KR20220023686A - Device and Method for Positioning a Personal Mobility - Google Patents

Abstract

Disclosed are a device and method for positioning a personal mobility. According to an aspect of the present invention, the method for positioning a personal mobility includes the processes of: receiving messages from a plurality of auxiliary roadside devices; obtaining distances between a personal mobility (PM) and the plurality of auxiliary roadside devices based on the messages; estimating a candidate location of the PM based on distances between the PM and the plurality of auxiliary roadside devices; receiving correction data from a reference roadside device; correcting the candidate position based on the correction data; and determining the corrected candidate position as the final position of the PM.

Description

Device and Method for Positioning a Personal Mobility

Embodiments of the present invention relate to a personal mobility positioning apparatus and method using V2X communication, in particular, to a positioning apparatus and method using a reference roadside apparatus and a plurality of auxiliary roadside apparatuses.

The content described in this section merely provides background information on the present invention and does not constitute the prior art.

As a means of transportation or transportation, the proportion of vehicles is decreasing, and the proportion of personal mobility (PM) is increasing. Here, the PM refers to a moving body for 1 or 2 people, and means a moving means including an electric kickboard, a PM, a bike, a smart car, a vehicle, a purpose-built vehicle (PBV), an air vehicle, and the like.

In general, a global navigation satellite system (GNSS) based on a satellite signal is used to determine the position of the PM. An example of the GNSS is a global positioning system (GPS). V2X (vehicle to everything) standard technology applied to intelligent transportation systems also estimates the location of a vehicle based on GPS.

Global Positioning System (GPS) is a positioning technology used worldwide, and is one of the most used positioning systems among technologies developed to date.

However, in general, the error range in position measurement using GPS is 5 to 15 m, and the error may appear up to 30 m, so it does not satisfy the performance for general PM safety technology.

In particular, in an urban area with many high-rise buildings, GPS signals are diffusely reflected by high-rise buildings. GPS diffuse reflection may prevent the GPS signal from being transmitted to the destination in the shortest possible way, thereby reducing the accuracy of positioning. In addition, since it is difficult to receive a satellite signal in a GPS dead zone such as an indoor parking lot, it is more difficult to determine the location of the vehicle.

To solve this problem, an additional device is used in a GPS shadow area or an urban area. In the positioning method using GPS, in addition to the GPS technology, a map matching technology that displays the vehicle location as a location on the nearest road may be used. In addition, through an inertial navigation system (INS), it is possible to reduce the inaccuracy of the GPS and receive additional information necessary for positioning in the GPS dead zone. However, even if both GPS and INS are used, there is a limit to reducing the positioning error because the position is estimated based on the satellite signal transmitted from the satellite.

When a technology for providing signal information to a vehicle using GPS is applied to a PM, a problem due to a GPS positioning error may be further highlighted. This is because, unlike vehicles that only drive on the road, PMs can drive on various routes, such as sidewalks, roadways, bicycle paths, or alleys. That is, if traffic information is provided to the PM through GPS positioning, there is a problem in that it is difficult to deliver necessary information to the PM due to a positioning error.

Therefore, it is necessary to accurately determine the location of the PM before providing various services using the PM.

Embodiments of the present invention provide a PM positioning device and method for providing an accurate location of a PM through a plurality of roadside devices and V2X communication even in a GNSS dead-zone or an area where diffuse reflection of satellite signals is severe. It has a main purpose.

According to an aspect of the present invention, there is provided a method comprising: receiving messages from a plurality of auxiliary roadside devices; obtaining distances between Personal Mobility (PM) and the plurality of auxiliary roadside devices based on the messages; estimating a candidate location of the PM based on distances between the PM and the plurality of auxiliary roadside devices; receiving correction data from a reference roadside device; correcting the candidate position based on the correction data; and determining the corrected candidate position as the final position of the PM.

According to another aspect of this embodiment, the communication unit for communicating with the plurality of auxiliary roadside apparatuses through messages and receiving correction data from the reference roadside apparatus; and obtaining distances between the PM and the plurality of auxiliary roadside apparatuses based on the messages, estimating a candidate location of the PM based on the distances between the PM and the plurality of auxiliary roadside apparatuses, and adding to the correction data and a controller for correcting the candidate position based on the candidate position and determining the corrected candidate position as the final position of the PM.

As described above, according to an embodiment of the present invention, it is possible to estimate the exact position of a PM through V2X communication with a plurality of roadside devices even in a GNSS dead-zone or an area where diffuse reflection of satellite signals is severe.

According to an embodiment of the present invention, various services such as a PM sharing service and a PM multi-modal service can be provided by accurately estimating the location of the PM.

1 is a configuration diagram illustrating the components of a positioning device according to an embodiment of the present invention.
2A and 2B are diagrams for explaining a process of estimating an accurate location of a PM according to an embodiment of the present invention.
3 is a flowchart for explaining a positioning method according to an embodiment of the present invention.

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

In addition, in describing the components of the present invention, terms such as first, second, A, B, (a), (b), etc. may be used. These terms are only for distinguishing the elements from other elements, and the essence, order, or order of the elements are not limited by the terms. Throughout the specification, when a part 'includes' or 'includes' a certain element, this means that other elements may be further included, rather than excluding other elements, unless otherwise stated. . In addition, terms such as '~ unit' and 'module' described in the specification mean a unit that processes at least one function or operation, which may be implemented as hardware or software or a combination of hardware and software.

Hereinafter, a personal mobility device (Personal Mobility Vehicle, hereinafter referred to as PM) refers to a moving body that can be moved by one or two people. For example, Micro Mobility, Electric Bicycle, Electric Scooter, Electric Scooter, Electric Wheelchair, Electric Bike, Segway, 2-Wheel Drive, Smart Car, 1-2 Seater Shuttle, Personal There are transportation means, personal flight means, smart mobility, shared mobility, first mile, last mile, PBV (Purpose Built Vehicle), PAV (Personal Air Vehicle), vehicle, electric vehicle, etc.

In addition, the intelligent transport system (Intelligent Transport System, ITS) includes a roadside unit (Road Side Unit; RSU) or a mobile communication base station. Both the roadside device or the base station perform broadcasting, but may support communication methods such as unicast and multicast if necessary. Hereinafter, roadside units (Road Side Units, RSUs) will be described on the basis of performing V2X (Vehicle to Everything) communication with PMs. V2X communication includes LTE-V2X, C-V2X, 5G-V2X, Wireless Access In Vehicular Environment (WAVE), Dedicated Short Range Communication (DSRC), and the like. In addition, a communication standard used in an Intelligent Transport System (ITS) may be used. Hereinafter, the terms between the roadside device and the base station may be used interchangeably.

The positioning device may be implemented as a server located outside the PM. In addition, the positioning apparatus may be implemented by a device located inside the PM, a user terminal, or the like. The positioning device may pre-store at least one of a virtual map, identification information of the roadside device, location coordinates corresponding to the identification information of the roadside device, identification information of a PM, and subscriber information of a user. Here, the location coordinates mean latitude and longitude or mean two-dimensional or three-dimensional coordinates based on a specific point. Hereinafter, it will be described that the positioning device is mounted on the PM.

Meanwhile, the positioning device may include one or more components that enable communication with an external device, and may include at least one of a short-range communication module and a wireless communication module.

Short-distance communication modules include Bluetooth module, infrared communication module, RFID (Radio Frequency Identification) communication module, UWB (Ultra-Wide Band), WLAN (Wireless Local Access Network) communication module, NFC communication module, Zigbee communication module, etc. may include various short-range communication modules for transmitting and receiving signals using a wireless communication network.

The wireless communication modules are V2X (vehicle-to-everything), C-V2X (Cellular-V2X), WAVE (Wireless Access in Vehicle Environment), DSRC (Dedicated Short Range Communication), Wi-Fi module, LTE (Long Term Evolution) ), and may include a wireless communication module supporting various wireless communication methods such as NR (New Radio). Hereinafter, the message means a message used in each wireless communication method.

1 is a configuration diagram illustrating the components of a positioning device according to an embodiment of the present invention.

Referring to FIG. 1 , the positioning device 10 includes a power supply unit 100 , a communication unit 110 , a sensing unit 120 , a storage unit 130 , and a control unit 140 .

The power supply unit 100 is a component that supplies power to the components in the positioning device 10 .

The communication unit 110 is a component that communicates with an intelligent transport system (ITS). That is, the communication unit 110 is a component that communicates with a plurality of auxiliary roadside devices through messages and receives correction data from the reference roadside device. Also, the communication unit 110 may communicate with the server through roadside devices.

The sensing unit 120 is a component that receives the position of the PM. The sensing unit 120 may receive the position of the PM using a module such as GNSS, GPS, DGPS, or CDGPS. Receiving the position of the sensing unit 120 is distinguished from estimating the position of the PM using roadside devices. According to an embodiment of the present invention, when the position of the PM is not estimated by the sensing unit 120, the positioning method may be performed.

The control unit 140 is a component that estimates the position of the PM based on the messages and the correction data.

Hereinafter, the PM positioning process of the controller 140 will be described.

The control unit 140 receives messages from a plurality of auxiliary roadside devices through the communication unit 110 .

Thereafter, the controller 140 obtains distances between a personal mobility (PM) and a plurality of auxiliary roadside devices based on the messages. According to an embodiment of the present invention, the control unit 140 is based on at least one of a received signal strength indicator (RSSI) and a time of flight (ToF) of the messages, the PM and the plurality of auxiliary roadside devices. distances can be calculated.

The controller 140 estimates a candidate position of the PM based on distances between the PM and the plurality of auxiliary roadside devices. For example, the controller 140 may estimate the candidate position of the PM by applying a positioning method such as triangulation or a finger-print technique to the distances between the PM and the plurality of auxiliary roadside devices.

The controller 140 receives the correction data from the reference roadside device and corrects the candidate position based on the correction data.

According to an embodiment of the present invention, the correction data is selected from among the distance error rates between the reference roadside device and the plurality of auxiliary roadside devices, the distance errors between the reference roadside device and the plurality of auxiliary roadside devices, and the position error of the reference roadside device. means either

Specifically, the distance error rates between the reference roadside apparatus and the plurality of auxiliary roadside apparatuses mean the ratio of the actual distance to the estimated distance between the reference roadside apparatus and the plurality of auxiliary roadside apparatuses.

Distance errors between the reference roadside device and the plurality of auxiliary roadside devices mean a difference between an actual distance with respect to an estimated distance between the reference roadside device and the plurality of auxiliary roadside devices.

The position error of the reference roadside device means a difference between the estimated position of the reference roadside device and the actual position.

The controller 140 may correct the candidate position of the PM by applying the correction data to the candidate position of the PM.

Finally, the controller 140 determines the corrected candidate position as the final position of the PM.

2A and 2B are diagrams for explaining a process of estimating an accurate location of a PM according to an embodiment of the present invention.

In detail, FIG. 2A is a diagram for explaining a process of generating correction data. 2B is a diagram for explaining a process of correcting a candidate position of a PM based on correction data.

Referring to FIG. 2A , an actual position 200 of a PM, a plurality of roadside devices 210 , 220 , 230 , 240 , and 250 , and an estimated position 252 of a fifth roadside device are illustrated. The plurality of roadside devices 210 , 220 , 230 , 240 , and 250 include auxiliary roadside devices 210 , 220 , 230 , 240 and a fifth roadside device 250 . The auxiliary roadside devices 210 , 220 , 230 , and 240 include a first roadside device 210 , a second roadside device 220 , a third roadside device 230 , and a fourth roadside device 240 . 2B, the estimated position 202 of the PM and the corrected position 204 of the PM are additionally shown.

Hereinafter, the fifth roadside device 250 will be described as a reference RSU for correcting the estimated position, but this is only one embodiment, and the reference roadside device includes the first roadside device 210 and the first roadside device. It may be implemented by one or more of the second roadside device 220 , the third roadside device 230 , or the fourth roadside device 240 . Meanwhile, the auxiliary roadside devices 210 , 220 , 230 , and 240 are only an exemplary embodiment, and may consist of at least three auxiliary roadside devices. It is assumed that the location coordinates of the plurality of roadside devices 210 , 220 , 230 , 240 and 250 are known in advance.

Hereinafter, it will be described that the fifth roadside device 250 generates the correction data. However, correction data may be generated for each reference roadside device by another device, and the reference roadside device may be set to store and transmit the compensation data.

The fifth roadside device 250 receives messages from the auxiliary roadside devices 210 , 220 , 230 , 240 . The fifth roadside device 250 calculates a distance between the fifth roadside device 250 and the auxiliary roadside devices 210 , 220 , 230 , and 240 based on at least one of RSSI and ToF of the received messages. In this case, the previously known positions of the auxiliary roadside devices 210 , 220 , 230 , and 240 are utilized.

Based on the distance between the fifth roadside device 250 and the auxiliary roadside devices 210 , 220 , 230 , and 240 , the fifth roadside device 250 estimates its location. That is, the fifth roadside apparatus 250 may derive the estimated position 252 of the fifth roadside apparatus 250 .

However, the actual location of the fifth roadside device 250 and the estimated location 252 may not match due to signal distortion due to weather or obstacles, errors in the roadside device, or the like. By obtaining in advance an error between the known actual position and the estimated position of the fifth roadside device 250 and using it as the positioning correction data of the PM, the positioning device may accurately derive the actual position 200 of the PM.

In particular, the positioning device may accurately derive the actual position 200 of the PM using correction data including any one of a distance error rate, a distance error, and a position error of the fifth roadside device 250 .

Hereinafter, a process of generating correction data in the order of a distance error rate, a distance error, and a position error, and correcting the position of the PM using the correction data will be described.

을 산출한다. 제5 노변 장치(250)는 제5 노변 장치(250)의 실제 위치와 제1 노변 장치(210) 사이의 거리

을 더 산출한다. As a first embodiment, in order to use the distance error rate, the fifth roadside device 250 determines the estimated location of the fifth roadside device ( 252 ) and the first roadside device 210 .

to calculate The fifth roadside device 250 is a distance between the actual location of the fifth roadside device 250 and the first roadside device 210 .

to calculate more

과

사이의 오차율(이하, 제1 거리 오차율)을 계산한다. 여기서, 거리 오차율은 추정 거리에 대한 실제 거리의 비율을 의미한다. 예를 들면, 제1 거리 오차율은

에 대한

의 비율을 의미한다. 추가적으로, 제5 노변 장치(250)는 제2 노변 장치(220), 제3 노변 장치(230) 및 제4 노변 장치(240)에 대해 제2 거리 오차율, 제3 거리 오차율 및 제4 거리 오차율 각각을 계산할 수 있다.The fifth roadside device 250 is

class

An error rate between them (hereinafter, a first distance error rate) is calculated. Here, the distance error rate means the ratio of the actual distance to the estimated distance. For example, the first distance error rate is

for

means the ratio of Additionally, the fifth roadside device 250 has a second distance error rate, a third distance error rate, and a fourth distance error rate with respect to the second roadside device 220 , the third roadside device 230 , and the fourth roadside device 240 , respectively. can be calculated.

Referring to FIG. 2B , the positioning device may derive the corrected position 204 of the PM by correcting the estimated position 202 of the PM using the distance error rate.

Specifically, the positioning device receives messages from the auxiliary roadside devices 210 , 220 , 230 , 240 . The positioning device may estimate the estimated position 202 of the PM based on at least one of RSSI and ToF of the received messages. In detail, the positioning device is the estimated position of the PM through triangulation based on the RSSI or ToF of at least three positions of the auxiliary roadside devices 210 , 220 , 230 , and 240 and messages received from the three roadside devices ( 202) is calculated.

이다. The positioning device obtains distances between the estimated position 202 of the PM and the auxiliary roadside devices 210 , 220 , 230 , and 240 . The distance between the estimated position 202 of the PM and the auxiliary roadside devices 210, 220, 230, 240 is respectively

am.

Thereafter, the positioning device may receive distance error rates that are correction data from the fifth roadside device 250 , which is a reference roadside device. The distance error rates mean distance error rates between the fifth roadside device 250 and the auxiliary roadside devices 210 , 220 , 230 , and 240 .

에

을 곱함으로써,

을 구할 수 있다. 추가적으로, 측위 장치는

를 더 구할 수 있다.The positioning device may obtain corrected distances by multiplying the distance between the estimated position 202 of the PM and the auxiliary roadside devices 210 , 220 , 230 , and 240 by a distance error rate. For example, a positioning device is

to

By multiplying by

can be obtained Additionally, the positioning device is

more can be obtained.

The distance between the corrected position 204 of the PM and the auxiliary roadside devices 210 , 220 , 230 , and 240 may be expressed as Equation 1 .

은 PM의 보정된 위치(204)와 보조 노변 장치들(210, 220, 230, 240) 간 거리다.

은 PM의 추정 위치(202)와 보조 노변 장치들(210, 220, 230, 240) 간 거리다. d는 제5 노변 장치의 추정 위치(252)와 보조 노변 장치들(210, 220, 230, 240) 간 거리다. d'은 제5 노변 장치(250)의 실제 위치와 보조 노변 장치들(210, 220, 230, 240) 간 거리다.in Equation 1

is the distance between the corrected position 204 of the PM and the auxiliary roadside devices 210 , 220 , 230 , 240 .

is the distance between the PM's estimated location 202 and the auxiliary roadside devices 210 , 220 , 230 , 240 . d is the distance between the estimated position 252 of the fifth roadside device and the auxiliary roadside devices 210 , 220 , 230 , and 240 . d' is the distance between the actual location of the fifth roadside device 250 and the auxiliary roadside devices 210 , 220 , 230 , and 240 .

중 적어도 세 개에 기초하여 삼각 측량을 통하여 PM의 보정된 위치(204)를 산출할 수 있다. 제5 노변 장치(250)와 보조 노변 장치들(210, 220, 230, 240) 간 실제 거리와 추정 거리의 오차를 PM의 추정 위치(202)에 반영하였기 때문에, PM의 보정된 위치(204)는 PM의 추정 위치(202)보다 PM의 실제 위치(200)와 더 가깝게 도출된다. the positioning device

The corrected position 204 of the PM may be calculated through triangulation based on at least three of Since the error between the actual distance and the estimated distance between the fifth roadside device 250 and the auxiliary roadside devices 210 , 220 , 230 , and 240 is reflected in the estimated position 202 of the PM, the corrected position of the PM 204 . is derived closer to the actual position 200 of the PM than the estimated position 202 of the PM.

The positioning apparatus according to an embodiment of the present invention may correct the estimated position 202 of the PM using an error rate for one of RSSI and ToF instead of distance.

As a second embodiment, the positioning device may receive distance errors as correction data from the fifth roadside device 250 that is a reference roadside device. Distance errors mean distance errors between the fifth roadside device 250 and the auxiliary roadside devices 210 , 220 , 230 , and 240 .

과

사이의 오차(이하, 제1 거리 오차)를 계산한다. 구체적으로, 제1 거리 오차는

에서

을 뺀 값을 의미한다. 추가적으로, 측위 장치는 제2 노변 장치(220), 제3 노변 장치(230) 및 제4 노변 장치(240)에 대해 제2 거리 오차, 제3 거리 오차 및 제4 거리 오차 각각을 계산할 수 있다.To take advantage of the distance error, the positioning device is

class

An error between the two (hereinafter, a first distance error) is calculated. Specifically, the first distance error is

at

means minus the Additionally, the positioning device may calculate a second distance error, a third distance error, and a fourth distance error with respect to the second roadside device 220 , the third roadside device 230 , and the fourth roadside device 240 , respectively.

Referring to FIG. 2B , the positioning device may derive the corrected position 204 of the PM by correcting the estimated position 202 of the PM using the distance error.

이다.Specifically, the positioning device receives messages from the auxiliary roadside devices 210 , 220 , 230 , 240 . The positioning device may estimate the estimated position 202 of the PM based on at least one of RSSI and ToF of the received messages. In detail, the positioning device is the estimated position of the PM through triangulation based on the RSSI or ToF of messages received from at least three positions of the auxiliary roadside devices 210 , 220 , 230 , and 240 and the three roadside devices ( 202) is calculated. In this case, the distances between the estimated position 202 of the PM and the auxiliary roadside devices 210 , 220 , 230 , and 240 are respectively

am.

에

을 더함으로써,

을 구할 수 있다. 추가적으로, 측위 장치는

를 더 구할 수 있다.The positioning device may obtain corrected distances by adding a distance error to the distance between the estimated position 202 of the PM and the auxiliary roadside devices 210 , 220 , 230 , and 240 . For example, a positioning device is

to

By adding

can be obtained Additionally, the positioning device is

more can be obtained.

A distance between the corrected position 204 of the PM and the auxiliary roadside devices 210 , 220 , 230 , and 240 may be expressed as Equation 2 .

중 적어도 세 개에 기초하여 삼각 측량을 통하여 PM의 보정된 위치(204)를 산출할 수 있다. 제5 노변 장치(250)와 보조 노변 장치들(210, 220, 230, 240) 간 실제 거리와 추정 거리의 오차를 PM의 추정 위치(202)에 반영하였기 때문에, PM의 보정된 위치(204)는 PM의 추정 위치(202)보다 PM의 실제 위치(200)와 더 가까워질 수 있다. the positioning device

The corrected position 204 of the PM may be calculated through triangulation based on at least three of Since the error between the actual distance and the estimated distance between the fifth roadside device 250 and the auxiliary roadside devices 210 , 220 , 230 , and 240 is reflected in the estimated position 202 of the PM, the corrected position of the PM 204 . may be closer to the PM's actual location 200 than the PM's estimated location 202 .

The positioning apparatus according to an embodiment of the present invention may correct the estimated position 202 of the PM using an error rate for one of RSSI and ToF instead of distance.

As a third embodiment, the positioning device may receive a position error as correction data from the fifth roadside device 250 that is a reference roadside device. The position error means a difference between the estimated position 252 and the actual position of the fifth roadside device 250 . To this end, the fifth roadside device 250 calculates a position error that means a difference between the actual position of the fifth roadside device 250 and the estimated position 252 of the fifth roadside device. Here, the position may mean two-dimensional position coordinates or three-dimensional position coordinates. The position error is calculated by calculation for each dimension.

The positioning apparatus may derive the corrected position 204 of the PM by estimating the estimated position 202 of the PM and then correcting the estimated position 202 of the PM by a position error with respect to the fifth roadside apparatus 250 . . Specifically, each correction may be performed by dividing the estimated position 202 of the PM into an x-coordinate and a y-coordinate.

Meanwhile, the positioning device may receive the distance error rate, distance error, and position error between the fifth roadside device 250 and the auxiliary roadside devices 210 , 220 , 230 , and 240 in real time, or it may be calculated and stored in advance. there is.

Through the above three error correction, the positioning device can derive the exact position of the PM.

3 is a flowchart for explaining a positioning method according to an embodiment of the present invention.

Referring to FIG. 3 , the positioning device receives messages from a plurality of auxiliary roadside devices ( S300 ).

The positioning device obtains distances between the PM and the plurality of auxiliary roadside devices based on the messages (S302). According to an embodiment of the present invention, the positioning device may obtain distances between the PM and the plurality of auxiliary roadside devices based on at least one of RSSI and ToF of the messages.

The positioning device estimates a candidate position of the PM based on the distances between the PM and the plurality of auxiliary roadside devices (S304). Specifically, the candidate position of the PM may be estimated through triangulation based on distances between the PM and the plurality of auxiliary roadside devices and previously known positions of the plurality of auxiliary roadside devices.

The positioning device receives the correction data from the reference roadside device (S306). Here, the correction data means any one of distance error rates between the reference roadside apparatus and the plurality of auxiliary roadside apparatuses, distance errors between the reference roadside apparatus and the plurality of auxiliary roadside apparatuses, and a position error of the reference roadside apparatus.

Specifically, the distance error rates mean a ratio of an actual distance to an estimated distance between a reference roadside device and a plurality of auxiliary roadside devices. Distance errors mean a difference between an actual distance with respect to an estimated distance between the reference roadside apparatus and the plurality of auxiliary roadside apparatuses. The position error means a difference between the estimated position of the reference roadside device and the actual position.

The positioning device corrects the candidate position based on the correction data (S308).

The positioning device determines the corrected candidate position as the final position of the PM (S310).

Although it is described in FIG. 3 that processes S300 to S310 are sequentially executed, this is merely illustrative of the technical idea of an embodiment of the present invention. In other words, one of ordinary skill in the art to which an embodiment of the present invention pertains may change the order described in FIG. 3 within a range that does not depart from the essential characteristics of an embodiment of the present invention or one of steps S300 to S310 Since the above process may be variously modified and modified to be applied in parallel, FIG. 3 is not limited to a time series sequence.

Meanwhile, the processes illustrated in FIG. 3 can be implemented as computer-readable codes on a computer-readable recording medium. The computer-readable recording medium includes all types of recording devices in which data readable by a computer system is stored. That is, the computer-readable recording medium may be a non-transitory medium such as a ROM, RAM, CD-ROM, magnetic tape, floppy disk, or optical data storage device. In addition, the computer-readable recording medium is distributed in a network-connected computer system so that the computer-readable code can be stored and executed in a distributed manner.

In addition, the components of the present invention may use an integrated circuit structure such as a memory, a processor, a logic circuit, a look-up table, and the like. This integrated circuit structure implements each of the functions described herein through the control of one or more microprocessors or other control devices. In addition, the components of the present invention may be specifically implemented by a part of a program or code including one or more executable instructions for performing a specific logical function and executed by one or more microprocessors or other control devices. In addition, the components of the present invention may include or be implemented by a central processing unit (CPU), a microprocessor, etc. that perform respective functions. In addition, the components of the present invention may store instructions executed by one or more processors in one or more memories.

The above description is merely illustrative of the technical idea of this embodiment, and a person skilled in the art to which this embodiment belongs may make various modifications and variations without departing from the essential characteristics of the present embodiment. Accordingly, the present embodiments are intended to explain rather than limit the technical spirit of the present embodiment, and the scope of the technical spirit of the present embodiment is not limited by these embodiments. The protection scope of this embodiment should be interpreted by the following claims, and all technical ideas within the scope equivalent thereto should be interpreted as being included in the scope of the present embodiment.

100: power unit 110: communication unit
120: sensing unit 130: storage unit
140: control unit

Claims (12)

receiving messages from a plurality of auxiliary roadside devices;
obtaining distances between Personal Mobility (PM) and the plurality of auxiliary roadside devices based on the messages;
estimating a candidate location of the PM based on distances between the PM and the plurality of auxiliary roadside devices;
receiving correction data from a reference roadside device;
correcting the candidate position based on the correction data; and
The process of determining the corrected candidate position as the final position of the PM
A computer-implemented positioning method comprising: According to claim 1,
The correction data is
Any one of distance error rates between the reference roadside apparatus and the plurality of auxiliary roadside apparatuses, distance errors between the reference roadside apparatus and the plurality of auxiliary roadside apparatuses, and a position error of the reference roadside apparatus. 3. The method of claim 2,
The distance error rates are
and a ratio of an actual distance to an estimated distance between the reference roadside device and the plurality of auxiliary roadside devices. 3. The method of claim 2,
The distance errors are
The method of claim 1, wherein the difference between the actual distance and the estimated distance between the reference roadside device and the plurality of auxiliary roadside devices. 3. The method of claim 2,
The position error is
The positioning method is the difference between the estimated position and the actual position of the reference roadside device. According to claim 1,
The process of obtaining the distances between the PM and the plurality of auxiliary roadside devices,
Positioning method comprising the step of obtaining distances between the PM and the plurality of auxiliary roadside devices based on at least one of a received signal strength indicator (RSSI) and a time of flight (ToF) of the messages . a communication unit communicating with the plurality of auxiliary roadside apparatuses through messages and receiving correction data from the reference roadside apparatus; and
obtain distances between a PM and the plurality of auxiliary roadside apparatuses based on the messages, estimate a candidate location of the PM based on distances between the PM and the plurality of auxiliary roadside apparatuses, and based on the correction data to correct the candidate position, and a control unit for determining the corrected candidate position as the final position of the PM
A positioning device comprising a. 8. The method of claim 7,
The correction data is
Any one of distance error rates between the reference roadside apparatus and the plurality of auxiliary roadside apparatuses, distance errors between the reference roadside apparatus and the plurality of auxiliary roadside apparatuses, and a position error of the reference roadside apparatus. 9. The method of claim 8,
The distance error rates are
and a ratio of an actual distance to an estimated distance between the reference roadside device and the plurality of auxiliary roadside devices. 9. The method of claim 8,
The distance errors are
A positioning device that is a difference between an actual distance with respect to the estimated distance between the reference roadside device and the plurality of auxiliary roadside devices. 9. The method of claim 8,
The position error is
A positioning device that is a difference between the estimated position and the actual position of the reference roadside device. 8. The method of claim 7,
The process of obtaining distances between the PM and the plurality of auxiliary roadside devices includes:
and calculating distances between the PM and the plurality of auxiliary roadside devices based on at least one of RSSI and ToF of the messages.

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