WO2011040756A2 - Procédé de mesure d'emplacement sans fil - Google Patents

Procédé de mesure d'emplacement sans fil Download PDF

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Publication number
WO2011040756A2
WO2011040756A2 PCT/KR2010/006636 KR2010006636W WO2011040756A2 WO 2011040756 A2 WO2011040756 A2 WO 2011040756A2 KR 2010006636 W KR2010006636 W KR 2010006636W WO 2011040756 A2 WO2011040756 A2 WO 2011040756A2
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WO
WIPO (PCT)
Prior art keywords
distance
distances
delay
positioning
node
Prior art date
Application number
PCT/KR2010/006636
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English (en)
Korean (ko)
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WO2011040756A3 (fr
Inventor
김강희
여건민
권재균
윤경수
안강일
Original Assignee
한국전자통신연구원
영남대학교 산학협력단
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Priority claimed from KR1020100089625A external-priority patent/KR20110035888A/ko
Application filed by 한국전자통신연구원, 영남대학교 산학협력단 filed Critical 한국전자통신연구원
Priority to US13/498,774 priority Critical patent/US20120184297A1/en
Priority to JP2012532009A priority patent/JP2013506144A/ja
Publication of WO2011040756A2 publication Critical patent/WO2011040756A2/fr
Publication of WO2011040756A3 publication Critical patent/WO2011040756A3/fr

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves

Definitions

  • the present invention relates to a wireless positioning method.
  • Wireless location measurement is a technology that acquires information on location, speed, or other characteristics of objects by using wireless communication. It is a hybrid method that combines GPS (Global Positioning System) method or other technology with GPS method. Positioning accuracy can be improved.
  • GPS Global Positioning System
  • the GPS method is a highly accurate technology, it may not be able to receive a GPS signal in an area that is not located in a line of sight (LOS) in the satellite, especially indoors. Retransmission of signals from the ground can cause signal interference, near-far problems, and synchronization problems.
  • LOS line of sight
  • only nodes equipped with GPS receivers can receive the signal.
  • Various wireless positioning methods have been studied to solve the limitation of the GPS method.
  • the radio positioning method includes the Angle of Arrival (AOA) method using the reception angle, the Received Signal Strength Indicator (RSSI) method using the received signal strength, the Time Of Arrival (TOA) method using the arrival time of the radio wave, and the arrival time difference of the radio wave.
  • AOA Angle of Arrival
  • RSSI Received Signal Strength Indicator
  • TOA Time Of Arrival
  • TDOA Time Difference Of Arrival
  • DSOA Delay Spread Of Arrival
  • the TOA and TDOA methods use propagation delay
  • the DSOA method is a method using delay spread, which is widely used for estimating distance.
  • the TOA and TDOA methods when the transmitting and receiving nodes are far away, the strength of the received signal is weak and the channel fading is added, thereby limiting the accurate distance estimation.
  • the DSOA method may be difficult to estimate an accurate distance from a receiving node having a limited resolution due to a small spread when the transmitting and receiving nodes are located close to each other. Therefore, when the distance between the transmitting and receiving nodes is close, the TOA and TDOA methods using the propagation delay have high positioning accuracy, and when the distance between the transmitting and receiving nodes is far, the DSOA method may have high positioning accuracy. Therefore, in the case of using only one positioning method, there is a problem in that the positioning accuracy decreases according to the distance.
  • the technical problem to be solved by the present invention is to provide a wireless positioning method that can improve the positioning accuracy.
  • a method for positioning a position of any one of the receiving node and the transmitting node by obtaining a distance between the receiving node and a transmitting node in a receiving node comprising: receiving a positioning signal from the transmitting node Measuring a delay tap based on the positioning signal, temporarily determining a distance between the receiving node and the transmitting node using the delay tap, comparing the temporarily determined distance with a reference distance, and Selecting one of a distance estimation method using a propagation delay and a distance estimation method using a delay spread according to the comparison result, and estimating a final distance between the receiving node and the transmitting node using the selected estimation method. do.
  • the temporarily determining may include temporarily determining the distance using any one of an arrival time method, an arrival time difference method, and an arrival delay spreading method.
  • the selecting may include selecting a distance estimation method using the propagation delay if the temporarily determined distance is less than or equal to the reference distance, and if the temporarily determined distance is longer than the reference distance, using the delay spread.
  • the method may include selecting an estimation method.
  • the estimating the final distance may include estimating the final distance using the delay tap.
  • the method may further include determining a location of either the receiving node or the transmitting node using the final distance.
  • Determining the position may include determining the position using a method based on triangulation.
  • a method for positioning a position of any one of the receiving node and the transmitting node by obtaining a distance between the receiving node and a transmitting node in a receiving node comprising: receiving a positioning signal from the transmitting node Measuring a delay tap based on the positioning signal, estimating a plurality of distances between the receiving node and the transmitting node using the delay taps, and based on the distribution of the plurality of distances Estimating a final distance between and the transmitting node.
  • the plurality of distances may include at least one distance estimated using a propagation delay and at least one distance estimated using a delay spread.
  • the estimated distance using the propagation delay may include a distance estimated using a delay time of a predetermined tap among the delay taps.
  • the estimating the final distance may include estimating the average of the plurality of distances as the final distance.
  • the average may be a weighted average in consideration of a weight set for each of the plurality of distances.
  • Estimating the final distance may include estimating the final distance based on the difference between the plurality of distances.
  • the estimating of the final distance may include comparing a maximum distance difference between the plurality of distances and a first reference value, and estimating the final distance using the plurality of distances when the maximum distance difference is less than or equal to the first reference value. And if the maximum distance difference is greater than the first reference value when positioning the location of the receiving node, excluding the transmitting node from the positioning.
  • the estimating of the final distance may include comparing a maximum distance difference between the plurality of distances and a first reference value, and estimating the final distance using the plurality of distances when the maximum distance difference is less than or equal to the first reference value. And when the maximum distance difference is greater than the first reference value, determining whether there are two or more distances corresponding to a second reference value or less, wherein the distance difference among the plurality of distances is smaller than the first reference value. Estimating the final distance using the two or more distances if distance exists, and excluding the transmitting node from the positioning if the two or more distances do not exist when positioning the location of the receiving node. It may include.
  • positioning accuracy can be increased regardless of the distance between the transmitting and receiving nodes.
  • FIG. 1 is a view showing a wireless positioning method according to an embodiment of the present invention.
  • FIG. 2 illustrates a delay tap according to an embodiment of the present invention.
  • FIG. 3 is a flowchart illustrating a wireless positioning method according to an embodiment of the present invention.
  • 4 to 7 are flowcharts and diagrams illustrating a wireless positioning method according to another embodiment of the present invention.
  • FIG. 1 is a view showing a wireless positioning method according to an embodiment of the present invention.
  • the position of the positioning target node 100 is determined using a distance between the positioning target node 100 and a plurality of reference nodes.
  • the location of the positioning target node 100 may be determined.
  • the location where the plurality of circles overlap is known by knowing the distance between the positioning target node 100 and each reference node (200-400), it can be obtained using an algorithm such as the least square method based on triangulation. In this case, the distance between the positioning target node 100 and each reference node 200-400 may be obtained by uplink positioning or downlink positioning.
  • the uplink positioning is a positioning method in which the positioning target node 100 transmits a positioning signal, and the reference nodes 200-400 are receiving nodes receiving the positioning signal, and the downlink positioning is a reference node 200-400.
  • the positioning target node 100 is a receiving node that receives the positioning signal.
  • the positioning target node 100 will be described mainly for downlink positioning, which is a receiving node, but may also be applied to uplink positioning. Next, a method of obtaining a distance between the positioning target node 100 and each reference node 200-400 will be described.
  • FIG. 2 illustrates a delay tap according to an embodiment of the present invention.
  • the positioning target node receives a positioning signal to obtain a delay tab of a radio wave.
  • the horizontal axis of the delay tap represents the propagation delay time as the arrival time of radio waves, and the vertical axis represents the strength of the signal.
  • the positioning target node 100 can know the delay time of the delay tap including the first delay tap 11 and the maximum delay tap 12 having the maximum signal strength, and the delay spreads.
  • the delay spread value can be obtained. Since the delay time or delay spread value obtained through the delay tap is proportional to the distance, the distance between the transmitting and receiving nodes can be estimated using the delay tap.
  • the distance estimation using the delay time is a method using propagation delay characteristics, and can be obtained by a time of arrival (TOA) method or a time difference of arrival (TDOA) method.
  • TOA time of arrival
  • TDOA time difference of arrival
  • the positioning accuracy may vary depending on which tap is estimated based on the arrival time of the tap. If the signal strength of the first delay tap from the reference node (for example, 200 in FIG. 1) is maximum, the first delay is because the positioning target node 100 and the corresponding reference node 200 are located in a straight line path.
  • the distance can be estimated using the arrival time of the tap. However, due to the reflection or diffraction of the radio wave, as shown in FIG. 2, the size of the first delay tap 11 may not be the maximum, but the distribution of the delay taps may be shown.
  • the delay time of the first delay tap 11 of the delay tap, the delay time of the maximum delay tap 12 having the maximum signal strength, or the delay time of the tap which reaches the earliest of the delay taps exceeding a threshold value can be estimated using.
  • the distance can be obtained using a statistical calculation method, for example, an average of delay times.
  • the distance estimation using the delay spread can be obtained by the delay spread spreading (DSOA) method.
  • the delay spread value may be obtained by a difference between the minimum delay time and the maximum delay time, or may be obtained as the difference between the minimum delay time and the maximum delay time among delay taps having a threshold value or more.
  • the delay spread value may be obtained by reflecting a statistical calculation method, for example, root mean square (RMS) of the delay time of each delay tap or a standard deviation of the delay time of each delay tap.
  • RMS root mean square
  • the distance can be obtained using the propagation delay or delay spread information of the delay tap.
  • each method has different accuracy depending on the distance, if the distance is estimated by one of the methods, the positioning accuracy may be reduced. Therefore, in the following, we will use the distance estimation method using the propagation delay and delay spread selectively according to the distance, or look at the positioning method to reduce the error by using both methods.
  • FIG. 3 is a flowchart illustrating a wireless positioning method according to an embodiment of the present invention.
  • a positioning target node receives a positioning signal from a reference node (eg, 200 of FIG. 1) and measures a delay tap (S310).
  • the positioning target node 100 estimates the distance by using the delay tap and determines the estimated distance as a temporary estimated distance (S320).
  • the temporary estimated distance is used as information for selecting an estimation method using propagation delay and an estimation method using delay spread.
  • the temporary estimated distance may be determined by various methods using delay taps, and the various methods may be any one of the TOA, TDOA, and DSOA methods.
  • the positioning target node 100 compares the temporary estimated distance with a reference distance (S330).
  • the reference distance may be determined in consideration of an error occurring according to the distance when using the estimation method using propagation delay and the estimation method using delay spread.
  • the positioning target node 100 estimates the final distance by an estimation method using propagation delays (S340). If the temporary estimated distance is longer than the reference distance, the positioning target node 100 estimates the final distance by an estimation method using delay spreading (S350).
  • the positioning target node 100 may use a delay tap when estimating a final distance using a propagation delay or delay spread. In particular, when using propagation delay, it can be obtained by TOA or TDOA method, and when using delay spread, it can be obtained by DSOA method.
  • the positioning target node 100 estimates the distance from one or more other reference nodes 300 and 400 of FIG. 1 to determine the position of the positioning target node 100. To calculate (S360).
  • the method of calculating the position may vary and may be obtained using, for example, a method based on triangulation.
  • 4 to 7 are flowcharts and diagrams illustrating a wireless positioning method according to another embodiment of the present invention.
  • the positioning target node 100 of FIG. 1 receives a positioning signal from a reference node 200 (eg, 200 of FIG. 1) and measures a delay tap (S410).
  • the positioning target node 100 estimates a plurality of distances using the delay tap (S420).
  • Each estimated distance can be obtained using any one of an estimation method using propagation delay and an estimation method using delay spread, and the plurality of estimation distances are obtained using different information.
  • the plurality of estimated distances may be distances estimated by the delay time of the first delay tap, distances estimated by the delay time of the delay tap indicating the maximum signal strength, and distances estimated by the delay spread value.
  • the positioning target node 100 estimates the final distance in consideration of the distribution of the plurality of estimated distances (S430).
  • the final distance may be determined by a statistical calculation method, for example, a weighted average in consideration of an average of a plurality of estimated distances or a weight of each distance.
  • a statistical calculation method for example, a weighted average in consideration of an average of a plurality of estimated distances or a weight of each distance.
  • a plurality of estimated distances for example, three estimated distances R1-R3 between a positioning target node (100 of FIG. 1) and a reference node (eg, 200 of FIG. 1) using a delay tap.
  • the distance difference between the plurality of estimated distances is taken into account.
  • the plurality of estimated distances R1-R3 are similarly distributed, estimating the distance using all of the plurality of estimated distances R1-R3 may improve positioning accuracy, while the distance between the plurality of estimated distances R1-R3 may be increased. This is because when the difference is large, the positioning accuracy may be lowered by using the plurality of estimated distances R1-R3.
  • the positioning target node 100 estimates the final distance in consideration of all of the plurality of estimated distances R1-R3 when the maximum distance difference between the plurality of estimated distances R1-R3 is equal to or less than a reference value. However, when the maximum distance difference exceeds the reference value, since the error between the plurality of estimated distances R1 to R3 is large, the reference node 200 may be excluded from the positioning. Alternatively, only the estimated distances R2 and R3 having similar distributions in the plurality of estimated distances R1-R3 may be used to obtain a final distance even when the maximum distance difference exceeds the reference value.
  • Judgment of similar distribution can be made by setting a reference value different from the above-mentioned reference value, and when the distance between the estimated distances R2 and R3 is equal to or less than another reference value, the estimated distance R2 and R3 is estimated to have a similar distribution. You can judge by distance.
  • the positioning target node 100 of FIG. 1 receives a positioning signal from a reference node 200 (eg, 200 of FIG. 1) and measures a delay tap (S610).
  • the positioning target node 100 estimates a plurality of distances (eg, R1-R3 of FIG. 5) using the delay tap (S620). Each estimated distance can be obtained using any one of an estimation method using propagation delay and an estimation method using delay spread.
  • the positioning target node 100 compares the maximum distance difference between the plurality of estimated distances R1-R3 and a reference value (S630).
  • the positioning target node 100 estimates the final distance using the plurality of estimated distances R1-R3 when the maximum distance difference is less than or equal to the reference value (S640).
  • the final distance can be obtained by a statistical calculation method using a plurality of estimated distances R1-R3.
  • the final distance can be obtained as an average of the plurality of estimated distances or a weighted average considering weights of the respective distances.
  • the positioning target node 100 excludes the reference node 200 from the positioning when the maximum distance difference is greater than the reference value (S650). This is because an error may occur in positioning when a reference node having a maximum distance difference larger than a reference value is used for positioning.
  • the distance from the other reference nodes 300 and 400 of FIG. 1 is also estimated to calculate the position of the positioning target node (S660).
  • the maximum distance difference exceeds the reference value
  • the reference node 200 is unconditionally excluded from positioning, it may not be possible to secure the number of reference nodes required for positioning.
  • the estimated distances having similar distribution among the plurality of estimated distances R1-R3 are selected. It can be used for positioning.
  • the positioning target node 100 in FIG. 1 may include a plurality of estimated distances between a reference node (eg, 200 in FIG. 1).
  • a reference node eg, 200 in FIG. 1.
  • R1-R3 of FIG. 5 is obtained (S710), and the maximum difference between the plurality of estimated distances R1-R3 and the reference value are compared (S720).
  • the positioning target node 100 estimates the final distance using the plurality of estimated distances R1-R3 when the maximum distance difference is less than or equal to the reference value (S730).
  • the positioning target node 100 sets a reference value different from the reference value compared with the maximum distance difference, and determines whether two or more estimated distances smaller than the other reference values exist (S740).
  • the positioning target node 100 estimates the final distance using the corresponding estimated distance (S750).
  • the positioning target node 100 excludes the reference node 200 from the positioning when two or more estimated distances do not exist (S760).
  • the position of the positioning target node 100 is calculated by estimating the final distances from the plurality of reference nodes 300 and 400 of FIG. 1 (S770).
  • two values are set as reference values for comparing differences between a plurality of distances.
  • the distance difference and the reference value may be compared stepwise by increasing the number of reference values in consideration of the estimated number of distances.
  • the positioning target node 100 receives the positioning signal and calculates the distance from the reference nodes 200 to 400, the method for obtaining the distance between the two nodes may be applied to the uplink positioning. In addition, the method of measuring the delay tap at the positioning target node 100 and calculating a distance using the same is described. However, instead of calculating the position of the positioning target node 100, the positioning target node 100 may be positioned from the reference node 200-400. The information required for the collection may be collected and transmitted to another device, for example, a positioning server (not shown) or the reference node 200-400, so that the other device may calculate its location.
  • a positioning server not shown
  • the reference node 200-400 so that the other device may calculate its location.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Mobile Radio Communication Systems (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

L'invention concerne un procédé dans lequel un nœud de réception calcule la distance entre le nœud de réception et un nœud d'émission afin de mesurer l'emplacement d'un objet qui consiste: à recevoir un signal de mesure de l'emplacement d'un nœud d'émission et à mesurer une prise de retard; à déterminer provisoirement la distance entre le nœud de réception et le nœud d'émission au moyen de la prise de retard, et à comparer la distance provisoirement déterminée et une distance de référence; à sélectionner soit un procédé d'estimation de distance au moyen du temps de propagation, soit un procédé d'estimation de distance au moyen du défilement du temps de propagation; et enfin, à estimer une distance.
PCT/KR2010/006636 2009-09-29 2010-09-29 Procédé de mesure d'emplacement sans fil WO2011040756A2 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US13/498,774 US20120184297A1 (en) 2009-09-29 2010-09-29 Wireless location measurement method
JP2012532009A JP2013506144A (ja) 2009-09-29 2010-09-29 無線測位方法

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR20090092406 2009-09-29
KR10-2009-0092406 2009-09-29
KR1020100089625A KR20110035888A (ko) 2009-09-29 2010-09-13 무선 측위 방법
KR10-2010-0089625 2010-09-13

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WO2011040756A2 true WO2011040756A2 (fr) 2011-04-07
WO2011040756A3 WO2011040756A3 (fr) 2011-10-13

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005345273A (ja) * 2004-06-03 2005-12-15 Seiko Precision Inc 距離計測装置及び距離計測方法
US20070121679A1 (en) * 2005-11-30 2007-05-31 Strutt Guenael J Method and system for improving time of arrival (TOA) measurements in a wirless communication network
KR20080050981A (ko) * 2006-12-04 2008-06-10 한국전자통신연구원 양방향 무선 전파 이동 시간을 이용한 거리 측정 방법
JP2008139292A (ja) * 2007-11-05 2008-06-19 Fujitsu Ltd 移動無線局の位置を決定する測位システム、プログラムおよび位置決定方法
KR100916640B1 (ko) * 2007-07-26 2009-09-08 인하대학교 산학협력단 무선 통신 기반 송，수신 장치 간 거리 추정 방법

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005345273A (ja) * 2004-06-03 2005-12-15 Seiko Precision Inc 距離計測装置及び距離計測方法
US20070121679A1 (en) * 2005-11-30 2007-05-31 Strutt Guenael J Method and system for improving time of arrival (TOA) measurements in a wirless communication network
KR20080050981A (ko) * 2006-12-04 2008-06-10 한국전자통신연구원 양방향 무선 전파 이동 시간을 이용한 거리 측정 방법
KR100916640B1 (ko) * 2007-07-26 2009-09-08 인하대학교 산학협력단 무선 통신 기반 송，수신 장치 간 거리 추정 방법
JP2008139292A (ja) * 2007-11-05 2008-06-19 Fujitsu Ltd 移動無線局の位置を決定する測位システム、プログラムおよび位置決定方法

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