KR102096159B1 - Measurement apparatus and method for improving satellite navigation reliability and real-time integrated inertial navigation using interaction with 3-d map computing engine - Google Patents

Abstract

In order to improve the reliability of a satellite navigation system in an urban environment, a method of improving accuracy performance by interlocking 3D map information, which is received through a satellite signal receiving step and a satellite signal receiving step using a satellite receiver. Navigation measurement information combined through a visible satellite group combination step and a visible satellite group combination step that combines the generated navigation measurement values of a visible satellite group through a navigation measurement generation step and a navigation measurement value generation step using a satellite signal to generate a navigation measurement value A high-speed navigation solution execution step and a navigation solution execution step that process real-time NLOS vector information using a navigation solution output step and a 3D map information output through a receiver navigation solution calculation step and a receiver navigation solution calculation step to calculate a Multipath satellite version that receives information from and determines multipath satellites Step and multi-path, including the hybrid navigation operation comprising: providing a combination of navigation to multipath is removed via the satellite determining step is characterized in that formed.

Description

A method for improving the reliability of a satellite navigation linked with a 3D map high-speed computation engine and a real-time complex navigation measuring device using the same.

The present invention relates to a method for improving the reliability of a satellite navigation and a real-time complex navigation measurement apparatus using the same, and more specifically, to improve the reliability of a positioning system using a global navigation satellite system (GNSS) in an urban environment, 3 The present invention relates to a method for improving the reliability of a satellite navigation system interlocked with a high-speed computation engine and a real-time complex navigation measurement apparatus using the same.

The Global Navigation Satellite System (GNSS) is a system that accurately tracks the position of targets on the ground using a satellite network, such as GLONASS, Galileo Project, and GPS.

In urban areas, the buildings around the user form a bad satellite reception environment, so a situation in which some satellite signals are blocked and cannot be received frequently occurs. However, although a specific satellite signal is blocked by the building, a multipath signal reflected by the surrounding building may be received.

In particular, in a high-rise building dense area, signals of satellites whose visibility cannot be secured by the building are frequently received. Due to this, the distance between the satellite and the user is incorrectly calculated by the receiver, and thus there is a problem in providing the location information to which the error is largely provided to the user.

As a technique for correcting the error of the location information between the satellite and the receiver, a technique of avoiding mutual interference through vertical transformation in the parity space for a problem in which it is difficult to accurately identify due to mutual interference of error factors, and whether the received satellite signal is abnormal According to the technology to determine the multi-path, 3D geospatial and navigation satellites using the information of visible satellites in the downtown area, DOP analysis technology, technology to change the driving route to a road section with low congestion, and GPS There are techniques for correcting common errors in signals.

However, these technologies may detect a failure inside the GPS receiver, discriminate a failure signal based on raw data inside the receiver, provide traffic information or traffic light information, not location reliability, or correct some common errors. Since multiple paths that occur frequently in urban areas are not common errors between receivers, it is difficult to improve location accuracy.

Republic of Korea Registered Patent No. 10-1147852 (Name of the invention: a method for verifying the reliability of a user's location through a satellite navigation system terminal)

Therefore, the present invention has been devised to solve the above problems, and a problem to be solved by the present invention is real-time using a 3D game high-speed calculation function based on navigation measurements and map information received in a satellite navigation weak signal environment. The object of the present invention is to provide a 3D map high-speed computation engine interlocking satellite navigation reliability improvement method and real-time composite navigation measurement device using the same.

In addition, for another purpose of the present invention, the reliability of a multi-dimensional high-speed computation engine interlocking satellite navigation is improved to improve the reliability of a combined navigation solution combining a satellite navigation solution and a high-speed inertial measurement by removing a multipath satellite group in a satellite navigation shadow environment. It is intended to provide a method and a real-time complex navigation measuring apparatus using the same.

However, the technical problems to be achieved in the present invention are not limited to the technical problems mentioned above, and other technical problems that are not mentioned are clearly understood by those skilled in the art from the following description. Will be understandable.

The present invention has been created to improve the problems of the prior art as described above, and is a method of improving accuracy performance by interlocking 3D map information in order to improve the reliability of a satellite navigation system in an urban environment. Combining the generated navigation measurements of the visible satellite group through the navigation measurement generation step and the navigation measurement generation step of generating a navigation measurement value using the satellite signal reception step of receiving a satellite signal and the satellite signal received through the satellite signal reception step The navigation solution calculation step and the 3D map information output through the receiver navigation solution calculation step and the receiver navigation solution calculation step are used to calculate the combined navigation measurement information through the visible satellite group combination step and the visible satellite group combination step to output the navigation solution. High-speed navigation solution execution step to process real-time NLOS vector information; and high-speed navigation solution It may include a multi-path satellite determination step of receiving information from the execution step to discriminate multi-path satellites, and a multi-navigation operation step of combining and providing navigation solutions in which multi-paths are removed through the multi-path satellite determination step.

In addition, the navigation measurement generation step may generate measurement values necessary for the navigation solution calculation using satellite signals, satellite orbit, pseudorange, and Doppler values.

In addition, the visible satellite group combination step may monitor the visible satellite group combination using satellite signal information and multipath discrimination values.

In addition, the receiver navigation solution calculating step may output a navigation solution using a satellite signal and navigation measurement data.

In addition, the navigation solution execution step is performed from a 3D high-speed computation step and a 3D game engine that receives satellite navigation information from a receiver and interlocks with 3D map information to provide satellite visibility information in real time through a 3D game engine. It may be made by including a step of providing 3D map information by using a 3D Map database that receives the receiver navigation solution and provides surrounding 3D map information.

Also, in the multi-path satellite determination step, the LOS vector tag for each measurement satellite is received from the navigation solution execution step, and NLOS (Non-line of sight) satellite identification is performed to move to the visible satellite group combination step in the presence of the multi-path satellite. In the absence of multi-path satellites, it is possible to proceed to the complex navigation calculation step.

In addition, in order to provide a navigation solution in which multiple paths are removed in the complex navigation operation step, an inertial measurement step of measuring an inertia value using a gyro sensor, an accelerometer, and a magnetic sensor may be further included.

In addition, in the complex navigation operation step, a real-time navigation solution may be provided by combining the inertial measurement value measured in the inertial measurement step and the navigation solution in which the multi-path is removed in the satellite signal reception step for receiving the user's position and speed.

As a navigation measurement device that improves the accuracy performance by interlocking 3D map information in order to improve the reliability of a satellite navigation system in an urban environment, a satellite signal receiving unit having a satellite receiver and receiving the satellite signal receiving unit A combination of a visible satellite group that monitors a combination of visible satellite groups using satellite signal information and multipath discrimination values generated through a navigation measurement unit and a navigation measurement unit that generates measurements required for calculating a navigation solution using a satellite signal. A navigation solution execution unit and a navigation solution execution unit providing map information for executing a navigation solution output through a receiver navigation solution calculation unit and a receiver navigation solution calculation unit using a unit and a satellite signal and navigation measurement data. The LOS vector tag for each measurement satellite is received from the NLOS (Non-line of sight) satellite identification. It may be configured to include a multi-path satellite identification unit to perform and a multi-navigation satellite unit unit to provide a combined navigation operation unit to provide a combined navigation solution is removed multi-path.

In addition, the satellite signal may be a satellite orbit, a pseudorange, and a Doppler value.

In addition, the navigation solution execution unit receives a receiver navigation solution and satellite signal information output from a receiver navigation solution calculation unit and interlocks with the 3D map information to provide 3D game engines and 3D game engines that provide satellite visibility information in real time. It may be configured to include a 3D Map database that receives the receiver navigation solution from the 3D map information.

In addition, the multi-navigation operation unit may further include an inertial measurement unit that transmits an inertial measurement value for combining with a navigation solution having multiple paths removed.

In addition, the combined navigation operation unit may provide a real-time navigation solution by combining the inertial measurement value measured by the inertial measurement member and the navigation solution from which the multi-path is removed from the satellite signal reception unit receiving the user's position and speed.

According to an embodiment of the present invention, since high-speed calculation is performed using a 3D game engine, it is possible to reduce an effective calculation time by performing parallel calculation optimized for 3D calculation.

In addition, if the high-speed computation function of the 3D game engine is utilized, the improved satellite navigation solution can be used as a measure of composite navigation after multipath discrimination even in dynamic situations with a significant performance improvement over the existing serial computation.

In addition, it is possible to improve the accuracy and real-time applicability of satellite navigation by quickly discriminating multi-path satellite groups in a complex urban environment where satellite signal receivers can be used and satellite navigation shaded areas.

In addition, it is possible to realize a high-speed computational complex navigation combined with an inertial measurement member by using the real-time properties of a satellite navigation solution with improved accuracy through multipath elimination.

However, the effects that can be obtained in the present invention are not limited to the above-mentioned effects, and other effects that are not mentioned will be clearly understood by those skilled in the art from the following description. Will be able to.

The following drawings attached in this specification are intended to illustrate preferred embodiments of the present invention, and serve to further understand the technical idea of the present invention together with the detailed description of the invention described below, and thus the present invention is described in such drawings. It is not limited to interpretation.
1 is an overall flow chart of a method for improving reliability of a 3D map high-speed computation engine interlocking satellite navigation according to an embodiment of the present invention.
2 is a detailed flowchart of the navigation method execution step.
3 is an overall conceptual diagram of a real-time complex navigation measuring apparatus using a 3D map high-speed computation engine interlocking satellite navigation according to an embodiment of the present invention.
FIG. 4 is a view showing a first embodiment of a method for improving the reliability of a 3D map high-speed computation engine interlocking satellite navigation and a calculation time of a real-time complex navigation measurement apparatus using the same.
FIG. 5 is a view showing a second embodiment of a method for improving the reliability of a 3D map high-speed computation engine interlocked satellite navigation and a real-time composite navigation measurement apparatus calculation time using the same.
6 is a view showing a comparison graph of the calculation time according to the comparative experiment of FIGS. 4 and 5.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art to which the present invention pertains may easily practice. However, since the description of the present invention is only an example for structural or functional description, the scope of the present invention should not be interpreted as being limited by the embodiments described in the text. That is, since the embodiments can be variously modified and have various forms, it should be understood that the scope of the present invention includes equivalents capable of realizing technical ideas. In addition, the purpose or effect presented in the present invention does not mean that a specific embodiment should include all of them or only such an effect, and the scope of the present invention should not be understood as being limited thereby.

The meaning of the terms described in the present invention should be understood as follows.

Terms such as "first" and "second" are for distinguishing one component from other components, and the scope of rights should not be limited by these terms. For example, the first component may be referred to as the second component, and similarly, the second component may also be referred to as the first component. When a component is said to be "connected" to another component, it may be understood that other components may exist in the middle, although they may be directly connected to the other component. On the other hand, when a component is said to be "directly connected" to another component, it should be understood that no other component exists in the middle. On the other hand, other expressions describing the relationship between the components, that is, "between" and "immediately between" or "adjacent to" and "directly neighboring to" should be interpreted similarly.

Singular expressions are to be understood as including plural expressions unless the context clearly indicates otherwise, and terms such as "comprises" or "have" include the features, numbers, steps, actions, components, parts or components described. It is to be understood that a combination is intended to be present, and should not be understood as pre-excluding the presence or addition possibility of one or more other features or numbers, steps, operations, components, parts or combinations thereof.

All terms used herein have the same meaning as commonly understood by a person skilled in the art to which the present invention pertains, unless otherwise defined. The terms defined in the commonly used dictionary should be interpreted to be consistent with the meanings in the context of the related art, and cannot be interpreted as having ideal or excessively formal meanings unless explicitly defined in the present invention.

1 is an overall flow chart of a method for improving reliability of a 3D map high-speed computation engine interlocking satellite navigation according to an embodiment of the present invention, FIG. 2 is a detailed flowchart of the execution step of the navigation method, and FIG. 3 is an embodiment of the present invention Overall conceptual diagram of a 3D map high-speed computation engine interlocking satellite navigation measuring apparatus using real-time navigation, and FIG. 4 is a method for improving reliability of a 3D map high-speed computation engine interlocking satellite navigation and real-time composite navigation measuring apparatus using the same This is a view showing a first embodiment of a time comparison experiment, and FIG. 5 shows a second embodiment of a 3D map high-speed computation engine interlocking satellite navigation reliability improvement method of the present invention and a real-time complex navigation measurement apparatus calculation time comparison experiment using the same FIG. 6 is a graph showing a comparison graph of calculation time according to the comparative experiments of FIGS. 4 and 5.

As shown in Figures 1 to 6, as a method for improving the accuracy performance of the three-dimensional map information linked navigation to improve the reliability of the satellite navigation system in an urban environment, the present invention is a satellite signal receiving step (S100), navigation Measurement generation step (S200), visible satellite group combining step (S300), receiver navigation solution calculating step (S400), high-speed navigation solution executing step (S500), multipath satellite determining step (S600), and complex navigation calculating step (S700) It can be made including.

The satellite signal receiving step S100 is a step of receiving a satellite signal using the satellite receiver 30.

The Global Navigation Satellite System (GNSS) consists of a satellite, a ground control station, and a user. The basic principle of the GNSS is that the ground control station's receiving device can receive location signals within 100 m from satellites located at about 20,000 km mid-altitude. In addition, if there is navigation information such as the position of the satellite and the satellite clock, ionosphere model, satellite orbit, and satellite status, the current user's location can be identified. In other words, by measuring the time it takes for the signal from the satellite to reach the receiver, the distance between the satellite and the receiver can be calculated, and the user's current position can be calculated.

The navigation measurement generation step S200 is a step of generating a navigation measurement value using the satellite signal received through the satellite signal reception step S100.

The navigation measurement generation step (S200) may generate measurement values necessary for calculating a navigation solution using satellite signals, satellite orbit, pseudorange, and Doppler values.

Pseudo-range means that when receiving a signal from a radio wave source and measuring the distance, an error occurs in the measurement if the time alignment between the transmitting and receiving points is not correct. It is called street.

The Doppler effect is an effect that occurs when one or more of the wave generator generating the wave and the observer observing the wave is in motion. When the distance between the wave source and the observer decreases, the frequency of the wave increases and the distance increases. At this time, the frequency of the wave is observed lower.

The visible satellite group combination step S300 is a step of combining the generated navigation measurement values of the visible satellite group through the navigation measurement value generation step S200.

The visible satellite group combination step S300 may monitor the visible satellite group combination using satellite signal information and multipath discrimination values.

Here, when looking at visible satellites, the number of visible satellites is four or more satellites in order to calculate an automatic three-dimensional position (latitude, longitude, height, time) of an unknown point using a pseudorange. This should be tracked. Although it is possible to calculate an unknown three-dimensional position using only four satellites, it is better to obtain data from five or more satellites because observation of more satellites provides a more powerful mathematical location. When performing GPS surveys, the extra satellites provide surplus carrier-phase observations and provide a safety factor against time when a signal slip occurs. In the case of a real-time survey, five satellites are needed for automatic initialization.

The receiver navigation solution calculating step S400 is a step of calculating the combined navigation measurement information through the visible satellite group combining step S300 and outputting the navigation solution.

The receiver navigation solution operation step S400 may output a navigation solution using a satellite signal and navigation measurement data.

The high speed navigation solution execution step (S500) is a step of processing real-time NLOS vector information using the navigation solution and 3D map information output through the receiver navigation solution calculation step.

The high speed navigation solution execution step (S500) may include a 3D high speed calculation step (S510) and a 3D map information providing step (S520).

The 3D high-speed computation step (S510) is a step of receiving satellite navigation information and receiving satellite navigation information, and providing satellite visibility information in real time through a 3D game engine in conjunction with 3D map information.

The 3D map information providing step (S520) is a step using a 3D Map database that receives the receiver navigation solution from the 3D game engine and provides surrounding 3D map information.

A game engine (English: Game engine) is a core software component that implements interactive applications with real-time graphical display capabilities such as video games. It not only shortens the development process by providing the technology underlying computer game development, but also allows games to run on a variety of platforms. In particular, since the game engine is intended to be reused, it is developed so that it can be used for various kinds of games without being dependent on one game.

The main functions provided by the game engine include a rendering engine ('renderer') for outputting 2D graphics or 3D graphics, a physics engine, collision detection and collision reaction, sound output, script writing, animation, artificial intelligence, network, Streaming, memory management, threading, and scene graphing.

MATLAB is a software for engineering that provides a numerical analysis and programming environment developed by MathWorks. It supports matrix-based calculation functions, and provides functions for drawing functions or data as pictures, and implementation of algorithms through programming. MATLAB is widely used in scientific and engineering fields that require numerical calculation.

Unity is a cross-platform game engine developed by Unity Technologies, mainly used to develop 3D and 2D video games and simulations for computers, consoles and mobile devices. Since it was only announced for OS X at Apple's Worldwide Developers Conference in 2005, it has expanded to target 27 platforms. The biggest advantage of Unity is that it supports various platforms. Developers can easily create games of their choice regardless of mobile device, web browser, desktop, or console. The development environment itself is intuitive and simple enough for beginners to easily understand. For this reason, not only game developers, but also non-experts in art and education use Unity to create graphic results.

The multi-path satellite determination step (S600) is a step of determining the satellites of the multi-path by receiving information from the navigation solution execution step (S500).

In the multi-path satellite determination step (S600), the LOS vector tag for each measurement satellite is received from the navigation solution execution step (S500), and NLOS (Non-line of sight) satellite identification is performed, whereby a visible satellite group is combined in the presence of the multi-path satellite. Going to step S300, and in the absence of a multi-path satellite, it is possible to proceed to the complex navigation operation step S700.

LOS is an abbreviation of line-of-sight, which refers to the distance that can be seen by the eye that can be reached in a straight line. NLOS (Non Line Of Sight, Non-Line) means that the transmitting and receiving antennas do not lie in front of each other within the beam width of the antenna. (Line Of Sight) condition is not satisfied. In an environment such as an indoor wireless LAN, the transmitter and receiver using radio waves in the THz band are very straight, so wireless communication is performed only in the LOS environment. When there is an obstacle between the transmitter and the receiver (NLOS), avoid this obstacle and use the THz mirror to reflect the THz wave on the wall of the room by bypass.

Multipath (Multipath, 多重 經 路) is a phenomenon that a signal transmitted from a GPS satellite arrives at a receiver located on the earth and is reflected and received by objects around the receiver. Generally, a GPS signal is directly transmitted from a satellite to a GPS receiver. Reflected waves reflected from waves and buildings reach the GPS receiver at the same time. Since multipath uses both microwave signals, the difference in path length affects the pseudorange and phase observations, causing errors in observation.

The complex navigation operation step S700 is a step of combining and providing a navigation solution in which the multi-path is removed through the multi-path satellite determination step S600.

The present invention may further include an inertial measurement step (S800). The inertial measurement step (S800) is a step of measuring the inertia value using a gyro sensor, an accelerometer, and a magnetic sensor to provide a navigation solution with multiple paths removed in the complex navigation operation step (S700).

Looking at the inertial navigation system using the inertial sensor, the inertial sensor is a sensor that detects the inertial force of a motion and provides various navigation related information such as acceleration, speed, direction, and distance of a moving object to be measured. The basic principle is to detect the inertial force acting on the inertia by the accelerometer being classified into an accelerometer and an angular speedometer. Applications of inertial sensor technology are being used in a wide range of fields, from navigation in airplanes and vehicles to bio and medical fields, communications and optics fields, automobile airbags, mobile phones, and home appliances.

The Gyro Sensor measures the angular velocity, unlike the acceleration sensor that measures acceleration. Gyroscope is an instrument that measures angular velocity. It uses MEMS (Micro-ElectroMechanical Systems) technology that combines a computer with very small mechanical devices such as sensors, valves, gears, reflectors, and actuators embedded in semiconductor chips. Chip-shaped gyro sensors also measure angular velocity.

An accelerometer is a device that measures linear acceleration or angular acceleration by measuring reaction by inertia. For example, a device composed of a combination of a mass attached to a case and a spring receives acceleration as a whole, thereby changing the relative position of the mass relative to the case. From this change (displacement) you can find the specific gravity acceleration.

Gyroscope is a measuring instrument that detects the angular velocity of an object and is often called a gyro. It has been used for autonomous navigation of ships or aircraft or rockets, and has recently been used in automobile navigation systems, automatic driving systems, robots, digital cameras, and unmanned reconnaissance aircraft.

A magnetic sensor is a sensor that measures the size and direction of a magnetic field or magnetic field lines. The magnetic field is measured by changing the properties of various materials due to the influence of the magnetic field. Hall elements or MR elements are made using Hall effect or magnetoresistive effect, and are also used for manufacturing VTRs, tape recorders, etc.

It detects and measures the magnetic energy, which is the current generated in the electric wire, by electromagnetic induction, and targets the weak ones handled by the deep magnetic field to the strong ones handled by the superconductor. It includes a magnetic head broadly, but in a narrow sense, it means to use the effect of changing various physical properties under the influence of a magnetic field.

In the combined navigation operation step (S700), real-time navigation is performed by combining the inertial measurement value measured in the inertial measurement step (S800) and the navigation solution in which the multi-path is removed in the satellite signal reception step (S100) for receiving the user's position and speed. Can provide.

In order to improve the reliability of a satellite navigation system in an urban environment, a navigation measurement device that improves accuracy performance by interlocking 3D map information, and the present invention is a satellite signal receiving unit 100, a navigation measurement generation unit 200, and a visible satellite. It may be configured to include a military combination unit 300, the receiver navigation solution calculation unit 400, the navigation solution execution unit 500, the multi-path satellite identification unit 600 and the composite navigation operation unit 700.

The satellite signal receiving unit 100 is provided with a satellite receiver 30 to receive satellite signals.

The satellite signal may be a satellite orbit, pseudorange, and Doppler value.

The navigation measurement value generating unit 200 may generate a measurement value necessary for calculating a navigation solution using the satellite signal received by the satellite signal receiving unit 100.

The visible satellite group combination unit 300 may monitor the visible satellite group combination using the satellite signal information generated through the navigation measurement value generating unit 200 and the multipath discrimination value.

The receiver navigation solution calculating unit 400 may output a navigation solution using a satellite signal and navigation measurement data.

The navigation solution execution unit 500 may provide map information for executing the navigation solution output through the receiver navigation solution calculation unit 400.

The navigation solution execution unit 500 may include a 3D game engine 510 and a 3D Map database 520.

The 3D game engine 510 may receive receiver navigation solutions and satellite signal information output from the receiver navigation solution calculation unit 400 and provide satellite visibility information in real time in conjunction with 3D map information.

The 3D Map database 520 may receive the receiver navigation solution from the 3D game engine 510 and provide surrounding 3D map information. Specifically, it is configured to further include a display to display the three-dimensional map information on the screen in three dimensions.

The multi-path satellite determination unit 600 may receive a LOS vector tag for each measurement satellite from the navigation solution execution unit 500 to perform non-line of sight (NLOS) satellite determination.

The measuring device 10 of the present invention may further include an inertial measurement unit 710. The inertial measurement unit 710 transmits the inertial measurement value for combining with the navigation solution in which the multi-path is removed to the combined navigation operation unit 700.

The complex navigation operation unit 700 may combine and provide a navigation solution in which the multi-path is removed through the multi-path satellite identification unit 600.

The complex navigation operation unit 700 combines the inertial measurement value measured by the inertial measurement unit 710 with the navigation solution in which the multi-path is removed from the satellite signal reception unit 100 that receives the user's position and speed to solve the real-time navigation. Can provide.

Hereinafter, the description of each component included in the measuring device 10 of the present invention has been described above in the measuring method of the present invention.

In addition, the measuring device 10 of the present invention can be used in conjunction with any one of a mobile terminal connected to a controller, a Wi-Fi communication module, a Bluetooth communication module, and a Zigbee communication module. That is, the operator can use the measurement device 10 by adopting one of the Bluetooth communication module, the Wi-Fi communication module, and the Zigbee communication module, but is not limited to the above method and can select and use the best method. .

The detailed description of preferred embodiments of the present invention disclosed as described above has been provided to enable those skilled in the art to implement and practice the present invention. Although described above with reference to preferred embodiments of the present invention, those skilled in the art will appreciate that various modifications and changes can be made to the present invention without departing from the scope of the present invention. For example, those skilled in the art can use each configuration described in the above-described embodiments in a manner of combining with each other. Accordingly, the present invention is not intended to be limited to the embodiments presented herein, but to give the broadest scope consistent with the principles and novel features disclosed herein.

The present invention may be embodied in other specific forms without departing from the spirit and essential features of the present invention. Accordingly, the above detailed description should not be construed as limiting in all respects and should be considered illustrative. The scope of the present invention should be determined by rational interpretation of the appended claims, and all changes within the equivalent scope of the present invention are included in the scope of the present invention. The present invention is not intended to be limited to the embodiments presented herein, but is intended to give the broadest scope consistent with the principles and novel features disclosed herein. In addition, in the claims, claims that do not have an explicit citation relationship may be combined to form an embodiment or may be included as new claims by amendment after filing.

10: measuring device
30: satellite receiver
100: satellite signal receiving unit
200: navigation measurement generation unit
300: visible satellite group unit
400: receiver navigation unit
500: navigation execution unit
510: 3D game engine
520: 3D Map database
600: multi-path satellite identification unit
700: Combined Navigation Operation Unit
710: inertial measurement unit

Claims (13)

In order to improve the reliability of the satellite navigation system in an urban environment, it is a method of improving accuracy performance by interlocking 3D map information.
A satellite signal receiving step of receiving a satellite signal using a satellite receiver;
A navigation measurement generation step of generating a navigation measurement value using the satellite signal received through the satellite signal reception step;
A visible satellite group combination step of combining the generated navigation measurements of the visible satellite group through the navigation measurement generation step;
A receiver navigation solution calculating step of calculating the combined navigation measurement information through the visible satellite group combining step and outputting a navigation solution;
A high-speed navigation solution execution step of processing real-time NLOS vector information by using the navigation solution and 3D map information output through the receiver navigation solution calculation step;
A multi-path satellite determination step of determining multi-path satellites by receiving information from the high-speed navigation solution execution step; And
The multi-path satellite determination step through the multi-path navigation is combined to provide a combined navigation solution is provided; comprises,
The high-speed navigation solution execution step,
A 3D high-speed computation step of receiving receiver navigation solution and satellite orbit information and providing satellite visibility information in real time through a 3D game engine in conjunction with 3D map information; And
It comprises a; providing a 3D map information using a 3D Map database that receives the receiver navigation solution from the 3D game engine and provides surrounding 3D map information.
In the multi-path satellite determination step,
When the LOS vector tag for each measurement satellite is received from the high-speed navigation solution execution step, NLOS (Non-line of sight) satellite identification is performed to move to the visible satellite group combination step in the presence of multi-path satellites, and In the absence, the process proceeds to the complex navigation operation step,
The inertial measurement step of measuring the inertial value using a gyro sensor, an accelerometer, and a magnetic sensor to provide a navigation solution in which multiple paths are removed in the combined navigation operation step further includes,
In the compound navigation operation step,
A real-time navigation solution is provided by combining the inertial measurement value measured in the inertial measurement step and the navigation solution in which the multi-path is removed in the satellite signal reception step for receiving the user's position and speed,
The receiver navigation solution operation step,
A navigation solution is output using the satellite signal and navigation measurement data,
The visible satellite group combination step,
Through the navigation measurement generation step, a combination of visible satellite groups is monitored using information of the satellite signal and a multi-path discrimination value, and the generated navigation measurement values of the visible satellite group are combined to calculate an unknown 3D position, In order to calculate the 3D position of the unknown point, data is acquired by tracking 4 or more satellites,
The three-dimensional game engine,
A method for improving reliability of a satellite navigation system interlocking with a 3D map high-speed computation engine, comprising MATLAB (MatLab) and Unity (Unity) for providing the satellite visibility information in real time through interworking with the 3D map information.
The method according to claim 1,
The navigation measurement generation step,
A method for improving reliability of a 3D map high-speed computation engine-linked satellite navigation, characterized in that the satellite signals are generated using satellite orbits, pseudoranges, and Doppler values to calculate navigation solutions.
delete delete delete delete delete delete As a navigation measurement device that improves the accuracy performance by interlocking 3D map information in order to improve the reliability of a satellite navigation system in an urban environment,
A satellite signal receiving unit having a satellite receiver and receiving a satellite signal;
A navigation measurement generation unit that generates a measurement value necessary for calculating a navigation solution using the satellite signal received by the satellite signal reception unit;
A visible satellite group combination unit for monitoring a visible satellite group combination using satellite signal information generated through the navigation measurement generation unit and a multipath discrimination value;
A receiver navigation solution calculating unit for outputting a navigation solution using the satellite signal and navigation measurement data;
A navigation solution execution unit that provides map information for executing a navigation solution output through the receiver navigation solution calculation unit;
A multi-path satellite identification unit that receives a LOS vector tag for each measurement satellite from the navigation solution execution unit and performs a non-line of sight (NLOS) satellite identification; And
It comprises a; multi-path navigation unit that provides a combined navigation solution by removing the multi-path through the multi-path satellite identification unit; includes,
The navigation solution execution unit,
A 3D game engine that receives the receiver navigation solution and satellite signal information output from the receiver navigation solution calculation unit and provides satellite visibility information in real time in conjunction with 3D map information; And
And a 3D Map database that receives the receiver navigation solution from the 3D game engine and provides surrounding 3D map information.
The navigation measuring device,
It is configured to further include; an inertial measurement unit for transmitting the inertial measurement value for combining with the navigation solution in which the multi-path is removed to the combined navigation operation unit,
The combined navigation operation unit,
It provides a real-time navigation solution by combining the inertial measurement value measured by the inertial measurement unit and the navigation solution with multiple paths removed from the satellite signal reception unit receiving the user's position and speed.
The visible satellite group combination unit,
Combines the generated navigation measurements of the visible satellite group, combines the generated navigation measurements of the visible satellite group to calculate a three-dimensional position of the unknown, and four or more satellites to calculate the three-dimensional position of the unknown. Track and acquire data,
The three-dimensional game engine,
Real-time multi-navigation using a 3D map high-speed computation engine interlocked satellite navigation, including MATLAB (MatteLab) and Unity (Unity) for providing the satellite visibility information in real time through interworking with the 3D map information. Measuring device.
The method according to claim 9,
The satellite signal is a real-time complex navigation measurement apparatus using a 3D map high-speed computation engine interlocked satellite navigation, characterized in that the satellite orbit, pseudorange and Doppler values.
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