KR20170125231A - Indoor Positioning System and Method with minimized positioning errors - Google Patents

Abstract

The present invention relates to a radio determination system and a method thereof to minimize an error rate of radio determination and, more specifically, relates to a radio determination system and a method thereof, capable of minimizing an error rate of radio determination by estimating the distance and angle for reception through measured signal strength and forming a received signal strength (RSS) map through antenna spinning tuning and RSS-based fingerprinting techniques. The radio determination system, used to estimate a position in a three-dimensional interest space, includes: a radio position sensor placed in an absolute position in the three-dimensional interest space, including an identification number matched with the absolute position, and transmitting a radio signal including the identification number; and a radio determination device located in a first spot in the three-dimensional interest space based on the RSS map, which measures and stores RSS of radio signals coming from a plurality of radio position sensors in a plurality of samples set in the three-dimensional interest space, and estimating a position of the first spot by comparing the RSS map to the RSS of the radio signals from the radio position sensors, measured in the first spot. According to the present invention, the system is capable of more precisely estimating a position by minimizing a determination error and radio congestion and minimizing interference between radio position sensors which are densely installed. The present invention is capable of improving the reliability of determination through multi-check on a signal loss.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a wireless positioning system and method for minimizing a wireless positioning error rate,

The present invention relates to a radio positioning system and method for minimizing a radio positioning error rate, and more particularly, to a radio positioning system and method for minimizing a radio positioning error rate, and more particularly, And more particularly, to a wireless positioning system and method for minimizing a wireless positioning error rate using an actually measured signal intensity.

It is a common practice to load the materials needed for construction sites or factories into the warehouse. At this time, the input / output of the material is frequent, and the position of the material in the material warehouse may continuously change.

In order to facilitate the location management of materials in this environment, materials management methods using wireless positioning technology are suggested. However, in order for this material management method to operate correctly, it is necessary to accurately measure the position of the material.

Korean Patent Laid-Open Publication No. 10-2016-0026491 discloses a positioning method in which a signal strength of a radio signal transmitted from an transmitting apparatus is measured to obtain a signal-to-noise ratio, a database is built based on the signal strength, Noise ratio, calculating the difference between the calculated signal-to-noise ratio and the signal-to-noise ratio in the database, calculating the distance similarity based on the difference, and then estimating the position of the terminal based on the distance similarity have. However, there is a problem that the proposed method is difficult to apply when the three-dimensional position can not be distinguished and the delivery apparatus is dense.

Korean Patent Publication No. 10-2016-0026491 (published on Mar. 09, 2016)

SUMMARY OF THE INVENTION It is an object of the present invention to overcome the problems described above by providing a radio positioning system and method for minimizing a radio positioning error rate by improving a positioning algorithm including an antenna radiation pattern tuning and a fingerprinting technique.

A wireless positioning system for estimating a position in a three-dimensional space of interest for achieving the above object is arranged at an absolute position within the three-dimensional space of interest and has an identification number corresponding to the absolute position, And a received signal strength (RSS) of a radio signal from a plurality of the wireless position sensors at a plurality of sample points set in the 3D space of interest is measured and stored And comparing the RSS map of the radio signal coming from the plurality of wireless position sensors measured at the first point with the RSS map to determine the position of the first point And a wireless positioning device for estimating the position.

Wherein the radio position sensor has an antenna for transmitting the radio signal and can set the antenna radiation pattern such that the RSS in a region corresponding to the radio position sensor is equal to or greater than a predetermined threshold value, And may be positioned at the vertex of the cube within the three-dimensional space of interest.

The wireless positioning device includes a wireless communication unit for receiving wireless signals from the plurality of wireless position sensors to measure RSS and extracting identification numbers included in the wireless signals, and a database storing the RSS map. And an estimator for estimating a position based on the RSS map, the measured RSS received from the wireless communication unit, and the extracted identification number, and further receives a wireless signal from the plurality of wireless position sensors at the sample point Four pieces of first to fourth pieces of wireless position sensor information selected in order of having coordinates of the sample point and a large RSS based on the RSS and the extracted identification number measured by the wireless communication unit, The map generating unit may generate the RSS map including the RSS of the position sensor and store the generated RSS map in the database.

Also, the estimating unit measures the RSS of the radio signal coming from the plurality of radio position sensors at the first point, and the fourth to fifth < RTI ID = 0.0 > And the fifth to eighth wireless position sensors and the first to fourth wireless position sensors extract the same sample point in the RSS map, The Euclidean distance between the RSS of the eighth wireless position sensor and the RSS of the first to fourth wireless position sensors is calculated to estimate the sample point having the smallest Euclidean distance as the position of the first point, (B) determining whether the same identification number has been received more than a predetermined number of times for a predetermined period of time; (b) (C) determining whether the RSS of the last radio signal among the radio signals having the same identification number received for the predetermined period of time is greater than or equal to a preset threshold value, and (c) it is possible to estimate the absolute position at which the wireless position sensor having the largest identification number among the identification numbers satisfying all of (b) and (c) is located at the position of the first point.

According to another aspect of the present invention, there is provided a wireless positioning system including a plurality of wireless position sensors disposed at absolute positions in a three-dimensional space of interest and a wireless positioning device positioned at a first location, A method of wireless location estimation for estimating a location of a first location comprises: setting a plurality of sample points within the three-dimensional interest space and determining a received signal strength of wireless signals from the plurality of wireless location sensors at the plurality of sample points Based on the result of the measurement of the received signal strength (RSS), four first to fourth wireless position sensor information selected in order having coordinates of each sample point, a large RSS and a large RSS for each of the plurality of sample points, Constructing an RSS map including RSS of four first through fourth wireless position sensors, Measuring the RSS of the radio signal coming from the value sensor, selecting four fifth to eighth radio position sensors in the order of having RSS among the RSSs of the radio signal measured at the first point, Wherein the first to fourth wireless position sensors and the first to fourth wireless position sensors extract the same sample point, and the RSS of the fifth to eighth wireless position sensors and the first to fourth wireless position sensors Calculating the Euclidean distance between the RSS of the position sensor and estimating the sample point having the smallest Euclidean distance as the position of the first point.

 According to another aspect of the present invention, there is provided a wireless positioning system including a plurality of wireless position sensors disposed at absolute positions in a three-dimensional space of interest and a wireless positioning device positioned at a first location, A wireless positioning method for estimating a position of a first point includes the steps of: (a) determining whether the same identification number has been received for a predetermined number of times over a predetermined period of time; (b) Determining whether a received signal strength (RSS) of a radio signal is equal to or greater than a predetermined threshold value; (c) determining whether RSS of the last radio signal among the radio signals having the same identification number Determining whether or not the first identification number satisfies all of the first identification numbers satisfying the conditions (a), (b), and (c) Estimating the position of the point by the wireless communication unit, wherein the threshold value may be set based on the RSS signal measured by the wireless communication unit by receiving a wireless signal from the plurality of wireless position sensors measured at the plurality of sample points have.

According to the present invention, it is possible to minimize the interference between the densely installed wireless position sensors and to minimize the measurement error due to wireless congestion and reception errors, thereby estimating the position more accurately.

It also has the effect of improving measurement reliability through multiple checks on signal loss.

1 is a diagram illustrating a system for estimating the position of a material in a material warehouse having a material rack 10 according to an embodiment in which a wireless positioning system according to the present invention can be applied.
2 is a conceptual diagram illustrating a fingerprinting technique according to an embodiment of the present invention.
3 (a) and 3 (b) illustrate an embodiment of tuning an antenna radiation pattern according to an embodiment of the present invention.
FIG. 4 is a diagram illustrating a structure of a wireless positioning apparatus 110, 110d, 110j, and 110k according to an embodiment of the present invention.
5 is a diagram illustrating a method of estimating a position of a wireless positioning device based on an RSS map according to an embodiment of the present invention.
6 is a diagram illustrating a method of estimating a position of a wireless positioning apparatus using multiple check and voting according to an embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, which will be readily apparent to those skilled in the art to which the present invention pertains. The present invention may be embodied in many different forms and is not limited to the embodiments described herein.

In order to clearly illustrate the present invention, parts not related to the description are omitted, and the same or similar components are denoted by the same reference numerals throughout the specification.

Throughout the specification, when a part is referred to as being "connected" to another part, it includes not only "directly connected" but also "electrically connected" with another part in between . Also, when a part is referred to as "including " an element, it does not exclude other elements unless specifically stated otherwise.

If any part is referred to as being "on" another part, it may be directly on the other part or may be accompanied by another part therebetween. In contrast, when a section is referred to as being "directly above" another section, no other section is involved.

The terms first, second and third, etc. are used to describe various portions, components, regions, layers and / or sections, but are not limited thereto. These terms are only used to distinguish any moiety, element, region, layer or section from another moiety, moiety, region, layer or section. Thus, a first portion, component, region, layer or section described below may be referred to as a second portion, component, region, layer or section without departing from the scope of the present invention.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. The singular forms as used herein include plural forms as long as the phrases do not expressly express the opposite meaning thereto. Means that a particular feature, region, integer, step, operation, element and / or component is specified and that the presence or absence of other features, regions, integers, steps, operations, elements, and / It does not exclude addition.

Terms indicating relative space such as "below "," above ", and the like may be used to more easily describe the relationship to other portions of a portion shown in the figures. These terms are intended to include other meanings or acts of the apparatus in use, as well as intended meanings in the drawings. For example, when inverting a device in the figures, certain portions that are described as being "below" other portions are described as being "above " other portions. Thus, an exemplary term "below" includes both up and down directions. The device can be rotated by 90 degrees or rotated at different angles, and terms indicating relative space are interpreted accordingly.

Unless otherwise defined, all terms including technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Commonly used predefined terms are further interpreted as having a meaning consistent with the relevant technical literature and the present disclosure, and are not to be construed as ideal or very formal meanings unless defined otherwise.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

1 is a diagram illustrating a system for estimating the position of a material in a material warehouse having a material rack 10 according to an embodiment in which a wireless positioning system according to the present invention can be applied.

The material warehouse can be provided with a plurality of material racks 10 stacked on top of each other on the four sides of the wall as shown in FIG. 1 to load the materials. Therefore, a material warehouse can generally mean a three-dimensional space of interest. In order to estimate the position of the material in the three-dimensional space of interest, three-dimensional coordinate estimation is required.

To this end, the wireless positioning system proposed by the present invention may include wireless position sensors 100a, 100j, 100k, and 100l that are fixed in a material warehouse of a three-dimensional space of interest and disposed at absolute positions where positional coordinates are known. As an example, the material rack 10 of the material warehouse can be divided into a plurality of areas (10a to 10l), and an absolute position that can represent each of the areas (10a to 101) (for example, The wireless position sensors 100a, 100j, 100k, and 100l may each have a distinct identification number and generate a wireless signal including the identification number 100a, 100j, 100k, 100j, 100k, and 100l correspond to each other, and the wireless position sensors 100a, 100j (100j, 100j, 100j) having the identification numbers correspond to the identification numbers, , 100k, 100l, or the coordinates displayed in three dimensions.

Material (20j, 20k) can be loaded into a material warehouse at a specific location on the material shelf. In order to estimate the loaded position, the wireless positioning apparatus proposed by the present invention may be attached to the materials 20j and 20k. The wireless positioning devices 110j and 110k attached to the materials 20j and 20k receive wireless signals from the wireless position sensors 100a, 100j, 100k, and 100l and transmit wireless position sensors Can be estimated. The position estimation can be performed by the wireless positioning apparatuses 110j and 110k, but the server can perform position estimation by transmitting the wireless signal related information received by the wireless positioning apparatuses 110j and 110k to the server.

In this application, in order to minimize the radio positioning error, the present invention constructs a received signal strength (RSS) map for a three-dimensional interest space using a radio signal transmission antenna tuning and a fingerprinting technique, (Voting) technique.

First, an RSS map configuration using a wireless signal transmission antenna tuning and a fingerprinting technique will be described.

2 is a conceptual diagram illustrating a fingerprinting technique according to an embodiment of the present invention.

Referring to FIG. 2, the wireless position sensors 100a, 100b, 100d, and 100e may be disposed at an absolute position that can represent each loading position of the material rack 10. At this time, when the wireless positioning device 110d is positioned at a first point within a rectangular area consisting of four wireless position sensors 100a, 100b, 100d, and 100e, the four wireless position sensors 100a, 100b, 100d, Lt; RTI ID = 0.0 > RSS < / RTI > for each. At this time, the wireless position sensors other than the four wireless position sensors 100a, 100b, 100d, and 100e may receive the wireless signals. However, the four wireless position sensors 100a, 100b, 100d, Can only make sense.

In the situation shown in FIG. 2, the fingerprinting method is a method of estimating a position by probabilistic modeling. First, the RSS value of the wireless signal from the wireless position sensors at specific sample points is measured and databaseed, The position of the mobile terminal can be estimated by using the RSS of the mobile terminal. The coordinates of the sample point can be expressed in three dimensions of (X1, Y1, Z1). Here the Z axis can be displayed in the direction of entering the inside of the shelf if it is a material shelf. The absolute position, which is the coordinate of the wireless position sensors 100a, 100b, 100d, and 100e, can also be displayed in three dimensions. For example, the first wireless position sensor 100d may be (100,0,0), the first wireless position sensor 100a may be 100, 100,0, the first wireless position sensor 100e may be 300 , 0,0), and the first wireless position sensor 100b may be (300, 100, 0). And the sample points can be placed at each vertex of a cube placed adjacent to each other in a three-dimensional space of interest. Then, each sample point can be set to have a certain distance from each other in the x axis, the y axis, and the z axis. (0,0,0), (40,0,0), (0,40,0), (0,040), (40,40,0), (0,40,40), (40, 0, 40), (40, 40, 40). At this sample point, the RSS of the radio signal from the surrounding radio position sensors 100a, 100b, 100d and 100e can be measured and converted into a database. In this case, at the sample points in the regions 10a, 10b, 10d, and 10e of the wireless position sensors 100a, 100b, 100d, and 100e, the RSS of the wireless signal from the wireless position sensor corresponding to that region is different It is possible to tune the antenna radiation pattern of the wireless position sensor to be the largest and above a certain threshold when compared to the RSS of the wireless signal from the wireless location sensor.

3 (a) and 3 (b) illustrate an embodiment of tuning an antenna radiation pattern according to an embodiment of the present invention.

Referring to FIG. 3 (a), in order to radiate a radio signal to a region corresponding to the wireless position sensor, the antenna radiation pattern is limited to be limited to a certain angle (for example, 15 degrees) from both the z- Can be set. With this setting, the antenna radiation pattern as shown in Fig. 3 (b) can be constructed. Also, the strength of the signal transmitted by the antenna may be important. In the area of the area covered by the wireless position sensor during the RSS measurement (for example, 10a in the case of 100a), the RSS The transmission signal strength of the sensor can be adjusted. By tuning and zooming the antenna radiation pattern as described above, it is possible to minimize the interference between the wireless position sensors and to minimize the measurement error due to the reception error.

As described above, while tuning the antenna radiation pattern, an RSS map of a region of interest such as a warehouse can be databaseized. The RSS map may be converted into a database in the following table format.

X coordinate Y coordinate Z coordinate 1st FS 2nd FS 3rd FS 4th FS 1st RSS 2nd RSS 3rd RSS 4th RSS X1 Y1 Z1 1234 1235 1237 1239 -40 -70 -75 -80 X2 Y2 Z2 1239 1234 1235 1236 -60 -70 -70 -75 ... ... ... ... ... ... ... ... ... ... ... Xn Yn Zn 1233 1234 1236 1237 -78 -81 -88 -90

The first three rows represent the X, Y, and Z coordinates of the sample point, and the next four columns are the four wireless position sensors that have the largest RSS values measured at the sample point, in order of RSS size order. Is the measured RSS of the wireless signal from the wireless location sensor. Therefore, when the wireless positioning device is placed at a specific position, it measures the RSS of the wireless signal from the surrounding wireless position sensor, selects four wireless position sensors in order of increasing RSS, The same as the radio position sensor in the fourth to seventh column of Table 1, and if the same is true, the RSS in columns 8 to 11 of Table 1 and the measured RSS of the radio signal from the selected four radio position sensors The shortest sample point can be determined and the position can be estimated using the shortest sample point, and from the result, the wireless position sensor corresponding to the region in which it is located can be determined.

FIG. 4 is a diagram illustrating a structure of a wireless positioning apparatus 110, 110d, 110j, and 110k according to an embodiment of the present invention.

Referring to FIG. 4, the wireless positioning devices 110, 110d, 110j, and 110k include a wireless communication unit 113 that performs wireless communication, a database 115 that stores RSS maps, and an estimation unit 117 that performs position estimation. . ≪ / RTI > In addition, it may further include a map generation unit for generating an RSS map.

The wireless communication unit 113 may receive the wireless signals from the wireless position sensors 100a, 100b, 100d, 100e, 100j, 100k, and 100l to measure the RSS and extract the identification numbers included in the wireless signals. Also, if the wireless positioning devices 110, 110d, 110j, and 110k can be connected to a server (not shown), wireless communication for data communication with the server can be provided.

The database 115 stores an RSS map, which is RSS related information measured in advance at a sample point. In this case, the format of the RSS map stored in the database may be the same as that of Table 1, and the RSS map may be generated directly by the map generation unit 111 or downloaded from the server (not shown) via the wireless communication unit 113 It is possible.

The estimating unit 117 estimates the position of the wireless positioning apparatuses 110, 110d, 110j, and 110k based on the RSS map stored in the database, the measured RSS received from the wireless communication unit 113, can do. The estimation method may be an estimation method based on the RSS map described below or an estimation method using multiple checks and voting.

The map generation unit 111 can generate an RSS map stored in the database. The map generating unit 111 receives the radio signals from the radio position sensors 100a, 100b, 100d, 100e, 100j, 100k and 100l at the set sample points and outputs the RSS and the extracted identification numbers, which are measured by the radio communication unit 113, You can create an RSS map based on it and save it in the database. As an example, the map generating unit 111 selects four wireless position sensors from the wireless position sensor transmitting the wireless signal with the largest RSS based on the RSS measured by the wireless communication unit 113, 1] to generate an RSS map including sample point coordinates, RSS of the selected wireless location sensor, and RSS of the wireless signal transmitted from the selected wireless location sensor.

The generated RSS map stored in the database may be transmitted to the server (not shown) through the wireless communication unit 113 so that the RSS map can be used by other wireless positioning devices.

5 is a diagram illustrating a method of estimating a position of a wireless positioning device based on an RSS map according to an embodiment of the present invention.

Referring to FIG. 5, an RSS map is first constructed (S510) to estimate the location of the wireless positioning device 110d. The RSS map may include four pieces of wireless position sensor information having the largest RSS at the coordinates and sample points of the sample point and RSS information by the wireless position sensor as shown in Table 1 above. The wireless location sensor information may be an identification number included in the wireless signal transmitted by the wireless location sensor.

When the wireless positioning device 110d is positioned at the first point within the three-dimensional space of interest, the RSS of the wireless signal from the surrounding wireless positioning sensor is measured (S520). Then, four wireless position sensors are selected in order from the measured RSS to the large RSS (S530). Then, the selected four wireless position sensors are compared with each sample point of the configured RSS map (S540). At this time, by comparing the identification number of the wireless position sensor obtained from the radio signal with the identification number formed at each sample point on the RSS map, sample points having the same identification number are extracted, or the same order of the sample points . The Euclidean distance is calculated using the four RSSs at this sample point and the four largest RSSs measured by the wireless positioning device 110d (S550). Then, a sample point having the smallest Euclidian distance is selected (S560) to estimate its own position, that is, the position of the first point on which the wireless positioning apparatus is placed. And the area where the wireless positioning device 110d is mounted may be displayed using the wireless position sensor 100d corresponding to the area 10d to which the sample point belongs.

As described above, the position of the wireless positioning device can be estimated using the RSS map generated by the fingerprinting technique combined with the antenna tuning. However, since the wireless environment changes frequently, . In order to minimize such errors, the present invention additionally provides a method using multiple checks and voting.

6 is a diagram illustrating a method of estimating a position of a wireless positioning apparatus using multiple check and voting according to an embodiment of the present invention.

Referring to FIG. 6, first, the wireless positioning devices 110d, 110j, and 110k receive wireless signals from the wireless position sensors 100a, 100b, 100d, 100e, 100j, 100k, and 1000l for a predetermined period of time. It is determined whether the radio signal having the same identification number has been received a predetermined number of times or more (S610). Then, it is determined whether the RSS average of the radio signal having the same identification number received for the predetermined time is greater than or equal to a predetermined threshold value (S620) and RSS of the last received radio signal is greater than or equal to a preset threshold value (S630). Here, the predetermined threshold value can be set based on the RSS map acquired using the above-described antenna tuning and fingerprinting techniques.

RSSs are compared with each other for a plurality of identification numbers satisfying all the above conditions (S640), and the identification number having the largest RSS is selected (S640). Then, it can be confirmed that the wireless positioning device is located in the area corresponding to the wireless position sensor having the identification number.

As one embodiment of the present invention, the wireless position sensors 100a, 100j, 100k, and 100l may be configured to periodically transmit one wireless signal every 400ms. The transmission period at this time can be determined by how fast the wireless position sensor needs to be recognized and how much the average battery consumption is. Then, the wireless positioning devices 110j and 110k receive the wireless signals transmitted by the wireless position sensor for a predetermined time, and the predetermined time is longer than the transmission period of the wireless position sensors 100a, 100j, 100k, and 100l, It should be a time enough to make it clear that the mobile stations 110j and 110k are close to the wireless position sensors 100a, 100j, 100k and 100l. For example, the predetermined time may be 1.5 seconds. If the wireless position sensors 100a, 100j, 100k, and 100l receive the wireless signals three times or more for 1.5 seconds since they are transmitted once every 400ms (i.e., three times in 1.2 seconds), the wireless position sensors 100a, 100j, , And 100l are close to each other. Therefore, the preset number of times may be three. If the predetermined time is 2.2 seconds, the preset number of times may be 5. That is, the preset number of times may be changed according to the set value of the predetermined time and the wireless signal transmission period of the wireless position sensors 100a, 100j, 100k, and 100l. Even if the identification number is extracted a predetermined number of times or more, if the average RSS is smaller than the set threshold value, the wireless positioning devices 110j and 110k can not be considered to be close to the wireless position sensors 100a, 100j, 100k, and 100l. The threshold value may be set based on the RSS measured by the fingerprinting method. For example, the threshold value may be set to the lowest RSS value measured by the fingerprinting method. In one embodiment, it can be set to -70 dBm using antenna tuning and fingerprinting techniques.

If the present invention is applied to the position estimation system, the reliability of the position estimation can be enhanced by antenna tuning of the wireless position sensor, threshold setting using fingerprinting technique, and / or multiple test.

It should be appreciated that although the position estimation in the material warehouse has been described as a main example, the position estimation system or method disclosed in the present invention may be used for other applications.

It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present invention as defined by the following claims and their equivalents. Only. It is intended that the present invention covers the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents. .

10: Material Shelf
10a to 10l: Material loading zone
20j, 20k: Material
100a, 100b, 100d, 100e, 100j, 100k, 100l: wireless position sensors
110, 110d, 110j, 110k: wireless positioning device

Claims (10)

1. A wireless positioning system for estimating a position in a three-dimensional space of interest,
A wireless position sensor which is disposed at an absolute position within the three-dimensional space of interest and has an identification number corresponding to the absolute position, the wireless position sensor transmitting the wireless signal including the identification number; And
The method of claim 1, further comprising the steps of: measuring a received signal strength (RSS) of a radio signal from a plurality of radio position sensors at a plurality of sample points set within the three- And a wireless positioning device located at a first location within the space of interest and comparing the RSS of the wireless signal from the plurality of wireless location sensors measured at the first location with the RSS map to estimate the location of the first location doing,
Wireless positioning system.
The wireless communication system according to claim 1,
And an antenna for transmitting the radio signal,
And setting the antenna radiation pattern so that RSS within a region corresponding to the wireless position sensor is equal to or greater than a predetermined threshold value,
Wireless positioning system.
The method according to claim 1,
Wherein the sample points are positioned to be located at a vertex of a cube within the three-
Wireless positioning system.
The radio base station according to any one of claims 1 to 3,
A wireless communication unit for receiving RSS signals from the plurality of wireless position sensors and measuring RSS, and extracting identification numbers included in the wireless signals;
A database storing the RSS map; And
And an estimating unit that estimates a position based on the RSS map, the measured RSS received from the wireless communication unit, and the extracted identification number.
Wireless positioning system.
5. The wireless communication system according to claim 4,
Receiving a radio signal from the plurality of radio position sensors at the sample point, and based on the RSS and the extracted identification number measured by the radio communication unit, the coordinates of the sample point, Further comprising: a map generator for generating and storing the RSS map including the RSS information of the first to fourth wireless position sensors and the RSS of the selected four first to fourth wireless position sensors,
Wireless positioning system.
6. The apparatus according to claim 5,
And an RSS reader for measuring RSS of a radio signal coming from the plurality of radio position sensors at the first point, Wherein the fifth to eighth wireless position sensors and the first to fourth wireless position sensors extract the same sample point in the RSS map, and the fifth to eighth wireless position sensors Estimating a sample point having the smallest Euclidean distance as a position of the first point by calculating an Euclidean distance between the RSS of the first wireless sensor and the RSS of the first to fourth wireless position sensors,
Wireless positioning system.
5. The apparatus according to claim 4,
(a) determining whether a predetermined number of times or more have been received for the same identification number for a predetermined period of time, (b) determining whether the RSS of the radio signal having the same identification number received for the predetermined period of time is greater than or equal to a preset threshold value, (c) determining whether the RSS of the last radio signal among the radio signals having the same identification number received for the predetermined period of time is greater than or equal to a preset threshold value, Estimating an absolute position at which a wireless position sensor having RSS with the largest identification number among the numbers is located at the position of the first point,
Wireless positioning system.
A wireless positioning system, comprising: a plurality of wireless position sensors disposed at an absolute position within a three-dimensional space of interest; and a wireless positioning device located at a first location, the wireless positioning device for estimating a position of the first location in the wireless positioning device In the method,
A plurality of sample points are set in the three-dimensional space of interest, and based on a result of measuring a received signal strength (RSS) of radio signals from the plurality of wireless position sensors at the plurality of sample points, The four first to fourth wireless position sensor information selected in order having the large RSS and the RSS of the four selected first to fourth wireless position sensors, Constructing an RSS map;
Measuring RSS of a wireless signal from the plurality of wireless position sensors at the first point;
Selecting four fifth to eighth radio position sensors in the order of having RSSs among the RSSs of the radio signals measured at the first point;
Extracting the same sample points by the fifth to eighth wireless position sensors and the first to fourth wireless position sensors;
Computing a Euclidean distance between RSS of the fifth to eighth wireless position sensors and RSS of the first to fourth wireless position sensors for each extracted sample point; And
Estimating a sample point having the smallest Euclidean distance as the position of the first point.
Wireless location estimation method.
A wireless positioning method for estimating a position of a first point in a wireless positioning device in a wireless positioning system including a plurality of wireless position sensors disposed at absolute positions within a three-dimensional space of interest and a wireless positioning device positioned at a first location In this case,
(a) determining whether a predetermined number of times or more have been received for the same identification number for a predetermined period of time;
(b) determining whether a received signal strength (RSS) of a radio signal having the same identification number received for the predetermined period of time is greater than or equal to a preset threshold value;
(c) determining whether the RSS of the last radio signal among the radio signals having the same identification number received for the predetermined period of time is greater than or equal to a preset threshold value; And
Estimating the identification number having the largest RSS among the identification numbers satisfying all of (a), (b), and (c) as the position of the first point.
Wireless location estimation method.
10. The method of claim 9,
Wherein the wireless communication unit is configured to receive wireless signals from the plurality of wireless position sensors measured at the plurality of sample points,
Wireless location estimation method.

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