KR101466514B1 - Positioning method and apparatus - Google Patents

Abstract

A position positioning method and apparatus therefor are disclosed. The positioning method includes the steps of storing a database including a propagation map and a clustering table including received signal strength information of a radio signal for each location, the clustering table including cluster information for a plurality of clusters And a coverage area corresponding to each cluster; The method comprising: receiving a plurality of radio signals including repeater identification information at a particular location, the plurality of radio signals including a first frequency band and a second frequency band, wherein the first frequency band has a higher frequency Band; Determining a candidate region overlapping with the first frequency band among the candidate regions mapped to the plurality of radio signals as a final candidate region with reference to the clustering table; And determining the final position using the propagation map in the determined final candidate region.

Description

[0001] POSITIONING METHOD AND APPARATUS [0002]

Field of the Invention [0002] The present invention relates to indoor positioning, and more particularly, to a positioning method and apparatus capable of positioning indoor positions using a cluster technique.

Various wireless communication networks utilizing mobile terminals are being developed due to the rapid development of electronic and communication technologies. In the past, a wireless voice call service that provides a voice call to mobile terminal users wirelessly provides a service capable of making a call regardless of time and place, and provides a text message service to complement a voice call service.

Recently, wireless internet service has been started to provide internet communication service to subscribers of mobile communication service due to the development of wireless Internet, and many companies are developing technology for wireless Internet.

On the other hand, among various wireless Internet services using mobile terminals, location based services (LBSs) have been attracting much attention due to their wide applicability and convenience. The location-based service refers to a communication service that grasps the location of the mobile terminal and provides additional information related to the identified location. The location-based services can be classified into four types: location-based CRM, traffic information, vehicle navigation and logistics control, geographical information system (GIS) (Customer Relationship Management).

Korean Patent Laid-Open No. 10-2010-0021747 receives a location request transmitted from a terminal, identifies a service base station and a neighbor base station for the terminal, confirms at least one subway history served by the service base station, The distance to the adjacent base station is calculated and the subway history of the smallest distance value among the calculated distance values is extracted from the selected one or more subway history and the positional value of the extracted subway history is determined as the positioning result value And the like.

However, Korean Patent Laid-Open No. 10-2010-0021747 does not disclose a technique for precise positioning in a device having a limited processing capacity.

Therefore, it is necessary to study the technology for tracking the location of the mobile terminal while reducing the amount of computation in a limited processing capacity environment.

The present invention provides a method and apparatus for indoor positioning using a cluster technique.

In addition, the present invention provides a positioning method and apparatus for positioning a precise position while reducing a calculation amount by considering frequency bands by clustering radio signal intensities in respective frequency bands.

According to an aspect of the present invention, an indoor positioning method using a cluster technique is provided.

According to an embodiment of the present invention, there is provided a method of transmitting a radio signal, the method comprising: storing a database including a radio wave map and a clustering table including received signal strength information of a radio signal by position, Cluster information for a cluster and a coverage area corresponding to each cluster; The method comprising: receiving a plurality of radio signals including repeater identification information at a particular location, the plurality of radio signals including a first frequency band and a second frequency band, wherein the first frequency band has a higher frequency Band; Determining a candidate region overlapping with the first frequency band among the candidate regions mapped to the plurality of radio signals as a final candidate region with reference to the clustering table; And determining a final position using the propagation map in the determined final candidate region.

Determining the final candidate region comprises: extracting a clustering region for each repeater corresponding to the received radio signal with reference to the clustering table; Selecting an overlapping region among the extracted clustering regions as the candidate region; And determining a region overlapping the clustering region of the high frequency band among the selected candidate regions as a final candidate region.

The step of storing the propagation map in the database comprises the steps of: (a) receiving a repeater radio signal at each location; (b) calculating a received signal strength using the repeater radio signal; And (c) generating a propagation map for each position using the calculated received signal strength, wherein steps (a) to (c) may be repeatedly performed at all positions.

The candidate region extracts upper n (natural number) repeaters corresponding to the received signal strengths of the plurality of radio signals with reference to the clustering table, extracts clustering regions of the extracted repeaters, and selects the overlapped regions .

According to another embodiment of the present invention, there is provided a method of transmitting a radio signal, the method comprising: storing a database including a radio wave map and a clustering table including received signal strength information of a radio signal by position, Cluster information for a cluster and a coverage area corresponding to each cluster; The method comprising: receiving a plurality of radio signals including repeater identification information at a particular location, the plurality of radio signals including a first frequency band and a second frequency band, wherein the first frequency band has a higher frequency Band; Selecting a candidate region to be mapped to a radio signal of the first frequency band with reference to the clustering table if the plurality of radio signals are included in the first frequency band; And determining a final position using the propagation map in the determined candidate region.

If the received radio signal is not in the first frequency band, it may not perform positioning.

Wherein the step of selecting the candidate region comprises: extracting a repeater corresponding to the radio signal of the first frequency band; And selecting the cluster region of the extracted repeater as a candidate region.

It is possible to cluster the radio signal intensity by frequency band and to perform positional positioning in consideration of the frequency band so that accurate positioning can be performed while reducing the amount of computation There is an advantage.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram schematically showing an internal configuration of a position locating apparatus according to an embodiment of the present invention; FIG.
2 is a diagram illustrating a wireless signal measurement according to an embodiment of the present invention.
3 is a diagram illustrating a method for determining a location determination area according to an embodiment of the present invention;
4 is a flowchart illustrating a method of generating cluster area information for each repeater according to an embodiment of the present invention.
FIG. 5 is a flowchart showing a location positioning method according to an embodiment of the present invention; FIG.
FIG. 6 is a flowchart illustrating a location positioning method according to another embodiment of the present invention. FIG.

BRIEF DESCRIPTION OF THE DRAWINGS The present invention is capable of various modifications and various embodiments, and specific embodiments are illustrated in the drawings and described in detail in the detailed description. It is to be understood, however, that the invention is not to be limited to the specific embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprises" or "having" and the like are used to specify that there is a feature, a number, a step, an operation, an element, a component or a combination thereof described in the specification, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

In the present invention, a plurality of APs (Access Points) are clustered in consideration of the strength of a wireless signal of each AP in the frequency band of each AP, and the APs The position determination area can be determined based on the position and the final position can be calculated.

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

FIG. 1 is a block diagram schematically showing an internal configuration of a position locating apparatus according to an embodiment of the present invention. FIG. 2 is a view for explaining a radio signal measurement according to an embodiment of the present invention, 3 is a diagram illustrating a method for determining a location determination area according to an embodiment of the present invention.

1, a position measuring apparatus 100 according to an embodiment of the present invention includes a transmitting and receiving unit 110, a radio wave map generating unit 115, a candidate region selecting unit 120, a positioning unit 125, A memory 130, and a control unit 135. [

The location locating apparatus 100 described below can be implemented in the form of a server or a mobile terminal. The mobile terminal described herein may be a mobile phone, a smart phone, a notebook computer, a digital broadcasting terminal, a PDA (Personal Digital Assistants), a PMP (Portable Multimedia Player), a navigation device, a tablet PC,

The transceiver unit 110 is a means for transmitting or receiving a radio signal with another apparatus through a communication network.

For example, the transceiver 110 may receive a radio signal including a beacon frame from a repeater at a specific location. At this time, the wireless signal may include the repeater identification information.

The propagation map generation unit 115 is means for generating a propagation map corresponding to a radio signal received from at least one repeater through the transmission / reception unit 110 at each position.

In more detail, the propagation map generation unit 115 calculates a received signal strength using the radio signal of at least one repeater received through the transceiver unit 110 at each position. Next, a propagation map for the propagation map intensity for each repeater is generated at each location.

2, the propagation map generation unit 115 receives a radio signal of at least one repeater at each position at predetermined intervals and transmits the radio signal to each position It is possible to generate a propagation map for the received signal strength of each repeater. Understanding this, it is possible to roughly determine the degree of the received signal strength of a repeater at a specific position by only the propagation map.

When the propagation map generation is completed at all the indoor locations, the propagation map generation unit 115 performs the cluster according to the received signal strength of each repeater frequency band using the generated propagation map, and allocates the coverage of each cluster And generates cluster region information for each repeater frequency band. Therefore, the cluster region information for each repeater frequency band may include the cluster according to the received signal strength for each repeater frequency band, and the coverage coverage for each cluster.

In more detail, the propagation map generation unit 115 may generate the raw data for generation of the propagation map and the clustering table based on the received signal strength of the repeater radio signal received at each location.

Then, when the raw data is generated, the propagation map generation unit 115 can generate the propagation map and the clustering table using the raw data. That is, the propagation map generation unit 115 can perform clustering according to the received signal strength of each repeater using the raw data. Clustering is a process of generating a plurality of clusters are separated according to the relay the received signal strength, each MAC-specific for each position (M _I) a RSSI Value Average (R _V) range (Clustering clustering to determine the distribution (distribution) of the range can be determined. Wherein in each MAC _(I M) of the average RSSI Value (R _V) it can mean the average (R _V) of the RSSI Value for a particular repeater.

Clustering range is the minimum value and maximum value of the cluster, and the cluster interval (C _I ) and cluster number (C _N ). The number of clusters (C _N ) can be determined based on the cluster Interval (C _I ).

The R _VD (distribution of R _V in P _A ) of a particular MAC (M _I ) received at each location (all survey points P _A) can be expressed as:

는 신호강도들의 평균값을 의미한다.Where P _T means all candidate points (P _T : Total Point)

Means the average value of the signal intensities.

는 신호강도들의 평균값을 의미한다.That is, there are a plurality of MACs at all candidate points (P _T : Total Point), and the signal variance of each MAC should be obtained for m MACs. The variance (R _VD ) of the signal means the variance value of the signal intensities (R _V ) of the respective MACs. here

Means the average value of the signal intensities.

R _VD is a range with minimum and maximum values, and C _I can be determined by calculating the value of the signal attenuation per distance. C _I is determined as a representative value, calculate the signal attenuation per distance between each received SP represented by selecting a network repeater to determine the location. Method of Least Squares can be used to view the attenuation trend of the signal. The slope of the trend line obtained by the least squares method is C _I.

In determining, based on the C _{N I} C, for example, the distribution of R _VD If the RSSI from -30 to -100 dBm is C _N of the initial values of median RSSI (R _Mi) of the cluster 7 dogs (-35, - 45, -55, -65, -75, -85, -95 dBm). C _N can be obtained using the number 2.

However, this trend will depend on the environment. So we can set the cluster size differently for each environment by analyzing the signals in this preparation stage.

Based on the clustering range, initial median values of RSSI (RSSI, R _Mi ) can be set. The final median values of RSSI (RSSI, R _Mf ) are generated by performing an expectation-maximization (EM) algorithm based on the set R _Mi , and a cluster can be generated based on the generated R _Mf . R _Mi can be obtained through the number 3.

The R _Mf of each cluster obtained through the EM algorithm can be expressed as:

The clustering table can be completed by performing RMf on all candidate points.

The candidate region selection unit 120 refers to the clustering table and is means for determining a candidate region matched to a plurality of repeater radio signals received at a specific location. Here, the plurality of repeater radio signals may include a first frequency band and a second frequency band, and the first frequency band may be a higher frequency band than the first frequency band. In this case, the candidate region selection unit 120 selects a candidate region overlapping the first frequency band (i.e., a relatively higher frequency band) among the candidate regions mapped to the plurality of repeater radio signals received at the specific location, Area can be determined. In the present specification, only the first frequency band and the second frequency band are assumed for the sake of convenience of explanation and explanation, but it is also possible to further include other frequency bands (higher frequency bands than the first frequency band and the second frequency band) have. In such a case, a candidate region overlapping with the highest-order high-frequency band among the relatively different frequency bands may be selected as the final candidate region.

More specifically, the candidate region selection unit 120 extracts a plurality of repeaters corresponding to the plurality of received wireless signals, and extracts a clustering region for the extracted repeater with reference to the clustering table. Then, the candidate region selection unit 120 can select an overlapping region among the extracted clustering regions as candidate regions. At this time, the candidate region selection unit 120 may determine a region overlapping the candidate region of the high frequency band among the selected candidate regions as the final candidate region.

In this manner, the candidate region selection unit 120 can select a candidate region for positional positioning based on a region overlapping with a radio signal of a repeater using a high frequency band among the wireless signals of a plurality of relay units.

For example, referring to FIG. 3, as shown in FIG. 3, a first repeater using a first frequency band (for example, 5 GHz) and a second repeater using a second frequency band For example, suppose that the radio signals of the second and third repeaters using 2.4 GHz are received.

When a cluster region for each repeater is extracted as a wireless signal of three repeaters is received at a specific location, a cluster region for each of three repeaters is extracted as shown in FIG. At this time, the candidate region selection unit 120 does not determine the candidate region by using all of the overlapping regions by the cluster regions of the three repeaters, but selects the candidate region by overlapping the cluster region of the first repeater using the first frequency band Only the candidate region can be determined. This is because the radio signal of the high frequency band reflects the frequency characteristic of which the linearity is better due to the frequency characteristics.

In this manner, when a plurality of repeater radio signals using different frequency bands at specific positions are received, the candidate region selection unit 120 can be used for positional positioning centering on the region overlapping the high frequency bands.

At this time, if there is no region overlapping the first frequency band (which is higher in frequency than the second frequency band) among the candidate regions mapped to the plurality of radio signals using different frequency bands, The candidate region having the largest number of overlaps among the frequency bands may be determined as the final candidate region.

For example, the candidate region selection unit 120 may extract a clustering region for each repeater, which is mapped to a radio signal of a corresponding high frequency band, and then select a candidate region only when a repeater radio signal received at a specific location is a set high frequency band have.

That is, the candidate area selection unit 120 may not determine the location determination area for the location determination if the received repeater radio signal is not the set frequency band.

For example, when a repeater using the 5 GHz frequency band and a repeater using the 2.4 GHz frequency band are installed, the location determination area may be determined to be used for positional positioning using only the repeater radio signal of the 5 GHz frequency band.

The positioning unit 125 is means for determining the final position with reference to the propagation map in the candidate region or the final candidate region determined by the candidate region selection unit 120. [

The memory 130 stores various algorithms necessary for operating the position locating apparatus 100 according to an embodiment of the present invention, a propagation map, cluster region information for each repeater frequency band, and the like.

The control unit 135 controls the internal components (for example, the transceiver 110, the radio wave map generator 115, the candidate region selection unit 120, and the radio communication unit) of the position locating apparatus 100 according to an embodiment of the present invention. The positioning unit 125, the memory 130, and the like).

4 is a flowchart illustrating a method of generating a propagation map and a clustering table according to an embodiment of the present invention.

In step 410, the position locating apparatus 100 receives a repeater radio signal for each indoor position. For example, the position locating apparatus 100 can receive a beacon frame received from a repeater at each indoor position as a radio signal. At this time, the wireless signal may include identification information (e.g., SSID) of the repeater.

At this time, it is natural that a plurality of repeater radio signals may be simultaneously received at one location. Further, as described above, each of the repeaters can use a different frequency band. In the present specification, in order to facilitate understanding and explanation, it is assumed that the frequency bands are 2.4 GHz and 5 GHz, but it is natural that other frequency bands may be included.

In step 415, the position locating device 100 calculates the received signal strength using the received repeater radio signal. The method of calculating the received signal strength by using the repeater radio signal is already obvious to those skilled in the art, so a detailed description thereof will be omitted.

Next, in step 420, the position measuring apparatus 100 generates raw data including the repeater received signal strength for each position using the calculated repeater received signal strength.

In step 425, the position locating apparatus 100 generates a propagation map and a clustering table using the raw data, respectively. This is the same as that described above with reference to FIG. 1, so duplicate descriptions will be omitted.

FIG. 5 is a flowchart illustrating a location positioning method according to an embodiment of the present invention. Hereinafter, as shown in FIG. 4, a process of receiving a radio signal for a repeater at each location and storing cluster region information for each repeater frequency band will be described.

In step 510, the position locating apparatus 100 receives the wireless signal of the repeater at a specific location. At this time, the position locating apparatus 100 may receive a radio signal including a beacon frame from at least one repeater at a specific location.

For example, when there are a plurality of repeaters, each of the repeaters can use a different frequency band.

In step 515, the position locating apparatus 100 refers to the clustering table and selects a candidate region matching the received radio signal.

More specifically, the positioning apparatus 100 can calculate the received signal strength for the received radio signal. Then, the position locating apparatus 100 extracts a plurality of repeaters corresponding to the received radio signals. At this time, the extracted repeater can extract n (natural number) numbers in descending order of received signal strength of the received radio signal.

Then, the position locating apparatus 100 extracts the clustering region of the extracted repeater by referring to the clustering table, and then selects the region where the extracted clustering region overlaps as the candidate region, and determines only the region overlapping with the high-frequency band as the final candidate region have.

For example, assume that a radio signal of a repeater using a 2.4 GHz frequency band and a 5 GHz frequency band is received at a specific location, respectively. The position locating apparatus 100 can extract the cluster region of the 2.4 GHz frequency band and the cluster region of the 5 GHz frequency band, respectively. At this time, the position locating apparatus 100 can determine the position determination region around the cluster region of the overlapped 5 GHz frequency band in the cluster region of the 2.4 GHz frequency band overlapping the cluster region of the corresponding 5 GHz frequency band.

This is the same as described with reference to Fig.

Then, in step 520, the position locating apparatus 100 refers to the propagation map in the determined candidate region to determine the final position.

FIG. 6 is a flowchart illustrating a location positioning method according to another embodiment of the present invention.

In step 610, the positioning apparatus 100 receives the wireless signal of the repeater at a specific location. At this time, the position locating apparatus 100 may receive a radio signal including a beacon frame from at least one repeater at a specific location. For example, when there are a plurality of repeaters, each of the repeaters can use a different frequency band.

In step 615, the positioning apparatus 100 determines whether the received repeater radio signal is a set high-frequency band.

If it is the set high frequency band, the local positioning apparatus 100 refers to the clustering table in step 620 and selects the clustering area matching the received radio signal of the high frequency band as the candidate area.

However, if it is not the set high frequency band, in step 625, the position locating apparatus 100 does not perform the position locating.

For example, if the frequency band is not the predetermined high frequency band, the positioning apparatus 100 may select a candidate region mapped to the radio signal of the next higher frequency band among the received radio signals with reference to the clustering table. That is, assume that the first frequency band, the second frequency band, and the third frequency band are respectively used. Here, it is assumed that the first frequency band is the frequency band set to the highest frequency band, the second frequency band is the next higher frequency band other than the first frequency band, and the third frequency band uses the lowest frequency band.

When the wireless signal conforming to the first frequency band is not received, the positioning apparatus 100 can select the candidate region mapped to the wireless signal corresponding to the second frequency band with reference to the clustering table.

In step 630, the position locating apparatus 100 refers to the propagation map in the determined candidate region to determine the final position.

Meanwhile, the method of determining the indoor position based on the cluster using the received signal strength of the radio signal according to the embodiment of the present invention is implemented in the form of a program command which can be performed through various electronic means for processing information, Lt; / RTI > The storage medium may include program instructions, data files, data structures, and the like, alone or in combination.

Program instructions to be recorded on the storage medium may be those specially designed and constructed for the present invention or may be available to those skilled in the art of software. Examples of storage media include magnetic media such as hard disks, floppy disks and magnetic tape, optical media such as CD-ROMs and DVDs, magneto-optical media such as floptical disks, magneto-optical media and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like. Examples of program instructions include machine language code such as those produced by a compiler, as well as devices for processing information electronically using an interpreter or the like, for example, a high-level language code that can be executed by a computer.

The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the present invention, and vice versa.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention as defined in the appended claims. It will be understood that the invention may be varied and varied without departing from the scope of the invention.

110: Transmitting /
115: Propagation map generator
120: Candidate selection
125: Positioning unit
130: memory
135:

Claims (9)

Storing a database including a propagation map and a clustering table including received signal strength information of a radio signal for each location, wherein the clustering table includes cluster information for a plurality of clusters classified according to the strength of a received signal for each repeater, Comprising a corresponding coverage area;
The method comprising: receiving a plurality of radio signals including repeater identification information at a particular location, the plurality of radio signals including a first frequency band and a second frequency band, wherein the first frequency band has a higher frequency Band;
Determining a candidate region overlapping with the first frequency band among candidate regions mapped to the plurality of radio signals as a final candidate region with reference to the clustering table; And
And determining a final position using the propagation map in the determined final candidate region. The method according to claim 1,
Wherein the step of determining the final candidate region comprises:
Extracting a clustering area for each repeater corresponding to the received radio signal with reference to the clustering table;
Selecting an overlapping region among the extracted clustering regions as the candidate region; And
And determining a region overlapping the clustering region of the high frequency band among the selected candidate regions as a final candidate region. The method according to claim 1,
The step of storing the propagation map in the database comprises:
(a) receiving a repeater radio signal at each location;
(b) calculating a received signal strength using the repeater radio signal; And
(c) generating a propagation map for each location using the calculated received signal strength,
Wherein the steps (a) to (c) are repeatedly performed at all positions. The method according to claim 1,
Wherein the candidate region comprises:
Extracting upper n (natural number) repeaters corresponding to received signal strengths of the plurality of radio signals with reference to the clustering table, extracting a clustering region of the extracted repeaters, and selecting the overlapped region Positioning method. 5. The method of claim 4,
And determining a candidate region having the largest number of overlaps among the second frequency bands as a final candidate region if there is no overlapping candidate region corresponding to the first frequency band among the candidate regions. Storing a database including a propagation map and a clustering table including received signal strength information of a radio signal for each location, wherein the clustering table includes cluster information for a plurality of clusters classified according to the strength of a received signal for each repeater, Comprising a corresponding coverage area;
The method comprising: receiving a plurality of radio signals including repeater identification information at a particular location, the plurality of radio signals including a first frequency band and a second frequency band, wherein the first frequency band has a higher frequency Band;
Selecting a candidate region to be mapped to a radio signal of the first frequency band with reference to the clustering table if the plurality of radio signals are included in the first frequency band; And
And determining a final position using the propagation map in the determined candidate region. The method according to claim 6,
Wherein if the received radio signal is not in the high frequency band, the positioning is not performed. The method according to claim 6,
Wherein the step of selecting the candidate region comprises:
Extracting a repeater corresponding to the radio signal of the first frequency band;
And selecting a cluster region of the extracted repeater as a candidate region. 9. A recording medium product on which program codes for carrying out the method according to any one of claims 1 to 8 are recorded.

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