KR100448543B1 - Method for Preparing Geographical Information System - Google Patents

Abstract

PURPOSE: A method for fabricating a geographic information system is provided to fabricate a three dimensional map having three dimensional coordinate data using coordinate values obtained in a vehicle with GPS. CONSTITUTION: A vehicle(100) with GPS comprises a GPS receiver(120) and a direction detection unit(130) and a traveling detection unit(140) and an altitude detection unit(150) and a coordinate determination and path calculation unit(160) and a system control unit(170). A display and control unit(180) displays every result, and a transmission and control unit(220) transmits data obtained from the vehicle with GPS to a central control unit(230). The GPS receiver obtains three dimensional information of the present position by receiving GPS values from a satellite(110).

Description

Method for Preparing Geographical Information System

The present invention relates to the production of a geographical information system (GIS) having a three-dimensional coordinate system using a GPS (Global Position System) and a marker seat having coordinates determined. The present invention relates to a method of manufacturing a geographic information system having a fast and accurate three-dimensional coordinate system by correcting acquired coordinate values and using the corrected coordinate values for road map data.

Geographic information system is a computer application system that collects, stores, analyzes, and prints geographic data. It is the product of attempting to make all kinds of information about geospatial on computer and to make efficient decision-making related to human space. It has been used for the purpose of developing and controlling land.

Maps have been used as a traditional means for humans to obtain information about the land, and the map is a data source that records information about the land, such as important topography and facilities, and provides the necessary information for each field. However, it is difficult to record the contents that change from time to time, which makes it difficult to use the map, and suggests an effective method of collecting, processing, and analyzing data using a computer, and is a comprehensive space that can efficiently process vast and diverse data. GIS, a processing technology, has developed. GIS is a technology that inputs and stores natural and socio-economic information according to geographic and spatial location, and utilizes and analyzes it for various purposes. It provides economic efficiency and efficiency for data collection and processing. It has provided a breakthrough in storage and use of spatial information.

The most basic data for developing such GIS are maps, which include topographic maps, geological maps, soil maps, cadastral maps and underground facilities such as water and sewage, underground telephone wiring and underground gas pipelines. These maps are usually produced by aerial photography, surveying, etc., and can only obtain the linearity of the terrain. In order to use them in GIS, it is necessary to quantify the state of roads through separate survey analysis. Is usually done only for two dimensions. However, there is a need for a topographic map including three-dimensional coordinate values (x, y, z) in relation to the current leisure, military purpose or environment.

As described above, techniques have been proposed for correcting numerical information of a road through information obtained while driving a vehicle equipped with a GPS in order to quantify the state of the road or to obtain digitized road information obtained through survey analysis.

The Global Positioning System (GPS), developed by the US Department of Defense for its military purposes, is a state-of-the-art navigation system that uses satellites to measure position, speed, and time in a world coordinate system, regardless of climate, anywhere on Earth. Anyone can receive signals that use the Coarse-Acquisition (C / A) code as a service that is open for private use, but the Pentagon has deliberately degraded the signal accuracy, and errors occur due to atmospheric conditions. do. The factors that reduce the accuracy of GPS positioning can be divided into three parts. First, the errors caused by structural factors include satellite time error, satellite position error, ionospheric and convective refraction, noise, and multipath. ). Secondly, there is a geometrical error due to satellite arrangement, and finally, SA (Selective Availability) is the biggest source of error. All of these factors are potentially synthesized, resulting in very large error results, called UERE (User Equivalent Range Error). Each error varies greatly with time and place. The following shows the magnitude of each error.

Satellite time error: 0-1.5 m

Satellite positioning error: 1-5 m

Refraction of the ionosphere: 0-30 m

-Refraction of convective layer: 0-30 m

Receiver Noise: 0-10 m

Multipath: 0-1 m

SA (Selective Availability): 0-70 m

In consideration of the above errors, the horizontal and vertical errors are roughly calculated as follows.

Horizontal measurement error: 100 m

Vertical measurement error: 160 m

The above-mentioned errors are parts to be overcome in obtaining or correcting a digital map. Various techniques for overcoming these errors have been proposed. Here, the error correction method proposed by the present invention will be identified.

As a conventional technique, a technique for calculating a current position of a vehicle based on a traveling direction of a vehicle measured by an orientation sensor such as a gyro and a traveling distance of the vehicle measured by a vehicle sensor or a distance sensor has been proposed. As a method of measuring the traveling distance of the vehicle, a method of measuring the output shaft of the transmission or the number of revolutions of the tire and measuring the number of revolutions by multiplying the distance coefficient, which is the distance traveled by the vehicle per tire revolution, may be used. Moreover, in order to correct the error of the current position obtained from the traveling direction and the traveling distance of the vehicle in this way, the current position of the obtained vehicle is corrected to match the road data as in the technique described in Japanese Patent Publication No. 94-13972. So-called map matching techniques are known. According to this map matching technique, the accuracy of the current position calculation can be improved. However, during running, the diameter of the tire, that is, the distance coefficient, changes from time to time due to tire wear, expansion due to temperature change, or the like. For this reason, an error occurs in the calculation of the traveling distance, and the calculation of the current position cannot be performed with high accuracy. For example, if there is an error of 1% in the travel distance coefficient per tire revolution, an error of 1 km occurs when driving 100 km.

On the other hand, the cover stone is the geodetic reference system (Geodetic Reference System) of a country is a reference of the location information, the scope of application is a variety of cases, such as targeting a country and used worldwide through international cooperation. The National Geodetic Reference System is generally defined, maintained and managed by the state based on legislation. Since these markers include a coordinate system with a small number of errors, these markers contribute to making the map necessary for the geographic information system, but it is difficult to use them efficiently through the linkage of these markers.

It is a main object of the present invention to provide a method for producing a three-dimensional map having accurate three-dimensional coordinate system data using coordinate values acquired from a GPS mounted on a vehicle.

1 is a block diagram showing a preferred embodiment applied in the present invention.

2 illustrates a concept of dividing an arbitrary area into several zones.

3 is an imaginary view including a cover stone of an arbitrary area.

4 is a workflow diagram for the practice of the present invention.

5 is a conceptual diagram showing the relationship between the reference origin and the marker seat.

<Description of the symbols for the main parts of the drawings>

10 ... reference point 20,50 ... cover stone

100 ... vehicle with GPS 130 ... direction detector

140 ... travel detector 150 ... altitude detector

230 ... central control unit

In order to achieve the above object, the present invention divides an arbitrary area into several zones, determines a reference point representing an arbitrary area, each zone includes a marker seat corresponding to the reference coordinates, and the road data of each zone uses GPS. The installed vehicle applies GPS coordinates acquired while moving on a road, and the coordinates obtained from the GPS are obtained by correcting the coordinates corrected through a correction function, and the correction coordinates are converted into offset coordinates by applying an offset function again. In the method for producing a geographic information system (GIS) using the road map data,

The production stage of the numerical map of GIS,

(a) obtaining a coordinate value (SX, SY, SZ) of a reference point of an arbitrary region and dividing the arbitrary region into several zones (step S100);

(b) step 1-1 (step S110) of acquiring coordinate values (BX_k, BY_k, BZ_k) of k zone markers among the various zones;

(c) Steps 1 and 2 (step S120) for calculating the offset function (Xoffset_k, Yoffset_k, Zoffset_k) of the reference point and the marker in the zone k (where Xoffset_k = BX_k -SX, Yoffset_k = BY_k -SY, Zoffset_k = BZ_k- SZ);

(d) Step 2 (step S160) of calculating the correction coordinate values [TX_ki, TY_ki, TZ_ki (i = 1, 2, ...., n)] for each point in the k zone (where i denotes each point). An index indicating that n means that the number of each point of the k-zone is n);

(e) Step 3 (step S170) of calculating the offset coordinate values (UX_ki, UY_ki, UZ_ki) by applying the offset function to the correction coordinate in the k area (where UX_ki = X_ki-DX_k + Xoffset_k, UY_ki = Y_ki-DY_k + Yoffset_k, UZ_ki = Z_ki-DZ_k + Zoffset_k); And

(f) The process consists of four steps (step S180) of creating the entire road data through the offset coordinate values (UX_ji, UY_ji, UZ_ji) acquired in all zones,

Provided is a method for producing a GIS, characterized in that the correction coordinate value and the offset coordinate value having the three-dimensional coordinates of the arbitrary region obtained as the road map data.

In the present invention, the step (d) of calculating the correction coordinate value,

(i) step 2-1 (step S110) of checking the three-dimensional coordinate values BX_k, BY_k, and BZ_k where the marker seat is located;

(ii) step 2-2 of moving the GPS to be mounted on the vehicle 302 to be driven on the road to the location where the beacon 301 is located and obtaining coordinate values GX_k, GY_k, and GZ_k of the point where the beacon is located from the GPS ( Step S130);

(iii) 2-3 steps (S140 steps) of obtaining GPS error functions (DX_k, DY_k, DZ_k) from the coordinate values of the front cover and the coordinates obtained from the GPS at the location of the front cover (where DX_k = GX_k-BX_k, DY_k = GY_k-BY_k, DZ_k = GZ_k-BZ_k);

(iv) The GPS-equipped vehicle 302 equipped with the GPS used in step 2-2 moves each point on the road and coordinates of each point [X_ki, Y_ki, Z_ki (i = 1, 2, ..., n)] steps 2-4 (step S150), where i is an index representing each point, and n means that the number of each point in the k zone is n; And

(v) Steps 2-5 (S160) where the coordinate values (TX_ki, TY_ki, TZ_ki) obtained by correcting the coordinate values of each point obtained in Steps 2-4 by the error function obtained in Steps 2-3 are obtained. TX_ki = X_ki-DX_k, TY_ki = Y_ki-DY_k, TZ_ki = Z_ki-DZ_k).

According to the present invention, a GPS error function is defined from the GPS coordinates obtained at the place where the beacon is located and the coordinates of the beacon are used to correct the coordinates acquired by the GPS mounted on the vehicle by applying the error function, Integrate the map into one effective and accurate map by applying the coordinates of the marker. That is, the present invention divides the area to create a three-dimensional map into several zones, obtains three-dimensional coordinates in each zone, and then integrates the obtained coordinates into one map.

The present invention receives a reference point based on the entire area, each zone divided by the entire area receives a beacon that serves as a reference for the area, a vehicle equipped with a GPS, and a coordinate system obtained from the vehicle. It consists of a central control unit that calculates the corrected coordinates.

Hereinafter, the components of the present invention will be described with reference to the drawings. FIG. 1 shows a GPS-equipped vehicle 100, a beacon 240 with three-dimensional coordinate information, and a central controller 230 for jurisdiction of all systems and generating a three-dimensional map through the obtained information.

The GPS-equipped vehicle 100 includes a GPS receiver 120 for obtaining information from each satellite and a direction detector 130 and a odometer for detecting a traveling direction of the vehicle through a gyro GYRO that detects a direction by detecting an angular movement amount. Through the driving detection unit 140 for detecting the moving distance of the vehicle and the altitude detection unit 150 for detecting the altitude according to the position of the vehicle and the information obtained from the detection unit to determine the current position and calculate the advanced route Coordinate determination and path operation unit 160, the system control unit 170 that oversees the above configuration, the input unit 200 for the user to operate and control the system, the display and control unit 180 to display various results and , And a transmission and control unit 220 for transmitting various data obtained from the GPS-equipped vehicle to the central control unit. The GPS receiver 120 receives GPS values provided from the satellites to obtain 3D information of the current position. Since the configuration including the direction detection unit 130, the driving detection unit 140, and the like described above corresponds to a known technique, detailed description thereof will be omitted.

The central control unit 230 calculates the road map data based on the reference origin and the coordinates of the beacon through the coordinate information of the vehicle transmitted from the vehicle and directly prepares the map. The created map is then completed by adding the surrounding information such as the intersection of surrounding buildings, etc. to complete the GIS.

As mentioned above, GPS includes many errors. Dividing the cause of the error can be divided into the error caused by the surrounding environmental factors and the GPS itself. This error can be a direct error factor when creating road data based on the coordinates obtained from GPS because it provides severe distortion to the data obtained through GPS. The environmental factors affecting the error are the error of the ionosphere, the error due to the refraction of the convective layer, and the time error of the satellite 305 as described above. If the coordinates are obtained using GPS in a short time in a small area, the errors due to environmental factors affecting the obtained coordinates are limited in time and space, so the change of environmental factors can be ignored while using GPS. As a result, the errors in the coordinates obtained from GPS can be regarded as the same. Therefore, by correcting the error contained in all coordinate data and removing the error, it is natural that the coordinate obtained from the GPS can be replaced with reliable data without the error.

Another source of error in GPS is the error caused by the received noise of the GPS itself. Since these errors have the same reception noise in the same GPS, the errors generated thereby are also the same. The fact that the error is the same for all the coordinates means that a reliable coordinate value can be obtained by removing the error if the error due to the reception noise can be known. The method of removing the said error is mentioned later.

Hereinafter, a description will be given of the part performing the mapping process through the configuration proposed in the present invention.

Briefly referring to the road mapping process of the present invention,

Step 1: Divide the place where you want to create a road map into several zones based on the marker.

Step 2: Complete road map data based on beacon and GPS coordinates in each zone.

Step 3: Eliminate error factors by correcting the road map data completed in each zone.

Step 4: The road map data of the entire area is calculated based on the data from which the error factors are removed.

As shown in step 4, in order to combine the map data of each zone into a single map, a reference origin capable of synthesizing the data created in each zone is required. At this time, the role of the reference origin is to present the origin value for the marker in each zone, and the reference origin also uses another marker. Therefore, an offset function is extracted from the coordinate relationship between the reference point and the markers in each zone, and the offset function is reflected in the road map data completed in each zone and synthesized into one map data.

Before explaining the gist of the present invention, each coordinate is defined as follows.

-Coordinates of reference origin: SX, SY, SZ

The coordinates of the markers for each zone: BX_j, BY_j, BZ_j (j = 1, 2, ..., k-1, k, k + 1, .., M-1, M); Here, j is an index indicating each zone, and M means that the entire area is divided into M zones.

-GPS coordinates obtained from the markers in each zone: GX_j, GY_j, GZ_j

The coordinates of the GPS acquired at each point in each zone: X_ji, Y_ji, Z_ji (i = 1, 2, ...., n); Here, i is an index indicating each point, and n is the number of each point obtained in the zone.

-Corrected coordinates obtained by calibrating the GPS coordinates obtained at each point of each zone with marker seat coordinates: TX_ji, TY_ji, TZ_ji

-Offset coordinates obtained by calibrating the GPS coordinates acquired at each point of each zone to the reference origin coordinates: UX_ji, UY_ji, UZ_ji

FIG. 2 is a diagram illustrating a region divided by M regions from which area A, which is to generate road map data, is illustrated. Each zone has a marker seat with coordinate values. 2 shows an enlarged view of the K area 300. Each zone includes a feature 309 and a road 310 on which coordinates are to be created, and a vehicle 302 equipped with a GPS for obtaining coordinate data of the road is shown.

Hereinafter, a method of obtaining coordinate data of a road in zone K will be described.

The method of obtaining the coordinates of all roads in the k zone applies equally to all zones (1 .., k-1, k, k + 1, ... M). Therefore, through the process of acquiring the coordinates of the road in the k zone to be described below, other coordinates may be similarly applied to obtain the coordinates of all the roads.

3 shows a schematic process of obtaining accurate coordinate values at all points on the road 310 via GPS in zone k.

Steps to be described below belong to the detailed step of step 2 of the above-described four-step process, each step is the same as FIG. Since the following steps correspond to the case of zone k, the zone index j is replaced by k.

Step 2-1: Check the three-dimensional coordinate values (BX_k, BY_k, BZ_k) where the marker seat is located (step S110). Checking the coordinate values (BX, BY, BZ) in the above means a three-dimensional coordinate value that is already held by measuring at the time of making or after making the marker, otherwise the marker is placed at a good position to place the marker on the topography. The coordinates of the marker seat are determined and used by precise measurement.

Step 2-2: Move the GPS to be mounted on the vehicle 302 to drive the road to the position where the beacon 301 is located to obtain the coordinate values (GX_k, GY_k, GZ_k) of the point where the beacon is located from the GPS (step S130) ).

Step 2-3: obtaining the error functions (DX_k, DY_k, DZ_k) of the GPS from the coordinate values of the marker and the coordinates obtained from the GPS at the position of the marker (step S140); Here, DX_k = GX_k-BX_k, DY_k = GY_k-BY_k, and DZ_k = GZ_k-BZ_k.

Step 2-4: The GPS-equipped vehicle 302 equipped with the GPS used in the step 2-2 moves each point of the road, and coordinate values [X_ki, Y_ki, Z_ki (i = 1, 2,. ..., n)] (step S150); Here, n means that the number of points of each k zone is n.

Step 2-5: obtaining correction coordinate values (TX_ki, TY_ki, TZ_ki) by correcting the coordinate values of the respective points obtained in steps 2-4 by the error function obtained in steps 2-3 (step S160); Here, TX_ki = X_ki-DX_k, TY_ki = Y_ki-DY_k, and TZ_ki = Z_ki-DZ_k.

Hereinafter, a process of synthesizing a single region based on a reference origin by applying correction coordinate data (TX_ki, TY_ki, TZ_ki) of road maps obtained for each zone will be described. It is divided into three steps and four steps of calculating an offset function from the coordinates of the reference origin and the coordinates of the marker, and calculating the offset coordinates by applying the offset function to the correction coordinates.

Step 1: obtaining coordinates (SX, SY, SZ) of the reference origin (step S100); The process of obtaining the coordinate values SX, SY, SZ of the reference origin is the same as the process of obtaining (BX, BY, BZ).

Step 1-1: Acquire coordinate values (BX_k, BY_k, BZ_k) of the marker seat of the k zone (step S110).

Step 1-2: Calculation of the offset function (Xoffset_k, Yoffset_k, Zoffset_k) of the reference origin and the marker in the zone k (step S120);

Where Xoffset_k = BX_k -SX,

Yoffset_k = BY_k -SY,

Zoffset_k = BZ_k -SZ.

Step 2: Calculate the correction coordinate values (TX_ki, TY_ki, TZ_ki) for each point in the k zone (step S160).

Step 3: Calculate the offset coordinates (UX_ki, UY_ki, UZ_ki) by applying the offset function to the correction coordinates in the k area (step S170).

Where UX_ki = X_ki-DX_k + Xoffset_k,

UY_ki = Y_ki-DY_k + Yoffset_k,

UZ_ki = Z_ki-DZ_k + Zoffset_k

Step 4: Write entire road data using offset coordinates (UX_ji, UY_ji, UZ_ji) acquired in all zones (step S180).

Among the data obtained in the above two steps, the data obtained in steps 2-4 are data obtained from GPS, which are coordinate values including errors caused by environmental factors or GPS noise itself, but the data obtained in steps 2-5 are Since the error factor is the coordinate value removed, it is finally used as the road map data of the k area.

Data of steps 2-4 are data obtained in real time from GPS. The data is the first data necessary to obtain the road map data TX_ki, TY_ki, and TZ_ki in the k area, which may be greatly caused by factors due to environmental factors or the combination of GPS itself. In order to monitor this, a separate monitoring system is required, which is possible by comparing the received coordinates of the GPS using the movement information of the vehicle obtained through various detection units provided in the GPS-equipped vehicle.

FIG. 5 shows the relationship between the landmark and the reference point of each zone, dividing the entire area for making road data into several zones.

The offset function is determined from the relationship between the reference point 10 and the marker seats 20, 30, ... 90 of each zone, and the offset coordinates of all zones are calculated from the offset function.

The offset coordinates are calculated by the central control unit 230. The central control unit 230 is provided with data necessary for calculating the offset coordinates such as the offset function, the correction function, as well as the coordinate values of the reference point and the marker seat of each zone. The GPS coordinates of each zone transmitted from the GPS-equipped vehicle 100 and the moving coordinate values of the vehicle are transmitted while checking whether or not the coordinates obtained from the GPS are available, and a correction function and an offset function are applied. To calculate the road map data for the entire area.

The calculated road map data of the entire area is completed by GIS system by recording the surrounding buildings, intersections, traffic lights, and other information.

Having described the specific part of the present invention in detail, it is obvious to those skilled in the art that such a specific description is only a preferred embodiment, thereby not limiting the scope of the present invention. something to do. Thus, the substantial scope of the present invention will be defined by the appended claims and their equivalents.

As described above, according to the present invention, in preparing the road map data of the GIS, the whole area is divided into several zones, the road map data of the zones is created, and the road map data of each zone is set to the coordinates of the reference origin. By creating road map data of the entire area on the basis of this, not only can the road map data of a large area be effectively obtained, but also the data received from the GPS can be corrected and used immediately, so that the road map data can be created quickly and easily.

Claims (2)

Divides an arbitrary area into several zones, determines the reference point representing an arbitrary area, and each zone includes the marker seats corresponding to the reference coordinates, and the road data of each zone is obtained by the GPS-equipped vehicle. Apply the GPS coordinates, the coordinates obtained from the GPS to obtain the corrected coordinates through the correction function, the correction coordinates are again converted to the offset coordinates by applying the offset function, and then used as road map data geographic information In the method of manufacturing the system (GIS), The production stage of the numerical map of GIS, (a) obtaining a coordinate value (SX, SY, SZ) of a reference point of an arbitrary region and dividing the arbitrary region into several zones (step S100); (b) step 1-1 (step S110) of acquiring coordinate values (BX_k, BY_k, BZ_k) of k zone markers among the various zones; (c) Steps 1 and 2 (step S120) for calculating the offset function (Xoffset_k, Yoffset_k, Zoffset_k) of the reference point and the marker in the zone k (where Xoffset_k = BX_k -SX, Yoffset_k = BY_k -SY, Zoffset_k = BZ_k- SZ); (d) Step 2 (step S160) of calculating the correction coordinate values [TX_ki, TY_ki, TZ_ki (i = 1, 2, ...., n)] for each point in the k zone (where i denotes each point). An index indicating that n means that the number of each point of the k-zone is n); (e) Step 3 (step S170) of calculating the offset coordinate values (UX_ki, UY_ki, UZ_ki) by applying the offset function to the correction coordinate in the k area (where UX_ki = X_ki-DX_k + Xoffset_k, UY_ki = Y_ki-DY_k + Yoffset_k, UZ_ki = Z_ki-DZ_k + Zoffset_k); And (f) The process consists of four steps (step S180) of creating the entire road data through the offset coordinate values (UX_ji, UY_ji, UZ_ji) acquired in all zones, And using the acquired coordinate values and offset coordinate values having three-dimensional coordinates of the arbitrary area as road map data. The method of claim 1, wherein the step (d) of calculating a correction coordinate value comprises: (i) step 2-1 (step S110) of checking the three-dimensional coordinate values BX_k, BY_k, and BZ_k where the marker seat is located; (ii) step 2-2 of moving the GPS to be mounted on the vehicle 302 to be driven on the road to the location where the beacon 301 is located and obtaining coordinate values GX_k, GY_k, and GZ_k of the point where the beacon is located from the GPS ( Step S130); (iii) 2-3 steps (S140 steps) of obtaining GPS error functions (DX_k, DY_k, DZ_k) from the coordinate values of the front cover and the coordinates obtained from the GPS at the location of the front cover (where DX_k = GX_k-BX_k, DY_k = GY_k-BY_k, DZ_k = GZ_k-BZ_k); (iv) The GPS-equipped vehicle 302 equipped with the GPS used in the step 2-2 moves each point along the road and coordinate values of each point [X_ki, Y_ki, Z_ki (i = 1, 2, ..., n)] in steps 2-4 (step S150), where i is an index representing each point and n means that the number of each point in the k-zone is n; And (v) Steps 2-5 (S160) where the coordinate values (TX_ki, TY_ki, TZ_ki) obtained by correcting the coordinate values of each point obtained in Steps 2-4 by the error function obtained in Steps 2-3 are obtained. TX_ki = X_ki-DX_k, TY_ki = Y_ki-DY_k, TZ_ki = Z_ki-DZ_k).