KR20110125880A - Navigation apparatus and method using assistant sensor and geographical information in satellite navigation blanket area - Google Patents

Abstract

PURPOSE: A navigation device and method of satellite navigation shaded region using a secondary sensor and geographic information are provided to reduce the initialization of the secondary sensor and the matching of accumulation error with geographic information. CONSTITUTION: A navigation device comprises a secondary sensor(110), a sensor information processing part(130), a topographical information storage part(140), a topographical information confirmation part(150) and a positioning part(170). The secondary sensor senses the sensor information for calculating the rotation angle and translation distance of the moving body. The sensor information processing part calculates the rotation angle and translation distance of the moving body by analyzing sensor information. The topographical information storage part stores geographic information corresponding to each position. The topographical information confirmation part confirms the geographic information corresponding to the location, most recently identified, of the moving body at the topographical information storage part. If the temporary position accords with the geographic information, the positioning part decides the temporary position with the identified location of the moving body.

Description

Navigation Apparatus and Method using Assistant Sensor and Geographical Information in Satellite Navigation Blanket Area}

An embodiment of the present invention relates to a navigation device and a device for providing navigation using an auxiliary sensor and terrain information in a satellite navigation shadowed area.

The present invention is derived from the research conducted as part of the satellite navigation ground station system and search section terminal development project of the Ministry of Knowledge Economy and the Ministry of Information and Telecommunication Research and Development. System and search structure terminal technology development].

The satellite navigation system receives the signal from the navigation satellite and calculates the position of the satellite navigation receiver, so that if the signal can be received from satellites anywhere in the world, the position can be measured. However, the location cannot be measured in the shaded area of satellite signals such as tunnels, large city buildings, and underground roads.

The vehicle navigation system uses a method of matching the position of the satellite navigation receiver to a map at an entrance speed when passing through a shaded area such as a tunnel. However, there is a disadvantage that cannot be used when the precision is far out and the shadow area is continued.

As high-rise buildings are increasing day by day, and underground roads are developed to solve traffic shortages, the problem caused by the shadowed area of the navigation system can be highlighted.

An embodiment of the present invention proposes a navigation apparatus and method in a satellite navigation shadow area using an auxiliary sensor and terrain information.

An embodiment of the present invention proposes an apparatus and method for continuously operating a navigation apparatus even in a satellite navigation shadow area such as a tunnel and an underground road.

An embodiment of the present invention proposes a navigation apparatus and method for continuously estimating a current position and providing a navigation service using an auxiliary sensor and terrain information in a satellite navigation shadowed area.

The navigation apparatus according to an embodiment of the present invention includes an auxiliary sensor for sensing sensor information for calculating a rotation angle and a moving distance of a moving object, and sensor information for calculating the rotation angle and the moving distance of the moving object by analyzing the sensor information. A processing unit, a terrain information storage unit for storing terrain information corresponding to each position, a terrain information confirmation unit for confirming the terrain information corresponding to the most recently identified position of the moving object in the terrain information storage unit, and a satellite signal. Identify the temporary position of the movable body reflecting the rotation angle and the moving distance based on the most recently identified position in the shadowed area; and if the temporary position matches the terrain information, the temporary position is determined of the movable body. It includes a positioning unit to determine the.

According to an aspect of the present invention, there is provided a method of providing a navigation service, the method comprising: checking terrain information corresponding to a most recently identified position of a moving object, and sensing sensor information for calculating a rotation angle and a moving distance of the moving object; Calculating the rotational angle of the moving object by analyzing or processing the sensor information, calculating the moving distance of the moving object by analyzing or processing the sensor information, and the most recently identified position. And checking the temporary position of the moving object reflecting the rotation angle and the moving distance, and determining the temporary position as the identified position of the moving object when the temporary position coincides with the terrain information.

The present invention relates to a navigation device and a method in a satellite navigation shadow area using an auxiliary sensor and topographic information, by installing an auxiliary sensor in the navigation device without additional equipment for navigation, such as road facilities, shading tunnels, underground roads, etc. Regional services may continue to be provided. In addition, it is possible to provide a high-performance navigation service in the shadow area by reducing the cumulative error that may occur in the auxiliary sensor by matching the terrain information and initializing the auxiliary sensor.

1 is a diagram showing the configuration of a navigation apparatus for providing a navigation service in a satellite navigation shadow area according to an embodiment of the present invention;
2 is a view showing an example in which a navigation device is applied to a vehicle according to an embodiment of the present invention;
3 is a flowchart illustrating a process of providing a navigation service in a satellite navigation shadow area according to an embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

An embodiment of the present invention relates to a navigation apparatus and method for continuously estimating a current position and providing a navigation service using an auxiliary sensor and terrain information in a satellite navigation shadowed area.

1 is a diagram illustrating a configuration of a navigation device for providing a navigation service in a satellite navigation shadow area according to an embodiment of the present invention.

Referring to FIG. 1, the navigation device 100 includes an auxiliary sensor 110, a sensor information collecting unit 120, a sensor information processing unit 130, a terrain information storing unit 140, a terrain information checking unit 150, and satellite navigation. The unit 160 and the positioning unit 170 is included.

The satellite navigation unit 160 receives satellite signals from the navigation satellites, checks the position of a mobile device (for example, a user holding a vehicle, a ship, and a navigation device) including the navigation device 100, and determines the location of the navigation unit 170. To provide.

The auxiliary sensor 110 senses sensor information for calculating a rotation angle and a moving distance of the moving object as an auxiliary means of the navigation apparatus 100. The auxiliary sensor 110 may include one rotation sensor for calculating the rotation angle and one distance sensor for calculating the movement distance. In this case, the rotation sensor may be a gyroscope, and the distance sensor may be one of an acceleration sensor, a speed measurement sensor, and a distance measurement sensor.

The sensor information collector 120 collects sensor information sensed by the auxiliary sensor 110 and provides the sensor information to the sensor information processor 130.

The sensor information processor 130 analyzes and processes the sensor information collected by the auxiliary sensor 110 so that the position determiner 170 can determine a position in the shaded area, and calculates a rotation angle and a moving distance of the moving object. For example, if the distance sensor of the auxiliary sensor 110 is an acceleration sensor, the sensor information processing unit 130 calculates the speed by integrating the acceleration measurement value, and calculates the moving distance by integrating the speed again. If the distance sensor of the auxiliary sensor 110 is a speed measuring sensor, the sensor information processing unit 130 calculates the moving distance by integrating the measured speed. If the rotation sensor of the auxiliary sensor 110 is a gyroscope, the sensor information processor 130 calculates a rotation amount of the moving body based on the measured data, and calculates a rotation angle using the rotation amount.

The terrain information storage unit 140 stores terrain information corresponding to each location. For example, it stores data that can be compared with sensor information sensed through the auxiliary sensor 110, such as the rotation angle and the radius of rotation of a particular intersection.

The terrain information verification unit 150 checks the terrain information corresponding to the most recently confirmed position of the moving object in the terrain information storage unit 140 and provides the terrain information to the position determining unit 170. In this case, the terrain information checking unit 150 may convert and provide the terrain information so that the terrain information may be compared with the rotation angle or the moving distance calculated through the sensor information.

The location determiner 170 determines the identified location corresponding to the final location of the moving object and outputs the confirmed location on the map.

The positioning unit 170 determines the position measured by the satellite navigation unit 160 as the confirmed position when the satellite navigation unit 160 operates normally. However. If the satellite navigation unit 160 does not operate normally due to a shaded area such as a tunnel, a forest of forest, or an underground road, the positioning unit 170 temporarily moves the moving object reflecting the rotation angle and the moving distance based on the most recently confirmed position. If the location is checked and the temporary location matches the terrain information, the temporary location is determined as the identified location of the moving object.

In more detail, the location determiner 170 may match the temporary location with the terrain information and determine the temporary location as the identified location when the temporary location matches the road of the terrain information. Alternatively, the location determiner 170 may determine the determined location by matching the temporary location with the terrain information and correcting the temporary location to match the road when the temporary location is adjacent to the road of the terrain information by a predetermined distance. .

When the positioning unit 170 continuously determines the confirmed position using the sensor information, it may be difficult to accurately measure an accurate position due to an error accumulated over time. In order to solve this problem, the terrain information includes the radius of rotation of the road and the amount of rotation. In addition, the positioning unit 170 may accumulate the error by initializing the auxiliary sensor 110 when the temporary position determines the confirmed position by matching the terrain information, such as when the moving object passes through the corresponding point or when it matches the road. Reduce

Therefore, when the position determination unit 170 determines the confirmed position or receives an initialization request from the position determination unit 170, the auxiliary sensor 110 initializes the sensor information of the auxiliary sensor 110 and checks the most recent confirmation. Sensor information from the location is sensed.

2 is a diagram illustrating an example in which a navigation apparatus is applied to a vehicle according to an exemplary embodiment.

Referring to FIG. 2, the vehicle 210 having the navigation apparatus 100 may include a gyroscope 220 and an acceleration sensor 230 as examples of the auxiliary sensor 110. 2 illustrates an axial direction in which the gyroscope 220 and the acceleration sensor 230 sense.

The gyroscope 220 is positioned along the Z axis of the coordinate axis to detect the rotation angle of the vehicle 210. The acceleration sensor 230 is used to measure the distance by measuring the acceleration in the X-axis direction. In the embodiment of FIG. 2, the acceleration sensor 230 is used, but when the distance measuring device or the speed measuring device, which is an internal device of the vehicle 210, is connected, the moving distance of the vehicle 210 may be calculated using the distance measuring device or the speed measuring device. Can be.

Although it is difficult to carry out navigation with only two measurements of rotation angle and travel distance, navigation performance can be maintained even in shaded area by using additional terrain information.

Hereinafter, a navigation service method in a satellite navigation shadow area using an auxiliary sensor and terrain information according to the present invention configured as described above will be described with reference to the accompanying drawings.

3 is a flowchart illustrating a process of providing a navigation service in a satellite navigation shadow area according to an embodiment of the present invention.

Referring to FIG. 3, the navigation apparatus 100 receives satellite signals from the navigation satellites in step 310 to identify the position of the moving object to provide a satellite navigation service.

In operation 312, the navigation apparatus 100 checks whether the satellite navigation performance is normal. If the result of step 312 confirms that the satellite navigation performance is normal, the navigation apparatus 100 returns to step 310 to continue providing the satellite navigation service.

If the satellite navigation performance is not normal in step 312, the navigation apparatus 100 collects sensor information from the auxiliary sensor 110 in step 314.

In operation 316, the navigation apparatus 100 confirms the terrain information corresponding to the most recently confirmed position of the moving object. In this case, the identified position refers to the position of the moving object identified through the satellite signals received from the navigation satellites or the position of the moving object determined using the calculated rotation angle and the calculated moving distance without the satellite signal.

In operation 318, the navigation apparatus 100 analyzes or processes sensor information to calculate a rotation angle of the moving object.

In operation 320, the navigation apparatus 100 analyzes or processes sensor information to calculate a moving distance of the moving object. At this time, the navigation device 100 calculates the moving distance by integrating the measured speed, if the auxiliary sensor 110 is a speed measuring sensor. And, if the auxiliary sensor 110 is an acceleration sensor, the navigation device 100 calculates the speed by integrating the acceleration measurement value, and calculates the moving distance by integrating the speed again.

In operation 322, the navigation apparatus 100 checks the temporary position of the moving object reflecting the rotation angle and the moving distance based on the position most recently identified, and matches the temporary position with the terrain information.

In operation 324, the navigation apparatus 100 checks whether the satellite navigation performance returns to normal. When the satellite navigation performance is restored to normal as a result of step 324, the navigation apparatus 100 returns to step 310 to provide satellite navigation service.

If the satellite navigation performance is not restored to normal as a result of step 324, the navigation apparatus 100 checks whether the temporary location matches the terrain information as a result of matching the temporary location with the terrain information in step 326.

If the result of the check in step 326 is not the section where the temporary location matches the terrain information, the navigation apparatus 100 returns to step 314 and repeats a series of processes thereafter.

In operation 326, if the temporary location corresponds to the terrain information, the navigation apparatus 100 determines the temporary location as the confirmed location in step 328.

In this case, the temporary location and the terrain information coincide with each other means that the temporary location matches the road of the terrain information or the temporary location is adjacent to the road of the terrain information by a predetermined distance.

Therefore, the navigation apparatus 100 may match the temporary location to the terrain information and determine the temporary location as the identified location when the temporary location matches the road of the terrain information. Alternatively, the navigation apparatus 100 may match the temporary location with the terrain information, and when the temporary location is adjacent to the road of the terrain information by a predetermined distance, may correct the temporary location to match the road and determine the determined location.

The navigation apparatus 100 initializes sensor information in step 330 and returns to step 314.

Methods according to an embodiment of the present invention can be implemented in the form of program instructions that can be executed by various computer means and recorded in a computer readable medium. The computer readable medium may include program instructions, data files, data structures, etc. alone or in combination. Program instructions recorded on the media may be those specially designed and constructed for the purposes of the present invention, or they may be of the kind well-known and available to those having skill in the computer software arts.

As described above, the present invention has been described by way of limited embodiments and drawings, but the present invention is not limited to the above embodiments, and those skilled in the art to which the present invention pertains various modifications and variations from such descriptions. This is possible.

Therefore, the scope of the present invention should not be limited to the described embodiments, but should be determined not only by the claims below but also by the equivalents of the claims.

100; Navigation device
110; Auxiliary sensor
120; Sensor information collection unit
130; Sensor Information Processing Unit
140; Terrain information storage unit
150; Terrain information confirmation unit
160; Satellite navigation
170; Positioning unit

Claims (16)

An auxiliary sensor for sensing sensor information for calculating a rotation angle and a moving distance of the moving object;
A sensor information processor configured to analyze the sensor information to calculate the rotation angle and the movement distance of the moving object;
A terrain information storage unit for storing terrain information corresponding to each location;
A terrain information checking unit for checking the terrain information corresponding to the most recently identified position of the moving object in the terrain information storage unit; And
Check the temporary position of the moving object reflecting the rotation angle and the moving distance based on the most recently identified position in the shadowed area of the satellite signal, and if the temporary position coincides with the terrain information, the temporary position of the moving object Including a positioning unit to determine the identified position
Navigation device.
The method of claim 1,
The identified position is,
Characterized in that the position of the mobile body or the position of the mobile body determined by the positioning unit is confirmed through the satellite signals received from the navigation satellites
Navigation device.
The method of claim 1,
The positioning unit,
Matching the temporary location to the terrain information and determining the temporary location as the identified location when the temporary location matches the road of the terrain information.
Navigation device.
The method of claim 1,
The positioning unit,
Matching the temporary location to the terrain information and correcting the temporary location to correspond to the road when the temporary location is adjacent to the road of the terrain information by a predetermined distance to determine the identified location;
Navigation device.
The method of claim 1,
The positioning unit,
Outputting the identified position on a map as the position of the moving object.
Navigation device.
The method of claim 1,
The auxiliary sensor,
The sensor information is initialized when the determined position is determined.
Navigation device.
The method of claim 1,
The auxiliary sensor,
And a distance sensor for calculating the rotation distance and a rotation sensor for calculating the rotation angle.
Navigation device.
The method of claim 1,
The rotation sensor,
Characterized by a gyroscope
Navigation device.
The method of claim 1,
The distance sensor,
At least one of an acceleration sensor, a speed measuring sensor, and a distance measuring sensor
Navigation device.
Identifying topographic information corresponding to the most recently identified position of the moving object;
Sensing sensor information for calculating a rotation angle and a moving distance of the moving object;
Analyzing or processing the sensor information to calculate the rotation angle of the moving object;
Analyzing or processing the sensor information to calculate the moving distance of the moving object;
Confirming a temporary position of the movable body reflecting the rotation angle and the moving distance based on the most recently identified position; And
Determining the temporary position as the identified position of the moving object if the temporary position matches the terrain information;
How to Provide Navigation Services.
The method of claim 10,
The identified position is,
Characterized in that the position of the mobile body identified through the satellite signals received from the navigation satellites or the position of the mobile body determined using the rotation angle and the moving distance
How to Provide Navigation Services.
The method of claim 10,
Determining the identified position,
Matching the temporary location to the terrain information and determining the temporary location as the identified location when the temporary location matches the road of the terrain information.
How to Provide Navigation Services.
The method of claim 10,
Determining the identified position,
Matching the temporary location to the terrain information and correcting the temporary location to correspond to the road when the temporary location is adjacent to the road of the terrain information by a predetermined distance to determine the identified location;
How to Provide Navigation Services.
The method of claim 10,
Outputting the identified location on a map when the identified location is determined;
How to Provide Navigation Services.
The method of claim 10,
Initializing the sensor information when the identified position is determined;
How to Provide Navigation Services.
The method of claim 10,
The sensor information,
Characterized in that the information of the rotation sensor for calculating the rotation angle and the distance sensor for calculating the moving distance
How to Provide Navigation Services.

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