KR102441080B1 - Positioning device and method using heterogeneous satellite group - Google Patents

Abstract

The present invention relates to a positioning device and a method using a heterogeneous satellite group, and a plurality of satellite groups operated in various satellite navigation systems are ranked according to a predetermined evaluation criterion and ranked in a higher ranking. An object of the present invention is to provide a positioning device and method using a heterogeneous satellite group capable of improving positioning accuracy by combining a plurality of satellite groups and positioning based on a combination having a minimum error.
To this end, the present invention provides a positioning device using a heterogeneous satellite group, comprising: an information receiving unit configured to receive information from a heterogeneous satellite group; a control unit for determining a rank of each satellite group based on the information received by the information receiving unit, combining a plurality of satellite groups ranked in the upper rank, respectively, and selecting a combination having a minimum error; and a positioning unit for positioning based on the combination selected by the control unit.

Description

Positioning device and method using heterogeneous satellite group {APPARATUS AND METHOD FOR POSITIONING USING DIFFERENT TYPE SATELLITE GROUP}

The present invention relates to a positioning device and method using heterogeneous satellite groups, and more particularly, to a technique for improving positioning accuracy by selectively using satellite groups operated in various satellite navigation systems.

Global Navigation Satellite System (GNSS) is a series of systems that use a number of artificial satellites and ground-based receivers to locate targets and provide visual information. It is also used in industrial fields such as surveying, mapping, and construction, and recently, it is usefully used in all fields requiring location information.

Such GNSS consists of satellites, terrestrial control stations, and users. The basic principle of GNSS is that the receiver of the ground control station receives a signal from an artificial satellite located in an orbit at an altitude of about 20,000 km and can find out the location information within 100 m. In addition, if there is navigation information such as the location of the satellite, the satellite clock, the ionosphere model, the satellite orbit variable, and the satellite state, the current user's location can be determined. That is, the distance between the satellite and the receiver can be obtained by measuring the time it takes for a signal transmitted from the satellite to reach the receiver, and the user's current location can be calculated.

Examples of GNSS include Global Positioning System (GPS) in the United States, Global Navigation Satellite System (GLONASS) in Russia, Galileo in Europe, Beidou in China, and Quasi-Zenith Satellite System (QZSS) in Japan. There is this.

The conventional positioning technology did not jointly use each other's satellite groups, but performed positioning using only the self-operated satellite groups. That is, GPS positions using the GPS satellite group, GLONASS positions using the GLONASS satellite group, Galileo positions using the Galileo satellite group, Beidou positions using the Beidou satellite group, QZSS is positioned using the QZSS satellite group.

Considering that the accuracy of positioning technology generally varies depending on the number of satellites, the altitude of the satellites, the arrangement status of satellites, etc., there is a problem in that the accuracy of the positioning results is not high because the conventional positioning technology positions using only a specific satellite group. .

Republic of Korea Patent Publication No. 2017-0094988

In order to solve the problems of the prior art as described above, the present invention determines a ranking according to a predetermined evaluation criterion for a plurality of satellite groups operating in various satellite navigation systems and ranks the highest ranked satellites. An object of the present invention is to provide a positioning device and method using a heterogeneous satellite group capable of improving positioning accuracy by positioning based on a group.

In addition, the present invention determines a ranking according to a predetermined evaluation criterion for a plurality of satellite groups operated in various satellite navigation systems and positioning based on a combination of a plurality of satellite groups ranked in the upper ranking. Another object of the present invention is to provide a positioning device and method using a heterogeneous satellite group capable of improving positioning accuracy.

In addition, the present invention determines the ranking according to a predetermined evaluation criterion for a plurality of satellite groups operated in various satellite navigation systems, and combines the plurality of satellite groups ranked in the upper order, and then the minimum error is obtained. It is another object to provide a positioning device and method using a heterogeneous satellite group capable of improving positioning accuracy by positioning based on a combination.

The objects of the present invention are not limited to the above-mentioned objects, and other objects and advantages of the present invention not mentioned may be understood by the following description, and will be more clearly understood by the examples of the present invention. It will also be readily apparent that the objects and advantages of the present invention may be realized by the means and combinations thereof indicated in the appended claims.

In order to achieve the above object, an apparatus of the present invention provides a positioning apparatus using a heterogeneous satellite group, comprising: an information receiving unit configured to receive information from a heterogeneous satellite group; a control unit for determining a rank of each satellite group based on the information received by the information receiving unit, combining a plurality of satellite groups ranked in the upper rank, respectively, and selecting a combination having a minimum error; and a positioning unit for positioning based on the combination selected by the control unit.

Here, the information may include at least one of latitude information, an identification number, position coordinates, and a carrier to noise ratio of each satellite for each satellite group.

In addition, the control unit may include: a rank determiner for determining the rank of each satellite group based on latitude information of each satellite for each satellite group, the number of satellites capable of receiving information for each satellite group, and arrangement information of each satellite for each satellite group; a satellite group combiner for combining a plurality of satellite groups selected based on the ranking determined by the rank determiner; an error calculator for calculating an error for the combination of each satellite group combined by the satellite group combiner; and a combination selector for selecting a combination having the smallest error of each combination calculated by the error calculator as a satellite group for positioning. In this case, the rank determiner may perform an evaluation according to latitude information of each satellite for each satellite group based on a weight table in which weights corresponding to the satellite's latitude and driving region are recorded. In this case, the weight is given a lower weight as the latitude is lower.

In addition, the apparatus of the present invention may further include a driving area determiner for determining an open land if the average value of a carrier to noise ratio received from each satellite exceeds a reference value, and determining an urban area if it is less than or equal to the reference value.

In addition, the apparatus of the present invention may further include a driving area determiner for determining the open area and the downtown area in conjunction with the navigation device.

The method of the present invention for achieving the above object is a positioning method using a heterogeneous satellite group, comprising: receiving information from the heterogeneous satellite group; determining a rank of each satellite group based on the received information; selecting a combination having a minimum error after combining each of a plurality of satellite groups ranked in a higher order; and positioning based on the selected combination.

Here, the information may include at least one of latitude information, an identification number, position coordinates, and a carrier to noise ratio of each satellite for each satellite group.

In addition, the selecting of the combination may include combining a plurality of satellite groups selected based on the determined order; calculating an error for a combination of each of the combined satellite groups; and selecting a combination having the smallest error of each calculated combination as a satellite group for positioning. In this case, the ranking of each satellite group may be determined based on latitude information of each satellite for each satellite group, the number of satellites capable of receiving information for each satellite group, and arrangement information of each satellite for each satellite group.

In addition, the step of determining the ranking may include the step of performing evaluation according to the latitude information of each satellite for each satellite group based on a weight table in which weights corresponding to the satellite's latitude and driving region are recorded. In this case, the weight may be given a lower weight as the latitude is lower.

In addition, the step of determining the ranking includes: determining an open land if the average value of a carrier to noise ratio received from each satellite exceeds a reference value; And if it is less than the reference value, it may further include the step of determining the downtown area.

Another device of the present invention for achieving the above object is a positioning device using a heterogeneous satellite group, comprising: an information receiving unit for receiving information from a heterogeneous satellite group; a control unit for determining a rank of each satellite group based on the information received by the information receiving unit, and selecting a satellite group with the highest rank; and a positioning unit for positioning based on the satellite group selected by the control unit.

Here, the information may include at least one of latitude information, an identification number, position coordinates, and a carrier to noise ratio of each satellite for each satellite group.

Also, the controller may determine the rank of each satellite group based on latitude information of each satellite for each satellite group, the number of satellites capable of receiving information for each satellite group, and arrangement information of each satellite for each satellite group.

Also, the controller may perform evaluation according to latitude information of each satellite for each satellite group based on a weight table in which weights corresponding to the satellite's latitude and driving region are recorded. In this case, the weight may be given a lower weight as the latitude is lower.

Also, if the average value of the carrier-to-noise ratio received from each satellite exceeds the reference value, the controller may determine the open land, and if the average value exceeds the reference value, the controller may determine the urban area.

According to the present invention as described above, a plurality of satellite groups operated in various satellite navigation systems are ranked according to a predetermined evaluation criterion and positioning is performed based on the highest ranked satellite group. It has the effect of improving the accuracy of

In addition, the present invention determines a ranking according to a predetermined evaluation criterion for a plurality of satellite groups operated in various satellite navigation systems and positioning based on a combination of a plurality of satellite groups ranked in the upper ranking. , it has the effect of improving the accuracy of positioning.

In addition, the present invention determines the ranking according to a predetermined evaluation criterion for a plurality of satellite groups operated in various satellite navigation systems, and combines the plurality of satellite groups ranked in the upper order, and then the minimum error is obtained. By positioning based on the combination of branches, there is an effect of improving the accuracy of positioning.

1 is a configuration diagram of an embodiment of a positioning device using a heterogeneous satellite group according to the present invention;
2 is a detailed configuration diagram of an embodiment of a control unit in a positioning device using a heterogeneous satellite group according to the present invention;
3 is an exemplary view showing the positions of satellites for each satellite group used in the present invention;
4 is a detailed configuration diagram of another embodiment of a control unit in a positioning device using a heterogeneous satellite group according to the present invention;
5 is a flowchart illustrating a positioning method using a heterogeneous satellite group according to the present invention.

Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. In adding reference numerals to the components of each drawing, it should be noted that the same components are given the same reference numerals as much as possible even though they are indicated on different drawings. In addition, in describing the embodiment of the present invention, if it is determined that a detailed description of a related known configuration or function interferes with the understanding of the embodiment of the present invention, the detailed description thereof will be omitted.

In describing the components of the embodiment of the present invention, terms such as first, second, A, B, (a), (b), etc. may be used. These terms are only for distinguishing the elements from other elements, and the essence, order, or order of the elements are not limited by the terms. In addition, unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related art, and should not be interpreted in an ideal or excessively formal meaning unless explicitly defined in the present application. does not

1 is a configuration diagram of an embodiment of a positioning device using a heterogeneous satellite group according to the present invention.

As shown in FIG. 1 , a positioning device using a heterogeneous satellite group according to the present invention includes an information receiving unit 10 , a control unit 20 , and a positioning unit 30 . Depending on the method of carrying out the present invention, each component may be combined with each other and provided as one, and some components may be omitted depending on the method of carrying out the invention.

Looking at each of the above components, first, the information receiving unit 10 may be implemented as, for example, a GNSS receiver, a Global Positioning System (GPS) satellite group in the United States, a GLObal NAvigation Satellite System (GLONASS) satellite group in Russia, and Europe. Latitude information, identification number, location coordinates, and carrier-to-noise ratio ( carrier to noise ratio) and the like. That is, the information receiving unit 10 receives its own latitude information, identification number, location coordinates, carrier-to-noise ratio, and the like from each satellite for each satellite group. That is, the information receiving unit 10 receives latitude information, identification number, location coordinates, carrier-to-noise ratio, and the like of each satellite for each satellite group.

Here, the satellite group means a group of satellites, and is used to distinguish satellites in GPS, satellites in GLONASS, satellites in Beidou, and satellites in QZSS.

Next, the control unit 20 performs overall control so that each of the components can perform their functions normally. The control unit 20 may be implemented in the form of hardware or software, and may exist in a form in which hardware and software are combined. Preferably, the control unit 20 may be provided with a microprocessor, but is not limited thereto.

The control unit 20 determines a ranking according to a predetermined evaluation standard for a plurality of satellite groups operated in various satellite navigation systems and performs positioning based on the highest ranked satellite group, thereby determining the position of the satellite. accuracy can be improved.

In addition, the control unit 20 determines a ranking according to a predetermined evaluation criterion for a plurality of satellite groups operated in various satellite navigation systems, and based on a combination of a plurality of satellite groups ranked in the upper ranking. By positioning, it is also possible to improve the accuracy of positioning.

In addition, the control unit 20 determines a ranking according to a predetermined evaluation criterion for a plurality of satellite groups operated in various satellite navigation systems, combines the plurality of satellite groups ranked in the upper order, and then By positioning based on a combination having a positioning error, the accuracy of positioning may be improved.

Next, the positioning unit 30 is generally not limited to a specific method as a positioning module based on a widely known positioning technology. In this case, when positioning is performed based on a plurality of satellite groups, the positioning unit 30 may perform positioning based on all satellites in the plurality of satellite groups without distinction according to the satellite groups.

Hereinafter, a detailed configuration of the control unit 20 will be described with reference to FIG. 2 .

2 is a detailed configuration diagram of a control unit in a positioning device using a heterogeneous satellite group according to an embodiment of the present invention.

As shown in FIG. 2 , the control unit 20 in the positioning device using a heterogeneous satellite group according to the present invention includes a memory 21 , a driving area determiner 22 , a rank determiner 23 , and a satellite group combiner 24 . , an error calculator 25 , and a combination selector 26 . Depending on the method of carrying out the present invention, each component may be combined with each other and provided as one, and some components may be omitted depending on the method of carrying out the invention.

Looking at each of the above components, first, the memory 21 can store various algorithms (logics) necessary for positioning using a heterogeneous satellite group, and in particular, a weight table that is a criterion for assigning weights according to the driving region of the vehicle. can also be saved. In this case, the weight table is shown in [Table 1] below as an example.

Here, as the latitude decreases, the measurement error component by the tropospheric and ionosphere increases, so a low weight is given. In addition, when the latitude is 20° or less, the weight of the downtown area is lower than the weight of the open area because of the high buildings at low latitudes. It takes into account the multipath effect of the satellites located (the phenomenon that the quality of measurements is further deteriorated).

As can be seen from [Table 1], the weight table has different weights according to the case where the driving area is an open area and a case where the driving area is an urban area, and also has different weights according to the latitude of the satellite. Here, the open land means a suburban area with a low density of buildings, and the downtown area means a downtown area with a high density of buildings.

The memory 21 is a flash memory type, a hard disk type, a solid state disk type (SSD), a silicon disk drive type (SDD), and a multimedia card micro type. type), card type memory (such as SD or XD memory), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable (EEPROM) It may include a storage medium of at least one type of a read-only memory), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, and an optical disk.

Next, the driving area determiner 22 determines whether the area in which the vehicle is traveling is an open area or an urban area. That is, if the average value of the carrier to noise ratio received from each satellite exceeds the reference value, the driving area determiner 22 determines the open land, and if the average value exceeds the reference value, the driving area determiner 22 determines the urban area if the average value exceeds the reference value.

In addition, the driving region determiner 22 may determine the driving region in conjunction with a navigation device provided in the vehicle. In this case, the driving area determiner 22 may determine, for example, that it is an open land in an out-of-town area, and may determine that it is an urban area if it is an urban area.

Next, the rank determiner 23 determines the rank of each satellite group based on the weight table stored in the memory 21 and the driving area determined by the driving area determiner 22 . In this case, the higher the ranking, the more accurate the satellite group.

The rank determiner 23 determines the rank of each satellite group based on latitude information of each satellite for each satellite group, the number of satellites capable of receiving information for each satellite group, and arrangement information of each satellite for each satellite group (the area constituted by each satellite) do.

1) The rank determiner 23 multiplies the total number of satellites included in each latitude range by a weight corresponding to the corresponding latitude range, adds all of the multiplication results, and divides by the total number of satellites. This process is performed for each satellite group, and a high score is given in the order of the satellite group having the highest value. In this case, the highest point may be determined by the number of satellite groups (if there are three satellite groups, the highest point is 3 points), and the lowest point may be determined as 1 point.

2) The rank determiner 23 assigns a high score in the order of the satellite group having the largest number of satellites for each satellite group. In this case, the highest point is also determined by the number of satellite groups (the highest point is 3 points if there are 3 satellite groups), and the lowest point can be set as 1 point.

3) The rank determiner 23 gives a high score in the order of the arrangement state of each satellite for each satellite group, that is, the area formed by each satellite for each satellite group is wide. At this time, the technique of calculating the area is a well-known and tolerated technique, and after showing the position of the satellite using 'Skyplot', that is, almanac (orbital power) data that allows to know the approximate position of the satellite's orbit received from the satellite. The area can be calculated. In this case, the highest point is also determined by the number of satellite groups (the highest point is 3 points if there are 3 satellite groups), and the lowest point can be set as 1 point.

Here, if the total scores are the same in the three cases, 1) the highest priority may be given to the method, and 3) the lowest priority may be given to the method.

Hereinafter, a method in which the rank determiner 23 determines a rank for each satellite group will be described in detail, for example, with reference to FIG. 3 .

3 is an exemplary diagram showing the positions of satellites for each satellite group used in the present invention.

In FIG. 3, in [Satellite Group A], there are no satellites with a latitude of 20° or less, 3 satellites with a latitude exceeding 20° and less than 40° are located, and 3 satellites with a latitude exceeding 40° are located .

In [Satellite Group B], there are no satellites with a latitude of 20° or less, no satellites with a latitude exceeding 20° but less than 40° exist, and 7 satellites with a latitude exceeding 40° are located.

First, it is assumed that the area in which the vehicle is driving is an urban area. In this case, the weights in the downtown are as shown in Table 1 above.

1) Evaluation based on latitude information

[Satellite group A] satisfies "((1.1×3) + (1.5×3))/6 = 1.3" because the number of satellites with a weight of 1.1 is 3 and the number of satellites with a weight of 1.5 is 3 .

[Satellite group B] satisfies "(1.5×7)/7 = 1.5" because the number of satellites having a weight of 1.5 is 7.

Therefore, the highest point of 2 points (total number of satellite groups) is given to [satellite group B], and 1 point, which is the lowest point, is given to [satellite group A]. For reference, if there are 3 satellite groups in total, 3 points, 2 points, and 1 point may be given.

2) Evaluation based on the number of satellites

Since the total number of satellites of [satellite group A] is 6 and the total number of satellites of [satellite group B] is 7, the highest point of 2 points (total number of satellite groups) is given to satellite group B (total number of satellite groups), and The lowest score is given as 1 point.

3) Evaluation based on the area formed by each satellite

Assuming that the area formed by each satellite in [satellite group A] is larger than the area formed by each satellite in [satellite group B], the highest point of 2 points (total number of satellite groups) is given to [satellite group A], [ Satellite group B] is given 1 point, which is the lowest point.

After all, since the total score of [satellite group A] is 4 points and the total score of [satellite group B] is 5 points, the order becomes [satellite group B] and [satellite group A].

Next, the satellite group combiner 24 may select a preset number of satellite groups from among the satellite groups ranked by the rank determiner 23 . In this case, it is preferable to select from a satellite group having a high rank. For example, when three satellite groups are selected when the order of the satellite groups is A, B, C, D, and E, A, B, and C may be selected.

In addition, the satellite group combiner 24 combines each satellite group. For example, if A, B, C is selected for the satellite group, the combination can be four: (A, B), (A, C), (B, C), (A, B, C). have.

Next, the error calculator 25 may calculate an error (H _err,i ) for the combination of each satellite group based on Equation 1 below. For reference, the error calculator 25 is a technique widely used in positioning technology, and any method may be used in the present invention.

[Equation 1]

Here, H is a 4×4 matrix, H ₁₁ is one row and one column of the H matrix, meaning the east error, and H ₂₂ is the second row and second column of the H matrix, meaning the north error. For reference, H ₃₃ means an error in the vertical direction, and H ₄₄ means a clock error.

When [Satellite Group A] has a total of 3 satellites (A1, A2, A3) and [Satellite Group B] has a total of 4 satellites (B1, B2, B3, B4), the H matrix is [ Equation 2].

[Equation 2]

Here, each variable is as shown in [Equation 3] to [Equation 6] below.

[Equation 3]

는 [위성군 A]의 오차 분산값(측정치 잔여오차 분산값)으로 기 설정된 상수값이고,

는 [위성군 B]의 오차 분산값(측정치 잔여오차 분산값)으로 기 설정된 상수값이다.where W is a 7×7 matrix,

is a constant value preset as the error variance value (measured value residual error variance value) of [satellite group A],

is a constant value preset as the error variance value (measured residual error variance value) of [satellite group B].

값을 가지며, [위성군 B]의 위성이 총 4개(B1, B2, B3, B4)이므로 W₄₄, W₅₅, W₆₆, W₇₇은

값을 갖는다. 그 외 나머지 값은 0이다.Also, since there are a total of 3 satellites (A1, A2, A3) of [satellite group A], W ₁₁ , W ₂₂ , W ₃₃ are

value, and since there are a total of 4 satellites (B1, B2, B3, B4) of [satellite group B], W ₄₄ , W ₅₅ , W ₆₆ , W ₇₇ are

have a value All other values are 0.

[Equation 4]

는 ENU 좌표계로 변환된 오차 행렬을 의미한다.here,

denotes an error matrix transformed into the ENU coordinate system.

[Equation 5]

Here, the G matrix is a 7×4 matrix, where row 1 is the formula for A1, row 2 is the formula for A2, row 3 is the formula for A3, row 4 is the formula for B1, and row 5 is The formula for B2, line 6 is the formula for B3, and line 7 is the formula for B4.

Also, "||||" is an expression representing the distance of a vector.

[Equation 6]

Here, φ denotes an initial position as “geodetic latitude”, and λ denotes an initial position as “geodetic longitude”.

Next, the combination selector 26 selects a combination with the smallest error of each combination calculated by the error calculator 25 as a satellite group for positioning.

4 is a detailed configuration diagram of another embodiment of a control unit in a positioning device using a heterogeneous satellite group according to the present invention, and the same reference numerals are assigned to modules performing the same functions as those of FIG. 2 . That is, the memory 21 , the driving area determiner 22 , and the rank determiner 23 are the same as those of FIG. 2 , and thus will not be further described.

The satellite group selector 41 may select one satellite group based on the rank of the satellite group determined by the ranking 23 . In this case, the satellite group selector 41 may select one satellite group according to the intention of the designer, but it is preferable to select the highest ranked satellite group.

In addition, the satellite group selector 41 may select a plurality of satellite groups based on the ranking of the satellite groups determined by the ranking 23 . In this case, the satellite group selector 41 may select a plurality of satellite groups according to the designer's intention, but it is preferable to select the satellite groups in the order of highest ranking.

For reference, the positioning unit 30 does not discriminate the satellites in each satellite group selected by the satellite group selector 41, but positions based on the satellites in each satellite group, and increases the accuracy of positioning because the number of satellites increases. can

5 is a flowchart illustrating a positioning method using a heterogeneous satellite group according to the present invention.

First, the information receiving unit 10 receives information from a heterogeneous satellite group ( 501 ).

Thereafter, the control unit 20 determines the rank of each satellite group based on the received information ( 502 ).

Thereafter, the control unit 20 combines each of the plurality of satellite groups ranked in the upper order, and then selects a combination having a minimum error ( 503 ).

Thereafter, the positioning unit 30 positions based on the combination selected by the control unit 20 ( 504 ).

Through this process, the accuracy of positioning can be improved.

The above description is merely illustrative of the technical spirit of the present invention, and various modifications and variations will be possible without departing from the essential characteristics of the present invention by those skilled in the art to which the present invention pertains.

Therefore, the embodiments disclosed in the present invention are not intended to limit the technical spirit of the present invention, but to explain, and the scope of the technical spirit of the present invention is not limited by these embodiments. The protection scope of the present invention should be construed by the following claims, and all technical ideas within the equivalent range should be construed as being included in the scope of the present invention.

10: information receiving unit
20: control unit
30: positioning part

Claims (20)

an information receiving unit for receiving information from heterogeneous satellite groups;
a control unit for determining a rank of each satellite group based on the information received by the information receiving unit, combining a plurality of satellite groups ranked in the upper rank, respectively, and selecting a combination having a minimum error; and
Positioning unit positioning based on the combination selected by the control unit
A positioning device using a heterogeneous satellite group comprising a.
The method of claim 1,
The information is
A positioning device using a heterogeneous satellite group including at least one of latitude information, identification number, location coordinates, and carrier to noise ratio of each satellite for each satellite group.
The method of claim 1,
The control unit is
a rank determiner for determining a ranking of each satellite group based on latitude information of each satellite for each satellite group, the number of satellites capable of receiving information for each satellite group, and arrangement information of each satellite for each satellite group;
a satellite group combiner for combining a plurality of satellite groups selected based on the ranking determined by the rank determiner;
an error calculator for calculating an error for the combination of each satellite group combined by the satellite group combiner; and
A combination selector for selecting a combination with the smallest error of each combination calculated by the error calculator as a satellite group for positioning
A positioning device using a heterogeneous satellite group comprising a.
4. The method of claim 3,
The rank determiner,
A positioning device using a heterogeneous satellite group, characterized in that the evaluation is performed according to latitude information of each satellite for each satellite group based on a weight table in which weights corresponding to the satellite's latitude and driving region are recorded.
5. The method of claim 4,
The weight is
A positioning device using a heterogeneous satellite group, characterized in that the lower the latitude, the lower the weight.
5. The method of claim 4,
If the average value of the carrier-to-noise ratio received from each satellite exceeds the reference value, it is determined as an open land, and if it is below the reference value, it is determined as an urban area.
Positioning device using a heterogeneous satellite group further comprising a.
5. The method of claim 4,
Driving area determiner that judges open land and downtown area in conjunction with the navigation device
Positioning device using a heterogeneous satellite group further comprising a.
receiving information from heterogeneous satellite groups;
determining a rank of each satellite group based on the received information;
selecting a combination having a minimum error after combining each of a plurality of satellite groups ranked in a higher order; and
positioning based on the selected combination
A positioning method using a heterogeneous satellite group comprising a.
9. The method of claim 8,
The information is
A positioning method using a heterogeneous satellite group including at least one of latitude information, identification number, location coordinates, and carrier to noise ratio of each satellite for each satellite group.
9. The method of claim 8,
The step of selecting the combination is
combining a plurality of satellite groups selected based on the determined ranking;
calculating an error for a combination of each of the combined satellite groups; and
selecting a combination having the smallest error of each calculated combination as a satellite group for positioning
A positioning method using a heterogeneous satellite group comprising a.
9. The method of claim 8,
The step of determining the ranking is
A positioning method using a heterogeneous satellite group, characterized in that the ranking of each satellite group is determined based on latitude information of each satellite for each satellite group, the number of satellites capable of receiving information for each satellite group, and arrangement information of each satellite for each satellite group.
12. The method of claim 11,
The step of determining the ranking is
performing evaluation according to latitude information of each satellite for each satellite group based on a weight table in which weights corresponding to the satellite's latitude and driving region are recorded;
A positioning method using a heterogeneous satellite group comprising a.
13. The method of claim 12,
The weight is
A positioning method using a heterogeneous satellite group, characterized in that the lower the latitude, the lower the weight.
13. The method of claim 12,
determining an open land when an average value of a carrier to noise ratio received from each satellite exceeds a reference value; and
If it is less than the standard value, it is determined that the city is downtown.
Positioning method using a heterogeneous satellite group further comprising a.
an information receiving unit for receiving information from heterogeneous satellite groups;
a control unit for determining a rank of each satellite group based on the information received by the information receiving unit, and selecting a satellite group with the highest rank; and
Positioning unit positioning based on the satellite group selected by the control unit
A positioning device using a heterogeneous satellite group comprising a.
16. The method of claim 15,
The information is
A positioning device using a heterogeneous satellite group including at least one of latitude information, identification number, location coordinates, and carrier to noise ratio of each satellite for each satellite group.
16. The method of claim 15,
The control unit is
A positioning device using a heterogeneous satellite group, characterized in that the ranking of each satellite group is determined based on latitude information of each satellite for each satellite group, the number of satellites capable of receiving information for each satellite group, and arrangement information of each satellite for each satellite group.
18. The method of claim 17,
The control unit is
A positioning device using a heterogeneous satellite group, characterized in that the evaluation is performed according to latitude information of each satellite for each satellite group based on a weight table in which weights corresponding to the satellite's latitude and driving region are recorded.
19. The method of claim 18,
The weight is
A positioning device using a heterogeneous satellite group, characterized in that the lower the latitude, the lower the weight.
19. The method of claim 18,
The control unit is
A positioning device using a heterogeneous satellite group, characterized in that if the average value of the carrier to noise ratio received from each satellite exceeds a reference value, it is determined as an open land, and if it is less than the reference value, it is determined as an urban area.

Images