KR102484255B1 - Marine leisure personnel position tracking method using marine leisure navigation apparatus - Google Patents

Abstract

The present invention relates to a method for tracking the position of marine leisure personnel using marine leisure navigation devices, which comprises: a step of receiving ground and underwater positions of marine leisure personnel according to operation modes from a plurality of marine leisure navigation devices; a step of grouping the marine leisure personnel based on the similarity of change timings and change directions of the operation mode to create a marine leisure group; a step of generating a central direction vector for the marine leisure group using the underwater positions and movement directions of the marine leisure personnel; a step of tracking changes in the central direction vector to create underwater navigation information which returns to the ground position at the time of creation of the marine leisure group; and a step of providing the navigation information through each of the marine leisure navigation devices of the marine leisure personnel in the marine leisure group. Therefore, the method for tracking the position of marine leisure personnel effectively tracks the position of marine leisure personnel using marine leisure navigation devices.

Description

Marine leisure personnel position tracking method using marine leisure navigation device {MARINE LEISURE PERSONNEL POSITION TRACKING METHOD USING MARINE LEISURE NAVIGATION APPARATUS}

The present invention relates to an underwater location tracking technology, and more particularly, to effectively locate marine leisure personnel using a marine leisure navigation device capable of effectively conveying information about their location and return point to marine leisure personnel in an underwater state. It is about technology that can be traced.

Dive computers play a role in providing information such as water temperature and depth to people diving underwater. Using these dive computers, marine leisure activity personnel can exchange information underwater or prepare for safety accidents. . Recently, as the population of leisure activities such as skin scuba increases, the demand for dive computers is also increasing.

Because the dive computer itself plays a role in providing information necessary for decompression to marine leisure personnel, various information is displayed. Therefore, it must have good visibility so that it can be seen well even in dark water.

In addition, the dive computer not only provides marine leisure personnel with various information underwater, but also guides them to the correct return point in case of an emergency or to a place that is easy to find, to protect the lives of marine leisure personnel. Functions are also essential.

Korean Patent Publication No. 10-2018-0078017 (2018.07.09)

An embodiment of the present invention is a marine leisure navigation device capable of effectively tracking the location of a marine leisure person using a marine leisure navigation device that can effectively deliver information about its position and return point to a marine leisure person in an underwater state. It is intended to provide a method for tracking the location of marine leisure personnel using

Among the embodiments, a marine leisure navigation device location tracking method using a marine leisure navigation apparatus includes the steps of receiving ground and underwater positions of marine leisure personnel according to an operation mode from a plurality of marine leisure navigation apparatuses; generating a marine leisure group by grouping the marine leisure personnel based on a similarity between a change time and a change direction of the operation mode; generating a center direction vector of the marine leisure group using the underwater position and moving direction of the marine leisure personnel; generating underwater navigation information returning to a ground position at the time of creation of the marine leisure group by tracking a change in the center direction vector; and providing the navigation information through a marine leisure navigation device of each of the marine leisure members of the marine leisure group.

The generating of the navigation information may include tracking and recording the center direction vector for a first time; recording first relative positions of the marine leisure members around the central direction vector; predicting a change in the center direction vector during a second time period consecutive to the first time period using current velocity information measured at each location of the marine leisure members; and building a location prediction model for predicting the second relative position of the marine leisure people according to the change in the center direction vector during the second time by learning the correlation between the center direction vector and the relative position during the first time. The step of doing; may include.

The generating of the navigation information may include tracking and recording second relative positions of the marine leisure members according to a change in the center direction vector through the location prediction model from the point of time when the marine leisure group is created, and recording the first and second relative positions of the marine leisure groups. The method may include correcting and updating the first relative position based on a difference between the relative positions.

The providing of the navigation information may include sequentially changing the operation mode into a caution mode and an emergency mode according to a communication state with corresponding members of the marine leisure group; predicting and recording a change in the central direction vector until the time of changing to the emergency mode while providing the navigation information to the marine leisure personnel based on the time of changing to the caution mode; Initiating an operation of an underwater drone moving toward a position of the center direction vector predicted at a time point of changing to the emergency mode; and generating navigation information according to the third relative position while recording the third relative position of the marine leisure members around the position of the underwater drone through the relay of the underwater drone.

The disclosed technology may have the following effects. However, it does not mean that a specific embodiment must include all of the following effects or only the following effects, so it should not be understood that the scope of rights of the disclosed technology is limited thereby.

A marine leisure navigation device location tracking method using a marine leisure navigation device according to an embodiment of the present invention uses a marine leisure navigation device that can effectively deliver information about its position and return point to marine leisure personnel in an underwater state. The location of leisure personnel can be effectively tracked.

1 is a diagram illustrating a system for tracking a position of a marine leisure person according to the present invention.
FIG. 2 is a diagram explaining the physical configuration of the marine leisure navigation device of FIG. 1 .
FIG. 3 is a diagram explaining the functional configuration of the operating system module of FIG. 2 .
4 is a diagram illustrating a functional configuration of a marine leisure person location tracking system according to the present invention.
FIG. 5 is a diagram explaining the functional configuration of the navigation execution unit of FIG. 4 .
6 is a diagram for explaining an embodiment of a process of tracking a position of a marine leisure person using a marine leisure navigation device according to the present invention.
7 is a diagram explaining a process of generating a center direction vector of a marine leisure group according to the present invention.
8 is a diagram illustrating an embodiment of a process of generating navigation information according to the present invention.

Since the description of the present invention is only an embodiment for structural or functional description, the scope of the present invention should not be construed as being limited by the embodiments described in the text. That is, since the embodiment can be changed in various ways and can have various forms, it should be understood that the scope of the present invention includes equivalents capable of realizing the technical idea. In addition, since the object or effect presented in the present invention does not mean that a specific embodiment should include all of them or only such effects, the scope of the present invention should not be construed as being limited thereto.

Meanwhile, the meaning of terms described in this application should be understood as follows.

Terms such as "first" and "second" are used to distinguish one component from another, and the scope of rights should not be limited by these terms. For example, a first element may be termed a second element, and similarly, a second element may be termed a first element.

It should be understood that when an element is referred to as being “connected” to another element, it may be directly connected to the other element, but other elements may exist in the middle. On the other hand, when an element is referred to as being "directly connected" to another element, it should be understood that no intervening elements exist. Meanwhile, other expressions describing the relationship between components, such as “between” and “immediately between” or “adjacent to” and “directly adjacent to” should be interpreted similarly.

Expressions in the singular number should be understood to include plural expressions unless the context clearly dictates otherwise, and terms such as “comprise” or “having” refer to an embodied feature, number, step, operation, component, part, or these. It should be understood that it is intended to indicate that a combination exists, and does not preclude the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

In each step, the identification code (eg, a, b, c, etc.) is used for convenience of explanation, and the identification code does not describe the order of each step, and each step clearly follows a specific order in context. Unless otherwise specified, it may occur in a different order than specified. That is, each step may occur in the same order as specified, may be performed substantially simultaneously, or may be performed in the reverse order.

All terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs, unless defined otherwise. Terms defined in commonly used dictionaries should be interpreted as consistent with meanings in the context of the related art, and cannot be interpreted as having ideal or excessively formal meanings unless explicitly defined in the present application.

1 is a diagram illustrating a system for tracking a position of a marine leisure person according to the present invention.

1, the marine leisure person location tracking system 130 can communicate with the marine leisure navigation device 110 carried by the marine leisure person 100 to collect information about the movement of the marine leisure person 100. there is. The marine leisure person location tracking system 130 may correspond to a computer or a server that performs the marine leisure person position tracking process according to the present invention, and may be installed and operated on a marine vessel. That is, the marine leisure person location tracking system 130 may be installed in a transportation means for moving the marine leisure person 100 on the sea, and may communicate with the marine leisure navigation device 110 through a communication means.

Here, the marine leisure navigation device 110 may be composed of various modules. That is, the marine leisure navigation device 110 can perform various functions and operations in order to generate and provide navigation information for marine leisure personnel (eg, divers), and a plurality of functions and operations that perform each function and operation. It can be implemented including functional components. However, description of an operation in which the marine leisure navigation device 110 independently generates and provides navigation information is omitted here.

In addition, the marine leisure navigation device 110 may correspond to a computing device independently operated for each marine leisure person 100, and includes various sensors, thereby controlling the movement of the marine leisure person 100 on land and in the water as well as the marine leisure person 100. It is possible to collect information about the surrounding environment. In this case, the environment information may include water temperature, air temperature, weather, water pressure, water depth, and the like. Since the marine leisure navigation device 110 is operated for each marine leisure person 100, the marine leisure person location tracking system 130 may be simultaneously connected to a plurality of marine leisure navigation devices 110.

In one embodiment, the marine leisure person location tracking system 130 may be implemented by including an underwater drone (not shown in FIG. 1 ). That is, the marine leisure person location tracking system 130 may perform the marine leisure person location tracking process according to the present invention in conjunction with the underwater drone. The marine leisure personnel location tracking system 130 can communicate with the underwater drone through a communication means.

Here, the underwater drone may correspond to a drone (or an unmanned mobile vehicle) capable of performing a specific task underwater according to a control signal of the marine leisure person location tracking system 130 . Underwater drones can be implemented to collect marine data at sea or underwater, and can be implemented in various forms depending on operational purposes. The marine leisure person location tracking system 130 can simultaneously operate a plurality of underwater drones, and thus independently communicate with the plurality of underwater drones.

In addition, the marine leisure person location tracking system 130 may separately use a communication channel between the marine leisure navigation device 110 and the underwater drone. Therefore, each communication channel may have different communication performance, and preferably, the communication channel for communication with the underwater drone can be implemented to have better performance than the communication channel for communication with the marine leisure navigation device 110. .

FIG. 2 is a diagram explaining the physical configuration of the marine leisure navigation device of FIG. 1 .

Referring to FIG. 2 , the marine leisure navigation device 110 includes a sensor module 210, an operating system module 220, a software module 230, a network module 240, an input/output module 250, and a database module 260. can include

The sensor module 210 may be implemented by including various sensors for collecting information on the state information of marine leisure personnel and environmental information on the ground and in the water. For example, the sensor module 210 may include a pressure sensor, a temperature sensor, a GPS sensor, an acceleration sensor, an angular velocity sensor, a flow rate sensor, and a geomagnetic sensor. The pressure sensor may measure the water pressure to measure the diving depth of the marine leisure person in a diving state, that is, the water depth. The temperature sensor can measure the temperature of the water, and the GPS sensor can measure the location coordinates of the marine leisure personnel. In addition, the acceleration sensor can measure the moving speed of marine leisure people underwater, the angular velocity sensor measures the moving direction of marine leisure people, the flow sensor can measure the flow speed information in the water, and the geomagnetic sensor can measure the water flow information in the water. Azimuth information can be measured.

In addition, the sensor module 210 may analyze information collected from each sensor to generate state information of marine leisure personnel. For example, the sensor module 210 may generate information about the posture (or direction) of the marine leisure person in the water based on information collected from an acceleration sensor, a geomagnetic sensor, and an angular velocity sensor. The sensor module 210 may collect sensing information and analysis information in real time or periodically in association with each sensor, and the collected information may be temporarily stored in a memory.

The operating system module 220 may control the operation of an operating system (OS) that processes overall operations of the marine leisure navigation device 110 . The operating system module 220 may be connected to other modules to control the operation of each module or to manage control flow and data flow between other modules.

The software module 230 may implement various functions operating on the marine leisure navigation device 110 . The software module 230 may manage software that performs each function, and may manage execution of APIs and data processing associated with each function.

The network module 240 may process an operation for providing a network connection with an external device or system. That is, the network module 240 provides a communication environment for connection with an external device, and includes, for example, a local area network (LAN), a metropolitan area network (MAN), a wide area network (WAN), and a value added network (VAN). ) may include an adapter for communication such as In addition, the network module 240 may be implemented to provide a short-range communication function such as WiFi or Bluetooth for wireless transmission or a 4G or higher wireless communication function.

The input/output module 250 includes an environment for receiving user input and an environment for outputting specific information to the user, and includes, for example, an input device including an adapter such as a touch pad, a touch screen, an on-screen keyboard, or a pointing device. and an output device including an adapter such as a monitor or touch screen. In one embodiment, the input/output module 250 may correspond to a computing device connected through a remote connection, and in such a case, the marine leisure navigation device 110 may be implemented as an independent server.

The database module 260 is implemented as a non-volatile memory such as a solid state disk (SSD) or hard disk drive (HDD) and may include an auxiliary storage device used to store all data required for the marine leisure navigation device 110. and may include a main memory implemented as a volatile memory such as RAM (Random Access Memory). In addition, the database module 260 may store a set of instructions that implement a predetermined operation or function by being executed by the operating system module 220 .

FIG. 3 is a diagram explaining the functional configuration of the operating system module of FIG. 2 .

Referring to FIG. 3, the operating system module 220 includes an operation mode determination module 310, an operation mode recording module 320, a ground location recording module 330, an underwater location recording module 340, and a first control module 350. ) may be included.

The operation mode determination module 310 may determine an operation mode according to the horizontal position of the marine leisure personnel based on the sea level position. Here, the operating modes may be divided and defined according to the location or space where the marine leisure navigation device 110 is operated. For example, the operation mode may include a ground mode operating when the marine leisure person is above the water surface and an underwater mode operating when the marine leisure person is below the water surface. In addition, the operation mode may include a caution mode and an emergency mode operating in an unstable communication state with marine leisure personnel. That is, the caution mode may correspond to an operating mode for a state in which communication with some of the marine leisure personnel in the vicinity is impossible, and the emergency mode corresponds to an operating mode for a state in which communication with all marine leisure personnel is impossible. may apply.

In addition, the operation mode determination module 310 may determine the horizontal position of the marine leisure navigation device 110 through the sensor module 210, and may determine this as the horizontal position of the marine leisure personnel. The operation mode determination module 310 may selectively determine an operation mode according to whether the horizontal position of the marine leisure personnel is above or below the sea level position. In addition, the operating mode determination module 310 may transmit the determined mode information to the operating system module 220 to perform an operation according to each operating mode.

Also, the operation mode determining module 310 may determine a communication state with the marine leisure navigation device 110 through the network module 240 . The operating mode determining module 310 may selectively determine an operating mode according to a communication state with the marine leisure navigation device 110 . In addition, the operation mode determination module 310 may selectively determine an operation mode according to a communication state with the marine leisure navigation devices 110 included in the marine leisure group when the marine leisure group is created.

The operation mode recording module 320 may track and record the change time and change direction of the operation mode. In this case, the operating mode change time point may correspond to a time point when the operating mode is changed from the land mode to the underwater mode or from the underwater mode to the land mode. In addition, the change direction may be divided into a diving direction in which the operating mode is changed from the ground mode to the underwater mode and a return direction in which the operating mode is changed from the underwater mode to the ground mode. The operation mode recording module 320 may acquire and record the change time and change direction whenever the operation mode is changed.

The ground position recording module 330 may track and record the ground position of marine leisure personnel when the operation mode is the ground mode. In this case, the location of the marine leisure person on the ground may be basically determined through location coordinates collected through a GPS sensor. The ground location recording module 330 may acquire location information of marine leisure personnel through the sensor module 210 and may store it for each point in time in conjunction with the database module 260 .

In one embodiment, the ground location recording module 330 may build a sensor table that stores sensing information collected from a plurality of sensors in a time series order. In this case, the sensor table may store a corresponding ground position corresponding to a corresponding underwater position, a direction and a distance to a return position based on the corresponding ground position for each entry.

When the operation mode is the underwater mode, the underwater position recording module 340 may track and record the underwater position including the water depth, diving time, and diving direction of marine leisure personnel. In one embodiment, the underwater location recording module 340 may build a sensor table that stores sensing information collected from a plurality of sensors in a time series order. In addition, the underwater location recording module 340 may record together with information about the underwater environment and the state of the marine leisure personnel along with the underwater location of the marine leisure personnel. For example, the underwater location recording module 340 may record water temperature, water depth, movement distance and direction, and diving time in a sensor table.

The first control module 350 controls the overall operation of the operating system module 220, and includes an operation mode determination module 310, an operation mode recording module 320, a ground location recording module 330, and an underwater location recording module 340. ) can manage the control flow or data flow between them.

4 is a diagram illustrating a functional configuration of a marine leisure person location tracking system according to the present invention.

Referring to FIG. 4 , the marine leisure person position tracking system 130 includes a location information collection unit 410, a marine leisure group generator 420, a direction vector generator 430, a navigation unit 440, and a control unit ( 450) may be included.

The location information collection unit 410 may receive ground positions and underwater positions of marine leisure personnel according to operating modes from the plurality of marine leisure navigation devices 110 . Each of the marine leisure navigation devices 110 may detect an operation mode according to the movement of a corresponding marine leisure person, and may measure and record location information according to each operation mode. The location information collection unit 410 may collect and store the land location and underwater location of each marine leisure person by interoperating with the marine leisure navigation device 110 .

The marine leisure group creation unit 420 may create a marine leisure group by grouping marine leisure personnel based on the similarity between the change time and change direction of the operation mode. The marine leisure group creation unit 420 interlocks with the operation mode recording module 320 of each marine leisure navigation device 110 so that the operating mode change time is included within a predetermined critical time based on the number of marine leisure personnel, and operation When it is detected that the mode change directions are all the same, a marine leisure group may be created by tying the corresponding marine leisure personnel into one. For example, if there are at least two or more marine leisure personnel whose operation mode change points are all within 5 seconds and all operation mode change directions are in the diving direction, the marine leisure group including the relevant marine leisure personnel It can be created by the marine leisure group creation unit 420.

In one embodiment, the marine leisure group generating unit 420 creates candidate marine leisure groups based on the GPS location coordinates of the marine leisure members, and uses the underwater positions and moving directions of the candidate marine leisure members within the candidate marine leisure groups. Thus, it is possible to create a marine leisure group by grouping candidate marine leisure personnel. For example, the marine leisure group generating unit 420 creates a candidate marine leisure group when the GPS location coordinates of the marine leisure members exist within a radius of 10 m, and the marine leisure group members included in the candidate marine leisure group are underwater. By monitoring the location and movement direction, a marine leisure group can be created by tying together candidate marine leisure personnel whose underwater location is within a range of 10 m in radius and whose movement direction is similar. In this case, the similarity of the moving directions may correspond to a case where an angle between direction vectors representing the moving directions is within a predetermined critical angle.

The direction vector generator 430 may generate a center direction vector of the marine leisure group using the underwater positions and moving directions of the marine leisure members. More specifically, the direction vector generation unit 430 creates the central position of the underwater position of the marine leisure persons, determines it as the origin, sums (or averages) the direction vectors related to the moving directions of the marine leisure persons, and defines them around the origin. A center direction vector can be created. Therefore, the central direction vector of the marine leisure group may correspond to integrated information about the movement of the marine leisure members in the group, and the larger the magnitude of the central direction vector, the higher the unity of the movement of the marine leisure members of the marine leisure group. . That is, the size of the central direction vector may be greater when the marine leisure people move toward the same direction than when they move toward different directions.

The navigation unit 440 may generate underwater navigation information returning to the ground position at the time of creation of the marine leisure group by tracking the change in the center direction vector. When the operation mode is changed from the land mode to the underwater mode, the navigation unit 440 may generate navigation information in the water returning to the return point by tracking a change in the center direction vector according to a change in the underwater position. In this case, the return point may be determined as a ground location derived based on the creation time of the marine leisure group. For example, the return point may be determined as a position corresponding to a ground position among positions of marine leisure members at the time of creation of the marine leisure group. If the ground position does not exist, a ground position at a position closest to the sea surface among underwater positions of marine leisure personnel may be determined as a return point.

In one embodiment, the navigation execution unit 440 may detect the time of change of the operation mode in conjunction with the operation mode determination module 310 of the marine leisure navigation device 110, and the operation mode may change from the ground mode to the underwater mode. The time of change can be determined as the diving time of marine leisure personnel. In this case, a location on the ground at the time of the last diving among the marine leisure members of the marine leisure group may be set as a return point of the marine leisure group. In addition, the navigation performer 440 may generate and provide various pieces of information necessary for marine leisure personnel as navigation information while operating in an underwater mode. For example, the navigation information may include water depth, water temperature, current time, elapsed diving time, remaining diving time, speed, direction, and the like.

In addition, the navigation execution unit 440 may visualize and display navigation information through a display panel in conjunction with the input/output module 250 of the marine leisure navigation device 110 . That is, the navigation execution unit 440 may provide navigation information through the marine leisure navigation device 110 to each of the marine leisure members of the marine leisure group. The navigation performer 440 may visualize and display navigation information and provide sound, vibration, lighting, and the like corresponding to the visualization information. To this end, it goes without saying that the marine leisure navigation device 110 can be implemented in a form capable of outputting sound, vibration, lighting, etc. while operating in an underwater environment.

In one embodiment, the navigation performer 440 may provide navigation information in conjunction with other user terminals (eg, smart phones, tablets, etc.). That is, the navigation performer 440 may output navigation information through an internally connected speaker or display panel, but may also output navigation information through a user terminal connected through short-range communication.

In one embodiment, the navigation execution unit 440 may include a direction vector recording module, a relative position recording module, a direction vector prediction module, and a model building module as independent modules for performing specific operations. A detailed description of each module will be described in more detail with reference to FIG. 5 .

The control unit 450 controls the overall operation of the marine leisure person location tracking system 130, and includes a location information collection unit 410, a marine leisure group generation unit 420, a direction vector generation unit 430, and a navigation execution unit ( 440) can manage control flow or data flow between them.

FIG. 5 is a diagram explaining the functional configuration of the navigation execution unit of FIG. 4 .

Referring to FIG. 5 , the navigation execution unit 440 includes a direction vector recording module 510, a relative position recording module 520, a direction vector prediction module 530, a model building module 540, and a second control module 550. ) may be included.

The direction vector recording module 510 may track and record the central direction vector for the first time. Here, the first time may correspond to a specific time interval. For example, the first time may correspond to 10 minutes, 1 hour, and the like. The direction vector recording module 510 may track and record the center direction vector of the marine leisure group for a first preset time. The center direction vector of the marine leisure group may be generated based on underwater positions and moving directions of marine leisure members in the corresponding group. The direction vector recording module 510 may periodically generate and store a central direction vector for the first time, and may digitize and record changes in the central direction vector.

The relative position recording module 520 may record the first relative position of the marine leisure members around the central direction vector. Here, the first relative position may correspond to the relative position of the marine leisure personnel tracked for the first time. That is, the relative position recording module 520 may measure and record the first relative position for each member of the marine leisure group within the marine leisure group. In this case, the first relative position may be calculated as a relative difference value based on the center direction vector. For example, the first relative position may be represented by expressing the underwater position of the marine leisure person in relative coordinate values around the origin of the central direction vector.

The direction vector prediction module 530 may predict a change in the central direction vector during a second time period consecutive to the first time period using current velocity information measured at each location of the marine leisure members. That is, the direction vector prediction module 530 may predict the movement of the marine leisure members (eg, change in underwater position) for the second time based on the current velocity information measured at each position of the marine leisure personnel, and predict Changes in the central direction vector can be predicted by updating the central direction vector according to the movement of the marine leisure personnel.

The model building module 540 learns the correlation between the central direction vector and the relative position during the first time and builds a position prediction model that predicts the second relative position of the marine leisure people according to the change in the central direction vector during the second time. can do. The model building module 540 may perform learning to build a location prediction model, and the learning process for building the model is between the change in the center direction vector of the marine leisure people and the change in the relative position of each marine leisure person. This can be done by learning correlations. That is, the learning data used in the learning process may be composed of a pair of a change value of the center direction vector of the marine leisure people and a change value of the relative position of each marine leisure person. For example, the location prediction model may be implemented as a deep learning model that receives a change value of a center direction vector as an input and generates a change value related to the relative positions of marine leisure people as an output. Accordingly, the second relative positions corresponding to the relative positions of the marine leisure members during the second time may be predicted through the output of the position prediction model.

The second control module 550 controls the overall operation of the navigation unit 440, and includes a direction vector recording module 510, a relative position recording module 520, a direction vector prediction module 530, and a model building module 540. ) can manage the control flow or data flow between them.

In one embodiment, the navigation performer 440 tracks and records the second relative positions of the marine leisure members according to the change in the center direction vector through a position prediction model from the time the marine leisure group is created, and records the first and second relative positions. Based on the difference between the positions, the first relative position may be corrected and updated. That is, when the relative position of each marine leisure person is tracked and recorded around the central direction vector of the marine leisure group by the relative position recording module 520, the navigation unit 440 performs each marine activity tracked through the position prediction model. Relative location information recorded by the relative location recording module 520 may be corrected and updated by comparing with the relative location of leisure personnel.

For example, the navigation performer 440 corrects the relative position a in a direction of reducing the difference between the relative position a recorded by the relative position recording module 520 and the relative position b tracked through a position prediction model during the same time period. can do. As a result, the relative position a can be updated in a direction close to the relative position b. In this case, the updated relative position a may be limited within a specific threshold distance based on the center direction vector. Accordingly, the navigation execution unit 440 may generate a return route to the return point of each marine leisure member as navigation information by tracking the updated relative position information.

6 is a diagram for explaining an embodiment of a process of tracking a position of a marine leisure person using a marine leisure navigation device according to the present invention.

Referring to FIG. 6 , the marine leisure personnel location tracking system 130 may receive ground and underwater locations of marine leisure personnel according to operation modes from a plurality of marine leisure navigation devices through the location information collection unit 410. Yes (step S610). The marine leisure person location tracking system 130 may create a marine leisure group by grouping the marine leisure personnel based on the similarity between the operating mode change time and change direction through the marine leisure group generator 420 (step S620). ).

In addition, the marine leisure person location tracking system 130 may generate a center direction vector of the marine leisure group using the underwater position and moving direction of the marine leisure person through the direction vector generator 430 (step S630). The marine leisure person location tracking system 130 can generate navigation information in the water that returns to the ground position at the time of creation of the marine leisure group by tracking the change in the center direction vector through the navigation unit 440 ( Step S640).

In addition, the marine leisure person location tracking system 130 may provide navigation information through the marine leisure navigation device 110 of each marine leisure person of the marine leisure group through the navigation execution unit 440 (step S650). . Specifically, the navigation execution unit 440 may visualize and display navigation information through a display panel in conjunction with the input/output module 250 of the marine leisure navigation device 110 .

7 is a diagram explaining a process of generating a center direction vector of a marine leisure group according to the present invention.

Referring to FIG. 7 , the marine leisure person location tracking system 130 may create a marine leisure group by grouping marine leisure personnel having similar movements in the water based on information collected from the marine leisure navigation device 110. . Specifically, the marine leisure personnel location tracking system 130 may group the marine leisure personnel based on the similarity of the change time and change direction of the operation mode for each marine leisure navigation device 110 .

In addition, the marine leisure person location tracking system 130 may generate a center direction vector 710 of the marine leisure group using the underwater position and moving direction of the marine leisure person. For example, the central direction vector 710 may be expressed as a sum of direction vectors related to moving directions of marine leisure members based on a center position between positions of marine leisure members of the marine leisure group.

In one embodiment, the marine leisure person location tracking system 130 may track and record the center direction vector 710 of the marine leisure group from the time of creation of the marine leisure group, and the center direction vector 710 may be centered on the marine leisure group. It is possible to record the relative position of each leisure person. In this case, the relative position may be expressed as a distance and direction to each member of the marine leisure centering on the position of the central direction vector. In FIG. 7 , distances to each marine leisure person may be measured as x ₁ , x ₂ , and x ₃ , and a direction from the position of the central direction vector to each marine leisure person may be expressed as a direction vector. The marine leisure person location tracking system 130 may periodically record and store information on the center direction vector 710 and the relative position of each marine leisure person for each marine leisure group, and in the process of generating navigation information in a later step. can be used

8 is a diagram illustrating an embodiment of a process of generating navigation information according to the present invention.

Referring to FIG. 8, the marine leisure person location tracking system 130 tracks the change in the center direction vector to generate navigation information in the water that returns to the ground position at the time the marine leisure group is created, and the marine leisure group Navigation information may be provided through the marine leisure navigation device 110 of each marine leisure person.

At this time, the marine leisure person location tracking system 130 may sequentially change the operation mode to a caution mode and an emergency mode according to a communication state with the marine leisure personnel of the marine leisure group. For example, the marine leisure person location tracking system 130 may monitor a communication state with the marine leisure person through connection with the marine leisure navigation device 110 . The marine leisure personnel location tracking system 130 may perform a change to the attention mode when communication with some of the marine leisure personnel of the marine leisure group is impossible in conjunction with the marine leisure navigation device 110 . In addition, the marine leisure personnel location tracking system 130 may change to an emergency mode when communication with all marine leisure personnel of the marine leisure group is impossible based on the connection with the marine leisure navigation device 110 .

Accordingly, the marine leisure person location tracking system 130 can predict and record the change in the center direction vector until the time of changing to the emergency mode while providing navigation information to the marine leisure personnel based on the time of changing to the caution mode. there is. That is, the marine leisure person location tracking system 130 may predict a change in the central direction vector using flow velocity information measured at each location of the marine leisure person according to the attention mode.

In addition, the marine leisure person location tracking system 130 may start the operation of the underwater drone 810 moving toward the location of the predicted center direction vector at the time of changing to the emergency mode. To this end, the marine leisure person location tracking system 130 may operate in conjunction with at least one underwater drone 810. In particular, the underwater drone 810 can be implemented to have better communication performance in the water than the marine leisure navigation device 110 of each marine leisure person.

More specifically, the marine leisure person location tracking system 130 may track the marine leisure group through relaying of the underwater drone 810 according to an emergency mode. That is, the marine leisure personnel location tracking system 130 may collect communication signals with each marine leisure navigation device 110 from the underwater drone 810, and based on this, the marine leisure personnel location tracking system 130 may center on the position of the underwater drone 810. The relative positions of personnel can be measured and recorded. In addition, the marine leisure person location tracking system 130 may generate navigation information according to the location of the underwater drone 810 and the relative positions of the marine leisure personnel.

For example, the position of the underwater drone 810 may correspond to the position of the center direction vector predicted in the attention mode, and the relative positions of the marine leisure personnel may correspond to the underwater drone 810 and the marine leisure navigation device 110 in the emergency mode. ) can be measured based on signal information collected from the underwater drone 810 by communication between them. In FIG. 8, the distance between each marine leisure person based on the position of the underwater drone 810 can be measured as y ₁ , y ₂ and y ₃ , and the marine leisure person location tracking system 130 is the underwater drone 810 The relative position with each marine leisure person can be calculated based on the distance information and signal information collected from

Meanwhile, one or more underwater drones 810 may be operated at the same time. For example, the first underwater drone may move to the position of the center direction vector predicted at the time of changing to the emergency mode, and the marine leisure person location tracking system 130 communicates with the first underwater drone to each marine leisure person Information about their movements can be collected. If communication between the first underwater drone and each marine leisure person becomes impossible, the marine leisure person location tracking system 130 may move the second underwater drone to the position of the center direction vector predicted at that time. Accordingly, the marine leisure person location tracking system 130 may track the movement of each marine leisure person through relay communication between the first and second underwater drones.

Although the above has been described with reference to preferred embodiments of the present invention, those skilled in the art will variously modify and change the present invention within the scope not departing from the spirit and scope of the present invention described in the claims below. You will understand that it can be done.

100: number of marine leisure people
110: marine leisure navigation device
130: marine leisure personnel location tracking system
710: center direction vector 810: underwater drone

Claims (4)

In the marine leisure person location tracking method using a marine leisure navigation device each including a pressure sensor, a temperature sensor, a GPS sensor, an acceleration sensor, an angular velocity sensor, a flow rate sensor, and a geomagnetic sensor,
Receiving ground positions and underwater positions of marine leisure personnel according to operating modes from a plurality of marine leisure navigation devices;
generating a marine leisure group by grouping the marine leisure personnel based on a similarity between a change time and a change direction of the operation mode;
generating a center direction vector of the marine leisure group using the underwater position and moving direction of the marine leisure personnel;
generating underwater navigation information returning to a ground position at the time of creation of the marine leisure group by tracking a change in the center direction vector; and
Providing the navigation information through a marine leisure navigation device of each of the marine leisure members of the marine leisure group; including,
Generating the navigation information
tracking and recording the central direction vector for a first time;
recording first relative positions of the marine leisure members around the central direction vector;
predicting a change in the center direction vector during a second time period consecutive to the first time period using current velocity information measured at each location of the marine leisure members; and
Building a location prediction model that predicts the second relative location of the marine leisure people according to the change in the center direction vector during the second time by learning the correlation between the center direction vector and the relative position during the first time A method for tracking a position of a marine leisure person using a marine leisure navigation device comprising the steps of:
delete The method of claim 1, wherein generating the navigation information
From the time of creation of the marine leisure group, the second relative position of the marine leisure people according to the change of the central direction vector is tracked and recorded through the position prediction model, and based on the difference between the first and second relative positions A marine leisure person location tracking method using a marine leisure navigation device comprising the step of correcting and updating the first relative position.
The method of claim 3, wherein providing the navigation information
sequentially changing the operation mode to a caution mode and an emergency mode according to a communication state with corresponding marine leisure members of the marine leisure group;
predicting and recording a change in the central direction vector until the time of changing to the emergency mode while providing the navigation information to the marine leisure personnel based on the time of changing to the caution mode;
Initiating an operation of an underwater drone moving toward a position of the center direction vector predicted at a time point of changing to the emergency mode; and
generating navigation information according to the third relative position while recording the third relative position of the marine leisure personnel around the position of the underwater drone through the relay of the underwater drone; A method for tracking the location of marine leisure personnel using a navigation device.

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