KR102261085B1 - Calculation Method of Position and Electronic Device supporting the same - Google Patents

Abstract

The present invention discloses a location estimation method and a device supporting the same. The location estimation method includes the steps of: calculating, by a rescuer terminal, a communication radius based on a plurality of types of wireless signals transmitted and received with at least one other rescuer terminal, and estimating a current location based on the calculated communication radius; calculating, by the rescuer terminal, a distance and a direction from the rescuer terminal based on at least one type of wireless signal transmitted and received with the rescuer terminal based on the estimated location; and outputting, by the rescuer terminal, the distance and direction. Accordingly, the present invention more accurately identifies the location of the rescuer and person to be rescued at a disaster site.

Description

Calculation Method of Position and Electronic Device supporting the same

The present invention relates to location estimation, and a location estimation method and an apparatus supporting the same for estimating the location of a rescuer terminal in a disaster environment using at least one rescuer terminal to smoothly perform rescue activities for a rescuer is about

In general, GPS is mainly used as a wireless positioning technology, but the GPS positioning method has a disadvantage in that the error of the tracking position is large in a large metropolitan area, an indoor environment, and a shaded area. Recently, in order to solve the disadvantages of the GPS positioning method, research to improve the existing wireless positioning method using densely arranged base stations is being actively conducted. For example, research on the existing positioning method using a base station based on communication networks such as LTE, WCDMA, and CDMA is in progress. However, the CDMA communication network has a disadvantage in that the resolution is lowered and the positioning performance is considerably lowered.

Accordingly, up to now, even if a wireless positioning method using a GPS or a base station is applied, there is a problem in that it is not easy to apply it at a disaster site requiring very precise wireless positioning for a person in need.

An object of the present invention is to provide a location estimation method and an apparatus supporting the same for more accurately identifying the location of a rescuer and a person in need at a disaster site so that the rescue operation at the disaster site can be performed more smoothly.

In the method for estimating the position of the present invention for achieving the above object, the rescuer terminal calculates a communication radius based on a plurality of types of radio signals transmitted and received with at least one other rescuer terminal, and based on the calculated communication radius estimating the current location, the rescuer terminal calculating a distance and direction from the rescuer terminal based on at least one type of radio signal transmitted and received with the rescuer terminal based on the estimated location, the rescuer terminal , and outputting the distance and direction.

Here, the step of estimating is based on a radio signal RSSI (Received Signal Strength Indication) of Long Term Evolution (LTE), Wireless Local Area Network (WLAN), and Bluetooth Low Energy (BLE) method with the at least one other rescuer terminal and and estimating the relative positions between the rescuer terminals.

In addition, the estimating may include the movement distance and movement direction of the at least one other rescuer terminal and the movement direction of the at least one other rescuer terminal based on the sensing information obtained according to the movement of the rescuer terminal and the at least one other rescuer terminal at a specific location. and estimating a relative position between the at least one other rescuer terminal and the rescuer terminal based on the moving distance and the moving direction of the rescuer terminal.

Here, the method further includes performing error correction of the relative position estimated based on the sensing information based on the signal transmitted and received with the requestor terminal.

Meanwhile, the calculating of the distance and direction from the rescuer terminal may include receiving a signal transmitted by the rescuer terminal using at least one communication method of WLAN and BLE and a MIMO method using a plurality of antennas included in the rescuer terminal. and calculating a separation distance and direction from the requestor's terminal by analyzing the state.

Alternatively, calculating the distance and direction from the rescuer terminal may include analyzing the RSSI of a plurality of types of radio signals transmitted and received between the rescuer terminal and the rescuer terminal to calculate the separation distance and direction between the rescuer terminal and the rescuer terminal including the steps of

In addition, calculating the distance and direction from the rescuer terminal may include analyzing the RSSI of a plurality of types of radio signals transmitted and received between the at least one other rescuer terminal and the rescuer terminal, and the at least one other rescuer terminal and the rescuer terminal. The method further includes calculating a separation distance and direction from the terminal.

In this case, the step of outputting the distance and direction is that the rescuer terminal outputs the separation distance and direction between the rescuer terminal and the rescuer terminal and the separation distance and direction between the at least one other rescuer terminal and the rescuer terminal includes steps.

The rescuer terminal according to an embodiment of the present invention is functionally with a communication module, a display, the display and the communication module including communication circuits capable of transmitting and receiving a plurality of types of wireless signals transmitted and received with at least one other adjacent rescuer terminal a processor to be connected, wherein the processor calculates a communication radius based on the plurality of types of radio signals, estimates a current position based on the calculated communication radius, and transmits/receives to/from a requestor terminal based on the estimated position. It is characterized in that after calculating the distance and direction to the requestor's terminal based on one type of radio signal, the control is performed to output the distance and direction to the display.

A rescue support server apparatus according to an embodiment of the present invention includes a communication interface capable of communicating with at least one rescuer terminal, and a processor operatively connected to the communication interface, wherein the processor includes a plurality of rescuers terminals transmitting and receiving each other. Receiving a type of radio signal, calculating a communication radius of the plurality of rescuers terminals based on the plurality of types of radio signals, estimating a relative position between the plurality of rescuers terminals based on the calculated communication radius, and the estimation After calculating the distance and direction between the rescuer terminal and the plurality of rescuer terminals based on at least one type of radio signal transmitted and received by the plurality of rescuer terminals and the rescuer terminal based on the location, the distance and direction It is characterized in that the control to be transmitted to the plurality of rescuers terminals.

The present invention described above measures the radio signal of all mobile communication bands (LTE, WCDMA, CDMA, Wi-Fi, BT) in a disaster site situation, and then scans the rescuer and rescuer cluster area to determine the exact location of the rescuer to quickly support to rescue.

1 is a diagram illustrating an example of a location estimation system environment according to an embodiment of the present invention.
2 is a diagram illustrating an example of a rescuer terminal configuration according to an embodiment of the present invention.
3 illustrates a form of a communication module of a rescuer terminal according to an embodiment of the present invention.
4 is a diagram illustrating an example of a processor configuration of a rescuer terminal according to an embodiment of the present invention.
5 is a diagram illustrating an example of connection information processing between rescuers terminals.
6 is a diagram related to the calculation of the communication radius of the rescuer terminal.
7A and 7B are diagrams illustrating an example of requestor location estimation.
8 is a diagram illustrating RSSI change according to distance according to an embodiment of the present invention.
9 is a diagram illustrating an example of a process for estimating the location of a rescuer using a plurality of rescuer terminals.
10 is a diagram illustrating an example of antenna waveform analysis and direction detection.
11 is a diagram illustrating an example of a location estimation method according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in more detail based on the accompanying drawings. Of course, the scope of the present invention is not limited to the following examples, and various modifications may be made by those of ordinary skill in the art without departing from the technical gist of the present invention.

The terms or words used in the present specification and claims described below should not be construed as being limited to their ordinary or dictionary meanings, and the inventors have appropriate concepts of terms in order to best describe their inventions. It should be interpreted as meaning and concept consistent with the technical idea of the present invention based on the principle that it can be defined in Accordingly, the embodiments described in this specification and the configurations shown in the drawings are only preferred embodiments of the present invention, and do not represent all the technical spirit of the present invention, so various equivalents that can be substituted for them at the time of the present application and variations.

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

1 is a diagram illustrating an example of a location estimation system environment according to an embodiment of the present invention.

Referring to FIG. 1 , the location estimation system environment 10 of the present invention includes a network 50 , at least one rescuer terminal 101 , 102 , 103 , a rescuer terminal 200 , and a rescue assistance server device 300 . may include

The network 50 supports the formation of a communication channel between the at least one rescuer terminal 101 , 102 , 103 , the rescuer terminal 200 , and the rescue assistance server device 300 . For example, the network 50 may support the formation of a communication channel between at least one rescuer terminal 101 , 102 , 103 and the rescue support server device 300 . The network 50 may support the formation of a communication channel of at least one rescuer terminal 101 , 102 , 103 equipped with a mobile communication module such as an LTE method, a CDMA method, or a WCDMA method, for example. Additionally, the network 50 may support communication channel formation of various communication methods, for example, 3G, 4G, or 5G communication methods.

The at least one rescuer terminal 101 , 102 , 103 is held by rescuers performing a rescue operation, and in the rescue operation process, after determining their current location or a relative location between rescuers, the location of the rescuer terminal 200 . By accurately identifying the The at least one rescuer terminal 101 , 102 , 103 may be, for example, a terminal possessed by a firefighter before entering a firefighting activity. After the at least one rescuer terminal (101, 102, 103) is disposed at a predetermined position in a disaster environment, its current position or the relative position between other rescuer terminals by estimating the position between the rescuers and performing error correction can be identified more accurately. The at least one rescuer terminal (101, 102, 103) analyzes the RSSI (Received Signal Strength Indication) for the radio signal transmitted by the rescuer terminal 200 in a state in which the relative positions of each other are accurately estimated, and the rescuer terminal ( 200) and at least one rescuer terminal (101, 102, 103) may provide a direction and a distance. Based on this, rescuers can easily search for a person who has grasped the rescuer terminal 200 and perform a quick rescue operation. Meanwhile, in the illustrated description, the configuration in which at least one rescuer terminal 101 , 102 , 103 is arranged is exemplified, but the present invention is not limited thereto. At least one rescuer terminal 101, 102, 103 of the present invention may include a plurality of two or more or four or more.

The requestor terminal 200 may be a portable communication terminal owned by a general user. The portable communication terminal may transmit a signal through various communication methods. For example, the portable communication terminal includes a communication circuit related to LTE, WLAN (Wi-Fi or Wi-Fi direct), BT or BLE communication operation, and according to a specified setting, at least one or all of the plurality of communication circuits It can be operated to transmit a signal. This portable communication terminal may be the requestor's terminal 200 according to the user's current situation. The requestor terminal 200 may transmit a signal required for the requestor according to a specified setting or a user operation. Alternatively, the requester terminal 200 may perform signal transmission based on at least one communication circuit among a plurality of communication circuits in relation to operation of an installed communication function even without a separate user operation. Alternatively, the requester's terminal 200 may operate as the requestor's terminal 200 according to the reception of a disaster signal from a base station that has performed camping.

The rescue support server device 300 establishes a communication channel with at least one rescuer terminal 101 , 102 , 103 through the network 50 , and information provided by the at least one rescuer terminal 101 , 102 , 103 . Accordingly, after calculating the current position or relative position of at least one rescuer terminal (101, 102, 103), based on the estimated position of the at least one rescuer terminal (101, 102, 103) of the rescuer terminal (200) Direction and distance can be calculated. In this regard, the structure support server device 300 may include a communication interface capable of performing communication with the network 50 , a memory, and a processor. The memory of the rescue support server device 300 includes identification information of at least one rescuer terminal 101 , 102 , 103 and information provided by the at least one rescuer terminal 101 , 102 , 103 , and at least one rescuer terminal ( Information on estimated positions of 101 , 102 , and 103 , error correction, and distance and direction of the requester's terminal 200 may be stored. The processor 150 of the rescue support server device 300 collects identification information for at least one rescuer terminal 101 , 102 , 103 dispatched to the disaster site, and at least one based on map information for the disaster environment. It is possible to provide suggested location information of the rescuer terminals 101, 102, 103 in a disaster environment. When at least one rescuer terminal 101 , 102 , 103 is placed at the proposed location in a disaster environment, the rescue support server device 300 is a rescuer terminal based on information provided by the at least one rescuer terminal 101 , 102 , 103 . (100) relative position estimation can be performed. In addition, the rescue support server device 300 is based on the information of the at least one rescuer terminal 101, 102, 103 for the signal transmitted by the rescuer terminal 200, at least one rescuer terminal (101, 102, 103) Error correction for the relative position of the liver may be performed. The rescue support server device 300 calculates the distance and direction between the information transmitted by the rescuer terminal 200 and the at least one rescuer terminal 101, 102, 103 based on RSSI information, 101, 102, 103). On the other hand, in the above description, the rescue support server device 300 collects information on rescuer terminal operation in a disaster environment from at least one rescuer terminal 101 , 102 , 103 , and then at least one based on the collected information. Although it has been described that the distance and direction information for the relative position between the rescuers' terminals 101, 102, and 103 and the estimated position of the rescuer's terminal 200 are provided, the present invention is not limited thereto. For example, one rescuer terminal among the at least one rescuer terminal 101, 102, 103 becomes the master device, and the other rescuer terminals become slave devices. It may be configured to perform location and location estimation of the requestor terminal 200 . In this case, the configuration of the rescue support server device 300 in the location estimation system environment 10 of the present invention may be omitted.

2 is a diagram illustrating an example of a rescuer terminal configuration according to an embodiment of the present invention, and FIG. 3 illustrates a form of a communication module of a rescuer terminal according to an embodiment of the present invention. Prior to description, the rescuer terminal 100 described with reference to FIG. 2 may be one of the at least one rescuer terminal 101 , 102 , and 103 described with reference to FIG. 1 . In the following description, the at least one rescuer terminal 101 , 102 , 103 will be described with the rescuer terminal 100 as a representative.

Referring to FIG. 2 , the rescuer terminal 100 according to an embodiment of the present invention includes at least one antenna (ANT), a communication module 110 , a sensor module 120 , a memory 130 , a display 140 and It may include a processor 150 .

A plurality of the at least one antenna ANT may be disposed to support a communication frequency band of each communication circuit included in the communication module 110 . Alternatively, the at least one antenna ANT may be provided as a broadband antenna to support all frequency bands of communication circuits. When the at least one antenna ANT is manufactured as a broadband antenna, the antenna ANT is a discon type so that the frequency band covers a bandwidth of 700 MHz to 6.0 GHz and 5300 MHz and has a vertical polarization characteristic having a gain of 1.0 dBi. of the radiation element can be employed. In addition, a radiation device using a PCB substrate may be employed to have horizontal polarization characteristics having the same frequency band and gain. That is, the at least one antenna ANT can cover a wide band characteristic of vertical and horizontal polarization, is provided to have a gain greater than or equal to a specified size, and can have a structure in which a PCB substrate and a discon-type radiation device are complexly connected. have.

The communication module 110 may support the formation of a communication channel of the rescuer terminal 100 . For example, the communication module 110 may establish a communication channel with the structure support server device 300 . Alternatively, the communication module 110 may receive at least one of various communication method signals transmitted by the requestor terminal 200 . In this regard, the communication module 110 may include a first communication circuit 111 , a second communication circuit 112 , and a third communication circuit 113 . The first communication circuit 111 may transmit/receive a signal of, for example, an LTE communication method. For example, the first communication circuit 111 may transmit/receive data to/from the rescue support server device 300 through the network 50 . Alternatively, the first communication circuit 111 may collect the LTE signal transmitted by the requestor terminal 200 by performing an operation of scanning only the reception frequency without using the transmission frequency when the requestor terminal 200 is searched. In this regard, the communication module 110 may include a notch, and may block a path using a transmission frequency when the LTE signal is collected by the requestor terminal 200 by using the notch. The second communication circuit 112 may support, for example, a Wi-Fi communication method or a Wi-Fi direct communication method. The third communication circuit 113 may support a Bluetooth communication method or a Bluetooth low energy (BLE) communication method.

Referring to FIG. 3 , the communication module 110 of the rescuer terminal 100 according to an embodiment of the present invention includes, for example, an ATT 1001 connected to an antenna ANT, a first amplifier 1002a, and a second amplifier 1002b. ), the first PLL 1003a, the third amplifier 1002c, the first bandpass filter 1004a (or the first multiplexer), the fourth amplifier 1002d, the second bandpass filter 1004b (or the second multiplexer), fifth amplifier 1002e, first detector 1005a, second PLL 1003b, third bandpass filter 1004c (third multiplexer), sixth amplifier 1002f, second detector 1005b ), AD 1006 . The antenna ANT may be implemented to cover signals of various frequency bands, for example, to receive radio frequency signals from at least three mobile communication companies. The ATT 1001 may attenuate and output a signal received by the antenna ANT. The first to sixth amplifiers 1002f may amplify the signal of the input terminal to a specified level and output the amplified signal. The first PLL 1003a and the second PLL 1003b may control an output signal using a phase of an input signal and a signal fed back between the output signal. It is possible to adjust the output frequency to change by detecting the phase difference between the frequency divider result of the current output signal, which is a feedback loop, and the input signal, determining the detected phase difference as an error, and adjusting the input voltage of the VCO to reduce the error. The first PLL 1003a and the second PLL 1003b may generate local signals of 800 MHz to 2615 MHz. The first to third bandpass filters 1004a, 1004b, and 1004c filter a signal of a specified frequency band from a signal received through the antenna ANT (eg, only an uplink signal among radio frequency signals of three mobile communication companies). pass through). The first and second detectors 1005a and 1005b may detect an RF signal from the IF-Saw. The AD 1006 may convert an analog signal into a digital signal and transmit it to the processor 150 .

The sensor module 120 may collect at least one piece of sensing information for detecting a movement direction and a movement distance according to the movement of the rescuer terminal 100 . For example, it may include at least one of the sensor module 120 , the acceleration sensor, the geomagnetic sensor, and the gyro sensor, and collect sensing information according to driving of each sensor. The sensing information collected by the sensor module 120 may be used in a process of estimating relative positions between rescuers terminals.

The memory 130 may store various information required for operation of the rescuer terminal 100 . For example, the memory 130 includes a program for operating the first communication circuit 111 included in the communication module 110 , a program for operating the second communication circuit 112 , and a program for operating the third communication circuit 113 . A program, a program for calculating the moving distance and direction of a rescuer terminal based on the sensing information collected by the sensor module 120, a program for calculating and displaying a relative position with another rescuer terminal based on hop count information, and the relative of rescuers terminals It is possible to store a program for performing error correction on the position, a program for collecting the signal transmitted by the requestor's terminal 200, and calculating and displaying the position of the requestor's terminal based on this. Alternatively, the memory 130 may store information collected for estimating the location of the requestor's terminal 200 and location estimation information of the requestor's terminal 200 . Also, the memory 130 may store map information related to a disaster environment.

The display 140 may output various screens necessary for operation of the rescuer terminal 100 . For example, the display 140 may display map information for a disaster environment in which the rescuer terminal 100 is located. The display 140 may display another rescuer terminal and a location on its own map or a relative location between other rescuer terminals. The display 140 may display the position of the rescuer terminal 200 in a state where the relative positions (or positions on the map) between the rescuers terminals are displayed. Alternatively, the display 140 may output the separation direction and the separation distance of the rescuer terminal 200 based on the rescuer terminal 100 .

The processor 150 may activate a program related to the operation of the rescuer terminal 100 , collect, transfer, and process data, and the like. For example, the processor 150 may perform a relative position between other rescuer terminals, error correction, and estimation and display of the position of the rescuer terminal 200 through the configuration shown in FIG. 4 .

4 is a diagram illustrating an example of a processor configuration of a rescuer terminal according to an embodiment of the present invention, and FIG. 5 is a diagram illustrating an example of processing connection information between rescuers terminals. 6 is a diagram related to the calculation of the communication radius of the rescuer's terminal, and FIGS. 7A and 7B are diagrams illustrating an example of estimating the location of the rescuer.

Referring to FIG. 4 , the processor 150 of the rescuer terminal 100 according to the present invention includes a connection information processing unit 151 , a communication radius calculation unit 153 , a rescuer position estimation unit 155 , and a rescuer position estimation unit 157 . may include.

The connection information processing unit 151 may collect radio signals transmitted and received with other adjacent rescuer terminals. In this regard, the connection information processing unit 151 collects radio signals transmitted by other rescuers terminals based on identification information (or identification information of a communication circuit for transmitting and receiving radio signals) of other rescuers terminals stored in the memory 130 . can The connection information processing unit 151 may calculate the separation distance based on the collected radio signal and the graph shown in FIG. 5 . Referring to FIG. 5 , the probability of a received signal strength (RSS) value may vary according to a distance of a signal transmitted and received with other rescuer terminals. The connection information processing unit 151 may calculate the distance by accumulating signals currently transmitted/received to and from other rescuer terminals and comparing it with the graph shown in FIG. 5 . The connection information processing unit 151 may process signal transmission/reception with other rescuer terminals based on at least one of the first to third communication circuits 111 , 112 , and 113 in connection with wireless signal collection.

The communication radius calculation unit 153 may calculate the communication radius based on the distance values processed by the connection information processing unit 151 . In this case, the communication radius calculator 153 may determine the number of hops of signals transmitted and received with other adjacent rescuer terminals and determine the strength of a one-hop reception signal. In this regard, as shown in FIG. 6 , the communication radius calculation unit 153 calculates the received signal strength of one hop in all directions, and calculates the minimum signal transmission radius and the maximum signal transmission radius based on the calculated information. can

The rescuer location estimating unit 155 may estimate its own location using the sensor module 120 . For example, the rescuer position estimator 155 may determine in which direction and by what distance the rescuer terminal 100 moves based on the acceleration sensing information, the geomagnetic sensing information, and the gyro sensing information. In this process, the rescuer location estimator 155 may calculate location information in a state of entering the room based on the outdoor measurable point obtained from the GPS sensor. To this end, the rescuer location estimating unit 155 may perform Pedestrian dead reckoning (PDR) measurement based on sensing information from a point in time when signal collection by the GPS sensor is impossible, for example, when entering the room. In addition, the rescuer location estimator 155 may collect location information from other rescuer terminals and correct the relative directions and distances based on RSSI obtained during signal transmission/reception with other rescuers terminals.

When the rescuer location estimation is completed, the rescuer location estimating unit 157 may perform location estimation of the person in need based thereon. For example, as shown in FIG. 7A , the positions of the plurality of rescuer terminals Anchor 1 , Anchor 2 , and Anchor 3 are defined through the rescuer position estimation unit 155 and calculated by the communication radius calculation unit 153 . Based on the first hop communication radius, it is possible to estimate the location of the requestor terminal Mobile 1 that transmits a signal within a corresponding range. The estimation method, as shown, performs message transmission/reception between a plurality of rescuer terminals (eg, Anchor 1, Anchor 2) ((a) Message From anchor)), and based on the reliability of Nonparametric belief propagation (NBP) Estimate the location of the rescuer terminal (Mobile 1) ((b) Belief with NBP), the overlap area between the first rescuer terminal (Anchor 1) and the second rescuer terminal (Anchor 2) and the location estimated through the NBP reliability After calculating the overlapping area of ((c) Maximum location boundary), the location of the requestor terminal (Mobile 1) may be determined ((d)Belief with CINBP). On the other hand, in FIG. 7a, unlike the method of calculating the position of the rescuer terminal (Mobile 1) based on the communication radius of the first rescuer terminal (Anchor 1) and the second rescuer terminal (Anchor 2), as in FIG. 1 Based on the communication radius of the rescuer terminal (Anchor 1), the location of the rescuer terminal (Mobile 1) can be estimated. That is, as shown in FIG. 7b, when a message is transmitted from the first rescuer terminal (eg, Anchor 1) and the location of the rescuer terminal (Mobile 1) is estimated ((a) Message From anchor)), NBP (Nonparametric belief propagation) Estimate the location of the rescuer terminal (Mobile 1) based on the reliability of ((b) Belief with NBP), the first rescuer terminal (Anchor 1), the second rescuer terminal (Anchor 2), and the third rescuer terminal ( After calculating the overlapping area between the overlapping area between Anchor 3) and the estimated location of the requestor terminal (Mobile 1) ((c)Maximum location boundary), the location of the requestor terminal (Mobile 1) is determined ((d)Belief with CINBP) can be done.

As described above, the rescuer terminal 100 or Anchor according to an embodiment of the present invention performs a fire brigade positioning algorithm based on LTE/BLE/WLAN connection information, and builds a network topology based on the connection information of the fire brigade terminal. , based on LTE/BLE/WLAN radio signals transmitted and received between rescuer terminals, the received signal strength (RSSI) is analyzed according to the distance between rescuers terminals, and 1-hop definition and connection information calculation can be performed through received signal strength analysis. have. In addition, the rescuer terminal 100 or Anchor applies a communication connection model in order to consider the communication characteristics of the terminal received signal strength (RSSI), but considers the communication irregularity in consideration of the 1 hop received signal strength for the maximum transmission radius. decide In addition, the rescuer terminal 100 or the anchor may perform PDR error correction by using multi-hop count information. Here, the rescuer terminal 100 or Anchor may calculate the maximum distance from the rescuer terminal to another rescuer terminal or rescuer terminal by multiplying the maximum communication radius by the number of hops, and utilizing the maximum distance from each rescuer terminal 200 position candidates can be secured. The rescuer terminal 100 or Anchor calculates the intersection area of the identified location candidates of the rescuer terminal 200 to calculate the maximum location radius measurement value, and inversely calculates the location candidates of the rescuer terminal 200 to accumulate over time PDR error can be eliminated. In this regard, the rescuer terminal 100 or the anchor may store and manage, in the memory 130 , an algorithm for performing network node position measurement based on the relative position of the firefighter (anchor). In addition, the rescuer terminal 100 or the anchor may estimate the distance per hop through network topology analysis, and estimate the relative distance between rescuers terminals by multiplying the estimated distance by the number of hops. Based on the PDR relative position of the firefighter from which the accumulated error has been removed, the position of the requester terminal 200 in the network node may be estimated through multivariate surveying or Bayesian filtering. In addition, the rescuer terminal 100 or the anchor may optimize a range-free algorithm by removing connection information instability of an anisotropic network. Anisotropic networks caused by indoor/outdoor obstacles may cause instability of connection information. That is, the error of the node location measurement algorithm may increase due to the instability of the connection information. Accordingly, the rescuer terminal 100 or the anchor can apply a robust range-free algorithm to the anisotropic network by applying a one-hop distance error correction technique in consideration of the bypass of the connection information in order to remove connection information instability.

8 is a diagram illustrating RSSI change according to distance according to an embodiment of the present invention.

In the process of performing the rescue action on the rescuer terminal 200 , depending on the situation, one firefighter may access the rescue worker terminal 200 for the rescue action. In this regard, the rescuer terminal 100 performs precise positioning of the rescuer based on LTE/BLE/WLAN signals. In this regard, the rescuer terminal 100 performs RSSI analysis of the signal transmitted and received with the rescuer terminal 200 and proximity detection and positioning of the rescuer through direction information based on the RSSI attenuation model according to the distance shown in FIG. 8 . do. To this end, the rescuer terminal 100 may perform RSSI modeling in consideration of a communication environment such as a signal attenuation model and multipath, and may perform RSSI data analysis according to distance through collection of received signals. In addition, the rescuer terminal 100 may calculate the distance to the rescuer terminal 100 through the channel model analysis for estimating the distance to the rescuer terminal 200 and the RSSI received from the rescuer terminal 200 . In addition, the rescuer terminal 100 may determine the relative direction information of the rescuer terminal with respect to the location of the rescuer terminal 100 through a directional antenna-based direction detection algorithm.

9 is a diagram illustrating an example of a process for estimating the location of a rescuer using a plurality of rescuer terminals.

Referring to FIG. 9 , in the process of performing a rescue action on the rescuer terminal 200 , a plurality of fire fighters may approach the rescue worker terminal 200 for a rescue action, depending on circumstances. When a plurality of firefighters are located at a designated point in a state in which each of the firefighters has rescuer terminals 101, 102, 103, each of the rescuers terminals 101, 102, 103 is at their respective location, the rescuer terminal 200 A distance and a direction may be determined based on the RSSI signal received from the . In this case, each of the rescuers terminals 101 , 102 , 103 may perform location estimation based on the extended Kalman filter using the distance estimated through the RSSI received from the rescuer terminal 200 as a measurement value. In addition, when the nonlinearity of the RSSI model is greater than or equal to a specified value, the rescuer terminals 101, 102, 103 perform sigma point Kalman filtering-based position estimation to correct an error of the extended Kalman filter caused by the nonlinearity. can be done As described above, the rescuer terminals 101, 102, 103 perform RSSI and direction information-based multi-lateration of the directional antenna (based on the coordinates of the current rescuer terminals 101, 102, 103) to the rescuer terminal 200 ) can be located.

10 is a diagram illustrating an example of antenna waveform analysis and direction detection.

The rescuer terminal 100 may include a plurality of antennas as described above. For example, the rescuer terminal 100 may perform MIMO using a plurality of antennas to operate a WLAN/BLE communication circuit. Similarly, the requestor terminal 200 may also perform MIMO WLAN/BLE signal transmission/reception based on a plurality of antennas. In this case, the rescuer terminal 100 may acquire a signal waveform as shown in FIG. 10 with respect to the radio signal transmitted by the rescuer terminal 200 . For example, the rescuer terminal 100 may receive a Wi-Fi signal using two antennas, and in this case, two antennas (eg, Antenna 1 and Antenna 2) may receive a radio signal as shown. The rescuer terminal 100 detects the distance and direction between the rescuer terminal 100 and the rescuer terminal 200 by analyzing the separation distance between antennas and the signal waveform, and displays at least one of the distance and the direction ( 140) can be printed.

11 is a diagram illustrating an example of a location estimation method according to an embodiment of the present invention.

Referring to FIG. 11 , in relation to the method for estimating a location according to an embodiment of the present invention, in step S11 , a plurality of rescuers terminals 101 , 102 , 103 may be disposed at a predetermined point. For example, when a disaster environment is indoors, firefighters having a plurality of rescuer terminals 101 , 102 , 103 may be spaced apart from each other by a specified distance or more to take a seat for a rescue operation. When the location is determined, in step S13 according to the input signal of the firefighter of at least one rescuer terminal among the plurality of rescuer terminals 101, 102, 103, the location estimation of the rescuer terminals 101, 102, 103 is performed can be Alternatively, before the plurality of rescuers terminals 100 are spaced apart from each other by a predetermined distance or more, connection information processing for position estimation and communication radius calculation operations may be performed. In this process, the plurality of rescuer terminals 101, 102, and 103 may each perform PDR positioning based on sensing information to share information on their current location with other rescuer terminals. The starting point of PDR positioning may be, for example, the last point of GPS reception or a point designated by a specific firefighter. Alternatively, a point at which a plurality of rescuers terminals 101 , 102 , 103 are gathered within a predetermined distance may be a starting point of PDR positioning. The rescuers terminals 101 , 102 , 103 may estimate their mutual positions by applying distance and direction information calculated through PDR positioning based on the starting point. The location estimation time may be performed, for example, in a state in which the plurality of rescuers terminals 100 are temporarily stopped. In this regard, a specific rescuer terminal among the plurality of rescuer terminals 100 may request to estimate a relative position with respect to a location where each rescuer terminal 101 , 102 , 103 is currently located.

In step S17, it is checked whether the location estimation of the rescuers terminals 100 is completed, and if the location estimation is not completed, it may branch to before step S11 and perform the following operations again.

When the location estimation is completed, in step S19 , at least one rescuer terminal 101 , 102 , 103 may perform RSSI analysis between the rescuer terminals 200 . Alternatively, all of the rescuer terminals 101 , 102 , and 103 may perform RSSI analysis on a plurality of radio signals transmitted and received with the rescuer terminal 200 . In the analysis process, the rescuer terminals 101 , 102 , 103 may perform RSSI modeling, communication radius calculation, and PDR error correction.

In step S21 , at least one rescuer terminal 101 , 102 , 103 may display the distance and direction of the rescuer terminal 200 . In this process, when one rescuer terminal 100 displays the distance and direction, at least one signal of WLAN and BLE is received in a MIMO (Multi input Multi output) method, and based on the received signal, the rescuer terminal 200 is received. ) can indicate the distance and direction. When the plurality of rescuer terminals (101, 102, 103) display the distance and direction, information on the network nodes for the plurality of rescuer terminals (101, 102, 103) is displayed on the display 140, Distance information and direction information between the rescuers terminals 101 , 102 , 103 and the rescuer terminal 200 may be displayed. In this operation, the plurality of rescuers terminals 101 , 102 , 103 may display an indoor map of a building stored in the memory 130 together.

In step S23 , the rescue support server device 300 or the at least one rescuer terminal 101 , 102 , 103 may check whether the rescue is terminated, an event related to the rescue has occurred, and process the function termination. If there is no event related to the end of the rescue, the rescue support server device 300 or the at least one rescuer terminal 101 , 102 , 103 may branch to before step S19 and perform the following operations again.

On the other hand, in relation to the above-described location estimation method, the rescuer terminals 101, 102, 103 are relative position estimation, error correction, rescuer terminals 101, 102, for estimating the location of the rescuer terminal 200, 103) Although it has been described that the distance and direction to the reference requestor's terminal 200 are calculated, the method of the present invention may also be performed by the rescue assistance server device 300 . That is, the rescuer terminals 101, 102, 103 collect GPS information, sensing information for PDF positioning, and a plurality of types of wireless signals transmitted and received with other rescuer terminals (eg, LTE, WLAN, BLE). It is possible to provide the RSSI information for the requestor's terminal 200 and RSSI information for a plurality of types of radio signals (eg, at least one of LTE, WLAN, and BLE) received from the requestor's terminal 200 to the structure support server device 300 . The rescue support server device 300 is based on the sensing information about the current location and direction of each rescuer terminal (101, 102, 103), connection information transmitted and received with other terminals, and RSSI information, the rescue terminal (101, 102) , 103) calculates the relative position, the separation distance and direction information between the rescuers terminals 101, 102, 103 and the rescuer terminal 200, and calculates the information on the direction of at least one rescuer among the rescuers terminals 101, 102, 103 It can be provided to the terminal.

In the process of estimating the relative positions of the rescuers terminals 101 , 102 , 103 , it is possible to increase the accuracy of the position estimation by using a plurality of types of radio signals, and in the process of estimating the positions of the rescuers terminal 200 , a plurality of types of radio signals are used. The position of the requestor's terminal 200 may be estimated using at least one radio signal among radio signals or only a currently detected radio signal.

As described above, the location estimation method of the present invention searches for LTE, WI-FI, and BT signals in an integrated manner, searches for signals for each band, and then extracts radio signals for each band and performs integrated processing. The distance and direction may be calculated based on more accurate statistical information according to the characteristics of each radio signal regarding the separation distance. The present invention estimates the input location of a firefighter who has a firefighting terminal (eg, rescuer terminal) without utilizing or installing an existing wireless communication infrastructure in relation to emergency rescue in a building at a disaster site, and the estimated location of the firefighter and the rescuer terminal and By utilizing wireless communication signals (mobile communication, Wi-Fi, beacon, etc.) between the user's commercial terminals, it is possible to provide indoor requestor location determination and terminal identification technology.

On the other hand, the embodiments disclosed in the present specification and drawings are merely presented as specific examples to aid understanding, and are not intended to limit the scope of the present invention. It will be apparent to those of ordinary skill in the art to which the present invention pertains that other modifications based on the technical spirit of the present invention can be implemented in addition to the embodiments disclosed herein.

10: System Environment
50: network
100, 101, 102, 103: rescuer terminal
110, 111, 112, 113: communication module
120: sensor module
130: memory
140: display
150: processor
200: requester terminal
300: structure support server device

Claims (10)

calculating, by the rescuer terminal, a communication radius based on a plurality of types of radio signals transmitted and received with at least one other adjacent rescuer terminal, and estimating a current location based on the calculated communication radius;
calculating, by the rescuer terminal, a distance and a direction from the rescuer terminal based on at least one type of radio signal transmitted and received with the rescuer terminal based on the estimated location;
Including, by the rescuer terminal, outputting the distance and direction;
The estimating step is
At a specific location, based on the sensing information acquired according to the movement of the at least one other rescuer terminal and the rescuer terminal, the movement distance and movement direction of the at least one other rescuer terminal and the movement distance and movement direction of the rescuer terminal estimating a relative position between the at least one other rescuer terminal and the rescuer terminal based on
performing error correction on a relative position between at least one rescuer terminal based on information of at least one rescuer terminal with respect to the signal transmitted by the rescuer terminal; including,
Calculating the distance and direction from the requestor's terminal comprises:
calculating a separation distance and direction between the rescuer terminal and the rescuer terminal by analyzing the RSSI of a plurality of types of radio signals transmitted and received between the rescuer terminal and the rescuer terminal;
calculating a separation distance and direction between the at least one other rescuer terminal and the rescuer terminal by analyzing the RSSI of a plurality of types of radio signals transmitted and received between the at least one other rescuer terminal and the rescuer terminal;
outputting, by the rescuer terminal, the separation distance and direction between the rescuer terminal and the rescuer terminal and the separation distance and direction between the at least one other rescuer terminal and the rescuer terminal;
Position estimation method comprising a. According to claim 1,
The estimating step is
Long Term Evolution (LTE), Wireless Local Area Network (WLAN), and BLE (Bluetooth Low Energy) based on the wireless signal RSSI (Received Signal Strength Indication) of the at least one other rescuer terminal and the relative position between the rescuer terminal estimating; a location estimation method comprising: delete delete According to claim 1,
Calculating the distance and direction from the requestor's terminal comprises:
Using a plurality of antennas included in the rescuer terminal, the separation distance and direction from the rescuer terminal are calculated by analyzing the signal reception state transmitted by the rescuer terminal using at least one communication method of WLAN and BLE and the MIMO method Position estimation method comprising the; delete delete delete a communication module capable of transmitting and receiving a plurality of types of wireless signals transmitted and received with at least one other adjacent rescuer terminal;
display;
Including a; processor functionally connected to the display and the communication module;
the processor
Calculating a communication radius based on the plurality of types of radio signals, estimating a current location based on the calculated communication radius,
After calculating the distance and direction to and from the requestor terminal based on at least one type of wireless signal transmitted and received with the requestor terminal based on the estimated location, control to output the distance and direction to the display;
the processor
At a specific location, based on the sensing information obtained according to the movement of the at least one other rescuer terminal and the rescuer terminal, the movement distance and movement direction of the at least one other rescuer terminal and the movement distance and movement direction of the rescuer terminal based on estimating the relative position between the at least one other rescuer terminal and the rescuer terminal,
Based on the information of the at least one rescuer terminal with respect to the signal transmitted by the rescuer terminal, error correction for the relative position between the at least one rescuer terminal is performed,
Analyze the RSSI of a plurality of types of radio signals transmitted and received between the rescuer terminal and the rescuer terminal to calculate a separation distance and direction between the rescuer terminal and the rescuer terminal,
Analyze the RSSI of a plurality of types of radio signals transmitted and received between the at least one other rescuer terminal and the rescuer terminal to calculate a separation distance and direction between the at least one other rescuer terminal and the rescuer terminal,
The rescuer terminal, characterized in that outputting the separation distance and direction between the rescuer terminal and the rescuer terminal and the separation distance and direction between the at least one other rescuer terminal and the rescuer terminal. a communication interface capable of communicating with the at least one rescuer terminal;
a processor operatively connected to the communication interface; and
the processor
A plurality of rescuers terminals receive a plurality of types of radio signals transmitted and received with each other,
calculating a communication radius of the plurality of rescuer terminals based on the plurality of types of radio signals, and estimating a relative position between the plurality of rescuer terminals based on the calculated communication radius;
After calculating the distance and direction between the rescuer terminal and the plurality of rescuer terminals based on at least one type of radio signal transmitted and received by the plurality of rescuer terminals and the rescuer terminal based on the estimated location,
Control to transmit the distance and direction to the plurality of rescuers terminals,
the processor
At a specific location, based on the sensing information acquired according to the movement of the at least one other rescuer terminal and the rescuer terminal, the movement distance and movement direction of the at least one other rescuer terminal and the movement distance and movement direction of the rescuer terminal Estimate a relative position between the at least one other rescuer terminal and the rescuer terminal based on
Based on the information of the at least one rescuer terminal with respect to the signal transmitted by the rescuer terminal, error correction for the relative position between the at least one rescuer terminal is performed,
Analyze the RSSI of a plurality of types of radio signals transmitted and received between the rescuer terminal and the rescuer terminal to calculate a separation distance and direction between the rescuer terminal and the rescuer terminal,
Analyze the RSSI of a plurality of types of radio signals transmitted and received between the at least one other rescuer terminal and the rescuer terminal to calculate a separation distance and direction between the at least one other rescuer terminal and the rescuer terminal,
Rescue support server apparatus, characterized in that the rescuer terminal outputs the separation distance and direction between the rescuer terminal and the rescuer terminal and the separation distance and direction between the at least one other rescuer terminal and the rescuer terminal.

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