KR20220081004A - Position recognition system and method - Google Patents

Abstract

The present technology discloses a system and method for location recognition of a terminal. According to a specific example of the present invention, the accuracy of the terminal location can be fundamentally improved by estimating the location of the terminal using the outer and inner centers obtained through points on the circumference of each distance generated based on the RSSI of each beacon, In the position recognition algorithm using the existing triangulation technique, when the distance circumferences do not meet, when only two distance circumferences meet, or when the three distance circumferences do not meet at one point, the process of performing the position correction of the terminal is omitted. It is possible to reduce the computational complexity and computation time for the location recognition algorithm, and thus it is applicable to a lightweight device.

Description

Terminal location recognition system and method {POSITION RECOGNITION SYSTEM AND METHOD}

The present invention relates to a system and method for recognizing a location of a terminal, and more particularly, the location of the terminal in the outer center and inner center of the circumference of the distance from the terminal to each beacon generated based on the received signal strength indicator (RSSI) received from the beacon. It relates to the technology that made it possible to estimate .

Recently, many technologies and systems related to location information of terminals have been developed and studied, and many studies are being conducted to establish a ubiquitous environment in which useful location-based services can be provided. In order to have the reliability and usefulness of such location information, a system for determining the location of a user terminal and its technology are very important.

Conventionally, as an algorithm used for location recognition, an AoA location recognition algorithm that performs location recognition by measuring an incident angle of a received signal using an antenna having a directionality, and RSSI (Received Signal Strength Indicator) in which the intensity of radio waves varies according to distance It performs position recognition through communication with at least 4 artificial satellites, such as RSSI position recognition algorithm that measures the distance between beacon and terminal using There are various methods such as the Global Positioning System (GPS) method that tracks the position of a GPS receiver based on the theory of "distance = speed of light * elapsed time". Here, in the case of the GPS method, it is a technology limited only to the outdoors, and the construction of an indoor location recognition system of a wireless transmitter capable of receiving indoors is required.

Accordingly, in the case of an indoor location recognition system using RSSI location recognition technology that derives location information using a triangulation algorithm based on the RSSI value of the received signal provided from the beacon, the RSSI value of the received signal provided from each beacon can be received. When each circumference (hereinafter referred to as 'distance circumference') does not meet, or when only two distance circumferences meet, or when three distance circumferences do not meet at one point, the accuracy and error rate of the terminal's position estimation cause a big problem.

Accordingly, the present applicant is consistent regardless of the case where the distance circumference to each beacon derived based on the RSSI value of the received signal provided from each beacon does not meet, or when only the circumferences of two distances meet, or when the circumferences of three distances do not meet at one point We would like to propose a method for estimating the location of the terminal based on the outer center and inner center using points on the circumference of each distance that can be applied to each other.

Korean Registration Publication No. 10-1515013 (indoor wireless positioning system and indoor wireless positioning method)

The present invention fundamentally improves the accuracy of the terminal location by estimating the location of the terminal using the outer center of three triangles obtained through points on the distance circumference of the received signal provided from each beacon and the inner center of one triangle consisting of the outer center. An object of the present invention is to provide a system and method for recognizing the location of a terminal that can be improved.

In addition, the present invention is consistently applicable regardless of the case where the distance circumferences of the received signals provided from each beacon do not meet, the case where only the two distance circumferences meet, or the case where the three distance circumferences do not meet at one point, the location recognition of the terminal An object of the present invention is to provide a system and method for recognizing a location of a terminal that can reduce the computational complexity and computational time for an algorithm and can be applied to a lightweight device.

The object of the present invention is not limited to the object mentioned above, and other objects and advantages of the present invention not mentioned can be understood by the following description, and will be more clearly understood by the examples of the present invention. Further, it will be readily apparent that the objects and advantages of the present invention can be realized by the means and combinations thereof indicated in the appended claims.

A terminal location recognition system according to an embodiment of the present invention,

a distance circumference generator for selecting three beacons having a relatively large RSSI value among a plurality of beacons and setting a distance circumference of each beacon based on the RSSI signal of each beacon;

an outer center deriving unit that generates a plurality of circumcenter triangles by defining points on the circumference of each distance as vertices to derive the outer centers of each circumcenter triangle; and

It is characterized in that it comprises an inner center derivation unit for generating one inner center triangle connecting the outer centers of the plurality of concentric triangles and estimating the position of the terminal with the inner center of the one inner center triangle.

Preferably, the number of concentric triangles is three,

Each of the plurality of concentric triangles,

It may be provided to generate a point on the circumference of a distance except for two intersections on a circumference of a distance and a straight line connecting each beacon and two used circumferences of a distance as a vertex.

Preferably, the circumcenter of the circumcenter triangle may be derived as the intersection of the perpendicular bisectors for each circumcenter triangle.

Preferably, the inner center of the inner triangle may be derived as an intersection of the bisectors of three angles of the inner triangle.

A method for recognizing a location of a terminal according to another embodiment of the present invention,

generating each distance circumference based on the RSSI of the plurality of beacons;

generating a plurality of concentric triangles by establishing and connecting points on each distance circumference; and

It is characterized in that it comprises the step of deriving the outer center of each of the plurality of circumcenter triangles and connecting the derived centroids to generate one inner center triangle, and estimating the position of the terminal with the inner center of the generated inner center triangle.

Preferably, the circumcenter of the circumcentric triangle is,

It can be derived from the intersection of the perpendicular bisectors of each side of each concentric triangle,

Preferably, the incenter of the incentric triangle is,

It can be derived from the intersection of the bisectors of the three angles of an incenter triangle.

According to this feature, the accuracy of the terminal location can be fundamentally improved by estimating the location of the terminal using the outer and inner centers obtained through points on the circumference of each distance generated based on the RSSI of each beacon.

In addition, based on these characteristics, when the distance circumferences do not meet in the position recognition algorithm using the existing triangulation technique, or when only two distance circumferences meet, or when the three distance circumferences do not meet at one point, the process of performing position correction of the terminal Since this is omitted, it is possible to reduce the computational complexity and computation time for the location recognition algorithm of the terminal, and there is an effect applicable to a lightweight device.

The following drawings attached to this specification illustrate preferred embodiments of the present invention, and serve to further understand the technical spirit of the present invention together with the detailed description of the present invention to be described later, so the present invention is a matter described in such drawings should not be construed as being limited only to
1 is a diagram illustrating a configuration of an apparatus for recognizing a location of a terminal according to an embodiment.
2 is a conceptual diagram illustrating an outer-centered triangle and an inner-centered triangle in an apparatus according to an exemplary embodiment.
3 is a conceptual diagram of deriving the circumcenter of a circumcenter triangle in an apparatus according to an embodiment.
4 is a conceptual diagram of deriving the incenter of an incenter triangle in the apparatus according to an embodiment.
5 is an exemplary diagram illustrating a terminal location recognition error of an apparatus according to an embodiment.
6 is an overall flowchart illustrating a location recognition process of a terminal according to another embodiment.

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

Advantages and features of the present invention and methods of achieving them will become apparent with reference to the embodiments described below in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and only these embodiments allow the disclosure of the present invention to be complete, and common knowledge in the art to which the present invention pertains It is provided to fully inform those who have the scope of the invention, and the present invention is only defined by the scope of the claims.

Terms used in this specification will be briefly described, and the present invention will be described in detail.

The terms used in the present invention have been selected as currently widely used general terms as possible while considering the functions in the present invention, but these may vary depending on the intention or precedent of a person skilled in the art, the emergence of new technology, and the like. In addition, in a specific case, there is a term arbitrarily selected by the applicant, and in this case, the meaning will be described in detail in the description of the corresponding invention. Therefore, the term used in the present invention should be defined based on the meaning of the term and the overall content of the present invention, rather than the name of a simple term.

In the entire specification, when a part "includes" a certain element, this means that other elements may be further included, rather than excluding other elements, unless otherwise stated. Also, as used herein, the term “unit” refers to a hardware component such as software, FPGA, or ASIC, and “unit” performs certain roles. However, "part" is not meant to be limited to software or hardware. A “unit” may be configured to reside on an addressable storage medium and may be configured to refresh one or more processors.

Thus, by way of example, “part” includes components such as software components, object-oriented software components, class components and task components, processes, functions, properties, procedures, subroutines, segments of program code, drivers, firmware, microcode, circuitry, data, databases, data structures, tables, arrays and variables. The functionality provided within components and “parts” may be combined into a smaller number of components and “parts” or further divided into additional components and “parts”.

Prior to the description of the present specification, some terms used in the present specification will be clarified.

Hereinafter, with reference to the accompanying drawings, the embodiments of the present invention will be described in detail so that those of ordinary skill in the art can easily implement them. And in order to clearly explain the present invention in the drawings, parts irrelevant to the description will be omitted.

1 is a diagram showing the configuration of a device for recognizing a location of a terminal according to an embodiment, FIG. 2 is a diagram showing an incentric triangle and an incentric triangle generated based on each distance circumference of FIG. 1, FIG. It is a conceptual diagram for generating an outer center, and FIG. 4 is a conceptual diagram for generating an inner center based on the inner center triangle shown in FIG. 3 .

1 to 4, the device for recognizing the location of the terminal according to an embodiment (S) calculates the circumcenters of the circumcenter triangle and the three circumcentric triangles using points on the circumference of each distance generated based on the RSSI signal of each beacon. It is provided to estimate the position of the terminal using the incenter of an incenter triangle made as a vertex, and the device S includes a distance circumference generator 100 , an outer center derivation unit 200 , and an inner center derivation unit 300 . can do.

The distance circumference generation unit 100 is configured to perform each beacon 101, 102, It is generated by calculating the distance circumference (111) (112) (113) to (103).

For example, three distance circumferences 111 , 112 , 113 of each of the three beacons 101 , 102 , 103 are generated and the coordinates of each of the beacons 101 , 102 , 103 are (x) _A ,y _a ), (x _b ,y _b ), (x _c ,y _c ) are assumed, and the distance between the beacon 101 (102) (103) and the distance circumference (111) (112) (113) is Suppose r _a , r _b , r _c . Here, r _a , r _b , r _c can be obtained by various methods. For example, the distances r _a , r _b , and r _c may be derived using RSSI received from the beacons 101 , 102 , 103 .

And the concentric derivation unit 200 connects the respective points on the circumference of each distance 111, 112, 113 to generate a plurality of concentric triangles 201, 202, and 203 to create a concentric triangle 201. We derive the circumcenter of (202) and (203).

2, the circumcenter triangle 201 is a point (x a,b, y a,b) where a straight line connecting the two beacons 101 and 102 and each distance circumference 111 and 112 meet (x _a,b , y _a,b ) , (x _b,a y _b,a ) is defined as two vertices, and the midpoint of the vertices (x _b,a y _b,a ), (x _a,b , y _a,b ) and the beacon 103 are connected. A point (x _m,ab-c , y _m,ab-c ) where the straight line meets the distance circumference 113 is created as the remaining vertices.

In addition, the circumcenter triangle 202 is a point (x _a,c , y _a,c ), (x _c ) where the straight line connecting the two beacons 101 and 103 and the respective distance circumferences 111 and 113 meet Let _,a y _c,a ) be two vertices, and the straight line connecting the midpoint of the vertices (x _a,c , y _a,c ), (x _c,a y _c,a ) and the beacon 102 is the distance circumference It is created by defining the point (x _m,ac-b , y _m,ac-b ) that meets (112) as the remaining vertices.

In addition, the circumcenter triangle 203 is a point (x _b,c , y _b,c ), (x _c ) where the straight line connecting the two beacons 102 and 103 and the respective distance circumferences 112 and 113 meet _,b y _c,b ) as two vertices, and the straight line connecting the midpoint of the vertices (x _b,c , y _b,c ), (x _c,b y _c,b ) and the beacon 101 is the distance circumference It is created by defining the point (x _m,bc-a , y _m,bc-a ) that intersects (111) as the remaining vertices.

The circumcenter of each of the circumcenter triangles 201, 202, and 203 is set as the intersection of the perpendicular bisectors of each side of each of the circumcenter triangles 201, 202, and 203 with reference to FIG. 3 . At this time, the coordinates of the circumcenter of each circumcenter triangle 201 , 202 , 203 are (x _cc,201 y _cc,201 ), (x _cc,202 y _cc,202 ), (x _cc,203 y _cc,203 ) )to be.

As an example, the _circumcenter (x _{cc,201 y cc,201 )} of the concentric triangle ₂₀₁ is the midpoint (x _m, It is derived based on the equation of a straight line passing through _ab y _m,ab ) and the center point (x _c , y _c ) of the distance circumference 113 and the circle of the distance circumference 113 .

That is, the midpoint (x _m,ab y _m,ab ) of the two vertices (x _ba , y _ba )(x _ab , y _ab ) of the concentric triangle 201 and the center point (x _c , y) of the distance circumference 113 The straight line passing through _c ) can be expressed by Equation 1 below.

[Equation 1]

And, the equation of the circle of the distance circumference 113 can be expressed by Equation 2 below.

[Equation 2]

And, the inner center derivation unit 300 determines the outer center of each outer center triangle 201, 202, 203 as a vertex and connects to generate one inner center triangle 301, and the inner center (x) of the generated inner center triangle 301 _t , y _t ) to estimate the location of the terminal.

Referring to FIG. 4 , the incenter (x _t , y _t ) of the incentric triangle 301 may be derived as an intersection of the bisectors of three angles of the incentric triangle.

5 is a graph showing a terminal position estimation error according to an embodiment. Referring to FIG. 5, the position estimation algorithm of the terminal according to an embodiment compares the position recognition algorithm using the existing triangulation technique to estimate the position of the terminal. It can be seen that the error is reduced by 36.7%.

Accordingly, in one embodiment, by estimating the location of the terminal using the outer center obtained by using the points on the circumference of each distance generated based on the RSSI of each beacon and the inner center of a triangle having the outer centers as vertices, the accuracy of the terminal location is fundamentally In the case where the distance circumferences do not meet, or when only two distance circumferences meet, or when the three distance circumferences do not meet at one point in the position recognition algorithm using the existing triangulation technique, the position correction of the terminal is performed. Since this is omitted, it is possible to reduce the computational complexity and computational time for the location recognition algorithm of the terminal, and thus can be applied to a lightweight device.

6 is a flowchart illustrating an operation process of the terminal location recognition system shown in FIG. 1 , and a method for location recognition of a terminal according to another embodiment of the present invention will be described with reference to FIG. 6 .

First, in step S100, the distance circumference generating unit 100 of an embodiment generates a distance circumference between each beacon and the terminal based on the RSSI of a plurality of beacons, and in steps S201 to S202, the circumcenter derivation unit of an embodiment (200) establishes three points on the circumference of each distance to generate a circumcentric triangle and derives the circumcenter of each of the generated circumcentric triangles.

In subsequent steps (S301 to S302), the inner center derivation unit 300 of an embodiment generates one inner center triangle by connecting the derived outer centers, derives the inner center of the generated inner center triangle, and then derives the derived inner center of the terminal. estimated by location.

Here, the outer center may be derived as the intersection of the perpendicular bisectors of each side of each circumcenter triangle, and the inner center of the inner triangle may be derived as the intersection of the bisectors of three angles of the inner triangle.

As another example, by setting and connecting points on the circumference of each distance, three concentric triangles are generated, and then the inner centroids of each of the three centroid triangles are derived, and the derived inner centroids are connected to create one inner center triangle, and It is possible to estimate the position of the terminal with the outer center of one inner-centre triangle.

Accordingly, one embodiment can fundamentally improve the accuracy of the terminal location by estimating the location of the terminal using the outer and inner centers obtained through points on the circumference of each distance generated based on the RSSI of each beacon, and the existing triangle In the case where the distance circumferences do not meet in the position recognition algorithm using the surveying technique, when only two distance circumferences meet, or when the three distance circumferences do not meet at one point, the process of performing the position correction of the terminal is omitted, so the position recognition algorithm of the terminal It is possible to reduce the computational complexity and computation time for , and thus can be applied to a lightweight device.

Although the present invention has been described with reference to the embodiment shown in the drawings, this is merely an example, and those skilled in the art to which various modifications and equivalent other embodiments are possible. will understand Therefore, the technical protection scope of the present invention should be defined by the following claims.

By estimating the location of the terminal using the outer and inner centers obtained through the points on the circumference of each distance generated based on the RSSI of each beacon, the accuracy of the location of the terminal can be fundamentally improved, and the location using the existing triangulation technique When the distance circumferences do not meet in the recognition algorithm, or when only two distance circumferences meet, or when the three distance circumferences do not meet at one point, the process of performing the position correction of the terminal is omitted, so the computational complexity and It is possible to shorten the calculation time, and thus it can bring very great progress in terms of accuracy and reliability of operation of the terminal's position recognition system and method applicable to light-weight devices, and further in terms of performance efficiency, and commercialization or sales of indoor positioning systems It is an invention with industrial applicability because the possibility of

Claims (7)

a distance circumference generator configured to set a distance circumference of each beacon based on the RSSI signal of each beacon;
an outer center derivation unit for generating a plurality of concentric triangles connecting lines between points on the circumference of each distance and deriving the outer centers of each concentric triangle; and
and an inner center derivation unit for generating one inner triangle connecting the outer centers of the plurality of outer triangles and estimating the location of the terminal as the inner center of the one inner center triangle. The method of claim 1, wherein the number of concentric triangles is three,
Each of the plurality of concentric triangles,
A system for recognizing the location of a terminal, characterized in that the points on the circumference of each distance are determined as vertices and generated. According to claim 2, wherein the incenter triangle,
A system for recognizing the location of a terminal, characterized in that it is derived as the intersection of the perpendicular bisectors for each concentric triangle. The method of claim 3, wherein the incenter of the incenter triangle is,
A system for recognizing the location of a terminal, characterized in that it is derived from the intersection of the bisectors of three angles of an incentric triangle. generating a distance circumference between the terminal and each beacon based on the RSSI of a plurality of beacons;
generating a plurality of circumcenter triangles by defining a point on the circumference of each distance as a vertex, and deriving the circumcenter of the generated circumcenter triangle; and
The method of recognizing the location of a terminal, comprising the step of generating one inner triangle by connecting the derived outer centroids, and estimating the location of the terminal using the inner centroid of the generated inner triangle. The method of claim 5, wherein the circumcenter of the circumcenter triangle is,
A method of recognizing a location of a terminal, characterized in that it is derived as the intersection of the perpendicular bisectors of each side of each concentric triangle. The method of claim 6, wherein the incenter of the incenter triangle is,
A method of recognizing the location of a terminal, characterized in that it is derived as the intersection of the bisectors of three angles of an incentric triangle.

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