KR20170074563A - Access point and method for estimating location of terminal by using aoa positioning technique - Google Patents

Access point and method for estimating location of terminal by using aoa positioning technique Download PDF

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KR20170074563A
KR20170074563A KR1020150183990A KR20150183990A KR20170074563A KR 20170074563 A KR20170074563 A KR 20170074563A KR 1020150183990 A KR1020150183990 A KR 1020150183990A KR 20150183990 A KR20150183990 A KR 20150183990A KR 20170074563 A KR20170074563 A KR 20170074563A
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mobile node
node
reference nodes
coordinates
domain
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KR1020150183990A
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Korean (ko)
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안정길
이정훈
오창헌
전민호
정용진
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(주)파인텔레콤
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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
    • G01S5/0009—Transmission of position information to remote stations
    • G01S5/0045—Transmission from base station to mobile station
    • G01S5/0063—Transmission from base station to mobile station of measured values, i.e. measurement on base station and position calculation on mobile
    • 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
    • G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
    • G01S11/06—Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity measurements
    • 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
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
    • G01S3/14—Systems for determining direction or deviation from predetermined direction
    • G01S3/46—Systems for determining direction or deviation from predetermined direction using antennas spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems
    • 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
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0205—Details
    • G01S5/021—Calibration, monitoring or correction
    • 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
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/08—Position of single direction-finder fixed by determining direction of a plurality of spaced sources of known location
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
    • 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
    • G01S2205/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S2205/001—Transmission of position information to remote stations
    • G01S2205/007—Transmission of position information to remote stations for management of a communication system
    • 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
    • G01S2205/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S2205/001—Transmission of position information to remote stations
    • G01S2205/008—Transmission of position information to remote stations using a mobile telephone network

Abstract

The present invention relates to an AOA positioning method for estimating a position of a terminal carried by a user on an indoor space using an AOA (Angle Of Arrival) positioning technique in a wireless LAN environment including an access point (AP) The present invention relates to an estimated wireless access apparatus and method, and a terminal position estimation method using an AOA positioning technique according to the present invention. Collecting a signal periodically received by each of the plurality of reference nodes from the mobile node; Extracting a received signal strength (RSSI) value of a signal collected for each reference node; Comparing RSSI values for each of the reference nodes to determine a direction in which the mobile node is located; Calculating a distance to a mobile node for each reference node using an RSSI value for each reference node; Calculating an angle of arrival (AOA) at which a signal is received from the mobile node for each reference node using the direction and distance information of the mobile node; And determining the positional coordinates of the mobile node using the position coordinates of the reference node and the AOA information from which the signal is received from the mobile node.

Description

TECHNICAL FIELD [0001] The present invention relates to an apparatus and method for estimating a terminal location using an AOA positioning technique,

The present invention relates to an apparatus and method for estimating a terminal location using an AOA positioning method, and more particularly, to a method and apparatus for estimating a terminal location using an AOA (Angle Of Arrival) positioning technique in a wireless LAN environment including an access point And more particularly, to a terminal location estimation wireless access apparatus and method using an AOA positioning method for estimating a position of a terminal carried by a user.

2. Description of the Related Art [0002] With the rapid development of electronic communication technology, various wireless communication services using a wireless network have been provided. Accordingly, a service provided by a wireless communication system using a wireless communication network is being developed as a multimedia communication service for transmitting signals such as packet data as well as voice service.

Among various wireless Internet services using a wireless communication terminal, a location based service (LBS) has received a great deal of attention due to its wide applicability and convenience. The location-based service refers to a communication service that grasps the location of a wireless communication terminal such as a smartphone and a PDA, and provides additional information in relation to the identified location.

In order to measure the position of a wireless communication terminal, a positioning technique for providing a location-based service includes a network-based method of confirming a position using a propagation environment that is a cell radius of a base station of the wireless communication network, And a handset based method using a built-in GPS receiver.

GPS is most commonly used outdoors for positioning, but it is not suitable for mobile communication terminals without a GPS antenna, or in an area where GPS can not be used, such as indoors. In order to solve this problem, many methods for estimating a position using mobile communication characteristics such as GSM and CDMA have been introduced. Typical examples include Cell-ID, Angle Of Arrival (TOA), Time Difference (TOA) Of Arrival). AOA (Angle Of Arrival) performs position recognition by measuring the incident angle of a received signal using a directional antenna.

Korean Patent No. 10-0977246 'Position Estimation Apparatus and Method Using Forward Link AOA' (Published Aug. 27, 2008)

It is an object of the present invention to provide an algorithm for estimating the position of a terminal carried by a user in an indoor space using an AOA positioning technique using only a single wireless access point (AP) It is in the cage.

According to another aspect of the present invention, there is provided a method of estimating a terminal location using an AOA positioning method, comprising: collecting signals periodically received by a plurality of reference nodes from a mobile node; Extracting a Receive Signal Strength (RSSI) value of a signal collected for each reference node; Comparing the RSSI value of each of the reference nodes to determine a direction in which the mobile node is located; Calculating a distance to the mobile node for each of the reference nodes using an RSSI value for each of the reference nodes; Calculating an angle of arrival (AOA) at which a signal is received from the mobile node for each reference node using the direction and distance information of the mobile node; And determining the positional coordinates of the mobile node using the position coordinates of the reference node and the AOA information from which the signal is received from the mobile node.

The average value of the RSSI values extracted for the N (N > = 2) collected signals for each reference node is calculated, and the RSSI value And correcting the error.

At this time, the plurality of reference nodes are radially arranged around a center point O in a single access point (AP), and four reference nodes (BS1, BS2, BS3) corresponding to four antennas , BS4).

At this time, the step of determining the direction in which the mobile node is located may include the steps of: determining a direction in which the mobile node is positioned by two reference nodes opposed to each other with reference to a center point O between the radially arranged four reference nodes BS1, BS2, BS3, Comparing the RSSI values in the groups (BS1, BS3, BS2, BS4), and selecting two reference nodes (BS1, BS2) having large RSSI values; Estimating the center point O as a first estimated region in which the mobile node is located in a divided plane divided by a direction axis of the two reference nodes BS1 and BS2 as origin coordinates; Comparing the RSSI values of the two reference nodes BS1 and BS2 having a large RSSI value to select one reference node BS1 having a large RSSI value; Estimating a quadrangle adjacent to one reference node BS1 having the largest RSSI value among the two quadrants obtained by dividing the quadrant by a straight line passing through the center point O into a second estimated region Domain n in which the mobile node is located ; And determining a direction of a second estimated region (Domain n ) with respect to the reference point (O) in a direction in which the mobile node is located.

At this time, the step of determining the direction in which the mobile node is located may include a step of comparing a second estimated region (Domain n - 1 ) previously estimated for the mobile node with a currently estimated second estimated region (Domain n ) ; And if the second estimated region (Domain n-1 ) previously estimated for the mobile node and the currently estimated second estimated region (Domain n ) are not adjacent to each other, the previously estimated second estimated region (Domain n - 1 ) to the direction in which the mobile node is located.

At this time, in the step of calculating the distance to the mobile node,

Figure pat00001
The distance of the mobile node can be calculated for each reference node. Where d is the distance between the reference node and the mobile node, lambda is the wavelength of the signal received at the reference node and L is the RSSI value of the signal received at the reference node measured in decibels [dB].

At this time, in the step of calculating the AOA from which the signal is received from the mobile node, the center point O is defined as the origin coordinate of two reference nodes BS1, BS2, BS3, BS4 adjacent to each other the second coordinate, the BS2) of the reference node (BS1, BS2) the mobile node distance (r 1, for each of r 2), and AOA (θ through a triangulation by using the direction information of the mobile node is located 1 ,? 2 ), it is possible to calculate the AOA for each of the four reference nodes BS1, BS2, BS3, and BS4.

At this time, the step of determining the position coordinates with respect to the mobile node may include determining the position coordinates of the mobile node based on coordinates of the four reference nodes BS1, BS2, BS3, and BS4 with the center point O as origin coordinates, Calculating four linear equations that respectively pass through the coordinates of the nodes (BS1, BS2, BS3, BS4); Calculating coordinates (x 1 , y 1 ), (x 2 , y 2 ), (x 3 , y 3 ), (x 4 , y 4 ) of intersections at which the four linear equations intersect; And determining a position coordinate with respect to the mobile node by a central coordinate point {(x m , y m ) calculated based on the following equations (1) and (2) within an error range formed by the intersection points .

[Equation 1]

Figure pat00002

&Quot; (2) "

Figure pat00003

According to another aspect of the present invention, there is provided a terminal location estimation wireless access apparatus using an AOA positioning technique, the apparatus including: a plurality of reference nodes for periodically receiving signals from a mobile node, A communication unit for each of the reference nodes to collect signals periodically received from the mobile node; A signal analyzer for extracting an RSSI value of a signal collected for each reference node; An orientation estimator for determining a direction in which the mobile node is located by comparing RSSI values of the reference nodes; A distance calculation unit for calculating a distance to the mobile node for each reference node using an RSSI value for each of the reference nodes; An angle calculation unit for calculating an AOA on which a signal is received from the mobile node for each of the reference nodes using the direction and distance information of the mobile node; And a position estimator for determining positional coordinates of the mobile node using position coordinates of the reference nodes and AOA information on which signals are received from the mobile node.

Here, the signal analyzing unit may include a positioning information extracting unit for analyzing a packet of the signal collected for each reference node and extracting a reference node ID and an RSSI value; And an RSSI correction unit for calculating an average value of RSSI values extracted for N (N > = 2) collected signals for each reference node, and correcting the RSSI value with the average value.

At this time, the plurality of reference nodes may be four reference nodes BS1, BS2, BS3, and BS4 corresponding to four antennas mounted radially and centered on the center O in the wireless access device.

At this time, the direction estimating unit may include a group (BS1, BS3, BS3, BS3, BS3, BS3) composed of two reference nodes opposed to each other with respect to a center point O between the radially arranged four reference nodes BS1, BS2, BS3, BS4. BS2 and BS4 are compared with each other and the two reference nodes BS1 and BS2 having a large RSSI value are selected and the center point O is defined as the origin coordinates of the two reference nodes BS1 and BS2 A first direction estimating unit that estimates a divided plane divided by an axis as a first estimated area in which the mobile node is located; The RSSI values of the two reference nodes BS1 and BS2 having the greatest RSSI value are compared to select one reference node BS1 having a large RSSI value and the divided plane is divided into a straight line passing the center point O A second direction estimator for estimating a second side adjacent to one reference node BS1 having the largest RSSI value among the two side surfaces as a second estimated region (Domain n ) where the mobile node is located; And a direction determiner for determining a direction of a second estimated area (Domain n ) with respect to the reference point (O) in a direction in which the mobile node is located.

At this time, the direction estimating unit may compare the second estimated region (Domain n-1 ) previously estimated for the mobile node with the currently estimated second estimated region (Domain n ) ( N - 1 ) and the currently estimated secondary estimation domain (Domain n ) are not adjacent to each other, the direction of the previously estimated secondary estimation domain (Domain n -1 ) And a direction correcting unit for correcting the direction correcting unit.

In this case,

Figure pat00004
The distance of the mobile node can be calculated for each reference node. Where d is the distance between the reference node and the mobile node, lambda is the wavelength of the signal received at the reference node and L is the RSSI value of the signal received at the reference node measured in decibels [dB].

At this time, the angle calculation unit calculates coordinates of two reference nodes (BS1, BS2) adjacent to each other among the four reference nodes (BS1, BS2, BS3, BS4) (Θ 1 , θ 2 ) through the triangulation method using the distance (r 1 , r 2 ) of the mobile node with respect to each of the nodes BS 1, BS 2 and the direction information in which the mobile node is located, The AOA can be calculated for each of the four reference nodes BS1, BS2, BS3, and BS4.

At this time, the position estimating unit calculates the coordinates of the four reference nodes BS1, BS2, BS3, and BS4 using the coordinates of the four reference nodes BS1, BS2, BS3, and BS4 with the center point O as origin coordinates, BS4), the straight line calculating unit calculating four straight line equations; Intersection calculating the coordinates of the intersection in which the four linear equations cross {(x 1, y 1) , (x 2, y 2), (x 3, y 3), (x 4, y 4)} calculator ; (X m , y m ) calculated based on the following equations (1) and (2) within an error range formed by the intersection points can do.

[Equation 1]

Figure pat00005

&Quot; (2) "

Figure pat00006

According to the present invention, it is possible to estimate the position of a terminal carried by a user on an indoor space by using an AOA positioning technique using only one wireless access point (AP) loaded with a plurality of node antennas .

1 is a view for explaining an operation concept of a terminal location estimation radio access apparatus using an AOA positioning technique according to the present invention.
2 is a diagram for explaining a structure in which a plurality of reference nodes are arranged in a wireless connection apparatus according to the present invention.
3 is a view for explaining a radiation pattern of a node antenna which is a reference node shown in FIG.
4 is a block diagram illustrating each configuration and operation of the terminal location estimation radio access apparatus using the AOA positioning technique according to the present invention.
5 is a diagram for explaining a packet of a signal received by a reference node from a mobile node.
6 is a diagram illustrating an exemplary RSSI value of a signal received by a reference node from a mobile node according to a distance between a reference node and a mobile node.
7 is a diagram for explaining a method for estimating the direction of a mobile node in the present invention.
8 is a diagram for explaining a method of calculating an AOA in which a signal is received from a mobile node in the present invention.
9 is a diagram for explaining a method of estimating a position of a mobile node in the present invention.
10 is a flowchart illustrating a method of estimating a terminal position using the AOA positioning technique according to the present invention.
11 is a flowchart for more specifically explaining the step of determining the direction of the mobile node in FIG.
12 is a flowchart for explaining the step of determining the position coordinates of the mobile node in more detail in FIG.

The present invention will now be described in detail with reference to the accompanying drawings. Hereinafter, a repeated description, a known function that may obscure the gist of the present invention, and a detailed description of the configuration will be omitted. Embodiments of the present invention are provided to more fully describe the present invention to those skilled in the art. Accordingly, the shapes and sizes of the elements in the drawings and the like can be exaggerated for clarity.

In the present invention, a flow of data and a positioning process for estimating the position of a mobile node in a wireless environment will be described. The wireless environment described in the present invention includes all single-hop multiple AP (or sink node) environments and is applied to all wireless network protocols capable of extracting signal strength such as Bluetooth, RFID, Zigbee, UWD, It is possible.

1 is a view for explaining an operation concept of a terminal location estimation radio access apparatus using an AOA positioning technique according to the present invention.

1, an AP (Access Point) 10 using an AOA positioning technique according to the present invention periodically receives a signal from a mobile node 100 corresponding to a user's wireless communication terminal On the other hand, the mobile station 100 extracts RSSII (Receive Signal Strength Indicator) information from the signal received from the mobile node 100, and uses spatial information and layout information of a plurality of reference nodes mounted in the wireless access point 10 And estimates the position of the mobile node 100.

Here, the reference node is a node that periodically receives a packet type signal from the mobile node 100 using a communication method of Bluetooth, Bluetooth, RFID, Zigbee, UWD, and wireless LAN, It plays the role of anchor in the triangulation method of the technique. In the present invention, a plurality of reference nodes exist, and they are radially arranged and mounted in the wireless connection device 10 as shown in FIG. Preferably, each of the plurality of reference nodes BS1, BS2, BS3, BS4, 210a, 210b, 210c, and 210d corresponds to a directional antenna having a radiation pattern as shown in FIG. 3, BS2, BS3, and BS4; 210a, 210b, 210c, and 210d, when compared with the distance from the mobile node 100 by being mounted in a compact form in the connection apparatus 10, there is almost no difference in distance between the reference nodes BS1, do.

In particular, in the present invention, a plurality of reference nodes are radially arranged around a center point (O) 230 in the wireless access point 10, and four reference nodes BS1, BS2, BS3, BS4 210a, 210b, 210c, and 210d. However, the number of reference nodes mounted in a single wireless access device 10 is not limited thereto. The number of reference nodes may be included in the scope of the present invention if they correspond to three or more. Hereinafter, a preferred embodiment will be described with reference to a state in which four reference nodes BS1, BS2, BS3, and BS4; 210a, 210b, 210c, and 210d are arranged in a structure as shown in FIG.

4 is a block diagram for explaining each configuration and operation of the wireless access device 10 according to the present invention.

Referring to FIG. 4, a wireless access device 10 according to the present invention includes an antenna unit 200 and a positioning unit 300.

The antenna unit 200 includes a plurality of reference nodes BS1, BS2, BS3, BS4, 210a, 210b, 210c and 210d having a structure radially arranged as described above, And includes a communication unit 310, a signal analysis unit 320, a direction estimation unit 330, a distance calculation unit 340, an angle calculation unit 350, and a position estimation unit 360.

The communication unit 310 transmits a packet signal received from the mobile node to the reference node BS1, BS2, BS3, BS4 210a, 210b, 210c, and 210d loaded in a single wireless access device 10, (200). The communication unit 310 transmits the packet signals of the reference nodes 210a, 210b, 210c, and 210d collected from the antenna unit 200 to the signal analysis unit 320. [

The signal analyzing unit 320 extracts information necessary for positioning in the signal received from the communication unit 310. The signals of the reference nodes 210a, 210b, 210c, and 210d received from the communication unit 310 correspond to the signals of the packet 400 as shown in FIG. More specifically, the signal analyzing unit 320 includes a positioning information extracting unit 321 and an RSSI correcting unit 323. The positioning information extracting unit 321 extracts, as information necessary for positioning in the packet 400, The ID 410 of the reference node that transmitted the packet 400 and the received signal strength indicator (RSSI) 430 are extracted. 6, the RSSI values of the signals received by the reference nodes 210a, 210b, 210c, and 210d vary irregularly due to a fading phenomenon depending on the distance to the mobile node 100 do. In order to solve this problem, the RSSI correction unit 323 calculates the average of the RSSI values extracted for the signals collected a plurality of times (N times, N is 2 or more) for each of the reference nodes 210a, 210b, 210c and 210d And corrects the RSSI value based on the average value of the calculated RSSI values. The RSSI corrector 323 transmits the RSSI values corrected for the reference nodes 210a, 210b, 210c and 210d to the direction estimator 330 and the distance calculator 340, respectively.

The direction estimating unit 330 compares the RSSI values of the reference nodes 210a, 210b, 210c and 210d received by the RSSI correcting unit 323 and compares the RSSI values of the reference nodes 210a, 210b, 210c and 210d And determines in which direction the mobile node 100 is located with respect to the center point (O) 230. The direction estimating unit 330 includes a primary direction estimating unit 331, a secondary direction estimating unit 333, a direction determining unit 335, and a direction correcting unit 337.

7, first, the primary direction estimating unit 331 estimates the center point between four radially arranged reference nodes BS1, BS2, BS3, BS4, 210a, 210b, 210c and 210d BS2, BS3, and BS4; 210a, 210b, 210c, and 210d are grouped into two groups of two reference nodes that are opposed to each other with respect to the reference nodes BS1, BS2, The primary direction estimating unit 331 preferentially selects a reference node having a large RSSI value for each group composed of two reference nodes opposed to each other. For example, referring to four reference nodes BS1, BS2, BS3, BS4, 210a, 210b, 210c and 210d in FIG. 7, two reference nodes One group consisting of nodes BS1 and BS3, and another group consisting of reference nodes BS2 and BS4. The primary direction estimating unit 331 compares the RSSI values of the reference nodes BS1 and BS3 corresponding to one group and selects one reference node having a large RSSI value (for example, When the RSSI value of the BS1 is larger, the BS1 is selected). On the other hand, the RSSI value is compared with the reference nodes BS2 and BS4 corresponding to the other group, and a single reference node having a large RSSI value is selected And BS2 is selected when the RSSI value of BS2 is larger than the RSSI value of BS4), thereby selecting two reference nodes BS1 and BS2. The first direction estimating unit 331 calculates the first direction estimating unit 331 from among the quadrants divided by the directional axes directed to the reference nodes BS1, BS2, BS3, and BS4 as the origin coordinates of the center point O, (Quadrants, for example, quadrant) divided by the directional axes of the reference nodes BS1 and BS2 as primary estimation regions in which the mobile node 100 is located.

Next, the secondary direction estimating unit 333 compares the RSSI values of the two reference nodes BS1 and BS2 selected by the primary direction estimating unit 331 to calculate a single reference node having a large RSSI value BS1 is selected when the RSSI value of BS1 is larger than the RSSI value of BS2). The first direction estimation unit 331 estimates the position of the mobile node 100 in the first estimation area by dividing the first estimation area by two straight lines passing through the center point O 230, (For example, Domain 1) adjacent to one reference node BS1 having a larger RSSI value, which is previously selected, among the domain 1 and the domain 2, as the second estimated region in which the mobile node 100 is located.

The direction determination unit 335 determines the secondary estimation area estimated by the secondary direction estimation unit 333 as the area where the mobile node 100 is located. That is, the direction determination unit 335 determines the direction of the secondary estimation region with respect to the reference point (O) 230 as a direction in which the mobile node 100 is located. Optionally, the direction determination unit 335 can determine the direction of the secondary estimated area corrected by the direction correcting unit 337 as the direction in which the mobile node 100 is located, as described later. The direction determination unit 335 transmits the determined orientation information of the mobile node 100 to the angle calculation unit 350. [

The direction correcting unit 337 compares the second estimated region (Domain n-1 ) previously estimated with respect to the mobile node 100 and the currently estimated second estimated region (Domain n ) the second estimate estimated previously for area-direction (domain n 1) and the second estimated current estimated area (domain n) mutually, if not adjacent, the estimated secondary area estimated previously (domain n -1) To the direction in which the mobile node 100 is located. Even if it is the direction estimation of the mobile node 100 using the RSSI value corrected by the RSSI correction unit 323, it may be difficult to completely correct the irregular RSSI value due to the fading phenomenon. Therefore, since the RSSI value of the signal received at each of the reference nodes BS1, BS2, BS3, and BS4 210a, 210b, 210c, and 210d is not constantly changed in proportion to the distance of the mobile node 100, In FIG. 7, although the mobile node 100 has previously moved from the domain 2 to the current domain 1, a wrong direction estimation result may indicate that the mobile node 100 has moved from the domain 4 to the domain 1. In order to solve such a problem, the present invention compares the second estimated region (Domain n - 1 ) previously estimated with respect to the mobile node (100) and the currently estimated second estimated region (Domain n ) If it is determined that the mobile node 100 is located in an adjacent region, it is determined that the mobile node 100 is an accurate estimation, and the direction of the currently estimated secondary estimation domain Domain n is determined to be the direction in which the mobile node 100 is located, It is judged that it is a mis-estimation and the direction of the previously estimated secondary estimation domain (Domain n -1 ) is corrected to the direction in which the mobile node 100 is located.

The distance calculator 340 calculates the distance between the reference nodes 210a, 210b, 210c, and 210d and the mobile nodes 210a, 210b, 210c, and 210d based on the RSSI values corrected for the reference nodes 210a, 210b, 210c, and 210d by the RSSI correction unit 323. [ 100). More specifically, the distance calculator 340 calculates the distance between the reference nodes 210a, 210b, 210c and 210d using the RSSI values of the reference nodes 210a, 210b, 210c, and 210d and the Friis formula according to Equations 1 and 2, 210b, 210c, and 210d.

Figure pat00007

Figure pat00008

Where d is the distance between the reference node and the mobile node, lambda is the wavelength of the signal received at the reference node, and L is the RSSI value of the signal received at the reference node measured in decibels [dB]. The distance calculator 340 transmits distance information to the mobile node 100 to the angle calculator 350 for each of the calculated reference nodes 210a, 210b, 210c, and 210d.

The angle calculation unit 350 calculates coordinate information of the reference nodes 210a, 210b, 210c and 210d, distance information of the reference nodes 210a, 210b, 210c and 210d to the mobile node 100, (AOA) at which a signal is received from the mobile node 100 for each of the reference nodes 210a, 210b, 210c, and 210d using the direction information on the location of the reference node 210a. More specifically, the angle calculation unit 350 calculates the angles of the reference nodes 210a, 210b, 210c, and 210d, which are adjacent to each other among the four reference nodes 210a, 210b, 210c, and 210d, The AOA is calculated by triangulation using the distance between the coordinates of the reference nodes 210a, 210b, 210c, 210d and the mobile node 100 as a factor and the direction in which the mobile node 100 is located . For example, referring to FIG. 8, the distance (dist = a + b) between the reference nodes BS1 210a and BS2 210b adjacent to each other is known from the coordinate information of each reference node and, the distance between the reference node BS1 (210a) with the mobile node MS (100) (r 1) and a reference node BS2 (210b) with the mobile node on the basis of the distance (r 2) between the MS (100), expression of the following (Θ 1 , θ 2 ) for the reference node BS1 210a and the reference node BS2 210b, respectively.

Figure pat00009

Figure pat00010

The angle calculation unit 350 transmits the AOA information calculated for each of the reference nodes BS1, BS2, BS3, and BS4 210a, 210b, 210c, and 210d to the position estimation unit 360. [

BS2 and BS3 received from the angle calculator 350. The position estimator 360 calculates the position of each of the reference nodes BS1, BS2, BS3, BS4, 210a, 210b, 210c, BSOs 210a, 210b, 210c, and 210d, the position coordinates of the mobile node 100 are determined using the AOA information on which signals are received from the mobile node 100. [ The position estimation unit 360 includes an initial calculation unit 361, an intersection calculation unit 363, and a position determination unit 365.

The initial calculation unit 361 calculates the coordinates of the reference nodes BS1 and BS2 using the coordinates of the reference nodes BS1, BS2, BS3 and BS4 210a, 210b, 210c and 210d having the center point O , BS3, and BS4, respectively. 9, the initial calculation unit 361 calculates the initial values of the four reference nodes BS1, BS2, BS3, and BS4 210a, 210b, 210c, and 210d calculated by the angle calculation unit 350 Based on the AOA, four straight line equations that pass through the coordinates of each of the reference nodes BS1, BS2, BS3, and BS4: 210a, 210b, 210c, and 210d are calculated.

The intersection calculation unit 363 calculates coordinates of intersections at which the linear equations calculated by the initial calculation unit 361 intersect. More specifically, based on the linear equations calculated by the initial calculation section 361 for each of the four reference nodes BS1, BS2, BS3, and BS4, 210a, 210b, 210c, and 210d, , the coordinates (x 1, y 1), (x 2, y 2) of intersection of the mobile node, destined to 100 of four straight lines (250a, 250b, 250c, 250d ), (x 3, y 3), (x 4 , y 4 ).

The positioning unit 365 calculates the center coordinate point within the error range formed by the intersection points calculated by the intersection point calculation unit 363 and determines the center coordinate point as the coordinates of the point where the mobile node 100 is located Estimate the final position. More specifically, the position determination unit 365 calculates the coordinates (x 1 , y 1 ), (x 2 , y 2 ) of the intersections of the four straight lines 250a, 250b, 250c, and 250d toward the mobile node 100, (x 3, y 3), (x 4, y 4) the vertex to the tolerance region (Fig portion 9 indicated by hatching) according to equation 5 and 6 below in the center coordinates (x m, y to m and determines it as the position coordinates of the mobile node 100 to finally estimate the position of the mobile node 100. [

Figure pat00011

Figure pat00012

Hereinafter, a method of estimating a terminal position using the AOA positioning technique according to the present invention will be described. The description of the operation of the terminal location estimation radio access apparatus using the AOA positioning technique according to the present invention with reference to FIG. 1 to FIG. 9 will be omitted.

10 is a flowchart illustrating a method of estimating a terminal position using the AOA positioning technique according to the present invention.

10, a method of estimating a terminal location using an AOA positioning technique according to the present invention is characterized in that a communication unit 310 of a positioning unit 300 includes a plurality of Each of the reference nodes collects a signal periodically received from the mobile node 100 corresponding to the user terminal from the antenna unit 200 (S100). At this time, the plurality of reference nodes are arranged radially in a single wireless access device 10 with a center point (O) 230 as a center, and four reference nodes BS1, BS2, BS3, BS4; 210a, 210b, 210c, 210d).

Next, the signal analyzer 320 extracts an RSSI value from the signals collected for each of the reference nodes BS1, BS2, BS3, and BS4 210a, 210b, 210c, and 210d (S200) N > = 2), and the RSSI value is corrected to the average value by calculating an average value of RSSI values extracted for the collected signals (S300).

The direction estimator 330 compares RSSI values of the reference nodes BS1, BS2, BS3 and BS4 210a, 210b, 210c and 210d to determine the direction in which the mobile node 100 is located (S400 ). The distance calculator 340 calculates the distance between the reference nodes BS1 and BS2 using the RSSI values of the reference nodes BS1, BS2, BS3 and BS4 210a, 210b, 210c and 210d extracted in step S200 or corrected in step S300. BS2, BS3, and BS4 (210a, 210b, 210c, 210d) (S500). In step S500, the distance calculator 340 calculates the distance to the mobile node for each of the reference nodes BS1, BS2, BS3, and BS4 210a, 210b, 210c, and 210d based on equations (1) and .

BS2, BS3, BS4; 210a, 210b, and 210c (BS1, BS2, BS3, and BS4) using the direction information determined by the mobile node in step S400 and the distance information calculated in step S500 And 210d, the mobile node 100 calculates an AOA for receiving a signal (S600). In step S600, the angle calculator 350 calculates the center point O as the origin coordinate of two reference nodes BS1, BS2, BS3, and BS4 210a, 210b, 210c, , BS2; 210a, 210b) coordinates, the two reference nodes (BS1, BS2 of; 210a, 210b), the distance (r 1, r 2), and the mobile node (100 determined at S400 step of the mobile node 100 for each ) the AOA on the basis of direction information which is located, respectively, through the equation 3 and 4 by triangulation AOA (θ 1, in such a manner as to calculate the θ 2), the reference node (BS1, BS2, BS3, BS4) .

Finally, the position estimating unit 360 estimates the position of the mobile node 100 by determining the position coordinates of the mobile node 100 using the AOA information calculated in step S600 and the position coordinates of the reference nodes (step < RTI ID = 0.0 > S700).

11 is a flowchart illustrating a method of estimating a terminal position using an AOA positioning method according to an embodiment of the present invention. Referring to FIG. 11, the direction estimating unit 330 calculates an RSSI value for each of the reference nodes BS1, BS2, BS3, BS4 210a, 210b, 210c, And a step S400 of determining a direction in which the mobile node 100 is located.

11, in operation S400, the first direction estimating unit 331 of the direction estimating unit 330 calculates the distance between the reference nodes BS1, BS2, BS3, BS4, 210a, 210b, 210c, (BS1, BS3, BS2, BS4) composed of reference nodes opposed to each other with reference to the center point (O) 230 of the reference nodes BS1, BS2 having a large RSSI value (S410). The primary direction estimating unit 331 determines the origin of the mobile node 100 by dividing the center axis O by the direction axis of the reference nodes BS1 and BS2 selected in step S410, (Step S420).

Next, the secondary direction estimating unit 333 compares RSSI values of the selected reference nodes BS1 and BS2 in step S410, and selects one reference node BS1 having the largest RSSI value (S430) . The secondary direction estimating unit 333 estimates the primary estimation area estimated in step S420 from one of the two partial planes (Domain 1, Domain 2) divided by a straight line passing the center point O (Domain 1) adjacent to the reference node BS1 as a secondary estimation region (Domain n ) where the mobile node is located (S440).

Next, the direction correcting unit 337 compares the second estimated area (Domain n - 1 ) previously estimated with respect to the mobile node 100 and the currently estimated second estimated area (Domain n ) (S450) , It is determined whether the currently estimated secondary estimation domain (Domain n ) is adjacent to the previously estimated secondary estimation domain (Domain n - 1 ) (S460).

As a result of the determination in step S460, if the second estimated region (Domain n - 1 ) previously estimated for the mobile node 100 and the currently estimated second estimated region (Domain n ) are adjacent to each other, And finally determines the difference estimation domain Domain n in the direction in which the mobile node is located (S470). However, if it is determined in step S460 that the second estimated region (Domain n - 1 ) previously estimated for the mobile node 100 and the currently estimated second estimated region (Domain n ) are not adjacent to each other The direction of the previously estimated secondary estimation domain (Domain n - 1 ) is corrected to the direction in which the mobile node 100 is positioned (S480).

12 is a flowchart illustrating a method of estimating a position of a mobile node 100 according to an exemplary embodiment of the present invention. Referring to FIG. 12, a position estimating unit 360 estimates position coordinates of a mobile node 100 using AOA information and position coordinates Fig. 5 is a flowchart for explaining the steps in more detail.

12, in operation S700, the initial calculator 361 of the position estimator 360 calculates coordinates of each of the reference nodes BS1, BS2, BS3, and BS4 210a, 210b, 210c, and 210d, BS2, BS3, and BS4; 210a, 210b, 210c, and 210d, respectively, using the AOA information calculated at the center point O (230) S710).

Then, the cross point calculating unit 363, the coordinates {(x 1, y 1) of the intersection the intersection of the straight line equations calculated in the S710 step, (x 2, y 2), (x 3, y 3), ( x 4 , y 4 )} (S720).

Finally, the position determination unit 365 calculates the center coordinate point {(x m , y m )} based on equations (5) and (6) within the error range formed by the intersection points calculated in step S720, As the position coordinates of the node 100 (S730).

As described above, an optimal embodiment has been disclosed in the drawings and specification. Although specific terms have been employed herein, they are used for purposes of illustration only and are not intended to limit the scope of the invention as defined in the claims or the claims. Therefore, those skilled in the art will appreciate that various modifications and equivalent embodiments are possible without departing from the scope of the present invention. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

100: mobile node
10: Wireless connection device
200:
210a, 210b, 210c, 210d:
300:
310: communication unit 320: signal analysis unit
330: direction estimating unit 340: distance calculating unit
350: angle calculation unit 360: position estimation unit

Claims (16)

Collecting a signal periodically received by each of the plurality of reference nodes from the mobile node;
Extracting a Receive Signal Strength (RSSI) value of a signal collected for each reference node;
Comparing the RSSI value of each of the reference nodes to determine a direction in which the mobile node is located;
Calculating a distance to the mobile node for each of the reference nodes using an RSSI value for each of the reference nodes;
Calculating an angle of arrival (AOA) at which a signal is received from the mobile node for each reference node using the direction and distance information of the mobile node; And
And determining the positional coordinates of the mobile node using the position coordinates of the reference nodes and the AOA information from which the signals are received from the mobile node. The method according to claim 1,
After extracting the RSSI value of the signal collected for each reference node,
Further comprising calculating an average value of RSSI values extracted for N (N > = 2) collected signals for each reference node, and correcting the RSSI value with the average value. Position estimation method. The method according to claim 1,
The plurality of reference nodes are radially arranged around a center point O in a single access point (AP), and four reference nodes (BS1, BS2, BS3, BS4) corresponding to four antennas ), The method comprising the steps of: The method of claim 3,
Wherein the determining of the direction in which the mobile node is located comprises:
(BS1, BS3, BS2, BS4) composed of two reference nodes facing each other with respect to a center point O between the radially arranged four reference nodes BS1, BS2, BS3, BS4, And selecting two reference nodes BS1 and BS2 having a large RSSI value;
Estimating the center point O as a first estimated region in which the mobile node is located in a divided plane divided by a direction axis of the two reference nodes BS1 and BS2 as origin coordinates;
Comparing the RSSI values of the two reference nodes BS1 and BS2 having a large RSSI value to select one reference node BS1 having a large RSSI value;
Estimating a quadrangle adjacent to one reference node BS1 having the largest RSSI value among the two quadrants obtained by dividing the quadrant by a straight line passing through the center point O into a second estimated region Domain n in which the mobile node is located ; And
And determining a direction of a second estimated region (Domain n ) with respect to the reference point (O) as a direction in which the mobile node is located. The method of claim 4,
Wherein the determining of the direction in which the mobile node is located comprises:
Comparing a second estimated region (Domain n - 1 ) previously estimated for the mobile node with a currently estimated second estimated region (Domain n ); And
If the second estimated region (Domain n - 1 ) previously estimated for the mobile node and the currently estimated second estimated region (Domain n ) are not adjacent to each other, the previously estimated second estimated region (Domain n- 1 ) to a direction in which the mobile node is located. 2. The method of claim 1, The method of claim 4,
Wherein the step of calculating the distance to the mobile node comprises:
Equation
Figure pat00013
Wherein the distance between the reference node and the mobile node is calculated by using the AOA positioning technique, wherein the distance between the reference node and the mobile node is calculated based on the reference node, L is the RSSI value of the signal received at the reference node measured in decibels [dB]. The method of claim 6,
The step of calculating the AOA from which the signal is received from the mobile node,
The coordinates of the two reference nodes BS1 and BS2 adjacent to each other among the four reference nodes BS1, BS2, BS3 and BS4 as the origin coordinates of the center point O and the coordinates of the two reference nodes BS1 and BS2 (Θ 1 , θ 2 ) through the triangulation method using the distance (r 1 , r 2 ) of the mobile node with respect to the mobile node and the direction information on the location of the mobile node with respect to the four reference nodes BS 1, BSO, BS2, BS3, BS4) of the mobile station. The method of claim 7,
Wherein determining the location coordinates for the mobile node comprises:
The coordinates of the four reference nodes BS1, BS2, BS3 and BS4 and the coordinates of the four reference nodes BS1, BS2, BS3 and BS4 using the coordinates of the four reference nodes BS1, BS2, BS3 and BS4 with the center point O as the origin coordinates, Calculating four linear equations to be obtained;
Calculating coordinates (x 1 , y 1 ), (x 2 , y 2 ), (x 3 , y 3 ), (x 4 , y 4 ) of intersections at which the four linear equations intersect; And
(X m , y m ) calculated on the basis of the following equations (1) and (2) within an error range formed by the intersection points, and determining the position coordinates with respect to the mobile node A method for estimating a terminal location using an AOA positioning technique.
[Equation 1]
Figure pat00014

&Quot; (2) "
Figure pat00015
 1. A radio access device equipped with a plurality of reference nodes for periodically receiving signals from a mobile node,
A communication unit for collecting signals periodically received by the plurality of reference nodes from the mobile node;
A signal analyzer for extracting an RSSI value of a signal collected for each reference node;
An orientation estimator for determining a direction in which the mobile node is located by comparing RSSI values of the reference nodes;
A distance calculation unit for calculating a distance to the mobile node for each reference node using an RSSI value for each of the reference nodes;
An angle calculation unit for calculating an AOA on which a signal is received from the mobile node for each of the reference nodes using the direction and distance information of the mobile node; And
And a position estimator for determining position coordinates of the mobile node by using the position coordinates of the reference nodes and the AOA information from which signals are received from the mobile node, Connection device. The method of claim 9,
Wherein the signal analyzer comprises:
A positioning information extracting unit for analyzing packets of the signals collected for each of the reference nodes and extracting reference node IDs and RSSI values; And
And an RSSI correction unit for calculating an average value of RSSI values extracted for N (N > / = 2) collected signals for each reference node and correcting the RSSI value using the average value. Location estimation wireless access device. The method of claim 9,
Wherein the plurality of reference nodes are four reference nodes (BS1, BS2, BS3, BS4) corresponding to four antennas mounted radially and centered on a center point (O) in the radio access device. A terminal location estimation wireless access device using AOA positioning technique. The method of claim 11,
The direction estimating unit may include:
(BS1, BS3, BS2, BS4) composed of two reference nodes facing each other with respect to a center point O between the radially arranged four reference nodes BS1, BS2, BS3, BS4, (BS1, BS2) having a large RSSI value are selected and the center point (O) is divided into a plurality of partial planes A first direction estimating unit that estimates a surface of the mobile node as a first estimated area in which the mobile node is located;
The RSSI values of the two reference nodes BS1 and BS2 having the greatest RSSI value are compared to select one reference node BS1 having a large RSSI value and the divided plane is divided into a straight line passing the center point O A second direction estimator for estimating a second side adjacent to one reference node BS1 having the largest RSSI value among the two side surfaces as a second estimated region (Domain n ) where the mobile node is located; And
And a direction determining unit for determining a direction of a second estimated area (Domain n ) with respect to the reference point (O) in a direction in which the mobile node is located. The method of claim 12,
The direction estimating unit may include:
The mobile node compares the second estimated region (Domain n - 1 ) previously estimated with respect to the mobile node with the currently estimated second estimated region (Domain n ), and determines a second estimated region n - 1 ) and the currently estimated secondary estimation domain (Domain n ) are not adjacent to each other, the direction of the previously estimated secondary estimation domain (Domain n - 1 ) is corrected to the direction in which the mobile node is located And a direction correcting unit for determining a position of the mobile station based on the AOA positioning method. The method of claim 12,
The distance calculator calculates,
Equation
Figure pat00016
Wherein the distance between the reference node and the mobile node is calculated by using the AOA positioning method, wherein the distance between the reference node and the mobile node is calculated based on the reference node, L is the RSSI value of the signal received at the reference node measured in decibels [dB]. 15. The method of claim 14,
The angle calculation unit may calculate,
The coordinates of the two reference nodes BS1 and BS2 adjacent to each other among the four reference nodes BS1, BS2, BS3 and BS4 as the origin coordinates of the center point O and the coordinates of the two reference nodes BS1 and BS2 (Θ 1 , θ 2 ) through the triangulation method using the distance (r 1 , r 2 ) of the mobile node with respect to the mobile node and the direction information on the location of the mobile node with respect to the four reference nodes BS 1, BSO, BS2, BS3, and BS4) of the AOA positioning method. 16. The method of claim 15,
The position estimating unit may calculate,
The coordinates of the four reference nodes BS1, BS2, BS3 and BS4 and the coordinates of the four reference nodes BS1, BS2, BS3 and BS4 using the coordinates of the four reference nodes BS1, BS2, BS3 and BS4 with the center point O as the origin coordinates, An initial calculation unit for calculating four linear equations to be obtained;
Intersection calculating the coordinates of the intersection in which the four linear equations cross {(x 1, y 1) , (x 2, y 2), (x 3, y 3), (x 4, y 4)} calculator ; And
(X m , y m ) calculated on the basis of the following equations (1) and (2) within an error range formed by the intersection points: Wherein the terminal location estimation wireless access apparatus uses the AOA positioning technique.
[Equation 1]
Figure pat00017

&Quot; (2) "
Figure pat00018
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