KR20170091811A - An indoor positioning method using the weighting the RSSI of Bluetooth beacon and pedestrian pattern - Google Patents
An indoor positioning method using the weighting the RSSI of Bluetooth beacon and pedestrian pattern Download PDFInfo
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- KR20170091811A KR20170091811A KR1020160012087A KR20160012087A KR20170091811A KR 20170091811 A KR20170091811 A KR 20170091811A KR 1020160012087 A KR1020160012087 A KR 1020160012087A KR 20160012087 A KR20160012087 A KR 20160012087A KR 20170091811 A KR20170091811 A KR 20170091811A
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- 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
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- H04W4/008—
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
Abstract
Description
The present invention relates to a more accurate indoor positioning method based on a value obtained by storing a moving pattern of a pedestrian by calculating a relative position of a Bluetooth beacon using an RSSI-based indoor positioning method.
The present invention relates to a method of measuring the position of a terminal using RSSIs received from a plurality of Bluetooth beacons using an application of a pedestrian's receiving terminal and more particularly to a method of measuring a position of a terminal using acceleration of a receiving terminal, And analyzing the movement pattern of the accumulated pedestrian. In addition, indoor maps are generated and divided into individual areas, and the actual positions are assigned. The correction is made by assigning proportional values to the respective areas with weights using analysis of habits, frequency, and cycles of the pedestrians in each area, To a method for estimating the probability.
As the location-based service market grows, there is an increasing need for services both indoors and outdoors. In the present invention, a Bluetooth beacon for periodically transmitting RSSI to a room is installed among various indoor positioning methods, and a position is estimated by calculating a point of a receiver using the relative position.
RSSI (Received Signal Strength) indicates the strength representation of the received signal. It is a value indicating the energy size of the frequency band of the channel used in 802.15.4. The value is displayed as 8bit and is displayed as the value of 0x00 ~ 0xFF, and the error is within 6dB. Generally, the larger the intensity, the smaller the db value, and the smaller the intensity, the larger the db value.
In the above method, a triangulation method is used to determine the position using the distance (FIG. 2). The triangulation method is a method of finding the coordinates and distance of a point by using the properties of a triangle. By knowing the point and two reference points, we measure the angle between the base and the other two sides in the triangle formed by the point and the two reference points, measure the length of the sides, and perform a series of calculations using the sine law, It is a way to find coordinates and distances for that point. The coordinate is calculated by substituting it into the equation shown in Fig.
A Bluetooth 4.0-based beacon is used as a terminal for transmitting RSSI.
A beacon is a wireless sensor that recognizes a short-range location. It is a place where a beacon is installed. When a receiver terminal equipped with Bluetooth 4.0 technology is accessed, it provides various information and services through mutual recognition between a beacon and a receiver terminal. Compared to GPS with a few tens of meters of error, it is possible to measure up to 5cm of sophisticated position, while NFC has a limit of 10cm distance, while beacon has the advantage of providing communication up to 49m.
In order to utilize the indoor map technology of FIG. 4 and FIG. 5, a fingerprint method is used. Fingerprint method is a stochastic modeling method which uses noise and environment information as information for location tracking. This method should perform the training step to configure the database before performing the positioning. A plurality of sample points are set in a space for positioning and a characteristic value of a radio wave received at a set sample point is stored in a database. In the step of performing the positioning, the location information of the terminal is provided by extracting an optimal position value through database search of the characteristics of radio waves received from the APs. The accuracy of the positioning performed through this method may vary depending on the interval of the sample points of the database configured in the training step, and may vary depending on the method of estimating the optimum value in the database and the database configuration method. Unlike other methods, it uses local environment information for positioning, which provides an advantage of providing accurate location solution. However, there are difficulties in extracting various radio wave characteristic values at all sample points, and it is difficult to perform the training process again every time the environment changes. The complexity of database retrieval for location estimation of mobile objects may be a limiting factor in the performance of the system and may be less accurate due to the un - modeled situation in database production. To solve these problems, clustering techniques have been used to increase the efficiency of database retrieval, or to improve the accuracy by using probabilistic techniques such as Hidden Markov Model or Bayesian Model. In the above method, the indoor space is divided into a plurality of areas in advance to construct a system, an AP index associated with the divided areas is constructed, a combination of the divided area estimation and the point estimation is determined using the AP index, And a radio map, which is a navigation method for efficiently locating the area display or the point display selectively.
To obtain pedestrian pattern information, a mobile device (transmitting terminal) owned by a pedestrian is used. Obtain the speed and rotation of the pedestrian using the three-axis gyro and acceleration sensor of the mobile device. At this time, since the direction of the pedestrian can not be determined in a way estimated by using the three-axis gyro and acceleration sensor, the direction is corrected using the installed Bluetooth beacon. Using the positional information obtained from the above method, the pedestrian stores the information of the own route on the indoor map.
Use a radio map to create an indoor map. This method creates a two-dimensional array of real space considering the location of installed Bluetooth beacons. Here, the size of the array means an arbitrary value of 2 m or more, and all the regions are generated with the same size. Each area has its own unique number. Generally, the data is stored in a database and utilized.
A pass-through filter is used to improve the RSSI accuracy of the Bluetooth beacon. A pass filter is a bandpass filter installed between the receiving side and the transmitting side of a group conversion device to pass only a signal between specific frequencies so as to pass therethrough as it is in the basic group band without converting the path at the multiplex transmission branch point .
In the present invention, three or more Bluetooth beacons are installed in a certain space in an indoor environment of a school, a department store, etc., and a frequency of a pedestrian pattern is converted into a weight using a unique value of a receiving terminal, And estimates the position of the terminal.
According to an embodiment of the present invention, there is provided a method and system for estimating a position of an indoor receiving terminal after converting a frequency of a moving pattern of a receiving terminal into a weight in a divided area of a room, and applying the same.
It is another object of the present invention to provide an indoor location estimation method and system using an optimal moving distance by expressing a maximum area in which a receiving terminal user can move by removing a non-movable area in a room.
Another object of the present invention is to provide a method and system for indoor location estimation using coordinate conversion in which RSSI of a Bluetooth beacon is assigned to each area of an indoor map.
According to an embodiment of the present invention, there is provided a method and system for estimating a position of an indoor receiving terminal after converting a frequency of a moving pattern of a receiving terminal into a weight in a divided area of a room, and applying the same.
It is another object of the present invention to provide an indoor location estimation method and system using an optimal moving distance by expressing a maximum area in which a receiving terminal user can move by removing a non-movable area in a room.
Another object of the present invention is to provide a method and system for indoor location estimation using coordinate conversion in which RSSI of a Bluetooth beacon is assigned to each area of an indoor map.
In order to achieve the above object, the positioning apparatus of the present invention includes a Bluetooth beacon (a) serving as a transmitter having three or more relative positions, a plurality of RSSIs (Received Signal Strength Indicator) A receiving and server transmitting terminal for transmitting its own pattern information using a built-in sensor, a computing server for analyzing patterns of the received location information and converting the received pattern information into weights, and a DBMS (C).
(a) the positioning method comprises positioning the current position by triangulation with RSSI and relative positions of three or more Bluetooth beacons.
Here, the receiving terminal must always receive three or more RSSIs.
(b) The positioning method analyzes the pattern of the receiving terminal based on the relative position information of the installed Bluetooth beacon.
Here, the receiving terminal is a mobile device owned by a pedestrian for collecting pattern information of a pedestrian.
In the step (b), the indoor map is divided into predetermined areas, and each of the indoor numbers is assigned a unique number, and weighting is performed using pattern analysis of the receiving terminal.
Here, the pattern of the receiving terminal may mean that the frequency according to each area of the indoor map is represented by a probability.
The direction and the moving distance of the receiving terminal may be values obtained by calculating the three-axis gyro sensor and the acceleration sensor of the receiving terminal.
Also, a method of using low-frequency and high-frequency filters is used for the accuracy of RSSI in the step (a).
Here, the range of the low-frequency and high-frequency filters may be a distance of the maximum transmission range of the Bluetooth beacon and a transmission range of the Bluetooth beacon.
(c) According to the positioning method, weighting can be performed using the movement probability of each area of the indoor map on the basis of the pattern information of a plurality of receiving terminals.
In addition, the step (c) may include assigning a unique number to each receiving terminal and independently storing each pattern information.
The present invention as described above has the reliability of the positioning method using the existing RSSI and the triangulation method with more accuracy and probability and analyzes the patterns of the respective terminal receivers independently to obtain information on the habits, It is possible to provide various services using the service.
In addition, information can be given to each area of the indoor map, and indoor location service can be variously applied to a detailed area.
1 is a conceptual diagram of a positioning system using RSSI according to the present invention.
FIG. 2 is an exemplary diagram for schematically explaining a triangulation method for calculating a position of a receiving terminal according to the present invention.
3 is a flow chart illustrating the application domain of the present invention.
Fig. 4 is a flowchart illustrating the operation area of the present invention.
5 is a flowchart illustrating the database area of the present invention.
FIG. 6 is a conceptual diagram for dividing an indoor map for each embodiment of the present invention and assigning a unique number to each area.
FIG. 7 is a conceptual diagram of a pattern analysis using position information such as a pattern and a period of a receiving terminal according to an embodiment of the present invention.
8 is an exemplary diagram for explaining the recording of the user's location information for the embodiment of the present invention.
9 shows the formula of a triangulation algorithm for coordinate transformation in an embodiment of the present invention.
FIG. 10 shows RSSI values according to distance according to an embodiment of the present invention.
1 and 2 illustrate a positioning technique using a triangulation technique by receiving an RF signal transmitted by three or more Bluetooth beacons in an application and converting the RSSI to a distance. The Bluetooth beacon used in the system includes using a beacon that complies with the international Bluetooth standard. In addition, the Bluetooth beacon must be installed in an area in order to receive the indoor positioning service. A Bluetooth beacon serving as a frequency transmission includes configuring the environment by taking into consideration the area of transmission and reception of Bluetooth (the range of valid values in the present technology is about 10 m or less per one Bluetooth beacon).
As shown in Figs. 3, 4, and 5, the indoor positioning measurement method and system are configured with an application area, an operation area, and a database area.
end. Application area
The application area includes information of display and distance confirmation of the user interface and the indoor area. It also includes receiving RSSI of a number of installed Bluetooth beacons in the usage environment. And the method includes transmitting the effective Bluetooth beacon transmission period and Txpower in the area of each room. This may involve determining according to multiple levels in consideration of the reception period and synchronization in the application, and may include changing depending on the range of the obstacle and the area of each area.
And utilizes the resources of the user's mobile device as shown in FIG. For example, when receiving the RSSI transmitted from the Bluetooth beacon in the application domain, the resources of the receiving portion of the Bluetooth sensor of the mobile device are used. In addition, when the acceleration in the mobile device, the direction and the distance of the user are calculated by the three-axis gyro sensor, the sensor of the mobile device is used as described above. In addition, the transmitted RSSI may include a distance conversion formula by a path loss model. And the processing capabilities of the mobile device as described above when transforming to indoor coordinates using a triangulation algorithm.
Also, in the above method, when the triangulation algorithm operates, the most reliable value is extracted first based on the RSSI information received in the application domain. In this case, the confidence value means that the RSSI value is the smallest. In the above method, a filter is applied to a value exceeding the reception range or changing abnormally using a high / low frequency filter based on the reliability. At this time, the correction range is set to the maximum value that the user can move during the RSSI reception period, and the optimum range can be changed according to the usage environment.
As shown in FIGS. 4 and 5, the coordinate information calculated by the direction and distance information using the sensor and the triangulation method using the sensor is transmitted to the operation region and the database region through the network, And receiving it.
I. Operation area
The computational domain can support processing through the network, as opposed to using resources of the mobile device in the application domain. The computing area is a computing device with processing capability and network equipment.
The above method can exchange information with an application using a network. In addition, the indoor map of the corresponding area can be retrieved from the database area by using the UUID of the Bluetooth beacon transmitting the RSSI of the received application area. Further, the operation area can be created and stored in the database area. At this time, the area can be identified through the UUID of the Bluetooth beacon, and the area is generated as a cell divided into a ratio size according to a certain distance. And assigning a unique number to each cell in the corresponding area to store or modify information at the corresponding location.
The maximum travel distance during the transmission period of the RSSI of the user can be known using the acceleration received from the corresponding area, the direction and the travel distance of the three-axis gyro sensor. Using this, the calculated position coordinates received from the application are compared with the above direction and movement distance to determine a similar value in consideration of the error range.
And calculates the probabilistic position of the position coordinates by substituting the frequency of the user's position movement using the indoor position information retrieved from the database area into the cells of the respective indoor areas. At this time, the user ID of the individual can be used independently of the individual who is influenced by the habits, the cycle, the tendency of the preference, etc., and the indoor probability map is calculated using the complex user pattern information calculated using the information of the entire user .
The indoor map information used in the above-mentioned method includes a process of simultaneously processing transmission and reception to accumulate information processed in the database and transmission and reception with an application.
All. Database area
The database area can utilize computer resources in the computation domain and can be configured as independent computer resources. At this time, the database area can be composed of an operation area and a network.
The area may store user information, UUID of the Bluetooth beacon and indoor map information using communication with the operation area.
In addition, the indoor map information and the user 's location information record in the database can be browsed when requested in the operation area, and the corresponding command can be flexibly changed according to the request.
Claims (11)
The mobile device simultaneously receiving a plurality of Bluetooth frequencies;
Estimating a direction and a moving distance using the built-in sensor;
Setting a filter range based on a Bluetooth transmission period and a moving distance of a pedestrian;
Creating an indoor map, dividing the interior into cells and assigning a unique number;
Calculating a position of the mobile device by analyzing a pattern of a pedestrian and giving a probabilistic weight value
/ RTI >
Indoor Positioning Method Using RSSI of Bluetooth Beacon and Weight of Pedestrian Pattern.
A method of setting a transmission period of a plurality of Bluetooth beacons in a range capable of separately discriminating and adjusting Txpower,
Indoor Positioning Method Using RSSI of Bluetooth Beacon and Weight of Pedestrian Pattern.
Characterized in that the input of the RSSI uses a Bluetooth beacon.
Indoor Positioning Method Using RSSI of Bluetooth Beacon and Weight of Pedestrian Pattern.
Wherein the indoor map includes a dividing method based on a distance according to a reception reliability of a beacon and a method of virtualizing each area using unique number designation.
Indoor Positioning Method Using RSSI of Bluetooth Beacon and Weight of Pedestrian Pattern.
Acceleration of the mobile device, estimation of the user's traveling direction and distance using a three-axis gyro sensor,
Indoor Positioning Method Using RSSI of Bluetooth Beacon and Weight of Pedestrian Pattern.
A method of calibrating a position of a mobile device based on a comparison of coordinates based on a trigonometric algorithm with information based on an embedded sensor,
Indoor Positioning Method Using RSSI of Bluetooth Beacon and Weight of Pedestrian Pattern.
And a low / high frequency filter based on the maximum travel distance of the corresponding time of the pedestrian using the time at which the transmission value of the Bluetooth beacon is updated,
Indoor Positioning Method Using RSSI of Bluetooth Beacon and Weight of Pedestrian Pattern.
And a method for identifying and correcting a stochastic position by assigning a cumulative movement record of the user to each cell of the indoor map,
Indoor Positioning Method Using RSSI of Bluetooth Beacon and Weight of Pedestrian Pattern.
Further comprising storing and analyzing the user ' s movement record separately into a personal area and a general area,
Indoor Positioning Method Using RSSI of Bluetooth Beacon and Weight of Pedestrian Pattern.
Characterized by an application service for indicating a user's current location and distance,
Indoor Positioning Method Using RSSI of Bluetooth Beacon and Weight of Pedestrian Pattern.
And separating an application, an operation, and a data area using a network.
Indoor Positioning Method Using RSSI of Bluetooth Beacon and Weight of Pedestrian Pattern.
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| KR1020160012087A KR20170091811A (en) | 2016-02-01 | 2016-02-01 | An indoor positioning method using the weighting the RSSI of Bluetooth beacon and pedestrian pattern |
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| KR1020160012087A KR20170091811A (en) | 2016-02-01 | 2016-02-01 | An indoor positioning method using the weighting the RSSI of Bluetooth beacon and pedestrian pattern |
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| CN108375754A (en) * | 2018-02-10 | 2018-08-07 | 沈阳理工大学 | Node positioning method based on mobile node original state and mobile status in WSN |
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