KR102300704B1 - Floor recognition method using barometric pressure sensor, mobile device, and mobile device system - Google Patents

Abstract

Disclosed is a floor recognition method using a barometric pressure sensor. The floor recognition method using the barometric pressure sensor comprises: a step in which the mobile device receives first reference barometric pressure data values from a first reference device including a first reference barometric sensor and second reference barometric pressure data values from a second reference device including a second reference barometric pressure center through a network; a step in which the mobile device acquires mobile barometric pressure data values from a mobile barometric pressure sensor included in the mobile device; a step in which the mobile device removes noise among the mobile barometric pressure data values; a step in which the mobile device converts the first reference barometric pressure data values, the second reference barometric pressure data values, and the mobile barometric pressure data values into first reference altitude data values, second reference altitude data values, and mobile altitude data values; a step in which the mobile device calculates first difference values, which are differences between each of the first reference altitude data values and each of the mobile altitude data values, and second difference values, which are differences between each of the second reference altitude data values and the mobile altitude data values; a step in which the mobile device respectively subtracts a first error from the first difference values, and respectively subtracts a second error from the second difference values; a step in which the mobile device estimates a floor where the mobile device is placed by using first subtracted values, which are obtained by respectively subtracting the first error from the first difference values, and second subtracted values, which are obtained by respectively subtracting the second error from the second difference values; and a step in which the mobile device selects a map data corresponding to the estimated floor. The present invention aims to provide a floor recognition method which is capable of recognizing the floor by using a plurality of barometric pressure sensors.

Description

Floor recognition method using barometric pressure sensor, mobile device, and mobile device system

The present invention relates to a floor recognition method using an air pressure sensor, and more particularly, to a floor recognition method capable of recognizing a floor of a building using a plurality of air pressure sensors, a mobile device, and a mobile device system.

In a multi-story building, you need to determine which floor you are currently on. In particular, in the case of a mobile robot, there is a need to accurately know its location in a building. When a mobile robot moves across multiple floors of a building, the mobile robot needs to know what floor it is on in order to perform a given task, such as transporting goods, guiding goods, or managing inventory.

The present invention discloses a method for recognizing the floor of a building using an air pressure sensor that can be used in a mobile robot.

Korean Patent Publication No. 10-1884056 (July 25, 2018)

SUMMARY OF THE INVENTION It is an object of the present invention to provide a floor recognition method, a mobile device, and a mobile device system capable of recognizing a floor of a building using a plurality of barometric pressure sensors.

In the floor recognition method using the barometric pressure sensor according to an embodiment of the present invention, the mobile device includes the first reference barometric pressure data values from the first reference device including the first reference barometric pressure sensor and the second reference barometric pressure center through a network. Receiving second reference barometric pressure data values from a second reference device, the mobile device acquiring mobile barometric pressure data values from a mobile barometric pressure sensor included in the mobile device, wherein the mobile device generates noise among the mobile barometric pressure data values. removing, the moving device converting the first reference barometric pressure data values, the second reference barometric pressure data values, and the moving barometric pressure data values to first reference altitude data values, second reference altitude data values, and moving altitude data converting into values, the mobile device includes first difference values that are differences between each of the first reference altitude data values and each of the moving altitude data values, and each of the second reference altitude data values and the moving altitude data values. calculating second difference values that are differences, the mobile device subtracting a first error from the first difference values, respectively subtracting a second error from the second difference values; estimating the floor on which the mobile device is located using first subtracted values obtained by subtracting the first error from first difference values and second subtracted values obtained by subtracting the second error from the second difference values, and The mobile device includes selecting map data corresponding to the estimated layer.

According to an embodiment, the layer recognition method using the barometric pressure sensor includes determining, by the moving device, whether the first reference barometric pressure data values or the second reference barometric pressure data values are unstable, the first reference barometric pressure data values, or the When it is determined that the second reference barometric pressure data values are unstable, the mobile device receives third reference barometric pressure data values from a third reference device including a third reference barometric pressure sensor, wherein the mobile device receives the third reference barometric pressure converting data values into third reference altitude data values, the mobile device calculating third difference values that are differences between each of the third reference altitude data values and each of the moving altitude data values; subtracting each of the third errors from the third difference values, and the moving device excludes the unstable first reference barometric pressure data values, or the unstable second reference barometric pressure data values, and the third difference values from the third difference values. The method may further include estimating the floor on which the mobile device is located by additionally using third subtraction values from which the errors are respectively subtracted.

In the step of determining whether the first reference barometric pressure data values or the second reference barometric pressure data values are unstable, the moving device is obtained from the first reference device or the second reference device at different times. Calculating a first gradient by using the first reference barometric pressure data value and the i-th reference barometric pressure data value from the first reference barometric pressure data values or the second reference barometric pressure data values, wherein i is a natural number, the mobile device comprising: The i-th reference barometric pressure data value and the (i+1)-th in the first reference barometric pressure data values obtained at different times from the first reference device or the second reference device, or the second reference barometric pressure data values calculating a second gradient by using a reference barometric pressure data value, determining whether the second gradient is greater than the first gradient, by the moving device, when the second gradient is greater than the first gradient, the movement counting the number of reference barometric pressure data values outside the threshold range from the first slope by applying from the first reference barometric pressure data value to the last reference barometric data value for (i+1), and the and determining, by the mobile device, that the first reference barometric pressure data values or the second reference barometric pressure data values are unstable when the counted number of reference barometric pressure data is greater than or equal to a certain value.

The first reference device and the second reference device are respectively fixedly installed on different layers.

The first error is equal to any one of the first reference altitude data values converted from the first reference barometric pressure sensor included in the first reference device when the first reference device and the moving device are located at the same height It means a difference between any one of the moving altitude data values converted from the moving barometric pressure sensor included in the mobile device.

The second error is equal to any one of the second reference altitude data values converted from the second reference barometric pressure sensor included in the second reference device when the second reference device and the moving device are positioned at the same height It means a difference between any one of the moving altitude data values converted from the moving barometric pressure sensor included in the mobile device.

The mobile device is configured to use first subtracted values obtained by subtracting the first error from the first difference values and second subtracted values obtained by subtracting the second error from the second difference values, respectively, to determine the layer on which the mobile device is located. In the estimating step, the mobile device calculates, by the mobile device, a first subtraction slope of a first subtracted value and any subtracted value among the first subtracted values, and the mobile device is selected from the first subtracted value among the second subtracted values. calculating, by the mobile device, a second subtraction slope of the subtracted value of ; comparing the first subtraction slope with the second subtraction slope; setting, by the device, a weight for a first weight multiplied by any one of the first subtraction values to have a weight lower than a second weight multiplied by any of the second subtraction values, and the mobile device for the first subtraction value; and estimating the floor on which the mobile device is located by adding a value obtained by multiplying one of the values by the first weight and multiplying one of the second subtracted values by the second weight.

The step of removing, by the mobile device, the noise of the mobile barometric pressure data values may include calculating, by the mobile device, an average of the mobile barometric pressure data values. calculating an average of the moving barometric data values by removing the oldest moving barometric data value among the values and adding the new moving barometric data value, wherein the mobile device calculates the average of the moving barometric pressure data values with each of the moving barometric pressure data values. calculating, by the mobile device, a difference between the averages, and when the difference is greater than or equal to a certain value, determining, by the mobile device, a moving air pressure data value corresponding to a difference greater than or equal to the arbitrary value among the moving air pressure data values as the noise and removing it; After determining that the moving device is the noise and removing it, the first moving barometric pressure data value obtained at the first time and the moving barometric pressure data value obtained at an arbitrary time among the moving barometric pressure data values from which the noise has been removed are used to first calculating, by the mobile device, a mobile barometric pressure data value acquired at the arbitrary time and a second mobile barometric pressure gradient using the mobile barometric pressure data value acquired at a time after the arbitrary time; , determining, by the moving device, whether the second moving atmospheric pressure gradient is greater than the first moving atmospheric pressure gradient, when the second moving atmospheric pressure gradient is greater than the first moving atmospheric pressure gradient, the moving device performs the arbitrary time Determining and removing the moving barometric pressure data value obtained at a later time as the noise, and the moving device determining the moving barometric pressure data value obtained at a time after the arbitrary time in the time domain as the noise, and converting the removed mobile barometric pressure data values into a frequency domain, and determining a frequency having an arbitrary magnitude or more as the noise and removing it.

The mobile device according to an embodiment of the present invention provides first reference barometric pressure data values from a first reference device including a first reference barometric pressure sensor and a second standard from a second reference device including a second reference barometric pressure center through a network. A receiving module for receiving barometric pressure data values, a moving barometric pressure sensor obtaining moving barometric data values, removing noise from among the moving barometric pressure data values, the first reference barometric pressure data values, the second reference barometric pressure data values, and the moving Converts barometric pressure data values into first reference altitude data values, second reference altitude data values, and moving altitude data values, and first difference values that are the differences between each of the first reference altitude data values and the moving altitude data values; , calculates second difference values that are differences between each of the second reference altitude data values and each of the moving altitude data values, subtracts a first error from the first difference values, respectively, and a second error from the second difference values respectively, and using first subtracted values obtained by subtracting the first error from the first difference values and second subtracted values obtained by subtracting the second error from the second difference values, respectively, the mobile device is located a memory storing instructions for estimating a layer and selecting map data corresponding to the estimated layer; and a processor executing the instructions stored in the memory.

The memory determines whether the first reference barometric pressure data values or the second reference barometric pressure data values are unstable, and when it is determined that the first reference barometric pressure data values or the second reference barometric pressure data values are unstable, a third Receives third reference barometric pressure data values from a third reference device including a reference barometric pressure sensor, converts the third reference barometric pressure data values into third reference altitude data values, and each of the third reference altitude data values and the movement Calculating third difference values that are differences between each of the altitude data values, subtracting each third error from the third difference values, and excluding the unstable first reference air pressure data values, or the unstable second reference air pressure data values , for estimating the floor on which the mobile device is located by additionally using third subtraction values for subtracting the third error from the third difference values.

The command for determining whether the first reference barometric pressure data values or the second reference barometric pressure data values are unstable is the first reference barometric pressure data values obtained at different times from the first reference device or the second reference device, Alternatively, from the second reference barometric pressure data values, a first gradient is calculated using a first reference barometric data value and an i-th reference barometric data value (i is a natural number), and from the first reference device or the second reference device A second slope is calculated by using the i-th reference barometric pressure data value and the (i+1)-th reference barometric pressure data value from the first reference barometric pressure data values acquired at different times, or the second reference barometric pressure data values, , it is determined whether the second slope is greater than the first slope, and when the second slope is greater than the first slope, from the first reference pressure data value to the last reference pressure data value for (i+1) to count the number of reference atmospheric pressure data values that are out of the threshold range from the first slope, and when the counted number of reference atmospheric pressure data is greater than or equal to a certain value, the first reference atmospheric pressure data values, or the first 2 Includes instructions for determining that the reference barometric pressure data values are unstable.

The first error is equal to any one of the first reference altitude data values converted from the first reference barometric pressure sensor included in the first reference device when the first reference device and the moving device are located at the same height It means a difference between any one of the moving altitude data values converted from the moving barometric pressure sensor included in the mobile device.

The second error is equal to any one of the second reference altitude data values converted from the second reference barometric pressure sensor included in the second reference device when the second reference device and the moving device are positioned at the same height It means a difference between any one of the moving altitude data values converted from the moving barometric pressure sensor included in the mobile device.

A command for estimating the floor on which the mobile device is located using first subtracted values obtained by subtracting the first error from the first difference values and second subtracted values obtained by subtracting the second error from the second difference values calculates a first subtraction slope of a first subtraction value and an arbitrary subtraction value among the first subtraction values, calculates a second subtraction slope between a first subtraction value and an arbitrary subtraction value among the second subtraction values, and comparing the first subtraction slope with the second subtraction slope, and when the first subtraction slope is greater than the second subtraction slope, one of the second subtracted values for a first weight multiplied by any one of the first subtraction values A value obtained by multiplying any one of the first subtracted values by the first weight and a value obtained by multiplying any one of the second subtracted values by the second weight plus instructions for estimating the floor on which the mobile device is located.

A mobile device system according to an embodiment of the present invention includes a first reference device including a first reference barometric pressure sensor for acquiring first reference barometric pressure data values, and a second reference barometric pressure sensor for acquiring second reference barometric pressure data values a second reference device, a server for receiving the first reference barometric pressure data values from the first reference device via a network, and the second reference barometric pressure data values from the second reference device, and the first reference barometric pressure data values; receiving the second reference barometric pressure data values from the server, obtaining moving barometric pressure data values from a moving barometric pressure sensor, removing noise from among the moving barometric pressure data values, the first reference barometric pressure data values, the second reference barometric pressure data values, and converting the moving barometric pressure data values into first reference altitude data values, second reference altitude data values, and moving altitude data values, the difference between each of the first reference altitude data values and each of the moving altitude data values calculates first difference values, second difference values that are differences between each of the second reference altitude data values and each of the moving altitude data values, and subtracts a first error from the first difference values, and the second and a moving device for each subtracting a second error from the difference values.

The mobile device is configured to use first subtracted values obtained by subtracting the first error from the first difference values and second subtracted values obtained by subtracting the second error from the second difference values, respectively, to determine the layer on which the mobile device is located. , and select map data corresponding to the estimated layer.

The mobile device determines whether the first reference barometric pressure data values or the second reference barometric pressure data values are unstable, and when it is determined that the first reference barometric pressure data values or the second reference barometric pressure data values are unstable, a second Receives third reference barometric pressure data values from a third reference device including a third reference barometric pressure sensor, and converts the third reference barometric pressure data values into third reference altitude data values, each of the third reference altitude data values and the Calculating third difference values that are differences between each of the moving altitude data values, subtracting each third error from the third difference values, and excluding the unstable first reference barometric pressure data values, or the unstable second reference barometric pressure data values and estimating the floor on which the mobile device is located by additionally using third subtraction values for each subtracting the third error from the third difference values.

The determination of whether the first reference barometric pressure data values or the second reference barometric pressure data values are unstable is determined by the first reference barometric pressure data values obtained at different times from the first reference device or the second reference device, or the From the second reference barometric pressure data values, a first gradient is calculated using the first reference barometric pressure data value and the i-th reference barometric data value (i is a natural number), and is different from the first reference device or the second reference device. Calculating a second slope by using the i-th reference barometric pressure data value and the (i+1)-th reference barometric pressure data value from the first reference barometric pressure data values acquired over time, or from the second standard barometric pressure data values, It is determined whether a second slope is greater than the first slope, and when the second slope is greater than the first slope, from the first reference pressure data value to the last reference pressure data value for (i+1) is applied to count the number of reference atmospheric pressure data values that are out of the threshold range from the first slope, and when the counted number of reference atmospheric pressure data is greater than or equal to a certain value, the first reference atmospheric pressure data values, or the second reference It is judged that the barometric data values are unstable.

The method for recognizing the floor of a building, the moving device, and the moving device system using the barometric pressure sensor according to an embodiment of the present invention has an effect of recognizing the floor of the building by using a plurality of barometric pressure sensors.

In order to more fully understand the drawings recited in the Detailed Description of the Invention, a detailed description of each drawing is provided.
1 is a block diagram of a mobile device system according to an embodiment of the present invention.
2 shows a graph for removing noise from among atmospheric pressure data values according to an embodiment of the present invention.
3 shows another graph for removing noise from among atmospheric pressure data values according to an embodiment of the present invention.
4 is a graph showing subtraction values and slopes according to an embodiment of the present invention.
5 shows a graph for determining whether the reference air pressure data values are unstable according to an embodiment of the present invention.
6 is a flowchart illustrating an operation of a floor recognition method using an air pressure sensor according to an embodiment of the present invention.

Specific structural or functional descriptions of the embodiments according to the concept of the present invention disclosed in this specification are only exemplified for the purpose of explaining the embodiments according to the concept of the present invention, and the embodiments according to the concept of the present invention are It may be implemented in various forms and is not limited to the embodiments described herein.

Since the embodiments according to the concept of the present invention may have various changes and may have various forms, the embodiments will be illustrated in the drawings and described in detail herein. However, this is not intended to limit the embodiments according to the concept of the present invention to specific disclosed forms, and includes all modifications, equivalents, or substitutes included in the spirit and scope of the present invention.

Terms such as first or second may be used to describe various elements, but the elements should not be limited by the terms. The above terms are used only for the purpose of distinguishing one element from another element, for example, without departing from the scope of the present invention, a first element may be called a second element, and similarly The second component may also be referred to as the first component.

When a component is referred to as being “connected” or “connected” to another component, it is understood that the other component may be directly connected or connected to the other component, but other components may exist in between. it should be On the other hand, when it is said that a certain element is "directly connected" or "directly connected" to another element, it should be understood that the other element does not exist in the middle. Other expressions describing the relationship between elements, such as "between" and "immediately between" or "neighboring to" and "directly adjacent to", should be interpreted similarly.

The terms used herein are used only to describe specific embodiments, and are not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise. As used herein, "includes." Or "have." The term etc. is intended to designate that there is a described feature, number, step, action, component, part, or combination thereof, but one or more other features or number, step, action, component, part, or combination thereof. It should be understood that it does not preclude the possibility of the existence or addition of one.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in a commonly used dictionary should be interpreted as having a meaning consistent with the meaning in the context of the related art, and should not be interpreted in an ideal or excessively formal meaning unless explicitly defined in the present specification. does not

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

1 is a block diagram of a mobile device system according to an embodiment of the present invention.

Referring to FIG. 1 , the mobile device system 100 is a system in which the mobile device 50 moves in a building 10 consisting of several floors and can know which floor it is on in the building 10 . A person can move in the building 10 with the mobile device 50 . Also, according to an embodiment, the mobile device 50 may be implemented as one part of a mobile robot. The mobile robot may be used in the building 10 such as a mart, warehouse, factory, or shopping mall for the purpose of transporting goods, guiding goods, or managing inventory. According to embodiments, the mobile robot may be referred to by various terms such as an autonomous driving device, a transport robot, or an autonomous driving robot. The mobile device system 100 includes a plurality of reference devices 20-1, 20-2, ..., and 20-M; M is a natural number greater than or equal to 2), a server 40, and a mobile device 50 do.

Each of the plurality of reference devices 20 - 1 , 20 - 2 , ..., and 20 -M is fixedly installed on different floors of the building 10 . For example, the first reference device 20 - 1 may be located on the first floor of the building 10 . The second reference device 20 - 2 may be located on the second floor of the building 10 . Each of the plurality of reference devices 20 - 1 , 20 - 2 , ..., and 20 -M may be fixedly installed on all floors of the building 10 . According to an embodiment, each of the plurality of reference devices 20-1, 20-2, ..., and 20-M is fixed only to a specific floor (eg, the first, second, and fourth floors) of the building 10 . and can be installed. Fixed installation means that it is located on the floor of the building 10 and does not move. For example, the first reference device 20 - 1 is located at a specific location on the first floor of the building 10 and does not move. Each of the plurality of reference devices 20-1, 20-2, ..., and 20-M is implemented as a separate device. The number of the plurality of reference devices 20-1, 20-2, ..., and 20-M is two or more. According to an embodiment, the number of the plurality of reference devices 20 - 1 , 20 - 2 , ..., and 20 -M may vary.

Each of the plurality of reference devices 20-1, 20-2, ..., and 20-M includes a reference barometric pressure sensor (eg, 30-1, or 30-2). For example, the first reference device 20 - 1 includes a first reference barometric pressure sensor 30 - 1 . The second reference device 20 - 2 includes a second reference barometric pressure sensor 30 - 2 . The M-th reference device 20 -M includes an M-th reference barometric pressure sensor (not shown). The M-th reference barometric pressure sensor is not shown in FIG. 1 . The reference barometric pressure sensor (eg, 30-1 or 30-2) acquires reference barometric pressure data values at different times. Acquiring means that a reference atmospheric pressure sensor (eg, 30-1 or 30-2) senses atmospheric pressure and generates reference atmospheric pressure data values. For example, the first reference barometric pressure sensor 30-1 detects the atmospheric pressure of the first floor at different times (t1, t2, ..., and tn; n is a natural number) to obtain the first reference barometric pressure data values a1 , a2,..., and an; n is a natural number). The second reference barometric pressure sensor 30-2 detects the atmospheric pressure of the second floor at different times (t2, t3, ..., and tp; p is a natural number) to obtain second reference barometric pressure data values b1, b2 ,..., and bp; where p is a natural number).

The plurality of reference devices 20-1, 20-2, ..., and 20-M are the reference barometric pressure data values (eg, 30-1, and 30-2) obtained through the reference barometric pressure sensors (eg, 30-1, and 30-2). , a1, a2, ..., and an) may be removed from noise (eg, a5, or a7). The noise means an outlier among the reference barometric pressure data values.

Specific methods for removing noise from the reference barometric pressure data values will be described in detail later.

The plurality of reference devices 20-1, 20-2, ..., and 20-M remove noise from among the reference atmospheric pressure data values, and then display the reference atmospheric pressure data values and time information at which the reference atmospheric pressure data values were obtained. transmitted to the server 40 . For example, the first reference device 20-1 removes noise from among the first reference air pressure data values, and then excludes the first reference air pressure data values a1, a2, ..., and an; noise a5 or a7 is excluded. ) and time information (TI1, TI2, ..., and TIn; n is a natural number) at which the first reference barometric pressure data values are obtained may be transmitted to the server 40 .

The second reference device 20-2 removes noise from among the second reference barometric pressure data values, and then performs second reference barometric pressure data values (b1, b2, ..., and bp; except for noise b3 or b6) and Time information (TI3, TI4, ..., and TIp; p is a natural number) at which the second reference barometric pressure data values are obtained may be transmitted to the server 40 through the network. For example, the time information may be expressed as (2021.05.10.17:23:15sec).

The server 40 receives reference barometric pressure data values and time information from a plurality of reference devices 20-1, 20-2, ..., and 20-M. For example, the server 40 includes the first reference barometric pressure data values (a1, a2, ..., and an; excluding noise a5 or a7) from the first reference device 20-1 and the first time information ( TI1, TI2, ..., TIn). The server 40 receives the second reference barometric pressure data values (b1, b2, ..., and bp; except for the noise b3 or b6) and the second time information (TI3, TI4, ..., and TIp) are received.

The server 40 may receive reference barometric pressure data values and time information from the plurality of reference devices 20-1, 20-2, ..., and 20-M in real time. For example, the server 40 collects the first reference barometric pressure data values a1 and a2 and the first time information TI1 and TI2 received at different times t1 and t2 from the first reference device 20-1. receive The server 40 receives the first reference barometric pressure data value a1 and the first time information TI1 received at the first time t1 from the first reference device 20-1, and the second time t2 ) receives the first reference barometric pressure data value a2 and the first time information TI2. The server 40 receives the second reference barometric pressure data values b1 and b2 and the second time information TI3 and TI4 received at different times t2 and t3 from the second reference device 20 - 2 . . The server 40 receives the first reference barometric pressure data value a2 and the first time information TI2 from the first reference device 20-1 at the same time t2, and the second reference device 20-2 ), the second reference barometric pressure data value b1 and the second time information TI3 may be received. In addition, the server 40 receives the first reference barometric pressure data value a1 and the first time information TI1 from the first reference device 20-1 at the first time t1, and the third time t3 ) may receive the second reference barometric pressure data value b2 and the second time information TI4 from the second reference device 20 - 2 .

The server 40 checks whether time sequentially increases in time information received at different times. For example, when the first time t1 is older than the second time t2 and the second time t2 is newer than the first time t1, the server 40 sends the first time The first time information TI1 including (t1) is first received from the first reference device 20-1, and the first time information TI2 including the second time (t2) is first received by the first reference device ( 20-1), the server 40 may confirm that the first time t1 and the second time t2 sequentially increase. Conversely, the server 40 first receives the first time information TI2 including the second time t2 from the first reference device 20-1, and the first time information TI2 including the first time t1. Assuming that the time information TI1 is subsequently received from the first reference device 20-1, the server 40 determines that the first time t1 and the second time t2 sequentially increase. Therefore, the server 40 determines the received reference barometric pressure data value a2 as the first time information TI2 including the second time t2 as an outlier, and the reference determined as the outlier. Remove the barometric data value (a2).

According to an embodiment, the server 40 may replace the time information received from the plurality of reference devices 20 - 1 , 20 - 2 , ..., and 20 -M with the time of the server 40 . The time information of the plurality of reference devices 20-1, 20-2, ..., and 20-M is the plurality of reference devices 20-1, 20-2, ..., and 20-M. may be different due to the error of Also, the server 40 may not receive time information due to a network error of the plurality of reference devices 20-1, 20-2, ..., and 20-M. Therefore, in order to solve these problems, the server 40 replaces the time information received from the plurality of reference devices 20-1, 20-2, ..., and 20-M with the time of the server 40. There is a need.

The server 40 may transmit the reference barometric pressure data values received from the plurality of reference devices 20-1, 20-2, ..., and 20-M to the mobile device 50 through the network.

The mobile device 50 receives the first reference barometric pressure data values a1 , a2 , ..., or an received from the first reference device 20 - 1 from the server 40 . The mobile device 50 receives the second reference barometric pressure data values b1 , b2 , ..., or bp from the second reference device 20 - 2 from the server 40 . The first reference barometric pressure data values (a1, a2, ..., or an) and the second reference barometric pressure data values (b1, b2, ..., or bp) are noise-removed by the server 40 . It may be reference barometric pressure data values. The mobile device 50 may be a separate device. The mobile device 50 includes a receiving module 51 , a mobile barometric pressure sensor 53 , a memory 55 , and a processor 57 .

The receiving module 51 may receive the reference barometric pressure data values received from the plurality of reference devices 20-1, 20-2, ..., and 20-M from the server 40 through a network.

The moving air pressure sensor 53 means an air pressure sensor implemented in the moving device 50 . The moving barometric pressure sensor 53 acquires moving barometric pressure data values at different times. That is, the moving barometric pressure sensor 53 senses atmospheric pressure at different times to generate moving barometric pressure data values.

The processor 57 executes the instructions stored in the memory 55 . Hereinafter, the operation of the processor 57 may be understood as execution of instructions stored in the memory 55 .

The processor 57 removes noise from the moving barometric pressure data values. The following methods are used to remove noise from the moving air pressure data values. Methods of removing noise from the reference barometric pressure data values are similar to the methods of removing noise from the moving barometric pressure data values. Accordingly, representatively, methods for removing noise from moving air pressure data values will be described.

First, the processor 57 calculates an average of the moving barometric pressure data values.

[Equation 1]

c _{_ave} =(c1+c2+...+cm)/m

The _{c_ave} is the average of the moving barometric data values, the c1, c2, ..., and cm; m is a natural number) represents mobile barometric pressure data values, and m represents the number of mobile barometric pressure data values.

When the processor 57 receives a new moving barometric pressure data value, the processor 57 removes the oldest moving barometric data value (eg, c1) and adds a new moving barometric pressure data value (c(m+1)) to the moving barometric pressure data value Calculate the mean (c _{_ave} ) of It can be expressed as Equation 2 below.

[Equation 2]

c _{_ave} =(c2+...+cm+c(m+1))/m

The processor 57 compares each of the moving barometric pressure data values c1, c2, ..., and cm with the average of the moving barometric data values c _{_ave} , and determines as noise (eg, c4) according to the comparison result and remove The processor 57 calculates the difference between each of the moving barometric pressure data values c1, c2, ..., and cm and the average c _{_ave of the moving barometric pressure data values.} When the difference is greater than or equal to a certain value, the processor 57 determines and removes the moving air pressure data value corresponding to the difference greater than or equal to the predetermined value as noise (eg, c4).

The processor 57 may preferentially remove noise (eg, c4) by calculating an average of the moving barometric pressure data values.

Second, the processor 57 may remove the noise by calculating the slope of the moving barometric pressure data values.

2 shows a graph for removing noise from among atmospheric pressure data values according to an embodiment of the present invention.

Referring to FIGS. 1 and 2 , the processor 57 at a first time t1 among the noise-removed mobile barometric pressure data values (eg, c1, c2, ..., and cm; except for c4, which is noise). The first moving barometric pressure gradient S1 is calculated using the acquired first moving barometric pressure data value c1 and the moving barometric pressure data value c8 acquired at an arbitrary time t8.

The processor 57 moves the second movement using the moving barometric pressure data value c8 obtained at the arbitrary time t8 and the moving barometric pressure data value c9 obtained at the time t9 after the arbitrary time t8. Calculate the barometric pressure gradient (S2).

The processor 57 determines whether the second moving atmospheric pressure gradient S2 is greater than the first moving atmospheric pressure gradient S1 . When the second moving barometric pressure gradient S2 is greater than the first moving barometric pressure gradient S1, the processor 57 determines the moving barometric pressure data value obtained at a time t9 after an arbitrary time t8. (c9) is judged as noise and removed.

Finally, the processor 57 converts the time domain, denoised moving barometric pressure data values (eg, c1, c2, ..., and cm; except for the noise c4 and c9) into the frequency domain, and The frequency having an abnormality is judged as noise and the outlier is removed.

3 shows another graph for removing noise from among atmospheric pressure data values according to an embodiment of the present invention.

Referring to FIG. 3 , the processor 57 performs a Fast Fourier Transform (FFT) on moving air pressure data values from which noise is removed (eg, c1, c2, ..., and cm; noises c4 and c9 are excluded) in the time domain. ) to convert to the frequency domain.

The processor 57 determines that a frequency (Fc) greater than or equal to a certain size is noise, and a moving barometric pressure data value (eg, c8) in a time domain corresponding to a frequency (Fc) greater than or equal to a certain size is determined as noise and removed.

The three methods may be sequentially performed. That is, the first method removes noise by calculating the average of the moving barometric data values, the second method removes noise by calculating the slope of the moving barometric data values, and finally converts to the frequency domain to remove noise. have.

After the processor 57 removes noise using the above three methods on the moving barometric pressure data values, the processor 57 processes the plurality of reference devices 20-1, 20-2, ..., and 20-M. ) to convert each of the reference barometric pressure data values into each of the reference altitude data values. The processor 57 converts the first reference barometric pressure data values (a1, a2, ..., or an, excluding noise) to the first reference altitude data values (ha1, ha2, ..., or han; n is a natural number) ) is converted to The processor 57 converts the second reference barometric pressure data values (b1, b2, ..., or bp, excluding noise) to the second reference altitude data values (hb1, hb2, ..., or hbp; p is a natural number) ) is converted to The processor 57 converts the moving barometric pressure data values (c1, c2, ..., or cm, excluding noise) into moving altitude data values (hc1, hc2, ..., or hcm; m is a natural number). . The following equations are used for the conversion of each of the reference barometric pressure data values into the reference altitude data values and the conversion of the moving barometric pressure data values into the moving altitude data values.

[Equation 3]

H=44330*(1-(p/p0) ^1/5.225 )

The H represents the altitude, the p0 represents the sea level air pressure, and the p represents the current barometric data value.

The processor 57 calculates difference values between each of the reference altitude data values and each of the moving altitude data values. Data values obtained at the same time are used for calculation of difference values between each of the reference altitude data values and each of the moving altitude data values. The processor 57 is the first difference between each of the first reference altitude data values (ha1, ha2, ..., or han) and each of the moving altitude data values (hc1, hc2, ..., or hcm) Calculate values (dif_ac1, dif_ac2, ..., or dif_acn; n is a natural number). The difference between each of the first reference altitude data values (ha1, ha2, ..., or han) and each of the moving altitude data values (hc1, hc2, ..., or hcm) is a data value obtained at the same time are used The processor 57 is the second difference between each of the second reference altitude data values (hb1, hb2, ..., or hbp) and each of the moving altitude data values (hc1, hc2, ..., or hcm) Calculate values (dif_bc1, dif_bc2, ..., or dif_bcp; p is a natural number). The difference between each of the second reference altitude data values (hb1, hb2, ..., or hbp) and each of the moving altitude data values (hc1, hc2, ..., or hcm) is a data value obtained at the same time are used

The processor 57 subtracts the error from the difference values of each of the reference altitude data values and each of the moving altitude data values, respectively. The processor 57 subtracts the first error err1 from the first difference values dif_ac1, dif_ac2, ..., or dif_acn, respectively. The processor 57 subtracts the second error err2 from the second difference values dif_bc1, dif_bc2, ..., or dif_bcp, respectively.

The first error err1 is the first reference barometric pressure sensor 30 included in the first reference device 20-1 when the first reference device 20-1 and the moving device 50 are positioned at the same height. Any one of the first reference altitude data values (ha1, ha2, ..., or han) converted from -1) and the moving altitude data values converted from the mobile barometric pressure sensor 53 included in the mobile device 50 ( hc1, hc2, ..., or hcm). Although the first reference barometric pressure sensor 30-1 and the moving barometric pressure sensor 53 are located at the same height, there may be differences in altitude data values due to errors in the sensor manufacturing process, etc. Therefore, it is necessary to remove the error of these two sensors. In the second reference barometric pressure sensor 30-2, an error needs to be similarly removed.

The second error err2 is the second reference barometric pressure sensor 30 included in the second reference device 20-2 when the second reference device 20-2 and the moving device 50 are positioned at the same height. Any one of the second reference altitude data values (hb1, hb2, ..., or hbp) converted from -2) and the moving altitude data values converted from the mobile barometric pressure sensor 53 included in the mobile device 50 ( hc1, hc2, ..., or hcm).

The processor 57 estimates the floor on which the mobile device 50 is located by using subtracted values obtained by subtracting an error from each of the reference altitude data values and the respective difference values of the moving altitude data values. The processor 57 may generate first subtraction values (sub_ac1, sub_ac2, ..., or sub_acn) obtained by subtracting the first error (err1) from the first difference values (dif_ac1, dif_ac2, ..., or dif_acn); n is a natural number) and second subtraction values (sub_bc1, sub_bc2, ..., or sub_bcp) obtained by subtracting the second error (err2) from the second difference values (dif_bc1, dif_bc2, ..., or dif_bcp); p is a natural number) to estimate the floor on which the mobile device 50 is located.

4 is a graph showing subtraction values and slopes according to an embodiment of the present invention.

1 to 4, specifically, when the number of subtracted values obtained by subtracting an error from the difference values of each of the reference altitude data values and each of the moving altitude data values is n (n is a natural number), the processor 57 A slope of the first subtracted value and the nth subtracted value among the subtracted values is calculated. For example, first difference values (dif_ac1, dif_ac2, When there are n first subtraction values (sub_ac1, sub_ac2, ..., or sub_acn) obtained by subtracting the first error err1 from ..., or dif_acn, the processor 57 is configured to A first subtraction slope SUBSL1 of the first subtraction value sub_ac1 and the nth subtraction value sub_acn among the first subtraction values sub_ac1, sub_ac2, ..., or sub_acn is calculated. Second difference values (dif_bc1, dif_bc2, .. ., or dif_bcp) when the number of second subtraction values (sub_bc1, sub_bc2, ..., or sub_bcp) obtained by subtracting the second error err2 from p (p is a natural number), the processor 57 controls the second A second subtraction slope SUBSL2 of the first subtracted value sub_bc1 and the p-th subtracted value sub_bcp among the subtracted values sub_bc1, sub_bc2, ..., or sub_bcp is calculated.

The processor 57 compares the first subtraction slope SUBSL1 with the second subtraction slope SUBSL2 .

When the first subtraction slope SUBSL1 is greater than the second subtraction slope SUBSL2, the processor 57 performs a first multiplication by any one of the first subtraction values sub_ac1, sub_ac2, ..., or sub_acn. The weight w1 is set to have a lower weight than the second weight w2 multiplied by any one of the second subtraction values sub_bc1, sub_bc2, ..., or sub_bcp. For example, when the first weight w1 is 0.3, the second weight w2 may be 0.7. The reason why a higher weight is given to subtraction values with a small subtraction slope is that the smaller the subtraction slope, the smaller the data deviation, and thus the data is reliable. Any one of the first subtraction values sub_ac1, sub_ac2, ..., or sub_acn and any one of the second subtraction values sub_bc1, sub_bc2, ..., or sub_bcp may be arbitrarily selected.

The processor 57 multiplies any one of the first subtraction values sub_ac1, sub_ac2, ..., or sub_acn (eg, sub_ac2) by the first weight value w1 and the second subtraction values sub_bc1, sub_bc2, ..., or sub_bcp) (eg, sub_bc3) multiplied by the second weight w2 is added to estimate the floor of the building 10 of the mobile device 50 .

[Equation 4]

EF=round(sum(diff_i*weight_i))

EF denotes an estimated layer, round denotes rounding, sum denotes sum, sub_i denotes any one of i-th subtraction values, and weight_i denotes an i-th weight.

For example, sub_1 denotes any one of the first subtracted values sub_ac1, sub_ac2, ..., or sub_acn, and weight_1 denotes a first weight. sub_2 denotes any one of the second subtracted values (sub_bc1, sub_bc2, ..., or sub_bcp), and weight_2 denotes a second weight. When sub_1 is 3, weight_1 is 0.3, sub_2 is 4, and weight_2 is 0.7, the processor 57 indicates that the mobile device 50 is 4 (= round(sum(3*0.3+4*0.7))) layer presumed to be in

The processor 57 selects map data corresponding to the estimated layer. For example, when the estimated layer is the fifth floor, the processor 57 selects map data corresponding to the fifth floor. After selecting the map data, the processor 57 may perform various tasks such as product transfer, product guidance, or inventory management.

In the present invention, first reference barometric pressure data values (a1, a2, ..., and an) and second reference barometric pressure data values (b1, b2, . The layer may be estimated using the first reference barometric pressure data values to the fourth reference barometric pressure data values. In this case, 4 subtraction values and 4 weights may be used.

According to an embodiment, the processor 57 may include the first reference barometric pressure data values a1, a2, ..., and an, or the second reference barometric pressure data values b1, b2,..., and bp. Determine if it is unstable. When the reference barometric data values are unstable, the data are unreliable because the reference barometric data values have many outliers.

Whether the first reference barometric pressure data values (a1, a2, ..., and an) or the second reference barometric pressure data values (b1, b2,..., and bp) are unstable is determined in the following way do.

5 shows a graph for determining whether the reference air pressure data values are unstable according to an embodiment of the present invention.

1 to 5 , the processor 57 performs the first reference barometric pressure data values a1 obtained at different times from the first reference device 20-1 or the second reference device 20-2. , a2, ..., and an), or the first reference barometric pressure data value (a1, or b1) and the i-th (i is natural number) The first slope SLa1 or SLb1 is calculated using the reference atmospheric pressure data value ai or bi. That is, the processor 57 determines the first reference barometric pressure data value ( The first slope SLa1 is calculated using a1) and the i-th (i is a natural number) reference atmospheric pressure data value ai. In addition, the processor 57 is a first reference barometric pressure data value ( The first slope SLb1 is calculated using b1) and the ith (i is a natural number) reference atmospheric pressure data value bi.

The processor 57 uses the i-th reference barometric pressure data value (ai, or bi) and the (i+1)-th reference barometric pressure data value (a(i+1), or b(i+1)) to generate a second Calculate the slope (SLa2, or SLb2).

The processor 57 determines whether the second slope SLa2 or SLb2 is greater than the first slope SLa1 or SLb1.

When the second slope SLa2 or SLb2 is greater than the first slope SLa1 or SLb1, the processor 57 controls the first reference barometric pressure data value a1 or b1 for the (i+1). ) to the last reference barometric data value (an, or bp), the number of reference barometric data values out of the threshold range from the first gradient SLa1 or SLb1 is counted. For example, in FIG. 5 , the second reference air pressure data values b2 and b3 may be counted as reference air pressure data values that are out of the threshold range.

When the counted number of reference barometric pressure data is equal to or greater than a certain value, the processor 57 is configured to control the first reference barometric pressure data values a1, a2, ..., and an, or the second reference barometric pressure data values b1 , b2, ..., and bp) are determined to be unstable.

When it is determined that the first reference barometric pressure data values a1, a2, ..., and an, or the second reference barometric pressure data values b1, b2,..., and bp are unstable, the processor 57 ) receives third reference barometric pressure data values (eg, d1, d2, ..., and dr; r is a natural number) from the third reference device 30-3 including the third reference barometric pressure sensor.

The processor 57 converts the third reference barometric pressure data values d1, d2, ..., and dr into third reference altitude data values hd1, hd2, ..., and hdr.

The processor 57 generates a third difference that is a difference between each of the third reference altitude data values hd1, hd2, ..., and hdr and each of the moving altitude data values hc1, hc2, ..., and hcm. Calculate values (dif_dc1, dif_dc2, ..., or dif_dcr; r is a natural number).

The processor 57 subtracts each of the third errors err3 from the third difference values dif_dc1, dif_dc2, ..., or dif_dcr.

The processor 57 excludes the unstable first reference barometric pressure data values, or the unstable second reference barometric pressure data values, and the third error (dif_dc1, dif_dc2, ..., or dif_dcr) The floor in which the mobile device 50 is located is estimated by additionally using third subtraction values (sub_dc1, sub_dc2, ..., or sub_dcr; r is a natural number) for subtracting err3). For example, when it is determined that the first reference barometric pressure data values a1, a2, ..., and an are unstable, the processor 57 controls the second reference barometric pressure data values b1, b2, ..., and bp). and the third reference barometric pressure data values d1, d2, ..., and dr may be used to estimate the floor on which the mobile device 50 is located. In addition, when it is determined that the second reference barometric pressure data values b1, b2, ..., and bp are unstable, the processor 57 controls the first reference barometric pressure data values a1, a2, ..., and an and the third reference barometric pressure data values d1, d2, ..., and dr may be used to estimate the floor on which the mobile device 50 is located.

According to an embodiment, the processor 57 may determine not only the floor of the building 10 but also where it is located on the floor of the building 10 . For example, assuming that the floor of the building 10 is not flat (ie, point A (1m), point B (1.5m), point C (0.8m) on the floor (eg, 1m) of the building 10 , and assuming that the heights of the point D (1m) are different), the processor 57 calculates the average of the first subtracted values (sub_ac1, sub_ac2, ..., or sub_acn) of the first reference device 20-1 and each other in the layer Compare the heights of points with different heights with each other. That is, the processor 57 calculates a difference between the average of the first subtracted values sub_ac1 , sub_ac2 , ..., or sub_acn of the first reference device 20 - 1 and the heights of points having different heights in the layer. do. The processor 57 determines a point (eg, point B) where the difference between the average (eg, 1.7 m) and points having different heights on the floor (point A, point B, point C, and point D) is the smallest (eg, point B). It is determined that the mobile device 50 is located. Since the height of point B is 1.5 m, the difference between the average (1.7 m) and the height of point B (1.5 m) is 0.2, the smallest difference. Even on the same floor, the height may be different from each other due to the structure of the building 10 . Accordingly, when the floor of the building 10 is not flat, the processor 57 may also determine where the mobile device 50 is located on the floor of the building 10 .

6 is a flowchart illustrating an operation of a floor recognition method using an air pressure sensor according to an embodiment of the present invention.

1 to 6 , the first reference device 20-1 acquires first reference barometric pressure data values a1, a2, ..., and an (S10).

The first reference device 20 - 1 may remove noise (eg, a5 or a7 ) from among the first reference atmospheric pressure data values a1 , a2 , ..., and an ( S20 ). The removal of noise is similar to the methods of removing noise among the moving barometric pressure data values described above.

The first reference device 20-1 transmits the first reference barometric pressure data values (a1, a2, ..., or an) from which the noise has been removed to the server 40 (S30).

The second reference device 20-2 acquires second reference barometric pressure data values b1, b2, ..., and bp (S40).

The second reference device 20 - 2 may remove noise (eg, b3 or b6 ) from among the second reference barometric pressure data values b1 , b2 , ..., and bp ( S50 ).

The second reference device 20-2 transmits the noise-removed second reference barometric pressure data values b1, b2, ..., or bp to the server 40 (S60).

The mobile device 50 acquires mobile barometric pressure data values c1, c2, ..., and cm (S70).

The mobile device 50 may remove noise (eg, c4, c8, or c9) among the mobile barometric pressure data values c1, c2, ..., and cm (S80).

The mobile device 50 includes the first reference barometric pressure data values (a1, a2, ..., or an) from which the noise is removed from the server 40 and the second reference barometric pressure data values (b1, b2, . .., or bp) is received (S90).

The mobile device 50 includes the first reference air pressure data values (a1, a2, ..., or an) from which the noise has been removed, and the second reference air pressure data values from which the noise has been removed (b1, b2, ..., or bp), and the moving barometric pressure data values from which the noise has been removed (c1, c2, ..., and cm) as the first reference altitude data values (ha1, ha2, ..., or han), the second reference altitude It is converted into data values (b1, b2, ..., or bp) and moving altitude data values (c1, c2, ..., or cm) (S100).

The mobile device 50 is configured to provide a first difference between each of the first reference altitude data values (ha1, ha2, ..., or han) and each of the moving altitude data values (c1, c2, ..., or cm). The difference values (dif_ac1, dif_ac2, ..., or dif_acn), the second reference altitude data values (b1, b2, ..., or bp), respectively, and the moving altitude data values (c1, c2, ... , or cm), second difference values (dif_bc1, dif_bc2, ..., or dif_bcp) that are respective differences are calculated (S110).

The mobile device 50 subtracts the first error err1 from the first difference values dif_ac1, dif_ac2, ..., or dif_acn, respectively, and the second difference values dif_bc1, dif_bc2, ..., or dif_bcp) is subtracted from the second error err2 (S120).

The mobile device 50 performs first subtraction values (sub_ac1, sub_ac2, ..., or sub_acn) obtained by subtracting the first error (err1) from the first difference values (dif_ac1, dif_ac2, ..., or dif_acn). ) and the second subtraction values (sub_bc1, sub_bc2, ..., or sub_bcp) obtained by subtracting the second error (err2) from the second difference values (dif_bc1, dif_bc2, ..., or dif_bcp). The floor on which the mobile device 50 is located is estimated ( S130 ).

The mobile device 50 selects map data corresponding to the estimated layer (S140).

Although the present invention has been described with reference to one embodiment shown in the drawings, this is merely exemplary, and those of ordinary skill in the art will understand that various modifications and equivalent other embodiments are possible therefrom. Therefore, the true technical protection scope of the present invention should be determined by the technical spirit of the appended claims.

100: mobile device system;
10: building;
20-1, 20-2, ..., and 20-M: reference device;
30-1, 30-2, ..., and 30-M: reference barometric pressure sensor;
40: server;
50: mobile device;
51: receiving module;
53: mobile barometric pressure sensor;
55: memory;
57: processor;

Claims (15)

Receiving, by the mobile device, first reference barometric pressure data values from a first reference device including a first reference barometric pressure sensor and second reference barometric pressure data values from a second reference device including a second reference barometric pressure center through a network; ;
obtaining, by the mobile device, mobile barometric pressure data values from a mobile barometric pressure sensor included in the mobile device;
removing, by the mobile device, noise from among the mobile barometric pressure data values;
converting, by the mobile device, the first reference barometric pressure data values, the second reference barometric pressure data values, and the moving barometric pressure data values into first reference altitude data values, second reference altitude data values, and moving altitude data values ;
The mobile device has a first difference value that is a difference between each of the first reference altitude data values and each of the moving altitude data values, and a second difference value that is a difference between each of the second reference altitude data values and the moving altitude data values. counting them;
respectively subtracting a first error from the first difference values and subtracting a second error from the second difference values, respectively, by the mobile device;
The mobile device uses first subtracted values obtained by subtracting the first error from the first difference values and second subtracted values obtained by subtracting the second error from the second difference values. estimating; and
and selecting, by the mobile device, map data corresponding to the estimated floor. The method of claim 1 , wherein the layer recognition method using the barometric pressure sensor comprises:
determining, by the mobile device, whether the first reference barometric pressure data values or the second reference barometric pressure data values are unstable;
When it is determined that the first reference barometric pressure data values or the second reference barometric pressure data values are unstable, the mobile device receiving third reference barometric pressure data values from a third reference device including a third reference barometric pressure sensor; ;
converting, by the mobile device, the third reference barometric pressure data values into third reference altitude data values;
calculating, by the mobile device, third difference values that are differences between each of the third reference altitude data values and each of the moving altitude data values;
subtracting each of the third errors from the third difference values; and
The moving device additionally uses third subtraction values for subtracting the third error from the third difference values except for the unstable first reference barometric pressure data values or the unstable second reference barometric pressure data values. Floor recognition method using a barometric pressure sensor further comprising the step of estimating the floor on which the device is located. The method of claim 2, wherein the moving device determines whether the first reference barometric pressure data values or the second reference barometric pressure data values are unstable,
The moving device is configured to include a first reference barometric pressure data value and an i-th ( i is a natural number) calculating a first slope using a reference atmospheric pressure data value;
The moving device is configured to include the i-th reference barometric pressure data value and (i +1) calculating a second gradient using the th reference barometric pressure data value;
determining, by the mobile device, whether the second slope is greater than the first slope;
When the second slope is greater than the first slope, the mobile device applies the first reference barometric pressure data value to the last reference barometric pressure data value for the (i+1), and the range of the threshold value from the first slope counting the number of reference barometric data values that deviate from; and
When the number of the counted reference barometric pressure data is greater than or equal to a certain value, the mobile device determines that the first reference barometric pressure data values or the second reference barometric pressure data values are unstable. Way. The method of claim 2 , wherein the first reference device and the second reference device are respectively fixedly installed on different floors. According to claim 1, wherein the first error,
When the first reference device and the mobile device are positioned at the same height, any one of the first reference altitude data values converted from the first reference barometric pressure sensor included in the first reference device and the mobile device are included It means the difference between any one of the moving altitude data values converted from the moving barometric pressure sensor,
The second error is
When the second reference device and the mobile device are located at the same height, any one of the second reference altitude data values converted from the second reference barometric pressure sensor included in the second reference device and the mobile device are included A floor recognition method using a barometric pressure sensor, which means a difference between any one of the moving altitude data values converted from the moving barometric pressure sensor. The mobile device of claim 1, wherein the mobile device uses first subtracted values obtained by subtracting the first error from the first difference values and second subtracted values obtained by subtracting the second error from the second difference values. The step of estimating the floor on which the mobile device is located,
calculating, by the mobile device, a first subtraction slope of a first subtracted value from among the first subtracted values and a first subtracted value;
calculating, by the mobile device, a second subtraction slope of a first subtracted value and an arbitrary subtracted value among the second subtracted values;
comparing, by the mobile device, the first subtraction slope with the second subtraction slope;
When the first subtraction slope is greater than the second subtraction slope, the mobile device for a first weight multiplied by any one of the first subtracted values is lower than a second weight multiplied by any one of the second subtracted values. setting it to have a weight; and
estimating the floor on which the mobile device is located by adding, by the mobile device, a value obtained by multiplying any one of the first subtracted values by the first weight and multiplying any one of the second subtracted values by the second weight A floor recognition method using a barometric pressure sensor comprising a. The method of claim 1, wherein the removing of the noise of the moving barometric data values by the moving device comprises:
calculating, by the mobile device, an average of the mobile barometric pressure data values;
Calculating, by the mobile device, an average of the moving barometric data values by removing the oldest moving barometric data value among the moving barometric data values and adding the new moving barometric pressure data value when a new moving barometric pressure data value is input ;
calculating, by the mobile device, a difference between each of the mobile barometric pressure data values and an average of the mobile barometric pressure data values;
when the difference is greater than or equal to a predetermined value, determining, by the mobile device, a movement air pressure data value corresponding to a difference greater than or equal to the predetermined value among the movement air pressure data values as the noise and removing the noise;
After determining that the moving device is the noise and removing it, the first moving barometric pressure data value obtained at the first time and the moving barometric pressure data value obtained at an arbitrary time among the moving barometric pressure data values from which the noise has been removed are used to first calculating a mobile barometric pressure gradient;
calculating, by the mobile device, a second mobile barometric pressure gradient using the mobile barometric pressure data value acquired at the arbitrary time and the mobile barometric pressure data value acquired at a time after the arbitrary time;
determining, by the moving device, whether the second moving air pressure gradient is greater than the first moving air pressure gradient;
when the second moving barometric pressure gradient is greater than the first moving barometric pressure gradient, determining, by the moving device, the moving barometric pressure data value acquired at a time after the arbitrary time as the noise and removing it; and
The moving device converts the moved barometric pressure data values that are determined as the noise to the frequency domain for moving barometric pressure data values obtained at a time after the arbitrary time in the time domain, and converts the removed moving barometric pressure data values into the frequency domain A floor recognition method using a barometric pressure sensor comprising the step of determining and removing noise. A mobile device comprising:
a receiving module configured to receive first reference barometric pressure data values from a first reference device including a first reference barometric pressure sensor and second reference barometric pressure data values from a second reference device including a second reference barometric pressure center through a network;
a mobile barometric pressure sensor for acquiring mobile barometric pressure data values;
Removes noise from the moving air pressure data values,
converting the first reference barometric pressure data values, the second reference barometric pressure data values, and the moving barometric pressure data values into first reference altitude data values, second reference altitude data values, and moving altitude data values,
Calculating first difference values that are the differences between each of the first reference altitude data values and each of the moving altitude data values, and second difference values that are the differences between each of the second reference altitude data values and the moving altitude data values,
each subtracting a first error from the first difference values and subtracting a second error from each of the second difference values;
estimating the floor on which the mobile device is located using first subtracted values obtained by subtracting the first error from the first difference values and second subtracted values obtained by subtracting the second error from the second difference values,
a memory storing instructions for selecting map data corresponding to the estimated layer; and
and a processor for executing instructions stored in the memory. The method of claim 8, wherein the memory,
It is determined whether the first reference barometric pressure data values or the second reference barometric pressure data values are unstable,
When it is determined that the first reference barometric pressure data values or the second reference barometric pressure data values are unstable, receiving third reference barometric pressure data values from a third reference device including a third reference barometric pressure sensor,
converting the third reference barometric pressure data values into third reference altitude data values,
calculating a third difference value that is a difference between each of the third reference altitude data values and each of the moving altitude data values,
subtracting each of the third errors from the third difference values,
The layer on which the mobile device is located by additionally using third subtraction values for subtracting the third error from the third difference values, except for the unstable first reference barometric pressure data values or the unstable second reference barometric pressure data values The mobile device further comprising instructions for estimating The method of claim 9, wherein the command for determining whether the first reference barometric pressure data values or the second reference barometric pressure data values are unstable comprises:
The first reference barometric pressure data value and the i-th (i is a natural number) in the first reference barometric pressure data values obtained at different times from the first reference device or the second reference device, or the second reference barometric pressure data values Calculate the first slope using the reference barometric data value,
The i-th reference barometric pressure data value and the (i+1)-th in the first reference barometric pressure data values obtained at different times from the first reference device or the second reference device, or the second reference barometric pressure data values Calculate the second slope using the reference barometric pressure data value,
It is determined whether the second slope is greater than the first slope,
When the second slope is greater than the first slope, the reference atmospheric pressure deviating from the threshold value from the first slope by applying from the first reference pressure data value to the last reference pressure data value for (i+1) Count the number of data values,
and instructions for determining that the first reference barometric pressure data values or the second reference barometric pressure data values are unstable when the counted number of reference barometric pressure data is greater than or equal to a certain value. The method of claim 8, wherein the first error is
When the first reference device and the mobile device are positioned at the same height, any one of the first reference altitude data values converted from the first reference barometric pressure sensor included in the first reference device and the mobile device are included It means the difference between any one of the moving altitude data values converted from the moving barometric pressure sensor,
The second error is
When the second reference device and the mobile device are located at the same height, any one of the second reference altitude data values converted from the second reference barometric pressure sensor included in the second reference device and the mobile device are included A mobile device that means a difference between any one of the moving altitude data values converted from the moving barometric pressure sensor. The mobile device of claim 8, wherein the mobile device uses first subtracted values obtained by subtracting the first error from the first difference values and second subtracted values obtained by subtracting the second error from the second difference values. The command to estimate the floor where it is located is:
calculating a first subtraction slope of a first subtracted value and an arbitrary subtracted value among the first subtracted values;
calculating a second subtraction slope of a first subtracted value and an arbitrary subtracted value among the second subtracted values;
comparing the first subtraction slope with the second subtraction slope,
When the first subtraction slope is greater than the second subtraction slope, the first weight value multiplied by any one of the first subtraction values has a lower weight than the second weight value multiplied by any one of the second subtraction values. set up,
and adding a value obtained by multiplying any one of the first subtracted values by the first weight and multiplying any one of the second subtracted values by the second weight to estimate the floor on which the mobile device is located. . a first reference device comprising a first reference barometric pressure sensor for acquiring first reference barometric pressure data values;
a second reference device comprising a second reference barometric pressure sensor for acquiring second reference barometric pressure data values;
a server for receiving the first reference barometric pressure data values from the first reference device and the second reference barometric pressure data values from the second reference device through a network; and
receiving the first reference barometric pressure data values and the second reference barometric pressure data values from the server;
acquiring moving barometric pressure data values from a moving barometric pressure sensor;
Removes noise from the moving air pressure data values,
converting the first reference barometric pressure data values, the second reference barometric pressure data values, and the moving barometric pressure data values into first reference altitude data values, second reference altitude data values, and moving altitude data values,
Calculating first difference values that are the differences between each of the first reference altitude data values and each of the moving altitude data values, and second difference values that are the differences between each of the second reference altitude data values and the moving altitude data values,
a mobile device for respectively subtracting a first error from the first difference values and respectively subtracting a second error from the second difference values;
The mobile device is
estimating the floor on which the mobile device is located using first subtracted values obtained by subtracting the first error from the first difference values and second subtracted values obtained by subtracting the second error from the second difference values,
A mobile device system for selecting map data corresponding to the estimated floor. 14. The method of claim 13, wherein the mobile device,
It is determined whether the first reference barometric pressure data values or the second reference barometric pressure data values are unstable,
When it is determined that the first reference barometric pressure data values or the second reference barometric pressure data values are unstable, receiving third reference barometric pressure data values from a third reference device including a third reference barometric pressure sensor,
converting the third reference barometric pressure data values into third reference altitude data values,
calculating a third difference value that is a difference between each of the third reference altitude data values and each of the moving altitude data values,
subtracting each of the third errors from the third difference values,
The layer on which the mobile device is located by additionally using third subtraction values for subtracting the third error from the third difference values, except for the unstable first reference barometric pressure data values or the unstable second reference barometric pressure data values Estimating the mobile device system. The method according to claim 14, wherein the determination of whether the first reference barometric pressure data values or the second reference barometric pressure data values are unstable comprises:
The first reference barometric pressure data value and the i-th (i is a natural number) in the first reference barometric pressure data values obtained at different times from the first reference device or the second reference device, or the second reference barometric pressure data values Calculate the first slope using the reference barometric data value,
The i-th reference barometric pressure data value and the (i+1)-th in the first reference barometric pressure data values obtained at different times from the first reference device or the second reference device, or the second reference barometric pressure data values Calculate the second slope using the reference barometric pressure data value,
It is determined whether the second slope is greater than the first slope,
When the second slope is greater than the first slope, the reference atmospheric pressure deviating from the threshold value from the first slope by applying from the first reference pressure data value to the last reference pressure data value for (i+1) Count the number of data values,
When the counted number of reference barometric pressure data is greater than or equal to a certain value, the mobile device system determines that the first reference barometric pressure data values or the second reference barometric pressure data values are unstable.

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