KR20200000882A - Apparatus and system for measuring relative positions - Google Patents

Abstract

The present invention relates to a relative position measuring apparatus and to a relative position measuring system. A position of a terminal can be measured regardless of positioning infrastructure in indoor or outdoor environments, and a relative direction as well as a relative distance between neighboring terminals can be measured. The relative position measuring apparatus may include a wireless positioning communication unit and a relative direction determination unit.

Description

Relative Position Measuring System and Relative Position Measuring System {APPARATUS AND SYSTEM FOR MEASURING RELATIVE POSITIONS}

The present invention relates to a relative position measuring device and a relative position measuring system, and more particularly, relative position measurement capable of measuring relative position and relative distance between measuring devices (terminals) regardless of positioning infrastructure in an indoor or outdoor environment. A device and relative positioning system.

As a positioning method most commonly used in the prior art, the location is measured using a GPS receiver outdoors.

Among the various technologies used indoors, as the positioning method using radio waves, three or more positioning infrastructures have been constructed to use the positioning method by the triangulation method.

In addition, an inertial navigation technique (PDR, Pedestrian Dead Reckoning) which detects a position or orientation by calculation of an inertial device in which a three-axis acceleration sensor, a three-axis geomagnetic sensor, or the like is fused is known.

On the other hand, Japanese Laid-Open Patent Publication No. 2015-111096 discloses an orientation estimating apparatus, an orientation estimating system, an orientation estimating method and a program capable of improving the orientation detection accuracy in an indoor environment.

Japanese Laid-Open Patent Publication No. 2015-111096 described above includes a storage unit 110 that stores orientation information indicating a predetermined orientation as a user orientation when the user operates the input device in a specific posture, and detects that the user is in a specific posture. The posture detector 150 and the estimator 160 for estimating the user orientation based on the orientation information when the user detects that the user has a specific posture are described.

However, in the above-described Japanese Patent Laid-Open Patent, a technique of estimating its orientation according to its own movement, in particular, cannot measure a relative distance and a direction with a peripheral device indoors.

Accordingly, the present invention has been made in the above-described background, and can measure the position of the terminal irrespective of the positioning infrastructure in the indoor or outdoor environment, the relative position measuring device that can measure the relative direction as well as the relative distance between the surrounding terminals And a relative position measuring system.

The object of the present invention is not limited thereto, and other objects not mentioned will be clearly understood by those skilled in the art from the following description.

In order to achieve the above object, an embodiment of the present invention provides a relative position measuring device provided in a fixed body or a movable body, and transmits a relative position measuring signal S1 to the relative position measuring device 103 to be measured, or A radio positioning communication unit 109 including at least one directional antenna 105 or an omni directional antenna 107 for receiving a relative position measuring signal S2 from the measurement relative position measuring device 103; And relative direction determination to generate relative direction information R by calculating the relative direction of the relative position measurement apparatus 103 under measurement using the relative position measurement signal S1 and the relative position measurement signal S2. It provides a relative position measuring device comprising a portion (111).

In addition, the relative position measuring signal S2 is transmitted to the relative position measuring apparatus 103 to be measured, or the relative position measuring signal S2 from the relative position measuring apparatus 103 under measurement. By using the wireless positioning communication unit 105 including at least one or more directional antenna 105 or omni-directional antenna 107 for receiving, and using the relative position measurement signal (S1) and the relative position measurement signal (S2) A relative direction determination unit 111 for calculating the relative direction information R by calculating the relative direction of the relative position measuring device 103 under measurement, and the relative position measurement received from the relative position measuring device 103 under measurement; A relative position including a relative distance determining unit 113 for calculating relative distance with the relative position measuring device 103 to be measured and generating relative distance information E according to the signal strength of the dragon signal S2. Measuring device 101; And a non-directional antenna 407 for receiving the relative position measuring signal S3 from the directional antenna 105 of the relative position measuring device 101, and the relative position measuring signal. A relative direction determination unit 411 for calculating the relative direction information D1 by calculating the relative direction of the relative position measuring device 101 using S3, and the relative received from the relative position measuring device 101; A relative distance judging unit 413 for generating relative distance information D2 by calculating a relative distance with the relative position measuring device 101 according to a signal strength of a position measuring signal S3, and the relative direction And an information processing device (401) including a relative coordinate calculation unit (421) for calculating the relative coordinates of the relative position measuring device (101) using the information (D1) and the relative distance information (D2). A relative position measurement system is provided.

In addition, the relative position measuring signal S2 is transmitted to the relative position measuring apparatus 103 to be measured, or the relative position measuring signal S2 from the relative position measuring apparatus 103 under measurement. By using the wireless positioning communication unit 105 including at least one or more directional antenna 105 or omni-directional antenna 107 for receiving, and using the relative position measurement signal (S1) and the relative position measurement signal (S2) A relative direction determination unit 111 for calculating the relative direction information R by calculating the relative direction of the relative position measuring device 103 under measurement, and the relative position measurement received from the relative position measuring device 103 under measurement; A relative position including a relative distance determining unit 113 for calculating relative distance with the relative position measuring device 103 to be measured and generating relative distance information E according to the signal strength of the dragon signal S2. Measuring device 101; At least one directional antenna 505 or omnidirectional antenna which transmits the relative position measuring signal S4 to the relative position measuring device 101 or receives the relative position measuring signal S5 from the relative position measuring device 101. Wireless positioning communication unit 509 including 507, absolute positioning unit 519 for measuring or storing absolute position information API_2 including latitude or longitude or altitude or specific position information, and by wire or wirelessly An access pointer unit (501) including a data communication unit (517) for transmitting the relative direction information (R) or relative distance information (E) transmitted from the relative position measuring device (101) to a server (551); And relative coordinates of the relative position measuring device 101 and the relative position measuring device 103 to be measured using the relative direction information R or the relative distance information E transmitted from the access pointer unit 501. It provides a relative position measuring system comprising a; the server 551 including a relative coordinate calculation unit 521 to calculate.

According to an embodiment of the present invention, the location of the terminal can be measured regardless of the positioning infrastructure in an indoor or outdoor environment, and the relative direction as well as the relative distance between the surrounding terminals can be measured.

1 is a view showing the configuration of a relative position measuring apparatus according to an embodiment of the present invention.
2 is a view showing a relative position and absolute direction by the directional antenna in the relative position measuring apparatus according to an embodiment of the present invention.
3 is a view showing a relative distance and a relative direction between the relative position measuring device according to an embodiment of the present invention.
4 is a view showing the configuration of a relative position measuring system according to another embodiment of the present invention.
5 is a view showing the configuration of a relative position measuring system according to another embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail through exemplary drawings. In adding reference numerals to the components of each drawing, it should be noted that the same reference numerals are assigned to the same components as much as possible even though they are shown in different drawings. In addition, in describing the present invention, when it is determined that the detailed description of the related well-known configuration or function may obscure the gist of the present invention, the detailed description thereof will be omitted.

In addition, in describing the component of this invention, terms, such as 1st, 2nd, A, B, (a), (b), can be used. These terms are only for distinguishing the components from other components, and the nature, order or order of the components are not limited by the terms. If a component is described as being "connected", "coupled" or "connected" to another component, that component may be directly connected to or connected to that other component, but there may be another configuration between each component. It is to be understood that the elements may be "connected", "coupled" or "connected".

1 is a view showing the configuration of a relative position measuring apparatus according to an embodiment of the present invention.

2 is a view showing a relative position and absolute direction by the directional antenna in the relative position measuring apparatus according to an embodiment of the present invention.

3 is a view showing a relative distance and a relative direction between the relative position measuring device according to an embodiment of the present invention.

4 is a view showing the configuration of a relative position measuring system according to another embodiment of the present invention.

5 is a view showing the configuration of a relative position measuring system according to another embodiment of the present invention.

As shown in these figures, the relative position measuring device 101 according to an embodiment of the present invention, which is provided in a fixed body or a moving body, the relative position measuring signal to the relative position measuring device 103 to be measured. A radio positioning communication unit including at least one directional antenna 105 or an omni directional antenna 107 which transmits (S1) or receives the relative position measuring signal S2 from the relative position measuring apparatus 103 to be measured ( 109); And a relative direction determination unit configured to generate relative direction information R by calculating a relative direction of the relative position measurement apparatus 103 under measurement using the relative position measurement signal S1 and the relative position measurement signal S2 ( 111); characterized in that it comprises a.

Hereinafter, the relative position measuring apparatus to be measured will be described with reference to an example having the same configuration as the relative position measuring apparatus.

First, the relative position measuring device 101 according to an embodiment of the present invention is provided in the fixed body or the mobile body.

Here, the stationary body or the movable body may be, for example, a person carrying the relative position measuring device 101 or an object such as a car or an unmanned drone.

The radio location communication unit 109 includes at least one directional antenna 105 or non-directional antenna 107.

The directional antenna 101 or the omnidirectional antenna 105 transmits the relative position measuring signal S1 to the relative position measuring apparatus 103 under measurement, or the signal for measuring the relative position from the relative position measuring apparatus 103 under measurement. (S2) is received.

A directional antenna is an antenna having a characteristic of strongly radiating radio waves only in a specific direction or increasing sensitivity to radio waves from that direction.

On the other hand, the wireless positioning communication unit 109 utilizes short-range wireless communication.

The short range wireless communication interface includes a wireless local area network (WLAN) interface or a wireless personal area network (WPAN) interface.

Wireless Local Area Network (WLAN) interface includes Wi-Fi (WiFi), and Wireless Personal Area Network (WPAN) interface includes Bluetooth or Biel (BLE) or Zigbee or Ultra Wide Band (UWB) or Ultrasound And so on.

On the other hand, in order to measure the relative direction or distance between the relative position measuring device 101 and the relative position measuring device 103 under measurement, the relative position measuring signal S1 and the relative position measuring signal S2 are transmitted. Alternatively, when received, when the transmitting side transmits the relative position measurement signals S1 and S2 through the directional antenna 105, the receiving side uses the relative position measurement through the directional antenna 105 or the omnidirectional antenna 107. Signals S1 and S2 can be received.

When the transmitting side transmits the relative position measuring signals S1 and S2 through the omnidirectional antenna 107, the receiving side receives the relative position measuring signals S1 and S2 through the directional antenna 105.

More specifically, in order to measure the relative direction or the distance between the relative position measuring device 101 and the relative position measuring device 103 to be measured, the transmitting side or the receiving side is at least once through the directional antenna 105. The transmission or reception is made.

Subsequently, the relative direction determination unit 111 calculates the relative direction of the relative position measuring apparatus 103 to be measured by using the relative position measurement signal S1 and the relative position measurement signal S2, so that the relative direction information R )

Here, the relative direction determination unit 111 is based on the directional antenna 105 applied to transmit or receive the relative position measuring signals S1 and S2, and the relative position measuring device 101 and the relative position measuring device to be measured ( Calculate the relative direction between 103).

On the other hand, the relative position measuring device 101 according to an embodiment of the present invention, the relative to be measured according to the strength (Signal Strength) of the relative position measuring signal (S2) received from the relative position measuring device 103 to be measured. And a relative distance determining unit 113 for calculating the relative distance with the position measuring device 103 to generate the relative distance information E.

More specifically, the relative distance determination unit 113 generates relative distance information E by calculating a relative distance based on a database of strengths and distances of the pre-stored relative position measurement signal S2.

In addition, the relative position measuring device 101 according to an embodiment of the present invention, the posture state information (PSI1) including the azimuth information (AI1) or three-axis tilt information (GI1) of the relative position measuring device 101 It further includes; posture state unit 115 to measure or store.

Here, the azimuth information AI1 may be normal absolute orientation information displayed in east, west, south, north, up, down, and the like, and the relative position information displaying a specific direction arbitrarily in the relative position measuring device 101. It may be.

The three-axis gradient information GI1 includes slope information about three axes (X-axis, Y-axis, and Z-axis) corresponding to the absolute orientation information, or three-axis (X'-axis, Y'-axis) corresponding to the relative position information. , Z 'axis).

Of course, the posture state unit 115 may have, for example, a geomagnetic sensor for measuring the azimuth angle information AI1 in real time, and may have an acceleration sensor, an angular velocity sensor, etc. for measuring the triaxial tilt information GI1. .

In addition, when the relative position measuring device 101 is provided in a fixed body fixed at a specific place, the posture state unit 115 may store specific direction information.

On the other hand, according to an embodiment of the present invention, the relative position measurement signal (S2), the three-axis tilt of the azimuth information (AI2) of the relative position measuring device 103 or the relative position measuring device 103 to be measured. The posture state information PSI2 including the information GI2, and the relative direction determination unit 111 adds the posture state information PSI1 and the posture state information PSI2 to measure the relative position measuring device 103 to be measured. Correct the relative direction of).

More specifically, when the relative position measuring device 101 or the relative position measuring device 103 to be measured is provided in the moving object, the direction angle information AI1 and AI2 and the three-axis tilt information GI1 and GI2 change. , The relative direction determination unit 111 is the posture state information (PSI1) of the relative position measuring device 101 and the posture of the relative position measuring device 103 to be measured during the relative direction calculation of the relative position measuring device 103 to be measured. The relative direction is corrected by comparing and analyzing the status information PSI2 (relative direction information R correction).

On the other hand, the relative position measuring device 101 according to an embodiment of the present invention, the data communication unit for transmitting or receiving the relative position measuring device 103 and the relative direction information (R) or relative distance information (E) ( 117);

For example, the relative position measuring apparatus 101 in which BLE (Bluetooth Low Energy) is used as the wireless location communication unit 109 may use Wi-Fi as the data communication unit 117.

The data communication unit 117 may use a local area wireless communication network (WiFi, BLE, Zigbee, UWB, etc.), a wired communication network, or a mobile communication network.

On the other hand, the relative position measuring device 101 according to an embodiment of the present invention, the absolute position determination unit 119 for measuring or storing the absolute position information (API) including latitude, longitude, altitude or specific position information; It further includes.

Here, the absolute position information API may be absolute coordinates (latitude, longitude, altitude) obtained by the absolute position determining unit 119 by receiving a satellite navigation signal such as a GPS (Global Positioning System), and the specific position (an example). The specific location information may be displayed.

Absolute location information (API) may be measured in real time via GPS, mobile communication network, IP network, or may be stored in the absolute position determination unit 119 in advance.

On the other hand, the relative position measuring device 101 according to an embodiment of the present invention calculates the relative coordinates of the relative position measuring device 103 to be measured using the relative direction information (R) and the relative distance information (E). The relative coordinate calculation unit 121; further includes.

The relative coordinate calculation unit 121 may collect the relative direction information R and the relative distance information E through the data communication unit 117 or the wireless positioning communication unit 109.

The relative coordinate calculation unit 121 calculates the relative coordinates of the relative position measuring apparatus 103 under measurement by applying a specific calculation algorithm to the relative direction information R and the relative distance information E. FIG.

On the other hand, the relative position measuring device 101 according to an embodiment of the present invention, the absolute position information (API) including latitude, longitude, altitude or specific position information from the absolute position determination unit 119 is measured or stored And an absolute coordinate calculation unit 123 that calculates the relative coordinates based on the absolute position information (API) in association with the absolute coordinates.

More specifically, the absolute coordinate calculation unit 123, when the relative position measuring device 101 is located outdoors, the absolute position information (API) is measured through the reception of satellite navigation signals such as GPS, absolute position Relative coordinates can be mapped to map data (map image) on which information (API) is displayed.

Through this, a user using the relative position measuring device 101 can check the position of the relative position measuring device 103 under measurement from map data (map image).

On the other hand, the relative position measuring system 400 according to another embodiment of the present invention, which is provided in the fixed body or the movable body, transmits the relative position measuring signal S1 to the relative position measuring apparatus 103 to be measured or Wireless positioning communication unit 105 including at least one or more directional antenna 105 or non-directional antenna 107 for receiving the relative position measurement signal S2 from the measurement relative position measuring device 103, and for the relative position measurement The relative direction determination unit 111 for calculating the relative direction information R by calculating the relative direction of the relative position measurement apparatus 103 under measurement using the signal S1 and the relative position measurement signal S2; The relative distance information E is generated by calculating the relative distance with the measured relative position measuring device 103 according to the signal strength of the relative position measuring signal S2 received from the measuring relative position measuring device 103. Relative position measurement site including a relative distance determination unit 113 to 101; And

The radio positioning communication unit 409 including the omnidirectional antenna 407 for receiving the relative position measuring signal S3 from the directional antenna 105 of the relative position measuring device 101, and the relative position measuring signal S3. A relative direction determination unit 411 which calculates the relative direction of the relative position measuring device 101 by using to generate the relative direction information D1, and a signal for measuring relative position received from the relative position measuring device 101 ( Relative distance determination unit 413 for generating relative distance information D2 by calculating the relative distance with the relative position measuring device 101 according to the signal strength of S3), relative direction information D1 and the relative distance. And an information processing device 401 including a relative coordinate calculation unit 421 for calculating the relative coordinates of the relative position measuring device 101 by using the information D2.

In the relative position measuring system 400 according to another embodiment of the present invention, the relative position measuring device 101 has other detailed configurations except for the portions in which the relative coordinate calculating unit 121, the absolute coordinate calculating unit 123, and the like are deleted. Since functions, etc. can be referred to the above description, the information processing apparatus 401 will be described below.

The information processing apparatus 401 includes a radio positioning communication unit 409, a relative direction determination unit 411, a relative distance determination unit 413, and a relative coordinate calculation unit 421.

The radio positioning communication unit 409 includes an omnidirectional antenna 407 which receives the relative position measuring signal S3 from the directional antenna 105 of the relative position measuring device 101.

The wireless positioning communication unit 409 can also transmit the information processing data signal S3 'to the relative position measuring device 101.

The information processing data signal S3 'may be a relative position measuring signal or relative direction information D1 or relative distance information D2 or a specific command to be performed by the relative position measuring device 101.

The information processing signal S3 ′ transmitted through the wireless positioning communication unit 409 may be received by the directional antenna 105 or the non-directional antenna 107 of the relative position measuring device 101.

When the information processing data signal S3 'is a signal for relative position measurement, the relative position measuring device 101 is relative to the information processing device 401 (the relative direction determination unit 111 calculates) and the relative distance. (The relative distance judging unit 113 calculates) can be calculated.

When the information processing data signal S3 'is a specific instruction to be performed by the relative direction information D1 or the relative distance information D2 or the relative position measuring device 101, the relative position measuring device 101 is defined in advance. Can perform specific tasks.

For example, when the relative position measuring device 101 is connected to the door lock, the door may be opened based on the relative direction information D1 or the relative distance information D2 received from the information processing apparatus 401.

The relative direction determination unit 411 calculates the relative direction of the relative position measuring device 101 by using the relative position measurement signal S3 to generate the relative direction information D1.

Here, the relative direction determination unit 411 is based on the directional antenna 105 of the relative position measuring device 101 applied to transmit or receive the relative position measuring signal S3 and information. The relative direction between the processing devices 401 is calculated.

The relative distance determining unit 413 calculates a relative distance with the relative position measuring device 101 based on the signal strength of the relative position measuring signal S3 received from the relative position measuring device 101. Generates information D2.

More specifically, the relative distance determination unit 413 generates relative distance information D2 by calculating a relative distance based on a database of strengths and distances of the pre-stored relative position measurement signal S3.

The relative coordinate calculation unit 421 calculates the relative coordinates of the relative position measuring device 101 using the relative direction information D1 and the relative distance information D2.

The relative coordinate calculation unit 421 may collect the relative direction information D1 and the relative distance information D2 through the data communication unit 417 or the radio location communication unit 409.

The relative coordinate calculation unit 421 calculates the relative coordinates of the relative position measuring device 101 by applying a specific algorithm to the relative direction information D1 and the relative distance information D2.

On the other hand, in the relative position measurement system 400 according to another embodiment of the present invention, the information processing apparatus 401, the absolute position determination unit 419 for measuring the absolute position information (API_1) including latitude, longitude, altitude It further includes.

Here, the absolute position information API_1 is the absolute coordinate (latitude, longitude, altitude) which the absolute position determination part 419 acquired by receiving satellite navigation signals, such as GPS.

The absolute location information API_1 may be measured in real time through a GPS, a mobile communication network, an IP network, or may be stored in the absolute location determining unit 419 in advance.

On the other hand, in the relative position measuring system 400 according to another embodiment of the present invention, the information processing apparatus 401, the absolute coordinate calculation unit 423 for calculating the relative coordinates in absolute coordinates based on the absolute position information API_1. More).

More specifically, the absolute coordinate calculation unit 423, the information processing device 401 is located outdoors, the absolute position information (API_1) is measured when receiving the satellite navigation signal, such as GPS, absolute position information The relative coordinates of the relative position measuring device 101 can be mapped to the map data (map image) on which API_1 is displayed.

Through this, the user using the information processing device 401 can check the position of the relative position measuring device 101 from the map data (map image).

On the other hand, in the relative position measuring system 400 according to another embodiment of the present invention, the information processing apparatus 401, the data communication unit 417 for transmitting or receiving the relative direction information (D1) or relative distance information (D2). It includes more.

For example, the data communication unit 417 may use a local area wireless communication network (WiFi, BLE, Zigbee, UWB, etc.), a wired communication network, or a mobile communication network.

On the other hand, in the relative position measurement system 400 according to another embodiment of the present invention, the information processing apparatus 401 measures the posture state information (PSI) including azimuth information (AI) or triaxial tilt information (GI). Or further includes a posture state unit 415 to store.

Here, the azimuth information AI may be normal absolute orientation information represented by east, west, south, north, up, down, or the like, or may be information on the other side that arbitrarily displays a specific direction in the information processing apparatus 401. It may be.

The three-axis gradient information (GI) is tilt information about three axes (X-axis, Y-axis, and Z-axis) corresponding to the absolute orientation information or three-axis (X'-axis, Y'-axis) corresponding to the counterpart information. , Z 'axis).

Of course, the posture state unit 415 may have, for example, a geomagnetic sensor for measuring azimuth angle information AI in real time, and may have an acceleration sensor, an angular velocity sensor, etc., for measuring 3-axis tilt information GI. .

On the other hand, in the relative position measuring system 400 according to another embodiment of the present invention, the information processing device 401 is relative direction information (D1) or relative from the relative position measuring device 101 through the non-directional antenna 407. The distance information D2 is received.

In addition, the information processing device 401 may receive the relative direction information D1 or the relative distance information D2 from the relative position measuring device 101 through the data communication unit 417.

On the other hand, the relative position measuring system 500 according to another embodiment of the present invention, which is provided in the fixed body or the movable body, and transmits the relative position measuring signal S1 to the relative position measuring apparatus 103 to be measured or Wireless positioning communication unit 105 including at least one directional antenna 105 or non-directional antenna 107 for receiving the relative position measuring signal S2 from the relative position measuring apparatus 103 to be measured, and relative position measurement A relative direction determination unit 111 for generating the relative direction information R by calculating the relative direction of the relative position measurement apparatus 103 under measurement using the signal S1 and the signal for relative position measurement S2, The relative distance information E is calculated by calculating a relative distance with the measured relative position measuring device 103 according to the signal strength of the relative position measuring signal S2 received from the relative position measuring device 103 under measurement. Relative position measurement including relative distance determination unit 113 to generate Value (101);

At least one directional antenna 505 or omnidirectional antenna which transmits the relative position measuring signal S4 to the relative position measuring device 101 or receives the relative position measuring signal S5 from the relative position measuring device 101. Wireless positioning communication unit 509 including 507, absolute positioning unit 519 for measuring or storing absolute position information API_2 including latitude or longitude or altitude or specific position information, and by wire or wirelessly An access pointer unit 501 including a data communication unit 517 for transmitting the relative direction information R or the relative distance information E transmitted from the relative position measuring device 101 to the server 551; And

Relative coordinates for calculating the relative coordinates of the relative position measuring device 101 and the measured relative position measuring device 103 by using the relative direction information R or the relative distance information E transmitted from the access pointer unit 501. And a server 551 including an operation unit 521.

In the relative position measuring system 500 according to another embodiment of the present invention, the relative position measuring device 101 has other details except for the portions in which the relative coordinate calculating unit 121, the absolute coordinate calculating unit 123, and the like are deleted. Since the configuration, functions, and the like may be referred to the foregoing, the access pointer unit 501 and the server 551 will be described below.

The access pointer unit 501 includes a radio location communication unit 509, an absolute position unit 519, and a data communication unit 517.

The radio positioning communication unit 509 transmits the relative position measuring signal S4 to the relative position measuring device 101 or at least one directional antenna for receiving the relative position measuring signal S5 from the relative position measuring device 101. 505 or omni-directional antenna 507.

Here, the directional antenna 505 and the omnidirectional antenna 507 are the same as the directional antenna 105 and the omnidirectional antenna 107 described above.

The absolute location unit 519 measures or stores the absolute location information API_2 including latitude or longitude or altitude or specific location information.

Here, the absolute position information API_2 is the absolute coordinate (latitude, longitude, altitude) obtained by the absolute position unit 519 by receiving a satellite navigation signal such as GPS.

The absolute location information API_2 may be measured in real time through a GPS, a mobile communication network, an IP network, or may be stored in the absolute location unit 519 in advance.

The data communication unit 517 transmits the relative direction information R or the relative distance information E transmitted from the relative position measuring device 101 by wire or wirelessly to the server 551.

Subsequently, the server 551 includes a relative coordinate calculation unit 521.

The relative coordinate calculation unit 521 uses the relative position information R or the relative distance information E transmitted from the access pointer unit 501 to determine the relative position measurement device 101 and the relative position measurement device 103 to be measured. Calculate relative coordinates.

The relative coordinate calculation unit 521 calculates the relative coordinates of the relative position measuring device 101 and the measured relative position measuring device 103 by applying a specific calculation algorithm to the relative direction information R and the relative distance information E. do.

On the other hand, the server 551 further includes an absolute coordinate calculation unit 523 that calculates the relative coordinates in association with the absolute coordinates based on the absolute position information API_2 transmitted from the access pointer unit 501.

More specifically, the absolute coordinate calculation unit 523 maps the relative coordinates of the relative position measuring device 101 and the relative position measuring device 103 under measurement to map data (map image) on which the absolute position information API_2 is displayed. can do.

Of course, such map data (map image) may be displayed on a display of a terminal such as a personal computer or a smartphone and visualized.

In addition, the server 551 may further include a data communication unit 557.

As described above, according to the exemplary embodiment of the present invention, the position of the terminal may be measured regardless of the positioning infrastructure in an indoor or outdoor environment, and the relative direction as well as the relative distance between neighboring terminals may be measured. have.

In the above description, it is understood that the present invention is not necessarily limited to these embodiments, although all of the components constituting the embodiments of the present invention are described as being combined or operating in combination. In other words, within the scope of the present invention, all of the components may be selectively operated in combination with one or more.

In addition, the terms "comprise", "comprise" or "having" described above mean that the corresponding component may be included, unless otherwise stated, and thus excludes other components. It should be construed that it may further include other components instead. All terms, including technical and scientific terms, have the same meanings as commonly understood by one of ordinary skill in the art unless otherwise defined. Terms commonly used, such as terms defined in a dictionary, should be interpreted to coincide with the contextual meaning of the related art, and shall not be construed in an ideal or excessively formal sense unless clearly defined in the present invention.

The above description is merely illustrative of the technical idea of the present invention, and those skilled in the art to which the present invention pertains may make various modifications and changes without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention but to describe the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be interpreted by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.

103: relative position measuring device
105: directional antenna
107: omnidirectional antenna
109: radio positioning communication unit
111: relative direction determination
113: relative distance determination
115: posture part
117: Data Communication Department
119: absolute position determination
121: relative coordinate calculation unit
123: absolute coordinate calculation unit
400: relative position measurement system
401: Information processing device
407: omnidirectional antenna
409: wireless positioning communication unit
411: relative direction determination
413: relative distance determination
415: posture state part
421: relative coordinate calculation unit
423: Absolute coordinate calculation unit
500: relative position measurement system
501: access point portion
505: Directional Antenna
507: omnidirectional antenna
509: radio positioning communication unit
517: data communication
519: absolute position
521: relative coordinate calculation unit
523: Absolute coordinate calculation unit
551: server
557: Data communication department

Claims (18)

In the relative position measuring device provided in the fixed body or the mobile body,
At least one directional antenna 105 for transmitting the relative position measuring signal S1 to the relative position measuring apparatus 103 under measurement or receiving the relative position measuring signal S2 from the relative position measuring apparatus 103 under measurement. Or a radio positioning communication unit 109 including an omni directional antenna 107; And
A relative direction determination unit for generating relative direction information R by calculating the relative direction of the relative position measurement apparatus 103 under measurement using the relative position measurement signal S1 and the relative position measurement signal S2. (111);
Relative position measuring device comprising a. The method of claim 1,
The relative distance information (E) is calculated by calculating a relative distance with the measured relative position measuring device 103 according to the signal strength of the relative position measuring signal S2 received from the measured relative position measuring device 103. Relative distance determination unit 113 for generating;
Relative position measuring device further comprising. The method of claim 1,
A posture state unit 115 for measuring or storing posture state information PSI1 including azimuth information AI1 or three-axis gradient information GI1 of the relative position measuring device 101;
Relative position measuring device further comprising. The method of claim 3, wherein
The relative position measurement signal (S2),
And posture state information PSI2 including azimuth angle information AI2 of the relative position measuring device 103 to be measured or three-axis gradient information GI2 of the relative position measuring device 103 to be measured,
The relative direction determination unit 111,
And adding the posture state information (PSI1) and posture state information (PSI2) to correct the relative direction of the measured relative position measuring device (103). The method of claim 2,
A data communication unit 117 for transmitting or receiving the relative position measuring apparatus 103 and the relative direction information R or the relative distance information E;
Relative position measuring device further comprising. The method of claim 1,
An absolute position determination unit 119 for measuring or storing absolute position information (API) including latitude, longitude, altitude, or specific position information;
Relative position measuring device further comprising. The method of claim 2,
A relative coordinate calculation unit 121 for calculating a relative coordinate of the measured relative position measuring device 103 by using the relative direction information R and the relative distance information E;
Relative position measuring device further comprising. The method of claim 7, wherein
When absolute position information (API) including latitude, longitude, altitude, or specific position information is measured or stored from the absolute position determining unit 119, the relative coordinates are calculated based on the absolute position information. Absolute coordinate calculation unit;
Relative position measuring device further comprising. It is provided in the stationary or mobile body, and transmits the relative position measuring signal S1 to the relative position measuring apparatus 103 under measurement, or receives the relative position measuring signal S2 from the relative position measuring apparatus 103 under measurement. The radio positioning communication unit 105 including at least one directional antenna 105 or an omnidirectional antenna 107 and the relative position measuring signal S1 and the relative position measuring signal S2 are used. Relative direction determination unit 111 for calculating the relative direction information R by calculating the relative direction of the measurement relative position measuring device 103 and the relative position measuring signal received from the relative position measuring device 103 to be measured. A relative position measuring device including a relative distance determining unit 113 for generating relative distance information E by calculating a relative distance with the relative position measuring device 103 to be measured according to the signal strength of S2. 101; And
The radio positioning communication unit 409 including an omnidirectional antenna 407 for receiving the relative position measuring signal S3 from the directional antenna 105 of the relative position measuring device 101, and the relative position measuring signal ( A relative direction determination unit 411 for calculating the relative direction information D1 by calculating the relative direction of the relative position measuring device 101 using S3), and the relative position received from the relative position measuring device 101. A relative distance determination unit 413 for generating relative distance information D2 by calculating a relative distance with the relative position measuring device 101 according to a signal strength of the measurement signal S3, and the relative direction information An information processing device (401) including a relative coordinate calculation unit (421) for calculating the relative coordinates of the relative position measuring device (101) using (D1) and the relative distance information (D2);
Relative position measurement system comprising a. The method of claim 9,
The relative position measuring device 101,
Relative position measurement system further comprises an absolute position determination unit (119) for measuring or storing absolute position information (API) including latitude, longitude, altitude or specific position information. The method of claim 9,
The information processing device 401,
Relative position measurement system further comprises an absolute position determination unit (419) for measuring the absolute position information (API_1) including latitude, longitude, or altitude. The method of claim 11,
The information processing device 401,
Relative position measurement system, characterized in that it further comprises an absolute coordinate calculation unit 423 for calculating the relative coordinates based on the absolute position information (API_1) in connection with the absolute coordinates. The method of claim 9,
The relative position measuring device 101 or the information processing device 401,
And a data communication unit (117, 417) for transmitting or receiving the relative direction information (D1) or the relative distance information (D2). The method of claim 9,
The relative position measuring device 101 or the information processing device 401,
And a posture state unit (115, 415) for measuring or storing posture state information (PSI) including azimuth information (AI) or triaxial tilt information (GI). The method of claim 9,
The information processing device 401,
The relative position measuring system, characterized in that for receiving the relative direction information (D1) or the relative distance information (D2) from the relative position measuring device 101 via the non-directional antenna (407). The method of claim 13,
The information processing device 401,
The relative position measuring system, characterized in that for receiving the relative direction information (D1) or the relative distance information (D2) from the relative position measuring device 101 via the data communication unit (417). It is provided in the stationary or mobile body, and transmits the relative position measuring signal S1 to the relative position measuring apparatus 103 under measurement, or receives the relative position measuring signal S2 from the relative position measuring apparatus 103 under measurement. The radio positioning communication unit 105 including at least one directional antenna 105 or an omnidirectional antenna 107 and the relative position measuring signal S1 and the relative position measuring signal S2 are used. Relative direction determination unit 111 for calculating the relative direction information R by calculating the relative direction of the measurement relative position measuring device 103 and the relative position measuring signal received from the relative position measuring device 103 to be measured. A relative position measuring device including a relative distance determining unit 113 for generating relative distance information E by calculating a relative distance with the relative position measuring device 103 to be measured according to the signal strength of S2. 101;
At least one directional antenna 505 or omnidirectional antenna which transmits the relative position measuring signal S4 to the relative position measuring device 101 or receives the relative position measuring signal S5 from the relative position measuring device 101. Wireless positioning communication unit 509 including 507, absolute positioning unit 519 for measuring or storing absolute position information API_2 including latitude or longitude or altitude or specific position information, and by wire or wirelessly An access pointer unit (501) including a data communication unit (517) for transmitting the relative direction information (R) or relative distance information (E) transmitted from the relative position measuring device (101) to a server (551); And
The relative coordinates of the relative position measuring device 101 and the relative position measuring device 103 to be measured are calculated using the relative direction information R or the relative distance information E transmitted from the access pointer unit 501. The server 551 including a relative coordinate calculation unit 521;
Relative position measurement system comprising a. The method of claim 17,
The server 551,
And an absolute coordinate calculation unit (523) which calculates the relative coordinates by linking the relative coordinates with absolute coordinates based on the absolute position information (API_2) transmitted from the access pointer unit (501).

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