KR102102398B1 - Apparatus and method for making navigation performance evaluation in real time - Google Patents

Abstract

According to various embodiments of the present invention, provided are an apparatus of evaluating real-time navigation performance and a method thereof. According to the present invention, the apparatus of evaluating real-time navigation performance comprises: a first communication interface which receives first NMEA information, in real time, from a reference apparatus generating the first NMEA information by using a global navigation satellite system (GNSS) and an inertial navigation system (INS); a second communication interface which receives second NMEA information, in real time, from a navigation terminal which is the subject of a test; an input/output interface which is connected to a display apparatus; and a processor which controls the first and the second communication interfaces and the input/output interface. The processor is configured to evaluate, in real time, the position determination performance of the navigation terminal, which is the subject of the test, based on the first NMEA information and the second NMEA information received from a first point of time designated by the user up until now, and to display the position determination performance in the performance display area of the display apparatus. The position determination performance includes accuracy, integrity, and usability in position determination.

Description

Apparatus and method for making navigation performance evaluation in real time}

The present invention relates to an apparatus and method for evaluating real-time navigation performance, and more specifically, to a device, method, and computer program for real-time evaluation of the positioning performance of a navigation terminal under test connected to a reference device and a navigation terminal under test will be.

Techniques are being developed to accurately determine the location of a lane. For example, in the research on the practical use of traffic infrastructure technology for precise positioning of lanes, for example, one cluster is composed of four regional receivers, and the reception information of the satellite navigation system (GPS) of each regional receiver is used in the cluster. Valid correction information can be generated. Such correction information is broadcast in a corresponding cluster using, for example, Transport Protocol Expert Group (TPEG) of Digital Multimedia Broadcasting (DMB). The navigation terminal located in the corresponding cluster can receive the correction information through the DMB receiver and apply the correction information to the positioning algorithm to perform precise location determination to a level capable of distinguishing lanes.

In this study, it is important to evaluate how accurately the navigation terminal is determining its location. In order to accurately determine the current location of the navigation terminal, a method of comparing the actual location with the location determined by the navigation terminal after moving the navigation terminal to a location where the location is known in advance may be used. However, this method cannot be used while the navigation terminal is installed in a vehicle or the like and is moving together with the vehicle.

Accordingly, there is a need for an apparatus and method for evaluating the performance of a navigation terminal installed in a moving vehicle or the like in real time.

The problem to be solved by the present invention is to provide an apparatus, method and computer program for evaluating the performance of a navigation terminal installed in a moving vehicle or the like in real time.

An apparatus for evaluating real-time navigation performance according to an aspect of the present invention includes the above-described apparatus from a reference device for generating first NMEA information using a global navigation satellite system (GNSS) and an inertial navigation system (INS). 1 A first communication interface that receives NMEA information in real time, a second communication interface that receives second NMEA information in real time from a navigation terminal under test, an input / output interface connected to a display device, and the first and second communication interfaces And a processor that controls the input / output interface. The processor evaluates the positioning performance of the navigation terminal under test in real time based on the first NMEA information and the second NMEA information received from the first time point specified by the user to the present, and evaluates the positioning performance. It is configured to display in the performance display area of the display device. The positioning performance includes positioning accuracy, positioning integrity and positioning availability.

According to an example, the navigation terminal under test receives satellite signals from GNSS satellites, receives pseudorange measurement correction information and integrity information from a DGPS (Differential Global Positioning System), and the satellite signals The precision location information may be calculated using the field and the correction information, and the HPL (horizontal protection level) value may be calculated using the integrity information. The processor may receive the second NMEA information and the HPL value including the precise location information through the second communication interface.

According to another example, the processor extracts the first location trajectory determined by the reference device from the first NMEA information received from the first time to the present, and the second NMEA information received from the first time to the present It may be configured to extract a second location trajectory determined by the navigation terminal under test, and display the first location trajectory and the second location trajectory on a map area of the display device.

According to another example, the processor displays a precision electronic map in which the lane is divided in the map area, and extracts the current location determined by the navigation terminal under test from the second NMEA information, and the precision electronic map. A circle having the HPL value as a radius based on the current location of the image may be displayed on the map area.

According to another example, the processor is connected to a camera photographing a lane through the input / output interface to receive image information from the camera, and the processor processes the image information to identify the currently located lane based on the image. , Based on the current location on the precision electronic map, determines the currently located lane based on satellite navigation, compares the lane identified based on the image with the lane determined based on the satellite navigation, and compares the lane determined based on the satellite navigation, Positioning performance can be evaluated.

According to another aspect of the present invention, a reference device for generating first NMEA information using a global navigation satellite system (GNSS) and an inertial navigation system (INS) and a navigation terminal under test are connected. In addition, a method for evaluating real-time navigation performance of a computing device including a display device and a processor is provided. The method for evaluating real-time navigation performance performed by the processor includes receiving the first NMEA information from the reference device from a first time point specified by a user to the present, and from the navigation target object from the first time point to the present time. Receiving second NMEA information, evaluating the positioning performance of the navigation terminal under test in real time based on the first NMEA information and the second NMEA information, and the positioning performance evaluated in real time And displaying in the performance display area of the display device.

A computer program according to another aspect of the present invention is stored in a computer-readable storage medium for executing the real-time navigation performance evaluation method using a computer device.

According to the present invention, the performance of a navigation terminal installed in a moving vehicle can be evaluated in real time. Specifically, performance indicators such as positioning accuracy, positioning integrity, and positioning availability of the navigation terminal under test can be output in real time. In addition, by comparing the location determined by the navigation terminal under test with the actual location output by the reference equipment, the tester can easily check which environment, where and how much error there is.

In addition, by storing the location information determined by the navigation terminal under test and the actual location information output by the reference device in correspondence with each other over time, it is possible to track how the results were tested and what results were obtained later. You can.

1 is a schematic block diagram illustrating a connection configuration of a real-time navigation performance evaluation device according to an embodiment.
2 is a schematic block diagram illustrating an internal configuration of a real-time navigation performance evaluation device according to an embodiment.
3 schematically illustrates a user interface of a real-time navigation performance evaluation apparatus according to an embodiment.
4 illustrates an example of a user interface displayed on a display according to an embodiment.
5A exemplarily illustrates an NMEA output area in the user interface of FIGS. 3 and 4.
5B exemplarily shows detailed information of the second NMEA information shown in FIG. 5A.
6 exemplarily shows the performance display area in the user interface of FIGS. 3 and 4.
7 exemplarily shows a map area in the user interface of FIGS. 3 and 4.
8 exemplarily shows a history area in the user interface of FIGS. 3 and 4.
9 exemplarily shows a control area in the user interface of FIGS. 3 and 4.
10 exemplarily shows a satellite information area in the user interface of FIGS. 3 and 4.
11 exemplarily shows a camera image display area in the user interface of FIGS. 3 and 4.
12 is a flowchart illustrating a method for evaluating real-time navigation performance according to an embodiment of the present invention.

Hereinafter, various embodiments will be described in detail with reference to the accompanying drawings so that those skilled in the art to which the present invention pertains can easily practice. However, the technical spirit of the present invention can be implemented by being modified in various forms, and is not limited to the embodiments described herein. In the description of various embodiments of the present invention, when it is determined that the detailed description of related known technologies may obscure the gist of the technical spirit of the present invention, detailed descriptions of the known technologies will be omitted. Identical or similar elements will be given the same reference numbers and redundant description will be omitted.

Throughout the specification, when an element is said to be 'connected' with another element, this includes not only the case of 'directly connecting', but also the case of 'electrically connecting' with another element in between. When an element is said to 'include' another element, it means that it can include another element, not exclude another element other than the other element, unless otherwise stated.

Some embodiments may be described with functional block configurations and / or various processing steps. Some or all of the functional blocks may be implemented with various numbers of hardware and / or software configurations that perform particular functions. For example, the functional blocks of the present invention may be implemented by one or more microprocessors, or by circuit configurations for a given function. The function block may be referred to as a module that executes the function. The functional blocks of the present invention may be implemented in various programming languages or scripting languages. The functional blocks of the present invention may be implemented with algorithms executed on one or more processors. In the present invention, a function executed by one function block may be executed by a plurality of function blocks, or functions executed by a plurality of function blocks in the present invention may be performed by one function block.

The connecting lines or connecting members between the elements shown in the drawings are merely illustrative of functional connections and / or physical or circuit connections. In an actual device, connections between elements may be implemented by various functional connections, physical connections, or circuit connections that are replaceable or added.

1 is a schematic block diagram illustrating a connection configuration of a real-time navigation performance evaluation device according to an embodiment.

Referring to FIG. 1, the real-time navigation performance evaluation device 100 is connected to a reference device 141 and a navigation terminal 112. The real-time navigation performance evaluation apparatus 100 may be connected to at least one of the display 151 and the camera 152.

The reference device 141 may generate first NMEA information using a global navigation satellite system (GNSS) and an inertial navigation system (INS). The reference device 141 may be a high-performance device that outputs a user position as a reference when analyzing and evaluating positioning performance in a dynamic environment. For example, the SPAN-CPT model of NovAtel may be used as the reference device 141, but is not limited thereto, and the reference device 141 is connected to the real-time navigation performance evaluation device 100 and is first as NMEA format data. It may include any device capable of outputting NMEA information.

The reference device 141 may be connected to the real-time navigation performance evaluation device 100 through the communication interface 140 of FIG. 2. For example, the reference device 141 may be connected to the real-time navigation performance evaluation device 100 through a serial port.

The NMEA format (eg, NMEA 0183) is a standard for transmitting information such as time, location, and orientation. NMEA 0183 is defined by The National Marine Electronics Association of the United States, and data in NMEA format can be mainly used for a gyro, GPS, compass, and inertial navigation system (INS). NMEA 0183 can use ASCII and serial communication.

Through the data in the NMEA format, the type of product transmitting the NMEA data, time, latitude, longitude, altitude, information of the satellite receiving the signal, and the like can be transmitted. In addition, information on the movement speed, direction, error, etc. may be transmitted through NMEA data.

The navigation terminal 112 is an object to be tested by the real-time navigation performance evaluation device 100. The navigation terminal 112 may be referred to as a navigation terminal under test.

The navigation terminal 112 may receive satellite signals from GNSS satellites, determine its own location, and generate second NMEA information including its own location information. GNSS satellites can include the United States' GPS, Russia's GLONSS, and Europe's Galileo.

The navigation terminal 112 may receive pseudo-distance measurement correction information and integrity information from a DGPS (Differential Global Positioning System). The ground-based correction system (DGPS) is a correction system that uses a plurality of receivers located close to each other to correct the position error of the GNSS, and can obtain more accurate data by canceling out common errors of the plurality of receivers. . The ground based correction system (DGPS) can provide pseudorange measurement correction information and integrity information to GNSS terminals through geostationary satellite, DMB, wireless network, TCP / IP, and the like.

For example, in the study on the practical use of traffic infrastructure technology for precise positioning of lanes, a cluster is composed of four regional receivers, and the effective distance in the cluster is obtained by using the reception information of the satellite navigation system (GNSS) of the regional receivers. Measurement correction information and integrity information are generated. Such information is broadcast in a cluster through DMB TPEG, and the navigation terminal 142 can receive such information through a DMB receiver.

The navigation terminal 112 may determine its own precise location with errors of a few meters or less by utilizing pseudorange measurement correction information when determining its own location using satellite signals received from GNSS satellites. The second NMEA information includes a precise location determined by the navigation terminal 112.

The navigation terminal 112 may calculate an HPL (horizontal protection level) value using integrity information received from a ground-based correction system (DGPS). The HPL value can be used to evaluate the positioning integrity and availability of the navigation terminal 112. The HPL value may be calculated by the navigation terminal 112 or may be received from a Differential Global Positioning System (DGPS).

The navigation terminal 112 may be connected to the real-time navigation performance evaluation device 100 through the communication interface 140 of FIG. 2. For example, the navigation terminal 112 may be connected to the real-time navigation performance evaluation device 100 through a serial port or a USB port. The real-time navigation performance evaluation apparatus 100 may receive second NMEA information and HPL values including precise location information determined by the navigation terminal 112 through the communication interface 140.

According to another example, the real-time navigation performance evaluation apparatus 100 may directly receive pseudorange measurement correction information and integrity information from a Differential Global Positioning System (DGPS). The real-time navigation performance evaluation apparatus 100 may directly calculate the HPL value using the integrity information.

The display 151 may display information output from the real-time navigation performance evaluation device 100. The display 151 may be connected to the real-time navigation performance evaluation apparatus 100 through an input / output interface (150 in FIG. 2). According to another example, the real-time navigation performance evaluation apparatus 100 may include a display 151.

The camera 152 may provide the captured image to the real-time navigation performance evaluation apparatus 100. The camera 152 may be arranged to photograph a front or rear of a vehicle moving in a state in which the real-time navigation performance evaluation apparatus 100 is mounted. The camera 152 may photograph lanes in front of the vehicle. The camera 152 may be connected to the real-time navigation performance evaluation apparatus 100 through an input / output interface (150 in FIG. 2). According to another example, the real-time navigation performance evaluation apparatus 100 may include a camera 152.

According to another example, a plurality of cameras 152 may be connected to the real-time navigation performance evaluation device 100. One camera 152 may photograph the front or rear of the vehicle, and the other camera 152 may photograph the interior of the vehicle.

The real-time navigation performance evaluation apparatus 100 may receive the first NMEA information from the reference apparatus 141 in real time, and substantially simultaneously receive the second NMEA information from the navigation terminal 142. The real-time navigation performance evaluation apparatus 100 may evaluate the positioning performance of the navigation terminal 142 in real time based on the first NMEA information and the second NMEA information received from the first time point specified by the user to the present. The real-time navigation performance evaluation apparatus 100 may be configured to display the positioning performance of the navigation terminal 142 evaluated in real-time on the performance display area of the display 151. Here, the positioning performance can be evaluated by three indicators: positioning accuracy, positioning integrity and positioning availability.

According to the present invention, the real-time navigation performance evaluation device 100 receives first and second NMEA information from the reference device 141 and the navigation terminal 142, respectively, and based on the received first and second NMEA information. The positioning performance of the navigation terminal 142 can be output in real time. Since the positioning performance of the navigation terminal 142 is evaluated in real time, the positioning performance of the navigation terminal 142 is changed in real time by newly received first and second NMEA information as the vehicle moves. Therefore, it is possible to grasp in real time how various environmental changes such as weather, terrain, and temperature affect the positioning performance of the navigation terminal 142.

The real-time navigation performance evaluation device 100 may be various types of computing devices that can be connected to the reference device 141 and the navigation terminal 142. For example, the real-time navigation performance evaluation apparatus 100 may be a personal computer, a server computer, a notebook computer, a portable terminal, or the like.

2 is a schematic block diagram illustrating an internal configuration of a real-time navigation performance evaluation device according to an embodiment.

Referring to FIG. 2, the real-time navigation performance evaluation apparatus 100 includes a processor 110, a memory 120, a bus 130, a communication interface 140, an input / output interface 150, and a storage device 160. You can.

The processor 110 may include a central processing unit, and may be configured to process instructions of a computer program by performing basic arithmetic, logic, and input / output operations. The processor 110 may be configured to execute instructions according to program codes stored in the memory 120. The processor 110 may execute calculation or data processing related to control and / or communication of at least one other component 120-160 of the real-time navigation performance evaluation apparatus 100.

The memory 120 is a recording medium that can be read by the real-time navigation performance evaluation apparatus 100, and may include volatile and / or nonvolatile memory. An operating system (OS) of the real-time navigation performance evaluation device 100 and at least one program code may be stored in the memory 120. According to an example, the memory 120 may store program code for performing a real-time navigation performance evaluation function. The program code can be loaded from the storage device 160 into the memory 120.

The bus 130 may include circuits that connect the components 110-120, 140-160 to each other and transfer control messages or data between the components 110-120, 140-160, for example. .

The communication interface 140 may provide a function for communicating with an external device. The communication interface 140 may include a serial port or a USB port. The reference device 141 and the navigation terminal 142 may be connected to the real-time navigation performance evaluation device 100 through the communication interface 140. The communication interface 140 to which the reference device 141 is connected is referred to as a first communication interface, and the communication interface 140 to which the navigation terminal 142 is connected is referred to as a second communication interface.

The communication interface 140 may be connected to a network. The network may include one or more of a network such as a personal area network (PAN), local area network (LAN), campus area network (CAN), metropolitan area network (MAN), wide area network (WAN), broadband network (BBN), and the Internet. It can include any network. The network may include, but is not limited to, any one or more of network topologies, including bus networks, star networks, ring networks, mesh networks, star-bus networks, tree or hierarchical networks, and the like.

According to another example, the communication interface 140 may communicate with a geostationary satellite or receive DMB TPEG. The communication interface 140 may directly receive the pseudorange measurement correction information and integrity information from the ground-based calibration system (DGPS).

The input / output interface 150 delivers commands or data input from a user or other external device to other component (s) of the real-time navigation performance evaluation device 100, or other components of the real-time navigation performance evaluation device 100 ( The command or data received from (s) may be output to the user or another external device.

The input / output interface 150 may output the positioning performance of the navigation terminal 142 evaluated in real time by the processor 110. The real-time navigation performance evaluation device 100 may include an input device and / or an output device connected through the input / output interface 150. The input device may include a camera 152 as well as a keyboard and mouse, for example, and the output device may include a display 151.

The storage device 160 may include a computer-readable recording medium such as a floppy drive, a disk, a tape, a DVD / CD-ROM drive, and a memory card. The storage device 160 may store program code for performing a real-time navigation performance evaluation function according to the present invention.

The processor 110 may control the communication interface 140 to receive the first NMEA information in real time from the reference device 141 and to receive the second NMEA information from the navigation terminal 142. The processor 110 may control the input / output interface 150 to receive an input signal and transmit an output signal. The processor 110 may move data stored in the storage device 160 to the memory 120 or data stored in the memory 120 to the storage device 160. The processor 110 may store the first NMEA information and the second NMEA information in the storage device 160 or may store the result of processing the first NMEA information and the second NMEA information in the storage device 160. The processor 110 may acquire the captured image of the camera 152 by substantially synchronizing the received first NMEA information and the second NMEA information, and store the captured image of the camera 152 in the storage device 160.

The processor 110 may evaluate the positioning performance of the navigation terminal 142 in real time based on the first NMEA information and the second NMEA information received from the first time point specified by the user to the present. The processor 110 may be configured to display the positioning performance of the navigation terminal 142 evaluated in real time in the performance display area of the display 151.

3 schematically illustrates a user interface of a real-time navigation performance evaluation apparatus according to an embodiment.

4 illustrates an example of a user interface displayed on a display according to an embodiment.

3 and 4, the user interface 200 displayed on the display 151 by the processor 110 is illustrated. For example, the user interface 200 displays a menu area 210, a map area 220, a control area 230, a history area 240, a satellite information area 250, an NMEA output area 260, and a camera image. An area 270 and a performance display area 280 may be included.

The processor 110 may evaluate the positioning performance of the navigation terminal 142 in real time using the reference device 141. In addition, the processor 110 stores the first and second NMEA information received from the reference device 141 and the navigation terminal 142 in the storage device 160, and then post-processes the first and second NMEA information. The positioning performance of the navigation terminal 142 can be analyzed and evaluated by (post-processing). Since the reference device 141 and the navigation terminal 142 are directly connected to the real-time navigation performance evaluation device 100, they are located in substantially the same environment, for example, receiving satellite signals of GNSS satellites using the same antenna using a signal distributor You may.

The processor 110 may provide a user interface 200 that enables both real-time performance analysis and post-processing performance analysis. The user interface 200 may be configured to compare the performance of the reference device 141 and the navigation terminal 142 at a glance by integrating performance evaluation modules of various main functions.

A plurality of function buttons may be arranged in the menu area 210. The reference device 141 and the navigation terminal 142 may be connected to the real-time navigation performance evaluation device 100 using function buttons. The function buttons change the performance evaluation settings using the user interface 200, change the screen configuration of the user interface 200, check the performance evaluation results, or change the performance evaluation mode to either real-time mode or post-processing mode. Can be used.

One of the function buttons may perform a session connection function. Using the session connection function, the reference device 141 and the navigation terminal 142 may be connected to the real-time navigation performance evaluation device 100 using, for example, a serial port. When the reference device 141 and the navigation terminal 142 are connected to the real-time navigation performance evaluation device 100, the first NMEA information of the reference device 141 and the second NMEA information of the navigation terminal 142 evaluate the real-time navigation performance It may be received by the device 100.

The other of the function buttons may perform a performance evaluation start function. When the start performance evaluation button is activated, the positioning performance evaluation of the navigation terminal 142 may be started. When the start button for evaluating performance is deactivated, the positioning performance evaluation of the navigation terminal 142 may end. A time point when the performance evaluation start button is activated may be referred to as a first time point. The first NMEA information of the reference device 141 and the second NMEA information of the navigation terminal 142 received from the first point in time in the real-time navigation performance evaluation device 100 may be used for evaluation of the positioning performance, and the storage device 160 ).

5A exemplarily illustrates an NMEA output area in the user interface of FIGS. 3 and 4.

Referring to FIG. 5A, the NMEA output area 260 displays first NMEA information received from the reference device 141 and second NMEA information received from the navigation area 142 and the first area 261. The second region 262 is included.

As shown in FIG. 5A, the first area 261 and the second area 262 include the time (UTC), latitude, longitude, altitude, total number of satellites of the reference device 141 and the navigation terminal 142, respectively. HDOP (Horizontal Dilution of Precision), moving speed and direction are displayed.

5B exemplarily shows detailed information of the second NMEA information shown in FIG. 5A. The window 263 of FIG. 5B may be activated, for example, in response to the selection of the second region 262 of FIG. 5A. When the first area 261 of FIG. 5A is selected, a window displaying detailed information of the first NMEA information may be activated.

In addition to HDOP, PDOP and VDOP may be displayed in the window 263. In addition, the window 263 may display location information of each of the GNSS satellites where the navigation terminal 142 has received satellite signals.

6 exemplarily shows the performance display area in the user interface of FIGS. 3 and 4.

Referring to FIG. 6, the positioning precision 281, the integrity 282, and the availability 283 of the navigation terminal 142 are displayed in the performance display area 280. In addition, the number 284 of samples used for performance evaluation and the total number 285 of collected samples may be displayed on the performance display area 280.

The accuracy and integrity of the positioning performance based on the collected first and second NMEA information during driving evaluation for evaluating while moving a vehicle equipped with a real-time navigation performance evaluation device 100 in the performance display area 280 In addition, the values of performance indicators that assess availability are displayed. As the driving evaluation proceeds and the samples accumulate, the performance indicators are updated with new calculated values. The performance evaluation result for the navigation terminal 142 may be checked in real time through the performance display area 280.

The positioning precision 281 is the mean square root of the difference between the first position coordinates extracted from the first NMEA information of the reference device 141 and the second position coordinates extracted from the second NMEA information of the navigation terminal 142. It can be calculated by calculating the error. The value of the positioning precision 281 is referred to as the HPE value.

Positioning integrity 282 means the probability that the HPE value is greater than a preset threshold and the HPL (horizontal protection level) value is below the preset threshold. Here, the preset limit may be, for example, 1.5 m.

As described above, the HPL (horizontal protection level) value is calculated by the navigation terminal 112 using the integrity information received from the ground based correction system (DGPS), or the navigation terminal 112 from the ground based correction system (DGPS). ). The HPL (horizontal protection level) value may be transmitted from the navigation terminal 112.

The positioning availability 283 may mean the probability that the HPE value is equal to or less than the HPL (horizontal protection level) value and the HPL (horizontal protection level) value is less than a preset threshold.

The total number of collected samples 285 is the first and the first received by the real-time navigation performance evaluation device 100 after the reference device 141 and the navigation terminal 142 are connected to the real-time navigation performance evaluation device 100 2 may mean the total number of NMEA information.

The number of samples 284 used for performance evaluation may mean the total number of first and second NMEA information received after the performance evaluation start button is activated, that is, after the first time. Positioning precision 281, integrity 282, and availability 283 are calculated for the first and second NMEA information received after the first time point.

7 exemplarily shows a map area in the user interface of FIGS. 3 and 4.

Referring to FIG. 7, the map area 220 includes a first location trajectory 221 including a first current location 221p of the reference device 241 and a second current location 222p of the navigation terminal 242. The containing second position trajectory 222 is displayed.

The processor 110 extracts the first location trajectory 221 determined by the reference device 241 from the first NMEA information received from the first time point to the present, and navigates from the second NMEA information received from the first time point to the present time. The second location trajectory determined by the terminal 242 may be extracted. The processor 110 may be configured to display the first location trajectory 221 and the second location trajectory 222 on the map area 220 of the display 251.

As shown in FIG. 4, the map region 220 may display a precision electronic map in which a lane is divided as a background. The processor 110 may extract the second current location 222p determined by the navigation terminal 242 from the recently received second NMEA information. 4 and 7, the processor 110 displays the circle 223 having the HPL value as a radius around the second current position 222p on the precision electronic map on the map area 220. Can be configured.

Whether or not the first current position 221p is located in the circle 223 can easily grasp the current performance of the navigation terminal 224. The color of the circle 223 when the HPL value is smaller than the preset threshold and the color of the circle 223 when the HPL value is larger than the preset threshold may be different. Accordingly, it is possible to easily grasp the integrity and availability performance of the current positioning of the navigation terminal 224.

Accumulation 224 of the precision electronic map may be displayed on the map area 220.

8 exemplarily shows a history area in the user interface of FIGS. 3 and 4.

Referring to FIG. 8, first and second NMEA information received from the first time point to the present time may be arranged in the history area 240 according to a time sequence.

Logs of the first and second NMEA information stored in the storage device 160 may be displayed in the history area 240. Logs of the first and second NMEA information displayed in the history area 240 may be used in the post-processing mode.

9 exemplarily shows a control area in the user interface of FIGS. 3 and 4.

Referring to FIG. 9, the control area 230 includes a control bar 231, a number 232 of a currently played sample, a button 233 for moving a log for the first time, a play and stop button 234, and a log. Finally, a button 235 for moving and a playback speed selection button 236 are displayed.

The control area 230 is provided to evaluate the positioning performance of the navigation terminal 242 in a post-processing mode. Positioning performance may be evaluated based on logs stored in the history area 240.

When the play and stop button 234 is pressed, while the logs stored in the history area 240 are played, the performance indicators of the navigation terminal 242 reflecting the first and second NMEA information currently being played are the performance display area 280. Can be displayed on. In addition, the first location trajectory 221 and the second location trajectory 222 that reflect the first and second NMEA information currently reproduced may also be displayed on the map region 220.

Through the control bar 231, first and second NMEA information currently being played among the logs displayed in the history area 240 can be easily adjusted and displayed easily. The number of the first and second NMEA information currently being played may be displayed on the number 232 of the currently played sample. This number may be an order in which first and second NMEA information currently being reproduced among logs stored in the history area 240 are located.

The playback speed of the post-processing mode can be adjusted through the playback speed selection button 236. When the button 233 is selected, the number 232 of the currently playing sample is moved to number one, and when the button 235 is selected, the number 32 of the currently playing sample is moved to the last number.

10 exemplarily shows a satellite information area in the user interface of FIGS. 3 and 4.

Referring to FIG. 10, in the satellite information area 250, a first area 251 and a navigation terminal 142 indicating a location above each of the GNSS satellites in which the reference device 141 has received a satellite signal transmits a satellite signal. And a second area 252 indicating the location of each of the received GNSS satellites.

In the first area 251 and the second area 252, types of GNSS satellites (eg, GPS, GLONASS, Beidou) and the strength of a received signal may be displayed.

11 exemplarily shows a camera image display area in the user interface of FIGS. 3 and 4.

Referring to FIG. 11, a captured image of the camera 252 connected to the real-time navigation performance evaluation device 100 may be displayed. In this example, it is assumed that the first camera photographing the vehicle interior and the second camera photographing the vehicle front are connected to the real-time navigation performance evaluation apparatus 100.

The camera image display area 270 includes a first area 271 displaying first image information received from the first camera and a second area 272 displaying second image information received from the second camera. .

The processor 110 may be connected to the second camera through the input / output interface 150 and receive second image information from the second camera.

The processor 110 may perform lane identification image processing on the second image information, and may identify a lane in which the vehicle is currently located based on the second image information. Also, the processor 110 may determine the lane in which the vehicle is currently located based on the second current location 222p on the precision electronic map displayed on the map area 220. The processor 110 may compare the lane identified based on the second image information with the lane determined based on the location determined by the navigation terminal 142. The processor 110 determines the positioning performance of the navigation terminal 142 based on whether the lanes identified based on the second image information and the lanes determined based on the location on the precision electronic map determined by the navigation terminal 142 are identical to each other. Can be evaluated.

According to another embodiment, the processor 110 may perform lane identification image processing on the second image information, and accurately identify a lane on which the current vehicle is located and a location on the lane based on the second image information. You can. The processor 110 may evaluate the positioning performance of the navigation terminal 142 by comparing the location on the lane identified based on the image information with the location on the precision electronic map determined by the navigation terminal 142.

The processor 110 may store the first image information received from the first camera and the second image information received from the second camera in the storage device 160 to evaluate the performance of the post-processing mode.

According to the present exemplary embodiment, the processor 110 may compensate for an error of the reference device 141 by evaluating a location determined by the navigation terminal 142 by performing object identification image processing on a captured image of the camera 152. have.

12 is a flowchart illustrating a method for evaluating real-time navigation performance according to an embodiment of the present invention.

The real-time navigation performance evaluation method described with reference to FIG. 12 may be performed by the processor 110 of the computer device 100 shown in FIGS. 1 and 2, for example.

The computer device 100 includes a reference device 141 for generating first NMEA information using a global navigation satellite system (GNSS) and an inertial navigation system (INS) and a navigation terminal under test ( 142).

The processor 110 may receive the first NMEA information from the reference device 141 from the first time point specified by the user to the present time (S10). The processor 110 may receive second NMEA information from the navigation terminal 142 under test from the first time point to the present time (S20). The processor 110 may evaluate the positioning performance of the navigation terminal 142 under test in real time based on the first NMEA information and the second NMEA information. The processor 110 may display the positioning performance evaluated in real time in the performance display area of the display device 151.

On the other hand, the real-time navigation performance evaluation method described with reference to FIG. 12 can be implemented as a computer program stored in a computer-readable recording medium. The computer-readable recording medium includes any kind of recording device in which data readable by a computer system is stored. Examples of computer-readable recording media include ROM, RAM, CD-ROM, magnetic tape, floppy disks, and optical data storage devices.

In addition, the computer-readable recording medium can be distributed over network coupled computer systems so that the computer readable code is stored and executed in a distributed fashion. And functional programs, codes, and code segments for implementing the present invention can be easily inferred by programmers in the technical field to which the present invention pertains.

Claims (7)

A first communication interface for receiving the first NMEA information in real time from a reference device generating first NMEA information using a global navigation satellite system (GNSS) and an inertial navigation system (INS);
A second communication interface for receiving second NMEA information in real time from the navigation terminal under test;
An input / output interface connected to a display device; And
It includes a processor for controlling the first and second communication interface and the input and output interface,
The processor evaluates the positioning performance of the navigation terminal under test in real time based on the first NMEA information and the second NMEA information received from the first time point specified by the user to the present, and evaluates the positioning performance. Configured to display in the performance display area of the display device,
The positioning performance is a real-time navigation performance evaluation device characterized in that it comprises positioning accuracy, positioning integrity and positioning availability. According to claim 1,
The navigation terminal under test receives satellite signals from GNSS satellites, receives pseudorange measurement correction information and integrity information from a DGPS (Differential Global Positioning System), and the satellite signals and the correction information. Precise location information is calculated using, and HPL (horizontal protection level) value is calculated using the integrity information.
The processor receives the second NMEA information and the HPL value including the precise location information through the second communication interface, a real-time navigation performance evaluation device. The method of claim 2, wherein the processor,
The first location trajectory determined by the reference device is extracted from the first NMEA information received from the first time point to the present time,
Extracting a second location trajectory determined by the navigation terminal under test from the second NMEA information received from the first point of time to the present,
And configured to display the first location trajectory and the second location trajectory on a map area of the display device. The method of claim 3, wherein the processor,
A precision electronic map in which lanes are divided is displayed together in the map area,
The current location determined by the navigation terminal under test is extracted from the second NMEA information,
A device for evaluating real-time navigation performance, characterized in that a circle having the HPL value as a radius is displayed on the map area based on the current location on the precision electronic map. The method of claim 4, wherein the processor,
It is connected to a camera photographing a lane through the input / output interface to receive image information from the camera,
The processor image-processes the image information to identify the currently located lane based on the image,
Based on the current location on the precision electronic map, the currently located lane is determined based on satellite navigation,
A real-time navigation performance evaluation apparatus characterized by evaluating the positioning performance of the navigation terminal under test by comparing the lane identified based on the image with the lane determined based on the satellite navigation. A method for evaluating real-time navigation performance performed by a computing device,
Receiving the first NMEA information in real time from a reference device generating first NMEA information using a global navigation satellite system (GNSS) and an inertial navigation system (INS);
Receiving second NMEA information in real time from a navigation terminal under test;
Evaluating the positioning performance of the navigation terminal under test in real time based on the first NMEA information and the second NMEA information received from the first time point specified by the user to the present;
And displaying the positioning performance evaluated in real time on a performance display area of the display device,
The positioning performance is a real-time navigation performance evaluation method characterized in that it comprises positioning accuracy, positioning integrity and positioning availability. A computer program stored in a computer-readable storage medium for executing the real-time navigation performance evaluation method according to claim 6 using a computer device.

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