KR20170040028A - Method of guiding path, navigation terminal, and navigation system including the same - Google Patents
Method of guiding path, navigation terminal, and navigation system including the same Download PDFInfo
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- KR20170040028A KR20170040028A KR1020150139373A KR20150139373A KR20170040028A KR 20170040028 A KR20170040028 A KR 20170040028A KR 1020150139373 A KR1020150139373 A KR 1020150139373A KR 20150139373 A KR20150139373 A KR 20150139373A KR 20170040028 A KR20170040028 A KR 20170040028A
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- 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
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- 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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
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- 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
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
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- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
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- General Physics & Mathematics (AREA)
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Abstract
The present invention relates to a route guidance method, a navigation terminal, and a navigation system including the same, which provide a service based on more accurate positioning information. According to another aspect of the present invention, there is provided a route guidance method of a walking navigation service, the method comprising: performing a route guidance based on a first current location determined based on GPS-weighted GPS information; , Resetting the GPS weight based on the surrounding situation information, and performing the route guidance based on the second current position determined based on the reset GPS weighted GPS information.
Description
The present invention relates to a route guiding method, a navigation terminal, and a navigation system including the same. More particularly, the present invention relates to a route guiding method, a navigation terminal, and a navigation system including the same, will be.
Generally, a navigation system is a system that provides information for driving a vehicle such as a vehicle, and is also referred to as an automatic navigation system.
The navigation system notifies the user of the current location of the vehicle based on the location information, calculates the route to the desired destination, guides the user according to the route, It is possible to provide various kinds of information.
Due to the accelerated diffusion of mobile terminals and the development of related technologies, the functions of mobile terminals have diversified and become more and more personal communication devices. Recently, the launch of smart phones accelerated the trend, and schedule management and contact management became basic functions.
Furthermore, the development of smartphone technology has led to the rapid development of the navigation industry, which is blended with smartphones. As the amount of information that can be processed in a short time increases due to the recent development of communication technology, a 'walking navigation' service combining walking and public transportation information in addition to existing vehicle navigation is gradually becoming popular.
Unlike the vehicle navigation service for a vehicle that travels only through the roadway, such a walking navigation service requires service based on the position of a person who can freely move, and thus a higher positioning accuracy is required.
The present invention provides a route guidance method, a navigation terminal, and a navigation system including the same, which can provide a high quality navigation service based on high positioning accuracy.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are not restrictive of the invention, unless further departing from the spirit and scope of the invention as defined by the appended claims. It will be possible.
According to an aspect of the present invention, there is provided a route guidance method of a walking navigation service according to an embodiment of the present invention includes performing route guidance on the basis of a first current position determined based on GPS- Resetting the GPS weights based on the surrounding situation information when the condition for resetting the GPS weights is satisfied, and performing route guidance based on the second current position determined based on the reset GPS weighted GPS information .
According to an embodiment, the step of resetting the GPS weighting step may include: determining an urban level based on the surrounding situation information within a proximity range around the first current location; And resetting the GPS weights according to the urban level.
According to an embodiment, the step of determining the urban level may include the step of determining the urban level according to the width or the length of the roadway within the proximity range.
According to an embodiment, the step of determining the city center level may include determining the city center level according to the width or length of the roadway within the proximity range, and the near building height.
According to an embodiment, the proximity building height may be an average value of the height of each of the buildings contained within the proximity range.
According to an embodiment, resetting the GPS weights may include decreasing the GPS weights as the urban level is higher.
According to an exemplary embodiment, the step of resetting the GPS weights may include applying a reduced GPS weight to the Wi-Fi Positioning System (WPS) location information as the city level is higher; And giving the reduced GPS weight to the pedestrian dead reckoning (PDR) location information as the center level is lower.
According to an embodiment, the surrounding situation information may include the width or length of the roadway and the proximity building height.
According to the embodiment, the reset condition may be a condition that the distance between the average position coordinates of the WPS position information, the CID (Cell ID) position information, and the PDR position information and the position coordinates according to the GPS information becomes a certain distance or more.
A navigation terminal according to an embodiment of the present invention includes a controller for performing route guidance based on a first current position determined based on GPS information given GPS weighting, and a controller for, when satisfying the resetting condition of the GPS weight, And a positioning engine for resetting GPS weights based on the GPS information, wherein the controller can perform route guidance based on the second current position determined based on the GPS information given with the reset GPS weight.
According to another aspect of the present invention, there is provided a navigation terminal including: a center level determination unit for determining a center level based on surrounding information in a proximity range around a first current position; A weight determining unit for resetting GPS weights according to the urban level; And a controller for performing a route guidance based on the second current position determined based on the reset GPS weighted GPS information.
According to the route guidance method, the navigation terminal, and the navigation system including the GPS navigator, which are configured as described above, it is possible to recognize a situation in which the reliability of the positioning result by the GPS information is lowered, It is possible to provide a walking navigation service by determining the position of the user more accurately by relatively lowering the weight of the positioning result by the remaining positioning means.
The effects obtained by the present invention are not limited to the above-mentioned effects, and other effects not mentioned can be clearly understood by those skilled in the art from the following description will be.
1 is a block diagram illustrating a navigation system according to an embodiment of the present invention.
FIG. 2 is a block diagram showing the navigation terminal shown in FIG. 1 in more detail.
3 is a block diagram showing the positioning engine shown in Fig. 2 in more detail.
4 is a flowchart illustrating a route guidance method according to an embodiment of the present invention.
FIG. 5 is a diagram for explaining a method for determining an urban level.
6 and 7 are tables showing application examples of GPS weights according to the city center level.
Hereinafter, at least one embodiment related to the present invention will be described in detail with reference to the drawings. The suffix "module" and " part "for the components used in the following description are given or mixed in consideration of ease of specification, and do not have their own meaning or role.
1 is a block diagram illustrating a navigation system according to an embodiment of the present invention.
Referring to FIG. 1, the
The walking navigation service monitors the position of the
Unlike the existing car navigation system, the walking navigation service is provided to provide detailed road maps for pedestrians by constructing precise maps containing detailed road network information such as narrow alleys, viaducts, stairs, and underground sidewalks. For example, the walking navigation service can guide recommendation menus such as Hongdae, Gangnam, and other famous restaurants, and provide detailed maps.
The walking navigation service currently provided can be broadly divided as follows.
First, it is a navigation service that needs to keep watching the screen like car navigation. Next, there is a map and map service that guides you through the path with simple text.
Both of these services provide route guidance using foot traffic and public transportation.
The
There are three methods for acquiring location information from a location based service (LBS).
The first method of acquiring position information is the GPS (Global Positioning System) positioning method.
GPS is a satellite navigation system that receives signals from GPS satellites and calculates the user's current position. It is mainly used for navigation devices such as airplanes, ships, and automobiles, and has recently been used in terminals such as smart phones and tablet PCs.
The distance from the
Although the GPS positioning method has great advantages in terms of processing speed and accuracy, it can not be used when the GPS satellite signal is not received or the signal attenuation is large depending on the terrain.
The second method of acquiring location information is the Wi-Fi Positioning System (WPS) positioning method, which is a wireless LAN-based positioning method.
WPS (Wi-Fi Positioning System) is a method of determining the location of a terminal using a wireless LAN Access Point (AP) installed in various places. That is, the WPS receives the parameter (MAC address, signal strength, etc.) of the RF (Radio Frequency) signal radiated from the AP at the
A third method of acquiring location information is a CID (Cell ID) positioning method using a mobile communication environment.
The CID positioning method is to grasp the location of the user through the service cell ID of the base station to which the mobile user belongs. The CID positioning method is the simplest network-based location positioning technique that does not require a separate terminal and network change. However, in the CID positioning method, the accuracy of the position information varies greatly depending on the size of the cell radius.
E-CID (Enhanced Cell ID) positioning method improving the CID positioning method is also used. The E-CID positioning method improves the accuracy by adding the distance information between the base station and the
The position of the
The fourth method of acquiring location information is Pedestrian Dead Reckoning (PDR) positioning method based on walking navigation.
The PDR positioning method is a technique of calculating the relative position from the starting point by grasping the speed, direction, distance, stride, etc. of a person using various sensors (gyro sensor, etc.).
The PDR positioning method has an advantage that it can be used without the pre-established infrastructure. However, in the case of the PDR, the error is small in the initial stage, but the error is accumulated when the use time is long.
In addition, there are radio frequency identification (RFID) positioning methods using proximity information and positioning methods using beacons of BLE (Bluetooth Low Energy) using a method using RFID tags. In the present specification, however, As an example.
Thus, the
The
The
The
In the present invention, the
FIG. 2 is a block diagram showing the navigation terminal shown in FIG. 1 in more detail. 3 is a block diagram showing the positioning engine shown in Fig. 2 in more detail.
2 and 3, the
The
The
The
In addition, the
The
The
The
The
3, the
The
Each of the
The
Specifically, the
For example, assuming that weights of 0.5, 0.3, 0.1, and 0.1 are given to each of the GPS position information, the WPS position information, the CID position information, and the PDR position information, GPS position information, WPS position information, CID position information, PDR position information Each positional coordinate is given a weight of 0.5, 0.3, 0.1, 0.1 so that the final positional coordinate can be calculated and this coordinate can be included in the final positioning information. Specifically, weights are assigned to the X coordinate and the Y coordinate, respectively, which are position coordinates of the GPS position information, the WPS position information, the CID position information, and the PDR position information, so that the weighted average coordinates become the final position coordinates . ≪ / RTI >
The position coordinates may be a value corresponding to a probability value, that is, a position at which the
The sum of the weights may be one.
The
In addition, if the calculated final position coordinates are determined to be inappropriate in view of the characteristics of the walking navigation service (for example, when the position coordinates are located on the difference road), the
The
At this time, if the predetermined condition is satisfied, the
The center level determination unit 230 is operated under the control of the
The weight determining unit 240 may reset the GPS weight based on the center level. In addition, the weight determining unit 240 may reset the weights adjusted in accordance with the reset GPS weights in the WPS position information, the CID position information, and the PDR position information.
For example, when the existing GPS weight is 100% and the reset GPS weight is 50%, the weight determining unit 240 stores the reduced GPS weight as the weight of each of the WPS position information, the CID position information, and the PDR position information .
According to one embodiment, the weight determining unit 240 may equally distribute the reduced GPS weights to the weights of the WPS position information, the CID position information, and the PDR position information, respectively.
According to another embodiment, the weight determining unit 240 may set different ratios for distributing the reduced GPS weight to the weights of the WPS position information, the CID position information, and the PDR position information, respectively.
In addition, the distribution ratio may be set differently according to the city center level. For example, the higher the city center level, the higher the proportion allocated to the WPS location information, or the lower the urban level, the higher the proportion allocated to the PDR location information. This is because the higher the city center level, the higher the probability and accuracy of acquiring WPS location information.
The weight determining unit 240 may transmit the reset GPS weight value to the
The
The
4 is a flowchart illustrating a route guidance method according to an embodiment of the present invention. FIG. 5 is a diagram for explaining a method for determining an urban level. 6 and 7 are tables showing application examples of GPS weights according to the city center level.
Referring to FIG. 1 to FIG. 7, in FIG. 5, a user executes a user menu for setting a destination on a navigation program of the
When the user requests the route guidance service for the set destination, the
During provision of the route guidance, the
If the GPS weight does not need to be reset (No path of S30), step S20 can be continuously executed.
When the GPS weight is required to be reset (Yes route of S30), the center level determination unit 230 receives the current position information of the
In Fig. 5, the current position according to the current position information is displayed, and a map within a certain range is shown. The map includes blocks that are divided into a roadway shape and a roadway, and buildings (
The city-center level determination unit 230 can set a proximity range that is a range of a predetermined radius around the current position. The radius of the close range may be set arbitrarily. The radius may be set relatively small to reduce the amount of computation according to the embodiment, or may be set relatively large to increase the reliability of the center level.
According to one embodiment, the city-center level determination unit 230 determines the lane width or the roadway length of the most overlapping roadway in the proximity range (where the roadway is the roadway from one intersection to the adjacent intersection except for the intersection area) The center level of the close range can be determined on the basis of (S40).
In FIG. 6, a table managed by the center level determination unit 230 and the weight determination unit 240 is shown, and the center level can be determined according to the width or the length of the proximity difference.
The center level has 1 to 5 levels, but it may be set to more or less levels, and the width or length of the approach roads mapped to each level may be set differently.
The reason why the urban level is determined by the width or the length of the proximity roadway is that if the width or length of the proximity roadway is large, it is likely to correspond to a busy area or an urban area, and high buildings are likely to be concentrated.
When high-level buildings are concentrated in the vicinity, various propagation paths (direct path, multiple reflection paths, and the like) are generated due to topographical factors when a signal from a GPS satellite serving as a basis of GPS information is transmitted, multipath errors will occur. The positioning accuracy of the GPS information can be reduced due to the multipath error.
Therefore, in the present invention, it is possible to set the weight of the GPS information whose positioning accuracy is decreased according to the determination of the city center level, and to set the weight of the GPS information which decreases according to the level of the city center level.
As shown in FIG. 6, when the width or the length (the largest or the smallest of the width and the length) of the proximity difference is 10 m or less, 10 to 20 m, 20 to 35 m, 35 to 50 m, 50 m or more, 2 levels, 3 levels, 4 levels, and 5 levels. In other words, the more likely it is from the first level to the fifth level, the more likely it is to be in the city center.
The weight determining unit 240 adjusts the GPS weight according to the determined center level, and the reduced GPS weight can be allocated to the remaining information (WPS position information, CID position information, and PDR position information) (S50).
The GPS weights can be reset to the current weight, 10% decrease, 20% decrease, 30% decrease, 40% decrease when the city center level is 1 level, 2 level, 3 level, 4 level and 5 level, respectively. At this time, the degree of the GPS weight to be reset can be set to any value.
For example, when the width of the proximity difference is 60 meters, the center level determination unit 230 determines the center level to be 5 levels, and the weight determination unit 240 reduces the GPS weight by 40%.
According to another embodiment, the downtown level determination unit 230 determines the lane width or roadway length of the roads that overlap most in the proximity range (where the roadway is the roadway from one intersection to the adjacent intersection excluding the intersection area) Together with the height of the nearby buildings, it is possible to determine the near-urban level (S40).
The proximity buildings mean buildings including all or a part of the proximity range. In the present specification, it is assumed that the nearby buildings are all buildings in the close range. That is, in FIG. 5, the nearby buildings correspond to
In addition, the height of the nearby buildings may be an average value of the height of at least one building.
In FIG. 7, tables managed by the city-center level determination unit 230 and the weight determination unit 240 are shown, and the city-level can be determined according to the width or length of the proximity difference map and the height of the nearby building.
The center level has 1 to 5 levels, but may be set to more or less levels, the width or length of the proximity roads mapped to each level, and the proximity building height may be set differently.
In addition to the width or length of the proximity driveway, the level of the center of the city is determined by the proximity of the building because the closer the tall building is, the more terrain that leads to the reduction of the positioning accuracy of various propagation paths and GPS information. The height of the nearby building can be a factor that can more accurately determine the determination of the urban level.
According to the present invention, it is possible to set the weight of the GPS information whose positioning accuracy is decreased according to the determination of the city center level, and to set the weight of the GPS information to be decreased according to the level of the city center level.
As shown in FIG. 7, the width or length of the proximity difference is 10 m or less, 10 to 20 m, 20 to 35 m, 35 to 50 m, 50 m or more, 14th floor, 14th to 19th floor, and 20th floor or more, the inner-city level is judged as 1 level, 2 level, 3 level, 4 level and 5 level respectively. In other words, the more likely it is from the first level to the fifth level, the more likely it is to be in the city center.
The weight determining unit 240 adjusts the GPS weight according to the determined center level, and the reduced GPS weight can be allocated to the remaining information (WPS position information, CID position information, and PDR position information) (S50).
For example, when the width of the proximity difference is 60 m and the height of the nearby building is 30, the downtown level determination unit 230 determines the downtown level to be 5, and the weight determination unit 240 determines the GPS weight by 40% .
If the corresponding level of the condition of the proximity building height is different from the condition of the width or length of the proximity difference road such as the case where the width of the proximity difference road is 60 m and the height of the nearby building is 10, A low level, or an average level may be selected as the urban level.
The surrounding situation information includes information on the width or length of the proximity road and the height of the near building, and they may be provided from the road database or the building database of the
The
Therefore, according to the route guidance method, the
The route guidance method described above can be implemented as a computer-readable code on a computer-readable recording medium. The computer-readable recording medium includes all kinds of recording media storing data that can be decoded by a computer system. For example, it may be a ROM (Read Only Memory), a RAM (Random Access Memory), a magnetic tape, a magnetic disk, a flash memory, an optical data storage device, or the like. In addition, the computer-readable recording medium may be distributed and executed in a computer system connected to a computer network, and may be stored and executed as a code readable in a distributed manner.
It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention as defined in the appended claims. It will be understood that various modifications and changes may be made.
Claims (29)
Resetting the GPS weight based on the surrounding situation information when the condition for resetting the GPS weight is satisfied; And
And performing route guidance based on a second current position determined based on the reset GPS weighted GPS information.
Wherein the step of resetting the GPS weights comprises:
Determining an urban level based on the surrounding information within a proximity range around the first current location; And
And resetting the GPS weight according to the level of the city center.
The method of claim 1,
Determining the level of the city center according to the width or length of the roadway within the proximity range or the height of the nearby building.
The method of claim 1,
Determining the level of the city center according to the width or length of the roadway within the proximity range and the height of the nearby building.
Wherein the proximity building height is an average value of the height of each of the buildings included in the proximity range.
Wherein the step of resetting the GPS weights comprises:
And decreasing the GPS weight as the center level is higher.
Wherein the step of resetting the GPS weights comprises:
Providing Wi-Fi Positioning System (WPS) location information with the lowest GPS weight value as the city level is higher; And
Further comprising the step of granting a reduced GPS weight to the Pedestrian Dead Reckoning (PDR) location information as the center level is lower.
Wherein the step of resetting the GPS weights comprises:
And distributing the reduced GPS weights to the weights of the WPS position information, the CID (Cell ID) position information, and the PDR position information,
And determining the second current position based on the weighted GPS information, the WPS position information, the CID position information, and the PDR position information.
Wherein the surrounding situation information includes at least one of a width or a length of a roadway, and a height of a nearby building.
The reset condition is
Wherein the distance between the average position coordinates of the WPS position information, the CID (Cell ID) position information, and the PDR position information and the position coordinates according to the GPS information is a certain distance or more.
And a positioning engine for resetting the GPS weight based on the surrounding situation information when the condition for resetting the GPS weight is satisfied,
Wherein the controller performs route guidance based on a second current position determined based on the reset GPS weighted GPS information.
The positioning engine includes:
A center level determination unit for determining a center level based on the surrounding information within a proximity range around the first current position; And
And a weight determining unit for resetting the GPS weight according to the center level.
The center-level determining unit may determine,
And determines the city center level according to the width or length of the roadway within the proximity range or the height of the nearby building.
The center-level determining unit may determine,
And determines the urban level based on the width or length of the road map within the proximity range and the height of the nearby building.
Wherein the proximity building height is an average value of a height of each of the buildings included in the proximity range.
Wherein the weight determining unit includes:
And the GPS weight is decreased as the city level is higher.
Wherein the weight determining unit includes:
The higher the city center level, the lower the GPS weighting value is given to the Wi-Fi Positioning System (WPS) location information,
Wherein the lower the level of the city center, the lower the PDR (Pedestrian Dead Reckoning) location information is given the highest GPS weight.
The weight determining unit may allocate the reduced GPS weight to the weights of the WPS position information, the CID (Cell ID) position information, and the PDR position information,
And a positioning determination unit that determines the second current position based on the weighted GPS information, the WPS position information, the CID position information, and the PDR position information.
Wherein the surrounding situation information includes at least one of a width or a length of the roadway, and a height of a nearby building.
The reset condition is
Wherein the distance between the average position coordinates of the WPS position information, the CID (Cell ID) position information, and the PDR position information is greater than a predetermined distance.
And a navigation server for providing opening and map data of the navigation terminal.
A weight determining unit for resetting GPS weights according to the urban level; And
And a controller for performing route guidance based on a second current position determined based on the reset GPS weighted GPS information.
The center-level determining unit may determine,
And determines the city center level according to the width or length of the roadway within the proximity range or the height of the nearby building.
The center-level determining unit may determine,
And determines the urban level based on the width or length of the road map within the proximity range and the height of the nearby building.
Wherein the proximity building height is an average value of a height of each of the buildings included in the proximity range.
Wherein the weight determining unit includes:
The GPS weight is decreased as the city center level is higher,
The higher the city center level, the lower the GPS weighting value is given to the Wi-Fi Positioning System (WPS) location information,
Wherein the lower the level of the city center, the lower the PDR (Pedestrian Dead Reckoning) location information is given the highest GPS weight.
The weight determining unit reduces the GPS weight as the center level is higher, and distributes the reduced GPS weight to the weights of the WPS position information, the CID (Cell ID) position information, and the PDR position information, evenly or non-uniformly ,
And a positioning determination unit that determines the second current position based on the weighted GPS information, the WPS position information, the CID position information, and the PDR position information.
Wherein the surrounding situation information includes at least one of a width or a length of the roadway, and a height of a nearby building.
The center-level determining unit operates when the condition for resetting the GPS weighting value is satisfied,
Wherein the reset condition is a condition that the distance between the average position coordinates of the WPS position information, the CID (Cell ID) position information, and the PDR position information and the position coordinates according to the GPS information becomes a certain distance or more.
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KR20190036416A (en) * | 2017-09-27 | 2019-04-04 | 현대엠엔소프트 주식회사 | Apparatus and method for manufacturing multipass map and positioning sensor control apparatus using multipass map |
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