KR101799876B1

KR101799876B1 - DGNSS(Differential Global Navigation Satellite System)-BASED POSITIONING METHOD AND GNSS RECEIVER USING THE SAME

Info

Publication number: KR101799876B1
Application number: KR1020160016409A
Authority: KR
Inventors: 박관동; 김상현
Original assignee: 인하대학교 산학협력단
Priority date: 2016-02-12
Filing date: 2016-02-12
Publication date: 2017-11-22
Also published as: KR20170094988A

Abstract

A DGNSS positioning method according to the present invention includes: extracting a pseudo range based on GNSS data received from a plurality of GNSS satellites; Receiving a first correction value calculated in the reference station; Calculating a first elevation angle and a second elevation angle corresponding to the reference station and the reception position, respectively; And generating the second correction value at the receiving position by applying the first and second altitude angles to the first correction value.

Description

A DGNSS positioning method and a GNSS receiver using the same (DGNSS (Differential Global Navigation Satellite System) -BASED POSITIONING METHOD AND GNSS RECEIVER USING THE SAME}

An embodiment according to the concept of the present invention relates to a DGNSS positioning method and a GNSS receiver using the same, and more particularly, to a DGNSS positioning method using an altitude of a satellite and a GNSS receiver using the positioning method.

The Global Navigation Satellite System (GNSS) is a set of systems for locating targets and providing visual information using multiple satellites and terrestrial receivers. Examples of GNSS include Global Positioning System (GPS) in the United States, GLOASS NAvigation Satellite System in Russia, Galileo in Europe, Beidou Satellite in China, and Quasi-Zenith Satellite System (QZSS) in Japan. ). GNSS is used not only for navigation of aircraft, vehicles, ships, but also for industrial fields such as surveying, mapping, and construction. Recently, GNSS is used in all fields requiring location information. As a result, users need high accuracy.

Among the GNSS positioning methods, DGNSS (Differential Global Navigation Satellite System) is a method of improving the positioning accuracy by receiving the correction information for each satellite from the reference station and correcting the positioning error at the user position. The DGNSS method includes a single reference station-based positioning method using correction information provided from one reference station and a multiple reference station-based positioning method using correction information provided from a plurality of reference stations.

A single reference station based positioning method can efficiently remove the pseudo error component when the user is located close to the reference station. However, as the position of the user moves away from the reference station, the correlation of the error components decreases, The degree of improvement can be reduced.

On the other hand, since the positioning method based on multiple reference stations can be applied to the positioning by taking into consideration the correlation of the correction information provided from a plurality of reference stations, a relatively high positioning accuracy can be obtained even if the positioning method moves away from the reference station. However, if the position of the specific reference stations is not a position applicable to the calculation of the correction value at the user position, it is difficult to improve the positioning accuracy. In other words, there are restrictions on the number and position of reference stations in the positioning method based on multiple reference stations.

Therefore, in a positioning method based on a single reference station, it is necessary to obtain a high positioning accuracy with correction information of a reference station located at a long distance.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a DGNSS positioning method capable of maintaining a high positioning accuracy using an altitude angle of a satellite and a GNSS receiver using the same.

A DGNSS positioning method according to an embodiment of the present invention includes: extracting a pseudo range based on GNSS data received from a plurality of GNSS satellites; Receiving a first correction value calculated in the reference station; Calculating a first elevation angle and a second elevation angle corresponding to the reference station and the reception position, respectively; And generating the second correction value at the receiving position by applying the first and second altitude angles to the first correction value.

According to an embodiment, the first elevation angle is an angle between the reference station and the plurality of GNSS satellites, and the second elevation angle is an angle between the receiving location and the plurality of GNSS satellites.

According to an embodiment, the second correction value is generated by applying a sine function to the first and second altitude angles.

According to an embodiment, the second correction value is

Theta ref is the first elevation angle, thetauser is the second elevation angle, and PRCref is the first correction value.

According to an embodiment, the DGNSS positioning method further comprises correcting the pseudo range in accordance with the second correction value at the reception position.

A GNSS receiver according to an embodiment of the present invention includes: a GNSS data receiver for receiving GNSS data from a plurality of Global Navigation Satellite System (GNSS) satellites; A pseudo range extracting unit for extracting a pseudorange based on the GNSS data; An altitude angle calculating unit for calculating a first altitude angle and a second altitude angle corresponding to each of the reference station and the receiving position; And a correction unit that receives the first correction value calculated by the reference station and generates the second correction value at the reception position by applying the first and second altitude angles to the first correction value.

According to the DGNSS positioning method and the GNSS receiver using the DGNSS positioning method according to the embodiment of the present invention, high positioning accuracy can be maintained even if the base line distance is increased by regenerating the pseudo range correction value at the reception position using the altitude angle of the satellite.

1 is a diagram for explaining a correlation between an altitude angle and a correction value.
2 is a schematic block diagram illustrating a GNSS positioning system in accordance with an embodiment of the present invention.
3 is a block diagram illustrating the GNSS receiver shown in FIG.
4 is a diagram for explaining the operation of the GNSS receiver shown in FIG.
5 is a flowchart illustrating a DGNSS positioning method of a GNSS receiver according to an embodiment of the present invention.
6 is a block diagram of a GPS system including the GNSS receiver shown in FIG.

Specific structural and functional descriptions of embodiments according to the concepts of the present invention disclosed in this specification or application are merely illustrative for the purpose of illustrating embodiments in accordance with the concepts of the present invention, The examples may be embodied in various forms and should not be construed as limited to the embodiments set forth herein or in the application.

Embodiments in accordance with the concepts of the present invention can make various changes and have various forms, so that specific embodiments are illustrated in the drawings and described in detail in this specification or application. It is to be understood, however, that it is not intended to limit the embodiments according to the concepts of the present invention to the particular forms of disclosure, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

The terms first and / or second, etc. may be used to describe various elements, but the elements should not be limited by the terms. The terms are intended to distinguish one element from another, for example, without departing from the scope of the invention in accordance with the concepts of the present invention, the first element may be termed the second element, The second component may also be referred to as a first component.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between. Other expressions that describe the relationship between components, such as "between" and "between" or "neighboring to" and "directly adjacent to" should be interpreted as well.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, the terms "comprises" or "having", etc. are intended to specify the presence of stated features, integers, steps, operations, elements, parts or combinations thereof, , Steps, operations, components, parts, or combinations thereof, as a matter of principle.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the contextual meaning of the related art and are to be interpreted as ideal or overly formal in the sense of the art unless explicitly defined herein Do not.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, the present invention will be described in detail with reference to the preferred embodiments of the present invention with reference to the accompanying drawings.

1 is a view for explaining a correlation between an elevation angle and a correction value. The altitude angle means the angle with respect to the satellite from the horizon and the correction value means the difference value between the observed value and the actual distance to the satellite in the reference station. As the altitude angle decreases, the distance required for the GPS (Global Positioning System) signal to pass through the atmosphere increases, so that the error in the signal transmission path becomes relatively large.

In FIG. 1, changes in elevation angle and correction values with time in the Ulleungdo reference station are shown in a graph. The graph on the left shows the results for the PRN 25 satellite and the graph on the right shows the results for the PRN 29 satellite.

Referring to FIG. 1, the absolute value of the correction value increases as the altitude angle decreases, and the absolute value of the correction value decreases as the altitude angle increases. That is, it can be seen that the correction amount is larger as the altitude angle is lower. In addition, it can be seen that the correction value changes abruptly when the altitude angle is low, and the correction value changes relatively slowly when the altitude angle is high.

Therefore, a positioning method of DGNSS (Differential GNSS) in a Global Navigation Satellite System (GNSS) receiver according to an embodiment of the present invention will be described below based on the correlation between the altitude angle and the correction value.

2 is a schematic block diagram illustrating a GNSS positioning system in accordance with an embodiment of the present invention. Referring to FIG. 2, the GNSS positioning system 1 includes a GNSS satellite 10, a reference station 20, and a GNSS receiver 100.

The GNSS satellite 10 transmits the GNSS data to the reference station 20 and the GNSS receiver 100.

The reference station 20 generates the pseudorange correction value D based on the GNSS data received from the GNSS satellite 10 and transmits the generated pseudorange correction value D to the GNSS receiver 100. [

Hereinafter, the pseudo range correction value D will be referred to simply as a correction value, and the GNSS receiver 100 will be referred to simply as a receiver.

The receiver 100 extracts pseudoranges based on the GNSS data received from the GNSS satellite 10. At this time, the pseudo range is the distance between the GNSS satellite 10 and the receiver 100. The pseudo range may be an approximate value calculated by the GNSS data received from the GNSS satellite 10 and may include an error factor (e.g., measurement noise, propagation delay, etc.).

Further, the receiver 100 receives the correction value D from the reference station 20. The reference station 20 can transmit the calculated correction value D to the receiver 100 through a predetermined radio communication method. The wireless communication method may be, for example, DMB (Digital Multimedia Broadcasting Digital Multimedia Broadcasting) or a mobile communication method (e.g., 2, 3, or 4th generation mobile communication method), but is not limited thereto.

One or more transmission devices (not shown) may be added between the reference station 20 and the receiver 100 to transmit the correction value D to the receiver 100 using a predetermined radio communication scheme. For example, a transmission apparatus (not shown) may receive the correction value D from the reference station 20 by wire or wirelessly, transmit the correction value D to the predetermined radio communication system, and transmit the correction value D to the receiver 100.

The reference station 20 may transmit the calculated correction value D to the receiver 100 via the Internet network, and the transmission method is not limited thereto.

The receiver 100 regenerates the correction value at the reception position (i.e., the position of the receiver 100) based on the correction value D and corrects the pseudo distance according to the correction value at the reception position, Can be calculated.

3 is a block diagram illustrating the GNSS receiver shown in FIG. 4 is a diagram for explaining the operation of the GNSS receiver shown in FIG. 2 to 4, the GNSS receiver 100 includes a GNSS data receiving unit 110, a pseudo range extracting unit 120, a correcting unit 130, an altitude angle calculating unit 140, and a position information calculating unit 150).

The GNSS data reception unit 110 receives the GNSS data G_DATA from the GNSS satellite 10 and outputs the received GNSS data G_DATA.

The pseudo range extracting unit 120 receives the GNSS data G_DATA from the GNSS data receiving unit 110, extracts pseudoranges from the GNSS data G_DATA, and outputs the extracted pseudoranges.

The correction unit 130 receives the correction value D from the reference station 20.

4, the altitude angle calculator 140 calculates the altitude angle of the GNSS satellite 10 at the first altitude angle corresponding to the reference station 20 and the receiver 100, respectively, and outputs the calculated first elevation angle? ref and second elevation angle? user to the correcting unit 130. The first elevation angle? ref and the second elevation angle?

Here, the first altitude angle? Ref is an angle between the reference station 20 on the horizon plane and the GNSS satellite 10, and the second altitude angle? User is the angle between the receiver 100 position on the horizon plane and the GNSS satellite 10 .

The correction unit 130 generates the correction value PRCuser at the reception position by applying the first elevation angle? Ref and the second elevation angle? User to the correction value D calculated by the reference station 20. At this time, the correction value PRCuser may be generated by applying a sine function to the first elevation angle? Ref and the second elevation angle? User.

According to the embodiment, the correction value PRCuser at the reception position can be generated using Equation (1).

At this time,? Ref is the first altitude angle,? User is the second altitude angle, and PRCref is the correction value D calculated by the reference station 20.

The position information calculation unit 150 corrects the pseudo distance extracted from the GNSS data (G_DATA) based on the generated correction value (PRCuser) to calculate position information at the reception position.

5 is a flowchart illustrating a DGNSS positioning method of a GNSS receiver according to an embodiment of the present invention. 2 to 5, the pseudo range extracting unit 120 extracts pseudoranges from the GNSS data G_DATA received from a plurality of GNSS satellites (S210).

The correction unit 130 receives the first correction value D calculated from the reference station 20 from the reference station 20 (S220).

The altitude angle calculation unit 140 calculates a first altitude angle and a second altitude angle corresponding to the reference station and the reception position, respectively, for a plurality of GNSS satellites (S230).

The correcting unit 130 generates a second correction value at the receiving position by applying the first altitude angle and the second altitude angle to the first correction value D calculated by the reference station 20 at step S240.

The position information calculation unit 150 corrects the pseudo distance extracted from the GNSS data (G_DATA) based on the second correction value (S250). That is, since the GNSS receiver 100 according to the embodiment of the present invention can obtain higher positioning accuracy than the existing DGNSS positioning method, the position information with improved accuracy at the current position can be calculated.

6 is a block diagram of a GPS system including the GNSS receiver shown in FIG.

2 and 6, the GPS system 300 may be implemented as a cellular phone, a smart phone, a personal digital assistant (PDA), a navigation device, or a wireless communication device .

The GPS system 300 may include a GNSS receiver 100, a processor 310, a display 320, a memory controller 330, a memory device 340 and an input device 350.

Receiver 100 receives GNSS data from GNSS satellite 10 via antenna ANT and receives corrections from reference station 20. At this time, the receiver 100 may receive the correction value from the reference station 20 via an antenna other than the antenna ANT for receiving the GNSS data.

Receiver 100 may calculate position information based on GNSS data and corrections and may change position information to a signal that can be processed in processor 310. [

The processor 310 may process the signals output from the receiver 100, the memory device 340, and the input device 350. The processor 310 may control the operation of the display 320 to cause the processed signal to be displayed through the display 320 and control the memory controller 330 to cause the processed signal to be stored in the memory device 340. [

The display 320 may display the processed signal at the processor 310.

The memory controller 330 may control the data access operation of the memory device 340 under the control of the processor 310.

The memory device 340 may be implemented as static random access memory (SRAM), dynamic RAM (DRAM), or a non-volatile memory device such as a flash memory.

The input device 350 is a device capable of inputting a control signal for controlling the operation of the processor 310 or data to be processed by the processor 310 and includes a touch pad and a computer mouse May be implemented with the same pointing device, keypad, or keyboard.

In accordance with an embodiment, the memory controller 330, which may control the operation of the memory device 340, may be implemented as part of the processor 310 and may also be implemented as a separate chip from the processor 310. [

According to the GPS system 300 according to the embodiment of the present invention, the position information calculated by the receiver 100 can be displayed through the display 320 under the control of the processor 310. The position information calculated by the receiver 100 may be output in various manners. For example, when the GPS system 300 has a navigation function, the location information may be output through the display 320 in combination with map information. However, the embodiment of the present invention is not limited thereto.

Table 1 is a table comparing positioning results according to an embodiment of the present invention with existing positioning results. Unlike the method of correcting the pseudo range value based on the correction value regenerated using the altitude angle of the satellite according to the embodiment of the present invention, the existing positioning method corrects the pseudo range value based on the correction value received from the reference station Means a method of performing positioning.

In Table 1, a single station (Ulleungdo, Ulleungdo, YNDO, SOCH, GEOM, GAGE, and MARA) And the positioning results were analyzed. The positioning accuracy was compared using RMSE (Root-Mean-Square Error).

Referring to Table 1, it can be confirmed that the positioning error increases as the base line distance between the reference station and the reception position increases as a result of the DGPS (Differential Global Positioning System) positioning result.

On the other hand, according to the embodiment of the present invention, improved DGPS positioning results show improved accuracy in positioning accuracy compared to existing positioning methods because the horizontal (H) and vertical (V) errors are mostly improved. In other words, it can be seen that the positioning result is highly accurate even though the reception position is about 200 to 500 km away from the reference station.

Table 2 shows the accuracy improvement rate of the positioning accuracy of the DGPS scheme according to the embodiment of the present invention compared to the existing DGPS scheme.

Table 2 compares based on the accuracy improvement rate (Irate) calculated using Equation (2) to evaluate the accuracy improvement effect with baseline distance.

In Equation (2), RMSEo denotes the positioning error of the existing DGPS, and RMSEi denotes the positioning error of the DGPS according to the embodiment of the present invention. In addition, the accuracy improvement rate (Irate) can be calculated by using the data of Ulleungdo (Ulle), YNDO, SOCH, GEOM, GAGE, Marado MARA) based on the results of DGPS positioning.

Referring to Table 2, in the case of the DGPS positioning method according to the embodiment of the present invention, it can be seen that the longer the baseline distance, the higher the accuracy improvement rate. Also, it can be seen that the positioning accuracy is improved up to 64%. That is, even if the base line distance is long, it can be seen that the positioning result is highly accurate.

However, in the case of using the correction values of the Ulleungdo (ULLE) reference station and the correction values of the YNDO reference station for the GOJE stationary station for the WULJ station, the positioning accuracy improvement rate is negative . This is because WULJ, Ulleung, GOJE and YNDO are located at a relatively short distance, so that it is possible to obtain high accuracy even using the existing DGPS positioning method. When the reception position and the reference station position are adjacent to each other, since the error component included in the observation data at each reception position is very similar to the error component included in the correction value generated at each reference station, even if the embodiment of the present invention is applied It is considered that the positioning accuracy is not improved because the influence of the probability error is relatively large.

Therefore, it can be seen that the DGPS positioning method according to the embodiment of the present invention has a greater effect as the base line distance increases.

The above-described embodiments of the present invention may be implemented by hardware, software, or a combination thereof. In addition, the GPS positioning method according to the embodiment of the present invention can be implemented in the form of a program command which can be executed through various computer means and recorded in a computer-readable medium. The term " computer " includes any type of electronic apparatus including a central processing unit (CPU), such as a mobile communication terminal, a smart phone, a notebook, a netbook, a PDA, and the like. The above-described GPS system 300 corresponds to this.

The computer-readable medium may include program instructions, data files, data structures, and the like, alone or in combination. The program instructions recorded on the medium may be those specially designed and configured for the present invention or may be available to those skilled in the art of computer software. Examples of computer-readable media include magnetic media such as hard disks, floppy disks and magnetic tape; optical media such as CD-ROMs and DVDs; magnetic media such as floppy disks; Includes hardware devices specifically configured to store and execute program instructions such as magneto-optical media and ROM, RAM, flash memory, and the like. Examples of program instructions include machine language code such as those generated by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the present invention, and vice versa.

The program is stored in a server, and may be downloaded wirelessly or by wire from the GPS system 300. [ The downloaded program may be stored in the memory device 340 of the GPS system 300 and executed by the processor 310. [

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that 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. I will understand. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

One; GNSS positioning system
10; GNSS satellite
20; Reference station
100; GNSS receiver
110; GNSS data receiver
120; Pseudo range extractor
130; [0040]
140; Altitude angle calculating section
150; The position information calculation unit

Claims

Extracting pseudoranges based on GNSS data received from a plurality of Global Navigation Satellite System (GNSS) satellites;
Receiving a first correction value calculated in the reference station;
Calculating a first elevation angle and a second elevation angle corresponding to the reference station and the reception position, respectively; And
And applying the first and second altitude angles to the first correction value to generate a second correction value at the receiving position,
The second correction value

Wherein the? Ref is the first altitude angle, the? User is the second altitude angle, the PRCref is the first correction value,
Wherein the first elevation angle is an angle between the reference station and the plurality of GNSS satellites, and the second elevation angle is an angle between the receiving location and the plurality of GNSS satellites.

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The DGNSS positioning method according to claim 1,
And correcting the pseudo range in accordance with the second correction value at the reception position.

A GNSS data receiver for receiving GNSS data from a plurality of Global Navigation Satellite System (GNSS) satellites;
A pseudo range extracting unit for extracting a pseudorange based on the GNSS data;
An altitude angle calculating unit for calculating a first altitude angle and a second altitude angle corresponding to each of the reference station and the receiving position; And
And a correction unit that receives the first correction value calculated by the reference station and generates the second correction value at the reception position by applying the first and second altitude angles to the first correction value,
The correction unit

Wherein the second correction value is generated using the second correction value, the? Ref is the first elevation angle, the? User is the second elevation angle, the PRCref is the first correction value,
Wherein the first elevation angle is an angle between the reference station and the plurality of GNSS satellites and the second elevation angle is an angle between the receiving location and the plurality of GNSS satellites.

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