KR102190959B1 - Apparatus and method for determining gps shadow area - Google Patents

Abstract

An apparatus and method for determining a GPS shaded area on a road are disclosed. An apparatus for determining a GPS shaded area according to an aspect includes: a data collection unit that collects real-time satellite information and map information for each area; A calculation unit that divides the road into a predetermined number of grids using the map information and calculates an elevation angle and azimuth angle of buildings around the road based on the center of each grid; And a shade determination unit that determines whether the GPS shade of each grid is shaded by using the real-time satellite information and the elevation and azimuth angles of the buildings.

Description

Apparatus and method for determining a GPS shadow area{APPARATUS AND METHOD FOR DETERMINING GPS SHADOW AREA}

The present invention relates to a Global Positioning System (GPS) technology, and more particularly, to an apparatus and method for determining a GPS shaded area.

GPS (Global Positioning System) is a universal technology that performs positioning outdoors using an artificial satellite. GPS consists of a total of 24 satellites and receives more than 4 satellite signals from anywhere in the world. The location is measured by knowing the exact location of the satellite and measuring the time required to the observation point by receiving the radio waves emitted from the satellite.

In general, it is understood that GPS signals are well received outdoors, but when tall buildings are concentrated around them, GPS signals are not well received even outdoors. In the future, GPS technology is expected to be used importantly in autonomous vehicles that require precise location positioning, and if there is a GPS shaded area on the road, precise location positioning may fail and an accident may occur. Therefore, it is necessary to analyze and manage the GPS shaded area on the road.

The present invention has been proposed to solve the above problems, and an object of the present invention is to provide an apparatus and method for determining a GPS shaded area on a road.

An apparatus for determining a GPS shaded area according to an aspect includes: a data collection unit that collects real-time satellite information and map information for each area; A calculation unit that divides the road into a predetermined number of grids using the map information and calculates an elevation angle and azimuth angle of buildings around the road based on the center of each grid; And a shade determination unit that determines whether the GPS shade of each grid is shaded by using the real-time satellite information and the elevation and azimuth angles of the buildings.

The shade determination unit may determine whether each grid is shaded by GPS by comparing the elevation angle and azimuth angle of each of the plurality of satellites covering each grid with the elevation angle and azimuth angle of the buildings.

The shade determination unit may determine whether each grid is shaded by GPS based on the number of satellites having an elevation angle greater than the elevation angle of the buildings or not included in the azimuth angle of the buildings. .

When the number of satellites is less than a predetermined number, the shade determination unit may determine the GPS shade.

The shading determination unit may cluster GPS satellite information on a regional basis and apply representative elevation angles and azimuth angles of GPS satellites on a regional basis to each grid.

According to another aspect, a method of determining a GPS shaded area in the GPS shaded area determination apparatus includes: collecting real-time satellite information and map information for each region; Dividing the road into a predetermined number of grids using the map information, and calculating an elevation angle and azimuth angle of buildings around the road based on the center of each grid; And determining whether each grid is shaded by GPS using the real-time satellite information and the elevation and azimuth angles of the buildings.

In determining whether the GPS is shaded, the elevation angle and azimuth angle of each of the plurality of satellites covering each grid for each grid may be compared with the elevation angle and azimuth angle of the buildings to determine whether each grid is shaded by GPS. .

The determining of whether the GPS is shaded may include whether each grid has an elevation angle greater than the elevation angle of the buildings or has an azimuth angle not included in the azimuth angle of the buildings, based on the number of satellites, whether or not each grid is shaded by GPS. Can judge.

In determining whether the GPS shadow is present, if the number of satellites is smaller than a predetermined number, it may be determined as a GPS shadow.

In determining whether the GPS is shaded or not, the GPS satellite information may be clustered on a regional basis, and representative elevation angles and azimuth angles of GPS satellites for each region may be applied to each grid.

According to the present invention, it is possible to check a GPS shaded area and a non-GPS shaded area on the road. Therefore, when a navigation terminal or a smartphone is expected to enter the GPS shaded area, the reception period of the GPS signal can be lengthened to reduce battery consumption. do.

In addition, according to the present invention, it is possible to reduce the inconvenience of users of the location location service by identifying a constant GPS shaded area with high population density and establishing a separate positioning system for the constant GPS shaded area to maintain the accuracy of location information. have.

1 is a diagram illustrating a system for determining a GPS shaded area according to an embodiment of the present invention.
FIG. 2 is a diagram showing the configuration of the GPS shadow area determination apparatus of FIG. 1.
3 is a diagram for describing a method of calculating an elevation angle of a building according to an exemplary embodiment.
4 is a diagram illustrating a method of calculating an azimuth angle of a building according to an exemplary embodiment.
5 is a diagram illustrating a GPS signal received through a specific grid according to an embodiment.
6 is a flowchart illustrating a method of calculating the azimuth angle and elevation angle of a building for each grid according to an embodiment of the present invention.
7 is a flowchart illustrating a method of determining a GPS shadow area according to an embodiment of the present invention.

The above-described objects, features, and advantages will become more apparent through the following detailed description in connection with the accompanying drawings, whereby those of ordinary skill in the technical field to which the present invention pertains can easily implement the technical idea of the present invention. There will be. In addition, in describing the present invention, when it is determined that a detailed description of a known technology related to the present invention may unnecessarily obscure the subject matter of the present invention, a detailed description thereof will be omitted. Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a diagram illustrating a system for determining a GPS shaded area according to an embodiment of the present invention. 1, buildings 120 are located around a road 110, and a plurality of satellites 130 exist in the air. A smartphone or a navigation terminal including a GPS receiver measures a current location in real time using GPS signals received from a plurality of artificial satellites 130. Referring to FIG. 1, the system according to the present embodiment includes a GPS satellite information providing device 140, a map information providing device 150, and a GPS shaded area determination device 160, which can communicate through a communication network. I can. The communication network includes all known communication networks such as Internet networks, mobile communication networks such as LTE and 5G, or communication networks to be developed in the future. In the Global Navigation Satellite System (GNSS), there are various navigation systems such as GPS, GLONASS, and Galileo, and in this embodiment, a GPS navigation system will be described as an example. However, the GPS described in the embodiments of the present invention and in the claims should be understood as words encompassing GNSS navigation systems.

The GPS satellite information providing device 140 provides real-time GPS satellite information for each region to the GPS shadow area determination device 160. Here, the GPS satellite information may include regional location information, a satellite number (ID), an altitude angle of a satellite, an azimuth angle of a satellite, and a signal strength. The GPS satellite information providing apparatus 140 may be a GPS reference station, or a central processing station that receives real-time GPS satellite information from the GPS reference station, or may be a real-time satellite tracking system operated by a country. For example, it may be a Seoul City RTK system that provides real-time satellite tracking status. The local location information may include the installation location of the reference station and the coverage of the reference station, or may include arbitrarily divided area information to which real-time GPS satellite information is applied.

The map information providing device 150 stores road information and building information and provides them to the GPS shadow area determination device 160. Here, the road information includes width, name, length, start point, end point, and address information of roads across the country. In addition, the building information includes location information (address or coordinate system) of each building, boundary information, and height information according to the boundary. Road information can be provided at https://www.juso.go.kr/addrlink/devLayerRequestWrite.do, etc., and building information can be provided by Vworld, or from a building database managed by the country. have.

The GPS shadow area determination device 160 collects real-time GPS satellite information for each region from the GPS satellite information providing device 140 and also collects map information from the map information providing device 150. The GPS shaded area determination device 160 divides the road into a predetermined number of grids using the collected map information, calculates an elevation angle and azimuth angle of buildings around the road based on the center of each grid, and the It is determined whether or not the GPS shade of each grid is shaded using real-time satellite information and the elevation and azimuth angles of the buildings. Hereinafter, the apparatus 160 for determining a GPS shaded area will be described in more detail with reference to the drawings.

FIG. 2 is a diagram showing the configuration of the GPS shadow area determination apparatus of FIG. 1. The GPS shadow area determination apparatus 160 may include a memory, a memory controller, one or more processors (CPUs), peripheral interfaces, input/output (I/O) subsystems, a display device, an input device, and a communication circuit. These components communicate via one or more communication buses or signal lines. These various components may be implemented in hardware, software, or a combination of both hardware and software, including one or more signal processing and/or application specific integrated circuits.

The memory may include high-speed random access memory, and may also include one or more magnetic disk storage devices, nonvolatile memory such as flash memory devices, or other nonvolatile semiconductor memory devices. Access to memory by other components such as the processor and peripheral interfaces can be controlled by the memory controller. The peripheral interface connects the input/output peripheral devices with the processor and memory. One or more processors execute various software programs and/or sets of instructions stored in memory to perform various functions for the system and process data. In some embodiments, the software component is mounted (installed) with an operating system, a graphic module (instruction set), and a program for performing operations for the present invention. The operating system may be, for example, a built-in operating system such as Darwin, RTXC, LINUX, UNIX, OS X, WINDOWS or VxWorks, Android, iOS, etc., and the I/O subsystem is a display device, an input device, and the like. It provides an interface between the device's input and output peripherals and the peripheral interface. The communication circuit may include an Ethernet communication circuit and an RF circuit. The Ethernet communication circuit performs wired communication, and the RF circuit transmits and receives electromagnetic waves. The RF circuit converts electrical signals into electromagnetic waves and vice versa, and communicates with communication networks, other mobile gateways and communication devices through these electromagnetic waves. RF circuitry may include well-known circuits for performing these functions, including, but not limited to, antenna systems, RF transceivers, one or more amplifiers, tuners, one or more oscillators, digital signal processors, CODEC chipsets, memory, etc. I can. The RF circuitry may communicate with other devices by means of cellular telephone networks, wireless networks such as wireless LANs and/or metropolitan area networks (MANs), and short-range wireless communications.

Referring to FIG. 2, the GPS shadow area determination apparatus 160 includes a data collection unit 210, a calculation unit 220, and a shadow determination unit 230. These components may be manufactured as a program, stored in a memory, and operated by a processor, or may be manufactured as a combination of software and hardware.

The data collection unit 210 collects real-time GPS satellite information for each region from the GPS satellite information providing device 140. The GPS satellite information may include local location information, a satellite number (ID), an elevation angle of a satellite, an azimuth angle of a satellite, a signal strength, and the like. In addition, the data collection unit 210 collects map information from the map information providing device 50. Map information includes road information and building information, road information includes width, name, length, start point, end point, and address information of national roads, and building information includes location information (address or coordinate system) of each building, It includes border information and height information according to the border.

The calculation unit 220 divides roads into a predetermined number of grids by using road information among the map information. In addition, the calculation unit 220 calculates an elevation angle and azimuth angle of buildings around the road by using information of the divided grid and building information among the map information. That is, the calculation unit 220 calculates an elevation angle and azimuth angle of buildings based on the center of each grid. The elevation angle refers to the angle from the center of the grid to the top of the building based on the road surface, and the azimuth angle refers to the angle of the two vertices of the building facing the road surface based on the center of the grid. The calculation unit 220 calculates an elevation angle and azimuth angle of a building for all buildings in the quadrant of each grid. It will be described in detail below with reference to the drawings.

3 is a diagram for describing a method of calculating an elevation angle of a building according to an exemplary embodiment. Referring to FIG. 3, if b is the distance from the center of a specific grid of the road (e.g., latitude and longitude coordinates) to the building and the height of the building is c, the angle from the center to the top of the building based on the road surface , That is, the elevation angle A can be calculated by the following (Equation 1).

(Equation 1)

Elevation angle A=arccos((b ² +c ² -a ² )/2bc))

4 is a diagram illustrating a method of calculating an azimuth angle of a building according to an exemplary embodiment. 4, the coordinates of the center of a specific grid of the road are (X, Y), the coordinates of the left vertex based on the center are (X1, Y2), and the coordinates of the right vertex based on the center. Assuming (X2, Y2), the azimuth angle θ ₁ of the left vertex based on the center is calculated by the following (Equation 2).

(Equation 2)

In this case, as shown in FIG. 4, when the azimuth angle is determined based on true north, the azimuth angle can be converted according to the following [Table 1].

X1-X Y1-Y Transformation of θ ₁ Azimuth range (+) (+) θ ₁ 0 to 90 degrees (+) (-) 180+θ ₁ 90 to 180 degrees (-) (-) 270+θ ₁ 180 to 270 degrees (-) (+) 360+θ ₁ 270 to 360 degrees

The azimuth angle θ ₂ of the right vertex based on the center is also obtained in the same manner as the method of obtaining the azimuth angle θ ₁ of the left vertex based on the center.

The shade determination unit 230 uses the real-time satellite information collected by the data collection unit 210 and the elevation and azimuth angles of neighboring buildings for each grid calculated by the calculation unit 220 to determine whether each grid is shaded by GPS. Judge The shade determination unit 230 compares the elevation angles and azimuth angles of each of the plurality of satellites covering each grid for each grid, and the elevation angles and azimuth angles of neighboring buildings to determine whether each grid is shaded by GPS. The shade determination unit 230 compares the altitude angle and azimuth angle of the satellites covering the grid with the altitude angle and azimuth angle of the surrounding buildings of the grid, and divides the satellites into shaded satellites and non-shaded satellites, and the number of non-shaded satellites is critical. If the number is less than the number, the corresponding grid is determined as a GPS shaded area. It will be described in detail below with reference to the drawings.

5 is a diagram illustrating a GPS signal received through a specific grid according to an embodiment. Referring to FIG. 5, two buildings A1 and A2 are located around a grid P. And in the area of the grid P, signals from GPS satellites S1 to S5 are received. Among GPS satellites, (A1_start_az <S1_az <A1_end_az) && (S1_elev <A1_elev) is true when the variables of the altitude angle and azimuth angle of the S1 satellite and the azimuth and elevation angle of the building A1 are defined as shown in the following [Table 2]. ), the GPS satellite S1 becomes a shaded GPS satellite by the building A1 in the grid P, and if it is False, the corresponding GPS satellite S1 becomes a non-shaded GPS for the building A1. In the same manner, the azimuth and elevation angles of the GPS satellite S1 and the remaining building B2 are compared to determine whether the GPS satellite S1 is a shaded GPS satellite or a non-shaded GPS satellite by the building A2. In the same way, it is possible to check whether the GPS satellites S2 to S5 become shaded or non-shaded GPS satellites by the two buildings A1 and A2. The grid is determined as a GPS shaded area.

Explanation GPS satellite azimuth GPS satellite elevation angle Azimuth of the building
(Start point, end point) Building elevation angle variable S1_az S1_elev A1_start_az,
A1_end_az A1_elev

When (A1_start_az <S1_az <A1_end_az) && (S1_elev <A1_elev) is True, the altitude angle of the satellite is lower than the altitude angle of the building and the azimuth of the satellite is included within the azimuth angle of the building. This means that the GPS signal is blocked by the building and cannot be received. If the altitude angle of the satellite is lower than the altitude angle of the building, but the azimuth angle of the satellite is not included within the azimuth angle of the building, a GPS signal may be received by the side of the building, or even if the azimuth angle of the satellite is included within the azimuth angle of the building, If the elevation angle is greater than the elevation angle of the building, it means that GPS signals can be received from the top of the building.

In using the elevation angle and azimuth angle of each of the plurality of satellites covering each grid for each grid, the shadow determination unit 230 may cluster GPS satellite information on a regional basis and use a representative value. For example, since the difference in altitude angle of GPS satellites may be insignificant for areas in Seoul, the shade determination unit 230 may select and use the altitude angle of the GPS satellites as one representative value for all areas in Seoul. . Even though the difference is insignificant, subdividing the elevation angle can put a load on the system because additional calculations and data processing are required. Therefore, for example, if the difference in altitude angles of GPS satellites in all areas in Seoul is less than 1 degree, one representative value is used as the altitude angles of GPS satellites in all areas in Seoul.

6 is a flowchart illustrating a method of calculating the azimuth angle and elevation angle of a building for each grid according to an embodiment of the present invention.

Referring to FIG. 6, in step S601, the GPS shaded area determination device 160 collects map information including road information and building information from the map information providing device 50, and then generates a grid using the road information. Set. Road information includes width, name, length, start point, end point, and address information of roads across the country.

In step S602, the GPS shadow area determination apparatus 160 determines a center coordinate for each grid. Preferably, the GPS shadow area determination apparatus 160 may determine the latitude and longitude coordinates of the centers of each grid as the center coordinates, or may determine the coordinates according to a separate reference coordinate system.

In step S603, the GPS shaded area determination apparatus 160 uses the building information included in the map information, based on the center of the grid for each grid, and adjacent buildings, for example, adjacent to the four planes when the grid consists of four planes. Calculate the azimuth and elevation angles of buildings. The azimuth and elevation angles are calculated according to the method described with reference to FIGS. 4 and 5.

According to the method described with reference to FIG. 6, the GPS shaded area determination apparatus 160 calculates the center coordinates for each grid and the azimuth and elevation angles of neighboring buildings and stores them in a storage means.

7 is a flowchart illustrating a method of determining a GPS shadow area according to an embodiment of the present invention.

Referring to FIG. 7, in step S701, the GPS shadow area determination apparatus 160 extracts an elevation angle and azimuth angle of satellites covering the grid with respect to a specific grid. Preferably, the GPS shaded area determination device 160 extracts an elevation angle and azimuth angle of satellites covering the specific grid from real-time GPS satellite information for each region collected from the GPS satellite information providing device 140. The GPS shaded area determination apparatus 160 may cluster GPS satellite information on a regional basis to set a representative value, and extract a representative elevation angle and a representative azimuth angle of a GPS satellite set for an area to which the specific grid belongs.

In step S702, the GPS shaded area determination apparatus 160 extracts an elevation angle and azimuth angle of buildings around the specific grid. As described with reference to FIG. 6, since the elevation angle and the azimuth angle of neighboring buildings are calculated for each grid and stored in the storage means, the GPS shaded area determination device 160 includes the elevation angle of the surrounding buildings of the specific grid in the storage means. And the azimuth angle can be extracted.

In step S703, the GPS shaded area determination device 160 compares the azimuth and elevation angles of the neighboring buildings of the specific grid with the azimuth and elevation angles of each of the satellites covering the specific grid to determine a shadowed satellite or a non-shaded satellite. Judge. Specifically, if the elevation angle of a specific satellite is less than the elevation angle of a specific building and the azimuth angle of the corresponding satellite is included within the azimuth angle of the specific building, the GPS shadow area determination apparatus 160 determines that the specific satellite is a shadow satellite, If the altitude angle of that satellite is greater than the altitude angle of that particular building, or the azimuth angle of the satellite is not within that particular building's azimuth, then that particular satellite is considered to be a non-shaded satellite for that particular building, and the other building in the same way. It is determined whether it is a shaded satellite or a non-shaded satellite. The GPS shadow area determination apparatus 160 determines shadow satellites or non-shaded satellites for all satellites in this manner.

In step S704, the GPS shadow area determination apparatus 160 determines whether the number of non-shaded satellites determined in step S703 is less than a threshold number. For example, it is determined whether there are fewer than 4 non-shaded satellites. If the number of non-shaded satellites is less than the threshold number, in step S705, the GPS shadow area determination apparatus 160 determines that the corresponding grid is a GPS shadow area. On the other hand, if the number of non-shaded satellites is greater than or equal to the threshold number, in step S706, the GPS shaded area determining apparatus 160 determines that the corresponding grid is a GPS non-shaded area.

According to the above-described embodiment, when information on a GPS shaded area and a non-GPS shaded area on a road is built into a database, when a navigation or a smartphone is expected to enter the GPS shaded area, the GPS signal reception period is lengthened to consume battery power. Can be reduced, and the disconnection of positioning can be avoided by using other positioning techniques in a GPS shaded area. In particular, a separate positioning system can be established for an area where the population is densely high at all times to be shaded by GPS, so that the accuracy of location information can be maintained, thereby reducing the inconvenience of users of location location services.

While this specification includes many features, such features should not be construed as limiting the scope or claims of the invention. In addition, features described in separate embodiments herein may be combined and implemented in a single embodiment. Conversely, various features described in a single embodiment herein may be individually implemented in various embodiments, or may be properly combined and implemented.

Although the operations have been described in a specific order in the drawings, it should not be understood that such operations are performed in a specific order as shown, or as a series of consecutive sequences, or that all described operations are performed to obtain a desired result. . Multitasking and parallel processing can be advantageous in certain environments. In addition, it should be understood that classification of various system components in the above-described embodiments does not require such classification in all embodiments. The above-described program components and systems may generally be implemented as a package in a single software product or multiple software products.

The present invention described above is capable of various substitutions, modifications, and changes without departing from the technical spirit of the present invention for those of ordinary skill in the technical field to which the present invention belongs. It is not limited by the drawings.

110: road
120: building
130: GPS satellite
140: GPS satellite information providing device
150: map information providing device
160: GPS shaded area determination device
210: data collection unit
220: calculation unit
230: shade determination unit

Claims (10)

In the GPS shadow area determination device for determining the GPS shadow area,
A data collection unit for collecting real-time satellite information and map information for each region;
A calculating unit that divides the road into a predetermined number of grids using the map information and calculates an elevation angle and azimuth angle of buildings around the road based on the center of each grid; And
Including; a shade determination unit for determining whether the GPS shade of each grid using the real-time satellite information and the elevation and azimuth angles of the buildings,
The shade determination unit,
For each grid, the elevation angle and azimuth angle of each of the plurality of satellites covering each grid are compared with the elevation angle and azimuth angle of the buildings, and have an elevation angle greater than the elevation angle of the buildings or included in the azimuth angle of the buildings. A grid in which the number of satellites having an azimuth angle that is not azimuth is smaller than a predetermined number is determined by the GPS shade
In addition, the shade determination unit,
A GPS shaded area determination apparatus, characterized in that, by clustering GPS satellite information by area unit, the representative elevation angle and azimuth angle of GPS satellites by area unit are applied to each grid. delete delete delete delete In a GPS shadow area determination method for determining a GPS shadow area in a GPS shadow area determination apparatus,
Collecting real-time satellite information and map information for each region;
Dividing the road into a predetermined number of grids using the map information, and calculating an elevation angle and azimuth angle of buildings around the road based on the center of each grid; And
And determining whether or not the GPS shade of each grid is shaded by using the real-time satellite information and the elevation and azimuth angles of the buildings,
The step of determining whether the GPS is shaded or not,
For each grid, the elevation angle and azimuth angle of each of the plurality of satellites covering each grid are compared with the elevation angle and azimuth angle of the buildings, and have an elevation angle greater than the elevation angle of the buildings or included in the azimuth angle of the buildings. A grid in which the number of satellites having an azimuth angle that is not azimuth is smaller than a predetermined number is determined by the GPS shade
In addition, the step of determining whether the GPS is shaded or not,
A method for determining a shaded area of GPS, comprising clustering GPS satellite information by region and applying representative elevation and azimuth angles of GPS satellites by region to each grid. delete delete delete delete

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