KR102142923B1 - coordinate positioning system - Google Patents

Abstract

The present invention relates to a spatial coordinate positioning system, and in detail, the spatial coordinate of the auxiliary point station is determined based on the spatial coordinate of the ground origin station and the distance information between the stations in a space in which a plurality of auxiliary point stations are installed. It relates to a spatial coordinate positioning system capable of measuring the position of a positioning target object in space with high precision by calculating in real time. To this end, in the spatial coordinate positioning system according to the present invention, the location information is already determined and the ground origin station is equipped with a wireless distance measurement function, and the location information is unknown and variable, and a plurality of auxiliary devices are provided with a wireless distance measurement function. A point station, wireless distance information between the ground origin station and the auxiliary point station, and wireless distance information between the auxiliary point stations are received every predetermined time, and based on a plurality of distance information and the location information of the ground origin station, the It includes an auxiliary point position calculation server that calculates the position information of the auxiliary point station every predetermined time.

Description

Spatial coordinate positioning system

The present invention relates to a spatial coordinate positioning system, and in detail, the space of an auxiliary point station based on the spatial coordinates of the ground origin station and distance information between the auxiliary point stations in a space in which a plurality of auxiliary point stations are installed. The present invention relates to a spatial coordinate positioning system capable of accurately measuring a position of a positioning object in space by calculating coordinates at regular intervals.

The satellite navigation system refers to a system that provides a user with a current location and a route to a destination desired by the user using satellites. The Global Navigation Satellite System, which is currently widely used, is the Global Positioning System (GPS) provided by the United States.

As a typical use case of such a satellite navigation system, there is a car navigation system. The vehicle navigation system refers to a system that provides the driver with an optimal route to a destination desired by the user by grasping the current location of the vehicle and guides the driver along the route. In general, such a vehicle navigation system calculates a current position of a vehicle using a Global Positioning System (GPS) sensor and performs route guidance from the current position to a destination.

Meanwhile, recently, an unmanned driving system for driving a vehicle unmanned has been developed. In the unmanned driving system, the measurement accuracy of the vehicle position must be very high within several centimeters in order to prevent the vehicle from leaving the lane, but there is a problem that the position calculation error of the currently used GPS is around several meters.

In addition, there is a limitation in the lifespan and maintenance of the satellites constituting the satellite navigation system, and thus, a complementary method is required.

On the other hand, the applicant's patent application No. 10-2016-0122139 uses a number of ground base stations and assist points installed on the ground to increase the accuracy of location calculation compared to GPS. Thus, a high-precision spatial information measurement support system capable of measuring the position of a positioning object is disclosed.

However, in order to actually implement the high-precision spatial information measurement support system of Patent Application No. 10-2016-0122139, a number of ground origin stations must be installed at regular intervals within a distance that can secure a visible distance from a national reference point that knows the spatial coordinates. There is a problem. That is, if the ground origin stations are installed at regular intervals across the country, it is difficult to implement them because large costs and long-term construction and maintenance are required.

US Patent Publication No. 2008-0242310

The present invention was invented to solve the above problems, and an object of the present invention is to provide a system capable of reducing installation cost and measuring high-precision spatial coordinates for a positioning object without long-term installation work. will be.

To this end, in the spatial coordinate positioning system according to the present invention, the location information is already determined and the ground origin station is equipped with a wireless distance measurement function, and the location information is unknown and variable, and a plurality of auxiliary devices are provided with a wireless distance measurement function. By receiving a point station, wireless distance information between the ground origin station and the auxiliary point station, and wireless distance information between the auxiliary point stations every predetermined time, based on a plurality of distance information and the location information of the ground origin station, the It includes an auxiliary point position calculation server that calculates the position information of the auxiliary point station every predetermined time.

In addition, in the spatial coordinate positioning system according to the present invention, the location information is already determined and the ground origin station is equipped with a wireless distance measurement function, and the location information is unknown and variable, and a plurality of auxiliary points are provided with a wireless distance measurement function. A station, wherein the terrestrial origin station receives wireless distance information between the auxiliary point stations every predetermined time, and receives the location information of the auxiliary point station at a predetermined time based on a plurality of wireless distance information and its own location information. It is characterized by calculating.

In addition, the ground origin station according to the present invention includes a laser module including a light source emitting a laser and a light receiving unit that detects the reflected laser, and absolute distance information from the auxiliary point station based on time information related to the emission and detection of the laser. A distance measurement unit that calculates a distance measurement unit, a wireless communication unit that transmits and receives a radio signal with the auxiliary point station and transmits absolute distance information to the auxiliary point position calculation server, and the absolute distance information calculated by the distance measurement unit by controlling the laser module. And a control unit to be transmitted through the wireless communication unit.

In addition, the auxiliary point station according to the present invention transmits and receives wireless signals to and from other auxiliary point stations, transmits wireless distance information with other auxiliary point stations to the auxiliary point location calculation server, and the position information of the auxiliary point station from the auxiliary point location calculation server. A wireless communication unit that receives a radio signal, a distance measurement unit that calculates wireless distance information from another auxiliary point station based on a radio signal, and broadcast information composed of the location information and time information of the auxiliary point station It includes a control unit to be transmitted through the wireless communication unit.

In addition, the method of calculating the location information of the auxiliary point station according to the present invention is the auxiliary point position calculation device of the spatial coordinate positioning system consisting of a ground origin station that knows spatial coordinates and a plurality of auxiliary point stations that do not know the spatial coordinates. A method of calculating a spatial coordinate of, comprising: receiving absolute distance information between the ground origin station and a specific auxiliary point station; receiving wireless distance information between the plurality of auxiliary point stations; and the absolute distance information and a plurality of And obtaining each equation for the wireless distance information of and generating a system of equations from each of the equations, and calculating spatial coordinates of the plurality of auxiliary point stations by solving the system of equations.

As described above, according to the present invention, in a space where a plurality of auxiliary point stations whose spatial coordinates are unknown, based on the spatial coordinates of one ground origin station and distance information between stations, the spatial coordinates of the auxiliary point stations are determined every predetermined time. It can be calculated, and there is an effect that the position of the positioning object can be measured with high precision.

1 is a schematic configuration diagram of a spatial coordinate positioning system according to the present invention.
2 is a view showing a positioning cell made by a ground origin station and an auxiliary point station according to the present invention.
3 is an internal configuration diagram of a ground origin station and an auxiliary point station according to the present invention.
4 is a flow chart showing a process performed in advance so that the position calculation terminal can measure its own position in the spatial coordinate positioning system according to the present invention.

The terms or words used in the specification and claims should not be interpreted as being limited to ordinary or dictionary meanings, and the inventor can appropriately define the concept of terms in order to best describe his or her invention. Based on the principle of being present, it should be interpreted as meanings and concepts consistent with the technical spirit of the present invention.

Therefore, the embodiments described in the present specification and the configurations shown in the drawings are only the most preferred embodiments of the present invention, and do not represent all the technical spirit of the present invention, and various equivalents that can replace them at the time of the present application It should be understood that there may be variations.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 shows the configuration of a spatial coordinate positioning system according to the present invention.

Referring to FIG. 1, the spatial coordinate positioning system includes a ground origin station 100, an auxiliary point station 110, an auxiliary point position calculation server 120, a position calculation terminal 130, and the like.

Before explaining each configuration of the spatial coordinate positioning system, location information means the spatial coordinates (x, y, z) of each object, distance information means the distance between two objects, and broadcast information means location information and time. It means information that includes information. Spatial coordinates and location information will be used interchangeably.

The global point station 100 is installed on the ground at intervals of several kilometers, and has wireless distance measurement and absolute distance measurement functions. The spatial coordinates of the ground origin station 100 are already known by being defined from the national reference point.

The wireless distance measurement function measures the distance between two objects based on wireless signals such as Wi-Fi and UWB, and calculates wireless distance information (dotted line display), and the absolute distance measurement function uses laser or light to measure the distance between two objects. It refers to the function of measuring the distance and calculating the absolute distance information (solid line display).

The ground origin station 100 may transmit absolute distance information to the auxiliary point location calculation server 120, and may transmit wireless distance information with the adjacent auxiliary point station 110 to the auxiliary point position calculation server 120.

In addition, the ground origin station 100 may collect wireless distance information from a plurality of auxiliary point stations 110 and transmit the collected wireless distance information to the auxiliary point location calculation server 120.

The assistant point station 110 may be installed every hundreds of meters on the ground, and has a wireless distance measurement function. A distance between two adjacent auxiliary point stations 110 may be measured through the wireless distance measurement function of the auxiliary station 110.

The spatial coordinate of the auxiliary point station 110 is not a known value like the ground origin station 100, and in the present invention, the auxiliary point position calculation server 120 calculates the spatial coordinate of the auxiliary point station 110 in real time. I can.

The auxiliary point station 110 receives its own spatial coordinates from the auxiliary point location calculation server 120 at regular intervals and transmits broadcast information composed of spatial coordinates and time information to the surroundings.

The auxiliary point station 110 needs to be installed high to a certain height on the ground in order to minimize the shaded area when transmitting broadcast information. The auxiliary point station 110 may be installed in a transmission tower or a building, and the position of the auxiliary point station 110 may be changed due to vibrations, drafts, or other factors causing flow in the transmission tower or building.

Accordingly, the auxiliary point station 110 receives its own spatial coordinates from the auxiliary point location calculation server 120 at regular intervals, thereby ensuring an accurate position by the spatial coordinates calculated in real time even if their position is changed by an external environment. I can receive it.

The auxiliary point stations 110 may each transmit wireless distance information to the auxiliary point location calculation server 120, but when a plurality of auxiliary point stations 110 are composed of a main auxiliary point station and a sub auxiliary point station, the main auxiliary point The station may collect wireless distance information from the sub auxiliary point station and transmit the collected wireless distance information to the auxiliary point location calculation server 120.

The auxiliary point location calculation server 120 receives distance information from the ground origin station 100 and the auxiliary point station 110, and uses the spatial coordinates and distance information of the ground origin station 100 to each auxiliary point station 100. Calculate the spatial coordinate of The auxiliary point position calculation server 120 provides the spatial coordinates of the auxiliary point station 110 to the auxiliary point station 110 at regular intervals.

The location calculation terminal 130 calculates its own location information by receiving broadcast information transmitted from the ground origin station 100 or the auxiliary point station 110.

The location calculation terminal 130 calculates location information by finding a distance away from the ground origin station 100 or the auxiliary point station 110 and finding a point at which each sphere having the distance as a radius intersects.

The location calculation terminal 130 may be any type of device or device as long as it has a function of transmitting and receiving wireless signals to and from the ground origin station 100 or the auxiliary point station 100 and receiving broadcast information from them. For example, the location calculation terminal 130 may be a portable terminal such as a smartphone, and may be mounted on various objects such as automobiles, ships, and drones.

In FIG. 1, the auxiliary point location calculation server 120 connected to the communication network is independently present to calculate the spatial coordinates of the auxiliary point station 110, but the auxiliary point station does not have a separate auxiliary point location calculation server 120 A function of calculating the location information of 110 may be provided in the ground origin station 100.

When the ground origin station 100 includes a function of calculating the location information of the auxiliary point station 110, the ground origin station 100 collects wireless distance information from the auxiliary point station 110 to obtain a specific auxiliary point with itself. Position information of each auxiliary point station 110 may be calculated based on absolute distance information between stations, wireless distance information collected from each auxiliary point station 110 and its own location information.

Figure 2 shows a positioning cell made by the ground origin station and the auxiliary point station according to the present invention.

Referring to FIG. 2, one ground origin station 100 and five auxiliary point stations 110 are connected in a triangle to form four positioning cells, and a location calculation terminal 130 is present in the cell.

FIG. 2 shows four positioning cells configured by one ground origin station 100, but as the number of auxiliary point stations increases, the number of positioning cells also increases, and the ground origin station 100 exists every several kilometers. If so, other positioning cells are continuously generated by the auxiliary point stations adjacent to the ground origin station 100.

The ground origin station 100 calculates absolute distance information (solid line display) with a specific auxiliary point station 110 through an absolute distance measurement function, and also with the surrounding auxiliary point station 110 through a wireless distance measurement function. Wireless distance information (dotted line display) is calculated.

In addition, the auxiliary point station 110 also calculates wireless distance information (dotted line display) with other auxiliary point stations 110 in the vicinity through a wireless distance measurement function.

The location information of each auxiliary point station 110 may be calculated by using the calculated absolute distance information and a plurality of wireless distance information as well as the known spatial coordinates of the ground origin station 100.

The spatial coordinates of the auxiliary point station 110 can be expressed as (x, y, z), and the height of the auxiliary point station 110, that is, the z value can be known when the auxiliary point station 110 is installed and is easily Since it is a measurable value, the number of unknowns of the spatial coordinates of the auxiliary point station 110 is reduced to two (x, y).

Therefore, in the positioning cell composed of one ground origin station 100 and five auxiliary point stations 110 as shown in FIG. 2, the spatial coordinate unknown number of the auxiliary point station 110 is 2*5=10, and the calculated Since there are a total of 10 distance information by adding 1 absolute distance information and 9 wireless distance information, 10 equations can be derived from 10 distance information.

Then, the 10 unknowns can be solved by solving the system of equations created from the 10 equations, and thus the spatial coordinates (x, y) of each auxiliary point station 110 can be obtained.

When each auxiliary point station 110 transmits broadcast information composed of spatial coordinates and time information, which is its own location information, to the periphery at regular intervals, the location calculation terminal 130 existing in the positioning cell is sent to the surrounding auxiliary point station 110 ), and calculates the current location of itself using the broadcast information.

3 shows the internal configuration of the ground origin station and the auxiliary point station according to the present invention.

Referring to FIG. 3, the ground origin station 100 includes a wireless communication unit 101, a timer 102, a laser module 103, a distance measurement unit 104, a control unit 105, and the like.

The wireless communication unit 101 transmits and receives a wireless signal to and from the surrounding auxiliary point stations 110 and transmits absolute distance information, which is distance information, to the specific auxiliary point station 110 to the auxiliary point position calculation server 120. The wireless communication unit 101 may be configured as a short-range communication module such as Wi-Fi and ultra-wideband communication (UWB).

In addition, the wireless communication unit 101 receives wireless distance information from the auxiliary point station 110 and transmits the wireless distance information to the auxiliary point position calculation server 120, or from the auxiliary point position calculation server 120, the auxiliary point station ( The location information of 110) may be received and the location information may be transmitted to the auxiliary point station 110.

The timer 102 is synchronized with the time information of the auxiliary point station 110 to output a time clock signal. Time information of the timer 102 is information necessary to calculate absolute distance information and wireless distance information.

In FIG. 3, the ground origin station 100 receives time information through the timer 102, but may receive time information from a GPS receiver.

The laser module 103 includes a light source that emits a laser and a light receiving unit that detects the reflected and returned laser. The laser module 103 emits laser light and detects the returned laser light reflected by the peripheral auxiliary point station 110.

The distance measuring unit 104 calculates the absolute laser distance information from the specific auxiliary point station 110 by using time information related to the emission and detection of the laser.

The control unit 105 is a part that controls each component of the ground origin station 100 as a whole.

The control unit 105 according to the present invention receives time information from a synchronized timer 102 or a GPS receiver and controls the driving of the laser module 103, and the absolute laser distance information calculated by the distance measurement unit 104 is wireless It is transmitted to the auxiliary point location calculation server 120 through the communication unit 101.

The auxiliary point station 110 includes a wireless communication unit 111, a timer 112, a distance measuring unit 113, a control unit 114, and the like, similar to the internal configuration of the ground origin station 100.

The wireless communication unit 111 transmits and receives wireless signals from the ground origin station 100 and other auxiliary point stations 110, and transmits wireless distance information with other auxiliary point stations to the auxiliary point location calculation server 120, and The location information of the auxiliary point station is received from the point location calculation server 120.

The wireless communication unit 111 periodically transmits broadcast information composed of location information and time information of the auxiliary point station.

In addition, the wireless communication unit 111 may transmit wireless distance information to the ground origin station 100 or another auxiliary point station 110.

The timer 112 outputs a time clock signal in synchronization with a timer of the ground origin station 100 and other auxiliary point stations 110. The auxiliary point station 110 may use time information generated by a GPS receiver instead of the internal timer 112.

The distance measuring unit 113 calculates wireless distance information with another auxiliary point station based on the radio signal and time information transmitted and received with the ground origin station 100 or other auxiliary point station 110.

The control unit 114 is a part that controls each component of the auxiliary point station 110 as a whole.

The control unit 114 according to the present invention controls the wireless distance information calculated by the distance measurement unit 113 to be periodically transmitted to the auxiliary point location calculation server 120 through the wireless communication unit 110, and the wireless communication unit 111 Broadcast information is generated from the location information of the auxiliary point station 110 received through and time information input through the timer 112 so that the broadcast information is periodically transmitted through the wireless communication unit 111.

4 shows a process performed in advance so that the position calculation terminal 130 can measure its own position in the spatial coordinate positioning system according to the present invention.

4, first, in the distance measurement step (S10), the ground origin station 100 calculates absolute distance information with the specific auxiliary point station 110, and each auxiliary point station 110 is Calculate wireless distance information from the station.

Next, in the distance information transmission step (S20), the ground origin station 100 transmits the absolute distance information to the auxiliary point position calculation server 120, and each auxiliary point station 110 calculates the wireless distance information to the auxiliary point position. It is transmitted to the server 120.

In another embodiment, the ground origin station 100 may collect wireless distance information from the auxiliary point station 110 and transmit the collected wireless distance information to the auxiliary point location calculation server 120.

Next, in the location information receiving step (S30), each auxiliary point station 110 receives its own location information from the auxiliary point position calculation server 120. As another embodiment, each auxiliary point station 110 may receive its own location information from the ground origin station 100.

Finally, in the broadcast information transmission step (S40), each auxiliary point station 110 periodically transmits time information along with its own position information received.

When each auxiliary point station 110 transmits broadcast information composed of location information and time information, the location calculation terminal 130 may receive the broadcast information and measure its own location.

The above-described distance measurement step (S10), distance information transmission step (S20), location information reception step (S30), and broadcast information transmission step (S40) are repeated at regular intervals so that the location information of each auxiliary point station 110 is real-time. Because it is corrected, even if the external environment changes, the location calculation terminal 130 can accurately measure its own location based on the corrected location information.

In the above-described embodiment, the ground origin station has both wireless distance measurement and absolute distance measurement functions, and uses long-distance absolute distance information using laser or light when calculating the location information of the auxiliary point station.

The distance measurement method using laser or light has a very accurate error within several mm, whereas the wireless distance measurement method has a relatively large error, and the error increases as the distance increases. Therefore, by using the absolute distance information of the ground origin station, the error rate can be reduced and the location information of the auxiliary point station can be obtained more accurately.

However, even if it costs a little, if more auxiliary point stations are installed by narrowing the installation interval of the auxiliary point stations, the absolute distance information of the ground origin station may be omitted in the process of calculating the location information of the auxiliary point station.

The above detailed description is to illustrate the present invention. In addition, the above description is only for showing and describing preferred embodiments of the present invention, and the present invention can be used in various other combinations, modifications and environments. That is, it may be changed or modified within the scope of the concept of the invention disclosed in the present specification, the scope equivalent to the disclosed contents, and/or the technology or knowledge of the art.

The above-described embodiments are for explaining the best state in carrying out the present invention, and in order to use other inventions such as the present invention, implementation in other conditions known in the art, and specific application fields and uses of the invention are required. Various changes are also possible. Therefore, the detailed description of the above invention is not intended to limit the present invention to the disclosed embodiments. In addition, the appended claims should be construed as including other embodiments.

100: ground origin station 110: auxiliary point station
120: auxiliary point location calculation server 130: location calculation terminal

Claims (15)

The location information is already determined and a ground origin station equipped with a wireless distance measurement function,
A plurality of auxiliary point stations whose location information is unknown and variable and equipped with a wireless distance measurement function,
The auxiliary point station is based on a plurality of wireless distance information and the location information of the ground origin station by receiving wireless distance information between the ground origin station and the auxiliary point station and wireless distance information between the auxiliary point stations at a predetermined time interval. Spatial coordinate positioning system including an auxiliary point location calculation server that calculates the location information of each predetermined time. The method of claim 1,
The auxiliary point position calculation server calculates the position information of the auxiliary point station by obtaining an equation for each radio distance information for the plurality of radio distance information and solving a system of equations created from the obtained equations. The method of claim 1,
The plurality of auxiliary point stations are composed of a sub auxiliary point station and a main auxiliary point station, and the main auxiliary point station collects wireless distance information between the auxiliary point stations and transmits the information to the auxiliary point location calculation server. Positioning system. The method of claim 1,
The ground origin station further includes an absolute distance measurement function, and transmits absolute distance information between itself and a specific auxiliary point station to the auxiliary point location calculation server. The method of claim 1,
The ground origin station collects wireless distance information from a plurality of auxiliary point stations and transmits the information to the auxiliary point location calculation server. The location information is already determined and a ground origin station equipped with a wireless distance measurement function,
The location information is unknown and variable and includes a plurality of auxiliary point stations equipped with a wireless distance measurement function,
The ground origin station receives radio distance information between the auxiliary point stations at predetermined time intervals, and calculates location information of the auxiliary point stations at predetermined times based on a plurality of radio distance information and its own location information. A spatial coordinate positioning system. The method of claim 6,
The ground origin station calculates the location information of the auxiliary point station by obtaining an equation for each radio distance information for a plurality of radio distance information and solving a system of equations created from the obtained equation. The method of claim 6,
The plurality of auxiliary point stations are composed of a sub auxiliary point station and a main auxiliary point station, and the main auxiliary point station collects wireless distance information between the auxiliary point stations and transmits the information to the ground origin station. . The method of claim 6,
The ground origin station further has an absolute distance measurement function, and obtains an equation for each distance information about the absolute distance information between itself and a specific auxiliary point station and a plurality of wireless distance information, and solves a system of equations created from the obtained equations to the auxiliary point. Spatial coordinate positioning system, characterized in that calculating the location information of the station. A laser module including a light source emitting a laser and a light receiving unit detecting the reflected laser,
A distance measuring unit that calculates absolute distance information from the auxiliary point station based on time information related to laser emission and detection,
A wireless communication unit that transmits and receives a wireless signal with the auxiliary point station and transmits absolute distance information to the auxiliary point position calculation server;
Ground origin station comprising a control unit that controls the laser module and transmits absolute distance information calculated by the distance measurement unit through the wireless communication unit. The method of claim 10,
The wireless communication unit receives the wireless distance information from the auxiliary point station and transmits the received wireless distance information to the auxiliary point location calculation server. The method of claim 10,
Wherein the wireless communication unit receives the location information of the auxiliary point station from the auxiliary point location calculation server and transmits the position information to the auxiliary point station. A wireless communication unit that transmits and receives wireless signals to and from other auxiliary point stations, transmits wireless distance information with other auxiliary point stations to the auxiliary point location calculation server, and receives location information of the auxiliary point station from the auxiliary point location calculation server;
A distance measuring unit that calculates wireless distance information with other auxiliary point stations based on the radio signal;
An auxiliary point station comprising a control unit for generating broadcast information composed of location information and time information of the auxiliary point station to transmit broadcast information through the wireless communication unit. The method of claim 13,
The time information is generated from an internal timer or a GPS receiver. In the method for calculating the spatial coordinates of the auxiliary point station by an auxiliary point position calculation device of a spatial coordinate positioning system composed of a ground origin station that knows spatial coordinates and a plurality of auxiliary point stations that do not know the spatial coordinates,
Receiving absolute distance information between the ground origin station and a specific auxiliary point station,
Receiving wireless distance information between the plurality of auxiliary point stations,
Obtaining each equation using the absolute distance information, a plurality of wireless distance information, and the spatial coordinates of the ground origin station, and generating a system of equations composed of each equation;
And calculating the spatial coordinates of the plurality of auxiliary point stations by solving the system of equations.

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