Title:
INDOOR POSITIONING APPARATUS AND METHOD FOR PEDESTRIANS
Document Type and Number:
WIPO Patent Application WO/2023/022305
Kind Code:
A1
Abstract:
The present invention provides an indoor positioning apparatus and method for pedestrians, which can accurately estimate the positioning and mobility trajectory of a user indoors and estimate an accurate positioning and mobility trajectory even if a measurement error occurs, the apparatus comprising: an IMU movement estimation unit for determining a pedestrian mobility pattern on the basis of a sensing signal obtained by sensing the steps and rotation angle of a pedestrian; a distance information acquisition unit, which transmits/receives radio signals to/from a plurality of APs so as to measure the distance to each of the plurality of APs at each step through a pre-designated scheme; a local positioning estimation unit, which sets a plurality of local coordinate systems, each having the positions of the plurality of APs as the origins thereof, calculates stride according to the steps of the pedestrian on the basis of a local mobility trajectory acquired on the plurality of local coordinate systems by using the pedestrian movement pattern and the measured distance to each of the plurality of APs, calculates bias generated by means of an NLOS at the measured distance, and determines initial local step positioning of the local mobility trajectory on the basis of the calculated stride and bias; and a global positioning estimation unit, which changes the local mobility trajectory acquired on each of the plurality of local coordinate systems into a mobility trajectory in a global coordinate system, so as to acquire a pedestrian mobility trajectory on the global coordinate system.
Inventors:
KIM SEONG-LYUN (KR)
HAN KYU WON (KR)
HAN KYU WON (KR)
Application Number:
PCT/KR2021/018944
Publication Date:
February 23, 2023
Filing Date:
December 14, 2021
Export Citation:
Assignee:
UNIV YONSEI IACF (KR)
International Classes:
G01S5/02; G01C21/14; G01C21/16; G01C21/18; G01C21/20; G01C22/00; H04W64/00
Foreign References:
| KR20110026229A | 2011-03-15 | |||
| KR20120124364A | 2012-11-13 | |||
| JP2013152097A | 2013-08-08 | |||
| KR20110072357A | 2011-06-29 | |||
| KR102181369B1 | 2020-11-20 |
Attorney, Agent or Firm:
MIN, Young Joon (KR)
Download PDF: