KR20160135497A - A location method and a location system for acceptable a plurality of uwb tags - Google Patents

Abstract

The present invention relates to a method for positioning performed between an access point and a plurality of UWB tags and a positioning system therefor, in which a position is determined by a relation between an access point and a UWB tag, The present invention aims at realizing efficient RTLS by avoiding collision and interference.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a positioning method capable of accommodating a plurality of UWB tags,

The present invention relates to a method for positioning performed between an access point and a plurality of UWB tags and a positioning system therefor.

(GPS), Inertial Navigation System (INS), Long Range Aid to Navigation (LORAN), and Radio Frequency Identification / Ubiquitous Sensor (RFID) / USN Network), and the use of wireless communication network. Among these, 'wireless positioning technology', which is a way to utilize the wireless communication network, uses cell-ID and ToA, TDoA, AoA, fingerprint () using real-time CDMA, OFDM, WLAN, infrared, ultrasonic, Bluetooth, RFID and UWB (IoT) technology and the technology of wireless positioning technology are actively developed for the purpose of measuring the accurate position of the terminal by the technique of the fingerprint technique.

In wireless positioning technology, UWB-based positioning techniques are based on Ultra Wide Band of IEEE 802.15.3a and are used for high-speed data transmission in short distance that can transmit multimedia data at low power over a wide bandwidth of 500 MHz or more. As compared with the conventional technologies based on WiFi and Bluetooth signals, it has an advantage of being able to perform precise distance measurement at an extremely high speed, and at the same time, to realize low cost while lowering power consumption.

Such a UWB-based wireless positioning method is a two-way ranging (TWR) method in which a RTT (Round Trip Time) is calculated between an access point and a UWB tag, a calculated RTT is converted into a distance, (Time Difference of Arrival) method that calculates the distance by measuring the signal arrival time of the UWB at the same time. As a result, the signal exchange time between the access point and the tag is the essence of the UWB-based wireless positioning technique.

However, if the number of tags that transmit and receive signals in a limited space increases, there is a high probability that collision occurs in a wireless space where communication is performed using limited resources, and inter-signal interference may occur. The inventor of the present invention recognizes such a problem and has proposed the present invention to prevent collision in a wireless space and to avoid interference between an access point and a plurality of tags and ultimately to achieve faster tracking.

Korean Patent Registration No. 1243301 discloses a UWB tag position estimation system and a method thereof, and transmits a search signal to a plurality of tags and receives a response signal corresponding to a search signal Extracting tag information corresponding to each of a plurality of tags from the response signal, and estimating distance information through communication between tags according to whether the response signal is transmitted or not. However, the present invention has the limitation that the above-described problem can not be solved even though the effect of estimating the position of the UWB tag in an environment where there is no access point can be recognized.

In another prior art document, U.S. Patent No. 8,774,084 describes a system and method for facilitating synchronization of a base station in a wireless communication environment, the system comprising a first synchronization information having a first level of accuracy at a base station, Receives a signal, thereby tuning the clock of the base station to a first time, receiving a second signal comprising second synchronization information having a higher accuracy than the first level, The system and method according to the present invention have a limitation in directly applying the reuse channel to the UWB communication network even if the reuse channel can be shared among the plurality of base stations in synchronizing the base station. The problem can not be solved.

[1] Korean Registered Patent No. 1243301 (Title: Tag Position Estimation System and Method) [2] U.S. Patent No. 8,774,084 (Title: Base Station Synchronization)

The present invention aims at avoiding collisions and interference that may occur between signals in a wireless environment when a signal is transmitted / received at a very frequent cycle with respect to a plurality of UWB tags due to positioning based on a relation between an access point and a UWB tag. .

Further, according to the positioning method capable of accommodating a plurality of UWB tags according to the present invention and the system therefor, it is the ultimate objective to implement faster and more accurate signal tracking than existing real-time positioning systems.

According to an embodiment of the present invention, a positioning method capable of accommodating a plurality of UWB (Ultra Wide Band) tags is disclosed, wherein the method is performed by an AP (access point) .

First, a first method performed by an AP to accommodate a plurality of UWB tags comprises transmitting a Clock Synchronization Packet (CSP); And receiving, from each of the plurality of UWB tags, a response packet transmitted based on the period according to the CSP and the eigenvalue of the UWB tag. The first method may further include allocating the eigenvalue to each of the plurality of UWB tags prior to transmitting the CSP.

에 의해 산출된 시각으로부터 블링크 구간(BT; Blink Term) 내에 송신된 상기 응답 패킷이, 수신되는 것을 특징으로 하는데, 여기서 블링크 구간은

에 의해 계산될 수 있고, 상기 M_I은 초기 마진 시간이고, M_L은 최종 마진 시간을 각각 지칭한다.More specifically, the reception of the response packet is performed by the i-th tag among the plurality of UWB tags

Wherein the response packet transmitted in the blink interval (BT) from the time calculated by the blink interval (BT) is received,

, M _I is the initial margin time, and M _L is the final margin time, respectively.

Next, a second method performed by the plurality of UWB tags to accommodate a plurality of UWB tags comprises: assigning a unique value to each of the plurality of UWB tags; Receiving a clock synchronization packet (CSP); And a period (T _CSP ) according to the received CSP, and a unique value of the tag.

Specifically, the step of assigning the eigenvalues may be specified in advance by the access point (AP), or may be specified among the plurality of UWB tags.

에 의해 블링크 구간(BT; Blink Term)이 계산되고, 상기 다수의 UWB 태그 중 i번째 태그는

에 의해 상기 i번째 태그의 응답 패킷에 대한 송신 개시 시각을 산출하는 단계; 상기 산출된 송신 개시 시각까지 대기하는 단계; 및 상기 산출된 송신 개시 시각으로부터 상기 BT 내에 상기 i번째 태그가 응답 패킷을 송신하는 단계를 더 포함할 수 있고, 여기서 M_I은 초기 마진 시간이고, M_L은 최종 마진 시간을 지칭한다.In addition, the step of transmitting the response packet comprises:

A blink interval (BT) is calculated by the i-th tag, and the i-th tag among the plurality of UWB tags is

Calculating a transmission start time of the response packet of the i-th tag by the transmission start time of the i-th tag; Waiting until the calculated transmission start time is reached; And transmitting the response packet by the i-th tag in the BT from the calculated transmission start time, wherein M _I is an initial margin time and M _L is a final margin time.

In addition, the second method, the T and the _CSP can expire that it includes the step of determining whether more, if the T _CSP expires, terminate the session of the received CSP and waits for reception of the next ranked CSP On the other hand, if the T _CSP has not expired, the K-th tag waits until the calculated response packet transmission time, and the k-th tag transmits the response packet within the BRT period from the calculated response packet transmission time.

As another embodiment according to the present invention, a positioning system capable of accommodating a plurality of UWB tags is disclosed. The system comprising: an access point for transmitting a clock synchronization packet (CSP); And a plurality of UWB tags for receiving the _CSP , transmitting a response packet based on the period (T _CSP ) according to the CSP and the CSP, and the eigenvalues of the tag.

에 의해 계산된 블링크 구간(BT; Blink Term)이 상기 다수의 UWB 태그에 송신되는 것을 특징으로 할 수 있다. Wherein the access point allocates eigenvalues for the plurality of UWB tags prior to transmitting the CSP,

And a blink interval (BT) calculated by the Blink Term (BT) is transmitted to the plurality of UWB tags.

에 의해 블링크 구간(BT; Blink Term)이 계산되어 지정되는 것을 특징으로 할 수 있다.Meanwhile, the plurality of UWB tags allocate eigenvalues between the UWB tags before receiving the CSP,

The blink interval (BT) is calculated and designated.

에 의해 상기 i번째 태그의 응답 패킷에 대한 송신 개시 시각을 산출하고, 상기 산출된 송신 개시 시각까지 대기하고, 상기 산출된 송신 개시 시각으로부터 상기 BT 내에 상기 i번째 태그가 응답 패킷을 송신하는 것을 특징으로 하며, 여기서 M_I은 초기 마진 시간이고, M_L은 최종 마진 시간을 지칭할 수 있다. 상기 초기 마진 시간(M_I)과 최종 마진 시간(M_L)은, 상기 다수의 UWB 태그에 의한 상기 응답 패킷의 송신이 수행되지 않는 기간을 의미한다.In each of the plurality of UWB tags, the i < th >

Th tag transmits the response packet in the BT from the calculated transmission start time, and the characteristic of the i-th tag is that the response packet is transmitted in the BT from the calculated transmission start time , Where M _I is the initial margin time and M _L is the final margin time. The initial margin time (M _I ) and the final margin time (M _L ) are periods during which the response packet is not transmitted by the plurality of UWB tags.

According to the positioning method and the positioning system capable of accommodating a plurality of UWB tags according to the present invention, even if the number of signals to be transmitted and received increases as the number of UWB tags rapidly increases in a positioning environment comprising an access point and a plurality of UWB tags, It is possible to avoid collision and interference between signals transmitted and received between tags.

Ultimately, according to the positioning method and system according to the present invention, it is possible to achieve faster and more precise position tracking than existing real-time positioning methods and systems, thereby realizing efficient RTLS.

1 is a conceptual diagram of a positioning system according to the present invention.
2 is a time diagram in which signals are transmitted and received between an access point and a plurality of UWB tags in a positioning method and system according to the present invention.
3 is a flowchart of a first method performed by an access point in a positioning method according to the present invention.
4 is a flowchart of a second method performed by a UWB tag among the positioning methods according to the present invention.
FIG. 5 is a flowchart illustrating a positioning method according to the present invention.

Various embodiments of a positioning method and a positioning system capable of accommodating a plurality of UWB tags according to the present invention will now be described with reference to the accompanying drawings.

The components, features, and steps referred to in the specification as " comprising " herein are meant to encompass the existence of corresponding components, features, and steps, but do not preclude the presence of one or more other components, features, steps, and the like Should be understood. Also, it is noted that the present invention includes plural forms as long as not specifically mentioned in the specification. In other words, it should be noted that elements such as the term " comprises " herein may mean the presence or addition of one or more other elements or the like.

Refers to a fixed station that is used to communicate with access terminals, which may be referred to as a node, an eNodeB, an HeNB, or some other terminology, the access point including a random access point, It should be understood that the term refers to various objects having functions for communicating with terminals, regardless of terms referred to in the market, such as a relay access point, a router access point, and the like.

In addition, although technical terms used throughout this specification have selected the general technical terms that are currently in common use, in some cases, there are also terms selected arbitrarily by the present applicant. In this case, The meaning should be understood in the context of the context in which it is described or used.

First, reference is made to Fig. 1, which is a conceptual diagram of a positioning system according to the present invention. It can be seen that four access points 10 are arranged at each corner in the space shown and a plurality of UWB tags 20 are arranged in the space where the access point 10 is located. 1 is shown as four access points 10 and five UWB tags 20 for convenience of illustration, the number of each component, particularly the number of tags 20, is limited It should be noted that the present invention can be included in a positioning system according to the present invention without being limited thereto.

The access point 10 is selected as a general term and may be variously referred to as a node, an eNodeB, a HeNB, a random access point, a relay access point, a router access point, A node capable of communicating according to the UWB communication scheme according to the UWB communication scheme can be collectively referred to.

Such an access point 10 may transmit a clock synchronization packet (CSP) to each UWB tag 20 and receive a response packet from each UWB tag 20.

Also, specific individual UWB tags 20 are each assigned a unique value, receiving the CSP from the access point 10, and the cycle according to the CSP in response to the received CSP (T _CSP), and the tag Based on the value, a response packet is transmitted.

With reference to the flow of specific signals between the access point 10 and the plurality of UWB tags 20, reference is made to Fig. 2, which shows a time diagram.

As illustrated, the time axis from the left by T _R, T _1, T _2, T _3, ..., T _K, T _{K + 1,} T _R is shown, indicated by the preceding T _R is the access point (CSP _n ) is received for each UWB tag, and the trailing T _R indicates the base time at which the next clock synchronization packet (CSP _{n + 1} ) is received from the access point Display. Referring to FIG. 2, a signal flow between an access point and a plurality of UWB tags will be described in detail at the time when an n-th clock synchronization packet (CSP _n ) is received.

Before the nth clock synchronization packet (CSP _n ) is received, each UWB tag has a unique value, the unique value for the tag may be specified by a particular access point designated as the master of the AP, A unique value for the tag may be specified by the random AP, not by the designated AP. Further, the eigenvalues can be allocated by the signal exchange method of each UWB tag.

For example, if 30 UWB tags are operating in the space of the positioning system according to the present invention, each tag may have a value from 0 to 29, a value from 1 to 30, A unique value can be designated so as not to be duplicated for each UWB tag.

And a clock synchronization packet is received on the T _R time point of the CSP _n, period of the clock sync packets (T _CSP) of the time zone other than the initial margin section (M ₁₎ and the end margin section (M ₂₎ (i.e., BT × k transmits a response packet (signal) to the access point during the BT (Blink Term) in which k UWB tags are uniquely assigned to it.

As described above, 30 UWB tags are operated in the space of the positioning system according to the present invention, and each tag is assigned an eigenvalue of 0 to 29, the total period according to the clock synchronization packet is 100 ms, Assume that the initial margin interval (M ₁ ) is 10 ms.

이 되므로, 이 경우 #0부터 #4로 넘버링된 UWB 태그의 BT 구간은 예시적으로 다음과 같다.In the above example, additionally, assuming that the final margin interval (M ₂ ) is also 10 ms, such as the initial margin interval (M ₁ ), the arithmetically calculated BT

In this case, the BT section of the UWB tag numbered from # 0 to # 4 is exemplarily as follows.

BT start time BT end point UWB # 0 10 ms 12,6666 ... ms UWB # 1 12,6666 ... ms 15.3333 ... ms UWB # 2 15.3333 ... ms 17.9999 ... ms UWB # 3 17.9999 ... ms 20.6666 ... ms UWB # 4 20.6666 ... ms 23.3333 ... ms

The output of this BT is integerized by the Gaussian equation, so that each BT can be calculated as 2 ms. That is, in the positioning system according to the present invention, BT can be obtained by the following equation.

Here, M _I and M _L indicate an initial margin time and a final margin time for a single clock synchronization packet, respectively, and a protection interval in which no response packet is transmitted from any of a plurality of UWB tags during the period do.

에 의해 자신이 응답 패킷을 송신할 개시 시각을 송출하여, 산출된 송신 개시 시각으로부터 BT 내에, i번째 태그가 응답 패킷을 개시하게 된다. If each BT is determined to be 2 ms by the Gauss operation as in the above equation, the i-th tag among the plurality of UWB tags

Transmits the start time at which it should transmit the response packet itself, and the i-th tag starts the response packet within the BT from the calculated transmission start time.

Accordingly, the first UWB tag (UWB # 0 in the above example, but the i value is defined as 1) waits for 10 ms and transmits the first response packet within 10 ms to 12 ms, and the second UWB tag The UWB # 1 waits for 12 ms, then transmits a second response packet within 12 ms to 14 ms, ..., (in the same way) the 29th UWB tag (UWB # 28 in the above example) The UWB tag (in the above example, UWB # 29) waits for 68ms and then transmits the 30th response packet within 68ms to 70ms . Accordingly, the final margin time M _L can be derived from the remaining time of 30 ms from 70 ms to 100 ms, and can be adjusted from 10 ms to 30 ms, which is the initial margin time M _L initially set.

In this way, since a plurality of UWB tags constituting a positioning system transmit response packets in different intervals, even if the number of response packets transmitted by each UWB tag increases as the number of UWB tags increases, The packets transmitted from the tags to the access point can avoid interference in the wireless region and avoid interference.

3 is a flowchart of a method performed by an access point in a positioning method according to the present invention.

The access point first transmits a clock synchronization packet (CSP) through the UWB communication network (S11). The clock synchronization packet is used for synchronizing in the time domain of all the UWB tags constituting the positioning system. If a synchronization function is performed between the UWB tags using the UWB communication network, the reference clock, the reference signal, A synchronization reference signal, and the like.

Next, the access point receives the response packet based on the period according to the CSP and the unique value of each UWB tag from the individual UWB tag through the UWB communication network (step S12).

Referring to Fig. 4, shown in terms of UWB tags, corresponding to Fig. 3 shown in terms of the access point, S11 and S12 in Fig. 3 correspond to S22 and S23 respectively in Fig.

Each of the plurality of UWB tags is assigned an eigenvalue for each individual tag (step S21). The assignment of the eigenvalues to each UWB tag may be performed by the access point, and the UWB tags may be assigned their own unique values by being numbered so as not to overlap with each other by random processing method.

에 의해 계산된 블링크 구간(BT) 값을 액세스 포인트로부터 수신하거나, 고유값과 클록 동기화 패킷의 주기에 따라 블링크 구간(BT) 값이 계산되어 각각의 UWB 태그에 지정될 수 있다.In addition, with the assignment of the eigenvalues,

(BT) value calculated by the blink interval (BT) value from the access point, or the blink interval (BT) value may be calculated according to the period of the eigenvalue and clock synchronization packet and assigned to each UWB tag.

Then, each of the UWB tags receives a clock synchronization packet (CSP) from the access point (step S22), and a response packet is transmitted from each UWB tag to the access point based on the period according to the CSP, the UWB tag unique value (Step S23).

FIG. 5 is a flow chart summarizing the positioning method according to the present invention, which is illustrated in terms of each UWB tag. The examples separately shown in Figs. 3 and 4 can be described collectively through the description related to Fig.

First, prior to the synchronization required for the positioning, by declaring the IDLE state (Step S100), it can be notified that the transmission / reception of the clock synchronization packet is started between the access point and the UWB tag constituting the positioning system.

If it is determined that the clock synchronization packet CSP has been received, it is determined whether the clock synchronization packet CSP has been received or not. The response packet is transmitted when it reaches its own response packet start time (step S400; the response packet is represented by BP (Blink Packet) in FIG. 5).

Here, the detailed description of steps S200 through S400 may be applied to the description of FIG.

In step S500, it is determined whether or not a next-order clock synchronization packet CSP has been received. If the next-order CSP has been received (Y), a BLINK state is waited until the previously calculated packet start time. When there is a change, since the start time of the response packet itself changes, the response packet start time can be updated reflecting this.

If the next CSP is not received in step S500, it is determined whether the cycle according to the CSP received in step S200 has expired (step S600). If the period has expired (Y), the IDLE state is again declared and a new clock synchronization packet May be kept waiting to be received. On the other hand, if the cycle according to the CSP has not expired, the BS keeps waiting for the time to transmit its response packet while maintaining the BLINK state.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be construed as limiting the scope of the invention as defined by the appended claims. It is to be understood that one form also falls within the scope of the present invention.

10: access point
20: UWB tag

Claims (13)

CLAIMS 1. A method for accommodating a plurality of UWB (Ultra Wide Band) tags, performed by an AP,
Transmitting a Clock Synchronization Packet (CSP); And
Receiving, from each of the plurality of UWB tags, a response packet transmitted based on the period according to the CSP and the eigenvalue of the UWB tag;
And a plurality of UWB tags.
The method according to claim 1,
Further comprising: prior to transmitting the CSP, assigning the eigenvalues for each of the plurality of UWB tags.
A positioning method capable of accommodating a plurality of UWB tags.
3. The method of claim 2,
The reception of the response packet is performed by the i-th tag among the plurality of UWB tags

The response packet transmitted in the blink interval (BT) is received from the time calculated by the response time calculation unit (BT)
The BT

M _I is the initial margin time, M _L is the final margin time,
A positioning method capable of accommodating a plurality of UWB tags.
A method for receiving a plurality of UWB tags, the method being performed by a plurality of UWB tags,
Assigning a unique value to each of the plurality of UWB tags;
Receiving a Clock Synchronization Packet (CSP); And
Transmitting a response packet based on a period (T _CSP ) according to the received CSP, and an eigenvalue of the tag;
And a plurality of UWB tags.
5. The method of claim 4,
Characterized in that the allocation of the eigenvalues is specified in advance by an access point (AP)
A positioning method capable of accommodating a plurality of UWB tags.
5. The method of claim 4,
Wherein the assignment of the eigenvalues is specified between the plurality of UWB tags.
A positioning method capable of accommodating a plurality of UWB tags.
The method according to claim 5 or 6,
The transmission of the response packet,

The blink interval BT is calculated by the blink interval BT,
The i-th tag among the plurality of UWB tags is

Calculating a transmission start time of the response packet of the i-th tag by the transmission start time of the i-th tag;
Waiting until the calculated transmission start time is reached; And
Further comprising the step of the response packet being transmitted by the i-th tag in the BT from the calculated transmission start time,
M _I is the initial margin time, M _L is the final margin time,
A positioning method capable of accommodating a plurality of UWB tags.
8. The method of claim 7,
Determining whether the T _CSP has expired;
Terminating the session of the received _CSP when the T _CSP expires, and waiting for receipt of the next CSP; And
If the T _CSP has not expired, it waits until the calculated response packet transmission time, and transmits the response packet to the BT in the BT from the calculated response packet transmission time
≪ / RTI >
A positioning method capable of accommodating a plurality of UWB tags.
An access point for transmitting a clock synchronization packet (CSP); And
A plurality of UWB tags receiving the CSP, transmitting a response packet based on a period (T _CSP ) according to the _CSP , and an eigenvalue of the tag;
/ RTI >
A positioning system capable of accommodating multiple UWB tags.
10. The method of claim 9,
Wherein the access point allocates eigenvalues for the plurality of UWB tags prior to transmitting the CSP,

And a Blink Term (BT) calculated by the Blink Term (BT) is transmitted to the plurality of UWB tags.
A positioning system capable of accommodating multiple UWB tags.
10. The method of claim 9,
Wherein the plurality of UWB tags allocate a unique value between the plurality of UWB tags prior to receiving the CSP,

And a blink interval (BT) is calculated and designated by the blink interval (BT)
A positioning system capable of accommodating multiple UWB tags.
The method according to claim 10 or 11,
In each of the plurality of UWB tags, the i < th >

Th tag transmits the response packet in the BT from the calculated transmission start time, and the characteristic of the i-th tag is that the response packet is transmitted in the BT from the calculated transmission start time M _I is the initial margin time, M _L is the final margin time,
A positioning system capable of accommodating multiple UWB tags.
13. The method of claim 12,
The M _I and the M _L is for, the response packets by the plurality of UWB tag, characterized in that not transmitted,
A positioning system capable of accommodating multiple UWB tags.

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