WO2011071199A1 - Système et procédé pour un suivi de position - Google Patents

Système et procédé pour un suivi de position Download PDF

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Publication number
WO2011071199A1
WO2011071199A1 PCT/KR2009/007380 KR2009007380W WO2011071199A1 WO 2011071199 A1 WO2011071199 A1 WO 2011071199A1 KR 2009007380 W KR2009007380 W KR 2009007380W WO 2011071199 A1 WO2011071199 A1 WO 2011071199A1
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WO
WIPO (PCT)
Prior art keywords
overlapping area
location
step value
circles
receiving
Prior art date
Application number
PCT/KR2009/007380
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English (en)
Korean (ko)
Inventor
박현수
Original Assignee
(주)한울옵틱스
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.)
Filing date
Publication date
Application filed by (주)한울옵틱스 filed Critical (주)한울옵틱스
Priority to PCT/KR2009/007380 priority Critical patent/WO2011071199A1/fr
Publication of WO2011071199A1 publication Critical patent/WO2011071199A1/fr

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    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0294—Trajectory determination or predictive filtering, e.g. target tracking or Kalman filtering
    • 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
    • G01S11/06—Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity measurements
    • 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

Definitions

  • the present invention relates to a position tracking system and a method thereof, and more particularly, to reduce the load on the server by expanding or reducing the intuitive graphical circle without using a formula such as conventional triangulation, indoor or outdoor or
  • the present invention relates to a location tracking system and method capable of offsetting errors in radio waves due to weather and the like.
  • triangulation is a simple geometric method and is the most commonly used method for estimating the real-time position of an object moving on a two-dimensional plane in a position tracking system (RTLS).
  • RTLS position tracking system
  • At least three reference points are required to estimate the real time position of a moving object on a two-dimensional plane (hereinafter, only a two-dimensional plane is assumed). Such reference points are referred to as AP1, AP2, and AP3, and the coordinates of each AP are referred to as (x 1 , y 1 ), (x 2 , y 2 ), and (x 3 , y 3 ) as shown in FIG. 1.
  • the moving object is represented by M
  • the current position is called (x, y)
  • the distance from the moving object M to three reference points is called d 1 , d 2 , d 3 .
  • the distance between each reference point from the moving object M can be simply calculated by the Pythagorean theorem.
  • the values of d 1 , d 2 , d 3 can be obtained by various methods. For example, it may be obtained using the relationship with the received signal strength RSSI, or may be obtained by using the arrival time TOA or the arrival time difference TDOA. Therefore, it is assumed here that the values of d 1 , d 2 and d 3 are known. In addition, since the coordinate values of three reference points are also known, the value of (x, y) which is the current position of a moving object can be calculated
  • the distance is calculated in the same way, and substituted into equations (1) to (3) to obtain the coordinate values of (x, y), which are the current positions of the moving object.
  • An object of the present invention is to provide a location tracking system that can reduce the load on the server by expanding or reducing the intuitive graphical circle, the operation speed is fast, and can cancel the error of the radio wave due to the weather.
  • An object of the present invention is to provide a location tracking system that can be usefully used for shopping or tourist attractions, museums, container location tracking, construction site material management.
  • the present invention is a position tracking system including receivers receiving a radio wave of a tag distributed in a grid form of a uniform interval, receiving the position signal strength data from the receiver receiving the position signal generated by the tag through the gateway A database to store and derive a distance separated from three or more of the receivers based on the data to generate three or more circles with a radius of the derived distance, the maximum overlapping area if there is an overlapping area Or if there is no overlapping area, create a stepped circle with a radius that adds the general location step value to the derived distance until there is an overlapping area with a preset general location step value. It includes a location tracking server of your choice.
  • the location tracking server After the maximum overlap region is selected, the location tracking server generates a stepped circle having a radius of the derived distance as a precision location step value minimizing the general location step value when more precise location determination is required.
  • the location tracking server receives an area value indicating the location tracking precision from the terminal and selects a maximum overlapping area from an overlapping area corresponding to the area value.
  • the tag is preferably used attached to the mobile terminal.
  • the present invention provides a method of setting a pixel, a step value and an area value, receiving a radio wave of a tag through a receiver distributed in a uniformly spaced grid, and receiving a position signal at which the tag oscillates.
  • Receiving data and storing the data in a database receiving the data through a location tracking server, deriving a distance spaced from the receiver based on the data, and determining the derived distance through the location tracking server.
  • a stepped circle of radius is generated by adding the general position step value to the derived distance, so that the overlapped area is If reallocation comprises a step of selecting a maximum overlapping area.
  • the present invention further includes the step of generating a stepped circle having a radius of the derived distance with a precision position step value which minimizes the general position step value after the maximum overlapping area is selected, when more accurate precision positioning is required.
  • the present invention may further include receiving a region value from the terminal and selecting a maximum overlap region in the overlap region corresponding to the region value.
  • the present invention can reduce the load on the server by expanding or reducing the intuitive graphical circle without using a formula such as a conventional triangulation, fast operation speed, and has the effect of offsetting the error of the radio wave due to weather have.
  • the present invention can track the exact location in software only by the existing receiver, etc. without additional configuration, there is an effect that can be usefully used for shopping places, tourist attractions, museums, container location tracking, construction site materials management.
  • 1 is a view for explaining the triangulation according to the position tracking according to the conventional invention.
  • Figure 2 is a view showing the overall configuration around the location tracking server of the location tracking system according to the present invention and the configuration module of the location tracking server.
  • FIG. 3 is a diagram illustrating a distance according to signal strength by receiving position signal strength data centering on receivers of the position tracking system according to the present invention as a graphic circle.
  • Figure 4 shows that the position tracking system according to the present invention generates a stepped circle of radius which adds the general position step value to the derived distance until there is an overlapping area with a preset general position step value.
  • FIG. 5 shows the creation of a stepped circle of radius minus the normal position step value of FIG.
  • FIG. 6 is a diagram illustrating that a predetermined portion is overlapped and the weight is calculated in an overlapped region according to the results of FIGS. 4 and 5.
  • Figure 7 shows that the location tracking system according to the present invention selects the maximum overlapping area from the weights in the overlapping area.
  • FIG. 8 is a view showing that the position tracking system according to the present invention extends to an overlapping area corresponding to an area value and selects a center among the maximum overlapping areas;
  • FIG. 9 is a flowchart schematically showing a sequence of a location tracking method according to the present invention.
  • the present invention is a position tracking system including receivers receiving a radio wave of a tag distributed in a grid form of a uniform interval, receiving the position signal strength data from the receiver receiving the position signal generated by the tag through the gateway A database to store and derive a distance separated from three or more of the receivers based on the data to generate three or more circles with a radius of the derived distance, the maximum overlapping area if there is an overlapping area Or if there is no overlapping area, create a stepped circle with a radius that adds the general location step value to the derived distance until there is an overlapping area with a preset general location step value. It includes a location tracking server of your choice.
  • Position tracking system is a device connected to the receivers 20 for receiving the radio wave of the tag 10 is distributed in a grid form of a uniform interval, divided into a database 30 and the location tracking server 40 Lose.
  • a device that can be attached to a mobile terminal and includes a personal identification ID and sends a schedule radio wave accordingly.
  • Receiver A device that receives a radio wave of a tag by distributing it in the form of a lattice of evenly spaced pixels.
  • Pixel Location tracking information in the minimum unit determined according to the screen resolution. For example, when the screen resolution is 1024x768 pixels, the map is scaled down and the distance corresponding to one pixel is set as the minimum distance.
  • Step value This is a constant that is set in advance and stored in the server.It is a general position step value for expanding or reducing a circle with a general pixel size, and a precise position step using a minimum pixel size (depending on indoor or outdoor). It is divided into chi.
  • Area value A constant that is set in advance and stored in the server. It indicates the location tracking accuracy, and the larger the area value, the more the location can be tracked.
  • FIG. 2 is a view showing the overall configuration of the location tracking server and the configuration module of the location tracking server according to the present invention
  • Figure 3 is a location signal strength around the receiver of the location tracking system according to the present invention
  • 4 is a diagram illustrating a distance according to signal strength as a graphic circle
  • FIG. 4 illustrates a general position step at the derived distance until an overlapping region exists at a preset general position step value according to the present invention.
  • Figure 5 shows the creation of a stepped circle of the sum of the radiuses
  • Figure 5 is a view showing the creation of a stepped circle of the radius minus the normal position step value, as opposed to Figure 4
  • Figure 6 shows the results of Figures 4 and 5 Fig.
  • FIG. 7 shows the calculation of the weights in the overlapped areas by overlapping a certain portion
  • Fig. 7 shows the position tracking system according to the present invention
  • FIG. 8 is a diagram illustrating a selection of a maximum overlapping area from weights in this overlapping area
  • FIG. 8 is a diagram illustrating a position tracking system according to the present invention extending to an overlapping area corresponding to an area value and selecting a center among the maximum overlapping areas. .
  • the database 30 receives and stores received signal strength indication (RSSI) data through a gateway from receivers 20 that receive a position signal generated by the tag 10. Device. That is, as shown in FIG. 3, each position signal strength is represented in a graphic form in a display apparatus in which the position of the receiver 20 is pixelated.
  • RSSI received signal strength indication
  • the position tracking server reduces the stepwise circle of the radius obtained by adding the general position step value to the derived distance until there is an overlapping area with the preset general position step value represented in Fig. 3. Or by expanding (S1-> S2-> S3).
  • the location tracking server derives a distance spaced from three or more receivers R2, R3, and R5 among the receivers 20 based on the data, and thus the derived distance. Create three or more circles with a radius and select the maximum overlapping area if there is an overlapping area, or if the overlapping area does not exist, set the normal location at the above-derived distance until the overlapping area exists with the preset general location step value. It is a server that creates a stepped circle of the sum of the step values and selects the maximum overlap area if there is an overlap area.
  • the general position step value is generally 10 pixels or 5 pixels, that is, 23 m or 11.5 m in width.
  • the location tracking server 40 After the maximum overlap region is selected, the location tracking server 40 generates a stepped circle whose radius is the derived distance as a precision location step value which minimizes the general location step value when more accurate location determination is required.
  • each circle is reduced to the general location step until the size is large enough to correspond to the general location step value. If the overlap region is small enough to correspond to the normal position step value, the position is converted into coordinates.
  • the location tracking server 40 enlarges each circle to the general location step value until the overlapping area is created, and if the generated overlapping area is as small as the general location step value, the location coordinate is converted into location coordinates. Zoom out again to convert the position coordinates.
  • the location tracking server 40 when the location tracking server 40 receives the area value from the terminal 50 and wants to increase the processing speed, the location tracking server 40 sets a narrow area value and precisely tracks the location at the request of customers. If necessary, the maximum overlapping region is selected from the overlapping regions corresponding to the above region values as shown in FIG.
  • the tracking accuracy is 10-20m, and when the minimum pixel is about 5 pixels, the overlapped area becomes wider and the whole area is set as one location. In this case, the area value can be set wider for more precise location tracking. Let's do it.
  • the pixel, step value and area value are previously set by accessing the location tracking server through the terminal (S110 and S120).
  • the receiver receiving the position signal from which the tag is oscillated receives the position signal strength data and stores it in a database, receives the data through the position tracking server, and derives the distance from the receiver based on the data. (S130).
  • a circle having a radius as the derived distance is generated, and a point at which a plurality of circles overlap is selected (S140 and S150).
  • steps S140 and S150 generating three or more circles having a radius of the derived distance through the location tracking server, selecting a maximum overlapping area if there is an overlapping area, and the location tracking server If there is no overlapping area through, create a stepped circle with a radius that adds the general location step value to the derived distance until the overlapping area exists at a preset general position step value, and selects the maximum overlapping area if there is an overlapping area. Divided into stages.

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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)

Abstract

La présente invention se rapporte à un système et à un procédé destinés à un suivi de position, et plus particulièrement à un système et à un procédé destinés à un suivi de position sans utiliser d'équation mathématique telle qu'une équation classique de triangulation mais en agrandissant ou en rétrécissant un cercle graphique intuitif afin de réduire la charge sur un serveur et de compenser des erreurs sur des signaux radio qui se produisent en intérieur, en extérieur ou en raison des conditions météorologiques. Le système de suivi de position de la présente invention comprend : des récepteurs, disposés selon un réseau régulier afin de recevoir des ondes radio de balises ; une base de données, configurée pour mémoriser des données d'intensité de signaux de position reçues par l'intermédiaire d'une passerelle en provenance des récepteurs qui reçoivent un signal de position à partir d'une balise ; ainsi qu'un serveur de suivi de position configuré pour calculer des distances à partir de trois récepteurs ou plus sur la base des données d'intensité de signaux de position et pour générer trois cercles ou plus comportant les distances calculées sous forme de rayons, le serveur de suivi de position sélectionnant une zone maximale de chevauchement quand il existe une zone de chevauchement parmi les cercles, et quand il n'existe aucune zone de chevauchement parmi les cercles, le serveur de suivi de position ajoutant de façon incrémentale une valeur d'échelon de position générale préétablie aux distances calculées de sorte à générer des cercles comportant les rayons respectifs des sommes ajoutées de manière incrémentale jusqu'à ce que les cercles se chevauchent les uns les autres, de façon à sélectionner une zone maximale de chevauchement parmi les cercles.
PCT/KR2009/007380 2009-12-10 2009-12-10 Système et procédé pour un suivi de position WO2011071199A1 (fr)

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PCT/KR2009/007380 WO2011071199A1 (fr) 2009-12-10 2009-12-10 Système et procédé pour un suivi de position

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PCT/KR2009/007380 WO2011071199A1 (fr) 2009-12-10 2009-12-10 Système et procédé pour un suivi de position

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013148108A1 (fr) * 2012-03-27 2013-10-03 Microsoft Corporation Localisation d'un dispositif mobile
US8983490B2 (en) 2012-03-27 2015-03-17 Microsoft Technology Licensing, Llc Locating a mobile device
US9612121B2 (en) 2012-12-06 2017-04-04 Microsoft Technology Licensing, Llc Locating position within enclosure

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7042391B2 (en) * 2003-12-12 2006-05-09 Xerox Corporation Mobile device and method for determining location of mobile device
JP2006127355A (ja) * 2004-11-01 2006-05-18 Advanced Telecommunication Research Institute International 無線タグの位置推定システム
JP2006258468A (ja) * 2005-03-15 2006-09-28 Advanced Telecommunication Research Institute International 位置推定システム
US20070139269A1 (en) * 2005-12-16 2007-06-21 Lucent Technologies Inc. System and method for model-free position estimation and tracking
KR100857248B1 (ko) * 2006-05-12 2008-09-05 자바정보기술 주식회사 이동체 위치 정보를 생성하는 장치 및 방법과 이동체위치를 인식하는 장치 및 방법

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7042391B2 (en) * 2003-12-12 2006-05-09 Xerox Corporation Mobile device and method for determining location of mobile device
JP2006127355A (ja) * 2004-11-01 2006-05-18 Advanced Telecommunication Research Institute International 無線タグの位置推定システム
JP2006258468A (ja) * 2005-03-15 2006-09-28 Advanced Telecommunication Research Institute International 位置推定システム
US20070139269A1 (en) * 2005-12-16 2007-06-21 Lucent Technologies Inc. System and method for model-free position estimation and tracking
KR100857248B1 (ko) * 2006-05-12 2008-09-05 자바정보기술 주식회사 이동체 위치 정보를 생성하는 장치 및 방법과 이동체위치를 인식하는 장치 및 방법

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013148108A1 (fr) * 2012-03-27 2013-10-03 Microsoft Corporation Localisation d'un dispositif mobile
US8983490B2 (en) 2012-03-27 2015-03-17 Microsoft Technology Licensing, Llc Locating a mobile device
US9279878B2 (en) 2012-03-27 2016-03-08 Microsoft Technology Licensing, Llc Locating a mobile device
US9588217B2 (en) 2012-03-27 2017-03-07 Microsoft Technology Licensing, Llc Locating a mobile device
US9869748B2 (en) 2012-03-27 2018-01-16 Microsoft Technology Licensing, Llc Locating a mobile device
US9612121B2 (en) 2012-12-06 2017-04-04 Microsoft Technology Licensing, Llc Locating position within enclosure

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