KR20200088739A - Apparatus and method for determining gps shadow area - Google Patents

Abstract

Disclosed are a device and a method for determining a GPS shaded area on a road. According to one aspect, the device for determining the GPS shaded area comprises: a data collection unit which collects real-time satellite information and map information by region; a calculation unit which divides the road into a predetermined number of grids using the map information, and calculates an elevation angle and an azimuth angle of the buildings around the road based on the center of each grid; and a shading determination unit determining whether or not GPS shading of each grid using the real-time satellite information and the elevation angle and azimuth angle of the buildings. Therefore, the present invention can reduce the consumption of a battery.

Description

Apparatus and method for determining GPS shaded area{APPARATUS AND METHOD FOR DETERMINING GPS SHADOW AREA}

The present invention relates to Global Positioning System (GPS) technology, and more particularly, to an apparatus and method for determining a GPS shaded area.

GPS (Global Positioning System) is a universal technology that performs position positioning outdoors using artificial satellites. GPS consists of a total of 24 satellites and receives more than 4 satellite signals from anywhere in the world. It knows the exact location of the satellite and measures the time by receiving the radio waves emitted by the satellite and measuring the time required to the observation point.

In general, it is understood that GPS signals are well received outdoors, but GPS signals are not well received even in the outdoors when high buildings are concentrated around. In the future, GPS technology is expected to be used in autonomous vehicles, which require precise positioning, and if there is a GPS shaded area on the road, the positioning may fail and an accident may occur. Therefore, it is necessary to analyze and manage the GPS shaded area on the road.

The present invention has been proposed to solve the above problems, and has an object to provide an apparatus and method for determining a GPS shaded area on a road.

An apparatus for determining a GPS shaded area according to an aspect includes a data collection unit that collects real-time satellite information and map information for each region; A calculator for dividing a road into a predetermined number of grids using the map information and calculating elevation and azimuth angles of buildings around the road based on the center of each grid; It includes; and a real-time satellite information, and the height and azimuth angle of the buildings to determine whether or not the GPS shade of each grid shade unit; includes.

The shading determination unit may determine whether the GPS is shaded for each grid by comparing the elevation angle and azimuth angle of each of a plurality of satellites covering each grid with each grid and the elevation angle and azimuth angle of the buildings.

The shading determination unit may determine whether the GPS is shaded for each grid based on the number of satellites, which has an elevation angle greater than the elevation angle of the buildings for each grid, or an azimuth angle that is not included in the azimuth angle of the buildings. .

If the number of satellites is smaller than a predetermined number, the shadow determination unit may determine the GPS shadow.

The shading determining unit may cluster GPS satellite information in a region unit and apply representative elevation angles and azimuth angles of GPS satellites for each region to each grid.

A method for determining a GPS shaded area in a GPS shaded area determining device according to another aspect includes: collecting real-time satellite information and map information for each area; Dividing a road into a predetermined number of grids using the map information, and calculating elevation and azimuth angles of buildings around the road based on the center of each grid; And determining whether the GPS is shaded for each grid using the real-time satellite information and the elevation angle and azimuth angle of the buildings.

The determining whether the GPS is shaded may compare the elevation angle and azimuth angle of each of a plurality of satellites covering each grid and the elevation angle and azimuth angle of the buildings to determine whether each grid is GPS shaded. .

In the determining whether the GPS is shaded, whether the GPS is shaded in each grid based on the number of satellites, each of which has an elevation angle greater than the elevation angle of the buildings, or an azimuth angle not included in the azimuth angle of the buildings. Can judge.

In the determining whether the GPS is shaded, if the number of satellites is smaller than a predetermined number, the GPS shade may be determined.

In the determining whether the GPS is shaded, GPS satellite information may be clustered by region, and representative elevation angles and azimuths of GPS satellites for each region may be applied to each grid.

According to the present invention, it is possible to identify a GPS shaded area and a GPS non-shaded area on the road, and thus, when a navigation terminal or a smartphone or the like is expected to enter the GPS shaded area, the reception cycle of the GPS signal is lengthened to reduce battery consumption. do.

In addition, according to the present invention, it is possible to reduce the inconvenience of the location positioning service user by identifying a permanent GPS shaded area with high population density and maintaining a separate positioning system for the permanent GPS shaded area to maintain the accuracy of location information. have.

1 is a diagram illustrating a system for determining a GPS shaded area according to an embodiment of the present invention.
FIG. 2 is a diagram illustrating the configuration of the GPS shaded area determining device of FIG. 1.
3 is a view for explaining a method for explaining a method for calculating the elevation angle of a building according to an embodiment.
4 is a view for explaining a method for calculating the azimuth of a building according to an embodiment.
5 is a view showing a GPS signal received by a specific grid according to an embodiment.
6 is a flowchart illustrating a method for calculating azimuth and elevation angles of buildings for each grid according to an embodiment of the present invention.
7 is a flowchart illustrating a method for determining a GPS shaded area according to an embodiment of the present invention.

The above objects, features, and advantages will become more apparent through the following detailed description in connection with the accompanying drawings, and accordingly, those skilled in the art to which the present invention pertains can easily implement the technical spirit of the present invention. There will be. In addition, in the description of the present invention, when it is determined that the detailed description of the known technology related to the present invention may unnecessarily obscure the subject matter of the present invention, the detailed description will be omitted. Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a diagram illustrating a system for determining a GPS shaded area according to an embodiment of the present invention. Referring to FIG. 1, buildings 120 are located around the road 110, and a plurality of satellites 130 are present in the air. A smart phone or a navigation terminal including a GPS receiver measures a current location in real time using GPS signals received from a plurality of satellites 130. Referring to FIG. 1, the system according to the present embodiment includes a GPS satellite information providing device 140, a map information providing device 150, and a GPS shaded area determining device 160, which communicate with each other through a communication network. Can. The communication network includes all known communication networks such as Internet networks, mobile communication networks such as LTE and 5G, or communication networks to be developed in the future. In the Global Navigation Satellite System (GNSS), there are various navigation systems such as GPS, GLONASS, and Galileo, and the GPS navigation system is described as an example in this embodiment. However, the GPS described in the embodiments and claims of the present invention should be understood as a word encompassing the GNSS navigation system.

The GPS satellite information providing device 140 provides real-time GPS satellite information for each region to the GPS shaded area determining device 160. Here, the GPS satellite information may include local location information, satellite number (ID), elevation angle of the satellite, azimuth angle of the satellite, signal strength, and the like. The GPS satellite information providing device 140 may be a GPS reference station, a central processing station that receives real-time GPS satellite information from the GPS reference station, or a real-time satellite tracking system operated by the country. For example, it may be a Seoul RTK system that provides real-time satellite tracking status. The local location information may include the installation location of the reference station and the coverage of the reference station, or may include randomly divided region information to which real-time GPS satellite information is applied.

The map information providing device 150 stores road information and building information and provides it to the GPS shaded area determining device 160. Here, the road information includes width, name, length, start point, end point, and address information of the national road. In addition, the building information includes location information (address or coordinate system) of each building, boundary information, and height information according to the boundary. Road information can be provided at https://www.juso.go.kr/addrlink/devLayerRequestWrite.do, building information can be provided by Vworld, or can be provided by a state-managed building database. have.

The GPS shade area determination device 160 collects real-time GPS satellite information for each region from the GPS satellite information providing device 140 and also collects map information from the map information providing device 150. The GPS shaded area determining device 160 divides the road into a predetermined number of grids using the collected map information, calculates altitude and azimuth angles of buildings around the road based on the center of each grid, and Using real-time satellite information and the elevation angle and azimuth angle of the buildings, it is determined whether the GPS is shaded in each grid. Hereinafter, the GPS shade area determination device 160 will be described in more detail with reference to the drawings.

FIG. 2 is a diagram showing the configuration of the GPS shaded area determining device of FIG. 1. The GPS shade area determination device 160 may include a memory, a memory controller, one or more processors (CPUs), a peripheral interface, an input/output (I/O) subsystem, a display device, an input device, and a communication circuit. These components communicate over one or more communication buses or signal lines. These various components may be implemented in hardware, software or a combination of both hardware and software, including one or more signal processing and/or application specific integrated circuits.

The memory may include high-speed random access memory, and may also include one or more magnetic disk storage devices, non-volatile memory such as flash memory devices, or other non-volatile semiconductor memory devices. Access to memory by other components such as the processor and peripheral interfaces can be controlled by a memory controller. The peripheral interface connects input and output peripherals to the processor and memory. One or more processors execute various software programs and/or instruction sets stored in memory to perform various functions for the system and process data. In some embodiments, the software component is loaded (installed) with an operating system, a graphics module (a set of instructions), and a program for performing operations for the present invention. The operating system can be, for example, Darwin, RTXC, LINUX, UNIX, OS X, WINDOWS or a built-in operating system such as VxWorks, Android, iOS, etc., and the I/O subsystem is such as a display device, an input device. Provides an interface between the device's input and output peripherals and the peripheral interface. The communication circuit may include an Ethernet communication circuit and an RF circuit. The Ethernet communication circuit performs wired communication, and the RF circuit transmits and receives electromagnetic waves. RF circuits convert electrical signals into electromagnetic waves and vice versa, and communicate with the communication network, other mobile gateways, and communication devices through the electromagnetic waves. RF circuits include well-known circuits for performing these functions, including, but not limited to, antenna systems, RF transceivers, one or more amplifiers, tuners, one or more oscillators, digital signal processors, CODEC chipsets, memory, and the like. Can be. The RF circuit can communicate with other devices by cellular telephone networks, wireless LANs and/or wireless networks such as a metropolitan area network (MAN), and short-range wireless communication.

Referring to FIG. 2, the GPS shadow area determination device 160 includes a data collection unit 210, a calculation unit 220, and a shadow determination unit 230. These components can be produced as a program and stored in a memory to be operated by a processor, or a combination of software and hardware.

The data collection unit 210 collects real-time GPS satellite information for each region from the GPS satellite information providing device 140. The GPS satellite information may include local location information, satellite number (ID), elevation angle of the satellite, azimuth angle of the satellite, signal strength, and the like. In addition, the data collection unit 210 collects map information from the map information providing device 50. Map information includes road information and building information, and road information includes national road width, name, length, starting point, end point, and address information, and building information includes location information (address, or coordinate system) of each building, It includes boundary information and height information along the boundary.

The calculator 220 divides the road into a predetermined number of grids using the road information among the map information. In addition, the calculator 220 calculates the elevation angle and the azimuth angle of the buildings around the road by using the information of the divided grid and the building information among the map information. That is, the calculator 220 calculates the elevation angle and the azimuth angle of the buildings based on the center of each grid. The elevation angle refers to the angle from the center of the grid to the top of the building relative to the road surface, and the azimuth angle refers to the angle of the two vertices of the building facing the road surface relative to the center of the grid. The calculation unit 220 calculates the altitude angle and azimuth angle of the building for all buildings in the quadrant of each grid. It will be described in detail below with reference to the drawings.

3 is a view for explaining a method for explaining a method for calculating the elevation angle of a building according to an embodiment. Referring to FIG. 3, if the distance from the center of a specific grid of the road (eg, latitude and longitude coordinates) to the building is b and the height of the building is c, the angle from the center to the top of the building is based on the road surface. That is, the elevation angle A can be calculated by the following (Equation 1).

(Equation 1)

Altitude angle A=arccos((b ² +c ² -a ² )/2bc))

4 is a view for explaining a method for calculating the azimuth of a building according to an embodiment. Referring to FIG. 4, the coordinates of the center of a specific grid of the road are referred to as (X, Y), the coordinates of the left vertex with respect to the center are (X1, Y2), and the coordinates of the right vertex with respect to the center. Speaking of (X2, Y2), the azimuth angle θ ₁ of the left vertex with respect to the center is calculated by the following (Equation 2).

(Equation 2)

At this time, as illustrated in FIG. 4, when determining the azimuth angle based on the true north, the azimuth angle may be converted by [Table 1] below.

X1-X Y1-Y Conversion of θ ₁ Azimuth range (+) (+) θ ₁ 0 to 90 degrees (+) (-) 180+θ ₁ 90 ~ 180 degree (-) (-) 270+θ ₁ 180 ~ 270 degrees (-) (+) 360+θ ₁ 270 ~ 360 degrees

The azimuth angle θ ₂ of the right vertex based on the center is also obtained in the same manner as the method of obtaining the azimuth angle θ ₁ of the left vertex with respect to the center.

The shade determination unit 230 determines whether the GPS is shaded for each grid by using real-time satellite information collected by the data collection unit 210 and the elevation angle and azimuth angle of neighboring buildings for each grid calculated by the calculation unit 220. Judge. The shade determination unit 230 compares the elevation angle and azimuth angle of each of a plurality of satellites covering each grid with each grid, and determines whether the GPS is shaded by each grid. The shade determination unit 230 compares the elevation angle and azimuth angle of the satellites covering the grid with the elevation angle and azimuth angle of the surrounding buildings of the grid, classifies the satellites into shaded satellites and non-shaded satellites, and the number of non-shaded satellites is critical If the number is less than or equal to the number, the grid is determined as a GPS shaded area. It will be described in detail below with reference to the drawings.

5 is a view showing a GPS signal received by a specific grid according to an embodiment. Referring to FIG. 5, two buildings A1 and A2 are positioned around the grid P. In addition, signals of GPS satellites S1 to S5 are received in the area of the grid P. When defining the variables of the elevation angle and azimuth angle of the S1 satellite and the azimuth and elevation angle of the building A1 among the GPS satellites, (A1_start_az <S1_az <A1_end_az) && (S1_elev <A1_elev) is true (True) ), the GPS satellite S1 becomes a shaded GPS satellite by the building A1 in the grid P, and if false, the corresponding GPS satellite S1 becomes a non-shaded GPS for the building A1. In this same way, the azimuth and elevation angles of the GPS satellite S1 and the remaining building B2 are compared to determine whether the GPS satellite S1 is a shaded GPS satellite or a non-shaded GPS satellite by the building A2. In the same way, it is possible to check whether the GPS satellites S2 to S5 are shaded or non-shaded GPS satellites by two buildings A1 and A2, for example, if the number of non-shaded GPS satellites is finally less than 4, The grid is determined by the GPS shaded area.

Explanation GPS satellite azimuth GPS satellite elevation angle Building azimuth
(Start point, end point) Building elevation angle variable S1_az S1_elev A1_start_az,
A1_end_az A1_elev

When (A1_start_az <S1_az <A1_end_az) && (S1_elev <A1_elev) is true, the altitude angle of the satellite is lower than the altitude angle of the building, and the azimuth angle of the satellite is included in the azimuth angle of the building. This means that the GPS signal is blocked and not received by the building. If the altitude angle of the satellite is lower than the altitude angle of the building but the azimuth of the satellite is not included in the azimuth of the building, a GPS signal may be received next to the building, or even if the azimuth of the satellite is included in the azimuth of the building. If the elevation angle is larger than the elevation angle of the building, it means that a GPS signal can be received from the top of the building.

The shade determination unit 230 may use the representative value by clustering GPS satellite information in a region unit in using the elevation angle and azimuth angle of each of a plurality of satellites covering each grid for each grid. For example, since the difference in the altitude angle of the GPS satellite may be insignificant for an area in Seoul, the shadow determination unit 230 may select and use the altitude angle of the GPS satellite as one representative value for all areas in Seoul. . Even if the difference is insignificant, subdividing the elevation angle can place additional load on the system because it requires additional computation and data processing. Therefore, for example, if the difference in the altitude angle of the GPS satellites in all regions in Seoul is less than 1 degree, the altitude angle of the GPS satellites in all regions in Seoul is used as a representative value.

6 is a flowchart illustrating a method for calculating azimuth and elevation angles of buildings for each grid according to an embodiment of the present invention.

Referring to FIG. 6, in step S601, the GPS shaded area determining device 160 collects map information including road information and building information from the map information providing device 50, and then uses the road information to generate a grid. Set. Road information includes the width, name, length, starting point, ending point, and address information of national roads.

In step S602, the GPS shaded area determining device 160 determines a center coordinate for each grid. Preferably, the GPS shaded area determining apparatus 160 may determine the latitude and longitude coordinates of the center of each grid as the center coordinates, or may determine the coordinates according to a separate reference coordinate system.

In step S603, the GPS shaded area determining apparatus 160 uses adjacent building information included in the map information, and adjacent buildings, for example, adjacent to four sides when the grid is composed of four sides, based on the center of the grid for each grid. Calculate the azimuth and elevation angles of the buildings. The azimuth and elevation angles are calculated according to the methods described with reference to FIGS. 4 and 5.

According to the method described with reference to FIG. 6, the GPS shaded area determination device 160 calculates the center coordinates of each grid and the azimuth and elevation angles of surrounding buildings and stores them in storage means.

7 is a flowchart illustrating a method for determining a GPS shaded area according to an embodiment of the present invention.

Referring to FIG. 7, in step S701, the GPS shaded area determining apparatus 160 extracts the elevation angle and azimuth angle of the satellites covering the grid with respect to a specific grid. Preferably, the GPS shaded area determining device 160 extracts elevation and azimuth angles of satellites covering the specific grid from real-time GPS satellite information for each region collected from the GPS satellite information providing device 140. The GPS shaded area determining device 160 may cluster GPS satellite information in units of regions, set a representative value, and extract a representative elevation angle and a representative azimuth angle of the GPS satellite set for the region to which the specific grid belongs.

In step S702, the GPS shaded area determining device 160 extracts the elevation angle and azimuth angle of the buildings around the specific grid. As described with reference to FIG. 6, since the elevation angles and azimuth angles of the surrounding buildings are calculated and stored in the storage means for each grid, the GPS shaded area determining device 160 stores the elevation angles of the surrounding buildings of the specific grid in the storage means. And an azimuth angle.

In step S703, the GPS shaded area determining device 160 compares the azimuth and altitude angles of each of the surrounding buildings of the specific grid with the azimuth and altitude angles of each of the satellites covering the specific grid to determine a shaded satellite or a non-shaded satellite. Judge. Specifically, the GPS shaded area determining device 160 determines that the specific satellite is a shaded satellite if the elevation angle of the specific satellite is smaller than the elevation angle of the specific building and the azimuth of the corresponding satellite is included in the azimuth of the specific building, If the altitude angle of the satellite is greater than the altitude angle of the specific building, or if the azimuth angle of the satellite is not included in the azimuth of the specific building, the specific satellite is judged as a non-satellite satellite for the specific building, and the other building in the same way. It is determined whether it is a shaded satellite or a non-shaded satellite. The GPS shaded area determining apparatus 160 determines shaded or non-shaded satellites for all satellites in this manner.

In step S704, the GPS shaded area determining apparatus 160 determines whether the number of non-shaded satellites determined in step S703 is smaller than the threshold number. For example, it is determined whether there are less than four non-shaded satellites. If the number of non-shaded satellites is smaller than the threshold number, in step S705, the GPS shaded area determining device 160 determines that the grid is a GPS shaded area. On the other hand, if the number of non-shaded satellites is greater than or equal to the threshold number, in step S706, the GPS shaded area determining apparatus 160 determines that the grid is a GPS non-shaded area.

According to the above-described embodiment, when the information of the GPS shaded area and the GPS non-shaded area on the road is built into a database, when a navigation or a smart phone is expected to enter the GPS shaded area, the reception period of the GPS signal is lengthened to increase battery consumption. Can be reduced, and the use of different location positioning techniques in the GPS shaded area can avoid disconnection of location positioning. In particular, for the GPS-dense areas with high population density, a separate positioning system can be built to maintain the accuracy of location information, thereby reducing inconvenience to users of location positioning services.

While this specification includes many features, such features should not be construed as limiting the scope of the invention or the claims. In addition, features described in individual embodiments herein may be implemented in combination in a single embodiment. Conversely, various features that are described in this specification in a single embodiment may be implemented in various embodiments individually or in combination as appropriate.

Although the operations in the drawings have been described in a specific order, it should not be understood that such operations are performed in a specific order as shown, or a series of sequences, or all described actions are performed to obtain a desired result. . In certain circumstances, multitasking and parallel processing may be advantageous. In addition, it should be understood that the division of various system components in the above-described embodiment does not require such division in all embodiments. The above-described program components and systems may be generally implemented as a package in a single software product or multiple software products.

The present invention described above, as the person skilled in the art to which the present invention pertains, various substitutions, modifications and changes are possible within the scope of the technical spirit of the present invention, and the above-described embodiments and the attached It is not limited by the drawings.

110: road
120: building
130: GPS satellite
140: GPS satellite information providing device
150: map information providing device
160: GPS shaded area determination device
210: data collection unit
220: calculation unit
230: shade determination unit

Claims (10)

A device for determining a GPS shaded area,
A data collection unit that collects real-time satellite information and map information for each region;
A calculator for dividing a road into a predetermined number of grids using the map information and calculating elevation and azimuth angles of buildings around the road based on the center of each grid; And
And a real-time satellite information and a shadow determination unit to determine whether the GPS is shaded for each grid using the elevation angle and azimuth of the buildings. According to claim 1,
The shade determination unit,
Device for determining whether the GPS shade of each grid by comparing the elevation angle and azimuth angle of each of the plurality of satellites covering each grid and the elevation angle and azimuth angle of the buildings. According to claim 2,
The shade determination unit,
Apparatus characterized in that each grid has an altitude angle greater than the altitude angle of the buildings or an azimuth angle that is not included in the azimuth of the buildings, based on the number of satellites to determine whether the GPS shading of each grid. The method of claim 3,
The shade determination unit,
If the number of satellites is less than a predetermined number, it characterized in that it is determined by the GPS shade. The method according to any one of claims 1 to 4,
The shade determination unit,
A device characterized in that GPS satellite information is clustered by region, and representative elevation angles and azimuths of GPS satellites for each region are applied to each grid. A method for determining a GPS shaded area by a GPS shaded area determining device,
Collecting real-time satellite information and map information for each region;
Dividing a road into a predetermined number of grids using the map information, and calculating elevation and azimuth angles of buildings around the road based on the center of each grid; And
And determining whether the GPS is shaded for each grid by using the real-time satellite information and the elevation angle and azimuth angle of the buildings. The method of claim 6,
The determining whether the GPS is shaded,
A method of determining whether the GPS shade of each grid is determined by comparing the elevation angle and azimuth angle of each of a plurality of satellites covering each grid with each grid, and the elevation angle and azimuth angle of the buildings. The method of claim 7,
The determining whether the GPS is shaded,
A method for determining whether the GPS is shaded for each grid based on the number of satellites, each of which has an elevation angle greater than the elevation angle of the buildings, or an azimuth angle not included in the azimuth angle of the buildings. The method of claim 8,
The determining whether the GPS is shaded,
If the number of satellites is less than a predetermined number, it characterized in that it is determined by the GPS shadow. The method according to any one of claims 6 to 9,
The determining whether the GPS is shaded,
A method characterized by clustering GPS satellite information on a regional basis and applying representative elevation and azimuth angles of GPS satellites for each region to each grid.

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