KR102507196B1 - Device and method for floor recognition using atmospheric pressure and geomagnetic field - Google Patents

Abstract

Disclosed are an identification device and method for identifying a floor on which a user is located in a building composed of a plurality of floors. The identification device may include a communication unit configured to receive a first air pressure value measured by a plurality of air pressure measurement devices installed on each floor of the building and a second air pressure value measured by a user terminal possessed by the user, and the user and a control unit that converts the second atmospheric pressure value using an atmospheric pressure conversion formula corresponding to the terminal to generate a converted value, and compares the converted value with the first atmospheric pressure value to identify a floor where the user is located. In addition, the control unit includes a first identification unit for identifying the floor on which the user is located based on air pressure, a second identification unit for identifying the floor on which the user is located based on a vector sequence corresponding to the user's motion, and a learned artificial intelligence unit. A third identification unit for identifying the floor on which the user is located may be included using a neural network to more accurately identify the floor on which the user is located.

Description

Device and method for identifying the floor where the user is located using atmospheric pressure and magnetic field

The present invention relates to an indoor positioning system, and more particularly, to an apparatus and method capable of identifying a floor on which a user is located using air pressure and a magnetic field of the floor on which the user is located.

The higher the height from the ground, the smaller the atmospheric pressure. In addition, most smart devices such as smart phones are equipped with air pressure sensors. Therefore, the smaller the air pressure measured by the user's smartphone, the higher the floor in the building. However, atmospheric pressure data measured by temperature, humidity, etc. may be affected, and atmospheric pressure may change depending on weather outside the building such as snow or rain or whether air conditioners and heaters inside the building are operating. It is difficult to estimate the air pressure data of each floor by considering all external factors affecting the air pressure data. Therefore, by installing a node for measuring air pressure on each floor of a building, the floor on which a user is located can be estimated based on air pressure data measured by this node. On the other hand, since the air pressure sensor has bias and drift depending on the type of sensor module used in the device, air pressure data measured at the same place and at the same time may also be measured differently depending on the measuring device. Therefore, by deriving a relational expression between air pressure data that is measured differently depending on the model type and converting the measured air pressure data based on the derived relational expression, the air pressure data measured in different types of air pressure is compared with the air pressure data measured from nodes installed on each floor. can be used to do The inventor of the present invention determined that a user could estimate a floor located in a building by comparing air pressure data measured by a smartphone sensor with air pressure data for each floor in a building.

The air pressure-based floor identification technique is less accurate depending on the variety of user devices, and may be recognized as an adjacent floor in addition to the floor where the user is located. To compensate for this, the sequence of magnetic field data collected according to the user's movement is compared with the magnetic field maps of the recognition layer and adjacent floors, and the floor on which the sequence of the user's estimated location appears consecutively is searched to estimate the floor on which the user is located. It is judged to be

Republic of Korea Patent Registration No. 1784399 (2017.10.17. Notice) Republic of Korea Patent Publication No. 2017-0082006 (published on July 13, 2017) Republic of Korea Patent Publication No. 2014-0047978 (published on April 23, 2014) Republic of Korea Patent Publication No. 2019-0017454 (published on February 20, 2019)

A technical problem to be achieved by the present invention is to provide a device and method for identifying a floor on which a user is located using air pressure and a magnetic field.

An identification device according to an embodiment of the present invention is a device for identifying a floor on which a user is located in a building composed of a plurality of floors, each measured by a plurality of air pressure measuring devices installed on each floor in the building. A conversion value is generated by converting the second atmospheric pressure value using a communication unit that receives the first atmospheric pressure value and the second atmospheric pressure value measured by the user terminal possessed by the user, and an atmospheric pressure conversion equation corresponding to the user terminal. and a controller comparing the conversion value with the first atmospheric pressure value to identify a floor on which the user is located.

In addition, an identification method according to an embodiment of the present invention is performed by an identification device that is a computing device including at least a processor and identifies a floor on which a user is located in a building composed of a plurality of floors, each of which includes the above Receiving a first air pressure value measured by a plurality of air pressure measuring devices installed on each floor of a building, receiving a second air pressure value measured by a user terminal possessed by the user, corresponding to the user terminal generating a converted value by converting the second atmospheric pressure value using an air pressure conversion equation that performs a pressure conversion, and identifying a floor on which the user is located by comparing the converted value with the first atmospheric pressure value.

According to the user location floor identification device and method according to an embodiment of the present invention, the floor where the user is located can be identified using air pressure data measured by the user terminal.

In addition, in order to supplement the accuracy of air pressure-based floor identification, the floor on which the user is located can be more accurately identified by using a magnetic field sequence corresponding to the movement of the user.

A detailed description of each drawing is provided in order to more fully understand the drawings cited in the detailed description of the present invention.
1 shows a system according to one embodiment of the present invention.
Figure 2 is a functional block diagram of the node shown in Figure 1;
3 is a functional block diagram of the server shown in FIG. 1;
4 is a graph showing air pressure data measured for each device.
5 is a graph for explaining a conversion formula for changing air pressure data measured by a user terminal.
FIG. 6 shows a table showing identification results by the control unit shown in FIG. 3 .
FIG. 7 is a diagram for explaining an identification result by a control unit shown in FIG. 3 .
FIG. 8 is a diagram for explaining a first operation among second identification operations by a second identification unit shown in FIG. 3 and shows a result of position estimation for an exemplary two floors in a building.
FIG. 9 is a view for explaining a second operation among second identification operations by a second identification unit shown in FIG. 3, and shows a result of estimating the positions of exemplary two floors in a building.
10A and 10B show results of estimating the user location by the third identification unit shown in FIG. 3 .

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

Embodiments according to the concept of the present invention can apply various changes and have various forms, so the embodiments are illustrated in the drawings and described in detail in this specification. However, this is not intended to limit the embodiments according to the concept of the present invention to specific disclosure forms, and includes all changes, equivalents, or substitutes included in the spirit and technical scope of the present invention.

Terms such as first or second may be used to describe various components, but the components should not be limited by the terms. The above terms are used only for the purpose of distinguishing one component from another, e.g. without departing from the scope of rights according to the concept of the present invention, a first component may be termed a second component and similarly a second component may be termed a second component. A component may also be referred to as a first component.

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

Terms used in this specification are used only to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, terms such as "comprise" or "having" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in this specification, but one or more other features It should be understood that it does not preclude the possibility of the presence or addition of numbers, steps, operations, components, parts, or combinations thereof.

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

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the scope of the patent application is not limited or limited by these examples. Like reference numerals in each figure indicate like elements.

1 shows a system according to one embodiment of the present invention. The system shown in FIG. 1 may be named by various names such as a location estimation system, a floor estimation system, a location identification system, and a floor identification system.

Referring to FIG. 1, the system includes a plurality of nodes, servers, and user terminals, each installed on each floor of a building. The server may compare the air pressure data received from the user terminal and the air pressure data received from each of the nodes to identify (or estimate) a floor where the user is located in the building. In addition, the server may further improve the accuracy of floor identification using air pressure data by identifying the floor where the user is located using the magnetic field data received from the user terminal.

Each of the plurality of nodes may be installed on each floor of the building. The installation location may be an arbitrary location or a pre-determined location. Also, although one node may be installed on each floor, a plurality of nodes may be installed on one floor according to embodiments. In this case, an average of air pressure data measured by a plurality of nodes installed on one floor may be compared.

Each of the plurality of nodes may measure the air pressure of the installed place in a first predetermined time period and transmit the measured air pressure data to the server in a second predetermined time period. In this case, the first time period and the second time period may be the same or different. When the first time period and the second time period are the same, the node may transmit measured (or generated) air pressure data to the server at every measurement. When the first time period and the second time period are different, the node may transmit untransmitted atmospheric pressure data to the server every second time period. Depending on the embodiment, the second period of time may be greater than the first period of time. In this case, the node may transmit air pressure data measured a plurality of times at once. For example, when the second time period is 5 times the first time period, air pressure data measured 5 times may be transmitted to the server at once.

The user terminal is a computing device equipped with an air pressure sensor and/or a magnetic field sensor, and may be exemplarily implemented as a smart device such as a smart phone. The user terminal may generate air pressure data and/or magnetic field data by measuring air pressure and/or magnetic field at a place where the user is located, and transmit the generated air pressure data and/or generated magnetic field data to a server. Also, the user terminal may receive information about the floor on which the user is located in the building from the server.

The server may identify a floor where the user is located in the building based on data received from each of the plurality of nodes and the user terminal, and transmit information on the identified floor to the user terminal.

Figure 2 is a functional block diagram of the node shown in Figure 1;

Referring to FIG. 2 , the node 100, which may be referred to as an air pressure measurement device, an air pressure measurement node, an air pressure data generating device, and a pressure data generating node, includes a sensor unit 110, a communication unit 120, and a storage unit 130. , And at least one or more of the control unit 140 may be included.

The sensor unit 110 measures the air pressure of the place where the node 100 is installed under the control of the controller 140, that is, in response to a control signal output from the controller 140, generates air pressure data, and stores the generated air pressure data. It can be transmitted to the control unit 140. Air pressure data generated under the control of the control unit 140 may be stored in the storage unit 130 . Depending on the embodiment, the sensor unit 110 may measure air pressure in a first cycle.

The communication unit 120 is under the control of the control unit 140, that is, in response to a control signal output from the control unit 140, the air pressure data generated by the sensor unit 110, generated by the sensor unit 110, the control unit 140 ), or the air pressure data stored in the storage unit 130 may be transmitted to the server. At this time, the communication unit 120 may transmit air pressure data to the server through a wired or wireless communication network. Depending on the embodiment, the communication unit 120 may transmit air pressure data to the server in a second cycle.

The storage unit 130 may store air pressure data generated by the sensor unit 110 and program codes for operation of the control unit 140 .

The control unit 140 generates and outputs a plurality of control signals for controlling the operation of the components included in the node 100, that is, the sensor unit 110, the communication unit 120, and the storage unit 130, thereby controlling the performance of each component. You can control the action. For example, the control unit 140 measures the air pressure of the sensor unit 110 by generating control signals corresponding thereto and transmitting the generated control signals to the sensor unit 110 so that the sensor unit 110 measures the air pressure in a first cycle. You can control the action. In addition, the controller 140 generates control signals corresponding to the control signals so that the communication unit 120 transmits air pressure data in a second cycle and transmits the generated control signals to the communication unit 120, thereby operating the communication unit 120 to transmit air pressure data. can control.

3 is a functional block diagram of the server shown in FIG. 1; The server shown in FIG. 3 may be named by various names such as location estimation server (or device), floor estimation server (or device), location identification server (or device), and floor identification server (or device).

Referring to FIG. 3 , the server 300 may include at least one of a communication unit 310, a storage unit 320, and a control unit 330.

The communication unit 310 may receive air pressure data of each floor from each of a plurality of nodes under the control of the controller 330, for example, in response to a control signal generated by the controller 330. At this time, the communication unit 310 may first transmit a request message requesting transmission of air pressure data to each of a plurality of nodes. Air pressure data received by the communication unit 310 may be stored in the storage unit 320 .

In addition, the communication unit 310 may receive air pressure data and/or magnetic field data of a place where a user is located from a user terminal under the control of the control unit 330, for example, in response to a control signal generated by the control unit 330. . In this case, the communication unit 310 may first transmit a request message requesting transmission of air pressure data and/or magnetic field data to the user terminal. Air pressure data received by the communication unit 310 may be stored in the storage unit 320 .

The storage unit 320 stores atmospheric pressure data received by the communication unit 310, for example, atmospheric pressure data collected from each of a plurality of nodes, atmospheric pressure data and/or magnetic field data collected from a user terminal, and control operations of the control unit 330. A program code for conversion, a plurality of conversion equations for converting air pressure data received from a user terminal, a magnetic field map of each floor in a building, a location estimation model for estimating a user's location, and the like may be stored.

The controller 330 may control the operation of each component of the server 300 by generating and outputting a control signal for controlling the operation of each component of the server 300, for example, the communication unit 310 and the storage unit 320. there is.

In addition, the controller 330 may identify (or determine) the floor where the user is located in the building by comparing, for example, air pressure data measured by a node and air pressure data measured by a user terminal using a first identification method. can In addition, when it is determined that the floor identification by the first identification method is not accurate, the controller 330 uses the second identification method, for example, the magnetic field data measured by the user terminal and the storage unit 320. The magnetic field map can be used to identify (or determine) the floor on which the user is located. In addition, when it is determined that the floor identification by the second identification method and/or the first identification method is not correct, the controller 330 uses the third identification method, for example, a pre-learned location estimation model to determine the location of the user. It is possible to identify (or determine) the layer on which it is located. The third identification scheme may be performed immediately after performing the first identification scheme or may be performed after performing the second identification scheme.

The controller 330 may include at least one of a first identification unit performing a first identification operation, a second identification unit performing a second identification operation, and a third identification unit performing a third identification operation. That is, the controller 330 may include only the first identification unit, include the first identification unit and the second identification unit, include the first identification unit and the third identification unit, or include the first to third identification units. can Detailed operations of the first identification unit to the third identification unit will be described later.

4 is a graph showing air pressure data measured for each device, FIG. 5 is a graph for explaining a conversion equation for changing air pressure data measured by a user terminal, and FIG. 6 is a table showing identification results by the control unit shown in FIG. 3 , FIG. 7 is a diagram for explaining an identification result by the control unit shown in FIG. 3 .

The graph of FIG. 4 shows air pressure data (measured air pressure) collected at the same place for about two days by each of a plurality of devices. Referring to FIG. 4 , it can be seen that the measured atmospheric pressure changes with the passage of time, and the measured values are different for each device. Specifically, it can be seen that the barometric pressure measured by the node is the largest, the barometric pressure measured by the galaxy s7 is the smallest, and the barometric pressure measured by the galaxy s10 and the galaxy note10+ are similar and have intermediate values. can In addition, it can be seen that the change trend of the measured atmospheric pressure over time is reflected in the same or similar trend in each device.

Therefore, in order to compare air pressures measured by different devices, an operation of preprocessing or converting the measured air pressures must be preceded. That is, air pressure data measured by the user terminal may be converted using a conversion formula stored in the storage unit 320 of the server 300 and then compared with air pressure data measured by the node. The conversion operation of air pressure data may be performed by the first identification unit of the control unit 330 . In addition, an exemplary conversion equation is shown in Equation 1.

는 사용자 단말로부터 수신된 기압값을 의미하고,

는 변환값을 의미한다. 변환식의 기울기

와

절편

는 미리 정해진 상수일 수 있으며, 위 수학식을 통하여 계산될 수 있다.

는 사용자 단말에 의해 측정된 n(n은 임의의 자연수)번의 측정값들에 대한 평균을 의미할 수 있고,

는 노드에 의해 측정된 n번의 측정값들에 대한 평균을 의미할 수 있다.In Equation 1,

Means the air pressure value received from the user terminal,

means a conversion value. Slope of Transformation

and

intercept

may be a predetermined constant, and may be calculated through the above equation.

May mean the average of n (n is an arbitrary natural number) measurement values measured by the user terminal,

May mean the average of n number of measurement values measured by the node.

Referring to FIG. 5 showing a graph showing the relationship between the measurement values of the user terminal and the measurement values of the node, the relationship between the measurement values measured by the user terminal galaxy s7 and the measurement values measured by the node is schematically expressed by the relational expression y = 1.212x-22260, the relationship between the measurement values measured by the user terminal galaxy s10 and the measurement values measured by the node is roughly the relational expression y = 0.987x + 876.61, the measurement value measured by the user terminal galaxy note10+ The relationship between the measured values measured by the nodes and the nodes is schematically represented by the relational expression y = 0.9438x + 5214.6. As described above, the relational expression corresponding to each type of user terminal may be stored in the storage unit 320 of the server 300 in advance.

The first identification unit of the control unit 330 converts the pressure value received from the user terminal using a conversion formula corresponding to the type of user terminal to generate a converted value, and compares the converted value with the measured values measured by each node. By doing so, it is possible to identify the floor where the user (or user terminal) is located.

Depending on the embodiment, the first identification unit may perform the first identification operation using at least one measurement value received from the user terminal. For example, the first identification unit may convert one measurement value received from the user terminal to generate a conversion value, or convert an average of a plurality of measurement values received from the user terminal to generate a conversion value.

In addition, the measured values of the nodes compared with the conversion values may mean the average of the measured values by each node. For example, an average value of a plurality of measurement values collected by a node at a point in time closest to a point in time at which an air pressure value is received from a user terminal may be compared. As a result of the comparison, a floor where a node where a data having a value closest to the conversion value is measured is installed may be identified (or determined) as a floor where the user is located. Information on the floor identified by the first identification unit may be transmitted to the user terminal by the communication unit 310 . However, as described below, when it is determined that the identification accuracy is low, information on the determined layer may be transmitted after an additional identification operation.

FIG. 6 shows a layer identified by the first identification unit of the controller 330 and a layer actually located. As shown in FIG. 6, there is a possibility of misrecognition as an adjacent floor other than the floor where the user is currently located.

In FIG. 7 , the closest value to the atmospheric pressure value (which may mean a conversion value) measured from the user terminal is the atmospheric pressure value measured by the node installed on the third floor. However, when the air pressure value measured from the user terminal is close to the threshold, the identified layer may not be an accurate layer. That is, although the user is located on the 4th floor, it may be determined that the user is located on the 3rd floor due to measurement errors or environmental factors. In this case, the second identification operation by the second identification unit and/or the third identification operation by the third identification unit may be performed.

Whether to perform the second identification operation and/or the third identification operation may be variously determined, and this is determined by the controller 330 . First, a threshold may be used. The threshold value is the two barometric pressure measurements closest to the conversion value, e.g., the measurement value closest to the conversion value in FIG. It may mean a median value, an average value, etc. of measured values measured by According to one embodiment, an additional identification operation may be performed if the conversion value is closer to the threshold than the measurement value measured by the node.

Depending on the embodiment, whether or not to perform an additional identification operation may be determined based on a degree of difference between the conversion value and the nearest air pressure measurement value from the conversion value. For example, if the difference between the measured value and the converted value (absolute numerical difference, degree of difference (ratio between measured value and error, etc.) is greater than a predetermined value, an additional identification operation may be performed.

When it is determined that there is no need to perform an additional identification operation, information on one layer identified by the first identification operation may be transmitted to the user terminal through the communication unit 310 .

Hereinafter, the second identification operation by the second identification unit will be described in detail.

FIG. 8 is a diagram for explaining a first operation among second identification operations by a second identification unit of a control unit shown in FIG. 3, showing a result of position estimation for an exemplary two floors in a building; FIG. is a diagram for explaining the second operation among the second identification operations by the second identification unit of the control unit shown in FIG.

The second identification operation applies a magnetic field based layer identification technique. To this end, magnetic field maps of each floor may be stored in the storage unit 320 of the server 300 .

First, the user terminal may transmit a sequence of magnetic field values (which may mean a magnetic field vector) measured according to the movement of the user (or movement of the user terminal) to the server 300 . At this time, the user terminal may transmit one magnetic field value or transmit a plurality of magnetic field values in one transmission. In addition, the user terminal may measure the magnetic field according to a predetermined time period or according to a predetermined criterion (eg, measurement at every step). In addition, the user terminal may also transmit information about the user's movement distance (step size (step length)) and/or movement direction (step direction). The user's movement direction may mean an exact direction, but according to embodiments, a rough direction, for example, one of four directions including left, right, upper, and lower, or left, right, upper, lower, and upper left. It may mean one of eight directions including side, lower left, upper right, and lower right.

The magnetic field value sequence received by the communication unit 310 of the server 300 may be stored in the storage unit 320 . In addition, the second identification unit of the controller 330 may identify the floor where the user is located by using the sequentially received sequence of magnetic field values.

Exemplarily, when the layers identified through the first identification operation are the second and third floors (here, the identified layer may be the second floor and the adjacent layer may be the third floor), the second identification unit may include the previously stored 2nd and 3rd floors. A user may estimate a location for each of the sequentially received magnetic field values using the magnetic field maps of the first and third layers. The user location estimation operation may be performed for each identified layer (a recognition layer and an adjacent layer).

First, points (a plurality of points may exist) in which a difference from the first magnetic field value received from the user terminal is within a predetermined error range may be set as the user's initial location. Thereafter, the second identification unit may estimate the next position using the second magnetic field value received from the user terminal based on the set initial position. At this time, information about the user's movement direction and movement distance may be used. That is, at least one point where a difference between a magnetic field value at a point away from the initial position by a moving distance in the moving direction and a second magnetic field value received from the user terminal is within a predetermined error range may be estimated as the next position. Since there are a plurality of initial positions, a plurality of next positions may also exist. Coordinates at which the user can be located may converge into one through repetition of the above location estimation process. In this case, the second identification unit may identify (or determine) a floor having coordinates that converge to one as the floor where the user is located.

In the example of FIG. 8 , black dots represent locations estimated as the user's location. In the initial location setting step (1st step), it can be seen that a plurality of initial locations are set for each floor using the first magnetic field value received from the user terminal. In the case of the third floor, a plurality of points are estimated in the position estimation using the third magnetic field value (third magnetic field value), but it can be seen that there is no estimated point in the position estimation using the fourth magnetic field value (fourth magnetic field value). In contrast, in the case of the second floor, it can be seen that only one point is estimated as the user's location in position estimation using the 7th magnetic field value (7th magnetic field value).

Of course, as a result of position estimation using a predetermined number of magnetic field values, the user's position may not converge to a single point. In this case, a third identification operation may be performed by the third identification unit. Depending on embodiments, it is also possible that the third identification operation is performed prior to the second identification operation.

A second operation to further increase accuracy may be performed on the result of the first operation described above. The second operation may be performed when a result of performing the first operation converges to one coordinate.

The second operation is to set the position converged as a result of the first operation as the initial position and then estimate the next position of the user in the same way. In this case, the used magnetic field value may be data newly received from the user terminal after the first operation is performed.

Referring to FIG. 9 , it can be seen that the position estimation result of the first step of the second operation is a plurality of points, and the user's position converges to one place after six times of estimation. In FIG. 9, the red dot shows the position change of the user moving based on the converged position in FIG. 8, and the black dot shows the coordinates where the user can be located using the magnetic field values after convergence in FIG. 8 ( estimated locations). As a result, the coincidence between the estimated position of the user moved based on the position estimated in FIG. 8 and the estimated position of the user converged in FIG. 9 is shown in the sixth step (or estimation using the sixth magnetic field value). In this way, if the convergence point as a result of performing the second operation is the convergence point of the path in which the convergence point as a result of performing the first operation is set as the initial position, the floor where the current location converged into one is the floor where the user is located. can be identified. Contrary to this, if the position estimation result of k times (k is an arbitrary natural number) by the second operation includes the position estimation result after setting the resultant point of the first operation as the initial position, the position converged in the first operation A floor having a may be identified as a floor where the user is located.

When the location of the user estimated as a result of performing the above-described first operation does not converge to one point, a third identification operation to be described below may be performed.

The third identification operation may be performed by the third identification unit of the controller 330 . To this end, a location estimation model for estimating the user's current location by receiving a continuous magnetic field vector sequence according to the user's movement as an input may be stored in the storage unit 320, and the location estimation model corresponds to each floor. There may be a plurality of as many as the number of. The position estimation model is a model generated by learning a recurrent neural network using a magnetic field vector sequence according to a user's moving path and a user's position, and an exemplary artificial neural network may mean a recurrent neural network (RNN).

The third identification unit inputs the magnetic field vector sequence received from the user terminal to the first location estimation model and the second location estimation model corresponding to the identification layer identified by the first identification operation and the adjacent layer, respectively, as an input to the current location of the user. can be estimated.

10A and 10B show results of estimating the location of the user by the third identification unit of the control unit shown in FIG. 3 . Exemplarily, when the identification layer and the adjacent floors are the first floor and the second floor, the user's location may be estimated through a first location estimation model corresponding to the first floor and a second location estimation model corresponding to the second floor. As shown in the upper and lower sides of FIG. 8, as a result of position estimation through the magnetic field vector sequence received from the user terminal, the estimation result of the first position estimation model and the actual path of the user are almost the same, and the estimation of the second position estimation model It can be seen that the result and the actual path of the user are very different. Accordingly, the third identification unit may identify the first floor corresponding to the first location estimation model showing the result of accurate location estimation as the floor where the user is located. However, in a real environment, since the user's actual movement path is unknown, a criterion for determining the floor on which the user is located is required. Illustratively, the discontinuity of the position estimation result may be the criterion. Specifically, the floor in which the difference (or accumulation of differences) between the estimated previous location and the current location is greater than the reference value is determined as not being the floor where the user is located, or the difference between the estimated previous location and the current location (or accumulation of differences) is determined. ) is smaller than the reference value, the floor where the user is located may be determined, or a floor having a small difference (or accumulation of differences) between the estimated previous location and the current location among the identification layer and the adjacent floor may be determined as the floor where the user is located. . As shown in FIGS. 10A and 10B , when the user's location is estimated using the location estimation model of the second floor where the user is not actually located, it can be seen that very unstable and very discontinuous estimation results are derived. It is impossible to implement such a movement.

As described above, the identification layer by the first identification operation, the identification layer by the first identification operation and the second identification operation, the identification layer by the first identification operation and the third identification operation, or the first to third identification operations. Information on the identification layer by the identification operation may be transmitted to the user terminal through the communication unit 310 .

The device described above may be implemented as a hardware component, a software component, and/or a set of hardware components and software components. For example, devices and components described in the embodiments may include, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable array (FPA), and a PLU. It may be implemented using one or more general purpose or special purpose computers, such as a programmable logic unit (Programmable Logic Unit), microprocessor, or any other device capable of executing and responding to instructions. The processing device may execute an operating system (OS) and one or more software applications running on the operating system. A processing device may also access, store, manipulate, process, and generate data in response to execution of software. For convenience of understanding, there are cases in which one processing device is used, but those skilled in the art will understand that the processing device includes a plurality of processing elements and/or a plurality of types of processing elements. It can be seen that it can include. For example, a processing device may include a plurality of processors or a processor and a controller. Also, other processing configurations are possible, such as a parallel processor.

Software may include a computer program, code, instructions, or a combination of one or more of these, and may configure a processing device to operate as desired or process independently or collectively. You can command the device. Software and/or data may be any tangible machine, component, physical device, virtual equipment, computer storage medium or device, intended to be interpreted by or to provide instructions or data to a processing device. , or may be permanently or temporarily embodied in the transmitted signal wave. Software may be distributed on networked computer systems and stored or executed in a distributed manner. Software and data may be stored on one or more computer readable media.

The method according to the embodiment may be implemented in the form of program instructions that can be executed through various computer means and recorded on a computer readable medium. The computer readable medium may include program instructions, data files, data structures, etc. alone or in combination. Program instructions recorded on the medium may be specially designed and configured for the embodiment, or may be known and usable to those skilled in computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks and magnetic tapes, optical media such as CD-ROMs and DVDs, and magnetic media such as floptical disks. - Includes hardware devices specially configured to store and execute program instructions, such as magneto-optical media, ROM, RAM, flash memory, etc. Examples of program instructions include high-level language codes that can be executed by a computer using an interpreter, as well as machine language codes such as those produced by a compiler. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

Although the present invention has been described with reference to the embodiments shown in the drawings, this is only exemplary, and those skilled in the art will understand that various modifications and equivalent other embodiments are possible therefrom. For example, the described techniques may be performed in an order different from the method described, and/or components of the described system, structure, device, circuit, etc. may be combined or combined in a different form than the method described, or other components may be used. Or even if it is replaced or substituted by equivalents, appropriate results can be achieved. Therefore, the true technical protection scope of the present invention should be determined by the technical spirit of the attached claims.

100: node 110: sensor unit
120: communication unit 130: storage unit
140: control unit 300: server
310: communication unit 320: storage unit
330: control unit

Claims (11)

An identification device for identifying a floor on which a user is located in a building composed of a plurality of floors,
a communication unit configured to receive a first air pressure value measured by a plurality of air pressure measuring devices, each of which is installed on each floor of the building, and a second air pressure value measured by a user terminal possessed by the user; and
A control unit that converts the second atmospheric pressure value using an atmospheric pressure conversion equation corresponding to the user terminal to generate a converted value, and compares the converted value with the first atmospheric pressure value to identify a floor where the user is located,
The control unit includes a first identification unit that performs a first identification operation,
The first identification unit determines the floor in which the air pressure measurement device is installed, which measures the first air pressure value having the smallest difference from the converted value among the first air pressure values measured by each of the plurality of air pressure measurement devices, is the floor where the user is located. determined as the discrimination layer,
The converted value is the first atmospheric pressure value having the smallest difference, the first atmospheric pressure value having the second smallest difference from the converted value among the first atmospheric pressure values, and the first atmospheric pressure value having the smallest difference and the second atmospheric pressure value. When the difference from the average value is the smallest among the average values of the first barometric pressure values having the smallest difference, the controller performs a second identification operation;
The control unit further includes a second identification unit that performs the second identification operation,
The communication unit receives a magnetic field vector sequence that changes according to the movement of the user from the user terminal,
The second identification unit uses the magnetic field vector sequence, the magnetic field map of the identification layer, and the magnetic field map of the adjacent layer, which is the layer in which the pressure measurement device for measuring the first pressure value having the second smallest difference is installed, to determine the identification layer and Estimating the location of the user on the adjacent floor,
identification device. According to claim 1,
The identification device further includes a storage unit in which the air pressure conversion equation is stored,
The barometric pressure conversion equation is a linear equation representing the relationship between the barometric pressure value measured by the user terminal and the barometric pressure value measured by the plurality of barometric pressure measuring devices,
identification device. delete delete delete According to claim 1,
Wherein the second identification unit determines a floor corresponding to the magnetic field map where the user's location converges to one point as the floor where the user is located;
identification device. According to claim 1,
When the result of estimating the location of the user by the second identification unit does not converge to one point, the control unit performs a third identification operation;
The control unit further comprises a third identification unit for performing the third identification operation,
identification device. According to claim 7,
The communication unit receives a second magnetic field vector sequence that changes according to the movement of the user from the user terminal,
The third identification unit estimates the location of the user by using a first location estimation model and a second location estimation model that take the second magnetic field sequence as an input,
The first location estimation model is a location estimation model corresponding to the identification layer, and is generated by learning an artificial neural network using a sequence of magnetic field vectors according to the movement of the user and the location of the user,
The second location estimation model is a location estimation model corresponding to an adjacent floor, which is a floor in which an air pressure measuring device measuring a first air pressure value having the second smallest difference is installed, and a sequence of magnetic field vectors according to the movement of the user and the user's Created by learning an artificial neural network using location,
identification device. According to claim 8,
The third identification unit determines the floor on which the user is located based on the discontinuity of the location estimation result of the first location estimation model and the discontinuity of the location estimation result of the second location estimation model.
identification device. An identification method for identifying a floor on which a user is located in a building composed of a plurality of floors, performed by an identification device that is a computing device including at least a processor, comprising:
receiving a first air pressure value measured by a plurality of air pressure measuring devices, each of which is installed on each floor of the building;
Receiving a second atmospheric pressure value measured by a user terminal possessed by the user;
generating a conversion value by converting the second atmospheric pressure value using an atmospheric pressure conversion equation corresponding to the user terminal; and
Comparing the conversion value with the first atmospheric pressure value to identify a floor on which the user is located;
The identification step is
Determining a floor in which a pressure measurement device measuring a first air pressure value having the smallest difference from the converted value among the first air pressure values measured by each of the plurality of air pressure measurement devices is an identification layer that is a floor where the user is located step, and
The converted value is the first atmospheric pressure value having the smallest difference, the first atmospheric pressure value having the second smallest difference from the converted value among the first atmospheric pressure values, and the first atmospheric pressure value having the smallest difference and the second atmospheric pressure value. performing a second identification operation when the difference from the average value is the smallest among the average values of the first barometric pressure values having the smallest difference;
Performing the second identification operation,
Receiving a magnetic field vector sequence that changes according to the movement of the user from the user terminal; and
In the identification layer and the adjacent layer, the magnetic field vector sequence, the magnetic field map of the identification layer, and the magnetic field map of the adjacent layer, which is the layer in which the air pressure measurement device measuring the first atmospheric pressure value having the second smallest difference is installed, are used. Including estimating the user's location,
identification method. According to claim 10,
The barometric pressure conversion equation is a linear equation representing the relationship between the barometric pressure value measured by the user terminal and the barometric pressure value measured by the plurality of barometric pressure measuring devices,
identification method.

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