KR20090036675A - Indoor position tracking for moving objects using ubiquitous sensor network - Google Patents

Indoor position tracking for moving objects using ubiquitous sensor network Download PDF

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KR20090036675A
KR20090036675A KR1020070101833A KR20070101833A KR20090036675A KR 20090036675 A KR20090036675 A KR 20090036675A KR 1020070101833 A KR1020070101833 A KR 1020070101833A KR 20070101833 A KR20070101833 A KR 20070101833A KR 20090036675 A KR20090036675 A KR 20090036675A
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data
location
mcu
rfid
building
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정해성
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(주)원이앤씨
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K19/00—Record carriers for use with machines and with at least a part designed to carry digital markings
    • G06K19/06—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
    • G06K19/067—Record carriers with conductive marks, printed circuits or semiconductor circuit elements, e.g. credit or identity cards also with resonating or responding marks without active components
    • G06K19/07—Record carriers with conductive marks, printed circuits or semiconductor circuit elements, e.g. credit or identity cards also with resonating or responding marks without active components with integrated circuit chips
    • G06K19/0723—Record carriers with conductive marks, printed circuits or semiconductor circuit elements, e.g. credit or identity cards also with resonating or responding marks without active components with integrated circuit chips the record carrier comprising an arrangement for non-contact communication, e.g. wireless communication circuits on transponder cards, non-contact smart cards or RFIDs
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G06K7/10009—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves
    • G06K7/10237—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves the reader and the record carrier being capable of selectively switching between reader and record carrier appearance, e.g. in near field communication [NFC] devices where the NFC device may function as an RFID reader or as an RFID tag

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Toxicology (AREA)
  • Health & Medical Sciences (AREA)
  • Theoretical Computer Science (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Computer Hardware Design (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Electromagnetism (AREA)
  • General Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

An indoor position tracking for moving objects using a ubiquitous sensor network is provided to detect a moving object by transmitting a distance of RFID tag entering indoor. An interior location tracking system is composed of a terminal, 16Bit MCU, and a sensor, and an RFID reader transmits data to a Zigbee module. The converted distance data is transmitted to the 16Bit MCU, and data are computed and exact position data are found. A real location is searched by mapping the calculated data to the MAP inside of the building. The real location information is transmitted and the location of the moving body is recognized clearly.

Description

센서네트워크를 이용한 실내 이동체 위치추적 기술{Indoor Position Tracking for Moving objects using Ubiquitous Sensor Network}Indoor Position Tracking for Moving objects using Ubiquitous Sensor Network}

본 발명은 실내에서 이동하는 물체나 사람의 위치추적 방법에 관한 것으로, 더욱 상세하게는 센서 네트워크와 이동체에 붙어있는 인식표를 이용하여, 이동체의 위치를 추적하는 방법에 관한 것이다. The present invention relates to a method for tracking the location of an object or person moving indoors, and more particularly, to a method for tracking the position of a moving object using a sensor network and a tag attached to the moving object.

현재 사용되고 있는 위치추적기술은 GPS를 이용한 방법, 카메라를 이용한 영상처리기법, 초음파센서를 이용한 기법 등이 있으며, GPS를 이용한 방법이 가장 많이 사용되고 있다. 하지만 GPS를 이용한 방법은 실내에서는 사용할 수 없다는 단점을 가지며, 카메라를 이용한 위치 추적 방법은 데이터량과 연산량이 너무 많아서 실제 시스템을 구축하기에는 어려우며 초음파센서를 이용한 기법은 각 센서들 간의 간섭현상이 심하게 발생하므로 실시간 위치추적 기술에는 적합하지 않다. Currently, the location tracking technology is used using a GPS method, an image processing method using a camera, a method using an ultrasonic sensor, and the method using a GPS is most frequently used. However, the GPS-based method has a disadvantage that it cannot be used indoors, and the location tracking method using the camera has a large amount of data and computational amount, making it difficult to construct a real system. Therefore, it is not suitable for real-time location tracking technology.

이에 실내에서 이동체의 정확한 위치를 추적하기 위해서 높은 인식률을 보장하는 RFID를 사용하며, RFID에서 얻은 데이터를 처리하기 위한 MCU, 그리고 RFID와 MCU사이의 데이터를 무선으로 송수신하기 위해 ZigBee모듈을 이용한다.In order to track the exact position of the moving object indoors, we use RFID which guarantees high recognition rate, MCU to process data obtained from RFID, and ZigBee module to wirelessly transmit and receive data between RFID and MCU.

GPS를 이용한 자동차의 목적지 안내, 물류의 이동경로 추적 등의 기술이 상용화되어있는 단계지만 실내나 터널 등 GPS신호가 수신되지 않는 지역에서는 위치추적이 불가능하다. 또 인공위성을 사용하기 때문에 수신된 위치정보는 실제 위치와 5m정도의 오차를 가진다 .GPS is the stage of commercialization of car destination guidance and logistics movement route tracking, but location tracking is impossible in areas where GPS signals are not received, such as indoors and tunnels. Also, because of the use of satellites, the received location information has an error of about 5m from the actual location.

이에 본 발명은 실내에서의 위치추적문제와 오차범위 최소화를 해결하기 위해 발명된 것으로, 실내에 설치된 RFID리더기가 실내로 진입한 RFID Tag의 거리정보를 MCU로 전송하며, MCU는 전송받은 거리 정보를 이용해 위치를 파악한다. 이 시스템으로 실내에서 이동체의 상당히 정확한 위치인식방법을 제공함에 그 목적이 있다.Therefore, the present invention was invented to solve the problem of location tracking and minimizing the error range in the room. The RFID reader installed in the room transmits the distance information of the RFID tag entered into the room to the MCU, and the MCU transmits the received distance information. Use it to determine the location. The purpose of this system is to provide a fairly accurate position recognition method of the moving object indoors.

본 발명의 다른 목적은 실내위치추적 기술을 기반으로 목적지인 건물 내부의 MAP정보를 제공하여 장애인이 특정장소에서 장애인 시설을 이용할 수 있는지 여부, 장애인시설의 위치안내 및 처음 가보는 건물 내부의 위치안내와 이동 경로안내 방법을 제공하는 것에 있다.Another object of the present invention is to provide the MAP information of the interior of the building as a destination based on the indoor location tracking technology whether the disabled can use the disabled facilities in a specific place, the location guide of the disabled facilities and the location guide for the first visit And to provide a route guidance method.

상기와 같은 목적을 달성하기 위한 본 발명은 RFID Tag가 건물내부로 진입 시 Tag인식 단계와 RFID리더기에서 MCU로의 데이터 전송단계 그리고 MCU에서 이용자 단말이나 PC로의 데이터 전송단계로 진행하여 이용자 단말에 내장되어 있는 MAP정보에 MCU로부터 받은 위치 데이터를 MAPPING하여 위치를 인식하는 단말기위치인식단계로 구성된 것을 특징으로 한다.The present invention for achieving the above object is embedded in the user terminal by proceeding to the tag recognition step when the RFID tag enters the building and the data transfer step from the RFID reader to the MCU and the data transfer step from the MCU to the user terminal or PC. Characterized in that the terminal location recognition step of recognizing the location by MAPPING the location data received from the MCU to the MAP information.

본 발명은 RFID Tag와 RFID리더기간에 송 수신되는 식별자 및 거리정보를 가지고 연산을 통해 현재위치를 파악하므로 실내에서 상당히 정확한 위치정보를 얻을 수 있으며, 저렴한 비용으로 시스템을 구성할 수 있는 장점을 가진다.또한 이미 완공된 건물에서도 설치가 가능하며, 향후 건물 내부의 MAP정보를 가지고 안내서비스를 시작하게 된다면 지금의 차량용 네비게이션과 같은 기능을 수행할 수 있을 것이다.The present invention has the advantage that the system can be obtained at a low cost because the current position can be obtained by calculating the current position by using the identifier and distance information transmitted and received during the RFID tag and the RFID reader period. In addition, it can be installed in a building that has already been completed, and if the guidance service is started with MAP information in the building in the future, it will be able to perform the same function as the current vehicle navigation.

이하, 본 발명을 첨부된 도면에 의거 상세히 설명한다. 도1에 도시된 바와 같이 실내위치추적 시스템은 RFID Tag가 내장되어있는 단말과 16Bit MCU, RFID와 ZigBee가 결합 되어있는 센서로 구성되어 있다.Hereinafter, the present invention will be described in detail with reference to the accompanying drawings. As shown in FIG. 1, the indoor location tracking system is composed of a terminal in which an RFID tag is embedded, a sensor in which a 16-bit MCU, an RFID, and a ZigBee are combined.

이용자의 단말에는 목적지인 실내의 MAP정보가 다운로드 되어 있어야하며, 다운로드 되어 있지 않은 단말의 경우에는 인터넷을 통해 MAP정보를 다운로드 한다.The MAP information of the indoor destination, which is the destination, must be downloaded to the user's terminal. In the case of the terminal that is not downloaded, the MAP information is downloaded through the Internet.

또한, 이용자 단말에는 고유 식별번호가 부여된 RFID Tag가 부착되어 있다.In addition, an RFID tag to which a unique identification number is attached is attached to the user terminal.

건물 내부에는 RFID리더기와 ZigBee가 결합 된 센서가 도 1의 검은 동그라미와 같은 위치에 적절히 배치되어 있으며, 건물 내부에는 센서로부터 받은 데이터의 연산을 수행하는 MCU가 한 개 이상 설치되어 있다.Inside the building, a sensor combined with an RFID reader and ZigBee is properly placed in the same location as the black circle in Fig. 1, and at least one MCU is installed inside the building to perform data calculation from the sensor.

RFID리더기들은 10ms단위로 전파를 발신해 주위에 있거나 있을지도 모 르는 RFID Tag를 검지한다. 이때 RFID Tag가 부착된 단말을 가진 이용자가 건물에 진입하면 건물 내부에 배치되어 있는 RFID리더기가 Tag로부터 입력된 식별번호와 전파의 세기를 SCAN하게 된다. RFID readers transmit radio waves in units of 10ms to detect RFID tags that may or may be nearby. At this time, when a user having a terminal with an RFID tag enters a building, the RFID reader disposed inside the building scans the identification number inputted from the tag and the strength of radio waves.

이 경우 한 개의 RFID리더기에서만 Tag를 SCAN하는 것이 아니라 인접한 여러 개의 RFID리더기에서 데이터를 SCAN한다.In this case, the tag is not scanned by a single RFID reader but by multiple adjacent RFID readers.

SCAN단계에서는 RFID Tag의 고유 식별번호와 각 RFID리더기 별 전파의 세기를 데이터로 가지고 있게 된다.In the SCAN step, data having the unique identification number of the RFID tag and the strength of radio waves for each RFID reader are included.

또한 도 2와 같이 여러 개의 RFID Tag가 같은 건물 내부에 밀집해 있는 경우에도 각 Tag들이 가지고 있는 고유 식별 번호들 때문에 동시에 여러 개의 이동체를 SCAN할 수 있다.In addition, even when several RFID tags are concentrated in the same building as shown in FIG. 2, the mobile devices can simultaneously scan several moving objects due to the unique identification numbers of the respective tags.

SCAN한 데이터들은 도 3과 같이 RFID와 연결된 ZigBee모듈을 통해서 무선으로 건물내부에 설치된 MCU에게 데이터를 전송하는 단계를 거친다.SCAN data goes through the step of transmitting data to the MCU installed in the building wirelessly through the ZigBee module connected to the RFID as shown in FIG.

MCU에 전송된 데이터들은 식별자 별로 저장되며, 인접한 RFID리더기에서 받은 데이터들이 같은 시간대별로 저장된다. Data sent to the MCU is stored for each identifier, and data received from adjacent RFID readers are stored for the same time zone.

저장된 전파의 세기 데이터는 RFID리더기와 RFID Tag간의 거리를 의미하며, 인접한 RFID리더기에서 받은 데이터들과 비교하여 정확한 위치를 추정할 수 있다.The strength data of the stored radio wave means the distance between the RFID reader and the RFID tag, and the accurate position can be estimated by comparing the data received from the adjacent RFID reader.

이를 위해 삼각측량법을 실시하며, RFID리더기의 위치는 삼각형으로 배치가 되어 있을수록 정확한 위치 값을 알아낼 수 있다.For this purpose, triangulation is performed, and as the position of the RFID reader is arranged in a triangle, an accurate position value can be found.

삼각측량법이란 삼각형 모양 안에서 이동하는 물체의 위치를 추적할 수 있는 계산법이다. Triangulation is a method of tracking the position of a moving object within a triangle shape.

실내에서 움직이는 이동체의 중심좌표를 P라 하면 P = [x, y, z]이며, 이동체를 사람이라 가정하면 사람의 왼발의 속도를 VL, 오른발의 속도를 VR로 나타내며, 양발 사이의 길이를 L이라고 한다.그러면 VL : VR = R-(L/2) : R+(L/2)가 되며, R = L/2(VR+VL/VR-VL)이 된다.P = [x, y, z] is the center coordinate of the moving object moving indoors. Assuming the moving object is a human, the speed of the left foot is represented by VL, the speed of the right foot is represented by VR, and the length between both feet is L. Then, VL: VR = R- (L / 2): R + (L / 2), and R = L / 2 (VR + VL / VR-VL).

이동체가 임의의 A지점에서 임의의 B지점으로 이동한다면 도 4에 의거 회전반경과 이동거리, 회전각도 그리고 선형속도 및 회전속도 값을 얻을 수 있다.If the moving body moves from any point A to any point B, the rotation radius, the moving distance, the rotation angle, and the linear and rotation speed values can be obtained based on FIG. 4.

도 4에 의거 얻어진 거리와 회전 반경 값을 가지고 시작점에서부터 이동한 거리를 계산해 이동체의 위치를 추적한다.The distance traveled from the starting point is calculated using the distance and the radius of rotation values obtained based on FIG. 4 to track the position of the moving object.

약 1초마다 새로운 연산을 수행해 오차를 수정하며, RFID리더기를 효과적으로 배치할수록 오차의 범위가 줄어들게 된다.The error is corrected by performing a new operation about every second, and the more effectively the RFID reader is placed, the smaller the error range.

이러한 연산은 RFID리더기와 ZigBee가 결합 되어있는 센서로부터 데이터를 받은 16Bit MCU에서 이루어지며, MCU는 순차적으로 RFID리더기에서 송신되는 데이터를 받아서 처리한다.These operations are performed on 16Bit MCUs that receive data from sensors that combine RFID reader and ZigBee, and the MCU sequentially receives and processes the data transmitted from RFID reader.

MCU에서 연산 된 위치 데이터는 MCU메모리에 저장되어있는 건물 내부의 MAP정보와 MAPPING과정을 거친다.The location data calculated by MCU goes through MAP information and MAPPING process in the building stored in MCU memory.

건물 내부의 MAP정보와 연산 된 위치 데이터를 비교해 실제 건물 내부에서의 위치데이터를 얻어낸다.The location data inside the building is obtained by comparing the calculated location data with the map information inside the building.

만약 연산 된 데이터 값이 X = 8, Y = 10이라고 한다면, MAP에서 실제 그 좌표가 있는지 검색하고, 계산된 좌표가 없는 경우에는 그와 인접한 좌표를 위치데이터로 결정하도록 하는 MAPPING과정을 거친다.If the calculated data value is X = 8, Y = 10, the MAP searches for the actual coordinates and if there are no calculated coordinates, it performs the MAPPING process to determine the coordinates adjacent to it as the location data.

위와 같은 방법으로 실제 위치 데이터가 나왔다면 그 데이터는 사용자의 단말에 전송하며, 이때 사용자 단말에서는 이미 저장된 MAP의 위치 정보가 넘어오므로, 전송받은 데이터와 일치하는 MAP상의 위치를 확인 시켜주기만 하면 된다.If the actual location data comes out in the same way as above, the data is transmitted to the user's terminal. In this case, since the location information of the MAP is already stored in the user terminal, it is only necessary to confirm the location on the MAP that matches the received data. .

또한, MAP정보를 사용자 단말에 저장하고 있기 때문에 건물 내에 장애인 용 시설이 구비되어 있는지의 여부와, 시설의 위치를 확인할 수 있으며, 처음 가보는 시설일지라도 원하는 목적지로의 이동경로 안내를 받을 수 있는 장점을 가진다.In addition, since the MAP information is stored in the user terminal, it is possible to check whether the facility for the disabled is located in the building and the location of the facility, and even if it is a first-time facility, it is possible to receive a guide to the desired destination. Has

도 1은 본 발명의 방법이 적용되는 실내이동체위치인식시스템의 블록도. 1 is a block diagram of an indoor moving position recognition system to which the method of the present invention is applied.

도 2는 본 발명의 RFID 시스템 블록도. 2 is a block diagram of an RFID system of the present invention.

도 3은 본 발명의 위치인식 센서 모듈 블록도. Figure 3 is a position recognition sensor module block diagram of the present invention.

도 4는 본 발명의 위치 계산식.4 is a position calculation formula of the present invention.

Claims (2)

RFID리더기에서 ZigBee모듈로 데이터를 전송하는 데이터 전환전송 단계와;A data conversion transmission step of transmitting data from the RFID reader to the ZigBee module; 전환된 거리 데이터를 16Bit MCU로 전송하는 무선전송단계와;A wireless transmission step of transmitting the converted distance data to the 16Bit MCU; 상기 데이터들을 연산하여 정확한 위치 데이터를 찾는 연산단계와;Calculating the data to find the correct position data; 연산 된 데이터를 건물 내부의 MAP과 MAPPING해서 찾은 실제 위치정보검색단계와;An actual location information retrieval step found by mapping the calculated data with the MAP in the building; 실제 위치정보를 사용자 단말로 무선 송신하여 이동체의 위치를 인식하게 하는 방법.A method of wirelessly transmitting the actual location information to the user terminal to recognize the position of the moving object. 사용자 단말에 저장되어 있는 MAP을 기반으로 이동 경로를 탐색하는 방법.A method of searching for a movement path based on a MAP stored in a user terminal.
KR1020070101833A 2007-10-10 2007-10-10 Indoor position tracking for moving objects using ubiquitous sensor network KR20090036675A (en)

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Cited By (6)

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WO2011065616A1 (en) * 2009-11-30 2011-06-03 부산대학교 산학협력단 Object tracking apparatus and method, and sensor position designating method
KR101048557B1 (en) * 2009-09-24 2011-07-11 동명대학교산학협력단 Location Recognition System and Location Recognition Method Using Zigbee Based Wireless Sensor Network
KR101273125B1 (en) * 2011-06-24 2013-06-13 엘지이노텍 주식회사 Real Time Location Apparatus and method thereof
KR101430247B1 (en) * 2012-01-18 2014-08-18 경희대학교 산학협력단 Method for measuring 3 Dimensional location using visible light communication indoor and system thereof, and method for providing location based service
CN110824461A (en) * 2019-11-18 2020-02-21 广东博智林机器人有限公司 Positioning method
US10849205B2 (en) 2015-10-14 2020-11-24 Current Lighting Solutions, Llc Luminaire having a beacon and a directional antenna

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101048557B1 (en) * 2009-09-24 2011-07-11 동명대학교산학협력단 Location Recognition System and Location Recognition Method Using Zigbee Based Wireless Sensor Network
WO2011065616A1 (en) * 2009-11-30 2011-06-03 부산대학교 산학협력단 Object tracking apparatus and method, and sensor position designating method
KR101108621B1 (en) * 2009-11-30 2012-02-06 부산대학교 산학협력단 The apparatus for tracking object and the method thereof and the method for sensor's positioning
US9013282B2 (en) 2009-11-30 2015-04-21 Institute For Research & Industry Cooperation, Busan University Object tracking apparatus and method, and sensor position designating method
KR101273125B1 (en) * 2011-06-24 2013-06-13 엘지이노텍 주식회사 Real Time Location Apparatus and method thereof
KR101430247B1 (en) * 2012-01-18 2014-08-18 경희대학교 산학협력단 Method for measuring 3 Dimensional location using visible light communication indoor and system thereof, and method for providing location based service
US10849205B2 (en) 2015-10-14 2020-11-24 Current Lighting Solutions, Llc Luminaire having a beacon and a directional antenna
CN110824461A (en) * 2019-11-18 2020-02-21 广东博智林机器人有限公司 Positioning method
CN110824461B (en) * 2019-11-18 2021-10-22 广东博智林机器人有限公司 Positioning method

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