KR20140095286A - Device and method for location tracking - Google Patents

Device and method for location tracking Download PDF

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Publication number
KR20140095286A
KR20140095286A KR1020130008076A KR20130008076A KR20140095286A KR 20140095286 A KR20140095286 A KR 20140095286A KR 1020130008076 A KR1020130008076 A KR 1020130008076A KR 20130008076 A KR20130008076 A KR 20130008076A KR 20140095286 A KR20140095286 A KR 20140095286A
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South Korea
Prior art keywords
user
axis acceleration
value
movement
acceleration value
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KR1020130008076A
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Korean (ko)
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박영택
김인철
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숭실대학교산학협력단
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Publication of KR20140095286A publication Critical patent/KR20140095286A/en

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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
    • G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
    • 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
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
    • G01C22/006—Pedometers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C23/00—Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C7/00—Tracing profiles
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • H04W4/026—Services making use of location information using location based information parameters using orientation information, e.g. compass

Abstract

An apparatus for tracking a real-time position of a user located within a specific space, the position tracking apparatus comprising: a three-axis acceleration sensor for measuring a three-axis acceleration value according to a movement of the user; A direction sensor for measuring an azimuth value according to the movement of the user; A movement distance calculation unit for calculating the movement distance of the user based on the variation amount of the three-axis acceleration value calculated based on the magnitude component of the three-axis acceleration value; A moving direction estimating unit for estimating a moving direction of the user based on the azimuth value and meta information including a map of the specific space previously received; And a location tracking unit for tracking the location of the user using a movement model generated based on the movement distance of the user and the movement direction of the user.

Description

≪ Desc / Clms Page number 1 > DEVICE AND METHOD FOR LOCATION TRACKING &

The present invention relates to a position tracking apparatus and a position tracking method.

With the development of mobile communication field, mobile devices such as smart phones and tablet PCs have developed together. Mobile devices such as smartphones and tablet PCs are equipped with a global positioning system (GPS) to identify the location of a user using the mobile device and to serve as a navigation guide.

In addition, the mobile device basically includes an acceleration sensor and a direction sensor for use in various mobile programs such as racing games, training programs, and pedometer. The movement of the mobile device can be grasped by the acceleration sensor and the direction sensor, and the movement of the mobile device user can be grasped through the movement of the mobile device.

In this regard, Korean Patent Registration No. 0827076 (entitled " Moving distance measuring apparatus and method ") detects a user's step through an accelerometer and a gyro sensor included in a mobile device, measures a moving distance And the like.

In some embodiments of the present invention, a movement model is generated based on data measured by a three-axis acceleration sensor and a direction sensor included in a real-time position tracking device to track the position of the user regardless of the direction component of the three- The present invention has been made in view of the above problems.

It is to be understood, however, that the technical scope of the present invention is not limited to the above-described technical problems, and other technical problems may exist.

According to an aspect of the present invention, there is provided an apparatus for tracking a real-time position of a user located in a specific space according to the first aspect of the present invention includes a three-axis acceleration sensor ; A direction sensor for measuring an azimuth value according to the movement of the user; A movement distance calculation unit for calculating the movement distance of the user based on the variation amount of the three-axis acceleration value calculated so as to be independent of the direction component of the three-axis acceleration value; A moving direction estimating unit for estimating a moving direction of the user based on the azimuth value and meta information including a map of the specific space previously received; And a location tracking unit for tracking the location of the user using a movement model generated based on the movement distance of the user and the movement direction of the user.

A method for tracking a real-time position of a user located in a specific space using a position tracking apparatus according to the second aspect of the present invention includes a step of calculating a 3-axis acceleration value based on the 3-axis acceleration value measured by the 3-axis acceleration sensor, Calculating a variation value of the three-axis acceleration value based on a magnitude component of the axis acceleration value; Calculating a moving distance of the user based on the calculated variation value of the three-axis acceleration value; Estimating a moving direction of the user based on the meta information including the azimuth value and a map of the specific space previously received; Generating a movement model of the user based on the calculated movement distance of the user and the estimated movement direction of the user; And tracking the location of the user based on the generated movement model.

The position tracking apparatus, which is one of the tasks of the present invention, can include a travel distance calculating unit to provide a travel distance necessary for tracking a real time position of a user regardless of a direction component of a three-axis acceleration value, This makes it possible to track the position of the user more accurately.

In addition, the position tracking device, which is one of the tasks of the present invention, estimates the moving direction by reflecting the direction value measured by the direction sensor and the structure of the specific space, thereby accurately grasping the moving direction of the user, Based on this, it can be used for path finding or navigation purposes in the first space or complex space.

In addition, the position tracking device, which is one of the task solving means of the present invention, can generate a movement model by using only the three-axis acceleration sensor and the direction sensor even in an environment where no GPS is received, You can track your location exactly.

1 is a view for explaining a position tracking apparatus according to an embodiment of the present invention.
2 is a diagram for explaining calculation of the number of steps of a user in the travel distance calculation unit according to an embodiment of the present invention.
3 is a diagram for explaining a movement direction estimation of a user using meta information including a map of a specific space in the movement direction estimating unit according to an embodiment of the present invention.
4 is a view for explaining the display of a user's location on a map for a specific space in real time on a display unit according to an embodiment of the present invention.
5 is a view for explaining a method for tracking a position according to an embodiment of the present invention.
6 is a diagram for explaining creation of a movement model according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention. It should be understood, however, that the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In the drawings, the same reference numbers are used throughout the specification to refer to the same or like parts.

Throughout this specification, when an element is referred to as "including " an element, it is understood that the element may include other elements as well, without departing from the other elements unless specifically stated otherwise. The terms "about "," substantially ", etc. used to the extent that they are used throughout the specification are intended to be taken to mean the approximation of the manufacturing and material tolerances inherent in the stated sense, Accurate or absolute numbers are used to help prevent unauthorized exploitation by unauthorized intruders of the referenced disclosure. The word " step (or step) "or" step "used to the extent that it is used throughout the specification does not mean" step for.

1 is a view for explaining a position tracking apparatus according to an embodiment of the present invention.

1, the position tracking apparatus 100 includes a three-axis acceleration sensor 110, a direction sensor 120, a movement distance calculation unit 130, a movement direction estimation unit 140, a position tracking unit 150, And a display unit 160. By way of example, the location tracking device 100 may be an independent device and may be included in a mobile terminal, such as a smart phone or tablet PC, or it may be the mobile terminal itself.

The three-axis acceleration sensor 110 measures a three-axis acceleration value according to a user's motion. Illustratively, the three-axis acceleration sensor 110 is capable of measuring acceleration values for three directions of x-axis, y-axis, and z-axis.

The direction sensor 120 measures the azimuth value according to the movement of the user.

The three-axis acceleration sensor 110 and the direction sensor 120 may basically be included in a mobile terminal such as a smart phone or a tablet PC.

The movement distance calculation unit 130 calculates the movement distance of the user based on the variation amount of the three-axis acceleration value calculated based on the magnitude component of the three-axis acceleration value.

Specifically, the movement distance calculation unit 130 may calculate the variation amount of the three-axis acceleration value based on the three-axis acceleration value of the user measured by the three-axis acceleration sensor 110. [ The variation value of the three-axis acceleration value can be calculated by the following equation (1).

&Quot; (1) "

Figure pat00001

Here, x is the amount of change in acceleration with respect to the X-axis, y is the amount of change in acceleration with respect to the Y-axis, and z is the amount of change in acceleration with respect to the Z-axis.

The three-axis acceleration value variation value calculated through the above-described equation (1) is independent of the direction component of the three-axis acceleration value, and the moving distance necessary to accurately track the position of the user based on the variation value of the three- . Specifically, even when the respective acceleration values for the X, Y, and Z axes are measured as negative values, the acceleration values for the respective axes are squared and processed, so that the change amounts of the three-axis acceleration values finally calculated are only positive do. Therefore, a value independent of the direction component of the three-axis acceleration value can be obtained. Which may be the same as the result calculated based on the magnitude component of the three-axis acceleration value.

In addition, the movement distance calculation unit 130 may calculate the number of steps of the user based on the variation value of the three-axis acceleration value, and may calculate the movement distance of the user by multiplying the number of steps of the user by the average step width of the user .

Specifically, the average stride of the user may be preliminarily collected based on the average stride of the user of the position tracking device 100 or the average stride of the plurality of users.

More specifically, the number of steps of the user is determined by the number of times the variation value of the three-axis acceleration value becomes smaller or larger than a predetermined lower threshold value for a predetermined time, Can be calculated on the basis of the number of times. Further, the lower limit threshold value and the upper limit threshold value may be preset based on the acceleration value for the user's step. This will be described in detail with reference to FIG. 2, which will be described later.

2 is a diagram for explaining calculation of the number of steps of a user in the travel distance calculation unit according to an embodiment of the present invention.

Referring to FIG. 2, the waveform shown in FIG. 2 is a variation value of a user's three-axis acceleration value measured through the three-axis acceleration sensor 110. A solid line at the center of the solid line passing through this waveform represents the average of the acceleration values for the user's step. The solid line in the upper part of the solid line representing the average is the upper threshold value ((a) in the figure) and the solid line below is the lower threshold value (b in the figure). The upper limit threshold value and the lower limit threshold value may be preset based on the average of the acceleration values for the user's steps and may be changed according to external factors such as the user's walking characteristics, .

When the magnitude of the waveform representing the variation value of the three-axis acceleration value of the user becomes smaller or larger than a predetermined lower threshold value for a predetermined time and a larger number of times than the preset upper threshold value for a predetermined time The number of steps is calculated. In FIG. 2, the magnitude of the waveform becomes smaller than the lower limit threshold value for the first predetermined time, and the enlarged portion appears twice, and the magnified portion becomes larger than the upper threshold value and appears once. In this case, the number of steps of the user can be calculated twice. During the second preset time, the waveform size was smaller than the lower threshold value, and the larger part appeared three times. The upper part of the waveform was larger than the upper threshold value and the smaller part appeared twice. In this case, the number of steps of the user can be calculated three times.

In FIG. 2, the preset time is 2 seconds, which is an example for setting the same as one cycle of the particle filter. That is, the preset time may vary depending on the user's walking characteristics, speed, etc., and is a value that can be changed by the setting of the user.

Referring again to FIG. 1, the position tracking apparatus 100 includes a movement direction estimating unit 140.

The moving direction estimating unit 140 estimates the moving direction of the user based on the meta information including the azimuth corresponding to the user's movement measured by the direction sensor 120 and the map of the specific space previously received. Illustratively, the meta information may be received in advance by the location tracking device 100 via GPS or wireless network communication, and may include a map of the specific space in which the user is to be located, A complex space, a space that the user first goes to, and the like. In other words, the location tracking device 100 does not need to continuously operate the GPS to track the location of the user, but it is necessary to operate the GPS at least once to receive the meta information including the map for the specific space have. In addition, the movement direction estimating unit 140 can grasp the outer wall position, the passage position, and the like of the building on the basis of the meta information previously received, so that the moving direction of the user can be partially corrected.

Thus, the movement direction estimating unit 140 can correctly grasp the moving direction of the user without using the continuous GPS through the meta information including the map for the specific space and the azimuth value measured by the direction sensor 120. [

Estimation of the moving direction of the user by using the meta information including the map of the specific space in the movement direction estimating unit 140 will be described in detail with reference to FIG.

FIG. 3 is a diagram for explaining a movement direction estimation by a movement direction estimating unit 140 according to an embodiment of the present invention, using meta information including a map of a specific space.

Referring to FIG. 3, meta information including a map of a specific space is output on the location tracking device 100. The location tracking device 100 may receive meta information including a map of the specific space the user will be located via GPS or wireless network communication.

The moving direction of the user can be estimated based on the meta information including the map of the specific space received and the azimuth value according to the user's movement measured by the direction sensor 120. [ As shown in FIG. 3, in the direction sensor 120, the user's azimuth value is measured as the actual azimuth value in the east, west, south, and north directions. Therefore, it is possible to estimate the moving direction of the user in a specific space by matching the actual azimuth measured by the direction sensor 120 with the east, west, south, and north directions of the meta information including the map for the specific space .

The position-tracking unit 150 calculates a position of the user using the movement model generated based on the movement distance of the user calculated through the movement distance calculation unit 130 and the movement direction of the user estimated through the movement direction estimation unit 140 Track the location. In addition, the location tracking unit 150 may track the location of the user in a two-dimensional information format using the movement model.

The display unit 160 displays the position of the user tracked by the position tracking unit 150 on the map for the specific space. In addition, the display unit 160 can display the position of the user by matching the position of the user traced in the two-dimensional information format with the map for the specific space and the position tracking unit 150 using the movement model. In addition, the display unit 160 can display the position of the user on a map for a specific space in real time.

4 is a view for explaining the display of a user's location on a map for a specific space in real time on a display unit according to an embodiment of the present invention.

Referring to FIG. 4, the location tracking device 100 may receive a map of a specific space in advance via GPS or wireless network communication. The location tracking device 100 may display the location of the user traced by the location tracking unit 150 in real time on the map of the specific space received through the display unit 160. [ In FIG. 4, if the location of the user is tracked to (a) and the location of the next tracked user is (b), the location where the user has moved can be sequentially displayed.

The above-described position tracking apparatus 100 generates a movement model using only the information measured by the three-axis acceleration sensor 110 and the direction sensor 120, which are basically included in the position tracking apparatus 100, You can track your location based on your model. Therefore, even in an environment in which GPS is not received, the position of the user can be accurately tracked. However, it is possible to grasp the position of the user more accurately when receiving the GPS, and more than one GPS reception may be required to receive the meta information including the map for the specific space.

Hereinafter, a location tracking method according to an embodiment of the present invention will be described.

For reference, a method for tracking a location according to an embodiment of the present invention relates to a method for tracking a real-time position of a user located in a specific space using the position tracking apparatus 100 according to an embodiment of the present invention, The same reference numerals are applied to the components similar to those described in the position tracking apparatus 100 according to an embodiment of the present invention, and a description thereof will be simplified or omitted.

5 is a view for explaining a method for tracking a position according to an embodiment of the present invention.

Referring to FIG. 5, the position tracking method according to an embodiment of the present invention is based on the three-axis acceleration value according to the motion of the user measured through the three-axis acceleration sensor 110, Axis acceleration value is calculated (S410).

In addition, step S410 includes calculating the number of steps of the user based on the variation value of the three-axis acceleration value and calculating the moving distance of the user by multiplying the number of steps of the user by the average step size of the user collected in advance can do. The variation value of the three-axis acceleration value can be calculated through Equation (1).

In addition, step S410 may include setting a lower limit threshold value and an upper limit threshold value in advance based on the acceleration value of the user's step, a step of decreasing the value of the change amount of the 3-axis acceleration value to a lower limit threshold value Measuring a second number of times greater than or equal to the upper threshold value for a predetermined time and calculating a number of steps of the user based on a larger number of times of the first and second times. The description thereof is the same as that described with reference to FIG.

Next, the moving distance of the user is calculated based on the variation amount of the three-axis acceleration value calculated in step S410 (S420).

In the above-described steps S410 and S420, the variation amount of the three-axis acceleration value is calculated through the movement distance calculation unit 130 based on the three-axis acceleration value according to the user's movement measured by the three-axis acceleration sensor 110 , And the moving distance of the user can be calculated based on the calculated variation amount of the three-axis acceleration value.

Next, a direction value according to the user's movement is measured through the direction sensor 120, and the direction of movement of the user is estimated based on the meta information including the measured azimuth value and the map for the specific space previously received ( S430). In operation S430, the moving direction estimating unit 140 determines whether or not the user moves through the moving direction estimating unit 140 based on the meta information including the azimuth corresponding to the movement of the user measured through the direction sensor 120 and the map of the specific space received in advance Direction can be estimated.

Next, a movement model of the user is generated based on the movement distance of the user calculated through step S420 and the movement direction of the user estimated through step S430 (S440).

6 is a diagram for explaining creation of a movement model according to an embodiment of the present invention.

Referring to FIG. 6, in operation S440, the magnitude component of the three-axis acceleration value is calculated based on the three-axis acceleration value according to the motion of the user measured through the three-axis acceleration sensor 110 in steps S410 and S420. Axis acceleration value, and calculates the movement distance of the user based on the calculated variation value of the three-axis acceleration value. In addition, in step S430, the azimuth value according to the user's movement is measured through the direction sensor 120, and the direction of the user's movement is estimated. A movement model of the user can be generated based on the movement distance of the user calculated through steps S410, S420, and S430 and the movement direction of the estimated user.

Referring again to FIG. 5, the location of the user is tracked based on the movement model generated in step S440 (S450). In operation S450, the location tracking unit 150 may track the location of the user based on the movement model generated in operation S440.

Next, the position of the user traced through step S450 is displayed on the map of the specific space (S460). Step S460 may display the position of the user traced through the position tracking unit 150 on the map of the specific space through the display unit 160. [

One embodiment of the present invention may also be embodied in the form of a recording medium including instructions executable by a computer, such as program modules, being executed by a computer. Computer readable media can be any available media that can be accessed by a computer and includes both volatile and nonvolatile media, removable and non-removable media. In addition, the computer-readable medium may include both computer storage media and communication media. Computer storage media includes both volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Communication media typically includes any information delivery media, including computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave, or other transport mechanism.

While the methods and systems of the present invention have been described in connection with specific embodiments, some or all of those elements or operations may be implemented using a computer system having a general purpose hardware architecture.

It will be understood by those of ordinary skill in the art that the foregoing description of the embodiments is for illustrative purposes and that those skilled in the art can easily modify the invention without departing from the spirit or essential characteristics thereof. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive. For example, each component described as a single entity may be distributed and implemented, and components described as being distributed may also be implemented in a combined form.

The scope of the present invention is defined by the appended claims rather than the detailed description, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be construed as being included within the scope of the present invention.

100: Position tracking device 110: 3-axis acceleration sensor
120: direction sensor 130: movement distance calculation unit
140: movement direction estimating unit 150:
160:

Claims (9)

An apparatus for tracking a real-time position of a user located in a specific space,
A three-axis acceleration sensor for measuring a three-axis acceleration value according to the motion of the user;
A direction sensor for measuring an azimuth value according to the movement of the user;
A movement distance calculation unit for calculating the movement distance of the user based on the variation amount of the three-axis acceleration value calculated based on the magnitude component of the three-axis acceleration value;
A moving direction estimating unit for estimating a moving direction of the user based on the azimuth value and meta information including a map of the specific space previously received; And
A location tracking unit for tracking the location of the user using a movement model generated based on the movement distance of the user and the movement direction of the user;
.
The method according to claim 1,
And a display unit for displaying the position of the user tracked by the position tracking unit on a map for the specific space.
3. The method of claim 2,
Wherein the position tracking unit tracks the position of the user in a two-dimensional information format using the movement model,
Wherein the display unit displays the position of the user by matching the map of the specific space with the two-dimensional information.
The method according to claim 1,
The movement distance calculation unit calculates the number of steps of the user based on the variation value of the three-axis acceleration value, and calculates a movement distance of the user by multiplying the number of steps of the user by the average step width of the user collected in advance Device.
5. The method of claim 4,
The number of steps of the user is determined by the number of times the variation value of the three-axis acceleration value becomes smaller or larger than a preset lower limit threshold value for a predetermined time and a larger number of times Lt; / RTI >
Wherein the lower limit threshold value and the upper limit threshold value are preset based on an acceleration value for the user's step.
A method for tracking a real-time location of a user located in a specific space using a location tracking device,
Calculating a variation value of the three-axis acceleration value based on the magnitude component of the three-axis acceleration value based on the three-axis acceleration value according to the movement of the user measured through the three-axis acceleration sensor;
Calculating a moving distance of the user based on the calculated variation value of the three-axis acceleration value;
Estimating a moving direction of the user based on the meta information including the azimuth value and a map of the specific space previously received;
Generating a movement model of the user based on the calculated movement distance of the user and the estimated movement direction of the user; And
Tracking the location of the user based on the generated movement model
/ RTI >
The method according to claim 6,
And displaying the location of the tracked user on a map of the specific space.
The method according to claim 6,
Calculating the variation value of the three-axis acceleration value includes: calculating the number of steps of the user based on the variation value of the three-axis acceleration value; And
And calculating a moving distance of the user by multiplying the number of steps of the user by an average stride of the user collected in advance.
9. The method of claim 8,
The step of calculating the variation value of the three-axis acceleration value
Setting a lower limit threshold value and an upper limit threshold value in advance based on an acceleration value of the user's step;
Measuring a first number of times the variation value of the three-axis acceleration value becomes smaller or larger than the lower threshold value for a predetermined time and a second number of times larger than the upper threshold value for the predetermined time; And
And calculating the number of steps of the user based on a large number of times of the first number and the second number.
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