KR20070070714A - Method, system and server for selecting location and user terminal - Google Patents

Abstract

A method, a system, and a server for location selection and a user terminal are provided to enhance reliability of service by selecting an exact vehicle position through use of various information or filtering. A system for location selection includes a user terminal(100) and a position selecting server(200). The user terminal removes an invalid value from received GPS(Global Positioning System) data, and filters the GPS data according to a distance interval. The position selecting server selects candidate links with respect to at least one of a distance or angle from the GPS data which is filtered by the user terminal, and extracts a link which requires a minimum cost based on cost calculation of the candidate links, as an initial link.

Description

Location method, location system, location server and user terminal {METHOD, SYSTEM AND SERVER FOR SELECTING LOCATION AND USER TERMINAL}

1 is a conventional positioning process.

2A-2C illustrate the problem of positioning when following a conventional process.

3A-3B are GPS error data that appear when following a conventional process.

4 is a block diagram of a positioning system according to an embodiment of the present invention.

5A to 5B are diagrams illustrating GPS trajectories before and after applying first filtering according to an embodiment of the present invention.

6A to 6B are diagrams illustrating GPS trajectories before and after applying second filtering according to an embodiment of the present invention.

7 illustrates a third filtering method according to an embodiment of the present invention.

8A to 8C are exemplary views for selecting candidate links according to an embodiment of the present invention.

9 is a diagram illustrating cost calculation between a candidate link and a GPS trajectory according to an embodiment of the present invention.

FIG. 10 is a diagram for describing path extraction in an area where GPS reception is impossible according to an embodiment of the present invention.

11 is a view for explaining the path extraction according to illegal driving according to an embodiment of the present invention.

12A to 12C are diagrams showing an improvement effect in positioning according to an embodiment of the present invention.

13 is an overall flowchart of a positioning method according to an embodiment of the present invention.

The present invention relates to a positioning method, a positioning system, a positioning server, and a user terminal. More particularly, the present invention relates to a positioning method, a positioning system, a positioning server, and a communication network for a user terminal connected through a communication network. The present invention relates to a user terminal that transmits information and requests to provide a service based on user location information.

First, before describing the present invention, the meaning of each term is defined as follows.

Node: A network element that corresponds to an intersection on an actual road.

-Link: A network element that represents a connection section on a real road, which is a node-to-node connection, and a network connection section consisting of a start node and an end node.

Basic Link: The basic single link on the network.

-Link: A neighboring link that has network connectivity with an end node of the base link.

-Optimal route search: search for the fastest route in time using real-time traffic information (link traffic, turn traffic, etc.)

In general, in the telematics service, location-based service business, selecting the current location of the customer is one of the very basic items for providing various services.

The existing customer location selection was made through the method of determining the position of the vehicle by using the information of one GPS point among the GPS trajectory information. In the case of a complicated intersection or various road types, the customer decides his location or selects an arbitrary link close to one GPS point.

More specifically, as shown in FIG. 1, when the user terminal provides one last GPS information measured by a Global Positioning System (GPS) device to the center, the center may be configured in the path search network based on the GPS information transmitted from the user terminal. It grasped the position (S100).

The center searched for neighboring roads based on the identified position, and selected the nearest road (link) as the initial position (S101, S103, S105). Alternatively, the user terminal selects a road type when a city highway, highway, highway, or underground are mixed with general roads within a certain range of the road search results of the center. Then, the road (link) selected by the user terminal was selected as the initial position (S103, S107, S109).

As shown in FIGS. 2A to 2C, when selecting a user location by using only one GPS information, sufficient information is not transmitted to the center, which makes it difficult to accurately select a location.

In the case of FIG. 2A, when GPS information at a corresponding point calculates an angle in a direction opposite to the vehicle while the vehicle is stopped, route guidance may be performed in a direction opposite to where the vehicle is located.

In addition, in the case of Figure 2b, considering the vehicle movement trajectory it is possible to set the current customer's location to Banpo Bridge by detecting that it is impossible to enter the diving bridge from the north riverside. However, when selecting a proximity link using only one GPS information, it is possible to select a submersible bridge that cannot be moved from the current user location.

In the case of FIG. 2C, referring to the vehicle driving route at a complicated intersection, it is understood that the current vehicle is driving regardless of the elevated / underground road. However, if only one GPS information is used, the exact position cannot be determined. Therefore, a method of asking the customer a question and allowing the customer to select the correct location through the user terminal has been used.

In other words, when selecting a customer location using only one GPS point information, accurate location was difficult.

In addition, in the related art, user trajectory information may be transmitted to the map matching logic without filtering at the terminal or the center, and initial position selection may be performed by using error trajectory information. That is, the existing GPS information is transmitted to the center as one unique information irrespective of the GPS state, so that when the error data is transmitted, the initial position may be selected based on only one error data.

As shown in FIGS. 3A and 3B, when a GPS point determined as error data different from the actual vehicle driving path is transmitted to the center and transmitted to the positioning logic, the customer's location is selected using only the transmitted error data. As a result, incorrect service location selection may result in inaccurate service content based on the location of the customer.

      Therefore, the technical problem to be achieved by the present invention is to make the location of the customer accurate through the use of various information or filtering, thereby increasing the reliability of the service.

According to an aspect of the present invention, there is provided a positioning method for a user terminal connected through a communication network, the method comprising: a) a first method based on a reference value of a first filtering data field among received GPS data; Performing filtering.

In addition, the positioning system according to a feature of the present invention for achieving the above technical problem is a positioning system for a user terminal connected through a communication network, the first filtering, the distance filtering the invalid value of the received GPS data, Or a user terminal for performing second filtering to filter GPS data based on time information and third filtering to filter GPS data based on a distance interval; And selecting a candidate link based on one or more of distances or angles from the GPS data filtered by the user terminal, and extracting a link path having a minimum cost as a result of the cost calculation for each candidate link to select an initial link. Includes a location selection server.

In addition, the positioning server according to the characteristics of the present invention for achieving the above technical problem, a positioning server for receiving the GPS data from the user terminal connected via a communication network to select the location of the user terminal, the user terminal A candidate link selecting unit selecting a link within a predetermined distance or an angle from a coordinate of the GPS data trajectory as a candidate link based on the coordinates of the GPS data trajectory transmitted from the target; A cost (COST) calculator configured to calculate a cost (COST) between the candidate link and the GPS data trajectory; A movement path extraction unit for extracting a link path having the smallest cost accumulation value from the first GPS trajectory to the last GPS trajectory; And an initial link selecting unit for selecting a link matched to the last GPS trajectory among the extracted link paths as a link (initial link) located at the time of the service request by the customer.

In addition, the user terminal according to an aspect of the present invention for achieving the above technical problem, as a user terminal for requesting to provide a service based on the location information of the user by transmitting coordinate information through a communication network, the first filtering the received GPS data A first filter for filtering out invalid data based on a data field reference value, a second filter for filtering data whose distance from previous GPS data is greater than or equal to the reference distance for received GPS data, or one of the reference distance intervals or number of references At least one of the third filters for filtering the GPS data based on the above.

Hereinafter, a positioning system and a positioning method according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

As shown in FIG. 4, the positioning system according to the embodiment of the present invention includes a user terminal and a positioning server connected through a network.

The user terminal 100 may include a first filter 101, a second filter 103, and a third filter 105 to generate coordinate information and request road guidance or various services through a communication network. In this case, the user terminal 100 may perform first filtering to filter out an invalid value among the received GPS information. In addition, the user terminal 100 may perform second filtering based on distance or time information. The user terminal 100 may perform third filtering based on the distance interval or the number of GPS data.

The location server 200 may include a candidate link selector 201, a cost calculator 203, a movement path extractor 205, and an initial link selector 207 to obtain filtered GPS trajectory coordinates. A candidate link may be selected as a basis, and the initial link may be selected after the moving path is extracted by calculating the cost between each candidate link and the GPS trajectory.

More specifically, the first filter 101 may filter out a valid value from the GPS information received by the user terminal 100 to remove an invalid value, for example, a GPS engine mounted in the user terminal 100. This can be filtered by hardware.

For example, the first filter 101 may filter the received GPS data by using three information values of the dimension, the number of satellites, and the horizontal dilution of precision (HDOP). In this case, specific criteria for filtering may be configured as shown in Table 1 below.

In addition, GPS data includes time, longitude, latitude, system quality, number of satellites, satellite status, altitude information, measurement accuracy, satellite identification number, azimuth, signal to noise ratio, system failure, route, date, direction, speed information. It may include one or more, the first filter 101 may set the criteria for filtering based on one or more of this information.

FIG. 5A shows the GPS data trajectory before the first filtering process, and shows the GPS trajectory together with the data in which invalid GPS information is determined to be a valid value.

In this case, as shown in FIG. 5B, when filtering out GPS data that is not valid through the first filtering, a GPS trajectory closer to the actual vehicle driving path may be obtained as compared to the GPS trajectory shown in FIG. 5A.

The second filter 103 may determine the moving distance from the previous data with respect to the data passing through the first filter 101, and extract and delete the data when the distance exceeds the predetermined distance. For example, when moving the distance above the application speed of 100m / s, the data for the unit time can be deleted and applied.

FIG. 6A shows a GPS data trajectory before the second filtering process, in which data in which the moving distance exceeds a predetermined distance or more as compared to the previous data is shown as the GPS trajectory. However, as shown in FIG. 6B, when the second filtering is performed, data in which the moving distance from the previous data exceeds a certain distance may be removed, and the GPS trajectory information may be closer to the actual vehicle driving path.

The third filter 105 filters the data passing through the first filter 101 and the second filter 103 based on a distance reference suitable for the map matching on the positioning server 200 to perform the map matching. Extract only the essential data.

More specifically, the third filter 105 may be used for map matching by using the reference number of trajectory information, and recent trajectory information may be used without reference to a distance interval, and later data may be used as a reference to a wide distance interval. have.

For example, the third filter 105 may perform the third filtering to use the map matching using up to 50 trajectory information. Table 3 below shows specific criteria for filtering the 50 trajectory information. It can be configured together.

That is, the latest five data may be selected as data to be used for map matching without a distance interval criterion, and five GPS data may be additionally selected on the basis of the 5 m interval from the sixth data. Five GPS data may be additionally selected on the basis of the 10m interval from the 11th data, and data from the 16th GPS data to the 35th data may be selected as the data to be used for map matching on the basis of the 20m interval.

FIG. 7 is a diagram illustrating GPS trajectory information that is used as a result of performing a third filtering according to a distance from the entire GPS trajectory information, and GPS trajectory information that is not utilized, as a result of performing the third filtering.

That is, the third filter 105 uses the information from the first trajectory to the fifth trajectory as it is in the order close to the service request time from the user terminal 100 without a distance reference, and thereafter, 5, 10 m at 5 m intervals thereafter. 35 data at 10 and 20m intervals are available.

The data filtered by the third filter 105 is transmitted to the positioning server 200, and the candidate link selecting unit 201 may select an appropriate candidate link for the coordinates of the filtered GPS trajectory.

More specifically, the candidate link selecting unit 201 may select a candidate link based on one or more criteria of distance or angle. For example, the candidate link for GPS trajectory may be selected based on the criteria as shown in Table 3 below. Can be.

That is, each link within the reference distance and the reference angle may be selected as the candidate link from the filtered GPS trajectory information. For example, a link located within a radius of 50 m and 60 degrees from the GPS trajectory information may be selected as the candidate link. Only one of the criteria of distance or radius can be applied.

FIG. 8A illustrates an example screen for candidate links shown when all map links existing in the server are selected as candidate links based on the filtered GPS trajectory information. In this case, the number of candidate links is 13,481.

In this case, as shown in FIG. 8B, when the links close to the GPS trajectory are selected as candidate links by applying distance criteria based on the filtered GPS trajectory information, the number of candidate links may be reduced to 21. FIG.

As illustrated in FIG. 8C, when the distance criterion and the angle criterion are simultaneously applied based on the filtered GPS trajectory information, the number of candidate links may be reduced to thirteen, and the accuracy of the selected candidate link may be increased.

The cost calculator 203 may calculate the cost between each candidate link and the GPS trajectory so that a link list having the smallest cost accumulation value from the first GPS trajectory to the last GPS trajectory is generated.

The cost calculator 203 may calculate a COST between each candidate link and the GPS trajectory using a distance or angle value, and more specifically, may use a distance and angle value used for selecting a candidate link.

For example, as shown in FIG. 9, the cost calculator 203 utilizes the distance obtained by dividing the distance between the link and the GPS trajectory by the candidate link setting reference value as the distance factor Fd, and the GPS. An angle factor (Factor, Fa) may be used as a value obtained by dividing the difference between the distance between the points where the trajectory and the link repair meet and the distance between the GPS trajectories by the distance between the GPS trajectories.

The cost calculator 203 may calculate the cost between the candidate link and the GPS trajectory by multiplying each distance factor and the angle factor by the importance a value.

When the cost value between the candidate link and the GPS trajectory is calculated, the movement path extractor 205 generates a link list (path) having the smallest cost accumulation value from the first GPS trajectory to the last GPS trajectory using the costs for each. Can be.

The movement path extractor 205 may find a path by using the linkage information of the map data. For example, the movement path extractor 205 may search a path by applying a Dijkstra Shortest Path Algorithm.

In this case, as an exception, when a vehicle travels underground roads or tunnels and continues for a long time as a poor GPS reception, or when an illegal driving that does not turn (for example, a left turn at an intersection where it does not turn left) is considered. Can be.

The movement path extracting unit 205 is a GPS reception impossible region, and when there is no data for a predetermined time among the GPS trajectories received by the server, the link between the GPS trajectory just before the reception and the GPS trajectory received after the non-reception is a path search technique. Can be used to select links during periods of no data.

For example, as shown in FIG. 10, when the vehicle travels from the link A to the link D, since the path is searched based on the driving trajectory of the vehicle, the vehicle travels the link C section in the underground tunnel. If no link E is selected.

In addition, as a process for the case of illegal driving, the movement path extracting unit 205 is based on the entire GPS trajectory received, and the reference distance (eg, 200 m) from the first GPS trajectory and the last GPS trajectory from the last GPS trajectory. For example, the cost value of the trajectory within 200 m) can be weighted. At this time, the cost of the recent GPS trajectory is decreased by a certain ratio, and the cost of the last GPS trajectory is increased by a certain ratio, thereby increasing the probability that the recent GPS trajectory can be selected.

In addition, the movement path extractor 205 may set the weighting according to the total distance of the GPS trajectory differently. If the total distance of the GPS trajectory is not 400 m, the moving path extractor 205 assigns the weight to the intermediate GPS trajectory, and the total distance. If does not exceed 200m may not be given a weight.

As a result, as shown in FIG. 11, even when the vehicle makes a left turn in an area in which it is impossible to turn left, since the cost has decreased by a certain ratio in the recent GPS trajectory and a certain percentage cost has increased in the last trajectory, the recent GPS trajectory may be selected. The probability is high, and even if the vehicle is illegally driven, it is possible to select a link appropriate for the current position of the vehicle.

The initial link selector 207 may select a link located at the point in time at which the customer requests a service among the driving links of the vehicle selected by the movement path extractor 205.

As a result, when a path is searched in a direction opposite to a conventional actual vehicle traveling direction as shown in FIG. 12A, when a non-entry path as shown in FIG. 12B is selected as a driving path, as shown in FIG. 12C When a complex intersection or various road types are mixed, it is possible to prevent the customer from determining his own location and to accurately select the starting point location while reducing the load on the server.

Hereinafter, a positioning method according to an embodiment of the present invention will be described with reference to FIG. 13.

First, the user terminal 100 may generate coordinate information through GPS data reception and request road guidance or various services through a communication network (S101).

In this case, the user terminal 100 may perform first filtering to filter out an invalid value among the received GPS information (S103).

As described above, the first filter 101 may filter out a valid value from the GPS information received by the user terminal 100 to remove an invalid value, for example, a GPS mounted in the user terminal 100. The engine can filter by hardware.

For example, the first filter 101 may filter the received GPS data by using three information values of the dimension, the number of satellites, and the horizontal dilution of precision (HDOP). In addition, the first filter 101 includes time, longitude, latitude, system quality, number of satellites, satellite state, altitude information, measurement accuracy, satellite identification number, azimuth, signal to noise ratio, system failure, path, date, and direction of travel. In other words, the criteria for filtering can be set based on one or more of the velocity information.

 In addition, the user terminal 100 may perform the second filtering based on the distance or time information (S105). The user terminal 100 determines a moving distance with previous data based on data passing through the first filter 101. It has already been described that data can be extracted and deleted if it exceeds a certain distance.

 Next, the user terminal 100 may perform third filtering based on the distance interval or the number of GPS data, and the third filter 105 passes through the first filter 101 and the second filter 103. For the data, the location selection server 200 may perform filtering on the basis of a distance suitable for map matching to extract only data necessary for map matching (S107).

More specifically, the third filter 105 may be used for map matching by using the reference number of trajectory information, and recent trajectory information may be used without reference to a distance interval, and later data may be used as a reference to a wide distance interval. In addition already explained.

The positioning server 200 may select an appropriate candidate link for the coordinates of the filtered GPS trajectory, and the candidate link selecting unit 201 may refer to the reference distance from the filtered GPS trajectory information based on one or more criteria of distance or angle. And each link within the reference angle may be selected as a candidate link (S109).

Next, the positioning server 200 calculates the cost between the candidate link and the GPS trajectory by using the distance or angle value, so that the link list having the smallest cost accumulation value from the first GPS trajectory to the last GPS trajectory is created. (S111). At this time, since the cost calculation method between the candidate link and the GPS trajectory has already been described above, it is omitted.

When the cost value between the candidate link and the GPS trajectory is calculated, the positioning server 200 uses a cost for each link to generate a link list (path) having the smallest cost accumulation value from the first GPS trajectory to the last GPS trajectory. In this case, the route may be found by using the link information of the link of the map data (S113).

Finally, the location selection server 200 may select the link matched to the last GPS trajectory of the extracted driving link as the link located at the time when the customer requests service (S115).

As described above is only an embodiment of the present invention, the scope of the present invention is not limited thereto, and various modifications can be made only to those skilled in the art.

For example, in the above-described embodiment, the first filter, the second filter, and the third filter have been described as components of the user terminal, but it may be configured on the server side. In addition, the above-described first filtering, second filtering, and third filtering may be set in a different order or may be selectively implemented.

The scope of the present invention will include all technical elements recognized as the claims described below and equivalent elements thereof.

As described above, according to the present invention, the vehicle position of the customer can be accurately selected through the use or filtering of various information. Therefore, the contents of the service provided based on the customer location information may be accurate and the reliability of the service may be increased.

Claims (29)

In the location selection method for a user terminal connected through a communication network, a) performing first filtering based on a reference value of a first filtering data field of the received GPS data; Positioning method. The method of claim 1, The first filtering data field includes time, longitude, latitude, system quality, number of satellites, satellite state, altitude information, measurement accuracy, satellite identification number, azimuth, signal to noise ratio, system failure, path, date, direction of travel, speed Information, which contains one or more of the number of dimensions Positioning method. The method according to claim 1 or 2, b) performing a second filtering on the received GPS data based on a distance from the previous GPS data. Positioning method. The method of claim 3, Step b), Removes data whose distance from previous GPS data is greater than or equal to Positioning method. The method of claim 3, c) performing third filtering to extract GPS data trajectory information based on at least one of a reference distance interval or a reference number; Positioning method. The method of claim 5, In step c), The reference distance interval is a distance interval between GPS data, and the GPS data reception time gets narrower as the service request time gets closer. Positioning method. The method of claim 5, In step c), The reference number is the number of GPS data selected in the reference distance interval Positioning method. The method of claim 3, d) selecting a candidate link based on candidate link selection criteria based on the coordinates of the received GPS data trajectory; Positioning method. The method of claim 8, The candidate link selection criterion includes at least one of a distance criterion and an angle criterion. Positioning method. The method of claim 8, e) calculating a cost (COST) between the candidate link and the GPS data trajectory, and extracting a link path having a smallest cost accumulation value from the first GPS trajectory to the last GPS trajectory; Positioning method. The method of claim 10, The cost (COST) between the candidate link and the GPS data trajectory is calculated based on a distance factor and an angle factor. The distance factor is the distance between the link and the GPS trajectory divided by the reference distance, and the angle factor is the distance between the GPS trajectories and the distance between the points where the line between the link and the GPS trajectories meet. Divided by Positioning method. The method of claim 10, In step e), Calculating a cost between a candidate link and a GPS trajectory by multiplying the distance factor or angle factor by an importance value Positioning method. The method of claim 12, The cost calculation is given by

(a: importance factor between Fd and Fa, Fd: distance factor, Fa: angle factor d: distance between GPS trajectory and link, D: reference distance, L: distance between GPS trajectories l : the distance between the points where the waterline meets the link in each GPS trajectory) Derived from Positioning method. The method of claim 13, The reference distance (D) utilizes a distance criterion used as the candidate link selection criterion. Positioning method. The method of claim 10, In step e), The method further includes a step of weighting a trajectory within a predetermined distance from the first GPS trajectory and a cost value within a predetermined distance from the last GPS trajectory, thereby decreasing the cost of the recent GPS trajectory by a certain ratio, thereby increasing the probability of selecting the recent GPS trajectory. Positioning method. The method of claim 10, In step e), If there is no trace data for a certain period of time among the GPS traces, the link between the GPS trace just before the reception and the GPS trace received after the reception is not available and the route search process is performed based on the driving trajectory of the vehicle using the linkage information. Further comprising extracting a link path Positioning method. The method of claim 10, f) selecting the link matched to the last GPS trajectory among the extracted link paths as a link (initial link) located at the time of the service request by the customer; Positioning method. In the positioning system for the user terminal connected through a communication network, A user terminal which removes invalid values from the received GPS data and filters the GPS data according to a predetermined distance interval; And Selecting a candidate link based on at least one of a distance or an angle from the GPS data filtered by the user terminal, and extracting a link path having a minimum cost as a result of the cost calculation for each candidate link to select an initial link Positioning system comprising a positioning server. The method of claim 18, The user terminal, A first filter for filtering invalid GPS data based on a first filtering data field reference value, a second filter for filtering data whose distance from previous GPS data is greater than or equal to a reference distance with respect to received GPS data A third filter for filtering GPS data based on at least one of distance interval or reference number, The positioning server, A candidate link selecting unit selecting a link within a predetermined distance or a predetermined angle from the coordinates of the GPS data trajectory as a candidate link based on the coordinates of the GPS data trajectory filtered by the user terminal; Cost (COST) calculation unit for calculating the cost (COST) between the candidate link and the GPS data trajectory, A movement path extraction unit for extracting a link path having the smallest cost accumulation value from the first GPS trajectory to the last GPS trajectory, and It includes an initial link selection unit for selecting a link matched to the last GPS trajectory of the extracted link path as the link (initial link) located at the point of service request by the customer. Positioning system. A user terminal that transmits coordinate information through a communication network and requests to provide a service based on user location information. A first filter filtering out invalid data based on a first filtering data field reference value, a second filter filtering out data whose distance from previous GPS data is greater than or equal to a reference distance with respect to the received GPS data; or At least one of a third filter for filtering GPS data based on at least one of a reference distance interval or a reference number User terminal. The method of claim 20, The first filtering data field includes time, longitude, latitude, system quality, number of satellites, satellite state, altitude information, measurement accuracy, satellite identification number, azimuth, signal to noise ratio, system failure, path, date, direction of travel, speed Information, which contains one or more of the number of dimensions User terminal. The method of claim 20, The reference number is the number of GPS data selected in the reference distance interval User terminal. In the location selection server for receiving the GPS data from the user terminal connected via a communication network to select the location of the user terminal, A candidate link selecting unit that selects a link within a predetermined distance or a predetermined angle from the coordinates of the GPS data trajectory as a candidate link based on the coordinates of the GPS data trajectory transmitted from the user terminal; A cost (COST) calculator configured to calculate a cost (COST) between the candidate link and the GPS data trajectory; A movement path extraction unit for extracting a link path having the smallest cost accumulation value from the first GPS trajectory to the last GPS trajectory; And It includes an initial link selection unit for selecting a link matched to the last GPS trajectory of the extracted link path as the link (initial link) located at the point of service request by the customer. Positioning server. The method of claim 23, wherein The cost calculator calculates a cost between the candidate link and the GPS data trajectory based on a distance factor and an angle factor. The distance factor is the distance between the link and the GPS trajectory divided by the reference distance, and the angle factor is the distance between the GPS trajectories and the distance between the points where the line between the link and the GPS trajectories meet. Divided by Positioning server. The method of claim 24, The cost calculation unit Computing the cost between the candidate link and the GPS trajectory by multiplying the distance factor or angle factor by the importance value Positioning server. The method according to any one of claims 23 to 25, The cost calculation is given by

(a: importance factor between Fd and Fa, Fd: distance factor, Fa: angle factor d: distance between GPS trajectory and link, D: reference distance, L: distance between GPS trajectories l : the distance between the points where the waterline meets the link in each GPS trajectory) Derived from Positioning server. The method of claim 26, The reference distance (D) utilizes a distance criterion used as the candidate link selection criterion. Positioning server. The method according to any one of claims 23 to 25, The moving path extraction unit By weighting the trajectory within a certain distance from the first GPS trajectory and the cost value within a certain distance from the last GPS trajectory, the cost of the recent GPS trajectory is reduced by a certain ratio, thereby increasing the probability of selecting the recent GPS trajectory, If there is no trace data for a certain period of time among the GPS traces, the link between the GPS trace just before the reception and the GPS trace received after the reception is not available and the route search process is performed based on the driving trajectory of the vehicle using the linkage information. Extract link path Positioning server. The method according to any one of claims 23 to 25, The moving path extraction unit If there is no trace data for a certain period of time among the GPS traces, the link between the GPS trace just before the reception and the GPS trace received after the reception is not available and the route search process is performed based on the driving trajectory of the vehicle using the linkage information. Extract link path Positioning server.

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