KR20190013451A - Method for measuring relative coordinates between devices and device thereof - Google Patents

Abstract

Disclosed is a method for measuring relative coordinates between devices, which is performed by a first device communicating with at least one second device belonging to the same group as the first device. According to an embodiment of the present invention, the method for measuring relative coordinates between devices comprises the steps of: measuring a distance between a first device and a second device through communication with the second device; receiving information on a distance among a plurality of second devices from the second device; calculating a plurality of solutions for relative coordinates between devices by using the information on the distance among the plurality of second devices and information on the distance between the first device and the second device; and deriving a true solution among a plurality of solutions for the relative coordinates between the devices by using the coordinates of each device with respect to a reference origin calculated by pedestrian dead reckoning (PDR). The present invention can correct errors of the relative coordinates between devices.

Description

METHOD FOR MEASURING RELATIVE COORDINATES BETWEEN DEVICES AND DEVICE THEREOF FIELD OF THE INVENTION [0001]

The present invention relates to a method of measuring relative coordinates between devices and a device using the same, and more particularly, to a method of measuring relative coordinates between devices, such as a disaster, a disaster site, a special operation area, A method for measuring the relative coordinates between devices based on data collected for each object in order to determine a position between the devices, and a device using the method for measuring relative coordinates between devices.

Conventional location tracking technology detects the location of the user through the GPS receiving terminal based on the GPS signal. However, in urban areas, the accuracy of location information is degraded due to multipath phenomenon, and location tracking is not possible indoors. As a specific method of location tracking, a finger print method using a communication infrastructure such as a light (or radio wave) intensity and an AP position using a WiFi access point (AP) is generally used. However, this method basically requires that an infrastructure such as an AP should be installed in advance, and it is difficult to utilize it because it has a disadvantage that the AP information needs to be periodically updated after installation.

As a method that does not utilize the infrastructure, there is a method of calculating a moving direction of a user by calculating information such as acceleration, angular velocity, and surrounding ground by using an IMU (inertial measurement unit). However, due to the physical characteristics of the inertial sensor, this method also has a problem that cumulative error increases with time.

In order to solve the above problems, an object of the present invention is to provide a method of measuring relative coordinates between devices.

It is another object of the present invention to provide a device using a method of measuring relative coordinates between devices.

It is another object of the present invention to provide an apparatus and a method for correcting an error of relative coordinates between devices.

According to an aspect of the present invention, there is provided a method for measuring relative coordinates between devices, the method comprising: a first device communicating with at least one second device belonging to the same group as the first device, Measuring a distance between the first device and the second device through communication with the second device; Receiving a plurality of second device-to-device distance information from the second device; Calculating a plurality of solutions for relative coordinates between devices using the distance information between the first device and the second device and the plurality of second device-to-device distance information; And deriving a true solution of the plurality of solutions for the relative coordinates between the devices using the coordinates of each device for the reference origin calculated using Pedestrian Dead Reckoning (PDR).

The first device and the second device can communicate with each other using a UWB (Ultra Wide Band) communication method.

The inter-device relative coordinate measuring method may further include calculating coordinates of the first device with respect to the reference origin using an inertial measurement unit included in the first device.

The inter-device relative coordinate measurement method may further include correcting an error of coordinates of the first device with respect to the reference origin using the true solution.

The distance between the first device and the second device can be calculated using the total communication time between the first device and the second device, the speed of light or propagation, the response time of the device, and the wireless transmission time of the signal.

The inter-device relative coordinate measurement method may include calculating coordinates of a first device with respect to a reference origin using pedestrian dead reckoning (PDR); And transmitting the coordinate information of the first device to the second device.

The device-relative coordinate measuring method may further include receiving coordinate information of the second device from the second device with respect to the reference origin.

The first device and the second device can transmit and receive data using a frame configuration including a guard slot located between a frame and a frame.

The first device may transmit information of the first device to the second device using a slot assigned to itself among a plurality of slots included in the super frame.

The plurality of devices belonging to the same group can transmit information on the distance between devices through the guard slot to another device.

According to another aspect of the present invention, there is provided a device for measuring relative coordinates between a plurality of devices belonging to the same group, the device comprising: a communication module for performing communication with another device belonging to the same group; An IMU (Inertial Measurement Unit) module for calculating the coordinates of the device according to the walking navigation with respect to the reference origin; A processor; And a memory for storing at least one instruction executed via the processor.

Wherein the at least one instruction comprises: communicating with another device to measure a distance between the device and the other device; Receiving distance information between a plurality of other devices from the another device; Instructions for calculating a plurality of solutions for relative coordinates between devices using the plurality of device-to-device distance information belonging to the same group; And deriving a true solution of the plurality of solutions for the relative coordinates between the devices using the coordinates of each device for the reference origin calculated using Pedestrian Dead Reckoning (PDR).

The communication module can communicate with another device using an UWB (Ultra Wide Band) communication method.

The reference origin may be equally applied to all devices belonging to the same group.

The at least one instruction may further comprise instructions to correct the coordinate error of the device with respect to the reference origin using the true solution.

Wherein the at least one command comprises: calculating a coordinate of a first device with respect to a reference origin using Pedestrian Dead Reckoning (PDR); And transmit the coordinate information of the first device to the second device.

The at least one instruction may receive coordinate information of the other device with respect to the reference origin from the another device.

The device may transmit and receive data with the other device using a frame configuration including a plurality of super frames and a guard slot located between the super frames.

The device can transmit the information of the device to another device using a slot assigned to itself among a plurality of slots included in the super frame.

The device may broadcast distance information between the device and another device through the guard slot.

The distance between the plurality of devices belonging to the same group can be calculated using the total communication time between devices, the speed of light or propagation, the response time of the device, and the wireless transmission time of the signal.

According to the embodiments of the present invention as described above, it is possible to grasp the positions of objects (activity agents) put in group units in an environment in which no infrastructure for location tracking is built, such as disaster, disaster site, special operation area By perceiving, mutual efficient collaboration and safe activity of objects can be possible.

The present invention can also be of great help in safely returning to the point of origin or crewmembers entering the disaster scene.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic diagram of a position tracking method using triangulation. FIG.
2 is a schematic conceptual diagram of a method of calculating a position using Pedestrian Dead Reckoning (PDR) technology.
3 is a schematic block diagram of an apparatus for correcting a relative coordinate error of an object according to an embodiment of the present invention.
4 is a diagram illustrating a method of calculating a distance between objects through UWB communication according to an embodiment of the present invention.
FIG. 5 is a conceptual diagram for obtaining a relative coordinate solution based on a matrix of distances measured through mutual UWB communication according to an embodiment of the present invention.
FIG. 6 is a conceptual diagram illustrating a movement path of each object according to the PDR method using the IMU.
FIG. 7 is a conceptual diagram illustrating a movement path of each device when the origin is the same in the PDR method using the IMU.
8 is a conceptual diagram of a method of correcting a relative coordinate error for an object according to an embodiment of the present invention.
9 is a flowchart illustrating a method of measuring relative coordinates according to an exemplary embodiment of the present invention.
10A and 10B are conceptual diagrams of a method for sharing device-to-device distance information according to an embodiment of the present invention. FIG. 10A illustrates a concept of a centrally controlled distance information sharing method, FIG. 10B illustrates a concept of a distributed distance information sharing method Lt; / RTI >
11A shows a frame structure of communication used for distance information calculation according to an embodiment of the present invention.
11B is a diagram showing a detailed configuration of a guard slot in a frame structure of a communication used for distance information calculation according to an embodiment of the present invention.
12 is a block diagram of a device for calculating a relative distance to another device according to an embodiment of the present invention.

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail. It should be understood, however, that the invention is not intended to be limited to the particular embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. Like reference numerals are used for like elements in describing each drawing.

The terms first, second, A, B, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component. The term "and / or" includes any combination of a plurality of related listed items or any of a plurality of related listed items.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprises" or "having" and the like are used to specify that there is a feature, a number, a step, an operation, an element, a component or a combination thereof described in the specification, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the contextual meaning of the related art and are to be interpreted as either ideal or overly formal in the sense of the present application Do not.

Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic diagram of a position tracking method using triangulation. FIG.

Referring to FIG. 1, the triangulation method calculates the position of an object using three or more Access Points (APs) 11, 12, and 13. The three APs 11, 12, and 13 measure the intensity of the signal or the arrival time of the signal with respect to the object to be tracked, convert it into a distance, solve the distance equation for the distance calculated for each AP, . The triangulation method calculates the position of an object to be tracked in a state in which the position information of three or more APs is known in advance.

2 is a schematic conceptual diagram of a method of calculating a position using Pedestrian Dead Reckoning (PDR) technology.

Pedestrian Dead Reckoning (PDR) is a representative example of a relative positioning system. The relative positioning system is a system for tracking the relative change amount based on its initial position and direction in tracking the position of the object, and is compared with an absolute positioning system for tracking the absolute position of the object such as a satellite navigation.

Pedestrian Guidance Navigation is a method of cascading the estimates of the relative displacement of pedestrians corresponding to the number of steps. Therefore, the relative displacement estimate of each step includes not only the error that occurs because the actual stride of the pedestrian is not constant, but also the error involved in the change amount estimation value of the direction of travel. Therefore, in the case of the pedestrian hypothetical navigation, there is a disadvantage that the position estimation value of the pedestrian gradually becomes inaccurate as time progresses. These characteristics are also common characteristics of all relative positioning systems.

Referring to FIG. 2, the pedestrian dead reckoning (PDR) tracks a movement route using an IMU (Inertial Measurement Unit). The IMU is a device that uses an accelerometer, a gyroscope, and magnetometers to measure and measure a specific force, angular velocity, and sometimes a magnetic field surrounding the body. The 3-axis accelerometer measures the acceleration along the X, Y, and Z axes. The 3-axis gyroscope measures the angular velocity around the X, Y, and Z axes. The 3-axis magnetometer measures the X, Y, The strength of the magnetic field is then measured. IMU helps to calculate angular roll (X-axis), pitch (Y-axis) and yaw (Z-axis) angles associated with object motion.

When the user 20 moves as shown in FIG. 2 with the IMU attached to or holding a part of the body such as a foot, a waist, a head, etc., the IMU 21 detects the acceleration, And estimates the moving distance and direction of the object from inertial data such as angular velocity. Due to the physical nature of the IMU's operating mechanism, errors in travel distance and direction are accumulated over time.

3 is a schematic block diagram of an apparatus for correcting a relative coordinate error of an object according to an embodiment of the present invention.

3, the relative coordinate error correcting apparatus 300-1 according to an exemplary embodiment of the present invention includes a coordinate error correcting apparatus 300-2, 300-3, ..., 300-N, And peer-to-peer communication. The relative coordinate error correcting apparatus may be configured to include a UWB communication module for calculating a distance between objects and an IMU module for measuring a moving path of the object itself.

UWB (Ultra Wide Band) communication module can calculate the distance between objects through mutual transmission and reception of objects.

The apparatus for correcting relative coordinate error according to an embodiment of the present invention may be in the form of an apparatus, an apparatus, or a device of any type as long as the apparatus or apparatus can be carried by a user. In other words, the apparatus for correcting relative coordinate error according to the present invention may be a mobile station (MS), a user equipment (UE), a user terminal (UT), a wireless terminal, an access terminal ), A terminal, a subscriber unit (SU), a subscriber station (SS) and a mobile terminal, a station, a subscriber station, a mobile station, Wireless communication such as a portable subscriber station, a node, and a device as well as an Internet of Thing (IoT), a mounted module (device / terminal / onboard device / Device (Wireless Communication Device).

4 is a diagram illustrating a method of calculating a distance between objects through UWB communication according to an embodiment of the present invention.

Referring to FIG. 4, the distance calculation based on mutual UWB communication according to an embodiment of the present invention includes a case in which a signal is transmitted wirelessly except for a return delay in a total communication time between two objects Can be derived by calculating the time of flight and multiplying it by the speed of light (or propagation).

The distance between two objects can be expressed by Equation 1 below.

The total communication time between two objects can be measured in each device, and the reaction time is also a value known to the device. Therefore, each device can calculate the wireless transmission time defined by Equation (2) below, and calculate the distance between two objects by substituting the wireless transmission time into Equation (1).

FIG. 5 is a conceptual diagram for obtaining a relative coordinate solution based on a matrix of distances measured through mutual UWB communication according to an embodiment of the present invention.

Referring to FIG. 5, an nxn matrix is constructed by obtaining distances for each object by n object mutual UWB communication according to an embodiment of the present invention, and the mathematical expression of the matrix is calculated to obtain a solution to the relative coordinates . At this time, a double solution may occur due to the characteristics of the mathematical expression. Referring to FIG. 5, for example, when the actual position of the device 2 is A, and the solution is simply calculated using the mathematical expression, the position of the opposite side A 'from the actual position can also be derived as a solution. That is, when calculating the distribution of each object using UWB communication between devices, not only the actual position but also the fake position can be generated.

In the present invention, this problem is solved by using the PDR method using the IMU.

FIG. 6 is a conceptual diagram illustrating a movement path of each object according to the PDR method using the IMU.

Assuming that three devices (300-1, 300-2, 300-3) or objects are located as shown in FIG. 6, according to a pedestrian-guided navigation using an inertial sensor, each object has a start origin (start 1, start 2, start 3) are different from each other, the information of the current coordinates calculated differs for each object.

FIG. 7 is a conceptual diagram illustrating a movement path of each device when the origin is the same in the PDR method using the IMU.

FIG. 7 shows movement paths of each object by the PDR after setting the starting origin of all devices to be the same in order to place different coordinate information for each object in the same coordinate system in the situation assumed in FIG.

According to an embodiment of the present invention, the origin information of all the devices are matched, so that the coordinate information of each object can be compared with each other.

8 is a conceptual diagram of a method of correcting a relative coordinate error for an object according to an embodiment of the present invention.

Referring to FIG. 8, each of the devices 300-1 and 300-2, that is, each object, measures the distance between objects using UWB communication, and exchanges distance information between the measured objects. Objects determine the relative positions (810-1, 810-2, 810-3) with respect to the surrounding objects around the object being the center of measurement. 8 shows the position 810-1 of the device 1, the positions 810-2 and 810-2 'of the device 2, and the position 810-3 of the device 3 determined using the UWB communication. At this time, The relative position coordinates may include a fake (or image) solution 810-2 '. Each object also measures its own travel path through the PDR method based on the same origin point and coordinates it. Each object can share coordinate information between objects by transmitting its own coordinate information to objects other than itself.

In FIG. 8, positions 820-1, 820-2, and 820-3 of devices coordinate-measured through the PDR are displayed. In the embodiment of FIG. 8, the relative coordinates based on the device 1 are displayed. For the device 2 and the device 3, the coordinates of each device calculated using the UWB communication method and the coordinates of each device measured by the PDR method .

The fake (or image) coordinates 810-2 'of the relative position coordinate information calculated using the UWB communication can be removed through the movement path coordinates generated using the PDR. In addition, the movement path coordinates 820-2 and 820-3 generated using the PDR can be corrected to the relative coordinate information 810-2 and 810-3 calculated using the UWB communication.

Since the coordinate information determined and corrected according to the embodiment of FIG. 8 corresponds to the position relative to the object (Device 1 in FIG. 8) serving as the center of measurement, the coordinates are determined and corrected around the object itself as the center of measurement . In other words, it confirms the distribution of relative objects to the object to be measured. Meanwhile, various methods can be used to generate a matrix in which each object acquires the distance information from the relative object and uses the distance as an element.

9 is a flowchart illustrating a method of measuring relative coordinates according to an exemplary embodiment of the present invention.

As described above, the relative coordinate error correction method according to the present invention can correct the relative coordinate error by performing mutual correction on the PDR coordinate system based on the IMU module and the relative coordinate system based on the UWB communication.

The method of measuring relative coordinates according to the present invention can be performed by each of a plurality of devices belonging to a group arranged in the field, for example.

9 shows an embodiment of a method for measuring relative inter-device coordinates performed by device 1, for example.

The device 1 first calculates the coordinates of the first device with respect to the reference origin using the PDR (S911). The coordinate information of the first device with respect to the reference origin is provided to the second device belonging to the same group as the first device (S912). Also, the first device receives the coordinate information of the second device from the second device (S913).

Apart from the PDR coordinate system acquisition procedure (S911 to S913), the device 1 calculates the distance between the first device and the second device using the UWB (S921). The device 1 also receives the distance information between the plurality of second devices (S922). That is, the device 1 collects information on the distances between the non-intervening dis- plays. The first device, which has collected distance information for all devices belonging to the same group, derives a plurality of solutions for relative coordinates between the devices using the distance information (S923).

Meanwhile, the UWB coordinate system acquisition procedure (S921 to S923) may be performed separately from the PDR coordinate system acquisition procedure (S911 to S913). The UWB coordinate system acquisition procedure may be performed simultaneously with the PDR coordinate system acquisition procedure, and the two procedures may be sequentially performed.

When the UWB coordinate system and the PDR coordinate system are obtained, the fake solution among the plurality of solutions with respect to the relative coordinates between the devices is removed using the coordinate information of each device with respect to the reference origin (S924). If the fake solution is removed, a true solution to the relative coordinates between the devices can be derived as relative coordinates (S925). The first device corrects the coordinate error of the first device with respect to the reference origin using its own relative coordinates (S926).

10A and 10B are conceptual diagrams of a method for sharing device-to-device distance information according to an embodiment of the present invention. FIG. 10A illustrates a concept of a centrally controlled distance information sharing method, FIG. 10B illustrates a concept of a distributed distance information sharing method Lt; / RTI >

First, in the case of the central control method shown in FIG. 10A, the distance information of the relative object obtained from each object is all transmitted to the master 400. The master 400 may complete the inter-object distance matrix as illustrated in the embodiment of FIG. 5 using the inter-object distance information received from each object. Here, the master 400 may be a separate device from each device, for example, a device located in a mobile control center disposed at a disaster site. The master 400 may also be a selected one of a plurality of devices disposed in the field.

 In the distributed method shown in FIG. 10B, each object broadcasts distance information of a relative object acquired by itself to all objects in the group, thereby sharing distance information among all objects. In the case of the distributed method, each device can be a subject that generates a distance matrix between objects.

11A shows a frame structure of communication used for distance information calculation according to an embodiment of the present invention.

That is, the embodiment shown in FIG. 11A shows a frame structure used when a specific object communicates with other objects to obtain distance between itself and other objects, and mutual distance information between objects other than the object itself. The object can acquire the distance information between the other objects to generate a matrix having the distance as an element, and obtain the relative coordinates between the objects using the generated matrix.

Referring to FIG. 11A, a frame and a slot structure used by all objects participating in distance measurement are used for distance measurement. The entire time interval includes a plurality of super frames 1101, And a slot of < / RTI > A guard slot 1102 is disposed between the super frames 1101.

Within a superframe, a particular object can be assigned one or more slots for itself. The object can transmit its information to other objects around it through the slot assigned to it. Also, the distance to a specific object is calculated and stored through a signal received from other nearby objects through another slot. That is, all the objects transmit their information in a slot allocated to itself during one superframe and calculate and store the distance from the object transmitted from the object occupying the slot in slot times other than the slot . At this time, each object has only the distance information about the neighboring object which exchanges signals with itself. In other words, a certain object can not know the distance information between objects other than the object that directly transmits a signal in a super frame through a super frame.

11B is a diagram showing a detailed configuration of a guard slot in a frame structure of a communication used for distance information calculation according to an embodiment of the present invention.

Referring to FIG. 11B, in a guard slot 1102 disposed between superframes, broadcasting distance information of each object is sequentially broadcasted to each object. Through this process, all the objects existing in the super frame complete the matrix of the inter-object distance as shown in the embodiment of FIG. When the guard slot 1102 is terminated, a new super frame starts and then the above procedure is repeated.

12 is a block diagram of a device for calculating a relative distance to another device according to an embodiment of the present invention.

A device 300 according to an embodiment of the present invention may include a processor 310, a memory 320, a communication module 330, and an IMU module 340.

The communication module 330 performs communication with other devices belonging to the same group. Here, for example, a UWB scheme can be used as the inter-device communication scheme. The IMU module 340 includes at least one inertial sensor to calculate the coordinates of the device according to the walking navigation. Here, the coordinates of the device means coordinates with respect to the reference origin, and all the devices in the same group calculate their coordinates according to the walking navigation based on the same origin.

The memory 320 stores at least one instruction executed via the processor 310, the at least one instruction causing the device to measure the distance between the device and the other device through communication with the other device; Receiving distance information between a plurality of other devices from the another device; Instructions for calculating a plurality of solutions for relative coordinates between devices using the plurality of device-to-device distance information belonging to the same group; And deriving a true solution of the plurality of solutions for the relative coordinates between the devices using the coordinates of each device for the reference origin calculated using Pedestrian Dead Reckoning (PDR).

The operation of the method according to an embodiment of the present invention can be implemented as a computer-readable program or code on a computer-readable recording medium. A computer-readable recording medium includes all kinds of recording apparatuses in which data that can be read by a computer system is stored. The computer-readable recording medium may also be distributed and distributed in a networked computer system so that a computer-readable program or code can be stored and executed in a distributed manner.

Also, the computer-readable recording medium may include a hardware device specially configured to store and execute program instructions, such as a ROM, a RAM, a flash memory, and the like. Program instructions may include machine language code such as those produced by a compiler, as well as high-level language code that may be executed by a computer using an interpreter or the like.

While some aspects of the invention have been described in the context of an apparatus, it may also represent a description according to a corresponding method, wherein the block or apparatus corresponds to a feature of the method step or method step. Similarly, aspects described in the context of a method may also be represented by features of the corresponding block or item or corresponding device. Some or all of the method steps may be performed (e.g., by a microprocessor, a programmable computer or a hardware device such as an electronic circuit). In some embodiments, one or more of the most important method steps may be performed by such an apparatus.

In embodiments, a programmable logic device (e.g., a field programmable gate array) may be used to perform some or all of the functions of the methods described herein. In embodiments, the field programmable gate array may operate in conjunction with a microprocessor to perform one of the methods described herein. Generally, the methods are preferably performed by some hardware device.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention as defined in the appended claims. It can be understood that it is possible.

20: User 21: IMU
300, 300-1, 300-2, 300-3, 300-N: Relative coordinate error correcting device / device
310: Processor 320: Memory
330: communication module 340: IMU module
400: Master

Claims (20)

A method for measuring relative inter-device coordinates performed by a first device communicating with at least one second device belonging to the same group as a first device,
Measuring a distance between the first device and the second device through communication with the second device;
Receiving a plurality of second device-to-device distance information from the second device;
Calculating a plurality of solutions for relative coordinates between devices using the distance information between the first device and the second device and the plurality of second device-to-device distance information; And
And deriving a true solution of the plurality of solutions for the relative coordinates between the devices using the coordinates of each device for the reference origin calculated using pedestrian dead reckoning (PDR). . The method according to claim 1,
Wherein the first device and the second device communicate with each other using a UWB (Ultra Wide Band) communication method. The method according to claim 1,
Further comprising calculating the coordinates of the first device with respect to the reference origin using an inertial measurement unit included in the first device. The method according to claim 1,
And correcting the error of the coordinates of the first device with respect to the reference origin using the true solution. The method according to claim 1,
Wherein the distance between the first device and the second device,
The total communication time between the first device and the second device, the speed of light or propagation, the response time of the device, and the wireless transmission time of the signal. The method according to claim 1,
Calculating coordinates of a first device with respect to a reference origin using Pedestrian Dead Reckoning (PDR); And
And transferring the coordinate information of the first device to the second device. The method according to claim 1,
Further comprising: receiving coordinate information of the second device with respect to the reference origin from the second device. The method according to claim 1,
Wherein the first device and the second device transmit and receive data using a frame configuration including a guard slot located between a frame and a frame. The method of claim 8,
Wherein the first device transmits information of the first device to the second device using a slot assigned to itself among a plurality of slots included in the super frame. The method of claim 8,
Wherein the plurality of devices belonging to the same group transmit information on the distance between devices through the guard slot to another device. A device for measuring relative coordinates between a plurality of devices belonging to the same group,
A communication module for performing communication with another device belonging to the same group;
An IMU (Inertial Measurement Unit) module for calculating the coordinates of the device according to the walking navigation with respect to the reference origin;
A processor; And
And a memory for storing at least one instruction executed via the processor,
Wherein the at least one instruction comprises:
Measuring a distance between the device and the other device through communication with the other device;
Receiving distance information between a plurality of other devices from the another device;
Instructions for calculating a plurality of solutions for relative coordinates between devices using the plurality of device-to-device distance information belonging to the same group; And
Instructions for deriving a true solution of a plurality of solutions for relative coordinates between devices using the coordinates of each device for a reference origin computed using Pedestrian Dead Reckoning (PDR). The method of claim 11,
Wherein the communication module communicates with another device using an Ultra Wide Band (UWB) communication scheme. The method of claim 11,
Wherein the reference origin is equally applied to all devices belonging to the same group. The method of claim 11,
Wherein the at least one instruction further comprises correcting the coordinate error of the device with respect to the reference origin using the true solution. The method of claim 11,
And the plurality of device-to-device distance information belonging to the same group,
The total communication time between devices, the speed of light or propagation, the response time of the device, and the wireless transmission time of the signal. The method of claim 11,
Wherein the at least one instruction comprises:
Instructions to calculate the coordinates of the first device with respect to the reference origin using Pedestrian Dead Reckoning (PDR); And
And transmit the coordinate information of the first device to the second device. The method of claim 11,
Wherein the at least one instruction comprises:
And receive coordinate information of the other device with respect to the reference origin from the another device. The method of claim 11,
Wherein the device transmits and receives data to and from the other device using a frame configuration including a plurality of super frames and a guard slot located between the super frames. 19. The method of claim 18,
Wherein the device transmits the information of the device to another device using a slot assigned to itself among a plurality of slots included in the super frame. 19. The method of claim 18,
Wherein the device broadcasts distance information between the device and another device via the guard slot.

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