KR20170074322A - The method of indoor localization using pre-designed acoustic source data - Google Patents

The method of indoor localization using pre-designed acoustic source data Download PDF

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KR20170074322A
KR20170074322A KR1020150183286A KR20150183286A KR20170074322A KR 20170074322 A KR20170074322 A KR 20170074322A KR 1020150183286 A KR1020150183286 A KR 1020150183286A KR 20150183286 A KR20150183286 A KR 20150183286A KR 20170074322 A KR20170074322 A KR 20170074322A
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김남수
최석재
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서울대학교산학협력단
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
    • G01S5/20—Position of source determined by a plurality of spaced direction-finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/14—Systems for determining distance or velocity not using reflection or reradiation using ultrasonic, sonic, or infrasonic waves
    • 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
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

More particularly, the present invention relates to a method of estimating an indoor position using an acoustic data signal, comprising the steps of: (1) a plurality of acoustic data signals are designed and transmitted from a speaker S100), (2) a relative arrival time of each acoustic data signal is calculated at a receiving end where a plurality of acoustic data signals designed in step (1) are superimposed and received, and based on the calculated arrival time, (3) calculating (S300) TDOA between the respective sound data signals on the basis of the arrival time calculated in the step (2), and (4) repeating the step (3) (S400) of calculating the position of the final receiver using the TDOA between the respective acoustic data signals calculated in step S400.
According to the indoor position estimation method using the previously designed acoustic data signal proposed in the present invention, it is possible to design an indoor position estimation method using an acoustic data signal so that each acoustic data signal has a specific frequency and a specific code, It is possible to more effectively separate the superimposed acoustic data signals by separating the superimposed acoustic data signals using the cross correlation function and the preceding signal detection algorithm when separating the data signals and to reduce the influence of the indoor interference such as reverberation The indoor position can be estimated.

Description

BACKGROUND OF THE INVENTION Field of the Invention [0001] The present invention relates to an indoor location estimation method using acoustic data signals,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of estimating a room position, and more particularly, to a method of estimating a room position using a previously designed acoustic data signal.

Due to the rapid spread of smart phones, most people have one mobile device with GPS (Global Positioning System), and the location based services (LBS) market is also growing rapidly. For example, smartphone users no longer have to carry a paper map through applications such as GPS-based Google Maps and Naver Maps, Can be easily provided.

In recent years, indoor location estimation has been actively conducted to provide a virtual tour guide service, a personal item tracking service, and a virtual guide service in a large shopping mall, as well as a GPS-based outdoor location estimation method . With respect to such an indoor position estimation method, Japanese Laid-Open Patent Publication No. 10-2015-0124658 (entitled " Indoor Location Estimation Method and Apparatus, Date of Publication: November 06, 2015) "

However, the conventional indoor location estimation technology using RFID, Wi-Fi, etc. has a limitation in the accuracy of indoor location estimation due to insufficient visible lines due to indoor interference or obstacles such as noise and reverberation in the room.

The present invention has been proposed in order to solve the above-mentioned problems of the previously proposed methods. The present invention designs each acoustic data signal to have a specific frequency and a specific code, and when separating the superimposed acoustic data signals, And the preceding signal detection algorithm, it is possible to more effectively separate the superimposed acoustic data signals, to lessen the influence of indoor interference such as reverberation, and to estimate the indoor position. And an object of the present invention is to provide a method of estimating an indoor position using a designed acoustic data signal.

According to an aspect of the present invention, there is provided a method of estimating an indoor position using a pre-designed acoustic data signal,

A method for estimating an indoor position using an acoustic data signal,

(1) a step (S100) in which a plurality of acoustic data signals are designed and transmitted from a speaker;

(2) a relative arrival time of each acoustic data signal is calculated at a receiving end where a plurality of acoustic data signals designed in step (1) are superimposed and received, and based on the calculated arrival time, Separating step S200;

(3) a step (S300) of calculating a TDOA between respective sound data signals based on the arrival time calculated in the step (2); And

(4) a step (S400) of calculating a position of a final receiver using TDOA between the respective sound data signals calculated in the step (3).

Preferably, in said step (1)

The plurality of acoustic data signals may be designed to have a specific frequency band and a specific code.

Preferably, in said step (1)

The designed acoustic data signals can be simultaneously reproduced from the same number of speakers as the number of the designed acoustic data signals.

Preferably, the step (2)

(2-1) The relative arrival time of each acoustic data signal superimposed at the receiving end may be calculated using the following equation (S210).

Figure pat00001

Figure pat00002

Here, x is the transmitted signal, y is the received signal, i is the arrival of the correlation function, τ is the transmission signal between the index, R i (τ) is a transmission signal and a received signal for each acoustic data sources to be transmitted from each of the speaker Time, and τ i is the maximum value of the correlation function R i (τ).

More preferably, the step (2)

(2-2) For each of the acoustic data signals superimposed at the receiving end, a preceding signal detection algorithm is used to find a signal that arrives first rather than a multipath signal, and for the τ i calculated in step (2-1) The relative arrival time may be calculated again using the following equation (S220).

Figure pat00003

here,

Figure pat00004
The
Figure pat00005
The time a maximum of the correlation function R i (τ) in the range of τ, x is the transmitted signal, W is the length of the search window, i is an index for each audio data source to be transmitted from each speaker, R i (τ ) Denotes a correlation function between the transmission signal and the reception signal, and τ i denotes a maximum value of the correlation function R i (τ).

Even more preferably, the step (2)

(2-3) The relative arrival times of the respective acoustic data signals calculated in the step (2-1) and the step (2-2) may be calculated by dividing each of the superimposed acoustic data signals using Equation (S230) in which the arrival time to be finally used is calculated.

Figure pat00006

Here, i is an index, R i (τ) is the correlation between the transmission signal and a reception signal related function, λ is the threshold, τ i is the correlation function R i (τ) for each sound data sources to be transmitted from each of the speaker The maximum value of τ,

Figure pat00007
The
Figure pat00008
Of the correlation function R i (?) In the range of?

According to the indoor position estimation method using the previously designed acoustic data signal proposed in the present invention, it is possible to design an indoor position estimation method using an acoustic data signal so that each acoustic data signal has a specific frequency and a specific code, It is possible to more effectively separate the superimposed acoustic data signals by separating the superimposed acoustic data signals using the cross correlation function and the preceding signal detection algorithm when separating the data signals and to reduce the influence of the indoor interference such as reverberation The indoor position can be estimated.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a view showing a scene where position estimation is performed using GPS in the related art; Fig.
BACKGROUND OF THE INVENTION Field of the Invention [0001] The present invention relates to a method and apparatus for estimating an indoor position using an acoustic data signal according to an embodiment of the present invention.
FIG. 3 is a diagram illustrating a method of estimating an indoor position using an acoustic data signal according to an exemplary embodiment of the present invention. In FIG. 3, an acoustic data signal designed in step S100 is reproduced by a speaker, and a scene in which reproduced acoustic signals are received by a microphone A drawing.
FIG. 4 is a block diagram illustrating a method of estimating an indoor position using an acoustic data signal according to an embodiment of the present invention. Referring to FIG. 4, a relative position of an acoustic data signal to be finally used A flow chart showing the flow of a process in which time is taken.
FIG. 5 is a diagram illustrating a room impulse response when an acoustic data signal is transmitted in a room in a method of estimating an indoor position using a designed acoustic data signal according to an embodiment of the present invention. FIG.

Hereinafter, preferred 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. In the following detailed description of the preferred embodiments 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. The same or similar reference numerals are used throughout the drawings for portions having similar functions and functions.

In addition, in the entire specification, when a part is referred to as being 'connected' to another part, it may be referred to as 'indirectly connected' not only with 'directly connected' . Also, to "include" an element means that it may include other elements, rather than excluding other elements, unless specifically stated otherwise.

FIG. 1 is a view showing a scene in which a position is estimated using GPS. Conventionally, the most used method for estimating the current position is to estimate the position using GPS as shown in Fig. In the case of estimating the position using GPS, the terminal must simultaneously receive satellite signals from at least four or more GPS satellites to analyze its position, analyze and calculate signals of the received satellite, and estimate its position The principle is that. However, the method of estimating the position using GPS has a limitation that it can not be used as a method of estimating the indoor location due to reflection or refraction on the outer wall of the building.

Hereinafter, a method for estimating an indoor position using a previously designed acoustic data signal, which has been proposed in order to solve the above-described conventional problems, will be described in detail with reference to the drawings.

2 is a flowchart illustrating a method of estimating an indoor position using an acoustic data signal according to an exemplary embodiment of the present invention. As shown in FIG. 2, a method of estimating an indoor position using a pre-designed acoustic data signal according to an embodiment of the present invention includes (1) a plurality of acoustic data signals are designed and transmitted from a speaker in steps S100, 2) a relative arrival time of each acoustic data signal is calculated at a receiving end where a plurality of acoustic data signals designed in step S100 are superimposed, and separated into respective acoustic data signals based on the calculated arrival time (step S200 ), (3) a step S300 of calculating the TDOA between the respective sound data signals based on the arrival time calculated in the step S200, and (4) a step (S300) of using the TDOA between the respective sound data signals calculated in the step S300 And calculating the position of the receiving end (S400).

Hereinafter, each step of the indoor position estimation method using the previously proposed acoustic data signal proposed in the present invention will be described in detail.

In step S100, a plurality of acoustic data signals are designed, and a designed acoustic data signal can be transmitted from the speaker. In particular, in step S100 of the present invention, when an acoustic data signal is designed to effectively separate superimposed acoustic data signals at a receiving end, an OFDMA-CDM (Orthogonal frequency-division multiple-access code-division multiplexing) A structure similar to the structure can be used. Specifically, it is designed such that each acoustic data signal has a specific frequency band using a characteristic of OFDMA (Orthogonal Frequency Division Multiple Access), so that it can be separated more from the receiving end, and in addition, CDM (Code Division Multiplexing ) Can be used to design each acoustic data signal to have a specific code. The code used herein may be a recoverable sequence such as a general pseudo-random sequence, a Gold code, or the like.

In this manner, in step S100, each of the acoustic data signals has an independent frequency band, and each acoustic data signal is designed to have its own code, so that the superimposed acoustic data signals can be more effectively separated at the receiving end.

FIG. 3 is a diagram illustrating a method of estimating an indoor position using an acoustic data signal according to an exemplary embodiment of the present invention. In FIG. 3, an acoustic data signal designed in step S100 is reproduced by a speaker, and a scene in which reproduced acoustic signals are received by a microphone Fig. As shown in FIG. 3, the acoustic data signals designed in step S100 can be reproduced simultaneously from the same number of speakers as the designed number of acoustic data signals, and the reproduced acoustic signals can be received superimposed on the microphones. For example, when the number of the designed acoustic data signals is four in step S100, each of the acoustic data signals designed in four speakers can be transmitted.

In step S200, the relative arrival times of the respective acoustic data signals are calculated at the receiving ends where the plurality of acoustic data signals designed in step S100 are received, and the acoustic data signals can be separated into the respective acoustic data signals based on the calculated arrival times . Here, according to the embodiment, the acoustic data signals transmitted from the loudspeaker can be superimposed and received at a single microphone (receiving end), and the acoustic data signals received at the microphone (receiving end) Is converged. The process of calculating the relative arrival times of the respective acoustic data signals at the receiving end in which the plurality of acoustic data signals designed in step S100 are superimposed on each other will be described in detail with reference to FIG.

FIG. 4 is a diagram illustrating a method of estimating an indoor position using an acoustic data signal according to an embodiment of the present invention. In order to separate the superimposed acoustic data signals into respective acoustic data signals, Fig. 8 is a flowchart showing the flow of a procedure for obtaining the arrival time. Fig. As shown in FIG. 4, in the indoor position estimation method using the designed acoustic data signal according to the embodiment of the present invention, in order to separate the superimposed acoustic data signals into the respective acoustic data signals, (2-1) a relative arrival time of each of the acoustic data signals superimposed at the receiving end is calculated using Equation (1) and Equation (2) (S210) (2-2) For each of the acoustic data signals superimposed at the receiving end, a preceding signal detection algorithm is used to find a signal arriving first rather than a multipath signal, and the following equation (3) is used for τ i calculated at step S210 (S220) in which the relative arrival times are calculated again, and the relative arrival times of the respective acoustic data signals calculated in steps S210 and S220 Group can comprise a step (S230) that calculates the time of arrival to be ultimately used by the equation (4).

Figure pat00009

Here, τ i and R i (τ) represent the correlation function between the transmitted signal and the received signal, respectively, when τ i is the maximum value of the correlation function R i (τ).

Figure pat00010

Here, x is a correlation between the transmission signal, y is the received signal, i is an index for each audio data source to be transmitted from each speaker, τ is a time of arrival of the transmitted signals, R i (τ) is a transmission signal and a reception signal Respectively.

Figure pat00011

here,

Figure pat00012
The
Figure pat00013
The time a maximum of the correlation function R i (τ) in the range of τ, x is the transmitted signal, W is the length of the search window, i is an index for each audio data source to be transmitted from each speaker, R i (τ ) Denotes a correlation function between the transmission signal and the reception signal, and τ i denotes a maximum value of the correlation function R i (τ).

Figure pat00014

Here, i is an index, R i (τ) is the correlation between the transmission signal and a reception signal related function, λ is the threshold, τ i is the correlation function R i (τ) for each sound data sources to be transmitted from each of the speaker The maximum value of τ,

Figure pat00015
The
Figure pat00016
Of the correlation function R i (?) In the range of?

In step S210, the relative arrival times of the respective acoustic data signals superimposed at the receiving end can be calculated using Equations (1) and (2) described above.

Generally, when an acoustic data signal is transmitted in a room, a room impulse response as shown in FIG. 5 may be generated. As shown in FIG. 5, the impulse value of the direct sound may have a value larger than the impulse value of the reflection in the room transfer function, which is generally expressed by transmitting an acoustic data signal in the room. However, according to the embodiment, when a room has a deep reverberation or a reflector such as a wall, there may be a case where the impulse value of reflection has a value larger than the impulse value of direct sound. If the impulse value of the reflection is larger than the impulse value of the direct sound due to the reverberation or reflector, the arrival time of the sound data is calculated through step S210. And the arrival time of the corresponding sound data is calculated based on the calculated arrival time, so that the calculated value of the sound data arrival time may become inaccurate.

In order to solve the above problem, in step S220 of the present invention, a preceding signal detection algorithm is used for each of the superimposed acoustic data signals at the receiving end, the relative arrival time can be recalculated using Equation 3 described above for i .

As described above, in step S220 of the present invention, the arriving signal is searched for not the multi-path signal using the preceding signal detection algorithm, and the relative arrival time of each of the superimposed sound data is calculated again, The maximum value of the correlation function is incorrectly calculated and the error that the relative arrival time of the corresponding acoustic data signal is calculated on the basis of the incorrectly calculated value can be prevented.

In step S230, the relative arrival times of the respective acoustic data signals calculated in steps S210 and S220 are calculated using Equation (4) described above, and the arrival time to be finally used for separating each superimposed acoustic data signal is Can be calculated.

In step S300, based on the arrival time calculated in step S200, TDOA between the respective sound data signals may be calculated using the following equation (5).

Figure pat00017

Where τ and τ j are the correlation function R j (τ) when τ i is the maximum value of the correlation function R i (τ), i j is the index for each sound data source transmitted from each speaker, And the maximum value of " tau ", respectively.

In step S400, the position of the final receiver may be calculated using the TDOA between the respective acoustic data signals calculated in step S300. Here, according to the embodiment, the TDOA between each acoustic data signal calculated in step S300 may be applied to the Levenberg-Marquardt algorithm to calculate the position of the final receiver. The Levenberg-Marquardt algorithm is the most representative method for solving the nonlinear least squares problem. The Levenberg-Marquardt algorithm is applied to the Levenberg-Marquardt algorithm by repeatedly calculating TDOA between each acoustic data signal calculated in step S300 of the present invention, It is possible to determine the position of the receiving end at the maximum. Here, the Levenberg-Marquardt algorithm is according to one embodiment and the location can be computed based on TDOA through other algorithms and various methods.

As described above, according to the indoor position estimation method using the previously designed acoustic data signal proposed in the present invention, each acoustic data signal is designed to have a specific frequency and specific code, and when the acoustic data signals are superimposed , It is possible to more effectively separate the superimposed acoustic data signals by separating the superimposed acoustic data signals using the cross correlation function and the preceding signal detection algorithm and to estimate the indoor position with less influence of the indoor interference such as reverberation .

The present invention may be embodied in many other specific forms without departing from the spirit or essential characteristics of the invention.

S100: a step in which a plurality of acoustic data signals are designed and transmitted from a speaker
S200: a relative arrival time of each acoustic data signal is calculated at a receiving end where a plurality of acoustic data signals designed in step S100 are superimposed and received, and separated into respective acoustic data signals based on the calculated arrival time
S210: a relative arrival time of each acoustic data signal superimposed at the receiving end is calculated
S220: For each acoustic data signal superimposed at the receiving end, a preceding signal detection algorithm is used to find a signal arriving first, not a multipath signal, and the relative arrival time for τ i calculated at step S210 is calculated again
S230: the arrival time to be finally used for separation of each superimposed acoustic data signal is calculated using the relative arrival times of the respective acoustic data signals calculated in steps S210 and S220
S300: the TDOA between each acoustic data signal is calculated based on the arrival time calculated in step S200
S400: The position of the final receiver is calculated using TDOA between each acoustic data signal calculated in step S300

Claims (6)

A method for estimating an indoor position using an acoustic data signal,
(1) a step (S100) in which a plurality of acoustic data signals are designed and transmitted from a speaker;
(2) a relative arrival time of each acoustic data signal is calculated at a receiving end where a plurality of acoustic data signals designed in step (1) are superimposed and received, and based on the calculated arrival time, Separating step S200;
(3) a step (S300) of calculating a TDOA between respective sound data signals based on the arrival time calculated in the step (2); And
(4) calculating a position of a final receiver using TDOA between each of the acoustic data signals calculated in the step (3) (S400). The indoor position estimation using the designed acoustic data signal Way.
2. The method according to claim 1, wherein in the step (1)
Wherein the plurality of acoustic data signals are designed to have a specific frequency band and a specific code, respectively.
2. The method according to claim 1, wherein in the step (1)
Wherein the designed acoustic data signal is simultaneously reproduced from the same number of speakers as the designed number of acoustic data signals.
2. The method of claim 1, wherein step (2)
(2-1) a relative arrival time of each of the superimposed acoustic data signals at the receiving end is calculated (S210) using the following equations: indoor positioning using the previously designed acoustic data signal Way.
Figure pat00018

Figure pat00019

Here, x is the transmitted signal, y is the received signal, i is the arrival of the correlation function, τ is the transmission signal between the index, R i (τ) is a transmission signal and a received signal for each acoustic data sources to be transmitted from each of the speaker Time, and τ i is the maximum value of the correlation function R i (τ).
5. The method of claim 4, wherein step (2)
(2-2) For each of the acoustic data signals superimposed at the receiving end, a preceding signal detection algorithm is used to find an arriving signal, not a multi-path signal, and for the τ i calculated in the step (2-1) Wherein the relative arrival time is calculated again using Equation (S220).
Figure pat00020

here,
Figure pat00021
The
Figure pat00022
The time a maximum of the correlation function R i (τ) in the range of τ, x is the transmitted signal, W is the length of the search window, i is an index for each audio data source to be transmitted from each speaker, R i (τ ) Denotes a correlation function between the transmission signal and the reception signal, and τ i denotes a maximum value of the correlation function R i (τ).
6. The method of claim 5, wherein step (2)
(2-3) The relative arrival times of the respective acoustic data signals calculated in the step (2-1) and the step (2-2) may be obtained by dividing each of the superimposed acoustic data signals using Equation The method of claim 1, further comprising the step of calculating a reaching time to be finally used in the step (S230).
Figure pat00023

Here, i is an index, R i (τ) is the correlation function, λ is the threshold, τ i between the transmitting signal and the reception signal correlation R i (τ) for each sound data sources to be transmitted from each of the speaker When τ is the maximum value,
Figure pat00024
The
Figure pat00025
Of the correlation function R i (?) In the range of?
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