KR102146527B1 - OWR positioning method using multi-hop time synchronization equipment - Google Patents

Abstract

An OWR positioning method using a multi-hop time synchronization apparatus according to the present invention is provided. The method includes: measuring a distance between movable anchors for measuring a distance between movable anchors; A time synchronization start signal transmitting step of transmitting a time synchronization start signal to a first anchor, which is an adjacent anchor, from the positioning server; A visual information delivery step of transmitting a message including visual information from the first anchor receiving the timing synchronization start signal to a second anchor, which is a next anchor; And a multi-hop message delivery step of periodically transmitting a time synchronization signal from the first anchor to the second anchor, and performing multi-hop message transfer between anchors using the time synchronization signal, Wireless time synchronization is possible to enable high-speed positioning in the positioning space of.

Description

OWR positioning method using multi-hop time synchronization equipment

The present invention relates to an OWR positioning method using a multi-hop time synchronization device. More specifically, it relates to a mobile multi-hop time synchronization device and an OWR positioning system using the same.

Unlike RSSI (Received Signal Strength Indicator) as a technology for positioning, TOA (Time of Arrival), which measures the transmission time from an anchor (reference station) that knows the location in advance to a tag (mobile terminal), is related to the distance between two nodes. Give information.

TOA is a method of estimating the clock error of a tag, which is widely used in GPS positioning systems, and TDOA (Time Difference of Arrival) to reduce the effect of time asynchronous between an anchor and a tag on positioning is a method in which signals arrive from two anchors. Time synchronization with the tag is not required because the time measurement value is differentiated to remove the clock error component, and OWR (One Way Ranging) using TDOA is a positioning network rather than TWR (Two Way Ranging) that performs RTT (Round Trip Time). It has the advantage of being able to locate at high speed because the amount of messages in it is small.

However, since both the TOA positioning system and the TDOA positioning system perform positioning operations on the assumption that anchors are synchronized, there is a problem that synchronization between anchors is essential. In order to synchronize the time between anchors, there are a method of synchronizing time by wire using a clock signal and a synchronization signal using a divider, and a method of synchronizing time using a synchronization signal wirelessly. In the case of conventional patents for synchronization, most of them are not synchronization patents for positioning, but are patents for synchronization for wireless communication, or for single-hop based time synchronization in a standardized environment (10-2010-0123988), so they are applied to the actual field. There is a problem that is difficult to do.

Accordingly, an object of the present invention is to provide a wireless time synchronization scheme in a multi-hop environment in order to solve the above-described problem.

It is also an object of the present invention to provide a time synchronization method wirelessly in a multi-hop environment for wide area positioning, not a single hop, as a wireless time synchronization method applied to an actual field.

An OWR positioning method using a multi-hop time synchronization apparatus according to the present invention for solving the above problems is provided. The method includes: measuring a distance between movable anchors for measuring a distance between movable anchors; A time synchronization start signal transmitting step of transmitting a time synchronization start signal to a first anchor, which is an adjacent anchor, from the positioning server; A visual information delivery step of transmitting a message including visual information from the first anchor receiving the timing synchronization start signal to a second anchor, which is a next anchor; And a multi-hop message delivery step of periodically transmitting a time synchronization signal from the first anchor to the second anchor, and performing multi-hop message transfer between anchors using the time synchronization signal, Wireless time synchronization is possible to enable high-speed positioning in the positioning space of.

In one embodiment, in the step of transmitting the time synchronization start signal, the positioning server transmits the time synchronization start signal to the first and fourth anchors.- The fourth anchor has a distance from the positioning server. And at the closest distance to the first anchor. Meanwhile, in the visual information delivery step, the fourth anchor delivers a message including the visual information to a fifth anchor, which is a next anchor, and the second anchor and the fifth anchor next the message including the visual information. However, it can be transferred to the third anchor and the sixth anchor, which are anchors.

In an embodiment, in the multi-hop message transfer step, multi-hop message transfer may be performed from the first anchor to the k-th message between adjacent anchors. Meanwhile, for the k-th message, a first compensation step of periodically compensating for a frequency offset and a phase error by the second anchor and the fifth anchor may be performed.

In one embodiment, in the multi-hop message delivery step, the third anchor and the sixth anchor periodically compensate for the frequency offset and the phase error for the k-th message using the result compensated in the first compensation step. The second compensation step may be performed.

In an embodiment, in the first compensation step, the second anchor and the fifth anchor may compensate for a frequency offset and a phase error in the first compensation step by using Equation (5). Further, in the second compensation step, the third anchor and the sixth anchor may compensate for the frequency offset and the phase error in the second compensation step by using Equation 6.

In an embodiment, time information and time synchronization-related information of the second anchor, the fifth anchor, the third anchor, and the sixth anchor may be transmitted to a tag. In addition, the tag may correct an error of a measurement value received from the second anchor, the fifth anchor, and the third anchor by using the time information and time synchronization-related information. In addition, the tag may perform self-positioning by calculating the position of the tag using a TOA/TDOA technique.

In an embodiment, the second anchor, the fifth anchor, the third anchor, and the sixth anchor may receive a tag signal from a tag. In addition, the second anchor, the fifth anchor, the third anchor, and the sixth anchor may transmit time and time synchronization related information when the tag signal is received to the positioning server using multi-hop communication. In addition, it is possible to perform remote positioning by correcting the error of the measured value in the positioning server, and calculating the position of the tag using the TOA/TDOA technique using the collected measured value and pseudo-distance information.

According to at least one embodiment of the present invention, there is an advantage in that wireless time synchronization is possible to enable high-speed positioning in a wide-area positioning space without a positioning infrastructure.

In addition, according to at least one embodiment of the present invention, there is an advantage of being able to expand to a multi-hop system for mobile-type positioning network construction and wide-area positioning network in a wide area environment without a positioning infrastructure.

On the other hand, in the case of the IR-UWB (Impulse Radio-Ultra Wide Band) positioning system, the positioning distance within one hop is limited to about 200m. It can be extended to a multi-hop system for network construction and wide area positioning network.

In addition, according to at least one embodiment of the present invention, in order to manage position and status information of tags existing in several anchor grids in real time in one positioning server, wireless time synchronization and data are performed using a multi-hop wireless communication network between anchors. Communication and high-speed wireless positioning are possible.

1 shows a conceptual diagram of a single hop OWR positioning system in connection with the present invention.
2 shows a conceptual diagram of a mobile multi-hop wireless time synchronization system according to the present invention.
3 shows a configuration of a positioning server in a mobile multi-hop wireless time synchronization system according to the present invention.
4 shows the configuration of a movable anchor according to the present invention.
5 shows the configuration of a tag according to the present invention.
6 is a flowchart of an OWR positioning method using a multi-hop time synchronization apparatus according to the present invention.

The features and effects of the present invention described above will become more apparent through the following detailed description in connection with the accompanying drawings, and accordingly, those of ordinary skill in the technical field to which the present invention pertains can easily implement the technical idea of the present invention. I will be able to.

In the present invention, various modifications may be made and various embodiments may be provided, and specific embodiments will be illustrated in the drawings and described in detail in the detailed description. However, this is not intended to limit the present invention to a specific embodiment, it is to be understood to include all changes, equivalents, or substitutes included in the spirit and scope of the present invention.

In describing each drawing, similar reference numerals are used for similar elements.

Terms such as first and second may be used to describe various elements, but the elements should not be limited by the terms. These terms are used only for the purpose of distinguishing one component from another component.

For example, without departing from the scope of the present invention, a first element may be referred to as a second element, and similarly, a second element may be referred to as a first element. The term and/or includes a combination of a plurality of related listed items or any of a plurality of related listed items.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs.

Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related technology, and should not be interpreted as an ideal or excessively formal meaning unless explicitly defined in this application. Shouldn't.

The suffix modules, blocks, and parts for the components used in the following description are given or mixed in consideration of only the ease of writing the specification, and do not have meanings or roles that are distinguished from each other by themselves.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings so that those of ordinary skill in the art can easily implement them. In the following description of the embodiments of the present invention, when it is determined that a detailed description of a related known function or a known configuration may unnecessarily obscure the subject matter of the present invention, a detailed description thereof will be omitted.

Hereinafter, an OWR positioning method using a multi-hop time synchronization device and an OWR positioning system performing the same will be described.

1 shows a conceptual diagram of a single hop OWR positioning system in connection with the present invention. Referring to FIG. 1, the single-hop OWR positioning system is composed of a positioning server, an anchor, and a tag, and measures the distance between tags existing in an anchor grid with a location and an anchor through wireless communication, and uses the tag Calculate the position of. Depending on the direction of the communication link, the subject of location calculation is different. In the case of downlink, it is self-positioning, and in the case of uplink, it is remote positioning. Self-positioning is a method in which a tag receives a signal containing time information from each anchor and calculates the position in the tag.In remote positioning, anchors with time synchronization receive the signal from the tag and transmit this information to the server. This is how the position is calculated. Multi-hop positioning OWR positioning system is a system with multiple hops, and time synchronization between hops is very important.

Meanwhile, FIG. 2 shows a conceptual diagram of a mobile multi-hop wireless time synchronization system according to the present invention. Referring to FIG. 2, the multi-hop wireless time synchronization system includes a positioning server 100 and a plurality of anchors 210 to 260. In addition, the position measurement further includes a tag 300 corresponding to the object. In this regard, the positioning server 100 is configured to measure the distance between the movable anchors. In addition, the positioning server 100 transmits a time synchronization start signal to the first anchor 210, which is an adjacent anchor. At this time, the positioning server 100 may transmit a synchronization initiation signal to the fourth anchor 240 in which the distance from the positioning server 100 is the closest to the distance between the positioning server 100 and the first anchor 210. have.

In response, the first anchor 210 and the fourth anchor 240, which have received the time synchronization start signal, can deliver a message including visual information to the second anchor 220 and the fifth anchor 250, which are the next anchors. have.

Meanwhile, by periodically transmitting a time synchronization signal from the first anchor 210 to the second anchor 220, multi-hop message transfer between anchors may be performed using the time synchronization signal. In addition, the multi-hop message transfer between anchors may be performed between the fourth anchor 240 and the fifth anchor 250. In addition, the multi-hop message transfer between anchors may be performed between the second anchor 220 and the third anchor 230. In addition, the multi-hop message transfer between anchors may be performed between the fifth anchor 250 and the sixth anchor 260. According to the multi-hop message delivery as described above, the plurality of anchors 210 to 260 may periodically compensate for the frequency offset and the phase error. The position of the tag 300 may be calculated by the tag 300 or the positioning server 100 using the compensated offset, error, and time synchronization-related information.

Meanwhile, transmission of visual information between the plurality of anchors 210 to 260 and transmission of multi-hop messages between anchors accordingly will be described in detail below with reference to the flowchart in FIG. 6.

With respect to the configuration for performing each operation described in FIG. 2, FIG. 3 shows the configuration of a positioning server of the mobile multi-hop wireless time synchronization system according to the present invention. The wired/wireless communication unit communicates with anchors and tags, the positioning network control unit controls the communication procedure with the anchors and tags, the positioning data management unit manages data related to positioning and time synchronization, and in the case of remote positioning, also calculates the position of the tag. do.

On the other hand, Figure 4 shows the configuration of the movable anchor according to the present invention. The wired/wireless communication unit communicates with a server, an adjacent anchor, and a tag, and the time synchronization management unit manages data related to time synchronization and transmits positioning related data.

On the other hand, Figure 5 shows the configuration of the tag according to the present invention. The wired/wireless communication unit communicates with the anchor, the positioning data management unit manages data related to positioning and time synchronization, and in the case of self positioning, also calculates the position of the tag.

), 위상 오차(

)가 있고, H/W 내부 지연 오차는 안테나에서 모뎀(MODEM)으로의 오차(

), 모뎀에서 안테나로의 오차(

)가 있다. 중계 지연 오차는 모뎀에서 신호를 수신 후 이를 다시 전송하는 시간 지연 오차(

)이고, 전파 지연 시간(

)은 홉을 통과하면서 발생하는 앵커 간 전파 전송 시간이다. 그리고 수신기 잡음은 수신기 내부 열잡음으로 인한 오차이고, 양자화 오차는 아날로그 신호를 디지털로 변환하면서 생기는 오차이다. 이 중 H/W 내부 지연 오차 및 중계 지연 오차는 일정한 바이어스 값으로 미리 사전에 측정을 하여 바이어스를 보정하므로 오차 보정이 가능하고, 전파 지연 시간은 초기에 TWR 기반 측위 기법으로 정확한 거리를 미리 알고 있으므로 정확한 전파 지연 시간을 측정할 수 있으므로 보정이 가능하고, 수신기 잡음 및 양자화 오차는 매우 미약한 오차로 무시가 가능하다.For multi-hop time synchronization, the positioning error included in the measured value must be analyzed. Assuming that the LOS (Line of Sight) environment and the environment without multipath errors, positioning errors include clock error, H/W internal delay error, relay delay error, propagation delay time, receiver noise, and quantization error. The clock error is an error due to the instability of the clock, and the frequency offset (

), phase error (

), and the H/W internal delay error is the error from the antenna to the modem (MODEM) (

), error from modem to antenna (

). The relay delay error is the time delay error of retransmitting the signal after receiving the signal from the modem (

), and propagation delay time (

) Is the propagation transmission time between anchors that occurs while passing through the hop. In addition, the receiver noise is an error due to thermal noise inside the receiver, and the quantization error is an error generated by converting an analog signal to digital. Among them, H/W internal delay error and relay delay error are measured in advance with a constant bias value and the bias is corrected, so error correction is possible. Correct propagation delay time can be measured, so it can be corrected, and receiver noise and quantization errors can be ignored as very slight errors.

In the above, an OWR positioning system that performs an OWR positioning method using a multi-hop time synchronization device has been described. Hereinafter, an OWR positioning method using a multi-hop time synchronization apparatus according to another aspect of the present invention will be described.

In this regard, FIG. 6 shows a flowchart of an OWR positioning method using a multi-hop time synchronization apparatus according to the present invention. Referring to FIG. 6, the OWR positioning method includes a step of measuring a distance between mobile anchors (S110), a step of transmitting a time synchronization start signal (S120), a step of transmitting time information (S130), and a step of delivering a multi-hop message (S140).

로 나타내었다. 초기에는 시각 동기가 맞지 않으므로 TWR 기반 기법으로 이동식 앵커간의 거리인

을 측정한다. In the step of measuring the distance between the movable anchors (S110), the distance between the movable anchors is measured. In this regard, since time synchronization between anchors is not correct at the beginning, the clocks of each anchor are different. 2 shows the initial visual state of each anchor

Represented by Initially, the time synchronization is not correct, so the TWR-based technique

Measure

In the time synchronization start signal transmission step (S120), the positioning server transmits a time synchronization start signal to a first anchor that is an adjacent anchor. In this regard, the server transmits a time synchronization start signal to anchors 1 and 4 of FIG. 2, and anchors 1 and 4 transmit a first message including time information to anchors 2 and 5, respectively. The arrival times at this time are respectively shown in Equation 1.

In the time information delivery step (S130), the first anchor, which has received the time synchronization start signal, delivers a message including time information to a second anchor, which is a next stage anchor. In addition, in the multi-hop message delivery step (S140), a time synchronization signal is periodically transmitted from the first anchor to the second anchor, and multi-hop message transfer between anchors is performed using the time synchronization signal.

의 시각을 각각 수학식 1에서의 시각으로 갱신하거나 지연 오차 요소를 보정한 시각으로 갱신한다. 앵커 2, 5의 시각 갱신이후 각 앵커는 앵커 3, 6에게 시각 정보를 포함한 메시지를 전달한다. 이때의 도달 시각은 각각 수학식 2와 같다.In this regard, anchors 2 and 5 receiving these messages

Each of the times in Equation 1 is updated to the times in Equation 1 or the delay error elements are corrected. After the time update of anchors 2 and 5, each anchor delivers a message including time information to anchors 3 and 6. The arrival times at this time are respectively as shown in Equation 2.

의 시각을 각각 수학식 2에서의 시각으로 갱신하거나 지연 오차 요소를 보정한 시각으로 갱신한다. 이와 같은 방법을 반복하여 앵커 (i)에서 (i+1)로 계속 첫 번째 메시지를 전달한다.Anchors 3 and 6 that received the message

Each of the times in Equation 2 is updated to the times in Equation 2 or the delay error elements are corrected. By repeating this method, the first message is continuously delivered from anchor (i) to (i+1).

After the first message transmission step is finished, the second message transmission step first transmits a second message from anchors 1 and 4 to anchors 2 and 5, respectively. The arrival times at this time are respectively shown in Equation 3.

의 시각을 각각 수학식 3에서의 시각으로 갱신하거나 지연 오차 요소를 보정한 시각으로 갱신한다. 두 번째 메시지를 수신하고 시계 오차 요소인 주파수 오프셋과 위상 오차는 수학식 4와 같이 구한다.Anchors 2 and 5 that received the message

Each of the times in Equation 3 is updated to the times in Equation 3 or the delay error elements are corrected. After receiving the second message, the frequency offset and phase error, which are clock error elements, are obtained as shown in Equation 4.

After the time update of anchors 2 and 5, each anchor delivers a message including time information to anchors 3 and 6. The arrival times at this time are respectively shown in Equation 5.

의 시각을 각각 수학식 5에서의 시각으로 갱신하거나 지연 오차 요소를 보정한 시각으로 갱신한다. 두 번째 메시지 수신 이후 주파수 오프셋과 위상 오차는 수학식 6과 같이 구한다.Anchors 3 and 6 that received the message

The times of are updated to the times in Equation (5) or the delay error elements are corrected. After receiving the second message, the frequency offset and the phase error are obtained as in Equation 6.

Repeating this method, the second message is continuously delivered from anchor (i) to (i+1).

If this process is repeated for the k-th message signal, it is possible to periodically compensate for the frequency offset and phase error of the anchor.

Based on the above description, a detailed operation in each step will be described as follows. In the step of transmitting the time synchronization start signal (S120), the positioning server transmits the time synchronization start signal to the first and fourth anchors. In this case, the fourth anchor may be selected such that a distance from the positioning server is the closest to a distance between the positioning server and the first anchor.

Meanwhile, in the visual information delivery step (S130), the fourth anchor may transmit a message including the visual information to a fifth anchor, which is a next anchor. In addition, the second anchor and the fifth anchor may transmit a message including the visual information to a third anchor and a sixth anchor, which are next anchors.

Meanwhile, in the multi-hop message transfer step (S140), multi-hop message transfer may be performed from the first anchor to the k-th message between adjacent anchors. In this case, for the k-th message, a first compensation step of periodically compensating for a frequency offset and a phase error by the second anchor and the fifth anchor may be performed. In this regard, in the first compensation step, the second anchor and the fifth anchor may compensate for a frequency offset and a phase error in the first compensation step by using Equation (5).

In addition, in the multi-hop message delivery step (S140), the third anchor and the sixth anchor periodically compensate for the frequency offset and phase error of the k-th message using the result compensated in the first compensation step. The second compensation step may be performed. In this regard, in the second compensation step, the third anchor and the sixth anchor may compensate for the frequency offset and the phase error in the second compensation step by using Equation (6).

The case of performing the positioning using the measured value is divided into the case of self-positioning and the case of remote positioning. First, in the case of self-positioning, the position of the movable anchor is acquired using a TWR-based technique and transmitted to the tag. Thereafter, the time synchronization described above is performed with multiple hops. After time synchronization, the target tag is searched through the multi-hop communication network between anchors, and the hop and grid on which the tag is located are checked. Thereafter, signals including time information and time synchronization-related information are transmitted to tags from each anchor constituting the grid. In the case of FIG. 2 as an example, time information and time synchronization information of anchors 2, 3, 5, and 6 in FIG. 2 are transmitted to the tag. At this time, information related to time synchronization includes anchor ID, transmission time, elapsed time after time synchronization, H/W internal delay error, frequency offset, time delay error, and propagation delay error. The tag that receives the time synchronization-related information uses this information to correct the error of the measurement value received by each anchor, and calculates the position of the tag using the TOA/TDOA technique.

Based on the above, the self-positioning method is summarized as follows. In this regard, time information and time synchronization-related information of the second anchor, the fifth anchor, the third anchor, and the sixth anchor are transmitted to a tag. In addition, the tag corrects errors in measurement values received from the second anchor, the fifth anchor, and the third anchor by using the time information and time synchronization-related information. Accordingly, the tag may perform self-positioning by calculating the position of the tag using a TOA/TDOA technique.

In the case of remote positioning, the step of searching for a positioning target tag through a multi-hop communication network between anchors after time synchronization and confirming the hop and grid where the tag is located is the same. Thereafter, the anchors constituting the grid receive a signal from the tag. Taking the case of FIG. 2 as an example, anchors 2, 3, 5, and 6 in FIG. 2 receive. The anchors transmit information related to the time and time synchronization when the tag signal is received to the server using multi-hop communication. In the case of FIG. 2 as an example, information received by anchors 2, 3, 5, and 6 in FIG. 2 is transmitted to anchors 1 and 4 and transmitted to the server through a hop. At this time, the time synchronization-related information includes the tag signal reception time for each anchor, anchor ID, tag ID, transmission time, elapsed time after time synchronization for each anchor, H/W internal delay error of each anchor, frequency offset, time delay error, propagation delay error. Etc. When a signal is received from the server, the server corrects the error of the measured value, and calculates the position of the tag using the TOA/TDOA technique using the collected measured value and pseudorange information.

The remote positioning method is summarized as follows based on the above description. In this regard, the second anchor, the fifth anchor, the third anchor, and the sixth anchor receive a tag signal from a tag. In addition, the second anchor, the fifth anchor, the third anchor, and the sixth anchor transmit time and time synchronization-related information when the tag signal is received to the positioning server using multi-hop communication. Accordingly, it is possible to correct the error of the measurement value in the positioning server, calculate the position of the tag using the TOA/TDOA technique using the collected measurement value and pseudo-distance information, and perform remote positioning.

In the above, an OWR positioning method using a multi-hop time synchronization device according to the present invention and an OWR positioning system performing the same have been described. Looking at the effects according to the present invention are as follows.

According to at least one embodiment of the present invention, there is an advantage in that wireless time synchronization is possible to enable high-speed positioning in a wide-area positioning space without a positioning infrastructure.

In addition, according to at least one embodiment of the present invention, there is an advantage of being able to expand to a multi-hop system for building a positioning network and broadening the positioning network in a mobile type in a wide area environment without positioning infrastructure such as a battlefield situation, a disaster site, a fire site, etc. .

In addition, according to at least one embodiment of the present invention, in order to manage position and status information of tags existing in several anchor grids in real time in one positioning server, wireless time synchronization and data are performed using a multi-hop wireless communication network between anchors. Communication and high-speed wireless positioning are possible.

According to the software implementation, not only the procedures and functions described in the present specification, but also design and parameter optimization for each component may be implemented as a separate software module. The software code can be implemented as a software application written in an appropriate programming language. The software code may be stored in a memory and executed by a controller or a processor.

Claims (7)

In the OWR positioning method using a multi-hop time synchronization device,
Measuring the distance between the movable anchors for measuring the distance between the movable anchors;
A time synchronization start signal transmitting step of transmitting a time synchronization start signal to a first anchor, which is an adjacent anchor, from the positioning server;
A visual information delivery step of transmitting a message including visual information from the first anchor receiving the timing synchronization start signal to a second anchor, which is a next anchor; And
A multi-hop message delivery step of periodically transmitting a time synchronization signal from the first anchor to the second anchor, and performing multi-hop message transfer between anchors using the time synchronization signal,
In the step of transmitting the time synchronization start signal,
The positioning server transmits the time synchronization start signal to the first and fourth anchors-The fourth anchor has a distance from the positioning server that is most similar to a distance between the positioning server and the first anchor- and,
In the visual information delivery step,
The fourth anchor delivers a message including the time information to a fifth anchor, which is a next stage anchor,
The second anchor and the fifth anchor deliver a message including the time information to a third anchor and a sixth anchor, which are next anchors,
In the step of delivering the multi-hop message,
Perform multi-hop message transfer between the k-th message from the first anchor to adjacent anchors,
For the k-th message, the second anchor and the fifth anchor perform a first compensation step of periodically compensating for a frequency offset and a phase error,
In the step of delivering the multi-hop message,
Perform a second compensation step of periodically compensating for the k-th message for a frequency offset and a phase error of the third anchor and the sixth anchor using a result compensated in the first compensation step,
Transmitting time information and time synchronization-related information of the second anchor, the fifth anchor, the third anchor, and the sixth anchor to a tag,
The time synchronization related information includes anchor ID, transmission time, elapsed time after time synchronization, H/W internal delay error, frequency offset, time delay error, propagation delay error,
The tag uses the time information and time synchronization-related information compensated through the first compensation step and the second compensation step to determine the error of the measurement values received from the second anchor, the fifth anchor, and the third anchor. Calibrate,
The OWR positioning method using a multi-hop time synchronization device, characterized in that the tag performs self-positioning by calculating the position of the tag using a TOA/TDOA technique. delete delete delete The method of claim 1,
In the first compensation step, the second anchor and the fifth anchor

Compensating for a frequency offset and a phase error in the first compensation step using
In the second compensation step, the third anchor and the sixth anchor

OWR positioning method using a multi-hop time synchronization device, characterized in that to compensate for the frequency offset and the phase error in the second compensation step. delete The method of claim 1,
The second anchor, the fifth anchor, the third anchor, and the sixth anchor receive a tag signal from a tag,
The second anchor, the fifth anchor, the third anchor, and the sixth anchor transmit time and time synchronization-related information when the tag signal is received to a positioning server using multi-hop communication,
Using a multi-hop time synchronization device, characterized in that the positioning server corrects the error of the measurement value and calculates the position of the tag using the TOA/TDOA technique using the collected measurement value and pseudo-distance information. OWR positioning method.

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