KR102604367B1 - a high definition positioning and movement capturing device for virtual reality space sevice supply containing eXtended Reality - Google Patents

Abstract

The present invention relates to indoor positioning technology for spatial services to implement virtual reality (VR), augmented reality (AR), and extended reality (XR). More specifically, it relates to a high-precision position movement acquisition device based on wireless technology. It's about.
The present invention provides a high-precision location motion acquisition device 100 for virtual reality space service, which includes a monitoring server 110, an anchor 120, and a tag 130.
In addition, according to the present invention, the anchor 120 includes a synchronization module 124, a tag signal generation module 125, a time difference information module 126, and an anchor-to-anchor time difference information module 127.
The above-mentioned tag 130 provides a high-precision position motion acquisition device 100 for virtual reality space service, which is comprised of a unique signal module 134 and a signal generation module 135 of the tag.
In addition, the present invention includes the process of selecting the main anchor 120 (process 1),
A process in which the main anchor 120 selected above performs a function of synchronizing time by sending a synchronization signal to other anchors 120 installed in the unit positioning space 200 (step 2),
A unique signal generation process (process 3) that performs the time synchronization process in the main anchor 120 and simultaneously generates the tag's own signal and information for positioning in the tag 130;
The anchor 120 generates information for positioning the tag generated by the tag 130 as time difference information in the time difference information module 126 (process 4),
A process of transmitting time difference information about the anchor 120 and tag 130 to the monitoring server 110 (step 5),
A process of generating distance information by calculating the distance between the tag 130 and the anchor 120 using the time difference information about the anchor 120 and the tag 130 received above (step 6),
High-precision positioning for virtual reality space service, characterized in that it performs a function of measuring the position and movement of a moving object (M) attached with a tag 130 in the unit positioning space 200 with high precision through a process including. A motion acquisition device 100 is provided.
In addition, the present invention provides a high-precision position motion acquisition device 100, which further includes a unit positioning space 200.

Description

{a high definition positioning and movement capturing device for virtual reality space sevice supply containing eXtended Reality}

The present invention relates to indoor positioning technology for spatial services to implement virtual reality (VR), augmented reality (AR), and extended reality (XR). More specifically, it relates to a high-precision position movement acquisition device based on wireless technology. It's about.

Indoor location tracking service (Indoor Positioning System, IPS) refers to a system that measures the location of moving objects that exist indoors. It is mainly a system that determines the user's location within a building. This is because GPS, which is mainly used outside and capable of communicating with satellites, is difficult to operate indoors and is not suitable for detailed indoor use due to its large error range. Indoors where systems such as GPS cannot be used, location is mainly calculated using technologies such as Wi-Fi, Bluetooth, and gyro sensors. As a method of obtaining the location, algorithms such as RSSI location inference method, TOA (Time of Arrival), TDOA (Time Difference Of Arrival), and AOA (Angle Of Arrival) method are mainly used.

In measuring position and movement in indoor space, various technologies have been researched depending on the purpose and positioning device, and have developed a close relationship with sensor and signal technology in that they require a reference coordinate system and relay signals to measure position. I have done it. Indoor location/motion positioning technologies can be classified in a variety of ways depending on location accuracy, service area, target service, and applied sensors.

For example, as shown in Figure 1, based on location accuracy and service area, base station, Wi-Fi, inertial navigation, high-sensitivity GNSS (Global Navigation Satellite System), UWB (Ultra-Wide Band), RFID (Radio Frequency Identification), and pseudosatellite , classifies location and motion determination technologies that utilize various physical resources such as ultrasonic waves, infrared waves, geomagnetic fields, and cameras. [Figure 1 is referenced in: Jae-Jun Yoo "Indoor Location-Based Service Technology Development and Standardization Trends", Electronic Communication Trend Analysis Vol. 29, No. 5, October 2014, pp.51-61.]

The positioning technologies schematized in Figure 1 have various characteristics such as different positioning accuracy and range. A summary of several items is shown in <Table 1>. Considering the positioning distance, environmental obstacles, interference, and precision, the technology that is widely used indoors as well as outdoors is preferred to use wireless positioning devices, and in terms of measurement accuracy and range, etc. It is a positioning method using wireless radio waves such as radar or UWB technology. [Reference: Jaejun Yoo, "Indoor location-based service technology and subs development trends", "National IT Industry Promotion Agency (www.nipa.kr) 2013, pp.14-26. <Table 1> Comparison of indoor positioning technologies]

method Positioning principle accuracy coverage Advantages disadvantage RF/UWB based positioning ToA, TDoA, AoA, fingerprint, etc. RF: 2m~20m
UWB: 10cm~1m RF: scalable
UWB: 10m~100m Existing phone can be used For fingerprinting, pre-calibration is required. Inertial measurement-based positioning Dead Reckoning 0.1%~10% of travel distance building No specific infrastructure required Error accumulated Pseudo-satellite-based positioning carrier-phase differential ranging ~1m 100m~10km GNSS linkage is smooth Synchronization between pseudosatellites is required RFID-based positioning RSSI, Cell ID, etc. 10cm~2m 1m~10m-scalable Not easily disturbed by obstacles (penetration, penetration) Positioning coverage is small Floor Sensor based positioning Capacitance, pressure 10cm~30cm room No equipment required for user Difficult to understand by many users Magnetic system-based positioning Magnetic force density (flux density) 1mm~1m 1m~20m Not easily disturbed by obstacles (penetration, penetration) The magnetic field can change depending on changes in the surrounding environment. Optical system-based positioning Camera, CCD 1mm~30cm 0.1~1m High accuracy and remote tracking possible Must exist within a visible range

Radar is an abbreviation for "Radio Detection and Ranging". "Radio" means wireless, so it refers to a device that detects objects and measures distances wirelessly, especially by transmitting and receiving electromagnetic waves. Generally refers to an active system. Since the 1920s, when it was first developed, there have been countless radar systems for both military and civilian use, and their implementation methods vary greatly depending on the waveform and polarization of the transmitted signal, processing method of the received signal, etc.

The FMCW type radar, which has advantages such as simple configuration, flexibility in design, and ease of frequency conversion to the millimeter wave band, is used for a wide range of purposes such as human body detection, industrial distance measurement, national defense, and weather radar in addition to applications in the automotive field. there is.

In 2007, IEEE established IEEE802.15.4a as a standard for distance measurement using RF. Two technologies, IR-UWB technology and CSS (Chirp Spread Spectrum), are reflected here, and are ultimately integrated into the IEEE802.15.4-2011 standard. IR-UWB and CSS establish communication standards for measuring distance. IR-UWB measures distance using reflected signals using Impulse Radio, and CSS measures distance using chirp signals whose frequency changes with time. there is. Both use the basic principles of Radar. In particular, UWB radar is used for obstacle detection due to its excellent obstacle penetration characteristics and low-power precise detection characteristics.

[Adopted two technologies: IR-UWB technology and CSS (Chirp Spread Spectrum)

IR-UWB measures distance using reflected signals using Impulse Radio.

CSS measures distance using a chirp signal whose frequency changes with time]

In general, positioning using radio waves involves signal processing applying measurement principles such as TOA (Time of Arrival), TDOA (Time Difference Of Arrival), RSSI (Received Signal Strength Indicator), and AOA (Angle Of Arrival) to various targets. It even performs the function of measuring and tracking them.

Among various positioning technologies, the positioning technology that is currently being most actively researched, developed and distributed is positioning based on wireless technologies such as radio waves. Infrastructure is already being developed and spread throughout the industry, and the development of systems such as positioning and motion detection is actively underway in various fields.

Related prior art, Patent No. 10-1593679 (Indoor Position Estimation Method and Apparatus, Prior Art 1) refers to “collecting RSSI (Received Signal Strength Indication) information from at least one AP (Access Point); the RSSI information Calculating an estimated signal distance, which is the distance from the terminal to the at least one AP, based on; Calculating an estimated coordinate distance that is the distance from a plurality of arbitrary coordinates representing location candidates of the terminal to the at least one AP and estimating the indoor location of the terminal based on a coordinate that minimizes the error between the signal estimate distance and the coordinate estimate distance among the plurality of arbitrary coordinates. .

In addition, related prior art, registered patent No. 10-1615201 (Indoor location positioning method using short-range communication and system, terminal and server therefor, hereinafter referred to as prior art 2) refers to "AP (Access Point) that transmits short-range communication signals; short-range communication The short-range communication signal is received using a subscriber identification module equipped with the module, and at least one of AP identification information or RSSI information included in the short-range communication signal is not the same as the value measured before a preset time. In this case, a terminal determines that there is a change in the current location and transmits a terminal short-range communication signal with terminal identification information added to the short-range communication signal; and receives the terminal short-range communication signal, and the AP included in the terminal short-range communication signal When there is a plurality of identification information, a positioning server that generates location estimation information of the terminal by applying the average value of the RSSI information included in the terminal short-range communication signal as a weight to the midpoint value of each grid cell having the plurality of AP identification information. An indoor positioning system using short-distance communication characterized by including a "has been provided.

The above-described prior art and prior art distance calculation algorithms from multiple APs (Access Points) to terminals mainly use the RSSI-type location inference method, TOA (Time of Arrival), TDOA (Time Difference of Arrival), and AOA (Angle of Arrival). An algorithm such as the Of Arrival method is used. In this case, the arrival time of radio waves, sound waves, etc. is measured between multiple APs (Access Points) and the terminal to determine the location in the set spatial coordinates. Multiple APs each Since it is a different device, as time passes after initially setting the time, errors occur in the arrival time between the terminal and the AP, making accurate location estimation difficult.

In the case of prior art 1 described above, the RSSI method is used, and a correction coefficient for correcting the indoor estimated position of the terminal is generated, and the correction coefficient is applied to the error ratio to correct the indoor estimated position of the terminal. Although an attempt is made to measure an accurate location, including parts, a problem arises where accurate location measurement is difficult due to the inability to adapt to the specificity and diversity of the measurement space.

In the case of prior art 2, a terminal short-range communication signal is received, and when there is a plurality of AP identification information included in the terminal short-range communication signal, the terminal short-range communication signal is applied to the midpoint of each grid cell having the plurality of AP identification information. The location is measured by using the average value applied as a weight to the RSSI information included in the terminal to generate location estimation information for the terminal, but this also causes the problem of making it difficult to accurately measure the location.

Therefore, the present invention solves the above-mentioned problems and uses a high-precision position movement acquisition device based on wireless technology to obtain location information of people in indoor or outdoor spaces and provide precise location information for virtual reality, including VR, AR, and XR. The purpose is to provide an environment in which precise virtual reality operation is possible.

The present invention is for the above-mentioned needs and purposes,

A high-precision location motion acquisition device 100 for a virtual reality space service is provided, including a monitoring server 110, an anchor 120, and a tag 130.

In addition, according to the present invention, the anchor 120 includes a synchronization module 124, a tag signal generation module 125, a time difference information module 126, and an anchor-to-anchor time difference information module 127.

The above-mentioned tag 130 provides a high-precision position motion acquisition device 100 for virtual reality space service, which is comprised of a unique signal module 134 and a signal generation module 135 of the tag.

In addition, the present invention includes the process of selecting the main anchor 120 (process 1),

A process in which the main anchor 120 selected above performs a function of synchronizing time by sending a synchronization signal to other anchors 120 installed in the unit positioning space 200 (step 2),

A unique signal generation process (process 3) that performs the time synchronization process in the main anchor 120 and simultaneously generates the tag's own signal and information for positioning in the tag 130;

The anchor 120 generates information for positioning the tag generated by the tag 130 as time difference information in the time difference information module 126 (process 4),

A process of transmitting time difference information about the anchor 120 and tag 130 to the monitoring server 110 (step 5),

A process of generating distance information by calculating the distance between the tag 130 and the anchor 120 using the time difference information about the anchor 120 and the tag 130 received above (step 6),

High-precision positioning for virtual reality space service, characterized in that it performs a function of measuring the position and movement of a moving object (M) attached with a tag 130 in the unit positioning space 200 with high precision through a process including. A motion acquisition device 100 is provided.

In addition, the present invention provides a high-precision position motion acquisition device 100, which further includes a unit positioning space 200.

Conventional and prior art distance calculation algorithms from multiple APs (Access Points) to terminals mainly use RSSI-type location inference methods, TOA (Time of Arrival), TDOA (Time Difference Of Arrival), and AOA (Angle Of Arrival). ) method is used. In this case, the location in the set spatial coordinates is specified by measuring the arrival time of radio waves, sound waves, etc. between multiple APs (Access Points) and the terminal. Multiple APs are connected to each other. Since it is a device, after initially setting the time, as time passes, errors occur in the arrival time between the terminal and the AP, making accurate location estimation difficult.

In the high-precision position motion acquisition device for virtual reality space services including extended reality according to the present invention, the anchor provides a reference synchronization signal and uses the time delay information of the signal sent by the tag (detection node sensor) according to the synchronized time. It is characterized by using a method of acquiring location information. Through this method, multiple tags are attached to each part of a moving object (person) located within a unit positioning space to provide precise information on the position of the person's joints and the form of movement. It has the ability to obtain detailed location information and movement information, providing precise virtual reality location information including VR, AR, and XR by obtaining location information and movement information of people in indoor or outdoor spaces. The effect of providing an environment in which operation is possible is achieved.

The high-precision location motion acquisition device for virtual reality space services, including extended reality, according to the present invention can be installed anywhere indoors or outdoors, providing an environment in which precise virtual reality operation is possible by providing location information of virtual reality, including VR, AR, and XR. The effect of providing appears.

Figure 1 is a classification diagram of location and motion positioning technologies using various physical resources.
Figure 2 is a configuration diagram of a high-precision position motion acquisition device for virtual reality space service according to the present invention.
Figure 2b is a unit positioning space coordinate diagram of a high-precision position motion acquisition device for virtual reality space service according to the present invention.
Figure 3 is a diagram showing a method of obtaining distance calculation algorithm calculation information through anchors and tags in a high-precision location motion acquisition device for virtual reality space service according to the present invention.
Figure 4 is a diagram showing the concept of a method for obtaining location information using time delay information (time difference information) of a signal sent by a tag according to the present invention.
Figure 5 is a configuration diagram of a high-precision position motion acquisition device (including HMD server) for virtual reality space service according to the present invention.
Figure 6 is a configuration diagram of a high-precision position motion acquisition device for virtual reality space service according to the present invention (including a positioning space in which multiple unit positioning spaces are connected).

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

The present invention provides a high-precision position motion acquisition device for virtual reality space services (or for providing virtual reality space services).

The above-described virtual reality of the present invention should be understood as a concept including virtual reality (VR), augmented reality (AR), and extended reality (eXtended reality (XR)).

The present invention provides a high-precision location motion acquisition device 100 for virtual reality space service, which includes a monitoring server 110, an anchor 120, and a tag 130.

Additionally, the present invention may include a router or switching hub 101 between the monitoring server 110 and the anchor 120, allowing information received from the anchor 120 to be transmitted to the monitoring server 110. .

Additionally, the present invention provides a high-precision position motion acquisition device 100 that further includes a unit positioning space 200.

In addition, the present invention provides a high-precision position motion acquisition device 100 further including an HMD server 300.

Conventional and prior art distance calculation algorithms from multiple APs (Access Points) to terminals mainly use RSSI-type location inference methods, TOA (Time of Arrival), TDOA (Time Difference Of Arrival), and AOA (Angle Of Arrival). ) method, etc., and in this case, the location in the set spatial coordinates is specified by measuring the arrival time of radio waves, sound waves, etc. between multiple APs (Access Points) and the terminal. Since it is a device, after initially setting the time, as time passes, errors occur in the arrival time between the terminal and the AP, making accurate location estimation difficult.

Therefore, the present invention solves the above problems, and the high-precision position motion acquisition device 100 for virtual reality space service of the present invention uses the time differences measured by a plurality of anchors 120 and tags 130 to determine unit positioning. It is characterized by being able to measure the position of a tagged moving object moving in the space 200 with high precision.

In particular, the present invention is a high-precision position movement acquisition device based on wireless technology, which cannot accurately measure the position of a moving object with high precision because the above-described prior art and prior art generate many errors in measuring time differences. By obtaining location information of moving objects (people) and providing precise location information of virtual reality, including VR, AR, and XR, the effect of providing an environment in which precise virtual reality operation is possible is achieved.

The above-mentioned monitoring server 110 of the present invention is a local server and a location motion detection server, meaning a device or means that performs the functions of calculating the location of a moving object (M) attached with a tag, recording and transmitting location movement information.

The above-mentioned moving object (M) generally includes people, animals, objects, etc. and mainly refers to people.

Therefore, the monitoring server 110 described above is equipped with hardware such as an information processing device such as a typical CPU, memory, and data transmission and reception devices, and an application program mounted thereon.

The monitoring server 110 of the present invention holds anchor 120 information, tag 130 information, and spatial information of the unit positioning space 200, and tags 130 and anchors 120 transmitted from the anchor 120. It performs a function of receiving time difference information, measuring and recording the position and movement of the moving object (M), and transmitting all such information to the HMD server 300.

The anchor 120 of the present invention is a device that performs a function of obtaining time difference information between each anchor, time difference information between a tag and an anchor, a base station (Gateway) function, an Ethernet interface function, a digital signal processing function, etc. or means means.

As shown in Figure 2, the anchor 120 of the present invention is composed of one or more anchors in one unit positioning space 200, and preferably composed of four or more anchors to measure the accurate position of the moving object M. It's efficient.

The anchor 120 of the present invention includes an information processing unit 121 such as an MCU (micro controller unit) and CPU, a sensor unit 122, a hardware unit 123 including a memory, an information transmission and reception device, a control device, or/ It is composed of an application program (APP) mounted thereon, and performs the above-described base station (Gateway) function, Ethernet interface function, digital signal processing function, etc.

The information processing device 121 described above refers to a device or means that performs the function of processing various information sent from the sensor unit 122.

The sensor unit 122 refers to a device or means that performs the function of transmitting or receiving radio waves to each anchor 120 or tag 130 and transmitting the detected signal data to the information processing device. Therefore, It performs a function of detecting time difference information between anchors, and performs a function of detecting time difference information between tags and anchors.

The above-mentioned hardware unit 123 refers to a device or means that performs the functions of controlling the anchor, memory function, receiving information, and transmitting the information to the monitoring server 110.

Additionally, the anchor 120 of the present invention includes a synchronization module 124, a tag signal generation module 125, a time difference information module 126, and an anchor-to-anchor time difference information module 127.

The module used in the present invention is a concept that includes a program or control method that implements an algorithm that performs the function to be implemented in the module, or devices and means equipped with them.

The tag 130 of the present invention is a sensing node sensor attached to a moving object and refers to a device or means that performs the function of transmitting a signal to the anchor 120 for location and movement information of the moving object.

The above tag 130 performs a function of transmitting time difference information with the anchors 120.

The above tag 130 is a hardware unit 133 including an information processing unit 131 such as a typical MCU or CPU, a sensor unit 132, memory, an information transmission/reception device, a control device, etc., or/and It can be configured to include an application program (APP).

The information processing device 131 described above refers to a device or means that performs the function of processing various information sent from the sensor unit 132.

The sensor unit 132 performs the function of transmitting a signal (radio wave) to each anchor 120 or receiving a signal from each anchor 120 and transmitting a signal (radio wave) for time difference information to the anchor. It means a device or means that does.

The above-described hardware unit 133 refers to a device or means that performs a tag control function, a memory function, and a function of transmitting and receiving information.

The tag 130 of the present invention has a technical feature in that it includes a unique signal module 134 and a tag signal generation module 135.

The present invention can calculate location information using time difference data generated by the distances to a plurality of anchors 120 and tags 130 in the unit positioning space 200 through a monitoring server driven by a distance calculation algorithm.

Figure 3 shows a method of obtaining distance calculation algorithm calculation information through anchors and tags.

As shown in Figure 3, the location information is obtained by calculating the intersection of the circles, and the time difference data generated by the distance between each anchor 120 and the tag 130 is transmitted through a monitoring server driven by a distance calculation algorithm. It can be calculated.

Figure 3 shows a method of obtaining distance calculation algorithm calculation information through anchors and tags.

As the distance calculation algorithm and method of the present invention, algorithms such as RSSI-type location inference method, TOA (Time of Arrival), TDOA (Time Difference Of Arrival), and AOA (Angle Of Arrival) methods can be used.

The method of sending and receiving signals for positioning a moving object (M) (person or object) located within the unit positioning space 200 is as follows.

Method 1 is a method of obtaining location information by sending a signal from an anchor and receiving a signal reflected from a moving object.

Method 2 is a method of obtaining location information using a signal sent by a tag (sensing node sensor) in response to the anchor's transmitted signal.

The above-described location information acquisition methods 1 and 2 have the problems of the prior art and prior art described above, resulting in the problem that high-precision location information cannot be obtained.

Therefore, the technical feature of the present invention is that the anchor 120 provides a reference synchronization signal and uses a method of obtaining location information using the time delay information of the signal sent by the tag (detection node sensor) according to the synchronized time. am.

Through this method, the present invention attaches a plurality of tags 130 to each part of a moving object (person) located within a unit positioning space to obtain precise and detailed location information about the position of the person's joints and the form of movement. There will be.

Figure 4 shows the concept of a method for obtaining location information using time delay information (time difference information) of a signal sent by the tag 130 according to the present invention.

In Figure 4, a plurality of tags (2 or more) are attached to a moving object (person) such as a tag 130 attached to the chest, a tag 130-1 attached to the left arm, and a tag 130-2 attached to the right arm. It shows that it is possible to detect the exact location and corresponding movement of each part of a moving object within a unit positioning space.

Through this method, it is possible to obtain precise and detailed location information about the position of the person's joints and the form of movement by attaching the tag 130 to a moving object (person) located within the unit positioning space 200.

The technical feature of the present invention is that it enables the accurate location and movement of the moving object M in the unit positioning space 200 to be detected through the following control method using the anchor 120 and the tag 130.

In accordance with the reference synchronization of the anchor 120, the tags 130 transmit their own signals and information for positioning.

There are multiple anchors 120, and the multiple anchors 120 receive signals sent from the tag 130.

The time information included in the received information is time difference data generated by the distance between the anchor 120 and the tag 130, and location information is calculated through this time difference data using the same method as the distance calculation algorithm.

To explain in more detail, the position information of the moving object within the unit positioning space 200 is calculated in the following manner.

First, the present invention involves selecting the main anchor 120 (process 1).

As shown in FIG. 4, a plurality of anchors 120 are installed within the unit positioning space 200, and preferably at least four anchors are installed to ensure accurate anchoring in the unit positioning space 200 of the moving object M. It is advantageous for determining location and movement.

The above-mentioned main anchor 120 can be selected by selecting any one anchor among the plurality of installed anchors 120, and all anchors 120 have the same configuration and function, so any anchor can be the main anchor 120. .

In the present invention, the main anchor 120 selected above performs a function of synchronizing time by sending a synchronization signal to other anchors 120 installed in the unit positioning space 200. (Step 2 )

Synchronizing the times of the anchors 120 described above includes the concept of matching the reference times of all anchors 120.

This synchronization signal is performed by the synchronization module 124 mounted on the anchor 120, and the method of synchronizing the time is when the main anchor 120 transmits a synchronization signal to the other anchors 120, the other anchors 120 ) receives the synchronization signal transmitted in this way from the synchronization reception module 123-1 and synchronizes the time with the main anchor.

As shown in FIG. 2, a large number of anchors 120 are installed in the unit positioning space 200, and accordingly, the distance between each anchor 120 is preset and registered in all anchors 120.

Therefore, due to the speed of the synchronization signal (radio wave) transmitted from the main anchor, a time difference occurs in the synchronization signal reaching the other anchors 120, causing an error in synchronization, so that the main anchor 120 and the other anchors 120 Time correction is performed on the synchronization signal with respect to the distance (L) between them.

Such time correction can be set in the anchor-to-anchor time difference information module 127 by calculating the time correction method using equation (1) below.

Correction time (CT) = Distance between main anchor and anchor (L) / Propagation speed (V) ----Equation (1)

In addition, the above-described inter-anchor time difference information module 127 holds a unique identification code for each anchor 120 and transmits it to the main anchor 120. Accordingly, the main anchor is the main anchor between anchors installed within the unit positioning space 200. Distance can be measured automatically.

As shown in FIG. 2, the unit positioning space 200 has preset coordinates (X-Y-Z coordinates) of a three-dimensional space, and a plurality of anchors 120 are installed at the coordinates (X-Y-Z coordinates) of this three-dimensional space. For example, the distance between the main anchor (200) and anchor 1 (200-1) is set to 25m, and similarly, the distance between anchor 1 (200-1) and anchor 2 (200-2) and anchor 2 (200-1) are set to 25m. When installing with the distance between 2) and anchor 3 (200-3) set to 25m, the above correction time can be directly derived by calculating equation (1).

In addition, the time difference information module 127 between anchors of the present invention has a unique identification code transmission function and a radio wave transmission and reception function, so that each unique identification code of the anchor 120 is transmitted to the main anchor 120 and at the same time the wavelength ( By transmitting radio waves), the time (T1) at which this wavelength reaches the main anchor 120 is determined, and the distance (L) between the main anchor and each anchor can be derived using equation (2).

Distance between main anchor and anchor (L) = Arrival time (T1) × Propagation speed (V) ----Equation (2)

This function of the anchor-to-anchor time difference information module 127 allows the distance between anchors 120 installed in the unit positioning space 200 to be accurately measured and set, so setting spatial coordinates for virtual reality is performed. It performs a function that allows it to be recognized more accurately.

In addition, the distance measurement module (not shown) may be additionally configured in the anchor-to-anchor time difference information module 127 of the present invention, so that even if the user arbitrarily installs the anchors 120 anywhere in the unit positioning space 200, the distance between the anchors 120 is maintained. A function is performed to automatically measure and set the distance, and the setting accuracy of the distance between anchors 120 is significantly increased.

The distance measurement module described above may use a sensor using wavelengths such as sound waves, radio waves, and light waves.

In this way, when the distance (L1) between the freely installed main anchor and the anchor is measured, the time difference information (T2) between the main anchor and other anchors is measured using the equation below.

Time difference information between side anchors (T2) = L1/propagation speed (V) -----Equation (2)-1

With this function, the user can accurately measure and set time difference information between anchors without having to set a certain distance in the unit positioning space 200 and install the anchors 120, thereby significantly improving user convenience.

This synchronization signal of the present invention can use wavelengths such as ordinary sound waves, light waves, and radio waves, and preferably uses radio waves, and such radio waves can be transmitted to other anchors 120 even when there are obstacles. So it is very effective.

The present invention performs a time synchronization process in the main anchor 120 and simultaneously performs a unique signal generation process in the tag 130 to generate the tag's own signal and information for positioning. (Step 3)

When the above-described main anchor generates a unique signal from the tag signal generation module 125, the multiple tags 120 attached to the moving object M generate their own unique signal and information for positioning.

The unique signal of the tag itself refers to the unique identification number or unique identification code of the tags 130 attached to the moving object (M), for example, the tag 130 attached to the chest and the tag 130-1 attached to the left arm. , means a unique identification number or unique identification code that identifies the tag (130-2) worn on the right arm.

Such a tag's own unique signal is generated in the unique signal module 134 of the tag 130.

The information for positioning the tag described above refers to information that allows measuring the distance between the tag 130 and the plurality of anchors 120.

Therefore, information for positioning the tag is generated by the signal generation module 135 of the tag.

Therefore, the information for positioning the tag generated by the signal generation module 132 can use wavelengths such as sound waves, light waves, and radio waves. Preferably, radio waves are used, and such radio waves are used even when there are obstacles. It is very useful because it can be transmitted to the anchor 120.

The technical feature of the present invention is that the time synchronization process (process 2) and the unique signal generation process (process 3) of the main anchor 120 described above are automatically performed in unit time.

By performing a time synchronization process using this unit time, the reference time for all anchors 120 is consistent with the unit time, and time difference information (Time Difference Of A function that significantly increases the accuracy of Arrival is performed.

In the present invention, the anchor 120 performs a process in which the time difference information module 126 generates information for positioning the tag generated by the tag 130 as time difference information (process 4).

This time difference information is information acquired between the tag 130 and the plurality of anchors 120, and all time difference information for the plurality of tags 130 is acquired in unit time.

The multiple tags 130 attached to the moving object (M) change their positions in the unit positioning space 200 as the moving object moves, and the changed tags 130 and the fixed positions in the unit positioning space 200 By measuring the distance to the anchors 120, the exact position of the tag 130 attached to the moving object (M) can be determined in unit time, and when such unit time is continuous (integrated), the unit positioning space 200 The movement of the tag 130 attached to the moving object is obtained.

In addition, a number of tags 130 are attached to the hands, arms, legs, chest, etc. of a moving object (M), and the HMD server implements virtual reality by obtaining information about the location and movement of these tags 130. It is provided to (300) to perform the function of implementing virtual reality more accurately.

The present invention performs a process of transmitting time difference information about the anchor 120 and tag 130 to the monitoring server 110 (step 5).

As shown in FIG. 4, the time difference information is the time difference information between one tag 130 and a plurality of anchors 120 installed in the unit positioning space 200, and all other tags 130-1 and 130-2. and time difference information between a plurality of anchors 120 installed in the unit positioning space 200.

The present invention calculates the distance between the tag 130 and the anchor 120 using the time difference information for the multiple anchors 120 and the tag 130 received from the monitoring server 110 and provides the distance information. Perform the creation process. (6 processes)

The process of generating distance information (TL) between the above-mentioned tag 130 and anchors 120 can be obtained by equation (3) below.

Distance information (TL) = Time difference information (ΔT) × Propagation speed (V) -----Equation (3)

When the distance information of the multiple anchors 120 to one tag 3 as described above and the coordinates of the unit positioning space 200 are integrated as a function of time, accurate location information for one tag 130 is obtained. and movement information can be obtained.

In the present invention, all information (anchor information, tag information, unit positioning space information, distance information, etc.) obtained from the monitoring server 110 is transmitted to the HMD server 300 and used as information for implementing virtual reality.

The physical interface for interworking between the position movement monitoring server 110 and the VR HMD server 300 of the high-precision position motion acquisition device of the present invention uses wired Ethernet, and data is transmitted and received according to the TCP/IP standard, and high-precision position Messages can be delivered from the motion acquisition device server through IP registration of the VR HMD server.

With this configuration, the present invention performs the function of measuring the position and movement of a moving object (M) to which a tag 130 is attached in the unit positioning space 200 with high precision.

In addition, in the conventional technology for measuring position and movement, the length of the unit positioning space 200 had to be implemented at a small scale of about 25 m, whereas the present invention forms a plurality of unit positioning spaces 200 and measures the internal positioning space 200. When the anchors 120 are installed, the characteristic of being able to accurately measure the position and movement of the moving object (M) within the positioning space with high precision appears, even if the length of the positioning space is set to 100 m or more.

Due to these characteristics of the present invention, the position and movement of a moving object (M) (a person) can be measured in a positioning space the size of a soccer field.

As shown in Figure 6, the present invention has a plurality of unit positioning spaces 200 installed, and the unit positioning spaces 200 are unit positioning space 1 (200), unit positioning space 2 (200-1), and unit positioning space 2 (200-1). A technical feature is that it can be a positioning space composed by connecting space 3 (200-3), unit positioning space 4 (200-4), ----, and unit positioning space n (200-n).

In this case, the above unit positioning space 1 (200), unit positioning space 2 (200-1), unit positioning space 3 (200-3), unit positioning space 4 (200-4), unit positioning space n (200-n) )'s length is indicated as L1, L2, L3, L4 ---- Ln.

In this case, the unit positioning spaces (200, 200-1, 200-2 ---- 200-n) each have a main anchor (120') set inside the unit positioning space and an anchor (120') installed therein. -1, 120'-2, 120'-3)), the moving object (M) moved from the unit positioning space (200) to another unit positioning space (200-1, 200-2 ---- 200-n) When the time difference information with the tag 130 installed in is received from the main anchor 120' and transmitted to the monitoring server 110, the time difference information in the unit positioning space (200-1, 200-2 ---- 200-n) The exact location and movement of the tag 130 can be measured.

Therefore, this function of the present invention has the effect of accurately identifying the position and movement of the moving object (M) even when the length (L1 + L2 + L3 + L4) of the positioning space connected to the unit positioning space is 100 m or more, which is wider than a soccer field. It appears.

The present invention provides a high-precision position motion acquisition device for virtual reality space service consisting of the above-mentioned configuration and functions.

The present invention is very useful in industries that produce, manufacture, sell, distribute, and research high-precision position and motion acquisition devices for realizing and providing virtual reality spatial services.

In particular, the present invention is very useful in industries that produce, manufacture, sell, distribute, and research high-precision position and motion acquisition devices for realizing and providing extended reality (XR) spatial services.

High-precision position motion acquisition device (100) for virtual reality space services,
Monitoring server (110),
Router or switching hub (101),
Anchor 120, information processing device 121, sensor unit 122, hardware unit 123,
Synchronization module 124, tag signal generation module 125, time difference information module 126, time difference information module between anchors (127),
Tag 130, information processing device 131, sensor unit 132, hardware unit 133,
Unique signal module (134), tag signal generation module (135),
HMD server (300),

Claims (4)

It consists of a monitoring server (110), an anchor (120), and a tag (130).
The anchor 120 includes a synchronization module 124, a tag signal generation module 125, a time difference information module 126, and an anchor-to-anchor time difference information module 127.
The above tag 130 is composed of a unique signal module 134 and a signal generation module 135 of the tag,
The process of selecting the main anchor (120) (process 1),
The main anchor 120 selected in step 1 performs the function of synchronizing time by sending a synchronization signal from the synchronization module 124 to other anchors 120 installed in the unit positioning space 200 (step 2) ), but
The inter-anchor time difference information module 127 performs time correction on the synchronization signal with respect to the distance (L) between the main anchor 120 and the other anchors 120,
Time correction is set by the calculation [correction time (CT) = distance between main anchor and anchor (L) / propagation speed (V)],
The above-described inter-anchor time difference information module 127 has a unique identification code transmission function and a radio wave transmission/reception function, so it transmits each unique identification code of the anchor 120 to the main anchor 120 and simultaneously transmits a wavelength to determine the wavelength. By determining the time (T1) of reaching the main anchor (120), the distance (L) between the main anchor and each anchor is calculated using the formula [Distance (L) between main anchor and anchor = Arrival time (T1) × Propagation speed ( V)] performs an automatic derivation function,
The above-mentioned inter-anchor time difference information module 127 is additionally configured with a distance measurement module using radio waves, so that when the anchors 120 are arbitrarily installed anywhere in the unit positioning space 200, the distance between the anchors 120 is automatically measured. ,
When the distance (L1) between the arbitrarily installed main anchor and the anchor is measured, the time difference information (T2) between the main anchor and other anchors is measured using the calculation formula [time difference information between anchors (T2) = L1 / propagation speed (V)]. Time correction is made between the anchors 120 described above,
A unique signal generation process (process 3) that performs the time synchronization process in the main anchor 120 and simultaneously generates the tag's own signal and information for positioning in the tag 130;
The anchor 120 generates information for positioning the tag generated by the tag 130 as time difference information in the time difference information module 126 (process 4),
A process of transmitting time difference information about the anchor 120 and tag 130 to the monitoring server 110 (step 5),
A process of generating distance information by calculating the distance between the tag 130 and the anchors 120 using the time difference information about the anchor 120 and the tag 130 transmitted in step 5 (step 6),
High-precision positioning for virtual reality space service, characterized in that it performs a function of measuring the position and movement of a moving object (M) attached with a tag 130 in the unit positioning space 200 with high precision through a process including. Motion acquisition device 100.
According to paragraph 1,
A virtual reality space service that further includes an HMD server 300 and performs a function of measuring the position and movement of a moving object (M) with a tag 130 attached in the unit positioning space 200 with high precision. High-precision position motion acquisition device (100) for.
According to paragraph 1,
A router or switching hub 101 is included between the above-mentioned monitoring server 110 and the anchor 120, and performs the function of transmitting the information received from the anchor 120 to the monitoring server 110, thereby forming a unit positioning space 200. ) A high-precision position motion acquisition device 100 for a virtual reality space service, characterized in that it performs a function of measuring the position and movement of a moving object (M) attached with a tag 130 with high precision.
According to any one of claims 1 to 3,
Characterized in that it performs a function of measuring the position and movement of a mobile object (M) to which a tag 130 is attached with high precision in the unit positioning space 200, which further includes a unit positioning space 200. High-precision position motion acquisition device (100) for virtual reality space services.