KR20110041166A - Wireless terminal for measuring location, system and method for measuring location using the same, apparatus and method for measuring location - Google Patents

Abstract

PURPOSE: A wireless terminal for measuring location, a system and a method for measuring location using the same, an apparatus and a method for measuring location are provided to improve the accuracy of measuring the position of a terminal and reliability by excluding one having high possibility of an error from distance data. CONSTITUTION: The devices includes a data communication unit, a distance measuring unit, a mean value calculation unit, and a controller. The data communication unit performs several times of ranging to a target terminal. The distance measuring unit measures the distance from the target terminal through each ranging. The mean value calculation unit extracts the minimum one of measured distances and calculation a mean value using the measured distance. The controller controls each component and controls the data communication unit to transmit the calculated average value to outside.

Description

WIRELESS TERMINAL FOR MEASURING LOCATION, SYSTEM AND METHOD FOR MEASURING LOCATION USING THE SAME, APPARATUS AND METHOD FOR MEASURING LOCATION}

Embodiments of the present invention relate to position measurement techniques for reducing errors in position measurement.

Recently, location measurement technology for quickly and accurately measuring the physical location of a mobile communication device has been widely used in various applications.

The positioning system using mobile communication devices can be used for people inside or outside the building, such as police officers in tactical operations, firefighters inside or near burning buildings, doctors and nurses in hospitals, people participating in rescue or search operations, and play. This is useful for tracking the location of children, etc., in parks or amusement parks.

In addition, location measurement technology can be used to track the location of expensive objects such as PCs, laptop computers, portable electronic devices, luggage, suitcases or stolen vehicles.

In general, in a position measurement system using a mobile communication device, triangulation using coordinates of three or more reference nodes (or fixed nodes) that know a position and distance information between the reference nodes and the mobile communication device is performed. The position of the mobile communication device is measured.

Specifically, by measuring the distance from the three or more reference nodes that know the location to the location measurement object to know the location, and then performing a triangulation method using the measured distance and the coordinates of the reference nodes, The position is measured.

At this time, the accuracy of the distance between the position measurement object and the reference node can not be guaranteed. That is, the measurement distance may be distorted due to various physical phenomena and the surrounding environment (for example, sudden disturbance or reflection of radio waves), and in some cases, abnormal abnormalities may occur.

In this case, since an error occurs in the position measurement result value, the accuracy and reliability of the position measurement are deteriorated, so it is necessary to correct the position measurement result value.

Embodiments of the present invention are to improve the accuracy and reliability of the position measurement results by excluding data having a high probability of error from the distance information used for position measurement before calculating the position measurement.

Other technical problems by the embodiments of the present invention can be understood by the following description, it can be realized by the means and combinations thereof shown in the claims.

According to an aspect of the present invention, there is provided a wireless terminal for location measurement, comprising: a data communication unit performing multiple ranging with a measurement target terminal for a predetermined unit time; A distance measuring unit measuring a distance to the measurement target terminal by each ranging; An average value calculator for extracting a minimum distance value from the measured distance values and calculating an average distance value of remaining distance values excluding a distance value exceeding a preset threshold range based on the minimum distance value; And a controller for controlling each of the components and controlling the data communication unit to transmit the calculated average distance value to the outside.

The position measuring system according to an embodiment of the present invention for solving the problem, the measurement target terminal; The distance is measured by performing several ranging with the measurement target terminal for a predetermined unit time, and after extracting a minimum distance value from the measured distance values, the distance exceeding a preset threshold range based on the minimum distance value. A plurality of fixed wireless terminals for calculating an average distance value of the remaining distance values except for the value, and transmitting the calculated average distance value and the unique identification number to the outside; And a position measuring device for measuring the position of the measurement target terminal by using an average distance value and a unique identification number transmitted by the plurality of fixed wireless terminals, respectively.

According to an aspect of the present invention, there is provided a method for measuring a location, comprising: (A) a plurality of fixed wireless terminals performing ranging with a measurement target terminal several times for a predetermined unit time, respectively; Measuring a distance of; (B) extracting a minimum distance value from the measured distance values by the plurality of fixed wireless terminals; (C) checking, by the plurality of fixed wireless terminals, whether there is a distance value exceeding a preset threshold value based on the extracted minimum distance value among the measured distance values; (D) As a result of the check, when there is a distance value exceeding a preset threshold range based on the minimum distance value, the plurality of fixed wireless terminals have a distance value exceeding a preset threshold range based on the minimum distance value. Calculating an average distance value of remaining distance values except for; And (E) transmitting, by the plurality of fixed wireless terminals, distance information including the calculated average distance value and its own unique identification number to the outside.

The position measuring apparatus according to an embodiment of the present invention for solving the above problems, the distance including a unique identification number of each fixed wireless terminal and the distance value with the measurement target terminal from a plurality of fixed wireless terminal according to a predetermined time unit In the position measuring device for measuring the position of the measurement target terminal using the distance information after receiving the information, The position measuring device, the distance value currently transmitted from a predetermined fixed wireless terminal is the fixed wireless terminal A distance value exceeding a predetermined threshold range is discarded based on the distance value transmitted at a previous time from, and the distance value (reference distance value) transmitted at the previous time is used as the distance value at that time.

The position measuring method according to another embodiment of the present invention for solving the above problems, (A) the position measuring device from the plurality of fixed wireless terminal its own identification number and distance information including the distance value with the measurement target terminal Receiving; (B) checking, by the location measuring apparatus, whether a distance value currently transmitted from a fixed wireless terminal exceeds a preset threshold range based on a distance value transmitted from the fixed wireless terminal at a previous time; And (C) if the current transmission distance value exceeds a preset threshold range based on the distance value transmitted at the previous time, the location measuring device discards the current transmission distance value and transfers the previous transmission value. And using the distance value (reference distance value) transmitted at the time as the distance value at that time.

According to another aspect of the present invention, there is provided a position measuring apparatus including a distance from a plurality of fixed wireless terminals, including a unique identification number of each fixed wireless terminal and a distance value with a measurement target terminal according to a predetermined time unit. In the position measuring device for measuring the position of the measurement target terminal using the distance information after receiving the information, The position measuring device, the distance measurement device of the measurement target terminal by the distance information currently transmitted from a fixed wireless terminal If the moving speed exceeds the average moving speed of the measurement target terminal up to the previous time, the distance value included in the currently transmitted distance information is discarded, and the distance value transmitted at the previous time (reference previous time) is lost from the corresponding time. Use as distance value.

According to another aspect of the present invention, there is provided a method for measuring a position, wherein (A) the position measuring apparatus obtains distance information including a unique identification number and a distance value from a plurality of fixed wireless terminals from a plurality of fixed wireless terminals. Receiving; (B) checking, by the location measuring apparatus, whether the moving speed of the measurement target terminal based on the distance information currently transmitted from a predetermined fixed wireless terminal exceeds the average movement speed of the measurement target terminal up to a previous time; And (C) when the moving speed of the measurement target terminal based on the currently transmitted distance information exceeds the average moving speed of the measurement target terminal up to the previous time (reference transfer time), as a result of the checking; Discarding the value and using the distance value transmitted at the time before the reference as the distance value at that time.

According to embodiments of the present invention, the accuracy and reliability of the position measurement may be improved by excluding data having a high probability of error from the distance information used for the position measurement before calculating the position measurement.

Hereinafter, a detailed embodiment of a position measuring apparatus and method and a position measuring system using the same will be described with reference to FIGS. 1 to 11. However, this is only an exemplary embodiment and the present invention is not limited thereto.

In describing the present invention, when it is determined that the detailed description of the known technology related to the present invention may unnecessarily obscure the subject matter of the present invention, the detailed description thereof will be omitted. The following terms are defined in consideration of the functions of the present invention, and may be changed according to the intention or custom of the user, the operator, and the like. Therefore, the definition should be based on the contents throughout this specification.

In addition, embodiments of the present invention to be carried out below are provided in each system functional configuration to efficiently describe the technical components constituting the present invention, or the system functional configuration commonly provided in the technical field to which the present invention belongs. Omit possible, and focus on the functional configuration to be additionally provided for the present invention. If those skilled in the art to which the present invention pertains, it will be easy to understand the functions of the components that are used in the prior art among the omitted functional configuration not shown below, and also the configuration omitted as described above The relationship between the elements and the components added for the present invention will also be clearly understood.

As a result, the technical spirit of the present invention is determined by the claims, and the following examples are one means for efficiently explaining the technical spirit of the present invention to those skilled in the art to which the present invention pertains. It's just

1 is a view showing the configuration of a position measuring system according to an embodiment of the present invention.

Referring to FIG. 1, the location measurement system includes a measurement target terminal 100, a plurality of fixed wireless terminals 200, a sink module 300, and a location measurement device 400.

The measurement target terminal 100 is a moving position measurement object, and performs data communication for distance measurement with each of the plurality of fixed wireless terminals 200. Hereinafter, data communication for measuring the distance is called ranging.

The plurality of fixed wireless terminals 200 is fixedly installed at a predetermined position, wherein at least three fixed wireless terminals 200 are spaced apart from each other. The plurality of fixed wireless terminals 200 performs ranging with the measurement target terminal 100, respectively.

In this case, the plurality of fixed wireless terminals 200 may perform several times ranging with the measurement target terminal 100 within a very short time (for example, 0.01 second). In such a short time, the measurement target terminal 100 can be regarded as being stopped at a predetermined position.

For example, the plurality of fixed wireless terminals 200 may measure the measurement target terminal 100 within a unit time (for example, 0.01 seconds) that the measurement target terminal 100 may be regarded as stopped at a predetermined position. ) And several times ranging, the distance value with the measurement target terminal 100 by each ranging, and the minimum distance value of the measured distance value with the measurement target terminal 100 is extracted. .

The plurality of fixed wireless terminals 200 obtains an average of distance values excluding a distance value exceeding a preset threshold range based on the extracted minimum distance value, and then transmits the average distance value to the sink module 300. do. In this case, the plurality of fixed wireless terminals 200 transmits their own unique identification numbers to the sink module 300 together with the average distance value.

Here, the reason for extracting the minimum distance value among the distance values measured through several rangings is that when the error occurs, the probability of the error is lower than the case where the measured distance value is small. Because. Therefore, a distance value exceeding a predetermined threshold range is excluded based on the minimum distance value among the measured distance values.

The plurality of fixed wireless terminals 200 may include the measurement target terminal using various methods such as a time of arrival (TOA), a time difference of arrival (TODO), a time of flight (TOF), and a received signal strength indication (RSSI). Distance to the distance 100) can be measured.

In this case, the plurality of fixed wireless terminals 200 detects a distance value having a large error (for example, a distance value incorrectly measured due to a surrounding environment such as a sudden disturbance or reflection of a radio wave) and then detects a small error. By transmitting the average value of the distance values, it is possible to improve the accuracy and reliability of the position measurement calculated by the position measuring device 400.

In other words, by allowing the position measuring device 400 to perform the position measurement using only data with few errors, the accuracy and reliability of the position measurement can be improved.

The sink module 300 is a kind of repeater, and receives the average distance value and the unique identification number transmitted from the plurality of fixed wireless terminals 200 and transmits the same to the position measuring apparatus 400.

In this case, the plurality of fixed wireless terminals 200 may directly transmit the average distance value and the unique identification number to the location measuring apparatus 400 without the sink module 300.

The position measuring apparatus 400 measures the position of the measurement target terminal 100 using the unique identification numbers and the average distance values of the plurality of fixed wireless terminals 200.

Meanwhile, in the above description, the plurality of fixed wireless terminals 200 detects a distance value having a large error in advance and then transmits an average distance value of distance values having a relatively small error to the location measuring apparatus 400. In addition, the measurement target terminal 100 may perform this task.

For example, the measurement target terminal 100 performs a plurality of rangings with each of the plurality of fixed wireless terminals 200 within a unit time, and is preset based on a minimum distance value among measured distance values. After the average of the distance values excluding the distance value exceeding a range, the average distance value may be transmitted to the position measuring apparatus 400.

2 is a graph illustrating a state of detecting a distance value exceeding a threshold range in a fixed wireless terminal according to an embodiment of the present invention. Here, for convenience, the unit time is set to 5 seconds, the threshold value is set to 2m. In addition, the fixed wireless terminal 200 performs the ranging five times during the unit time.

Referring to FIG. 2, looking at the ranging result of the first unit time, it can be seen that the distance value due to the fourth ranging is 5 m, the minimum distance value. Therefore, the distance value exceeding the threshold value of 2m (that is, the distance value exceeding 5m + 2m = 7m) is excluded based on the distance value by the fourth ranging.

Here, it can be seen that the distance value due to the second ranging is 7.8 m and exceeds the threshold range based on the distance value due to the fourth ranging. Therefore, after averaging the distance values by the remaining ranging except the distance values by the second ranging, the apparatus transmits the averaged distance values to the position measuring apparatus 400.

In addition, looking at the ranging result of the second unit time, it can be seen that the distance value due to the first ranging is 8.2m, the minimum distance value. Therefore, the distance value exceeding the threshold range 2m (that is, the distance value exceeding 8.2m + 2m = 10.2m) is excluded based on the distance value by the first ranging.

Here, it can be seen that the distance values by the third and fourth ranging are 12.2m and 12.3m, respectively, and exceed the threshold range based on the distance values by the first ranging. Accordingly, the distance values due to the remaining ranges are averaged except for the distance values due to the third and fourth ranging, and then transmitted to the position measuring apparatus 400.

3 is a view showing the configuration of a fixed wireless terminal according to an embodiment of the present invention. Although the configuration of the fixed wireless terminal is shown here, when the measurement target terminal measures the distance between the fixed wireless terminals, the configuration of the measurement target terminal may also be represented by the same configuration as that of the fixed wireless terminal.

Referring to FIG. 3, the fixed wireless terminal 200 includes a data communication unit 210, a distance measuring unit 220, a memory 230, an average value calculating unit 240, and a control unit 250.

The data communication unit 210 performs data communication with the measurement target terminal 100 for distance measurement. In this case, the data communication unit 210 may perform ranging several times during a unit time.

The distance measuring unit 220 measures the distance to the measurement target terminal 100 by each ranging by using the data through the several ranging.

The memory 230 stores a distance value measured by the distance measuring unit 220 for each ranging, and stores a predetermined threshold value.

The average value calculator 240 extracts a minimum distance value from the distance values measured by the distance measurer 220 and then, except for the distance value exceeding the preset threshold range, based on the minimum distance value, Calculate their average distance value.

The controller 250 controls each component. For example, the control unit 250 controls the data communication unit 210 to perform data communication for distance measurement with the measurement target terminal 100.

The controller 250 controls the distance measuring unit 220 to measure the distance to the measurement target terminal 100 by each ranging, and stores the measured distance value for each ranging in the memory 230. Store in

The controller 250 controls the average value calculator 240 to calculate an average distance value of remaining distance values excluding a distance value exceeding the preset threshold range based on the minimum distance value among the measured distance values. The data communication unit 210 is controlled to transmit the calculated average distance value to the position measurement device 400.

4 is a flowchart illustrating a position measuring method according to an embodiment of the present invention.

Referring to FIG. 4, the plurality of fixed wireless terminals 200 perform data communication for measuring distance with the measurement target terminal 100, respectively (S100). In this case, the plurality of fixed wireless terminals 200 may perform ranging several times during a predetermined unit time.

The plurality of fixed wireless terminals 200 measures the distance to the measurement target terminal 100 by each ranging by using data through each ranging (S110).

The plurality of fixed wireless terminals 200 extracts a minimum distance value from the measured distance values (S120).

The plurality of fixed wireless terminals 200 check whether there is a distance value exceeding a preset threshold range based on the minimum distance value (S 130).

As a result of the checking of step S 130, when there is a distance value exceeding the preset threshold range, the plurality of fixed wireless terminals 200 has an average distance of remaining distance values except for the distance value exceeding the preset threshold range. The value is calculated (S 140).

As a result of checking in step S 130, when there is no distance value exceeding the preset threshold range, the plurality of fixed wireless terminals 200 calculates an average distance value of the measured distance values (S 150).

The plurality of fixed wireless terminals 200 transmits the calculated distance information including the average distance value and its own unique identification number to the location measuring apparatus 400 (S160). In this case, the distance information may be transmitted to the position measuring apparatus 400 through the sink module 300.

The position measuring apparatus 400 measures the position of the measurement target terminal 100 by using the distance information transmitted from the plurality of fixed wireless terminals 200 (S 170).

5 is a view showing the configuration of a position measuring system according to another embodiment of the present invention.

Referring to FIG. 5, the location measurement system includes a measurement target terminal 100, a plurality of fixed wireless terminals 200, a sink module 300, and a location measurement device 400.

The measurement target terminal 100 is a moving position measurement object, and performs data communication for distance measurement with each of the plurality of fixed wireless terminals 200.

The plurality of fixed wireless terminals 200 is fixedly installed at a predetermined position, wherein at least three fixed wireless terminals 200 are spaced apart from each other.

The plurality of fixed wireless terminals 200 respectively measure a distance from the measurement target terminal 100 and transmit the distance information including the measured distance value and its own identification number to the sink module 300. .

In this case, the plurality of fixed wireless terminals 200 may be measured using various methods such as Time of Arrival (TOA), Time Difference of Arrival (TDOA), Time of Flight (TOF), and Received Signal Strength Indication (RSSI). The distance from the terminal 100 may be measured.

The sink module 300 is a kind of repeater, and receives the distance information transmitted from the plurality of fixed wireless terminals 200 and transmits the distance information to the position measuring apparatus 400. In this case, the plurality of fixed wireless terminals 200 may directly transmit the distance information to the location measurement apparatus 400.

The position measuring apparatus 400 measures the position of the measurement target terminal 100 using distance information of the plurality of fixed wireless terminals 200 transmitted from the sink module 300. When measuring the position of the measurement target terminal 100, the position measuring device 400 excludes the distance information having a high probability of error and instead uses the distance information having a low probability of having an error.

 For example, when the fixed wireless terminal 200 transmits a distance value in which each fixed wireless terminal 200 measures the distance to the measurement target terminal 100 in units of a predetermined time, the position measuring apparatus 400 transmits the distance value transmitted in the previous time. As a reference, the distance value outside the preset threshold range is excluded.

In this case, the position measuring apparatus 400 uses the distance value transmitted at the previous time as the distance value at the corresponding time instead of the excluded distance value. Reference will be made to FIG. 6 for a detailed description thereof.

6 is a graph illustrating a state of removing a distance value out of a threshold range in a position measuring apparatus according to an exemplary embodiment of the present invention.

Referring to FIG. 6, a distance value from the fixed target terminal 100 having a unique identification number A08 is transmitted to the measurement target terminal 100 for one second as a time unit, and a threshold range is set to 5 m. , Timeout was set to 3.

The threshold range may be set to an average distance that the measurement target terminal 100 can move during the time unit (ie, 1 second). For example, there is a limit to the distance that the measurement target terminal 100 can move during the time unit, and in this case, the threshold range may be set to an average distance that the measurement target terminal 100 may move during the time unit. have.

The timeout is set to recognize as a true distance value for a distance value exceeding the threshold range after a predetermined time when the distance value exceeding the threshold range is continuously transmitted, even after the timeout has elapsed. When a distance value exceeding the threshold range is transmitted, the transmitted distance value is recognized as a true distance value. Detailed description of the time out will be described later.

When the location information is transmitted from the plurality of fixed wireless terminals 100, the position measuring device 400 is a unique identification number of the fixed wireless terminal for each fixed wireless terminal 200, the distance value with the measurement target terminal, It can be saved as a table with timeout.

In this case, when the distance information is transmitted from a predetermined fixed wireless terminal (for example, a fixed wireless terminal having a unique identification number A08), the location measuring apparatus 400 determines whether there is distance information for the fixed wireless terminal. If the distance information for the fixed wireless terminal does not exist, the transmitted distance information is determined as a true value.

That is, when distance information is first transmitted from the fixed wireless terminal, since there is no comparison object, the transmitted distance information is determined as a true value, and the table is stored as a table. In this case, the distance value included in the distance information is used as the distance value at the corresponding time when measuring the position.

For example, when 4m is first transmitted as a distance value between the measurement target terminal 100 from a fixed wireless terminal having a unique identification number A08 in FIG. 6, the position measuring apparatus 400 may be configured with respect to the fixed wireless terminal. Table A08, 400, 3) and save. Here, the distance value is expressed in units of cm for convenience.

Thereafter, when the distance value is transmitted from the fixed wireless terminal in the time unit (for example, 1 second), the location measuring apparatus 400 determines that the currently transmitted distance value is based on the distance value of the previous time. Check whether the predetermined threshold range (for example, 5m) is exceeded, and if the predetermined threshold range is not exceeded, the distance information transmitted at the corresponding time is used for the position measurement, and the distance information is (unique Table in the form of identification number, distance value (cm), timeout) and save.

For example, in FIG. 6, the second distance value transmitted from the fixed wireless terminal having the unique identification number A08 (that is, the distance value transmitted in 2 seconds) is 3 m, which is the first distance from the wireless terminal. Since it is within 5 m of the threshold range based on 4 m, the transmitted distance value (i.e., the distance value transmitted in 1 second), the distance information transmitted at the corresponding time is used for the position measurement, and (A08, 300) Table 3 and save.

If the distance value currently transmitted exceeds the threshold range set based on the distance value of the previous time, the distance value currently transmitted is discarded and the distance value of the previous time is used as the distance value at the corresponding time.

For example, in FIG. 6, it can be seen that the fifth distance value transmitted from the fixed wireless terminal having the unique identification number A08 (that is, the distance value transmitted in 5 seconds) is 8.5m. This value exceeds the threshold range of 5m based on 2.5m, which is the fourth distance value transmitted from the fixed wireless terminal (that is, the distance value transmitted in 4 seconds).

Therefore, the fifth transmitted distance value is discarded and the distance value 2.5m transmitted at the previous time is used as the distance value at the corresponding time (ie, 5 seconds). In this case, the distance information transmitted at the corresponding time may be stored in a table as (A08, 250, 2). Here, the timeout value is reduced from 3 to 2.

Since the threshold range is set to the distance that the measurement target terminal 100 can move in a predetermined time unit (for example, 1 second), the fifth transmitted distance value is based on the fourth transmitted distance value. If the predetermined threshold range is exceeded, there is a high probability that there is an error in the fifth transmitted distance value. In this case, the fourth transmitted distance value is used as the distance value at the corresponding time instead of the fifth transmitted distance value.

Therefore, the distance value exceeding the preset threshold range based on the distance value transmitted in the previous time is determined to have a high probability of error and is not used for position measurement. Instead, at the previous time when the probability of error is low, The transmitted distance value is used for position measurement. In this case, it is possible to improve the accuracy and reliability of the position measurement by excluding data having a high probability of error before calculating the position measurement.

On the other hand, when exceeding the predetermined threshold range based on the distance value transmitted in the previous time, the time out is reduced by one from 3 to 2, the time out will be described in detail with reference to FIG. 7 is a graph illustrating a time out in the position measuring apparatus according to an embodiment of the present invention.

Referring to FIG. 7, it can be seen that the third distance value transmitted from the fixed wireless terminal having the unique identification number A08 is 11 m. This is a value exceeding the threshold range of 5m based on 3m, which is the distance value transmitted in the previous time (ie, the distance value transmitted in 2 seconds).

Accordingly, the third transmitted distance value is discarded and the distance value 3m transmitted at the previous time is used as the distance value at the corresponding time (ie, 3 seconds). In this case, the distance information transmitted at the corresponding time may be tabled and stored as (A08, 300, 2). At this time, the timeout is reduced by one from three to two.

Here, when a case in which a threshold range which is preset based on the distance value transmitted at the previous time is exceeded occurs, the distance value transmitted at the previous time is defined as a 'reference distance value'.

In addition, it can be seen that the fourth distance value transmitted from the fixed wireless terminal having the unique identification number A08 is 10m, which is based on the threshold range 3m which is the reference distance value (ie, the distance value transmitted in 2 seconds). The value exceeded 5m.

Therefore, the fourth transmitted distance value is discarded and the reference distance value 3m is used as the distance value at the corresponding time (ie, 4 seconds). In this case, the distance information transmitted at the corresponding time may be tabled and stored as (A08, 300, 1). At this time, the timeout is reduced from one to two.

In addition, it can be seen that the fifth distance value transmitted from the fixed wireless terminal having the unique identification number A08 is 9m, which is based on the threshold value 3m which is the reference distance value (ie, the distance value used in 2 seconds). The value exceeds the range 5 m.

Accordingly, the fifth transmitted distance value is discarded and the reference distance value 3m is used as the distance value at the corresponding time (ie, 5 seconds). In this case, the distance information transmitted at the corresponding time may be tabled and stored as (A08, 300, 0). At this time, the timeout decreases from 1 to 0 so that the timeout elapses.

Here, in storing the third to fifth transmitted distance values, it can be seen that the timeout is reduced by one. That is, when the distance value currently transmitted exceeds the threshold range preset based on the reference distance value, the timeout is reduced by one.

If a distance value exceeding a predetermined threshold range is transmitted based on the reference distance value so that a predetermined time passes, it is necessary to recognize a value exceeding the threshold range as a true distance value.

In other words, when a distance value exceeding a predetermined threshold range is transmitted once or twice based on the reference distance value, it is determined that the transmitted distance value has a high probability of error and is not used for position measurement instead. The reference distance value having a low probability of error can be used instead.

However, if a distance value exceeding a predetermined threshold range is continuously transmitted based on the reference distance value after a predetermined time passes (i.e., passes a predetermined timeout), the transmitted distance value is recognized as a true distance value. You need to do it.

That is, whenever a distance value exceeding a preset threshold range is transmitted based on the reference distance value, the timeout is decreased by one, and if the distance value exceeding the threshold range is transmitted even after the timeout becomes 0, A distance value exceeding the threshold range is recognized as a true distance value.

For example, in FIG. 7, the sixth distance value transmitted from the fixed wireless terminal having the unique identification number A08 is 10 m, and it is found that the threshold range exceeds 5 m based on the reference distance value 3 m.

However, since the timeout becomes 0 in the fifth transmitted distance value (that is, the timeout has elapsed), even if the sixth transmitted distance value exceeds the threshold range preset based on the reference distance value. The distance value beyond the threshold range is used as the distance value at that time (ie, 6 seconds). In this case, the distance information transmitted at the corresponding time can be stored as a table with (A08, 1000, 3), and the timeout is reset to 3 again.

On the other hand, the position measuring device 400 may exclude the distance information having a high probability of error through other methods in addition to the above-described method.

For example, the location measuring device 400 obtains an average moving speed of the measurement target terminal 100 whenever distance information including a distance value is transmitted from each fixed wireless terminal 200 on a predetermined time basis.

Thereafter, when the speed of the measurement target terminal 100 according to the distance information currently transmitted exceeds the average moving speed of the measurement target terminal 100 up to the previous time, the current distance value is discarded and the previous The distance value transmitted at a time can be used as the distance value at that time. This will be described in detail with reference to FIG. 8.

8 is a graph illustrating a case in which the speed of the measurement target terminal deviates from the average moving speed according to currently transmitted distance information.

Referring to FIG. 8, the distance value with the measurement target terminal 100 is set to be transmitted from the fixed wireless terminal 200 having the unique identification number A08 for one second as a time unit, and the timeout is set to three. , The maximum interval was set to 5. The interval refers to the number of distance values to be the target when the average moving speed of the measurement target terminal 100 is obtained.

When the distance information is transmitted from the fixed wireless terminal 200 in a predetermined time unit (for example, 1 second), the position measuring apparatus 400 measures the terminal 100 using the distance value included in the distance information. After calculating the average moving speed of,), the distance information may be stored in a table in the form of (unique identification number, time out, distance value (cm), average moving speed (cm / s), interval).

In this case, the number of intervals increases by one each time distance information is transmitted, and the position measurement apparatus 400 refers to the distance information transmitted from the fixed wireless terminal 200 until the number of intervals becomes five. Judging by

That is, since there is no comparison object until the number of intervals is five, the distance information is determined as a true value, and the table information is stored in a table. In this case, the distance value included in the distance information is used as the distance value at the corresponding time when measuring the position.

Thereafter, when another distance information is transmitted from the fixed wireless terminal 200, the average moving speed of the measurement target terminal device 100 according to the total distance information including the currently transmitted distance information is obtained.

In other words, after the number of intervals reaches 5, the average moving speed of the measurement target terminal 100 is obtained through the total of five distance information including the previous four distance information and the currently transmitted distance information.

For example, the average movement of the measurement target terminal 100 while increasing the number of intervals by one until the sixth distance information is transmitted from the fixed wireless terminal 200 having the unique identification number A08 in FIG. 8. After obtaining the speed, the distance information transmitted from the fixed wireless terminal 200 is stored in a table.

Thereafter, when the seventh distance information is transmitted from the fixed wireless terminal 200, the measurement target terminal 100 based on a total of five distance information including four previous distance information (third to sixth distance information). Find the average moving speed of At this time, the average moving speed of the measurement target terminal 100 is (920-320) / 5 = 120. Here, the seventh transmitted distance value is 920 and the third transmitted distance value is 320. For convenience, expressed in cm.

Meanwhile, the moving speed of the measurement target terminal 100 according to the distance information currently transmitted from the fixed wireless terminal 200 (that is, the moving speed of the measurement target terminal at the corresponding time) is measured until the previous time 100. When exceeding the average moving speed of), the position measuring device 400 discards the distance value at the corresponding time and uses the distance value at the previous time as the distance value at the corresponding time.

For example, in FIG. 8, the eighth transmitted distance value from the fixed wireless terminal having the unique identification number A08 is 1230 cm, the seventh transmitted distance value is 920 cm, and the average of the seventh transmitted distance information. It can be seen that the moving speed is 120 cm / s.

Here, when the moving speed of the measurement target terminal 100 according to the eighth transmitted distance information is obtained, it is (1230-920) / 1 = 310 cm / s, which is an average moving speed of the seventh transmitted distance information. It can be seen that it exceeds 120 cm / s. Thus, the eighth transmitted distance value is discarded and the distance value at that time is used as the distance value at that time (ie, 8 seconds).

The average moving speed may be usefully used when the measurement target terminal 100 moves in a constant direction. In detail, when the measurement target terminal 100 moving in the predetermined direction moves at a speed exceeding the average moving speed, it may be determined that there is a high probability that there is an error in the measured distance value due to the influence of an obstacle or other environment. . In this case, by excluding a distance value having a high probability of error from the position measurement, the accuracy and reliability of the position measurement can be improved.

On the other hand, it can be seen that the timeout is reduced from 3 to 2 in the eighth transmitted distance information, and the timeout described above may be equally applied to the embodiment using the average moving speed. 9 is a graph illustrating a time out in the position measuring apparatus according to another embodiment of the present invention. Here, the time unit is set to 1 second, the timeout is set to 3, and the maximum interval is set to 4.

Referring to FIG. 9, the location measuring apparatus 400 receives distance information from a fixed wireless terminal having a unique identification number A08 for a predetermined time unit (for example, 1 second) and until the interval becomes four. After obtaining the average moving speed of the measurement target terminal 100 by using the distance value included in the distance information, the distance information (unique identification number, time out, distance value (cm), average moving speed (cm / s) Table) and save it.

Here, when the moving speed of the measurement target terminal 100 according to the distance information currently transmitted from the fixed wireless terminal 200 exceeds the average moving speed of the measurement target terminal 100 to a previous time, the position measuring device 400 discards the distance value at that time and uses the distance value at that time as the distance value at that time.

For example, in FIG. 9, the sixth transmitted distance value is 730 cm, the fifth transmitted distance value is 400 cm, and the average moving speed in the fifth transmitted distance information is 50 cm / s. Can be.

Here, when the moving speed of the measurement target terminal 100 according to the sixth transmitted distance information is obtained, (730-400) / 1 = 330 cm / s, the average moving speed in the fifth transmitted distance information is obtained. It can be seen that it exceeds 50 cm / s. Thus, the sixth transmitted distance value is discarded and the distance value at that time is used as the distance value at that time (ie, six seconds). At this time, the timeout is reduced by one from three to two.

Here, when the movement speed of the measurement target terminal 100 according to the currently transmitted distance information exceeds the average movement speed up to the previous time, the transfer time to the 'reference transfer time', until the previous time The average moving speed of is defined as 'reference average moving speed'.

If the movement speed of the measurement target terminal 100 according to the distance information currently transmitted exceeds the reference average movement speed, the average of the distance information transmitted thereafter until the timeout elapses. The moving speed at that time is calculated by considering that the distance value exceeding the moving speed is transmitted at the time when it is transmitted (that is, the time corresponding to the next time unit of the reference previous time).

 For example, when the moving speed from the reference previous time of the measurement target terminal 100 according to the seventh transmitted distance information is obtained, the reference average moving speed is (750-400) / 1 = 350 cm / s. It can be seen that it exceeds 50 cm / s.

Therefore, the seventh transmitted distance value is discarded and the distance value transmitted at the time before the reference is used as the distance value at that time. At this time, the timeout is reduced from one to two.

Further, when the moving speed from the reference previous time of the measurement target terminal 100 according to the eighth transmitted distance information is obtained, (750-400) / 1 = 350 cm / s, the reference average moving speed is 50 It can be seen that it exceeds cm / s. Therefore, the eighth transmitted distance value is discarded and the distance value transmitted at the time before the reference is used as the distance value at that time. At this time, the timeout decreases from 1 to 0 so that the timeout elapses.

Meanwhile, when the moving speed from the reference previous time of the measurement target terminal 100 according to the ninth transmitted distance information is obtained, (750-400) / 1 = 350 cm / s, the reference average moving speed is It can be seen that it exceeds 50 cm / s.

However, since the timeout is 0 in the eighth transmitted distance value, the movement speed from the reference previous time of the measurement target terminal 100 according to the ninth transmitted distance information exceeds the reference average movement speed. Even if the ninth transmitted distance value is used as it is. In this case, the timeout is set to three again.

Meanwhile, although the plurality of fixed wireless terminals 200 measures the distance from the measurement target terminal 100 and then transmits the measured distance value to the position measurement apparatus 400, the measurement target terminal After 100 measures the distances to the plurality of fixed wireless terminals 200, the measured distance values may be transmitted to the location measurement apparatus 400.

In addition, when the moving speed of the measurement target terminal at the corresponding time exceeds the threshold range preset based on the reference average moving speed, the distance value transmitted at the previous time is excluded instead of the distance value transmitted at the corresponding time. You can also use the method used.

10 is a flowchart illustrating a position measuring method according to another embodiment of the present invention.

Referring to FIG. 10, distance information transmitted from the fixed wireless terminal 200 by the location measuring device 400 (eg, includes a unique identification number of the fixed wireless terminal and a distance value with a measurement target terminal). Receive (S 200).

The location measuring device 400 checks whether there is existing data on distance information of the fixed wireless terminal 200 (S210).

As a result of checking in step S 210, when there is no existing data on the distance information of the fixed wireless terminal 200, the location measuring device 400 refers to the distance information transmitted by the fixed wireless terminal 200. The value is determined, and the distance information is used for position measurement (S220).

In this case, the position measuring apparatus 400 may store the distance information transmitted by the fixed wireless terminal 200 in a table format (unique identification number, distance value, timeout).

As a result of checking in step S 210, if there is existing data on distance information of the fixed wireless terminal 200, the position measurement apparatus 400 determines that the distance value included in the currently transmitted distance information is at a previous time. On the basis of the transmitted distance value, it is determined whether the preset threshold range is exceeded (S 230).

As a result of the checking of step S 230, when the currently transmitted distance value exceeds a preset threshold range based on the distance value transmitted at a previous time, the position measurement apparatus 400 determines that the distance value exceeding the threshold range is Discard and use the distance value of the previous time as the distance value at that time (S 240). Here, when a case in which a threshold range which is preset based on the distance value transmitted at the previous time is exceeded occurs, the distance value transmitted at the previous time is defined as a 'reference distance value'.

When the position measuring device 400 stores and stores the distance information currently transmitted from the fixed wireless terminal 200 as a (unique identification number, distance value, time out), the distance currently transmitted as the 'distance value' Instead of using the distance value included in the information, use the distance value from the previous time. In addition, the 'time out' is reduced by one from a predetermined value.

As a result of the checking of step S 230, when the currently transmitted distance value does not exceed a preset threshold range based on the distance value transmitted in the previous time, the position measuring apparatus 400 replaces the currently transmitted distance value with the corresponding time. It is used as the distance value in (S 250).

The position measuring apparatus 400 checks whether the timeout set for the fixed wireless terminal 200 has elapsed (that is, whether the timeout value has become '0') (S260).

As a result of checking in step S260, when the timeout has elapsed, the position measuring apparatus 400 uses the distance value transmitted from the fixed wireless terminal 200 as the distance value at the corresponding time (S270). ).

For example, when the timeout has elapsed, even if the distance value transmitted from the fixed wireless terminal 200 exceeds a threshold range preset based on the reference distance value, the distance value currently transmitted is corresponding to the time. It is used as the distance value from.

This is because if the distance value exceeding the threshold range is transmitted even after the timeout has elapsed, it is highly likely that the distance value exceeding the threshold range is a true value.

In this case, the position measuring device 400 resets the 'time out' to a preset value when the distance information being transmitted is tabulated and stored as a (unique identification number, distance value, time out).

As a result of the checking in step S260, if the timeout has not elapsed, the position measuring device 400 returns to step S230 and repeats steps S230 to S260 until the timeout elapses. To perform.

11 is a flowchart illustrating a position measuring method according to another embodiment of the present invention.

Referring to FIG. 11, the location measuring apparatus 400 includes distance information transmitted from the fixed wireless terminal 200 (for example, a unique identification number of the fixed wireless terminal and a distance value with the measurement target terminal). Receive (S 300).

The location measuring device 400 checks whether there is existing data for the distance information of the fixed wireless terminal 200 (S310).

As a result of checking in step S 310, when there is no existing data on the distance information of the fixed wireless terminal 200, the position measuring device 400 refers to the distance information transmitted by the fixed wireless terminal 200. The value is determined and the distance information is used for position measurement (S320).

In this case, the position measuring apparatus 400 may store the table in the form of (unique identification number, time out, distance value, average moving speed, interval) transmitted by the fixed wireless terminal 200.

In this case, when the distance information is first transmitted from the fixed wireless terminal 200, 'average moving speed' and 'interval' are respectively recorded as '0' and stored in the table.

As a result of checking in step S 310, when there is existing data on distance information of the fixed wireless terminal 200, the position measuring apparatus 400 obtains an average moving speed of the measurement target terminal 100, and then The transmitted distance information is tabulated and stored (S 330).

For example, when distance information is transmitted from the fixed wireless terminal 200 in units of predetermined time, the location measuring apparatus 400 uses the existing distance information and the currently transmitted distance information to average the measurement target terminal. Find the speed of movement.

The position measuring apparatus 400 checks whether the interval value of the table reaches a preset maximum interval value (S 340), and when the preset maximum interval value has not been reached, the position measuring apparatus 400. Whenever distance information is transmitted from the fixed wireless terminal 200 in units of predetermined time, the average moving speed of the measurement target terminal is obtained by increasing the interval value by one in the table.

As a result of checking in step S 340, when the interval value of the table reaches a preset maximum interval value, the position measurement apparatus 400 transfers the moving speed of the measurement target terminal 100 according to the currently transmitted distance information. It is checked whether the average moving speed up to time is exceeded (S 350).

As a result of the checking of step S 350, when the average movement speed up to the previous time is moved, the position measuring apparatus 400 discards the currently transmitted distance value and discards the distance value of the previous time at the corresponding time. It is used as the distance value (S 360).

Here, when the movement speed of the measurement target terminal 100 according to the currently transmitted distance information exceeds the average movement speed up to the previous time, the transfer time to the 'reference transfer time', until the previous time The average moving speed of is defined as 'reference average moving speed'.

When the position measuring device 400 stores the distance information currently transmitted from the fixed wireless terminal 200 as a table (unique identification number, time out, distance value, average moving distance value, interval), the 'distance' Instead of using the distance value included in the currently transmitted distance information, the distance value of the previous time is used. In addition, the 'time out' is reduced by one from a predetermined value.

As a result of the checking in step S 350, if the movement does not exceed the average moving speed to the previous time, the position measuring apparatus 400 uses the currently transmitted distance value as the distance value at the corresponding time (S 370).

The position measuring apparatus 400 checks whether the timeout set for the fixed wireless terminal 200 has elapsed (that is, whether the timeout value has become '0') (S380).

As a result of the checking in step S 380, when the time out has elapsed, the position measuring apparatus 400 uses the distance value transmitted from the fixed wireless terminal 200 as the distance value at the corresponding time (S 390). ).

For example, when the timeout has elapsed, the moving speed from the reference previous time of the measurement target terminal 100 based on the distance information transmitted from the fixed wireless terminal 200 exceeds the reference average moving speed. Even so, the currently transmitted distance value is used as the distance value at the corresponding time.

At this time, the position measuring device 400 resets the 'time out' to a preset value when storing the currently transmitted distance information in a table form (unique identification number, time out, distance value, average moving speed, interval). And reset the 'average movement speed' and 'interval' to '0'.

As a result of checking in step S 380, if the time out has not elapsed, the position measuring apparatus 400 returns to step S 350 and repeats steps S 350 to S 380 until the time out elapses. To perform.

Although the present invention has been described in detail with reference to exemplary embodiments above, those skilled in the art to which the present invention pertains can make various modifications to the above-described embodiments without departing from the scope of the present invention. Will understand. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be determined not only by the claims below but also by the equivalents of the claims.

1 is a view showing the configuration of a position measuring system according to an embodiment of the present invention.

2 is a graph illustrating a state of detecting a distance value exceeding a threshold in a fixed wireless terminal according to an embodiment of the present invention.

3 is a diagram showing the configuration of a fixed wireless terminal according to an embodiment of the present invention.

Figure 4 is a flow chart showing a position measuring method according to an embodiment of the present invention.

5 is a view showing the configuration of a position measuring system according to another embodiment of the present invention.

6 is a graph illustrating a state of removing a distance value out of a threshold range in a position measuring apparatus according to an exemplary embodiment of the present invention.

7 is a graph illustrating a time out in the position measuring apparatus according to an embodiment of the present invention.

8 is a graph illustrating a case in which a speed of a measurement target terminal deviates from an average moving speed according to currently transmitted distance information.

9 is a graph illustrating a timeout in the position measuring apparatus according to another embodiment of the present invention.

10 is a flow chart showing a position measuring method according to another embodiment of the present invention.

11 is a flow chart showing a position measuring method according to another embodiment of the present invention.

Explanation of symbols on the main parts of the drawings

100: measurement target terminal 200: fixed wireless terminal

210: data communication unit 220: distance measuring unit

230: memory 240: average value calculation unit

250: control unit 300: sink module

400: position measuring device

Claims (26)

A data communication unit performing ranging with the measurement target terminal several times during a predetermined unit time; A distance measuring unit measuring a distance to the measurement target terminal by each ranging; An average value calculator for extracting a minimum distance value from the measured distance values and calculating an average distance value of remaining distance values except for a distance value exceeding a preset threshold range based on the smallest distance value; And And a control unit which controls each of the components and controls the data communication unit to transmit the calculated average distance value to the outside. The method of claim 1, The data communication unit, A wireless terminal for location measurement, which performs the ranging in any one manner selected from among Time of Arrival (TOA), Time Difference of Arrival (TDOA), Time of Flight (TOF), and Received Signal Strength Indication (RSSI). A measurement target terminal; The distance is measured by performing several ranging with the measurement target terminal for a predetermined unit time, and after extracting a minimum distance value from the measured distance values, the distance exceeding a preset threshold range based on the minimum distance value. A plurality of fixed wireless terminals for calculating an average distance value of the remaining distance values except for the value, and transmitting the calculated average distance value and the unique identification number to the outside; And And a position measuring device for measuring the position of the measurement target terminal by using the average distance value and the unique identification number transmitted by the plurality of fixed wireless terminals, respectively. The method of claim 3, The plurality of fixed wireless terminal, A data communication unit performing ranging with the measurement target terminal several times during the predetermined unit time; A distance measuring unit measuring a distance to the measurement target terminal by each ranging; An average value calculator for extracting a minimum distance value from the measured distance values and calculating an average distance value of remaining distance values excluding a distance value exceeding a preset threshold range based on the minimum distance value; And And a control unit for controlling each of the components and controlling the data communication unit to transmit the calculated average distance value and the unique identification number to the location measuring device. (A) measuring a distance to the measurement target terminal by performing a plurality of ranging with the measurement target terminal each of a plurality of fixed wireless terminals for a predetermined unit time; (B) extracting a minimum distance value from the measured distance values by the plurality of fixed wireless terminals; (C) checking, by the plurality of fixed wireless terminals, whether there is a distance value exceeding a preset threshold value based on the smallest distance value extracted from the measured distance values; (D) As a result of the check, when there is a distance value exceeding a preset threshold range based on the minimum distance value, the plurality of fixed wireless terminals have a distance value exceeding a preset threshold range based on the minimum distance value. Calculating an average distance value of remaining distance values except for; And And (E) transmitting, by the plurality of fixed wireless terminals, distance information including the calculated average distance value and its own identification number to the outside. The method of claim 5, After step (E), (F) the position measuring device further comprises the step of measuring the position of the measurement target terminal using the distance information. The method of claim 5, (a) calculating a mean distance value of the measured distance values by the plurality of fixed wireless terminals when there is no distance value exceeding a preset threshold range based on the minimum distance value; And and (b) transmitting, by the plurality of fixed wireless terminals, distance information including the calculated average distance value and its own identification number to the outside. The method of claim 7, wherein After step (b), (c) the position measuring device further comprising the step of measuring the position of the measurement target terminal using the distance information. After receiving the distance information including the unique identification number of each fixed wireless terminal and the distance value with respect to the measurement target terminal from a plurality of fixed wireless terminals according to a predetermined time unit, the position of the measurement target terminal is determined using the distance information. In the position measuring device to measure, The position measuring device discards a distance value that is currently transmitted from a fixed wireless terminal by exceeding a preset threshold range based on the distance value transmitted by the fixed wireless terminal at a previous time, and transmits the previous time. A measured distance value (hereinafter referred to as a 'reference distance value') as a distance value at a corresponding time. 10. The method of claim 9, The position measuring device, And setting a time-out and decrementing the time-out by one each time a distance value exceeding a predetermined threshold range is transmitted from the fixed wireless terminal based on the reference distance value. The method of claim 10, The position measuring device, After the timeout has elapsed, if a distance value exceeding a threshold range preset based on the reference distance value is transmitted from the fixed wireless terminal, the reference distance value is used as the distance value at the corresponding time and the time Position measuring device for resetting out to a preset value. 10. The method of claim 9, The position device, And setting the average distance that the terminal to be measured can move during the time unit as the threshold range. (A) receiving the position information from the plurality of fixed wireless terminals, the distance information including its own identification number and the distance value with the measurement target terminal; (B) checking, by the location measuring apparatus, whether a distance value currently transmitted from a fixed wireless terminal exceeds a preset threshold range based on a distance value transmitted from the fixed wireless terminal at a previous time; And (C) If the result of the check indicates that the current transmitted distance value exceeds a preset threshold range based on the distance value transmitted at the previous time, the position measuring device discards the current transmitted distance value and the previous time. Using a distance value (hereinafter referred to as a 'reference distance value') transmitted to the distance value at that time. The method of claim 13, Between the steps (A) and (B), (a) the location measuring method further comprising the step of storing the received distance information in the form of (unique identification number, distance value, time out) in the form of a table. The method of claim 14, After the step (C), (D) reducing the time-out by one each time the location measuring device transmits a distance value exceeding a preset threshold range based on the reference distance value from the fixed wireless terminal; (E) the positioning device checking whether the timeout has elapsed; And (F) When the timeout has elapsed as a result of the checking, if a distance value exceeding a threshold range preset based on the reference distance value is transmitted from the fixed wireless terminal, the position measuring apparatus is currently present from the fixed wireless terminal. Using the transmitted distance value as the distance value at that time. The method of claim 15, In the step (F), And the position measuring device resets the time out to a preset value. After receiving the distance information including the unique identification number of each fixed wireless terminal and the distance value with respect to the measurement target terminal from a plurality of fixed wireless terminals according to a predetermined time unit, the position of the measurement target terminal is determined using the distance information. In the position measuring device to measure, The position measuring device is included in the currently transmitted distance information when the moving speed of the measuring target terminal by distance information currently transmitted from a predetermined fixed wireless terminal exceeds the average moving speed of the measuring target terminal up to a previous time. Discarding the determined distance value and using the distance value transmitted at the previous time (hereinafter, referred to as 'reference previous time') as the distance value at the corresponding time. The method of claim 17, The position measuring device, And storing the distance information transmitted from the fixed wireless terminal in the form of a unique identification number, a time out, a distance value, an average moving speed, and an interval. The method of claim 18, The position measuring device, When the maximum value of the interval is set and the distance information is transmitted from the fixed wireless terminal in predetermined time units, the average moving speed of the measurement target terminal is increased by increasing the interval value by one up to the maximum value of the interval. To calculate the position measuring device. The method of claim 18, The position measuring device, And decreases the timeout by one each time a distance value from the fixed wireless terminal from which the movement speed from the reference transfer time exceeds the average movement speed to the reference transfer time is transmitted. 21. The method of claim 20, The position measuring device, After the timeout has elapsed, when the distance value is transmitted from the fixed wireless terminal from which the movement speed from the reference transfer time exceeds the average movement speed to the reference transfer time, the time out, the average movement speed, And resetting the interval value. (A) receiving, by the position measuring device, distance information including a unique identification number and a distance value from the measurement target terminal from the plurality of fixed wireless terminals; (B) checking, by the location measuring apparatus, whether the moving speed of the measurement target terminal based on the distance information currently transmitted from a predetermined fixed wireless terminal exceeds the average movement speed of the measurement target terminal up to a previous time; And (C) as a result of the check, when the moving speed of the measurement target terminal based on the currently transmitted distance information exceeds the average moving speed of the measurement target terminal up to the previous time (hereinafter referred to as 'reference transfer time'), Discarding the currently transmitted distance value and using the distance value transmitted at the reference previous time as the distance value at that time. The method of claim 22, Between the steps (A) and (B), and (a) storing the received distance information in a table in the form of a unique identification number, time out, distance value, average moving speed, interval, and the like by the position measuring device. 24. The method of claim 23, In step (a), Whenever the position measuring apparatus sets the maximum value of the interval and receives the distance information from the fixed wireless terminal in predetermined time units, the position measurement apparatus increases one by one until the interval value becomes the set maximum value. And calculating an average distance velocity of the terminal to be measured. 24. The method of claim 23, After the step (C), (D) the position measuring device decrementing the time-out by one each time a distance value whose movement speed from the reference transfer time exceeds the average movement speed up to the reference transfer time is transmitted; (E) the positioning device checking whether the timeout has elapsed; And (F) When the timeout has elapsed as a result of the confirmation, if the distance value whose movement speed from the reference transfer time exceeds the average movement speed up to the reference transfer time is transmitted, the position measuring apparatus is configured to transmit the fixed wireless terminal. Using the distance value currently transmitted from as a distance value at that time. The method of claim 25, In the step (F), And the position measuring device resets the timeout and the interval value to a preset value and resets the average travel distance value.

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