KR20220107441A - System and Method for measuring position of a vehicle moving through a tunnel - Google Patents

Abstract

The present invention relates to a system for positioning of a vehicle traveling in a tunnel section, which comprises: a receiving unit which receives a signal for absolute coordinate positioning from a first transmitter among a plurality of absolute coordinate positioning transmitters installed in a tunnel section; an absolute coordinate positioning unit which measures a first current position of a vehicle from the received signal for absolute coordinate positioning; a relative coordinate positioning unit which measures a second current position of the vehicle by performing relative coordinate positioning based on the first current position of the vehicle; and a control unit which, when the signal for absolute coordinate positioning is received to perform absolute coordinate positioning and then the signal for absolute coordinate positioning is repeatedly received from the first transmitter, determines that the signal is duplicated and performs relative coordinate positioning without performing absolute coordinate positioning. By minimizing complexity of the system, an accurate positioning result can be obtained for a vehicle traveling in a tunnel section.

Description

The system and method for measuring position of a vehicle moving through a tunnel

The present invention relates to a system and method for positioning a vehicle traveling in a tunnel section, and to provide a system and method for positioning a vehicle that can obtain accurate positioning results of a vehicle traveling in a tunnel section by minimizing the complexity of the device.

Recently, GPS (Global Positioning System), Galileo positioning system, GLONASS (GLOBal Navigation Satellite System), global satellites such as Beidou Since a navigation system (hereinafter collectively referred to as 'GPS') module is installed, it is possible to check satellite navigation and positioning at a relatively low cost in an environment where GPS signals can be received.

However, since satellite navigation and positioning cannot be performed in an environment where GPS signals are not received, such as tunnels and indoors, that is, in the shaded area of the GPS signal, additional means are needed to perform positioning in the shaded area of the GPS signal.

In particular, the need for a positioning method in a tunnel section, which is a typical GPS signal shaded area in a vehicle driving environment, is increasing for reasons such as securing driving safety and precise monitoring along with the introduction of autonomous driving technology for vehicles.

Positioning technologies using various types of wireless media such as Bluetooth beacon, Wi-Fi, and UWB have been developed. There is a problem.

In addition, relative positioning or dead reckoning techniques are used to calculate the relative movement distance and movement direction using an inertial sensor or vehicle speed signal, and to estimate absolute coordinates by adding or subtracting the difference as much as the relative movement distance and movement direction from the reference coordinates. However, this relative positioning or dead reckoning technique has a problem in that the cumulative error of the relative moving distance and the moving direction increases as time elapses, and thus the positioning error also increases.

Registered Patent Publication No. 10-1095266 relates to an indoor positioning system using GPS, comprising a relay device that relays and transmits a GPS satellite signal received through an external antenna installed outdoors to a predetermined area indoors, and the GPS satellite The terminal device that receives the signal grasps indoor location information based on the GPS satellite signal and outdoor/indoor mapping information. However, when a plurality of repeaters are installed, the accuracy of indoor location information increases as the repeaters move away from the installed locations. There is a problem that it is lowered.

Registered Patent Publication No. 10-1967394 relates to a method and apparatus for correcting an indoor location, and aims to accurately estimate the direction and altitude of a firefighter by using a sensor to accurately find the location of a firefighter in an indoor environment, The data processing unit detects a line from the map data, and extracts a surface having N or more preset pixels consecutively in a predetermined direction from the detected line as a segment to make a database of direction information for a specific building, and the motion recognition unit provides a reference feature value is set to determine whether it is walking on flat ground, climbing stairs, or going down stairs, and the direction correction unit corresponds to the user's motion recognized by the motion recognition unit walking on flat ground, climbing stairs, and going down stairs, and the direction obtained from the gyro sensor When there is no change in information, the segment closest to the location of the user terminal and the direction information is parallel from the databased map data is selected, and the direction information obtained from the gyro sensor is corrected using the direction information of the segment. . However, there is a problem in that the complexity of the device is increased in that a map data processing unit must be provided.

Registered Patent Publication No. 10-1308555 relates to a method for calculating an indoor walking position. In order to provide a method for calculating an indoor walking position to have a minimum position error, a reference AP (Access Point) installed in a door or passage is identified as an identification position. By transmitting a wireless signal including is transmitted so that the walking navigator can correct the current position coordinates in which the position error is reflected. However, since the walking navigator compares the current position coordinates with the fixed position coordinates and changes the current position coordinates to the fixed position coordinates when different, it is difficult to apply when the walking navigator is mounted on a vehicle with a large change in position. There is this.

Registered Patent Publication No. 10-2146339 relates to a wireless positioning method and apparatus that improves location accuracy in various environments. The purpose of this is to improve the positional accuracy of the mobile node in the change of various environments because the positional accuracy may be lowered. The accumulation of errors in the relative position due to repetition of the relative position estimation hardly occurs. However, in order to estimate the absolute position of a mobile node, a radio map must be constructed and a pattern matching the radio map must be generated, so there is a problem in that the complexity of the device increases.

Registered Patent Publication No. 10-1095266 Registered Patent Publication No. 10-1967394 Registered Patent Publication No. 10-1308555 Registered Patent Publication No. 10-2146339

An object of the present invention is to obtain an accurate positioning result of a vehicle traveling in a tunnel section by minimizing the complexity of the device.

Another object of the present invention is to obtain an accurate positioning result of a vehicle while minimizing additional means in a shadow area of a satellite navigation system.

Another object of the present invention is to minimize the positioning error of the relative coordinates of the vehicle while minimizing additional means in the shaded area of the satellite navigation system.

The problem to be solved by the present invention is not limited only to the above purpose, and other technical problems not explicitly shown above can be easily understood by those of ordinary skill in the art to which the present invention belongs through the construction and operation of the present invention below. will be able

In this invention, in order to solve the said subject, the following structure is included.

The present invention relates to a positioning system for a vehicle traveling in a tunnel section, comprising: a receiver for receiving a signal for absolute coordinate positioning from a first transmitter among a plurality of absolute coordinate positioning transmitters installed in a tunnel section; an absolute coordinate positioning unit for positioning a first current position of the vehicle from the received signal for absolute coordinate positioning; a relative coordinate positioning unit for positioning a second current location of the vehicle by performing relative coordinate positioning based on the first current location of the vehicle; After the receiver receives the signal for absolute coordinate positioning from the first transmitter and performs absolute coordinate positioning, when the signal for absolute coordinate positioning is repeatedly received from the first transmitter, it is determined as a signal overlap and absolute coordinate positioning It characterized in that it comprises; a control unit to perform relative coordinate positioning without performing.

When the plurality of absolute coordinate positioning transmitters of the present invention include the coordinates of each transmitter and the ID (Identification) of each transmitter in the data transmitted as a transmitter using a short-range communication medium, the control unit, the same transmitter ID is received It is characterized in that it is detected as repeatedly receiving a signal from any one of the plurality of absolute coordinate positioning transmitters while it is being determined as a signal overlap.

When the plurality of absolute coordinate positioning transmitters of the present invention are transmitters using a satellite navigation system, the controller may include any one of the plurality of absolute coordinate positioning transmitters when the calculation result of the absolute coordinate positioning part is within a predetermined distance range It is characterized in that it is detected that the signal is repeatedly received from the , and it is determined that the signal is overlapped.

The present invention further includes a positioning result storage unit for storing a plurality of absolute coordinates received from the plurality of absolute coordinate positioning transmitters after driving a tunnel section, wherein the control unit includes a plurality of absolute coordinates stored in the positioning result storage unit It is characterized in that the installation interval of the plurality of absolute coordinate positioning transmitters installed in the tunnel section and the shape data of the tunnel are extracted by using .

The control unit of the present invention does not receive a signal for absolute coordinate positioning from a second transmitter among a plurality of absolute coordinate positioning transmitters installed in the tunnel section in the receiver, and the distance between the second current position and the first current position is predetermined When it is greater than the reference value of , the second current position of the vehicle is updated from the predetermined reference value in the relative coordinate positioning unit.

The present invention also relates to a positioning method of a vehicle traveling in a tunnel section, comprising: a first step of receiving, in a receiver, a signal for absolute coordinate positioning from a first transmitter among a plurality of absolute coordinate positioning transmitters installed in the tunnel section; a second step of positioning a first current position of the vehicle from the absolute coordinate positioning signal received in the first step by the absolute coordinate positioning unit; a third step of positioning the second current position of the vehicle by performing relative coordinate positioning based on the first current position of the vehicle in the relative coordinate positioning unit; a fourth step of receiving, in the receiver, a signal for absolute coordinate positioning from a second transmitter among a plurality of absolute coordinate positioning transmitters installed in a tunnel section; In the control unit, when the receiver receives the signal for absolute coordinate positioning from the first transmitter and performs absolute coordinate positioning, and then repeatedly receives the signal for absolute coordinate positioning from the first transmitter, it is determined as a signal overlap and absolute coordinate positioning is performed. and a fifth step of ignoring coordinate positioning and performing relative coordinate positioning.

In addition, the present invention may be a computer program stored in a storage medium to execute the method for positioning a vehicle traveling in the tunnel section.

An effect of the present invention is to obtain an accurate positioning result of a vehicle traveling in a tunnel section by minimizing the complexity of the device.

Another effect of the present invention is that it is possible to obtain an accurate positioning result of a vehicle while minimizing additional means in the shadow area of the satellite navigation system.

Another effect of the present invention is to minimize the positioning error of the relative coordinates of the vehicle while minimizing additional means in the shaded area of the satellite navigation system.

The effects of the present invention are not limited to the above effects, and other effects not explicitly shown above will be easily understood by those of ordinary skill in the art to which the present invention pertains through the configuration and operation of the present invention below.

1 shows the overall situation in which the positioning system of a vehicle traveling in a tunnel section of the present invention operates.
2 shows an embodiment of a detailed configuration diagram of a positioning system for a vehicle traveling in a tunnel section of the present invention.
3 shows another embodiment of a specific configuration diagram of a positioning system for a vehicle traveling in a tunnel section of the present invention.
4 is a detailed flowchart of a method for positioning a vehicle traveling in a tunnel section according to the present invention.

Hereinafter, the overall configuration and operation according to a preferred embodiment of the present invention will be described. These embodiments are illustrative and do not limit the configuration and operation of the present invention, and other configurations and operations that are not explicitly shown in the embodiments are provided below through the embodiments of the present invention. A case that can be easily understood by the possessor may be regarded as the technical idea of the present invention.

1 shows the overall situation in which the positioning system of a vehicle traveling in a tunnel section of the present invention operates.

Referring to FIG. 1 , when a vehicle 11 enters a tunnel while driving while positioning the absolute coordinates of the vehicle 11 by the satellite navigation system 10 , the vehicle 11 is controlled by the satellite navigation system 10 . ) provides a means for positioning the current position of the vehicle 11 even in a situation in which the absolute coordinates cannot be determined.

A plurality of absolute coordinate positioning transmitters (A ₁ to A _n ) are installed at regular intervals in the tunnel, and the absolute coordinate positioning transmitters (A ₁ to A _n ) are GPS (Global Positioning System), Galileo positioning system (Galileo positioning) system), GLONASS (Global Navigation Satellite System), and global satellite navigation systems such as Beidou (hereinafter collectively referred to as 'GPS') can relay signals that can position absolute coordinates, and Bluetooth beacon , Wi-Fi, ultra-wideband (UWB), etc., can be used to transmit a signal capable of positioning absolute coordinates using various types of wireless media.

In addition, the plurality of absolute coordinate positioning transmitters (A ₁ to A _n ) has a limitation in densely installing it in the tunnel, and in the intermediate section in which the plurality of absolute coordinate positioning transmitters (A ₁ to A _n ) are installed due to radio wave interference or non-reception Since a situation occurs in which the absolute coordinates of the vehicle 11 cannot be positioned, it is necessary to position the relative coordinates of the vehicle 11 in this section.

In addition, the vehicle 11 uses an acceleration sensor, a gyro sensor, a magnetic field sensor, an On-Board Diagnostics (OBD) receiving module, etc. in the relative coordinate positioning section (B ₁ ~ B _n ) in the tunnel, and The relative coordinate positioning is performed by calculating the movement direction and adding or subtracting the difference as much as the relative movement distance and the movement direction from the absolute coordinates.

In particular, since the vehicle 11 or the navigation system of a smart device generally positions absolute coordinates from a GPS signal, a plurality of absolute coordinate positioning transmitters A ₁ to A _n are installed at regular intervals in the tunnel to determine the GPS signal. relaying, the vehicle 11 or the navigation system of the smart device can utilize the positioning system according to the present invention without the need for additional means.

Of course, in the case of smart devices, various types of wireless media such as Bluetooth beacon, Wi-Fi, and UWB can be used (collectively, 'Bluetooth transmitter'), so that the positioning system according to the present invention can be utilized while minimizing additional means. do.

In addition, since the vehicle 11 traveling in the tunnel generally proceeds in a straight line or a gentle curved section, more accurate relative coordinate positioning can be performed by utilizing the shape data of the tunnel reflecting the gentle curved section in the tunnel.

In addition, when a plurality of absolute coordinate positioning transmitters (A ₁ ~ A _n ) are installed at regular intervals in the tunnel to relay GPS signals, each absolute coordinate positioning transmitter (A ₁ ~ A _n ) transmits at least four satellite signals And the vehicle 11 receives the at least four satellite signals from each of the absolute coordinate positioning transmitters (A ₁ ~ A _n ), so the current position positioned in the vehicle 11 is strictly each absolute coordinate positioning transmitter (A ₁ ~ A _n ) or the location of an antenna that is installed outside the tunnel to receive the GPS signal from the satellite navigation system 10 and transmit the GPS signal to each absolute coordinate positioning transmitter (A ₁ ~ A _n ). can do.

That is, the GPS signal is transmitted from the antenna outside the tunnel to each absolute coordinate positioning transmitter (A ₁ to A _n ) and from each absolute coordinate positioning transmitter (A ₁ to A _n ) to the vehicle 11. Time delay occurs In this case, if this time delay is applied to all of the at least four satellite signals and is recognized as a common error and removed, even if the absolute coordinate positioning is performed in the vehicle 11, strictly each absolute coordinate positioning transmitter (A ₁ ~ A _n ) ) or is installed outside the tunnel to receive the GPS signal from the satellite navigation system 10 and is calculated as the position of the antenna that transmits the GPS signal to each of the absolute coordinate positioning transmitters (A ₁ to A _n ).

On the other hand, when the Bluetooth transmitter is used as a plurality of absolute coordinate positioning transmitters (A ₁ to A _n ), it is not necessary to calculate the absolute coordinates on the receiver side because the absolute coordinates are already included in the signal transmitted from the Bluetooth transmitter. .

2 shows an embodiment of a detailed configuration diagram of a positioning system for a vehicle traveling in a tunnel section of the present invention.

Referring to FIG. 2 , the positioning system for a vehicle traveling in a tunnel section of the present invention may be installed in the vehicle 11 or installed in a remote server, and may include a receiver 100 , an absolute coordinate positioning unit 200 , and relative coordinates. The positioning unit 300 and the control unit 400, and receiving signals from a plurality of absolute coordinate positioning transmitters (A ₁ ~ A _n ) installed at regular intervals in the tunnel to perform absolute coordinate positioning, and relative coordinates based on this positioning will be performed.

The receiver 100 receives a signal for absolute coordinate positioning from a first transmitter (A ₁ ) among a plurality of absolute coordinate positioning transmitters (A ₁ to A _n ) installed in the tunnel section while the vehicle 11 is driving in the tunnel. receive

The absolute coordinate positioning unit 200 continuously positions the first current position of the vehicle from the signal for absolute coordinate positioning received while the vehicle 11 travels in the tunnel.

The relative coordinate positioning unit 300 continuously determines the relative coordinate positioning section (B ₁ to B _n ) based on the first current position of the vehicle and the initial speed at the first current position while the vehicle 11 travels in the tunnel. ) to position the second current position of the vehicle by performing relative coordinate positioning.

After all, the first current position is a coordinate value calculated by receiving a signal for absolute coordinate positioning from the first transmitter, and the second current position is a coordinate value updated through relative coordinate positioning after the first current position. In addition to the first transmitter and the second transmitter, a plurality of transmitters may be further installed in the tunnel, and when a vehicle traveling in the tunnel passes between the first transmitter and the second transmitter, the second transmitter operates as the first transmitter and the transmitter installed thereafter operates as the second transmitter, so that the absolute coordinate positioning and the relative coordinate positioning process are repeatedly performed between the first transmitter and the second transmitter.

The control unit 400 receives the signal for absolute coordinate positioning from the first transmitter (A _{1 ) and performs absolute coordinate positioning, and then the receiver 100 receives the signal for absolute coordinate positioning from the first transmitter (A 1 )} for absolute coordinate positioning When a signal is repeatedly received, it is determined as a signal overlap, so that the absolute coordinate positioning is ignored and the relative coordinate positioning is performed.

That is, while the vehicle 11 moves, the signal for absolute coordinate positioning is repeatedly received from the first transmitter (A ₁ ) within the range of the first transmitter (A ₁ ), and received from the first transmitter (A ₁ ) Even if the absolute coordinate positioning is continuously performed from the signal for absolute coordinate positioning, the absolute coordinate positioning result does not change, and thus the vehicle 11 may erroneously indicate that it does not move and stops.

The absolute coordinate positioning result in fact only indicates the position of the first transmitter A ₁ and does not indicate the position of the moving vehicle 11, so a signal for absolute coordinate positioning is obtained from the first transmitter A ₁ . Even if it is repeatedly received, it is preferable to ignore it and perform relative coordinate positioning.

On the other hand, one method for distinguishing whether the signal for absolute coordinate positioning is repeatedly received from the first transmitter (A ₁ ) or when the signal is received from the second transmitter (A ₂ ), which is another new transmitter, If the plurality of absolute coordinate positioning transmitters are transmitters using a short-range communication medium such as Bluetooth, Radio-Frequency Identification (RFID), or Dedicated short-range communications (DSRC), the coordinates of each transmitter and each By including the ID (Identification) of the transmitter, while the same transmitter ID is received from the control unit 400, it is detected that the signal is repeatedly received from any one of the plurality of absolute coordinate positioning transmitters and determined as a signal overlap. let it do

Of course, when another transmitter ID is received, it is determined that a signal is received from the second transmitter (A ₂ ), which is another new transmitter, and new absolute coordinate positioning is performed.

Another method for distinguishing whether a signal for absolute coordinate positioning is repeatedly received from the first transmitter (A ₁ ) or when a signal is received from a second transmitter (A ₂ ), which is another new transmitter, is the plurality of When the absolute coordinate positioning transmitter of , as a transmitter using a satellite navigation system, does not include the ID (Identification) of each transmitter in the data transmitted, the control unit 400 determines that the operation result of the absolute coordinate positioning unit 200 is When it is within a predetermined distance range, it is detected that a signal is repeatedly received from any one of the plurality of absolute coordinate positioning transmitters and determined as a signal overlap.

In general, when an absolute coordinate positioning operation is repeatedly performed while repeatedly receiving a GPS signal at a fixed position in a satellite navigation system, the absolute coordinates of the fixed position are inevitably slightly different. That is, the GPS signal emitted from the satellite is time information that propagates at the speed of light, and errors due to various causes are inevitable in the process of receiving it, but if the calculation result of the absolute coordinate positioning unit 200 is within this error range, It can be detected by repeatedly receiving a signal from any one of the plurality of absolute coordinate positioning transmitters.

Conversely, when the calculation result of the absolute coordinate positioning unit 200 is out of this error range, it is detected that a signal is received from the new second transmitter A ₂ and a new absolute coordinate positioning is performed.

The relative coordinate positioning unit 300 includes an acceleration sensor, a gyro sensor, a magnetic field sensor, and an On-Board Diagnostics (OBD) receiving module according to the signals received from the vehicle vibration, vehicle driving speed, vehicle driving The direction, etc. can be detected, and the accumulated error can be minimized by utilizing the tunnel shape data in which the vehicle 11 travels, the installation distances and installation positions of the plurality of absolute coordinate positioning transmitters (A ₁ to A _n ).

For example, in the relative coordinate positioning section (B ₁ ~ B _n ), the relative movement distance from the most recently measured absolute coordinates using the speed of the vehicle 11 calculated from the acceleration sensor or the speed obtained from the OBD receiving module. The corresponding relative coordinates are calculated and set as the current coordinates of the vehicle 11 .

On the other hand, in order to calculate the moving distance by speed in the relative coordinate positioning section (B ₁ ~ B _n ), it is necessary to set the initial speed. The initial speed is obtained from the OBD reception module, or the vehicle 11 At the moment of entry, the speed by the satellite navigation system 10 just before entering the tunnel can be set as the initial speed. In this way, the relative coordinates may also be determined together with the absolute coordinates immediately before the relative coordinate positioning section.

In addition, the current coordinates of the vehicle 11 can be set more accurately by calculating the relative coordinates among the coordinates existing in the shape data of the tunnel by using the shape data of the tunnel, and the steering angle obtained from the OBD receiving module or the gyro sensor or the magnetic field sensor A more accurate relative coordinate can be calculated using the obtained direction value.

For absolute coordinate positioning from the second transmitter (A ₂ ) of the plurality of absolute coordinate positioning transmitters (A ₁ to A _n ) installed in the tunnel section while the vehicle 11 continues driving in the tunnel in the receiver 100 , When receiving a signal, the control unit 400 does not unconditionally update the second current position of the vehicle 11 from the signal for absolute coordinate positioning received from the absolute coordinate positioning unit 200, but the second current position When the distance between and the first current position is greater than the first reference value, the second current position of the vehicle 11 may be updated from the signal for absolute coordinate positioning received from the second transmitter A ₂ .

The first reference value may vary depending on the signal strength of the plurality of absolute coordinate positioning transmitters (A ₁ to A _n ) or the reception sensitivity of the receiver 100, preferably a plurality of absolute coordinate positioning transmitters (A) installed in the tunnel ₁ to A _n ) 0.8 to 1.2 times the distance, or more preferably 0.9 to 1.1 times the distance of each of the plurality of absolute coordinate positioning transmitters (A ₁ to A _n ) installed in the tunnel.

In addition, even if the receiver 100 receives a signal for absolute coordinate positioning from the second transmitter (A ₂ ) among a plurality of absolute coordinate positioning transmitters (A ₁ to A _n ) installed in the tunnel section, the second current position and the first current position Even if the distance between the positions is smaller than the first reference value, that is, the vehicle 11 has not yet reached the position of the second transmitter A ₂ from the position of the first transmitter A ₁ while driving in the tunnel. The receiving unit 100 may receive a radio signal from the second transmitter (A ₂ ) in some cases, in this case, the control unit 400 is the second transmitter (A ₂ ) for the absolute coordinate positioning received from It is controlled not to update the second current position of the vehicle 11 from the signal.

That is, even if the receiver 100 receives a signal for absolute coordinate positioning from the second transmitter A ₂ among a plurality of absolute coordinate positioning transmitters A ₁ to A _n installed in the tunnel section, the relative of the vehicle 11 The coordinate positioning unit 300 performs relative coordinate positioning based on the first current position of the vehicle 11 so as to continuously position the second current position of the vehicle 11 , the first current position of the vehicle 11 . The position is a value calculated from receiving a signal for absolute coordinate positioning from the first transmitter (A ₁ ).

On the other hand, in contrast to the above example, the _second transmitter ₍ When receiving a signal for absolute coordinate positioning from A ₂ ), the control unit 400 determines the second current position of the vehicle 11 from the signal for absolute coordinate positioning received from the absolute coordinate positioning unit 200 . You can also force it to be updated unconditionally. In this case, although the distance between the second current position and the first current position is smaller than the first reference value, there is a high possibility that an error will occur in the relative positioning to the _second current position. It is possible to update the second current position of the vehicle 11 by giving priority to the signal for absolute coordinate positioning.

In addition, if the signal for absolute coordinate positioning is not received from the second transmitter (A ₂ ) among the plurality of absolute coordinate positioning transmitters (A ₁ to A _n ) installed in the tunnel section in the receiver 100 due to unfavorable wireless environment may also occur, even in this case, the vehicle 11 is continuously driving, and the relative coordinate positioning unit 300 of the vehicle 11 performs relative coordinate positioning based on the first current position of the vehicle 11 to determine the vehicle. By continuously positioning the second current position of (11), the distance between the second current position and the first current position becomes greater than the distance between the position of the first transmitter (A ₁ ) and the position of the second transmitter (A ₂ ) can

In this case, the control unit 400 sets a predetermined threshold value greater than the distance between the position of the first transmitter (A ₁ ) and the position of the second transmitter (A ₂ ) as a second reference value, and the relative coordinate positioning The relative coordinate positioning of the unit 300 may be initialized and the second current position of the vehicle may be updated from the second reference value. Alternatively, the operation of the relative coordinate positioning unit 300 may be stopped and a plurality of absolute coordinate positioning transmitters A ₁ to A _n may wait until a signal is received from a new transmitter.

In an ideal case, the first reference value and the second reference value may be the same, but in an actual environment, it is preferable to set the second reference value to be larger than the first reference value.

The first reference value can be roughly said to be the distance between the position of the first transmitter (A ₁ ) and the position of the second transmitter (A ₂ ), and to be more precise, the absolute coordinate positioning received from the first transmitter may be set to 0.9 to 1.1 times the distance between the position positioned from the signal for positioning and the position positioned from the signal for absolute coordinate positioning received from the second transmitter, and the first reference value may be set differently depending on the wireless environment.

The control unit 400 receives a signal for absolute coordinate positioning from a plurality of absolute coordinate positioning transmitters (A ₁ to A _n ) installed in the tunnel section in the receiver 100 in order to determine whether the current location of the vehicle 11 is updated. Whether or not received and the positioning results of the absolute coordinate positioning unit 200 and the relative coordinate positioning unit 300 are continuously monitored in the background process.

Meanwhile, for absolute and relative coordinate positioning of the vehicle, data such as distances between a plurality of absolute coordinate positioning transmitters (A ₁ to A _n ) installed in the tunnel section and shape information of the tunnel can be transmitted in various ways. Transmitters can be installed in facilities where vehicles frequently pass or stop, such as department stores, toll gates, and rest stops, and can be transmitted through short-range communication media such as Bluetooth, or can be transmitted through wide-area wireless media such as mobile communication and Digital Multimedia Broadcasting (DMB). .

3 shows another embodiment of a specific configuration diagram of a positioning system for a vehicle traveling in a tunnel section of the present invention.

Referring to FIG. 3 , the positioning system for a vehicle traveling in a tunnel section of the present invention may be installed in the vehicle 11 or installed in a remote server, and the receiver 100, the absolute coordinate positioning unit 200, and the relative coordinates. It includes a positioning unit 300, a control unit 400, and a positioning result storage unit 500, and receives signals from a plurality of absolute coordinate positioning transmitters (A ₁ to A _n ) installed at regular intervals in the tunnel to perform absolute coordinate positioning , and relative coordinate positioning is performed based on this.

As for other components, which are overlapped in the above description, the control unit 400 and the positioning result storage unit 500 will be described in detail.

The positioning result storage unit 500 receives from the plurality of absolute coordinate positioning transmitters A ₁ to A _n after the vehicle 11 travels the tunnel section and stores a plurality of measured absolute coordinates, and the control unit ( 400) uses the plurality of absolute coordinates stored in the positioning result storage unit 500 to extract the installation interval and tunnel shape data of the plurality of absolute coordinate positioning transmitters (A ₁ to A _n ) installed in the tunnel section. .

For absolute coordinate positioning and relative coordinate positioning of the vehicle 11, data such as distance between a plurality of absolute coordinate positioning transmitters (A ₁ to A _n ) installed in the tunnel section and shape information of the tunnel can be transmitted in various ways, The distance between the plurality of absolute coordinate positioning transmitters (A ₁ ~ A _n ) installed in the tunnel section due to the lack of short-range communication medium or wide area wireless medium in the vehicle 11 or the problem of a temporary wireless environment, tunnel shape information, etc. When the tunnel is driven in a situation in which data is not received, if the vehicle 11 has driven the tunnel in the past, it is installed in the tunnel section using a plurality of absolute coordinates stored in the positioning result storage unit 500 . By extracting the installation interval and tunnel shape data of the plurality of absolute coordinate positioning transmitters (A ₁ to A _n ), it is possible to utilize the absolute coordinate positioning and relative coordinate positioning of the vehicle 11 .

Of course, the positioning result storage unit 500 may be installed in a remote server. In this case, the tunnel is used to locate the absolute coordinates of the vehicle 11 even when the vehicle 11 has not driven in the past. and relative coordinate positioning can also be performed.

If there is no installation interval and tunnel shape data of the plurality of absolute coordinate positioning transmitters (A ₁ to A _n ) installed in the tunnel section in the positioning result storage unit 500 , the vehicle 11 drives the corresponding tunnel After that, the installation interval of the plurality of absolute coordinate positioning transmitters (A ₁ to A _n ) and the shape data of the tunnel are newly stored in the positioning result storage unit 500 and can be utilized when driving the corresponding tunnel again next time. there will be

On the other hand, the positioning result storage unit 500 receives from the plurality of absolute coordinate positioning transmitters (A ₁ to A _n ) after the vehicle 11 travels the tunnel section to store a plurality of absolute coordinates for positioning. It is necessary to distinguish whether the plurality of absolute coordinate positioning transmitters (A ₁ to A _n ) is an absolute coordinate positioning transmitter within the tunnel or a satellite navigation system outside the tunnel.

If the plurality of absolute coordinate positioning transmitters (A ₁ ~ A _n ) is a transmitter using a short-range communication medium such as Bluetooth, Radio-Frequency Identification (RFID), and Dedicated short-range communications (DSRC), a predefined signal can be used to distinguish between them.

On the other hand, when the plurality of absolute coordinate positioning transmitters A ₁ to A _n is a transmitter using a satellite navigation system and does not include a predefined signal in data to be transmitted, the satellite signal outside the tunnel and the absolute coordinate positioning transmitter in the tunnel The signal from (A ₁ ~ A _n ) can be divided as follows.

Since the absolute coordinate positioning transmitters (A ₁ to A _n ) in the tunnel relay and transmit a plurality of satellite signals from one transmitter, the size and distribution of S/N ratio from the plurality of satellite signals, and the pseudorange Observation of pseudorange, carrier phase, and Doppler effect can distinguish it from satellite signals outside the tunnel.

In addition, it can be distinguished from the satellite signal outside the tunnel by utilizing the case where a spoofing warning signal is generated from the GPS module and the speed value output from the GPS module and the vehicle's OBD (On-Board Diagnostics) speed value are significantly different. be able to

When the vehicle 11 receives a signal from the first transmitter (A ₁ ), which is any one of a plurality of absolute coordinate positioning transmitters (A ₁ to A _n ) while driving in the tunnel, the calculated coordinates suddenly change over a certain distance , the coordinates of the point in time are added to the coordinate list of the tunnel shape data.

That is, when the calculation result of the absolute coordinate positioning unit 200 is within a predetermined distance range, a signal is repeatedly received from the first transmitter A ₁ which is any one of the plurality of absolute coordinate positioning transmitters A ₁ to A _n . However, when the calculation result of the absolute coordinate positioning unit 200 is out of this error range, it is detected as a case in which a signal is received from the new second transmitter (A ₂ ) and a new absolute coordinate is detected. It is to perform positioning and add the coordinates of the point in time to the list of tunnel shape data.

This process is repeated until the vehicle 11 exits the tunnel and receives a hypotonic signal outside the tunnel. Positioning in the tunnel can be performed.

4 is a detailed flowchart of a method for positioning a vehicle traveling in a tunnel section according to the present invention.

4, the present invention relates to a method for positioning a vehicle traveling in a tunnel section, and may be a computer program installed and executed in a navigation device or a smart device of the vehicle 11, and is installed and executed in a remote server It may be a computer program that is

The receiver 100 performs a first step (S100) of receiving a signal for absolute coordinate positioning from a first transmitter (A ₁ ) among a plurality of absolute coordinate positioning transmitters (A ₁ to A _n ) installed in the tunnel section.

The absolute coordinate positioning unit 200 performs a second step (S200) of positioning the first current position of the vehicle 11 from the signal for absolute coordinate positioning received in the first step.

A third step ( S300 ) of positioning the second current position of the vehicle 11 by performing relative coordinate positioning based on the first current position of the vehicle 11 is performed by the relative coordinate positioning unit 300 .

A fourth step (S400) of receiving a signal for absolute coordinate positioning from the second transmitter (A ₂ ) among a plurality of absolute coordinate positioning transmitters (A ₁ to A _n ) installed in the tunnel section in the receiver 100 is performed (S400) .

In the control unit 400, the receiving unit 100 receives a signal for absolute coordinate positioning from the first transmitter (A ₁ ) and performs absolute coordinate positioning, then the signal for absolute coordinate positioning from the first transmitter (A ₁ ) If is repeatedly received, it is determined as a signal overlap, so that the absolute coordinate positioning is ignored and the relative coordinate positioning is performed.

That is, while the vehicle 11 moves, the signal for absolute coordinate positioning is repeatedly received from the first transmitter (A ₁ ) within the range of the first transmitter (A ₁ ), and received from the first transmitter (A ₁ ) Even if the absolute coordinate positioning is continuously performed from the signal for absolute coordinate positioning, the absolute coordinate positioning result does not change, and thus the vehicle 11 may erroneously indicate that it does not move and stops.

The absolute coordinate positioning result in fact only indicates the position of the first transmitter A ₁ and does not indicate the position of the moving vehicle 11, so a signal for absolute coordinate positioning is obtained from the first transmitter A ₁ . Even if it is repeatedly received, it is preferable to ignore it and perform relative coordinate positioning.

Also in the fifth step, when the distance between the second current position and the first current position is greater than the first reference value, the second of the vehicle 11 from the signal for absolute coordinate positioning received from the second transmitter (A ₂ ) 2 It is also possible to update the current location.

Also in the fifth step, when the distance between the second current position and the first current position is smaller than the first reference value, the second current position of the vehicle 11 is obtained from the signal for absolute coordinate positioning received from the second transmitter. Without updating, the relative coordinate positioning unit 300 may perform relative coordinate positioning based on the first current location of the vehicle 11 to continuously position the second current location of the vehicle.

The method for positioning a vehicle traveling in a tunnel section of the present invention may be stored in a storage medium as a computer program.

10: satellite navigation system
11: vehicle
A ₁ ~ A _n : 1st transmitter ~ nth transmitter
B ₁ ~ B _n : Relative coordinate positioning section
100: receiver
200: absolute coordinate positioning unit
300: relative coordinate positioning unit
400: control unit
500: positioning result storage unit

Claims (7)

In the positioning system of a vehicle traveling in a tunnel section,
a receiver for receiving a signal for absolute coordinate positioning from a first transmitter among a plurality of absolute coordinate positioning transmitters installed in the tunnel section;
an absolute coordinate positioning unit for positioning a first current position of the vehicle from the received signal for absolute coordinate positioning;
a relative coordinate positioning unit for positioning a second current location of the vehicle by performing relative coordinate positioning based on the first current location of the vehicle;
After the receiver receives the signal for absolute coordinate positioning from the first transmitter and performs absolute coordinate positioning, when the signal for absolute coordinate positioning is repeatedly received from the first transmitter, it is determined as a signal overlap and absolute coordinate positioning A positioning system for a vehicle traveling in a tunnel section, comprising: a control unit for performing relative coordinate positioning without performing
The method of claim 1,
When the plurality of absolute coordinate positioning transmitters include the coordinates of the respective transmitters and the ID (Identification) of the respective transmitters in the data transmitted as a transmitter using a short-range communication medium,
The control unit detects that a signal is repeatedly received from any one of the plurality of absolute coordinate positioning transmitters while the same transmitter ID is received, and determines as a signal overlap. positioning system.
The method of claim 1,
When the plurality of absolute coordinate positioning transmitters are transmitters using a satellite navigation system,
The control unit, when the calculation result of the absolute coordinate positioning unit is within a predetermined distance range, detects that a signal is repeatedly received from any one of the plurality of absolute coordinate positioning transmitters and determines that the signal is overlapped, characterized in that A positioning system for a vehicle traveling in a tunnel section.
The method of claim 1,
Further comprising a positioning result storage unit for storing a plurality of absolute coordinates received from the plurality of absolute coordinate positioning transmitter after driving a tunnel section,
The control unit uses the plurality of absolute coordinates stored in the positioning result storage unit to extract the installation interval of the plurality of absolute coordinate positioning transmitters installed in the tunnel section and shape data of the tunnel. 's positioning system.
5. The method according to any one of claims 1 to 4,
The control unit is
When the receiver fails to receive a signal for absolute coordinate positioning from a second transmitter among a plurality of absolute coordinate positioning transmitters installed in the tunnel section, and the distance between the second current location and the first current location is greater than a predetermined reference value,
The positioning system of a vehicle traveling in a tunnel section, characterized in that the relative coordinate positioning unit updates the second current position of the vehicle from the predetermined reference value.
In the positioning method of a vehicle traveling in a tunnel section,
A first step of receiving a signal for absolute coordinate positioning from a first transmitter among a plurality of absolute coordinate positioning transmitters installed in the tunnel section in the receiver;
a second step of positioning the first current position of the vehicle from the absolute coordinate positioning signal received in the first step by the absolute coordinate positioning unit;
a third step of positioning the second current position of the vehicle by performing relative coordinate positioning based on the first current position of the vehicle in the relative coordinate positioning unit;
a fourth step of receiving, in the receiver, a signal for absolute coordinate positioning from a second transmitter among a plurality of absolute coordinate positioning transmitters installed in a tunnel section;
After the receiver receives the signal for absolute coordinate positioning from the first transmitter and performs absolute coordinate positioning, the control unit determines that the signal for absolute coordinate positioning is repeatedly received from the first transmitter and determines that it is a signal overlap. A fifth step of ignoring coordinate positioning and performing relative coordinate positioning;
A computer program stored in a storage medium to execute the method for positioning a vehicle traveling in the tunnel section of claim 6 .

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