KR20200078724A - Improved positioning accuracy using multi-position sensor for method and device Thereof - Google Patents

Abstract

The present invention discloses a method for improving the positioning accuracy using a multi-positioning sensor and an apparatus thereof. According to one embodiment of the present invention, the apparatus for improving the positioning accuracy using a multi-positioning sensor comprises: a plurality of positioning sensors attached to an upper part of the vehicle and repeatedly detecting a position of the vehicle; a positioning sensor position estimating portion selecting some of the positioning sensors and estimating the position of the positioning sensor by receiving signals from the partial positioning sensors; a position error estimating portion estimating an error between positions by comparing the position of the positioning sensor estimated from the positioning sensor position estimating portion with a previously stored position of the positioning sensor; a positioning sensor selection portion selecting a positioning sensor having a minimum estimation error less than or equal to a threshold value among estimation errors between positions estimated by the position error estimation portion; and a vehicle position estimating portion receiving a signal from the positioning sensor having a minimum estimation error selected from the positioning sensor selecting portion and estimating the position of the vehicle in units of an area of the upper part of the vehicle.

Description

Improved positioning accuracy using multi-position sensor for method and device Thereof}

The present invention relates to a method and apparatus for improving positioning accuracy using multiple positioning sensors.

2. Description of the Related Art With the recent development of mobile communication technology, a positioning technology for grasping the user's location and providing a new service has been developed. In general, a service field using location information is called a location based service (LBS), which is a field of telematics, and includes location tracking or navigation technology of a vehicle.

As a method of obtaining location information, a traditional method using only a Global Positioning System (GPS), a method using only a mobile communication terminal, a method combining a GPS and an inertial navigation system (INS), a method combining a GPS and a mobile communication terminal, A method combining GPS/mobile communication terminal/INS has been mainly developed. In addition, a method of acquiring location information of a positioning object by mounting multiple sensors on the positioning object has been developed.

This method of obtaining location information is a method of utilizing wireless communication or radio waves, and there is a problem in that positioning information is lost or errors are increased depending on the environment of interference and radio waves.

In the Republic of Korea Patent No. 10-1803195, high-precision algorithms can be fused through low-cost sensors to increase the reliability of information, and through the combination of multiple decision sensors, the user or the vehicle is automatically provided with results suitable for convenience to multiple users. A method of controlling the sensor was proposed. However, since the location information of the driving vehicle acquired by the location information acquisition unit is location information obtained by assuming a positioning object as one point, it is difficult to distinguish between forward and backward when applied because it is impossible to distinguish between the front and rear of the positioning object. There was.

Republic of Korea Registered Patent No. 10-1803195

The present invention has been devised to solve the above problems, and the present invention provides a multi-positioning sensor capable of improving positioning accuracy by attaching a plurality of positioning sensors to a positioning target to position the positioning target in multiple points rather than one point. An object of the present invention is to provide a method and apparatus for improving positioning accuracy.

And the present invention compares the position of the estimated position of the position sensor and the position of the pre-stored position sensor, and improves positioning accuracy through diversity effect by using the signal of the position sensor with more than a certain level of reliability with little error between positions. An object of the present invention is to provide a method and apparatus for improving positioning accuracy using a multi-positioning sensor.

In addition, an object of the present invention is to provide a method and apparatus for improving positioning accuracy using a multi-location sensor capable of improving positioning accuracy by attaching a positioning sensor to an optimal position according to a positioning target.

On the other hand, the technical problem to be achieved in the present invention is not limited to the technical problems mentioned above, and other technical problems not mentioned are clearly understood by those skilled in the art from the following description. Will be understandable.

As a technical means for achieving the above object, a positioning accuracy improving apparatus using a multi-positioning sensor according to an embodiment of the present invention is attached to a plurality of the upper portion of the vehicle, a positioning sensor for repeatedly detecting the position of the vehicle; A positioning sensor position estimator which selects a part of the positioning sensors and estimates the position of the positioning sensors by receiving signals from some of the positioning sensors; A position error estimation unit for estimating an error between positions by comparing the position of the position sensor estimated from the position sensor position estimation unit and the position of the pre-stored position sensor; A position sensor selecting unit which selects a position sensor having a minimum estimation error below a threshold among estimation errors between positions estimated from the position error estimation unit; And a vehicle position estimator that receives a signal from a position sensor having a minimum estimation error selected from the position sensor selection unit and estimates the position of the vehicle in an area unit of the upper part of the vehicle.

In one embodiment, the positioning sensor is a wireless communication method based GPS, UWB, wireless LAN, Bluetooth, RFID and infrared sensor, ultrasonic sensor, 2D rider sensor, 3D rider sensor, gyro sensor, image receiving radio waves or signals from the outside It includes at least one of a sensor and a laser sensor.

In addition, the positioning sensors are attached to at least the vertices of the vehicle upper part in consideration of positioning accuracy.

In one embodiment, the positioning sensor selection unit selects a plurality of positioning sensors having the minimum estimation error.

In addition, the positioning sensor selecting unit selects a positioning sensor having a minimum estimation error equal to or less than the number of positioning sensors selected from the positioning sensor position estimation unit.

In one embodiment, the vehicle position estimator estimates the position of the vehicle based only on the signal of the position sensor having the minimum estimation error, thereby increasing the estimation accuracy of the vehicle position through the diversity effect.

As a technical method for achieving the above object, a method for improving positioning accuracy using a multiple positioning sensor according to an embodiment of the present invention includes a first step of attaching a plurality of positioning sensors to an upper portion of a vehicle; A second step in which the vehicle moves; A third step of estimating a position of the position sensor by selecting a position sensor of a part of the position sensor, and receiving a signal from a part of the position sensor; A fourth step of estimating an error between positions by comparing the position of the position sensor estimated by the position error estimator and the position of the pre-stored position sensor; A fifth step in which the positioning sensor selecting unit selects a positioning sensor having a minimum estimation error below a threshold among errors between positions estimated from the position error estimation unit; And a sixth step of receiving the signal of the positioning sensor having the minimum estimation error selected from the positioning sensor selecting unit and estimating the position of the vehicle in an area unit of the upper portion of the vehicle.

According to the present invention, positioning accuracy of a positioning target can be improved by positioning the positioning target at multiple points rather than one point.

And according to the present invention, by comparing the position of the estimated position of the positioning sensor and the position of the previously stored position sensor, the accuracy of positioning through the diversity effect is improved by using the signal of the positioning sensor with a reliability with a small error between positions. Can be improved.

Further, according to the present invention, it is possible to improve the positioning accuracy by attaching the positioning sensor to the optimal position according to the positioning object.

On the other hand, the effects that can be obtained in the present invention are not limited to the above-mentioned effects, and the other effects that are not mentioned will be clearly understood by those skilled in the art from the following description. Will be able to.

1 is a block diagram schematically showing an apparatus for improving positioning accuracy using a multi-positioning sensor according to an embodiment of the present invention.
2 is a photograph showing a state in which the positioning sensor according to an embodiment of the present invention is mounted on a vehicle.
3 is a photograph showing a state in which a vehicle equipped with a positioning sensor according to an embodiment of the present invention is stopped at a stop.
4 is a graph showing a result of estimating a position before and after a vehicle stops by a vehicle position estimator according to an embodiment of the present invention.
5 is a flowchart illustrating a step flow of a method for improving positioning accuracy using a multi-positioning sensor according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. DETAILED DESCRIPTION The following detailed description, together with the accompanying drawings, is intended to describe exemplary embodiments of the present invention, and is not intended to represent the only embodiments in which the present invention may be practiced. The following detailed description includes specific details to provide a thorough understanding of the present invention. However, one of ordinary skill in the art to which the present invention pertains knows that the present invention may be practiced without these specific details. In addition, in the specification, when a certain part "comprising or including" a certain component, it is possible to further include other components rather than excluding other components unless otherwise specified. Means In addition, in describing embodiments of the present invention, when it is determined that a detailed description of known functions or configurations may unnecessarily obscure the subject matter of the present invention, the detailed description will be omitted. In addition, terms to be described later are terms defined in consideration of functions in an embodiment of the present invention, which may vary according to a user's or operator's intention or practice. Therefore, the definition should be made based on the contents throughout this specification.

Hereinafter, a method and apparatus for improving positioning accuracy using a multi-positioning sensor according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

Device for improving positioning accuracy using multiple positioning sensors

Positioning accuracy improving device 10 using a multi-positioning sensor according to an embodiment of the present invention (hereinafter, referred to as'positioning accuracy improving device'), as shown in Figure 1, positioning sensor 100, positioning It comprises a sensor position estimator 200, a position error estimator 300, a positioning sensor selector 400 and a vehicle position estimator 500, the above configuration (100, 200, 300, 400, 500) ) May be configured in the vehicle 1 or the configuration (200, 300, 400, 500) excluding the positioning sensor 100 may be configured in a separate location.

First, the vehicle 1 is a positioning target of the positioning accuracy improving apparatus 10 and is an object moving along a road as shown in FIGS. 2 and 3. However, the vehicle 1 may mean a vehicle such as a drone due to a user's design change, unlike that shown in the drawings.

The stop 2 is installed on the road as a location where the vehicle 1 stops, as shown in FIG. 3, and has a length and width greater than the length and width of the vehicle 1 for stopping the vehicle 1 It would be desirable.

The positioning sensor 100 repeatedly detects the position of the vehicle 1 to be positioned as shown in FIGS. 1 and 2, and is composed of a plurality (first, second, ... n-1, n) vehicles It is attached to the upper part of (1). At this time, the positioning sensor 100 is attached to the top of the vehicle 1 in consideration of the smooth operation of the sensors (radio transmission/reception status, whether the sensor information is shaded) and positioning accuracy. That is, a plurality of positioning sensors 100 are attached to the upper portion of the vehicle 1, regardless of where they are attached to the upper portion of the vehicle 1, but the correlation between the information collected by the plurality of sensors is minimized to maximize the diversity effect. Therefore, it is better to attach it to the point that maximizes the distance between the sensors if possible. Thus, the positioning sensor 100 is attached to the upper portion of the vehicle 1 is to improve the ease of positioning of the vehicle 1 and the positioning accuracy of the vehicle 1 as much as possible. And the positioning sensor 100 is a wireless communication type GPS, UWB, wireless LAN, Bluetooth, RFID and infrared sensor, ultrasonic sensor, 2D rider sensor, 3D rider sensor, gyro sensor, image sensor that receives radio waves or signals from the outside, It comprises at least one of the laser sensors, each made of a different type of sensor or may be made of the same type of sensor. Meanwhile, the positioning sensor 100 repeatedly detects the position of the vehicle 1 and transmits the generated signal to the positioning sensor position estimator 200.

The positioning sensor position estimator 200 receives signals from some of the positioning sensors 100 to estimate the position of the positioning sensor 100. In detail, when the position sensor position estimator 200 receives a signal from a part of the position sensor 100, it receives distance difference information between the position sensors 100 from a database (not shown), and receives the position sensor ( 100) estimates the entire position of the positioning sensor 100 based on the distance difference information between. Meanwhile, the positioning sensor position estimator 200 transmits the estimated position of the positioning sensor 100 to the position error estimator 300.

The position error estimator 300 receives the estimated position of the positioning sensor 100 from the positioning sensor position estimator 200, and compares the estimated position of the positioning sensor 100 with the position of the pre-stored positioning sensor 100. The error between the estimated position of the positioning sensor 100 and the previously stored position of the positioning sensor 100 is estimated. Here, the position of the pre-stored positioning sensor 100 means actual position information of the positioning sensor 100 including coordinates such as latitude and longitude measured by the positioning sensor 100 or a separate sensor (not shown), It will be desirable to understand the information stored in a database (not shown) connected to the position error estimator 300. Meanwhile, the position error estimation unit 300 transmits the estimated error between the estimated position of the positioning sensor 100 and the previously stored position of the positioning sensor 100 to the positioning sensor selection unit 400.

The positioning sensor selection unit 400 receives an estimation error between the estimated position of the positioning sensor 100 and the position of the pre-stored positioning sensor 100 from the position error estimation unit 300, which is equal to or less than a threshold value among the estimated errors between positions. The positioning sensor 100 having the minimum estimation error is selected. At this time, the threshold value, which is a criterion for the positioning sensor selection unit 400 to select the positioning sensor 100, may vary according to the type of the positioning sensor 100. Also, the positioning sensor selection unit 400 may preferably select a plurality of positioning sensors 100 having the minimum estimation error so that the position of the vehicle 1 is estimated by multiple points by the vehicle position estimation unit 500. . In addition, it is preferable that the positioning sensor selection unit 400 selects the positioning sensor 100 having a minimum estimation error equal to or less than the number of some of the positioning sensors selected from the positioning sensor position estimation unit 200 through the selection process. something to do. Meanwhile, the positioning sensor selection unit 400 transmits information on the selected positioning sensor 100 to the vehicle location estimation unit 500.

The vehicle location estimator 500 receives the signal of the location sensor 100 selected from the location sensor selection unit 400 and estimates the location of the vehicle 1 in units of an upper area of the vehicle 1 (for example, a square). do. Specifically, as illustrated in FIGS. 2 and 4, the vehicle position estimator 500 is a positioning sensor 100a installed at a vertex (a vertex) above the vehicle 1 through the positioning sensor 100 receiving the signal. The position of the vehicle 1 is estimated in units of an upper area of the vehicle 1 (for example, a rectangle) by estimating the positions of 100b, 100c, and 100d. That is, the unit of the upper area of the vehicle 1 means the same area as the peak area of the vehicle 1. On the other hand, the vehicle position estimator 500, as well as when the vehicle 1 is stopped at the stop 2, it will be desirable to estimate the position of the vehicle 1 before and after the stop. Furthermore, since the vehicle position estimator 500 estimates the position of the vehicle 1 based only on the signal of the positioning sensor 100 having the minimum estimation error, the estimation accuracy of the vehicle position through the diversity effect Can increase. Here, diversity means a method that removes fading occurring during propagation of a radio wave and allows information to be always received at a constant intensity. Fading refers to a change in the medium through which the received radio wave has passed. Accordingly, it means a phenomenon in which the intensity of the received radio wave changes rapidly.

In addition, the positioning accuracy improving apparatus 10 may be additionally configured with a laser 600 that acquires surrounding terrain and obstacle information of the vehicle 1 or bending data of the road. The laser 600 is a device that is attached to the upper portion of the vehicle 1 and irradiates a laser light source on the road or around the vehicle 1 while the vehicle 1 is moving. Furthermore, the laser 600 may be configured as a 3D laser scanner. Here, the 3D laser scanner is a device that converts its shape or color into digital data from a real or real environment, through the deflection of the laser by a rotating mirror, the reflection of the laser occurring on the object surface, and the process of receiving the reflected laser. Obtain dimensional location information. The 3D laser scanner may be classified into a TOP method, a phase shift method, and a triangulation method according to the measurement principle. However, the laser 600 is not necessarily configured, and one of the plurality of positioning sensors 100 may be configured as the laser 600 to perform the role of the laser 600.

In addition, the positioning accuracy improving device 10 is a control unit (not shown) for controlling the above-described configuration (100, 200, 300, 400, 500, 600), the above-described configuration (100, 200, 300, 400, 500) between A communication unit (not shown) for communication, a display (not shown) for outputting a result of estimating the position of the vehicle 1 (not shown), and a control unit (not shown) in the aforementioned configurations (100, 200, 300, 400, 500, 600) A power supply unit (not shown) for supplying power through may be additionally configured.

How to improve positioning accuracy using multiple positioning sensors

First, the user attaches a plurality (first, second, ... n-1, n) to the upper portion of the vehicle (S10). Looking at step S10, the user can improve the positioning accuracy of the vehicle 1 and the plurality of (first, second,… n-1, n) positioning sensors 100 to improve the positioning accuracy of the vehicle 1 as much as possible. ) Is attached to the top of the vehicle 1, but must be attached to the top (vertex) of the vehicle 1.

After step S10, the vehicle 1 moves along the road (S20). Here, as described above, the vehicle 1 may include a vehicle moving along the road, as well as a drone moving in the air due to a user's design change.

After step S20, the positioning sensor position estimator 200 selects some of the positioning sensors 100 among the positioning sensors 100 and receives signals from some of the positioning sensors 100 to determine the position of the positioning sensors 100. It is estimated (S30). Looking at step S20, the positioning sensor position estimator 200 receives the distance difference information between the positioning sensors 100 from the database (not shown) when receiving signals from some of the positioning sensors 100, the positioning sensor 100 ), it is possible to estimate the entire position of the positioning sensor 100 based on the distance difference information between.

After step S30, the position error estimator 300 estimates the position sensor 100 by comparing the position of the position sensor 100 estimated by the position sensor position estimator 200 and the position of the pre-stored position sensor 100. The error between the position and the position of the pre-stored positioning sensor 100 is estimated (S40). Looking at step S40, the position error estimating unit 300 is a position sensor 100 or a separate sensor (not shown), the actual position of the positioning sensor 100 including coordinates such as latitude, longitude, etc. By comparing the position of the sensor 100 and the estimated position of the positioning sensor 100, an error between the estimated position of the positioning sensor 100 and the previously stored position of the positioning sensor 100 can be estimated.

After step S40, the positioning sensor selection unit 400 estimates a minimum of a threshold value or less among the estimation errors between the estimated position of the positioning sensor 100 estimated by the position error estimation unit 300 and the previously stored position of the positioning sensor 100. The positioning sensor 100 having an error is selected (S50). Looking at step S50, the threshold value, which is a criterion for the positioning sensor selection unit 400 to select the positioning sensor 100, may vary according to the type of the positioning sensor 100. In addition, the positioning sensor selecting unit 400 may select a plurality of positioning sensors 100 having a minimum estimation error so that the position of the vehicle 1 is estimated by multiple points by the vehicle position estimating unit 500, and select Through the process, it is possible to select the positioning sensor 100 having a minimum estimation error equal to or less than the number of some of the positioning sensors selected from the positioning sensor location estimator 200.

After the step S50, the vehicle position estimator 500 receives the signal of the positioning sensor 100 having the minimum estimated error selected by the positioning sensor sorting unit 400, and the vehicle 1 in the area unit of the vehicle 1 upper part. The position of is estimated (S60). Looking at step S60, the vehicle position estimator 500 receives the signal of the positioning sensor 100 having the minimum estimation error, so that the positioning sensors 100a, 100b, 100c installed at the apex (vertex) of the upper part of the vehicle 1, 100d) to estimate the location of the vehicle 1 in units of the upper area of the vehicle 1. Here, the vehicle upper area unit may be generally rectangular, and thus, the vehicle location estimator 500 may estimate the location of the vehicle 1 in a rectangular shape. In addition, the vehicle position estimator 500 may estimate the position of the vehicle 1 before and after the stop, as well as when the vehicle 1 is stopped at the stop 2. Furthermore, since the vehicle position estimator 500 estimates the position of the vehicle 1 based only on the signal of the positioning sensor 100 having the smallest estimation error in the process of S50, the vehicle through the diversity effect The estimation accuracy of the position can be increased.

The above description of the present invention is for illustration only, and a person having ordinary knowledge in the technical field to which the present invention pertains can understand that it can be easily modified into other specific forms without changing the technical spirit or essential features of the present invention. will be. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive. For example, each component described as a single type may be implemented in a distributed manner, and similarly, components described as distributed may be implemented in a combined form.

The scope of the present invention is indicated by the following claims rather than the above detailed description, and it should be interpreted that all changes or modified forms derived from the meaning and scope of the claims and equivalent concepts thereof are included in the scope of the present invention. do.

1: Vehicle,
2: stop,
10: a positioning accuracy improving device using a multi-location sensor,
100: positioning sensor,
200: positioning sensor position estimation unit,
300: position error estimation unit,
400: positioning sensor selector,
500: vehicle position estimation unit,
600: laser section.

Claims (7)

A positioning sensor which is attached to a plurality of upper parts of the vehicle and repeatedly detects the position of the vehicle;
A positioning sensor position estimator which selects a part of the positioning sensors and receives signals from the partial positioning sensors to estimate the position of the positioning sensors;
A position error estimator for estimating an error between the positions by comparing the position of the position sensor estimated from the position sensor position estimator and the pre-stored position sensor;
A positioning sensor selecting unit which selects a positioning sensor having a minimum estimation error below a threshold value among the estimation errors between the positions estimated from the position error estimation unit; And
And a vehicle position estimator for receiving the signal of the position sensor having the minimum estimation error selected from the position sensor selecting unit and estimating the position of the vehicle in an area unit of the upper part of the vehicle. Device used to improve positioning accuracy. According to claim 1,
The positioning sensor,
At least one of GPS, UWB, wireless LAN, Bluetooth, RFID and infrared sensors, ultrasonic sensors, 2D rider sensors, 3D rider sensors, gyro sensors, image sensors, and laser sensors based on wireless communication methods that receive radio waves or signals from outside Positioning accuracy improving device using a multi-location sensor, characterized in that it comprises. According to claim 1,
The positioning sensor,
Positioning accuracy improving apparatus using a multi-positioning sensor, characterized in that each attached to at least the top of the vehicle in consideration of the positioning accuracy. According to claim 1,
The positioning sensor selector,
A positioning accuracy improving apparatus using multiple positioning sensors, characterized in that a plurality of positioning sensors having the minimum estimation error are selected. The method of claim 4,
The positioning sensor selector,
A positioning accuracy improving apparatus using multiple positioning sensors, characterized in that a positioning sensor having the minimum estimation error is equal to or less than the number of the partial positioning sensors selected from the positioning sensor location estimator. According to claim 1,
The vehicle position estimation unit,
Positioning accuracy improving apparatus using a multi-positioning sensor, characterized in that by estimating the position of the vehicle based on only the signal of the positioning sensor having the minimum estimation error, the estimation accuracy of the vehicle position through a diversity effect. A first step of attaching a plurality of positioning sensors on the upper portion of the vehicle;
A second step in which the vehicle moves;
A third step of estimating a position of the position sensor by selecting a position sensor of a part of the position sensor, and receiving a signal from the position sensor;
A fourth step of estimating an error between the positions by comparing the position of the position sensor estimated by the position estimation unit and the position of the pre-stored position sensor;
A fifth step in which the positioning sensor selecting unit selects a positioning sensor having a minimum estimation error below a threshold value among the errors between the positions estimated from the position error estimation unit; And
And a sixth step of estimating the position of the vehicle in a unit of an area of the upper portion of the vehicle by receiving a signal from a location sensor having a minimum estimation error selected from the location sensor selection unit from the location sensor selection unit. Method for improving positioning accuracy using multiple positioning sensors.

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