KR20120020882A - Dead reckoning based navigation and method using exterior geomagnetic sensor - Google Patents

Dead reckoning based navigation and method using exterior geomagnetic sensor Download PDF

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Publication number
KR20120020882A
KR20120020882A KR1020100084794A KR20100084794A KR20120020882A KR 20120020882 A KR20120020882 A KR 20120020882A KR 1020100084794 A KR1020100084794 A KR 1020100084794A KR 20100084794 A KR20100084794 A KR 20100084794A KR 20120020882 A KR20120020882 A KR 20120020882A
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South Korea
Prior art keywords
information
dead reckoning
geomagnetic field
external
geomagnetic
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KR1020100084794A
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Korean (ko)
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이준호
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현대모비스 주식회사
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Priority to KR1020100084794A priority Critical patent/KR20120020882A/en
Publication of KR20120020882A publication Critical patent/KR20120020882A/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
    • G01C17/02—Magnetic compasses
    • G01C17/28—Electromagnetic compasses
    • G01C17/30—Earth-inductor compasses
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Environmental & Geological Engineering (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Electromagnetism (AREA)
  • Automation & Control Theory (AREA)
  • Navigation (AREA)

Abstract

The present invention relates to a dead reckoning based navigation using an external geomagnetic field sensor and a method thereof. The dead reckoning based navigation using an external geomagnetic field sensor according to an aspect of the present invention is based on a GPS of a vehicle based on a transmission signal from a navigation satellite. GPS location unit for generating location information, dead reckoning data collection unit for collecting vehicle speed and orientation information from speed and gyro sensors installed in the vehicle body, and geomagnetic field for collecting geomagnetic field information from geomagnetic field sensors installed in external devices A data collection unit, a dead reckoning position determination unit for generating dead reckoning position information of the vehicle using speed information, azimuth information, and geomagnetic field information, and optimum position information of the vehicle based on GPS position information and dead reckoning position information It includes an optimum position generating unit for generating.
According to another aspect of the present invention, there is provided a method of generating dead reckoning information using an external geomagnetic field sensor, including generating GPS position information of a vehicle based on a transmission signal from a navigation satellite, and using a speed and gyro sensor installed in the vehicle body. Collecting speed and azimuth information, collecting geomagnetic field information from a geomagnetic sensor installed in an external device, and generating dead reckoning position information of the vehicle using speed information, azimuth information, and geomagnetic field information And generating optimum position information of the vehicle based on the GPS position information and the dead reckoning position information.

Description

Dead reckoning based navigation using external geomagnetic sensor and its method {DEAD RECKONING BASED NAVIGATION AND METHOD USING EXTERIOR GEOMAGNETIC SENSOR}

The present invention relates to a dead reckoning based navigation and a method using an external geomagnetic field sensor, and more particularly, to a navigation and a method for providing more accurate navigation information by supplementing data collected from an external geomagnetic field sensor. will be.

The navigation according to the prior art indicates the position of the vehicle on the map using navigation data obtained from each of the GPS and dead reckoning systems, or navigation data obtained by integrating the two systems.

The navigation according to the related art cannot provide accurate navigation information only by data received from a navigation satellite in a GPS shadow area such as a place where a satellite signal is weak (for example, an underground parking lot or a tunnel). We tried to provide accurate navigation information using dead reckoning system using speed sensor and gyro sensor.

However, inferential navigation using an inertial sensor extracts three-axis acceleration values and estimates three integrations for each acceleration value in order to estimate the heading of the sensor itself (particularly, the heading of the vehicle using a gyro sensor). The error occurred in this process was cumulative over time), and thus, accurate navigation information could not be provided.

In order to solve this problem, a dead reckoning using a geomagnetic field sensor has been developed in the related art, but there is a problem in that accurate data regarding the driving direction of the vehicle cannot be provided due to the interference of the electromagnetic field generated inside the vehicle multimedia system.

An object of the present invention is to provide a navigation and a method for providing dead reckoning using data collected from an external geomagnetic field sensor in order to solve the above problems.

The object of the present invention is not limited to the above-mentioned object, and other objects that are not mentioned will be clearly understood by those skilled in the art from the following description.

In accordance with an aspect of the present invention, a dead reckoning based navigation using an external geomagnetic field sensor includes: a GPS positioning unit for generating GPS position information of a vehicle based on a transmission signal from a navigation satellite; A dead reckoning data collection unit for collecting vehicle speed and orientation information from a speed and gyro sensor, a geomagnetic field data collection unit for collecting geomagnetic field information from a geomagnetic field sensor installed in an external device, speed information and azimuth information, and geomagnetic A dead position navigation unit for generating dead reckoning position information of the vehicle using the system information, and an optimum position generation unit for generating optimum position information of the vehicle based on the GPS position information and dead reckoning position information.

According to another aspect of the present invention, there is provided a method for generating dead reckoning information using an external geomagnetic field sensor, including generating GPS position information of a vehicle based on a transmission signal from a navigation satellite, and using a speed and gyro sensor installed in a vehicle body to determine a vehicle's location. Collecting speed and azimuth information, collecting geomagnetic field information from a geomagnetic sensor installed in an external device, and generating dead reckoning position information of the vehicle using speed information, azimuth information, and geomagnetic field information And generating optimum position information of the vehicle based on the GPS position information and the dead reckoning position information.

Since the external geomagnetic sensor is connected by the navigation and the user interface according to the present invention, it is possible to minimize the interference caused by the electromagnetic field generated in the multimedia system inside the vehicle, thereby allowing the external geomagnetic sensor to collect accurate data.

Therefore, the navigation according to the present invention provides the dead reckoning using accurate data collected by the external geomagnetic field sensor, thereby providing the user with more accurate navigation information even within the GPS shadow area.

1 is a block diagram showing the configuration of dead reckoning based navigation using an external geomagnetic sensor according to an embodiment of the present invention.
2 is a flowchart illustrating a method of providing navigation information by using data collected from an external geomagnetic sensor according to another exemplary embodiment of the present invention.

Advantages and features of the present invention and methods for achieving them will be apparent with reference to the embodiments described below in detail with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in various forms, and only the present embodiments are intended to complete the disclosure of the present invention, and the general knowledge in the art to which the present invention pertains. It is provided to fully convey the scope of the invention to those skilled in the art, and the present invention is defined only by the scope of the claims. It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. First of all, in adding reference numerals to the components of each drawing, it should be noted that the same reference numerals are used to refer to the same components even though they are shown in different drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

A navigation system based on dead reckoning using an external geomagnetic sensor according to an embodiment of the present invention will be described with reference to FIG. 1. 1 is a block diagram showing the configuration of dead reckoning based navigation using an external geomagnetic sensor according to an embodiment of the present invention.

Referring to FIG. 1, a navigation system based on dead reckoning using an external geomagnetic field sensor according to an embodiment of the present invention may include a GPS positioning unit 110, a dead reckoning data collection unit 120, and a geomagnetic field data collecting unit 130. ), The dead reckoning position determining unit 140, and the optimum position generating unit 150.

The GPS positioning unit 110 generates GPS position information of the vehicle based on the transmission signal from the navigation satellite. In detail, the GPS positioning unit 110 corresponds to GPS position information of the vehicle, that is, position coordinate values (x, y, z) and respective position coordinate values based on signals received from 24 navigation satellites through a GPS antenna. Decide when to do it.

The GPS positioning unit 110 provides the GPS position information generated by being connected to the optimum position generating unit 150 by wire to the optimum position generating unit 151.

The dead reckoning data collection unit 120 collects the speed and orientation information of the vehicle from the speed and gyro sensor installed in the vehicle body. Here, the speed sensor is implemented using a hall element sensor or the like.

The geomagnetic field data collecting unit 130 collects geomagnetic field information from a geomagnetic field sensor installed in an external device. For example, external devices include smart phones on the market or all types of devices on which geomagnetic sensors can be installed.

Here, the geomagnetic field data collection unit 130 may be connected to an external device using a wired / wireless user interface including USB communication and Bluetooth communication to receive geomagnetic field information collected by the external device.

The dead reckoning position determiner 140 generates the dead reckoning position information of the vehicle by using the speed, azimuth, and the earth magnetic field information collected by the dead reckoning data collector 120 and the geomagnetic field data collector 130.

For example, the dead reckoning position determiner 140 connects the speed integrator to the speed sensor installed in the vehicle body to calculate the driving distance of the vehicle, the calculated driving distance information, the orientation information collected from the gyro sensor, and the driving direction. The dead reckoning position of the vehicle is generated based on the information.

The optimum position generating unit 150 generates the optimum position information of the vehicle based on the dead reckoning position information from the dead reckoning position determination unit 140 and the GPS position information from the GPS positioning unit 110.

The optimal position generator 150 may be implemented using a conventionally known Kalman filter (KF), an Extended Kalman Filter (EKF), a SPKF (Sigma Point Kalman Filter), and the like. Since the location information generation method is widely known in the art, a detailed description thereof will be omitted.

On the other hand, the dead reckoning based navigation using an external geomagnetic field sensor according to an embodiment of the present invention may further include a determination unit 160.

The determination unit 160 determines whether to use the geomagnetic field information. For example, the determination unit 160 measures the intensity of the external electromagnetic field, and compares the measured external field strength value with a preset reference value, and when the measured external field strength value exceeds the reference value, the geomagnetic data The collection unit 130 may control to block the collection of geomagnetic field information from an external device.

In addition, the determination unit 130 temporarily stores the geomagnetic field information collected by the geomagnetic field data collection unit 130, and if the measured external electromagnetic field strength value exceeds the reference value, determine the position of the geomagnetic field information in the dead reckoning position Control may not be transmitted to the unit 140.

As such, the determination unit 130 measures the external electromagnetic field strength and controls not transmitting the geomagnetic field information to the dead reckoning position determination unit 140 when the measured external field strength value exceeds a preset reference value. do.

For this reason, the dead reckoning position determiner 140 may generate accurate navigation information by excluding the geomagnetic field information having an incorrect value due to an external strong electromagnetic field in generating dead reckoning position information of the vehicle. .

A method of generating dead reckoning information using an external geomagnetic field sensor according to another exemplary embodiment of the present invention will be described with reference to FIG. 2. 2 is a flowchart illustrating a method of providing navigation information by using data collected from an external geomagnetic sensor according to another exemplary embodiment of the present invention.

First, the navigation according to the present invention collects GPS, speed, azimuth and geomagnetic field information (S210). Here, the GPS information is collected from the transmission signal transmitted from the navigation satellite, the speed and orientation information is collected from the speed and gyro sensor installed in the vehicle body, the geomagnetic field information is collected from the geomagnetic field sensor installed in the external device. For example, external devices include smart phones on the market or all types of devices on which geomagnetic sensors can be installed.

Here, the geomagnetic field information may be transmitted from an external device through a wired / wireless user interface including USB communication and Bluetooth communication. According to the present invention, the geomagnetic field sensor which collects geomagnetic field information is not installed in the vehicle body but is installed in an external device to obtain the geomagnetic field information from the external device.

As such, since the external geomagnetic sensor is connected by the navigation and the user interface according to the present invention, it is possible to minimize the interference caused by the electromagnetic field generated in the multimedia system inside the vehicle. It is a feature of the present invention that it is possible.

Then, the navigation generates the GPS location information of the vehicle using the collected GPS information (S220). For example, navigation determines GPS position information of a vehicle, that is, position coordinate values (x, y, z) and time corresponding to each position coordinate value, based on signals received from 24 navigation satellites through a GPS antenna. .

On the other hand, even if the geomagnetic field information is obtained from the external device, the accuracy cannot be completely guaranteed. Since the external device is also located inside the vehicle and connected through the navigation and the user interface, it cannot be free from the electromagnetic fields generated by the multimedia device installed in the vehicle.

In order to generate accurate navigation information regardless of the electromagnetic field generated inside the vehicle, the navigation according to the present invention determines whether to use the geomagnetic field information collected from the external device (S230).

For example, the navigation measures the strength of the external electromagnetic field and compares the measured external field strength value with a preset reference value. When the measured external field strength value exceeds the reference value, the navigation information is obtained from the external device. You can take control to prevent collection.

In addition, the navigation may temporarily not store the collected geomagnetic field information and discard the temporarily stored geomagnetic field information when the measured external field strength value exceeds the reference value, thereby not using the generated dead reckoning position information. .

As such, when the measured external field strength value exceeds the reference value, since the geomagnetic field information is blocked or discarded, the navigation generates the dead reckoning position information using only the collected speed and orientation information (S241).

On the other hand, when the measured external field strength value does not exceed the reference value, the navigation generates the dead reckoning position information using the geomagnetic field information in addition to the collected speed and orientation information (S242).

Next, the navigation generates the optimum position information of the vehicle based on the dead reckoning position information and the GPS position information (S250).

Those skilled in the art will appreciate that the present invention can be embodied in other specific forms without changing the technical spirit or essential features of the present invention. Therefore, it should be understood that the embodiments described above are exemplary in all respects and not restrictive. The protection scope of the present invention is shown by the following claims rather than the above description, and all changes or modifications derived from the claims and their equivalents should be construed as being included in the scope of the present invention.

Claims (7)

A GPS positioning unit for generating GPS position information of the vehicle based on a transmission signal from the navigation satellite;
A dead reckoning data collection unit for collecting speed and azimuth information of the vehicle from a speed and gyro sensor installed in the vehicle body;
Geomagnetic field data collection unit for collecting geomagnetic field information from the geomagnetic field sensor installed in the external device;
A dead reckoning position determination unit for generating dead reckoning position information of a vehicle using the speed information, the azimuth information, and the geomagnetic field information; And
Optimal location generator for generating optimal location information of the vehicle based on the GPS location information and the dead reckoning location information
Inference navigation based navigation using an external geomagnetic sensor, including. The method of claim 1, wherein the geomagnetic field data collection unit,
Being connected to the external device using a wired or wireless user interface including USB communication and Bluetooth communication.
Inference navigation based navigation using an external geomagnetic sensor. The method of claim 1,
Determination unit for determining whether to use the geomagnetic field information
Inference navigation based navigation using an external geomagnetic sensor further comprising. The method of claim 3, wherein the determination unit,
Measuring the intensity of the external electromagnetic field, and if the measured value exceeds a predetermined reference value control to block the collection of geomagnetic field information of the geomagnetic field data collection unit
Inference navigation based navigation using an external geomagnetic sensor. Generating GPS position information of the vehicle based on a transmission signal from the navigation satellite;
Collecting speed and orientation information of the vehicle from a speed and gyro sensor installed in the vehicle body;
Collecting geomagnetic field information from geomagnetic field sensors installed in the external device;
Generating dead reckoning location information of a vehicle using the speed information, the bearing information, and the geomagnetic field information; And
Generating optimal position information of the vehicle based on the GPS position information and the dead reckoning position information;
Method for generating dead reckoning information using an external geomagnetic sensor comprising a. The method of claim 5,
Determining whether to use the geomagnetic field information
Method of generating dead reckoning information using an external geomagnetic sensor further comprising. The method of claim 6, wherein the determining step,
Measuring the intensity of the external electromagnetic field;
Comparing the measured value with a preset reference value; And
If the measured value exceeds the reference value, controlling to block the collection of the geomagnetic field information.
A method for generating dead reckoning information using an external geomagnetic sensor.

KR1020100084794A 2010-08-31 2010-08-31 Dead reckoning based navigation and method using exterior geomagnetic sensor KR20120020882A (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20140078158A (en) 2012-12-17 2014-06-25 주식회사 만도 Deadreckoning-based navigation system using camera and control method thereof
KR20160083813A (en) * 2015-01-02 2016-07-12 삼성전자주식회사 Potable device including global navigational satellite system receiver and method of adaptive synthetic positioning thereof
KR20160089181A (en) * 2015-01-19 2016-07-27 한양대학교 산학협력단 Method and Device for Estimating position of Vehicle
KR20190001106A (en) 2017-06-26 2019-01-04 소치재 Dead Reckoning Based Navigation System

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20140078158A (en) 2012-12-17 2014-06-25 주식회사 만도 Deadreckoning-based navigation system using camera and control method thereof
KR20160083813A (en) * 2015-01-02 2016-07-12 삼성전자주식회사 Potable device including global navigational satellite system receiver and method of adaptive synthetic positioning thereof
KR20160089181A (en) * 2015-01-19 2016-07-27 한양대학교 산학협력단 Method and Device for Estimating position of Vehicle
KR20190001106A (en) 2017-06-26 2019-01-04 소치재 Dead Reckoning Based Navigation System

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