WO2018199446A1 - Apparatus and method for generating radio-wave map using landmark - Google Patents

Abstract

The present invention relates to an apparatus and a method for generating a radio-wave map using a landmark. The radio-wave map generation apparatus according to the present invention, which generates a radio-wave map within a building, is characterized by comprising: a data reception unit for receiving, from one or more user terminals, trajectory data and trajectory-based radio-wave data; a storage unit for storing an interior map within a building; and a radio-wave map generation unit for identifying a landmark in the interior map by means of the trajectory data or the radio-wave data, calculating a trajectory from the trajectory data, and generating a radio-wave map on the basis of the trajectory-based radio-wave data by matching the calculated trajectory with the interior map by means of the landmark.

Description

Apparatus and method for generating a propagation map using landmarks

This application claims priority based on Korean Patent Application No. 10-2017-0052228 filed on April 24, 2017, and all the contents disclosed in the specification and drawings of the application are incorporated in this application.

The present invention relates to a propagation map generating apparatus and method, and more particularly, to a propagation map generating apparatus and method for dynamically generating a propagation map using user terminals and landmarks.

In indoor spaces, GPS signals cannot be received from satellites, making location estimation difficult. However, technical demands are increasing to provide various location-based services (LBS) indoors. With the recent rapid spread of smartphones, attempts to provide location-based services for indoor spaces have been steadily increasing. In particular, Wi-Fi-based positioning systems (WPS), which do not require additional infrastructure installation, Much research is being conducted on positioning according to the strength of geo-magnetism.

There are two main positioning techniques using Wi-Fi, triangulation technique and fingerprinting technique.

Triangulation is a representative technique of location estimation. The location can be calculated by measuring received signal strength (RSS) from three or more access points, but in indoor spaces, wireless signals are used for walls, obstacles, people, etc. Since the attenuation, reflection, diffraction, etc. of the signal occur, the converted distance has a disadvantage of enormous error. For this reason, many fingerprinting techniques are used indoors. This technique divides the indoor space into small cells, collects RSS values directly from each cell, and builds a radio map. The RSS value received at the user's location is then compared with the database to estimate the cell with the most similar signal pattern as the user's location. This technique has a much higher accuracy than triangulation because it collects data directly reflecting spatial characteristics. However, there is a disadvantage in that a survey cost for constructing a propagation map is generated, and the more closely collected, the better the accuracy but the exponentially increasing cost.

In the positioning technique using geo-magnetism, the geomagnetic field appears to vary in intensity depending on the position and is generally about 20 to 70 μT in size. In particular, when entering the interior space, the geomagnetic field is distorted by the steel structure, electronic equipment, etc. This characteristic is rather a good basis to distinguish the location in the interior space. On the other hand, the geomagnetic method also uses a fingerprinting technique similar to Wi-Fi, so there is a disadvantage in that a radio map must be constructed.

In general, a static collection scheme is utilized to build a database of propagation maps. Static collection pre-specifies a number of points in the collection area to collect radio waves, and then collects radio signals by the radio collection device at the exact location of each point to collect radio signals. Create In this case, the collection point of the propagation pattern is generally assigned to the center position of each grid after dividing the collection zone in the form of a grid. The propagation maps are generated when the radio fingerprints of several points generated in this way are integrated. However, the static collection method has a problem that it takes too much manpower and time for the collection because a collection time of about a few minutes at each collection point in the indoor space.

In order to solve this problem, a dynamic collection method has been proposed. Unlike static collection, the dynamic collection method uses a built-in sensor or GPS to collect radio wave patterns while continuously moving through the collection area using a collection device that can know the real-time location and collect radio signals at the same time. When a collector carries a collecting device and moves within a collecting zone, the collection proceeds by automatically measuring the collecting position collecting the radio wave pattern in the collecting device and recording the corresponding radio wave pattern according to the situation.

However, since the movement trajectory of the user terminal by the dynamic collection method estimates the relative position, an initial position is necessarily required when matching with the indoor map. If there is no information for specifying the initial position or the signal information from the specific AP set as the initial position cannot be obtained due to crosstalk of the wireless network, a radio wave map based on the dynamic movement trajectory of the user terminal can be generated. Has no problem.

In order to solve the problems of the prior art,

It is an object of the present invention to provide an apparatus and method for generating a propagation map using a landmark capable of acquiring propagation information according to a dynamic movement trajectory of a user terminal as data of a propagation map even when there is no initial position.

Another object of the present invention is to collect the radio wave information using the terminal of the general user using a mobile communication service, so a separate facility investment or input manpower is not required, so the radio map generation apparatus using a landmark that can save cost And a method.

In order to solve the problems of the prior art,

An object of the present invention is to provide a radio wave map generating apparatus for generating a radio wave map in a building, wherein the radio wave map generating apparatus comprises: a data receiving unit configured to receive movement trajectory information and radio wave information according to the movement trajectory from at least one user terminal; A storage unit storing an indoor map in the building; And identifying a landmark of the indoor map using the movement trajectory information or the radio wave information, calculating a movement trajectory from the movement trajectory information, and matching the calculated movement trajectory to the indoor map using the landmark. And a propagation map generator for generating a propagation map based on the propagation information according to the movement trajectory.

The propagation map generating unit may identify an elevator as a landmark of the indoor map using the movement trajectory information or the propagation information.

The propagation map generation unit maintains a magnetic field distortion based on the propagation information for a predetermined time, a change in the vertical direction of the inertial sensor included in the movement trajectory information occurs at or above a threshold value, and after the movement of the motion sensor stops after a predetermined time. It is characterized in that the elevator is identified as a landmark on the indoor map when the atmospheric pressure change of the barometric pressure sensor is moved in a short step.

The propagation map generating unit may identify an escalator as a landmark of the indoor map using the movement trajectory information or the propagation information.

The propagation map generation unit generates a temporary magnetic field distortion around a predetermined time based on the propagation information, and a change in the inertial sensor for a certain period of time based on the movement trajectory information, and the movement of the motion sensor stops, and then the vibration for a predetermined time. After the occurrence of a short step, if the atmospheric pressure change of the barometric pressure sensor occurs, it characterized in that the escalator is identified as a landmark of the indoor map.

The propagation map generating unit may identify a door as a landmark of the indoor map using the movement trajectory information or the propagation information.

The propagation map generation unit identifies a door as a landmark of the indoor map when the propagation intensity is discontinuous based on the propagation information and the movement of the motion sensor included in the movement trajectory information stops for a predetermined time and then restarts. It features.

The propagation map generating unit may identify an inflection point as a landmark of the indoor map using the movement trajectory information or the propagation information.

The propagation map generating unit may identify an inflection point as a landmark of the indoor map when a change in the movement direction of the motion sensor included in the movement trajectory information is greater than or equal to a threshold.

The propagation map generating unit may identify a staircase as a landmark of the indoor map using the movement trajectory information or the propagation information.

The propagation map generation unit may detect a change in a step speed or a step size of a motion sensor included in the movement trajectory information, and identify a stair as a landmark of the indoor map when a change in air pressure of the air pressure sensor occurs. .

Another object of the present invention is a method for generating a radio wave map in a building in a radio wave map generating apparatus communicating with at least one user terminal, wherein the radio wave map generating method comprises: storing an indoor map in a building; Receiving movement trajectory information and radio wave information according to the movement trajectory from at least one user terminal; And identifying a landmark of the indoor map using the movement trajectory information or the radio wave information, calculating a movement trajectory from the movement trajectory information, and matching the calculated movement trajectory to the indoor map using the landmark. And generating a propagation map based on the propagation information according to the movement trajectory.

The generating of the propagation map may include identifying an elevator as a landmark of the indoor map using the movement trajectory information or the propagation information.

In the generating of the propagation map, the magnetic field distortion is maintained for a predetermined time based on the propagation information, a change in the vertical direction of the inertial sensor included in the movement trajectory information occurs more than a threshold value, and the movement of the motion sensor is stopped. After a certain period of time, moving in a short step, when the atmospheric pressure change of the barometric pressure sensor, it characterized in that the elevator is identified as a landmark of the indoor map.

The generating of the propagation map may include identifying an escalator as a landmark of the indoor map using the movement trajectory information or the propagation information.

In the generating of the propagation map, a temporary magnetic field distortion occurs before and after a predetermined time based on the propagation information, based on the movement trajectory information, there is no change in the inertial sensor for a predetermined time, and movement of the motion sensor stops after a predetermined time. After the vibration occurs during a short step, when the atmospheric pressure change of the barometric pressure sensor, it characterized in that the escalator is identified as a landmark of the indoor map.

The generating of the propagation map may include identifying a door as a landmark of the indoor map using the movement trajectory information or the propagation information.

The generating of the propagation map may include generating a door as a landmark of the indoor map when the propagation intensity is discontinuous based on the propagation information and the movement of the motion sensor included in the movement trajectory information stops for a predetermined time and then starts again. It is characterized by identifying.

The generating of the propagation map may include identifying an inflection point as a landmark of the indoor map using the movement trajectory information or the propagation information.

The generating of the propagation map may include identifying an inflection point as a landmark of the indoor map when a change in the movement direction of the motion sensor included in the movement trajectory information is greater than or equal to a threshold.

The generating of the propagation map may include identifying a staircase as a landmark of the indoor map using the movement trajectory information or the propagation information.

The generating of the propagation map may include detecting a change in a step speed or a step size of a motion sensor included in the movement trajectory information, and identifying a stair as a landmark of the indoor map when a change in air pressure of the air pressure sensor occurs. It features.

The present invention has the following effects by the above configuration.

The present invention has the effect that the radio wave information according to the dynamic movement trajectory of the user terminal can be obtained as data of the radio wave map even if there is no initial position.

The present invention collects radio wave information using terminals of a general user who uses a mobile communication service, and thus, there is no need for a separate facility investment or input manpower, thereby reducing costs.

The present invention collects a radio wave pattern using terminals of a general user using a mobile communication service, and thus repeats from a plurality of users for overlapping positions where a position to acquire radio wave information and a position to be positioned by using a radio map coincide with each other. By doing so, it is possible to obtain radio wave information, thereby generating an accurate propagation map.

1 is a diagram illustrating a propagation map generation system using a landmark, according to an exemplary embodiment.

2 is a conceptual diagram illustrating a movement trajectory according to the movement trajectory information received from the user terminal of FIG. 1.

3 is a block diagram illustrating a configuration of an embodiment of a user terminal of FIG. 1.

4 is a block diagram illustrating a configuration of the propagation map generating apparatus of FIG. 1.

5 is a block diagram illustrating an embodiment of data stored in a database of FIG. 1.

FIG. 6 is an exemplary diagram illustrating an indoor map grid map for generating an indoor map and a propagation map stored in the database of FIG. 5.

FIG. 7 is a diagram illustrating an embodiment of a propagation map of a building unit stored in the database of FIG. 5.

8 to 10 are examples of attempting to match the movement trajectory to the indoor map.

11 is a flowchart of a method of generating a propagation map using a landmark, according to another exemplary embodiment.

 12 illustrates an example of generating a propagation map by mapping radio wave information according to a movement trajectory to a grid corresponding to an indoor map, according to an exemplary embodiment.

Hereinafter, embodiments of the present invention will be described in more detail with reference to the accompanying drawings. The embodiments of the present invention can be modified in various forms, and the scope of the present invention should not be construed as being limited to the following embodiments. This embodiment is provided to more completely explain the present invention to those skilled in the art. In addition, although specific terms are used in the drawings and the specification of the present invention, they are used only for the purpose of illustrating the present invention and are not used to limit the scope of the present invention as defined in the meaning or the claims. Therefore, those skilled in the art will understand that various modifications and equivalent other embodiments are possible from this. Therefore, the true technical protection scope of the present invention will be defined by the technical spirit of the appended claims.

Next, an apparatus and method for generating a radio wave map using the landmark of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a diagram illustrating a propagation map generation system using a landmark according to an exemplary embodiment. FIG. 2 is a conceptual diagram illustrating a movement trajectory according to movement trajectory information received from the user terminal of FIG. 1.

Referring to FIG. 1, the propagation map generation system is based on propagation information received from at least one or more APs 10a, 10b, 10c,..., And 10n as a user carrying the user terminal 100 moves freely in the room. Can build a database (400). In addition, the propagation map generation system may perform accurate positioning on the user terminal 100 using a fingerprinting technique based on the constructed database (DB) 400.

In addition, according to another embodiment, the propagation map generation system includes a database DB based on a geomagnetic change, that is, geomagnetic information, according to the trajectories A, B, and C in which a user carrying the user terminal 100 moves. 400) can be built. Hereinafter, the description of the present invention will be described as a propagation map generation system that receives radio wave information corresponding to the trajectories A, B, and C from which the user terminal 100 moves from the user terminal 100 to generate a propagation map. The present invention is not limited thereto, and includes an embodiment of generating a propagation map by receiving a geomagnetic change from the user terminal 100 according to the trajectories A, B, and C in which the user terminal 100 moves.

The propagation map generation system includes at least one user terminal 100, a propagation map generation apparatus 200, a communication network 300 connecting them, and a database (DB) 400.

The user terminal 100 is a device that is portable and can communicate with other user terminal 100 and the radio wave map generating apparatus 200 using a communication channel. One embodiment of the user terminal 100 may include, but is not limited to, a computing device having a portable device such as a mobile phone, a smartphone, and a Wi-Fi or other wireless transceiver such as a tablet computer, a notebook, or the like. Do not. The number of user terminals 100 shown in FIG. 1 is only an example and is not limited thereto. The user terminal 100 is a device of a general user using a mobile communication service.

The user terminal 100 includes a GPS receiver and various sensors to generate movement trajectory information while moving together according to the movement of the user, and also includes geomagnetic information, a wireless LAN access point, an LTE base station and repeater, a beacon transmitter, an ultrasonic transmitter, and the like. Collect radio wave information of radio wave transmission equipment. The radio wave information includes radio wave strength and includes identification information of the radio wave transmitting apparatus as necessary. The movement trajectory information includes information measured by various sensors such as a magnetic field sensor, an inertial sensor, an air pressure sensor, and an acceleration sensor of the user terminal 100.

The propagation map generating apparatus 200 extracts a movement trajectory from the movement trajectory information received from the user terminal 100, and maps a match between the extracted movement trajectory and the indoor map stored in the database 400. Next, a radio wave map is generated for the interior of the building in which the user terminal 100 enters based on the radio wave information according to the movement trajectory.

The propagation map generating apparatus 200 determines entry into the building of the user terminal 100 based on the movement trajectory information received from the user terminal 100, and also determines the inter-floor movement of the user terminal 100 in the building. It also determines the movement of rooms, corridors, etc. within the floor. At this time, the radio wave map generating apparatus 200 may further reflect radio wave information received from the user terminals 100 to more accurately determine the movement between floors and the movement of a room or a corridor.

The propagation map generating apparatus 200 may map-match the movement trajectory and the indoor map immediately when the initial position value is known from the movement trajectory. Here, the initial position value is a value capable of immediately specifying the position of the movement trajectory on the indoor map as a reference point of the movement trajectory. For example, when the starting point of the movement trajectory information is an elevator or a door, the initial position value may be set using identification information of the AP near the elevator or a GPS signal near the door. However, when the initial position value is not obtained due to instability of the communication network, it is difficult to accurately match the movement trajectory with the indoor map.

2A illustrates a movement trajectory A extracted based on the movement trajectory information collected while the user moves along the path A of FIG. 1, and a plurality of APs 10a, 10b,. FIG. 2B illustrates the movement trajectory B extracted based on the movement trajectory information collected while the user moves the path B of FIG. 1, and FIG. ) Shows the movement trajectory C extracted based on the movement trajectory information collected while the user moves the path C of FIG. 1. Referring to FIG. 1, the movement trajectory information includes various sensor information collected while the user carrying the user terminal 100 moves indoors, and the propagation map generating apparatus 200 may use the movement trajectory information. The movement trajectories A, B, and C shown in FIG. 2 can be extracted.

Comparing the movement trajectory B shown in (b) of FIG. 2 and the movement trajectory (C) shown in (c) of FIG. 2, the overall direction and the movement distance are similar. That is, when analyzing the propagation information according to the movement trajectory B shown in FIG. 2B and the movement trajectory C shown in FIG. 2C, both trajectories move adjacent passages in FIG. While collecting radio information, it is difficult to accurately distinguish both trajectories from indoor maps only by the radio wave information of a radio wave transmitting apparatus located nearby. For example, when matching the movement trajectory B shown in (b) of FIG. 2 to the indoor map, it may be mismatched with the movement trajectory C of FIG. 1, which is propagated according to the movement trajectory B. FIG. Information can be wrongly stored as propagation information corresponding to the movement trajectory C, resulting in a problem of lowering the accuracy of the propagation map.

Therefore, according to an exemplary embodiment, even if the initial position value is not known from the movement trajectory information, the propagation map generating apparatus 200 analyzes various sensor signals included in the movement trajectory information and corresponds to the landmark of the indoor map to determine the movement trajectory. It can map-matching indoor maps accurately.

Referring to FIG. 2, the movement trajectory information may include different sensor signals depending on the position of the movement trajectory. For example, the sensor information included in the position b4 portion of the movement trajectory B shown in FIG. 2B and the position c5 portion of the movement trajectory C shown in FIG. 2C. When the sensor information included in the data is analyzed, landmarks displayed on the actual map are different. That is, the sensor information included in the position b4 of the movement trajectory B illustrated in FIG. 2B is measured while the actual user terminal 100 passes through the door. On the other hand, the sensor information included in the position (c5) portion of the movement trajectory (C) shown in Figure 2 (c), referring to Figure 1, the actual user terminal 100 is measured while going down the stairs.

The data of the propagation map generated by the propagation map generating apparatus 200 and stored in the database 400 includes position information of each grid and propagation information corresponding to each grid (for example, strength information of a geomagnetism or a radio wave transmitting apparatus). Identification information / propagation intensity information). The propagation map generating apparatus 200 may update the propagation information of the existing propagation map in real time when the movement trajectory information and the propagation information are received from the new user terminals 100. For example, the radio wave strength may be updated to an average value by adding the radio wave strength included in the radio wave information received from the new user terminal 100 to the existing radio wave intensity. The building can also be remodeled and its internal structure changed as new stores are opened. In addition, the existing radio wave transmitting device may be dismantled and a new radio wave transmitting device may be installed at another location. This propagation information is updated in real time.

The communication network 300 is a medium used to provide a communication link between various devices and data processing systems connected to each other in a propagation map generation system. The communication network 300 may include a connection such as an electric wire, a wireless communication link or an optical fiber cable. The communication network 300 may be a wide area network (WAN), a local area network (LAN), a wireless network of a WAN or a LAN, a mobile network, a virtual private network (VPN), the Internet, a general telephone. It may be implemented using or including a variety of different communication technologies, such as Public Switched Telephone Network (PSTN) or the like.

The database 400 stores map data, indoor map data of a building, information of landmarks having known installation positions, and stores a radio wave map generated in real time. Here, the landmark may be a facility that knows the installation location in advance, for example, a WLAN access point that knows the installation location in advance, or a beacon transmission time, but is not limited thereto and various infrastructures may be utilized.

3 is a block diagram illustrating a configuration of an embodiment of a user terminal of FIG. 1.

Referring to FIG. 3, the user terminal 100 includes a wireless communication unit 110, an A / V input unit 120, a user input unit 130, a sensing unit 140, an output unit 150, and a memory. 160, an interface unit 170, a controller 180, and a power supply unit 190 may be included. The components shown in FIG. 3 are not essential, so that a user terminal having more or fewer components may be implemented. Hereinafter, the components will be described in order.

The wireless communication unit 110 may include one or more modules that enable wireless communication between the user terminal 100 and a wireless communication system or between a network in which the user terminal 100 and the user terminal 100 are located. For example, the wireless communication unit 110 may include a broadcast receiving module 111, a mobile communication module 112, a wireless internet module 113, a short range communication module 114, a location information module 115, and the like. .

The broadcast receiving module 111 receives a broadcast signal and / or broadcast related information from an external broadcast management server through a broadcast channel. The broadcast channel may include a satellite channel and a terrestrial channel. The broadcast management server may mean a server that generates and transmits a broadcast signal and / or broadcast related information or a server that receives a pre-generated broadcast signal and / or broadcast related information and transmits the same to a terminal. The broadcast signal may include not only a TV broadcast signal, a radio broadcast signal, and a data broadcast signal, but also a broadcast signal having a data broadcast signal combined with a TV broadcast signal or a radio broadcast signal. The broadcast related information may mean information related to a broadcast channel, a broadcast program, or a broadcast service provider. The broadcast related information may also be provided through a mobile communication network. In this case, it may be received by the mobile communication module 112. The broadcast receiving module 111 may include, for example, Digital Multimedia Broadcasting-Terrestrial (DMB-T), Digital Multimedia Broadcasting-Satellite (DMBS), Media Forward Link Only (MediaFLO), and Digital Video Broadcast-Handheld (DVB-H). ), A digital broadcasting signal may be received using a digital broadcasting system such as ISDB-T (Integrated Services Digital Broadcast-Terrestrial). Of course, the broadcast receiving module 111 may be configured to be suitable for not only the above-described digital broadcasting system but also other broadcasting systems. The broadcast signal and / or broadcast related information received through the broadcast receiving module 111 may be stored in the memory 160.

The mobile communication module 112 transmits and receives a radio signal with at least one of a base station, an external terminal, and a server on a mobile communication network. The wireless signal may include various types of data according to transmission and reception of a voice call signal, a video call call signal, or a text / multimedia message. The mobile communication module 112 is configured to implement a video call mode and a voice call mode. The video call mode refers to a state of making a call while viewing the other party's video, and the voice call mode refers to a state of making a call without viewing the other party's image. In order to implement the video call mode and the voice call mode, the mobile communication module 112 is configured to transmit and receive at least one of audio and video.

The wireless internet module 113 refers to a module for wireless internet access and may be embedded or external to the user terminal 100. Wireless Internet technologies may include Wireless LAN (Wi-Fi), Wireless Broadband (Wibro), World Interoperability for Microwave Access (Wimax), High Speed Downlink Packet Access (HSDPA), and the like.

The short range communication module 114 refers to a module for short range communication. As a short range communication technology, Bluetooth, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra Wideband (UWB), ZigBee, and the like may be used.

The location information module 115 is a module for obtaining a location of the user terminal 100, and a representative example thereof is a GPS (Global Position System) module.

Referring to FIG. 3, the A / V input unit 120 is for inputting an audio signal or a video signal, and may include a camera 121 and a microphone 122. The camera 121 processes image frames such as still images or moving images obtained by the image sensor in a video call mode or a photographing mode. The processed image frame may be displayed on the display unit 151. The image frame processed by the camera 121 may be stored in the memory 160 or transmitted to the outside through the wireless communication unit 110. Two or more cameras may be provided according to the use environment. The microphone 122 receives an external sound signal by a microphone in a call mode, a recording mode, a voice recognition mode, etc., and processes the external sound signal into electrical voice data. The processed voice data may be converted into a form transmittable to the mobile communication base station through the mobile communication module 112 and output in the call mode. The microphone 122 may implement various noise removing algorithms for removing noise generated in the process of receiving an external sound signal.

The user input unit 130 generates input data for the user to control the operation of the terminal. The user input unit 130 may include a key pad, a dome switch, a touch pad (constant voltage / capacitance), a jog wheel, a jog switch, and the like.

The sensing unit 140 is based on the sensing values of various sensors, such as an inertia change, a geomagnetic change, a movement change, an air pressure change, a radio wave reception intensity, and the like of an environment adjacent to a state change of the user terminal 100. The radio wave information can be detected.

The inertial sensor 141 may detect an inertial force acting on the user terminal 100 by an acceleration applied based on sensing values such as an acceleration sensor and a gyro sensor. For example, if a user boards an elevator and goes upstairs, the moment of inertia immediately after boarding the elevator temporarily goes down above the threshold, but when there is no change over time, the moment of arrival changes temporarily above the threshold. With the pattern, the inertia sensor 141 can detect the change of the inertia force. On the other hand, in the case of the escalator moving at a constant speed, there is no change in the inertial force acting on the user terminal 100 for a predetermined time the user is boarding, it can be confirmed through the inertial sensor 141.

The motion sensor 142 may detect a change in movement such as a moving direction, a moving speed, and a vibration of the user terminal 100 based on an integration value of an acceleration sensor and a sensing value such as a gyro sensor. . For example, when a user boards an elevator or an escalator, the user has an operation pattern of stopping movement and moving a short step after a predetermined time, and the movement sensor 142 may detect such a change in motion, in particular, an escalator The motion sensor 142 may also detect a change in motion, such as natural vibrations caused by the motor while traveling in the vehicle. As another example, the user passing through the door may be stopped for a predetermined time and then moved again, and the motion sensor 142 may detect this. As another example, the user may change the direction by more than 90 degrees at an inflection point such as a corner, and the motion sensor 142 may detect a change in the direction of movement above the threshold. As another example, when the user descends or climbs a step, a change in a constant step speed or stem size may occur and the change may be sensed by the motion sensor 142.

The barometric pressure sensor 143 may detect a change in atmospheric pressure based on a sensing value of a pressure sensor. For example, when a user descends an elevator, an escalator, or a staircase, the atmospheric pressure may change and the barometric pressure sensor 143 may detect this.

The magnetic field sensor 144 may detect the intensity of geo-magnetism that varies depending on the indoor location according to the trajectory of the user's movement. The sensing value of the magnetic field sensor 144 may be used as propagation information for forming a propagation map, that is, a magnetic field map, and according to an embodiment, may be used as data for identifying a landmark of an indoor map. For example, when a user boards an elevator, a distortion of a magnetic field may be continuously generated for a predetermined time while boarding due to various electromagnetic devices inside the elevator, and the magnetic field sensor 144 may detect this. As another example, when a user rides on an escalator equipped with various electromagnetic devices such as a motor at a start position and an arrival position, electromagnetic distortion caused by various electromagnetic equipments occurs at the time of arrival and arrival of the escalator, and the magnetic field sensor 144 ) Can be detected.

The radio wave sensor 145 may receive radio wave information transmitted from a radio wave transmitting device according to a trajectory of a user moving. The radio wave transmitting device may be configured of a WiFi AP, a Bluetooth Low Energy (BLE), an LTE repeater, and the like, and the transmitted radio wave information may be implemented as at least one or more of a WiFi signal, a BLE signal, and an LTE signal. The sensing value of the radio wave sensor 145 may be used as radio wave information for forming a radio wave map, and according to an embodiment, may be used as data for identifying a landmark of an indoor map. For example, the radio wave information may include identification information and radio wave intensity information of the radio wave transmitting device and may be used as a landmark of an indoor map by using the location information of the radio wave transmitting device corresponding to the identification information.

The output unit 150 is used to generate an output related to visual, auditory, or tactile, and may include a display unit 151, an audio output module 152, an alarm unit 153, and a haptic module 154. have.

The display unit 151 displays (outputs) information processed in the user terminal 100. For example, when the user terminal 100 is in a call mode, a user interface (UI) or a graphic user interface (GUI) related to a call is displayed. When the user terminal 100 is in a video call mode or a photographing mode, it displays a photographed and / or received image, a UI, or a GUI. The display unit 151 includes a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), and a flexible display (flexible). display, a 3D display, or an e-ink display. Some of these displays can be configured to be transparent or light transmissive so that they can be seen from the outside. This may be referred to as a transparent display. A representative example of the transparent display is TOLED (Transparant OLED). The rear structure of the display unit 151 may also be configured as a light transmissive structure. With this structure, the user can see the object located behind the terminal body through the area occupied by the display unit 151 of the terminal body.

When the display unit 151 and a sensor for detecting a touch operation (hereinafter, referred to as a touch sensor) form a mutual layer structure (hereinafter referred to as a touch screen), the display unit 151 may be used in addition to an output device. Can also be used as an input device. The touch sensor may have, for example, a form of a touch film, a touch sheet, a touch pad, or the like. The touch sensor may be configured to convert a change in pressure applied to a specific portion of the display unit 151 or capacitance generated in a specific portion of the display unit 151 into an electrical input signal. The touch sensor may be configured to detect not only the position and area of the touch but also the pressure at the touch. If there is a touch input to the touch sensor, the corresponding signal (s) is sent to the touch controller. The touch controller processes the signal (s) and then transmits the corresponding data to the controller 180. As a result, the controller 180 can know which area of the display unit 151 is touched.

Referring to FIG. 3, the proximity sensor 141 may be disposed in an inner region of the user terminal surrounded by the touch screen or near the touch screen. The proximity sensor 141 refers to a sensor that detects the presence or absence of an object approaching a predetermined detection surface or an object present in the vicinity without using a mechanical contact by using an electromagnetic force or infrared rays. The proximity sensor 141 has a longer life and higher utilization than a contact sensor. Examples of the proximity sensor 141 include a transmission photoelectric sensor, a direct reflection photoelectric sensor, a mirror reflection photoelectric sensor, a high frequency oscillation proximity sensor, a capacitive proximity sensor, a magnetic proximity sensor, and an infrared proximity sensor. When the touch screen is capacitive, the touch screen is configured to detect the proximity of the pointer by the change of the electric field according to the proximity of the pointer. In this case, the touch screen (touch sensor) may be classified as a proximity sensor.

The sound output module 152 may output audio data received from the wireless communication unit 110 or stored in the memory 160 in a call signal reception, a call mode or a recording mode, a voice recognition mode, a broadcast reception mode, and the like. The sound output module 152 may also output a sound signal related to a function (for example, a call signal reception sound or a message reception sound) performed in the user terminal 100. The sound output module 152 may include a receiver, a speaker, a buzzer, and the like.

The alarm unit 153 outputs a signal for notifying occurrence of an event of the user terminal 100. Examples of events generated in the user terminal include call signal reception, message reception, key signal input, and touch input. The alarm unit 153 may output a signal for notifying occurrence of an event in a form other than a video signal or an audio signal, for example, vibration. The video signal or the audio signal may be output through the display unit 151 or the sound output module 152, so that they 151 and 152 may be classified as part of the alarm unit 153.

The haptic module 154 generates various haptic effects that a user can feel. Vibration is a representative example of the haptic effect generated by the haptic module 154. The intensity and pattern of vibration generated by the haptic module 154 can be controlled. For example, different vibrations may be synthesized and output or may be sequentially output. In addition to vibration, the haptic module 154 may be configured to provide a pin array that vertically moves with respect to the contact skin surface, a jetting force or suction force of air through the jetting or suction port, grazing to the skin surface, contact of the electrode, electrostatic force, and the like. Various tactile effects can be generated, such as effects by the endothermic and the reproduction of a sense of cold using the elements capable of endotherm or heat generation. The haptic module 154 may not only deliver the haptic effect through direct contact, but also may implement the user to feel the haptic effect through a muscle sense such as a finger or an arm. Two or more haptic modules 154 may be provided according to configuration aspects of the user terminal 100.

The memory 160 may store a program for the operation of the controller 180 and may temporarily store input / output data (for example, a phone book, a message, a still image, a video, etc.). The memory 160 may store data regarding vibration and sound of various patterns output when a touch input on the touch screen is performed. The memory 160 may be a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (for example, SD or XD memory), RAM random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, magnetic It may include a storage medium of at least one type of disk, optical disk. The user terminal 100 may operate in association with a web storage that performs a storage function of the memory 160 on the Internet.

The interface unit 170 serves as a path to all external devices connected to the user terminal 100. The interface unit 170 receives data from an external device, receives power, transfers the power to each component inside the user terminal 100, or transmits data inside the user terminal 100 to an external device. For example, wired / wireless headset ports, external charger ports, wired / wireless data ports, memory card ports, ports for connecting devices with identification modules, audio input / output (I / O) ports, The video input / output (I / O) port, the earphone port, and the like may be included in the interface unit 170.

The identification module is a chip that stores various types of information for authenticating the use authority of the user terminal 100. The identification module includes a user identify module (UIM), a subscriber identify module (SIM), and a universal user authentication module ( universal subscriber identity module (USIM), and the like. A device equipped with an identification module (hereinafter referred to as an 'identification device') may be manufactured in the form of a smart card. Therefore, the identification device may be connected to the user terminal 100 through a port.

The interface unit 170 may be a passage for supplying power from the cradle to the user terminal 100 when the user terminal 100 is connected to an external cradle, or various commands input by the user from the cradle. It may be a passage through which a signal is transmitted to the user terminal. Various command signals or power input from the cradle may operate as signals for recognizing that the user terminal 100 is correctly mounted on the cradle.

The controller 180 typically controls the overall operation of the user terminal 100. For example, perform related control and processing for voice calls, data communications, video calls, and the like. The controller 180 may include a multimedia module 181 for playing multimedia. The multimedia module 181 may be implemented in the controller 180 or may be implemented separately from the controller 180.

In addition, the controller 180 may perform a pattern recognition process for recognizing a writing input or a drawing input performed on the touch screen as text and an image, respectively. In addition, when the state of the user terminal satisfies a set condition, the controller 180 may execute a lock state for limiting input of a user's control command to applications. In addition, the controller 180 may control the lock screen displayed in the locked state based on the touch input sensed by the display unit 151 in the locked state.

The power supply unit 190 receives an external power source and an internal power source under the control of the controller 180 to supply power for operation of each component.

Various embodiments described herein may be implemented in a recording medium readable by a computer or similar device using, for example, software, hardware or a combination thereof. According to a hardware implementation, the embodiments described herein include application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), and field programmable gate arrays (FPGAs). It may be implemented using at least one of processors, controllers, micro-controllers, microprocessors, and electrical units for performing other functions. In some cases, the embodiments described herein may be implemented by the controller 180 itself. According to the software implementation, embodiments such as the procedures and functions described herein may be implemented as separate software modules. Each of the software modules may perform one or more functions and operations described herein. The software code may be implemented as a software application written in a suitable programming language. The software code may be stored in the memory 160 and executed by the controller 180.

In this embodiment, a client program for generating a propagation map for the present invention may be stored in the memory 160. The client program may be executed by the controller 180, and the controller 180 may periodically detect GPS information collected by the location information module 115 and various sensors sensed by the sensing unit 140 according to the client program. The movement trajectory information is generated using the measurement information. In addition, the controller 180 controls the radio wave transmission device such as information (for example, radio wave strength, identification information, etc.) of the WLAN access point, information (for example, radio wave strength, identification information, etc.) of the beacon transmitter through the radio wave sensor 145. Information is collected or geomagnetic information is collected through the magnetic field sensor 144 of the sensing unit 140 to generate radio wave information. The controller 180 transmits the generated movement trajectory information and the generated radio wave information to the propagation map generating apparatus 200 through the communication network 200.

4 is a block diagram illustrating a configuration of the propagation map generating apparatus of FIG. 1.

The propagation map generator 200 may include a memory, a memory controller, one or more processors (CPUs), peripheral interfaces, input / output (I / O) subsystems, display devices, input devices, and communication circuits. The memory may include fast random access memory, and may also include one or more magnetic disk storage devices, nonvolatile memory such as flash memory devices, or other nonvolatile semiconductor memory devices. Access to memory by other components such as processors and peripheral interfaces may be controlled by the memory controller. The memory may store various information and program instructions, and the program is executed by the processor.

The peripheral interface connects the input / output peripheral of the propagation map generator 200 with a processor and a memory. One or more processors execute various instruction sets stored in various software programs and / or memories to perform various functions and process data for the propagation map generating apparatus 200. I / O subsystems provide an interface between input and output peripherals, such as display devices and input devices, and peripheral interfaces. The display device may use liquid crystal display (LCD) technology or light emitting polymer display (LPD) technology.

The processor is a processor configured to perform operations associated with the propagation map generator 200 and to perform instructions, for example, by using instructions retrieved from a memory, for input and output data between components of the propagation map generator 200. Receive and control can be controlled. The communication circuit performs communication via an external port or communication by an RF signal. The communication circuit converts an electrical signal into an RF signal and vice versa and can communicate with the communication network, other mobile gateway devices and communication devices through the RF signal.

Referring to FIG. 4, the propagation map generating apparatus 200 includes a data receiving unit 210, a propagation map generating unit 230, and a position measuring unit 250. Such components may be implemented in software, stored in memory and executed by a processor, or may be implemented in a combination of software and hardware.

The data receiver 210 receives movement trajectory information and radio wave information according to the movement trajectory from at least one user terminal 100. The movement trajectory information may include GPS information received from the user terminal 100, and also various sensors such as an inertial sensor 141, a motion sensor 142, and an air pressure sensor 143 of the user terminal 100. It may include information measured from. The radio wave information includes the geomagnetic information measured by the magnetic field sensor 144 or the radio wave intensity measured by the radio wave sensor 145 and identification information of the radio wave transmitting device as necessary. The data receiver 210 stores the received movement trajectory information and the propagation information in the database 400.

The propagation map generator 230 extracts the movement trajectory from the movement trajectory information received by the data receiving unit 210 and stored in the database 400, and stores the extracted movement trajectory and the database stored in the database 400. The location of the moving trajectory is specified by matching the indoor map. In addition, the propagation map generator 230 generates a propagation map for the inside of the building in which the user terminal 100 enters based on the propagation information according to the movement trajectory. According to an embodiment of the present disclosure, the propagation map generator 230 identifies landmarks of the indoor map by using the movement trajectory information or the propagation information and matches the movement trajectory with the indoor map.

The propagation map generator 230 may determine entry of the building of the user terminal 100 based on the GPS information included in the movement trajectory information. For example, the propagation map generator 230 analyzes the predicted movement direction of the user terminal 100 based on the GPS information included in the movement trajectory information and compares the map information stored in the database 400 to the user terminal 100. When the moving direction of the specific building direction and the GPS signal strength is less than the threshold value can be determined that entered into the specific building. Alternatively, the radio wave map generator 230 may determine a specific building by using the predicted movement direction of the user terminal 100 analyzed based on the GPS information included in the movement trajectory information and the identification information of the radio wave transmitting device included in the radio wave information. It is possible to determine whether or not to enter. To this end, the database 400 may store installation location information and identification information of some radio wave transmitting devices. If the buildings are densely located and it is difficult to determine which of the two adjacent buildings, the user terminal 100 has entered, the building may be formed by using landmarks, for example, identification information of a radio wave transmission device, that know the installation location information in the building. It can be specified.

The location measuring unit 250 provides a location positioning service to the user terminal 100. When the location measurement unit 250 receives a location measurement request including radio wave information collected from a specific user terminal 100 where the user terminal 100 is currently located, the radio wave included in the received location measurement request is received. The indoor map grid matching the information may be retrieved from the database 400, and the position coordinates of the retrieved indoor map grid may be returned to the user terminal 100.

When the location measurement unit 250 returns the location coordinates to the user terminal 100, the location measurement unit 250 may return the location service unit together. The location measuring unit 250 notifies the user terminal 100 that the location service of a building unit is possible when the electric wave map is constructed in a grid of building units in the database 400, and on a floor basis or in a specific building. If only the floor location service is available, the user terminal 100 notifies this. Similarly, the location measuring unit 250 may notify the user terminal 100 when the location service is available in a room, a corridor, or a smaller grid, so that the user may recognize the location service unit when positioning. .

FIG. 5 is a block diagram illustrating an embodiment of data stored in a database of FIG. 1, and FIG. 6 is an exemplary diagram illustrating an indoor map grid map for generating an indoor map and a propagation map stored in the database of FIG. 5. FIG. 7 is a diagram illustrating an embodiment of a propagation map of a building unit stored in the database of FIG. 5.

Referring to FIG. 5, the database 400 includes an indoor map storage unit 410, a movement trajectory storage unit 430, and a propagation map storage unit 450. The database 400 transmits, from the radio wave map generating apparatus 200, the identification information of the radio wave transmitting apparatus common in the radio wave information received from the plurality of user terminals 100 entering the building and the average of the radio wave strengths corresponding to the identification information. I can receive it and save it.

The indoor map storage unit 410 may store map data, indoor map data of a building, and landmark information that knows an installation location. Here, the landmark is a facility that knows the installation location in advance. For example, the landmark is not only a wireless LAN access point or a radio transmission device such as a beacon, but also an elevator, an escalator, a corner, a stairway, a door, and the like. It also includes an example. The movement trajectory storage unit 430 may store at least one movement trajectory extracted by the propagation map generating apparatus 200 from the movement trajectory information. The propagation map storage unit 450 may store and update the propagation map generated by the propagation map generating apparatus 200 in real time.

FIG. 6 (a) shows the indoor map of the building stored in the database 400 and the location of the landmark knowing the installation location on the indoor map, and FIG. 6 (b) is shown in FIG. 6 (a). An example of the corresponding indoor map grid map is shown. The propagation map generating apparatus 200 may generate a grid map with a grid of a building unit, a floor unit, a corridor or a room unit, or a smaller unit, and from the user terminal 100 entering the building, The received radio wave information may be mapped to a location and stored in a grid map.

FIG. 7A is a diagram illustrating an embodiment of a propagation map of a building unit stored in the database 400. As shown in (a) of FIG. 7, the database 400 has a table of position coordinates (or address information on administrative districts) of a building called Junyoung building, and identification information and radio wave strength of a radio wave transmitting device collected in the building. Can be stored as. In the case of a building unit grid, only the identification information of the radio transmitting device may be stored except the radio wave strength.

FIG. 7B is a diagram illustrating an embodiment of a propagation map in units of layers stored in the database 400. As shown in (b) of FIG. 7, the database 400 includes location coordinates (or address information on administrative districts) of a building called a semi-young building, and identification information and radio wave strength of a radio transmitting device collected at each floor of the building. Can be stored in the form of a table.

FIG. 7C is a diagram illustrating an embodiment of a propagation map in units of a room or a corridor stored in the database 400. As shown in (c) of FIG. 7, the database 400 includes location coordinates (or administrative address information) of a building called a semi-young building, each floor of the building, a corridor for each floor, and a location of a grid of rooms. Coordinates, identification information of the radio wave transmitting apparatus collected for each grid, and radio wave strength may be stored in a table form. In this case, the position coordinates of each grid of the hall or room may be the coordinates of the center position of the hall or the room or an arbitrary position.

8 to 10 are examples of attempting to match the movement trajectory to the indoor map. 8 to 10, it is difficult to accurately match the indoor map of the building only by the movement trajectory (R).

Referring to FIG. 8B, it is assumed that the propagation map generating apparatus 200 calculates the movement trajectory 8R based on the movement trajectory information. The calculated movement trajectory 8R is a linear movement trajectory. The linear movement trajectory is difficult to determine which position of the indoor map matches without the reference point. For example, it is possible to infer the predicted paths (①, ②) and the like on the indoor map in the building shown in Figure 8 (a), in particular, the predicted path (①) and the predicted path (②) adjacent to each other For example, when the user moves, the types and signal strengths of the received radio signals are similar to each other. Therefore, it is difficult to match the movement trajectory 8R to the indoor map using only radio wave information.

Referring to FIG. 9B, it is assumed that the propagation map generating apparatus 200 calculates the movement trajectory 9R based on the movement trajectory information. The calculated movement trajectory 9R is a movement trajectory in which there are two turn directions, and this trajectory also has difficulty in determining which position of the indoor map to match without a reference point. For example, it is possible to infer the predicted paths (③, ④) on the indoor map in the building shown in Figure 9 (a), the expected route (③) and the predicted route (④) also has a user terminal 100. When a user moves, the type and signal strength of radio signals received may be very similar in part.

The predicted path ③ moves to the final step, and the predicted path ④ passes through the door and enters the room. According to one embodiment, the propagation map generator 200 includes sensor information included in the movement trajectory 9R. By analyzing and comparing it with the landmark of stairs or doors, the movement trajectory 9R can be accurately matched with the indoor map.

Referring to FIG. 10B, it is assumed that the propagation map generating apparatus 200 calculates the movement trajectory 10R based on the movement trajectory information. The calculated movement trajectory 10R is a movement trajectory in which the change of direction is twice to the right, and this trajectory is also difficult to determine which position on the indoor map to match without the reference point. For example, the estimated paths ⑤, ⑥, and ⑦ may be estimated on the indoor map of the building shown in FIG. The anticipated path ⑤, the anticipated path ⑥, and the anticipated path ⑦ may also partially resemble the type and signal strength of the received radio signal according to the location of the indoor structures or the installation location of the APs 10.

The predicted route (⑤) rises from the stairs, opens the door and moves into the room. The predicted route (⑥) moves straight through the corner twice and enters the room. The predicted route (⑦) passes through the door. Enter According to an embodiment, the propagation map generating apparatus 200 analyzes sensor information included in the movement trajectory 10R and compares the movement trace 10R with the indoor map with high accuracy by analyzing the sensor information included in the movement trajectory 10R. can do.

Landmark Identification

The propagation map generating apparatus 200 extracts a movement trajectory of the user terminal 100 using pedestrian dead reckoning (PDR) based on the movement trajectory information received from the user terminal 100 and stores the movement trajectory of the user terminal 100. The moving path of the user terminal 100 may be analyzed by matching the indoor map of the building. When matching the movement trajectory with the indoor map of the building, according to an embodiment, the propagation map generating apparatus 200 analyzes the landmark.

The landmark is a facility that knows the installation location in advance, for example, an inflection point (corner), a door, an elevator, an escalator, a staircase, a wireless access point, a beacon transmitter, an LTE base station, a femtocell, a repeater, It may include at least one or more BLE, ultrasonic transmitter, and the like, but is not limited thereto and may include various embodiments defined by a user.

When the user turns a corner (inflection point) in the corridor, a change in the moving direction occurs. For example, the movement direction changes to the right or left side in the linear movement direction. According to an embodiment, the propagation map generating apparatus 200 identifies an inflection point as a landmark of the indoor map when a change in the movement direction is greater than or equal to a threshold based on a sensing value of the motion sensor 142 included in the movement trajectory information. can do.

When the user passes through the door, the movement stops for a while and then moves in a short step, which can be understood by step analysis by the motion sensor 142. According to an embodiment of the present disclosure, when the movement of the motion sensor 142 included in the movement trajectory information stops for a predetermined time and starts again, the propagation map generating apparatus 200 may identify the door as a landmark of the indoor map. In addition, when there is a door, the radio wave intensity received by the radio wave sensor 145 is discontinuous based on the door. In addition, when the door is opened and closed, a change occurs in the measured value of the barometric pressure sensor 143. Therefore, the propagation map generating apparatus 200 may determine the passage of the user terminal 100 using the measurement information of the sensor included in the movement trajectory information and the propagation intensity of the radio wave transmitting device included in the propagation information.

When a user boards an elevator, a change in atmospheric pressure occurs, an inertia occurs in a direction opposite to the movement of the elevator, and a magnetic field distortion occurs by various electromagnetic devices in the elevator. According to an embodiment, the propagation map generating apparatus 200 may maintain the magnetic field distortion for a predetermined time based on a sensing value of the magnetic field sensor 144 included in the propagation information, and may include the inertial sensor 141 included in the movement trajectory information. The change in the vertical direction is greater than or equal to the threshold value based on the sensing value of, the movement stops based on the sensing value of the motion sensor 142, and then moves in a short step after a predetermined time, based on the sensing value of the barometric pressure sensor 143. When the atmospheric pressure changes, the elevator can be identified as a landmark on the indoor map.

The escalator is provided with a motor at a starting point and an ending point, and magnetic field distortion occurs around the starting point and the ending point by the above structural characteristics. In addition, while the user is boarding the escalator, the user who is on board also vibrates due to the natural vibration of the motor.

Therefore, when a user rides an escalator, a change in atmospheric pressure occurs like an elevator, and while a user rides an escalator, only a constant vibration is detected without a user's movement, and a magnetic field distortion caused by a motor when riding and descending an escalator is prevented. Occurs. According to an embodiment, the apparatus 200 for generating a wave map may generate temporary magnetic field distortions before and after a predetermined time based on a sensing value of the magnetic field sensor 144 included in the wave information, and may include an inertial sensor included in the movement trajectory information. There is no change for a predetermined time based on the sensing value of 141, the movement of the motion sensor 142 stops, and after a vibration occurs for a predetermined time, a short step is performed, and the atmospheric pressure is based on the sensing value of the barometric pressure sensor 143. If changed, the escalator can be identified as a landmark of the indoor map.

 When the user moves up and down the stairs, a change in the user's step speed or step size is detected and the atmospheric pressure changes. According to an embodiment, the propagation map generating apparatus 200 detects a change in the step speed or the step size based on the sensing value of the motion sensor 142 included in the movement trajectory information, and senses the pressure sensor 143. When a change in air pressure occurs based on the value, the stairs can be identified as landmarks on the indoor map.

The propagation map generating apparatus 200 determines the inter-layer movement of the user terminal 100 based on the above-described determination criteria based on the measurement information of the sensors included in the movement trajectory information. Alternatively, when the installation location information of some radio wave transmitting devices installed on a floor in a building is stored in the database 400, the radio wave map generating device 200 includes a radio wave transmitting device included in the radio wave information received from the user terminal 100. The identification information and the propagation strength of may be used as auxiliary information when determining the inter-layer movement. For example, when it is determined that the inter-layer movement has occurred based on the measured value of the sensor and at the same time the signal strength of the specific radio wave transmitting apparatus installed in the specific layer is collected above the threshold, it is determined that the user terminal 100 has moved to the specific layer. can do.

FIG. 11 is a flowchart illustrating a method of generating a propagation map using a landmark according to another exemplary embodiment. FIG. 12 illustrates an example of generating a propagation map by mapping radio wave information according to a moving trajectory to a grid corresponding to an indoor map, according to an exemplary embodiment. It is also.

Referring to FIG. 11, the propagation map generating apparatus 200 may call indoor maps or propagation maps of various buildings stored in a database (DB) 400 and store them in a storage unit (not shown).

The propagation map generating apparatus 200 may receive movement trajectory information and radio wave information according to the movement trajectory from the at least one user terminal 100 (S110). The movement trajectory information is information detected by various sensors while the user carrying the user terminal 100 moves indoors, and the radio wave information according to the movement trajectory is transmitted by radio wave information received from the radio wave transmitting device or during movement. Geomagnetic information that is detected during

The propagation map generating apparatus 200 extracts the movement trajectory of the user terminal 100 by pedestrian dead reckoning (PDR) based on the sensing information included in the movement trajectory information received from the at least one user terminal 100 (S130). . The pedestrian estimation navigation (PDR) is a technique of estimating the moving speed (moving distance) and the moving direction by extracting the pedestrian's steps, steps, directions, and the like.

The propagation map generating apparatus 200 matches the calculated movement trajectory with the indoor map (S150). When matching the movement trajectory with the indoor map of the building, according to an embodiment, the propagation map generating apparatus 200 analyzes the movement trajectory information or the radio wave information and compares the analysis result with the landmark of the indoor map to determine the type of landmark. Can be identified. The landmark may include at least one of an elevator, an escalator, and a staircase, but is not limited thereto, and may include various embodiments defined by a user.

Using the movement trajectory information or the propagation information, the propagation map generating apparatus 200 may identify the elevator as a landmark of the indoor map. Based on the sensing value of the magnetic field sensor 144 included in the radio wave information, the magnetic field distortion persists for a predetermined time, and a change in the vertical direction occurs above the threshold based on the sensing value of the inertial sensor 141 included in the movement trajectory information. When the movement stops based on the sensing value of the motion sensor 142 and moves after a predetermined time, and the atmospheric pressure changes based on the sensing value of the barometric pressure sensor 143, the radio wave map generating apparatus 200 includes: Identifies the elevator as a landmark on the indoor map.

Using the movement trajectory information or the propagation information, the propagation map generating apparatus 200 may identify the escalator as a landmark of the indoor map. Based on the sensing value of the magnetic field sensor 144 included in the radio wave information, a temporary magnetic field distortion occurs before and after a predetermined time, and there is no change in the inertial force for a predetermined time based on the sensing value of the inertial sensor 141, and the motion sensor 142 When the movement stops based on the sensing value of and moves to a short step after a predetermined time, and the atmospheric pressure changes based on the sensing value of the barometric pressure sensor 143, the radio wave map generating apparatus 200 is an escalator as a landmark of the indoor map. Identifies

Using the movement trajectory information or the propagation information, the propagation map generating apparatus 200 may identify the door as a landmark of the indoor map. If the propagation intensity is discontinuous based on the sensing value of the magnetic field sensor 144 included in the radio wave information and the movement is stopped for a predetermined time and restarted based on the sensing value of the motion sensor 142 included in the movement trajectory information, The propagation map generating apparatus 200 identifies a door as a landmark of the indoor map.

Using the movement trajectory information or the propagation information, the propagation map generating apparatus 200 may identify an inflection point (ex, corner) as a landmark of the indoor map. When a change in the movement direction is greater than or equal to a threshold based on the sensing value of the motion sensor 142 included in the movement trajectory information, the propagation map generating apparatus 200 identifies the inflection point as a landmark of the indoor map.

Using the movement trajectory information or the propagation information, the propagation map generating apparatus 200 may identify the stairs as a landmark of the indoor map. When a change in the step speed or the step size of the motion sensor 142 included in the movement trajectory information is detected, and the atmospheric pressure changes based on the sensing value of the barometric pressure sensor 143, the radio wave map generating apparatus 200 may determine an indoor map. Identifies the stairs as landmarks. ,

When matching of the movement trajectory and the indoor map of the building is completed using the landmark, the propagation map generating apparatus 200 generates a propagation map based on the propagation information according to the movement trajectory (S170). According to an embodiment, the propagation map may be composed of WiFi fingerprint data according to WiFi propagation information, or may be composed of magnetism based fingerprint data according to geomagnetic information.

Referring to (a) of FIG. 12, when a user collects movement trajectory information and radio wave information while transmitting the path 1 and the path 2 and transmits the movement trajectory information and the radio wave information to the propagation map generating apparatus 200, a propagation map is generated. The apparatus 200 may extract the movement trajectories 1 and 2 corresponding to the path 1 and the path 2 of FIG. 12A from the movement trajectory information. When the matching is completed by matching the extracted movement trajectories 1 and 2 with the indoor map in the same manner as in step S150, the propagation map generating apparatus 200 is connected to each grid shown in FIG. A plurality of radio wave information according to the movement trajectories 1 and 2 may be mapped and stored. In addition, in FIG. 12B, a part of the propagation information corresponding to the movement trajectories 1 and 2 is mapped to the same grid. In this case, the propagation map generating apparatus 200 calculates an average value of the propagation information. You can map to that grid.

While this specification contains many features, such features should not be construed as limiting the scope of the invention or the claims. Also, the features described in the individual embodiments herein can be implemented in combination in a single embodiment. Conversely, various features described in a single embodiment herein can be implemented individually in various embodiments or in combination as appropriate.

Although the operations are described in a particular order in the drawings, they should not be understood as being performed in a particular order as shown, or in a sequence of successive orders, or all described actions being performed to obtain a desired result. . Multitasking and parallel processing may be advantageous in certain circumstances. In addition, it should be understood that the division of various system components in the above-described embodiments does not require such division in all embodiments. The program components and systems described above may generally be packaged in a single software product or multiple software products.

The method of the present invention as described above may be implemented as a program and stored in a recording medium (CD-ROM, RAM, ROM, floppy disk, hard disk, magneto-optical disk, etc.) in a computer-readable form. Since this process can be easily implemented by those skilled in the art will not be described in more detail.

The present invention described above is capable of various substitutions, modifications, and changes without departing from the technical spirit of the present invention for those skilled in the art to which the present invention pertains. It is not limited by the drawings.

Claims (22)

1. In the propagation map generator for generating a propagation map in a building,

   A data receiver configured to receive movement trajectory information and radio wave information according to the movement trajectory from at least one user terminal;

   A storage unit storing an indoor map in the building; And

   Identifying the landmark of the indoor map using the movement trajectory information or the radio wave information, calculating a movement trajectory from the movement trajectory information, and matching the calculated movement trajectory to the indoor map by using the landmark. A propagation map generator for generating a propagation map based on the propagation information according to the movement trajectory;

   Propagation map generating device comprising a.
2. The method of claim 1,

   The propagation map generation unit,

   And an elevator as a landmark of the indoor map by using the movement trajectory information or the radio wave information.
3. The method of claim 2,

   The propagation map generation unit,

   Based on the radio wave information, the magnetic field distortion lasts for a certain time,

   If the change in the vertical direction of the inertial sensor included in the movement trajectory information is greater than or equal to a threshold value, the movement of the movement sensor stops and then moves in a short step after a predetermined time, and the atmospheric pressure change of the air pressure sensor occurs, the land of the indoor map An electric wave map generating device, characterized by identifying an elevator as a mark.
4. The method of claim 1,

   The propagation map generation unit,

   And an escalator is identified as a landmark of the indoor map using the movement trajectory information or the propagation information.
5. The method of claim 4, wherein

   The propagation map generation unit,

   On the basis of the radio wave information, temporary magnetic field distortion occurs before and after a predetermined time,

   On the basis of the movement trajectory information, a change in the inertial sensor for a predetermined time, movement of the motion sensor stops, and after a vibration occurs for a predetermined time, the movement takes a short step. When a change in the atmospheric pressure of the air pressure sensor occurs, the land of the indoor map A propagation map generating device identifying an escalator as a mark.
6. The method of claim 1,

   The propagation map generation unit,

   And a door as a landmark of the indoor map using the movement trajectory information or the radio wave information.
7. The method of claim 6,

   The propagation map generation unit,

   Propagation intensity is discontinuous based on the radio wave information,

   And the door is identified as a landmark of the indoor map when the movement of the motion sensor included in the movement trajectory information stops for a predetermined time and is started again.
8. The method of claim 1,

   The propagation map generation unit,

   And an inflection point as a landmark of the indoor map using the movement trajectory information or the propagation information.
9. The method of claim 8,

   The propagation map generation unit,

   And an inflection point as a landmark of the indoor map when a change in the movement direction of the motion sensor included in the movement trajectory information is greater than or equal to a threshold.
10. The method of claim 1,

    The propagation map generation unit,

    And a step of identifying a stair as a landmark of the indoor map by using the movement trajectory information or the propagation information.
11. The method of claim 10,

    The propagation map generation unit,

    And detecting a change in the step speed or step size of the motion sensor included in the movement trajectory information, and identifying a step as a landmark of the indoor map when a change in the air pressure of the air pressure sensor occurs.
12. A method of generating a radio wave map in a building in a radio wave map generating device in communication with at least one user terminal,

    Storing the indoor map in the building;

    Receiving movement trajectory information and radio wave information according to the movement trajectory from at least one user terminal; And

    Identifying the landmark of the indoor map using the movement trajectory information or the radio wave information, calculating a movement trajectory from the movement trajectory information, and matching the calculated movement trajectory to the indoor map by using the landmark. Generating a propagation map based on the propagation information according to the movement trajectory;

    Propagation map generation method comprising a.
13. The method of claim 12,

    Generating the propagation map,

    And generating an elevator as a landmark of the indoor map using the movement trajectory information or the propagation information.
14. The method of claim 13,

    Generating the propagation map,

    Based on the radio wave information, the magnetic field distortion lasts for a certain time,

    If the change in the vertical direction of the inertial sensor included in the movement trajectory information is greater than or equal to a threshold value, the movement of the movement sensor stops and then moves in a short step after a predetermined time, and the atmospheric pressure change of the air pressure sensor occurs, the land of the indoor map A propagation map generation method characterized by identifying an elevator as a mark.
15.  The method of claim 12,

    Generating the propagation map,

    And an escalator is identified as a landmark of the indoor map using the movement trajectory information or the propagation information.
16. The method of claim 15,

    Generating the propagation map,

    On the basis of the radio wave information, temporary magnetic field distortion occurs before and after a predetermined time,

    On the basis of the movement trajectory information, a change in the inertial sensor for a predetermined time, movement of the motion sensor stops, and after a vibration occurs for a predetermined time, the movement takes a short step. When a change in the atmospheric pressure of the air pressure sensor occurs, the land of the indoor map A propagation map generation method characterized by identifying an escalator as a mark.
17. The method of claim 12,

    Generating the propagation map,

    And a door is identified as a landmark of the indoor map using the movement trajectory information or the propagation information.
18. The method of claim 17,

    Generating the propagation map,

    Propagation intensity is discontinuous based on the radio wave information,

    And recognizing the door as a landmark of the indoor map when the movement of the motion sensor included in the movement trajectory information stops for a predetermined time and starts again.
19. The method of claim 12,

    Generating the propagation map,

    And an inflection point as a landmark of the indoor map using the movement trajectory information or the propagation information.
20. The method of claim 19,

    Generating the propagation map,

    And generating an inflection point as a landmark of the indoor map when a change in the movement direction of the motion sensor included in the movement trajectory information is greater than or equal to a threshold.
21. The method of claim 12,

    Generating the propagation map,

    And a step of identifying a staircase as a landmark of the indoor map using the movement trajectory information or the propagation information.
22. The method of claim 21,

    Generating the propagation map,

    And detecting a change in the step speed or step size of the motion sensor included in the movement trajectory information, and identifying a step as a landmark of the indoor map when a change in the air pressure of the air pressure sensor occurs.

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