KR20180010545A - Positioning system and method - Google Patents

Abstract

The present invention relates to a positioning system and method. The positioning system according to an exemplary embodiment of the present invention can include: a plurality of radio signal receivers fixedly installed at predetermined locations, receiving a radio signal from a moving radio signal transmitter and generating data related to the radio signal; and a server receiving data related to the radio signal from the radio signal receiver and calculating distance information between at least some of the radio signal receivers and the radio signal transmitter and measuring the position of the radio signal transmitter based on the distance information. The position of a measurement target can be accurately measured.

Description

[0001] POSITIONING SYSTEM AND METHOD [0002]

The present invention relates to a position measurement system and method.

Positioning technology is applied throughout our lives today. The outdoor positioning technology using GPS is an essential technology of the vehicle navigation, and the location based service (LBS) that provides various services such as advertisement by locating the mobile terminal is also based on the positioning technique.

However, GPS can not be used indoors, and local communication technologies such as Bluetooth and WiFi are used for indoor positioning. For example, a beacon is installed in a large indoor space such as a department store or a shopping mall, and the user's current location is detected on the user's smartphone by using a signal transmitted from the beacon, thereby guiding the location and route of the desired store Service has been commercialized.

In such an application field, a user to be positioned has a device capable of performing processing for position measurement like a smartphone, but in other applications, a positioning object may not have a processing device such as a smart phone, A new position measurement technique is needed.

It is an object of the present invention to provide a position measurement system and method capable of positioning even when a positioning object does not have a processing device such as a smart phone or is not utilized for position measurement even if the processing device is possessed.

It is an object of the present invention to provide a position measuring system and method capable of accurately measuring a position of a positioning target even if a wireless signal is not received evenly depending on a distance from a wireless signal transmitter in a wireless signal receiver used for position measurement .

It is an object of the present invention to provide a position measuring system and method which can accurately measure the position of a positioning target without any error even if the positioning target is located at the edge of the moving region surrounded by the radio signal receiver.

A position measurement system according to an embodiment of the present invention includes a plurality of radio signal receivers fixedly installed at predetermined locations and receiving radio signals from a moving radio signal transmitter and generating data related to the radio signals; And a controller for receiving the data related to the radio signal from the radio signal receiver and calculating distance information between at least a part of the radio signal receiver and the radio signal transmitter and measuring the position of the radio signal transmitter based on the distance information, ; ≪ / RTI >

The wireless signal transmitter may include a beacon that transmits a wireless signal in at least one of Bluetooth and WiFi.

The wireless signal receiver may generate data indicative of the received signal strength of the wireless signal.

The server may measure the position of the wireless signal transmitter through trilateration or triangulation based on the location information of the three or more pre-stored wireless signal receivers and the distance information between the three or more wireless signal receivers and the wireless signal transmitter .

Wherein the wireless signal receiver repeatedly generates data indicating a received signal strength of the wireless signal by receiving a wireless signal repeatedly transmitted by the wireless signal transmitter, and the server repeatedly generates data indicating the received signal strength of the wireless signal, The position of the wireless signal transmitter can be measured by calculating the distance information.

Wherein the server is configured to: receive a signal strength of a radio signal received by the radio signal receiver from a first time preceding by a predetermined time from the predetermined time, if the radio signal is not received at the predetermined time, The position of the wireless signal transmitter can be measured by calculating the distance information based on data representing the highest received signal strength among data indicating the highest received signal strength.

Wherein the server comprises: means for, when a radio signal is not received from the radio signal receiver at a predetermined time, from a predetermined time to a second time back by a predetermined time from the predetermined time, The position of the wireless signal transmitter can be measured by calculating the distance information based on data representing the highest received signal strength among data indicating the highest received signal strength.

Wherein the server is configured to: calculate the distance information based on data indicating a received signal strength of a radio signal first received by the radio signal receiver after the predetermined time, when the radio signal receiver has not received the radio signal at a predetermined time And the position of the wireless signal transmitter can be measured.

The position measurement system may further comprise a correction radio signal transmitter for correcting data representing a received signal strength of the radio signal generated by the radio signal receiver.

At least some of the plurality of radio signal receivers are installed symmetrically with respect to each other, and the radio signal transmitter for correction may be installed on the axis of symmetry of the radio signal receiver installed symmetrically with respect to each other.

Wherein the radio signal receiver further receives data indicating a received signal strength of the correction radio signal upon receipt of a correction radio signal from the correction radio signal transmitter, Acquires correction data for adjusting the received signal strength of the correction radio signal obtained from the radio signal receivers spaced by the same distance from the correction radio signal transmitter equally, The received signal strength of the radio signal obtained from the radio signal receiver can be corrected.

Wherein the correction data is a coefficient multiplied by the received signal strength of the correction radio signal and the server can correct the received signal strength by multiplying the received signal strength of the radio signal by the coefficient.

Wherein an edge wireless signal receiver corresponding to at least a portion of the plurality of wireless signal receivers is installed to surround a moving region of the wireless signal transmitter and wherein the server comprises: The location information of the corresponding edge wireless signal receiver can be stored.

Wherein the position of the corresponding edge radio signal receiver stored in the server is determined by: locating the radio signal transmitter proximate to the edge radio signal receiver in the moving area, so that the calculated position of the radio signal transmitter is moved Area may be a virtual location of the edge wireless signal receiver that is the same as the location within the area.

According to another aspect of the present invention, there is provided a method for measuring position, comprising: receiving a radio signal from a radio signal transmitter in which a plurality of radio signal receivers fixedly installed at predetermined locations move; Receiving from the wireless signal receiver data relating to the wireless signal, the server communicating with the wireless signal receiver calculating distance information between at least a portion of the wireless signal receiver and the wireless signal transmitter; And the server may measure the position of the wireless signal transmitter based on the distance information.

The wireless signal transmitter may include a beacon that transmits a wireless signal in at least one of Bluetooth and WiFi.

The step of generating data relating to the radio signal may comprise: generating data representing a received signal strength of the radio signal.

Wherein the step of measuring the position of the wireless signal transmitter comprises the steps of: determining a position of the wireless signal transmitter based on the position information of the three or more previously stored wireless signal receivers and the distance information between the three or more wireless signal receivers and the wireless signal transmitter, And measuring the position of the signal transmitter.

The step of generating data relating to the wireless signal includes the steps of: receiving the wireless signal repeatedly transmitted by the wireless signal transmitter and repeatedly generating data indicating the received signal strength of the wireless signal; Wherein the step of calculating includes repeatedly calculating the distance information from the data indicating the received signal strength of the radio signal, wherein the step of measuring the position of the radio signal transmitter comprises the steps of: And repeatedly measuring the position of the wireless signal transmitter.

Wherein the step of calculating the distance information comprises the steps of: when a radio signal is not received at the radio signal receiver at a predetermined time, transmitting the radio signal received by the radio signal receiver from the first time, And calculating the distance information based on data indicating the highest received signal strength among data representing the received signal strength of the signal.

The position measuring method may further comprise correcting data representing a received signal strength of the radio signal using a correction radio signal transmitted by the radio signal transmitter for correction.

At least some of the plurality of radio signal receivers are installed symmetrically with respect to each other, and the radio signal transmitter for correction may be installed on the axis of symmetry of the radio signal receiver installed symmetrically with respect to each other.

Wherein the step of calibrating comprises the steps of: the radio signal receiver receiving the correction radio signal from the correction radio signal transmitter and generating data indicative of the received signal strength of the correction radio signal; The server receives data indicating the received signal strength of the correction radio signal from the radio signal receiver so that the received signal strength of the correction radio signal obtained from the radio signal receivers spaced by the same distance from the correction radio signal transmitter is the same Acquiring correction data for adjusting the magnification; And correcting the received signal strength of the radio signal obtained from the radio signal receiver based on the correction data.

Wherein the correction data is a coefficient multiplied by the received signal strength of the correction radio signal and the step of correcting the received signal strength of the radio signal may comprise multiplying the received signal strength of the radio signal by the coefficient.

An edge wireless signal receiver corresponding to at least a portion of the plurality of wireless signal receivers is installed to surround a moving region of the wireless signal transmitter and at least a part of the edge wireless signal receivers are installed at a position deviated from the moving region, The location information of the wireless signal receiver may be stored in the server.

Wherein the position of the corresponding edge radio signal receiver stored in the server is determined by: locating the radio signal transmitter proximate to the edge radio signal receiver in the moving area, so that the calculated position of the radio signal transmitter is moved Area may be a virtual location of the edge wireless signal receiver that is the same as the location within the area.

The location measurement method according to an embodiment of the present invention may be implemented as a program for execution by a computer and recorded in a computer-readable recording medium.

The location measurement method according to an embodiment of the present invention may be implemented as a program for execution by a computer.

According to the embodiment of the present invention, the position of the positioning object can be measured even in an environment where the positioning object does not have a processing device such as a smart phone or is not used for position measurement even when the positioning device has a processing device.

According to the embodiment of the present invention, the position of the positioning object can be accurately measured even if the wireless signal is not evenly received according to the distance from the wireless signal transmitter in the wireless signal receiver used for position measurement.

According to the embodiment of the present invention, even if the positioning object is located at the edge of the moving region surrounded by the radio signal receiver, the position of the positioning object can be accurately measured without error.

1 is an exemplary diagram of a position measurement system in accordance with an embodiment of the present invention.
2 is an exemplary diagram for explaining a process of measuring a position of a wireless signal transmitter according to an embodiment of the present invention.
3 is an exemplary diagram for explaining a process of repeatedly measuring a position of a wireless signal transmitter according to an embodiment of the present invention.
4 is an exemplary diagram illustrating a process of measuring a position of a wireless signal transmitter when a wireless signal is not received at a wireless signal receiver at a predetermined time according to an exemplary embodiment of the present invention.
5 is an exemplary diagram illustrating a process of correcting a received signal strength of a radio signal generated by a radio signal receiver using a correction radio signal transmitter according to an embodiment of the present invention.
6 is a side view of a moving region for illustratively illustrating a positional relationship between a wireless signal receiver and a correction wireless signal transmitter in accordance with an embodiment of the present invention.
7 is an exemplary diagram illustrating a calibration radio signal transmitter installed with a radio signal receiver in accordance with another embodiment of the present invention.
8 is an exemplary diagram illustrating a virtual location of an edge radio signal receiver stored in a server according to an embodiment of the present invention.
9 is a side view of a moving region for explaining a process of measuring a position of a wireless signal transmitter when a wireless signal transmitter is located at an edge of a moving region according to an embodiment of the present invention.
10 is an exemplary flow diagram of a method of position measurement in accordance with an embodiment of the present invention.
11 is an exemplary flowchart illustrating a process of correcting a received signal strength of a radio signal generated by a radio signal receiver using a correction radio signal transmitter according to an embodiment of the present invention.

Other advantages and features of the present invention and methods of achieving them will become apparent with reference to the embodiments described below in detail with reference to the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the invention to those skilled in the art. Is provided to fully convey the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims.

Unless defined otherwise, all terms (including technical or scientific terms) used herein have the same meaning as commonly accepted by the generic art in the prior art to which this invention belongs. Terms defined by generic dictionaries may be interpreted to have the same meaning as in the related art and / or in the text of this application, and may be conceptualized or overly formalized, even if not expressly defined herein I will not.

The terminology used herein is for the purpose of illustrating embodiments and is not intended to be limiting of the present invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. As used herein, the terms' comprise 'and / or various forms of use of the verb include, for example,' including, '' including, '' including, '' including, Steps, operations, and / or elements do not preclude the presence or addition of one or more other compositions, components, components, steps, operations, and / or components. The term 'and / or' as used herein refers to each of the listed configurations or various combinations thereof.

It should be noted that the terms such as '~', '~ period', '~ block', 'module', etc. used in the entire specification may mean a unit for processing at least one function or operation. For example, a hardware component, such as a software, FPGA, or ASIC. However, '~ part', '~ period', '~ block', '~ module' are not meant to be limited to software or hardware. Modules may be configured to be addressable storage media and may be configured to play one or more processors. ≪ RTI ID = 0.0 >

Thus, by way of example, the terms 'to', 'to', 'to block', 'to module' refer to components such as software components, object oriented software components, class components and task components Microcode, circuitry, data, databases, data structures, tables, arrays, and the like, as well as components, Variables. The functions provided in the components and in the sections ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ' , '~', '~', '~', '~', And '~' modules with additional components.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings attached hereto.

1 is an exemplary diagram of a position measurement system 1 according to an embodiment of the present invention.

Referring to FIG. 1, the position measurement system 1 includes a plurality of radio signal receivers 100 and a server 200.

The radio signal receiver 100 is fixedly installed in a predetermined place. The radio signal receiver 100 receives a radio signal from the mobile radio transmitter 10 and generates data related to the radio signal.

The server 200 receives data related to a radio signal from the radio signal receiver 100 and calculates distance information between at least a part of the radio signal receiver 100 and the radio signal transmitter 10, The position of the wireless signal transmitter 10 is measured.

That is, in the embodiment of the present invention, the positioning target for measuring the position does not have a wireless signal processing device such as a smart phone but has a wireless signal transmitter 10 that transmits a wireless signal. In the embodiment of the present invention, a wireless signal receiver 100 is installed in a moving area R where a positioning object moves, and receives and processes a wireless signal transmitted from the wireless signal transmitter 10, And the server 200 measures the position of the wireless signal transmitter 10 using data relating to the wireless signal. In this respect, the embodiment of the present invention differs from the conventional technology in that the positioning object measures a position by processing a beacon signal transmitted from a beacon by carrying a wireless signal processing device such as a smart phone.

According to an embodiment of the present invention, the wireless signal transmitter 10 may include a beacon. For example, the wireless signal transmitter 10 may include a Bluetooth beacon that transmits a wireless signal in a Bluetooth manner (for example, a Bluetooth low energy (BLE) method). However, the wireless communication scheme between the wireless signal transmitter 10 and the wireless signal receiver 100 is not limited to Bluetooth, and various wireless communication schemes such as WiFi and Zigbee may be used.

Such a beacon is small in size and low in price, so that it can be easily held by a positioning target. For example, when the positioning target is a person, the wireless signal transmitter 10 is manufactured in a form of a medium and can be worn by a person traveling in the moving region R, thereby measuring the position of the positioning target. As another example, if the positioning target is a product, the wireless signal transmitter 10 may be manufactured in the form of a sticker and attached to a moving object in the moving region R to measure the position of the positioning target.

As shown in FIG. 1, the radio signal receiver 100 is fixedly installed in a moving region R where the radio signal transmitter 10 moves. Although the moving region R is shown in a plan view in which the radio signal receiver 100 is installed evenly in FIG. 1, the radio signal receiver 100 must be uniformly installed in the moving region R There is no.

According to an embodiment of the present invention, the wireless signal receiver 100 may generate data representing a received signal strength of a wireless signal. For example, the wireless signal receiver 100 may receive a wireless signal from the wireless signal transmitter 10 to generate a Received Signal Strength Indicator (RSSI) of the wireless signal.

Generally, the received signal strength increases as the distance between the transmitter and the receiver increases, and decreases as the distance increases. Therefore, the embodiment of the present invention uses the data indicating the received signal strength of the radio signal, The distance between the wireless signal receivers 100 can be calculated.

The server 200 may be connected to the wireless signal receiver 100 to exchange data. For example, the server 200 and the wireless signal receiver 100 may be connected to each other by wire or wirelessly to transmit data (e.g., a radio signal) to the server 200 from the wireless signal receiver 100 Signal strength) can be transmitted.

FIG. 2 is an exemplary diagram for explaining a process of measuring a position of a wireless signal transmitter 10 according to an embodiment of the present invention.

The server 200 processes data related to a radio signal received from the radio signal receiver 100 to obtain a distance between at least a part of the radio signal receiver 100 and the radio signal transmitter 10, The position of the wireless signal transmitter 10 is measured.

According to an embodiment of the present invention, the server 200 may store position information of three or more previously stored radio signal receivers 100 and distance information between the radio signal receiver 100 and the radio signal transmitter 10 The position of the wireless signal transmitter 10 can be measured through trilateration or triangulation.

For example, referring to FIG. 2, sixteen radio signal receivers 100 receive a radio signal emitted from a radio signal transmitter 10 and calculate a received signal strength (r ₁ , ..., r ₁₆ ) And transmits it to the server 200.

The server 200 selects three or more radio signal receivers S ₁ , S ₂ , S ₃ and S ₄ among the plurality of radio signal receivers 100 and transmits the selected radio signal receivers S ₁ and S ₂ , S _3, S ₄₎ distance _{(d 1, d 2, d} 3, d 4) calculated, wherein the selected radio signal receivers (S _1, S _2, and the S _3, S between each of the wireless signal transmitter 10 ₄₎ the position and the calculated distance _{(d 1, d 2, d} 3, d _4, based on a) of the through trilateration or triangulation is possible to calculate the position of a wireless signal transmitter 10. The location information of the wireless signal receiver 100 is stored in a database provided in the server 200. The server 200 can retrieve location information from a database and use it for location measurement.

According to an embodiment of the present invention, the server 200 selects a radio signal receiver having a higher reception signal strength of a radio signal among a plurality of radio signal receivers 100 installed in the moving area R, To calculate the distance between the transmitters 10 and to measure the position of the wireless signal transmitter 10.

According to another embodiment of the present invention, the server 200 selects a radio signal receiver having a higher received signal strength of a radio signal among the plurality of radio signal receivers 100 installed in the moving area R, The position of the wireless signal transmitter 10 for each combination and the average of the position of the wireless signal transmitter 10 obtained from each combination to the wireless signal transmitter 10, Can be output to the position of the transmitter (10).

2, the server 200 receives the radio signals of the four radio signal receivers (S ₁ , S ₂ , S ₃ , S ₄ , S ₅ , S ₂ , S ₃ , and S ₄ ). In addition, the server 200 has four combination consisting of three radio signal receiver for the selected four wireless signal receivers (S _1, S _2, S _3, S ₄₎ (i.e., combination ₁ = {S 1, S ₂ , S ₃ }, combination 2 = {S ₁ , S ₂ , S ₄ }, combination 3 = {S ₁ , S ₃ , S ₄ }, combination 4 = {S ₂ , S ₃ , S ₄ } Can be generated. Then, the server 200 obtains a distance P (x, y, z) indicating the position of the wireless signal transmitter 10 based on the distance between the wireless signal receiver and the wireless signal transmitter 10 for each combination, Can be calculated. The server 200 then calculates the average of the coordinates of the wireless signal transmitter 10 obtained from each combination (e.g., the center of a quadrangle having four vertices of the vertexes) to indicate the position of the wireless signal transmitter 10 The final coordinates can be output.

3 is an exemplary diagram for explaining a process of repeatedly measuring the position of a wireless signal transmitter 10 according to an embodiment of the present invention.

According to an embodiment of the present invention, the wireless signal receiver 100 may repeatedly generate data indicating a received signal strength of a wireless signal by receiving a wireless signal repeatedly transmitted by the wireless signal transmitter 10 .

The server 200 may repeatedly calculate the distance information from the data indicating the received signal strength of the wireless signal and measure the position of the wireless signal transmitter 10.

For example, referring to FIG. 3, the radio signal receiver 100 receives a radio signal emitted by the radio signal transmitter 10 when t = t ₁ , and generates data indicating a received signal strength of the radio signal To the server (200). The server 200 may measure the position P ₁ of the wireless signal transmitter 10 based on data indicating a received signal strength of the wireless signal.

Thereafter, the radio signal receiver 100 receives the radio signal in the same manner as described above when t = t ₂ , generates data indicating the received signal strength of the radio signal, and transmits the generated data to the server 200. The server 200 may measure the position P ₂ of the wireless signal transmitter 10 based on the data indicating the strength of the received signal of the wireless signal as described above.

Also, the wireless signal receiver 100 and the server 200 may operate in the same manner as described above to obtain the position P ₃ of the wireless signal transmitter 10 even when t = t ₃ .

As such, the position measurement system 1 may be configured such that the wireless signal receiver 100 and the server 200 process the wireless signal repeatedly transmitted from the wireless signal transmitter 10 so that the position of the wireless signal transmitter 10 changes over time The position can be accurately grasped even when it changes. Through this iterative position measurement, an embodiment of the present invention may track the movement path of the wireless signal transmitter 100.

Further, even if there is not a large change in the distance from the wireless signal transmitter 10, the wireless signal received by the wireless signal receiver 100 is not constant in intensity but fluctuates with time, It can be outputted differently from the position. Therefore, the embodiment of the present invention can apply a predetermined filter to the wireless signal received by the wireless signal receiver 100, thereby reducing the temporal variation of the wireless signal. For example, the radio signal receiver 100 may include a Kalman filter and may be applied to a radio signal received from the radio signal transmitter 10.

According to an exemplary embodiment of the present invention, a radio signal may not be received in the radio signal receiver 100. For example, even if the wireless signal transmitter 10 does not generate a wireless signal temporarily or generates a wireless signal, the signal may not be properly transmitted due to the surrounding environment.

4 is an exemplary diagram illustrating a process of measuring a position of a wireless signal transmitter 10 when a wireless signal is not received at a wireless signal receiver 100 at a predetermined time according to an embodiment of the present invention.

According to this embodiment, when the wireless signal is not received from the wireless signal receiver 100 at a predetermined time, the server 200 transmits the wireless signal to the wireless signal receiver 100 from the predetermined first time to the predetermined time, The position of the wireless signal transmitter 10 can be measured by calculating the distance information based on the data indicating the highest received signal strength among the data representing the received signal strength of the wireless signal received by the wireless signal transmitter 100.

For example, FIG. 4, the server 200 when the wireless signal from the wireless signal receiver 100 at the time t ₀ has not been received, the time preset in the time t ₀ t _e by the foregoing t ₀ - t _the distance information is calculated based on the data B indicating the highest received signal strength among the data A, B and C representing the received signal strength of the radio signal received by the radio signal receiver 100 from _e to t ₀ , 10 can be measured.

According to another embodiment, when the wireless signal is not received from the wireless signal receiver 100 at a predetermined time, the server 200 may transmit the wireless signal to the wireless signal receiver 100 from the predetermined time to the second time, The position of the wireless signal transmitter 10 can be measured by calculating the distance information based on the data indicating the highest received signal strength among the data representing the received signal strength of the wireless signal received by the wireless signal transmitter 100.

For example, FIG. 4, the server 200 behind as much, the time t _l from the time t ₀ is set based on the time t ₀ when the wireless signal from the wireless signal receiver 100 at the time t ₀ has not been received the distance information is calculated based on the data E indicating the highest received signal strength among data D, E, and F indicating the received signal strength of the radio signal received by the radio signal receiver 100 until t ₀ + t _l , (10) can be measured.

According to another embodiment of the present invention, when the wireless signal is not received at the wireless signal receiver 100 at a predetermined time, the server 200 may determine that the wireless signal received by the wireless signal receiver 100 The position of the wireless signal transmitter 10 can be measured by calculating the distance information based on the data indicating the received signal strength.

For example, referring to FIG. 4, if the wireless signal receiver 100 does not receive a wireless signal at time t ₀ , the server 200 first receives the wireless signal receiver 100 after time t ₀ The position of the wireless signal transmitter 10 can be measured by calculating the distance information based on the data D indicating the received signal strength of the wireless signal.

According to an embodiment of the present invention, when the wireless signal receiver 100 does not receive a wireless signal at a predetermined time t ₀ , the server 200 calculates the reception signal strength of the wireless signal received by the wireless signal receiver 100 most recently The position of the wireless signal transmitter 10 may be measured by calculating the distance information based on the data C representing the wireless signal transmitter 10.

5 is an exemplary diagram for explaining a process of correcting a received signal strength of a radio signal generated by a radio signal receiver 100 using a correction radio signal transmitter 20 according to an embodiment of the present invention.

According to an embodiment of the present invention, the position measuring system 1 further comprises a calibration radio signal transmitter 20 for calibrating data representing the received signal strength of the radio signal generated by the radio signal receiver 100 .

That is, in this embodiment, the position measurement system 1 further includes a correction radio signal transmitter 20 in addition to the radio signal transmitter 10 possessed by the positioning target, so that the position of the radio signal generated by the radio signal receiver 100 The received signal strength can be corrected.

According to this embodiment, at least some of the plurality of radio signal receivers 100 are installed symmetrically with respect to each other, and the correction radio signal transmitter 20 is installed symmetrically on the symmetrical axis of the radio signal receiver 100, .

6 is a side view of a moving region R to illustrate a positional relationship between a radio signal receiver 100 and a correction radio signal transmitter 20 according to an embodiment of the present invention.

Assuming that the moving region R is a space of a rectangular parallelepiped having a predetermined length, width and height and that the object to be measured moves at the bottom of the moving region R, the radio signal transmitter 10 possessed by the object to be measured has a predetermined height As shown in FIG.

According to this embodiment, as shown in FIGS. 5 and 6, some or all of the radio signal receivers 100 in the moving region R may be installed symmetrically with respect to one point or axis .

For example, in FIG. 5 showing a plan view of the moving region R, sixteen radio signal receivers 100 are installed in a point symmetric structure with the plane center of the moving region R as a symmetric point. 6 showing the side view of the moving region R, the radio signal receiver 100 is installed in the ceiling of the moving region R so that the height of the radio signal receiver 100 in the moving region R is all same.

In this case, the correction radio signal transmitter 20 may be installed on the symmetry axis X of the radio signal receiver 100 symmetrically installed. 6, the correction wireless signal transmitter 20 may be installed on the ceiling of the moving region R like the wireless signal receiver 100, or may be installed on a floor positioned on the axis of symmetry X It is possible.

Like the radio signal receiver 100, the correction radio signal transmitter 20 is also fixedly installed in the moving region R. The position measuring system 1 can more accurately measure the position of the radio signal transmitter 10 by correcting a received signal strength of a radio signal generated by the radio signal receiver 100 using the correction radio signal transmitter 20 can do.

Specifically, according to this embodiment, the radio signal receiver 100 can further receive data indicating the received signal strength of the correction radio signal by receiving the correction radio signal from the correction radio signal transmitter 20. That is, the radio signal receiver 100 calculates the reception signal strength r _c of the correction radio signal relating to the correction radio signal transmitter 20 in addition to the reception signal strength r of the radio signal about the radio signal transmitter 10 possessed by the positioning target Lt; / RTI >

The server 200 further receives data indicating the received signal strength r _c of the correction radio signal from the radio signal receiver 100 and transmits the data from the radio signal receivers spaced the same distance from the correction radio signal transmitter 20 It is possible to obtain correction data for adjusting the received signal strength r _c of the obtained correction radio signal equally. Here, the correction data may be a coefficient multiplied by the received signal strength r _c of the correction radio signal.

5, the radio signal receivers S ₁ , S ₂ , S ₅ , S ₆ spaced the same distance from the calibration radio signal transmitter 20 are connected to the calibration radio signal transmitter 20 It is necessary to output the same received signal strength to all the calibration radio signals to be transmitted. The received signal strength is a parameter determined by the distance between the transmitter and the receiver and the distances between the calibration radio signal transmitter 20 and the respective radio signal receivers S ₁ , S ₂ , S ₅ and S ₆ are all the same.

However, depending on the manufacturer or the model, the radio signal receiver 100 may have a variation in the received signal strength of the radio signal even if the distance to the transmitter is the same. Even if the same model is used, The reception signal strength of the radio signal may be different. In this case, if the distance between the transmitter and the receiver is not uniformly received, and the distance between the transmitter and the receiver is calculated based on the intensity of the received signal, the position measurement result of the transmitter may be inaccurate.

5, the server 200 receives a correction radio signal from the radio signal receivers S ₁ , S ₂ , S ₅ , and S _{6 that} are spaced the same distance from the correction radio signal transmitter 20 set equal to the received signal strength _{(r c1, r c2, r} c5, r c6) as correction data to _{(c 1 · r c1 = c} 2 · r c2 = c 5 · r c5 = c 6 · r c6) (C ₁ , c ₂ , c ₅ , c ₆ ) that multiply the received signal strength of the correction radio signal can be obtained.

Thereafter, the server 200 may correct the received signal strengths r _c , r _c , r _c and r _c of the radio signal obtained from the radio signal receiver 100 based on the correction data.

For example, 5, the server 200 the coefficients (c _1, c _2, c _5, c ₆₎ a received signal strength of the wireless signal (r _1, r _2, r _5, r ₆ ) To multiply the reception signal strength of the radio signal received from the radio signal transmitter 10 by r ₁ ', r ₂ ', r ₅ ', r ₆ '.

As a result, the distance between the radio signal receiver 100 and the radio signal transmitter 10 can be accurately calculated even if the radio signal is not received uniformly according to the distance from the radio signal transmitter 10 to the radio signal receiver 100, The position of the wireless signal transmitter 10 can be accurately measured.

7 is an exemplary diagram illustrating a calibration wireless signal transmitter 20 installed with a wireless signal receiver 100 in accordance with another embodiment of the present invention.

6, the correction radio signal transmitter 20 is provided at a symmetric point with respect to all of the radio signal receivers 100 installed in the moving region R. However, according to the embodiment, (For example, four in Fig. 7) of the radio signal receivers 100 installed in the moving region R. [0064]

Particularly when the moving region R is wide and one correction radio signal transmitter 20 is difficult to provide a correction radio signal for all of the radio signal receivers 100 installed in the moving region R, A plurality of calibration wireless signal transmitters 20 may be provided.

8 is an exemplary diagram illustrating a virtual location of an edge wireless signal receiver stored in the server 200 according to an embodiment of the present invention.

As described above with reference to the drawings, a plurality of radio signal receivers 100 are installed in a moving region R in which the radio signal transmitter 10 moves. An edge wireless signal receiver (a wireless signal receiver indicated by hatching in FIG. 8) corresponding to at least a part of the wireless signal receiver 100 may be installed so as to surround the moving region R. In other words, an edge wireless signal receiver that is at least a portion of the wireless signal receiver 100 may be installed at the edge of the moving region R. [

According to this embodiment, the server 200 is installed at a position away from the moving region R, at least a part of the edge wireless signal receivers can store the position information of the edge wireless signal receiver.

For example, as shown in FIG. 8, the edge wireless signal receiver is installed at the edge portion S _j of the moving region R, but the position of the edge wireless signal receiver stored in the server 200 is S _j But may be S _j 'off the moving region R.

That is, in this embodiment, the edge radio signal receiver installed at the edge of the moving region R of the radio signal receiver 100 is different from the actual position S _j and the position S _j 'stored in the server 200. However, the edge of the radio signal receiver outside the remaining radio signal receiver is the same as the position S _i S _i and stored in the physical location server 200. The

This embodiment is characterized in that the wireless signal transmitter 10 to be positioned is located near the edge of the moving region R so that the wireless signal transmitter 10 The position of the wireless signal transmitter 10 is measured, and the position of the wireless signal transmitter 10 is measured.

According to this embodiment, the position S _j 'of the edge wireless signal receiver stored in the server 200 may be determined by locating the wireless signal transmitter 10 in the moving region R adjacent to the edge wireless signal receiver, The calculated position P of the signal transmitter 10 is the same as the position in the moving region R of the radio signal transmitter 10. [

9 is a flowchart illustrating a process of measuring the position P of the radio signal transmitter 10 when the radio signal transmitter 10 is located at the edge of the moving region R according to an embodiment of the present invention. Fig.

The wireless signal transmitter 10 may be positioned adjacent to the edge radio signal receiver in the moving area R to determine the location S _j 'of the edge radio signal receiver stored in the server 200. For example, as shown in FIG. 9, when the radio signal receiver 100 is installed in the ceiling of the moving area R, the radio signal transmitter 10 can be positioned just below the edge radio signal receiver have.

Then the virtual position of the corresponding edge radio signal receiver where the position P of the radio signal transmitter 10 calculated by the server 200 is equal to the actual position of the radio signal transmitter 10 in the moving region R, S _j 'and stores the virtual position S _j ' in the server 200 at the position of the edge wireless signal receiver.

As a result, the actual position of the edge radio signal receiver in the moving area R is S _j, but the location of the corresponding edge radio signal receiver, which is stored in the server 200 and used for positioning the radio signal transmitter 10, Which is different from the actual position S _j to a virtual position S _j 'which is outside the region R. [

The position of the radio signal transmitter 10 can be accurately measured without any error even if the radio signal transmitter 10 to be positioned is located at the edge of the moving region R and the reliability of the position measurement result can be improved have.

10 is an exemplary flow diagram of a method 1000 for location measurement according to an embodiment of the present invention.

The position measurement method 1000 may be performed by the position measurement system 1 according to the embodiment of the present invention described above.

Referring to FIG. 10, the position measurement method 1000 includes receiving a radio signal from a radio signal transmitter 10 in which a plurality of radio signal receivers 100 fixedly installed in a predetermined location moves, The server 200 communicating with the wireless signal receiver 100 receives the data related to the wireless signal from the wireless signal receiver 100 and transmits the wireless signal to the wireless signal transmitter 100. [ (S1200) of calculating the distance information between the wireless signal transmitter 10 and the server 200, and the server 200 measures the position of the wireless signal transmitter 10 based on the distance information (S1300).

The wireless signal transmitter 10 may include a beacon that transmits a wireless signal in at least one of Bluetooth and WiFi.

The step (S1100) of generating data on the radio signal may include generating data indicating a received signal strength of the radio signal. For example, the data on the radio signal may be the RSSI of the radio signal.

The step S1300 of measuring the position of the radio signal transmitter 10 may include a step of determining a position of the radio signal receivers S ₁ , S ₂ , S ₃ and S ₄ , Measuring the position of the wireless signal transmitter 10 through trilateration or triangulation based on the distance information d ₁ , d ₂ , d ₃ , d ₄ between the wireless signal transmitters 10.

The step S1100 of generating data on the radio signal may include repeatedly generating data indicating the strength of the received signal of the radio signal by receiving the radio signal repeatedly transmitted by the radio signal transmitter 10 have.

In this case, the step of calculating the distance information (S1200) may include the step of repeatedly calculating the distance information from the data indicating the received signal strength of the radio signal.

The step S1300 of measuring the position of the wireless signal transmitter 10 may include repeatedly measuring the positions P ₁ , P ₂ and P ₃ of the wireless signal transmitter 10 based on the obtained distance information .

According to one embodiment of the invention, step (S1200) of calculating the depth information, when the predetermined time t ₀ is not a wireless signal received by the radio signal receiver 100, a set time period at a given time t ₀ t _e as long as the foregoing first time t ₀ - t _e data representing the highest received signal strength from the data a, B, C represents the received signal strength of the radio signal received by the wireless signal receiver (100) to the predetermined time t ₀ from B And calculating distance information based on the distance information.

In accordance with another embodiment of the invention, step (S1200) of calculating the depth information, when the predetermined time t ₀ is not a wireless signal received by the radio signal receiver 100, at time t ₀ determined from the predetermined time t ₀ in the group behind by a time t _l is set a second time t ₀ + t _l to the data indicating the received signal strength of a radio signal received in the wireless signal receiver (100) D, E, F data indicates the highest received signal strength from the E And calculating distance information based on the distance information.

According to a further embodiment of the present invention, the step (S1200) of calculating the depth information, when the predetermined time t _0, the radio signals from the radio signal receiver 100 is not received, after a predetermined time t ₀ the first And calculating the distance information based on the data D indicating the received signal strength of the radio signal received by the radio signal receiver 100.

According to an embodiment of the present invention, the step S1200 of calculating the distance information may include calculating the distance information of the radio signal receiver 100 most recently received by the radio signal receiver 100 when the radio signal receiver 100 does not receive the radio signal at the predetermined time t ₀ . And calculating the distance information based on the data C representing the received signal strength of the signal.

According to an embodiment of the present invention, the position measuring method 1000 further includes a step of correcting data representing a received signal strength of a wireless signal using a correction wireless signal transmitted by the wireless signal transmitter for correction (20) .

According to this embodiment, at least some of the plurality of radio signal receivers 100 may be installed symmetrically with respect to each other. The correction radio signal transmitter 20 may be installed on the symmetry axis X of the radio signal receiver 100 installed symmetrically with respect to each other.

11 is an exemplary flowchart illustrating a process of correcting a received signal strength r of a radio signal generated by a radio signal receiver 100 using a correction radio signal transmitter 20 according to an embodiment of the present invention.

Referring to FIG. 11, the step of correcting includes the step of the wireless signal receiver 100 receiving the correction wireless signal from the correction wireless signal transmitter 20 and generating data indicating the received signal strength r _c of the correction wireless signal ( S1151), the server 200, the radio signals to receive the data representing the received signal strength r _c of the correction radio signal from the receiver 100, spaced the same distance from the correction radio signal transmitter 20 is a wireless signal receiver (s (S1152) of acquiring correction data for adjusting the received signal intensities r _c1 , r _c2 , r _c5 and r _c6 of the correction radio signals obtained from the correction data (S ₁ , S ₂ , S ₅ , S ₆ ) the base may include a received signal strength of r _1, step (S1153) for correcting the r _2, r _5, r ₆ of the radio signal obtained from the radio signal receiver 100.

In this embodiment, the correction data may be coefficients c ₁ , c ₂ , c ₅ , c ₆ multiplied by the received signal strengths r _c1 , r _c2 , r _c5 , r _c6 of the correction radio signal. Then, the received signal strength of the radio signal r _1, r _2, r _5, r step (S1153) to ₆ correct for, the coefficients c _1, c _2, c _5, c _6, a received signal strength of r ₁ of the radio signal , r ₂ , r ₅ , r ₆ .

According to an embodiment of the present invention, an edge wireless signal receiver corresponding to at least a part of the plurality of wireless signal receivers 100 may be installed to surround the moving region R of the wireless signal transmitter 10. At least some of the edge wireless signal receivers are installed at a position deviated from the moving region R, and the position information of the edge wireless signal receiver may be stored in the server 200.

Here, the position S _j 'of the edge wireless signal receiver stored in the server 200 may be determined by previously positioning the wireless signal transmitter 10 in the moving area R, adjacent to the edge wireless signal receiver, The calculated position P of the radio signal transmitter 10 in the moving region R is the same as the actual position of the radio signal transmitter 10 in the moving region R. [

The location measurement method 1000 according to an embodiment of the present invention may be stored in a computer-readable recording medium. The computer-readable recording medium includes all kinds of storage devices in which data that can be read by a computer system is stored. Examples of the computer-readable recording medium include ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage, and the like. In addition, the method 1000 may be implemented as a computer program stored on a medium for execution in association with the computer.

While the present invention has been described with reference to the exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. Those skilled in the art will appreciate that various modifications may be made to the embodiments described above. The scope of the present invention is defined only by the interpretation of the appended claims.

1: Position measurement system
10: Wireless signal transmitter
20: Radio signal transmitter for correction
100: Wireless signal receiver
200: Server
R: moving area

Claims (28)

A plurality of radio signal receivers fixedly installed at predetermined locations and receiving radio signals from a moving radio signal transmitter to generate data relating to the radio signals; And
A server receiving data related to the radio signal from the radio signal receiver and calculating distance information between at least a part of the radio signal receiver and the radio signal transmitter and measuring the position of the radio signal transmitter based on the distance information;
And a positioning system. The method according to claim 1,
Wherein the wireless signal transmitter includes a beacon transmitting a wireless signal in at least one of Bluetooth and WiFi. The method according to claim 1,
Wherein the wireless signal receiver generates data representing a received signal strength of the wireless signal. The method according to claim 1,
Wherein the server is further adapted to measure the position of the radio signal transmitter via trilateration or triangulation based on the location information of the three or more pre-stored radio signal receivers and the distance information between the three or more radio signal receivers and the radio signal transmitter system. The method of claim 3,
Wherein the wireless signal receiver repeatedly generates data indicating a received signal strength of the wireless signal by receiving a wireless signal repeatedly transmitted by the wireless signal transmitter,
Wherein the server repeatedly calculates the distance information from the data indicating the received signal strength of the radio signal to measure the position of the radio signal transmitter. 6. The method of claim 5,
The server comprising:
When the radio signal receiver does not receive the radio signal at the predetermined time, the radio signal receiver determines the reception signal strength of the radio signal received by the radio signal receiver from the predetermined first time to the predetermined time And calculating the distance information based on data representing the highest received signal strength to measure the position of the wireless signal transmitter. 6. The method of claim 5,
The server comprising:
When the radio signal receiver does not receive a radio signal at a predetermined time, from among the data indicating the received signal strength of the radio signal received by the radio signal receiver from the predetermined time to the second time back by a predetermined time And calculating the distance information based on data representing the highest received signal strength to measure the position of the wireless signal transmitter. 6. The method of claim 5,
The server comprising:
Calculating the distance information based on data indicating a received signal strength of a radio signal first received by the radio signal receiver after the predetermined time when the radio signal receiver has not received a radio signal at a predetermined time, Position measuring system for measuring the position of a signal transmitter. The method of claim 3,
Further comprising: a correction radio signal transmitter for correcting data representing a received signal strength of the radio signal generated by the radio signal receiver. 10. The method of claim 9,
At least some of the plurality of radio signal receivers are symmetrically installed,
Wherein the correction radio signal transmitter is installed on an axis of symmetry of the radio signal receiver symmetrically installed. 11. The method of claim 10,
The radio signal receiver further receives data for indicating a received signal strength of the correction radio signal by receiving the correction radio signal from the correction radio signal transmitter,
The server comprising:
Further receiving data indicating the received signal strength of the correction radio signal from the radio signal receiver and adjusting the received signal strength of the correction radio signal obtained from the radio signal receivers spaced apart by the same distance from the correction radio signal transmitter Acquires correction data to be used,
And corrects the received signal strength of the radio signal obtained from the radio signal receiver based on the correction data. 12. The method of claim 11,
Wherein the correction data is a coefficient multiplied by the received signal strength of the correction radio signal,
Wherein the server multiplies the received signal strength of the wireless signal by the coefficient to correct the received signal strength. 5. The method of claim 4,
An edge wireless signal receiver corresponding to at least a part of the plurality of wireless signal receivers is installed to surround a moving region of the wireless signal transmitter,
The server comprising:
Wherein at least a portion of the edge wireless signal receivers are installed at a location deviated from the moving area, the location information of the edge wireless signal receiver is stored. 14. The method of claim 13,
The location of the corresponding edge radio signal receiver stored in the server is:
Wherein the position of the wireless signal transmitter is the same as the position of the wireless signal transmitter in the moving area of the wireless signal transmitter, Position measuring system. Receiving a radio signal from a radio signal transmitter in which a plurality of radio signal receivers fixedly installed in a predetermined place moves and generating data related to the radio signal;
Receiving from the wireless signal receiver data relating to the wireless signal, the server communicating with the wireless signal receiver calculating distance information between at least a portion of the wireless signal receiver and the wireless signal transmitter; And
And the server measuring the position of the wireless signal transmitter based on the distance information. 16. The method of claim 15,
Wherein the wireless signal transmitter comprises a beacon transmitting a wireless signal in at least one of Bluetooth and WiFi. 16. The method of claim 15,
Wherein generating the data for the wireless signal comprises:
And generating data representing a received signal strength of the wireless signal. 16. The method of claim 15,
Wherein measuring the position of the wireless signal transmitter comprises:
Measuring the position of the radio signal transmitter via trilateration or triangulation based on position information of at least three pre-stored radio signal receivers and distance information between the at least three radio signal receivers and the radio signal transmitter; How to measure. 18. The method of claim 17,
Wherein generating the data for the wireless signal comprises:
Receiving repeatedly transmitted radio signals from the radio signal transmitter and repeatedly generating data indicative of the received signal strength of the radio signal,
The step of calculating the distance information includes:
And repeatedly calculating the distance information from the data indicating the received signal strength of the radio signal,
Wherein measuring the position of the wireless signal transmitter comprises:
And repeatedly measuring a position of the wireless signal transmitter based on the obtained distance information. 20. The method of claim 19,
The step of calculating the distance information includes:
When the radio signal receiver does not receive the radio signal at the predetermined time, the radio signal receiver determines the reception signal strength of the radio signal received by the radio signal receiver from the predetermined first time to the predetermined time And calculating the distance information based on data representing the highest received signal strength. 18. The method of claim 17,
And correcting data indicating the received signal strength of the radio signal using the correction radio signal transmitted by the correction radio signal transmitter. 22. The method of claim 21,
At least some of the plurality of radio signal receivers are symmetrically installed,
Wherein the correction radio signal transmitter is installed on the axis of symmetry of the radio signal receiver symmetrically installed. 23. The method of claim 22,
Wherein the correcting comprises:
Receiving, by the radio signal receiver, the correction radio signal from the correction radio signal transmitter and generating data indicative of the received signal strength of the correction radio signal;
The server receives data indicating the received signal strength of the correction radio signal from the radio signal receiver so that the received signal strength of the correction radio signal obtained from the radio signal receivers spaced by the same distance from the correction radio signal transmitter is the same Acquiring correction data for adjusting the magnification; And
And correcting the received signal strength of the radio signal obtained from the radio signal receiver based on the correction data. 24. The method of claim 23,
Wherein the correction data is a coefficient multiplied by the received signal strength of the correction radio signal,
The step of correcting the received signal strength of the radio signal comprises:
And multiplying the received signal strength of the radio signal by the coefficient. 19. The method of claim 18,
An edge wireless signal receiver corresponding to at least a part of the plurality of wireless signal receivers is installed to surround a moving region of the wireless signal transmitter,
Wherein at least some of the edge wireless signal receivers are installed at a location deviated from the moving area and the location information of the edge wireless signal receiver is stored in the server. 26. The method of claim 25,
The location of the corresponding edge radio signal receiver stored in the server is:
Wherein the position of the wireless signal transmitter is the same as the position of the wireless signal transmitter in the moving area of the wireless signal transmitter, Position measuring method. A computer-readable recording medium,
26. A recording medium on which a program for executing a position measuring method according to any one of claims 15 to 26 is recorded on a computer. 26. A computer program for executing a method of position measurement according to any one of claims 15 to 26 on a computer.

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