KR102188880B1 - Terminal, base station and location positioning method - Google Patents

Abstract

The present invention relates to a terminal, a reference station, and a location positioning method. Specifically, the present invention relates to a technology for receiving a message from a reference station and a GNSS signal from a satellite, and accurately positioning a terminal location by using information included in the message and the GNSS signal. Specifically, the terminal according to the present invention receives a Global Navigation Satellite System (GNSS) signal from each of one or more satellites, a receiving unit that receives a positioning correction message from a reference station, and estimates the estimated position coordinates of the terminal based on the GNSS signal. A position estimating unit, a pseudorange estimating unit that extracts satellite position coordinates for one or more satellites using a positioning correction message, and estimates a pseudorange between the estimated position coordinates and the satellite position coordinates, and a position correction parameter included in the positioning correction message And a final position estimation unit that calculates the corrected pseudorange by using the estimated pseudorange, and estimates the final position coordinate of the terminal by using the corrected pseudorange and satellite position coordinates.

Description

Terminal, reference station and location positioning method {TERMINAL, BASE STATION AND LOCATION POSITIONING METHOD}

The present invention relates to a terminal, a reference station, and a location positioning method. Specifically, the present invention relates to a technology for receiving a message from a reference station and a GNSS signal from a satellite, and accurately positioning a terminal location by using information included in the message and the GNSS signal.

These days, with the development of industrial technology and the rapid development of communication technology, the modern society has emphasized mobility in recent years, and the demand for a positioning technology or a positioning system that calculates the user's location information is rapidly increasing.

As a representative positioning system that calculates the user's location information, there is a Global Navigation Satellite System (GNSS) using a navigation satellite.

In general, GNSS is a satellite navigation system that calculates the position, altitude, speed, etc. of objects that are moving or fixed around the earth using signals transmitted from navigation satellites orbiting space. It is not only used but also used in various fields such as surveying, transportation, aviation, space, facility management, and cemetery management.

However, the navigation satellite signal used when calculating the user's location information using GNSS is distorted as it passes through the Earth's atmosphere, and errors are included in the process of estimating the location and time of the navigation satellite, and the point at which the navigation satellite signal is received. Position errors of several tens of meters may occur due to multipath errors and noise in For this reason, the position information calculated by the GNSS receiver is inevitably different from the actual information.

Therefore, there is a demand for a technique for increasing the computational speed while maintaining a high level of positional accuracy using GNSS.

The present invention conceived from the above-described background is a terminal, a reference station, and a location positioning method capable of more accurate positioning of a moving object by transmitting a positioning correction message including a position coordinate of a satellite and a position correction parameter to a moving object. I would like to propose.

In addition, the present invention proposes a terminal, a reference station, and a location positioning method that can increase the user's convenience by providing a high-precision positioning method that maintains the maximum computational speed to the user.

An embodiment for solving the above-described problem is a receiver that receives a Global Navigation Satellite System (GNSS) signal from each of one or more satellites and receives a positioning correction message from a reference station, and the estimated position coordinates of the terminal based on the GNSS signal. A position estimating unit for estimating, and a pseudo-range estimating unit for extracting the satellite position coordinates for one or more satellites using a positioning correction message, and estimating a pseudo distance between the estimated position coordinates and the satellite position coordinates, and It provides a terminal, characterized in that it comprises a final position estimation unit that calculates the corrected pseudorange by using the position correction parameter and the estimated pseudorange, and estimates the final position coordinates of the terminal by using the corrected pseudorange and satellite position coordinates. .

In addition, another embodiment is a position coordinate calculator that calculates satellite position coordinates for one or more satellites based on GNSS signals received from each of the one or more satellites, and a position using the satellite position coordinates and the reference station position coordinates of the reference station. It provides a reference station comprising a parameter calculation unit for calculating a correction parameter and a message generation unit for generating a positioning correction message including the satellite position coordinates and the position correction parameter.

In addition, another embodiment is a receiving step of receiving a Global Navigation Satellite System (GNSS) signal from each of one or more satellites, a positioning correction message from a reference station, and estimating the estimated position coordinates of the terminal based on the GNSS signal. A position estimation step, a pseudorange estimation step of extracting satellite position coordinates for one or more satellites using a positioning correction message and estimating a pseudorange between the estimated position coordinate and the satellite position coordinates, and a position correction parameter included in the positioning correction message And a final position estimation step of calculating a corrected pseudorange by using the estimated pseudorange, and estimating a final position coordinate of the terminal by using the corrected pseudorange and satellite position coordinates. .

The present invention provides an effect of more accurate positioning of a moving object by transmitting a positioning correction message including a satellite position coordinate and a position correction parameter to a moving object.

In addition, the present invention provides the user with an effect of increasing convenience by providing a high-precision positioning method that maintains the maximum computational speed.

1 is a diagram illustrating a conventional positioning method by way of example.
2 is a block diagram showing the configuration of a reference station according to an embodiment of the present invention.
3 is a diagram exemplarily illustrating an operation of receiving a GNSS signal of a reference station according to an embodiment of the present invention.
4 is a diagram illustrating an exemplary operation of a reference station transmitting a positioning correction message according to an embodiment of the present invention.
5 is a flowchart illustrating an operation of a reference station according to an embodiment of the present invention.
6 is a diagram showing the configuration of a terminal according to an embodiment of the present invention.
7 is a diagram illustrating an exemplary operation of a terminal receiving a positioning correction message according to an embodiment of the present invention
8 is a flowchart illustrating an operation of a terminal according to an embodiment of the present invention.
9 is a flowchart illustrating a method of positioning a location according to an embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail through exemplary drawings. In describing the constituent elements of the present invention, terms such as first, second, A, B, (a), (b) may be used. These terms are only used to distinguish the component from other components, and the nature, order, or order of the component is not limited by the term. When a component is described as being "connected", "coupled" or "connected" to another component, the component may be directly connected or connected to that other component, but another component between each component It should be understood that elements may be “connected”, “coupled” or “connected”.

1 is a diagram illustrating a conventional positioning method by way of example.

Referring to FIG. 1, there are various methods of locating the position of the moving object 110. In general, the location of the moving object 110 is a signal (not shown) received from a base station 120 and a satellite (131, 132, 133, 134) included in the moving object 110 ( Messages, GNSS signals, etc.).

Here, the moving object 110 may refer to a mobile station (Rover), and may refer to a person carrying the terminal as well as a vehicle capable of autonomous driving including a communication capable terminal, a drone, agricultural machinery, construction machinery, etc. . However, the present invention is not limited thereto, and any object that may include a terminal may be used.

Hereinafter, for convenience, the moving object 110 is expressed and described. In addition, although the number of satellites 131, 132, 133, and 134 in FIG. 1 is shown as four, it is not limited thereto.

Conventional positioning methods include, for example, Real-Time Kinematic (RTK) and Differential Global Positioning Services (DGPS).

Specifically, RTK is a method of measuring the position of the moving object 110 by processing the L1 (1575.42 MHz) carrier and the L2 (1227.6 MHz) carrier among the satellite signals. RTK can accurately measure the location of the moving object 110, but in general, it is necessary to receive a Global Navigation Satellite System (GNSS) signal from five or more satellites to measure the location of the moving object 110 and process the carrier wave. There is a problem that the method is very complicated.

DGPS is a method of measuring a location using two GNSS receivers or Global Positioning Services (GPS) receivers, that is, a GPS receiver included in a stationary base station and a GPS receiver included in the moving object 110.

DGPS transmits a message including position correction data generated by the reference station and post-processed DGPS to acquire the position by post-processing the received data received from the satellite using correction values after the position survey is finished. There is real-time DGPS that interprets the exact location.

Here, a method of locating the position of an object in the GNSS receiver basically includes a code tracking method and a carrier tracking method.

For example, code tracking is a method of using binary pseudo-random noise (PRN) and C/A codes and P codes. In other words, code tracking compares the code received from the satellite with the code of the synchronization signal generated at the same time by the code generator in the GNSS receiver, and measures the transmission time of the code, and calculates the position using the pseudo-range. do.

Here, the pseudorange is a distance between the satellite and the GNSS receiver calculated including errors that may occur during the positioning process, and may be calculated by multiplying the signal generation time difference between the satellite and the GNSS receiver by the speed of light.

Specifically, the pseudorange is the phase distance between the satellite and the antenna of the GNSS receiver measured by the delay-lock loop of the GNSS receiver using C/A code or P code, and this phase distance includes the error due to the clock of the satellite and the GNSS receiver. It includes propagation delay caused by the atmospheric layer.

In this case, errors that may occur during the positioning process may include, for example, a distance error due to a clock bias between a satellite and a GNSS receiver, a distance error due to an ionosphere, and a distance error due to atmospheric conditions. However, it is not limited thereto.

In general, the DGPS described above can measure the position when four or more satellites are received, so it uses relatively less satellites than RTK, and the calculation speed is fast due to the code processing method, but the distance between the reference station and the mobile station (or moving object) is There is a problem that the accuracy decreases as the distance increases.

Accordingly, the present invention provides a terminal, a reference station, and a location positioning method that minimizes errors in a fast calculation speed and location.

Hereinafter, a reference station according to an embodiment of the present invention will be described.

2 is a block diagram showing the configuration of a reference station 200 according to an embodiment of the present invention.

1 and 2, the reference station 200 may include a location coordinate calculation unit 210, a parameter calculation unit 220, a message generation unit 230, and the like.

The position coordinate calculation unit 210 is based on the GNSS signal received from each of the one or more satellites 131, 132, 133, 134, and the satellite position coordinates (S1, S2) for one or more satellites (131, 132, 133, 134). , S3, S4) can be calculated.

The position coordinate calculation unit 210 may include a GNSS receiver to calculate or acquire the satellite position coordinates S1, S2, S3, S4 of each of the satellites 131, 132, 133, and 134.

Here, there may be a plurality of satellites, preferably four or more as shown in FIG. 1, but the number is not limited thereto.

Here, the GNSS signal may include information on satellite position coordinates indicating the position of the satellite. In addition, the GNSS signal may include a PRN code, which is a code of a predetermined shape created by a satellite.

Here, the satellite position coordinates (S1, S2, S3, S4) may be preferably expressed in three-dimensional coordinates as shown in FIG. 1, but are not limited thereto, and the National Marine Electronics Association (NMEA) It may be a coordinate defined by a standard for transmitting defined location information. However, it is not limited thereto.

The parameter calculation unit 220 may calculate a position correction parameter using the satellite position coordinates and the reference station position coordinates of the reference station 200.

The parameter calculator 220 may include an RTK module capable of analyzing raw data of a GNSS signal in order to calculate a position correction parameter.

Here, the reference station position coordinates include the position coordinates in which the exact position coordinates of the reference station 200 are previously stored in the reference station 200, and the position coordinates calculated by receiving a GNSS signal from a satellite as described above with reference to FIG. It can mean.

Here, the position correction parameter may be calculated by differentiating an actual distance and a pseudo distance calculated using each of the satellite position coordinates S1, S2, S3, and S4 and the reference station position coordinate. A detailed description of this will be described later with reference to FIG. 3.

The message generator 230 may generate a positioning correction message including satellite position coordinates and a position correction parameter.

Here, the positioning correction message may be an internationally recognized data format, for example, an RTCM message generated according to a Radio Technical Commission for Maritime Services (RTCM) standard. However, it is not limited thereto.

Accordingly, the satellite position coordinates S1, S2, S3, and S4 and the position correction parameter may be contained in the RTCM standard (RTCM standard) and transmitted through an RTCM message.

Although not shown, the reference station 200 may further include a memory for storing the aforementioned signals, parameters, and the like.

Hereinafter, an operation of receiving a GNSS signal from the reference station 200 and an operation of calculating a satellite position coordinate, a reference station position coordinate, and a position correction parameter according thereto will be described.

3 is a diagram illustrating an operation of receiving a GNSS signal of a reference station 200 according to an embodiment of the present invention, and FIG. 4 is a diagram illustrating a positioning correction by the reference station 200 according to an embodiment of the present invention. It is a diagram illustrating an operation of transmitting a message by way of example.

Referring to FIG. 3, a reference station 200 according to an embodiment of the present invention may receive a GNSS signal from one or more satellites to calculate satellite position coordinates, reference station position coordinates, and the like.

For example, a GNSS receiver included in the reference station 200 receives GNSS signals from four satellites 131, 132, 133, and 134, respectively, and a position coordinate calculation unit 210 included in the reference station 200 ) Analyzes the GNSS signal to calculate the satellite position coordinates S1, S2, S3, and S4 of each of the four satellites 131, 132, 133, and 134. However, it is not limited thereto.

At this time, the reference station 200 may pre-store the first reference station position coordinate M, which is an accurate position coordinate, and may calculate the second reference station position coordinate M′ using GNSS signals received from one or more satellites.

In this case, the parameter calculation unit 220 calculates the first distance using the satellite position coordinates and the previously stored first reference station position coordinates, and calculates the second reference station position coordinates measured based on the satellite position coordinates and the GNSS signal. Using the second distance may be calculated, and a position correction parameter may be calculated by calculating a difference value between the first distance and the second distance.

와 제1 기준국 위치 좌표 M를 이용하여 기준국(200)과 k 번째 위성 간의 제1 거리

를 산출하고, 파라미터 산출부(220)는 k 번째 위성의 위성 위치 좌표

와 제2 기준국 위치 좌표 M'를 이용하여 기준국(200)과 k 번째 위성 간의 제2 거리

를 산출하며, 제1 거리

와 제2 거리

간의 차이값을 계산하여 위치 보정 파라미터

를 산출할 수 있다.Specifically, the parameter calculation unit 220 is the satellite position coordinate of the k (2 ≤ k) th satellite

And the first distance between the reference station 200 and the k-th satellite using the position coordinate M of the first reference station

And the parameter calculation unit 220 is the satellite position coordinate of the k-th satellite

And the second distance between the reference station 200 and the k-th satellite using the position coordinate M'of the second reference station

And the first distance

And the second street

Position correction parameter by calculating the difference value between

Can be calculated.

는 위성 위치 좌표

를 구성하는 각각의 위치 성분

과 제1 기준국 위치 좌표 M를 구성하는 각각의 위치 성분

간의 차이값에 기초하여 계산된 거리일 수 있다.Where, the first distance

Coordinates the satellite location

Each position component constituting

And the respective position components constituting the position coordinate M of the first reference station

It may be a distance calculated based on the difference value between.

는 기준국(200)과 k 번째 위성 사이에서의 실제 거리를 의미할 수 있으며, 아래와 같은 [수식 1]에 의해 계산될 수 있다.Specifically, the first distance

May mean the actual distance between the reference station 200 and the k-th satellite, and may be calculated by the following [Equation 1].

[Equation 1]

는 미리 저장된 제1 기지국 위치 좌표 M를 구성하는 위치 성분들이고,

는 k 번째 위성의 위성 위치 좌표

를 구성하는 위치 성분들이다.At this time,

Are the location components constituting the pre-stored first base station location coordinate M,

Is the satellite position coordinate of the k th satellite

These are the positional components that make up.

는 위성 위치 좌표

를 구성하는 각각의 위치 성분

과 제2 기준국 위치 좌표 M'를 구성하는 각각의 위치 성분

간의 차이값에 기초하여 계산된 거리일 수 있다.Meanwhile, the second street

Coordinates the satellite location

Each position component constituting

And each position component constituting the position coordinate M'of the second reference station

It may be a distance calculated based on the difference value between.

는 기준국(200)과 k 번?? 위성 사이에서의 의사거리를 의미할 수 있으며, 아래와 같은 [수식 2]에 의해 계산될 수 있다.Specifically, the second distance

Is the reference station (200) and k number?? It can mean the pseudo-distance between satellites, and can be calculated by the following [Equation 2].

[Equation 2]

는 GNSS 신호에 기초하여 측정된 제2 기지국 위치 좌표 M를 구성하는 위치 성분들이고,

는 k 번째 위성의 위성 위치 좌표

를 구성하는 위치 성분들이다.At this time,

Is the location components constituting the second base station location coordinate M measured based on the GNSS signal,

Is the satellite position coordinate of the k th satellite

These are the positional components that make up.

와 제2 거리

간의 차이값(

)을 계산하여 위치 보정 파라미터

를 획득한다.Then, the calculated first distance

And the second street

The difference between (

) To calculate the position correction parameter

Get

는 다음과 같은 오차를 포함하는 [수식 3]으로 표현될 수 있다.Position correction parameters calculated in this way

Can be expressed as [Equation 3] including the following error.

[Equation 3]

는 빛의 속도,

는 기준국에 포함된 GNSS 수신기의 클락 바이어스(clock bias),

는 위성의 클락 바이어스(clock bias),

는 계산된 천체력(ephemeris)의 오차(error),

는 분산 전리층의 오차(dispersive ionospheric error),

는 비분산 대기층의 오차(nondispersive atmospheric errors),

는 다중 경로 에러(multipath error),

는 무작위로 측정된 노이즈,

는 선택적 이용성에 의한 오차(Selective Availablillty)이다.here,

Is the speed of light,

Is the clock bias of the GNSS receiver included in the reference station,

Is the clock bias of the satellite,

Is the error of the calculated ephemeris,

Is the dispersive ionospheric error,

Is nondispersive atmospheric errors,

Is a multipath error,

Is the randomly measured noise,

Is an error due to selective availability (Selective Availablillty).

는 전술한 바와 같이 다양한 오차에 대응되는 값을 포함하지만, 이에 한정되는 것은 아니며, 필요에 따라 전술한 오차보다 적은 오차들을 포함할 수 있고, 다른 오차들을 더 포함할 수 있다.Position correction parameter

As described above, a value corresponding to various errors is included, but is not limited thereto, and may include less errors than the above-described error, and may further include other errors as necessary.

의 개수는 위성의 개수에 대응될 수 있다. 예를 들면, 도 3에 도시된 바와 같이 4개의 위성(131, 132, 133, 134)의 경우, 위치 보정 파라미터

의 개수는 4개이다.Also, position correction parameters

The number of may correspond to the number of satellites. For example, in the case of four satellites 131, 132, 133, 134 as shown in FIG. 3, the position correction parameter

The number of is 4.

와 위치 보정 파라미터

를 포함하는 측위 보정 메시지를 이동 물체(110)에 전송할 수 있다.4, the reference station 200 is a satellite position coordinates of each of a plurality of satellites

And position correction parameters

The positioning correction message including a may be transmitted to the moving object 110.

를 포함하는 측위 보정 메시지인 RTCM 메시지를 생성하고, 생성된 RTCM 메시지를 이동 물체(110)에 전송한다.For example, the message generator 230 included in the reference station 200 includes satellite position coordinates (S1, S2, S3, S4) and position for each of the four satellites 131, 132, 133, and 134. Calibration parameter

Generates an RTCM message, which is a positioning correction message including, and transmits the generated RTCM message to the moving object 110.

를 산출할 수 있다. 이에 대한 설명은 도 6을 참조하여 구체적으로 후술한다.The moving object 110 receiving the positioning correction message is the position coordinate

Can be calculated. This will be described later in detail with reference to FIG. 6.

Hereinafter, the overall operation of the reference station 200 will be described using a flowchart of the operation contents of the reference station 200.

5 is a flowchart illustrating an operation of the reference station 200 according to an embodiment of the present invention.

Referring to FIG. 5, the reference station 200 acquires satellite position coordinates for each of a plurality of satellites (S510).

For example, the position coordinate calculation unit 210 receives a GNSS signal including information on the satellite position coordinates from each of the four satellites 131, 132, 133, and 134, and the satellite position coordinates from the received GNSS signal. It is obtained by calculating the fields (S1, S2, S3, S4).

Then, the reference station 200 calculates a position correction parameter using the previously stored first reference station position coordinates, the second reference station position coordinates measured from the GNSS signal, and the satellite position coordinates (S520).

와 제1 기준국 위치 좌표 M를 이용하여 기준국(200)과 k 번째 위성 간의 제1 거리

를 산출하고, 파라미터 산출부(220)는 k 번째 위성의 위성 위치 좌표

와 제2 기준국 위치 좌표 M'를 이용하여 기준국(200)과 k 번째 위성 간의 제2 거리

를 산출하며, 제1 거리

와 제2 거리

간의 차이값을 계산하여 위치 보정 파라미터

를 산출한다.For example, the parameter calculation unit 220 is the satellite position coordinate of the k-th satellite

And the first distance between the reference station 200 and the k-th satellite using the position coordinate M of the first reference station

And the parameter calculation unit 220 is the satellite position coordinate of the k-th satellite

And the second distance between the reference station 200 and the k-th satellite using the position coordinate M'of the second reference station

And the first distance

And the second street

Position correction parameter by calculating the difference value between

Yields

Then, the reference station 200 generates a positioning correction message including satellite position coordinates and a position correction parameter for each of the plurality of satellites (S530).

와, 위치 보정 파라미터

를 RTCM 규격에 담은 RTCM 메시지를 생성한다.For example, the message generating unit 230 is the satellite position coordinates of the k-th satellite

Wow, position correction parameter

Generates an RTCM message containing the RTCM standard.

As described above, according to the present invention, the reference station 200 transmits a positioning correction message including satellite position coordinates and a position correction parameter to the moving object 110, so that the position of the moving object 110 can be more accurately positioned. It provides a good effect.

Hereinafter, a method of calculating the position coordinate U of the moving object 110, more specifically, the terminal included in the moving object 110, and a terminal capable of implementing the same will be described.

6 is a diagram showing a configuration of a terminal 600 according to an embodiment of the present invention, and FIG. 7 is a diagram illustrating an operation of receiving a positioning correction message by the terminal 600 according to an embodiment of the present invention. It is a drawing.

6 and 7, the terminal 600 may include a receiving unit 610, a position estimating unit 620, a pseudorange estimating unit 630, a final position estimating unit 640, and the like. .

The receiver 610 may receive a GNSS signal from each of one or more satellites, and may receive a positioning correction message from the reference station 200.

The contents of each of the GNSS signal and the positioning correction message are the same as described above with reference to FIGS. 2 to 4 and thus will be omitted.

Referring to FIG. 7, for example, the receiver 610 receives a GNSS signal from each of four or more satellites 131, 132, 133, and 134, and a positioning correction message (RTCM) transmitted by the reference station 200 Message).

The receiver 610 may further include a GNSS receiver to receive a GNSS signal and a positioning correction message.

를 추정할 수 있다.The position estimation unit 620 is the estimated position coordinate of the terminal 600 based on the GNSS signal.

Can be estimated.

는 단말(600)의 위치 좌표를 정확히 측위하기 위해 먼저 예비적으로 추정하는 위치 좌표일 수 있다.Where, the estimated position coordinates

May be a position coordinate preliminarily estimated in order to accurately locate the position coordinate of the terminal 600.

는 단말(600)에 포함된 GNSS 수신기에 의해 계산된 위치 좌표일 수 있다. 하지만, 이에 한정되는 것은 아니다.For example, estimated location coordinates

May be a location coordinate calculated by a GNSS receiver included in the terminal 600. However, it is not limited thereto.

를 측위 보정 메시지를 이용하여 추출할 수 있다.The pseudorange estimating unit 630 is a satellite position coordinate for one or more satellites

Can be extracted using a positioning correction message.

Referring to FIG. 7, for example, the pseudorange estimating unit 630 analyzes the positioning correction message and provides satellite position coordinates for each of the four satellites 131, 132, 133, and 134 included in the positioning correction message ( S1, S2, S3, S4) are extracted.

와 위성 위치 좌표

간의 의사거리를 추정할 수 있다.In addition, the pseudorange estimating unit 630 is an estimated position coordinate

And satellite location coordinates

The pseudo-distance between the liver can be estimated.

를 구성하는 각각의 위치 성분

과 위성 위치 좌표

를 구성하는 각각의 위치 성분

간의 차이값에 기초하여 계산된 거리를 의사거리

로 추정할 수 있다.When described in detail with reference to FIG. 7, the pseudorange estimator 630 is an estimated position coordinate

Each position component constituting

And satellite location coordinates

Each position component constituting

The distance calculated based on the difference between

Can be estimated as

는 이동 물체(110)와 k 번째 위성 사이에서의 의사거리를 의미할 수 있으며 아래와 같은 [수식 4]에 의해 계산될 수 있다.Here, the estimated pseudo distance

May mean a pseudo distance between the moving object 110 and the k-th satellite, and may be calculated by [Equation 4] as follows.

[Equation 4]

는 추정 위치 좌표

를 구성하는 위치 성분들이고,

는 k 번째 위성의 위성 위치 좌표

를 구성하는 위치 성분들이다.At this time,

Is the estimated position coordinate

Are positional components constituting

Is the satellite position coordinate of the k th satellite

These are the positional components that make up.

The final position estimating unit 640 may calculate the corrected pseudorange by using the position correction parameter and the estimated pseudorange included in the positioning correction message.

Here, the position correction parameter may be calculated using satellite position coordinates obtained by the reference station 200 based on GNSS signals received from each of the one or more satellites and the reference station position coordinates of the reference station 200.

와 기준국(200)에 미리 저장된 제1 기준국 위치 좌표 M를 이용하여 제1 거리

를 산출하고, 위성 위치 좌표

와 GNSS 신호에 기초하여 측정된 제2 기준국 위치 좌표 M'를 이용하여 제2 거리

를 산출하고, 제1 거리

와 제2 거리

간의 차이값(

)으로 계산될 수 있다.That is, the position correction parameter is the same as the satellite position coordinates as described above with reference to FIG.

And the first distance using the first reference station position coordinate M previously stored in the reference station 200

To calculate the satellite position coordinates

And the second distance using the second reference station position coordinate M'measured based on the GNSS signal

And the first distance

And the second street

The difference between (

) Can be calculated.

는 도 3을 참조하여 전술한 바와 동일하게 위성 위치 좌표

를 구성하는 각각의 위치 성분

과 제1 기준국 위치 좌표 M를 구성하는 각각의 위치 성분

간의 차이값에 기초하여 계산된 거리일 수 있다.Where, the first distance

Is the satellite position coordinates as described above with reference to FIG. 3

Each position component constituting

And the respective position components constituting the position coordinate M of the first reference station

It may be a distance calculated based on the difference value between.

는 도 3을 참조하여 전술한 바와 동일하게 위성 위치 좌표

를 구성하는 각각의 위치 성분

과 제2 기준국 위치 좌표 M'를 구성하는 각각의 위치 성분

간의 차이값에 기초하여 계산된 거리일 수 있다.And, the second street

Is the satellite position coordinates as described above with reference to FIG. 3

Each position component constituting

And each position component constituting the position coordinate M'of the second reference station

It may be a distance calculated based on the difference value between.

는 추정된 의사거리

에 위치 보정 파라미터

를 반영하여 얻은 결과값을 의미할 수 있다. 즉, 최종 위치 추정부(640)는 위치 보정 파라미터

와 추정된 의사거리

간의 차이값(

)을 계산하여 보정 의사거리

를 산출할 수 있다.Correction pseudo distance

Is the estimated pseudorange

Position correction parameters

It can mean the result obtained by reflecting. That is, the final position estimation unit 640 is a position correction parameter

And estimated pseudo distance

The difference between (

) Calculated and corrected pseudorange

Can be calculated.

와 위성 위치 좌표

를 이용하여 단말(600)의 최종 위치 좌표

를 추정할 수 있다.When the corrected pseudorange is calculated, the final position estimating unit 640 is

And satellite location coordinates

Using the final position coordinates of the terminal 600

Can be estimated.

를 구성하는 위치 성분들

은 3개 이상의 기준국(200)을 이용하여 측정하는 방법인 삼변측량(Trilateration Technique)에 의해 추정될 수 있다. 하지만, 이에 한정되는 것은 아니다.Final position coordinates

Position components constituting

May be estimated by trilateration technique, which is a method of measuring using three or more reference stations 200. However, it is not limited thereto.

와, 최종 위치 좌표

를 구성하는 각각의 위치 성분

의 미지수와 위성 위치 좌표

를 구성하는 각각의 위치 성분

간의 차이값에 기초하여 연산된 거리를 포함하는 방정식을 계산하여 최종 위치 좌표

를 추정할 수 있다.Specifically, the final position estimation unit 640 is a correction pseudorange

Wow, the final position coordinates

Each position component constituting

Of unknown and satellite position coordinates

Each position component constituting

The final position coordinate by calculating an equation containing the calculated distance based on the difference between

Can be estimated.

와 위성 위치 좌표

간의 거리 공식을 이용하여 획득되는 의사거리일 수 있으며 전술한 바와 마찬가지로 단말(600)에 포함된 GNSS 수신기의 시계에 의한 오차를 포함할 수 있다.Here, the calculated distance is the final position coordinate

And satellite location coordinates

It may be a pseudo-distance obtained using the distance formula, and as described above, it may include an error due to the clock of the GNSS receiver included in the terminal 600.

와 연산된 거리를 포함하는 방정식은 아래와 같은 [수식 5]에 의해 표현될 수 있다.Therefore, the corrected pseudorange

Equation including the calculated distance and can be expressed by the following [Equation 5].

[Equation 5]

는 최종 위치 좌표

를 구성하는 위치 성분들이고,

는 빛의 속도이며,

는 단말(600)에 포함된 GNSS 수신기의 클락 바이어스(clock bias)이다.At this time,

Is the final position coordinate

Are positional components constituting

Is the speed of light,

Is a clock bias of the GNSS receiver included in the terminal 600.

If the above equation is summarized, it can be expressed by the following [Equation 6].

[Equation 6]

를 도입한다. 이때, 치환 변수

는 아래와 같은 [수식 7]에 의해 표현될 수 있다.At this time, in order to express the equation more simply, the substitution variable

Is introduced. At this time, the substitution variable

Can be expressed by the following [Equation 7].

[Equation 7]

를 이용하여 다시 정리하면 아래와 같은 [수식 8]에 의해 표현될 수 있다.Replace the above equation with the substitution variable

It can be expressed by the following [Equation 8] by reorganizing it using.

[Equation 8]

Meanwhile, the above-described equation may be expressed as a matrix by the following [Equation 9].

[Equation 9]

를 구성하는 위치 성분 각각(

) 및 보정 의사거리

를 원소로서 포함하는 제1 매트릭스

와, 위성 위치 좌표

를 구성하는 각각의 위치 성분

과 보정 의사거리

가 연산 기호에 의해 조합된 연산 파라미터(

)를 원소로서 포함하는 제2 매트릭스

로 표현되어 해결될 수 있다.These equations coordinate the satellite position

Each of the positional components constituting (

) And correction pseudorange

A first matrix containing as an element

Wow, satellite location coordinates

Each position component constituting

Hypercorrection pseudorange

Arithmetic parameters combined by arithmetic symbols (

) As an element

Can be solved by being expressed as

That is, if expressed simply as a matrix, it can be expressed by the following [Equation 10].

[Equation 10]

, 단말(600)에 포함된 GNSS 수신기의 클락 바이어스

및 치환 변수

를 원소로 하는 미지의 매트릭스이며, B는 제2 매트릭스이다. A is the first matrix, X is the final position coordinate

, Clock bias of the GNSS receiver included in the terminal 600

And substitution variables

Is an unknown matrix having as an element, and B is a second matrix.

Hereinafter, the overall operation of the terminal 600 will be described using a flowchart of the operation contents of the terminal 600 included in the moving object 110.

8 is a flowchart for explaining the operation of the terminal 600 according to an embodiment of the present invention.

Referring to FIG. 8, a terminal 600 included in the moving object 110 receives a GNSS signal from each of a plurality of satellites (S810), and receives a positioning correction message from the reference station 200 (S820).

For example, the receiving unit 610 receives a GNSS signal from each of the four satellites 131, 132, 133, and 134, and receives an RTCM message that is a positioning correction message transmitted by the reference station 200.

When the GNSS signal is received, the terminal 600 included in the moving object 110 may estimate the estimated position coordinate of the terminal 600 based on the received GNSS signal (S830).

를 계산한다.For example, the position estimating unit 620 uses the GNSS receiver to determine the estimated position coordinates.

Calculate

Meanwhile, when the positioning correction message is received, the terminal 600 included in the moving object 110 extracts satellite position coordinates based on the received positioning correction message (S840), and extracts a position correction parameter (S850).

를 추출한다.For example, the pseudorange estimating unit 630 analyzes the received positioning correction message to provide satellite position coordinates (S1, S2, S3, S4) for each of the four satellites (131, 132, 133, 134) and Position correction parameter

Extract.

Then, the terminal 600 included in the moving object 110 estimates a pseudo distance between the estimated position coordinate and the satellite position coordinate using the estimated position coordinate and the satellite position coordinate (S860).

를 구성하는 각각의 위치 성분

과 위성 위치 좌표

를 구성하는 각각의 위치 성분

간의 차이값에 기초하여 계산된 거리를 의사거리

로 추정한다.For example, the pseudorange estimator 630 is an estimated position coordinate

Each position component constituting

And satellite location coordinates

Each position component constituting

The distance calculated based on the difference between

Is estimated as.

When the pseudorange is estimated, the terminal 600 included in the moving object 110 calculates the corrected pseudorange by using the estimated pseudorange and the position correction parameter (S870).

와 추정된 의사거리

간의 차이값(

)을 계산하여 보정 의사거리

를 산출한다.For example, the final position estimation unit 640 is a position correction parameter

And estimated pseudo distance

The difference between (

) Calculated and corrected pseudorange

Yields

Then, the terminal 600 included in the moving object 110 estimates the final position coordinates of the terminal 600 using the corrected pseudorange and satellite position coordinates (S880).

와, 최종 위치 좌표

를 구성하는 각각의 위치 성분의 미지수

와 위성 위치 좌표

를 구성하는 각각의 위치 성분

간의 차이값에 기초하여 연산된 거리를 포함하는 방정식을 설정하고, 설정된 방정식을 매트릭스로 표현한 후 방정식의 해를 결정함으로써 최종 위치 좌표

를 추정할 수 있다.For example, the final position estimation unit 640 is a correction pseudorange

Wow, the final position coordinates

The unknown number of each positional component constituting

And satellite location coordinates

Each position component constituting

The final position coordinates are determined by setting an equation including the calculated distance based on the difference between the values and expressing the set equation as a matrix and determining the solution of the equation.

Can be estimated.

As described above, the present invention has an effect of increasing convenience for the user by providing a more accurate location to the user.

Hereinafter, a location positioning method capable of performing all embodiments of the present invention will be described.

9 is a flowchart illustrating a method of positioning a location according to an embodiment of the present invention.

9, the position positioning method according to an embodiment of the present invention includes a receiving step (S910), a position estimating step (S920), a pseudorange estimating step (S930), and a final position estimating step (S940). Can include.

In the receiving step S910, a GNSS signal may be received from each of one or more satellites, and a positioning correction message may be received from a reference station.

For example, the receiving unit 610 receives GNSS signals from four or more satellites, respectively, and receives a positioning correction message from the reference station 200.

The position estimation step S920 may estimate the estimated position coordinate of the terminal based on the GNSS signal.

를 추정할 수 있다.For example, the position estimating unit 620 is the estimated position coordinate of the terminal 600 based on the GNSS signal.

Can be estimated.

In the pseudorange estimation step S930, satellite position coordinates of one or more satellites may be extracted using a positioning correction message, and a pseudorange between the estimated position coordinates and the satellite position coordinates may be estimated.

를 측위 보정 메시지를 이용하여 추출하고, 추정 위치 좌표

를 구성하는 각각의 위치 성분

과 위성 위치 좌표

를 구성하는 각각의 위치 성분

간의 차이값에 기초하여 계산된 거리를 의사거리

로 추정할 수 있다.For example, the pseudorange estimator 630 is a satellite position coordinate for one or more satellites

Is extracted using the positioning correction message, and the estimated position coordinates

Each position component constituting

And satellite location coordinates

Each position component constituting

The distance calculated based on the difference between

Can be estimated as

In the final position estimation step (S940), the corrected pseudorange is calculated using the position correction parameter and the estimated pseudorange included in the positioning correction message, and the final position coordinate of the terminal is estimated using the corrected pseudorange and the satellite position coordinates. I can.

와 추정된 의사거리

간의 차이값(

)을 계산하여 보정 의사거리

를 산출하고, 보정 의사거리

와, 최종 위치 좌표

를 구성하는 각각의 위치 성분의 미지수

와 위성 위치 좌표

를 구성하는 각각의 위치 성분

간의 차이값에 기초하여 연산된 거리를 포함하는 방정식을 설정하고, 설정된 방정식을 매트릭스로 표현한 후 방정식의 해를 결정함으로써 최종 위치 좌표

를 추정할 수 있다.For example, the final position estimation unit 640 is a position correction parameter

And estimated pseudo distance

The difference between (

) Calculated and corrected pseudorange

Calculate and correct pseudorange

Wow, the final position coordinates

The unknown number of each positional component constituting

And satellite location coordinates

Each position component constituting

The final position coordinates by setting the equation including the calculated distance based on the difference between the two and determining the solution of the equation after expressing the set equation as a matrix.

Can be estimated.

Here, the position correction parameter may be calculated using the satellite position coordinates obtained by the reference station based on the GNSS signals received from each of the one or more satellites and the reference station position coordinates of the reference station.

Specifically, the position correction parameter calculates the first distance using the satellite position coordinates and the first reference station position coordinates previously stored in the reference station, and calculates the second reference station position coordinates measured based on the satellite position coordinates and the GNSS signal. The second distance may be calculated by using and may be calculated as a difference value between the first distance and the second distance.

In this case, the first distance may be calculated based on a difference value between each position component constituting the satellite position coordinates and each position component constituting the first reference station position coordinate.

In addition, the second distance may be calculated based on a difference value between each position component constituting the satellite position coordinate and each position component constituting the second reference station position coordinate.

On the other hand, the final position estimation step (S940) includes a corrected pseudorange and a distance calculated based on a difference value between the unknown number of each position component constituting the final position coordinate and each position component constituting the satellite position coordinate. The final position coordinates can be estimated by calculating the equation.

As described above, the present invention transmits a positioning correction message including satellite position coordinates and a position correction parameter to the moving object 110, so that a terminal, a reference station and a reference station capable of positioning a more accurate position of the moving object 110 Provides a location positioning method.

In addition, the present invention provides a terminal, a reference station, and a location positioning method that can increase user convenience by providing a user with a high-precision positioning method that maintains a maximum computational speed.

In the above, even if all the constituent elements constituting the embodiments of the present invention have been described as being combined into one or operating in combination, the present invention is not necessarily limited to these embodiments. That is, within the scope of the object of the present invention, all of the constituent elements may be selectively combined and operated in one or more. The above description is merely illustrative of the technical idea of the present invention, and those of ordinary skill in the art to which the present invention pertains will be able to make various modifications and variations without departing from the essential characteristics of the present invention. The scope of protection of the present invention should be interpreted by the following claims, and all technical ideas within the scope equivalent thereto should be interpreted as being included in the scope of the present invention.

Claims (15)

A receiving unit for receiving a Global Navigation Satellite System (GNSS) signal from each of one or more satellites, and receiving a positioning correction message including a satellite position coordinate and a position correction parameter from a reference station;
A position estimating unit for estimating an estimated position coordinate of the terminal based on the GNSS signal;
A pseudorange estimator for extracting satellite position coordinates of the one or more satellites using the positioning correction message, and preliminarily estimating a pseudorange between the estimated position coordinates and the satellite position coordinates; And
Using the position correction parameter included in the positioning correction message and the estimated pseudorange, the corrected pseudorange is calculated, and the final position coordinate of the terminal is finally estimated using the corrected pseudorange and the satellite position coordinates. Including a location estimation unit,
The position correction parameter,
The reference station is calculated using the satellite position coordinates obtained based on the GNSS signals received from each of the one or more satellites and the reference station position coordinates of the reference station,
A first distance is calculated using the satellite position coordinates and the first reference station position coordinates previously stored in the reference station, and a second reference station position coordinate measured based on the satellite position coordinates and the GNSS signal is used to calculate a first distance. 2 The terminal is calculated as a difference value between the first distance and the second distance. The method of claim 1,
The pseudorange estimation unit,
And a distance calculated based on a difference value between each position component constituting the estimated position coordinate and each position component constituting the satellite position coordinate as the pseudorange. delete delete The method of claim 1,
The first distance is,
It is a distance calculated based on a difference value between each position component constituting the satellite position coordinate and each position component constituting the first reference station position coordinate,
The second distance is,
And a distance calculated based on a difference value between each position component constituting the satellite position coordinates and each position component constituting the second reference station position coordinate. The method of claim 1,
The final position estimation unit,
And calculating the corrected pseudorange by calculating a difference value between the position correction parameter and the estimated pseudorange. The method of claim 1,
The final position estimation unit,
The final position by solving an equation including the corrected pseudorange, a distance calculated based on a difference value between the unknown number of each position component constituting the final position coordinate and each position component constituting the satellite position coordinate A terminal, characterized in that the coordinates are estimated. The method of claim 7,
The final position estimation unit,
The equation is a first matrix including each of the position components constituting the satellite position coordinates and the corrected pseudorange as elements, and the respective position components constituting the satellite position coordinates and the corrected pseudorange are combined by calculation symbols. The terminal, characterized in that the solution is solved by expressing the calculated parameter as an element in a second matrix. A position coordinate calculator configured to calculate satellite position coordinates for the one or more satellites based on the GNSS signals received from each of the one or more satellites;
A parameter calculator that calculates a position correction parameter using the satellite position coordinates and the reference station position coordinates of the reference station; And
Generating a positioning correction message including the satellite position coordinates and the position correction parameter, and comprising a message generator for transmitting to the terminal,
The parameter calculation unit,
The first distance is calculated using the satellite position coordinates and the pre-stored first reference station position coordinates, and the second distance is calculated using the satellite position coordinates and the second reference station position coordinates measured based on the GNSS signal. And calculating the position correction parameter by calculating a difference value between the first distance and the second distance. delete The method of claim 9,
The first distance is,
It is a distance calculated based on a difference value between each position component constituting the satellite position coordinate and each position component constituting the first reference station position coordinate,
The second distance is,
And a distance calculated based on a difference value between each position component constituting the satellite position coordinates and each position component constituting the second reference station position coordinate. A receiving step of receiving a Global Navigation Satellite System (GNSS) signal from each of one or more satellites, and receiving a positioning correction message including a satellite position coordinate and a position correction parameter from a reference station;
A position estimation step of estimating an estimated position coordinate of the terminal based on the GNSS signal;
A pseudorange estimation step of extracting satellite position coordinates for the one or more satellites using the positioning correction message, and preliminarily estimating a pseudorange between the estimated position coordinates and the satellite position coordinates; And
Using the position correction parameter included in the positioning correction message and the estimated pseudorange, the corrected pseudorange is calculated, and the final position coordinate of the terminal is finally estimated using the corrected pseudorange and the satellite position coordinates. Including a position estimation step,
The position correction parameter,
The reference station calculates a first distance using the satellite position coordinates obtained based on the GNSS signals received from each of the one or more satellites and the first reference station position coordinates previously stored in the reference station, and the satellite position coordinates And a second distance using the position coordinates of the second reference station measured based on the GNSS signal, and calculating a difference value between the first distance and the second distance. delete The method of claim 12,
The first distance is,
It is a distance calculated based on a difference value between each position component constituting the satellite position coordinate and each position component constituting the first reference station position coordinate,
The second distance is,
And a distance calculated based on a difference value between each position component constituting the satellite position coordinate and each position component constituting the second reference station position coordinate. The method of claim 12,
The final position estimation step,
The final position by solving an equation including the corrected pseudorange, a distance calculated based on a difference value between the unknown number of each position component constituting the final position coordinate and each position component constituting the satellite position coordinate Position positioning method, characterized in that estimating coordinates.

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