Granted Patent B2

US 12,429,549 · App. 18/157,304 · Granted Sep 30, 2025

Inventors: Seung Min Yu (Hwaseong-si, KR); Jun Lee (Gyeonggi-do, KR); So Young You (Chungcheongnam-do, KR); Sang Pil Ko (Gyeonggi-do, KR); Eun Bi Jeong (Gyeonggi-do, KR)

Assignee: KOREA RAILROAD RESEARCH INSTITUTE

G01S5/0244G01S5/0072G01S5/0289G01S2201/02

Abstract

Claims (50)

1. A method for cooperative positioning performed by a target device, the method comprising:

scanning a beacon signal transmitted by at least one peripheral device;

determining whether at least one peripheral device exist within a reference radius based on the beacon signal;

when the at least one peripheral device is within the reference radius, transmitting a cooperative positioning request to the at least one peripheral device;

receiving, in response to transmitting the cooperative positioning request, location of the at least one peripheral device and a degree of reliability for the location of the at least one peripheral device, wherein the location of the at least one peripheral device is an estimated location based on a plurality of access points (APs); and

determining a location of the target device based on the location and the degree of reliability.

2. The method of claim 1 , wherein the determining of the location of the target device includes determining the location of the at least one peripheral device as the location of the target device when the degree of reliability for the location of the at least one peripheral device is greater than a preset value.

3. The method of claim 1 , wherein the determining of the location of the target device includes, when a plurality of peripheral devices exist within the reference radius, determining a weighted average of locations of the plurality of peripheral devices as the location of the target device using the degree of reliability for the locations of the plurality of peripheral devices as weights.

4. The method of claim 1 , wherein the determining of the location of the target device includes:

identifying, when a plurality of peripheral devices exists within the reference radius, locations having a degree of reliability higher than a preset value from locations of the plurality of peripheral devices; and

determining a weighted average of the identified locations as the location of the target device using degrees of reliability for the identified locations as weights.

5. The method of claim 1 , wherein the degree of reliability is a value determined based on differences between first distances between locations of the plurality of APs and the location of the at least one peripheral device, and second distances derived by the at least one peripheral device using signals received from the plurality of APs.

6. The method of claim 5 , wherein the degree of reliability is a value determined to be higher as the differences between the first distances and the second distances are smaller.

7. The method of claim 1 , further comprising:

identifying a device group including at least three peripheral devices outside the reference radius when the at least one peripheral device is outside the reference radius;

transmitting cooperative positioning requests to the at least three peripheral devices when a difference between distances from two different peripheral devices to the target device is smaller than a preset distance;

receiving, in response to transmitting the cooperative positioning requests, at least three locations of the at least three peripheral devices; and

determining circumcenter coordinates of a triangle generated from the at least three locations as the location of the target device.

8. The method of claim 7 , further comprising:

identifying a second device group including at least three second peripheral devices outside the reference radius;

selecting a device group having a shorter distance from the target device among the device group and the second device group, when a difference between distances from two different second peripheral devices to the target device is smaller than the preset distance

receiving, in response to transmitting cooperative positioning requests to peripheral devices in the selected device group, locations of the peripheral devices; and

determining circumcenter coordinates of a triangle generated from the locations of the peripheral devices as the location of the target device.

9. The method of claim 7 , wherein the identifying the device group is performed when the degree of reliability for the location of the at least one peripheral device is lower than a preset value.

10. The method of claim 7 , wherein the determining the circumcenter coordinates of the triangle as the location of the target device includes:

generating the circumcenter coordinates of a plurality of triangles based on the at least three locations; and

determining any one of a mean position or a median position of the circumcenter coordinates as the location of the target device.

11. A target device using a method for cooperative positioning, the device comprising:

a scanning unit configured to scan a beacon signal transmitted by at least one peripheral device;

a determining unit configured to determine whether at least one peripheral device exist within a reference radius based on the beacon signal;

a requesting unit configured to, when the at least one peripheral device is within the reference radius, transmit a cooperative positioning request to the at least one peripheral device;

a receiving unit configured to receive, in response to transmitting the cooperative positioning request, location of the at least one peripheral device and a degree of reliability for the location of the at least one peripheral device, wherein the location of the at least one peripheral device is an estimated location based on a plurality of access points (APs); and

a deciding unit configured to determine a location of the target device based on the location and the degree of reliability.

12. The target device of claim 11 , wherein the deciding unit is configured to determine the location of the at least one peripheral device as the location of the target device when the degree of reliability for the location of the at least one peripheral device is greater than a preset value.

13. The target device of claim 11 , wherein when a plurality of peripheral devices exists within the reference radius, the deciding unit determines a weighted average of locations of the plurality of peripheral devices as the location of the target device using the degree of reliability for the locations of the plurality of peripheral devices as weights.

14. The target device of claim 11 , wherein when a plurality of peripheral devices exists within the reference radius, the deciding unit identifies locations having a degree of reliability higher than a preset value from locations of the plurality of peripheral devices, and determines a weighted average of the identified locations as the location of the target device using degrees of reliability for the identified locations as weights.

15. The target device of claim 11 , wherein the degree of reliability is a value determined based on differences between first distances between locations of the plurality of APs and the location of the at least one peripheral device, and second distances derived by the at least one peripheral device using signals received from the plurality of APs.

16. The target device of claim 15 , wherein the degree of reliability is a value determined to be higher as the differences between the first distances and the second distances are smaller.

17. The target device of claim 11 , wherein the determining unit identifies a device group including at least three peripheral devices outside the reference radius when the at least one peripheral device is outside the reference radius,

wherein the requesting unit transmits cooperative positioning requests to the at least three peripheral devices when a difference between distances from two different peripheral devices to the target device is smaller than a preset distance,

wherein the receiving unit receives at least three locations of the at least three peripheral devices, and

wherein the deciding unit determines circumcenter coordinates of a triangle generated from the at least three locations as the location of the target device.

18. The target device of claim 17 , further comprising a selecting unit,

wherein the determining unit identifies a second device group including at least three second peripheral devices outside the reference radius,

wherein the selecting unit selects a device group having a shorter distance from the target device among the device group and the second device group when a difference between distances from two different second peripheral devices to the target device is smaller than the preset distance,

wherein the requesting unit transmits cooperative positioning requests to peripheral devices in the selected device group,

wherein the receiving unit receives locations of the peripheral devices, and

wherein the deciding unit determines circumcenter coordinates of a triangle generated from the locations of the peripheral devices as the location of the target device.

19. The target device of claim 17 , wherein the determining unit identifies the device group when the degree of reliability for the location of the at least one peripheral device are lower than a preset value.

20. The target device of claim 17 , wherein the deciding unit generates the circumcenter coordinates of a plurality of triangles based on the at least three locations, and determines any one of a mean position or a median position of the circumcenter coordinates as the location of the target device.

Assignments (1)

Priority Claims (1)

Continuity (2)

References Cited (22)