KR20140010677A - Method, pseudolite, and system for providing indoor navigation service - Google Patents

Abstract

The present invention relates to the method for providing the indoor navigation service. Particularly, the method, pseudolite and system for providing the indoor navigation service relates to generate a signal to be able to calculate a location without having to have a pseudolite signal processing function, even in shadow areas where satellite signals cannot reach easily. [Reference numerals] (100) Pseudolite system; (110) Reference station; (120) Receiver; (AA) Visible satellite

Description

METHOD, PSEUDOLITE, AND SYSTEM FOR PROVIDING INDOOR NAVIGATION SERVICE}

The present invention relates to a technology for providing an indoor navigation service.

Based on the principle of measuring distance by measuring the arrival time of radio waves transmitted at the speed of light, GNSS (Global Navigation Satellite System) such as GLONASS, Galileo Project, GPS, etc. This system is very useful for providing navigation information such as time.

However, the strength of satellite signals transmitted from visible satellites is so weak that in satellite or underground areas where skyscrapers are densely packed, signals are attenuated and difficult to receive, making satellite navigation impossible. There is this.

In order to overcome this problem, Pseudolite System (Pseudolite System) which locally serves pseudo satellite signals similar to satellite signals transmitted from visible satellites is used. At this time, the receiver receiving the pseudo-satellite signal is not a general GNSS receiver, but should be a receiver dedicated to the pseudo-satellite system in which a function capable of processing the pseudo-satellite signal is implemented. That is, the conventional pseudosatellite system can use only a receiver designed to receive a pseudosatellite signal.

Therefore, when the receiver is not a dedicated satellite system, there is a problem that navigation cannot be performed even if there is a pseudo satellite system.

In addition, even if a dedicated satellite system receiver is used, in a large building such as an exhibition hall, the user's location can be obtained by installing three or more pseudo-satellite satellites, but in a corridor type, underground mall, subway, underground parking lot, etc. There is a problem that it is not easy to arrange pseudolites for availability.

Meanwhile, a method of obtaining a location in a city where a satellite signal reception environment is not good by making a location of a WiFi database must support WiFi. However, in most cases, a receiver such as a general vehicle navigation device does not support WiFi.

In this background, it is an object of the present invention to provide an indoor navigation service by generating and generating a signal for calculating a position in a satellite signal shadow area even in a receiver without a pseudo satellite signal processing function.

Another object of the present invention is to provide an indoor navigation service that enables a receiver in a satellite signal shadow area to receive the same signal as a satellite signal directly received.

It is still another object of the present invention to provide a more accurate indoor navigation service in a satellite signal shadow area by transmitting a signal including information on a place where a user is located.

In order to achieve the above object, in one aspect, the present invention provides a method for providing an indoor navigation service to a pseudo-satellite, comprising the steps of: receiving satellite signals for each of a plurality of visible satellites from a reference station installed at a reference point; Generating a multi-channel recombination signal by recombining satellite signals for each of the plurality of visible satellites so that the receiver can calculate a position regardless of whether or not pseudo satellite signal processing is possible; And it provides a method for providing an indoor navigation service comprising the step of transmitting the multi-channel recombination signal.

In another aspect, the present invention, a communication unit for receiving a satellite signal for each of a plurality of visible satellites from a reference station installed at a reference point; A signal generator for generating a multi-channel recombination signal by recombining satellite signals for each of the plurality of visible satellites so that the receiver can calculate a position regardless of whether or not pseudo satellite signal processing is possible; And it provides a pseudo satellite for providing an indoor navigation service including a signal transmitter for transmitting the multi-channel recombination signal.

In another aspect, the present invention, in the receiver for providing indoor navigation service, the multi-channel recombination signal generated by recombining satellite signals for each of the plurality of visible satellites received by the reference station installed at the reference point from the pseudo satellite Receiving signal receiving unit; And a navigation message processor that checks satellite signals for each of the plurality of visible satellites and calculates a location based on the multi-channel recombination signals received from the pseudo satellites.

In another aspect, the present invention, the reference station is installed at the reference point for receiving and transmitting satellite signals for each of the plurality of visible satellites; Receiving satellite signals for each of the plurality of visible satellites from the reference station, and recombining satellite signals for each of the plurality of visible satellites so that the receiver can calculate a position regardless of whether or not pseudo satellite signal processing is possible. The present invention provides a system for providing an indoor navigation service including a pseudo satellite for generating and transmitting a multi-channel recombination signal.

As described above, according to the present invention, even if the receiver does not have a pseudo-satellite signal processing function, it is effective to provide an indoor navigation service by generating and generating a signal for calculating a position in a satellite signal shadow area.

In addition, according to the present invention, there is an effect of providing an indoor navigation service that allows the receiver in the satellite signal shadow area to receive the same signal as the satellite signal directly received.

In addition, according to the present invention, by transmitting a signal including information on the location where the user is located, there is an effect of providing a more accurate indoor navigation service in the satellite signal shadow area.

1 is a diagram schematically showing a system for providing an indoor navigation service according to an embodiment of the present invention.
2 is a block diagram of a pseudo satellite for providing an indoor navigation service according to an embodiment of the present invention.
3 is a flowchart illustrating a method for providing an indoor navigation service according to an embodiment of the present invention.
4 is a block diagram of a receiver for providing an indoor navigation service according to an embodiment of the present invention.
FIG. 5 is a diagram related to performing offset processing with a distance difference-related offset in generating a multi-channel recombination signal in order to provide an indoor navigation service according to an embodiment of the present invention.
FIG. 6 is a diagram illustrating a signal processing block diagram of generating a multi-channel recombination signal in order to provide an indoor navigation service according to an embodiment of the present invention.
7 to 12 are views illustrating an application environment for an example in which a method of providing an indoor navigation service according to an embodiment of the present invention may be variously applied.

Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. It should be noted that, in adding reference numerals to the constituent elements of the drawings, the same constituent elements are denoted by the same reference symbols as possible even if they are shown in different drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

In addition, in describing the component of this invention, terms, such as 1st, 2nd, A, B, (a), (b), can be used. These terms are intended to distinguish the constituent elements from other constituent elements, and the terms do not limit the nature, order or order of the constituent elements. When a component is described as being "connected", "coupled", or "connected" to another component, the component may be directly connected to or connected to the other component, It should be understood that an element may be "connected," "coupled," or "connected."

1 is a diagram schematically showing a system for providing an indoor navigation service according to an embodiment of the present invention.

Referring to FIG. 1, a system for providing an indoor navigation service according to an embodiment of the present invention includes a reference station 110 installed at a reference point for receiving and transmitting satellite signals for each of a plurality of visible satellites, and a reference station. Receive satellite signals for each of the plurality of visible satellites from 110, and recombine the satellite signals for each of the plurality of visible satellites so that the receiver 120 can calculate the position regardless of whether or not pseudo satellite signal processing is possible. Pseudolite (PL) for generating and transmitting a multi-channel recombination signal, and the like.

In the present specification, the term "indoor" does not mean only an interior of a building or a vehicle, but also means a place or a location where a reception state is bad or below a certain level even if the satellite signal is not directly received or received from a visible satellite. .

The receiver 120 may be a receiver dedicated to a costume satellite system capable of processing pseudo-satellite signals for indoor navigation, and a general navigation system (GNSS) capable of processing pseudo-satellite signals for indoor navigation. May be referred to as a "GNSS" receiver.

The system for providing an indoor navigation service according to an embodiment of the present invention is capable of indoor navigation, that is, indoors regardless of whether or not the receiver 120 can perform a pseudo-satellite signal processing function for indoor navigation. It is a system that lets you know the location of.

That is, even if the system for providing indoor navigation service according to an embodiment of the present invention is a receiver 120 which is a general GNSS receiver that cannot process a pseudo-satellite signal, such a receiver 120 is provided from each of a plurality of visible satellites. This system allows you to calculate the location using a signal (multi-channel recombination signal) that works in the same way as the satellite signal.

To this end, in the system for providing the indoor navigation service according to an embodiment of the present invention, the pseudo satellite 100 has a pseudo satellite signal capable of calculating a location by receiving only a receiver dedicated to the pseudo satellite system having a pseudo satellite signal processing function. Rather, it generates and transmits a signal capable of acting the same as directly receiving satellite signals from each of the plurality of visible satellites as a "multi-channel recombination signal."

A system for providing an indoor navigation service according to an embodiment of the present invention briefly described will be described in more detail below.

Based on the principle of measuring distance by measuring the arrival time of radio waves transmitted at the speed of light, GNSS (Global Navigation Satellite System) such as GLONASS, Galileo Project, GPS, etc. This system is very useful for providing navigation information such as time.

However, the strength of satellite signals transmitted from visible satellites is so weak that in satellite or underground areas where skyscrapers are densely packed, signals are attenuated and difficult to receive, making satellite navigation impossible. There is this.

In order to overcome this problem, Pseudolite System (Pseudolite System) which locally serves pseudo satellite signals similar to satellite signals transmitted from visible satellites is used. At this time, the receiver receiving the pseudo-satellite signal is not a general GNSS receiver, but should be a receiver dedicated to the pseudo-satellite system in which a function capable of processing the pseudo-satellite signal is implemented.

Therefore, in one embodiment of the present invention, the pseudo satellite 100 directly receives a satellite signal from each of the plurality of visible satellites, unlike a general costume satellite that transmits a pseudo satellite signal capable of processing only a pseudo satellite system receiver. A signal that can act in the same way as one is generated and transmitted as a "multi-channel recombination signal".

According to one embodiment of the present invention, even if the receiver 120 which is a general GNSS terminal without the pseudo satellite signal processing function, it is possible to calculate its position, and when using the pseudo satellite function according to an embodiment of the present invention Improved localization may be possible over conventional GNSS receivers.

In addition, according to an embodiment of the present invention, it is possible to build a system in which a general GNSS receiver 120 may perform navigation even in a vehicle such as a moving subway in a satellite signal shadow area such as a subway.

On the other hand, LBS (Location Based Service) is largely developed in various forms such as social networking service (SNS), games such as selective advertisement, friend search, Twitter, etc. based on the location of the user on the building. have.

However, the positioning in the building is the method proposed in the present invention, but the two-dimensional can be within a few meters, but because the number of floors are changed by the altitude difference of only 3 ~ 4m, it is easy to identify the location in the building and implement the corresponding service by GNSS navigation alone. Not. Therefore, in one embodiment of the present invention, the coded building information, the installation information of the building of the pseudo-satellite 100, that is, the number of floors installed, building reference location information (location information displayed in the form of a building and an arc) In this paper, we propose a method to deliver URL (Uniform or Universal Resource Locator) information to obtain more detailed information through multi-channel recombination signals.

In this regard, the receiver 120, which may be an existing GNSS receiver, referring to FIG. 4, without changing hardware, coded building information, installation information of the building of the pseudo satellite 100 (the pseudosatellite 100 is installed). The data extraction unit 421 extracting the number of floors, building reference position information, URL information, and the like can be implemented by simply adding the navigation message processor 420 to the navigation message processor 420.

The receiver 120 may calculate the position of the pseudosatellite 100 as its own position when it is located in the vicinity of the pseudolite 100 and can receive a signal. The location calculation of the receiver 120 may be performed at the receiver 120 or may be performed at the pseudo satellite 100 according to a service implementation scheme.

In order to calculate the position, the pseudo satellite 100 is a satellite signal (navigation message) of visible satellites and measurement data (pseudo distance, pseudo distance change rate, carrier shift, etc.) in real time from a reference station 100 installed in another region. In order to receive visual information and the like through a data link, the installation position (pseudosatellite position) of the pseudo-satellite 100 can be calculated in the receiver 120 which may be a general GNSS receiver, and so on. Recombination generates multiple satellite signals simultaneously. The plurality of satellite signals generated simultaneously are called multi-channel recombination signals.

In this case, the reference station 100 may transmit all visible satellite information to the pseudo satellite 100 in consideration of DOP (Dilution Of Precision). In general, there should be at least three satellite signals capable of navigation.

The navigation result of the receiver 120 receiving the multi-channel recombination signal generated in each pseudo satellite 100 is calculated only for the position and velocity generated by each pseudo satellite 100.

The pseudo satellite 100 may generate a radio signal at the same time in order to enable continuous navigation unlike other general GNSS receivers in the case of a general GNSS receiver 120 capable of navigation according to the present invention.

As such, when generating a radio wave signal to enable continuous navigation, the pseudo satellite 100 includes information about the signal strength of the surrounding pseudo satellite and the self pseudo satellite, and the position of the surrounding pseudo satellite so that navigation can be performed at the reception intensity. Information and the like can be generated.

In addition, when generating a radio wave signal to enable continuous navigation, the pseudo satellite 100 may occur in time synchronization to perform navigation based on the radio wave arrival time.

At this time, the pseudo satellite 100, pulsing (Pulsing) to improve the proximity effect while increasing the signal strength to increase the reach distance than the multi-channel recombination signal for the radio signal to generate a radio signal to enable continuous navigation Processing can be used. Accordingly, it is possible to improve a phenomenon in which the multi-channel recombination signal cannot be received due to the Near / Far problem in the pseudo satellite proximity region.

At this time, in order to increase the position accuracy, the system for providing the indoor navigation service according to an embodiment of the present invention, the monitoring device that can measure the reception intensity of the transmitted signal and the difference in arrival time, carrier frequency (not shown) ) May be further included.

On the other hand, as mentioned above, the pseudo satellite 100, a low data rate of 50bps per channel in order to transfer location-related information to the receiver 120, without changing the reception hardware (RF, Baseband) of the receiver 120 Use as is. If there is a lot of information to be transmitted, it is possible to increase the available channel as much as possible.

In this regard, the transmission of the multi-channel recombination signal presented in one embodiment of the present invention makes it difficult for the altitude error to fall within a level capable of distinguishing the number of floors in a building. This can be solved by including it in the recombinant signal.

In addition, in order to provide the receiver 120 with a location-based service based on a building smoothly, the multi-channel recombination signal may include detailed information about the building or URL information for receiving an event in progress in the vicinity of the building. have.

The receiver 120 can accurately provide a variety of location related services to the user through an application using this information included in the multi-channel recombination signal.

Hereinafter, the pseudo-satellite 100 and the method for providing the indoor navigation service by the pseudo-satellite 100 according to the legendary embodiment of the present invention will be described in more detail.

2 is a block diagram of a pseudo satellite 100 for providing an indoor navigation service according to an embodiment of the present invention.

Referring to FIG. 2, the pseudo satellite 100 for providing an indoor navigation service according to an embodiment of the present invention includes a communication unit receiving satellite signals for each of a plurality of visible satellites from a reference station 110 installed at a reference point. The signal generator 220 generates a multi-channel recombination signal by recombining satellite signals for each of the plurality of visible satellites so that the receiver 120 may calculate a position regardless of whether or not pseudo satellite signal processing is possible. ), And a signal transmitter 230 for transmitting a multi-channel recombination signal.

The pseudo satellite 100 for providing an indoor navigation service according to an embodiment of the present invention is not a pseudo satellite signal capable of calculating a position by receiving a receiver dedicated to a pseudo satellite system having a pseudo satellite signal processing function. It generates and transmits a signal capable of acting the same as directly receiving satellite signals from each of the visible satellites as a "multi-channel recombination signal."

In this way, whether the receiver 120 is a dedicated dedicated satellite system having a pseudo-satellite signal processing function or a general GNSS receiver without the pseudo-satellite signal processing function, the receiver 120 may transmit a multi-channel recombination signal to the pseudo-satellite 100. ), It is possible to calculate the position as it is outdoors without having to feel the environmental constraint that it cannot directly receive the satellite signal of the visible satellite.

To this end, the pseudo satellite 100 for providing an indoor navigation service according to an embodiment of the present invention transmits satellite signals for each of the plurality of visible satellites from the reference station 110 installed at the reference point as described above. The received and transmitted satellite signals are recombined to generate and transmit a "multi-channel recombination signal."

Such pseudo-satellite 100 includes a multi-channel recombination signal (also referred to as a plurality of satellite signals or a plurality of PRN signals separated from a plurality of satellite signals or a plurality of PRN signals received by the reference station 100) as follows. Generate simultaneously for the purpose.

1.Receive real-time navigation message (included in a plurality of visible satellite signals), pseudorange, pseudorange change rate, reference point position, etc. from the reference station 110 installed at the reference point through a data link, and receive the user's receiver 120 The multi-channel recombination signal is generated as a satellite signal so that the position of the pseudo satellite 100 can be calculated.

2. By using PRN (Pseudo-Random Number) code not used for position calculation, other data other than the navigation message is generated, so that the navigation message processing unit 420 of the receiver 120 as shown in FIG. In the case of the receiver 120 modified to process the multi-channel recombination signal to obtain the building information, etc. are generated as a pseudo satellite signal.

In this case, the multi-channel recombination signal generated as a pseudo satellite signal includes signal strength, pseudo-satellite coordinates, pseudo satellite installation building information (eg, building information code, pseudo satellite installation floor (building basis), building reference position information, etc.) It may include.

On the other hand, the reference station 110 described in the present specification is a device capable of directly receiving satellite signals from a plurality of visible satellites, and in some cases, a receiver as long as it can transmit the satellite signals directly received to another device. It may be the same device as 120.

A method for providing an indoor navigation service by the pseudo satellite 100 according to an embodiment of the present invention described above will be described in more detail with reference to FIG. 3.

3 is a flowchart illustrating a method for providing an indoor navigation service according to an embodiment of the present invention.

Referring to FIG. 3, in the method for providing an indoor navigation service by the pseudo satellite 100 according to an embodiment of the present invention, a satellite signal for each of a plurality of visible satellites is transmitted from a reference station 110 installed at a reference point. Receiving step (S300) and generating a multi-channel recombination signal by recombining satellite signals for each of the plurality of visible satellites so that the receiver 120 can calculate the position regardless of whether or not pseudo-satellite signal processing (S302) ), And transmitting the generated multi-channel recombination signal (S304).

In step S302 of generating a multi-channel recombination signal, the pseudo satellite 100 includes a reference point position of the reference station 110, a pseudo satellite position of the pseudo satellite 100, and a reference station for each of the plurality of visible satellites. Based on the reference time at 110 and the time at the pseudo satellite 100, the distance difference value corresponding to the distance difference value between the visible satellite and the distance between the reference station and the distance between the visible satellite and the pseudo satellite is related. Offset " and multi-channel recombination by recombining satellite signals for each of the plurality of visible satellites by performing an offset adjustment process on the satellite signals for each of the plurality of visible satellites at an offset associated with a corresponding distance difference. You can generate a signal.

In the step of generating a multi-channel recombination signal (S302), the pseudo satellite 100 performs an offset adjustment process on a satellite signal for each of the plurality of visible satellites at an offset corresponding to a distance difference value, and then, at a neighboring pseudo satellite, In order to prevent interference with other multi-channel recombination signals to be transmitted, an offset adjustment process may be further performed at an intended carrier offset to be summed.

In the step of generating a multi-channel recombination signal (S302), the pseudo satellite 100 generates a multi-channel recombination signal further including one or more of information about the installed place of the pseudo-satellite 100 and service-related URL information. can do.

The above-mentioned "information about the installed place of the pseudo-satellite 100" is, among the building information, floor information and building reference position information (for example, building, arc, etc.) for the building on which the pseudo-satellite 100 is installed It may include one or more.

Alternatively, the "information about the place where the pseudo satellite 100 is installed" may include at least one of vehicle position information and vehicle speed information of the vehicle on which the pseudo satellite 100 is installed.

In the step of transmitting the multi-channel recombination signal (S304), the pseudo satellite 100, the radio signal including at least one of the signal strength related information of the pseudo-satellite 100 and the surrounding pseudo-satellite, the position of the surrounding pseudo-satellite, etc. Can be sent further.

In the step of transmitting the multi-channel recombination signal (S304), the pseudo-satellite 100 may adjust and transmit the signal strength of the multi-channel recombination signal to prevent interference with other multi-channel recombination signals transmitted from the peripheral pseudo satellite. have.

The receiver 120 for providing an indoor navigation service according to an embodiment of the present invention is a receiver for calculating a predetermined coordinate of the pseudo satellite 100 by receiving a satellite signal radiated from the pseudo satellite 100. This may be a general GNSS receiver that does not need this, or a receiver in which a data processor 421 is added to the navigation message processor 420 implemented in software in such a general GNSS receiver to extract and process data other than the navigation message. .

The data other than the navigation message may include building information, pseudo-satellite floors, building reference location information, and the like, which is interpreted in the form of a code or a URL to reduce the amount of data.

The receiver 120 may be used to provide information about the building and the user's location on the building through a wireless network (2G, 3G, Wi-Fi, Bluetooth, etc.).

4 is a block diagram of a receiver 120 for providing an indoor navigation service according to an embodiment of the present invention.

A receiver 120 for providing an indoor navigation service according to an embodiment of the present invention shown in FIG. 4 is generated by recombining satellite signals for each of a plurality of visible satellites received by a reference station 110 installed at a reference point. Based on the signal receiving unit 410 for receiving the multi-channel recombination signal from the pseudo-satellite 100 and the multi-channel recombination signal received from the pseudo-satellite 100, the satellite signals for each of the plurality of visible satellites are checked to calculate a position. Navigation message processing unit 420 or the like.

The above-described navigation message processing unit 420 may include a data extraction unit for extracting at least one of information on a place where the pseudo satellite 100 is installed, URL information related to a service, and the like from the multi-channel recombination signal received from the pseudo satellite 100 ( 421 may be further included.

The above-mentioned "information about the place where the pseudosatellite 100 is installed" may include one or more of building information, floor information, building reference location information, and the like.

According to the method for providing an indoor navigation service according to the embodiment of the present invention described above, there is an advantage that navigation can be performed even in a room where satellite signals cannot be received by the existing receiver 120 without a pseudo satellite signal processing function. .

In the prior art, when the pseudo-satellites 100 are well-frequency-synchronized, when the pseudo-satellites 100 transmit the same frequency in synchronization with each other, carrier interference occurs, 120 may not utilize the pseudo-satellite signal or the pseudo-satellite signal may be disturbed even in a small motion. When the frequency and the time are different between the pseudo-satellites 100, Reacquisition problems may occur when moving to the receiving area.

In order to solve these problems, an embodiment of the present invention may arrange the carrier frequency between adjacent pseudosatellites 100 to have an offset of about 1 kHz. In general, since a 1 ms accumulation is performed when the receiver 120 acquires a signal, if the carrier has an offset of about 1 kHz, there is little effect even in nearly identical PN (Pseudo Noise) and timing conditions.

In addition, an embodiment of the present invention may be arranged to have an offset of about 100 Hz in an installation area where reacquisition between pseudo satellites 100 is important to solve these problems. In general, the receiver 120 accumulates 10 ms to 20 ms during tracking.

As described above, the pseudo-satellite 100 according to an embodiment of the present invention is not a pseudo-satellite signal capable of calculating a position by receiving only a pseudo-satellite system dedicated receiver having a pseudo-satellite signal processing function, but dedicated to a pseudo-satellite system. In order for the general GNSS receiver to be able to calculate the position, the receiver 120 generates a signal as a "multi-channel recombination signal" that can act in the same way as the receiver 120 directly receives a satellite signal from each of a plurality of visible satellites. Send it to).

In this case, the pseudo satellite 100 includes a reference point position of the reference station 110, a pseudo satellite position of the pseudo satellite 100, a reference time at the reference station 110, and a pseudo satellite 100 for each of the plurality of visible satellites. Calculates a distance difference related offset corresponding to a distance difference value between the distance between the visible satellite and the reference station and the distance between the visible satellite and the pseudo satellite, and calculates By performing an offset adjustment process with respect to the satellite signal with respect to the corresponding distance difference value and summing, the multi-channel recombination signal may be generated by recombining satellite signals for each of the plurality of visible satellites.

This distance difference-related offset will be described again with reference to FIG. 5.

FIG. 5 is a diagram related to performing offset processing with a distance difference-related offset in generating a multi-channel recombination signal in order to provide an indoor navigation service according to an embodiment of the present invention.

Referring to FIG. 5, it is assumed that a reference station 110 is installed at a P _A position (reference point position) to receive satellite signals from a visible satellite, and a pseudo satellite 100 is installed at a P _B position (pseudo satellite position). Will be explained.

Referring to FIG. 5, the distance between the reference station 110 receiving the satellite signal at the position P _A and the visible satellite is L1.

If it is assumed that the pseudo satellite 100 receives satellite signals from the same visible satellite at the P _B position, the distance between the pseudo satellite 100 and the visible satellite becomes L3.

Therefore, the distance difference value between the distance between the reference station 110 and the visible satellite and the distance between the pseudo satellite 100 and the visible satellite becomes L2 (= | L1-L3 |).

P _k The receiver 120 in position receives the multi-channel recombination signal transmitted at the P _B position from the pseudosatellite 100, and P _k In order to ensure that the receiver 120 at the position directly receives the satellite signal, the pseudo satellite 100 has an offset (distance difference value) as late as the time of dividing the distance difference value L2 from the reference time by the speed of light. Relative offset) to the satellite signal. In the same manner, the pseudosatellite 100 has an offset with respect to satellite signals of other visible satellites. The pseudo-satellite 100 then combines the satellite signals with offsets to produce a multi-channel recombination signal.

That is, the generated multi-channel recombination signal is a kind of satellite signal in which the reference station 110 has a predetermined offset (distance difference related offset) to the satellite signal actually received, and combines the satellite signal having the predetermined offset.

FIG. 6 is a diagram illustrating a signal processing block diagram of generating a multi-channel recombination signal in order to provide an indoor navigation service according to an embodiment of the present invention.

Referring to FIG. 6, a satellite signal (navigation message) transmitted from a visible satellite includes a pseudo-random noise (PRN) unique to the visible satellite.

The PRN sequence of each visible satellite is composed of + 1 / -1 and may be scaled to + k / -k to increase signal strength.

Referring to FIG. 6, the PRN sequence of each visible satellite is generated by adjusting the offset so that the receiver 120 can calculate the position of the pseudo satellite 100.

Referring to FIG. 6, the Doppler NCO (Doppler NCO) of each satellite has a function of having an intended carrier offset and a receiving satellite Doppler at the position of the pseudo satellite 100. It is in charge of creating function. Here, the Doppler of the satellite is used to calculate the velocity vector of the receiver.

Referring to FIG. 6, a digital / analog (D / A) is a high-speed D / A of several MHz capable of supporting a rate of a system clock.

Here, the PRN for navigation is assigned as a satellite signal currently receivable from the server (reference station 110).

The signal strength of the PRN may be controlled so that interference does not occur because interference problems with neighboring pseudo satellites may occur.

For this purpose, in the case of the PRN for RSSI (Recieved Signal Strength Indicator), the PRN for RSSI is assigned a PRN different from the broadcast PRN of the adjacent pseudo-satellite. At this time, a pseudo-satellite dedicated PRN is allocated. In addition, the PRN for RSSI may include information corresponding to a history (Almanac) such as the coordinates of the pseudo-satellite 100, the coordinate PRN of the adjacent pseudo-satellite, the signal strength, and the like. In addition, the PRN for RSSI may use a pulsing technique to increase coverage.

In addition, in order to prevent the interference problem, in the case of the PRN for providing local information, it may include installation location (building basis) information, service-related URL information, and the like.

The method for providing an indoor navigation service according to an embodiment of the present invention described above includes a friend search service in a satellite signal shadow area such as an underground shopping mall or a subway station, and a location-based service in connection with detailed building information in an area where satellite signals cannot be received. , Software applications related to subway operation (eg, a service for informing a user of a current location of a subway).

7 to 12 are diagrams exemplarily illustrating an application environment to an example in which a method for providing an indoor navigation service according to an embodiment of the present invention may be variously applied.

In the example below, the reference station 110 is installed at the P _A position (reference point position), and is capable of communicating via data link with three pseudo satellites 100 including PL 1, PL 2, PL 3, and PL 1. Is installed in P _B position, PL 2 is P _C It is assumed that it is installed at the location and PL 3 is installed at the P _D location.

In the example of FIG. 7, PL 1 is installed at the P _B position, PL 2 is P _C When installed at a location, and PL 3 is installed at a P _D location, there is a dead zone between the PL 2 and PL 3 that navigation cannot or cannot do properly.

In the example of FIG. 7, when the receiver X is between P _B and P _C , that is, the receiver X may receive both the multi-channel recombination signal transmitted by PL 1 and the multi-channel recombination signal transmitted by PL 2. when in a position, X is a positioning receiver in such a way between the positioning RSSI (RSSI positioning) P _B and P _C, or with TOA (Time of Arrival) positioning method can be positioning between the P _B and P _C.

Meanwhile, in the example of FIG. 7, the receiver Y receives only the multi-channel recombination signal transmitted from PL 3 due to the dead zone, thereby positioning its position in P _D.

8 illustrates a case where two pseudo satellites 100, that is, PL 1 and PL 2 are installed in a corridor space.

Referring to the example of FIG. 8, a positioning reference vector may be obtained at the receiver 120 from the pseudo satellite coordinates or extracted from the pseudo satellite building information.

Referring to FIG. 8, the position calculation method is differently positioned according to PL coordinates (1, 2, or 3 dimensions) on the multi-channel recombination signal of PL 1 and the multi-channel recombination signal of PL 2 received at the receiver. Can be calculated.

In the example of FIG. 9, the positioning is performed by the RSSI method and the receiver 120 may perform the positioning between P _A , P _B , and P _C by the RSSI method.

Referring to FIG. 9, in order to position by RSSI, signal strength measurement is required.

In this regard, each pseudo-satellite 100 includes a type 1 (PL 2) that generates a real-time PRN and measures RSSI of another pseudo-satellite, a PRN (high power, pulsing) for generating the real-time PRN, It is divided into Type 2 (PL 1, PL 3) which randomly pulses with a duty of about 10% on the C / A code.

The type 2 PL 2 may broadcast the RSSI model on the PRN signal for the RSSI based on the measured RSSI information of the PL 1 and PL 3. That is, PL 2 of type 1 can simultaneously transmit its own information and information of adjacent pseudo-satellites as multi-channel recombination signals.

FIG. 10 is a diagram for synchronizing between pseudolites, and among various pseudolites PL 1, PL 2, and PL 3, PL 1 serves as a master.

In this case, it synchronizes with PL1 which is a master PL, and the master PL can utilize external synchronization sources, such as GPS and mobile communication.

Each PL may use a mobile communication signal or IEEE 1588 for synchronization.

Each PL specifies and feeds back a visual error with the master PL (PL 1), and is treated as a second master PL if the synchronization error is within a certain range.

11 is a diagram illustrating an environment for applying an embodiment of the present invention to a vehicle moving to a place where satellite signals cannot be directly received, such as a subway.

Referring to FIG. 11, the PL 1 receives a moving position, a speed, and satellite information of a subway moving along a predetermined line in an underground space from another device (which may include the reference station 110). Multi-channel recombination signals can be generated to indicate the current location, speed, etc. of the subway.

The pseudo satellite 100 is installed for each vehicle, and the receiver 120 in one of the cars receives a multi-channel recombination signal from the pseudo satellite 100 installed in the passenger car. The location (eg, passenger car information, subway station related information, etc.) of 100 may be recognized as the location of the user.

At this time, the pseudo-satellite 100 installed for each passenger vehicle receives the multi-channel recombination signal including the movement position information received by receiving the movement position information of the subway from a separate device (which may include the reference station 110). I can send it.

As described above, according to the present invention, even if the receiver does not have a pseudo-satellite signal processing function, it is effective to provide an indoor navigation service by generating and generating a signal (multi-channel recombination signal) for calculating a position in a satellite signal shadow area. have.

In addition, according to the present invention, there is an effect of providing an indoor navigation service that allows a receiver in a satellite signal shadow area to receive the same signal (multi-channel recombination signal) that is directly received.

In addition, according to the present invention, by transmitting a signal (multi-channel recombination signal) including information about the place where the user is located, there is an effect of providing a more accurate indoor navigation service in the satellite signal shadow area.

While the present invention has been described in connection with what is presently considered to be the most practical and preferred embodiments, it is to be understood that the invention is not limited to the disclosed embodiments. That is, within the scope of the present invention, all of the components may be selectively coupled to one or more of them. In addition, although all of the components may be implemented as one independent hardware, some or all of the components may be selectively combined to perform a part or all of the functions in one or a plurality of hardware. As shown in FIG. Codes and code segments constituting the computer program may be easily inferred by those skilled in the art. Such a computer program can be stored in a computer-readable storage medium, readable and executed by a computer, thereby realizing an embodiment of the present invention. As a storage medium of the computer program, a magnetic recording medium, an optical recording medium, or the like can be included.

It is also to be understood that the terms such as " comprises, "" comprising," or "having ", as used herein, mean that a component can be implanted unless specifically stated to the contrary. But should be construed as including other elements. All terms, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. Commonly used terms, such as predefined terms, should be interpreted to be consistent with the contextual meanings of the related art, and are not to be construed as ideal or overly formal, unless expressly defined to the contrary.

The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be interpreted by the following claims, and all technical ideas within the equivalent scope should be interpreted as being included in the scope of the present invention.

Claims (9)

In the method of providing a satellite navigation service,
Receiving satellite signals for each of a plurality of visible satellites from a reference station installed at a reference point;
Generating a multi-channel recombination signal by recombining satellite signals for each of the plurality of visible satellites so that the receiver can calculate a position regardless of whether or not pseudo satellite signal processing is possible; And
Transmitting the multi-channel recombination signal. The method of claim 1,
In the generating of the multi-channel recombination signal, the pseudo-satellite,
And generating the multi-channel recombination signal further comprising at least one of information on the installed place of the pseudo satellite and URL information related to the service. The method of claim 1,
Information about the installed place of the pseudo-satellite,
Indoor navigation service comprising at least one of building information, floor information and building reference position information for the building on which the pseudo satellite is installed, or at least one of vehicle location information and vehicle speed information of the vehicle on which the pseudo satellite is installed. How to give it. The method of claim 1,
In the step of transmitting the multi-channel recombination signal, the pseudo-satellite,
And transmitting a radio wave signal including at least one of information related to signal strength of the pseudo satellite and the pseudo pseudo satellite, and location information of the pseudo pseudo satellite. The method of claim 1,
In the step of transmitting the multi-channel recombination signal, the pseudo-satellite,
And controlling the signal strength of the multi-channel recombination signal so as to prevent interference with other multi-channel recombination signals transmitted from a neighboring pseudo-satellite. A communication unit for receiving satellite signals for each of a plurality of visible satellites from a reference station installed at a reference point;
A signal generator for generating a multi-channel recombination signal by recombining satellite signals for each of the plurality of visible satellites so that the receiver can calculate a position regardless of whether or not pseudo satellite signal processing is possible; And
Pseudosatellite satellite providing an indoor navigation service including a signal transmitter for transmitting the multi-channel recombination signal. In the receiver for providing indoor navigation service,
A signal receiver for receiving a multi-channel recombination signal generated by recombining satellite signals for each of a plurality of visible satellites received from a reference station installed at a reference point from a pseudo satellite; And
And a navigation message processor that checks satellite signals for each of the plurality of visible satellites and calculates a location based on the multi-channel recombination signals received from the pseudo satellites. The method of claim 7, wherein
The navigation message processing unit,
And a data extractor for extracting at least one of information on a place where the pseudo satellite is installed and URL information related to a service from the multi-channel recombination signal received from the pseudo satellite. A reference station installed at a reference point to receive and transmit satellite signals for each of the plurality of visible satellites; And
Receive satellite signals for each of the plurality of visible satellites from the reference station, and recombine satellite signals for each of the plurality of visible satellites so that the receiver can calculate the position regardless of whether or not pseudo satellite signal processing is possible. A system for providing indoor navigation services including pseudo-satellite for generating and transmitting channel recombination signals.

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