KR20160090722A - Informing Method of Location in Indoor Space - Google Patents

Abstract

The present invention relates to a location guidance method indoors. The method is capable of providing location information indoors more accurately by: separating an indoor space into a plurality of spaces (P1,P2,...,Pn); installing beacon generating devices at regular intervals in each space; determining a predictive unit space, where a user terminal will be located, before the location of the user terminal is calculated; and determining the location with the method of calculating the accurate location of the user terminal by using a corresponding beacon generating device in the predictive unit space, thereby guiding the location more quickly and accurately; and performing a verification process and a correction process in the process of determining a predictive unit space, even when an error or distortion of a beacon signal occurs.

Description

{Informing Method of Location in Indoor Space}

The present invention relates to a method of guiding a position in an indoor space. More specifically, the indoor space is divided into a plurality of unit spaces (P1, P2, ..., Pn), and a beacon generator is installed at a predetermined interval with respect to each unit space. In calculating the position of the user terminal, It is possible to guide the position by calculating the accurate position of the user terminal using the corresponding beacon generating device in the predictive unit space, thereby enabling quick and accurate position guidance, And more particularly, to a position guidance method in an indoor space that can provide more precise position information by allowing a verification process and a correction operation to be performed in a process of determining a prediction unit space even if a signal distortion and an error occur.

Location-based technology is a technique that acquires physical, geographical, or logical location information of an object (person or object) placed in a specific location and reacts accordingly. Typical positioning methods include triangulation, which measures the position of a subject by measuring the distance between objects, angle or azimuth, scene analysis using scenery viewed from a specific point of view (Vantage Point) And a proximity method of finding a target object in proximity to each other.

With the recent development of wireless communication technology, the radio wave identification system is attracting attention as a new wireless network technology and widely used. In addition, it is required to develop a technique for measuring a position in the indoor or outdoor environment using a radio wave identification system. Such a technique is a technique for collecting or collecting data using radio wave identification in an area where a person can not reach, And the like.

Meanwhile, a typical position measurement technique is a position measurement technique using a GPS (Global Positioning System), a position measurement technique using a received signal strength (RSSI) , And location measurement technology using short-range wireless communication.

GPS positioning technology is a technique to measure the phase of a carrier signal transmitted from a GPS satellite floating in the Earth's orbit or to measure the distance to a satellite by tracking the code of a carrier signal (relative positioning). This positioning technique using GPS is widely used at present, because it can provide stable service through a fixed satellite with a wide signal radius. However, it has a disadvantage that service is impossible in a room or a shaded area where accuracy is low and GPS satellite signals are difficult to receive have.

The location measurement technology using mobile communication is a technology for obtaining geographical location information of a mobile terminal by triangulation using the currently established mobile communication system. And a terminal based method in which a terminal having a GPS receiver transmits position information to a network separately from a base station, and a hybrid method in which both are mixed. These technologies do not require a separate infrastructure and are widely used as macro positioning technology because they have a wide service area like GPS. However, it can be used only in a cell radius within the cell radius where the base station is located or in a city center where radio waves can be received, and there is a problem that accuracy in the room is deteriorated due to diffraction, multipath, and signal attenuation due to propagation characteristics.

Such satellite communication or mobile communication location recognition technologies are suitable for outdoor use because of a wide service provision area, but they are restricted in indoor and shade areas. Recently, a positioning technique using various wireless communication technologies such as Diffuse-Infrared, Ultrasonic Wave, RF (Radio Frequency), UWB (Ultra Wideband), and radio wave identification has been actively studied.

Among these positioning techniques in the indoor space, a technology using a beacon signal (BLE (Bluetooth Low Energy) signal) has recently been highlighted. The beacon signal is generated from a beacon generating device (BLE (Bluetooth Low Energy) generating device). The beacon generating device is configured to transmit and receive a beacon signal in a Bluetooth manner to the user's portable terminal. The beacon signal of the Bluetooth type is Bluetooth 4.0 ) It is a protocol based short range wireless communication method that can communicate with devices within a maximum distance of 70m, has high accuracy and low power consumption so that it can distinguish between 5 ~ 10cm units. Therefore, in recent years, studies on a positioning technique in an indoor space using a beacon signal have been actively studied.

FIG. 1 is a diagram for explaining an indoor positioning technique using a conventional beacon signal according to the related art.

As shown in FIG. 1, the beacon generator 10 is installed in the indoor spaces P1, P2, and P3 at regular intervals. When the user moves the indoor space, The device 10 transmits / receives a beacon signal using a wireless communication method such as Bluetooth.

The user terminal recognizes the intensity of the beacon signal received from the beacon generator 10 and the identifier of the beacon generator 10 and calculates the position of the user terminal. In this case, the position calculation method is generally used in the trilateration method. That is, the distance from the beacon generator 10 can be calculated according to the intensity of the beacon signal received from the beacon generator 10. When the distance is calculated through at least three beacon generators 10 , The exact position of the user terminal can be calculated.

In general, all beacon signals are transmitted with the same intensity and the same wave period. Therefore, it is highly likely that the beacon signal received from the beacon generator 10 is sequentially received from the beacon generator located far away from the user terminal to the beacon generator. That is, since the beacon signal is transmitted at the same wave period as the same intensity, the beacon signal is sequentially received from the beacon generator at a nearby position according to the distance from the beacon generator. Accordingly, the position of the user terminal is calculated based on information on at least three beacon signals received first among the plurality of beacon signals received at the user terminal.

However, in general beacon signals, not only water but also a lot of signal distortions and reflections are generated by all objects such as reinforcing bars, walls, sculptures, etc., so that beacon signals transmitted in the indoor space are distorted or reflected by these objects .

For example, when the user terminal is located at the T1 point of the P1 space, the position of the T1 point can be accurately calculated through the trilateration method based on the three beacon signals B1, B2, and B7 that are received first. However, if distortion and error occur in the beacon signal B7 during the beacon signal transmission / reception process, the distance between the user terminal and the B7 beacon generator is erroneously measured, so that the position of the user terminal can not be accurately calculated at the T2 point.

In this way, although the location of the actual user terminal is the T1 point, it is possible to make a wrong position calculation to the T2 point due to distortion and error in the beacon signal transmission / reception process, and accordingly, the accuracy and reliability of the position guidance in the indoor space There was a problem that was very bad.

Korean Patent Laid-Open No. 10-2008-0103254

SUMMARY OF THE INVENTION The present invention has been made to solve the problems of the prior art, and it is an object of the present invention to divide an indoor space into a plurality of unit spaces (P1, P2, ..., Pn) The location of the user terminal is determined by determining the predicted unit space in which the user terminal is located and then the accurate position of the user terminal is calculated using the corresponding beacon generator within the predicted unit space So that it is possible to guide the position more quickly and precisely. Further, even if a beacon signal is distorted or errored, the verification process and the correction operation are performed in the process of determining the prediction unit space, The present invention provides a method of guiding a position in an indoor space.

Another object of the present invention is to provide a method of comparing a beacon identifier included in a received beacon signal combination with an identifier of a beacon generator disposed in each unit space in a process of determining a predicted unit space in which a user terminal is located, It is possible to perform the process of determining the prediction unit space more quickly and accurately. In particular, the comparison target may be limited to the surrounding unit space instead of the entire unit space, The present invention provides a method of guiding a position in an indoor space which can further speed up a position providing speed by allowing a faster calculation operation.

It is a further object of the present invention to provide a method and apparatus for determining a position where a user can be located based on the fact that a beacon generating apparatus located at a short distance from a user terminal is highly likely to receive a beacon signal sequentially from a beacon generating apparatus located at a long distance A unit space, and a combination of beacon signals received in each unit space is used to determine a prediction unit space in which a user is located. By correcting the error of position measurement that may be caused by a distorted beacon signal, And to provide a method of guiding a location in a possible indoor space.

The method includes receiving a beacon signal from a plurality of beacon generators, respectively; Determining a predicted unit space in which the user terminal is located based on the received beacon signal combination of the beacon generator; And calculating a position of the user terminal based on a beacon signal received from a beacon generator disposed in the predictive unit space among beacon signal combinations of the beacon generator. Provide guidance methods.

At this time, the position guidance method in the indoor space may include: generating a guidance message guiding in a direction of another unit space connected to a setting position of the indoor space based on the calculated position; And outputting it to the user.

The step of determining the predicted unit space may include: generating a beacon signal combination from the received beacon signal; Comparing the identifier of the beacon generator included in the beacon signal combination with the identifier of the beacon generator disposed in each unit space to determine a unit space in which identifiers of the largest number of beacon generators match; And determining the matching unit space as the prediction unit space.

Also, the beacon signal combination may be generated in a combination of a predetermined number of beacon signals that are set according to the reception order.

The step of determining the predicted unit space may further include determining a peripheral unit space located in the vicinity of the previous predicted unit space, wherein the identifier of the beacon generator included in the beacon signal combination, The identifier of the beacon generator disposed in the space is compared with each other, and the peripheral unit space having the largest number of identifiers of the beacon generators can be determined as the predicted unit space.

The step of determining the predicted unit space may include: generating a beacon signal combination from the received beacon signal; Calculating a position of the user terminal based on a beacon signal included in the beacon signal combination, and determining a unit space including the calculated position as a candidate unit space; Comparing an identifier of the beacon generator included in the beacon signal combination with an identifier of the beacon generator disposed in the candidate unit space and determining whether the beacon generator matches the identifier; And determining the candidate unit space as the predicted unit space if the identifier of the beacon generator included in the beacon signal combination matches the identifier of the beacon generator disposed in the candidate unit space have.

If the identifier of the beacon generator included in the beacon signal combination and the identifier of the beacon generator disposed in the candidate unit space do not coincide with each other, Comparing the identifier of the included beacon generator and the identifier of the beacon generator disposed in each unit space to determine a unit space in which identifiers of the largest number of beacon generators match; And determining the matching unit space as the prediction unit space.

If the identifier of the beacon generator included in the beacon signal combination and the identifier of the beacon generator disposed in the candidate unit space do not coincide with each other, Determining a peripheral unit space located near the beacon signal generator, comparing the identifier of the beacon generator included in the beacon signal combination with the identifier of the beacon generator disposed in the peripheral unit space, The peripheral unit space in which the identifier of the beacon generator coincides can be determined as the predicted unit space.

At this time, the beacon signal combination may be generated in a combination of a predetermined number of beacon signals set according to the reception order.

According to the present invention, the indoor space is divided into a plurality of unit spaces (P1, P2, ..., Pn), a beacon generator is installed at each unit space, and at the time of calculating the position of the user terminal, It is possible to guide the position by calculating the accurate position of the user terminal using the corresponding beacon generator in the prediction unit space after determining the predicted unit space to be positioned, Even if a beacon signal is distorted or erred, the verification process and the correction process are performed in the process of determining the prediction unit space, thereby providing accurate position information at all times.

In the process of determining the predicted unit space in which the user terminal is located, the identifier of the beacon identification device included in the received beacon signal combination is compared with the identifier of the beacon generator disposed in each unit space, It is possible to perform the process of determining the predicted unit space more quickly and accurately. Particularly, it is possible to limit the comparison target to the peripheral unit space instead of the entire unit space, It is possible to perform an arithmetic operation and thus the position providing speed can be further improved.

Further, on the basis of the fact that there is a high possibility that the beacon signal is sequentially received from the beacon generating device located a short distance from the user terminal to the beacon generating device located a long distance from the user terminal, , It is possible to perform accurate position measurement by correcting an error of position measurement that may occur due to a distorted beacon signal by determining a prediction unit space in which a user is located by using a combination of beacon signals received in each unit space .

FIG. 1 is a view for explaining an indoor positioning technique using a conventional beacon signal according to the related art,
FIG. 2 is a flowchart illustrating a method of guiding a location in an indoor space according to an exemplary embodiment of the present invention.
FIG. 3 and FIG. 4 are flowcharts illustrating a method of determining a prediction unit space according to an exemplary embodiment of the present invention. FIG.
5 is a view for explaining a method of guiding a position in an indoor space according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the drawings, the same reference numerals are used to designate the same or similar components throughout the drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

FIG. 2 is a flow chart for explaining a method of guiding a position in an indoor space according to an embodiment of the present invention. FIGS. 3 and 4 are flowcharts illustrating steps of determining a prediction unit space according to an embodiment of the present invention. FIG. 5 is a view for explaining a method of guiding a position in an indoor space according to an embodiment of the present invention. Referring to FIG.

The position guiding method according to an embodiment of the present invention includes dividing an indoor space into a plurality of unit spaces P1, P2, ..., Pn, and providing the beacon generator 10 at predetermined intervals with respect to each unit space, In calculating the position of the user terminal, first, the unit space in which the user terminal is located is determined based on the beacon signal identifier received from the beacon generator 10, and then the position of the user terminal is calculated in the trilateration method based on the intensity of the beacon signal . If the calculated position and the determined unit space are different from each other, the position of the user terminal is corrected to the inside of the determined unit space, thereby making it possible to prevent erroneous determination of an incorrect position due to distortion or reflection of the beacon signal.

More specifically, a step S10 of receiving a beacon signal from each of the plurality of beacon generators 10 and a step of determining a predictive unit space in which the user terminal is located from the combination of the beacon signals of the received beacon generators 10 (S30) of calculating the position of the user terminal based on the beacon signal received from the beacon generator disposed in the predictive unit space among the beacon signal combinations of the beacon generator (10) do. The method further includes generating a guidance message for guiding the direction of the other unit space connected to the setting position of the indoor space based on the calculated position and outputting the guide message to the user through the user terminal (S40) .

That is, the user terminal receives a beacon signal from a plurality of beacon generators 10 installed in the indoor space, generates a beacon signal combination from the received beacon signals, and determines a predicted (Hereinafter, referred to as a " beacon generator ") that is received from a beacon generator (four beacon generators are arranged in each unit space P1, P2, ..., Pn on the basis of FIG. 5) The precise location of the user terminal based on the beacon signal is calculated by the trilateration method.

At this time, the step S20 of determining the prediction unit space may be performed in various ways. First, it may be performed as shown in FIG.

That is, a method of generating a beacon signal combination (S21), determining a unit space in which identifiers of the largest number of beacon generator devices 10 coincide (S22), and determining the unit space as a predictive unit space (S23) Lt; / RTI >

First, a beacon signal is received from a plurality of beacon generators 10 to generate a beacon signal combination (S21). Then, an identifier of the beacon generator 10 included in the beacon signal combination, (S22). In this way, the unit space in which the identifiers of the largest number of beacon generators match is determined as the unit space in which the identifiers of the largest number of beacon generators match It is determined as a prediction unit space (S23).

Generally, a beacon signal is likely to be sequentially received from a beacon generator located close to a user terminal at a user terminal. For example, when a user terminal is located at a point T1 in a P2 unit space, The first beacon signal received is a beacon signal from the nearest beacon generating apparatuses B1, B2, B3, B4, and then the beacon signal from the beacon generating apparatus B5, B6, B7, B8, Signals are received continuously. At this time, the beacon signal combination can generate a combination of a predetermined number of beacon signals, for example, the first four beacon signals received according to the reception order, among the received beacon signals to generate a combination of beacon signals. That is, a beacon signal combination for the identifiers B1, B2, B3, and B4 of the beacon generator is generated. In this case, the number of beacon signal combinations can be set to a specific number, for example, 4, which is preferably set to a minimum of 3 or more for position calculation, and the number of beacons is relatively . Further, the number of beacon generators may be set to the same number as the number (for example, four) of beacon generators disposed in the unit space, .

Then, the identifiers of the beacon generators included in the beacon signal combination and the identifiers of the beacon generators disposed in the unit spaces P1, P2, ..., Pn are compared with each other and the identifiers of B1, B2, B3, Is determined. In this case, since the identifiers of the beacon generator included in the generated beacon signal combination are B1, B2, B3, and B4, it is known that the unit space having the same identifier is the P2 space. Find space. In this case, the identifier of the beacon generator installed in each unit space must be stored in a database in all the unit spaces in the storage unit of the user terminal, and a corresponding unit space can be found have.

When a beacon signal is received in the order of B1, B5, B2, and B3 from the user terminal, a combination of beacon signals corresponding to B1, B5, B2, and B3 is generated. B2, and B3 identifiers are compared with the entire unit space, there is no matching unit space, so that the corresponding unit space can not be found. In order to compensate for this, in the present invention, by comparing the identifier of the beacon generator included in the beacon signal combination with the identifier of the beacon generator disposed in the unit space, a method of finding a unit space in which identifiers of the largest number of beacon generators match To find the unit space. That is, if a unit space that most closely matches the B1, B5, B2, and B3 identifiers included in the received beacon signal combination is found, the three B1, B2, and B3 identifiers are the same in the P2 space, You can.

For example, in the P2 space, the identifiers of the beacon generators are B1, B2, B3 and B4, the identifiers of the beacon generators B3, B4, B5 and B6 are in the space P3, B5, B6, B7, and B8, and there will be an identifier of another beacon generator in the other space. At this time, the unit space in which B1, B5, B2, and B3 identifiers included in the received beacon signal combination match the largest number of identifiers is P2 space in which three identifiers B1, B2, and B3 coincide. The P3 space matches two identifiers B3 and B4, and the P4 space matches the identifiers of B5 1. In step S22, the beacon signal combination received in this manner is compared with the total unit space to determine a unit space in which identifiers of the largest number of beacon generators coincide with each other.

Then, based on the three beacon signals among the received beacon signal combinations (B1, B5, B2, B3), the position of the user terminal is determined through the trilateration method (S30).

Preferably, based on the beacon signals received from the beacon generators B1, B2, B3 arranged in the predictive unit space P2 among the received beacon signal combinations B1, B5, B2, B3, And accurately calculates the position of the user terminal. As described in the related art, since the beacon signal received from the beacon generator at a relatively long distance is highly likely to be distorted, the present invention can calculate the beacon signal quickly and accurately by calculating the beacon signal. That is, except for the beacon signal of B5, which is a relatively long distance beacon generator, it is calculated whether or not B5 is a relatively long distance beacon generator by comparing the identifier of the beacon generator disposed in the above- As shown in Fig.

However, if the position of the user terminal calculated from three beacon signals among the received beacon signal combinations is not located in the prediction unit space, arbitrary combination of three beacon signals is generated in the received beacon signal combination to calculate the position of the user terminal do. This can be repeated until the position of the user terminal calculated from the combination of three beacon signals is located in the prediction unit space.

In the above description, in the process of determining the predicted unit space, a method of finding a corresponding unit space by comparing the received unit of beacon signal with the total unit space has been described. Alternatively, And a step S24 of judging whether or not the image is displayed.

That is, since the user terminal moves on the continuous path in the indoor space, the unit space in which the identifier of the largest number of beacon generators matches can be found by comparing only the peripheral unit space of the previous prediction unit space.

For example, assuming that a previously located unit space is P1 and a currently located unit space is P2 space, a unit space in which the beacon signal combination (B1, B5, B2, B3) In the searching process, first, the unit space in which the identifiers of the largest number of beacon generators match can be found by comparing only the peripheral unit spaces P6, P7, and P2 with respect to P1, which is the predicted unit space previously located (S25) . In this case, similarly, since the identifiers of the largest number of P2 spaces coincide with each other, the same result is obtained, and the peripheral unit space is determined as the prediction unit space (S26).

By comparing only the peripheral unit spaces in this manner, it is not necessary to compare all the unit spaces, and the calculation process can be processed more quickly, so that the position calculation and the guidance process can be performed more quickly.

Meanwhile, the step S20 of determining the prediction unit space may be performed as shown in FIG.

First, similarly to the above, a beacon signal is received from a plurality of beacon generators 10 to generate a beacon signal combination (S21). Thereafter, based on the three beacon signals included in the beacon signal combination, Calculates a position, and determines a unit space including the calculated position as a candidate unit space (S27). For example, if the position of the user terminal is calculated using the trilateration method based on three beacon signals among the beacon signal combinations having the identifiers B1, B5, B2, and B3 as described above, Distortion or error occurs, the actual user terminal may be located at T1, but the wrong location may be calculated at T2, but it is not known whether this calculation result is incorrect or correct. Therefore, first, the unit space in which the T2 coordinate value is located is determined through the T2 coordinate value thus calculated, and the unit space is determined as the candidate unit space. That is, it can be known that the unit space is the P3 space through the T2 coordinate value, and the P3 space is determined as the candidate unit space.

The identifiers B1, B5, B2 and B3 of the beacon generator included in the beacon signal combination and the identifiers B3, B4, B5 and B6 of the beacon generator disposed in the candidate unit space P3 are compared And determines whether or not the identifiers match (S28). If the identifiers match, the candidate unit space is determined as a prediction unit space (S29). However, if the identifiers do not coincide with each other as described above, the unit space in which identifiers coincide with each other must be compared with the entire unit space or the surrounding unit space to find the unit space in which the largest number of identifiers match (S22, S23, S24 , S25, S26).

At this time, in the process of determining the predicted unit space, the identifier of the beacon identifier included in the received beacon signal combination is compared with the identifier of the beacon generator disposed in each unit space, so that the identifier of the largest number of beacon generators And sets a matching unit space as a prediction unit space. In this case, the comparison target can be limited to the peripheral unit space instead of the entire unit space, and comparison can be performed. If the comparison range is limited as described above, faster operation can be performed and the position providing speed can be further improved.

The foregoing description is merely illustrative of the technical idea of the present invention and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

10: Beacon generator
P1, P2, ... , Pn: unit space
B1, B2, ... , Bn: identifier of the beacon generator

Claims (9)

Receiving a respective beacon signal from a plurality of beacon generators;
Determining a predicted unit space in which the user terminal is located based on the received beacon signal combination of the beacon generator; And
Generating a guide message for guiding the direction of the other unit space connected to the set location of the indoor space based on the determined predicted unit space and outputting the guide message to the user through the user terminal; The method comprising: 2. The method according to claim 1,
Further comprising calculating a position of the user terminal in the predicted unit space based on at least three beacon signals among the beacon signal combinations of the beacon generator. The method of claim 1, wherein the step of determining the prediction unit space comprises:
Generating a beacon signal combination from the received beacon signal;
Comparing the identifier of the beacon generator included in the beacon signal combination with the identifier of the beacon generator disposed in each unit space to determine a unit space in which identifiers of the largest number of beacon generators match; And
And determining the matching unit space as the predicted unit space. The method of claim 3,
Wherein the beacon signal combination is generated in a combination of a predetermined number of beacon signals set according to a reception order among the received beacon signals. 4. The method of claim 3, wherein the step of determining the prediction unit space comprises:
Further comprising the step of determining a peripheral unit space located around the previous prediction unit space,
The identifier of the beacon generator included in the beacon signal combination is compared with the identifier of the beacon generator disposed in the peripheral unit space, and the peripheral unit space having the largest number of identifiers of the beacon generators matches the predicted unit space And determining the position of the indoor space in the indoor space. The method of claim 1, wherein the step of determining the prediction unit space comprises:
Generating a beacon signal combination from the received beacon signal;
Calculating a position of the user terminal based on a beacon signal included in the beacon signal combination, and determining a unit space including the calculated position as a candidate unit space;
Comparing an identifier of the beacon generator included in the beacon signal combination with an identifier of the beacon generator disposed in the candidate unit space and determining whether the beacon generator matches the identifier; And
And determining the candidate unit space as the predicted unit space when the identifier of the beacon generator included in the beacon signal combination matches the identifier of the beacon generator disposed in the candidate unit space Of the indoor space. The method of claim 6, wherein the step of determining the prediction unit space comprises:
When the identifier of the beacon generator included in the beacon signal combination does not match the identifier of the beacon generator disposed in the candidate unit space, the identifier of the beacon generator included in the beacon signal combination, Comparing the identifiers of the beacon generators disposed in the first unit, and determining the unit space in which identifiers of the largest number of beacon generators coincide with each other; And
And determining the matching unit space to be the predicted unit space. The method of claim 6, wherein the step of determining the prediction unit space comprises:
Determining a peripheral unit space located in the periphery of the previous predicted unit space when the identifier of the beacon generator included in the combination of beacon signals does not match the identifier of the beacon generator disposed in the candidate unit space, Further,
The identifier of the beacon generator included in the beacon signal combination is compared with the identifier of the beacon generator disposed in the peripheral unit space, and the peripheral unit space having the largest number of identifiers of the beacon generators matches the predicted unit space And determining the position of the indoor space in the indoor space. The method according to claim 6,
Wherein the beacon signal combination is generated in a combination of a predetermined number of beacon signals set according to a reception order among the received beacon signals.

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