KR101213951B1 - Position determination apparatus and method using vision system - Google Patents

Abstract

PURPOSE: A location determination apparatus and method using a vision system are provided to improve continuity and reliability of location determination. CONSTITUTION: A location determination apparatus comprises a satellite navigation system(510), a database(520), a vision system(530), a map matching system(540), and a location calculating part(550). The database stores coordinate data of a plurality of buildings. The map matching system calculates the coordinate data of a second target building recognized through a stereo camera by applying map matching. The vision system extracts coordinate data of a first target building from the database and calculates two first pseudo distances using the coordinate data of the second target building and the coordinate data of the first target building. The location calculating part calculates a second pseudo distance by location data and measures location of a moving body using the two first pseudo distances and the second pseudo distances. [Reference numerals] (510) Satellite navigation system; (520) Database; (530) Vision system; (540) Map matching system; (550) Location calculating part

Description

Positioning device and method using vision system {POSITION DETERMINATION APPARATUS AND METHOD USING VISION SYSTEM}

Embodiments of the present invention relate to a positioning apparatus and method using a vision system to solve the outdoor shade area using a vision system and a map matching system.

Due to the rapid industrialization, urban areas are expanding and the environment for using the satellite navigation system is getting worse. 1 illustrates a poor situation of receiving location information data from a satellite navigation system in a city center.

Since the satellite navigation system performs three-dimensional positioning as shown in FIG. 1, it is necessary to always receive location information data from four or more satellite navigation systems in order to calculate a location by triangulation. Of course, when receiving position information data from many satellite navigation systems it is possible to calculate the position more accurately. However, in urban or mountainous areas, there are frequent situations where the receiver cannot be properly received by buildings or mountains with high location information data transmitted from the satellite navigation system. In this case, shadowed areas occur. Therefore, in the case of positioning using the satellite navigation system, the location information data cannot be properly received due to obstacles such as high buildings or mountainous areas. Outdoor shades around the globe account for 47% of the world's population. In 47% of the world, positioning using satellite navigation system is not possible. This is an inherent problem of positioning using satellite navigation system.

One embodiment of the present invention provides a positioning device and method using a vision system to perform the positioning by fusing the vision system and the map matching system to solve the outdoor shade area of the satellite navigation system.

Positioning apparatus using a vision system for achieving the above embodiment, the database for storing coordinate information for a plurality of buildings; If the number of location information data received from the satellite does not satisfy the value required for positioning the moving object, the coordinate information of the target building recognized by the stereo camera among the plurality of buildings is extracted from the database, and the extraction is performed. A vision system for calculating a first pseudo-distance with the target building using the coordinate information obtained; And a position calculator which calculates a second pseudorange based on the positional information data and positions the position with respect to the moving object using the first and second pseudoranges.

In addition, as a technical method for achieving the embodiment, a positioning method using a vision system, the method comprising the steps of: storing coordinate information for a plurality of buildings in a database; Extracting, from the database, coordinate information of a target building recognized by a stereo camera among the plurality of buildings if the number of location information data received from the satellite does not satisfy a value required for positioning of the moving object; Calculating a first pseudo distance from the target building using the extracted coordinate information; And calculating a second pseudorange based on the positional information data and positioning a position with respect to the moving object using the first and second pseudoranges.

According to an embodiment of the present invention, a more advanced outdoor positioning incorporating a vision system in order to solve the weakness in continuous positioning due to obstacles or external influences in the satellite navigation system or the occurrence of shadowed areas. By developing a system, the positioning is continuous and the reliability can be improved.

1 is a diagram illustrating an example in which a satellite navigation system receives a GPS signal in a conventional city center.
2 is a view showing a triangulation method of the satellite navigation system for explaining the present invention.
3 is a view showing the arrival time according to the triangulation method of the satellite navigation system for explaining the present invention.
4 is a diagram illustrating an example of determining a measurement equation of a satellite navigation system for explaining the present invention.
Figure 5 is a block diagram showing the configuration of a positioning device using a vision system according to an embodiment of the present invention.
6 is an exemplary view showing the configuration of a positioning device using three satellite navigation system and a vision system according to an embodiment of the present invention.
7 is an exemplary view showing the configuration of a positioning device using three satellite navigation system and map matching system according to an embodiment of the present invention.
8 is an exemplary view illustrating a configuration of a positioning device using two satellite navigation systems, a vision system, and a map matching system according to an embodiment of the present invention.
9 is an exemplary view showing the configuration of a positioning device using one satellite navigation system, two vision systems, and one map matching system according to an embodiment of the present invention.
10 is an exemplary view illustrating a configuration of a positioning device using three vision systems and a map matching system according to an embodiment of the present invention.

Hereinafter, embodiments according to the present invention will be described in detail with reference to the accompanying drawings. However, the present invention is not limited to or limited by the embodiments. Like reference symbols in the drawings denote like elements.

2 is a view showing a triangulation method of the satellite navigation system for explaining the present invention.

The moving object includes a GPS receiver, and the GPS receiver receives GPS signals from four satellite navigation systems and measures four distances between the satellite and the moving object.

The GPS receiver calculates the three-dimensional position of the moving object by applying triangulation to four distances. The moving object applies the position calculated by the GPS receiver to the location-based application.

3 is a view showing the arrival time according to the triangulation method of the satellite navigation system for explaining the present invention.

The satellite navigation system measures the distance between the satellite and the moving object according to the arrival time of the GPS signal. When the satellite navigation system receives four GPS signals, Equation 1 may be used to measure four distances between the satellite and the moving body based on the arrival time.

,

,

,

는 위성 위치이고,

는 이동체 위치이다.here,

,

,

,

Is the satellite location,

Is the moving object position.

4 is a diagram illustrating an example of determining a measurement equation of a satellite navigation system for explaining the present invention.

The satellite navigation system can receive four GPS signals from four GPS satellites and measure four distances between the satellite and the moving object. The satellite navigation system can calculate the position of the moving object by applying four distances to triangulation using the equation (2).

,

,

,

는 4개의 위성 위치이고,

는 이동체 위치이고,

,

,

,

는 의사거리이고,

(Clock Bias)는 시계오차이다.here,

,

,

,

Is 4 satellite positions,

Is the mobile location,

,

,

,

Is doctor distance,

Clock Bias is a clock error.

Dynamic singular positioning

Dynamic singulation is used to determine the three-dimensional trajectory of a moving object that changes with time. A typical example of dynamic singulation is the navigation of a mobile vehicle. In dynamic sole positioning, the number of available satellite navigation systems varies depending on the location of the moving object. For this reason, there will be various reasons such as changing the location and environment of the moving body, obstructing the satellite by obstacles such as high buildings or mountains, and moving the satellite over time. For this reason, in some cases, location information data is received from more than four or less than four satellite navigation systems. The positional accuracy of the moving object will continue to change with the number of satellite navigation systems.

The navigation application uses the Map Matching System to map out insufficient satellite information data when only three satellite navigation systems are available to solve the problem of the number of satellite navigation systems changing continuously and the positional accuracy of moving objects. To perform positioning. However, such a positioning method is also a case where up to three satellites can be used, and if it is less than that, the positioning is broken off. If location is impossible, it is set as outdoor shade area.

However, the present invention discloses an outdoor shadowing area resolution positioning apparatus and method using a satellite navigation system-based vision system and a map matching system to solve the problem of the outdoor shadowing area that cannot be positioned.

If four or more satellite navigation systems are available, the mobile unit will use the satellite navigation system to locate them. However, if the number of available satellite navigation systems is 3, the location can be determined by applying the map matching system. In this case, however, the positioning using three satellite navigation systems may apply a map matching system, but a vision system may be applied.

Figure 5 is a block diagram showing the configuration of a positioning device using a vision system according to an embodiment of the present invention.

The satellite navigation system stores accurate coordinate information of x and y coordinates in a database by using differential GPS (DGPS) or RealTime Kenematic (RTK) for each building. In addition, the moving object equipped with a stereo camera recognizes a building with accurate coordinate information using a vision system. The moving object that recognizes the building extracts the exact coordinate information assigned to the building from the database, and calculates its distance from the recognized building through the stereo camera. And finally, by using the location information data received from the satellite navigation system and the coordinate information of the building finally calculates its position.

In this case, the moving object can recognize the specific building with the stereo camera and can grasp the coordinate information necessary for the location information from the specific building, thereby solving the limitations of the satellite navigation system with the vision system.

Referring to FIG. 5, the positioning device according to an embodiment of the present invention includes a satellite navigation system 510, a database 520, a vision system 530, a map matching system 540, and a position calculator 550. It can be configured to include.

The satellite navigation system 510 calculates coordinate information of the building by using the DGPS for each specific building and stores it in the database 520.

The vision system 530 extracts coordinate information of the target building recognized by the stereo camera from the database 520, and calculates a first pseudo distance from the target building using the extracted coordinate information. The vision system 530 extracts coordinate information of the recognized building from the database 520 and uses the calculated position of the moving object.

The position calculator 550 calculates a second pseudorange based on the positional information data received from the satellite navigation system 510 and performs triangulation using the first pseudorange and the second pseudorange of the vision system 530. Calculate the position of the moving object.

The map matching system 540 calculates coordinate information of the target building by applying map matching. The vision system 530 calculates the first pseudo distance using the calculated coordinate information.

The position calculator 550 calculates a first pseudo distance of the vision system 530 based on the coordinate information of the target building by the map matching system 540 and a second pseudo distance based on the position information data of the satellite navigation system 510. Calculate the position of the moving object.

If the number of positional information data by the satellite navigation system 510 does not reach the number required for the calculation of the moving object position, the vision system 530 recognizes a plurality of buildings and based on the coordinate information of the plurality of recognized buildings. A plurality of first pseudoranges are calculated.

The position calculator 550 calculates the position of the moving object using the plurality of first pseudo distances by the vision system 530 and the second pseudo distances by the position information data of the satellite navigation system 510. The position calculating unit 550 adds a clock error CB (Clock Bias) generated in association with the moving object to each of the first and second pseudo-distances, thereby increasing the accuracy of triangulation and positioning the moving object.

6 is an exemplary view showing the configuration of a positioning device using three satellite navigation system and a vision system according to an embodiment of the present invention.

Referring to FIG. 6, the positioning device according to an embodiment of the present invention may include a satellite navigation system 610, a database 620, a vision system 630, and a position calculator 640.

The three satellite navigation systems 610 receive the GPS signal from the satellite and calculate a second pseudo distance between the three satellite positions including the clock error and the moving object position based on the arrival time using Equation (3).

,

,

는 3개의 위성 위치이고,

는 이동체 위치이고,

,

,

는 제2 의사거리이고,

(Clock Bias)는 시계오차이다.here,

,

,

Is three satellite locations,

Is the mobile location,

,

,

Is the second pseudorange,

Clock Bias is a clock error.

The vision system 630 calculates a first pseudo distance using Equation 4 from the target building recognized through the stereo camera. The vision system 630 extracts coordinate information of the target building recognized from the database 620 and calculates a first pseudo distance between the coordinate information of the target building and the position of the moving object using the extracted coordinate information.

는 대상건물의 좌표정보이고,

는 제1 의사거리이고,

는 이동체 위치이다.here,

Is the coordinate information of the target building,

Is the first physician distance,

Is the moving object position.

The position calculator 640 calculates the position of the moving object by applying the triangulation method using the first pseudo distance by the vision system 630 and the second pseudo distance by the position information data of the three satellite navigation systems 610. do.

7 is an exemplary view showing the configuration of a positioning device using three satellite navigation system and map matching system according to an embodiment of the present invention.

Referring to FIG. 7, the positioning device according to the embodiment of the present invention may include a satellite navigation system 710, a map matching system 720, and a position calculator 730.

The three satellite navigation systems 710 receive a GPS signal from the satellite and calculate a second pseudorange between the satellite and the moving body based on the arrival time.

The map matching system 720 calculates the first pseudo distance by applying map matching when the number of position information data by the satellite navigation system 710 does not reach the number required for the calculation of the moving object position.

The position calculator 730 calculates the position of the moving object by using the first pseudo distance of the map matching system 720 and the second pseudo distance by the satellite navigation system 710.

8, 9 and 10, the embodiment of the present invention relates to cases in which the number of the received position information data is less than two than the value required for positioning of the moving object. That is, in FIG. 8, two satellite navigation systems that can be used (only two position information data are received, and two position information data need to be calculated by the position positioning apparatus of the present invention) are illustrated in FIG. 10 illustrates an example in which the number of available satellites is one or no (in addition, when n (where n is a natural number of 3 or more) has to be calculated).

8 is an exemplary view illustrating a configuration of a positioning device using two satellite navigation systems, a vision system, and a map matching system according to an embodiment of the present invention.

Referring to FIG. 8, the positioning device according to an embodiment of the present invention includes a satellite navigation system 810, a database 820, a vision system 830, a map matching system 840, and a position calculator 850. It can be configured to include.

Next, when there are two satellite navigation systems 810 that can be used, there is no solution even though the map matching system 840 is used. However, by applying the vision system 830 disclosed in the present invention to receive coordinate information from one particular building, and additionally insufficient location information data of the satellite navigation system 810 by applying a map matching system 840 to position positioning can do.

The two satellite navigation systems 810 receive the GPS signal from the satellite and calculate a second pseudorange between the two satellite positions including the clock error and the moving object position based on the arrival time using Equation (5).

,

는 2개의 위성 위치이고,

는 이동체 위치이고,

,

는 제2 의사거리이고,

(Clock Bias)는 시계오차이다.here,

,

Is two satellite locations,

Is the mobile location,

,

Is the second pseudorange,

Clock Bias is a clock error.

The vision system 830 calculates a first pseudo distance from the target building using coordinate information from the target building recognized by the stereo camera. The vision system 830 extracts coordinate information of the target building recognized from the database 820 and calculates a first pseudo distance between the coordinate information of the target building and the position of the moving object using Equation 6 to calculate the position of the moving object. .

은 대상건물의 좌표정보이고,

는 이동체 위치이고,

는 제1 의사거리이다.here,

Is the coordinate information of the target building,

Is the mobile location,

Is the first pseudorange.

The map matching system 840 applies the map matching to the coordinate information of the target building by applying map matching when the number of the position information data by the satellite navigation system 810 does not reach the number required for the calculation of the moving object position. The first pseudorange is calculated based on the position of the moving object.

는 대상건물의 좌표정보이고,

는 이동체 위치이고,

는 제1 의사거리이다.here,

Is the coordinate information of the target building,

Is the mobile location,

Is the first pseudorange.

The position calculation unit 850 uses a second pseudorange by position information data of two satellite navigation systems 810, a first pseudorange by a vision system 830, and a map matching system 840 to perform triangulation. Apply to calculate the position of the moving object.

9 is an exemplary view showing the configuration of a positioning device using one satellite navigation system, two vision systems, and one map matching system according to an embodiment of the present invention.

9, a positioning device according to an embodiment of the present invention includes a satellite navigation system 910, a database 920, a vision system 930, a map matching system 940, and a position calculator 950. It can be configured to include.

Next, when the number of available satellites is one, the coordinate information may be determined at two specific buildings, and the location may be determined by applying a map matching system 940.

One satellite navigation system 910 receives a GPS signal from the satellite and calculates a second pseudo distance between the position of the satellite including the clock error and the position of the moving object based on the arrival time using Equation (8).

는 위성의 위치이고,

는 이동체 위치이고,

는 제2 의사거리이고, CB는 시계오차이다.here,

Is the location of the satellite,

Is the mobile location,

Is the second pseudorange and CB is the clock error.

The vision system 930 calculates a first pseudo distance based on coordinate information from two specific buildings recognized through a stereo camera. The vision system 930 extracts coordinate information of two specific buildings recognized from the database 920 and calculates a first pseudo distance based on coordinate information and moving object positions of two specific buildings by using Equation 9 Used to calculate the position of the moving object.

,

는 2개의 특정 건물에 대한 좌표정보이고,

는 이동체 위치이고,

,

는 제1 의사거리이다.here,

,

Is the coordinate information for two specific buildings,

Is the mobile location,

,

Is the first pseudorange.

The map matching system 940 applies the map matching to the coordinate information of the target building by applying map matching when the number of the position information data by the satellite navigation system 910 does not reach the number required for the calculation of the moving object position. The first pseudorange is calculated based on the position of the moving object. The vision system 930 calculates the first pseudo distance using the calculated coordinate information.

는 대상건물의 좌표정보이고,

는 이동체 위치이고,

는 제1 의사거리이다.here,

Is the coordinate information of the target building,

Is the mobile location,

Is the first pseudorange.

The position calculation unit 950 applies triangulation using a second pseudorange by one satellite navigation system 910, three first pseudoranges by a vision system 930, and a map matching system 940. Calculate the position of the moving object.

10 is an exemplary view illustrating a configuration of a positioning device using three vision systems and a map matching system according to an embodiment of the present invention.

Referring to FIG. 10, the positioning device according to an embodiment of the present invention may include a database 1010, a vision system 1020, a map matching system 1030, and a position calculator 1040.

In the worst case, even where no satellite navigation system is available, accurate coordinate information is determined in three buildings, and the location can be determined by applying a map matching system 1030.

The vision system 1020 calculates a first pseudo distance between moving objects from three specific buildings recognized through a stereo camera. The vision system 1020 extracts coordinate information of three specific buildings recognized from the database 1010 and calculates a first pseudo distance based on coordinate information and moving object positions of three specific buildings by using Equation 11 Used to calculate the position of the moving object.

,

,

는 3개의 특정 건물에 대한 좌표정보이고,

는 이동체 위치이고,

,

,

는 제1 의사거리이다.here,

,

,

Is coordinate information for three specific buildings,

Is the mobile location,

,

,

Is the first pseudorange.

The map matching system 1030 applies the map matching to the coordinate information of the specific building when the number of the location information data by the satellite navigation system does not reach the number required for the calculation of the moving object location, and then uses the equation (12) to specify the equation. The first pseudo distance between the coordinate information of the building and the position of the moving object is calculated.

는 특정 건물에 대한 좌표정보이고,

는 이동체 위치이고,

는 제1 의사거리이다.here,

Is the coordinate information for a specific building,

Is the mobile location,

Is the first pseudorange.

The position calculator 1040 calculates the position of the moving object by applying the triangulation method using three first pseudo distances by the vision system 1020 and the first pseudo distances of the map matching system 1030.

Further, embodiments of the present invention include a computer readable medium having program instructions for performing various computer implemented operations. The computer readable medium may include program instructions, data files, data structures, etc. alone or in combination. The program instructions recorded on the medium may be those specially designed and constructed for the present invention or may be available to those skilled in the art of computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tape, optical media such as CD-ROMs, DVDs, and magnetic disks, such as floppy disks. Magneto-optical media, and hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, flash memory, and the like. Examples of program instructions include not only machine code generated by a compiler, but also high-level language code that can be executed by a computer using an interpreter or the like.

In the present invention as described above has been described by the specific embodiments, such as specific components and limited embodiments and drawings, but this is provided to help a more general understanding of the present invention, the present invention is not limited to the above embodiments. For those skilled in the art, various modifications and variations are possible from these descriptions. It is therefore to be understood that within the scope of the appended claims, the invention is not limited to the disclosed embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. .

510: satellite navigation system
520: Database
530: Vision system
540: map matching system
550: position calculation unit

Claims (8)

A database for storing coordinate information of a plurality of buildings;
If the number of location information data received from the satellite does not satisfy two values required for positioning the moving object,
A map matching system for calculating coordinate information of a second target building recognized by a stereo camera by applying map matching;
Among the plurality of buildings, the coordinate information of the first target building recognized by the stereo camera is extracted from the database, the coordinate information of the extracted first target building, and the coordinate information of the calculated second target building A vision system for calculating two first pseudoranges, each using a first pseudorange; And
A position calculator for calculating a second pseudo distance based on the position information data and positioning a position with respect to the moving object using the two first pseudo distances and the second pseudo distance.
Positioning device using a vision system comprising a. delete delete The method of claim 1,
If the number is not satisfied (n is a natural number of 3 or more),
The vision system,
Calculating n first pseudo distances by using coordinate information of the n-1 first target buildings recognized by the stereo camera and extracted from the database, and coordinate information of the calculated second target building, respectively. Positioning device using vision system. Storing coordinate information of the plurality of buildings in a database;
If the number of location information data received from the satellite does not satisfy two values required for positioning the moving object,
Calculating coordinate information of the second target building recognized by the stereo camera by applying map matching;
Extracting, from the database, coordinate information of the first target building recognized by the stereo camera among the plurality of buildings;
Calculating two first pseudo distances using the extracted coordinate information of the first target building and the calculated coordinate information of the second target building, respectively;
Calculating a second pseudorange based on the location information data; And
Positioning a position with respect to the moving object using the two first pseudoranges and the second pseudoranges
Positioning method using a vision system comprising a. delete delete The method of claim 5,
If n is not satisfied,
Calculating n first pseudo distances using coordinate information of the n-1 first target buildings recognized by the stereo camera and extracted from the database, and coordinate information of the calculated second target building, respectively.
Further comprising, a positioning method using a vision system.

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