KR20160009277A - Movable positioning apparatus and method for measuring positioning thereof - Google Patents

Abstract

Disclosed is a moving positioning device including: a satellite signal reception unit for receiving a satellite signal from at least one among a GNSS satellite and an SBAS satellite; a reception unit for receiving a location correction signal from a reference station through a terrestrial network; and a control unit for outputting a current location of the moving positioning device by selectively using one of different positioning modes according to signal reception states of the satellite signal reception unit and the reception unit. The different positioning modes include: a first positioning mode for outputting the current location of the moving positioning device based on a first satellite signal received from a GNSS satellite; a second positioning mode for outputting the current location of the moving positioning device based on the first satellite signal received from the GNSS satellite and correcting the current location based on a second satellite signal received from an SBAS satellite; and a third positioning mode for outputting the current location of the moving positioning device based on the first satellite signal received from the GNSS satellite and correcting the current location based on a location correction signal.

Description

[0001] MOVABLE POSITIONING APPARATUS AND METHOD FOR MEASURING POSITIONING THEREOF [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile positioning apparatus and a position measuring method thereof, and more particularly, to a mobile positioning apparatus for calculating a position by adaptively selecting a positioning method and a position measuring method thereof.

GNSS (Global Navigation Satellite System) refers to a system that calculates the coordinates of a specific location throughout the earth using radio waves transmitted from space satellites.

These GNSS systems include US GPS, GLONASS in Russia, and local satellites, Beidou in China and Galileo in the European Union, and France, Japan and India are developing satellite systems .

In a typical GNSS system, Global Positioning System (GPS), satellites on Earth's orbit know the exact position, and these satellites transmit their L1 / L2 carriers with their orbit information as code. On the ground, the receiver receiving the signal receives signals from at least three GPS satellites, analyzes the length of the already known L1 / L2 wave and the code inside the signal, and measures the time from the satellite to reach the receiver The distance can be calculated. The position calculation method for calculating the absolute position coordinates of the latitude and longitude on the earth by the triangulation method using the carriers transmitted from the GNSS satellite is referred to as a single positioning.

The position calculation by the above-mentioned stand-alone positioning method is based on the error of the propagation path time by the atomic clock of the satellite, the error of the actual satellite orbit different from the internal data, the propagation delay by the environment change which changes to the ionosphere and the troposphere And the errors due to the reception of the radio waves reflected by the structures on the ground.

Among the systems for correcting these errors, there is a signal enhancement method using a satellite-based augmentation system (SBAS). A system using a satellite reinforcement signal corresponding to GPS is referred to as a DGPS (Differential GPS) system. This system usually analyzes the environmental factors that can affect the satellite signal, and the measured value is corrected to a message and provided to each receiver through the broadcast satellite.

Another error correction system is RTK (Real Time Kinematic) system. In the RTK system, the position correction method is the same as transmitting the position correction signal to the receiver via the terrestrial radio network in the reference station. However, the receiver informs the central control station of the result of the single positioning from the satellite signal, Another method is to calculate the interpolation calculation plane constant (FKP) at the central control station and calculate the virtual observations directly from the receiver.

The accuracy of the position calculation result of the single positioning using only the GNSS can be improved by using the SBAS or RTK as described above.

However, there has been a case where it is difficult to continuously maintain only one positioning method due to the change of the surrounding environment at the position to be measured, in the mobile positioning where the position continuously changes. For example, if roads and mountainous terrain, or on narrow streets in densely populated areas of more than five floors, the number of received satellite signals may be reduced, noise interference may become worse, I was able to get out of the area.

Accordingly, it is an object of the present invention to provide a mobile positioning device for calculating a position by adaptively selecting a positioning method and a position measuring method thereof.

According to another aspect of the present invention, there is provided a mobile positioning apparatus including: a satellite signal receiving unit for receiving a satellite signal from at least one of a GNSS satellite and a SBAS satellite; And a control unit for calculating a current position of the mobile positioning device by selectively using one of the plurality of different positioning modes according to a signal reception state of the satellite signal reception unit and the reception unit, Wherein the plurality of different positioning modes comprises a first positioning mode for calculating a current position of the mobile positioning device based on a first satellite signal received from the GNSS satellite, To calculate the current position of the mobile positioning device, A second positioning mode for correcting the current position based on a second satellite signal received from the GNSS satellite, a current position of the mobile positioning device based on a first satellite signal received from the GNSS satellite, And a third positioning mode for correcting the current position based on the third positioning mode.

In this case, the control unit operates in the first positioning mode when only the first satellite signal is received, operates in the second positioning mode when the first satellite signal and the second satellite signal are received together, And may operate in the third positioning mode when a correction signal is received together with the first satellite signal or when the second satellite signal and the position correction signal are received together with the first satellite signal.

In this case, if the signal quality of the first satellite signal is less than a predetermined first threshold value, the positioning operation is not performed based on the first satellite signal, and if the signal quality of the second satellite signal is less than a predetermined second threshold value The first positioning mode or the second positioning mode may be operated when the signal quality of the position correction signal is lower than a predetermined third threshold value.

The control unit may perform a positioning operation in accordance with each of the plurality of different positioning modes, and determine whether the positioning result of each of the plurality of different positioning modes corresponds to a predetermined error range, Reliability can be given for each mode, and one of the positioning results can be determined by comparing the reliability values.

In this case, the control unit may calculate a deviation of the positioning result according to the positioning method corresponding to each of the received signals calculated during a predetermined period, when the mobile positioning apparatus is in a stationary state, Calculates a deviation between a predicted position using the moving speed and direction and an actual positioning result according to a positioning method corresponding to each received signal when the mobile positioning device is in a moving state, The reliability can be given to each of the positioning methods according to the deviation.

Meanwhile, in the method for measuring a position of a mobile positioning device according to an embodiment of the present invention, a method may include receiving satellite signals from at least one of a GNSS satellite and a SBAS satellite, receiving a position correction signal from a reference station through a terrestrial network , And calculating the current position of the mobile positioning device by selectively using one of the plurality of different positioning modes according to the reception of the satellite signal and the reception state of the position correction signal, A first positioning mode for calculating a current position of the mobile positioning device based on a first satellite signal received from the GNSS satellite, a second positioning mode for calculating a current position of the mobile positioning device based on the first satellite signal received from the GNSS satellite, Calculates a current position of the positioning apparatus, and calculates a current position of the second satellite signal received from the SBAS satellite A second positioning mode for correcting the current position based on the first satellite signal received from the GNSS satellite, a current position of the mobile positioning device based on the first satellite signal received from the GNSS satellite, And a third positioning mode.

In this case, the step of calculating the current position of the mobile positioning device may include: operating in the first positioning mode when only the first satellite signal is received, and when the first satellite signal and the second satellite signal are received together, 2 positioning mode, and when the position correction signal is received together with the first satellite signal or when the second satellite signal and the position correction signal are received together with the first satellite signal, can do.

In this case, if the signal quality of the first satellite signal is less than a predetermined first threshold value, the positioning operation is not performed based on the first satellite signal, and if the signal quality of the second satellite signal is less than a predetermined second threshold value The first positioning mode or the second positioning mode may be operated when the signal quality of the position correction signal is lower than a predetermined third threshold value.

Meanwhile, the step of calculating the current position of the mobile positioning apparatus may include a step of performing a positioning operation in accordance with each of the plurality of different positioning modes, and determining whether the positioning result of each of the plurality of different positioning modes falls within a predetermined error range Reliability of each of the plurality of different positioning modes may be given depending on whether or not the plurality of positioning modes are available, and one of the positioning results may be determined by comparing the reliability.

In this case, the step of calculating the current position of the mobile positioning apparatus may include calculating the deviation of the positioning result according to the positioning method corresponding to each of the received signals calculated for the predetermined period, when the mobile positioning apparatus is in the stationary state Wherein the mobile terminal is provided with reliability in accordance with the calculated deviation, and when the mobile positioning device is in a moving state, a result of the actual positioning according to the position predicted using the moving speed and the direction and the positioning method corresponding to the received signal And reliability can be given to each of the positioning methods according to the calculated deviation.

1 is a simplified block diagram illustrating a configuration of a mobile positioning apparatus according to an embodiment of the present invention;
2 is a concrete block diagram showing a configuration of a mobile positioning apparatus according to an embodiment of the present invention;
3 is a flow chart for calculating the position of the mobile positioning apparatus according to the first embodiment of the present invention;
4 is a flowchart for calculating the position of the mobile positioning apparatus according to the second embodiment of the present invention;
5 is a flowchart for calculating the position of the mobile positioning apparatus according to the third embodiment of the present invention,
6 is a flowchart illustrating a method of measuring a position of a mobile positioning device according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying 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.

1 is a simplified block diagram illustrating a configuration of a mobile positioning apparatus according to an embodiment of the present invention.

Referring to FIG. 1, a mobile positioning apparatus 100 according to an embodiment of the present invention includes a satellite signal receiving unit 110, a receiving unit 120, and a control unit 130.

The satellite signal receiving unit 110 receives satellite signals from at least one of a Global Navigation Satellite System (GNSS) satellite and a Satellite Based Augmentation System (SBAS) satellite. Specifically, in a GNSS, a satellite traveling around the earth along a satellite orbit can receive radio waves transmitted to the earth. Further, in the SBAS, a geostationary-satellite that is rotating the earth along a geostationary orbit can receive radio waves transmitted to the earth.

Here, GNSS satellites may be special purpose satellites for positioning satellite navigation systems such as Global Positioning System (GPS), GLONASS, and Galileo. The satellite signal transmitted by the GNSS satellite may be a carrier wave signal containing a code message. For example, in the case of GPS-based positioning, an L1 wave of 1,575.42 MHz and an L2 wave of 1,227.60 MHz can be transmitted, and a C / A code, a P code, and Orbital data can be included as a code message.

In this regard, the satellite signal receiving unit 110 may include a satellite antenna capable of receiving a signal transmitted by the GNSS satellite. Specifically, the satellite antenna may have a form capable of receiving a signal corresponding to the frequency of the specific satellite signal as described above, and may have an antenna length corresponding to the wavelength of the satellite signal frequency. The satellite signal receiving unit 110 may receive satellite signals from one or more GNSS / SBAS satellites. In general, GPS receives satellite signals from five GPS satellites. Accordingly, the satellite signal receiving unit 110 can receive satellite signals from a plurality of GPS satellites.

In addition, the satellite signal receiving unit 110 may receive the satellite signal transmitted by converting the correction information and the integrity information transmitted by the satellite communication station into the navigation signal L1 / L5 in the stationary orbit on the SBAS satellite for SBAS.

Here, the SBAS (Satellite Based Augmentation System) refers to a system that supports a wide range or local reinforcement using additional satellite broadcasting messages, specifically, a reference station that receives GPS signals and transmits data to the central processing station (Not shown) for generating a correction message, a satellite communication station (not shown) for generating and modulating the transmitted navigation message as a navigation signal and transmitting the generated navigation message to the geostationary orbit satellite, Can be achieved. In addition, the SBAS satellite referred to in the description of the present invention refers to a broadcasting satellite used in the SBAS, for example, Galaxy-15 satellite of WAAS, Anik F1R, Inmaset 4F3 satellite of the United States.

Here, the reference station of the SBAS system knows its precise position and removes an error component common to the mobile positioning device 100 from the satellite signal received from the GNSS satellite in a similar environment close to the mobile positioning device 100 A message including the correction information can be generated and transmitted to the SBAS satellite on the above geostationary orbit. Then, the SBAS satellite can broadcast a correction signal containing the correction message to the mobile positioning device 100.

The receiving unit 120 receives the position correction signal from the reference station through the terrestrial network. Specifically, the receiver 120 can receive a radio signal containing a message that can more precisely correct the position calculated from the satellite signal received by the satellite signal receiver 110.

In this case, the reference station knows its exact position, and unlike the SBAS of the code positioning method described above, the distance can be calculated by measuring the number of wavelengths of different wavelengths. That is, the reference station can generate precise positioning error correction information by sensing the phase difference of two or more sinusoidal signals having different frequencies transmitted from one satellite.

Meanwhile, the reference station may be a wireless communication base station that generates a message including correction information and transmits the generated message to the mobile positioning device 100 via the wireless network. Then, the reference station calculates an error from the result of positioning on the carrier wave, which is the received satellite signal, and its own known position, and can transmit the error to the mobile positioning device 100 via the modem capable of wireless communication.

For example, the receiver 120 may receive a position correction signal containing an RTCM message for an RTK (Real Time Kinetic) -GPS system. The receiving unit 120 may be a wireless modem including an antenna capable of receiving an RTCM message signal. In this case, the receiving unit 120 may receive the position correction signal through the UHF, VHF, and spread-spectrum communication methods.

Also, the receiving unit 120 may receive the position correction signal using the mobile communication network. As an example of a mobile communication network, CDMA, WCDMA, HSPA, LTE, LTE-A, WiBro, and the like can be used. Also, the receiving unit 120 may receive the position correction signal through packet communication using the wireless Internet.

The control unit 130 controls each configuration in the mobile positioning device 100. [ Specifically, the control unit 130 can control the reception of the satellite signal of the satellite signal receiving unit 110 and the reception of the position correction signal of the receiving unit 120. [

The control unit 130 may sense the reception status of the first satellite signal of the GNSS satellite and the second satellite signal of the SBAS satellite that the satellite signal receiving unit 110 can receive. In addition, the controller 130 can sense the reception state of the position correction signal that the receiver 120 can receive.

Here, the first satellite signal refers to a signal transmitted from a GNSS satellite containing a message for positioning in the GNSS system. The second satellite signal is a signal transmitted from the SBAS satellite containing correction information for positioning in the SBAS system. Hereinafter, the first satellite signal and the second satellite signal are defined as follows. The first satellite signal is used to refer to the type of a signal transmitted from the GNSS satellite, and is independent of the order or number of received satellites . The second satellite signal is used to refer to the type of signal transmitted from the SBAS satellite and is independent of the order or number of satellites received. That is, the number of satellites corresponding to the first satellite signal and the second satellite signal may be one or a plurality, and the order of the received satellite signals may be such that the second satellite signal is received first and the first satellite signal is received later And can be received at the same time.

Specifically, the control unit 130 determines whether the satellite signal receiving unit 110 receives the first satellite signal from the GNSS satellite, whether the second satellite signal is received from the SBAS satellite, and whether the receiving unit 120 receives the position correction signal Lt; RTI ID = 0.0 > a < / RTI >

The control unit 130 may determine the signal quality of the first satellite signal and the second satellite signal received by the satellite signal receiving unit 110 and the signal quality of the position correction signal received by the receiving unit 120. Here, the signal quality may include a ratio of noise to a signal such as SNR (Signal to Noise Ratio) of a received signal used in wireless / satellite communication, sensitivity (strength, intensity) of a received signal, and the like.

The control unit 130 may selectively use one of the plurality of different positioning modes according to the reception states of the satellite signal receiving unit 110 and the receiving unit 120 to determine the current position of the mobile positioning device 100 Can be calculated.

Alternatively, the control unit 130 may calculate the current position of one or more mobile positioning apparatuses 100 according to a plurality of positioning modes corresponding to signals received by the satellite signal receiving unit 110 and / or the receiving unit 120 .

When the first satellite signal from the GNSS satellite capable of being received by the satellite signal receiving unit 110 is received, the control unit 130 transmits the first satellite signal to the mobile positioning device 100 based on the first satellite signal received from the GNSS satellite, The current position of the mobile positioning device 100 can be calculated according to the first positioning mode for calculating the current position of the mobile positioning device 100. [ For example, the first positioning mode may be a stand-alone positioning method of measuring a position by only a signal received from a GPS satellite.

If the second satellite signal is received from the SBAS satellite capable of being received by the satellite signal receiving unit 110 together with the first satellite signal, The current position of the mobile positioning device 100 can be calculated according to the second positioning mode for calculating the current position of the mobile terminal 100 and correcting the current position based on the second satellite signal received from the SBAS satellite.

In addition, the control unit 130 may perform a satellite-based enhanced fine positioning (second positioning mode) for correcting the current position based on the GPS using the reinforcement signal received from the geostationary orbit satellite, in accordance with the SBAS system.

When the receiving unit 120 receives the position correction signal from the reference station and the satellite signal receiving unit 110 receives the first satellite signal, The current position of the mobile positioning device 100 may be calculated according to the third positioning mode for calculating the current position of the mobile positioning device and correcting the current position based on the position correction signal.

For example, according to the RTK technique, the controller 130 controls the RTK positioning (i.e., the RTK positioning) that corrects the current position based on the GPS using the correction information contained in the RTCM message received from the reference station via the terrestrial network A third positioning mode).

Here, the controller 130 detects whether or not the first satellite signal, the second satellite signal, and the position correction signal are received, selects one of the plurality of positioning modes according to whether the signal is received, The position can be calculated. Specifically, the controller 130 operates in a first positioning mode when only the first satellite signal is received, operates in a second positioning mode when the first satellite signal and the second satellite signal are received together, And may operate in the third positioning mode when the second satellite signal and the position correction signal are received together with the first satellite signal.

For example, when only a GPS satellite signal is received, it operates according to the independent positioning method. When receiving the GPS satellite signal and the satellite reinforcement signal, it operates according to the SBAS positioning method. When receiving the GPS satellite signal and the RTCM signal, And can operate accordingly.

Here, when the second satellite signal and the position correction signal are received together, the third positioning mode may be used instead of the second positioning mode. This is because, in the case of positioning using the SBAS signal, the error range reaches several meters, In the case of the RTK, since the position measurement result has a higher accuracy of several centimeters, when both the satellite signals and the position correction signal are received, the position of the mobile positioning apparatus 100 is to be positioned in a more accurate positioning mode . As an example of the positioning method applied to the present invention, it is analyzed that an error range within 10 m for GPS, an error range within 2 m for DGPS, and an error range within 3 cm for RTK are analyzed.

The control unit 130 may operate in the selected positioning mode by selecting a positioning mode for calculating the position of the mobile positioning device 100 according to the reception quality of the first satellite signal, the second satellite signal, have.

Specifically, the controller 130 determines whether or not the first satellite signal, the second satellite signal, and the position correction signal are received, and determines whether or not the first satellite signal, the second satellite signal, The reception quality may be measured and compared with a preset threshold value so that the positioning operation based on the signal may not be performed.

More specifically, when the signal quality of the first satellite signal is less than a predetermined first threshold value, the controller 130 performs the positioning operation based on the first satellite signal (the first positioning mode) If the quality is below a predetermined second threshold value, the first positioning mode operates, and if the signal quality of the position correction signal is below a predetermined third threshold, the first positioning mode or the second positioning mode. The operation of the controller 130 may change the quality of the received signal due to the environment in which the mobile positioning device 100 moves or changes with time, and it may perform positioning based on a signal having no predetermined signal quality Thereby preventing a larger error from occurring.

In the above description, the first threshold value, the second threshold value, and the third threshold value are described. However, this expression indicates that the first satellite signal, the second satellite signal, and the position correction signal are threshold values, , The second threshold value and the third threshold value may be different from each other and may be equal to each other.

The controller 130 performs the positioning operation in accordance with each of the plurality of positioning modes and determines whether a plurality of positioning results of the plurality of different positioning modes correspond to predetermined error ranges or not, Reliability can be given, and one of positioning results can be determined by comparing each reliability.

Specifically, the control unit 130 receives the first satellite signal, the second satellite signal, and the second satellite signal for one or more of the first satellite signal, the second satellite signal, and the position correction signal that the mobile positioning apparatus 100 can receive, And the position of the mobile positioning device 100 in at least one of the first positioning mode, the second positioning mode and the third positioning mode corresponding to the position correction signal. The reliability of the positioning mode can be given according to the position of the mobile positioning device 100 positioned as a result of the calculation.

Here, the reliability is an index indicating how reliable the positioning result corresponding to each positioning mode is at the current point of time, and it is determined to what extent the error of each positioning result belongs to one or a plurality of preset error ranges , Reliability can be given to each positioning mode according to the positioning result. Then, the control unit 130 can compare the reliability assigned to each positioning mode, determine the positioning result of the positioning mode with high reliability, and output the determined positioning result. This makes it possible to remove the error data when the positioning is significantly out of the error range due to the random number of the unexpected signal and to select the most efficient and reliable positioning mode among the plurality of positioning modes in the current state, More accurate positioning can be achieved.

However, when a plurality of signals are received and a plurality of positioning modes are possible and reliability is given to the positioning results in accordance with the plurality of positioning modes, It is possible to calculate the position of the mobile positioning device 100 in a manner that weights are assigned according to the reliability given to the mobile terminal 100 and the positioning results are synthesized.

When the mobile positioning apparatus 100 is in a stationary state, the control unit 130 calculates a deviation of the positioning result according to the positioning method corresponding to each received signal calculated during the predetermined period, Can be given.

Specifically, when the mobile positioning device 100 is in a stopped state, the control unit 130 calculates the position of the mobile positioning device 100, It is possible to accumulate and calculate positioning values. It is also possible to calculate the deviation of the positioning result for each positioning mode corresponding to each signal received for a predetermined time period, and to give a high reliability to the positioning mode showing the positioning result with the smallest deviation. That is, it can be shown through the reliability that the mobile positioning apparatus 100 has a higher accuracy as the repeated positioning value for one point in the stationary state has a smaller error range.

When the mobile positioning device 100 is in the moving state, the control unit 130 calculates a deviation between the position predicted using the moving speed and the direction and the actual positioning result according to the positioning method corresponding to each received signal And reliability can be given to each positioning method according to the calculated deviation. Specifically, when the mobile positioning apparatus 100 is in a moving state, the control unit 130 can know the moving speed and the direction of the mobile positioning apparatus 100.

For example, in the case of a mobile positioning device 100 that can be mounted on a vehicle, the mobile positioning device 100 transmits movement speed and direction information from an external device such as OBD (On Board Diagnostic) And it is possible to use the information that senses the moving speed and direction through a sensor such as an IMU (Interactive Measurement Unit) itself. Then, the control unit 130 can set an expected point using the moving speed and the direction.

Specifically, the control unit 130 calculates the current position using the first or second satellite signal and the position correction signal in consideration of the moving speed and direction of the mobile positioning apparatus 100, The predicted point at which the apparatus 100 will be located can be calculated. Then, the controller 130 calculates the deviation between the actual positioning result of the mobile positioning device 100 and the prediction position calculated according to the positioning method (positioning mode) corresponding to each received signal after a predetermined time, High reliability can be given to the positioning method (positioning mode) corresponding to the positioning result.

Even if the mobile positioning apparatus 100 is in the moving state through the above-described method, the positioning result for each positioning mode corresponding to the first satellite signal, the second satellite signal, or the position correction signal, It can be shown through the reliability that the position and the small error range have higher accuracy.

Among the plurality of positioning modes that calculate the position of the mobile positioning apparatus 100 in motion by receiving a plurality of signals through the configuration of the mobile positioning apparatus 100 according to an embodiment of the present invention as described above, It is possible to adaptively select an appropriate positioning method according to the signal state of a signal for positioning and calculate the current position of the highly accurate mobile positioning device 100 in an optimal positioning method in a variable environment.

2 is a specific block diagram showing a configuration of a mobile positioning apparatus according to an embodiment of the present invention.

2, the mobile positioning device 100 may include a satellite signal receiving unit 110, a receiving unit 120, a controller 130, a user interface unit 210, and an inertial sensor 220. FIG. 2 illustrates a specific configuration of the satellite signal receiving unit 110, the receiving unit 120, and the control unit 130 of FIG. 1, and a detailed description of the detailed operation of each detailed configuration is omitted.

The satellite signal receiving unit 110 may include a GPS signal receiving unit 111 and an SBAS signal receiving unit 112. Specifically, the GPS signal receiving unit 111 can receive the GPS signal corresponding to the first satellite signal from the GPS satellite. The SBAS signal receiving unit 112 can receive the SBAS signal corresponding to the second satellite signal from the broadcasting satellite that is in the geosynchronous orbit.

The receiving unit 120 may include a radio receiving unit 120 for receiving an RF signal including an RTCM message from a reference station.

The control unit 130 may include a CPU 131, a signal detection module 132, a signal quality module 133, a reliability measurement module 134, and a storage unit 135.

The CPU 131 may be a processing device for computing an operation for controlling each configuration of the mobile positioning device 100 and may include at least one of a single-core processor, a dual-core processor, a triple-core processor, and a quad-core processor. In addition, an operation for calculating a current position according to a plurality of positioning modes corresponding to a plurality of signals to be received can be performed.

The signal detection module 132 detects whether the first satellite signal, the second satellite signal, and the position correction signal of the GPS signal receiving unit 111, the SBAS signal receiving unit 112, and the radio receiving unit 120 of the satellite signal receiving unit 110 are received Can be determined.

The signal quality module 133 may measure the quality of a signal for at least one of a first satellite signal, a second satellite signal, and a position correction signal.

The reliability measurement module 134 may determine whether the positioning result according to the positioning mode corresponding to one or a plurality of received signals falls within a predetermined error range and assign reliability for each positioning mode.

In addition, the reliability measurement module 134 can grasp the stationary state or the moving state of the mobile positioning apparatus 100, and apply a different reliability providing scheme according to the state of each mobile positioning apparatus 100. [

The storage unit 135 may store various programs and data necessary for driving the mobile positioning device 100. The storage unit 135 may store the predetermined first threshold value, the second threshold value and the third threshold value that are necessary for the signal quality module 133 of the control unit 130, The error range, and the calculated reliability for each positioning mode, and may store a predetermined period for accumulating the positioning result when the mobile positioning device 100 is in the stopped state.

The storage unit 135 may include a ROM, a RAM, a detachable memory card, a hard disk drive, or a solid state drive.

Although the above-described modules are described as separate components, they may be implemented through a plurality of software programs on an operating system that share a common hardware configuration and are stored in the storage unit 135. Alternatively, IC or SoC.

The user interface unit 210 includes a plurality of function keys that a user can set or select various functions supported by the mobile positioning device 100 and can display various types of information provided by the mobile positioning device 100 . Specifically, the mobile positioning device 100 can be turned off so as not to use any one of a plurality of positioning modules that can be positioned, and can be selected to be positioned using only one positioning mode. Further, the mobile positioning device 100 can display the positioning result of calculating the current position.

The user interface unit 210 may be realized by a combination of a monitor and a mouse, and may be implemented as a device that simultaneously implements input and output such as a touch screen.

The inertial sensor 220 can sense the movement and the moving speed and direction of the mobile positioning device 100. The inertial sensor 220 may be implemented by an MEMS-based IMU (Inertial Measurement Unit). The inertial sensor 220 may detect the stop state, the movement state, and the acceleration of the mobile positioning device 100 and transmit the information to the controller 130.

Among the plurality of positioning modes that calculate the position of the mobile positioning apparatus 100 in motion by receiving a plurality of signals through the configuration of the mobile positioning apparatus 100 according to an embodiment of the present invention as described above, It is possible to adaptively select an appropriate positioning method according to the signal state of a signal for positioning and calculate the current position of the highly accurate mobile positioning device 100 in an optimal positioning method in a variable environment.

3 is a flowchart for calculating the position of the mobile positioning apparatus according to the first embodiment of the present invention.

Referring to FIG. 3, the mobile positioning device 100 may receive a first satellite signal including code information for positioning from a GNSS satellite (310).

Next, the mobile positioning device 100 may determine whether a position correction signal has been received (320). Specifically, the mobile positioning device 100 determines whether the mobile positioning device 100 is currently receiving a position correction signal capable of correcting the result of positioning the current position according to the first satellite signal received from the GNSS satellite can do.

When the mobile positioning device 100 determines to receive the position correction signal (320: Y), the mobile positioning device 100 acquires the correction information from the received position correction signal, and acquires correction information of the first satellite signal received from the GNSS satellite The current position of the mobile positioning device 100 can be calculated by correcting the current position based on the position correction signal at the current position based on the first satellite signal in accordance with the third positioning mode 330 for correcting the positioning result 370 ).

When the mobile positioning device 100 determines that the position correction signal is not received (320), the mobile positioning device 100 determines that the mobile communication device 100 is not receiving the position correction signal (320: N) (340) whether or not the second satellite signal received from the SBAS satellite is received. Specifically, a second satellite signal capable of correcting the common error of the GNSS satellite signal capable of correcting the positioning result by the first satellite signal simultaneously with the reception of the first satellite signal for positioning the current position of the mobile positioning device 100 It is possible to determine whether or not the satellite signal is received.

When the mobile positioning device 100 determines that the second satellite signal is received 340 and determines that the second satellite signal is received 340, the mobile positioning device 100 determines that the first satellite signal received from the GNSS satellite Based on the second satellite signal at a current position based on the first satellite signal in accordance with a second positioning mode 360 for correcting the positioning result with the correction information included in the second satellite signal from the SBAS, The present position can be corrected and the current position of the mobile positioning device 100 can be calculated. (370)

If the mobile positioning device 100 determines that the second satellite signal is not received (340: N), the mobile positioning device 100 determines that the first positioning mode 350 The current position can be calculated based only on the first satellite signal (370).

Among the plurality of positioning modes that calculate the position of the mobile positioning apparatus 100 in motion by receiving a plurality of signals through the configuration of the mobile positioning apparatus 100 according to an embodiment of the present invention as described above, It is possible to adaptively select an appropriate positioning method according to the signal state of a signal for positioning and calculate the current position of the highly accurate mobile positioning device 100 in an optimal positioning method in a variable environment.

The method of measuring the position of the mobile positioning device 100 as described above can be implemented with the configuration of the mobile positioning device 100 of FIG. 1 or FIG. It may also be implemented in such a manner that it is recorded on a non-volatile recording medium as a program containing computer-readable instructions and executed by a processor of the computer.

4 is a flowchart for calculating the position of the mobile positioning apparatus according to the second embodiment of the present invention.

Referring to FIG. 4, the mobile positioning device 100 may receive a first satellite signal 405 for positioning the current position of the mobile positioning device 100 from the GNSS satellite.

The mobile positioning device 100 may calculate the signal quality of the received first satellite signal and compare the signal quality with a predetermined first threshold value (410). Specifically, the mobile positioning device 100 may compare the value obtained by quantifying the signal quality of the first satellite signal received from the GNSS satellite with a value larger than a predetermined first threshold value.

Here, the calculation of the signal quality of the first satellite signal may be an SNR measurement or an eye pattern, and the signal quality may be calculated by measuring the intensity of the signal at the carrier center point. And, the predetermined first threshold value may be the signal quality for the first satellite signal that has been analyzed to be reliable.

If the mobile satellite positioning apparatus 100 determines that the signal quality of the received first satellite signal does not reach a predetermined first threshold as a result of comparison with a predetermined first threshold (410: N) It is possible to determine that the current position of the mobile positioning device 100 based on the first satellite signal is difficult to calculate and repeat the reception 405 of the first satellite signal until it receives the first satellite signal of the quality corresponding to the first threshold.

If the mobile satellite positioning device 100 determines that the received first satellite signal has received the first satellite signal of the quality corresponding to the first threshold as a result of comparing the signal quality of the received first satellite signal with a predetermined first threshold, (415) whether or not a position correction signal capable of correcting a result of positioning with the satellite signal received from the GNSS satellite from the reference station through the terrestrial network is received. Specifically, the mobile positioning device 100 can determine whether or not a position correction signal for positioning in the same time zone, which can correct the current position of the first satellite signal satisfying the preset first threshold, is received.

At this time, if the mobile positioning device 100 is receiving the position correction signal (415: Y), it can calculate the signal quality of the position correction signal received by the mobile positioning device 100 so as to compare the predetermined third threshold (420). Specifically, the mobile positioning device 100 can compare the value obtained by quantifying the signal quality of the position correction signal received from the reference station with a value larger than a predetermined third threshold value.

Here, the calculation of the signal quality of the position correction signal may be performed using a quality calculation method suitable for the characteristics of the position correction signal such as RF, CDMA, Wi-Fi, and the predetermined third threshold may be a reliable Signal quality for the signal.

If it is determined that the mobile positioning device 100 does not receive the position correction signal (415: N), the mobile positioning device 100 may determine 430 whether to receive the second satellite signal or not . More specifically, the mobile positioning device 100 receives from the SBAS satellite the correction information of the time zone, which can correct the result of positioning the current position of the mobile positioning apparatus based on the first satellite signal received from the GNSS satellite 2 satellite signal is received.

The mobile positioning apparatus 100 determines that the position correction signal is received (415: Y). If the signal quality of the received position correction signal is compared with the predetermined third threshold value, it does not reach the third threshold value If it is determined (420: N), the mobile positioning device 100 may determine whether to receive the second satellite signal (430). Specifically, the mobile positioning device 100 receives a second satellite from the SBAS satellite containing information capable of correcting the result of positioning the current position of the mobile positioning device 100 based on the first satellite signal received from the GNSS satellite It is possible to judge whether or not the signal is received.

If it is determined that the signal quality of the position correction signal received by the mobile positioning device 100 satisfies the predetermined third threshold value (420: Y), the mobile positioning device 100 determines The position of the mobile positioning device 100 may be calculated 450 by operating the third positioning mode for correcting the current position calculated based on the first satellite signal by reading the correction information.

Next, when it is determined that the mobile station apparatus 100 is receiving the second satellite signal (430: Y), the mobile station apparatus 100 may calculate the signal quality of the received second satellite signal and compare the signal quality with a predetermined second threshold (435). The calculation of the signal quality of the second satellite signal may be the same as that of the calculation of the quality of the first satellite signal and may calculate the signal quality in a different manner as specified for the second satellite signal. For example, a signal quality calculation method specified for the L1 / L2 carrier and code of the first satellite signal may be used and a signal quality calculation method specified for the L1 / L5 carrier and code of the second satellite signal may be used. The predetermined second threshold value may be a value obtained by analyzing the characteristics of the second satellite signal to evaluate the signal quality of the second satellite signal so that the signal quality of the second satellite signal is a reliable value.

If it is determined that the mobile positioning device 100 does not receive the second satellite signal (430: N), the mobile positioning device 100 can operate in the first positioning mode based on the received first satellite signal (440).

In addition, when the mobile positioning apparatus 100 determines that the signal quality of the second satellite signal is less than the second threshold (step 435) (435: N), and may operate in a first positioning mode based on the received first satellite signal (440).

Specifically, since the second satellite signal or the position correction signal having the correction information is not received by the mobile positioning device 100 or the signal quality of the received signal is not satisfied with the preset threshold value, the positioning result based on the first satellite signal If it can not be corrected, it can operate in the first positioning mode for positioning the current position of the mobile positioning device 100 with only the first satellite signal.

Conversely, when the mobile positioning apparatus 100 determines that the signal quality of the second satellite signal matches the second threshold (step 435) by comparing the signal quality of the received second satellite signal with a predetermined second threshold value (435: Y), the mobile positioning device 100 reads correction information based on the received second satellite signal and operates (445) in a second positioning mode for correcting the calculated current position based on the first satellite signal, , The current position of the mobile positioning device 100 may be calculated 450.

If the mobile positioning device 100 determines that the second satellite signal is not received (430: N) or if it determines that the quality of the received second satellite signal does not reach the predetermined second threshold (435: N) (440) to calculate the current position of the mobile positioning device 100 based on the received first satellite signal, and calculate the current position (450).

The mobile positioning device 100 calculates (450) the current position of the mobile positioning device 100 according to one of the first positioning mode, the second positioning mode and the third positioning mode, receives the next first satellite signal (405), the above process for positioning the variable position can be repeated.

With the positioning of the mobile positioning apparatus according to the second embodiment of the present invention as described above, it is possible to calculate the position of the mobile positioning apparatus by prioritizing the positioning method with higher accuracy among the plurality of signals to be received, It is possible to calculate the quality and determine whether or not to reflect it in the positioning result, so that it is possible to provide only the more accurate positioning result to the user or the like.

The method for measuring the position of the mobile positioning device 100 described above can be implemented with the configuration of the mobile positioning device 100 of FIG. 1 or 2, and a computer program including a series of computer- And may be implemented to be executed by the processor.

5 is a flowchart for calculating the position of the mobile positioning apparatus according to the third embodiment of the present invention.

Referring to FIG. 5, the mobile positioning device 100 may determine whether a first satellite signal is received (510). Specifically, the mobile positioning device 100 may receive a first satellite signal containing information capable of positioning the current position of the mobile positioning device 100 from the GNSS satellite, Whether or not the first satellite signal is received can be determined based on whether a meaningful message is received in the frequency band. Hereinafter, determination of whether or not a signal for the other signal is received may be similarly performed.

If the mobile positioning device 100 determines that it is receiving the first satellite signal (510: Y), the mobile positioning device 100 determines the position in the first positioning mode for positioning the current position of the mobile positioning device 100 based on the first satellite signal (520). On the other hand, if the mobile satellite positioning device 100 is not receiving the first satellite signal (510: N), it is determined whether the first satellite signal is received until the first satellite signal is received (510).

The mobile positioning device 100 calculates the current position of the mobile positioning device 100 according to the first positioning mode (520) and determines whether the position correction signal is received (530). Specifically, the mobile positioning device 100 determines whether or not the position correction signal from the reference station including the correction information for the positioning result of the same time zone, which can correct the positioning result of the current position according to the first positioning mode, It can be judged.

As a result of the determination, when the mobile positioning device 100 receives the position correction signal (530: Y), the mobile positioning device 100 corrects the position with the correction information based on the position correction signal at the position based on the first satellite signal The current position of the mobile positioning device 100 is calculated according to the third positioning mode (540).

The mobile positioning device 100 determines (530: N) that the position correction signal is not received, calculates (540) the position of the mobile positioning device 100 in the third positioning mode based on the received position correction signal, Then, it is determined whether the second satellite signal is received (550). Specifically, the mobile positioning device 100 determines whether or not to receive the second satellite signal from the SBAS satellite including the correction information for the positioning result of the same time zone that can correct the positioning result of the current position according to the first positioning mode Can be determined.

 If the mobile positioning apparatus 100 determines that the second satellite signal is not received (550) and determines that it is not receiving the second satellite signal (550: N), it determines whether or not the first satellite signal of the next period is received (510), and repeats the process for positioning the position of the mobile positioning device (100). When the mobile positioning device 100 determines that it is receiving the second satellite signal (550: Y), the mobile positioning device 100 corrects the position with the correction information based on the second satellite signal at the position based on the first satellite signal The current position of the mobile positioning device 100 is calculated according to the second positioning mode (560).

Next, the accuracy of the positioning result calculated according to the plurality of positioning modes is calculated, the reliability of each positioning mode is given, and the reliability of each assigned positioning mode is compared (570).

In this case, the mobile positioning apparatus 100 can give the lowest reliability for the positioning mode in which no signal is received and the positioning result does not exist, and for the positioning mode in which the positioning result does not exist, reliability calculation or reliability comparison Can be excluded from the target.

The reliability of each positioning mode can be calculated by comparing the positioning result corresponding to each positioning mode with a predetermined error range and can be calculated in a different manner depending on whether the mobile positioning device 100 is in a stationary state or a moving state The deviation of the positioning result corresponding to the positioning mode can be calculated and reliability can be given for each positioning mode.

Next, the mobile positioning apparatus 100 determines 580 the positioning result corresponding to the positioning mode having the highest reliability among the reliability assigned to each positioning mode. Specifically, the mobile positioning device 100 may store reliability corresponding to each positioning mode, and may select and output a stored positioning result from an indicator corresponding to the positioning mode having a value indicating reliability.

Then, for the next positioning, the mobile positioning device 100 determines whether the first satellite signal is received (510) and repeats the following procedure as described above.

According to the positioning method process of the mobile positioning apparatus according to the third embodiment of the present invention as described above, it is possible to select and output the most reliable result among the positioning results of the mobile positioning apparatus according to the plurality of positioning modes. In describing the third embodiment of the present invention, it has been described that only one positioning result is selected through comparison of reliability. However, weighting is given to the positioning result corresponding to each positioning mode according to the reliability given to each positioning mode It is also possible to calculate one precise positioning result.

The method for measuring the position of the mobile positioning device 100 described above can be implemented in the configuration of the mobile positioning device 100 of FIG. 1 or 2, and a program including computer-readable instructions is recorded on the non- May be implemented to be executed by a processor.

6 is a flowchart illustrating a method for measuring a position of a mobile positioning device according to an embodiment of the present invention.

6, the mobile positioning apparatus 100 receives a satellite signal (S610). Specifically, the satellite signal received by the mobile positioning apparatus 100 is a satellite signal received from at least one of the GNSS satellite and the SBAS satellite Signal.

Then, the mobile positioning device 100 receives the position correction signal (S620). Specifically, the position correction signal received by the mobile positioning device 100 may be a signal received from the reference station through the terrestrial network.

Then, the mobile positioning device 100 determines reception of the satellite signal and reception of the position correction signal (S630). Specifically, the mobile positioning device 100 can determine whether or not to receive a satellite signal received from the GNSS satellite, a satellite signal received from the SBAS satellite, and a position correction signal received from the reference station. Alternatively, the mobile positioning device 100 may determine the signal quality of the received satellite signal and the position correction signal.

Then, the mobile positioning device 100 selects a positioning mode for calculating the current position (S640). Specifically, the mobile positioning device 100 can position the current position of the mobile positioning device 100 in a plurality of different positioning modes.

Here, the plurality of different positioning modes may include a first positioning mode for calculating the current position of the mobile positioning device 100 based on the first satellite signal received from the GNSS satellite, a second positioning mode for calculating, based on the first satellite signal received from the GNSS satellite, A second positioning mode for calculating the current position of the mobile positioning device 100, correcting the current position based on the second satellite signal received from the SBAS satellite, and a second positioning mode for correcting the current position based on the first satellite signal received from the GNSS satellite. And a third positioning mode for correcting the current position based on the position correction signal.

The positioning mode for calculating the position of the mobile positioning device 100 can be selected on the basis of whether each satellite signal and the position correction signal based on a plurality of different positioning modes are received or not, Can be selected based on the signal quality of the position correction signal.

More specifically, if only the first satellite signal is received, the first positioning mode is selected. If the first satellite signal and the second satellite signal are received together, the second positioning mode is selected. Or a third positioning mode if the second satellite signal and the position correction signal are received together with the first satellite signal.

If the signal quality of the first satellite signal is less than or equal to a predetermined first threshold value, the positioning mode based on the first satellite signal is not selected. If the signal quality of the second satellite signal is less than the predetermined second threshold value, And may be selected as the first positioning mode or the second positioning mode if the signal quality of the position correction signal is lower than a predetermined third threshold value.

Then, the mobile positioning device 100 calculates the current position of the mobile positioning device 100 by selectively using one of the plurality of different positioning modes (S650). Specifically, the current position of the mobile positioning device 100 is calculated by operating in the selected positioning mode in step S640 of selecting the positioning mode.

Although not shown, the mobile positioning device 100 calculates the reliability of a plurality of positioning results calculated by a plurality of positioning methods corresponding to the received signals, assigns reliability to each of the plurality of positioning modes, And by selecting one positioning result, the current position of the mobile positioning device 100 can be calculated.

Here, the reliability of a plurality of positioning modes may be determined depending on whether or not the positioning results of the plurality of different positioning modes correspond to predetermined error ranges, and more specifically, Calculates a deviation of the positioning result according to the positioning method corresponding to each received signal calculated during the predetermined period when the mobile positioning device is in the stopped state and gives the reliability according to the calculated deviation, In the moving state, the deviation between the predicted position using the moving speed and the direction and the actual positioning result according to the positioning method corresponding to each received signal is calculated, and reliability is given to each positioning method according to the calculated deviation .

Among the plurality of positioning modes that calculate the position of the mobile positioning apparatus 100 in motion by receiving a plurality of signals through the position measuring method of the mobile positioning apparatus 100 according to an embodiment of the present invention as described above, It is possible to adaptively select an appropriate positioning method according to the signal state of the signal for positioning to be received and calculate the current position of the highly accurate mobile positioning device 100 in an optimal positioning method in a variable environment.

While the present invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, 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. The codes and code segments constituting the computer program may be easily deduced by those skilled in the art. Such a computer program may be stored in a non-transitory computer readable medium readable by a computer, readable and executed by a computer, thereby implementing an embodiment of the present invention.

Here, the non-transitory readable recording medium is not a medium for storing data for a short time such as a register, a cache, a memory, etc., but means a medium that semi-permanently stores data and can be read by a device. Specifically, the above-described programs may be stored in non-volatile readable recording media such as CD, DVD, hard disk, Blu-ray disk, USB, memory card, ROM,

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, It will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the scope of the appended claims.

100: mobile positioning device 110: satellite signal receiver
120: Receiver 130:
210: user interface unit 220: inertial sensor

Claims (10)

In the mobile positioning device,
A satellite signal receiving unit for receiving a satellite signal from at least one of the GNSS satellite and the SBAS satellite;
A receiver for receiving a position correction signal from a reference station via a terrestrial network; And
And a control unit for calculating a current position of the mobile positioning device by selectively using one positioning mode among a plurality of different positioning modes according to signal receiving states of the satellite signal receiving unit and the receiving unit,
Wherein the plurality of different positioning modes include:
A first positioning mode for calculating a current position of the mobile positioning device based on a first satellite signal received from the GNSS satellite,
A second positioning mode for calculating a current position of the mobile positioning device based on a first satellite signal received from the GNSS satellite and correcting the current position based on a second satellite signal received from the SBAS satellite,
And a third positioning mode for calculating a current position of the mobile positioning device based on a first satellite signal received from the GNSS satellite and correcting the current position based on the position correction signal. The method according to claim 1,
Wherein,
When receiving only the first satellite signal, operates in the first positioning mode,
When the first satellite signal and the second satellite signal are received together, operates in the second positioning mode,
Wherein the mobile station is operated in the third positioning mode when the position correction signal is received together with the first satellite signal or when the second satellite signal and the position correction signal are received together with the first satellite signal. . 3. The method of claim 2,
And performs a positioning operation based on the first satellite signal if the signal quality of the first satellite signal is below a predetermined first threshold,
And operates in the first positioning mode if the signal quality of the second satellite signal is below a predetermined second threshold,
And operates in the first positioning mode or the second positioning mode when the signal quality of the position correction signal is less than a predetermined third threshold value. The method according to claim 1,
Wherein,
Performing a positioning operation in accordance with each of the plurality of different positioning modes,
Wherein reliability is assigned to each of the plurality of different positioning modes according to whether a positioning result of each of the plurality of different positioning modes corresponds to a preset error range and one of the positioning results is determined by comparing each reliability To the mobile terminal. 5. The method of claim 4,
Wherein,
Calculating a deviation of a positioning result according to a positioning method corresponding to each of the received signals calculated during a predetermined period when the mobile positioning apparatus is in a stationary state to give reliability according to the calculated deviation,
Calculating a deviation between a predicted position using the moving speed and the direction and an actual positioning result according to a positioning method corresponding to each received signal when the mobile positioning apparatus is in a moving state, And gives reliability to each of the positioning methods. A method for measuring a position of a mobile positioning device,
Receiving a satellite signal from at least one of a GNSS satellite and a SBAS satellite;
Receiving a position correction signal from a reference station via a terrestrial network;
And calculating a current position of the mobile positioning device by selectively using one of a plurality of different positioning modes according to reception of the satellite signal and reception state of the position correction signal,
Wherein the plurality of different positioning modes include:
A first positioning mode for calculating a current position of the mobile positioning device based on a first satellite signal received from the GNSS satellite,
A second positioning mode for calculating a current position of the mobile positioning device based on a first satellite signal received from the GNSS satellite and correcting the current position based on a second satellite signal received from the SBAS satellite,
A third positioning mode for calculating a current position of the mobile positioning device based on a first satellite signal received from the GNSS satellite and correcting the current position based on the position correction signal. The method according to claim 6,
Wherein the step of calculating the current position of the mobile positioning apparatus comprises:
When receiving only the first satellite signal, operates in the first positioning mode,
Wherein the first satellite signal and the second satellite signal are received together and operate in the second positioning mode when the first satellite signal and the second satellite signal are received together and the position correction signal is received together with the first satellite signal, Is received together with the first satellite signal, operates in the third positioning mode. 8. The method of claim 7,
And performs a positioning operation based on the first satellite signal if the signal quality of the first satellite signal is below a predetermined first threshold,
And operates in the first positioning mode if the signal quality of the second satellite signal is below a predetermined second threshold,
Wherein the first positioning mode or the second positioning mode operates when the signal quality of the position correction signal is less than a predetermined third threshold value. The method according to claim 6,
Wherein the step of calculating the current position of the mobile positioning apparatus comprises:
Performing a positioning operation in accordance with each of the plurality of different positioning modes,
Wherein reliability is assigned to each of the plurality of different positioning modes according to whether the positioning result of each of the plurality of different positioning modes corresponds to a predetermined error range and one of the positioning results is determined by comparing each reliability. . 10. The method of claim 9,
Wherein the step of calculating the current position of the mobile positioning apparatus comprises:
Calculating a deviation of a positioning result according to a positioning method corresponding to each of the received signals calculated during a predetermined period when the mobile positioning apparatus is in a stationary state to give reliability according to the calculated deviation,
Calculating a deviation between a predicted position using the moving speed and the direction and an actual positioning result according to a positioning method corresponding to each received signal when the mobile positioning apparatus is in a moving state, And reliability is given to each positioning method.

Images