KR20200080184A - Apparatus and method for measuring position - Google Patents

Abstract

The present invention provides fusion positioning engine technique capable of precise outdoor positioning in any driving environment by complementing strong points of various Wi-Fi positioning systems. A device for measuring a position comprises a first positioning unit, a second positioning unit, and a control unit.

Description

Positioning device and method{APPARATUS AND METHOD FOR MEASURING POSITION}

This application is a priority claim application for Korean Patent Application Nos. 10-2018-0169893 and 10-2018-0169894 filed on December 26, 2018, all contents disclosed in the specification and drawings of the application are cited Is incorporated in this application.

The present invention relates to a positioning device and method, specifically, to a positioning device and method capable of accurately measuring a position using a positioning technique based on GNSS and Wifi.

Positioning technology for estimating the position of a car running at high speed is a necessary technology for self-driving cars and advanced driver assistance systems, which have recently gained increasing interest. The GNSS (Global Navigation Satellite System) positioning technology that utilizes the existing satellite-based GPS, GLONASS, Galileo, BeiDou, etc. has errors of as little as 1m to as many as m. Therefore, the GNSS positioning technology was used in places where marginal errors are allowed or where there is little direct connection to human injury.

However, in the era of autonomous vehicles, if a short distance error of 1 m or more is allowed, the short-range error occurs when providing V2X communication services such as vehicles and vehicles (V2V), vehicles and infrastructure (V2I), and vehicles and pedestrians (V2P). There is a lot of room for safety problems such as vehicle accidents or personal injury. Therefore, in recent years, the demand for precision positioning technology for automobiles is increasing day by day.

Here, V2X communication is an important technology in the autonomous driving era that provides safety services to surrounding vehicles, infrastructure, and pedestrians along with various vehicle information based on the location information of a moving vehicle. Therefore, in V2X communication, location information of a vehicle requires precision.

In particular, GNSS is developing from GPS to DGPS, CDGPS, etc., but there is a problem in that it is necessary to launch a satellite that is not open to the public or has huge funds.

In addition, despite advances in technology for GNSS, when entering a urban canyon reminiscent of a building forest, communication errors occur due to reflection and absorption of GNSS signals, so positioning errors can occur frequently, It is necessary to develop a technology to supplement this.

In addition, Wifi-based positioning technology has been developed for outdoor positioning, but it has not been commercialized due to various problems such as insufficient Wifi infrastructure construction and a huge cost for location-based databases and tests.

The present invention was created to solve the above problems, and an object of the present invention is to provide a positioning device and method capable of precise positioning by combining GNSS-based positioning technology and Wifi-based positioning technology.

Other objects and advantages of the present invention can be understood by the following description, and will be more clearly understood by examples of the present invention. In addition, it will be readily appreciated that the objects and advantages of the present invention can be realized by means of the appended claims and combinations thereof.

A positioning device according to an aspect of the present invention includes a first positioning unit configured to receive a first location information signal based on a first positioning method; A second positioning unit configured to receive a second location information signal based on a second positioning method different from the first positioning method; And receiving the first location information signal and the second location information signal from each of the first positioning portion and the second positioning portion, obtaining first location information from the first location information signal, and the second location. Obtaining one or more second location information from an information signal, comparing the first location information and the second location information with previously stored location data for each, and based on the comparison result, the first location information and the second location information It may include a control unit configured to calculate an error rate for each, and output at least one of the first location information and the second location information based on the calculated one or more error rates.

The pre-stored location data may include first location data corresponding to the first location information and second location data corresponding to the second location information, respectively.

The control unit determines a movement pattern of each of the first position data and the second position data, calculates a first error rate between the first position information and the movement pattern of the first position data, and the second position information And a second error rate between the movement pattern of the second position data.

The control unit may be configured to output location information having the lowest error rate among the first location information and the second location information.

The control unit may be configured to add position information having an error rate equal to or less than a reference error rate among the first position information and the second position information to the previously stored position data.

The positioning device according to another aspect of the present invention may further include a sensing unit configured to measure speed information for a unit time.

The control unit selects location information having a first error rate equal to or less than a reference error rate among the first location information and the second location information, and compares the selected location information with the previously stored location data, for each of the selected location information. The movement path is determined, and each of the determined movement paths is compared with speed information measured by the sensing unit to calculate a second error rate for each of the selected location information, and based on the calculated second error rate, the first location It may be configured to output at least one of information and the second location information.

The control unit receives the first location information signal and the second location information signal after requesting the first location information signal and the second location information signal to each of the first positioning portion and the second positioning portion, respectively. It can be configured to compare with the pre-stored location data only for location information whose response time is until the reference time is less than the reference time.

The control unit compares each of the first location information and the second location information with the previously stored location data to determine a movement path for each location information, and the speed measured by the sensing unit for each of the determined movement paths It may be configured to calculate an error rate for each of the first location information and the second location information in comparison with information.

The control unit may be configured to determine a movement path for each of the location information by comparing each of the first location information and the second location information with location data stored in a previous cycle among the previously stored location data.

A portable terminal according to another aspect of the present invention may include a positioning device according to the present invention.

An automobile according to another aspect of the present invention may include a positioning device according to the present invention.

A positioning method according to another aspect of the present invention includes a first positioning step of receiving a first location information signal based on a first positioning method and obtaining first location information based on the received first location information signal; Parallel to the first positioning step, receiving a second location information signal based on a second positioning method different from the first positioning method, and obtaining second location information based on the received second location information signal 2 positioning steps; A comparison step of comparing the first location information and the second location information with location data previously stored for each; An error rate calculation step of calculating an error rate for each of the first position information and the second position information based on a comparison result of the comparison step; And a location information output step of outputting at least one of the first location information and the second location information based on one or more error rates calculated in the error rate calculation step.

According to an aspect of the present invention, precise positioning may be possible when driving a vehicle. In particular, according to an embodiment of the present invention, it is applied to an autonomous vehicle, so that the safety of drivers and pedestrians can be effectively guaranteed.

In addition, according to one aspect of the present invention, by using the GNSS-based positioning technology and the Wifi-based positioning technology to complement each other, it is possible to enable outdoor precision positioning in any driving environment.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description of the claims.

The following drawings attached to the present specification illustrate preferred embodiments of the present invention, and the present invention serves to further understand the technical idea of the present invention together with the detailed description of the invention described below. It should not be interpreted as being limited to.
1 is a view schematically showing a positioning device according to an embodiment of the present invention.
2 is a view showing an exemplary configuration of a positioning device according to an embodiment of the present invention.
3 is a view schematically showing a first embodiment performed in a positioning device according to an embodiment of the present invention.
4 is a view schematically showing a second embodiment performed in a positioning device according to an embodiment of the present invention.
5 is a view schematically showing a third embodiment performed in the positioning device according to an embodiment of the present invention.
6 is a view schematically showing a positioning method according to another embodiment of the present invention.

The terms or words used in the specification and claims should not be interpreted as being limited to ordinary or dictionary meanings, and the inventor can appropriately define the concept of terms in order to best describe his or her invention. Based on the principle that it should be interpreted as meanings and concepts consistent with the technical spirit of the present invention.

Therefore, the configuration shown in the embodiments and the drawings described in this specification are only the most preferred embodiments of the present invention and do not represent all of the technical spirit of the present invention. It should be understood that there may be equivalents and variations.

In addition, in the description of the present invention, when it is determined that detailed descriptions of related well-known structures or functions may obscure the subject matter of the present invention, detailed descriptions thereof will be omitted.

Terms including ordinal numbers such as first and second are used for the purpose of distinguishing any one of various components from the rest, and are not used to limit the components by such terms.

Throughout the specification, when a part “includes” a certain component, this means that other components may be further included, rather than excluding other components, unless otherwise specified.

In addition, terms such as a controller described in the specification mean a unit that processes at least one function or operation, which may be implemented by hardware or software, or a combination of hardware and software.

In addition, throughout the specification, when a part is "connected" to another part, it is not only "directly connected", but also "indirectly connected" with another element in between. Includes.

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

1 is a view schematically showing a positioning device 100 according to an embodiment of the present invention. 2 is a diagram showing an exemplary configuration of the positioning device 100 according to an embodiment of the present invention.

1 and 2, the positioning device 100 according to an embodiment of the present invention includes a first positioning unit 110, a second positioning unit 120, a control unit 130, and a storage unit 140. It can contain.

The first positioning unit 110 may be configured to receive the first location information signal based on the first positioning method.

The first positioning method may be a satellite-based GNSS positioning method. Specifically, the first positioning unit 110 may receive the GNSS RF signal. Here, GPS, GLONASS, Galileo or Beidou may be applied to the GNSS positioning method.

For example, when the positioning device 100 is provided in the vehicle, the first positioning unit 110 may receive the GPS signal of the vehicle from the satellite. In this case, a GPS receiver may be applied to the first positioning unit 110.

Preferably, the first positioning unit 110 may be configured to receive the first location information signal every predetermined period. For example, the first positioning unit 110 may receive the first location information signal every 100 ms.

The second positioning unit 120 may be configured to receive a second location information signal based on a second positioning method different from the first positioning method.

As the second positioning method, a Wifi-based positioning method may be applied. Specifically, the second positioning unit 120 may communicate with a Wifi AP (Access Point) to receive a Wifi RF signal.

For example, when the positioning device 100 is provided in the vehicle, the second positioning unit 120 may communicate with a Wifi AP near the vehicle to receive a second location information signal between the vehicle and the Wifi AP. In this case, the second positioning unit 120 may be a Wifi receiver.

Further, the Wifi frequency band that the second positioning unit 120 can receive may be applied without limitation. For example, the second positioning unit 120 may receive a Wifi RF signal in the 2.4 GHz and/or 5 GHz frequency band. That is, the second positioning unit 120 may receive various Wifi RF signals of the IEEE 802.11 series. For example, the Wifi RF signal that can be received by the second positioning unit 120 includes a, b, g, n, ac, ax, and ad of the IEEE 802.11 series, and d, e, and f of the IEEE 802.11 series. , p and mc.

Preferably, the second positioning unit 120, like the first positioning unit 110, may be configured to receive a second location information signal at a predetermined period. For example, the second positioning unit 120 may receive the second location information signal every 100 ms.

The control unit 130 may be configured to receive the first location information signal and the second location information signal from each of the first positioning unit 110 and the second positioning unit 120.

For example, in the embodiment of FIG. 2, the first positioning unit 110 and the second positioning unit 120 are connected to the control unit 130 to transmit and receive signals. However, in the embodiment of FIG. 2, although the first positioning unit 110 and the second positioning unit 120 are illustrated as being connected to the control unit 130 through a wired line, the first positioning unit 110 and the second positioning unit are illustrated. The 120 may be connected to each other through the wireless communication with the control unit 130.

The controller 130 may be configured to obtain first location information from the first location information signal. That is, the control unit 130 may acquire the first location information of the positioning device 100 based on the first location information signal received from the first positioning unit 110.

Specifically, the control unit 130 may obtain first location information indicating the first location of the positioning device 100 from the first location information signal received from the first positioning unit 110. That is, the first location information may be location information indicating the location of the positioning device 100 based on the first positioning method.

Preferably, the controller 130 may obtain first location information for the positioning device 100 based on the first location information signal received from the satellite by the first positioning unit 110. For example, the controller 130 may acquire first location information of the positioning device 100 based on the GPS signal received by the first positioning unit 110. Here, it is noted that the first location information P1 is location information obtained from the first location information signal according to the first location measurement method, and does not mean location information obtained at the first time point.

Also, the controller 130 may be configured to acquire one or more second location information from the second location information signal. That is, the control unit 130 may acquire the second location information of the positioning device 100 based on the second location information signal received from the second positioning unit 120.

Specifically, the control unit 130 may obtain second position information indicating the second position of the positioning device 100 from the second position information signal received from the second positioning unit 120. That is, the second location information may be location information indicating the location of the positioning device 100 based on the second positioning method.

Preferably, the control unit 130 may acquire one or more second location information for the positioning device 100 based on the signal strength or signal time of the second location information signal received from the second positioning unit 120. have.

Specifically, the controller 130 may obtain the second location information according to a received signal strength indication (RSSI) or a fingerprint method based on the signal strength of the second location information signal. In addition, the controller 130 may acquire second location information according to a round trip time (RTT) method based on the signal time of the second location information signal. In addition, it is noted that the controller 130 can obtain various second location information based on the signal strength or signal time of the second location information signal.

For example, the controller 130 may acquire all location information according to the RSSI method, location information according to the fingerprint method, and location information according to the RTT method based on the second location information signal. In this case, the second location information obtained by the controller 130 based on the second location information signal may include location information according to the RSSI method, location information according to the fingerprint method, and location information according to the RTT method.

The controller 130 may be configured to compare the acquired first location information and second location information with location data stored in advance for each.

Here, the pre-stored location data may include first location data corresponding to the first location information and second location data corresponding to the second location information, respectively. That is, the location data can be stored independently for each of the first location information and the second location information.

Preferably, the location data can be stored in the storage 140.

For example, location data corresponding to the first location information may be stored in the storage 140, and location data corresponding to the second location information may be stored. More specifically, the storage unit 140 may independently store location information for each location information according to the RSSI method, location information according to the fingerprint method, and location information according to the RTT method among the second location information.

For example, as the first embodiment, the control unit 130 determines a movement pattern of the positioning device 100 from each of the location data stored in the storage unit 140, and the movement pattern corresponding to the first location information and the second location information Can compare

As another example, as a second embodiment, the control unit 130 may compare the first location information and the second location information with location data of the immediately preceding period among corresponding location data.

The first embodiment and the second embodiment will be described later in detail.

The controller 130 may be configured to calculate an error rate for each of the first location information and the second location information based on the comparison result.

Here, the error rate is calculated for each of the first location information and the second location information, and may be a measure of determination as to whether the first location information or the second location information accurately indicates the location of the current positioning device 100. have.

For example, the error rate can be calculated as any one of 0% to 100%. If the error rate is 0%, it may be determined that the first position information is very accurate, and if the error rate is 100%, the first position information is very incorrect.

The controller 130 may calculate an error rate of the first location information and an error rate of the second location information, respectively.

The controller 130 may be configured to output at least one of the first location information and the second location information based on the calculated one or more error rates.

Preferably, the control unit 130 may be configured to output location information having the lowest error rate among the first location information and the second location information. That is, location information having the lowest error rate may be output as optimal location information for the current positioning device 100.

For example, the controller 130 obtains the first location information based on the GPS signal, and acquires the second location information based on the Wifi signal. The second location information includes RSSI-based location information, Fingerprint-based location information, and RTT-based It is assumed that location information is included. In this case, the controller 130 may calculate an error rate of the first location information, an error rate of the RSSI-based location information, an error rate of the fingerprint-based location information, and an error rate of the RTT-based location information. In addition, the controller 130 may output location information having the lowest error rate as optimal location information of the positioning device 100 at the current time.

According to an embodiment of the present invention, both GNSS-based location information and Wifi-based location information are obtained, and among the obtained multiple location information, location information having the lowest error rate can be provided as optimal location information. .

Therefore, the positioning device 100 has an advantage of providing optimal location information at every period by using various positioning methods complementarily.

On the other hand, the control unit 130 provided in the positioning device 100 according to an embodiment of the present invention, a processor known in the art to execute various control logic performed in the present invention, application-specific integrated circuit (ASIC), Other chipsets, logic circuits, registers, communication modems, data processing devices, and the like may optionally be included. In addition, when the control logic is implemented in software, the control unit 130 may be implemented as a set of program modules. At this time, the program module may be stored in the memory and executed by the control unit 130. The memory may be inside or outside the control unit 130 and may be connected to the control unit 130 by various well-known means.

In addition, the storage unit 140 provided in the positioning device 100 according to an embodiment of the present invention may store programs and data necessary for the control unit 130 to acquire location information. That is, the storage unit 140 may store data required for each component of the positioning device 100 to perform operations and functions or data generated during a program or operation and functions are performed. The storage unit 140 is not particularly limited in its kind, as long as it is a known information storage means that can record, erase, update, and read data. As an example, the information storage means may include RAM, flash memory, ROM, EEPROM, registers, and the like. Also, the storage 140 may store program codes in which processes executable by the controller 130 are defined.

Hereinafter, each of the above embodiments will be described in detail.

First, the first embodiment will be described in detail with reference to FIG. 3.

3 is a view schematically showing a first embodiment performed in the positioning device 100 according to an embodiment of the present invention.

The control unit 130 may be configured to determine a movement pattern of each of the first position data SP1 and the second position data SP2.

Specifically, the controller 130 may determine a first movement pattern based on the first location data SP1. That is, the controller 130 may determine the first movement pattern based on the first location information P1 received from the first positioning unit 110 at the previous time point.

For example, it is assumed that the present is the Nth time point, and the controller 130 acquires the first location information P1 at the Nth time point. The control unit 130 may determine a movement pattern of the first location data SP1 stored in the storage unit 140 (one or more first location information P1 before the Nth time point).

Similarly, the control unit 130 may determine a second movement pattern based on the second location data SP2.

For example, it is assumed that the RSSI-based location information, the fingerprint-based location information, and the RTT-based location information are included in the second location information P2. RSSI-based location data, Fingerprint-based location data, and RTT-based location data may be stored in the storage 140, respectively. The controller 130 may determine a movement pattern for each of RSSI-based location data, fingerprint-based location data, and RTT-based location data.

In the embodiment of FIG. 3, the controller 130 may input the first position data SP1 and the second position data SP2 into the learning model M. Then, the first movement pattern may be determined based on the first location data SP1 by the learning model M, and the second movement pattern may be determined based on the second location data SP2.

The control unit 130 may be configured to calculate a first error rate between the first position information P1 and the movement pattern of the first position data SP1.

Preferably, the controller 130 compares the first movement pattern and the first location information P1, and according to the degree to which the first location information P1 can be derived from the first movement pattern, the first location information P1 ), the error rate (E11) can be calculated.

For example, in the embodiment of FIG. 3, the controller 130 may input the first location information P1 and the first location data SP1 to the learning model M. By comparing the first movement pattern and the first location information P1 in the learning model M, an error rate E11 of the first location information P1 for the first movement pattern may be output. That is, as described above, since the pre-stored first position data SP1 is one or more first position information P1 acquired at a previous time point, a first movement pattern based on the first position data SP1 and a current time point The error rate between the first location information P1 obtained in can be output through the learning model M.

Here, if the error rate of the location information output through the learning model M is 0%, it can be determined that the location information exactly matches the next location expected from the movement pattern. Conversely, if the error rate of the outputted location information is 100%, it can be determined that the location information is not expected at all from the movement pattern.

The control unit 130 may be configured to calculate a second error rate between the second position information P2 and the movement pattern of the second position data SP2.

For example, in the embodiment of FIG. 3, the controller 130 may input the second location information P2 and the second location data SP2 to the learning model M. In the learning model M, the error rate E21 of the second location information P2 for the second movement pattern may be output.

The error rate E11 of the first position information P1 is an error rate based on the first movement pattern and the first position information P1, and the error rate E21 of the second position information P2 is the second movement pattern and the second It is an error rate based on the location information (P2). That is, the error rate E11 of the first position information P1 and the error rate E21 of the second position information P2 may be independent of each other.

The control unit 130 based on the error rate E11 of the first position information P1 and the error rate E21 of the second position information P2 output from the learning model M, the first position information P1 and At least one of the second location information P2 may be output.

That is, the positioning device 100 according to an embodiment of the present invention includes the first movement pattern of the first position data SP1 according to the first positioning method and the second position data SP2 according to the second positioning method. Considering each of the two movement patterns, the error rate E21 of the first position information P1 and the second position information P2 may be calculated, respectively. Therefore, the first position information P1 and the second position information P2 are compared with each other based on an error rate according to a movement pattern, and thus there is an advantage that they can be used complementarily.

Preferably, the control unit 130 may be configured to output position information having the lowest error rate among the first position information P1 and the second position information P2.

In the embodiment of FIG. 3, the control unit 130 sets the lowest error rate among the error rate E11 of the first position information P1 and the error rate E21 of the second position information P2 output from the learning model M. You can choose. Then, the controller 130 may output position information corresponding to the selected error rate as optimal position information OP.

Specifically, the control unit 130 may output location information having a low error rate among the first location information P1 and the second location information P2 for each measurement period as optimal location information OP. That is, the position measurement method of the optimal position information OP output for each measurement period may be different from each other.

For example, the first position information P1 based on the first measurement method is output as the optimal position information OP at the Nth time point, and the second position information P2 based on the second measurement method at the N+1 time point is output. It may be output as optimal position information (OP).

That is, the positioning device 100 according to an embodiment of the present invention does not output location information based on only one measurement method, and the location information having a low error rate among location information according to a plurality of measurement methods is optimal location information ( OP). Therefore, the positioning device 100 has an advantage of providing more accurate location information by mutually using a plurality of measurement methods.

The control unit 130 may be configured to add position information having an error rate equal to or less than a reference error rate among the first position information P1 and the second position information P2 to the previously stored position data.

Specifically, the controller 130 may store the location information having an error rate equal to or less than a reference error rate among the first position information P1 and the second position information P2 in the storage 140.

For example, the reference error rate may be set to 50% or less. Preferably, the reference error rate can be set to 20%.

Referring to the embodiment of FIG. 3, the pre-stored first position data SP1 and second position data SP2 may be learning data input to the learning model M. That is, the reliability and accuracy of the error rate of the location information output from the learning model M may be influenced by the reliability of the learning data.

For example, the error rate E11 of the first position information P1 and the error rate E21 of the second position information P2 are not considered, and the first position information P1 and the second position information P2 are stored. If stored at 140, the reliability of the first location data SP1 and the second location data SP2 may decrease. Accordingly, the control unit 130 selectively stores only the location information in which the error rate output by the learning model M is less than or equal to the reference error rate among the first position information P1 and the second position information P2, thereby , It can improve the reliability of the learning data.

Accordingly, the positioning device 100 according to an embodiment of the present invention stores highly reliable learning data, and calculates an error rate of location information based on the learning data, thereby obtaining accuracy and reliability for optimal location information (OP). There is an advantage that can be improved.

The control unit 130 requests each of the first location information signal and the second location information signal to each of the first positioning unit 110 and the second positioning unit 120, and then the first location information signal. And only the location information in which the response time taken until receiving the second location information signal is equal to or less than the reference time, may be configured to compare with the previously stored location data.

Specifically, the control unit 130 may request the first positioning unit 110 to transmit the first location information signal. The first positioning unit 110 requested to transmit the first location information signal may receive the first location information signal based on the first measurement method. Then, the first positioning unit 110 may transmit the received first location information signal to the control unit 130. The control unit 130 may calculate a response time from the time when the first positioning unit 110 requests the transmission of the first location information signal to the time when the first location information signal is received from the first positioning unit 110. . Then, only when the calculated response time is less than or equal to the reference time, the controller 130 can input the first location information signal to the learning model M and compare it with the first location data SP1 stored in advance. In addition, the control unit 130 may process the response time of the second location information signal in the same manner as described above.

That is, when the response time of the location information signal received from the first positioning unit 110 and the second positioning unit 120 exceeds a reference time, the control unit 130 has a problem in communication between the positioning unit and the satellite or AP. It can be determined that has occurred. Accordingly, when the response time exceeds the reference time, the controller 130 may not determine the optimal location information OP of the positioning device 100 based on the location information.

For example, it is assumed that the control unit 130 requests the first location information signal from the first positioning unit 110 and the second location information signal from the second positioning unit 120. Here, if the response time of the first location information signal is less than the reference time, but the response time of the second location information signal exceeds the reference time, the optimum location information OP is the first location information P1 in the corresponding period. It can be judged based only on. That is, only the first location information P1 may be input to the learning model M, and the second location information P2 may not be input to the learning model M.

Accordingly, the positioning device 100 according to an embodiment of the present invention has an advantage of primarily considering transmission/reception response time of a location information signal in order to calculate optimal location information OP in real time. In addition, the positioning device 100 has an advantage of providing optimal location information in real time by calculating the optimum location information OP based only on location information whose response time is less than or equal to a reference time.

Next, the second embodiment will be described in detail with reference to FIG. 4.

4 is a view schematically showing a second embodiment performed in the positioning device 100 according to an embodiment of the present invention.

First, referring to FIGS. 1 and 2, the positioning device 100 according to an embodiment of the present invention may further include a sensing unit 150.

The sensing unit 150 may be configured to measure speed information V for a unit time.

For example, the sensing unit 150 may measure time, speed, direction, acceleration, etc. during a unit time. Here, the unit time may correspond to a period in which the first positioning unit 110 and the second positioning unit 120 request a location information signal from a satellite or a Wifi AP. More specifically, the unit time may correspond to a period in which the controller 130 requests the first location information signal from the first positioning unit 110. Similarly, the unit time may correspond to a period in which the control unit 130 requests the second location information signal from the second positioning unit 120. Preferably, the unit time may be 100 ms.

Preferably, the sensing unit 150 may measure the position information moved by the positioning device 100 for a unit time with speed information (eg, vector information) including directions.

The control unit 130 may be configured to determine a movement path for each of the location information by comparing each of the first location information P1 and the second location information P2 with the previously stored location data.

Preferably, the control unit 130 is configured to determine a movement path for each of the location information by comparing each of the first location information P1 and the second location information P2 with the location data stored in the immediately preceding period among the previously stored location data Can be.

Here, the movement path may be a movement path between the location information of the current time point and the location information of the immediately preceding point (the previous cycle). Specifically, the movement path may be a movement path from the location information of the previous period to the location information of the current period. Alternatively, the above-described movement pattern means a pattern of a movement path between previously stored location data.

That is, the movement path represents a variation of position information in two periods (preferably, the current and immediately preceding period), and the movement pattern may indicate variation in location information in all previous periods corresponding to the previously stored location data.

For example, in the embodiment of FIG. 4, the controller 130 may determine the first movement path R1 based on the first location information P1 and the previously stored first location data SP1. Preferably, the control unit 130 may determine the first movement path R1 between the location information of the immediately preceding period and the first location information P1 among the first location data SP1. Similarly, the control unit 130 may determine the second movement path R2 based on the second location information P2 and the previously stored second location data SP2.

Preferably, the control unit 130 may determine the movement path by comparing the location data previously stored only for the location information whose response time is less than or equal to the reference time.

Then, the control unit 130 compares each of the determined movement paths with the speed information V measured by the sensing unit 150 to each of the first position information P1 and the second position information P2. It can be configured to calculate the error rate for.

Specifically, the movement path determined by the control unit 130 represents a change in location information during a unit time. That is, the movement path may include information about the movement direction and the movement distance. In addition, the speed information V measured by the sensing unit 150 may also include information on a moving direction and a moving distance of the positioning device 100 for a unit time.

In the embodiment of FIG. 4, the control unit 130 compares each of the first movement path R1 and the second movement path R2 with the speed information V, and the first position information for the speed information V ( The error rate E12 of P1) and the error rate E22 of the second position information P2 can be calculated. That is, the error rate here may be an index indicating the same degree between the velocity information V and the location information.

Thereafter, the control unit 130 compares the error rate E12 of the calculated first position information P1 with the error rate E22 of the second position information P2, and thus, the first position information P1 and the second position information. Position information having the lowest error rate among (P2) may be output as optimal position information (OP).

The positioning device 100 according to an embodiment of the present invention provides optimal location information by verifying a movement path determined based on location information through speed information V measured by the sensing unit 150 There is an advantage.

Next, the third embodiment will be described in detail with reference to FIG. 5.

5 is a view schematically showing a third embodiment performed in the positioning device 100 according to an embodiment of the present invention.

Referring to FIG. 5, the third embodiment may be an embodiment in which the first embodiment of FIG. 3 and the second embodiment of FIG. 4 are combined.

The control unit 130 may be configured to select position information having a first error rate less than or equal to a reference error rate among the first position information P1 and the second position information P2.

For example, in the embodiment of FIG. 5, the controller 130 may include first location information P1, first location data SP1, second location information P2, and second location data SP2 in the learning model M. ) To calculate the first error rate E11 of the first position information P1 and the first error rate E21 of the second position information P2. Here, it is assumed that the first position information P1 and the second position information P2 are position information whose response time is less than or equal to a reference time.

That is, the control unit 130 determines the first movement pattern of the first location data SP1 using the learning model M, and compares the determined first movement pattern and the first location information P1 to determine the first movement pattern. The first error rate E11 of the information P1 can be calculated. In addition, the control unit 130 determines the second movement pattern of the second location data SP2 using the learning model M, and compares the determined second movement pattern and the second location information P2 to determine the second location. The first error rate E21 of the information P2 can be calculated. This process is the same as the process of comparing location information and location data using the learning model M in the first embodiment, so a detailed description is omitted.

Thereafter, the controller 130 may select only position information whose first error rate is equal to or less than the reference error rate.

For example, in the embodiment of FIG. 5, if both the first error rate E11 of the first position information P1 and the first error rate E21 of the second position information P2 are equal to or less than the reference error rate, the controller 130 Both the first location information P1 and the second location information P2 can be selected.

That is, the controller 130 may primarily compare the first error rate E11 of the first position information P1 and the first error rate E21 of the second position information P2 to the reference error rate.

The control unit 130 may be configured to determine a movement path for each of the selected location information by comparing the selected location information with the previously stored location data.

For example, in the embodiment of FIG. 5, when the first error rate E11 of the first position information P1 is equal to or less than the reference error rate, the first movement path R1 is the first position information P1 as shown in FIG. 4. ) And the first location data SP1. Similarly, when the first error rate E21 of the second position information P2 is equal to or less than the reference error rate, the second movement path R2 includes the second position information P2 and the second position data ( SP2).

That is, it is noted that the first movement path R1 of the embodiment of FIG. 5 is omitted by comparing the first position information P1 and the first position data SP1 as in the second embodiment of FIG. 4. do. Similarly, it is noted that the second movement path R2 of the embodiment of FIG. 5 is omitted by comparing the second position information P2 and the second position data SP2 as in the second embodiment of FIG. 4. do.

For example, the control unit 130 compares each of the first movement path R1 and the second movement path R2 with the speed information V, and the second of the first position information P1 for the speed information V The error rate E12 and the second error rate E22 of the second position information P2 may be calculated. This process is the same as the process of comparing the movement path and the speed information V in the second embodiment, so a detailed description is omitted.

The controller 130 may be configured to output at least one of the first location information P1 and the second location information P2 based on the calculated second error rate.

Preferably, the control unit 130 may select the second error rate having the most from the second error rate E12 of the calculated first position information P1 and the second error rate E22 of the second position information P2. Then, the controller 130 may output position information corresponding to the selected second error rate as optimal position information OP.

That is, the positioning device 100 according to an embodiment of the present invention primarily outputs by comparing a movement pattern and location information using a learning model and secondly comparing a movement path and speed information V Two-step verification of the optimal location information (OP) can be performed. Therefore, there is an advantage in that the accuracy and reliability of the output optimal position information OP can be improved.

The positioning device 100 according to an embodiment of the present invention may be included in a portable terminal. Here, the portable terminal can be applied without limitation as long as it is a portable terminal. For example, the portable terminal may include a wearable device, a mobile phone, a tablet PC, and a laptop. The positioning device 100 is included in the portable terminal, and may provide optimal position information OP among position information based on the first positioning method and the second positioning method.

In addition, the positioning device 100 according to an embodiment of the present invention may be included in the vehicle. For example, the positioning device 100 may be included in an autonomous vehicle. The positioning device 100 is connected to the ECU of the autonomous vehicle, and can provide optimal position information OP in real time. The ECU provided with the optimal position information OP may determine the position of the autonomous vehicle and perform autonomous driving.

6 is a view schematically showing a positioning method according to another embodiment of the present invention. Here, the positioning method may be performed by each configuration of the positioning device 100.

The positioning method according to another embodiment of the present invention includes a first positioning step (S100), a second positioning step (S200), a comparison step (S300), an error rate calculating step (S400), and a location information output step (S500). Can.

The first positioning step (S100) is a step of receiving a first location information signal based on a first positioning method and obtaining first location information P1 based on the received first location information signal. It may be performed by the unit 110 and the control unit 130.

First, the first positioning unit 110 may receive the first location information signal based on the first positioning method. Then, the first positioning unit 110 may transmit the received first location information signal to the control unit 130. The controller 130 may obtain the first location information P1 based on the first location information signal received from the first positioning unit 110.

For example, the first positioning unit 110 may receive a GPS RF signal as a first location information signal. Then, the controller 130 may obtain the first location information P1 based on the GPS RF signal received by the first positioning unit 110.

The second positioning step (S200) is a step parallel to the first positioning step (S100), receiving a second location information signal based on a second positioning method different from the first positioning method, and receiving the second location information This is a step of obtaining the second location information P2 based on the signal. The second positioning step S200 may be performed by the second positioning unit 120 and the control unit 130.

Specifically, FIG. 6 illustrates that the second positioning step S200 is performed after the first positioning step S100 for convenience of description, but the second positioning step S200 is performed with the first positioning step S100. It can be done in parallel. For example, the first positioning step S100 and the second positioning step S200 may be performed at the same time.

First, the second positioning unit 120 may receive the second location information signal based on the second positioning method. Then, the second positioning unit 120 may transmit the received second location information signal to the control unit 130. The controller 130 may acquire the second location information P2 based on the second location information signal received from the second positioning unit 120.

For example, the second positioning unit 120 may receive a Wifi RF signal as a second location information signal. Then, the control unit 130 may acquire the second location information P2 based on the Wifi RF signal received by the second positioning unit 120.

Here, the controller 130 may acquire one or more second location information P2 based on the signal strength and/or signal time of the Wifi RF signal. For example, the controller 130 may obtain RSSI-based location information, fingerprint-based location information, and/or RTT-based location information.

The comparing step S300 is a step of comparing the first location information P1 and the second location information P2 with previously stored location data, and may be performed by the controller 130.

The error rate calculating step S400 is a step of calculating an error rate for each of the first location information P1 and the second location information P2 based on the comparison result of the comparison step S300, and the controller 130 Can be performed by.

Position information output step (S500) is a step of outputting at least one of the first position information (P1) and the second position information (P2) based on one or more error rates calculated in the error rate calculation step (S400), It may be performed by the control unit 130.

Hereinafter, the comparison step (S300), the error rate calculation step (S400) and the position information output step (S500) will be described based on the drawings and respective embodiments.

First, the first embodiment described above will be described with reference to FIG. 3.

In the comparison step (S300), the control unit 130 inputs the first location information P1 and the first stored location data SP1 to the learning model M, so that the first location information P1 and the first movement are performed. Patterns can be compared.

In addition, the controller 130 may input the second location information P2 and the pre-stored second location data SP2 into the learning model M to compare the second location information P2 and the second movement pattern. .

In the error rate calculation step S400, the controller 130 may calculate the error rate E11 of the first position information P1 and the error rate E21 of the second position information P2 as the output result of the learning result. That is, the error rate E11 of the first position information P1 may be calculated by comparing the first position information P1 and the first movement pattern. In addition, the second position information P2 and the second movement pattern are compared, and the error rate E21 of the second position information P2 may be calculated.

Here, the error rate may be calculated according to continuity or predictability between location information and a movement pattern.

In the position information output step (S500), the controller 130 may compare the error rate E11 of the first position information P1 and the error rate E21 of the second position information P2 output from the learning model M. have. In addition, the controller 130 may output location information having the lowest error rate as optimal location information OP.

Preferably, the controller 130 may compare the error rate E11 of the first position information P1 and the error rate E21 of the second position information P2 with the reference error rate. In addition, the controller 130 may store location information in which the error rate is less than or equal to the reference error rate in the storage 140. That is, the location information whose error rate is less than or equal to the reference error rate is stored in the storage unit 140, so that the first location data SP1 and the second location data SP2 previously stored in the storage unit 140 may be added. Therefore, since the learning data of the learning model M is added, the determination accuracy of the control unit 130 with respect to the optimal location information OP may be improved in a subsequent cycle.

Next, the second embodiment described above will be described with reference to FIG. 4.

In the comparison step (S300), the controller 130 determines the first movement path R1 by comparing the location data of the immediately preceding period among the first location information P1 and the previously stored first location data SP1. 1 The travel path R1 and the speed information V measured by the sensing unit 150 may be compared.

In addition, the control unit 130 determines the second movement path R2 by comparing the location data of the immediately preceding period among the second location information P2 and the previously stored second location data SP2, and determines the second movement path R2. ) And speed information V measured by the sensing unit 150 may be compared.

In the error rate calculation step S400, the controller 130 may calculate the error rate E12 of the first position information P1 by comparing the first movement path R1 and the speed information V. In addition, the control unit 130 may calculate the error rate E22 of the second position information P2 by comparing the second movement path R2 and the speed information V.

Here, the error rate may be calculated according to the degree to which the movement time, movement direction, and movement distance along the movement path coincide with the movement time, movement direction, and movement distance according to the speed information V.

In the position information output step (S500), the control unit 130 may compare the error rate E12 of the first position information P1 and the error rate E22 of the second position information P2 output from the learning model M. have. In addition, the controller 130 may output location information having the lowest error rate as optimal location information OP.

Finally, the third embodiment described above will be described with reference to FIG. 5.

In the comparison step (S300), the control unit 130 inputs the first location information P1 and the first stored location data SP1 to the learning model M, so that the first location information P1 and the first movement are performed. Patterns can be compared. The controller 130 calculates the first error rate E11 of the first location information P1 as a result of the output of the learning result, and compares the calculated first error rate E11 of the first location information P1 with the reference error rate Can. If the first error rate E11 of the first position information P1 is equal to or less than the reference error rate, the control unit 130 compares the position data of the immediately preceding cycle among the first position information P1 and the first position data SP1 previously stored. By determining the first movement path (R1), it is possible to compare the first movement path (R1) and the speed information (V) measured by the sensing unit 150.

Similarly, the controller 130 may input the second location information P2 and the second pre-stored second location data SP2 into the learning model M to compare the second location information P2 and the second movement pattern. . The control unit 130 calculates the first error rate E21 of the second position information P2 as the output result of the learning result, and compares the calculated first error rate E21 of the second position information P2 with the reference error rate Can. If the first error rate E21 of the second position information P2 is equal to or less than the reference error rate, the control unit 130 compares the position data of the immediately preceding cycle among the second position information P2 and the previously stored second position data SP2. By determining the second movement path R2, the second movement path R2 and the speed information V measured by the sensing unit 150 may be compared.

In the error rate calculation step (S400), the control unit 130 compares the first movement path R1 with the speed information V to calculate the second error rate E12 of the first position information P1. can do. In addition, the control unit 130 may calculate the second error rate E22 of the second position information P2 by comparing the second movement path R2 and the speed information V.

Here, the first error rate is an error rate calculated by comparing the position information and the movement pattern, and the second error rate is an error rate calculated by comparing the movement path and the speed information V.

In the position information output step (S500), the control unit 130 has a second error rate E12 of the first position information P1 and a second error rate E22 of the second position information P2 output from the learning model M. ). In addition, the controller 130 may output location information having the lowest second error rate as optimal location information OP.

As described above, although the present invention has been described by a limited number of embodiments and drawings, the present invention is not limited by this, and the technical idea of the present invention and the following will be described by those skilled in the art to which the present invention pertains. Of course, various modifications and variations are possible within the equivalent scope of the claims to be described.

The embodiment of the present invention described above is not implemented only through an apparatus and a method, and may be implemented through a program that realizes a function corresponding to the configuration of the embodiment of the present invention or a recording medium in which the program is recorded. The implementation can be easily implemented by those skilled in the art to which the present invention pertains from the description of the above-described embodiments.

In addition, since the present invention described above can be variously substituted, modified, and changed within a range not departing from the technical spirit of the present invention to those skilled in the art to which the present invention pertains, the above-described embodiments and attachments It is not limited by the drawings, but all or part of each of the embodiments may be selectively combined to be configured so that various modifications can be made.

100: positioning device
110: first location
120: second positioning
130: control unit
140: storage
150: sensing unit

Claims (11)

A first positioning unit configured to receive the first location information signal based on the first positioning method;
A second positioning unit configured to receive a second location information signal based on a second positioning method different from the first positioning method; And
The first location information signal and the second location information signal are received from each of the first positioning portion and the second positioning portion, the first location information is obtained from the first location information signal, and the second location information is obtained. Acquiring one or more second location information from a signal, comparing the first location information and the second location information with previously stored location data for each, and based on the comparison result, each of the first location information and the second location information And a control unit configured to calculate an error rate for and output at least one of the first position information and the second position information based on the calculated one or more error rates.
According to claim 1,
The pre-stored location data,
And first location data corresponding to the first location information and second location data corresponding to the second location information, respectively.
The control unit,
The movement pattern of each of the first position data and the second position data is determined, and a first error rate between the first position information and the movement pattern of the first position data is calculated, and the second position information and the second And a second error rate between movement patterns of the position data.
According to claim 2,
The control unit,
Positioning device, characterized in that configured to output the location information having the lowest error rate of the first location information and the second location information.
According to claim 2,
The control unit,
Positioning device, characterized in that the first position information and the second position information is configured to add position information having an error rate equal to or less than a reference error rate to the previously stored position data.
According to claim 2,
Further comprising a sensing unit configured to measure the speed information for a unit time,
The control unit,
Among the first location information and the second location information, location information having a first error rate below a reference error rate is selected, and the selected location information is compared with the previously stored location data to determine a movement path for each of the selected location information And compares each of the determined movement paths with speed information measured by the sensing unit to calculate a second error rate for each of the selected position information, and based on the calculated second error rate, the first position information and the first Positioning device, characterized in that configured to output at least one of the two location information.
According to claim 1,
The control unit,
After requesting each of the first location information signal and the second location information signal to each of the first positioning portion and the second positioning portion, it is necessary until the first location information signal and the second location information signal are received. Positioning device, characterized in that configured to compare the pre-stored location data only for the location information of the response time is less than the reference time.
According to claim 1,
Further comprising a sensing unit configured to measure the speed information for a unit time,
The control unit,
Each of the first location information and the second location information is compared with the previously stored location data to determine a movement path for each location information, and each of the determined movement paths is compared with speed information measured by the sensing unit. Positioning device, characterized in that configured to calculate an error rate for each of the first position information and the second position information.
The method of claim 7,
The control unit,
Positioning device, characterized in that configured to determine the movement path for each of the location information by comparing each of the first location information and the second location information with the location data stored in the previous cycle among the previously stored location data. A portable terminal comprising the positioning device according to any one of claims 1 to 8.
A vehicle comprising a positioning device according to claim 1.
A first positioning step of receiving a first location information signal based on the first positioning method and obtaining first location information based on the received first location information signal;
Parallel to the first positioning step, receiving a second location information signal based on a second positioning method different from the first positioning method, and obtaining second location information based on the received second location information signal 2 positioning steps;
A comparison step of comparing the first location information and the second location information with location data previously stored for each;
An error rate calculation step of calculating an error rate for each of the first position information and the second position information based on a comparison result of the comparison step; And
And a location information output step of outputting at least one of the first location information and the second location information based on one or more error rates calculated in the error rate calculation step.

Images