KR20010113370A - Mobile communicating device for integrated measurement by gps and ins - Google Patents

Abstract

PURPOSE: A mobile communication terminal capable of continual determination by mounting a GPS and an INS, and a method for determination are provided to transmit urgent location information in real time and supply continual real time determination information, and accurate indoor determination. CONSTITUTION: The state of a GPS and the determination possibility of a CDMA regarding to current location information are determined. A communication module and a signal processing module of a mobile communication terminal receive a GPS signal and a mobile communication signal for measuring pseudo range to a GPS satellite and pseudo range between base stations. An INS unit(9) embedding an acceleration censor and a gyro sensor performs initial alignment of the mobile communication terminal using sensor information. The INS unit(9) calculates location information of the mobile communication terminal by using sensor information in a dead reckoning. The INS unit(9) calculates Doppler estimation value for a GPS receiver(7) by using the dead reckoning, acceleration, and direction information. A microprocessor(6) of the mobile communication terminal mixes reciprocal information for performing GPS/INS mixed navigation algorithm enabling continual determination.

Description

MOBILE COMMUNICATING DEVICE FOR INTEGRATED MEASUREMENT BY GPS AND INS}

The present invention relates to a mobile communication terminal capable of continuous positioning with a GPS (Global Positioning System) and an INS, and in particular, a mobile communication terminal that implements an appropriate mutual integration method of GPS / INS / CDMA and various positioning algorithms for operating the same. It is intended to implement a suitable hardware in the form of low-power and low-power, and to implement an integrated positioning system with completeness to provide continuous, fast and complementary positioning information service in positioning method.

Recently, a satellite navigation system and an induction control system are combined for the purpose of providing emergency services of a wireless mobile communication terminal, and a number of methods for calculating and sharing the current position of the terminal have emerged. Conventionally, a combination of GPS and INS, a GPS and a mobile communication terminal Although the combination of is the main application of this field positioning technology, the two combinations are independent combinations in different applications.

Since the three positioning methods, GPS, INS, and CDMA networks each have advantages and disadvantages, an integrated positioning system through combining GPS / INS or GPS / CDMA has been developed to complement each other's advantages and disadvantages. This makes it difficult to provide a complete location service.

That is, in case of GPS / INS combination, continuous positioning is possible, but a separate communication means is required for positioning service, and in case of GPS / CDMA, only a short time of location information can be serviced due to characteristics of a communication terminal. In addition, since GPS reception is not possible indoors, it is impossible to use positioning technology using GPS, and since only one point of a position error of several tens of meters is calculated due to power limitation, it is difficult to consume a lot of cost for location tracking service.

In addition, the prior art has a disadvantage in that the positioning is not possible at all when the signal is disconnected because the position calculation is possible only when all the information is obtained from the outside such as external satellite information or base station information, which are not self-supporting.

SUMMARY OF THE INVENTION The present invention has been made to solve this problem, and when the triangulation method using a neighboring base station signal and GPS is equipped with a method of using the GPS positioning information and the combination of the two methods in the existing state by additionally combining a very small INS It is an object of the present invention to provide a mobile communication terminal capable of continuous positioning by mounting a GPS and an INS that implements an integrated positioning system to enable services such as indoor positioning, continuous positioning, and real-time location tracking, which cannot be implemented by the method.

In addition, another object of the present invention is to solve the problems of additional communication means required in the GPS / INS combination, constraints on providing position information in the GPS / CDMA combination, and limitation of the application of GPS reception positioning technology of the prior art The combination of GPS / INS, GPS / CDMA, CDMA / INS, etc. in a way that complements the strengths and weaknesses of the three positioning systems, GPS, INS, and CDMA positioning methods, and the strong coupling between them, if necessary, It is to provide a mobile terminal capable of continuous positioning with GPS and INS that can integrate INS / CDMA properly.

In order to achieve the above object, the present invention provides a single INS capable of independent positioning by mixing a GPS receiver, a plurality of acceleration sensors, and a gyro sensor, which can be used for single positioning and can improve positioning speed by using Doppler information from a base station or an INS. The unit combines the GPS receiver with the CDMA capable of independent radio positioning to implement a hybrid navigation algorithm.The combination of the CDMA and the INS unit enables continuous positioning regardless of the use of GPS. It is characterized by one.

1 is a block diagram of a GPS / INS / CDMA hybrid terminal including a power management integrated in a general method according to the present invention.

2 is a block diagram of another embodiment of a mobile communication terminal including power management in which GPS and INS are tightly integrated.

3 is a block diagram of another embodiment of an integrated mobile communication terminal including power management having a structure in which GPS and CDMA share a circuit;

4 is a configuration diagram of an INS having a structure in which an acceleration sensor, a gyro sensor unit, and each sensor data used in an integrated terminal are bundled together.

FIG. 5 is a detailed view showing the structure when GPS and INS are tightly integrated in FIG. 2; FIG.

FIG. 6 is a structural diagram of combining GPS satellite information, base station information, and GPS information received from a base station by CDMA in FIGS. 2 and 3;

FIG. 7 is a detailed diagram showing a partial combination of GPS, INS, and CDMA and a combined structure of the whole; FIG.

8 is a flowchart in which an integrated algorithm of GPS, INS, and CDMA is processed.

9 is a flow chart in which a tightly coupled integration algorithm of GPS and INS is processed.

10 is a processing flowchart of an algorithm performed by integrating GPS and CDMA.

11 is a flowchart of a processing sequence of an integrated algorithm using only CDMA and INS.

<Description of Main Parts of Drawing>

1,1a, 1b: Antenna for mobile communication 2,2a, 2b: GPS antenna

3,3a, 3b: RF / IF converter 4,4a, 4b: communication signal modulator

5,5a, 5b: Signal processing module 6,6a, 6b: Microprocessor

7,7a: GPS receiver 8,8a, 8b: power management module

9,9a, 9b: INS unit 10,10a, 10b: composite mobile communication terminal

11: INS unit 35,48: GPS / CDMA integrated filter

49: GPS / INS integrated filter 50: GPS / INS / CDMA integrated filter

Hereinafter, the mobile communication terminal according to the present invention will be described according to the embodiment shown in the accompanying drawings.

1 is a block diagram showing a first embodiment of the present invention, a mobile communication antenna (1), a communication module connected to the mobile communication antenna (1), a signal processing module (5) connected thereto, a GPS antenna (2), GPS processor (7) connected to the GPS antenna (2), INS sensor module, the microprocessor module (6) for receiving and calculating the output of the signal processing module 5 and the GPS receiver (7) and INS module, each module, each module The power management module 8 is connected to the power management.

As shown in FIG. 2, the configuration of the second embodiment of the present invention is a mobile communication antenna 1a, a communication module connected to the mobile communication antenna 1a, a signal processing module 5 connected thereto, and a GPS antenna 2a. , A microprocessor module receiving and processing the outputs of the GPS receiver 7a, the signal processing module 5a and the GPS receiver 7a, and the INS module, which are connected to the GPS antenna 2a, which may have a strong coupling structure with the INS sensor module. 6a), the power management module 8a is connected to each module to manage power.

As shown in FIG. 3, the configuration of the third embodiment of the present invention is a communication module connected to two antennas having a strong coupling structure with a mobile communication antenna 1b, a GPS antenna 2b, and a GPS receiver. Connected signal processing module (5b), INS sensor module, signal processing module (5b) and microprocessor module (6b) for receiving and processing the output of the INS module, power management module (8b) connected to each module to manage power consist of.

1, 2, and 3, the configuration of the INS module is a sensor unit 12 and a plurality of sensors connected to a plurality of acceleration sensors 13 and a plurality of gyro sensors 14, as shown in FIG. Sensor data multi-channel sampling unit 15 for performing data sampling at a constant speed from the sensor, sensor data calculation and processing unit 16 for extracting error correction and dead reckoning and attitude information from each sampled sensor data, and other modules It is a data input / output unit 17 which is a path to be transmitted to.

As shown in FIG. 5, the GPS / INS coupling structure diagram of the strong coupling in FIG. 2 receives the acceleration, velocity, and direction angle information from the INS sensor module 23 and the GPS receiver 22, and corrects and estimates errors. Performs dead reckoning using the acceleration filter 24, the velocity filter 25, the direction filter 26, and the attitude information estimated from each filter, calculates a Doppler estimate of the attitude, and feeds it back to the GPS receiver 22. The dead reckoning module 27 for performing the following, and the position filter 28 for calculating the position from the dead reckoning module 27.

In FIG. 1 or 3, the configuration of the GPS receiver and the CDMA is illustrated in FIG. 6. As shown in FIG. 6, the GPS receiver 33 connected to the GPS antenna 31, the CDMA module 34 communicating with an external base station, It is composed of GPS / CDMA integrated filter 35 which receives the PN signal and GPS satellite information of the base station and transmits it to GPS and performs GPS / CDMA mixed navigation algorithm by performing positioning using a CDMA network.

In FIG. 1, FIG. 2, and FIG. 3, the order of performing the operations is simplified in FIG.

1. Check 110 whether a request for location information of a mobile communication terminal occurs.

2. If there is no request for location information, the standby state of low power state is maintained.

3. When there is a request for location information, it is determined whether the last location information stored by the terminal indicates the current location at the current time (120).

4. When it is determined that the current storage location indicates the available current location, the current location information is transmitted as it is.

5. If it is determined that the current position information is not the position of the current time, it moves to the process for positioning.

6. Measure the pseudo distance (s) and correction time between the terminal and the base station by passing the PN signal of the base station (s) received from the mobile communication antennas (1, 1a, 1b) through the communication module through the communication module (130). ).

7. Measure the propagation time of the satellite signal by passing the GPS satellite signal received from the GPS antenna to the GPS receiver, and measure the pseudo distance between the terminal and the GPS satellite using the satellite position information and the correction value (140).

8. The error information of the motion information output from the INS sensor module in real time is corrected for each sensor, and attitude information such as acceleration, speed, and direction angle are detected, and the Doppler estimate for the GPS receiver is calculated using the motion information (150).

9. The main processor receives the pseudo-distance current time from GPS, the pseudo-distance and correction time information between base stations from the CDMA module, and the instantaneous attitude information from the INS module, and performs the GPS / INS / CDMA integrated algorithm to calculate the current position of the terminal. 160).

10. Store and transmit the new location information calculated by the main processor (170, 180).

11. If there is a request for tracking the current location information of the terminal from the external control system, the terminal performs the optimal power management mode corresponding to the tracking mode, performs continuous position calculation from GPS and INS, and transmits it at regular time intervals.

In FIG. 2 and FIG. 3, the basic algorithm operation procedure for the combined structure of GPS / INS is illustrated in FIG. 9 in a simplified manner.

1. The state of the GPS is determined in consideration of the position calculation, the DOP, the number of satellites, etc. from the acquired GPS data (210).

2. The data of each of the acceleration sensor 13 and the gyro sensor 14 are obtained from the INS unit (220).

3. When it is determined that the GPS state is available and is determined to be usable, an acceleration filter that uses the acceleration information from the GPS and the acceleration output of the acceleration sensor as a measurement value is performed (230). Here, the bias sensor and the error of the acceleration sensor are corrected. If GPS is not available, self-calibration of the acceleration sensor is performed.

4. If it is determined that the GPS state can be used and is determined to be usable, a speed filter that measures speed information from the GPS and the speed output of the acceleration sensor as a measurement value is performed (240). Here, the speed bias and error are corrected and the speed estimate is calculated. If GPS is not available, perform self-calibration of the speed.

5. If it is determined that the GPS state is usable and is determined to be usable, a direction filter is performed in which the direction angle information from the GPS and the direction angle output of the gyro sensor are measured. Here, the bias and error of the gyro sensor is corrected and the direction angle is estimated. If GPS is not available, perform a self-calibration of the gyro sensor.

6. Perform initial alignment of the sensor by using the estimated acceleration, velocity, and direction angle information (260).

7. The Doppler value from the previous time is estimated using the acceleration, velocity, and direction values of each filter (270).

8. Reflect the estimated Doppler value to the GPS receiver (280).

9. Determine the state of the GPS and selectively apply the Doppler value estimated by the INS module (290).

10. If GPS is updated, perform error correction for each sensor of the INS module again.

11. The new position is calculated using dead reckoning (300).

In Fig. 1 and Fig. 3, the basic algorithm operation procedure for the combined structure of GPS / CDMA is briefly shown in Fig. 10. The procedure is as follows.

1. If necessary, receives satellite information of GPS from the mobile communication base station (410).

2. When GPS satellite information is received from the base station, the GPS receiver transmits the GPS satellite information to the GPS receiver, and the receiver calculates a pseudo distance between satellites by applying the information to its satellite tracking unit (420).

3. The terminal calculates a pseudo distance between base stations using the received PN signal of the base station (430).

4. When GPS has enough pseudorange to calculate the position, it saves the position of GPS.

5. If GPS secures less than three pseudo distances that cannot be calculated, the number of pseudo distances between base stations is checked (450).

6. If the pseudo distance between base stations is 3 or more that can be calculated, the CDMA / INS integration algorithm is performed (490).

7. If the number of pseudo distances between base stations is less than three that cannot be calculated, it is checked whether the number of pseudo distances plus the number of pseudo distances of GPS is three or more (470).

8. If the number of two pseudoranges is less than 3, which cannot be calculated, perform the CDMA / INS integration algorithm.

9. If the two pseudoranges are three or more capable of position calculation, the HYDRID GPS / CDMA positioning algorithm is performed using the pseudoranges (480).

10. Update the calculated new location information to the current location.

11. Send the new current location (500).

In FIG. 1, FIG. 2, and FIG. 3, the basic algorithm execution procedure for the combined structure of CDMA / INS is performed in the following order as shown in FIG.

1. The number of pseudoranges of the secured GPS and the number of pseudoranges between the base stations is checked (610).

2. If the total number of two pseudoranges is less than 3, which cannot be calculated, a dead reckoning algorithm using only INS is performed (640).

3. Update the calculated new location information to the current location (650).

4. Send a new current location (660).

As described above, according to the present invention, it is possible to enable continuous positioning by combining separate GPS and INS, and again, by combining each with CDMA positioning, securing a means for providing positioning information from a singular or combined configuration. have. In addition, the combination of CDMA / INS or single INS enables the configuration of a positioning system that does not depend on GPS, thereby enabling a true continuous positioning system capable of positioning in any situation.

As described above, the composite mobile communication terminal equipped with the integrated positioning function according to the present invention is a multi-sensor structure INS capable of providing continuous positioning information and GPS positioning method that provides position accuracy within 100 meters of absolute position. By using only the advantages of the unit, it is possible to overcome the time-delay problem of the existing terminal that occurs during emergency location transmission and technical limitations of inaccurate location error by efficient integration of GPS, INS unit and CDMA network. Real-time implementation of location information transmission, continuous real-time positioning information, precise indoor positioning, such as positioning information that can not be provided by the existing terminal can be provided to the mobile terminal user.

In addition, according to the present invention, even if the mobile communication terminal does not receive a GPS signal, accurate real-time positioning using only the CDMA network and the INS sensor is possible, and even if an error occurs in the operation of the CDMA network, the positioning using the remaining positioning unit is possible. This eliminates the need to be tied to one particular positioning system. In particular, since the INS unit used in the present invention is composed of small sensors using MEMS, it is possible to implement a small portable complex navigation terminal.

Therefore, the present invention can secure all the accuracy, continuity, completeness, availability, and the like of positioning information, which the existing positioning systems do not have, and thus, a new navigation system can be developed.

Claims (4)

A GPS receiver capable of independent positioning and improved positioning speed by using Doppler information from a base station or INS, and a plurality of acceleration sensors and gyro sensors are mixed to implement a strong coupling of an INS unit capable of independent dead reckoning. The integrated navigation algorithm is implemented by integrating the receiver and CDMA, which enables independent wireless positioning, and the combination of the CDMA and INS units enables continuous positioning regardless of the use of GPS. Possible mobile terminal. The GPS system of claim 1, wherein the INS unit comprises an acceleration filter, a speed filter, a direction filter, and a dead reckoning module for calculating acceleration, speed, and direction angle of the terminal. Possible mobile terminal. The mobile communication terminal of claim 1, wherein a power management module is included and configured to selectively supply power to each module. Determining the state of GPS and whether the CDMA can be located with respect to the current position information, and the communication module and the signal processing module of the mobile communication terminal receive the GPS signal and the mobile communication signal, and the pseudo distance to the GPS satellite and the intention between the base stations Measuring the distance, performing an initial alignment of the mobile communication terminal by using the sensor information by the INS unit having the acceleration sensor and the gyro sensor, and using the sensor information, the INS unit using the sensor information to obtain the location information of the mobile communication terminal. Calculating with dead reckoning, using the dead reckoning implemented in the INS unit, acceleration and direction information to calculate a Doppler estimate for the GPS receiver, and mixing mutual information to enable continuous positioning. GPS, characterized in that consisting of a step of the microprocessor of the terminal to perform the combined GPS / INS navigation algorithm Positioning method of mobile communication terminal which is capable of continuous positioning by mounting and INS.