KR102304290B1 - Positioning network system, apparatus and method using homogeneous moving object - Google Patents

Abstract

The present invention relates to a positioning network system, apparatus, and method using a homogeneous mobile body, and more particularly, by arranging a plurality of positioning nodes provided in a mobile body in a right angle direction to reduce the amount of computation for positioning a target node and positioning accuracy Also, the present invention relates to a position measuring network system, apparatus and method using a homogeneous mobile body capable of efficiently expanding a locationable area by linking a plurality of homogeneous mobile bodies with each other.
In the present invention, in a position measurement network system for measuring the position of an object using a plurality of movable objects, a first positioning node (N _A ), a second positioning node (N _B ), and a third positioning node (N _{C )} ) a plurality of (K) moving objects each having a plurality of positioning nodes including; and an object including a target node (N _T ), wherein in the mobile body, the second positioning node (N _B ) and the third positioning node (N _C ) are based on the first positioning node (N _A ) to form a right-angled triangular structure positioned in a direction perpendicular to each other, and the first movable body among the plurality of movable bodies uses a plurality of positioning nodes (N _A1 , N _B1 , N _C1 ) based on a predetermined reference point. position, and at least one m-th mobile body among the plurality of mobile bodies uses a plurality of positioning nodes (N _Am , N _Bm , N _Cm ) to determine the m-1 th mobile body or the m-th mobile body based on the m th mobile body. +1 Position the mobile body (here, 1 < m < K), and among the plurality of mobile objects, the K-th mobile body uses a plurality of positioning nodes (N _AK , N _BK , N _CK ) based on the K-th mobile body. Disclosed is a localization network system, characterized in that the position of the object is positioned.

Description

Positioning network system, apparatus and method using homogeneous moving object

The present invention relates to a positioning network system, apparatus, and method using a homogeneous mobile body, and more particularly, by arranging a plurality of positioning nodes provided in a mobile body in a right angle direction to reduce the amount of computation for positioning a target node and positioning accuracy Also, it relates to a position measuring network network system, apparatus and method using a homogeneous mobile body capable of efficiently expanding a locationable area by linking a plurality of homogeneous mobile bodies with each other.

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

However, as described above, the positioning technology based on GPS, etc. is easy for positioning outdoors where GPS satellite signals can be smoothly received, but positioning is impossible or impossible in an indoor environment where it is difficult to receive GPS satellite signals or signal distortion may occur. There is a problem that the positioning accuracy is lowered.

In contrast, in the related art, as can be seen in FIG. 1 , positioning nodes for positioning are installed at a predetermined location in a plurality of locations indoors, and from a target node located in the inner region of the plurality of positioning nodes to the respective positioning nodes. A technique for calculating the location of the target node by measuring the distance has also been used.

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

In contrast, it is preferable to position the target node by using a moving object equipped with the positioning node. There may be a problem that the positioning accuracy for .

Furthermore, even if the moving object provided with the positioning node is used, the positionable area may be limited by a radius in which the moving object can be located, etc., so positioning the target node far from the positioning reference point remains a difficult problem.

Accordingly, positioning of the target node is possible without installing a plurality of positioning nodes at predetermined positions in the region to be positioned, and the target node with high accuracy while preventing the computation for calculating the position of the target node from being complicated There is a demand for a method that can position the node and further expand the positionable area to position a target node far away from the positioning reference point, but a specific method to adequately solve this demand has not been provided yet. .

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

The present invention was devised to solve the problems of the prior art as described above, and it is possible to position a target node without installing a plurality of positioning nodes in a predetermined position in an area to be positioned, and also to determine the position of the target node. Position measurement using a homogeneous mobile body capable of positioning the target node with high accuracy while preventing the calculation from being complicated, and also positioning the target node far from the positioning reference point by expanding the positioning area An object of the present invention is to provide a network system, apparatus and method.

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

In the position network system using the above object position network system in accordance with one aspect of the present invention to address, the moved plurality of moving objects capable of measuring a position of the target object, the first positioning node (N _A), the a plurality of (K) moving objects each having a plurality of positioning nodes including a second positioning node (N _B ) and a third positioning node (N _{C );} and an object including a target node (N _T ), wherein in the mobile body, the second positioning node (N _B ) and the third positioning node (N _C ) are based on the first positioning node (N _A ) to form a right-angled triangular structure positioned in a direction perpendicular to each other, and the first movable body among the plurality of movable bodies uses a plurality of positioning nodes (N _A1 , N _B1 , N _C1 ) based on a predetermined reference point. position, and at least one m-th mobile body among the plurality of mobile bodies uses a plurality of positioning nodes (N _Am , N _Bm , N _Cm ) to determine the m-1 th mobile body or the m-th mobile body based on the m th mobile body. +1 Position the mobile body (here, 1 < m < K), and among the plurality of mobile objects, the K-th mobile body uses a plurality of positioning nodes (N _AK , N _BK , N _CK ) based on the K-th mobile body. It is characterized in that the position of the object is positioned.

In this case, the second positioning node N _B and the third positioning node N _C may form a right-angled isosceles triangular structure located at the same distance from each other based on the first positioning node N _{A .}

In addition, in the mobile body, to position from the first positioning node (N _A ) on the first axis (=X axis) connecting the second positioning node (N _{B ) in the first positioning node (N A} ) Calculate the first distance (X _AD ) to the node (N _D ), and in the second axis (=Y axis) connecting the third location node (N _C ) from the first location node (N _{A )} for calculating a second distance (Y _AD) to the node (N _D) to the positioning from the first positioning node (N _a), the positioning relative to the first positioning node (N _a) of the vehicle It is possible to calculate the location (X _AD , Y _AD ) of the desired node (N _{D ).}

Furthermore, in the mobile body, the first distance X _{AD is calculated without considering the position value Y D} on the Y-axis of the _{node N D} to be positioned, and the node N to be positioned without considering the position value (X _D) in the X-axis of _D) it can be calculated by the second distance (Y _AD).

Further, in the above mobile body, transmits and receives an RF signal to the node (N _D) to the positioning at the plurality of location nodes (N _A, N _B, N _C) and calculating the distance to said node (N _{D), The relative position of the node N D} to be positioned may be calculated with respect to the moving object.

In addition, the first movable body uses the plurality of positioning nodes (N _A1 , N _B1 , N _C1 ) to position the second movable body with respect to the first movable body, and the mth movable body is the plurality of positioning nodes. By using the nodes N _Am , N _Bm , and N _Cm , the position of the m+1-th mobile body may be positioned (here, 1 < m < K) with respect to the m-th mobile body.

In addition, the position calculator for calculating the position of the object based on the reference point may calculate the position of the object by sequentially summing the position information of two or more of the plurality of moving objects.

In this case, in the position calculating unit, the position information of the first movable body with respect to the reference point, the position information of the m-1 th movable body or the m+1 th movable body with respect to the m th movable body, and the The location information of the object based on the K-th moving object may be sequentially summed to calculate the location information of the object based on the reference point.

Also, in the method for measuring a position according to another embodiment of the present invention, in the method for measuring a position of an object using a plurality of movable objects that can move, the first positioning node (N _A ), the second positioning node (N) _B ) and a third positioning node (N _C ), among a plurality (K) of a plurality of mobile devices each having a plurality of positioning nodes including a plurality of positioning nodes (N _A1 , N _B1 , N _C1 ) in the first mobile device positioning the position of the first movable body based on a predetermined reference point using the method; Positioning the position of the m-1 th mobile body or the m+1 th mobile body based on the m th mobile body using a _{plurality of positioning nodes (N Am} , N _Bm , N _Cm ) in the m th mobile body among the plurality of mobile bodies (where 1 < m <K); and positioning the position of the object with respect to the K-th mobile body by using a _{plurality of positioning nodes (N AK} , N _BK , N _CK ) in the K-th mobile body among the plurality of mobile bodies. A node N _T is provided, and in the mobile body, the second positioning node N _B and the third positioning node N _C are positioned in a direction perpendicular to each other with respect to the first positioning node N _{A .} It is characterized in that it forms a right-angled triangular structure.

In this case, the second positioning node N _B and the third positioning node N _C may form a right-angled isosceles triangular structure located at the same distance from each other based on the first positioning node N _{A .}

In addition, the first movable body uses the plurality of positioning nodes (N _A1 , N _B1 , N _C1 ) to position the second movable body with respect to the first movable body, and the mth movable body is the plurality of positioning nodes. By using the nodes N _Am , N _Bm , and N _Cm , the position of the m+1-th mobile body may be positioned (here, 1 < m < K) with respect to the m-th mobile body.

The method may further include a location information summing step of sequentially summing the location information of two or more of the plurality of moving objects to calculate the location of the object based on the reference point.

Here, in the step of summing the position information, the position information of the first mobile body with respect to the reference point and the position information of the m-1 th mobile body or the m+1 th mobile body with respect to the m th mobile body as a reference point; The location information of the object with respect to the K-th moving object may be sequentially summed to calculate the location information of the object with respect to the reference point.

In the positioning network system, apparatus and method using a homogeneous mobile body according to an embodiment of the present invention, positioning of a target node is possible without installing a plurality of positioning nodes in a predetermined position in an area to be positioned, and It is possible to position the target node with high accuracy while preventing the operation for calculating the position of the target node from being complicated, and furthermore, it has the effect that it is possible to position the target node far from the reference point by expanding the positionable area .

BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are included as part of the detailed description to help the understanding of the present invention, provide embodiments of the present invention, and together with the detailed description, explain the technical spirit of the present invention.
1 is a diagram illustrating a location measurement network system according to the prior art.
2 is a block diagram of a location measurement network system according to an embodiment of the present invention.
3 and 4 are diagrams for explaining the operation of a location measurement network system according to an embodiment of the present invention.
5 and 6 are diagrams for explaining the operation of a positioning network system including a plurality of moving objects according to an embodiment of the present invention.
7 is a flowchart of a location measurement method according to an embodiment of the present invention.
8A to 8C are graphs showing performance of a location measurement network system, apparatus, and method according to an embodiment of the present invention.

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

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

In describing the embodiments of the present invention, if it is determined that the detailed description of the known technology related to the present invention may unnecessarily obscure the gist of the present invention, the detailed description thereof will be omitted. In addition, the terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to intentions or customs of users and operators. Therefore, the definition should be made based on the content throughout this specification. The terminology used in the detailed description is for the purpose of describing embodiments of the present invention only, and should not be limiting in any way. Unless explicitly used otherwise, expressions in the singular include the meaning of the plural. In this description, expressions such as “comprising” or “comprising” are intended to indicate certain features, numbers, steps, acts, elements, some or a combination thereof, and one or more other than those described. It should not be construed to exclude the presence or possibility of other features, numbers, steps, acts, elements, or any part or combination thereof.

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

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, exemplary embodiments of a positioning network system, apparatus and method using a homogeneous mobile body according to the present invention will be described in detail with reference to the accompanying drawings.

First, FIG. 2 illustrates a configuration diagram of a location measurement network system 100 according to an embodiment of the present invention. As can be seen in FIG. 2 , the position measurement network system 100 according to an embodiment of the present invention is a position measurement network system 100 for measuring the position of an object using a plurality of movable objects that are movable, _A plurality (K) each having a plurality of positioning nodes including a first positioning node (N A ) 111 , a second positioning node (N _B ) 112 , and a third positioning node (N _{C ) 113 .} It may be configured to include a moving object 110 and a target object 120 having a target node (N _{T ) 121 .}

At this time, in the mobile unit 110 and the second positioning node (N _B) (112) and said third positioning node (N _C) (113) are each other by the first positioning node (N _A) (111) It has a right-angled triangular structure positioned in a vertical direction, and the first movable body 110a among the plurality of movable bodies 110 uses a plurality of positioning nodes N _A1 , N _B1 , N _C1 to determine a predetermined reference point 130 . and positioning a position of the first moving object (110a) based on, at least one of the m th mobile member (110m) of the plurality of the moving object 110 using a plurality of location nodes (N _Am, N _Bm, N _Cm) the to position the position of the m-1 th mobile body 110m-1 or the m+1 th mobile body 110m+1 based on the m-th mobile body 110m (here, 1 < m < K), and Among the movable objects 110, the K-th mobile body 110K uses a plurality of positioning nodes N _AK , N _BK , and N _CK to position the location of the object 120 with respect to the K-th mobile body 110K. characterized.

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

In addition, in the mobile body 110 , the first location on a first axis (=X axis) connecting the second location node (N _{B ) 112 from the first location node (N A ) 111 .} the third positioning node in a positioning node (N _a) calculating a first distance (X _AD) to the node (N _D) to the positioning from 111, and the first positioning node (N _a) 111 ( N _{C ) A} second distance (Y _AD ) from the first positioning node (N A ) 111 to the node (N _D ) to be positioned on a second axis (=Y-axis) connecting N C ) ( 113 ) a can be calculated, the first positioning location node _(AD X, Y _AD) of the node (N _D) to the positioning relative to the (N _a) (111) of the moving object 110 is calculated.

In addition, the position measurement network system 100 according to an embodiment of the present invention may include a position calculator 140 for calculating the position of the object 120 based on the reference point 130 , in which case the position The calculator 140 may calculate the position of the object 120 by sequentially summing the position information of two or more of the plurality of moving objects 110 .

In this case, the location calculating unit 140 is implemented in one or more of the plurality of moving objects 110 , or a separate device such as a server capable of exchanging data with the plurality of moving objects 110 through wireless communication, etc. may be implemented in

More specifically, in the position calculating unit 140 , the position information of the first movable body 110a with respect to the reference point 130 and the m-1th position information based on the m-th movable body 110m as a reference point By sequentially summing the position information based on the moving object 110m-1 or the m+1-th moving object 110m+1, and the position information of the object 120 with respect to the K-th moving object 110K, Position information of the object 120 with respect to the reference point 130 may be calculated.

Accordingly, in the positioning network system 100 according to an embodiment of the present invention, positioning of the object 120 is possible without installing a plurality of positioning nodes in a predetermined location in an area to be positioned, and also the object It is possible to position the position of the object 120 with high accuracy while preventing the operation for calculating the position of 120 from being complicated, and furthermore, by expanding the positionable area, the object 120 far from the reference point 130 can also be positioned.

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

First, the mobile unit 110 includes a plurality of positioning nodes including a _{first positioning node (N A} ) 111 , a second positioning node (N _B ) 112 , and a third positioning node (N _{C ) 113 .} may be provided.

More specifically, FIG. 3 is a diagram illustrating the configuration and operation of the movable body 110 according to an embodiment of the present invention.

First, as can be seen in FIG. 3( a ), the mobile body 110 includes the first positioning node (N _A ) 111 , the second positioning node (N _B ) 112 and the third positioning node ( N _C ) 113 may be disposed in the form of an equilateral triangle, but in this case, the first positioning node (N _A ) 111 , the second positioning node (N _B ) 112 and the third positioning node (N _{C )} ) 113 to the target node N _T provided in the object 120 , such as 121 , _{to calculate the distance to the node N D} to be positioned (=R _A , R _B , R _C ) . Accordingly, when the location of the target node (N _{T ) 121 is calculated based on the first location node (N A} ) 111 using this, it can be expressed as Equation 1 below.

[Equation 1]

Here, as can be seen in Figure 3 (a), the X _TA has a first shaft connecting the second positioning node (N _B) (112) in the first positioning node (N _A) (111) ( =X axis) from the first positioning node (N _A ) 111 to the target node (N _T ) 121, the Y _TA is the first positioning node (N _A ) ( In the second axis (=Y axis) connecting the third positioning node (N _C ) 113 in 111 ), the target node (N _T ) 121 _{from the first positioning node (N A ) 111} ) to the second distance.

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

At this time, as can be seen in Equation 1, in _{order to obtain the second distance Y TA} , the value _{of the position X T} of the target node N _T 121 on the X axis is reflected. .

On the other hand, and as it can be seen in Figure 3 (b), in the position network system 100 according to one embodiment of the invention, the mobile member 110 and the second positioning node (N _B) (112) The third positioning node (N _C ) 113 may be disposed in a right-angled triangular structure positioned in a direction perpendicular to each other with respect to the first positioning node (N _{A ) 111 .}

In this case, when the position of the target node (N _{T ) 121 is calculated based on the first positioning node (N A} ) 111 , it can be expressed as in Equation 2 below.

[Equation 2]

Here, the X _TA is the first positioning node (=X axis) in the first axis (=X axis) connecting the second positioning node (N _B ) 112 in the first positioning node (N _{A ) 111} Means the distance from N _A ) 111 to the target node (N _T ) 121 , and the Y _TA is the third location node (N _C ) from the first location node (N _{A ) 111} It means a second distance _{from the first positioning node (N A} ) 111 to the target node (N _T ) 121 on a second axis (=Y axis) connecting 113 .

In addition, d denotes _{a distance from the first positioning node (N A} ) 111 to the second positioning node (N _B ) 112 and the third positioning node (N _C ) 113 .

At this time, as can be seen in Equation 2, the first distance (X _TA ) can be calculated _{without considering the location value (Y T ) of the target node (N T} ) on the Y-axis, The second distance Y _TA may be calculated _{without considering the location value X T} of the target node N _T on the X-axis.

That is, in the second positioning node (N _B) (112) and said third positioning node (N _C) (113) in the position network system 100 according to one embodiment of the invention, the mobile member (110) the first positioning node (N _a) being disposed done in a right triangle structure which is located on the perpendicular to each other relative to the (111) direction, and the value of the X axis and the Y-axis do not affect each other (decoupling), Accordingly, the distance (=R _A ) from the first positioning node (N _A ) 111 to the target node (N _T ) 121 is commonly reflected in obtaining the X _TA and the Y _{TA , but the} The distance (=R _B ) from the second location node (N _B ) 112 to the target node (N _T ) 121 is reflected only in obtaining the X _TA , and the third location node N _C ) The distance (=R _C ) from (113) to the target node (N _T ) 121 is reflected only in obtaining the Y _{TA .}

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

In particular, in Equation 2, the case of a two-dimensional plane is exemplified, but when the dimension such as three-dimensional is increased, the Equation must be expressed as a more complex equation, and thus a more complex operation must be performed.

Furthermore, in Equation 2, a case in which the position of the object 120 is calculated based on the movable object 110 is exemplified. _{In a situation where the first distance (X TA} ) and the second distance (Y _TA ) must be calculated in a structure in which the object 120 is additionally linked and connected in a plurality of steps, Equation 2 may become more complicated. Since the values of the X-axis and the Y-axis do not affect each other (decoupling), the _{formulas for calculating the first distance (X TA} ) and the second distance (Y _TA ) can be modeled concisely. Rather, it is possible to effectively reduce the amount of computation required for this.

Further, in the position network system 100 according to one embodiment of the invention, the plurality of positioning node (N _A, N _B, N _C) above to transmit and receive RF signals to a node (N _D) to the positioning in the can calculate the distance to the node (N _D) to the positioning, it is possible to use them to calculate the relative position of the node (N _D) to the positioning relative to the mobile member (110).

At this time, the node in to the positioning by sending and receiving the RF signal to the node (N _D) to the positioning the like ToF (Time of Flight) method of the plurality of location nodes (N _A, N _B, N _C) ( The distance to N _D ) can be calculated, but the present invention is not limited thereto. In addition, various techniques such as phase shift or frequency modulation are applied to the node N _D to be positioned. It is also possible to calculate the distance of

Here, the node N _D to be positioned is the target node N _T 121 of the object 120 , the reference node 131 of the reference point 130 , or the first of the other moving objects 110 . positioning node (N _a) may be a 111, the second positioning node (N _B) (112) or the third positioning node (N _C) of the present invention is not limited thereto, in addition to the other mobile object 110, (113) or various nodes such as a separate fourth positioning node may be used.

Further, in the position network system 100 according to one embodiment of the invention, the mobile unit 110, as well as the positioning of the nodes (N _D), which is located in front of the node (N _D), which is located at the rear Positioning is also possible.

A more specific example, as can be seen in Figure 4, the mobile member (110) in the target of the target object 120 which is located at the front by using a plurality of location nodes (N _A, N _B, N _C) nodes ( N _T ) or the first positioning node N _A of the other mobile device 110 by transmitting and receiving an RF signal to the target node N _T of the object 120 or the first positioning node N _{A of the other mobile device 110} ), and transmit/receive an RF signal to the reference node 131 of the reference point 130 located at the rear or the first positioning node N _{A of another mobile body 110 to the reference point (} The rear positioning of the reference node 131 of the 130 or the first positioning node N _A of the other mobile body 110 may be performed.

Accordingly, in FIG. 4 , after performing anterior positioning of the object 120 and posterior positioning of the reference point 130 , based on the reference node 131 of the reference point 130 , the When the position of the target node (N _T ) 121 is calculated through a vector sum, it can be expressed as in Equation 3 below.

[Equation 3]

Here, the X _T is the reference node 131 on the first axis (=X axis) connecting the second location node (N _B ) 112 from the first location node (N _{A ) 111 .} from the distance to the target node (N _T) (121), and the Y _TA is connected to said third positioning node (N _C) (113) in the first positioning node (N _a) (111) It means a second distance from the reference node 131 to the target node (N _{T ) 121 on a second axis (=Y axis).}

In addition, as can be seen in FIG. 4 , R _A0 , R _B0 , and R _C0 are the distances from the reference node 131 to the first positioning node N _{A of the mobile body 110 , R A1} , R respectively. _B1 and R _{C1 are the distances from the first positioning node N A} of the mobile body 110 to the target node N _T of the object 120, respectively, and d is the first positioning node N _A ) means the distance from 111 to the second positioning node (N _B ) 112 and the third positioning node (N _{C ) 113 .}

More specifically, the position of the reference node 131 of the reference point 130 may be measured in advance and stored. Accordingly, the first positioning node (N _A) (111), the second positioning node (N _B) (112) and the third positioning node (N _C), said reference node (131 from 113 of the vehicle 110 ) to transmit and receive RF signals, the first positioning node (N _a) (111), the second positioning node (N _B) (112) and the third positioning node (N _C), said reference node (131 from 113 to ) after calculating the distance to each (=R _A0 , R _B0 , R _C0 ), using the position of the reference node 131 , the first positioning node (N _A ) 111, the second positioning node ( It is possible to calculate the positions of the N _B ) 112 and the third positioning node (N _{C ) 113 .}

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

In addition, FIG. 5 is a view for explaining the operation of the positioning network system 100 including a plurality of moving objects 110 according to an embodiment of the present invention.

5 exemplifies a configuration for positioning the position of the object 120 using the two moving objects 110 , but this is only an example for description and the present invention is not limited thereto.

First, as can be seen in FIG. 5 , the first mobile body 110a is a reference point 130 using the first positioning node 111a, the second positioning node 112a, and the third positioning node 113a. The node 131 is positioned posteriorly.

In addition, the first mobile body 110a uses the first location node 111a, the second location node 112a, and the third location node 113a to obtain the first reference node 111b of the second mobile body 110b. ) is positioned forward.

Furthermore, the second mobile body 110b uses the first positioning node 111b, the second positioning node 112b, and the third positioning node 113b to position the target node 121 of the object 120 forward. do.

Accordingly, in the location measurement network system 100 according to an embodiment of the present invention, location information of the first location node 111a of the first mobile body 111a with respect to the reference node 131, the first location information of the first positioning node 111b of the second mobile body 111b with respect to the first positioning node 111a of the mobile body 11a, and the first positioning node 111b of the second mobile body 111b Using the location information of the target node 121 as a reference, it can be calculated through vector sum as shown in Equation 4 below.

[Equation 4]

In addition, if it is solved as in Equation 3, it can be expressed as Equation 5 below.

[Equation 5]

Here, X _T means a distance from the first axis (=X axis) of the target node 121 with respect to the _{reference node 131 , and Y T} is the target node ( 121) of the second axis (=Y axis).

Furthermore, in FIG. 5 , the case of calculating the position of the object 120 by connecting two moving objects 110 is exemplified. However, this is extended to calculate the position of the object 120 by connecting k moving objects 110 . If we solve the case, it can be expressed as Equation 6 below.

[Equation 6]

Accordingly, in the location measurement network system 100 according to an embodiment of the present invention, a plurality of moving objects 110 are interlocked without installing a plurality of positioning nodes in a predetermined location in an area to be positioned, thereby allowing the object 120 to be positioned. It is possible to position the target node 121 of , and also to position the target node 121 far away from the reference point 130 by expanding the positionable area.

In addition, FIG. 6 exemplifies a case in which positions of several objects 120 are positioned using a plurality of moving objects 110 in the position measurement network system 100 according to an embodiment of the present invention.

First, when positioning the position of the first target node 121a of FIG. 6 in the position measurement network system 100 according to an embodiment of the present invention, the first of the plurality of moving objects 110 distributed in the measurement area The first target node (N ₁ ) 110a, the second movable body (N ₂ ) 110b, the third movable body (N ₃ ) 110c, and the fourth movable body (N ₄ ) 110d are used to the first target node ( 121a) can be located.

Accordingly, as can be seen in FIG. 6 , the position calculation unit 140 in the position measurement network system 100 according to an embodiment of the present invention includes a first position vector (L ₁ ) and a second position vector (L). ₂ ), the third position vector (L ₃ ), the fourth position vector (L ₄ ), and the fifth position vector (L ₅ ) are vector summed using Equation 6, etc. to the first target node for the reference node 131 . The position of (121a) can be calculated.

In addition, as can be seen in FIG. 6 , in the case of positioning the position of the second target node 121b, the first movable body (N ₁ ) 110a and the second used in the first target node 121a are used. While sharing the mobile body (N ₂ ) 110b, the second target node 121b may be located by additionally using the fifth mobile body (N _{5 ) 110e.}

In this case, as can be seen in FIG. 6 , the position calculating unit 140 calculates the first position vector (L ₁ ), the second position vector (L ₂ ), and the fourth position vector (L ₇ ) in the above-mentioned mathematics. The position of the second target node 121b with respect to the reference node 131 may be calculated by vector summing using Equation 6 or the like.

Furthermore, a connection path (eg, the first target node in FIG. 6 ) of the mobile body 110 used to locate the target node 121 in the positioning network system 100 according to an embodiment of the present invention. In the case of (121a), N ₁ -N _{2 -N 3} - N ₄ (connection path of N 1 -N 2 - N 3 - N 4 is used) can be selected through an existing shortest path algorithm, etc., but the present invention is not necessarily limited thereto.

At this time, in the position measurement network system 100 according to an embodiment of the present invention, the first mobile body 110a (N _{1 in} FIG. 6 ) is the reference node 131 of the predetermined reference point 130 through rearward positioning. ) while positioning the position of the first movable body 110a based on, and also positioning the position of the second movable body 110b (N _{2 in} FIG. 6 ) with respect to the first movable body 110a through forward positioning, and , Also, the m-th movable body 110m (N ₂ , N _{3 in} FIG. 6 ) after the second movable body 110b is the m+1-th movable body 110m+1) based on the m-th movable body 110m ( _{Positioning the position of N 3} , N ₄ of FIG. 6 (here, 1 < m < K), and the K-th mobile body 110K (N _{4 in} FIG. 6 ) is based on the K-th mobile body 110K The location of the target node 121a of the object 120 may be determined.

However, the present invention is not necessarily limited thereto, and the at least one m-th mobile body 110m (N ₂ , N _{3 in} FIG. 6 ) is an m-1 th mobile body 110m-1 or It is also possible to position the position of the m+1th mobile body 110m+1 (here, 1 < m < K), and use the position to position the target node 121a of the object 120 .

In addition, FIG. 7 illustrates a flowchart of a position measuring method according to an embodiment of the present invention.

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

First, as can be seen in FIG. 7 , the position measurement method according to an embodiment of the present invention includes a position measurement method for measuring the position of an object 120 using a plurality of movable objects 110 that are movable, _A plurality (K pieces) each having a plurality of location nodes including a first location node (N A ) 111 , a second location node (N _B ) 112 , and a third location node (N _{C ) 113 .} ), the position of the first movable body 111a based on a predetermined reference point 130 using a _{plurality of positioning nodes N A1} , N _B1 , N _{C1 in the first movable body 111a. positioning (S110), using a plurality of positioning nodes (N Am} , N _Bm , N _Cm ) in the m-th mobile body 110m among the plurality of mobile bodies 110 based on the m-th mobile body 110m. Positioning the position of the m-1 th mobile body 110m-1 or the m+1 th mobile body 110m+1 (here, 1 < m < K) (S120) and the K-th among the plurality of movable bodies 110 and positioning the position of the object 120 with respect to the K-th mobile body 110K by using the plurality of positioning nodes N _AK , N _BK , and N _{CK in the mobile body 110K ( S130 ).}

In this case, the object 120 includes a target node (N _T ) 121 , and in the mobile body 110 , the second positioning node N _B and the third positioning node N _C are the first It forms a right-angled triangular structure positioned in a direction perpendicular to each other with respect to the positioning node (N _{A ).}

Further, in the location measurement method according to an embodiment of the present invention, the second positioning node (N _B) and the third positioning node (N _C) is the same day each other by the first positioning node (N _A) It is preferable to form a right-angled isosceles triangular structure located at a distance.

At this time, in the position measuring method according to an embodiment of the present invention, the position of the object 120 is calculated based on the reference point 130 by sequentially summing the position information of two or more of the plurality of moving objects 110 . It may further include an information summing step (not shown).

Furthermore, in the step of adding up the location information (not shown), the location information of the first movable body 110a based on the reference point 130 and the m-1th location information based on the m-th movable body 110m as a reference point By sequentially summing the position information of the moving object 110m-1 or the m+1-th moving object 110m+1 and the position information of the object 120 with respect to the K-th moving object 110K as a reference, the reference point ( Position information of the object 120 with reference to 130 ) may be calculated.

Accordingly, in the method for measuring a position according to an embodiment of the present invention, positioning of the object 120 is possible without installing a plurality of positioning nodes at predetermined positions in the region to be positioned, and also It is possible to position the position of the object 120 with high accuracy while preventing the operation for calculating the position from being complicated, and furthermore, it is possible to position the object 120 far from the positioning reference point by expanding the positionable area. .

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

The medium may continue to store a computer executable program, or may be temporarily stored for execution or download. In addition, the medium may be various recording means or storage means in the form of a single or several hardware combined, it is not limited to a medium directly connected to any computer system, and may exist distributed on a network. Examples of the medium include a hard disk, a magnetic medium such as a floppy disk and a magnetic tape, an optical recording medium such as CD-ROM and DVD, a magneto-optical medium such as a floppy disk, and those configured to store program instructions, including ROM, RAM, flash memory, and the like. In addition, examples of other media may include recording media or storage media managed by an app store that distributes applications, sites that supply or distribute other various software, and servers.

In addition, FIGS. 8A to 8C illustrate performance improvement according to the location measurement network system 100, apparatus, and method according to an embodiment of the present invention.

More specifically, as can be seen in FIG. 8A , looking at the positioning accuracy according to the distance measurement error, a case in which a plurality of positioning nodes are disposed in a right-angled triangle shape and an equilateral triangle according to the present invention It can be seen that when they are arranged in a shape, they all show a linearly increasing proportional relationship.

In addition, as can be seen in FIG. 8b , the positioning accuracy according to the distance d of the positioning nodes is an equilateral triangle when a plurality of positioning nodes are arranged in a right-angled triangle form according to the present invention. ), it shows higher accuracy than the case of arrangement in the form of a right-angled triangle, and has a linearly inversely proportional relationship in the case of a right-angled triangle, whereas in the case of an equilateral triangle, a non-linearly inversely proportional relationship is observed. it can be seen that

Furthermore, as can be seen in Figure 8c, the moving object 110 and the target node 121, such as a node to positioning the right triangle plurality of positioning node according to Fig present invention the positioning accuracy of the distance between the (N _D) (Right It can be seen that the case of arrangement in the -angled triangle form shows higher accuracy than the case of arrangement in the form of an equilateral triangle.

Accordingly, in the position measuring network system 100, apparatus, and method using a homogeneous mobile body according to an embodiment of the present invention, the object 120 is not installed in a predetermined position in a region to be positioned, without installing a plurality of positioning nodes. It is possible to position the position of the object 120 with high accuracy while preventing the operation for calculating the position of the object 120 from being complicated, and furthermore, by expanding the positionable area, the reference point ( It has the effect that the object 120 far away from the 130 can also be positioned.

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

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

Claims (13)

A position measurement network system for measuring a position of an object using a plurality of movable objects, the system comprising:
a plurality of (K) moving objects each including a plurality of positioning nodes including a first positioning node (N _A ), a second positioning node (N _B ), and a third positioning node (N _{C );} and
Including; an object having a target node (N _{T )}
In the mobile body, the second positioning node (N _B ) and the third positioning node (N _C ) form a right-angled triangular structure located in a direction perpendicular to each other with respect to the first positioning node (N _{A ),}
A first mobile body among the plurality of mobile devices uses a plurality of positioning nodes (N _A1 , N _B1 , N _C1 ) to position the position of the first mobile body based on a predetermined reference point,
At least one m-th mobile body among the plurality of mobile devices uses a plurality of positioning nodes (N _Am , N _Bm , N _Cm ) to determine the position of the m-1 th mobile body or the m+1 th mobile body with respect to the m th mobile body. position (where 1 < m < K),
A positioning network system, characterized in that the K-th mobile body among the plurality of mobile devices locates the position of the object based on the K-th mobile body using a _{plurality of positioning nodes (N AK} , N _BK , N _{CK ).} According to claim 1,
The second positioning node (N _B ) and the third positioning node (N _C ) form a right-angled isosceles triangle structure located at the same distance from each other based on the first positioning node (N _{A )} measurement network system. 3. The method of claim 2,
In the mobile body,
Node to the positioning from the first positioning node (N _A) of the first positioning node (N _A) in the second positioning node, the first axis (= X axis) connecting the (N _B) in the (N _D) Calculate the first distance (X _AD ) to
The third positioning node node to the second axis (= Y axis), the first to the positioning from the first positioning node (N _A) in the connecting (N _C) in the first positioning node (N _A) (N _D ) to calculate the second distance (Y _{AD ),}
Position network system, characterized in that for obtaining the position (X _{AD, AD} Y) of the node (N _D) to the positioning relative to the first positioning node (N _A) of the vehicle. 4. The method of claim 3,
In the mobile body,
Calculating the first distance (X _{AD ) without considering the position value (Y D} ) on the Y-axis of the node (N _{D ) to be positioned,}
Position network system, characterized in that for calculating the node and the second distance (Y _AD) without considering the position value (X _D) in the X-axis of the (N _D) to the positioning. 4. The method of claim 3,
In the mobile body,
In the plurality of positioning node _{(N A, N B, N} C) to the node (N _D) to the positioning and receive RF signals, and calculates the distance to the node (N _D),
Position network system, characterized in that for calculating the relative position of the node (N _D) to the positioning on the basis of the moving body. According to claim 1,
The first movable body also uses the plurality of positioning nodes (N _A1 , N _B1 , N _C1 ) to position the position of the second movable body with respect to the first movable body,
The m-th mobile body uses the plurality of positioning nodes (N _Am , N _Bm , N _Cm ) to position the position of the m+1-th mobile body with respect to the m-th mobile body (here, 1 < m < K) Position measurement network system, characterized in that. According to claim 1,
In the position calculator for calculating the position of the object based on the reference point,
The position measurement network system, characterized in that the position of the object is calculated by sequentially summing the position information of two or more of the plurality of moving objects. 8. The method of claim 7,
In the position calculation unit,
position information of the first movable body with respect to the reference point;
position information of the m-1 th mobile body or the m+1 th mobile body with respect to the m th mobile body;
By sequentially summing the location information of the object with respect to the K-th moving object,
Position measurement network system, characterized in that for calculating the position information of the object based on the reference point. In the position measuring method of measuring the position of an object using a plurality of movable objects,
Among a plurality of (K) mobile devices each having a plurality of positioning nodes including a first positioning node (N _A ), a second positioning node (N _B ), and a third positioning node (N _{C ), the first mobile device} positioning a position of the first moving object based on a predetermined reference point using a plurality of positioning nodes (N _A1 , N _B1 , N _{C1 );}
Positioning the position of the m-1 th mobile body or the m+1 th mobile body based on the m th mobile body using a _{plurality of positioning nodes (N Am} , N _Bm , N _Cm ) in the m th mobile body among the plurality of mobile bodies (where 1 < m <K); and
_{using a plurality of positioning nodes (N AK} , N _BK , N _CK ) in the K-th movable body among the plurality of movable bodies to position the position of the object with respect to the K-th movable body;
The object has a target node (N _T ),
In the mobile body, the second positioning node (N _B ) and the third positioning node (N _C ) form a right-angled triangular structure positioned in a direction perpendicular to each other with respect to the first positioning node (N _{A )} How to measure position. 10. The method of claim 9,
The second positioning node (N _B ) and the third positioning node (N _C ) form a right-angled isosceles triangle structure located at the same distance from each other based on the first positioning node (N _{A )} How to measure. 10. The method of claim 9,
The first movable body also uses the plurality of positioning nodes (N _A1 , N _B1 , N _C1 ) to position the position of the second movable body with respect to the first movable body,
The m-th mobile body uses the plurality of positioning nodes (N _Am , N _Bm , N _Cm ) to position the position of the m+1-th mobile body with respect to the m-th mobile body (here, 1 < m < K) Position measurement method, characterized in that. 10. The method of claim 9,
The method of claim 1, further comprising: a location information summing step of sequentially summing two or more location information of the plurality of moving objects to calculate the location of the object based on the reference point. 13. The method of claim 12,
In the location information summing step,
position information of the first movable body with respect to the reference point;
position information of the m-1 th mobile body or the m+1 th mobile body with respect to the m th mobile body;
By sequentially summing the location information of the object with respect to the K-th moving object,
A method of measuring a position, characterized in that the position information of the object is calculated based on the reference point.

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