KR102643308B1 - A Positioning System and Method thereof using Signal Strength, Distance and Azimuth - Google Patents

Abstract

In the present invention, a plurality of receivers receive a wireless signal transmitted from a wireless signal transmitting device, the received wireless signal is transmitted to a server, the server measures the location of the wireless signal transmitting device, and then the receiver receives the wireless signal from the transmitter. A positioning system and method that can increase the reliability of position measurement by calculating the unit position using signal strength, determining the final unit position with increased accuracy of the unit position by adding the distance and azimuth to the transmitter, and selecting the final position through synthesis. It's about.

Description

A positioning system and method using signal strength, distance and azimuth}

In the present invention, a plurality of receivers receive a wireless signal transmitted from a wireless signal transmitting device, the received wireless signal is transmitted to a server, the server measures the location of the wireless signal transmitting device, and then the receiver receives the wireless signal from the transmitter. A positioning system and method that can increase the reliability of position measurement by calculating the unit position using signal strength, determining the final unit position with increased accuracy of the unit position by adding the distance and azimuth to the transmitter, and selecting the final position through synthesis. It's about.

Attempts are being made to attach a wireless signal transmitting device (hereinafter referred to as a 'transmitter') to a person or object to track their location and provide various services such as preventing and finding missing children and tracking location during logistics movement. In such an attempt, a separate receiver (hereinafter referred to as 'receiver') receives the wireless signal transmitted from a transmitter that transmits wireless signals such as BLE (Bluetooth Low Energy) beacon, Wi-Fi, Bluetooth, ZigBee, and UWB. It is done by measuring the position of the transmitter based on the intensity.

Until now, triangulation/trilateration and wireless fingerprint methods have been used to measure location. However, the wireless signal transmitted from the transmitter is unstable to the extent that its value changes from moment to moment even at the same point due to numerous factors such as other radio waves, temperature, humidity, objects, and people. Therefore, when the location is measured based on an unstable wireless signal, even if the terminal is at the same point, the wireless signal of the transmitter that the receiver receives changes from time to time, so it appears as if the location of the transmitter has changed. This reliability problem can be said to be a major drawback in attempts to measure the location of a transmitter using wireless signals so far. Therefore, a process of normalizing unstable wireless signals into reliable and stable wireless signals is essential, and the present invention started in this context.

[Prior patent literature]

Republic of Korea Patent Publication No. 10-2014-0119333 “Positioning method and device for improving location accuracy”

It was designed to solve the problems of the prior art,

The purpose of the present invention is to select a predetermined number of receivers in order of signal strength among the receivers that receive the wireless signal from the transmitter and to determine the unit position among the remaining receivers based on the receiver showing the strongest wireless signal strength among the wireless signals of these receivers. The aim is to provide a positioning system and method that can increase the reliability of position measurement by calculating and combining these multiple unit positions to select the final position.

Another object of the present invention is that the position measurement unit further includes a final unit position calculation unit that determines the final unit position by additionally calculating the distance and azimuth of the transmitter and receiver with respect to the first unit position, and the final unit The position calculation unit is a second unit position determination module that determines the second unit position of the transmitter based on the distance and azimuth between the transmitter and receiver measured from the receiver, and calculates the second unit position with the first unit position determined by the unit position calculation unit. It includes a final unit position determination module that determines the final unit position, and the final position determination unit calculates a plurality of final unit positions to determine the final position of the transmitter, thereby reducing errors caused by measurement values of different characteristics. The goal is to provide a positioning system and method that allows more accurate location measurement.

Another object of the present invention is that the final unit position determination module determines the final unit position close to the unit position where the area connecting each unit position is smaller among the first and second unit positions measured for each receiver. The final unit position is calculated to be weighted in inverse proportion to the ratio of the square root of the area formed by the plurality of first unit positions and the second unit position, so that the position of the transmitter is measured based on a more accurate unit position. The goal is to provide a positioning system and method that improve the accuracy of location measurement.

Another object of the present invention is that the final unit position determination module calculates the final unit position of each receiver by calculating the second unit position of the strongest receiver with the first unit position of the strongest receiver and the lowest receiver, thereby increasing the speed of position measurement. The goal is to provide a positioning system and method that can quickly do this.

Another object of the present invention is to calculate the distance between the receiver that currently received the wireless signal and the previous location of the transmitter, and if it is greater than a predetermined distance threshold, exclude the receiver from the location measurement process of the transmitter, thereby ensuring reliability of location measurement. The goal is to provide a positioning system and method that can increase .

Another object of the present invention is that, if the difference between the wireless signal strength of the receiver receiving the strongest wireless signal and the remaining receivers is greater than a predetermined signal strength threshold, the transmitter is located adjacent to the receiver receiving the strongest wireless signal. The goal is to provide a positioning system and method that can increase the reliability of location measurement.

Another object of the present invention is a positioning system and method that improves accuracy by adding the distance and azimuth of the transmitter to the position measurement process using the existing wireless signal strength by using the distance and azimuth of the transmitter coming through the AoA receiver. is to provide

The present invention is implemented by the following embodiments to achieve the above-described object.

According to one embodiment of the present invention, the positioning system of the present invention includes a plurality of receivers that receive wireless signals transmitted from a transmitter, and a server that receives wireless signal information from the plurality of receivers, and the server is located at the location. A receiver list decision unit that specifies the number of receivers to participate in the decision, and a final unit that determines the location of the transmitter based on the signal strength or signal strength, distance, and azimuth of the wireless signal of each receiver on the receiver list determined by the receiver list decision unit. It is characterized by comprising a position measurement unit having a position determination unit.

According to another embodiment of the present invention, in the positioning system of the present invention, the receiver list determination unit sorts the receiver list in the order of receivers showing strong signal strength within a predetermined number of ranges, and the position measuring unit sorts the strongest receiver and the lowest receiver. It includes a unit position calculation unit that calculates the first unit position of the transmitter between the strongest receiver and at least one lower-level receiver based on the signal strength of the stronger receiver, and the first unit position is defined on a straight line between the strongest receiver and the lower-level receiver. It is characterized by

According to another embodiment of the present invention, the positioning system of the present invention includes a final unit position calculation unit in which the position measurement unit determines the final unit position by additionally calculating the first unit position including the distance and azimuth of the transmitter and the receiver. It further includes a second unit position determination module, wherein the final unit position calculation unit determines the second unit position of the transmitter based on the distance and azimuth between the transmitter and the receiver measured from the receiver, and the unit position calculation unit determines the second unit position. It includes a final unit position determination module that determines the final unit position by calculating the first unit position determined in, and the final position determination unit determines the final position of the transmitter by calculating a plurality of final unit positions.

According to another embodiment of the present invention, the positioning system of the present invention is characterized in that the final unit position determination module determines the final unit position by calculating the average of the first unit position and the second unit position measured for each receiver. do.

According to another embodiment of the present invention, in the positioning system of the present invention, the final unit position determination module has a smaller area of the area connecting each unit position among the first unit position and the second unit position measured for each receiver. It is characterized by determining the final unit position close to the unit position.

According to another embodiment of the present invention, in the positioning system of the present invention, the final unit position is calculated by being weighted in inverse proportion to the ratio of the square root of the area of the area formed by the plurality of first unit positions and the second unit position. It is characterized by

According to another embodiment of the present invention, in the positioning system of the present invention, the final unit position determination module calculates the second unit position of the strongest receiver with the first unit position of the strongest receiver and the lowest receiver to determine the final unit position of each receiver. It is characterized by calculating .

According to another embodiment of the present invention, in the positioning system of the present invention, the receiver list determination unit sorts the receiver list in the order of receivers showing the strongest signal strength within a predetermined number of ranges, and the position measuring unit arranges the receiver list with the strongest signal strength within a predetermined number of ranges. If the signal strength difference value between the receiver and the lower-level receiver is greater than a predetermined signal strength threshold, it is characterized in that it additionally includes a proximity determination unit that determines that the transmitter is adjacent to the strongest receiver.

According to another embodiment of the present invention, in the positioning system of the present invention, the receiver list determination unit calculates the distance between the receiver that currently transmits the wireless signal and the previous location of the transmitter, and if it is greater than the distance threshold, selects the corresponding receiver as the receiver. It is characterized by reducing errors in position measurement by excluding them from the list.

The present invention has the following effects by virtue of the above-described configuration.

The present invention calculates the unit position with the signal strength of the receiver that receives the wireless signal from the transmitter, determines the final unit position with increased accuracy of the unit position by adding the distance and azimuth to the transmitter, and selects the final position by combining the results. This has the effect of increasing the reliability of measurement.

In the present invention, the position measurement unit further includes a final unit position calculation unit that determines the final unit position by additionally calculating the first unit position including the distance and azimuth of the transmitter and the receiver, and the final unit position calculation unit determines the final unit position of the receiver. A second unit position determination module that determines the second unit position of the transmitter based on the distance and azimuth between the transmitter and receiver measured from the second unit position, and calculates the second unit position with the first unit position determined in the unit position calculation unit to obtain the final unit position. It includes a final unit position determination module that determines, and the final position determination unit calculates a plurality of final unit positions to determine the final position of the transmitter, thereby reducing errors caused by measurement values of different characteristics and providing a more accurate position. Make it measurable.

In the present invention, the final unit position determination module determines the final unit position close to the unit position in which the area connecting each unit position is smaller among the first and second unit positions measured for each receiver, and The final unit position is calculated to be weighted in inverse proportion to the ratio of the square root of the area formed by the plurality of first unit positions and the second unit position, thereby measuring the position of the transmitter based on a more accurate unit position to increase the accuracy of position measurement. It has the effect of improving.

In the present invention, the final unit position determination module calculates the final unit position of each receiver by calculating the second unit position of the strongest receiver with the first unit position of the strongest receiver and the lowest receiver, thereby speeding up the position measurement. there is.

The present invention calculates the distance between the receiver that currently received the wireless signal and the previous location of the transmitter, and if it is greater than a predetermined distance threshold, the receiver can be excluded from the location measurement process of the transmitter to increase the reliability of location measurement. It has an effect.

The present invention determines that the transmitter is located adjacent to the receiver receiving the strongest wireless signal when the difference between the wireless signal strength of the receiver receiving the strongest wireless signal and the remaining receivers is greater than a predetermined signal strength threshold. This has the effect of increasing the reliability of measurement.

1 is a diagram showing a positioning system and method according to an embodiment of the present invention.
Figure 2 is a block diagram of a wireless signal normalization system according to an embodiment of the present invention.
Figure 3 is a block diagram of the wireless signal normalization unit shown in Figure 2.
FIG. 4 is a diagram illustrating a cue in which wireless signal strength, distance, and azimuth are input by the wireless signal normalization unit shown in FIG. 2.
Figure 5 is a block diagram of the position measurement unit shown in Figure 2.
Figure 6 is a flowchart showing a wireless signal normalization method and a positioning method using the same according to an embodiment of the present invention.
Figure 7 is a flow chart of the wireless signal normalization step shown in Figure 6.
Figure 8 is a flow chart of the signal strength determination step shown in Figure 7.
Figure 9 is a flow chart of the position measurement step shown in Figure 6.
Figure 10 is a flow chart of the receiver list determining step shown in Figure 9.
Figure 11 is a diagram showing the state of use of the positioning method according to an embodiment of the present invention.
Figure 12 is a diagram comparing the area formed by the first unit positions of each receiver and the area formed by the second unit positions.
Figure 13 is a diagram showing that the transmitter 1 is located within the area formed by the final unit positions.

Hereinafter, the glenoid base plate of the artificial shoulder joint according to the present invention will be described in detail with reference to the attached drawings. It should be noted that like elements in the drawings are represented by like symbols wherever possible. Additionally, detailed descriptions of well-known functions and configurations that may unnecessarily obscure the gist of the present invention are omitted. Unless otherwise specified, all terms in this specification have the same general meaning as understood by a person skilled in the art to which the present invention pertains, and if there is a conflict with the meaning of the terms used in this specification, this specification Follow the definitions used in the specification. Throughout the specification, when a part "includes" a certain component, this does not mean excluding other components unless specifically stated to the contrary, but also means that other components may also be included. Terms such as “~unit” described mean a unit that processes at least one function or operation. In addition, when certain components are said to be "connected," this is not limited to the components being directly contacted and fastened to each other, but also includes being connected through other components, and even if not connected, a certain amount of force or energy can be transmitted. It may mean that it is arranged so that Terms such as "1st~" and "2nd~" may be used to indicate the same or substantially the same configuration in a different order, and may be used to indicate the same or substantially the same configuration as the configuration without "1st", "2nd", etc. It can be interpreted as a composition. Hereinafter, the present invention will be described in detail by explaining preferred embodiments of the present invention with reference to the accompanying drawings.

1 is a diagram illustrating a positioning system and method according to an embodiment of the present invention.

Referring to Figure 1, the positioning system of the present invention includes a plurality of receivers (B1, B2, B3,,,,,,, Bn) that receive wireless signals transmitted from a transmitter, receive wireless signals from them, and determine signal strength, It includes a server 3 that measures the location of the transmitter by receiving wireless signal information including distance, azimuth, and identification information for the receiver. Here, the server may be located remotely or nearby the receiver, and two-way or one-way communication between the server and the receiver is possible through wired or wireless communication channels, the Internet, etc. In addition, the server may be configured separately from the receiver, but it is not excluded that it may be installed together with any one of multiple receivers. After receiving the wireless signal transmitted from the transmitter, the receiver measures the distance between the transmitter and the receiver and the azimuth of the direction in which the transmitter is located based on the receiver. At this time, the azimuth is expressed as the angle formed with the reference vector by projecting the direction of the transmitter perpendicular to the reference plane in a spherical coordinate system. The reference vector for azimuth measurement can be true north or magnetic north, and increases clockwise based on north.

As seen previously, the receivers (B1, B2, B3,,,,,,, Bn) receive wireless signals from a transmitter that transmits wireless signals such as BLE (Bluetooth Low Energy) beacons, Wi-Fi, Bluetooth, and ZigBee. As a device, a plurality of devices are placed at regular intervals according to a predetermined design in a space where it is necessary to measure the position of the transmitter through interaction with the transmitter. In Figure 1, four receivers are installed at four points, and a transmitter (1) is located between the points.

The transmitter periodically transmits a wireless signal, for example, can be set to transmit 2 to 4 times per second, and can be set appropriately taking battery life into consideration.

The receiver (B1, B2,,,, Bn) receives a wireless signal transmitted from the transmitter, and must be equipped with a means for receiving a wireless signal, for example, a smartphone, a beacon scanner, etc. .

The server 3 includes a wireless signal normalization unit 10 that normalizes the received wireless signal and a position measurement unit 20 that measures the location of the transmitter based on the normalized wireless signal or the non-normalized wireless signal.

The wireless signal transmitted by the transmitter is unstable to the extent that its value changes from time to time even at the same point due to numerous factors such as radio waves with different strengths, temperature, humidity, objects, and people. Therefore, if the strength, distance, and azimuth of the received wireless signal are used for position measurement without processing, the reliability of the position measurement will inevitably be lowered. The wireless signal normalization unit 10 serves to normalize the wireless signal strength, distance, and azimuth of each received receiver. As shown in FIG. 3, it includes a receiving unit 11, a signal strength determination unit 12, It includes a list management unit (15), a regular signal strength calculation unit (16), a regular distance calculation unit (17), and a regular azimuth calculation unit (18).

As shown in Figure 1, a plurality of receivers (B1, B2, B3,,,,,,, Bn) installed in the space where the transmitter 1 is located receive the wireless signal transmitted by the transmitter and measure its strength and distance. , measure the azimuth. In theory, the strength of the wireless signal received by the receiver can be said to be greater the closer the receiver is to the transmitter (1). However, as seen earlier, wireless signals are unstable due to various factors, so the closest receiver has a lower signal strength than the farthest receiver. You can also show it. When the location is measured based on this signal strength, it can be confirmed that the transmitter is located near the farthest receiver, not the nearest receiver. That is, in the case of Figure 1, the receivers (B1, B2, B3,,,,,,, Bn) must measure the signal strength in the order B1>B2>B3>B4, but due to the instability of the wireless signal, the signal strength received by the receiver There are frequent cases where the signal strength is measured to be greater for receiver B4 than for receiver B1, and if the position is measured based on this, the transmitter (1) can be expressed as being located close to receiver B4. This corresponds to an error in the location measurement of the terminal. For this reason, a normalization process that stably converts wireless signals is required. It is desirable that this equally applies to the distance and azimuth measured by each receiver. In the case of Figure 1, each receiver (B1, B2, B3,,,,,,, Bn) must measure the distance in the order B1<B2<B3<B4, but due to the instability of the wireless signal, as in the case of signal strength, B4 The receiver can be measured to be closer than the B1 receiver.

The signal strength determination unit 12 takes into account the fact that the physically possible range in which the transmitter can move for a certain period of time is limited, and considers the difference value of the signal strength of the generated wireless signal and the maximum fluctuation width C to determine the current signal strength. is decided. For example, the distance a transmitter can move during a certain period of time can be defined as a physical limit, and it is impossible to move beyond that physical limit for a certain period of time.

The maximum fluctuation range C is the difference between the previous signal strength of the transmitter and the next signal strength when the transmitter moves, which means the maximum physically possible value and can be set by the user. For example, when a transmitter approaches from receiver B1 to B4, the wireless signal strength of receiver B1, which receives the transmitter's wireless signal, decreases, and the wireless signal strength of receiver B4, which receives the transmitter's wireless preference, increases. There is a physically possible range of fluctuations in signal strength that can occur due to the movement of (1). Fluctuations in signal strength, which means fluctuations in the distance that the transmitter cannot travel in a short period of time, cause instability in the wireless signal.

Subsequently, the signal strength determination unit 12 uses the current signal strength as the input signal without change when the difference E between the previous signal strength and the current signal strength of the same receiver is less than the maximum variation range C. This means that if the difference value E is less than the maximum fluctuation range C, the transmitter has moved within the physically possible range, and the current signal strength is used as is. However, if the difference value E of the signal strength is greater than the maximum variation range C, the current signal strength is determined as follows.

When the difference value E of the signal strength is greater than the maximum fluctuation range C, the signal strength determination unit 12 adds the maximum fluctuation range C to the previous signal strength when the current signal strength of the same receiver is greater than the previous signal strength to the current signal strength. If the current signal strength of the same receiver is lower than the previous signal strength, the maximum fluctuation width C is subtracted from the previous signal strength and replaced with the current signal strength. At this time, it is desirable that the previous signal strength has a value greater than the maximum fluctuation width C.

The list management unit 15 inputs the wireless signal determined by the signal strength determination unit into the queues Q1, Q2, Q3, and Q4 as shown in FIG. 4, and when the number of input signal strengths exceeds the set number. The oldest signal strength is deleted. Referring to FIG. 4, the signal strengths of the five wireless signals transmitted from receiver B1 are the signal strengths of the five wireless signals determined by the signal strength determination unit seen above input to queue Q1, and the signal strengths of five wireless signals are input to queue Q1, and queues Q2, Q3, and Q4 are all input. Through the same process, the wireless signal strengths of receivers B2, B3, and B4 are input. At the same time, the distance is input to Q5, Q6, Q7, and Q8, and the azimuth is input to Q9, Q10, Q11, and Q12, and the number of data input to the queue is determined according to the standards of the signal strength determination unit of the list management unit 15.

The regular signal strength calculation unit 16 averages the signal strengths filled when the predetermined number of queues are filled and defines it as the signal strength of the corresponding receiver. As can be seen in FIG. 4, the average value derived from reference numeral A becomes the wireless signal strength, and the average value of Q1 to Q4 is used for positioning. Therefore, the signal strength that changed over five times in each receiver is stabilized by the average value. For example, receiver B1 shows signal strengths of -54, -59, -55, -62, and -60, but the average value is -58, receiver B2 has an average value of -64.8, and transmitter B3 has -72.4. becomes -82.

The regular distance calculation unit 17 averages the filled distance when the specified number of queues is filled and defines it as the distance between the corresponding receiver and the transmitter. In FIG. 4, the average value derived from reference numeral A can be defined as the distance, and the average value of Q5 to Q8 defined as the distance is used for positioning. Therefore, it is stabilized by the average value of the distance that changed over 5 times in each receiver. For example, receiver B1 shows distances of 2, 2.1, 1.9, 2, 2.2, but the average value is 2.04, receiver B2 has an average value of 1.92, receiver B3 is 1.88, and receiver B4 is 2.08.

The regular azimuth calculation unit 18 averages the filled azimuths when the specified number of queues is filled and defines them as the azimuth of the corresponding transmitter. As can be seen in FIG. 4, it is the average value of reference symbol A and is defined as the azimuth, and the average value of Q9 to Q12 is used for positioning as the azimuth. Therefore, it is stabilized by the average value of the azimuth that changed five times in each receiver. For example, receiver B1 shows azimuths of 260, 255, 257, 264, and 262, but the average value is 259.6, receiver B2 shows the average value 259.4, receiver B3 shows 260.2, and receiver B4 shows 260.6.

Below, we will look at the position measuring unit 20 according to an embodiment of the present invention.

Referring to FIG. 5, the position measuring unit 20 measures the position of the transmitter 1 based on the signal strength, distance, and azimuth of the normalized wireless signal seen previously or the wireless signal that has not gone through the normalization process, and the receiver list It includes a determination unit 21, an adjacent determination unit 22, a unit position calculation unit 23, a final unit position calculation unit 24, and a final position determination unit 25.

The receiver list determination unit 21 defines the number of receivers that will participate in positioning, and sorts the receiver list in the order of receivers showing strong signal strength within a predetermined number of ranges. Referring to FIG. 1, when four receivers are used to determine the location of the receiver, these receiver lists include information sorted in the following order: B1, B2, B3, and B4. Here, the receiver showing the strongest wireless signal strength is named the strongest receiver, and the remaining receivers are named the weakest receivers. The number of these receivers can be changed as needed. As the number increases, the accuracy of location measurement increases, but there is a problem that the time for location measurement increases due to an increase in the amount of data. Therefore, it is appropriate to take into account the number and spacing of installed receivers. It is desirable to select appropriately.

The receiver list determination unit 21 calculates the distance between the previous location of the transmitter and the receiver that received the current wireless signal of the transmitter, and if it is greater than the distance threshold F, excludes the corresponding receiver from the receiver list to prevent errors in position measurement. Reduce. If the distance from the previous position of the transmitter (1) among the receivers in the receiver list is greater than the distance between the previous positions of other receivers and the transmitter, the wireless signal transmitted from the corresponding receiver is considered unstable and excluded to prevent errors in position measurement. To reduce this, a distance threshold F is defined, and if the distance between the previous location of the transmitter and the receiver that currently received the wireless signal of the transmitter exceeds the distance threshold F, the corresponding receiver can be deleted from the list.

The proximity determination unit 22 determines whether the transmitter 1 is located adjacent to a predetermined receiver in a space where a plurality of receivers are installed. If the signal strength difference value R between the strongest receiver and the next-generation receiver is greater than or equal to a predetermined signal strength threshold G, it is determined that the transmitter is adjacent to the strongest receiver, and the coordinates of the strongest receiver are determined as the location of the transmitter. For example, if the receiver is installed on the ceiling or in a high place, unless the transmitter is brought very close to the receiver, the strength of the wireless signal will not be as strong as when it is adjacent, so the calculation is performed according to the unit position calculation unit described later. When doing so, it is determined that the transmitter is located at a predetermined point between the strongest receiver and the lowest receiver. However, as above, if the signal strength difference value R according to the adjacent judgment unit is greater than the signal strength threshold G, the location of the transmitter is immediately changed to the location of the strongest receiver. This increases the accuracy of location measurement. In this case, the calculation by the unit position calculation unit below is not performed.

The unit position calculation unit 23 calculates the first unit position of the transmitter between the strongest receiver and the lowest receiver among the receivers in the receiver list determined by the receiver list determination unit. As seen previously, within the receiver list, the Chagang receiver refers to all receivers other than the strongest receiver, and the first unit position is the position of the transmitter on a straight line connecting the strongest receiver and the remaining Chagang receivers. As shown in Figure 11, the coordinates of receiver B1 are P ₁ , the coordinates of receiver B2 are P ₂ , the coordinates of receiver B3 are P ₃ , the coordinates of receiver B4 are P ₄ , and the first unit position is the strongest receiver B1. Coordinates P ₁ , coordinates of the transmitter on a straight line between the strongest receiver B1 and Chagang receiver B2 P ₁₂ , coordinates of the transmitter on a straight line between the strongest receiver B1 and Chagang receiver B3 P ₁₃ , on a straight line between the strongest receiver B1 and Chagang receiver B4 The coordinates of the transmitter are P ₁₄ . The first unit position can be calculated using various formulas. For example, the unit position P _1n can be determined by the following formula.

P _1n =P _n -(P _n -P ₁ )valueR/G

R: The difference in signal strength between the strongest receiver and the lowest receiver

G: Signal strength threshold

P _1n : The first unit position of the transmitter on a straight line between the strongest receiver and the lowest receiver.

P _n : Position coordinates of the lowest receiver. P ₁ : Position coordinates of the highest receiver.

It is preferable to include the coordinates of the strongest receiver in the first unit location because it can increase the accuracy of location measurement. Additionally, whether or not to include the coordinates of the strongest receiver used for position measurement in the first unit position may vary depending on the formula.

The final unit position calculation unit 24 is configured to determine the final unit position by additionally calculating the first unit position, including the distance and azimuth of the transmitter and the receiver, and the first unit position of the transmitter determined by the unit position determination unit. The accuracy of the final unit position is increased by calculating the second unit position of the transmitter determined by the distance and azimuth of the transmitter and receiver. As described above, the first unit position is a point located on the straight lines connecting the strongest receiver and the lowest receiver, but the transmitter 1 is actually located at one point among the areas between the plurality of receivers, Even if the coordinates of one unit position are averaged, a certain amount of error may occur with the actual location of the transmitter. In order to minimize the resulting error, the final unit position calculation unit 24 determines the second unit position that can have coordinates that deviate from the straight lines connecting the strongest receiver and the lowest receiver through data of a different nature from the signal strength. By determining and calculating the final unit position through the second unit position and the previously derived first unit position, the error between the measured position and the position of the transmitter can be further reduced. The final unit position calculation unit 24 includes a second unit position determination module 241 and a final unit position determination module 243.

The second unit position determination module 241 determines the second unit position of the transmitter based on the distance and azimuth between the transmitter and the receiver measured from the receiver. The second unit location may be derived from at least one of the distance and azimuth between the transmitter and the receiver, but may preferably be calculated based on both the distance and azimuth between the transmitter and the receiver. It is preferable that the distance and azimuth angle used in determining the second unit position are the normalized distance and azimuth angle described above. As shown in FIG. 11, the distance between the receiver B2 and the position Pf of the transmitter is D2, the azimuth is Z2, and the second unit position (P ₂₂ ) can be calculated using the distance and azimuth. The second unit position (P _2n ) is calculated in the same way for other receivers.

The final unit position determination module 243 calculates the second unit position (P _2n ) with the first unit position (P _1n ) determined in the unit position calculation unit to determine the final unit position (P _3n ). The normal distance and normal azimuth from each receiver normalized in the above-described normal distance calculation unit 17 and normal azimuth calculation unit 18 respectively represent predetermined position coordinates. The normal distance (Dn) and normal azimuth (Zn) from each receiver may not represent the same position coordinates. This is due to the instability and normalization of the wireless signal, and the second unit position (P _2n ) measured by the normal distance (Dn) and normal azimuth (Zn) measured at each receiver has a certain error with the actual location of the transmitter. . At this time, the error between the second unit position and the actual position of the transmitter (P _f ) occurs when measuring based on the measured distance and azimuth, and the first unit position (P _1n ) defined based on the signal strength The error between the actual position of the transmitter (P _f ) and its nature are different. When these errors are combined and smoothed, errors caused by measurement values of different characteristics can be reduced, allowing for more accurate position measurement. Therefore, the measurement error can be minimized by calculating the final unit position (P _3n ) by calculating the average of the first unit position (P _1n ) and the second unit position (P _2n ).

In one embodiment of the present invention, the first unit position (P _1n ) and the second unit position (P _2n ) may be averaged to determine the final unit position. In a preferred embodiment of the present invention, when determining the final unit position, the final unit position (P _3n ) can be derived by averaging the first unit position (P _1n ) and the second unit position (P _2n ) for each receiver. there is.

In another embodiment of the present invention, the final unit position may be calculated at a different ratio depending on the area area between the first unit location (P _1n ) and the area area between the second unit location (P ₂₂ ) of each receiver. Referring to FIG. 12, the first unit position (P _1n ) and the second unit position (P ₂₂ ) may be calculated differently from a plurality of receivers depending on the type of receiver, and _the The area between the area and the second unit position (P ₂₂ ) may also be calculated differently. If the area between the second unit positions (P _2n ) is smaller than the area between the first unit positions (P _1n ), the second unit position (P _2n ) can be estimated as a relatively accurate unit position. there is. In this case, the final unit position is not derived by calculating the average of the first unit position (P _1n ) and the second unit position (P _2n ), but the final unit position (P _3n ) is derived close to the second unit position (P _2n ). If possible, weights can be applied to the calculation. Accordingly, the final unit position determination module 243 of the present invention determines the final unit position close to the unit position where the error is smaller between the first unit position and the second unit position, that is, the area of the area connecting the plurality of unit positions is smaller. The location can be determined.

At this time, the ratio of the areas of the first unit location (P _1n ) and the second unit location (P _2n ) is proportional to the square of the distance between each unit location, so the square root of the area of the area formed by each unit location It can be calculated by weighting so that it is inversely proportional to the ratio of . Therefore, as shown in the equation below, the final unit position (P _3n ) can be determined as a position that divides the first unit position (P _1n ) and the second unit position (P _2n ) at a set ratio according to the area formed by each unit position. there is.

P _1n : 1st unit position of receiver (Bn) P _2n : 2nd unit position of receiver (Bn)

A ₁ : Area of the area formed by the first unit positions

A ₂ : Area of the area formed by the second unit positions

In another embodiment of the present invention, the final unit position can be calculated based on the second unit position of the strongest receiver. Depending on the application or system, measuring the position of the transmitter may require minimal calculations or require a fast time. In this case, the distance and azimuth from the strongest receiver are estimated as the most accurate second unit position (P ₂₁ ), and the first By calculating the final unit position with the unit position, the calculation speed can be reduced and the positioning of the transmitter can be measured more quickly.

The final position determination unit 25 determines the final position of the transmitter using the plurality of final unit positions. As shown in FIG. 13, the final position P _f exists in the space enclosed when the final unit positions P ₃₁ , P ₃₂ , P ₃₃ , and P ₃₄ are connected with a straight line. For example, the average value of these four coordinates is The final position is calculated through Since the final position is calculated through this process, the position of the transmitter can be captured as close to the actual position. The final location revealed through this process can be displayed on a map to express the current location, and various location information-based services can be provided, such as identifying information about the location of children or logistics.

Below, a positioning method according to an embodiment of the present invention will be described. The positioning method combines the final unit positions calculated through a plurality of first unit positions derived based on the signal strength between the transmitter and receiver and the second unit positions derived based on the distance and azimuth between the transmitter and receiver. By selecting the final location of the transmitter, the reliability of position measurement can be increased. By using the distance and azimuth of the transmitter coming through the AoA receiver, the distance and azimuth of the transmitter are added to the position measurement process using the existing wireless signal strength. This can increase accuracy. The positioning method includes a wireless signal normalization method (S3) and a position measurement method (S5).

The applicant will look at the wireless signal normalization method (S3) below with reference to FIGS. 6 to 8. According to another embodiment of the present invention, the wireless signal normalization method of the present invention includes a wireless signal receiving step (S30) of receiving wireless signals from a plurality of receivers, a maximum fluctuation width setting step (S31), a signal strength determining step (S34), It includes a list management step (S35), a signal strength average step (S37), a distance average step (S38), and an azimuth average step (S39).

The wireless signal reception step (S30) is a step in which the receiving unit 11 receives the wireless signal transmitted by each receiver and transmits it to the signal strength determination unit 12.

The maximum fluctuation width setting step (S31) refers to the maximum physically possible value as the difference between the previous signal strength of the transmitter and the current signal strength that can be physically measured when the transmitter moves, and is the step in which the maximum fluctuation width C is set. .

The signal strength determination step (S34) is a step of detecting the movement of the transmitter and determining the signal strength by linking the maximum fluctuation range C with the signal strength of the wireless signal of the receiver received from the receiver. A signal strength determination step (S341), It includes a signal intensity increase step (S343) and a signal intensity decrease step (S345).

The signal strength determination step (S341) determines whether the difference between the current signal strength of the wireless signal received by the receiver and the previous signal strength is greater than or less than the maximum fluctuation width C.

The maximum fluctuation range C refers to the maximum physically possible value as the difference between the previous signal strength of the transmitter and the next signal strength when the transmitter moves. For example, when a transmitter approaches from receiver B1 to B4, the wireless signal strength of receiver B1, which receives the transmitter's wireless signal, decreases, and the wireless signal strength of receiver B4, which receives the transmitter's wireless preference, increases. There is a physically possible range of fluctuations in signal strength that can occur due to the movement of (1). Fluctuations in signal strength, which means fluctuations in the distance that the transmitter cannot travel in a short period of time, cause instability in the wireless signal.

In the signal strength determination step (S341), if the difference value E between the previous signal strength and the current signal strength of the same receiver is less than the maximum variation range C, the current signal strength is used as the input signal without change. This means that if the difference value E is less than the maximum fluctuation range C, the transmitter has moved within the physically possible movement range, and the current signal strength is used as is. However, if the difference value E of the signal strength is greater than the maximum variation range C, the signal strength increase step and signal strength decrease step are performed as follows.

The signal strength increase step (S343) is a step where, if the current signal strength of the same receiver is greater than the previous signal strength, the previous signal strength is replaced with the current signal strength by adding the maximum fluctuation width C, and the signal strength decrease step (S345) is the same. If the current signal strength of the receiver is smaller than the previous signal strength, this is the step of subtracting the maximum fluctuation range C from the previous signal strength and replacing it with the current signal strength.

The signal strength derivation step (S347) is a step of determining the final signal strength through the signal strength determination step (S341), signal strength increase step (S343), and signal strength decrease step (S345).

The list management step (S35) is a step of inputting a certain number of signal strengths output from the signal strength determination step for each receiver into a queue and deleting the oldest signal strength. The wireless signal determined in the signal strength determination unit is input to the queues (Q1, Q2, Q3, Q4) as shown in FIG. 4, and when the number of input signal strengths exceeds the set number, the oldest signal strength is deleted. do. Referring to FIG. 4, the signal strengths of the five wireless signals transmitted from receiver B1 are the signal strengths of the five wireless signals determined by the signal strength determination unit seen above input to queue Q1, and the signal strengths of five wireless signals are input to queue Q1, and queues Q2, Q3, and Q4 are all input. Through the same process, the wireless signal strengths of receivers B2, B3, and B4 are input.

The signal strength averaging step (S37) is a step of defining the average value of the signal strength input to the queue through the list management step as the signal strength of the corresponding receiver. When the specified number of queues is filled, the filled signal strength is averaged and defined as the signal strength of the corresponding receiver. In FIG. 4, reference numeral A is the average value and represents the wireless signal strength, and this value is used for location determination. Therefore, the signal strength that changed over five times in each receiver is stabilized by the average value. For example, receiver B1 shows signal strengths of -54, -59, -55, -62, -60, but the average value is -58, receiver B2 has an average value of -64.8, receiver B3 -72.4, and receiver B4 becomes -82.

The distance average step (S38) is a step in which the average value of the distance input into the queue through the list management step is defined as the distance between the transmitter and the receiver. When the specified number of queues is filled, the filled distance is averaged and defined as the distance between the transmitter and receiver. In FIG. 4, the average value indicated by reference numeral A can be defined as the distance, and the average value of Q5 to Q8 defined as the distance is used for positioning. Therefore, it is stabilized by the average value of the distance that changed over 5 times in each receiver. For example, receiver B1 shows distances of 2, 2.1, 1.9, 2, 2.2, but the average value is 2.04, receiver B2 has an average value of 1.92, receiver B3 is 1.88, and receiver B4 is 2.08.

The azimuth average step (S39) is a step in which the average value of the azimuth input into the queue through the list management step is defined as the azimuth of the corresponding transmitter. When the specified number of queues is filled, the filled azimuths are averaged and defined as the azimuth of the corresponding transmitter. As can be seen in FIG. 4, it is the average value of reference symbol A and is defined as the azimuth, and the average value of Q9 to Q12 is used for positioning as the azimuth. Therefore, it is stabilized by the average value of the azimuth that changed five times in each receiver. For example, receiver B1 shows azimuths of 260, 255, 257, 264, and 262, but the average value is 259.6, receiver B2 shows the average value 259.4, receiver B3 shows 260.2, and receiver B4 shows 260.6.

The applicant will look at the transmitter position measurement method with reference to FIGS. 6 and 9 to 12 below.

Referring to FIG. 9, the position measurement method measures the position of the transmitter 1 based on the normalized wireless signal or the non-normalized signal strength seen earlier, and includes a receiver list determination step (S51) and a proximity determination step (S53). ), unit position calculation step (S55), final unit position calculation step (S56), and final position determination step (S57).

The receiver list determination step (S51) includes a receiver number setting step (S511) that defines the number of receivers that will participate in positioning, and a receiver sorting step that sorts the receiver list in order of receivers showing strong signal strength within a predetermined number of ranges ( S513). Referring to FIG. 1, when four receivers are used to determine the location of a transmitter, these receiver lists include information sorted in the following order: B1, B2, B3, and B4. The number of these receivers can be changed as needed. As the number increases, the accuracy of position measurement increases, but there is a problem in that the time for position measurement increases due to an increase in the amount of data, so it is necessary to select them appropriately.

The receiver list determination step (S51) calculates the distance between the previous location of the transmitter and the receiver that currently transmits the wireless signal, and if it is greater than the distance threshold F, excludes the corresponding receiver from the receiver list to reduce the error in position measurement. An exclusion step (S515) is additionally included. If the distance from the previous location of the transmitter among the receivers in the receiver list is greater than the distance between the previous location of other receivers and the transmitter, the wireless signal transmitted from the corresponding receiver is considered unstable and excluded to reduce errors in location measurement. Define the distance threshold F, and if the distance exceeds the distance threshold F, the corresponding receiver is deleted from the list.

The proximity determination step (S53) determines if the transmitter 1 is located adjacent to a predetermined receiver in a space where multiple receivers are installed. If the signal strength difference value R between the strongest receiver and the next-generation receiver is greater than or equal to a predetermined signal strength threshold, it is determined that the transmitter is adjacent to the strongest receiver, and the coordinates of the strongest receiver are determined as the location of the transmitter. For example, if the receiver is installed on the ceiling or in a high place, unless the transmitter is brought very close to the receiver, the strength of the wireless signal will not be as strong as when it is close to the receiver. Therefore, calculation is performed according to the unit position calculation section below. In this case, it is determined that the transmitter is located at a predetermined point between the strongest receiver and the lowest receiver. However, if the difference value R is greater than the signal strength threshold G according to the proximity determination step as above, the location of the receiver is determined as the location of the strongest receiver. This increases the accuracy of location measurement. In this case, the calculation in the unit position calculation step below is not performed.

The unit position calculation step (S55) calculates the first unit position of the transmitter between the strongest receiver and the lowest receiver among the receivers in the receiver list determined by the receiver list determination step. As seen previously, within the receiver list, the Chagang receiver refers to all receivers other than the strongest receiver, and the first unit position is the position of the terminal on a straight line connecting the strongest receiver and the remaining Chagang receivers. As shown in Figure 11, the coordinates of receiver B1 are P ₁ , the coordinates of receiver B2 are P ₂ , the coordinates of receiver B3 are P ₃ , the coordinates of receiver B4 are P ₄ , and the first unit position is the strongest receiver B1. Coordinates P ₁ , coordinates of the transmitter on a straight line between the strongest receiver B1 and Chagang receiver B2 P ₁₂ , coordinates of the transmitter on a straight line between the strongest receiver B1 and Chagang receiver B3 P ₁₃ , on a straight line between the strongest receiver B1 and Chagang receiver B4 The coordinates of the transmitter are P ₁₄ . The first unit position can be calculated using various formulas. For example, the unit position P _1n is determined by the formula discussed above.

It is preferable to include the coordinates of the strongest receiver in the first unit location because it can increase the accuracy of location measurement. Additionally, whether or not to include the coordinates of the strongest receiver used for position measurement in the unit position may vary depending on the formula.

The final unit position calculation step (S56) is a step of determining the final unit position by additionally calculating the first unit position, including the distance and azimuth of the transmitter and receiver. The accuracy of position measurement can be increased by determining the final unit position by calculating the first unit position and the second unit position of the transmitter determined by the distance and azimuth of the transmitter and receiver. As described above, the first unit position is a point located on the straight lines connecting the strongest receiver and the lowest receiver, but the transmitter 1 is actually located at one point among the areas between the plurality of receivers, Even if the coordinates of one unit position are averaged, a certain amount of error may occur with the actual location of the transmitter. In order to minimize the resulting error, the final unit position calculation unit 24 determines the second unit position that can have coordinates that deviate from the straight lines connecting the strongest receiver and the lowest receiver through data of a different nature from the signal strength. By determining and calculating the final unit position through the second unit position and the previously derived first unit position, the error between the measured position and the position of the transmitter can be further reduced. The final unit position calculation step (S56) includes a second unit position determination step (S561) and a final unit position determination step (S563).

The second unit position determination step (S561) determines the second unit position of the transmitter based on the distance and azimuth between the transmitter and the receiver measured from the receiver. It is preferable that the distance and azimuth angle used in determining the second unit position are the normalized distance and azimuth angle described above. As shown in FIG. 11, the distance between the receiver B2 and the position Pf of the transmitter is D2, and the azimuth is Z2, and the second unit position (P ₂₂ ) can be calculated using the distance and azimuth. The second unit position (P _2n ) is calculated in the same way for other receivers.

In the final unit position determination step ( _S563 ), the final unit position (P _3n ) is determined by calculating the second unit position (P 2n) with the first unit position (P _1n ) determined in the unit position calculation unit. In one embodiment of the present invention, the first unit position (P _1n ) and the second unit position (P _2n ) may be averaged to determine the final unit position. In a preferred embodiment of the present invention, when determining the final unit position, the final unit position (P _3n ) can be derived by averaging the first unit position (P _1n ) and the second unit position (P _2n ) for each receiver. there is.

In another embodiment of the present invention, the final unit position may be calculated at a different ratio depending on the area area between the first unit location (P _1n ) and the area area between the second unit location (P ₂₂ ) of each receiver. Referring to FIG. 12, the first unit position (P _1n ) and the second unit position (P ₂₂ ) may be calculated differently from a plurality of receivers depending on the type of receiver, and _the The area between the area and the second unit position (P ₂₂ ) may also be calculated differently. If the area between the second unit positions (P _2n ) is smaller than the area between the first unit positions (P _1n ), the second unit position (P _2n ) can be estimated as a relatively accurate unit position. there is. In this case, the final unit position is not derived by calculating the average of the first unit position (P _1n ) and the second unit position (P _2n ), but the final unit position (P _3n ) is derived close to the second unit position (P _2n ). If possible, weights can be applied to the calculation. Accordingly, in the final unit position determination step (S563) of the present invention, the final unit is close to the unit position where the error is smaller between the first unit position and the second unit position, that is, the area of the area connecting the plurality of unit positions is smaller. The location can be determined. As described above, in one embodiment of the present invention, the calculation may be weighted in inverse proportion to the ratio of the square root of the area of the area formed by each unit position.

In another embodiment of the present invention, the final unit position can be calculated based on the second unit position of the strongest receiver. Depending on the application or system, measuring the position of the transmitter may require minimal calculations or require a fast time. In this case, the distance and azimuth from the strongest receiver are estimated as the most accurate second unit position (P ₂₁ ), and the first By calculating the final unit position with the unit position, the calculation speed can be reduced and the positioning of the transmitter can be measured more quickly.

The final position determination step (S57) determines the final position of the transmitter using the plurality of final unit positions. As shown in Figures 11 and 12, the final position P _f exists in the space surrounded by connecting the unit positions P _31, P ₃₂ , P ₃₃ , and P ₃₄ with a straight line, for example, the average value of these four coordinates The final position is calculated through . Since the final location is calculated through this process, the location of the terminal can be captured as close to the actual location. The final location revealed through this process can be displayed on a map to express the current location, and location information-based services such as information on the location of children or logistics can be provided.

Although the applicant has looked at embodiments that implement the technical details of the present invention above, the scope of the present invention is not limited to the above embodiments and should be interpreted as including various changes and modifications.

b1, b2,,,,bn: Receiver 1: Transmitter 3: Server
10: Wireless signal normalization unit 11: Receiving unit 12: Signal strength determination unit
15: List management unit 16: Regular signal strength calculation unit 17: Regular distance calculation unit
18: Regular azimuth calculation unit
20: Position measurement unit 21: Receiver list determination unit 22: Adjacency determination unit
23: unit position calculation unit 24: final unit position determination unit
241: Second unit position determination module 243: Final unit position determination module
25: final position determination unit
S3: Wireless signal normalization method
S30: Wireless signal reception step S31: Maximum fluctuation width setting step S34: Signal strength determination step
S35: List management step S37: Signal strength average step S38: Distance average step
S39: Azimuth average step
S5: Position measurement method
S51: Receiver list decision step S53: Adjacent decision step
S55: Unit position calculation step S56: Final unit position calculation step
S57: Final positioning step

Claims (17)

It includes a plurality of receivers that receive wireless signals transmitted from a transmitter, and a server that receives wireless signal information from the plurality of receivers,
The server includes a receiver list determination unit that defines the number of receivers to participate in position determination, a unit position calculation unit that calculates the first unit position of the transmitter according to the radio signal of each receiver on the receiver list determined by the receiver list determination unit, and a transmitter. It includes a position measurement unit having a final unit position calculation unit that derives the second unit position and calculates the final unit position of the transmitter together with the first unit position, and a final position determination unit that determines the position of the transmitter based on the final unit position. positioning system. The positioning method of claim 1, wherein the first unit position is determined based on the signal strength of the transmitter and the receiver, and the second unit position is determined based on at least one of the distance and azimuth of the transmitter and the receiver. system. According to claim 2, wherein the receiver list determination unit sorts the receiver list in the order of receivers showing strong signal strength within a predetermined number of ranges, and the unit position calculation unit determines the strongest receiver and the strongest receiver based on the signal strength of the strongest receiver and the lowest receiver. Calculate the first unit position of the transmitter between at least one car steel receiver,
The first unit position is a positioning system characterized in that it is defined on a straight line between the strongest receiver and the lowest receiver. The method of claim 3, wherein the final unit position calculation unit includes a second unit position determination module that determines the second unit position of the transmitter based on the distance and azimuth between the transmitter and the receiver measured from the receiver, and the unit position calculation unit that determines the second unit position. It includes a final unit position determination module that determines the final unit position by calculating with the first unit position determined in,
A positioning system characterized in that the final position determination unit determines the final position of the transmitter by calculating a plurality of final unit positions. The positioning system according to claim 4, wherein the final unit position determination module determines the final unit position by calculating the average of the first unit position and the second unit position measured for each receiver. The method of claim 4, wherein the final unit position determination module determines the final unit position closer to the unit position where the area of the area connecting each unit position is smaller among the first and second unit positions measured for each receiver, , The final unit position is calculated by being weighted in inverse proportion to the ratio of the square root of the area formed by the plurality of first unit positions and the second unit position. The positioning system of claim 4, wherein the final unit position determination module calculates the final unit position of each receiver by calculating the second unit position of the strongest receiver with the first unit position of the strongest receiver and the lowest receiver. According to any one of claims 1 to 7,
The receiver list determination unit sorts the receiver list in the order of receivers showing strong signal strength within a predetermined number of ranges,
The position measurement unit further comprises a proximity determination unit that determines that the transmitter is adjacent to the strongest receiver if the difference in signal strength between the strongest receiver and the lowest-cost receiver in the receiver list is greater than a predetermined signal strength threshold. system. The method of any one of claims 1 to 7, wherein the receiver list determination unit calculates the distance between the receiver that currently transmits the wireless signal and the previous location of the transmitter, and, if it is greater than the distance threshold, selects the corresponding receiver from the receiver list. A positioning system characterized by reducing errors in position measurement by excluding them.
A receiver list determining step in which wireless signal information is transmitted to a server from a plurality of receivers that receive wireless signals transmitted from a transmitter and defines the number of receivers to participate in position determination, and each receiver on the receiver list determined by the receiver list determining step. A unit position calculation step of calculating the first unit position of the transmitter according to the wireless signal, a final unit position calculation step of deriving the second unit position of the transmitter and calculating the final unit position of the transmitter together with the first unit position, and the above A positioning method including a final position determination step of determining the position of the transmitter based on the final unit position. The method of claim 10, wherein the first unit position is determined based on the signal strength of the transmitter and the receiver, and the second unit position is determined based on at least one of the distance and azimuth of the transmitter and the receiver. method. The method of claim 11, wherein the receiver list determining step sorts the receiver list in the order of receivers showing strong signal strengths within a predetermined number of ranges, and the unit position calculation step is based on the signal strengths of the strongest receiver and the lowest receiver. Calculate the first unit position of the transmitter between the receiver and at least one car steel receiver,
The first unit position is a positioning method characterized in that it is defined on a straight line between the strongest receiver and the lowest receiver. The method of claim 12, wherein the final unit position calculation step is a second unit position determination step of determining the second unit position of the transmitter based on the distance and azimuth between the transmitter and the receiver measured from the receiver, and the second unit position is determined by the unit position calculation unit. It includes a final unit position determination step of determining the final unit position by calculating with the first unit position determined in,
The final position determination step is a positioning method characterized in that the final position of the transmitter is determined by calculating a plurality of final unit positions. The method of claim 13, wherein the final unit position determination step determines the final unit position close to the unit position in which the area of the area connecting each unit position is smaller among the first and second unit positions measured for each receiver, ,
The positioning method characterized in that the final unit position is calculated by being weighted in inverse proportion to the ratio of the square root of the area formed by the plurality of first unit positions and the second unit position. The positioning method according to claim 13, wherein the final unit position determining step determines the final unit position by calculating the average of the first unit position and the second unit position measured for each receiver. According to any one of claims 10 to 15,
The receiver list determination step sorts the receiver list in the order of receivers showing strong signal strength within a predetermined number of ranges, and the positioning method determines the signal strength difference between the strongest receiver of the receiver list and the lowest receiver at a predetermined signal strength threshold. If the value is greater than or equal to the value, the positioning method further includes a proximity determination step in which the transmitter is determined to be adjacent to the strongest receiver. The method of any one of claims 10 to 15, wherein the receiver list determining step calculates the distance between the receiver that currently transmits the wireless signal and the previous location of the transmitter, and if it is greater than the distance threshold, the corresponding receiver is placed in the receiver list. A positioning method characterized by reducing the error in position measurement by excluding from.

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