WO2018155728A1 - Position measuring apparatus of mobile terminal and position measuring method of mobile terminal using same - Google Patents

Abstract

The present invention relates to a position measuring apparatus of a mobile terminal and a position measuring method of the mobile terminal using the same. The position measuring apparatus of a mobile terminal comprises: a first base station for serving a mobile terminal; a distance estimation unit for estimating a separation distance from a second base station and a third base station adjacent to the first base station to the mobile terminal; a virtual circle calculation unit for calculating, on the basis of the separation distance information estimated by means of the distance calculation unit, a first virtual circle having a radius corresponding to the separation distance between the first base station and the mobile terminal centering on the first base station, a second virtual circle having a radius corresponding to a separation distance between the second base station and the mobile terminal centering on the second base station, and a third virtual circle having a radius corresponding to a separation distance between the third base station and the mobile terminal centering on the third base station; a discrimination unit for discriminating which position between a general position included within a preset reference range or an unusual position deviating from the reference range, the position of the mobile terminal with respect to the first to third base stations is, according to the first to third virtual circles calculated by the virtual circle calculation unit; and a position calculation unit for calculating the position of the mobile terminal by means of the first to third virtual circles, wherein the position calculation unit determines the average coordinates of the intersections having the shortest separation distance from among the intersections of the first to third virtual circles as the position of the mobile terminal, when the position of the mobile terminal is discriminated as the unusual position by means of the discrimination unit.

Description

Position measuring device of mobile terminal and method of measuring position of mobile terminal using same

The present invention relates to a position measuring device of a mobile terminal and a method for measuring the position of a mobile terminal using the same. More particularly, the triangular measurement method using the time of arrival (TOA) of the mobile terminal is used to determine the position of the mobile terminal. The present invention relates to a position measuring apparatus for a mobile terminal using a suitable measuring method according to the position of the mobile terminal with respect to the base stations and a position measuring method of the mobile terminal using the same.

Technology for estimating the location of a specific user or object is being used in various communication systems such as LBS (Location Based Service), which has been spotlighted as an important issue of wireless communication technology.

Since the US Federal Communications Commission (FCC) mandated the inclusion of mobile station location capabilities for E-911 (Enhanced-911) in mobile phones, mobile station location technology in wireless communications systems has become more interesting.

Various mobile station location techniques have been developed, which can be classified into two types: a handset method using GPS and a network method using a base station.

A typical network-based position estimation technique is a time of arrival triangulation (TOA) triangulation method, which estimates the distance between a mobile station and three base stations, and then uses the coordinates of the three base stations and the estimated three distances as a radius. By creating three circles to determine the intersection of the circle to determine the location of the mobile station.

The distance is generally estimated using the number of delays of signals transmitted / received between the base station and the mobile station. In this process, the estimated distance becomes longer than the actual distance.

As a result, three circles do not meet at one point, resulting in a position estimation error.

In order to solve this problem, a shortest distance algorithm has been proposed, which is a method of obtaining an LS (least square) method or an average of three internal intersection points among six intersection points generated by three circles, and each has disadvantages.

The LS method generates a relatively large position error, and the shortest distance algorithm generally shows good performance, but in a special situation, a large position error occurs.

In general, the mission point algorithm shows good performance, but in a specific case where one small circle is included in the area of two large circles, a serious position estimation error occurs.

The present invention has been made to improve the above problems, and when selecting the position of the mobile terminal using the triangular measurement method using the signal arrival time of the mobile terminal, to select and apply a suitable measurement method according to the position of the mobile terminal An object of the present invention is to provide a position measuring device for a mobile terminal and a method for measuring the position of a mobile terminal using the same.

According to another aspect of the present invention, there is provided a device for measuring a position of a mobile terminal, wherein the first base station serving the mobile terminal is spaced apart from the second and third base stations adjacent to the first base station. A first virtual house having a radius corresponding to a distance between the first base station and a mobile terminal based on the distance estimating unit for estimating a distance and the spaced distance information estimated by the distance calculating unit; A second virtual station having a radius corresponding to the separation distance between the second base station and the mobile terminal with respect to the second base station and a separation distance between the third base station and the mobile terminal with respect to the third base station; A virtual circle calculator for calculating a third virtual source having a radius and the first to third base stations according to the first to third virtual sources calculated through the virtual circle calculator. A determination unit for determining whether the position of the mobile terminal is a general position included in a preset reference range or a singular position deviating from the reference range, and the position of the mobile terminal through the first to third virtual sources. If the position of the mobile terminal is determined as the singular position through the determination unit, the average coordinates of the intersection points having the shortest distance among the intersection points of the first to third virtual circles are determined as the position of the mobile terminal. It includes a position calculation unit.

The determination unit determines that the position of the mobile terminal is the singular position when the virtual circle of any one of the first to third virtual circles is included in the inner region of the other virtual circles of the first to third virtual circles. It is desirable to.

If the position calculator determines the position of the mobile terminal as the singular position through the determination unit, the position calculator sets the virtual circle included in the inner region of the other virtual circles among the first to third virtual circles as the first reference circle. And a virtual circle setting unit for setting the remaining virtual circles other than the first reference circle among the first to third virtual sources as second and third reference circles, and the first reference circle and the first reference circle set by the virtual circle setting unit. Set the intersection points of the second reference circle as the first and second intersection points, set an intersection point adjacent to the first intersection point among the intersection points of the first reference circle and the third reference circle as the third intersection point, and set the first reference point. An intersection setting unit for setting an intersection adjacent to the second intersection among the intersections of the circle and the third reference circle as the fourth intersection, and the distance between the first and third intersections and between the second and fourth intersections. An intersection calculation unit that calculates intersections that form a short distance among the distances; And a positioning unit determining the average coordinates of the coordinates of the intersections calculated by the intersection calculating unit as the position of the mobile terminal.

The position calculator may include a first virtual line connecting the intersections of the first virtual circle and the second virtual circle, the second virtual circle and the third virtual circle when the position of the mobile terminal is determined as the general position through the determination unit. Calculating a second virtual line connecting the intersection points of the circle and a third virtual line connecting the intersection points of the first and third virtual circles, and determining the intersection point of the first to third virtual lines as the position of the mobile terminal. It is preferable.

The distance estimator estimates a distance between the first to third base stations and the mobile terminal using a time of arrival (TOA) of the mobile terminal.

The distance estimator estimates the distance between the first to third base stations and the mobile terminal using the number of time delay samples in which the number of time delay samples for a specific carrier frequency is calculated through Equation 1 below.

(Equation 1)

nd _i = ceil ((d _i / c) * f _c )

Here, nd _i is the number of delay samples, c is the speed of light, f _c is a specific carrier frequency, ceil is a rounding function.

The distance estimator estimates the distance between the first to third base stations and the mobile terminal through Equation 2 below using the number of delay samples calculated by Equation 1 above.

(Equation 2)

d _ie = (nd _i * c) / f _c

Here, d _ie is the distance between the estimated mobile terminal and the i-th base station, nd _i is the number of delay samples, c is the speed of light, f _c is a specific carrier frequency.

The intersection calculation unit calculates a distance between the first and third intersection points and a distance between the second and fourth intersection points through Equation 3 below.

(Equation 3)

Here, j = 1 or 3, x _j is the x-axis coordinate of the j-th intersection, y _j is the y-axis coordinate of the j-th intersection, x _{j + 1} is the x-axis coordinate of the j + 1 intersection, y _{j + 1} is preferably the y-axis coordinate of the j + 1th intersection.

The positioning unit calculates an average coordinate of the coordinates of the intersections calculated through the intersection calculation unit through Equation 4 below,

(Equation 4)

xm = (I _x '+ J _x ') / 2,

ym = (I _y '+ J _y ') / 2

Here, (xm, ym) is the average coordinate, I _x ', I _y ' is the x-axis coordinate and y-axis coordinate of any one of the intersections calculated through the intersection calculation unit, J _x ', J _y ' Is the x-axis coordinate and the y-axis coordinate of the other one of the intersections calculated by the intersection calculation unit.

A method for measuring the position of a mobile terminal according to the present invention includes estimating a distance for estimating a separation distance between a first base station serving a mobile terminal and second and third base stations adjacent to the first base station from the mobile terminal. And a first virtual station and a second base station having a radius corresponding to the separation distance between the first base station and the mobile terminal based on the separation distance information estimated by the distance estimating step. A second virtual house having a radius corresponding to the separation distance between the second base station and the mobile terminal as a center and a third having a radius corresponding to the separation distance between the third base station and the mobile terminal around the third base station; The mobile terminal for the first to third base stations according to a virtual circle calculating step of calculating a virtual circle and the first to third virtual sources calculated through the virtual circle calculating step; A determination step of determining whether the position of the mobile device is a general position included in the predetermined reference range or a special position out of the reference range, and calculates the position of the mobile terminal through the first to third virtual house, When the position of the mobile terminal is determined to be a different singular position through the determination step, a position where the average left end of the intersection points having the shortest separation distance among the intersection points of the first to third virtual circles is located as the position of the mobile terminal. It includes the calculation step.

The determining may include determining that the position of the mobile terminal is the singular position when any one of the first to third virtual circles is included in the inner region of the other virtual circles among the first to third virtual circles. It is desirable to determine.

The position calculating step may include a virtual circle included in an inner region of other virtual circles among the first to third virtual circles as the first reference circle when the position of the mobile terminal is determined as the singular position through the determining step. A virtual circle setting step of setting a virtual circle other than the first reference circle among the first to third virtual sources as a second and third reference circle, and a first reference circle set in the virtual circle setting step. Set intersection points of the first reference circle and the second reference circle, and set an intersection point adjacent to the first intersection point among the intersection points of the first reference circle and the third reference circle as the third intersection point; An intersection setting step of setting an intersection point adjacent to the second intersection point as a fourth intersection point among the intersection points of the first reference circle and the third reference circle, the distance between the first and third intersection points, and the second and fourth intersection points. A bridge that produces intersections that form shorter distances between The average data for the coordinates of the intersection calculated by the calculating step, and the intersection point calculation step includes the positioning step of determining a location of the mobile terminal.

The position calculating step may include a first virtual line connecting the intersections of the first virtual circle and the second virtual circle, the second virtual circle and the first virtual point when the position of the mobile terminal is determined as the general position through the determining step. Calculating a second virtual line connecting the intersections of the three virtual sources and a third virtual line connecting the intersections of the first and third virtual circles, and converting the intersection points of the first to third virtual lines to the position of the mobile terminal. Decide

In the step of estimating the distance, it is preferable to estimate the distance between the first to third base stations and the mobile terminal by using a time of arrival (TOA) of the mobile terminal.

The distance estimating step estimates the distance between the first to third base stations and the mobile terminal using the number of time delay samples in which the number of time delay samples for the specific carrier frequency is calculated through Equation 1 below.

(Equation 1)

nd _i = ceil ((d _i / c) * f _c )

Where nd _i is the number of delay samples, c is the speed of light, f _c is the specific carrier frequency, and ceil is the rounding function.

The distance estimating step estimates the distance between the first to third base stations and the mobile terminal through Equation 2 below using the number of delay samples calculated by Equation 1 above.

(Equation 2)

d _ie = (nd _i * c) / f _c

Here, d _ie is the distance between the estimated mobile terminal and the i-th base station, nd _i is the number of delay samples, c is the speed of light, f _c is a specific carrier frequency.

In the intersection calculation step, the distance between the first and third intersection points and the distance between the second and fourth intersection points are calculated through Equation 3 below.

(Equation 3)

Where j = 1 or 3, x _j is the x-axis coordinate of the jth intersection, y _j is the y-axis coordinate of the jth intersection, x _{j + 1} is the x-axis coordinate of the j + 1 intersection, y _{j + 1} is the y-axis coordinate of the j + 1th intersection.

The positioning step is to calculate the average coordinates for the coordinates of the intersection points calculated by the intersection calculation unit through the following equation (4),

(Equation 4)

xm = (I _x '+ J _x ') / 2,

ym = (I _y '+ J _y ') / 2

Here, (xm, ym) is the average coordinate, I _x ', I _y ' is the x-axis coordinate and y-axis coordinate of any one of the intersections calculated through the intersection calculation unit, J _x ', J _y ' Is preferably the x-axis coordinate and the y-axis coordinate of the other one of the intersections calculated through the intersection calculation unit.

An apparatus for measuring the position of a mobile terminal according to the present invention and a method for measuring the position of the mobile terminal using the same are suitable measuring methods according to the position of the mobile terminal when estimating the position of the mobile terminal using a triangulation method using the signal arrival time of the mobile terminal. Since it can be selected and applied, even if GPS satellite signals cannot be received, a position estimation result with high accuracy can be obtained.

1 is a schematic configuration diagram of a mobile communication system to which the present invention is applied;

FIG. 2 is a conceptual diagram illustrating a method of positioning a mobile station using a time of arrival triangulation method;

3 is a conceptual diagram illustrating a general case where three radius-based circles that are extended by distance estimation meet.

4 and 5 is a conceptual diagram showing a description of the case where the mobile terminal is located in a singular position,

6 is a block diagram of a position measuring device of a mobile terminal according to the present invention;

7 is a flowchart illustrating a position measuring method of a mobile terminal according to the present invention;

8 and 9 are MSE graphs for estimating the position of the mobile terminal of the first experimental example according to the method for measuring the position of the mobile terminal according to the present invention;

10 and 11 are MSE graphs for estimating the position of the mobile terminal of the first experimental example according to the method for measuring the position of the mobile terminal according to the present invention.

The apparatus for measuring the position of a mobile terminal according to the present invention estimates a separation distance from a first base station serving a mobile terminal and a distance from the second and third base stations adjacent to the first base station to the mobile terminal. A first virtual house having a radius corresponding to the separation distance between the first base station and the mobile terminal based on the separation distance information estimated by the government and the distance calculation unit; A second virtual circle having a radius corresponding to the separation distance between the second base station and the mobile terminal, and a third virtual source having a radius corresponding to the separation distance between the third base station and the mobile terminal around the third base station. A position of the mobile terminal with respect to the first to third base stations according to the virtual circle calculating unit calculating a circle and the first to third virtual sources calculated through the virtual circle calculating unit; A determination unit for determining whether a general position included in a preset reference range or a singular position deviating from the reference range is calculated, and the position of the mobile terminal is calculated through the first to third virtual sources, wherein the determination unit When the position of the mobile terminal is determined as the singular position through the position calculation unit for determining the average coordinates of the intersections of the shortest distance between the intersections of the first to third virtual circles as the position of the mobile terminal. .

Hereinafter, with reference to the accompanying drawings will be described in detail with respect to the position measuring device of the mobile terminal according to an embodiment of the present invention and a method for measuring the position of the mobile terminal using the same. As the inventive concept allows for various changes and numerous embodiments, particular embodiments will be illustrated in the drawings and described in detail in the text. However, this is not intended to limit the present invention to a specific disclosed form, it should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention. In describing the drawings, similar reference numerals are used for similar elements. In the accompanying drawings, the dimensions of the structures are shown in an enlarged scale than actual for clarity of the invention.

Terms such as first and second 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. For example, without departing from the scope of the present invention, the first component may be referred to as the second component, and similarly, the second component may also be referred to as the first component.

The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of the invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, the terms "comprise" or "have" are intended to indicate that there is a feature, number, step, action, component, part, or combination thereof described on the specification, and one or more other features. It is to be understood that the present invention does not exclude the possibility of the presence or the addition of numbers, steps, operations, components, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art. Terms such as those defined in the commonly used dictionaries should be construed as having meanings consistent with the meanings in the context of the related art and shall not be construed in ideal or excessively formal meanings unless expressly defined in this application. Do not.

A mobile terminal according to an embodiment of the present invention is a digital broadcasting terminal, a personal digital assistant (PDA), a smart phone, a tablet PC, an iPad, a CSS-UWB (Chirp Spread). Spectrum Ultra WideBand (IR-UWB) and Impulse-Radio UWB (IR-UWB), 3G terminals such as International Mobile Telecommunication 2000 (IMT-2000) terminals, Wideband Code Division Multiple Access (WCDMA) terminals, GSM / GPRS (Global System For Mobile Communication) All information communication devices and multimedia devices such as Packet Radio Service (UM) and Universal Mobile Telecommunication Service (UMTS) terminals may be included. However, it will be apparent to those skilled in the art that the configuration according to the embodiment described herein may be applied to a fixed terminal such as a digital TV, a desktop computer, and the like, except that only the portable terminal is applicable.

In addition, in describing the present invention, a plurality of or at least two or more base stations to be described below will be used interchangeably in the sense of including three base stations to which the present invention is applied, but the present invention is not limited thereto. .

The proposed method is expected to be used not only for commercial mobile communication systems, but also for mobile robot systems and various military equipment requiring high accuracy.

1 is a schematic diagram illustrating a mobile communication system to which the present invention is applied.

Referring to the drawings, the mobile communication system 100 to which the present invention is applied includes a location measurement service server 118 including a plurality of base stations 110, 112, 114, a mobile terminal 116, and a location measurement device. Here, although the location determination device has been described as being included in the location measurement service server 118, it may be installed in the mobile terminal 116.

The mobile terminal 116 is registered with the location service server 118 and freely moves within a service area formed by the location service server 118 via a predetermined communication path.

In addition, the mobile terminal 116 performs paging with the plurality of base stations (110, 112, 114) or any one of the base stations, obtains the arrival time from the location service server 118 based on the arrival time Self-positioning may also be performed.

The base stations (110, 112, 114) are respectively distributed in a predetermined area in the network to communicate with the mobile terminal 116 through a wireless channel according to the communication policy of the network, the mobile terminal 116 And wirelessly transmit the distance estimation frame received from the location measurement service server 118.

The location service server 118 communicates with a plurality of base stations 110, 112, 114, stores and integrates and manages a plurality of events in the network, and the mobile terminal 116 and the plurality of base stations 110, 112. Distance estimation is performed from the arrival time of the distance determined by the transmission signal time information.

That is, the mobile terminal of the present invention is included in the location service server 118.

The terminal for the last position measurement device measures the current position of the corresponding mobile terminal 116 from the region in which the plurality of base stations 110, 112, and 114 distributed in a predetermined region in the network are located for arrival distance based distance measurement. Position location service in a network that performs and acquires the location-based service, which may be fixed or location-acquisition mobile, and temporarily or remotely determines the location of the mobile terminal 116 by activating a wireless channel in the location-based service. It is continuously measured and output by preset period.

2 shows an example of the positional relationship between the first to third base stations BS1, BS2 and BS3 and the mobile terminal 218. Referring to FIG. In general, in the time-of-arrival triangulation method, the distance measuring method recognizes the position of the object by using the measured distance to the object based on the position information of three points. It is used to calculate the position of a mobile terminal after measuring the distance from three or more reference points using time of flight (TOF), attenuation, etc. of signals, ultrasonic waves, and RF signals.

When the distance information between the at least three base stations BS1, BS2, BS3 and the mobile terminal MS, 218 is transmitted to the location measuring apparatus through a network, the location measuring apparatus of the present invention is based on the mobile terminal 218. As shown, measuring the position, the distance (d1, d2, d3) of the three base stations (BS1, BS2, BS3) and the mobile station (MS, 218) and three base stations (BS1, BS2, BS3) The position of the mobile terminal 218 is estimated using the intersections of three circles based on the coordinates of.

Meanwhile, FIG. 3 shows an example of a general case where three circles based on a radius extended by distance estimation meet. In practice, the base stations BS1, BS2, BS3 and the mobile terminal 218 have a positional relationship as shown in FIG. 3 according to the distance estimation value of the mobile terminal 218 at each base station BS1, BS2, BS3. Seems.

In addition, as shown in FIGS. 4 and 5, the position of the mobile terminal 518 with respect to the base stations BS1, BS2, and BS3 may have a singular position unlike the general general position of FIGS. 2 and 3. When a mobile terminal is located at a singular position, an error occurs in a conventional triangulation method. However, the position measuring device of the mobile terminal of the present invention can more accurately calculate the position of the mobile terminal at this singular position.

6 shows a position measuring device 300 of a mobile terminal according to the present invention.

Referring to the drawings, the location measuring apparatus 300 of the mobile terminal includes a distance estimator 310, a virtual circle calculator 320, a determiner 330, and a position calculator 340.

To determine the location of the mobile terminal, one can solve three equations obtained from three virtual circles based on the radius corresponding to the estimated distance between the coordinates of the first to third base stations and the mobile terminal. The equation for the separation distance d _i between the mobile terminal and the i-th base station, i.e., the base station is as follows.

Here, i is 1, 2, 3, x, y are the x-axis and y-axis coordinates of the mobile terminal, x _i , y _i is the x-axis coordinate and the y-axis coordinate of the i-th base station, i. .

The distance estimator 310 estimates the separation distance from the first base station serving the mobile terminal and the second and third base stations adjacent to the first base station to the mobile terminal. In this case, the distance estimator 310 estimates the distance between the first to third base stations and the mobile terminal by using a time of arrival (TOA) of the mobile terminal.

The distance estimator 310 may estimate the distance between the first to third base stations and the mobile terminal by using the number of time delay samples calculated from the number of time delay samples for a specific carrier frequency. In this case, the distance estimator 310 calculates the number of time delay samples for a specific carrier frequency through Equation 1 below.

Here, i is 1,2,3, nd _i is the number of delay samples for the i-th base station, i.e. base station, c is the speed of light and f _c is a specific carrier frequency. At this time, since the right side of Equation 1 except for "ceil" is generally not an integer, "ceil" which means a rounding function is used on the right side of Equation 2.

The distance estimator 310 estimates the distance between the first to third base stations and the mobile terminal through Equation 2 below using the number of delay samples calculated by Equation 1 through Equation 1.

Here, d _ie is the distance between the estimated mobile terminal and the i-th base station, i.e. base station, nd _i is the number of delay samples for the i-th base station, i.e. base station, c is the speed of light, f _c is a specific carrier frequency.

The virtual circle calculator 320 may include a first virtual circle having a radius corresponding to the distance between the first base station and the mobile terminal based on the distance information estimated by the distance calculator. A radius corresponding to the separation distance between the third base station and the mobile terminal with respect to the second base station having a radius corresponding to the separation distance between the second base station and the mobile terminal with respect to the second base station. Calculate the third virtual source with.

The determination unit 330 includes a position of the mobile terminal with respect to the first to third base stations according to the first to third virtual sources calculated by the virtual circle calculator 320 to be included in a preset reference range. It is determined whether it is a general position or a specific position out of the reference range.

If the one of the first to the third virtual source virtual circle is not included in the inner region of the other virtual circle of the other of the first to the third virtual source, the determination unit 330 in FIG. As shown in the illustrated example, the position of the mobile terminal with respect to the first to third base stations is determined as a general position included in a preset reference range.

In addition, the determination unit 330 is shown in FIGS. 4 and 5 when any one of the first to third virtual circles is included in an inner region of the other virtual circles among the first to third virtual sources. As shown in the illustrated example, it is determined that the position of the mobile terminal is the singular position.

The position calculator 340 calculates the position of the mobile terminal through the first to third virtual sources. When the position of the mobile terminal is determined as the singular position through the determination unit 330, the position is calculated. The singularity calculating unit 350 for calculating the position of the terminal and the general calculation unit 360 for calculating the position of the mobile terminal when the position of the mobile terminal is determined as the general position through the determination unit 330. Equipped.

The singular calculation unit 350 will be described in more detail with reference to FIGS. 4 and 5 as follows. The singularity calculating unit 350 includes a virtual circle setting unit 351, an intersection setting unit 352, an intersection calculation unit 353, and a positioning unit 354.

The virtual circle setting unit 351 sets the first to third reference circles according to the positional relationship of the virtual circles when the position of the mobile terminal is determined as the singular position through the determination unit 330. The virtual circle setting unit 351 sets the virtual circle included in the inner region of the other virtual circles among the first to third virtual circles as the first reference circle 514. That is, the virtual circle setting unit 351 sets the third virtual circle C3 having the smallest size among the virtual circles as the first reference circle 514 in FIG. 5.

In addition, the virtual circle setting unit 351 may select the virtual circles other than the first reference circle 514 among the first to third virtual sources C1, C2, and 3 to the second and third reference circles 510 and 512. Set to. That is, the virtual circle setting unit 351 sets the first virtual source C1 and the second virtual source C2 as the second reference circle 510 and the third reference circle 512 in FIG. 5, respectively.

The intersection setting unit 352 sets an intersection point between the reference circles set by the virtual circle setting unit 351. In more detail, the intersection setting unit 352 sets the intersection points of the first reference circle 514 and the second reference circle 510 set by the virtual circle setting unit 351 as first and second intersection points. That is, in Fig. 5, intersection I and intersection I 'are set as first and second intersections, respectively.

In addition, the intersection setting unit sets an intersection point adjacent to the first intersection point among the intersection points of the first reference circle 514 and the third reference circle 512 as a third intersection point. That is, in Fig. 5, the intersection J is set as the third intersection. The intersection setting unit sets an intersection of the intersections of the first reference circle 514 and the third reference circle 512 as the fourth intersection. That is, in Fig. 5, the intersection J 'is set as the fourth intersection.

The intersection calculator 353 calculates intersections that form a shorter distance among the distance between the first and third intersection points and the distance between the second and fourth intersection points. Equation 3 below calculates the distance between the first and third intersections and the distance between the second and fourth intersections.

Where j = 1 or 3, x _j is the x-axis coordinate of the jth intersection, y _j is the y-axis coordinate of the jth intersection, x _{j + 1} is the x-axis coordinate of the j + 1 intersection, y _{j + 1} is the y-axis coordinate of the j + 1th intersection.

의 수식에 의해 산출되며, 여기서, d₁₃은 제1 및 제3교점 사이의 거리이며, x₁는 제1교점의 x축 좌표이고, y₁는 제1교점의 y축 좌표이며, x₃는 제3교점의 x축 좌표이고, y₃는 제3교점의 y축 좌표이다.That is, the distance between the first and the third intersection point is

Calculated by the equation, wherein d ₁₃ is the distance between the first and the third intersection, x ₁ is the x-axis coordinate of the first intersection, y ₁ is the y-axis coordinate of the first intersection, x ₃ is The x-axis coordinate of the third intersection, y ₃ is the y-axis coordinate of the third intersection.

의 수식에 의해 산출되며, 여기서, d₂₄은 제2 및 제4교점 사이의 거리이며, x₂는 제2교점의 x축 좌표이고, y₂는 제2교점의 y축 좌표이며, x₄는 제4교점의 x축 좌표이고, y₄는 제4교점의 y축 좌표이다.In addition, the distance between the second and fourth intersection

Calculated by the formula of, where d ₂₄ is the distance between the second and fourth intersections, x ₂ is the x-axis coordinates of the second intersection, y ₂ is the y-axis coordinates of the second intersection, and x ₄ is The x-axis coordinate of the fourth intersection, y ₄ is the y-axis coordinate of the fourth intersection.

The intersection calculation unit 353 selects intersections having the shortest distance based on the distance information calculated by Equation 3 below. In the example illustrated in FIG. 5, the second intersection point I ′ and the fourth intersection point J ′ are selected by the intersection calculation unit 353.

The position determiner 354 determines the average coordinate of the coordinates of the intersections calculated by the intersection calculator 353 as the position of the mobile terminal. The positioning unit 354 calculates an average coordinate of coordinates of intersections calculated by the intersection calculation unit 353 through Equation 4 below.

Here, (xm, ym) is the average coordinate, I _x ', I _y ' is the x-axis coordinate and y-axis coordinate of any one of the intersections calculated by the intersection calculation unit 353, J _x ' , J _y ′ is the x-axis coordinate and the y-axis coordinate of the other one of the intersections calculated by the intersection calculator 353. In the example shown in FIG. 5, I _x ′, I _y ′ are x-axis coordinates and y-axis coordinates of the second intersection I ′, and J _x ′, J _y ′ are the fourth intersections J ′. Preferably, x-axis coordinates and y-axis coordinates are applied.

The position determiner 354 determines the average coordinate calculated by Equation 4 as the position coordinate of the mobile terminal.

Meanwhile, the general calculation unit 360 calculates the position of the mobile terminal when the position of the mobile terminal is determined as the general position through the determination unit 330. same.

When the location of the mobile terminal is determined as the general position through the determination unit 330, the general calculation unit 360 intersects 42 between the first virtual source 214 and the second virtual source 212. A first virtual line connecting the first virtual line, a second virtual line connecting the intersections 41 and 44 of the second virtual circle 212 and the third virtual circle 210, and the first virtual line 214 and the first virtual line connecting the first virtual line 214 and the first virtual line 214, respectively. The third virtual line connecting the intersections 43 and 46 of the triangular source 210 is calculated, and the intersection point of the first to third virtual lines is determined as the position of the mobile terminal.

First, the general calculation unit 360 generates each circle equation of the first to third virtual circles through Equation 5 below.

이며, i는 1,2,3이고, x,y는 이동단말기의 x축 좌표 및 y축 좌표이며, x_i,y_i는 i번째 기지국 즉, 제i기지국의 x축 좌표 및 y축 좌표이다. 또한, d_i는 i번째 기지국 즉, 제i기지국으로부터 이동단말기까지의 추정된 거리이다.here,

I, 1,2,3, x, y are the x-axis coordinate and y-axis coordinate of the mobile terminal, x _i , y _i is the x-axis coordinate and the y-axis coordinate of the i-th base station, i. . Also, d _i is an estimated distance from the i-th base station, i.e., the base station, to the mobile terminal.

Next, the general calculation unit 360 calculates six intersection points formed by the first to third virtual circles, and the intersection points select two intersection points from virtual circles paired with each other.

In this case, the estimated distance corresponding to the radius of the generated circle is generally longer than the actual distance by the "ceil" function of Equation 2, so that three virtual circles having a radius with respect to the estimated distance are generally one point. You will not meet at. Thus, these virtual circles typically generate six intersections, not one.

Referring to FIG. 4 in more detail, the general calculation unit 360 has two intersections 42 and 46 of the first virtual source 214 and the second virtual source 212, which are paired to cross each other, and cross each other. Two intersections 43 and 45 of the first virtual house 214 and the third virtual house 210 which are to be crossed, and two intersections of the second virtual house 212 and the third virtual house 210 which are paired to cross each other. Recognize (41, 44).

Next, the general calculation unit 360 obtains a plurality of straight lines formed to connect the plurality of predetermined intersections, that is, the plurality of predetermined intersections by performing connection for each two intersections. Thereafter, the general calculation unit 360 calculates an intersection point between the obtained plurality of straight lines, and determines the position information of the corresponding mobile terminal by using Equation 6 below.

이며, i는 1,2,3이고, x,y는 이동단말기의 x축 좌표 및 y축 좌표이며, x_i,y_i는 i번째 기지국 즉, 제i기지국의 x축 좌표 및 y축 좌표이다. 또한, d_i는 i번째 기지국 즉, 제i기지국으로부터 이동단말기까지의 추정된 거리이다.here,

I, 1,2,3, x, y are the x-axis coordinate and y-axis coordinate of the mobile terminal, x _i , y _i is the x-axis coordinate and the y-axis coordinate of the i-th base station, i. . Also, d _i is an estimated distance from the i-th base station, i.e., the base station, to the mobile terminal.

As described above, the general calculation unit 360 communicates with a plurality of base stations, that is, at least three or more base stations, and generates six intersection points generated by three overlapping circles for each base station, thereby generating Two intersections are generated from two intersecting pairable circles, and the position information of the mobile terminal is determined using three straight lines connecting the two intersections.

Meanwhile, the general calculation unit 360 is not limited thereto, but is a TOA triangulation method generally used in the related art. The average of three internal intersection points among six intersections generated by a least square (LS) method or three circles is calculated. The shortest distance algorithm or the like, which is a method of obtaining, may be used.

On the other hand, Figure 7 is a flow chart for the position measuring method of the mobile terminal according to the present invention.

Referring to the drawings, the position measuring method of the mobile terminal includes a distance estimating step S110, a virtual circle calculating step S120, a determining step S130, and a position calculating step S140.

The distance estimating step (S110) is a step of estimating a separation distance from the first base station serving the mobile terminal and the second and third base stations adjacent to the first base station to the mobile terminal. The distance estimator 310 uses a signal arrival time (TOA) of the mobile terminal as described above, and estimates the separation distance from each base station to the mobile terminal through Equation 1 and Equation 2.

The virtual circle calculating step S120 may include a first having a radius corresponding to the separation distance between the first base station and the mobile terminal based on the distance information estimated through the distance estimating step S110. Virtual circle, the distance between the second virtual station having a radius corresponding to the separation distance between the second base station and the mobile terminal with respect to the second base station and the third base station and the mobile terminal with respect to the third base station Computing a third virtual circle having a radius corresponding to. The virtual source calculator 320 calculates first to third virtual sources around each base station.

The determining step S130 may include a position of the mobile terminal with respect to the first to third base stations according to the first to third virtual sources calculated through the virtual circle calculating step S120, in a preset reference range. It is a step of determining whether it is a general position or an exceptional position out of the said reference range.

At this time, the determining step (S130) is included in the inner region of the other virtual circle of the other of the first to third virtual source by the determination unit 330 of the first to the third virtual source. If it is determined that the position of the mobile terminal is the singular position.

Position calculation step (S140) is to calculate the position of the mobile terminal through the first to the third virtual source, and includes a singular position calculation step (S150) and the general position calculation step (S160).

The singular position calculating step is a step of calculating the position of the mobile terminal when the position of the mobile terminal is determined as the singular position through the determination unit 330. The virtual circle setting step (S151), the intersection setting step (S152) ), The intersection calculation step 153 and the positioning step (S154).

In the virtual circle setting step S151, when the position of the mobile terminal is determined as the singular position through the determination step S130, the virtual circle included in the inner region of the other virtual circles among the first to third virtual sources. Is set as the first reference circle, and the remaining virtual circles except the first reference circle among the first to third virtual sources are set as the second and third reference circle. The virtual source setting unit 351 sets the first to third virtual sources when the position of the mobile terminal is determined as the singular position through the determination step S130.

In the intersection setting step S152, the intersection points of the first reference circle and the second reference circle set in the virtual circle setting step S151 are set as first and second intersection points, and the first reference circle and the third reference circle And setting an intersection point adjacent to the first intersection point among the intersection points as a third intersection point, and setting an intersection point adjacent to the second intersection point among the intersection points of the first reference circle and the third reference circle as the fourth intersection point. . The intersection setting unit 352 sets each intersection when the setting of the virtual circle is completed in the virtual circle setting step S151.

The intersection calculation step 153 is a step of calculating intersections that form a shorter distance between the distance between the first and third intersection points and the distance between the second and fourth intersection points. The intersection calculation unit 353 calculates the distance between each intersection through Equation 3 as described above, and selects intersections having the shortest distance based on the distance information calculated by Equation 3.

Position determination step (S154) is a step of determining the average data on the coordinates of the intersection points calculated through the intersection calculation step 153 as the position of the mobile terminal. The position determiner 354 calculates average coordinates of the coordinates of the intersections calculated by the intersection calculator 353 through Equation 4 above.

On the other hand, the general position calculating step (S160) is a step of calculating the position of the mobile terminal when the position of the mobile terminal is determined as the general position through the determination unit 330. At this time, the general calculation unit 360, if the position of the mobile terminal is determined as the general position through the determination step (S130), the first virtual line connecting the intersections of the first and second virtual circles, Calculating a second virtual line connecting the intersections of the second and third virtual houses and a third virtual line connecting the intersections of the first and third virtual houses, and crossing the first to third virtual lines Is determined as the position of the mobile terminal.

On the other hand, the general position calculation step (S160) is not limited to this, but is a TOA triangulation method commonly used in the prior art, the average of the three internal intersections of the six intersections generated by the LS (least square) method or three circles The shortest distance algorithm or the like, which is a method of obtaining, may be used.

The position measuring apparatus 300 of the mobile terminal and the method for measuring the position of the mobile terminal using the same according to the present invention configured as described above are moved when the position of the mobile terminal is estimated using a triangulation method using the signal arrival time of the mobile terminal. Since an appropriate measurement method can be selected and applied according to the location of the terminal, it is possible to obtain a location estimation result with high accuracy even when GPS satellite signals cannot be received.

The experimental example conditions are as follows for the simulation for the performance evaluation of the method-based arrival time triangulation method proposed in the present invention. First, in a configuration where the mobile terminal is a general location, it is assumed that three fixed base stations each having coordinates of (-1000,5000), (6000, -3000), and (-7000,600) are used. In the setting of location, it is assumed that three fixed host stations each having a leftover of (-3000, 5000), (1500, 3000), and (7000, 600) are used. In addition, the unit of coordinate is m, and 50 MHz, 100 MHz, 500 MHz, 1 GHz, 5 GHz, and 10 GHz were considered as carrier frequencies. In addition, two embodiments in which a plurality of mobile terminals are located in a general position and a singular position are considered.

In the first experimental example, 90% of mobile terminals were set in the general position, and the remaining 10% of the mobile terminals were set in the singular position. In the second experimental example, 95% of mobile terminals were set in the general position, and the remaining 5% of the mobile terminals were set in the singular position. At this time, the coordinates of the mobile terminal are randomly selected from 100m to + 100m for the first and second experimental examples as the first case, or randomly selected from -500 to + 500m as the second case. The performance of the present invention is evaluated by the mean square error (MSE) of the mobile station.

The error of the position of the actual mobile station and the estimated mobile station is calculated by Equation 7 below, and the MSE for the mobile terminal position is calculated by Equation 8.

,

는 본 발명에 의해 산출된 이동단말기의 좌표이다. Here, x, y is the actual coordinates of the mobile terminal,

,

Is the coordinate of the mobile terminal calculated by the present invention.

8 shows an MSE graph of the position estimation of the mobile terminal according to each frequency of the first experimental example for the first case, and FIG. 9 shows the mobile terminal according to each frequency of the first experimental example for the second case. The MSE graph of the position estimation of the mobile terminal is posted, and in FIG. 10, the MSE graph of the position estimation of the mobile terminal according to each frequency of the second experimental example of the first case is posted, and FIG. 11 is the second case. The MSE graph for estimating the position of the mobile terminal according to each frequency of the second example of experiment is posted.

Here, ○ is different from the present invention, except for the singular position calculating step (S150), the result of performing only the general position calculating step (S160), △ is the result of performing the position measuring method of the mobile terminal according to the present invention Value. Referring to the drawings, it can be seen that the MSE value of the position measuring method of the mobile terminal according to the present invention is lower than the method of performing only the general position calculating step S160.

It is determined that a location estimation result with high accuracy can be obtained even when GPS satellite signals cannot be received using the method proposed in the present invention. The proposed method is expected to be used not only for commercial mobile communication systems, but also for mobile robot systems and various military equipment requiring high accuracy.

The description of the presented embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the scope of the invention. Thus, the present invention should not be limited to the embodiments set forth herein but should be construed in the broadest scope consistent with the principles and novel features set forth herein.

Claims (18)

A distance estimator for estimating a separation distance from the first base station serving the mobile terminal and the second and third base stations adjacent to the first base station to the mobile terminal; A first virtual circle having a radius corresponding to the separation distance between the first base station and the mobile terminal based on the separation distance information estimated by the distance calculator, and the second base station about the second base station Compute a second virtual circle having a radius corresponding to the separation distance between the base station 2 and the mobile terminal, and a third virtual source having a radius corresponding to the separation distance between the third base station and the mobile terminal around the third base station. A virtual circle calculator; According to the first to third virtual sources calculated by the virtual circle calculating unit, the position of the mobile terminal with respect to the first to third base stations is included in a preset reference range or a singular position outside the reference range. Determination unit for determining which position of the; And The position of the mobile terminal is calculated through the first to third virtual sources, and when the position of the mobile terminal is determined as the singular position through the determination unit, the separation of the intersection points of the first to third virtual sources is performed. It includes; position calculation unit for determining the average coordinates of the shortest intersection points as the position of the mobile terminal, Position measuring device of a mobile terminal. The method of claim 1, The determination unit determines that the position of the mobile terminal is the singular position when the virtual circle of any one of the first to third virtual circles is included in the inner region of the other virtual circles of the first to third virtual circles. doing, Position measuring device of a mobile terminal. The method of claim 2, The position calculation unit When the position of the mobile terminal is determined as the singular position through the determination unit, a virtual circle included in an inner region of other virtual circles among the first to third virtual circles is set as a first reference circle, and the first reference circle is used. A virtual circle setting unit for setting virtual circles other than the first reference circle among the third virtual circle as second and third reference circles; The intersections of the first reference circle and the second reference circle set by the virtual circle setting unit are set as first and second intersection points, and adjacent to the first intersection point among the intersection points of the first reference circle and the third reference circle. An intersection setting unit that sets an intersection as a third intersection, and sets an intersection adjacent to the second intersection among the intersections of the first reference circle and the third reference circle as a fourth intersection; An intersection calculation unit configured to calculate intersections that form a shorter distance between the distance between the first and third intersection points and the distance between the second and fourth intersection points; And And a position determiner configured to determine an average coordinate of coordinates of the intersections calculated by the intersection calculator as the position of the mobile terminal. Position measuring device of mobile terminal. The method of claim 1, The position calculator may include a first virtual line connecting the intersections of the first virtual circle and the second virtual circle, the second virtual circle and the third virtual circle when the position of the mobile terminal is determined as the general position through the determination unit. Calculating a second virtual line connecting the intersection points of the circle and a third virtual line connecting the intersection points of the first and third virtual circles, and determining the intersection point of the first to third virtual lines as the position of the mobile terminal. , Position measuring device of mobile terminal. The method of claim 1, The distance estimator estimates a distance between the first to third base stations and the mobile terminal using a time of arrival (TOA) of the mobile terminal. Position measuring device of mobile terminal. The method of claim 5, The distance estimator estimates the distance between the first to third base stations and the mobile terminal using the number of time delay samples in which the number of time delay samples for a specific carrier frequency is calculated through Equation 1 below. (Equation 1) nd _i = ceil ((d _i / c) * f _c ) Where nd _i is the number of delay samples, c is the speed of light, f _c is the specific carrier frequency, and ceil is the rounding function. Position measuring device of mobile terminal. The method of claim 6, The distance estimator estimates the distance between the first to third base stations and the mobile terminal through Equation 2 below using the number of delay samples calculated by Equation 1 above. (Equation 2) d _ie = (nd _i * c) / f _c Where d _ie is the estimated distance between the mobile terminal and the i-th base station, nd _i is the number of delay samples, c is the speed of light, and f _c is the specific carrier frequency. Position measuring device of mobile terminal. The method of claim 3, The intersection calculation unit A distance between the first and third intersection points and a distance between the second and fourth intersection points is calculated through Equation 3 below. (Equation 3)

Here, j = 1 or 3, x _j is the x-axis coordinate of the j-th intersection, y _j is the y-axis coordinate of the j-th intersection, x _{j + 1} is the x-axis coordinate of the j + 1 intersection, y _{j + 1} is the y-axis coordinate of the j + 1 intersection, Position measuring device of mobile terminal. The method of claim 3, The positioning unit calculates an average coordinate with respect to the coordinates of the intersections calculated through the intersection calculation unit through Equation 4 below. (Equation 4) xm = (I _x '+ J _x ') / 2, ym = (I _y '+ J _y ') / 2 Here, (xm, ym) is the average coordinate, I _x ', I _y ' is the x-axis coordinate and y-axis coordinate of any one of the intersections calculated through the intersection calculation unit, J _x ', J _y ' Is the x-axis coordinates and y-axis coordinates of the other one of the intersections calculated through the intersection calculation unit, Position measuring device of mobile terminal. A distance estimating step of estimating a separation distance from the first base station serving the mobile terminal and the second and third base stations adjacent to the first base station to the mobile terminal; The first virtual house having a radius corresponding to the separation distance between the first base station and the mobile terminal based on the separation distance information estimated by the distance estimation step, the center of the second base station A second virtual station having a radius corresponding to the separation distance between the second base station and the mobile terminal, and a third virtual station having a radius corresponding to the separation distance between the third base station and the mobile terminal around the third base station; Calculating a virtual circle calculating step; The position of the mobile terminal with respect to the first to third base stations according to the first to third virtual stations calculated through the virtual circle calculating step is a general position included in a preset reference range or an out of the reference range. A determination step of determining which of the locations; And Computing the position of the mobile terminal through the first to third virtual sources, and if the position of the mobile terminal is determined to be a unique position by the determination step, among the intersections of the first to third virtual sources A position calculating step of missing the average leftover points of the intersections having the shortest distance into the position of the mobile terminal; How to measure the position of the mobile terminal. The method of claim 10, The determining may include determining that the position of the mobile terminal is the singular position when any one of the first to third virtual circles is included in the inner region of the other virtual circles among the first to third virtual circles. Determined, How to measure the position of the mobile terminal. The method of claim 11, The position calculation step When the position of the mobile terminal is determined as the singular position through the determination step, the virtual circle included in the inner region of the other virtual circles among the first to third virtual circles is set as the first reference circle, and the first reference circle is used. A virtual circle setting step of setting the virtual circles other than the first reference circle among the first to third virtual sources as second and third reference circles; The intersections of the first reference circle and the second reference circle set in the virtual circle setting step are set as first and second intersection points, and adjacent to the first intersection point among the intersection points of the first reference circle and the third reference circle. An intersection point setting step of setting an intersection point as a third intersection point, and setting an intersection point adjacent to the second intersection point among the intersection points of the first reference circle and the third reference circle as a fourth intersection point; An intersection calculation step of calculating intersections that form a shorter distance between the distance between the first and third intersection points and the distance between the second and fourth intersection points; And And a position determining step of determining average data on coordinates of the intersection points calculated through the intersection calculation step as the position of the mobile terminal. How to measure the position of the mobile terminal. The method of claim 10, The position calculating step may include a first virtual line connecting the intersections of the first virtual circle and the second virtual circle, the second virtual circle and the first virtual point when the position of the mobile terminal is determined as the general position through the determining step. Calculating a second virtual line connecting the intersections of the three virtual sources and a third virtual line connecting the intersections of the first and third virtual circles, and converting the intersection points of the first to third virtual lines to the position of the mobile terminal. Deciding, How to measure the position of the mobile terminal. The method of claim 10, The distance estimating may include estimating a distance between the first to third base stations and the mobile terminal using a time of arrival (TOA) of the mobile terminal. How to measure position of mobile terminal. The method of claim 14, The distance estimation step Equation 1 is used to estimate the distance between the first to the third base station and the mobile terminal using the number of time delay samples calculated for the number of time delay samples for a particular carrier frequency, (Equation 1) nd _i = ceil ((d _i / c) * f _c ) Where nd _i is the number of delay samples, c is the speed of light, f _c is the specific carrier frequency, and ceil is the rounding function. Location estimation method of a mobile terminal. The method of claim 15, The distance estimating step  Using the number of delay samples calculated by Equation 1 above to estimate the distance between the first to third base station and the mobile terminal through Equation 2 below, (Equation 2) d _ie = (nd _i * c) / f _c Here, d _ie is the distance between the estimated mobile terminal and the i-th base station, nd _i is the number of delay samples, c is the speed of light, f _c is a specific carrier frequency, Location estimation method of a mobile terminal. The method of claim 12, The intersection calculation step A distance between the first and third intersection points and a distance between the second and fourth intersection points is calculated through Equation 3 below. (Equation 3)

Here, j = 1 or 3, x _j is the x-axis coordinate of the j-th intersection, y _j is the y-axis coordinate of the j-th intersection, x _{j + 1} is the x-axis coordinate of the j + 1 intersection, y _{j + 1} is the y-axis coordinate of the j + 1 intersection, Location estimation method of a mobile terminal. The method of claim 12, The positioning step is to calculate the average coordinates for the coordinates of the intersection points calculated by the intersection calculation unit through the following equation (4), (Equation 4) xm = (I _x '+ J _x ') / 2, ym = (I _y '+ J _y ') / 2 Here, (xm, ym) is the average coordinate, I _x ', I _y ' is the x-axis coordinate and y-axis coordinate of any one of the intersections calculated through the intersection calculation unit, J _x ', J _y ' Is the x-axis coordinates and y-axis coordinates of the other one of the intersections calculated through the intersection calculation unit, How to measure position of mobile terminal.

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