KR101485043B1 - Gps coordinate correcting method - Google Patents

Gps coordinate correcting method Download PDF

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KR101485043B1
KR101485043B1 KR20140116788A KR20140116788A KR101485043B1 KR 101485043 B1 KR101485043 B1 KR 101485043B1 KR 20140116788 A KR20140116788 A KR 20140116788A KR 20140116788 A KR20140116788 A KR 20140116788A KR 101485043 B1 KR101485043 B1 KR 101485043B1
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coordinate
gps
value
measured
measurement object
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KR20140116788A
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Korean (ko)
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황성호
박찬호
염승재
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성균관대학교산학협력단
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/26—Acquisition or tracking or demodulation of signals transmitted by the system involving a sensor measurement for aiding acquisition or tracking
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • G06K9/00798—

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Navigation (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The present invention discloses a GPS coordinate correcting method capable of correcting coordinates measured by GPS. According to the present invention, a GPS coordinate correcting method is capable of minimizing an error by correcting GPS coordinates as the method is formed by including a coordinate receiving step of calculating gn which is a nth coordinate value of a measurement target by using GPS, a distance calculating step of calculating Dn which is a vector value from the gn to wn which is a coordinate value of a driving route which is the closest to the gn, a position predicting step of calculating Cn which is a vector value by adjusting the length of the Dn to a central spot of a road on which the measurement target is currently driven and setting a coordinate value of the central spot as tn, and a position information providing step of outputting the tn value.

Description

GPS COORDINATE CORRECTING METHOD [0002]

The present invention relates to a GPS coordinate correction method. More particularly, the present invention relates to a method of recognizing a lane on which a measurement object runs and correcting GPS coordinates using the lane.

The autonomous vehicle driving system, which is required to implement an unmanned vehicle, means a system capable of driving the vehicle even if the driver does not operate it separately when the current position, destination, and travel route of the vehicle are input.

In the case of using the autonomous vehicle traveling system, if the current position of the vehicle is not correctly inputted, the traveling route may be set abnormally, and accordingly, a collision accident may occur due to an incorrect handle operation.

The identification of the vehicle location in the autonomous navigation system generally utilizes GPS.

The GPS (Global Positioning System) is a satellite navigation system that receives a signal from a GPS satellite and calculates the current position of the user. The GPS calculates the three-dimensional coordinates of the measurement object and calculates four or more satellites Thereby tracking the position of the object to be measured.

However, signals emitted from satellites may be scattered due to various disturbances such as the ionosphere and the convection layer, and when the GPS receiving the scattered signals calculates the three-dimensional coordinates of the measurement target, an error occurs with respect to the actual measurement target position .

In order to reduce the above-mentioned error, a GPS error correction method using a terrestrial base station has been proposed. However, the GPS error correction method using the terrestrial base station is localized, requires a large amount of land base station installation cost and maintenance cost, And the like.

Therefore, a GPS correction method using the base station is not suitable for constructing an autonomous navigation system of a vehicle that travels over a wide area, and a method for correcting GPS coordinates at low cost has been required.

Korean Patent No. 10-0540713 (published on December 27, 2005) Korean Patent Publication No. 10-2014-0073261 (published on June 16, 2014)

It is an object of the present invention to provide a GPS coordinate correction method.

It is another object of the present invention to provide a method of recognizing a lane on which a measurement object runs and correcting GPS coordinates using the lane.

GPS coordinate correction process according to the invention as means for solving the above problems is the coordinates received obtaining a g n of the n-th coordinate value of the object to be measured using a GPS, the nearest operation from the g n and the g n path the coordinate values of w n vector value of D n to obtain the distance calculation step, until the middle point of the current during traveling drive the object to be measured to obtain the C n the acceleration length by vector values of the D n, the central point to the and a coordinate value wherein the predicting step comprises a location and a location information providing step of outputting the value of t n is set to t n.

In addition, the position predicting step recognizes the color and shape of the image taken in front of the measurement object using the camera, identifies the center line and the boundary line of the road, and uses it to determine the current cln, And the width wl of the lane, and then calculates the distance dp by which the measurement object is spaced apart from the center line.

Also, in the position predicting step, when the g n is formed on the measurement target side with respect to the center line, the length of D n is reduced by dp to obtain C n , and the g n is measured And when it is formed on the opposite side of the object, the length of D n is added by dp to obtain C n .

In addition, the use of a g n a g n corrected by the correction by the accumulated correction value a measured by the coordinate receiving step, the g n the corrected reflected obtaining from the step of the distance calculation, and further comprising after the coordinate receiving step, To obtain w n .

Further, the n and g n g the review coordinate measuring error is determined whether or not a difference value g n -1 differ by more than a predetermined error naneunji compared to the actual running distance of the object to be measured before the measurement of who in the coordinate receiving step Wherein the step of estimating coordinates includes the step of estimating the position of the vehicle, the step of estimating the distance using the measured g n , the step of estimating the position, and the step of providing the position information, And does not output the t n value calculated using the measured g n .

Further, the actual traveling distance of the object to be measured is calculated by using an odometer or a speedometer installed on the object to be measured.

Further, the driving route is a center line of the road.

As described above, according to the present invention, the vector value up to the coordinate value of the driving path closest to the coordinate measured by the GPS is obtained and corrected to the center point of the lane in which the measurement object is currently running, A GPS coordinate correction method is provided.

1 is a flowchart of a method according to an embodiment of the present invention.
Fig. 2 shows a measurement object traveling on the road by the autonomous vehicle traveling system.
3 shows a GPS coordinate correction method by the distance calculation step and the position prediction step.
4 shows a GPS coordinate correction method by the distance calculation step and the position estimation step.
5 is a flowchart of a method according to another embodiment of the present invention.
Fig. 6 shows a measurement object traveling on the road by the autonomous vehicle traveling system.
7 shows a GPS coordinate correction method by the distance calculation step and the position estimation step.
8 is a flowchart of a method according to another embodiment of the present invention.

The present invention relates to a GPS coordinate correction method, and a method according to the present invention will be described in detail with reference to FIGS. 1 to 8. FIG.

Figure 1 illustrates a method according to one embodiment of the present invention.

As shown in FIG. 1, a method according to an embodiment of the present invention includes a coordinate receiving step S110, a distance calculating step S120, a position predicting step S130, and a position information providing step S140.

The coordinate receiving step (S110) is a step of obtaining the coordinate value of the measurement object using the GPS.

Here, the measurement object may be an unmanned vehicle in which the vehicle autonomous navigation system is implemented, and the GPS is installed on the measurement object and continuously measures the coordinate value, and utilizes the GPS information of the navigation generally installed in the vehicle The coordinate receiving step may be executed.

FIG. 2 shows a measurement object traveling on the road by the autonomous vehicle traveling system. Referring to FIG. 2, the coordinate receiving step S110 will be described below.

First, the GPS installed on the measurement object calculates and outputs coordinates at predetermined time intervals. At this time, the coordinate value of the measurement object calculated by the GPS is set to g n .

Figure 2, while the measurement object is traveling on the road to the A 1, A 2, A 3 , A 4 order GPS was calculated coordinates in the order of g 1, g 2, g 3 , g 4, respectively, accordingly E 1, E 2 , E 3 , E 4 As a result, there is an error between the coordinates of the real measurement object and the GPS coordinates.

At this time, the GPS continuously receives the signal changed by the disturbance and calculates the coordinates of the measurement object, and calculates the coordinates to which the error of the same direction and distance is applied from the position of the real measurement object.

Distance calculating step (S120) is a step of obtaining a value of D n from vector g n obtained in the coordinate receiving step (S110) to the n and g in the coordinate value of the driving directions near w n.

Here, the driving path means a path of a road on which the measurement object must move from the current position of the measurement object to the destination selected by the user in the geographical information used in the autonomous navigation system of the vehicle.

In the present invention, as shown in FIG. 2, the driving point is set in a continuous point shape formed on the center line of the road, and the driving path may be set in a continuous line form.

Said distance calculating step (S120) obtains the w n coordinate values of g n and the nearest driving directions calculated by the coordinate receiving step (S110) by using the driving direction as mentioned above, from the g n to w n The vector value D n is obtained.

If the said distance calculating step (S120) refers to (a) of the illustrated Figure 3 a view to obtain the D 3 described in more detail using the g 3 obtained in the coordinate receiving step (S110), first the closest and g 3 after obtaining the coordinate values of w 3 in driving direction it can be confirmed that the obtained values of D 3 vector connecting the w to 3, from 3 g.

The position estimation step S130 is a step of calculating a vector value C n and a coordinate value of the center point t n by adding or subtracting the length of D n to the center point of the lane in which the measurement object is currently running.

More specifically, referring to FIG. 3 (b) showing a state where the position estimation step S130 calculates C 3 and t 3 using D 3 obtained in the distance calculation step S 120, the D 3 a target is corrected by dp to the center point of the first car while driving to obtain the value of vector C 3 measured coordinate values of the center point can be found to be set to t 3.

3 (a) and 3 (b), the value of g 3 , which is a coordinate value obtained from the GPS, is formed on the measurement target with reference to the center line, the length of D 3 is set such that the measurement object is spaced apart from the center line (dp), and C 3 is obtained. If the coordinate value obtained by GPS is formed on the opposite side of the measurement object with respect to the center line, the length of D n is added by dp to obtain C n .

4 (a) and 4 (b) showing a case where coordinate values obtained by GPS are formed as g 'on the opposite side of the measurement target with respect to the center line will be described in more detail as follows.

4 (a) shows a state in which the distance calculation step (S120) calculates D 'using g'. First, the coordinate value w 'of the driving route closest to g' is obtained and then g And D ', which is a vector value connecting' w 'to' w '.

4 (b) shows a state where the position estimation step S130 calculates C 'and t' using D 'obtained in the distance calculation step (S120). In this case, The vector value C 'is obtained by extending the D' to the center point of the lane, and the coordinate value of the center point is set to t '.

In addition, the position estimation step S130 may use a calculation method using an image to obtain dp, which is a distance value of the measurement object, which is spaced from the center line.

More specifically, the position predicting step (S130) photographs the front of the measurement object being driven on the road using a camera, checks the center line and the road boundary of the road using the color and shape recognition method Derives a lane in which the subject is currently driving.

When the width of a lane in which the measurement object is currently traveling is calculated based on the number of pixels of the image, the distance dp spaced from the center line can be obtained by applying the width to the following equation (1) have.

Figure 112014084217810-pat00001

Here, dp is the distance that the measurement object is spaced from the center line, cln is the vehicle in which the measurement object is running, and wl is the width of the lane.

3 (b), the process of calculating the dp value will be described. As a result of analyzing the image photographed by the camera, if the measurement subject is currently in the first lane and the lane width is 3 m, Value is calculated to be 1.5 m.

The calculation of the distance calculating step S120 and the position predicting step S130 may be performed through hardware installed in the vehicle, and the geographical information used for the calculation and the information about the driving route may be generally mounted on the vehicle You can use the information stored in the navigation or store and use information in a separate medium.

Position information providing step (S140) is the n t calculated by the position prediction step (S130) In place of the coordinate information who conventional GPS is calculated to provide location information of a step of outputting a value, the current vehicle required for the vehicle autonomous navigation system said output t n And may provide information directly to the driver through the display device.

The g 3 is but an error of as much E 3 from the coordinates of the real object to be measured with reference to FIG. (B) of 3 to when described in more detail the steps providing location information (S140), a coordinate value measured by the GPS, according to the invention When the g 3 is corrected by C 3 using the distance calculation step (S 120) and the position estimation step (S 130), the corrected coordinate value t 3 can be obtained, which is an error of P 3 from the coordinates of the actual measurement object .

When comparing E 3 and P 3 , it can be seen that P 3 is smaller, which is less than GPS coordinates. Therefore, when using the corrected coordinate value t 3 according to the present invention, the coordinate value g 3 It is possible to more precisely provide the current position of the measurement object, thereby avoiding the problem that the traveling path is abnormally set when the system is applied to the autonomous vehicle traveling system.

5 illustrates a GPS coordinate correction method according to another embodiment of the present invention. The GPS coordinate correction method according to another embodiment of the present invention includes a coordinate receiving step S210, a correction reflecting step S215, a distance calculating step S220, a position predicting step S230, and a position information providing step S240 .

The coordinate receiving step S210, the distance calculating step S220, the position predicting step S230 and the position information providing step S240 according to another embodiment of the present invention are the same as the coordinate receiving step S110 ), The distance calculation step (S120), the position estimation step (S130) and the position information providing step (S140) are similar to each other, so a detailed description thereof will be omitted.

In the correction reflecting step S215, g n measured in the coordinate receiving step (S210)

Figure 112014084217810-pat00002
To obtain g n ', which can be executed through the hardware installed in the vehicle.

The accumulated correction values will be described with reference to FIG. 6 showing a measurement object traveling on the road by the autonomous vehicle traveling system.

First, when an object to be measured by the GPS when the A 1 position calculating the coordinates of the g 1 value since there is no previously-C 0 calculated for bypassing the calibration process of the g 1 value distance calculation step (S220) and the position prediction The vector value C 1 and the corrected coordinate t 1 are obtained through step S230.

When the GPS calculates the coordinates of the g 2 value when the measurement object is at the A 2 position, the g 2 is corrected using the previously calculated C 1 value to obtain g 2 ', and the g 2 ' is used The vector value C 2 and the corrected coordinate t 2 are obtained through the distance calculation step S220 and the position estimation step S230.

Further, when the GPS calculates the coordinates of the g 3 value when the measurement object is at the A 3 position, the previously calculated C 1 and C 2 (see FIG. 7A and FIG. 7B) G 3 'is obtained by correcting the g 3 by using the value g 3 ', and the vector value C 3 and the corrected coordinate t 3 (g 3 ') are calculated through the distance calculation step (S220) and the position estimation step .

As described above, in the correction reflecting step S215 according to another embodiment of the present invention, the coordinate g n calculated by the GPS is used as the accumulated correction value

Figure 112014084217810-pat00003
To obtain g n 'and obtain the corrected coordinates t n by using the coordinates of the actual measurement target and the corrected coordinate values t n As fewer and fewer errors in the P n value between more accurately characterized by being able to calculate the coordinates of the object to be measured.

2, the error is corrected to such a degree that g 4 is corrected to t 4 when it is corrected. However, in the case of t 2 in which g 2 is corrected, The GPS coordinate correction method according to another embodiment of the present invention can solve the problem that the correction effect has a significant undulation such as almost no correction effect.

FIG. 8 illustrates a GPS coordinate correction method according to another embodiment of the present invention. The GPS coordinate correction method according to another embodiment of the present invention includes a coordinate reception step S310, a coordinate error review step S313, a correction reflection step S315, a distance calculation step S320, a position estimation step S330, And a location information providing step (S340).

The coordinate receiving step S310, the correction reflecting step S315, the distance calculating step S320, the position predicting step S330, and the position information providing step S340 according to yet another embodiment of the present invention may be performed in accordance with another embodiment Since the structure and effects of the coordinate receiving step S210, the correction reflecting step S215, the distance calculating step S220, the position predicting step S230, and the position information providing step S240 are similar to each other, .

In the coordinate error review step S313 according to another embodiment of the present invention, when the correction reflection step S215 according to the another embodiment accumulates incorrect C n values, the problem of the error occurring in the subsequent calculation is solved And can be executed through the hardware installed in the vehicle.

6, when the measurement object travels along the road in the order of A 1 , A 2 , A 3 , and A 4 , the GPS receives a signal of a certain disturbance, and when the coordinates of the measurement object are measured, g 1 , g 2 , g 3 , and g 4 in this order. As shown in the figure, it can be seen that the coordinates to which the error in the same direction and distance are applied are calculated from the position of the actual measurement target.

At this time, when it passes through the GPS shadow area caused by large buildings, when the object to be measured be placed in the position A 3 GPS may calculate the coordinates abruptly changed error as g 3 "instead of 3 g 'applied.

If C 3 and t 3 are calculated using g 3 ", there is no effect of error correction, or rather the error may be larger than the previously obtained t 2. Also, errors may occur in subsequent calculations while accumulating incorrect C 3 values I could.

Thus, the coordinate error review step (S313) is a predetermined error as compared to the actual running distance of the object to be measured the difference values g n -1 who measured before the g n g n and the coordinates measured by the reception step (S310) and determining whether naneunji the above difference, if it is determined that there is a difference more than a predetermined error the measured g n the corrected reflected step (S315), the distance calculating step (S320), the position prediction step with (S330) and It does not output the t n value calculated without using the position information providing step (S340) or using the measured g n .

At this time, in order to receive the actual travel distance and direction of the measurement object, the coordinate error review step (S313) may use an odometer or a speedometer installed in the measurement object. A compass or the like may be used.

As described above, the GPS coordinate correction method according to the present invention can be implemented as a computer program or an application, and the user can easily use the present invention by storing the computer program or the application on the medium and executing the program through the hardware.

Although the GPS coordinate correction method according to the present invention has been described in detail with reference to the accompanying drawings, it is to be understood that the same is by way of illustration and example only and is not to be construed as limiting the scope of the invention as defined in the appended claims, It should be understood that various changes and modifications may be made without departing from the spirit and scope of the invention.

S110: Coordinate reception step S120: Distance calculation step
S130: Position prediction step S140: Position information providing step
S210: Coordinate reception step S215: Correction reception step
S220: Distance calculation step S230: Position estimation step
S240: Position information providing step S310: Coordinate reception step
S313: coordinate error review step S315: correction reflection step
S320: Distance calculation step S330: Position estimation step
S340: Location information providing step

Claims (8)

A coordinate reception step of obtaining an n-th coordinate value g n of the measurement target using GPS;
Distance calculating step, from the g n to obtain an n D n and the g values of the coordinates near the driving direction vector value to w n;
A position estimating step of calculating a vector value C n by adding or subtracting the length of D n to the center point of the lane in which the measurement object is currently running and setting the coordinate value of the center point as t n ; And
A position information providing step of outputting the t n value;
And correcting the GPS coordinates.
The method according to claim 1,
The position estimating step recognizes the color and shape of an image taken in front of the measurement object using a camera, identifies a center line and a boundary line of the road, and uses the obtained data to determine a current cln and a lane (Dp) of the measurement object is spaced apart from the center line by applying the following equation (1) to the GPS coordinate correction method.
[Equation 1]
Figure 112014084217810-pat00004

 3. The method of claim 2,
The position prediction step is closed by the dp the length of the D n When the g n are formed on the side the object to be measured with respect to the center line, and of obtaining the C n, wherein g n with respect to the center line of the object to be measured And if it is formed on the opposite side, the length of D n is added by dp to obtain C n .
The method according to claim 1,
The g n measured in the coordinate receiving step
Figure 112014084217810-pat00005
Further comprising, after the coordinate receiving step, a correction reflecting step of obtaining a corrected g n '
And the w n is obtained using the g n 'in the distance calculation step.
5. The method of claim 4,
A coordinate error review determining whether naneunji differ by more than a predetermined error by a difference value g n -1 who measured before the g n g n and the coordinates measured by the reception step compared to the actual running distance of the object to be measured Further included,
If it is determined in the coordinate error review step that a predetermined error difference exists, the controller does not perform the correction reflecting step, the distance calculating step, the position estimating step, and the position information providing step using the measured g n , And does not output the t n value calculated using the g n .
6. The method of claim 5,
Wherein the actual travel distance of the measurement object is calculated using an odometer or a speedometer installed in the measurement object.
The method according to claim 1,
Wherein the driving path is a center line of a road.
A program stored in a medium for executing a GPS coordinate correction method according to any one of claims 1 to 7 in combination with hardware.
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Cited By (2)

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KR101829342B1 (en) 2017-12-06 2018-02-19 주식회사 맵인어스 System for constructing and managing precise information of road using variable equipment
KR101829348B1 (en) 2017-12-06 2018-02-19 주식회사 맵인어스 System for constructing and managing variable line information for constructing line information

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KR101209062B1 (en) 2012-07-24 2012-12-06 주식회사 피엘케이 테크놀로지 Gps correction system using image recognition information and its method
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Publication number Priority date Publication date Assignee Title
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101829342B1 (en) 2017-12-06 2018-02-19 주식회사 맵인어스 System for constructing and managing precise information of road using variable equipment
KR101829348B1 (en) 2017-12-06 2018-02-19 주식회사 맵인어스 System for constructing and managing variable line information for constructing line information

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