WO2009061058A1 - Map matching method using geomagnetic sensor and navigation system - Google Patents

Map matching method using geomagnetic sensor and navigation system Download PDF

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Publication number
WO2009061058A1
WO2009061058A1 PCT/KR2008/003775 KR2008003775W WO2009061058A1 WO 2009061058 A1 WO2009061058 A1 WO 2009061058A1 KR 2008003775 W KR2008003775 W KR 2008003775W WO 2009061058 A1 WO2009061058 A1 WO 2009061058A1
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WO
WIPO (PCT)
Prior art keywords
map matching
angle
direction angle
location
vehicle
Prior art date
Application number
PCT/KR2008/003775
Other languages
French (fr)
Inventor
Sada Park
Yong Kwan Park
Young Wook Kim
Jang-Youl Shin
Original Assignee
Thinkware Systems Corporation
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Thinkware Systems Corporation filed Critical Thinkware Systems Corporation
Publication of WO2009061058A1 publication Critical patent/WO2009061058A1/en

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/22—Multipath-related issues
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/50—Determining position whereby the position solution is constrained to lie upon a particular curve or surface, e.g. for locomotives on railway tracks

Definitions

  • the present invention relates to a map matching method and a navigation system, and more particularly, to a map matching method using a geomagnetic sensor which may minimize map matching errors occurring due to location errors or angle errors of Global Positioning System (GPS) signals, and a navigation system.
  • GPS Global Positioning System
  • navigation systems may provide information concerning traveling of vehicles using artificial satellites.
  • the navigation system may include a Global Positioning System (GPS) module to receive predetermined data from a GPS satellite orbiting the earth, and compute a vehicle location based on the received data.
  • GPS Global Positioning System
  • the computed vehicle location is map-matched on a previously stored map data to thereby be utilized as basic materials for map data, geographic information, and the like.
  • the navigation system may search traveling paths to a destination designated by a user at a present location of the vehicle, and provide path guide services guiding the vehicle based on the searched traveling path.
  • a conventional navigation system may acquire information about a direction angle of the vehicle and information about a location of the vehicle using GPS signals received from the GPS module.
  • the vehicle location outputted from the GPS module may create errors of several tens of meters
  • the vehicle location may be corrected by forcibly moving onto the nearest road from the vehicle location utilizing a map matching scheme when the computed vehicle location deviates from the corresponding road of map data.
  • GPS signal information may suffer from location errors and angle eiTors in a multi-path section or shadow section where the GPS signals are reflected and inputted due to high buildings densely located in the vicinity of the corresponding roads or oveipasses crossing roads.
  • FIG. 1 illustrates a state of GPS signals on a road link 101 including the multi- path section or the shadow section.
  • a GPS location 103 and a GPS angle 104 deviate from the substantial location and direction of a vehicle when the vehicle is traveling on the road link 101 including the multi-path section or the shadow section.
  • map matching of the vehicle location is performed on the adjacent road link to correct the vehicle location to be on a map matching location 102 of the corresponding road link 101 when the GPS location 103 and the GPS angle 104 are within map matching-deviation range.
  • the map matching of the vehicle location cannot be performed when the GPS location 103 and the GPS angle 104 are outside the map matching-deviation range.
  • An aspect of the present invention provides a map matching method using a geomagnetic sensor which may correct map matching errors created due to angle errors of Global Positioning System (GPS) signals, and a navigation system.
  • GPS Global Positioning System
  • An aspect of the present invention provides a map matching method using a geomagnetic sensor which may determine map matching errors created in a multi-path section including a shadow section to correct angle distortion of the GPS causing the map matching errors, and a navigation system.
  • a map matching method of a navigation system including: performing map matching of a vehicle location on the basis of a direction angle outputted from a Global Positioning System (GPS) module; determining whether map matching errors with respect to the map matching occur using the direction angle; and correcting the performed map matching of the vehicle location on the basis of a direction angle outputted from a geomagnetic sensor when the map matching errors are determined to occur.
  • GPS Global Positioning System
  • a navigation system including: a GPS module to sense a location and direction angle of a vehicle; a geomagnetic sensor to sense the direction angle of the vehicle; and a control unit to perform map matching of a vehicle location on the basis of the location and direction angle of the vehicle sensed by the GPS module, and correct the map matching of the vehicle location on the basis of the direction angle of the vehicle sensed by the geomagnetic sensor when matching errors with respect to the map matching occur.
  • a map matching method and navigation system may perform map matching correction on the basis of the direction angle of the vehicle outputted from the geomagnetic sensor instead of the GPS module when the map matching errors are created due to the distortion of the GPS angle. Accordingly, the map matching method and navigation system according to the present invention may perform map matching of the vehicle location using the direction angle of the geomagnetic sensor instead of the direction angle of the GPS module, thereby correcting the distortion of the GPS angle, and minimizing matching errors due to characteristics of the GPS signals to improve product reliability.
  • FIG. 1 illustrates a state of Global Positioning System (GPS) signals on a road link including a multi-path section or a shadow section;
  • GPS Global Positioning System
  • FIG. 2 illustrates a configuration of a navigation system which corrects angle distortion of a GPS according to an exemplary embodiment of the invention
  • FIG. 3 is a flowchart illustrating a map matching method using a geomagnetic sensor according to an exemplary embodiment of the invention
  • FIG. 4 illustrates a state where map matching is corrected using a geomagnetic sensor upon occurrence of map matching errors due to angle distortion of a GPS.
  • FIG. 2 illustrates a configuration of the navigation system which corrects angle distortion of a Global Positioning System (GPS) according to an exemplary embodiment of the invention.
  • GPS Global Positioning System
  • the present invention relates to the navigation system including a GPS module
  • the GPS module 210 which receives location signals from at least three GPS satellites to calculate a location of the GPS module.
  • the GPS module 210 may desirably provide direction angle information of a vehicle as well as location information depending on movement of the vehicle.
  • the navigation system according to the present exemplary embodiment further includes a geomagnetic sensor 220 that solves map matching errors created upon occurrence of direction angle distortion due to characteristics of the GPS module 210.
  • the geomagnetic sensor 220 provides direction angle information about an advancing direction of the vehicle depending on the movement of the vehicle.
  • signal splitting in which GPS signals are reflected and split when the vehicle is traversing the shadow section or the multi-path section may be generated, and the main cause of the signal splitting is distortion of the direction angle of the GPS signals.
  • the navigation system may minimize map matching errors utilizing direction angle information outputted from the geomagnetic sensor 220 instead of the direction angle information of the GPS module 210 when the map matching errors are created due to the distortion of the direction angle of the GPS signals.
  • the navigation system further includes a path searching unit 230, a storage unit 240, a user interface unit 250, a display unit 260, a voice output unit 270, and a control unit 280.
  • the storage unit 240 stores map data, a map database establishing path guide data and the like relative to the map data, and a path guide-control program for controlling overall operations of the system including a path guide function.
  • the path guide-control program includes a User Interface (UI) control program that controls the UI for path searching and path setting, and a matching correction program that corrects map matching errors by determining the map matching errors with respect to a present location of the user.
  • UI User Interface
  • the path searching unit 230 ascertains the present location of the user using the GPS signals received through the GPS module 210, and searches a traveling path (hereinafter, referred to as 'search path') from the present location to a destination designated by the user using the map data stored in the map database of the storage unit 240 to generate path information.
  • 'search path' a traveling path
  • the control unit 280 performs map matching of the present location of the user on the map data corresponding to the search path using the path guide-control program.
  • control unit 280 ascertains a traveling state, deviation information, and the like on the basis of the present location of the user to provide various path guide information.
  • control unit 280 ascertains occurrence/nonoccurrence of the distortion of the direction angle information outputted from the GPS module 210 while the map matching is performed, recognizes the map matching errors due to the occurrence of the distortion. Then, the control unit 280 automatically performs a map matching correction on the basis of the direction angle outputted from the geomagnetic sensor 220 instead of the GPS module 210 when the map matching errors due to the distortion of the direction angle of the GPS module 210 are recognized.
  • control unit 280 may ascertain an angle of a road link corresponding to a recent location on which the map matching has been performed based on the map data stored in the map database, and compare the angle of the road link with the direction angle outputted from the GPS module 210 to thereby recognize, by software, the matching errors with respect to the distortion of the direction angle of the GPS module 210 or the map matching.
  • the display unit 260 is a display means for displaying various information about overall operations of the system and map information about path guidance, and may use a Liquid Crystal Display (LCD), an Electro Luminescence (EL), and the like.
  • LCD Liquid Crystal Display
  • EL Electro Luminescence
  • the user interface unit 250 is an input means for inputting user commands concerning the navigation system such as inputting a destination utilizing a path guide function by the user, and may include a touch pad integrated with the display unit 260 to thereby provide a user graphic interface means. All menu environments concerning the path guide function of the navigation system are provided on a graphic screen through the display unit 260, and the user commands may be inputted such as touching a specific position of the graphic screen with a stylus pen or fingers.
  • the voice output unit 270 outputs various path guide information concerning the search path using a voice to provide the voice guidance about the search path.
  • the navigation system having the above described configuration performs map matching of the present location of the vehicle based on the location information and the direction angle information outputted from the GPS module 210, and provides a function that automatically corrects the map matching of the present location of the vehicle based on the direction angle information outputted from the geomagnetic sensor 220 when the direction angle of the GPS module 210 is distorted and the matching errors with respect to the map matching is recognized.
  • a control method of the control unit 280 that ascertains the map matching errors of the present location of the vehicle in the navigation system according to the present invention, and automatically corrects the map matching errors will be described in detail with reference to FIG. 3.
  • FIG. 3 is a flowchart illustrating a map matching method using a geomagnetic sensor according to an exemplary embodiment of the invention.
  • the map matching method searches for a path to a destination on the basis of the present location of the user when the destination is designated by the user using the path guide function.
  • the map matching method provides a map corresponding to the search path, and performs map matching of the present location of the vehicle on the map on the basis of the GPS signals outputted from the GPS module 210.
  • the map matching method performs a path guidance while providing a map screen and voice guidance concerning the search path, so that a user can travel along the search path.
  • the map matching method receives an input of the location information and direction angle information of the vehicle outputted from the GPS module 210, and performs the map matching based on the inputted location information and direction angle information so that the vehicle is matched on a predetermined road link.
  • the map matching method in order to recognize the map matching errors due to the distortion of the direction angle of the GPS module 210, the map matching method ascertains an angle of the road link on which the map matching has been recently performed and the direction angle of the GPS module 210. Specifically, the map matching method receives the input of the direction angle information of the vehicle outputted from the GPS module 210 in a predetermined cycle, and determines the angle of the road link corresponding to the recent location on which the map matching of the vehicle location has been performed right before receiving the input of the direction angle information. In this instance, the angle of the road link may read an angle value of the corresponding road link from the map data stored in the map database.
  • the map matching method outputs a difference between the direction angle of the GPS module 210 and the angle of the road link to thereby determine whether the difference is more than a predetermined matching error angle, and determines occurrence/nonoccurrence of the matching error with respect to the map matching.
  • the matching error angle may denote an allowable range where the map matching is enabled to be performed even when the difference between the angle of the road link on which the map matching has been recently performed and the direction angle of the GPS module 210 may be created due to the distortion of the direction angle of the GPS module 210.
  • the matching error with respect to the map matching is determined to be created when the difference therebetween is more than the matching error angle.
  • a present traveling section of the vehicle may be recognized as the multi- path section or the shadow section when the difference therebetween is more than the matching error angle.
  • the map matching of the vehicle location is performed on the basis of the direction angle information outputted from the GPS module 210 when the difference therebetween is within the matching error angle.
  • the map matching method performs map matching of the vehicle location on the road link based on the direction angle information outputted from the geomagnetic sensor 220 instead of the direction angle information of the GPS module 210 when the map matching error with respect to the map matching is determined to be created.
  • a map matching method using the direction angle of the geomagnetic sensor 220 will be herein described in detail.
  • the map matching method receives the direction angle information outputted from the geomagnetic sensor 220, and determines the angle of the road link corresponding to a recent location on which the map matching has been performed right before receiving the direction angle information.
  • the map matching method performs map matching of the vehicle location using the direction angle of the geomagnetic sensor 220 when the difference between the angle of the road link and the direction angle of the geomagnetic sensor 220 is within the matching error angle, that is, when the direction angle of the geomagnetic sensor 220 is determined not to be deviated from the allowable range.
  • the map matching method recognizes that the direction angle of the geomagnetic sensor 220 is deviated from the allowable range when the difference therebetween is more than the matching error angle, and thus finally determined as the matching error with respect to the map matching.
  • the map matching method reads the direction angle of the GPS module 210 in a predetermined cycle while the map matching is performed on the basis of the direction angle of the geomagnetic sensor 220, and compares the direction angle of the GPS module 210 with the angle of the road link corresponding to the recent location on which the map matching has been performed to thereby frequently determine a degree of distortion of the direction angle of the GPS module 210.
  • the map matching method may desirably perform map matching on the basis of the direction angle of the GPS module 210 when the difference between the direction angle of the GPS module 210 and the angle of the road link returns within the matching error angle.
  • FIG. 4 illustrates a state where map matching is corrected using a geomagnetic sensor upon occurrence of map matching errors due to angle distortion of a GPS.
  • the navigation system may acquire vehicle location information 403 (hereinafter, referred to as 'GPS location') and direction angle information 404 (hereinafter, referred to as 'GPS angle') through the GPS module 210, and also acquire vehicle direction angle information 405 (hereinafter, referred to as 'geomagnetic sensor angle') through the geomagnetic sensor 220.
  • vehicle location information 403 hereinafter, referred to as 'GPS location'
  • direction angle information 404 hereinafter, referred to as 'GPS angle'
  • 'geomagnetic sensor angle' vehicle direction angle information
  • Output signals of the GPS module 210 and output signals of the geomagnetic sensor when the vehicle is traversing the shadow section or the multi-path section are illustrated in FIG. 4.
  • FIG. 4 when the signal splitting is created due to characteristics of the GPS signals, a relatively large error is created between the GPS angle 404 and the angle of the road link, and a relatively small error is created between the geomagnetic angle 405 and the angle of the road link while the advancing direction of the vehicle is maintained.
  • an error between the substantial location of the vehicle and the advancing direction of the vehicle may occur since the signal splitting is created due to characteristics of roads or signals. This error therebetween may be overcome by using the above-described map matching scheme.
  • the navigation system performs map matching of the vehicle location on the road link 401 on the basis of the GPS location 403 and the GPS angle 404, and compares the GPS angle 404 with the angle of the road link corresponding to a recent location 402 (referred to as 'map matching location') on which the map matching has been performed, and performs map matching of the vehicle location using the geomagnetic sensor angle 405 instead of the GPS angle 404 when a difference between the angle of the road link corresponding to the map matching location 402 and the GPS angle 404 is more than the predetermined matching eiTor angle.
  • the distortion of the GPS angle 404 may be corrected using the geomagnetic sensor angle 405 even when the map matching errors are created due to distortion of the GPS angle 404.
  • the map matching method according to the above-described exemplary embodiments of the present invention may be recorded in computer-readable media including program instructions to implement various operations embodied by a computer.
  • the media may also include, alone or in combination with the program instructions, data files, data structures, and the like.
  • the media and program instructions may be those specially designed and constructed for the purposes of the present invention, or they may be of the kind well-known and available to those having skill in the computer software arts.
  • Examples of computer-readable media include magnetic media such as hard disks, floppy disks, and magnetic tape; optical media such as CD ROM disks and DVD; magneto-optical media such as optical disks; and hardware devices that are specially configured to store and perform program instructions, such as read-only memory (ROM), random access memory (RAM), flash memory, and the like.
  • Examples of program instructions include both machine code, such as produced by a compiler, and files containing higher level code that may be executed by the computer using an interpreter.
  • the described hardware devices may be configured to act as one or more software modules in order to perform the operations of the above-described exemplary embodiments of the present invention.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Navigation (AREA)

Abstract

Disclosed are a map matching method using a geomagnetic sensor, and a navigation system. The map matching method includes performing map matching of a vehicle location on the basis of a direction angle outputted from a Global Positioning System (GPS) module, determining whether map matching errors with respect to the map matching occur using the direction angle, and correcting the performed map matching of the vehicle location on the basis of a direction angle outputted from a geomagnetic sensor when the map matching errors are determined to occur.

Description

MAP MATCHING METHOD USING GEOMAGNETIC SENSOR AND
NAVIGATION SYSTEM
Technical Field The present invention relates to a map matching method and a navigation system, and more particularly, to a map matching method using a geomagnetic sensor which may minimize map matching errors occurring due to location errors or angle errors of Global Positioning System (GPS) signals, and a navigation system.
Background Art
In general, navigation systems may provide information concerning traveling of vehicles using artificial satellites. The navigation system may include a Global Positioning System (GPS) module to receive predetermined data from a GPS satellite orbiting the earth, and compute a vehicle location based on the received data. In this instance, the computed vehicle location is map-matched on a previously stored map data to thereby be utilized as basic materials for map data, geographic information, and the like. Particularly, the navigation system may search traveling paths to a destination designated by a user at a present location of the vehicle, and provide path guide services guiding the vehicle based on the searched traveling path. In order to provide the vehicle location and vehicle path guidance to the user, a conventional navigation system may acquire information about a direction angle of the vehicle and information about a location of the vehicle using GPS signals received from the GPS module.
However, since the vehicle location outputted from the GPS module may create errors of several tens of meters, the vehicle location may be corrected by forcibly moving onto the nearest road from the vehicle location utilizing a map matching scheme when the computed vehicle location deviates from the corresponding road of map data.
Particularly, GPS signal information may suffer from location errors and angle eiTors in a multi-path section or shadow section where the GPS signals are reflected and inputted due to high buildings densely located in the vicinity of the corresponding roads or oveipasses crossing roads.
FIG. 1 illustrates a state of GPS signals on a road link 101 including the multi- path section or the shadow section.
As illustrated in FIG. 1, a GPS location 103 and a GPS angle 104 deviate from the substantial location and direction of a vehicle when the vehicle is traveling on the road link 101 including the multi-path section or the shadow section. In this instance, map matching of the vehicle location is performed on the adjacent road link to correct the vehicle location to be on a map matching location 102 of the corresponding road link 101 when the GPS location 103 and the GPS angle 104 are within map matching-deviation range. However, the map matching of the vehicle location cannot be performed when the GPS location 103 and the GPS angle 104 are outside the map matching-deviation range.
Due to the above reasons, matching errors of the vehicle such as being matched on other circumjacent roads may occur when traversing the multi-path section or the shadow section, which results in providing incorrect path search and path guidance occurring due to the matching errors of the vehicle to the user. In a conventional navigation system, the main reason the matching errors such as being matched to an incorrect location when the map matching is performed using GPS information may be generated is due to incorrect angle values of GPS information.
However, a method for solving map matching errors such as GPS location error and GPS angle error has not been suggested.
Disclosure of Invention Technical Goals
An aspect of the present invention provides a map matching method using a geomagnetic sensor which may correct map matching errors created due to angle errors of Global Positioning System (GPS) signals, and a navigation system.
An aspect of the present invention provides a map matching method using a geomagnetic sensor which may determine map matching errors created in a multi-path section including a shadow section to correct angle distortion of the GPS causing the map matching errors, and a navigation system.
Technical solutions
According to an aspect of the present invention, there is provided a map matching method of a navigation system, including: performing map matching of a vehicle location on the basis of a direction angle outputted from a Global Positioning System (GPS) module; determining whether map matching errors with respect to the map matching occur using the direction angle; and correcting the performed map matching of the vehicle location on the basis of a direction angle outputted from a geomagnetic sensor when the map matching errors are determined to occur.
According to another aspect of the present invention, there is provided a navigation system, including: a GPS module to sense a location and direction angle of a vehicle; a geomagnetic sensor to sense the direction angle of the vehicle; and a control unit to perform map matching of a vehicle location on the basis of the location and direction angle of the vehicle sensed by the GPS module, and correct the map matching of the vehicle location on the basis of the direction angle of the vehicle sensed by the geomagnetic sensor when matching errors with respect to the map matching occur.
Advantageous Effects
A map matching method and navigation system according to the present invention may perform map matching correction on the basis of the direction angle of the vehicle outputted from the geomagnetic sensor instead of the GPS module when the map matching errors are created due to the distortion of the GPS angle. Accordingly, the map matching method and navigation system according to the present invention may perform map matching of the vehicle location using the direction angle of the geomagnetic sensor instead of the direction angle of the GPS module, thereby correcting the distortion of the GPS angle, and minimizing matching errors due to characteristics of the GPS signals to improve product reliability.
Brief Description of Drawings
FIG. 1 illustrates a state of Global Positioning System (GPS) signals on a road link including a multi-path section or a shadow section;
FIG. 2 illustrates a configuration of a navigation system which corrects angle distortion of a GPS according to an exemplary embodiment of the invention;
FIG. 3 is a flowchart illustrating a map matching method using a geomagnetic sensor according to an exemplary embodiment of the invention; and FIG. 4 illustrates a state where map matching is corrected using a geomagnetic sensor upon occurrence of map matching errors due to angle distortion of a GPS.
Best Mode for Carrying Out the Invention Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the like elements throughout. The embodiments are described below in order to explain the present invention by referring to the figures.
A configuration of a navigation system which provides a map matching method according to an exemplary embodiment of the invention will be herein described in detail.
FIG. 2 illustrates a configuration of the navigation system which corrects angle distortion of a Global Positioning System (GPS) according to an exemplary embodiment of the invention. The present invention relates to the navigation system including a GPS module
210 which receives location signals from at least three GPS satellites to calculate a location of the GPS module. The GPS module 210 may desirably provide direction angle information of a vehicle as well as location information depending on movement of the vehicle. In particular, the navigation system according to the present exemplary embodiment further includes a geomagnetic sensor 220 that solves map matching errors created upon occurrence of direction angle distortion due to characteristics of the GPS module 210.
In this instance, the geomagnetic sensor 220 provides direction angle information about an advancing direction of the vehicle depending on the movement of the vehicle.
In the GPS module 210, signal splitting in which GPS signals are reflected and split when the vehicle is traversing the shadow section or the multi-path section may be generated, and the main cause of the signal splitting is distortion of the direction angle of the GPS signals.
Specifically, the navigation system according to the present invention may minimize map matching errors utilizing direction angle information outputted from the geomagnetic sensor 220 instead of the direction angle information of the GPS module 210 when the map matching errors are created due to the distortion of the direction angle of the GPS signals.
The navigation system according to the present exemplary embodiment of the invention further includes a path searching unit 230, a storage unit 240, a user interface unit 250, a display unit 260, a voice output unit 270, and a control unit 280.
The storage unit 240 stores map data, a map database establishing path guide data and the like relative to the map data, and a path guide-control program for controlling overall operations of the system including a path guide function. The path guide-control program includes a User Interface (UI) control program that controls the UI for path searching and path setting, and a matching correction program that corrects map matching errors by determining the map matching errors with respect to a present location of the user.
The path searching unit 230 ascertains the present location of the user using the GPS signals received through the GPS module 210, and searches a traveling path (hereinafter, referred to as 'search path') from the present location to a destination designated by the user using the map data stored in the map database of the storage unit 240 to generate path information.
The control unit 280 performs map matching of the present location of the user on the map data corresponding to the search path using the path guide-control program.
Also, the control unit 280 ascertains a traveling state, deviation information, and the like on the basis of the present location of the user to provide various path guide information.
In particular, the control unit 280 ascertains occurrence/nonoccurrence of the distortion of the direction angle information outputted from the GPS module 210 while the map matching is performed, recognizes the map matching errors due to the occurrence of the distortion. Then, the control unit 280 automatically performs a map matching correction on the basis of the direction angle outputted from the geomagnetic sensor 220 instead of the GPS module 210 when the map matching errors due to the distortion of the direction angle of the GPS module 210 are recognized. In this instance, the control unit 280 may ascertain an angle of a road link corresponding to a recent location on which the map matching has been performed based on the map data stored in the map database, and compare the angle of the road link with the direction angle outputted from the GPS module 210 to thereby recognize, by software, the matching errors with respect to the distortion of the direction angle of the GPS module 210 or the map matching.
The display unit 260 is a display means for displaying various information about overall operations of the system and map information about path guidance, and may use a Liquid Crystal Display (LCD), an Electro Luminescence (EL), and the like.
The user interface unit 250 is an input means for inputting user commands concerning the navigation system such as inputting a destination utilizing a path guide function by the user, and may include a touch pad integrated with the display unit 260 to thereby provide a user graphic interface means. All menu environments concerning the path guide function of the navigation system are provided on a graphic screen through the display unit 260, and the user commands may be inputted such as touching a specific position of the graphic screen with a stylus pen or fingers.
The voice output unit 270 outputs various path guide information concerning the search path using a voice to provide the voice guidance about the search path.
The navigation system having the above described configuration performs map matching of the present location of the vehicle based on the location information and the direction angle information outputted from the GPS module 210, and provides a function that automatically corrects the map matching of the present location of the vehicle based on the direction angle information outputted from the geomagnetic sensor 220 when the direction angle of the GPS module 210 is distorted and the matching errors with respect to the map matching is recognized.
A control method of the control unit 280 that ascertains the map matching errors of the present location of the vehicle in the navigation system according to the present invention, and automatically corrects the map matching errors will be described in detail with reference to FIG. 3.
FIG. 3 is a flowchart illustrating a map matching method using a geomagnetic sensor according to an exemplary embodiment of the invention.
As illustrated in FIG. 3, in operation S301, the map matching method searches for a path to a destination on the basis of the present location of the user when the destination is designated by the user using the path guide function.
Next, in operation S302, the map matching method provides a map corresponding to the search path, and performs map matching of the present location of the vehicle on the map on the basis of the GPS signals outputted from the GPS module 210. In this instance, the map matching method performs a path guidance while providing a map screen and voice guidance concerning the search path, so that a user can travel along the search path.
Also, in operation S302, the map matching method receives an input of the location information and direction angle information of the vehicle outputted from the GPS module 210, and performs the map matching based on the inputted location information and direction angle information so that the vehicle is matched on a predetermined road link.
According to the present invention, in order to recognize the map matching errors due to the distortion of the direction angle of the GPS module 210, the map matching method ascertains an angle of the road link on which the map matching has been recently performed and the direction angle of the GPS module 210. Specifically, the map matching method receives the input of the direction angle information of the vehicle outputted from the GPS module 210 in a predetermined cycle, and determines the angle of the road link corresponding to the recent location on which the map matching of the vehicle location has been performed right before receiving the input of the direction angle information. In this instance, the angle of the road link may read an angle value of the corresponding road link from the map data stored in the map database.
In operation S303, the map matching method outputs a difference between the direction angle of the GPS module 210 and the angle of the road link to thereby determine whether the difference is more than a predetermined matching error angle, and determines occurrence/nonoccurrence of the matching error with respect to the map matching. Here, the matching error angle may denote an allowable range where the map matching is enabled to be performed even when the difference between the angle of the road link on which the map matching has been recently performed and the direction angle of the GPS module 210 may be created due to the distortion of the direction angle of the GPS module 210. Specifically, the matching error with respect to the map matching is determined to be created when the difference therebetween is more than the matching error angle. Also, a present traveling section of the vehicle may be recognized as the multi- path section or the shadow section when the difference therebetween is more than the matching error angle.
The map matching of the vehicle location is performed on the basis of the direction angle information outputted from the GPS module 210 when the difference therebetween is within the matching error angle.
In operation S304, the map matching method performs map matching of the vehicle location on the road link based on the direction angle information outputted from the geomagnetic sensor 220 instead of the direction angle information of the GPS module 210 when the map matching error with respect to the map matching is determined to be created.
A map matching method using the direction angle of the geomagnetic sensor 220 will be herein described in detail.
The map matching method receives the direction angle information outputted from the geomagnetic sensor 220, and determines the angle of the road link corresponding to a recent location on which the map matching has been performed right before receiving the direction angle information.
Next, the map matching method performs map matching of the vehicle location using the direction angle of the geomagnetic sensor 220 when the difference between the angle of the road link and the direction angle of the geomagnetic sensor 220 is within the matching error angle, that is, when the direction angle of the geomagnetic sensor 220 is determined not to be deviated from the allowable range.
Also, the map matching method recognizes that the direction angle of the geomagnetic sensor 220 is deviated from the allowable range when the difference therebetween is more than the matching error angle, and thus finally determined as the matching error with respect to the map matching.
Also, the map matching method reads the direction angle of the GPS module 210 in a predetermined cycle while the map matching is performed on the basis of the direction angle of the geomagnetic sensor 220, and compares the direction angle of the GPS module 210 with the angle of the road link corresponding to the recent location on which the map matching has been performed to thereby frequently determine a degree of distortion of the direction angle of the GPS module 210. Specifically, the map matching method may desirably perform map matching on the basis of the direction angle of the GPS module 210 when the difference between the direction angle of the GPS module 210 and the angle of the road link returns within the matching error angle. FIG. 4 illustrates a state where map matching is corrected using a geomagnetic sensor upon occurrence of map matching errors due to angle distortion of a GPS.
The navigation system according to the present invention may acquire vehicle location information 403 (hereinafter, referred to as 'GPS location') and direction angle information 404 (hereinafter, referred to as 'GPS angle') through the GPS module 210, and also acquire vehicle direction angle information 405 (hereinafter, referred to as 'geomagnetic sensor angle') through the geomagnetic sensor 220.
Output signals of the GPS module 210 and output signals of the geomagnetic sensor when the vehicle is traversing the shadow section or the multi-path section are illustrated in FIG. 4. As illustrated in FIG. 4, when the signal splitting is created due to characteristics of the GPS signals, a relatively large error is created between the GPS angle 404 and the angle of the road link, and a relatively small error is created between the geomagnetic angle 405 and the angle of the road link while the advancing direction of the vehicle is maintained. According to a conventional navigation system, an error between the substantial location of the vehicle and the advancing direction of the vehicle may occur since the signal splitting is created due to characteristics of roads or signals. This error therebetween may be overcome by using the above-described map matching scheme.
In particular, the navigation system according to the present invention performs map matching of the vehicle location on the road link 401 on the basis of the GPS location 403 and the GPS angle 404, and compares the GPS angle 404 with the angle of the road link corresponding to a recent location 402 (referred to as 'map matching location') on which the map matching has been performed, and performs map matching of the vehicle location using the geomagnetic sensor angle 405 instead of the GPS angle 404 when a difference between the angle of the road link corresponding to the map matching location 402 and the GPS angle 404 is more than the predetermined matching eiTor angle. Thus, according to the present invention, the distortion of the GPS angle 404 may be corrected using the geomagnetic sensor angle 405 even when the map matching errors are created due to distortion of the GPS angle 404.
The map matching method according to the above-described exemplary embodiments of the present invention may be recorded in computer-readable media including program instructions to implement various operations embodied by a computer. The media may also include, alone or in combination with the program instructions, data files, data structures, and the like. The media and program instructions may be those specially designed and constructed for the purposes of the present invention, or they may be of the kind well-known and available to those having skill in the computer software arts. Examples of computer-readable media include magnetic media such as hard disks, floppy disks, and magnetic tape; optical media such as CD ROM disks and DVD; magneto-optical media such as optical disks; and hardware devices that are specially configured to store and perform program instructions, such as read-only memory (ROM), random access memory (RAM), flash memory, and the like. Examples of program instructions include both machine code, such as produced by a compiler, and files containing higher level code that may be executed by the computer using an interpreter. The described hardware devices may be configured to act as one or more software modules in order to perform the operations of the above-described exemplary embodiments of the present invention.
Although a few embodiments of the present invention have been shown and described, the present invention is not limited to the described embodiments. Instead, it would be appreciated by those skilled in the art that changes may be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A map matching method of a navigation system, comprising: performing map matching of a vehicle location on the basis of a direction angle outputted from a Global Positioning System (GPS) module; determining whether map matching errors with respect to the map matching occur using the direction angle; and correcting the performed map matching of the vehicle location on the basis of a direction angle outputted from a geomagnetic sensor when the map matching errors are determined to occur.
2. The map matching method of claim 1 , wherein the performing of the map matching includes: sensing a location and direction angle of the vehicle by the GPS module; and performing map matching of the vehicle location on a predetermined road link based on the sensed location and direction angle.
3. The map matching method of claim 2, wherein the determining includes: determining an angle of the road link corresponding to a recent location on which the map matching of the vehicle location has been performed; sensing the direction angle outputted from the GPS module; and determining that the map matching errors with respect to the map matching occur when a difference between the angle of the road link and the direction angle of the GPS module is more than a predetermined matching error angle.
4. The map matching method of claim 3, wherein a present traveling section of the vehicle is determined as a multi-path section or a shadow section when the difference between the angle of the road link and the direction angle of the GPS module is more than the predetermined matching error angle, the multi-path section or the shadow section corresponding to a section where it is difficult for the GPS module to receive external signals.
5. The map matching method of claim 3, wherein the correcting includes: receiving an input of the direction angle outputted from the geomagnetic sensor instead of the direction angle of the GPS module when the map matching errors are determined to occur; and performing map matching of the vehicle location on the road link on the basis of the direction angle of the geomagnetic sensor.
6. The map matching method of claim 5, wherein the performing of the map matching of the vehicle location on the road link includes: determining the angle of the link corresponding to the recent location on which the map matching of the vehicle location has been performed; determining whether the difference between the angle of the link and the direction angle of the geomagnetic sensor is within the matching error angle; and performing the map matching of the vehicle location on the road link when the difference is within the matching error angle.
7. The map matching method of claim 6, wherein the performing the map matching of the vehicle location on the road link further includes: determining that the matching errors with respect to the map matching occur when the difference between the angle of the road link and the direction angle of the geomagnetic sensor is more than the matching error angle.
8. The map matching method of claim 6, wherein the performing of the map matching of the vehicle location on the road link further includes: receiving an input of the direction angle outputted from the GPS module in a predetermined cycle; determining the angle of the road link corresponding to the recent location on which the map matching of the vehicle location has been performed; and performing the map matching of the vehicle location on the basis of the direction angle of the GPS module instead of the direction angle of the geomagnetic sensor when the difference between the angle of the road link and the direction angle of the GPS module is within the matching error angle.
9. A computer-readable recording medium storing a program for implementing the method of any one of claims 1 to 8.
10. A navigation system, comprising: a GPS module to sense a location and direction angle of a vehicle; a geomagnetic sensor to sense the direction angle of the vehicle; and a control unit to perform map matching of a vehicle location on the basis of the location and direction angle of the vehicle sensed by the GPS module, and correct the map matching of the vehicle location on the basis of the direction angle of the vehicle sensed by the geomagnetic sensor when matching errors with respect to the map matching occur.
11. The navigation system of claim 10, wherein the control unit: performs the map matching of the vehicle location on a predetermined road link on the basis of the location and direction angle of the vehicle sensed by the GPS module, and estimates a difference between an angle of the road link and the direction angle of the GPS module, the angle of the road link corresponding to a recent location on which the map matching of the vehicle location has been performed, to thereby determine that the matching errors with respect to the map matching occur when the difference is more than a predetermined matching error angle.
12. The navigation system of claim 11, wherein the control unit: reads the direction angle sensed by the geomagnetic sensor when the matching errors with respect to the map matching are determined to occur, and estimates a difference between the angle of the road link and the direction angle of the geomagnetic sensor, the angle of the road link corresponding to the recent location on which the map matching of the vehicle location has been performed, to thereby perform the map matching of the vehicle location on the road link on the basis of the direction angle of the geomagnetic sensor when the difference is within the matching error angle.
PCT/KR2008/003775 2007-11-09 2008-06-28 Map matching method using geomagnetic sensor and navigation system WO2009061058A1 (en)

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