail in the position measurement system 100 according to an embodiment of the present invention, and a repetitive description will be omitted below, and the subject matter of the present invention will be mainly described.

First, as can be seen in FIG. 5, a method for measuring a position according to an embodiment of the present invention is a method for measuring a position of an object 120 using a moving object 110 that can be moved. 110) from a plurality of positioning nodes including a first positioning node (N _A ) 111, a second positioning node (N _B ) 112, and a third positioning node (N _C ) 113 The target node distance calculation step (S110) of calculating the distance to the target node (N _T ) 121 provided in 120 and the distance from the plurality of positioning nodes to the target node 121 And a step S120 of calculating the location of the object 120.

At this time, in the mobile body 110, the second positioning node (N _B ) 112 and the third positioning node (N _C ) 113 are based on the first positioning node (N _A ) 111. It forms a right-angled triangular structure positioned in a direction perpendicular to each other.

In addition, in the location measurement method according to an embodiment of the present invention, the second positioning node (N _B ) 112 and the third positioning node (N _C ) 113 are the first positioning node N _A It is preferable to form a right-angled isosceles triangular structure positioned at the same distance from each other based on (111).

Further, in the position measurement method according to an embodiment of the present invention, in the object position calculation step (S120), the second positioning node (N _B ) 112 in the first positioning node (N _A ) 111 Calculate a first distance (X _TA ) from the first positioning node (N _A ) 111 to the target node (N _T ) 121 in the first axis (=X axis) connecting to, and the From the first positioning node (N _A ) 111 on the second axis (=Y-axis) connecting the third positioning node (N _B ) 113 from the first positioning node (N _A ) 111 A second distance (Y _TA ) to the target node (N _T ) 121 is calculated, and the location (X _TA ) of the target node 121 based on the first positioning node (N _A ) 111 , Y _TA ) can be calculated.

Accordingly, in the location measurement method according to an embodiment of the present invention, positioning for a target node is possible without pre-installing a plurality of positioning nodes in an area to be positioned, and further, an operation for calculating the location of the target node is performed. It is possible to locate the target node with high accuracy while preventing it from becoming complicated.

In addition, the computer program according to another aspect of the present invention is characterized in that it is a computer program stored in a computer-readable medium in order to execute each step of the method for measuring a salpin position in the computer. The computer program may be a computer program including not only a computer program including machine code generated by a compiler, but also a computer program including a high-level language code that can be executed on a computer using an interpreter or the like. In this case, the computer is not limited to a personal computer (PC) or a notebook computer, and is equipped with a central processing unit (CPU) such as a server, a smart phone, a tablet PC, a PDA, and a mobile phone to execute a computer program. Including the device.

The medium may be one that continuously stores a program executable by a computer, or temporarily stores a program for execution or download. In addition, the medium may be a variety of recording means or storage means in a form in which a single piece of hardware or several pieces of hardware are combined. The medium is not limited to a medium directly connected to a computer system, but may be distributed on a network. Examples of media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical recording media such as CD-ROMs and DVDs, magnetic-optical media such as floptical disks, and And a ROM, RAM, flash memory, and the like, and may be configured to store program instructions. In addition, examples of other media include an app store that distributes applications, a site that supplies or distributes various software, and a recording medium or storage medium managed by a server.

In addition, in the position measuring device 110 according to an embodiment of the present invention, in the movable position measuring device 110 for measuring the position of the object 120 having the target node (N _T ) 121 , A first positioning node (N _A ) 111, a second positioning node (N _B ) 112 and a third positioning node (N _C ) having a plurality of positioning nodes including a 113, the second The positioning node (N _B ) 112 and the third positioning node (N _C ) 113 form a right-angled triangular structure positioned in a direction perpendicular to each other with respect to the first positioning node (N _A ) 111 , Each of the plurality of positioning nodes is characterized in that the distance to the target node (N _T ) 121 is calculated and used to measure the position of the object 120.

Hereinafter, a position measuring apparatus 110 according to an embodiment of the present invention will be described centering on the gist.

In addition, in the position measuring apparatus 110 according to an embodiment of the present invention, the second positioning node (N _B ) 112 and the third positioning node (N _C ) 113 are the first positioning node ( It is preferable to form a right-angled isosceles triangular structure located at the same distance from each other based on N _A )(111).

Further, in the position measuring apparatus 110 according to an embodiment of the present invention, a first axis connecting the second positioning node (N _B ) 112 from the first positioning node (N _A ) 111 =X axis) from the first positioning node (N _A ) 111 to the target node (N _T ) 121 to calculate a first distance (X _TA ), and the first positioning node (N _A The target node (N _T ) from the first positioning node (N _A ) 111 on the second axis (=Y axis) connecting the third positioning node (N _B ) 113 at (111) By calculating the second distance (Y _TA ) to 121, the position (X _TA , Y _TA ) of the target node 121 based on the first positioning node (N _A ) 111 is calculated. I can.

Accordingly, in the location measuring apparatus 110 according to an embodiment of the present invention, positioning for a target node is possible without pre-installing a plurality of positioning nodes in an area to be positioned, and further calculating the location of the target node. It is possible to locate the target node with high accuracy while preventing the operation of the target from becoming complicated.

In addition, FIG. 6 shows a photograph illustrating an experiment for verifying the performance of the position measurement system 100, the apparatus 110, and the method according to an embodiment of the present invention.

First, in Fig. 6(a), the first positioning node (N _A ) 111, the second positioning node N _B 112, and the third positioning node N _C 113 are arranged in an equilateral triangle. A configuration for calculating the location of the target node (N _T ) 121 is shown. In FIG. 6(b), the first positioning node (N _A ) 111 and the second positioning node (N _B ) 112 ) And the third positioning node (N _C ) 113 in the form of a right-angled isosceles triangle to calculate the location of the target node (N _T ) 121.

At this time, as can be seen in Fig. 7a, looking at the positioning accuracy according to the distance measurement error, a case in which a plurality of positioning nodes are arranged in a right-angled triangle shape according to the present invention and in an equilateral triangle shape It can be seen that all arrangements show a linearly increasing proportional relationship.

In addition, as can be seen in Figure 7b, the positioning accuracy according to the distance (d) of the positioning node is an equilateral triangle when a plurality of positioning nodes are arranged in a right-angled triangle according to the present invention. ), and the right-angled triangle shape is linearly inversely proportional, whereas the equilateral triangle shape is nonlinearly inversely proportional. Can be seen.

Furthermore, as can be seen in FIG. 7C, the positioning accuracy according to the distance between the moving object 110 and the object 120 is also a case in which a plurality of positioning nodes are arranged in a right-angled triangle according to the present invention. It can be seen that it shows higher accuracy than the case where it is arranged in the form of an equilateral triangle.

Accordingly, in the position measurement system 100, the apparatus 110, and the method according to an embodiment of the present invention, the target node 121 of the object 120 without pre-installing a plurality of positioning nodes in the region to be positioned Positioning of the target node 121 is possible, and further, it is possible to position the target node 121 with high accuracy while preventing the operation for calculating the position of the target node 121 from being complicated.

The above description is merely illustrative of the technical idea of the present invention, and those of ordinary skill in the art to which the present invention pertains will be able to make various modifications and variations without departing from the essential characteristics of the present invention. Therefore, the embodiments described in the present invention are not intended to limit the technical idea of the present invention, but to explain, and are not limited to these embodiments. The scope of protection of the present invention should be interpreted by the claims below, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.

100: position measurement system
110: moving object
111: first positioning node
112: second positioning node
113: third positioning node
120: object
121: target node
130: reference point
131: reference node
140: position calculation unit

Claims (13)

In a position measurement system for measuring the position of an object using a movable moving object,
_A moving body having a plurality of positioning nodes including a first positioning node (N _A ), a second positioning node (N _B ), and a third positioning node (N _C ); And
Including; an object having a target node (N _T ),
In the mobile body, the second positioning node N _B and the third positioning node N _C form a right-angled triangular structure positioned in a direction perpendicular to each other with respect to the first positioning node N _A ,
The plurality of positioning node is to be used to measure the position of the target object by calculating the respective distances to the target node (N _T) based on an RF signal transmitted and received by the target node (N _T),
In calculating the location (X _TA , Y _TA ) of the target node (N _T ),
The first positioning node (N _A) the target node distance (= R _A) to (N _T), but is reflected from to obtain the X and the Y _{TA TA,}
The distance (=R _B ) from the second positioning node (N _B ) to the target node (N _T ) is reflected only to obtain the X _TA ,
The distance (=R _C ) from the third positioning node (N _C ) to the target node (N _T ) is reflected only to obtain the Y _TA ,
The position calculator calculates distances of the plurality of positioning nodes with respect to the reference node whose position has been measured in advance and position information of the moving object, and based on the position information of the moving object, the target node N _T with respect to the reference node Position measurement system, characterized in that calculating the position. The method of claim 1,
Wherein the second positioning node (N _B ) and the third positioning node (N _C ) form a right-angled isosceles triangle structure positioned at the same distance from each other with respect to the first positioning node (N _A ) Measuring system. The method of claim 2,
In the position calculation unit,
From the first positioning node N _A to the target node N _T on a first axis (=X axis) connecting the first positioning node N _A to the second positioning node N _B Calculate the first distance (X _TA ) of,
From the first positioning node N _A to the target node N _T on a second axis (=Y axis) connecting the first positioning node N _A to the third positioning node N _C By calculating the second distance (Y _TA ) of,
Position measurement system, characterized in that calculating the position (X _TA , Y _TA ) of the target node based on the first positioning node (N _A ). The method of claim 3,
In the position calculation unit,
The first distance (X _TA ) is calculated without considering the position value (Y _T ) of the target node (N _T ) in the Y axis,
The position measurement system, characterized in that calculating the second distance (Y _TA ) without considering the position value (X _T ) of the target node (N _T ) in the X axis. delete delete delete In the movable position measuring apparatus for measuring the position of the object having the target node (NT),
It includes a plurality of positioning nodes including a first positioning node (NA), a second positioning node (NB) and a third positioning node (NC),
The second positioning node NB and the third positioning node NC have a right-angled triangular structure positioned in a direction perpendicular to each other with respect to the first positioning node NA,
The plurality of positioning nodes calculate a distance to each of the target nodes NT based on RF signals transmitted and received to the target node NT, and use them to measure the location of the object,
In calculating the location (X _TA , Y _TA ) of the target node NT,
The distance (=R _A ) from the first positioning node (NA) to the target node (NT) is reflected in obtaining the X _TA and the Y _TA ,
The distance (=R _B ) from the second positioning node NB to the target node NT is reflected only to obtain the X _TA ,
The distance (=R _C ) from the third positioning node NC to the target node NT is reflected only to obtain the Y _TA ,
The position calculator calculates the distances and positions of the plurality of positioning nodes with respect to the reference node whose positions have been measured in advance, and calculates the position of the target node NT with respect to the reference node based on the positions of the plurality of positioning nodes. Position measuring device, characterized in that. The method of claim 8,
The second positioning node (NB) and the third positioning node (NC) are positioned at the same distance from each other based on the first positioning node (NA) to form a right-angled isosceles triangular structure. The method of claim 9,
The first distance from the first positioning node (NA) to the target node (NT) on a first axis (=X axis) connecting the first positioning node (NA) to the second positioning node (NB) Calculate (X _TA ),
The second distance from the first positioning node NA to the target node NT on a second axis (=Y axis) connecting the first positioning node NA to the third positioning node NC By calculating (Y _TA ),
Position measuring apparatus, characterized in that calculating the position (X _TA , Y _TA ) of the target node based on the first positioning node (NA). In the position measurement method of measuring the position of an object using a movable moving object,
Calculate the distance from a plurality of positioning nodes including the first positioning node NA, the second positioning node NB, and the third positioning node NC provided in the moving object to the target node NT provided in the object, respectively Calculating the target node distance; And
Including; an object location calculation step of calculating the location of the object using the distances from the plurality of positioning nodes to the target node; and
In the mobile body, the second positioning node NB and the third positioning node NC form a right-angled triangular structure positioned in a direction perpendicular to each other with respect to the first positioning node NA,
In the step of calculating the location of the object,
In calculating the location (X _TA , Y _TA ) of the target node NT,
The distance (=R _A ) from the first positioning node (NA) to the target node (NT) is reflected in obtaining the X _TA and the Y _TA ,
The distance (=R _B ) from the second positioning node NB to the target node NT is reflected only to obtain the X _TA ,
The distance (=R _C ) from the third positioning node NC to the target node NT is reflected only to obtain the Y _TA ,
In the object position calculation step, distances and positions of the plurality of positioning nodes with respect to a reference node for which positions have been measured in advance are calculated, and the target node NT with respect to the reference node is determined based on the positions of the plurality of positioning nodes. Position measurement method, characterized in that calculating the position. The method of claim 11,
The second positioning node (NB) and the third positioning node (NC) form a right-angled isosceles triangle structure positioned at the same distance from each other with respect to the first positioning node (NA). The method of claim 12,
In the step of calculating the object position,
The first distance from the first positioning node (NA) to the target node (NT) on a first axis (=X axis) connecting the first positioning node (NA) to the second positioning node (NB) Calculate (X _TA ),
The second distance from the first positioning node NA to the target node NT on a second axis (=Y axis) connecting the first positioning node NA to the third positioning node NC By calculating (Y _TA ),
Position measurement method, characterized in that calculating the position (X _TA , Y _TA ) of the target node based on the first positioning node (NA).

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