KR20200071891A - Apparatus and method for indoor positioning - Google Patents

Abstract

Disclosed are an indoor positioning method and an apparatus thereof. According to one embodiment of the present disclosure, the indoor positioning method is a method performed by a computing device having one or more processors and a memory storing one or more programs executed by the one or more processors. The method comprises the steps of: dividing a target space in which one or more access points (APs) are installed into a plurality of zones, and measuring a received signal strength (RSSI) value of the one or more APs for each divided zone; measuring the RSSI value of each AP at a predetermined point in the target space a plurality of times; calculating a location of a terminal in the target space by comparing the previously stored RSSI value for each zone for each of the plurality of RSSI measured values; and determining any one of locations of the terminal in accordance with the plurality of RSSI measurements as the location of the terminal.

Description

Indoor positioning device and method and method{APPARATUS AND METHOD FOR INDOOR POSITIONING}

Embodiments of the present invention relate to indoor position measurement technology, and more particularly, to a fingerprint-based indoor position measurement technology using a received signal strength (RSSI).

As the spread of mobile devices such as smartphones increases, attempts to provide location-based services for indoor spaces are steadily increasing. Unlike the outdoor environment in which the positioning method using a satellite is generalized, various techniques have been studied for positioning in an indoor space according to the size and characteristics of the space.

One of such indoor location positioning technologies is a fingerprint-based indoor location measurement technology using a received signal strength indicator (RSSI) of a wireless LAN (Wi-Fi) access point (AP). The Wi-Fi fingerprint refers to a set having an MAC pair of an AP and an ordered pair of RSSIs as elements. In the pre-investigation stage, a fingerprint database is constructed by collecting fingerprints in advance for each grid in which the target space is divided by a predetermined size, and in the service stage, the fingerprint measured by the user is compared with the fingerprint database to compare the most similar fingerprint and The user's location is predicted by the corresponding location.

However, the Wi-Fi fingerprint-based indoor location measurement method has a large fluctuation in the Wi-Fi signal over time, a signal attenuation due to multipath propagation caused by obstacles, and a signal by people walking in the area Has a problem that it is affected, and it is difficult to add or remove an AP, thereby reducing the predicted success rate of indoor location measurement.

Korean Patent Publication No. 10-2015-0081029 (2015.07.13)

Embodiments of the present invention is to compensate for the indoor position measurement error by the imperfections of the indoor environment and to improve the accuracy and reliability of indoor position measurement.

Embodiments of the present invention is to effectively reduce the calculation amount for positioning in the Wi-Fi fingerprint-based indoor location measurement method.

An indoor location measurement method according to an disclosed embodiment is a method performed in a computing device having one or more processors, and a memory storing one or more programs executed by the one or more processors, wherein one or more access points (AP: Dividing the target space where the Access Point) is installed into a plurality of zones, and measuring the received signal strength indicator (RSSI) value of the one or more APs for each divided zone; Measuring the RSSI value of each AP multiple times at a predetermined point in the target space; Calculating a position of a terminal in a target space by comparing the RSSI value of each pre-stored area for each of the plurality of RSSI measurements; And determining one of the locations of the terminal according to the plurality of RSSI measurements as the location of the terminal.

In the determining of the location of the terminal, a majority of the locations of the terminal according to the plurality of times of RSSI measurement may be determined as a location of the terminal by a majority rule.

The indoor location measurement method may include calculating an average value of the plurality of RSSI measurements when the location of the terminal cannot be determined by the majority decision principle; And it may further include the step of determining the location of the terminal by comparing the average value of the plurality of RSSI measurements and the RSSI value for each pre-stored area.

In the determining of the location of the terminal, the difference between the average value of the plurality of RSSI measurements and the RSSI value for each pre-stored region is calculated, and the location of the region having the smallest average value of the calculated difference is determined as the location of the terminal. It can be configured to.

The step of calculating the location of the terminal is to calculate the difference between the RSSI value for each pre-stored region and the RSSI value measured at the point, and to estimate the location of the region having the smallest average value of the calculated difference as the location of the terminal. Can be configured.

In the indoor location measurement method, if the location of the terminal cannot be determined according to the majority decision principle, one of the most minor opinions among the locations of the terminal according to the plurality of RSSI measurements is determined as the location of the terminal It may further include a step.

The indoor location measurement method may further include determining the location of the terminal determined by the previous location inquiry of the terminal as the location of the terminal when the location of the terminal cannot be determined according to the majority decision principle. .

In the indoor location measurement method, if the location of the terminal cannot be determined according to the majority decision principle, among the most minority opinions among the locations of the terminal according to the plurality of RSSI measurements, the terminal's previous location inquiry The method may further include determining the smallest opinion closest to the determined location of the terminal as the location of the terminal.

An indoor location measurement method according to another disclosed embodiment is a method performed in a computing device having one or more processors, and a memory storing one or more programs executed by the one or more processors, wherein one or more access points (AP: Dividing the target space where the Access Point) is installed into a plurality of zones, and measuring the received signal strength indicator (RSSI) value of the one or more APs for each divided zone; Selecting M APs (M is a natural number greater than 1) according to the size of the RSSI value measured for each zone, and storing the RSSI value of the selected AP; Measuring the RSSI value of each AP multiple times at a predetermined point in the target space; Selecting M RSSI values according to the size of the RSSI value for each of the plurality of measurements; Calculating a position of a terminal in the target space for each of the plurality of measurements by comparing the M RSSI values for each of the stored areas and the M RSSI values selected from each of the plurality of measurements; And determining one of the locations of the terminal according to the plurality of measurements as the location of the terminal.

In the determining of the location of the terminal, a majority of the locations of the location of the terminal according to the plurality of measurements may be determined as a location of the terminal by a majority rule.

The indoor location measurement method may include calculating an average value of M RSSI values selected from each of the plurality of measurements when the location of the terminal cannot be determined by the majority decision principle; And comparing the average value of the M RSSI values selected in each of the plurality of measurements with the M RSSI values for each pre-stored region to determine the location of the terminal.

The step of calculating the location of the terminal calculates a difference between the M RSSI values for each of the stored regions and the selected M RSSI values for each measurement count, and calculates the location of the region having the smallest average value of the calculated differences. It can be configured to estimate the location of.

The step of calculating the location of the terminal calculates a difference between the RSSI values for the RSSI values having the same access point identification information as the M RSSI values selected for each measurement number among the M RSSI values for each of the stored regions. And calculate the average value of the calculated difference.

An indoor location measuring apparatus according to an disclosed embodiment includes one or more processors; Memory; And one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs are targets having one or more access points (APs) installed. A command for dividing a space into a plurality of zones and measuring a received signal strength indicator (RSSI) value of the one or more APs for each divided zone; A command for measuring an RSSI value of each AP multiple times at a predetermined point in the target space; A command for calculating a position of a terminal in a target space by comparing RSSI values for each of the plurality of RSSI measured values previously stored for each zone; And a command for determining one of the positions of the terminal according to the plurality of RSSI measurements as the position of the terminal.

The command for calculating the position of the terminal may include a command for determining a position of a majority or more as a position of the terminal according to a majority rule among the positions of the terminal according to the plurality of RSSI measurements. have.

The one or more programs may include: a command for calculating an average value of the plurality of RSSI measurements when the location of the terminal cannot be determined by the majority decision principle; And it may further include a command for determining the location of the terminal by comparing the average value of the plurality of RSSI measurements and the RSSI value for each pre-stored area.

The command for determining the location of the terminal includes: a command for calculating the difference between the average value of the plurality of RSSI measurements and the RSSI value for each pre-stored area; And it may include a command for determining the location of the region with the smallest average value of the calculated difference as the location of the terminal.

An indoor location measuring apparatus according to another disclosed embodiment includes: one or more processors; Memory; And one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs are targets having one or more access points (APs) installed. A command for dividing a space into a plurality of zones and measuring a received signal strength indicator (RSSI) value of the one or more APs for each divided zone; A command for selecting M (M is a natural number greater than 1) APs according to the size of the RSSI value measured for each zone and storing the RSSI value of the selected AP; A command for measuring an RSSI value of each AP multiple times at a predetermined point in the target space; A command for selecting M RSSI values according to the size of the RSSI value for each of the plurality of measurements; A command for comparing the M RSSI values for each of the stored zones and the M RSSI values selected from each of the plurality of measurements to calculate a location of the terminal in the target space for each of the plurality of measurements; And a command for determining one of the positions of the terminal according to the plurality of measurements as the position of the terminal.

The command for determining the position of the terminal may include a command for determining a position of a majority of the positions of the terminal by a majority rule among the positions of the terminal according to the plurality of measurements. .

The one or more programs may include: a command for calculating an average value of M RSSI values selected from each of the plurality of measurements when the location of the terminal cannot be determined by the majority rule; And it may further include a command for determining the location of the terminal by comparing the average value of M RSSI values selected from each of the plurality of measurements and M RSSI values for each pre-stored region.

The command for calculating the position of the terminal, the difference between the RSSI value, for the RSSI value having the same access point identification information as the selected M RSSI value for each measurement number among the M RSSI values for each of the stored areas It may include instructions for calculating and calculating the average value of the calculated difference.

In the disclosed embodiment, the terminal measures the RSSI value multiple times in the target space, and the location measurement server calculates the location of the terminal on the basis of a majority decision principle, thereby resulting in imperfections in the indoor environment (eg, time lapse. It is possible to compensate for errors in indoor location measurement due to fluctuations in Wi-Fi signals, signal attenuation due to obstacles, and effects due to people in the area, etc., and improve accuracy and reliability of indoor location measurement.

1 is a block diagram of an indoor location measurement system according to an embodiment.
2 is a flowchart illustrating a method for measuring indoor location according to an embodiment of the present invention
3 is an exemplary view showing an example of dividing a target space into a plurality of zones according to an embodiment of the present invention
4 is a flowchart illustrating a method for measuring indoor location according to another embodiment of the present invention
5 is a block diagram illustrating and illustrating a computing environment including a computing device suitable for use in example embodiments.

Hereinafter, specific embodiments of the present invention will be described with reference to the drawings. The following detailed description is provided to aid in a comprehensive understanding of the methods, devices and/or systems described herein. However, this is only an example and the present invention is not limited thereto.

In describing the embodiments of the present invention, when it is determined that a detailed description of known technology related to the present invention may unnecessarily obscure the subject matter of the present invention, the detailed description will be omitted. In addition, terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to a user's or operator's intention or practice. Therefore, the definition should be made based on the contents throughout this specification. The terminology used in the detailed description is only for describing embodiments of the present invention and should not be limiting. Unless expressly used otherwise, a singular form includes a plural form. In this description, expressions such as “including” or “equipment” are intended to indicate certain characteristics, numbers, steps, actions, elements, parts or combinations thereof, and one or more other than described. It should not be interpreted to exclude the presence or possibility of other characteristics, numbers, steps, actions, elements, or parts or combinations thereof.

In the following description, the terms “transmission”, “communication”, “transmission”, “reception” and the like of a signal or information are not only those in which a signal or information is transmitted directly from one component to another. This includes passing through other components. In particular, “sending” or “transmitting” a signal or information to a component indicates the final destination of the signal or information and does not mean a direct destination. The same is true for the "reception" of a signal or information. Also, in this specification, when two or more data or information is “related” means that acquiring one data (or information) may acquire at least a portion of the other data (or information) based thereon.

1 is a block diagram of an indoor location measurement system 100 according to an embodiment. The disclosed indoor position measurement system 100 refers to a system for measuring a position in a target space in which one or more access points (APs) are installed. In the disclosed embodiments, the target space may be a space provided indoors, such as a building. For example, the target space may be an internal space such as an office or a factory, a commercial space such as a shopping mall or a department store, and the embodiments of the present invention are not limited to a specific type of space. As illustrated, the indoor location measurement system 100 according to an embodiment of the present invention includes a terminal 102 and a location measurement server 104.

The terminal 102 measures a received signal strength indicator (RSSI) value of one or more access points sensed at a predetermined location in the target space. In the illustrated embodiment, the terminal 102 may detect three access points 106-1, 106-2, and AP3, and measure the received signal strength value of each access point. In embodiments of the present invention, the terminal 102 is a device capable of communicating with an access point while moving in a target space, and a personal portable device such as a smart phone, a tablet, a notebook computer, a wearable device, or a movement in the target space It may be an autonomous driving device such as a robot.

The location measurement server 104 receives the received signal strength value of each access point measured from the terminal 102 and calculates the location of the terminal 102 in the target space. The location measurement server 104 divides the target space into a plurality of zones, measures received signal strength values for one or more access points detected for each zone, and stores them as a fingerprint of the zone. In embodiments of the present invention, a fingerprint is a list storing identification information and received signal strength values (RSSI values) for one or more access points recognizable in a corresponding zone. At this time, the identification information of the access point may include all kinds of information for distinguishing a specific access point from other access points, such as the SSID or MAC address of the access point.

In one embodiment, the location measurement server 104 may acquire the fingerprint of each zone while moving each zone in the target space using the terminal 102. In another embodiment, the location measurement server 104 may acquire a fingerprint of each zone while moving each zone in the target space using a separate device, for example, an IoT device. Also, unlike the outdoor space, the fingerprint may be different even in the same area according to various conditions such as the number of people located in the space, the arrangement of furniture or other facilities, so the location measurement server 104 can be used for the same area. Multiple (eg, 3 times per zone) fingerprints can be obtained under various conditions.

Subsequently, the location measurement server 104 receives the RSSI values of the access points measured at an arbitrary point in the target space from the terminal 102 multiple times, and compares the received RSSI value with the fingerprint of the corresponding pre-stored space. By doing so, the position in the target space of the terminal 102 is calculated.

In one embodiment, the terminal 102 may be connected to the location server 104 via the network 108. Network 108 may include the Internet, one or more local area networks, wire area networks, cellular networks, mobile networks, other types of networks, or combinations of these networks. . For example, when the terminal 102 is connected to the server 104 through a local area network, the terminal 102 may be connected to the location measurement server 104 through one of the access points located in the target space.

In another example, the terminal 102 may be connected to the location measurement server 104 through a local area network such as Bluetooth or a mobile communication network. Meanwhile, in the illustrated embodiment, an example in which the terminal 102 is connected to the location measurement server 104 through the network 108 is illustrated, but according to the embodiment, the location measurement server 104 may perform work within the terminal 102. It can be implemented as an element. In this case, the terminal 102 does not need to transmit the measured RSSI value to the outside, and calculates the location in the target space of the terminal 102 using the location measurement algorithm and a pre-stored fingerprint embedded in the terminal 102. Can be.

In one embodiment, terminal 102 and location server 104 may be implemented on a computing device comprising one or more processors and a computer readable recording medium coupled to the processor. The computer-readable recording medium may be inside or outside the processor, and may be connected to the processor by various well-known means. A processor in the computing device may cause each computing device to operate in accordance with the example embodiments described herein. For example, a processor may execute instructions stored on a computer readable recording medium, and instructions stored on a computer readable recording medium, when executed by a processor, cause the computing device to operate in accordance with the exemplary embodiments described herein. It can be configured to perform.

2 is a flow chart for explaining a method 200 for indoor location measurement according to an embodiment of the present invention. The method illustrated in FIG. 2 may be performed, for example, by the indoor positioning system 100 described above. In the illustrated flow chart, the method is described by dividing the method into a plurality of steps, but at least some of the steps are performed by reversing the order, combined with other steps, omitted together, divided into detailed steps, or not shown. One or more steps can be performed in addition.

In step 202, the location measurement server 104 measures the RSSI value of the access point detectable for each zone for a plurality of zones formed by dividing the target space. As described above, the target space may be divided into a plurality of zones. At this time, the number of divided regions and the size of each region may be determined in consideration of characteristics of the target space.

3 is an exemplary view showing an example of dividing a target space into a plurality of zones according to an embodiment of the present invention. As shown, the target space can be divided into a total of 36 zones from a1 zone to f6 zone. In the illustrated embodiment, the size of each zone is the same, but the embodiments of the present invention are not necessarily limited to the same size zone.

One or more access points (APs) may be installed in the target space. At this time, the one or more access points may be disposed in the target space to cover the entire target space. 3 shows an example in which five access points including AP1, AP2, AP3, AP4, and AP5 are arranged in a target space.

The location measurement server 104 measures and stores the RSSI value of the access point detectable for each region for each region in the target space formed as described above. For example, if there are four AP1, AP2, AP3, and AP4 access points that can be detected in the a1 zone, the location measurement server 104 sets the RSSI values of AP1, AP2, AP3, and AP4, respectively, with the identification information of each access point. You can save it by matching. In addition, as described above, the location measurement server 104 may measure and store the RSSI value multiple times for the same area.

In step 204, the terminal 102 measures the RSSI value of one or more APs located in the target space multiple times at a predetermined point in the target space, and transmits the measured RSSI value multiple times to the location measurement server 104. .

The terminal 102 may measure the RSSI value of the AP multiple times at a predetermined point in the target space, but may measure the preset number of times. Here, the number of measurements may be set according to the waiting time of the user of the terminal 102. For example, the number of measurements can be set within 3 to 5 times.

In step 206, the location measurement server 104 calculates the location of the terminal 102 in the target space by comparing the pre-stored RSSI values for each of the plurality of RSSI measurement values received from the terminal 102.

That is, when the terminal 102 measures the RSSI value of the AP N times (where N is a natural number greater than 1) at a predetermined point, the location measurement server 104 stores each RSSI value measured from 1 to N times and is pre-stored. By comparing the RSSI values for each zone, the location of the terminal 102 can be calculated for each number of measurements.

In other words, the location measurement server 104 calculates the location of the terminal 102 according to the first measurement by comparing the RSSI value first measured by the terminal 102 and the RSSI value for each pre-stored area, and the terminal 102 The position of the terminal 102 according to the second measurement is calculated by comparing the second measured RSSI value with the RSSI value for each pre-stored area, and in this way, the terminal 102 has previously stored the RSSI value measured by the Nth measurement. The location of the terminal 102 according to the N-th measurement may be calculated by comparing the RSSI values for each zone.

At this time, the location measurement server 104 calculates the difference between the RSSI value of each pre-stored area and the RSSI value measured by the terminal 102, and calculates the location of the area where the average value of the calculated difference is the smallest of the terminal 102. It can be estimated by location.

In step 208, the location measurement server 104 determines the location of the terminal 102 by the Majority Rule among the locations of the terminal 102 according to the multiple measurements of the RSSI value of the terminal 102.

For example, the terminal 102 measures the RSSI value five times, and the location of the terminal 102 in the location measurement server 104 is b2 zone at one time, b3 zone at two times, and b2 zone at three times. , If calculated as b3 zone in 4th time and b2 zone in 5th time, the location measurement server 104 may determine the location of the terminal 102 as the location of the terminal b2, which is a majority of the locations by more than a majority.

In step 210, if the location measurement server 104 is unable to determine the location of the terminal 102 by a majority decision principle (that is, if there is no more than a majority of locations), the average value of multiple RSSI values measured by the terminal 102 (Hereinafter, referred to as “measured average RSSI value”) is calculated, and the location of the terminal 102 is calculated by comparing the measured average RSSI value and the previously stored RSSI value for each zone.

For example, the terminal 102 measures the RSSI value five times, and the location of the terminal 102 in the location measurement server 104 is b2 zone at one time, b3 zone at two times, and b2 zone at three times. , If calculated as b3 zone in 4th and b1 zone in 5th, the location measurement server 104 cannot determine the location of the terminal 102 by the principle of majority decision. At this time, the location measurement server 104 may obtain the average value of the RSSI values of the terminal 102 over five times, and compare the measured average RSSI value with the RSSI value for each pre-stored region to calculate the location of the terminal 102. Specifically, the difference between the measured average RSSI value and the RSSI value for each pre-stored region may be calculated, and the location of the region having the smallest average value of the calculated difference may be estimated as the location of the terminal 102.

On the other hand, in step 210, if it is not possible to determine the location of the terminal 102 by the principle of majority decision, the location measurement server 104 has the most minority opinions among the locations of the terminal 102 according to the RSSI value measurement multiple times Either can be estimated as the location of the terminal 102.

For example, the terminal 102 measures the RSSI value five times, and the location of the terminal 102 in the location measurement server 104 is b2 zone at one time, b3 zone at two times, and b2 zone at three times. , If calculated as b3 zone in 4th and b1 zone in 5th, the location measurement server 104 randomly selects one of the most minor opinions, b2 zone (2 votes) or b3 zone (2 votes) It can be estimated as the location of the terminal 102.

In addition, in step 210, if it is not possible to determine the location of the terminal 102 by the principle of majority decision, the location measurement server 104 is the current location of the terminal 102 determined by the previous location query of the terminal 102 It can be determined by the location of the terminal 102 by inquiry.

For example, assume that the terminal 102 has measured the RSSI value five times in the previous location inquiry, and the location of the terminal 102 has been determined as the b2 zone by majority vote. Here, if the terminal 102 has measured the RSSI value over five times to make a location inquiry again, and the location of the terminal 102 cannot be determined by a majority vote, the location measurement server 104 may respond to the previous location inquiry. The b2 zone, which is the determined location of the terminal 102, may be determined as the location of the terminal 102.

That is, in the disclosed embodiment, the target space is divided into a plurality of zones of a predetermined size, the location of the terminal 102 is determined in units of zones, and the movement speed of the terminal 102 corresponds to the speed at which a person walks F. If the location of the terminal 102 cannot be determined by the principle of majority decision, the location of the terminal 102 determined by the previous location inquiry of the terminal 102 is determined as the location of the terminal 102 by the current location inquiry Even if it does, it can fall within the error range.

In addition, in step 210, if it is not possible to determine the location of the terminal 102 by the majority decision principle, the location measurement server 104 determines the location and current location of the terminal 102 determined by the previous location query of the terminal 102 Compared with the largest number of opinions among the locations of the terminal 102 by the inquiry, it is possible to estimate the location of the terminal 102 closest to the location of the terminal 102 determined by the previous location inquiry.

For example, it is assumed that the terminal 102 has measured the RSSI value five times in the previous location inquiry, and the location of the terminal 102 has been determined as the a2 zone by a majority vote. Then, the terminal 102 measures the RSSI value five times in order to inquire the location again, where the location of the terminal 102 is b2 zone at one time, b3 zone at two times, b2 zone at three times, and four times at fourth time. When calculated as b3 zone, b1 zone in 5 times, the location server 104 determines the location of the terminal 102 (ie, a2 zone) determined by the previous location query and the location of the terminal 102 by querying the current location Among the most minority opinions (ie, b2 zone and b3 zone), respectively, the previous position among the most minority opinions (ie, b2 zone and b3 zone) among the locations of the terminal 102 by querying the current location The smallest opinion (eg, b2 area) closest to the location of the terminal 102 determined by the inquiry may be estimated as the location of the terminal 102.

In the embodiment disclosed as described above, the terminal 102 measures the RSSI value in the target space multiple times, and the location measurement server 104 calculates the location of the terminal 102 on the basis of the majority vote principle. Compensate for errors in indoor positioning due to environmental imperfections (e.g. fluctuations in Wi-Fi signals over time, signal attenuation due to obstructions, and effects from people in the area, etc.) and accuracy of indoor positioning And reliability.

4 is a flowchart illustrating a method 400 for measuring indoor location according to another embodiment of the present invention. The method illustrated in FIG. 4 can be performed, for example, by the indoor positioning system 100 described above. In the illustrated flow chart, the method is described by dividing the method into a plurality of steps, but at least some of the steps are performed by reversing the order, combined with other steps, omitted together, divided into detailed steps, or not shown. One or more steps can be performed in addition.

In step 402, the location measurement server 104 measures the RSSI value of the access point detectable for each zone for a plurality of zones formed by dividing the target space. As described above, the target space may be divided into a plurality of zones. Details of the target space and the area formed by dividing the target space have been described in detail in the previous embodiment, and thus redundant description will be omitted.

In step 404, the location measurement server 104 selects M (M is a natural number greater than 1) AP according to the size of the RSS measured for each zone, and stores the RSSI value of the selected AP. For example, assume that the RSSI value of each AP measured in the region b2 of FIG. 3 is as follows.

AP1: -20dB

AP2: -25dB

AP3: -30dB

AP4: -35dB

AP5: -40dB

In this case, if the value of M is 3, the location measurement server stores only 3 RSSI values of AP1, AP2, and AP3 in the order of the largest of the 5 RSSI values, and deletes the other two values.

In step 406, the terminal 102 measures a plurality of times the RSSI values of one or more APs located in the target space at a predetermined point in the target space, and the RSSI values measured a plurality of times (here, at least one time AP's RSSI value is included) to the location measurement server 104.

In step 408, the location measurement server 104 selects M RSSI values in consideration of the size of the RSSI value in the same manner as in step 404 described above in each of the plurality of RSSI measurement values received from the terminal 102. That is, when the terminal 102 measures the RSSI values of one or more APs N times at a predetermined point, the location measurement server 104 selects M RSSI values from the RSSI values of one measurement in consideration of the size of the RSSI. , Among the RSSI values of two measurements, M RSSI values are selected in consideration of the size of the RSSI, and among the RSSI values of two measurements, M RSSI values may be selected in consideration of the size of the RSSI.

In step 410, the location measurement server 104 compares the M RSSI values of each zone stored in step 404 with the M RSSI values of each measurement count measured in step 408 to determine the location of the terminal 102 for each measurement count. To calculate.

Specifically, the location measurement server 104 calculates the difference between the M RSSI values for each zone and the first M RSSI values measured at the point, and determines the location of the zone with the smallest average value of the calculated differences. 102).

For example, suppose that the three RSSI values stored in the b2 zone are as follows.

AP1: -20dB

AP2: -30dB

AP3: -25dB

In this case, assuming that the RSSI values of APs measured at a predetermined point in the target space are as follows,

AP1: -30dB

AP2: -20dB

AP3: -10dB

In this case, the average value of the difference between the stored value and the measured value in b2 is as follows.

Average = (10-10-15) / 3 = -5dB

In this way, the location measurement server 104 can calculate the location of the terminal 102 for each measurement number of times. On the other hand, in step 410, the location measurement server 104, among the N RSSIs stored for each zone, the difference between the RSSIs for RSSIs having the same access point identification information as M RSSIs for each measurement number at the point. It can be configured to calculate and calculate the average value of the calculated difference. In this case, the access point identification information may include all kinds of information for distinguishing a specific access point from other access points, such as the SSID or MAC address of the access point.

For example, among the RSSI values measured at the position b5 of FIG. 3, three values stored in the order of largest size are AP4, AP3, and AP5, respectively, and three RSSI values measured at any point are listed in order of the largest size. When the values are AP1, AP3, and AP4, the location measurement server 104 may calculate the difference using only the RSSI values of the AP3 and AP4, which are overlapping access points, and calculate the average value of the calculated differences.

In the case of the RSSI value, the greater the distance from the access point, the higher the probability of error in the measured value. Accordingly, in the present embodiment, the position measurement server 104 is configured to measure the position in consideration of only M pieces in the order of the largest size among the measured RSSI values. Therefore, according to an embodiment of the present invention, the position is measured by excluding the RSSI value, which is highly likely to cause an error, and thus there is an advantage in improving accuracy in indoor location measurement.

In step 412, the location measurement server 104 determines the location of the terminal 102 by the Majority Rule among the locations of the terminal 102 according to the RSSI value measurement of the terminal 102 multiple times.

In step 414, the location measurement server 104 calculates the average value of the M RSSI values selected from each of the multiple measurements when the location of the terminal 102 cannot be determined by the majority decision principle, and is selected from each of the multiple measurements The location of the terminal 102 is calculated by comparing the average value of the M RSSI values with the M RSSI values for each pre-stored area.

On the other hand, in step 414, if it is not possible to determine the location of the terminal 102 by the principle of majority decision, the location measurement server 104 has the most minority opinions among the locations of the terminal 102 according to the RSSI value measurement multiple times One of them may be estimated as the location of the terminal 102. Alternatively, the location measurement server 104 may determine the location of the terminal 102 determined by the previous location inquiry of the terminal 102 as the location of the terminal 102 by the current location inquiry.

Table 1 is a table comparing the indoor location measurement accuracy according to the conventional Wi-Fi fingerprint method and the indoor location measurement accuracy according to an embodiment of the present invention. Here, the square corridor was measured as the target space, and 2 m × 2 m in the target space was set as one zone.

Conventional method _ Accuracy (%) Invention _ Accuracy (%) Measure in the first direction 86.75 95.94 Measure in the second direction 83.78 94.54 Average 85.27 95.24

Here, as a result of measuring while turning the target area (square-shaped corridor) in the first direction (for example, clockwise), the conventional method showed an accuracy of 86.75%, and the method of the present invention showed an accuracy of 95.94%. Further, as a result of measurement while turning in the second direction (for example, counterclockwise), the conventional method showed an accuracy of 83.78%, and the method of the present invention showed an accuracy of 94.54%. As described above, it can be seen that the present invention has improved accuracy of about 10% compared to the conventional method.

5 is a block diagram illustrating and illustrating a computing environment 10 that includes a computing device suitable for use in example embodiments. In the illustrated embodiment, each component may have different functions and capabilities in addition to those described below, and may include additional components in addition to those described below.

The illustrated computing environment 10 includes a computing device 12. In one embodiment, computing device 12 may be terminal 102 or location server 104.

The computing device 12 includes at least one processor 14, a computer readable storage medium 16 and a communication bus 18. The processor 14 can cause the computing device 12 to operate in accordance with the exemplary embodiment mentioned above. For example, processor 14 may execute one or more programs stored on computer readable storage medium 16. The one or more programs may include one or more computer-executable instructions, which, when executed by the processor 14, configure the computing device 12 to perform operations according to an exemplary embodiment. Can be.

Computer readable storage medium 16 is configured to store computer executable instructions or program code, program data and/or other suitable types of information. The program 20 stored on the computer readable storage medium 16 includes a set of instructions executable by the processor 14. In one embodiment, the computer-readable storage medium 16 is a memory (volatile memory such as random access memory, non-volatile memory, or a suitable combination thereof), one or more magnetic disk storage devices, optical disk storage devices, flash Memory devices, other types of storage media that can be accessed by the computing device 12 and store desired information, or suitable combinations thereof.

The communication bus 18 interconnects various other components of the computing device 12, including a processor 14 and a computer readable storage medium 16.

Computing device 12 may also include one or more I/O interfaces 22 and one or more network communication interfaces 26 that provide an interface for one or more I/O devices 24. The input/output interface 22 and the network communication interface 26 are connected to the communication bus 18. The input/output device 24 may be connected to other components of the computing device 12 through the input/output interface 22. Exemplary input/output devices 24 include pointing devices (such as a mouse or trackpad), keyboards, touch input devices (such as touch pads or touch screens), voice or sound input devices, various types of sensor devices, and/or imaging devices. Input devices and/or output devices such as display devices, printers, speakers, and/or network cards. The exemplary input/output device 24 is a component constituting the computing device 12 and may be included in the computing device 12 or connected to the computing device 12 as a separate device distinct from the computing device 12. It might be.

Although the exemplary embodiments of the present invention have been described in detail above, those skilled in the art to which the present invention pertains will understand that various modifications are possible within the limits of the embodiments described above without departing from the scope of the present invention. . Therefore, the scope of rights of the present invention should not be limited to the described embodiments, but should be determined not only by the claims to be described later, but also by the claims and equivalents.

100: indoor positioning system
102: terminal
104: location server
106-1, 106-2, 106-3: access point
108: network

Claims (22)

One or more processors, and
A method performed in a computing device having a memory that stores one or more programs executed by the one or more processors,
Dividing a target space in which one or more access points (APs) are installed into a plurality of zones, and measuring received signal strength indicator (RSSI) values of the one or more APs for each divided zone;
Measuring the RSSI value of each AP multiple times at a predetermined point in the target space;
Calculating a position of a terminal in a target space by comparing the RSSI value of each pre-stored area for each of the plurality of RSSI measurements; And
And determining one of the locations of the terminal according to the plurality of RSSI measurements as the location of the terminal.
The method according to claim 1,
Determining the location of the terminal,
A method for measuring an indoor location, determining a location of a majority of the location as the location of the terminal according to a majority rule among the locations of the terminal according to the plurality of RSSI measurements.
The method according to claim 2,
The indoor position measuring method,
Calculating the average value of the plurality of RSSI measurements when the location of the terminal cannot be determined by the majority decision principle; And
And determining the location of the terminal by comparing an average value of the plurality of RSSI measurements and an RSSI value for each pre-stored area.
The method according to claim 3,
Determining the location of the terminal,
And calculating the difference between the average value of the plurality of RSSI measurements and the RSSI value for each pre-stored area, and determining the location of the area having the smallest average value of the calculated difference as the location of the terminal.
The method according to claim 2,
The indoor position measuring method,
If it is not possible to determine the location of the terminal by the principle of the majority decision, further comprising the step of determining one of the most minority opinions among the location of the terminal according to the plurality of RSSI measurements, the location of the terminal, How to measure indoor location.
The method according to claim 2,
The indoor position measuring method,
And determining the location of the terminal determined by the previous location inquiry of the terminal as the location of the terminal, if the location of the terminal cannot be determined according to the majority decision principle.
The method according to claim 2,
The indoor position measuring method,
If the location of the terminal cannot be determined by the majority decision principle, among the most minority opinions among the locations of the terminal according to the RSSI measurement of the multiple times, the location of the terminal closest to the location determined by the previous location inquiry of the terminal The method further comprising determining a minority opinion as the location of the terminal.
One or more processors, and
A method performed in a computing device having a memory that stores one or more programs executed by the one or more processors,
Dividing a target space in which one or more access points (APs) are installed into a plurality of zones, and measuring received signal strength indicator (RSSI) values of the one or more APs for each divided zone;
Selecting M APs (M is a natural number greater than 1) according to the size of the RSSI value measured for each zone, and storing the RSSI value of the selected AP;
Measuring the RSSI value of each AP multiple times at a predetermined point in the target space;
Selecting M RSSI values according to the size of the RSSI value for each of the plurality of measurements;
Calculating a position of a terminal in the target space for each of the plurality of measurements by comparing the M RSSI values for each of the stored areas and the M RSSI values selected from each of the plurality of measurements; And
And determining one of the locations of the terminal according to the plurality of measurements as the location of the terminal.
The method according to claim 8,
Determining the location of the terminal,
A method for measuring an indoor location, determining a location of a majority of the location as the location of the terminal by a majority rule among the locations of the terminal according to the plurality of measurements.
The method according to claim 9,
The indoor position measuring method,
Calculating the average value of M RSSI values selected from each of the plurality of measurements when the location of the terminal cannot be determined by the majority decision principle; And
And determining the location of the terminal by comparing the average value of the M RSSI values selected from each of the plurality of measurements and the M RSSI values for each pre-stored region.
The method according to claim 8,
The step of calculating the location of the terminal,
The indoor location is configured to calculate a difference between the M RSSI values for each of the stored regions and the selected M RSSI values for each measurement number, and to estimate the location of the region having the smallest average value of the calculated differences as the location of the terminal. How to measure.
The method according to claim 8,
The step of calculating the location of the terminal,
For the RSSI values having the same access point identification information as the M RSSI values selected for each measurement number among the M RSSI values for each of the stored regions, the difference between the RSSI values is calculated and the average value of the calculated difference is calculated. Constructed, indoor location measuring method.
One or more processors;
Memory; And
Contains one or more programs,
The one or more programs are stored in the memory and configured to be executed by the one or more processors,
The one or more programs,
A command for dividing a target space in which at least one access point (AP) is installed into a plurality of zones and measuring a received signal strength indicator (RSSI) value of the at least one AP for each divided zone;
A command for measuring an RSSI value of each AP multiple times at a predetermined point in the target space;
A command for calculating a position of a terminal in a target space by comparing RSSI values for each of the plurality of RSSI measured values previously stored for each zone; And
And an instruction for determining one of the locations of the terminal as the location of the terminal according to the plurality of RSSI measurements.
The method according to claim 13,
The command for calculating the position of the terminal,
And a command for determining a location of a majority of the location as the location of the terminal by a majority rule among the locations of the terminal according to the plurality of RSSI measurements.
The method according to claim 14,
The one or more programs,
A command for calculating an average value of the plurality of RSSI measurements when the location of the terminal cannot be determined by the majority decision principle; And
Further comprising a command for determining the location of the terminal by comparing the RSSI value for each pre-stored area with the average value of the plurality of RSSI measurements, the indoor location measuring device.
The method according to claim 15,
The command for determining the location of the terminal,
A command for calculating a difference between an average value of the plurality of RSSI measurements and an RSSI value for each pre-stored area; And
And a command for determining a location of a region having the smallest average value of the calculated difference as the location of the terminal.
One or more processors;
Memory; And
Contains one or more programs,
The one or more programs are stored in the memory and configured to be executed by the one or more processors,
The one or more programs,
A command for dividing a target space in which at least one access point (AP) is installed into a plurality of zones and measuring a received signal strength indicator (RSSI) value of the at least one AP for each divided zone;
A command for selecting M (M is a natural number greater than 1) APs according to the size of the RSSI value measured for each zone and storing the RSSI value of the selected AP;
A command for measuring an RSSI value of each AP multiple times at a predetermined point in the target space;
A command for selecting M RSSI values according to the size of the RSSI value for each of the plurality of measurements;
A command for comparing the M RSSI values for each of the stored zones and the M RSSI values selected from each of the plurality of measurements to calculate a location of the terminal in the target space for each of the plurality of measurements; And
And a command for determining one of the positions of the terminal according to the plurality of measurements as the position of the terminal.
The method according to claim 17,
The command for determining the location of the terminal,
And an instruction for determining a position of a majority of the positions as the position of the terminal by a majority rule among the positions of the terminal according to the plurality of measurements.
The method according to claim 18,
The one or more programs,
A command for calculating an average value of M RSSI values selected from each of the plurality of measurements when the location of the terminal cannot be determined by the majority decision principle; And
Further comprising a command for determining the location of the terminal by comparing the average value of the M RSSI value selected from each of the plurality of measurements and M RSSI values for each pre-stored area.
The method according to claim 17,
The command for calculating the position of the terminal,
Calculating the difference between the RSSI values and calculating the average value of the calculated difference between the stored RSSI values for each area, among RSSI values having the same access point identification information as the selected M RSSI values for each measurement count An indoor positioning device comprising an instruction for.
A computer program stored in a non-transitory computer readable storage medium,
The computer program includes one or more instructions, and when the instructions are executed by a computing device having one or more processors, cause the computing device to:
Dividing a target space in which one or more access points (APs) are installed into a plurality of zones, and measuring received signal strength indicator (RSSI) values of the one or more APs for each divided zone;
Selecting M APs (M is a natural number greater than 1) according to the size of the RSSI value measured for each zone, and storing the RSSI value of the selected AP;
Measuring the RSSI value of each AP multiple times at a predetermined point in the target space;
Selecting M RSSI values according to the size of the RSSI value for each of the plurality of measurements;
Calculating a position of a terminal in the target space for each of the plurality of measurements by comparing the M RSSI values for each of the stored areas and the M RSSI values selected from each of the plurality of measurements; And
And performing the steps of determining any one of the positions of the terminal according to the plurality of measurements as the position of the terminal.
A computer program stored in a non-transitory computer readable storage medium,
The computer program includes one or more instructions, and when the instructions are executed by a computing device having one or more processors, cause the computing device to:
Dividing a target space in which one or more access points (APs) are installed into a plurality of zones, and measuring received signal strength indicator (RSSI) values of the one or more APs for each divided zone;
Selecting M APs (M is a natural number greater than 1) according to the size of the RSSI value measured for each zone, and storing the RSSI value of the selected AP;
Measuring the RSSI value of each AP multiple times at a predetermined point in the target space;
Selecting M RSSI values according to the size of the RSSI value for each of the plurality of measurements;
Calculating a position of a terminal in the target space for each of the plurality of measurements by comparing the M RSSI values for each of the stored areas and the M RSSI values selected from each of the plurality of measurements; And
And performing the steps of determining any one of the positions of the terminal according to the plurality of measurements as the position of the terminal.

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