KR102418050B1 - Calibration apparatus for travel route of navigation and method thereof - Google Patents

Abstract

The present invention relates to an apparatus and method for correcting a route for navigation, a GNS module that calculates a location by processing a GNS signal received through a GNS antenna, and receives virtual reference point (VRS) information by communicating with a VRS server When a route to a departure point and a destination set by the user is searched using a communication unit and a navigation device to ) and a control unit for receiving the information and correcting the position coordinates on the path.

Description

Apparatus and method for correcting routes for navigation

The present invention relates to an apparatus and method for correcting a route for navigation, and more particularly, to an apparatus and method for correcting a route for navigation, and more particularly, a device for correcting a route for navigation that allows an accurate route to be searched through position coordinate correction using VRS (virtual reference station) information; it's about how

Global Positioning System (GPS), as we know it widely, is a military-purpose system created in the United States in the early 1970s to accurately measure the position of a specific object.

Currently, it is being operated in countries including the United States, and it is widely used usefully and openly to civilians as well as military purposes. These countries' satellite positioning systems are collectively called GNSS (Global Navigation Satellite System), and the US GPS and Russia's GLONASS are representative examples.

The navigation using the GNSS information refers to a device or program that helps to find a way through map guidance (or route guidance to a destination).

The navigation system is also referred to as a vehicle navigation device, and is mainly installed in a vehicle to transmit information such as a location of a destination and a map around the destination to a user, and is used to inform a route or the shortest distance to the destination. However, since the GPS error typically occurs several meters to several tens of meters, a method for reducing such an error is required.

On the other hand, as a method of network RTK (Network Real Time Kinematic), the systematic error is separated and modeled using a reference station network made up of regular GPS stations, and a virtual reference point (VRS) similar to that observed at an arbitrary location within the network is used. There is an RTK surveying method that generates and precisely determines the location of a mobile station through a virtual reference point (VRS) and a real time kinematic (RTK) between the mobile station and the mobile station.

To outline the RTK surveying method, when the current GPS location of the mobile station (not shown) is transmitted to the VRS server (not shown), the VRS server uses information from three regular stations in the vicinity of the mobile station. By generating a virtual reference point (VRS) in the vicinity of the mobile station, the mobile station receives data of the virtual reference point (VRS) as if using a nearest reference station and performs RTK surveying.

As described above, the RTK method using a virtual reference point (VRS) has the advantage of being able to perform precise RTK surveying with only one receiver due to a simple equipment configuration, but has a disadvantage in that high-speed moving surveying is difficult. Therefore, conventionally, the method of performing route search in the RTK method using a virtual reference point (VRS) in navigation has not been stopped.

However, in a situation in which a more accurate route search is required, a route search method using a virtual reference point (VRS) that can be applied at a low cost is required.

The background technology of the present invention is disclosed in Korean Patent Publication No. 10-2005-006907 (published on January 17, 2005, a navigation system and a road driving guidance method using the same).

According to one aspect of the present invention, the present invention was created to solve the above problems, and it is a navigation system that uses VRS (virtual reference station, virtual reference point) information to find an accurate route through position coordinate correction. An object of the present invention is to provide an apparatus and method for correcting a path of

Another object of the present invention according to another aspect is to provide an apparatus and method for searching a route for navigation that can correct a distance error occurring at a handover time between VRSs during route search using VRS information.

According to an aspect of the present invention, there is provided an apparatus for correcting a route for navigation, comprising: a GNS module for calculating a location by processing a GNS signal received through a GNS antenna; a communication unit which communicates with the VRS server and receives virtual reference point (VRS) information; and when a route to a departure point and a destination set by the user is searched for using a navigation device, the coordinates on the searched route are extracted, and a plurality of virtual reference point (VRS) information is obtained at regular intervals around the route based on the extracted coordinates. and a control unit for receiving and correcting the position coordinates on the path.

In the present invention, when a section in which the virtual reference point (VRS) information cannot be downloaded occurs due to high-speed driving of the vehicle equipped with the navigation device or environmental influences, the controller is configured to provide the preceding VRS information and the following VRS information for the section. It is characterized in that the interpolation is performed using the method to calculate a correction value, and the position coordinates are corrected using the calculated correction value.

In the present invention, the control unit fetches RTCM (Radio Technical Commission Aeronautics) data from the VRS server and executes RTK (Real Time Kinematic) to correct the position coordinates.

In the present invention, the communication unit is characterized in that it receives the virtual reference point (VRS) information from the VRS server using a wireless standard/protocol of a short-distance wireless communication method or a mobile communication method.

According to another aspect of the present invention, a method for correcting a route for navigation includes: when a route to a departure point and a destination set by a user is searched for by using a navigation device, the control unit extracting coordinates on the searched route; receiving, by the controller, a plurality of virtual reference point (VRS) information at regular intervals around a path based on the extracted coordinates; and correcting, by the controller, the position coordinates on the path by using the virtual reference point (VRS) information.

In the present invention, when a section in which the virtual reference point (VRS) information cannot be downloaded occurs, the controller performs interpolation using the preceding VRS information and the following VRS information of the section to calculate a correction value, , it is characterized in that the position coordinates are corrected using the calculated correction value.

In the present invention, in the step of correcting the position coordinates on the path, the controller obtains RTCM (Radio Technical Commission Aeronautics) data from the VRS server and executes RTK (Real Time Kinematic) to correct the position coordinates. characterized.

In the present invention, the step of receiving the virtual reference point (VRS) information is characterized in that the controller receives the virtual reference point (VRS) information by communicating with the VRS server through a communication unit.

In the present invention, the route search to the departure point and the destination using the navigation device is characterized in that the route is searched using the location coordinates calculated by the GNS module processing the GNS signal received through the GNS antenna. .

According to one aspect of the present invention, an apparatus and method for searching a route for navigation according to the present invention enable an accurate route to be searched through position coordinate correction using VRS (virtual reference station, virtual reference point) information. According to another aspect, the present invention allows to correct a distance error occurring at the time of handover between VRSs during path search using VRS information.

1 is an exemplary diagram showing a schematic configuration of a navigation path correction apparatus according to an embodiment of the present invention;
2 is an exemplary view showing a map screen for explaining a method of correcting a route of a navigation system according to an embodiment of the present invention;
3 is an exemplary diagram for explaining a method for correcting a route of navigation according to an embodiment of the present invention;
4 is an exemplary diagram schematically illustrating a method of performing interpolation based on VRS information in FIG. 3 .

Hereinafter, an embodiment of an apparatus and method for correcting a route for navigation according to the present invention will be described with reference to the accompanying drawings.

In this process, the thickness of the lines or the size of the components shown in the drawings may be exaggerated for clarity and convenience of explanation. In addition, the terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to the intention or custom of the user or operator. Therefore, definitions of these terms should be made based on the content throughout this specification.

1 is an exemplary diagram illustrating a schematic configuration of an apparatus for correcting a route for navigation according to an embodiment of the present invention.

As shown in FIG. 1 , the apparatus for finding a route for navigation according to the present embodiment includes a GNSS module 110 , a control unit 120 , and a communication unit 130 .

The GNSS module 110 processes a GNSS signal received through a GNSS antenna (not shown) to analyze GNSS data, collects data, and performs pre-processing to calculate a location, By reflecting the correction information (eg, VRS information) input from the communication unit 130, the precision of the positioning data is output.

For reference, the GNSS (Global Navigation Satellite System) is a system that provides information on the position, altitude, and speed of an object on the ground using artificial satellites, for example, GPS of the United States and Glonas of Russia ( GLONASS), Galileo of the European Union, and BeiDou of China have been established.

Therefore, although the GNSS is a higher concept than the GPS or GLONASS, there is no significant difference in meaning in fact, so for convenience, in this embodiment, they may be used interchangeably without special distinction.

The control unit 120 processes the location information calculated through the GNS module 110 to control a specific terminal (eg, a GNS terminal, a navigation terminal, a vehicle electronic control) that is externally added or connected through an interface unit (not shown). unit (ECU), etc.) (not shown).

In this case, the output information may be added or changed to a data format that can be recognized by a specific connected terminal.

In addition, the control unit 120 includes VRS information received through the communication unit 130, and a specific terminal added or connected to the outside through an interface unit (not shown) (eg, a GNS terminal, a navigation terminal, a vehicle electronic control unit ( ECU), etc.) (not shown) can correct location information based on information (eg, vehicle speed information, reverse information, steering information, departure point information, destination route, stopover information, etc.).

The communication unit 130 uses a wireless standard/protocol of short-range and long-distance wireless communication methods (eg, Bluetooth, WiFi, Wi-Max, UWB, ZigBee, and TETRA, etc.) and mobile communication methods (eg, 3G, 4G, etc.) or by using any possible wired standard such as Ethernet, a local area network (LAN), metropolitan area network (MAN), wide area network (WAN), personal area network (PAN), or ad-hoc network (ad-hoc). network) may receive VRS information from the external VRS server 200 through various wireless or wired networks.

2 is an exemplary diagram illustrating a map screen for explaining a method for correcting a route of a navigation system according to an embodiment of the present invention.

As shown in FIG. 2 , if it is assumed that the user sets a departure point (eg, Yongsan) and a destination (eg, Pangyo) using a navigation device (not shown), the navigation device (not shown) operates in the conventional manner. The route is searched (that is, according to the method of the route setting program of the preset navigation).

When the route from the origin to the destination is searched as described above, the controller 120 receives the coordinates on the searched route and receives virtual reference point (VRS) information from the VRS server 200 (a plurality of red points in FIG. 2 ). Reference).

However, if the vehicle (the vehicle equipped with the navigation device) travels at a high speed or cannot download the virtual reference point (VRS) information due to environmental influences, a situation may occur.

As described above, when a situation in which the virtual reference point (VRS) information cannot be downloaded occurs, that is, when an empty section of the previously constructed virtual reference point (VRS) occurs, the controller 120 controls the virtual reference point (interpolation) Interpolation is performed using a reference point VRS (refer to a plurality of black points in FIG. 2 ).

In FIG. 2 , a section in which a virtual reference point (VRS), which is a reference for interpolation (see a plurality of black points in FIG. 2 ), is connected with a red dotted line is an interpolation generation section.

In other words, since the interpolation generation section is a section in which VRS information is not normally received due to high-speed driving of the vehicle, the controller 120 controls the virtual reference point (interpolation) as a reference point ( The position information is corrected by performing interpolation using VRS (see a plurality of black points in FIG. 2 ).

When the virtual reference point (VRS) information is normally received, the controller 120 applies the RTK using the virtual reference point (VRS) information, and if the virtual reference point (VRS) information is not normally received, interpolation ( RTK is applied using interpolation information performed using a virtual reference point (VRS) (refer to a plurality of black points in FIG. 2 ) serving as a reference for interpolation (see FIG. 3 ).

3 is an exemplary diagram for explaining a method for correcting a route of navigation according to an embodiment of the present invention.

As shown in FIG. 3 , the controller 120 searches for a route to a departure point (eg, Yongsan) and a destination (eg, Pangyo) set by the user using a navigation device (not shown) ( S101 ).

When the route from the origin to the destination is searched as described above, the control unit 120 extracts (or predicts) coordinates on the searched route (S102), and based on the extracted coordinates, a predetermined distance interval around the route (eg : 2km) to create a plurality of virtual reference points (VRS) (S103).

In this case, the virtual reference point (VRS) information may be received from the VRS server 200 .

However, if the vehicle (the vehicle equipped with the navigation device) drives at high speed or cannot download the virtual reference point (VRS) information due to environmental influences (ie, the situation where VRS cannot be generated) occurs, that is, A blank section of the virtual reference point (VRS) may occur.

At this time, the controller 120 performs interpolation based on the preceding virtual reference point (VRS) information and the following virtual reference point (VRS) information on the path that has already been created (that is, downloaded from the VRS server) (S104).

In addition, when the virtual reference point (VRS) information is normally received, the controller 120 applies the RTK using the virtual reference point (VRS) information, and when the virtual reference point (VRS) information is not normally received, interpolation is performed. The RTK is applied for each section (ie, for each VRS section) using the corrected information ( S105 ).

That is, RTCM (Radio Technical Commission Aeronautics) data is fetched from the VRS server 200 and RTK is executed.

In this case, interpolation is performed using a virtual reference point (VRS) (eg, a preceding VRS, a following VRS), which is a reference for the interpolation.

That is, by predicting a situation in which the vehicle travels at high speed or cannot download VRS information (that is, the section connected by the red dotted line in FIG. 2), downloads the virtual reference point (VRS) information of the preceding coordinate point, and obtains the virtual reference point (VRS) RTK is applied based on the correction value generated by performing interpolation by relative comparison of the interpolation data.

For reference, a method for the controller 120 to perform interpolation based on the preceding VRS and the following VRS will be schematically described with reference to FIG. 4 .

For example, among the correction data of various items provided by VRS, if the phase error is taken as an example, the x0 point of the graph of FIG. has a value of y0 at coordinate A, and y1 at coordinate C. Then, any point (ie, any point x, y) at which the vehicle passes from A(x0) to C(x1) will have a slope value indicated by a line connecting the point A and the point C in FIG. 4 . That is, it is possible to perform correction with an arbitrary intermediate value in the line having the slope.

Similarly, in the present embodiment, the control unit 120 can calculate a correction value by performing interpolation based on the preceding VRS and the following VRS, which are information already known. However, as the method of calculating the correction value, any known method may be used, and a detailed description of the method of calculating the correction value will be omitted in this embodiment.

As described above, the present invention has been described with reference to the embodiment shown in the drawings, but this is merely exemplary, and various modifications and equivalent other embodiments are possible therefrom by those of ordinary skill in the art. will understand the point. Therefore, the technical protection scope of the present invention should be defined by the following claims.

110: GNSS module
120: control unit
130: communication department
200 : VRS Server

Claims (9)

a GNS module for calculating a location by processing a GNS signal received through the GNS antenna;
a communication unit which communicates with the VRS server and receives virtual reference point (VRS) information; and
When a route to a departure point and a destination set by the user is searched for using a navigation device, coordinates on the searched route are extracted, and based on the extracted coordinates, a plurality of virtual reference point (VRS) information is received at regular intervals around the route. Including; a control unit for correcting the position coordinates on the path
The control unit is
If there is a section in which the virtual reference point (VRS) information cannot be downloaded due to high-speed driving of the vehicle equipped with the navigation device or environmental influences,
An apparatus for correcting a path for navigation, wherein interpolation is performed using the preceding VRS information and the following VRS information of the section to calculate a correction value, and correcting the position coordinates using the calculated correction value.
delete According to claim 1, wherein the control unit,
A device for correcting the location coordinates by importing RTCM (Radio Technical Commission Aeronautics) data from the VRS server and executing Real Time Kinematic (RTK).
According to claim 1, wherein the communication unit,
A route correction device for navigation, characterized in that it receives virtual reference point (VRS) information from the VRS server using a wireless standard/protocol of a short-distance wireless communication method or a mobile communication method.
extracting, by the controller, coordinates on the searched route when a route to a departure point and a destination set by a user is searched for by using a navigation device;
receiving, by the controller, a plurality of virtual reference point (VRS) information at regular intervals around a path based on the extracted coordinates; and
Compensating, by the control unit, the position coordinates on the path by using the virtual reference point (VRS) information;
When a section occurs in which the virtual reference point (VRS) information cannot be downloaded,
The control unit is
A method of correcting a route for navigation, comprising: calculating a correction value by performing interpolation using the preceding VRS information and the following VRS information of the section, and correcting the position coordinates using the calculated correction value.
delete The method of claim 5, wherein correcting the position coordinates on the path comprises:
The method of claim 1, wherein the control unit obtains RTCM (Radio Technical Commission Aeronautics) data from the VRS server and corrects the location coordinates by executing Real Time Kinematic (RTK).
The method of claim 5, wherein the receiving of the virtual reference point (VRS) information comprises:
The method of claim 1, wherein the control unit communicates with a VRS server through a communication unit to receive virtual reference point (VRS) information.
6. The method of claim 5,
The route search to the departure point and the destination using the navigation device,
A route correction method for navigation, characterized in that the GNS module searches for a route using the calculated location coordinates by processing the GNS signal received through the GNS antenna.

Images