WO2016122019A1

WO2016122019A1 - Method and system for estimating movement direction using wps

Info

Publication number: WO2016122019A1
Application number: PCT/KR2015/000939
Authority: WO
Inventors: 박영몽
Original assignee: (주)휴빌론
Priority date: 2015-01-28
Filing date: 2015-01-29
Publication date: 2016-08-04
Also published as: KR101582517B1

Abstract

The present invention relates to a method and system for estimating a movement direction using a Wi-Fi positioning system (WPS) and, more specifically, to a method and system for estimating the movement direction of a pedestrian in an environment in which a direction calculation is difficult due to geomagnetic contamination. The system for estimating a movement direction using a WPS, according to the present invention, corresponds to a method of performing a movement direction estimation using the WPS. The method comprises the steps of: (a) performing WPS positioning for a pedestrian and setting a movement direction by a plurality of positioning points N; (b) calculating the movement direction at a PDR, when a rotation of a gyro sensor occurs; and (c) synthesizing a WPS positioning point and a PDR positioning point and calculating the movement direction, when a new WPS positioning point and PDR positioning point exist.

Description

Moving direction estimation method and system using WPS (WIFI POSITIONING SYSTEM)

The present invention relates to a method and system for estimating a moving direction using WPS, and more particularly, to a method and system for estimating a moving direction of a pedestrian in an environment where it is difficult to calculate a direction due to geomagnetic contamination.

The Global Positioning System (GPS), developed by the US Department of Defense, detects the position of satellites in orbit in real time and receives the time and the satellite signals from the GPS receiver through triangulation. This is how you determine your location. However, in the satellite-based positioning system, errors may occur due to the weather at the time of positioning or the surrounding environment of the location point, and may be reflected and refracted by the outer wall of the building or building, resulting in an error that cannot be utilized indoors. .

Thus, various methods are being developed to configure the positioning system indoors, among which the WLAN-based positioning system wirelessly inquires the signal information of each access point (AP) to locate the pre-established access point. The calculation method uses the reception sensitivity of each signal by using the information. However, this method has an error of about 5m indoors, so when trying to determine the position in the indoor navigation system, there is a problem that the position can be displayed on the other pedestrian path by the error. In addition, since the location of the access point can be changed or removed, the location information of the access point must always be maintained at its best to improve the reliability of the location. The range of may be larger, and there is a problem in that it is impossible to determine whether the user is moving or stationary in the shaded area where the reception is impossible (a position where the radio wave cannot be received due to the structure of the building).

In addition, since the WLAN-based positioning system calculates and provides only the user's location information, the WLAN-based positioning system is very vulnerable because the location is determined without information for correcting errors occurring in the indoor environment. In addition, the wireless LAN-based positioning system applied indoors calculates only the location information, so that there is no information for performing optimized positioning by correcting an error caused by interference caused by interference, surrounding environment, or communication state of the wireless terminal. In addition, in the case of the shaded area where positioning is impossible, there is no criterion to determine whether the user is moving or stopping even if the user is actually stopped. If the user needs to determine location, search paths, and voice guidance using continuous location information like a navigation system, Since it is necessary to correct the position, it is necessary to correct the position so that the positioning system reflects the user's movement in real time using PDR. However, in most indoor environments, it is composed of various electrical devices and steels that cause magnetic field distortion. Since there are many walls and the geomagnetic sensor of the PDR used in the moving direction malfunctions, there is a problem that the user's moving direction cannot be trusted.

(Patent Document 0001) Domestic Publication No. 2009-0121311

The present invention was devised to solve such a problem, and it is possible to reliably calculate the moving direction of a pedestrian by synthesizing the moving direction between the positioning points of the WPS and the moving direction of the PDR in an environment where it is difficult to calculate the direction due to geomagnetic contamination. It is an object of the present invention to provide a method and system for estimating a moving direction using WPS.

In order to achieve the above object, a moving direction estimation system using a Wi-Fi positioning system (WPS) according to the present invention is a method of performing a moving direction estimation using a WPS, using a Wi-Fi positioning system (WPS). A method for estimating a movement direction using a WPS, by a movement direction estimation system, comprising: (a) performing a WPS positioning of a pedestrian to set a movement direction by a plurality of positioning points (N); (b) after step (a), calculating rotation direction in the PDR when the rotation of the gyro sensor occurs; And (c) after step (b), if a new WPS location point and PDR location point exist, combining the WPS location point and the PDR location point to calculate a moving direction.

Preferably (d1) after the step (c), calculating the WPS movement displacement by the movement direction of the step (a) and the movement direction of the step (c); (d2) if the number of WPS positioning points corresponding to the movement displacement calculated in step (d1) is larger than the plurality of positioning points (N) in step (a), further comprising calculating in the final moving direction.

Preferably, the movement direction of step (b) is calculated by adding the rotation angle of the gyro sensor in the PDR direction of the previous period.

Preferably, the displacement calculation according to the WPS movement direction of step (d1) is made by subtracting the positioning point according to the moving direction of step (a) and the positioning point according to the new WPS moving direction. It is characterized by that.

Preferably, the WPS positioning of step (a) or step (c) is a terminal possessed by the pedestrian, and a terminal capable of communicating with an access point (AP) installed in a WIFI manner (hereinafter, referred to as a pedestrian terminal). If there is an AP whose signal strength is measured to be greater than or equal to a reference value, the AP is determined as the position of the pedestrian.

According to another aspect of the present invention, a system for estimating a moving direction using a WI-FI positioning system (WPS), WPS positioning module for performing a WPS positioning of pedestrians; A PDR positioning module configured to detect rotation of the gyro sensor, calculate a PDR movement direction, and perform PDR positioning according to the movement direction; A WPS moving direction calculation module configured to calculate a new moving direction by synthesizing the moving direction according to the WPS positioning and the moving direction according to the PDR positioning; And a controller for controlling each of the components of the movement direction estimation system using the WPS to perform a series of processes related to the movement direction estimation using the WPS.

Preferably, the PDR positioning module includes a movement direction calculation module that calculates the PDR movement direction by adding a rotation angle when the gyro sensor rotates in the PDR movement direction of the previous period.

Preferably, the WPS positioning module is a signal strength receiving module for receiving a signal strength value of the pedestrian terminal from the AP; And an AP in which the pedestrian possesses a signal strength from a terminal (hereinafter referred to as a pedestrian terminal) capable of communicating with an access point (AP) installed nearby and a WIFI method (hereinafter, referred to as a pedestrian terminal). And a WPS location calculation module for determining the location of an AP as the location of the pedestrian.

According to the method and system for estimating the movement direction using the WPS in the present invention, since the movement direction of the actual pedestrian terminal is accurately calculated and estimated, the movement direction of the pedestrian can be accurately trusted.

1 is a diagram illustrating a network configuration for performing a moving direction estimation using WPS.

2 is a flow chart for implementing a moving direction estimation method using WPS according to the present invention.

3 is a view for explaining the implementation of the movement direction estimation method using WPS according to the present invention.

4 is a view for explaining the implementation of the movement direction estimation method using WPS according to the present invention.

5 is a diagram illustrating a moving direction estimation system using WPS according to the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. Prior to this, terms or words used in the specification and claims should not be construed as having a conventional or dictionary meaning, and the inventors should properly explain the concept of terms in order to best explain their own invention. Based on the principle that can be defined, it should be interpreted as meaning and concept corresponding to the technical idea of the present invention. Therefore, the embodiments described in the specification and the drawings shown in the drawings are only the most preferred embodiment of the present invention and do not represent all of the technical idea of the present invention, various modifications that can be replaced at the time of the present application It should be understood that there may be equivalents and variations.

The movement direction estimation system 100 using the WPS is connected to a plurality of

APs

21, 22, and 23 installed in a specific area or a specific building through a network to manage the APs, and use the APs to locate specific locations located in the vicinity. The position of the target terminal 10 can be determined. In this drawing, although the movement direction estimation system 100 using the WPS is shown as a separate system, the system may be a separate system connected to the network as described above, or the terminal may be moved by the movement direction estimation program installed in the terminal 10. (10) may serve as such an indoor positioning system. The movement direction estimation method using the WPS according to the present invention will be described with reference to the flowchart of FIG. 2, and the configuration of the movement direction estimation system 100 using the WPS for performing such a processor will be described with reference to FIG. 5. The terminal described in FIG. 2, that is, the terminal possessed by the pedestrian, and the terminal for detecting the movement information of the measurement target by a sensor may be a separate device from the positioning target terminal 10 or the positioning. The target terminal 10 may be configured to detect such a moving direction.

2 is a flowchart for implementing a moving direction estimation method using WPS according to the present invention.

First, a WPS positioning of a pedestrian is performed to set a moving direction by a plurality of positioning points (N) (S410). At this time, since it is calculated based on a plurality of positioning points (N), the direction of the geomagnetic sensor is initially used (S420).

The APs detect signal strength from a terminal possessed by a pedestrian, that is, an AP (access point) installed nearby and a terminal capable of WIFI (hereinafter referred to as a pedestrian terminal) 10. The AP sends the detected signal strength value to the movement direction estimation system 100 using the WPS, and the movement direction estimation system 100 using the WPS performs WPS positioning therefrom.

In the method of performing positioning, when there is an AP whose signal strength received from the pedestrian terminal is greater than a reference value, there is a method of determining the position of the corresponding AP as the position of the pedestrian.

Subsequently, when rotation of the gyro sensor occurs (ΔG _k ) (S430), the movement direction P _k is calculated by PDR (S440).

PDR (pedestrian dead reckoning) is an acceleration sensor that detects the acceleration information of the pedestrian terminal to detect the movement information such as the speed, acceleration direction, and distance that a person moves using various sensors, and to detect the movement speed of the pedestrian terminal, It may include a geomagnetic sensor for detecting the azimuth information required to estimate the direction of movement of the pedestrian, an altimeter sensor for detecting the altitude information of the pedestrian, and a gyro sensor for detecting the angular velocity information.

Thereafter, after the movement direction P _k is calculated by the PDR (S440), it is determined whether a new PDR location point exists according to the calculated PDR movement direction (S451) and whether a new WPS location point exists (S452).

As a result of the determination (S451, S452), if the new PDR location point exists, and a new WPS location point exists, the WPS-based movement direction is calculated by combining the PDR location point and the WPS location point (S460).

Thereafter, the displacement ΔW _k in the WPS moving direction is calculated based on the moving direction of S410 and the moving direction of S460 (S470).

When the displacement ΔW _{k in} the WPS movement direction is calculated (S470), when the number of WPS positioning points corresponding to the calculated displacement is larger than the plurality of positioning points N in the step S410 (S480), It calculates in the last moving direction _Hk (S490).

This process is represented by the following equation.

P _{k =} P _k-1 + ΔG _k

ΔW _{k =} W _k-1 -W _k

H _{k =} (1-α) P _k + αΔW _k

α = 1 / (e ^ΔG ^k + e ^Δw ^k )

Here, H _k, is the final direction of the current period, P _k is the PDR direction of the current period, P _k-1 is the PDR direction of the previous period, ΔW _k is the WPS movement direction displacement angle of the current period, ΔG _k Is the gyro sensor rotation angle of the current period, and α is the WPS movement direction weight of the current period.

In the present invention, as shown in step 410, the movement direction setting using the WPS uses a direction between two positioning points. However, since the point is not always formed in the same direction as the user's moving direction, correction is necessary. Kalman filters are generally used. However, since the Kalman filter using the positioning point predicts the direction of the user's movement by using the latest trend, the user calculates a completely different direction when the user changes the direction and moves in another direction. Shown in

In order to solve the above problem, the prediction result of the general Kalman filter may be corrected as shown in FIG. 4 by using the displacement point according to the relative position calculated in the PDR in the step S440 as a correction point between the WPS positioning points.

5 is a diagram illustrating a configuration of a movement direction estimation system using WPS according to the present invention.

Since the movement direction estimation performed by the movement direction estimation system 100 using the WPS has been described in detail with reference to the flowchart of FIG. 2, only the essential functions of each module performing such a method will be briefly described.

The controller 110 controls the following components of the movement direction estimation system 100 using the WPS, and performs a series of processes related to the movement direction estimation using the WPS.

The WPS positioning module 130 performs WPS positioning of pedestrians. The WPS positioning module 130 is a signal strength receiving module 131 for receiving the signal strength value of the pedestrian terminal from the AP and the WPS position calculation module for calculating the position of the pedestrian by the signal strength values detected at the APs 132.

The position calculation method of the position calculation module 132 of the WPS determines the position of the AP as the position of the pedestrian only when there is an access point (AP) whose signal strength from the pedestrian terminal 10 is measured to be higher than a reference value. will be.

The WPS moving direction calculation module 120 calculates the WPS moving direction by the plurality of positioning points N. In addition, the WPS moving direction calculation module 120 combines the PDR positioning point and the new WPS positioning point according to the PDR moving direction to calculate the moving direction of the pedestrian again, and calculates the WPS moving displacement when the moving direction of the pedestrian is calculated again. The final moving direction of the pedestrian corresponding to the displacement is calculated.

The PDR positioning module 140 includes a movement direction calculation module 141 and a movement distance calculation module 142 that detect a rotation of the gyro sensor and calculate a movement direction of the PDR when the rotation is detected. In addition, the PDR positioning module 140 may perform PDR positioning according to the moving direction of the PDR.

As described above, although the present invention has been described by way of limited embodiments and drawings, the present invention is not limited thereto and is intended by those skilled in the art to which the present invention pertains. Of course, various modifications and variations are possible within the scope of equivalents of the claims to be described.

10: positioning target terminal

21, 22, 23: positioning AP

100: moving direction estimation system using WPS

110: control unit

120: WPS movement direction calculation module

130: WPS positioning module 131: signal strength receiving module

132: WPS position calculation module 140: PDR positioning module

141: moving direction calculation module 142: moving distance calculation module

Claims

A moving direction estimation system using a WI-FI positioning system (WPS), a method of performing the moving direction estimation using the WPS,

(A) performing the WPS positioning of the pedestrian to set the movement direction by a plurality of positioning points (N);

(b) after step (a), calculating the direction of movement in the PDR when rotation of the gyro sensor occurs; and

(c) after step (b), if a new WPS location point and a PDR location point exist, combining the WPS location point and the PDR location point to calculate a moving direction;

Moving direction estimation method using a WPS comprising a.
The method according to claim 1,

(d1) after the step (c), calculating a WPS movement displacement according to the moving direction of the step (a) and the moving direction of the step (c);

(d2) calculating the final moving direction when the number of WPS positioning points corresponding to the movement displacement calculated in step (d1) is larger than the plurality of positioning points (N) in step (a);

Moving direction estimation method using a WPS further comprising.
The method according to claim 1,

The calculation of the movement direction of step (b),

It is the sum of the rotation angles of the gyro sensor in the PDR direction of the previous period.

Moving direction estimation method using WPS, characterized in that.
The method according to claim 2,

The displacement calculation by the WPS movement direction of step (d1) is an angle obtained by subtracting the positioning point according to the moving direction of step (a) and the positioning point according to the new WPS moving direction.

Moving direction estimation method using WPS, characterized in that.
The method according to claim 1,

WPS positioning of step (a) or step (c),

As a terminal possessed by the pedestrian, when there is an AP in which signal strength from an access point (AP) installed nearby and a terminal capable of WIFI communication (hereinafter referred to as a pedestrian terminal) is measured to be equal to or greater than a reference value, the corresponding AP By determining the position of the pedestrian as

Moving direction estimation method using WPS, characterized in that.
A system for estimating a moving direction using a WPS (WI-FI positioning system),

WPS positioning module for performing the WPS positioning of pedestrians;

A PDR positioning module configured to detect rotation of the gyro sensor, calculate a PDR movement direction, and perform PDR positioning according to the movement direction;

A WPS moving direction calculation module configured to calculate a new moving direction by synthesizing the moving direction according to the WPS positioning and the moving direction according to the PDR positioning; And

Control unit for controlling the respective components of the movement direction estimation system using the WPS to perform a series of processes related to the movement direction estimation using the WPS

Moving direction estimation method using a WPS comprising a.
The method according to claim 1,

The PDR positioning module

Movement direction calculation module that calculates the movement direction of the PDR by adding the rotation angle when the gyro sensor rotates from the movement direction of the PDR in the previous cycle.

Moving direction estimation system using a WPS, characterized in that it comprises a.
The method according to claim 7,

The WPS positioning module

A signal strength receiving module for receiving a signal strength value of the pedestrian terminal from the AP; And

As a terminal possessed by the pedestrian, when there is an AP in which signal strength from an access point (AP) installed nearby and a terminal capable of WIFI communication (hereinafter referred to as a pedestrian terminal) is measured to be equal to or greater than a reference value, the corresponding AP WPS location calculation module for determining the location of the pedestrian as

Moving direction estimation system using a WPS, characterized in that it comprises a.