• 한국정보통신학회논문지
• /
• 제22권2호
• /
• pp.302-313
• /
• 2018

스마트 기기의 생활화와 증강현실 활용 증가로 실내 위치 인식 시스템의 수요가 급증함에 따라, BLE(Bluetooth Lower Energy) 비콘 그리고 UWB(Ultra Wide Band) 등을 이용한 실내 측위 시스템이 개발되고 있다. 본 논문에서는 BLE Beacon을 기반으로 RSSI(Received Signal Strength Indicator)를 이용한 삼변측량(Trilateration) 기법을 사용하여 측위 플레이트(Plate)를 생성한다. 이에 IMU(Inertial Measurement Unit) 센서의 방향, 속도, 이동거리 등의 데이터를 이용하여 PDR(Pedestrian Dead Reckoning) 측위 좌표를 산출하여 정확도를 보정한다. 또, BLE 비콘(Beacon)의 RSSI를 적용한 플레이트(Plate) 기법과 PDR 기법이 융합된 정밀 실내 측위 알고리즘을 제안한다. 본 논문에서 제시한 알고리즘을 실제 대형 실내 경기장과 공항에 BLE 비콘을 설치, 실험하여 평균 2.2m 의 오차로 65%의 정확도가 개선됨을 검증하였다.

• 대한임베디드공학회논문지
• /
• 제7권2호
• /
• pp.85-93
• /
• 2012

In this paper, we proposed Wireless LAN (WLAN) localization method that enhances database construction based on weighting factor and analyse the characteristic of the WLAN received signals. The weighting factor plays a key role as it determines the importance of Received Signal Strength Indication (RSSI) value from number of received signals (frequency). The fingerprint method is the most widely used method in WLAN-based positioning methods because it has high location accuracy compare to other indoor positioning methods. The fingerprint method has different location accuracies which depend on training phase and positioning phase. In training phase, intensity of RSSI is measured under the various. Conventional systems adapt average of RSSI samples in a database construction, which is not quite accurate due to variety of RSSI samples. In this paper, we analyse WLAN RSSI characteristic from anechoic chamber test, and analyze the causes of various distributions of RSSI and its influence on location accuracy in indoor environments. In addition, we proposed enhanced weighting factor algorithm for accurate database construction and compare location accuracy of proposed algorithm with conventional algorithm by computer simulations and tests.

• 제어로봇시스템학회논문지
• /
• 제14권11호
• /
• pp.1139-1145
• /
• 2008

A robust position sensing system is proposed in this paper for a ubiquitous mobile robot which moves indoors as well as outdoors. The Differential GPS (DGPS) which has a position estimation error of less than 5 m is a general solution when the mobile robot is moving outdoor, while an active beacon system (ABS) with embedded ultrasonic sensors is reliable as an indoor positioning system. The switching from the outdoor to indoor or vice versa causes unstable measurements on account of the reference coordinates and algorithm changes. To minimize the switching time in the position estimation and to stabilize the measurement, a robust position sensing system is proposed. In the system, to minimize the switching delay, the door positions are stored and updated in a database. Using the database, the approaching status of the mobile robot from indoor to outdoor or vice versa has been checked and the switching conditions are prepared before the mobile robot actually moves out or moves into the door. The reliability and accuracy of the robust positioning system based on DGPS and ABS are verified and demonstrated through the real experiments using a mobile robot prepared for this research.

• 한국ITS학회 논문지
• /
• 제12권1호
• /
• pp.75-80
• /
• 2013

본 논문은 LED-ID기반 실내 위치인식을 위해 LED-ID 정보에 부가정보를 결합하는 Optical Correlation에 관한연구로 변조시에는 위치정보를 대역 확산하여 LED-ID정보에 결합하고 복조시에는 자기상관을 통하여 데이터를 복원한다. 이 과정에서 LED-ID정보와 부가정보간의 저간섭을 위해 확산코드 수열 알고리즘이 적용된 Optical Correlation을 연구하였다. 부가정보를 송출시 LED-ID정보와의 간섭완화를 위해 확산코드를 사용하였으며, 최종 송신된 신호에서 부가정보데이터는 자기 상관을 통해 확인하였다. 또한 명확한 부가정보데이터 복원을 위한 Optical Correlation을 설계하여 구현하였고 모의실험을 통해 부가정보의 신호 크기에 따른 비트 에러율 성능을 도출하였다. 시스템의 유용성 입증을 위해서는 제안된 LED-ID기반 실내 위치인식을 위한 Optical Correlation 시뮬레이터를 구현하였다.

• ETRI Journal
• /
• 제38권3호
• /
• pp.560-567
• /
• 2016

To solve the problem of parameter optimization in image sensor-based visible light positioning systems, theoretical limits for both the location and the azimuth angle of the image sensor receiver (ISR) are calculated. In the case of a typical indoor scenario, maximum likelihood estimations for both the location and the azimuth angle of the ISR are first deduced. The Cramer-Rao Lower Bound (CRLB) is then derived, under the condition that the observation values of the image points are affected by white Gaussian noise. For typical parameters of LEDs and image sensors, simulation results show that accurate estimates for both the location and azimuth angle can be achieved, with positioning errors usually on the order of centimeters and azimuth angle errors being less than $1^{\circ}$. The estimation accuracy depends on the focal length of the lens and on the pixel size and frame rate of the ISR, as well as on the number of transmitters used.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• 제10권6호
• /
• pp.2583-2605
• /
• 2016

Fingerprint positioning is a main stream and key technique for seamless positioning systems. In this paper, we develop a performance evaluation testbed for fingerprint based Wireless Local Area Network (WLAN) positioning system. The testbed consists of positioning server, positioning terminal, Access Point (AP) units, positioning accuracy analysis system and testing scenarios. Different from other testbeds tended to focus on testing in same situation, in the proposed testbed, a couple of scenarios are set to test the positioning system including indoor and outdoor environments. Handset-side positioning mode and network-side positioning mode are provided simultaneously. Variety of motion models, such as static model, low-speed model and high-speed model are considered as well as different positioning algorithms. Finally, some implementation cases are analyzed to verify the credibility of the testbed.

• 한국ITS학회 논문지
• /
• 제8권4호
• /
• pp.84-92
• /
• 2009

본 논문에서는 Wi-Fi, 블루투스, CDMA등 라디오 비컨의 수신 신호세기와 GPS 위성 신호를 결합하여 개체의 위치를 측정하는 Place Lab 기반 실내외 연속측위 시스템을 제안한다. 기존의 Place Lab은 복수의 측위매체를 이용하여 다양한 실내 환경에서 위치인식이 가능하였다. 하지만 각 측위매체를 통합하는 방법 및 실내외 환경을 연동하는 방법이 고려되지 않아 동작 효율이 낮고, 그 사용 범위가 제한되는 단점이 있다. 따라서 본 논문에서는 실내의 측위매체들을 유기적으로 연계하는 멀티센서 데이터 융합 모델을 정의하고, 각 계층에 적합하게 Place Lab을 재구성하여 이러한 단점을 해결하고자 한다. 제안된 시스템은 라디오 비컨 신호와 GPS 위성 신호를 결합하여 실내외 연속측위를 수행하며, OSGi 번들로 구현되어 다양한 모바일 디바이스에서 단절없는 PNS 서비스를 제공할 수 있다. 구현된 시스템은 윈도우 모바일 기반의 삼성 T*OMNIA SCH-M490 스마트폰에서 그 성능을 평가하였으며, 그 결과 제안된 연속측위 시스템을 통해 PNS 서비스를 성공적으로 지원할 수 있음을 보였다.

• Journal of information and communication convergence engineering
• /
• 제19권3호
• /
• pp.161-165
• /
• 2021

Since the first commercialization of beacon-based services in 2011, various services have been provided to improve Bluetooth performance, and research has been conducted to accurately recognize user locations using beacons. The various measurement methods of indoor positioning systems (IPS) include methods using receiver signal strength indicator (RSSI) the strength of which varies greatly in accuracy depending on whether there are obstacles such as cement walls or doors. In this paper, we present a method to provide accurate positioning services even in the presence of obstacles in indoor spaces. To this end, we connect the HM-10 module supporting the beacon with Arduino Uno, to place beacons in three directions in real-world indoor space, and derive an optimal trilateration equation. Based on the derivation, we select the optimal expression for calculating the distance between the beacon and the moving station and use it to verify the coordinate determination for the moving station.

• 제어로봇시스템학회논문지
• /
• 제19권4호
• /
• pp.379-384
• /
• 2013

We propose a new global positioning method for the indoor mobile robots. The multiple indoor lights fixed in ceiling are used as the landmarks of positioning system. The ceiling images are acquired by the fisheye lens camera mounted on the moving robot. The position and orientation of the lights are extracted by binarization and labeling techniques. Also the boundary lines between ceiling and walls are extracted to identify the order of each light. The robot position is then calculated from the extracted position and known position of the lights. The proposed system can increase the accuracy and reduce the computation time comparing with the other positioning methods using natural landmark. Experimental results are presented to show the performance of the method.

• 제어로봇시스템학회논문지
• /
• 제10권6호
• /
• pp.566-573
• /
• 2004

This paper describes the ubiquitous home network (uHome-net) testbed and LonRF intelligent devices based on LonWorks technology. These devices consist of Neuron Chip, RF transceiver, sensor, and other peripheral components. Using LonRF devices, a home control network can be simplified and most devices can be operated on LonWorks control network. Also, Indoor Positioning System (IPS) that can serve various location based services was implemented in uHome-net. Smart Badge of IPS, that is a special LonRF device, can measure the 3D location of objects in the indoor environment. In the uHome-net testbed, remote control service, cooking help service, wireless remote metering service, baby monitoring service and security ＆ fire prevention service were realized. This research shows the vision of the ubiquitous home network that will be emerged in the near future.