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公开(公告)号：KR1020120068531A
公开(公告)日：2012-06-27
申请号：KR1020100130194
申请日：2010-12-17
Applicant: 한국전자통신연구원 , 충남대학교산학협력단
IPC: G05D1/02
CPC classification number: G05D1/0282 , G05D1/0278 , G05D1/0291 , G01S19/11 , G01S19/23 , G01S19/31 , G01S19/42
Abstract: PURPOSE: A seamless location determination system and method are provided to grasp the real-time location of robots through interior and exterior high accuracy determination of a mobile robot. CONSTITUTION: A mobile node group receives GPS information from a GPS satellite. A broadband communications network(30) provides broadband communications environment of the mobile node group. A controlling gear(40) monitors the location of mobile node group through the broadband communications network in real time. The mobile node group comprises a mother node(100) and a child node. A broadband communications interface is loaded in the mother node. The mother node executes broadband communications with the controlling gear. The child node constitutes a cluster of mother node base.
Abstract translation: 目的：提供无缝定位系统和方法，通过内部和外部高精度确定移动机器人来掌握机器人的实时位置。 规定：移动节点组从GPS卫星接收GPS信息。 宽带通信网络（30）提供移动节点组的宽带通信环境。 控制齿轮（40）通过宽带通信网络实时监控移动节点组的位置。 移动节点组包括母节点（100）和子节点。 宽带通信接口加载到母节点。 母节点与控制装置执行宽带通信。 子节点构成母节点群。
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公开(公告)号：KR1020080078576A
公开(公告)日：2008-08-27
申请号：KR1020080015835
申请日：2008-02-21
Applicant: 한국전자통신연구원 , 충남대학교산학협력단
IPC: G01S5/02
Abstract: A method and an apparatus for estimating a position using a forward link AOA(Angle Of Arrival) are provided to obtain both the position and an orientation angle of a terminal by using an array antenna. An apparatus for estimating a position using a forward link angle of arrival includes plural array antennas(1) and a processor(2). The array antennas are arranged with constant intervals between them and receive signals from sensors at fixed positions. The processor processes the signals from the array antennas and calculates a position and an angle of the processor corresponding to a reference point. A driving unit(3) is activated, while moving toward a destination, according to the signal from the processor.
Abstract translation: 提供了使用前向链路AOA（到达角度）来估计位置的方法和装置，以通过使用阵列天线来获得终端的位置和取向角。 用于使用前向链接到达角估计位置的装置包括多个阵列天线（1）和处理器（2）。 阵列天线在它们之间以恒定的间隔布置并且在固定位置接收来自传感器的信号。 处理器处理来自阵列天线的信号，并计算对应于参考点的处理器的位置和角度。 根据来自处理器的信号，驱动单元（3）在朝向目的地移动的同时被激活。
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公开(公告)号：KR101857122B1
公开(公告)日：2018-05-14
申请号：KR1020100130194
申请日：2010-12-17
Applicant: 한국전자통신연구원 , 충남대학교산학협력단
IPC: G05D1/02
CPC classification number: G05D1/0282 , G05D1/0278 , G05D1/0291
Abstract: 종래에는, 비정형환경하에서이동하는로봇, 예컨대실외에서실내로이동하는로봇이 GPS를수신할수 없는실내의음역지역으로이동하는상황에서는측위가어려워진다는문제가있다. 이에본 발명의실시예에서는, 비정형환경하에서이동하는로봇들간의통신을통하여애드-혹메시(ad-hoc mesh) 네트워크를구성하고, 로봇간의상대측위와로봇제어를통하여음영지역에서도위치측위가가능한시스템을구성하는실내외심리스(seamless) 무선위치측위기술을제안하고자한다.
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公开(公告)号：KR101420016B1
公开(公告)日：2014-07-17
申请号：KR1020120125524
申请日：2012-11-07
Applicant: 충남대학교산학협력단
IPC: H04W64/00
Abstract: 본 발명은 위치 기반 서비스를 수행하는 네트워크에서의 위치 측위 시스템에 있어서, 네트워크 내 기설정된 위치에 분산되어, 소정 이동 단말 노드와의 통신 및 거리 추정을 위해 이동 단말 노드에 구비된 무선 태그를 인식하여 거리추정 프레임을 출력하는 적어도 둘 이상의 앵커 노드(Anchor Node)와, 무선 태그를 통해 앵커 노드와의 통신을 수행하며, 상기 앵커 노드로부터 수신된 거리추정 프레임을 네트워크 내 다수의 노드와 통신을 수행하는 서버 노드로 무선 전송하는 이동 단말 노드와, 상기 네트워크 내 다수의 이벤트를 통합 관리하고, 상기 이동 단말 노드로부터 수신된 거리추정 프레임을 로케이션 서버(Location Server)로 유/무선 전송함으로써 네트워크 내 다수의 노드 사이의 데이터 중계를 담당하는 서버 노드와, 네트워크별 앵커 노드의 상태 정 보를 통합 관리하고, 상기 서버 노드로부터 수신된 거리추정 프레임에 담긴 거리 측정치를 이용하여 상기 이동 단말 노드의 위치를 산출하는 로케이션 서버(Location Server)를 포함함을 특징으로 한다.
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Patent Agency Ranking
公开(公告)号：KR101388112B1
公开(公告)日：2014-05-27
申请号：KR1020120114082
申请日：2012-10-15
Applicant: (주)와이파이브 , 충남대학교산학협력단
Inventor： 성태경
IPC: B60W30/12 , G01C21/34 , B60W40/02 , G08G1/0968
Abstract: 본 발명은 주행 차로 인식 시스템 및 그 인식 방법에 관한 것으로, 상세하게는 영상 입력 장치(10)로부터 전달받은 영상 정보를 이용하여, 현재 차량의 주행 차로를 결정하는 주행 차로 결정부(100), 상기 주행 차로 결정부(100)에서 결정한 현재 차량의 주행 차로의 이탈 여부 또는, 현재 차량의 주행 차로의 변화 여부를 감지하는 주행 차로 유지부(200) 및 상기 주행 차로 유지부(200)에서 감지하는 현재 차량의 주행 차로 정보를 이용하여, 유도 경로를 결정하는 제어부(300)를 포함하여 구성되는 것을 특징으로 하는 주행 차로 인식 시스템에 관한 것이다.
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公开(公告)号：KR1020140058983A
公开(公告)日：2014-05-15
申请号：KR1020120125524
申请日：2012-11-07
Applicant: 충남대학교산학협력단
IPC: H04W64/00
CPC classification number: H04W64/006
Abstract: A positioning system in a network performing a location based service according to the present invention comprises: at least two anchor nodes which are distributed to predetermined locations in a network, and output a distance estimation frame by recognizing a wireless tag installed in a mobile terminal node to communicate with a given mobile terminal node and to estimate a distance; the mobile terminal node to communicate with the anchor nodes through a tag, and to wirelessly transmit, to a server node communicating with multiple nodes in the network, the distance estimation frame received from the anchor nodes; the server node to collectively manage multiple events in the network, and to relay data between multiple nodes in the network by performing wired/wireless transmission of the distance estimation frame received from the mobile terminal node to a location server; and the location server to collectively manage status information on anchor nodes in each network, and to calculate the location of the mobile terminal node using the distance measurement contained in the distance estimation frame received from the server node.
Abstract translation: 根据本发明的执行基于位置的服务的网络中的定位系统包括：分配到网络中的预定位置的至少两个锚节点，并且通过识别安装在移动终端节点中的无线标签来输出距离估计帧 与给定的移动终端节点通信并估计距离; 所述移动终端节点通过标签与所述锚节点进行通信，并且向与所述网络中的多个节点通信的服务器节点无线地发送从所述锚节点接收的所述距离估计帧; 所述服务器节点共同管理所述网络中的多个事件，并且通过从所述移动终端节点接收到的位置服务器进行有线/无线传输所述距离估计帧来中继所述网络中的多个节点之间的数据; 和位置服务器共同管理每个网络中的锚节点上的状态信息，并且使用包含在从服务器节点接收的距离估计帧中的距离测量来计算移动终端节点的位置。
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公开(公告)号：KR1020140050853A
公开(公告)日：2014-04-30
申请号：KR1020120117189
申请日：2012-10-22
Applicant: (주)와이파이브 , 충남대학교산학협력단
Inventor： 성태경
CPC classification number: H04W64/006 , G01C21/34 , G06F17/30241 , H04B17/318 , H04W4/023
Abstract: The present invention relates to a pedestrian navigation apparatus and, more particularly, to a pedestrian navigation apparatus capable of providing a pedestrian navigation service by estimating the position of a user terminal using a measurement access point and using the position estimation information of the user terminal estimated from the user terminal and the measurement access point. [Reference numerals] (100) User terminal; (200) Measurement access point; (300) Pedestrian navigation server
Abstract translation: 行人导航装置技术领域本发明涉及一种行人导航装置，更具体地，涉及一种能够通过使用测量接入点估计用户终端的位置并使用估计的用户终端的位置估计信息来提供行人导航服务的行人导航装置 从用户终端和测量接入点。 （附图标记）（100）用户终端; （200）测量接入点; （300）行人导航服务器
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公开(公告)号：KR1020140002137A
公开(公告)日：2014-01-08
申请号：KR1020120069703
申请日：2012-06-28
Applicant: (주)와이파이브 , 충남대학교산학협력단
IPC: G01S19/01
Abstract: The present invention relates to a method for measuring a precise trajectory using a carrier-phase global positioning system (GPS) and, more specifically, includes a method for measuring a precise trajectory using a carrier-phase GPS, which includes: an initial position measurement step (S110) for obtaining the initial position of a mobile station by using a code measurement value of a GPS satellite signal; a precise position measurement step (S120) for calculating an estimated integer ambiguity by using a carrier measurement value and the code measurement value of the GPS satellite signal in the initial position measurement step, and for updating the position of the mobile station by the carrier measurement value and the integer ambiguity; and a detection and compensation step (S130) for detecting a cycle slip of the carrier measurement value by using a dead reckoning (DR) sensor, and for compensating for the position of the mobile station when the cycle slip of the carrier measurement value is generated. [Reference numerals] (AA) Start; (BB) End; (S110) Initial position measurement step; (S120) Precise position measurement step; (S130) Detection and compensation step; (S140) Sensor fusing step
Abstract translation: 本发明涉及一种使用载波相位全球定位系统（GPS）测量精确轨迹的方法，更具体地说，涉及一种使用载波相位GPS测量精确轨迹的方法，该方法包括：初始位置测量 步骤（S110），用于通过使用GPS卫星信号的码测量值来获得移动台的初始位置; 精确位置测量步骤（S120），用于通过在初始位置测量步骤中使用载波测量值和GPS卫星信号的码测量值来计算估计的整数模糊度，并且通过载波测量来更新移动台的位置 值和整数模糊度; 以及检测和补偿步骤（S130），用于通过使用推算（DR）传感器来检测载波测量值的周期滑移，并且用于在产生载波测量值的周期滑移时补偿移动台的位置 。 （附图标记）（AA）开始; （BB）结束; （S110）初始位置测量步骤; （S120）精确位置测量步骤; （S130）检测和补偿步骤; （S140）传感器熔断步骤
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公开(公告)号：KR1020120070772A
公开(公告)日：2012-07-02
申请号：KR1020100132218
申请日：2010-12-22
Applicant: 충남대학교산학협력단
CPC classification number: G01S19/31 , G01R23/02 , G01S19/05 , G01S19/25 , G01S19/254 , G01S19/35 , G01S19/42
Abstract: PURPOSE: A residual frequency estimator is provided to minimize loss caused in an AGPS(Assisted Global Positioning System) receiver during synchronous integration and asynchronous integration and more reliably detect signals in a region with low intensity of GPS signals. CONSTITUTION: A plurality of correlators(104) divides data bit stream of a received signal by a predetermined cycle and outputs the divided signals. An FFT unit(108) receives data bit streams of regular length output from the correlators and implements FFT(Fast Fourier Transform). An asynchronous accumulator(110) asynchronously accumulates the FFT-processed bit streams. A coarse residual frequency estimator(114) searches the maximum value exceeding a predetermined threshold from the frequencies of the asynchronously accumulated signals and calculates an estimated residual frequency. A fine residual frequency estimator(116) computes the estimated residual frequency through MLE(Maximum Likelihood Estimation) to obtain the final estimated residual frequency.
Abstract translation: 目的：提供一个残余频率估计器，以在同步整合和异步集成期间最大限度地减少AGPS（辅助全球定位系统）接收机造成的损耗，并更可靠地检测GPS信号强度低的区域中的信号。 构成：多个相关器（104）将接收信号的数据比特流除以预定的周期，并输出划分的信号。 FFT单元（108）从相关器接收经常长度输出的数据比特流，并实现FFT（快速傅里叶变换）。 异步累加器（110）异步地累积经FFT处理的比特流。 粗残余频率估计器（114）根据异步累积信号的频率搜索超过预定阈值的最大值，并计算估计的残差频率。 精细残余频率估计器（116）通过MLE（最大似然估计）计算估计的残余频率，以获得最终估计的残余频率。
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