KR102392864B1 - Indoor positioning device and method - Google Patents

Abstract

The present invention relates to an indoor positioning device and method. Specifically, a mobile device receiving the user's mobility type, a tag connected to the mobile device, and receiving the mobility type information from the tag are grouped by mobility type, and a message with the tag in consideration of the number of tags for each mobility type It contains an anchor that schedules the transmission time.

Description

Indoor positioning device and method

The present invention relates to an indoor positioning apparatus and method based on short-range wireless communication using multiple tags. Specifically, by classifying the mobility type of the tag according to the user's activity propensity and scheduling the message transmission time according to the classified type, it is possible to avoid network congestion caused by message collisions and locate location information indoors more accurately. It relates to an indoor positioning device and method.

Location Based Service (LBS) is a market that provides services according to the location of users in line with the spread of small IT devices (terminals) that have been centered on smartphones since the late 2000s, and this market is growing rapidly. The conventional location-based service was limited to outdoor space using GPS, but the scope of the service is gradually expanding to indoor space.

A location-based service that is currently widely used is a technology that calculates a user's location by receiving a signal from a GPS satellite. An error range of 100m or more occurs due to the GPS satellite signal being attenuated as it penetrates the building, refraction of the ionosphere and convective layer, and multipath error. Therefore, location-based service using GPS is difficult to use in indoor positioning systems that are sensitive to an error of 1m.

As short-range wireless communication technologies develop, research and development to provide LBS in an indoor environment by grafting technologies such as Bluetooth, Wi-Fi, RFID, and Ultra Wide Band (UWB) are underway. Among short-range wireless communication technologies, UWB has advantages of high spatial resolution and transmittance because it uses an ultra-wide band of 3.1 ~ 10.6 GHZ without using a wireless carrier. Therefore, the indoor positioning system using UWB has a small error range of less than 20 cm.

As shown in FIGS. 1 and 2, the conventional indoor positioning system exchanges messages between a tag and an anchor, and based on information about a time for sending a request message and a time for receiving a response message. to measure the distance between the tag and the anchor.

Before the tag calculates its position, it first sends a Poll message to obtain the distance to the anchor. The anchor node receiving the Poll message transmits a Poll ACK message to the tag node, and the tag node receiving the Poll ACK message returns a Range Message to the anchor node again. The anchor node knows the distance between the user's mobile device and the tag node by calculating it as shown in [Equation 1] below based on the information obtained through the message exchange of the above three steps, and this distance information is the Range Response message It is written to and sent to the tag node.

The tag node exchanges messages with a plurality of anchor nodes, and the distance information of the Range Response message received from each anchor and the (x, y) coordinates of the anchor nodes set in the application in advance are triangulated to obtain their own coordinate values. can

The conventional method operates normally in a situation where the location of a single tag node is tracked, but when the number of tag nodes to be tracked is tens or more, the exchange of Poll and Ack messages exceeds the range of network throughput, congesting the network. do.

Such network congestion cannot accurately measure a location because modulation or loss occurs due to collision of messages. In addition, if a large number of unscheduled tag nodes each transmit a Poll message, it leads to a problem of reducing the application quality of service (QoS).

The present invention is to solve the problems of the prior art described above, and the present invention classifies the mobility types according to the user's activity tendency in an indoor positioning system to group tags having the same mobility, and according to the number of tags in each group It is an object to provide an apparatus and method for scheduling a time to transmit a request message for distance measurement.

Another object of the present invention is to avoid network congestion due to collision of messages, so that location information can be more accurately provided indoors.

The present invention for achieving the above object is a mobile device that receives a user's mobility type; a tag associated with the mobile device; Provided is an indoor positioning device including an anchor for receiving the mobility type information from the tag, grouping it by mobility type, and scheduling a message transmission time with the tag in consideration of the number of tags for each mobility type.

The anchor identifies the location coordinates of the tag through message exchange with the tag.

The anchor sets the number of tags count value for each mobility type, calculates a Period value for allocating the transmission time of the tag according to the count value, and calculates the Count value and the Period value. It is characterized in that it broadcasts to the tag.

The anchor calculates the expected value (Group) for each mobility type with respect to the total transmission time for the total transmission time using Equation 1 for the Count value, and calculates the Period value for the Group value using Equation 2 below.

- 수식 1

- Formula 1

는 이동성 타입 별 메시지 전송시간에 대한 기대값,

는 이동성 타입 별 태그의 개수를 나타낸다.here,

is the expected value of the message transmission time for each mobility type,

indicates the number of tags for each mobility type.

- 수식 2

- Equation 2

은 1 사이클의 메시지 전송시간,

은 이동성 타입 별 할당되는 전송시간,

는 이동성 타입 별 메시지 전송시간에 대한 기대값,

은 이동성 타입에 따라 할당된 시간을 나타낸다. here,

is the message transmission time of 1 cycle,

is the transmission time allocated for each mobility type,

is the expected value of the message transmission time for each mobility type,

denotes the time allocated according to the mobility type.

According to another feature of the present invention, there is provided an indoor positioning method, comprising: receiving, by a mobile device, a mobility type; sending, by a tag, the mobility type to an anchor; the anchor grouping the mobility type; calculating, by the anchor, a message transmission time allocated to each group and scheduling; and transmitting a tag and a message according to the scheduled transmission time. and identifying the location coordinates of the tag through the distance information of the message.

The location coordinate of the tag is characterized by using distance information calculated through the message.

According to the indoor positioning apparatus and method of the present invention as described above, the mobility of the tag is classified according to the user's activity tendency, and the time to transmit the message of the distance information is allocated for each mobility type to transmit the message. It is possible to avoid congestion caused by this, thereby providing the effect that more users can use it.

The present invention can improve the reliability of the applied Quality of Service (QoS) because a message is transmitted for each mobility type classified according to the user's activity tendency.

The present invention can use an anchor and a tag, and a tag and a mobile device with each other in a short-range wireless communication method such as ultra-wideband communication (UWB), Bluetooth, Wi-Fi, etc., and can be used in an appropriate combination, so that the range of choice is greater than that of a fixed communication method of a conventional location-based system. It can be expanded, and it can be constructed to fit a building or place. For example, it can be built in a place such as a smart farm where network communication such as management of various sensor nodes and control of actuators is required.

In addition, the present invention can build a mobile device based on various OSs other than Android.

According to an embodiment of the present invention, it is possible to have a small error range of less than 20 cm when measuring an indoor location using Ultra Wide Band (UWB). In addition, by obtaining accurate location information in various indoor environments such as theaters, large marts, hospitals, etc., it is possible to provide the user with the convenience of location information.

1 and 2 are exemplary diagrams for explaining message exchange between a conventional tag and an anchor.
3 and 4 are block diagrams schematically illustrating an indoor positioning device.
5 and 6 are exemplary diagrams for explaining the transmission time allocated for each mobility type.
FIG. 7 is a communication flowchart illustrating scheduling of the tag 130 and the anchor 110 for each period of FIG. 6 .
8 is a flowchart for explaining an indoor positioning method.

Objects and effects of the present invention, and technical configurations for achieving them will become clear with reference to the embodiments described below in detail in conjunction with the accompanying drawings. In the description of the present invention, if it is determined that a detailed description of a well-known function or configuration may unnecessarily obscure the gist of the present invention, the detailed description thereof will be omitted.

And, 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.

However, the present invention is not limited to the embodiments disclosed below and may be implemented in various different forms. Only the present embodiments are provided so that the disclosure of the present invention is complete, and to completely inform those of ordinary skill in the art to which the present invention belongs, the scope of the invention, the present invention is defined by the scope of the claims will only be Therefore, the definition should be made based on the content throughout this specification.

Although the present invention is described with reference to limited embodiments and drawings, the present invention is not limited thereto, and it is described below with the technical spirit of the present invention by those of ordinary skill in the art to which the present invention pertains. Of course, various modifications and variations are possible within the scope of equivalents of the claims to be made.

Hereinafter, the present invention will be described in more detail based on the embodiments shown in the drawings. However, the present application is not limited to these examples and drawings.

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

3 and 4, the indoor positioning apparatus 100 according to the present invention includes an anchor 110, a mobile device 120, and a tag 130, and the anchor 110 includes a type setting unit. 140 is provided, and the mobile device 120 is provided with a type group unit 150 .

Specifically, the type setting unit 140 of the mobile device 120 is configured such that the user can directly input the mobility type according to his or her activity tendency, and the mobility type is set according to the high and low mobility of the tag 130 . do. For this, a separate application may be installed in the mobile device 120 .

Tags 130 having the same mobility type are grouped by mobility type in the type group unit 150 . The reason for doing this is to schedule a message transmission time between the anchor 110 and the tag 130 in consideration of the number of tags 130 belonging to the same group.

A plurality of anchors 110 are arranged in a building spaced apart from each other by a predetermined distance, and are appropriately arranged to provide the position of the tag 130 by triangulation operation. Although the anchor 110 is illustrated as three in the drawing, it is possible to design a number of more than that.

A tag 130 for transmitting and receiving messages in a series of communication methods with the anchor 110 is provided. In addition, the tag 130 is connected to the mobile device 120 carried by the user by one of a series of communication methods. The communication method may be one of wired and wireless communication methods, for example, Bluetooth, Wi-Fi, RFID, UWB, and the like.

The anchor 110 measures the distance between the tags 130 based on the message transmission time and reception time information while exchanging messages with the tag 130 . The distance information measured through the message exchange may be information based on a time when a message is transmitted/received between the anchor 110 and the tag 130 . In addition, the tag 130 acquires its own location coordinates by using the measured distance information and the coordinate information of the anchors.

According to an embodiment of the present invention, the message may consist of first to fourth messages. The first message is a Poll message transmitted by the tag 130 to the anchor 110 to obtain a distance from the anchor 110 . In addition, the second message is a Poll Ack message transmitted from the anchor 110 receiving the first message to the tag 130, and the third message is a third message, the tag 130 receiving the second message returning to the anchor 110 again. It is a Range message to reply to. The fourth message is a Range Response message in which the anchor 110 transmits distance information obtained based on the first to third messages to the tag 130 . The anchor 110 can calculate the distance between the tags 130 based on the fourth message.

The tag 130 performs both the transmission and reception process of the first to fourth messages with the anchors 110 , and distance information of the fourth message received from each anchor 110 and the coordinates of the preset anchor 110 . is used to obtain its own position coordinates. In an embodiment, a triangulation calculation method is used for position coordinates.

According to an embodiment of the present invention, the position coordinates of the tag 130 using the triangulation operation is a circle formed by using each of the plurality of anchors 110 as a center point, and the distance from the center point to the tag 130 as a radius. It can be obtained through the orb. That is, the intersection of the plurality of circles or spheres becomes the position coordinate of the tag 130 .

,

)가 된다. 마찬가지로, 4 개의 앵커(미도시)가 (x, y, z)의 3차원의 입체 공간에 위치하게 된다면, 태그(130)까지의 거리를 반지름(r1 내지 r4)(미도시)으로 하는 4 개의 구들이 형성될 것이며, 4 개의 구들의 교점이 태그의 위치좌표(

,

,

)가 되는 것이다.3, the three anchors (anchors 1 to 3) 110 are located on the plane of (x, y), and the distance to the tag 130 is defined as the radius (r1, r2, r3). 3 circles can be formed, and one intersection point where the three circles meet is the tag's position coordinate (

,

) becomes Similarly, if four anchors (not shown) are located in the three-dimensional space of (x, y, z), the distance to the tag 130 is the radius (r1 to r4) (not shown). Spheres will be formed, and the intersection of the four spheres is the position coordinate of the tag (

,

,

) will be

When the tag 130 transmits the first message to the anchor 110, a predetermined bit (eg, 2 bits) is added to the header of the message to provide the anchor 110 with the mobility type of the tag 130. can Here, the use of the header of the message is because the header including control information can make data analysis faster on the receiving side. In addition, the bit information is information preset by the manager of the indoor positioning device 100, and may be expressed as a binary number according to a mobility type.

According to an embodiment of the present invention, the mobility type of the tag 130 may be defined as follows. Examples are classified into four as A to D. Mobility A type has a binary number of (00) and corresponds to a case where there is frequent location change due to high mobility. Also, the mobility B type having a binary number of (01) has less movement than type A and more movement than type C, and mobility C type with a binary number of (10) has the least mobility and little change in location. . The mobility D type has a binary number of (11) and can be divided into a case where it is reserved for future use. Of course, you can set more variously.

In this way, the mobility A, B, C, and D types are set by the type setting unit 140 , and the type group unit 150 provided in the anchor 110 receives such type information and then tags having the same mobility type. (130) are grouped. When the number of tags 130 is tens or more, in order to avoid network communication congested beyond the throughput of messages between the anchor 110 and the tag 130, a plurality of tags 130 are set to A based on the user's activity tendency. This is to schedule message transmission by classifying as ~D and allocating message transmission time for each type of group.

)을 이동성 A 타입의 Interval_A, B 타입의 Interval_B, C 타입의 Interval_C로 구획하고, 그룹화된 각 타입 별로 할당될 전송시간을 계산한다. 5 is a configuration diagram of a message format indicating a message transmission time for each mobility type. According to an embodiment of the present invention, the anchor 110 has a message transmission time (

) is partitioned into Interval_A of type A mobility, Interval_B of type B, and Interval_C of type C, and a transmission time to be allocated for each grouped type is calculated.

)를 추출한다. 상기 앵커(110)은 태그(130)로부터 제 1 메시지를 수신하게 되면, 그룹 별 태그(130)의 개수(

)는 업데이트된다. 그리고 업데이트된 이동성 타입의 태그 개수는 하기 [수학식 2]와 같이 기댓값 (

)으로 계산될 수 있다.Specifically, the plurality of anchors 110 installed in the building includes the number of tags 130 for each group (

) is extracted. When the anchor 110 receives the first message from the tag 130, the number of tags 130 per group (

) is updated. And the number of tags of the updated mobility type is the expected value (

) can be calculated as

는 그룹에 따른 전송시간이 할당되는 기대값,

는 그룹에 속한 태그의 개수, N 은 태그의 이동성 타입을 나타낸다. 가중치는 사용자가 미리 설정한 값에 해당되며

… 으로 표현할 수 있다. here,

is the expected value to which the transmission time according to the group is allocated,

is the number of tags belonging to the group, and N is the mobility type of the tag. The weight corresponds to the value set in advance by the user.

… can be expressed as

, (단,

,

) 와 같이 표현될 수 있다. 도 5에 도시된 바와 같이, 가중치를

로 가정하여 '

' 의 비율로 앵커(110)은

내의 전송시간을 할당하게 된다. 여기서, 가중치는 실내 측위 장치(100)의 관리자가 기 설정한 값에 해당된다.According to an embodiment of the present invention, the [Equation 2] is

, (only,

,

) can be expressed as As shown in Figure 5, the weight

Assuming that '

' Anchor 110 with a ratio of

Allocate the transmission time within. Here, the weight corresponds to a value preset by the manager of the indoor positioning device 100 .

을 계산하기 위함이다.The anchor 110 recalculates the transmission time of the first message of the tag 130 for each group using the following [Equation 3]. This is the actual transmission time allocated to each group.

is to calculate

은 1 사이클의 메시지 전송 시간,

은 전체 1 사이클에서 할당하는 기댓값,

는 그룹에 따라 할당되는 전송시간의 기대값,

은 그룹에 할당되는 전송시간에 해당된다. here,

is the message transmission time of 1 cycle,

is the expected value assigned in one full cycle,

is the expected value of the transmission time allocated according to the group,

corresponds to the transmission time allocated to the group.

) 를 계산한다. Thereafter, the anchor 110 allocates a transmission time to transmit the first message to each tag 130 through the following [Equation 4] (

) is calculated.

은 1 사이클의 메시지 전송 시간,

은 그룹에 할당되는 전송시간,

는 그룹에 따른 전송시간이 할당되는 기대값,

은 그룹에 따라 메시지를 전송하기 위해 할당된 시간에 해당된다. here,

is the message transmission time of 1 cycle,

is the transmission time allocated to the group,

is the expected value to which the transmission time according to the group is allocated,

corresponds to the time allotted for sending the message according to the group.

6 is a configuration diagram in which the anchor 110 allocates the transmission times (Interval_A, Interval_B, Interval_C) allocated for each type according to the number of tags 130 present in the group again in FIG. 5 . As shown in FIG. 6 , the mobility A type is composed of three tags 130 , and Interval_A is allocated to the transmission times of Period_A-1, Period_A-2, and Period_A-3. Similarly, mobility B type with 4 tags assigns Interval_B as Period_B-1, Period_B-2, Period_B-3, and Period_B-4, and mobility C type with 3 tags assigns Interval_C to Period_C-1, Period_C-2 , is assigned as Period_C-3.

Here, the tag 130 and the anchor 110 may transmit a message only at a transmission time determined for each group, and the time allocated for transmission may be the same or different for each type. In addition, the allocated transmission time may change according to the increase or decrease of the number of tags 130 belonging to the group.

)의 값을 업데이트하고, 앵커(110)는 업데이트된

의 값과

의 값을 태그(130)에게 제 2 메시지로 브로드캐스트한다. 여기서, 브로드캐스트 동작은 앵커(110)의 대표 노드에서만 수행된다.Each time the anchor 110 receives the first message, the period calculated from the new tag 130 (

), and the anchor 110 is updated

the value of and

The value of is broadcast to the tag 130 as a second message. Here, the broadcast operation is performed only in the representative node of the anchor 110 .

FIG. 7 is a communication flowchart illustrating scheduling of the tag 130 and the anchor 110 for each period of FIG. 6 .

)을 계산하게 된다. 앵커(110)는 상기 계산된 Count 값, 거리 값,

을 태그(130)에게 전송하는 것을 반복한다. 이때 앵커(110)는 새로운 태그(130)로부터

의 값을 계산하고, 새로운

의 값과

의 값을 태그(130)에게 브로드캐스트한다.The tag 130 transmits its mobility type to the anchor 110 . The anchor 110 increases the Count value of the same group as the mobility type of the tag 130, and the distance value and period (

) will be calculated. Anchor 110 is the calculated Count value, distance value,

Repeats to transmit to the tag 130 . At this time, the anchor 110 is from the new tag 130 .

Calculate the value of , and

the value of and

A value of is broadcast to the tag 130 .

)를 다시 계산한다. 앵커(110)는 계산된

의 값과

의 값을 브로드캐스트하고 복수의 태그(130)들에게 변동된 스케줄링을 제공한다. When the tag 130 goes out of communication range with the anchor 110 , the anchor 110 decrements the Count value of the group to which the tag 130 belongs, and the anchor 110 decrements the count value of the group to which the corresponding tag 130 belongs. to give(

) is recalculated. Anchor 110 is calculated

the value of and

Broadcast the value of , and provide changed scheduling to the plurality of tags 130 .

및

값을 확인할 수 있다. 이때, 제 2 메시지에 기록된

의 값이 기 설정값보다 큰 경우, 앵커(110)는

의 값을 계산하여 새로 업데이트하고, 태그(130)에게 전송된다. 또한, 제 2 메시지에 기록된

의 값이 기 설정값보다 작을 경우, 앵커(110)는 상기

의 값을 하나 감소시킨다. 그 외, 제 2 메시지에 기입된 이동성 타입과 다른 그룹의 태그(130)들은 해당 메시지를 무시할 수 있다. Here, when the tags 130 receive the second message of the same group as themselves, the tags 130

and

You can check the value. At this time, recorded in the second message

When the value of is greater than the preset value, the anchor 110 is

The value of is updated, calculated and transmitted to the tag 130 . Also, recorded in the second message

When the value of is smaller than the preset value, the anchor 110 is

decrements the value of In addition, tags 130 of a group different from the mobility type written in the second message may ignore the corresponding message.

The tag 130 transmits the third message to the anchor 110 , and the anchor 110 returns a fourth message to the tag 130 again. The tag 130 performs all of the first to fourth message exchanges with the plurality of anchors 110 .

8 is a flowchart for explaining the indoor positioning method of the present invention.

The type setting unit 140 sets the mobility type of the tag 130 according to the user's activity tendency. Each type may be preset by the user of the mobile device 120 . This is because the user who uses the mobile device 120 can determine his or her activity tendency in advance, for example, may select one of the A to D types. And the user can select one of these A-D types. Of course, it will be natural for the user to change the selected type later.

The mobile device 120 receives the user's mobility type through the type setting unit 140 (S100). As such, basically all mobile devices 120 will perform the scheduling of the present invention, which will be described below, in a state in which the mobility type is preset according to the user's activity tendency.

When the user enters the building, the plurality of anchors 110 arranged around the user communicates with the tag 130 connected to the mobile device 120 . The anchor 110 and the tag 130 periodically transmit a message using a predetermined communication method.

According to such communication, the tag 130 transmits the first message including the mobility type information to the anchor 110 (S200). The tag 130 communicates with the plurality of anchors 110 in order to more accurately calculate location information of the tag 130 .

)를 업데이트한다. 실시 예에 따르면, 이동성 A 타입을 가지는 태그(130)은 앵커(110)에게 제 1 메시지를 전송할 경우, 앵커(110)은 이동성 A 타입인 태그(130)들을 그룹화하고,

의 값을 증가시키게 된다. 이와 반대로, 이동성 A 타입을 가지는 태그(130)가 앵커(110)와 일정 통신 범위를 벗어나게 되어 제 1 메시지를 전송할 수 없을 경우, 앵커(110)은 이동성 A 타입인 태그(130)가 속한 그룹의

의 값을 감소시키게 된다. 마찬가지로, 이동성 B~D 타입을 가지는 태그(130)는 앵커(110)에게 제 1 메시지의 전송에 따라 이동성 타입이 동일한 태그들끼리 그룹화하고, 각 그룹 별로 태그 개수의 카운트(

,

,

)가 변동되어 값을 업데이트할 수 있다. Each anchor 110 groups the tags 130 according to the mobility type (S300), and counts the number of tags for each group (S300).

) is updated. According to an embodiment, when the tag 130 having the mobility A type transmits the first message to the anchor 110, the anchor 110 groups the tags 130 having the mobility A type,

will increase the value of Conversely, when the tag 130 having the mobility A type is out of a predetermined communication range with the anchor 110 and cannot transmit the first message, the anchor 110 is the group to which the mobility A type tag 130 belongs.

will decrease the value of Similarly, the tags 130 having mobility B to D types group tags having the same mobility type according to the transmission of the first message to the anchor 110, and count the number of tags for each group (

,

,

) can be changed to update the value.

)을 이동성 타입의 그룹 별 할당될 전송시간(Interval_A 내지 C)을 계산한다. 그리고, 각 그룹에 속한 태그(130)의 개수를 고려하여 각 태그(130)마다 할당되는 주기(

)을 계산한다.The anchor 110 calculates a transmission time to be allocated for each group through the first message (S400). As described above, the anchor 110 has a message transmission time (

) to calculate the transmission times (Interval_A to C) to be allocated for each mobility type group. In addition, in consideration of the number of tags 130 belonging to each group, a period (

) is calculated.

) 및 카운트(

)를 포함하는 제 2 메시지를 태그(130)에게 브로드케스트한다. 이에 따라, 태그(130)는 각 그룹 별

및

에 따라 변동된 스케줄링을 알게 된다. 앵커(110)는 자신의 통신 범위 내의 태그(130)와 통신하여 메시지 전송시간을 스케줄링할 수 있다. The anchor 110 has a period for each group (

) and count(

) is broadcast to the tag 130 including the second message. Accordingly, the tag 130 for each group

and

You will find out about the changed scheduling accordingly. The anchor 110 may communicate with the tag 130 within its communication range to schedule a message transmission time.

In this way, since the message transmission time can be scheduled, and the message transmission is performed according to the scheduling, it is possible to prevent a message collision that may occur between the anchor 110 and the tag 130 .

Meanwhile, the anchor 110 may calculate the location coordinates of the current tag 130 itself using the triangulation method using distance information of the scheduled message and the preset coordinate values of the anchor 110 ( S500 ). Accordingly, the indoor positioning apparatus 100 can know the location of one or more mobile devices (ie, users) 120 located in a predetermined place.

Although described with reference to the illustrated embodiments of the present invention as described above, these are merely exemplary, and those of ordinary skill in the art to which the present invention pertains can use various functions without departing from the spirit and scope of the present invention. It will be apparent that modifications, variations and equivalent other embodiments are possible. Therefore, the true technical protection scope of the present invention should be determined by the technical spirit of the appended claims.

100: indoor positioning device
110: anchor
120: mobile device
130: tag
140: type setting unit
150: type group part

Claims (6)

a mobile device that receives a user's mobility type;
a tag associated with the mobile device;
and an anchor receiving the mobility type information from the tag, grouping it by mobility type, and scheduling a message transmission time with the tag in consideration of the number of tags for each mobility type.
The method of claim 1,
The anchor is
An indoor positioning device, characterized in that the position coordinates of the tag are identified by exchanging a message with the tag.
The method of claim 1,
The anchor is
Set a count value of the number of tags for each mobility type,
Calculate a period value for allocating the transmission time of the tag according to the Count value,
Indoor positioning device, characterized in that for broadcasting the Count value and the Period value to the tag.
4. The method of claim 3,
The anchor is
Calculate the expected value (Group value) for each mobility type for the total transmission time by calculating the Count value by Equation 1 below,
The indoor positioning device, characterized in that calculating the period value by calculating the group value by Equation 2 below.

— Equation 1
here,

is the expected value of the message transmission time for each mobility type,

indicates the number of tags for each mobility type.

— Equation 2
here,

is the message transmission time of 1 cycle,

is the transmission time allocated for each mobility type,

is the expected value of the message transmission time for each mobility type,

denotes the time allocated according to the mobility type.
In the indoor positioning method,
receiving, by the mobile device, a mobility type;
sending, by a tag, the mobility type to an anchor;
the anchor grouping the mobility type;
calculating, by the anchor, a message transmission time allocated to each group and scheduling;
transmitting tags and messages according to the scheduled transmission time; and
An indoor positioning method comprising a; identifying the location coordinates of the tag through the distance information of the message.
6. The method of claim 5,
The position coordinates of the tag are,
Indoor positioning method, characterized in that using the distance information calculated through the message.

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