KR20060098156A - Position recognizing device and method for the position of mobile - Google Patents

Abstract

A position recognition device and method for recognizing the position of a moving object is disclosed. The position recognition apparatus and the position recognition method of the present invention can simultaneously receive the satellite signals provided to the GPS system and the absolute position signals provided from an absolute position transmitter such as a beacon. In addition, the position recognition apparatus and the position recognition method of the present invention may recognize the exact position of the moving object by additionally using the relative position data included in the satellite signals based on the absolute position data included in the absolute position signal. have. Therefore, according to the position recognition device and the position recognition method of the present invention, the position recognition can be performed in a place such as a forest of a building, and the error of the position recognition of the moving object can be reduced.

Absolute Position Data, Relative Position Data, Position Recognition, Satellite, Beacon, Moving Object

Description

POSITION RECOGNIZING DEVICE AND METHOD FOR THE POSITION OF MOBILE}

In order to more fully understand the drawings used in the detailed description of the invention, a brief description of each drawing is provided.

1 is a block diagram showing a position recognition device 100 according to an embodiment of the present invention.

2 is a flowchart showing a position recognition method according to an embodiment of the present invention.

3 is a diagram illustrating a specific example of realizing the correcting step of FIG. 2.

Explanation of symbols on the main parts of the drawings

210: satellite 220: absolute position transmitter

ABS: Absolute position signal RES: Satellite signal

The present invention relates to a position recognition device and method for recognizing the position of the moving object, and more particularly, to a position recognition device and method that can accurately recognize the position of the moving object regardless of the surrounding environment.

At present, the position recognition technology for recognizing the position of the moving body is widely used in all of you. Representative examples of the application of the location recognition technology are the bus information system and the bus card terminal, which are equipped with a location recognition device and process the location information of the bus based on the recognized vehicle location or use it for the fare settlement.

One such location recognition method is using a Global Positioning System (GPS). Position recognition through GPS is a technology of recognizing the position of a moving object by recognizing the relative position of the vehicle with respect to the satellites using satellite signals provided from a plurality of satellites. GPS location recognition has the advantage that it can be applied in a wide range of areas.

However, the position recognition using GPS has a disadvantage in that the position recognition performance is degraded in a large building such as a building forest, and the recognition error of the position of the moving object is inevitably generated due to the arrangement state of the plurality of satellites. Have

Accordingly, an object of the present invention is to solve a conventional problem, and to provide a location recognition device and a method capable of recognizing a location regardless of the surrounding environment and reducing a recognition error.

One aspect of the present invention for achieving the above technical problem relates to a position recognition device mounted in a predetermined moving body, to recognize the area in which the moving object is located. The position recognizing apparatus of the present invention comprises: a GPS receiver for receiving satellite signals capable of identifying relative position data of the moving object with respect to the satellites from a plurality of satellites; An absolute position receiving unit for receiving an absolute position signal capable of grasping absolute position data of a reference point from a predetermined absolute position transmitter; And a central processing unit which extracts position data of the moving object using the absolute position data and the relative position data.

Another aspect of the present invention for achieving the above technical problem relates to a position recognition method for recognizing a region in which a predetermined moving object is located. The position recognition method of the present invention is a step of receiving satellite signals provided from a plurality of satellites through a predetermined GPS receiver, whereby relative position data of the moving object with respect to the satellite can be obtained by the satellite signals. Receiving said satellite signals; Receiving an absolute position signal, which can be identified as absolute position data for a reference point, from a predetermined absolute position transmitter through a predetermined absolute position receiver; And correcting the position data of the moving object recognized by the absolute position data by using the relative position data in a predetermined central processing unit.

In order to fully understand the present invention, the operational advantages of the present invention, and the objects achieved by the practice of the present invention, reference should be made to the accompanying drawings which illustrate preferred embodiments of the present invention and the contents described in the accompanying drawings. In understanding the drawings, it should be noted that like parts are intended to be represented by the same reference numerals as much as possible. In addition, in the following description, numerous specific details, such as specific processing flows, are described to provide a more general understanding of the invention. However, it will be apparent to one of ordinary skill in the art that the present invention may be practiced without these specific details. Incidentally, detailed descriptions of well-known functions and configurations that are determined to unnecessarily obscure the subject matter of the present invention will be omitted.

First, prior to describing the position recognition apparatus of the present invention, a position recognition technique using an absolute position transmitter such as a beacon will be briefly described. However, this is merely to facilitate the understanding of the present invention, whereby the scope of the present invention is not limited or limited.

First, the absolute position transmitter, which is installed at a reference point such as a road, generates an absolute position signal. When a moving object such as a vehicle enters the recognition area of the absolute position transmitter, an absolute position signal provided from the absolute position transmitter is received. The absolute position signal directly includes data representing the coordinates of the place where the absolute position transmitter is installed, or includes a unique number (ID) capable of mapping the coordinates. Here, the position recognition when the data indicating the coordinates of the absolute position transmitter is directly included in the absolute position signal is performed in the following manner. A position recognition device for receiving an absolute position signal transmitted from the absolute position transmitter on a moving object is received. Then, the signal is transmitted to the central terminal installed in the bus information center or the like that the position recognition device has received the absolute position signal. Then, the central terminal knows that the moving object is located within a predetermined recognition range of the absolute position transmitter.

If the absolute position signal does not directly include data indicating the coordinates of the place where the absolute position transmitter is installed, the unique number (ID) is mapped, whereby the position of the moving object is recognized.

As described above, the technique of recognizing the position of the moving object through the absolute position transmitter has a relatively small error, and also has the advantage that the position of the moving object can be detected regardless of the surrounding environment. However, since the absolute position transmitter should be installed at all the points where the position recognition is required, the absolute position transmitter has a relatively high installation cost than the GPS.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram showing a position recognition device 100 according to an embodiment of the present invention. The position recognizing apparatus 100 is mounted in a moving object such as a bus and is a device for recognizing a region where the moving object is located. Referring to FIG. 1, the position recognition device 100 includes a GPS receiver 110, an absolute position receiver 120, and a central processor 130.

The GPS receiver 110 receives satellite signals RES transmitted from the satellites 210. It is the same as in the related art that relative position data of the moving body with respect to the satellites 210 can be grasped through the satellite signals RES.

The absolute position receiving unit 120 receives the absolute position signal ABS generated from the absolute position transmitter 220. The absolute position transmitter 210 is installed at a reference point POS, such as a bus stop, like a beacon. The absolute position transmitter 210 transmits an absolute position signal ABS to a moving object in a predetermined recognition area.

The absolute position signal ABS includes coordinates indicating the position of the reference point POS, that is, absolute position data and / or a unique information signal ID of the absolute position transmitter 210.

If the absolute position signal ABS does not include absolute position data but includes the unique information signal ID, the unique information signal ID is mapped to the absolute position data of the reference point POS. The mapping means 140 is preferably embedded in the position recognition device 100 of the present invention.

The central processing unit 130 extracts the position data of the moving object more accurately by using the absolute position data identified through the absolute position signal ABS and the relative position data obtained through the satellite signals RES. .

The central processing unit 130 includes correction means 131 for correcting absolute position data of the moving object with relative position data of the moving object. The correction means 131 calculates a minimum error value of a distance difference of the relative position data with respect to the absolute position data, and closest to the minimum closest position closest to the reference point POS of the absolute position transmitter of the moving object. Recognize the minimum proximity point. Through the correction means 131, the position recognition device 100 of the present invention can determine the position and time that the moving body is in close proximity to the reference point (POS).

2 is a flowchart illustrating a position recognition method according to an embodiment of the present invention, which is a flowchart illustrating a method of recognizing a position of a moving object using the position recognition device 100 of FIG. 1. Referring to Fig. 2, the position recognition method of the present invention is described.

First, in step S310, the position recognition device 100 embedded in the moving object receives satellite signals RES from the satellites 210. Then, by using the received satellite signals (RES), the relative position data of the moving object on which the position recognition device 100 is mounted is obtained. In step S330, the position recognition device 100 receives the absolute position signal ABS from the absolute position transmitter 220. Then, the absolute position data of the reference point POS in which the absolute position transmitter 220 is installed is determined using the received absolute position signal ABS. If the absolute position signal ABS does not include absolute position data but includes the unique information signal ID, the mapping means 140 maps the unique information signal ID to the reference point. Get the absolute position data of (POS).

In operation S350, the position data of the moving body may be more accurately corrected based on the absolute position data and by using the relative position data as a secondary. In operation S370, the position where the movable body is located is determined by the corrected position data.

On the other hand, when the position recognition device 100 of the present invention receives the satellite signals RES in step S310 and S330, but does not receive the absolute position signal (ABS) (moving body in the recognition area of the absolute position transmitter) If not located), the position of the moving object is recognized as relative position data according to the satellite signals (RES).

Further, when the position recognizing apparatus 100 of the present invention does not receive the satellite signals RES in steps S310 and S330, and receives only the absolute position signal ABS, the position of the moving object is the absolute position. It is recognized as absolute position data according to the signal ABS.

If both the satellite signals RES and the absolute position signal ABS are not recognized, the position of the moving object will be processed as unrecognizable.

Subsequently, the correcting step of S350 is described in detail. FIG. 3 is a diagram illustrating a specific example of realizing the correcting step S350 of FIG. 2.

In step S401, the coordinates (ABS (x, y)) of absolute position data of the moving object are obtained. In step S403, the coordinates (RES (x, y, t) t = 0) of the relative position data of the initial moving object (time t = 0) are obtained.

In operation S405, the position error Ed of the relative position data with respect to the absolute position data is calculated by Equation (1).

Ed = | ABS (x, y) -RES (x, y, y) | t = 0

In operation S407, the next frame, that is, the time point t + 1, is defined as a new time point t. In operation S409, relative position data RES (x, y, t) according to the satellite signals RES received at the time point t is calculated.

In operation S411, it is determined whether the relative position data RES (x, y, t) calculated in operation S409 is outside the recognition region of the absolute position transmitter 220 (see FIG. 1).

If the calculated relative position data (RES (x, y, t)) is included in the recognition region of the absolute position transmitter 220, in step S413, the absolute position data ABS by Equation (2). The position error Et of the new relative position data RES (x, y, t) relative to (x, y)) is calculated.

E (t) = | ABS (x, y) -RES (x, y, t) |

In operation S415, it is determined whether E (t) is smaller than Ed. If E (t) is smaller than Ed, in step S417, Ed is replaced by E (t). Then, the step after step S407 is repeatedly performed.

If, as a result of the determination in step S415, if E (t) is not smaller than Ed, step S417 is omitted, and then repeatedly performed from step S407.

If it is determined in step S411 that the calculated relative position data RES (x, y, t) is out of the recognition region of the absolute position transmitter 220, in step S421, Ed is the minimum error (Emin). ) Is recorded.

Subsequently, in step S423, using the coordinates (ABS (x, y)) of the absolute position data and the minimum error (Emin), the moving object is the closest position closest to the reference point (POS) of the absolute position transmitter. And a minimum proximity point of view, which are recognized as corrected position data of the moving object.

When the bus information system and the bus card terminal using the position recognition device and the position recognition method of the present invention as described above are used in a vehicle such as a bus, the scope of application is significantly extended as compared with the conventional system using only the GPS system. In addition, the moving distance of the moving object generated between the predetermined time points is more precisely recognized, whereby the position information and the charging accordingly become easy and accurate.

Although the present invention has been described with reference to one embodiment shown in the drawings, this is merely exemplary, and those skilled in the art will understand that various modifications and equivalent other embodiments are possible therefrom. Therefore, the true technical protection scope of the present invention will be defined by the technical spirit of the appended claims.

The position recognition device and the position recognition method of the present invention as described above may simultaneously receive the satellite signals provided to the GPS system and the absolute position signal provided from the absolute position transmitter such as a beacon. In addition, the position recognition apparatus and the position recognition method of the present invention may recognize the exact position of the moving object by additionally using the relative position data included in the satellite signals based on the absolute position data included in the absolute position signal. have. Therefore, according to the position recognition device and the position recognition method of the present invention, the position recognition can be performed even in a place such as a building forest, and it is possible to reduce the error of the position recognition of the moving object.

Claims (8)

A position recognition device mounted in a predetermined moving body and recognizing a region in which the moving body is located, A GPS receiver for receiving satellite signals capable of identifying relative position data of the moving object with respect to the satellites from a plurality of satellites; An absolute position receiving unit for receiving an absolute position signal capable of grasping absolute position data of a reference point from a predetermined absolute position transmitter; And And a central processing unit for extracting the position data of the moving object by using the absolute position data and the relative position data. The method of claim 1, wherein the central processing unit And correction means for correcting the absolute position data of the moving object with the relative position data. The method of claim 2, wherein the correction means And extracting a minimum error value of a distance difference between the relative position data and the absolute position data, and recognizing a minimum proximity position and a minimum proximity time point of the absolute position transmitter of the moving object. In the position recognition method for recognizing the area where the predetermined moving object is located, Receiving satellite signals provided from a plurality of satellites through a predetermined GPS receiver, and receiving the satellite signals from which relative position data of the moving object with respect to the satellite can be obtained by the satellite signals. step; Receiving an absolute position signal, which can be identified as absolute position data for a reference point, from a predetermined absolute position transmitter through a predetermined absolute position receiver; And And correcting the position data of the moving object recognized by the absolute position data by using the relative position data in a predetermined central processing unit. The method of claim 4, wherein the correcting step Recognizing a minimum error value of a distance difference between the relative position data and the absolute position data; And And using the minimum error value, recognizing a minimum proximity position of the absolute position transmitter of the moving object. A position recognition device mounted in a predetermined moving body and recognizing a region in which the moving body is located, A GPS receiver for receiving satellite signals capable of identifying relative position data of the moving object with respect to the satellites from a plurality of satellites; An absolute position receiving unit for receiving an absolute position signal capable of grasping absolute position data of a reference point from a predetermined absolute position transmitter; And And a central processing unit for recognizing any one selected from the absolute position data and the relative position data as the movable body. The method of claim 6, wherein the central processing unit And the relative position data is recognized as position data of the moving object in an area where the absolute position data is not received. The method of claim 6, wherein the central processing unit And the absolute position data is recognized as position data of the moving object in a region where the relative position data is not received.

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