GNSS signal output device and control method thereof

Abstract

We provide a GNSS signal output device. [Solution] The GNSS signal output device may include a reference receiver located within the GNSS shaded area and receiving a reference satellite signal in a 360° range, and a plurality of repeater devices located within the GNSS shaded area and receiving directional satellite signals at reception angles in an angular range of less than 360°, and radiating the received directional satellite signals. The plurality of repeater devices may be spaced apart from each other and have different ranges of reception angles, and the sum of the reception angles of each of the plurality of repeater devices may cover a range of 360°, and each of the plurality of repeater devices may adjust the range of its reception angle based on the reference satellite signal received by the reference receiver.

Description

Technical Field

[0004] , , ,

[0001] Embodiments of the present disclosure relate to a GNSS signal output device and a method for controlling the GNSS signal output device.

Background Art

[0002] In order to recognize the position of an object, GNSS (Global Navigation Satellite System), which uses satellite signals to recognize the position, is widely used. GNSS is a technology for calculating the position information of a receiver based on information received from satellites. Examples of GNSS include GPS (Global Positioning System) of the United States, GLONASS of Russia, Galileo system of the EU (European Union), Beidou of China, Quasi-Zenith Satellite System (QZSS) of Japan, and IRNSS (Indian Regional Navigation Satellite System) of India.

[0003] Since GNSS uses information received from satellites, there is a limit in that it is difficult to grasp the position of the receiver in a GNSS shadow area where there is an obstacle to line-of-sight communication (LOS) with satellites, such as an underground facility. Therefore, when trying to provide position information using GNSS indoors, it is difficult to provide accurate position information. For example, in systems that provide position information inside buildings, underground, or tunnels, such as under elevated roads, bus arrival time notification services, and in-building navigation systems in underground facilities, the quality of useful public services for citizens deteriorates due to the limitations of GNSS. Also, in GNSS shadow areas, users cannot receive GNSS signals and there is the inconvenience of not being able to obtain position information.

Summary of the Invention

Problems to be Solved by the Invention

[0005] According to one aspect of one embodiment of the present disclosure, a GNSS signal output device is provided. The GNSS signal output device may include a reference receiver located within a GNSS shaded area and receiving a reference satellite signal in a 360° range, and a plurality of repeater devices located within the GNSS shaded area and receiving directional satellite signals at receiving angles in an angular range of less than 360° and radiating the received directional satellite signals. The plurality of repeater devices may be spaced apart from each other and have different ranges of receiving angles from each other, and the sum of the receiving angles of each of the plurality of repeater devices may cover a 360° range, and each of the plurality of repeater devices may adjust the range of its receiving angle based on the reference satellite signal received by the reference receiver.

[0006] Furthermore, according to one embodiment of the present disclosure, a specified reception angle range can be set for each of the multiple repeater devices within an angular range of 360°. Each of the multiple repeater devices can adjust its reception angle so that, in the reference satellite signal, the satellite signal within the specified reception angle range of the repeater device matches the directional satellite signal received by the repeater device.

[0007] Furthermore, according to one embodiment of the present disclosure, the plurality of repeater devices are arranged radially with respect to a reference receiver, and each of the plurality of repeater devices may have a receiving angle corresponding to the direction in which the repeater device is arranged relative to the reference receiver.

[0008] Furthermore, according to one embodiment of the present disclosure, the plurality of repeater devices includes four repeater devices, each of which may have a receiving angle of 90°.

[0009] Furthermore, according to one embodiment of the present disclosure, each of a plurality of repeater devices may include a directional antenna that receives satellite signals at a limited receiving angle, and an antenna driver that modifies the receiving angle of the directional antenna. The antenna driver can control the directional antenna to receive satellite signals at a receiving angle set by the repeater device.

[0010] Furthermore, according to one embodiment of the present disclosure, the reference receiver and the multiple repeater devices can be powered via an Ethernet cable using the Power of Ethernet (PoE) method and operated accordingly.

[0011] Furthermore, according to one embodiment of the present disclosure, the reference receiver can correspond to an RTK (Real-Time Kinematic) base station and calculate the error of the received satellite signal. The reference receiver transmits the calculated satellite signal error to each of the multiple repeater devices, and the multiple repeater devices can correct the directional satellite signal based on the received satellite signal error and then radiate the directional satellite signal.

[0012] Furthermore, according to one embodiment of the present disclosure, multiple directional satellite signals radiated from each of multiple repeater devices are received by a client device within a GNSS shaded area, and the client device can reconstruct the multiple directional satellite signals to obtain a satellite signal.

[0013] Furthermore, according to one embodiment of the present disclosure, the GNSS shaded area corresponds to the underside of an elevated road, and the reference receiver and multiple repeater devices may be installed in the structure under the elevated road.

[0014] Furthermore, according to one embodiment of the present disclosure, each of the multiple repeater devices may include a directional output module that radiates a directional satellite signal to a target area within a GNSS shaded area.

[0015] Furthermore, according to one embodiment of the present disclosure, the multiple repeater devices are arranged radially with respect to a reference receiver, and the target region may be a region including the radial center.

[0016] According to one aspect of one embodiment of the present disclosure, a method for controlling a GNSS signal output device is provided. The GNSS signal output device may include a reference receiver located within a GNSS shaded area and a plurality of repeater devices located within the GNSS shaded area. The plurality of repeater devices are spaced apart from each other and have different ranges of receiving angles, and the sum of the receiving angles of each of the plurality of repeater devices can cover a range of 360°. The method for controlling the GNSS signal output device may include the steps of: the reference receiver receiving a reference satellite signal in a range of 360°; each of the plurality of repeater devices receiving a directional satellite signal in a receiving angle range of less than 360°; each of the plurality of repeater devices adjusting the range of the receiving angle based on the reference satellite signal received by the reference receiver; and each of the plurality of repeater devices radiating the received directional satellite signal. [Effects of the Invention]

[0017] According to embodiments of this disclosure, it is possible to provide a GNSS signal output device and a method for controlling the GNSS signal output device that enable a client device to receive a GNSS signal reflecting its own position in a GNSS shadowed area. [Brief explanation of the drawing]

[0018] The present invention can be easily understood by the following detailed description and accompanying drawings, where reference numbers refer to structural components.

[0019] [Figure 1] This figure shows how a GNSS signal output device according to one embodiment of this disclosure is installed. [Figure 2] This figure shows the structure of a GNSS signal output device according to one embodiment of the present disclosure. [Figure 3]It is a flowchart showing a control method of a GNSS signal output device according to an embodiment of the present disclosure. [Figure 4] It is a diagram showing a state in which a reference receiver and a plurality of repeater devices according to an embodiment of the present disclosure are arranged. [Figure 5] It is a diagram showing the structures of a reference receiver and a plurality of repeater devices according to an embodiment of the present disclosure. [Figure 6] It is a diagram showing a reference satellite signal and a directive satellite signal according to an embodiment of the present disclosure. [Figure 7] It is a diagram showing a process of acquiring a satellite signal in a client device according to an embodiment of the present disclosure. [Figure 8] It is a flowchart showing an operation in which a reference receiver according to an embodiment of the present disclosure functions as a RTK (Real-Time Kinematic) base station.

Embodiments for Carrying Out the Invention

[0020] This specification clarifies the scope of rights of the claims of the present disclosure, explains the principles of the embodiments of the present disclosure, and discloses the embodiments so that those having ordinary knowledge in the technical field to which the embodiments of the present disclosure belong can implement the embodiments of the present disclosure. The disclosed embodiments can be implemented in various forms.

[0021] It should be understood that the various embodiments of this specification and the terms used therein are not intended to limit the technical features described in this specification to a specific embodiment, but include various modifications, equivalents, or alternatives of that embodiment.

[0022] Regarding the description of the drawings, the same reference numerals can be used for similar or related components.

[0023] The singular form of the noun corresponding to an item can include one or more of the items unless otherwise clearly indicated in the relevant context.

[0024] Terms such as "first," "second," etc., can be used simply to distinguish one corresponding component from another, and do not limit the corresponding component to other aspects (e.g., importance or order).

[0025] When one (e.g., the first) component is referred to as "joined" or "connected" to another (e.g., the second) component, with or without such terms, it means that the first component may be connected to the other component directly (e.g., by wire), wirelessly, or via the third component.

[0026] Terms such as “includes” or “has” are intended to indicate the presence of features, numbers, steps, actions, components, parts, or combinations thereof described herein, and do not preclude the possibility of the presence or addition of one or more other features or numbers, steps, actions, components, parts, or combinations thereof.

[0027] When one component is “connected,” “joined,” “supported,” or “in contact” with another component, this includes not only cases where the components are directly connected, joined, supported, or in contact, but also cases where they are indirectly connected, joined, supported, or in contact through a third component.

[0028] Throughout this specification, the same reference numerals refer to the same components. This specification does not describe all elements of the embodiments, and general content in the art to which the embodiments of this disclosure belong or content that overlaps between embodiments is omitted. The terms “part” or “portion” as used herein can be embodied in software or hardware, and according to the embodiments, multiple “parts” may be embodied in one element, or one “part” may contain multiple elements. The embodiments of this disclosure and the principles of operation of the embodiments will be described below with reference to the accompanying drawings.

[0029] Figure 1 shows a GNSS signal output device installed according to one embodiment of the present disclosure.

[0030] A GNSS signal output device 100 according to one embodiment of this disclosure outputs GNSS satellite signals in a GNSS shaded area 152. The GNSS shaded area 152 is also referred to as a GNSS closed area. The GNSS shaded area 152 is a space where satellite signals are not transmitted due to obstacles such as concrete and reinforcing bars. The GNSS shaded area 152 can be the underside of an elevated road, a covered road, a covered park, a temporary building, the interior of a building, a tunnel, an underground parking lot, or an underground space. This disclosure mainly describes an embodiment in which the GNSS shaded area 152 is the underside of an elevated road 150. However, the embodiments of this disclosure are not limited to the case where the GNSS shaded area 152 is the underside of an elevated road 150, and the GNSS signal output device 100 according to the embodiment of this disclosure can be placed in various GNSS shaded areas 152.

[0031] The GNSS signal output device 100 includes a reference receiver 110 and a plurality of repeater devices 120a, 120b, 120c, and 120d. The reference receiver 110 and the plurality of repeater devices 120a, 120b, 120c, and 120d can be installed on various structures within the GNSS shaded area 152. For example, the reference receiver 110 and the plurality of repeater devices 120a, 120b, 120c, and 120d can be installed on the ceiling below the elevated road 150 or on the columns of the elevated road 150. The number of the plurality of repeater devices 120a, 120b, 120c, and 120d can be set differently depending on the embodiment.

[0032] The reference receiver 110 receives real-time satellite signals from satellite 140. The reference receiver 110 can receive satellite signals in a reception angle range of 360°. In other words, the reference receiver 110 can receive satellite signals in all directions without limitations on the reception angle. The real-time satellite signals received by the reference receiver 110 in a 360° range are called the reference satellite signals.

[0033] Multiple repeater devices 120a, 120b, 120c, and 120d receive real-time satellite signals within a limited receiving angle range of less than 360°. The satellite signals received by the multiple repeater devices 120a, 120b, 120c, and 120d within this limited receiving angle range are referred to as directional satellite signals. The direction and magnitude of the receiving angle may be set differently depending on the embodiment. According to one embodiment of this disclosure, the magnitudes of the receiving angles of the multiple repeater devices 120a, 120b, 120c, and 120d are all the same, and the directions of the receiving angles may be set differently from each other.

[0034] The receiving angles of multiple repeater devices 120a, 120b, 120c, and 120d can be set so that when the receiving angles of the multiple repeater devices 120a, 120b, 120c, and 120d are added together, they cover 360°. According to one embodiment of the present disclosure, when the receiving angles of the multiple repeater devices 120a, 120b, 120c, and 120d are added together, they can cover 360° while overlapping with each other. Furthermore, according to one embodiment of the present disclosure, when the receiving angles of the multiple repeater devices 120a, 120b, 120c, and 120d are added together, they can overlap with each other while covering 360°.

[0035] Furthermore, according to one embodiment of the present disclosure, the receiving angles of the multiple repeater devices 120a, 120b, 120c, and 120d can be set to correspond to the direction in which the multiple repeater devices 120a, 120b, 120c, and 120d are installed within the GNSS shaded area 152. For example, if the first repeater device 120a is positioned in the direction of the first quadrant with respect to the reference receiver 110, the first repeater device 120a may have a receiving angle corresponding to the first quadrant with respect to the reference receiver 110. In this disclosure, the multiple repeater devices 120a, 120b, 120c, and 120d correspond to four repeater devices 120a, 120b, 120c, and 120d, and each repeater device 120a, 120b, 120c, and 120d will be described in terms of its respective characteristics. However, this is one embodiment of the present disclosure, and the number of repeater devices 120a, 120b, 120c, 120d and the range of the receiving angle can be determined in various ways depending on the embodiment. The range of the receiving angle can be set to, for example, 30°, 60°, 90°, 120°, or 180°. If 12 repeater devices are arranged in one reference receiver 110, the receiving angle can be set to 30°. If 6 repeater devices are arranged in one reference receiver 110, the receiving angle can be set to 60°.

[0036] Each of the multiple repeater devices 120a, 120b, 120c, and 120d can adjust its own receiving angle range based on the reference satellite signal received by the reference receiver 110. Each of the multiple repeater devices 120a, 120b, 120c, and 120d has a preset receiving angle range. For example, the first repeater device 120a may have a receiving angle range corresponding to the first quadrant, the second repeater device 120b may have a receiving angle range corresponding to the second quadrant, the third repeater device 120c may have a receiving angle range corresponding to the third quadrant, and the fourth repeater device 120d may have a receiving angle range corresponding to the fourth quadrant. Each of the multiple repeater devices 120a, 120b, 120c, and 120d can determine, based on the reference satellite signal, whether the receiving angle range of the directional satellite signal it receives corresponds to a preset receiving angle range, and adjust its own receiving angle range.

[0037] Furthermore, each repeater device 120a, 120b, 120c, and 120d outputs the received directional satellite signal. The repeater devices 120a, 120b, 120c, and 120d can radiate the directional satellite signal into the GNSS shaded area 152. According to one embodiment of the present disclosure, the repeater devices 120a, 120b, 120c, and 120d can output the directional satellite signal at a limited radiation angle using a directional output module.

[0038] Directional satellite signals output from repeater devices 120a, 120b, 120c, and 120d can be received by a client device 130 located beneath the elevated road 150. The client device 130 may be an electronic device used by people or vehicles traveling beneath the elevated road 150. The client device 130 may be, for example, a mobile phone, a wearable device, a tablet PC, a laptop PC, or a vehicle electronics device. The client device 130 is an electronic device including a GNSS module that can receive GNSS satellite signals and obtain location information from the satellite signals. According to one embodiment of the present disclosure, the client device 130 can receive directional satellite signals received from a plurality of repeater devices 120a, 120b, 120c, and 120d and obtain location information from the directional satellite signals in an existing GNSS module. According to one embodiment of the present disclosure, the plurality of directional satellite signals have different delay times from each other depending on the actual location of the client device 130. Therefore, the directional satellite signal received by the client device 130 has a delay time that reflects the position of the client device 130 within the GNSS shaded area 152. By reflecting the delay time in the directional satellite signal, the client device 130 can receive a satellite signal that reflects even the change in position within the GNSS shaded area 152, and obtain more accurate position information.

[0039] Figure 2 is a block diagram showing the structure of a GNSS signal output device according to one embodiment of the present disclosure.

[0040] According to one embodiment of the present disclosure, the GNSS signal output device 100 includes a reference receiver 110 and a repeater device 120. In this disclosure, a plurality of repeater devices 120a, 120b, 120c, and 120d are collectively referred to as identification number 120. The GNSS signal output device 110 may include the reference receiver 110 and a plurality of repeater devices 120.

[0041] The reference receiver 110 and the repeater devices 120 may be arranged at a distance from each other. The reference receiver 110 and the repeater devices 120 may be connected via a predetermined wired or wireless network. According to one embodiment of this disclosure, the reference receiver 110 and the repeater devices 120 can communicate using Ethernet or the like. Each repeater device 120 may be connected to the reference receiver 110 via Ethernet or the like. According to one embodiment of this disclosure, the distance between each repeater device 120 and the reference receiver 110 may be set to a distance of approximately 100 m or less. According to one embodiment of this disclosure, each repeater device 120 may be connected to the reference receiver 110 at a distance of up to 40 km using optical communication with optical cables.

[0042] The reference receiver 110 may include an antenna 212, a GNSS receiver 214, a processor 210, and a communication module 216.

[0043] Antenna 212 can receive GNSS signals transmitted from satellites. Antenna 212 can support multiple GNSS bands (e.g., GPS L1 / L2, Galileo E1 / E5, GLONASS L1, etc.). Antenna 212 may include a low-noise amplifier (LNA) to improve signal sensitivity.

[0044] The antenna 212 of the reference receiver 110 is an antenna that receives electromagnetic wave signals in all 360° directions. Antenna 212 can be an omnidirectional antenna. Antenna 212 can provide performance close to isotropic characteristics, capable of radiating or receiving signals in all directions.

[0045] According to one embodiment of the present disclosure, the antenna 212 may be located outside the GNSS shaded area. The antenna 212 may be wired or wirelessly connected to the reference receiver 110 and located in a position free from obstructions to satellite signals.

[0046] The GNSS receiver 214 can convert the analog signal received from the antenna 212 into a digital signal, decode the GNSS signal, and synchronize it. The GNSS receiver 214 can then transmit the decoded GNSS signal to the processor 210.

[0047] The GNSS receiver 214 can downconvert the frequency of the GNSS signal using an RF front-end. Furthermore, the GNSS receiver 214 can optimize the signal-to-noise ratio (SNR) by performing bandpass filtering through the RF front-end. The GNSS receiver 214 can synchronize satellite signals based on PRN (Pseudo Random Noise) codes and track the carrier frequency and phase information of the signals using a signal tracking module. The GNSS receiver 214 can track multiple satellite signals simultaneously. The GNSS receiver 214 can transmit the underlying data for calculating high-precision position data to the processor 210.

[0048] The processor 210 controls the overall operation of the reference receiver 110. The processor 210 can be implemented by one or more processors. The processor 210 can execute instructions or commands stored in memory (not shown) to perform predetermined operations. Furthermore, the processor 210 controls the operation of components provided in the reference receiver 110. The processor 210 may include an MCU (Micro Controller Unit), a CPU (Central Processing Unit), a microprocessor, a GPU (Graphics Processing Unit), or an NPU (Neural Processing Unit).

[0049] The processor 210 can process data transmitted from the GNSS receiver 214 to generate satellite reception angle information for each satellite. The processor 210 can identify the current reception angle corresponding to each satellite and generate satellite reception angle information. According to one embodiment of the present disclosure, the processor 210 can separately generate satellite reception angle information corresponding to the reception angle range set for each of the multiple repeater devices 120. For example, the processor 210 can generate satellite reception angle information for the first quadrant (0-90° phase) corresponding to the first repeater device 120a, satellite reception angle information for the second quadrant (90-180° phase) corresponding to the second repeater device 120b, satellite reception angle information for the third quadrant (180-270° phase) corresponding to the third repeater device 120c, and satellite reception angle information for the fourth quadrant (270-360° phase) corresponding to the fourth repeater device 120d.

[0050] The communication module 216 can communicate with multiple repeater devices 120. The communication module 216 can communicate with multiple repeater devices 120 via wired or wireless means. According to one embodiment of the present disclosure, the communication module 216 can communicate with multiple repeater devices via Ethernet via wired means. Furthermore, according to one embodiment of the present disclosure, the reference receiver 110 can be supplied with Power over Ethernet (PoE) via Ethernet and can operate using PoE as its power source.

[0051] According to one embodiment of the present disclosure, the communication module 216 can communicate with an external device. For example, the communication module 216 can communicate with the main device 240. Furthermore, according to one embodiment of the present disclosure, the communication module 216 can communicate with the master device 250.

[0052] The repeater device 120 may include a processor 230, a directional antenna 232, a GNSS receiver 234, a communication module 236, and a directional output module 238.

[0053] The directional antenna 232 is an antenna that receives satellite signals within a set reception angle range. The directional antenna 232 can provide high gain within the set reception angle range and minimize signal interference in directions outside the reception angle range. The reception angle range can be defined, for example, as 0° to 90°, 90° to 180°, 180° to 270°, or 170° to 360°. The reception angle range can be defined on a reference plane parallel to the horizontal plane. For example, a predetermined reference plane can be divided into four quadrants, and the reception angle range of the first repeater device 120a can be defined as the first quadrant, the reception angle range of the second repeater device 120b as the second quadrant, the reception angle range of the third repeater device 120c as the third quadrant, and the reception angle range of the fourth repeater device 120d as the fourth quadrant.

[0054] The directional antenna 232 can be configured to adjust the receiving angle range. The directional antenna 232 may include a radiator and a reflector for receiving satellite signals. The radiator can absorb electromagnetic waves in the frequency band corresponding to the satellite signal and convert them into electrical signals. The reflector is located behind the radiator and can block unwanted signals input from the rear and concentrate satellite signals input from the front onto the radiator. The directional antenna 232 can adjust the receiving angle range by adjusting the direction of the signal receiving surfaces of the radiator and reflector. The directional antenna 232 may include an antenna drive module that adjusts the receiving angle range by rotating the radiator and reflector around a predetermined central axis.

[0055] According to one embodiment of the present disclosure, the directional antenna 232 may be located outside the GNSS shadowing area. The directional antenna 232 may be connected by wire or wirelessly to the repeater device 120 and may be located in a position free from obstructions to the satellite signal.

[0056] The GNSS receiver 234 can convert the analog signal received from the directional antenna 232 into a digital signal, decode the GNSS signal, and synchronize it. The GNSS receiver 234 can then transmit the decoded GNSS signal to the processor 230.

[0057] The GNSS receiver 234 can downconvert the frequency of the GNSS signal using an RF front-end. Furthermore, the GNSS receiver 234 can optimize the signal-to-noise ratio (SNR) by performing bandpass filtering through the RF front-end. The GNSS receiver 234 can synchronize satellite signals based on the PRN code and track the carrier frequency and phase information of the signals using a signal tracking module. The GNSS receiver 234 can track multiple satellite signals simultaneously. The GNSS receiver 234 can transmit the underlying data for calculating high-precision position data to the processor 230.

[0058] The processor 230 controls the overall operation of the repeater device 120. The processor 230 can be implemented by one or more processors. The processor 230 can execute instructions or commands stored in memory (not shown) to perform predetermined operations. The processor 230 also controls the operation of components provided in the repeater device 120. The processor 230 may include an MCU (Micro Controller Unit), a CPU (Central Processing Unit), a microprocessor, a GPU (Graphics Processing Unit), or an NPU (Neural Processing Unit).

[0059] The processor 230 can process data transmitted from the GNSS receiver 234 to generate satellite reception angle information for each satellite. The processor 230 can identify the current reception angle corresponding to each satellite and generate satellite reception angle information. According to one embodiment of the present disclosure, the processor 230 can determine whether the reception angle range of the directional satellite signal received by the repeater device 120 corresponds to a set reception angle range, based on the reference satellite signal received by the reference receiver 110. The processor 230 can compare the satellite reception angle information of the satellite signal corresponding to the reception angle range set in the reference satellite signal with the satellite reception angle information of the received directional satellite signal to determine whether the current reception angle range of the repeater device 120 is appropriate. Based on the determination of whether the reception angle range is appropriate, the processor 230 can adjust the reception angle range by driving the directional antenna 232.

[0060] The communication module 236 can communicate with the reference receiver 110. The communication module 236 can communicate with the reference receiver 110 via wired or wireless means. According to one embodiment of the present disclosure, the communication module 236 can communicate with the reference receiver 110 via Ethernet via a wired connection. Furthermore, according to one embodiment of the present disclosure, the repeater device 120 can be supplied with PoE via Ethernet and operate using PoE as its power source.

[0061] According to one embodiment of the present disclosure, the communication module 236 can communicate with an external device. For example, the communication module 236 can communicate with the main device 240. Furthermore, according to one embodiment of the present disclosure, the communication module 236 can communicate with the master device 250.

[0062] The directional output module 238 receives satellite signals, amplifies them, and retransmits them. The directional output module 238 amplifies the directional satellite signal received by the directional antenna 232. Furthermore, the directional output module 238 can remove noise and interference signals from the satellite signal. Furthermore, the directional output module 238 outputs the amplified and signal-processed satellite signal. The directional output module 238 can output the directional satellite signal within a set radiation angle range. The set radiation angle range may be an angular range directed toward a target area within the GNSS shaded area. The radiation angle range can be defined by a reference plane relative to the aforementioned receiving angle range. According to one embodiment of the present disclosure, the radiation angle range of each repeater device 120 may be an angular range having a difference of 180° from the receiving angle range. For example, if the receiving angle range of the repeater device 120 is set to 180° to 270°, the radiation angle range may correspond to 0° to 90°.

[0063] The directional output module 238 may include a directional output antenna that outputs directional satellite signals. The directional antenna 232 that receives satellite signals and the directional output antenna of the directional output module 238 may be provided separately.

[0064] The main device 240 can be a network hub, a wired or wireless router, or a router, etc. The main device 240 may include multiple PoE switches. The reference receiver 110 may be connected to one of the multiple PoE switches of the main device 240 and connected to Ethernet via the main device 240. Furthermore, the reference receiver 110 can receive power from the main device 240 via PoE. Furthermore, according to one embodiment of the present disclosure, each repeater device 120 may be connected to one of the multiple PoE switches of the main device 240 and connected to Ethernet via the main device 240. Furthermore, according to one embodiment of the present disclosure, each repeater device 120 can receive power from the main device 240 via PoE.

[0065] Furthermore, the main device 240 can function as a Wi-Fi access point (AP). The main device 240 can communicate with external devices via Wi-Fi. In addition, the main device 240 can relay communication between the reference receiver 110 and multiple repeater devices 120 and external devices that communicate via Wi-Fi.

[0066] The master device 250 can be compatible with devices used by the administrator of the GNSS signal output device 100. The master device 250 can be compatible with, for example, a mobile phone, tablet PC, laptop PC, or desktop PC. The master device 250 can communicate with the reference receiver 110 or at least one of the multiple repeater devices 120 via the main device 240. The master device 250 can communicate with the main device 240 via wired or wireless communication. For example, the master device 250 can communicate with the main device 240 via Wi-Fi, Bluetooth, or Ethernet.

[0067] According to one embodiment of the present disclosure, the master device 250 can monitor the reference receiver 110 or a plurality of repeater devices 120. The master device 250 can monitor the operating status of the reference receiver 110 or the plurality of repeater devices 120, satellite signal reception information, or reception angle range, etc. Furthermore, according to one embodiment of the present disclosure, the master device 250 can control the reference receiver 110 or the repeater devices 120 or set predetermined modes or parameters. According to one embodiment of the present disclosure, the master device 250 can set or change the reception angle range or radiation angle range of the repeater devices 120.

[0068] Figure 3 is a flowchart showing a control method for a GNSS signal output device according to one embodiment of the present disclosure.

[0069] A control method for a GNSS signal output device according to one embodiment of this disclosure can be performed by the GNSS signal output device 100 according to one embodiment of this disclosure. However, the control method for a GNSS signal output device according to one embodiment of this disclosure is not limited to the embodiment performed by the GNSS signal output device 100 according to one embodiment of this disclosure, and can be performed by various systems including a GNSS receiver and a repeater.

[0070] Referring to Figure 3, in step S302, the GNSS signal output device 100 can receive the reference satellite signal. The reference receiver 110 of the GNSS signal output device 100 receives the reference satellite signal from all directions within a 360° range. The reference satellite signal is a real-time satellite signal.

[0071] Furthermore, in step S304, the GNSS signal output device 100 receives directional satellite signals using a plurality of repeater devices 120. The plurality of repeater devices 120 receive satellite signals within a limited range of reception angles. The plurality of repeater devices 120 have different reception angle ranges from each other. Also, the sum of the reception angle ranges of the plurality of repeater devices 120 can cover a range of 360°.

[0072] Steps S302 and S304 can be executed in parallel.

[0073] Next, in step S306, the GNSS signal output device 100 adjusts the receiving angle range of the multiple repeater devices 120 based on the reference satellite signal. Each repeater device 120 has a set receiving angle range. For example, the GNSS signal output device 100 includes four repeater devices 120, and each repeater device 120 may have a receiving angle range corresponding to the first quadrant, second quadrant, third quadrant, and fourth quadrant. The GNSS signal output device 100 can compare the satellite signal corresponding to the receiving angle range of each repeater device 120 in the reference satellite signal with the directional satellite signal received by each repeater device 120, and adjust the receiving angle range of each repeater device 120 according to the comparison result. Each repeater device 120 can adjust its receiving angle range by comparing the received directional satellite signal with the reference satellite signal and controlling the signal reception direction of the directional antenna 232.

[0074] Next, in step S308, the GNSS signal output device 100 emits a directional satellite signal via the repeater device 120. The GNSS signal output device 100 can emit a directional satellite signal to a target area within the GNSS shaded area. Each repeater device 120 can set the radiation angle of its directional output module 238 to emit a directional satellite signal to the target area. Directional satellite signals emitted from multiple repeater devices 120 can be received by a client device 130 within the target area. The client device 130 can acquire positional information using the directional satellite signals received from the multiple repeater devices 120.

[0075] The GNSS signal output device 100 can perform the receiving angle range adjustment operation in step S306 while simultaneously performing the directional satellite signal radiation operation in step S308. Furthermore, the GNSS signal output device 100 can perform the operations in steps S302, S304, S306, and S308 in parallel, and the order of the steps is not limited to that shown in Figure 3.

[0076] Figure 4 shows a configuration in which a reference receiver and a plurality of repeater devices according to one embodiment of the present disclosure are arranged.

[0077] Identification number 410 is a perspective view showing the arrangement of the reference receiver 110 and the multiple repeater devices 120a, 120b, 120c, and 120d. Identification number 420 is a diagram showing the arrangement of the reference receiver 110 and the multiple repeater devices 120a, 120b, 120c, and 120d as seen from the first direction 412, which is from above.

[0078] According to one embodiment of the present disclosure, a reference receiver 110 is centrally located, and a plurality of repeater devices 120a, 120b, 120c, 120d may be arranged around the reference receiver 110. The plurality of repeater devices 120a, 120b, 120c, 120d may be arranged radially around the reference receiver 110. The distance between the reference receiver 110 and the plurality of repeater devices 120a, 120b, 120c, 120d may be set to be equal. The angle between the plurality of repeater devices 120a, 120b, 120c, 120d around the reference receiver 110 may be 90°.

[0079] Each repeater device 120a, 120b, 120c, and 120d may include directional output modules 238a, 238b, 238c, and 238d. Directional output modules 238a, 238b, 238c, and 238d may be configured to output directional satellite signals to a target area 440 within the GNSS shaded area 430.

[0080] In Figure 4, the reference receiver 110 is positioned at the center of the top surface of a rectangular parallelepiped, and the multiple repeater devices 120a, 120b, 120c, and 120d are positioned at the vertices of the top surface of a regular hexahedron, with the distances from the reference receiver 110 to each of the repeater devices 120a, 120b, 120c, and 120d being the same. However, the arrangement of the reference receiver 110 and the multiple repeater devices 120a, 120b, 120c, and 120d may be adjusted depending on the actual implementation. For example, depending on the substructure of the elevated road, the arrangement of the reference receiver 110 and the multiple repeater devices 120a, 120b, 120c, and 120d may differ from the embodiment in Figure 4. The reference receiver 110 and the multiple repeater devices 120a, 120b, 120c, and 120d can be separated from the same plane depending on the structure of the underside of the elevated road, and the distances between the reference receiver 110 and each of the repeater devices 120a, 120b, 120c, and 120d can be adjusted to be substantially the same, rather than being identical.

[0081] According to one embodiment of the present disclosure, each repeater device 120a, 120b, 120c, and 120d is arranged at a distance from each other, so that when the client device 130 receives the directional satellite signal in the target area 440, the delay times of the directional satellite signals output from each repeater device 120a, 120b, 120c, and 120d are different. Therefore, according to one embodiment of the present disclosure, even if the positions of the multiple repeater devices 120a, 120b, 120c, and 120d deviate from the vertices of the rectangular parallelepiped, the accuracy of the position information calculated by the client device 130 can be maintained.

[0082] The target area 440 can correspond to a predetermined area including the ground within the GNSS shaded area. The target area 440 may be an area including the point on which the reference receiver 110 is projected onto the ground. Alternatively, the target area 440 may be an area including the points on which the centers of multiple repeater devices 120 are projected onto the ground.

[0083] Figure 5 shows the structure of a reference receiver and a plurality of repeater devices according to one embodiment of the present disclosure.

[0084] According to one embodiment of the present disclosure, the reference receiver 110 may include a radiator 510, a reflector 512, a support member 514, and a cover 516.

[0085] The radiator 510 can absorb satellite signals and convert them into electrical signals. The reflector 512 can block unwanted signals coming from the back of the radiator. Furthermore, the reflector 512 can concentrate incoming satellite signals onto the radiator 510. The reflector 512 can improve signal reception performance.

[0086] The support member 514 fixes and supports the radiator 510 and the reflector 512. The support member 514 may include a predetermined drive circuit in its internal space. The drive circuit may include a processor 210, a GNSS receiver 214, a communication module 216, and a power module (not shown), etc.

[0087] The cover 516 can cover the reference receiver 110 and protect its components. The cover 516 can, for example, accommodate a Radome. The cover 516 may have the property of transmitting satellite signals.

[0088] The repeater device 120 may include a radiator 520, a reflector 522, an antenna driver 524, a cover 526, and a support member 528.

[0089] The radiator 520 can absorb satellite signals and convert them into electrical signals. The reflector 522 can block unwanted signals coming from the back of the radiator. Furthermore, the reflector 522 can concentrate the incoming satellite signals onto the radiator 520.

[0090] According to one embodiment of the present disclosure, the radiator 520 and reflector 522 may have directivity to receive satellite signals from a specific direction. The radiator 520 and reflector 522 may be positioned to face a specific direction corresponding to a receiving angle range. The radiator 520 can convert satellite signals input from a specific direction with respect to a signal receiving surface into electrical signals. The signal receiving surface can define the receiving direction of the directional antenna 232. The directional antenna 232 can provide high sensitivity and gain centered on the signal receiving surface. The signal receiving surface may be set to correspond to a receiving angle range set in the repeater device 120.

[0091] The antenna driver 524 can support the radiator 520 and the reflector 522. Furthermore, the antenna driver 524 can move the radiator 520 and the reflector 522 to change the signal receiving surface. The antenna driver 524 can move the radiator 520 and the reflector 522 so that they face in a direction corresponding to the receiving angle range. The antenna driver 524 can adjust the signal receiving surface by rotating the radiator 520 and the reflector 522 about a vertical axis.

[0092] According to one embodiment of the present disclosure, the antenna driver 524 may include a two-axis motor. The antenna driver 524 can adjust the signal receiving surfaces of the radiator 520 and the reflector 522 by driving the two-axis motor.

[0093] The support member 528 fixes and supports the antenna driver 524. The support member 528 may include a predetermined drive circuit. The drive circuit may include a processor 230 that controls the repeater device 120, a GNSS receiver 234, a communication module 236, and a power module (not shown), etc.

[0094] The cover 526 can cover the repeater device 120 and protect its components. The cover 526 can, for example, accommodate a radome. The cover 526 may have properties that allow satellite signals to pass through.

[0095] According to one embodiment of the present disclosure, the directional output module 238 of the repeater device 120 can be coupled with the support member 528.

[0096] Figure 6 shows a reference satellite signal and a directional satellite signal according to one embodiment of the present disclosure.

[0097] According to one embodiment of the present disclosure, a reference receiver 110 can receive a reference satellite signal 610. Each repeater device 120 can receive directional satellite signals 620a, 620b, 620c, and 620d corresponding to a set reception angle range. According to one embodiment of the present disclosure, a first repeater device 120a can receive a first directional satellite signal 620a in a reception angle range corresponding to a first quadrant from 0° to 90°. A second repeater device 120b can receive a second directional satellite signal 620b in a reception angle range corresponding to a second quadrant from 90° to 180°. A third repeater device 120c can receive a third directional satellite signal 620c in a reception angle range corresponding to a third quadrant from 180° to 270°. A fourth repeater device 120d can receive a fourth directional satellite signal 620d in a reception angle range corresponding to a fourth quadrant from 270° to 360°.

[0098] Referring to Figure 6, the reference satellite signal 610 can receive satellite signals in a 360° angular range, i.e., in all directions. Each satellite 140 outputs a satellite signal while rotating around the Earth in real time, so the satellite signal output from each satellite 140 is incident on the GNSS signal output device 100 from a direction corresponding to the current position of the satellite 140. For example, the B12 satellite signal in Figure 6 can be received by the reference receiver 110 at a reception angle corresponding to 62 degrees at a given time. The reference receiver 110 can identify the reception angle of the received satellite signal. The reference receiver 110 can generate satellite reception angle information that includes reception angle information for each satellite's satellite signal included in the reference satellite signal.

[0099] According to one embodiment of the present disclosure, each repeater device 120 can compare the reference satellite signal 610 with the directional satellite signals 620a, 620b, 620c, and 620d received by the repeater device 120 while communicating with the reference receiver 110. For example, the first repeater device 120a can compare the first directional satellite signal 620a with satellite reception angle information corresponding to the reception angle range of the first repeater device 120a in the reference satellite signal 610. Based on the comparison result, the first repeater device 120a can adjust its reception angle range. For example, if the reception angle of the B12 satellite signal is 0° to 90° with the reference satellite signal 610, but the reception angle of the B12 satellite signal is 10° to 100° with the first directional satellite signal 620a, the first repeater device 120a can adjust the direction of the signal receiving surface of the directional antenna 232 so that the reception angle of the B12 satellite signal is 0° to 90°.

[0100] According to one embodiment of the present disclosure, the repeater device 120 can compare the reference satellite signal with the directional satellite signals 620a, 620b, 620d, and 620d based on the satellite signals for a plurality of satellites 140 included in the directional satellite signals 620a, 620b, 620c, and 620d. For example, the first repeater device 120a can compare the reception angle in the reference satellite signal 610 with the reception angle of the directional satellite signal 620a for satellites G3, E11, R1, E4, B12, and R24 included in the range of 0° to 90° of the reference satellite signal 610.

[0101] According to one embodiment of the present disclosure, the reference receiver 110 can divide the reference satellite signal 610 into the receiving angle ranges of each repeater device 120 and generate sub-reference satellite signals or sub-satellite receiving angle information for each repeater device 120. For example, the reference receiver 110 can generate a first sub-reference satellite signal in the range of 0° to 90° from the reference satellite signal 610. The first sub-reference satellite signal becomes the reference satellite signal for the first repeater device 120a. Furthermore, the reference receiver 110 can generate a second sub-reference satellite signal in the range of 90° to 180° from the reference satellite signal 610. The second sub-reference satellite signal becomes the reference satellite signal for the second repeater device 120b. Furthermore, the reference receiver 110 can generate a third sub-reference satellite signal in the range of 180° to 270° from the reference satellite signal 610. The third sub-reference satellite signal becomes the reference satellite signal for the third repeater device 120c. Furthermore, the reference receiver 110 can generate a fourth sub-reference satellite signal in the range of 270° to 360° from the reference satellite signal 610. The fourth sub-reference satellite signal becomes the reference satellite signal for the fourth repeater device 120d.

[0102] According to one embodiment of the present disclosure, the reference receiver 110 can transmit a reference satellite signal to each repeater device 120. Furthermore, according to one embodiment of the present disclosure, the reference satellite signal is stored in the memory of the reference receiver 110, and each repeater device 120 can periodically request and receive the reference satellite signal stored in the reference receiver 110.

[0103] The client device 130 can receive directional satellite signals 620a, 620b, 620c, and 620d from multiple repeater devices 120. The client device 130 can acquire positional information from the directional satellite signals 620a, 620b, 620c, and 620d received in real time.

[0104] Figure 7 shows the process of acquiring satellite signals in a client device according to one embodiment of the present disclosure.

[0105] According to one embodiment of the present disclosure, the client device 130 can receive directional satellite signals 620a, 620b, 620c, and 620d to acquire satellite signals in a 360° range.

[0106] The client device 130 receives directional satellite signals 620a, 620b, 620c, and 620d at a predetermined position within the target area 440. At this time, each directional satellite signal 620a, 620b, 620c, and 620d is received by the client device 130 with a delay time that reflects the position of the client device 130. For example, consider the case where the client device 130 is relatively close to the first repeater device 120a and relatively far from the third repeater device 120c. In this case, assume that the first directional satellite signal 620a and the third directional satellite signal 620c are output by the first repeater device 120a and the third repeater device 120c at the same time. At this time, the client device 130 receives the third directional satellite signal 620c later than the client device 130 receives the first directional satellite signal 620a. In other words, a long delay time is added by the third directional satellite signal 620c, and the client device 130 receives the third directional satellite signal 620c. As a result, the client device 130 can obtain accurate positional information within the target area 440 from the directional satellite signals 620a, 620b, 620c, and 620d.

[0107] Referring to Figure 7, the client device 130 can reconstruct the multiple directional satellite signals 620a, 620b, 620c, and 620d in step S702. The client device 130 can reconstruct the directional satellite signal by summing the multiple directional satellite signals 620a, 620b, 620c, and 620d. At this time, the client device 130 can sum the directional satellite signals 620a, 620b, 620c, and 620d received at the same time.

[0108] Next, in step S704, the client device 130 can acquire omnidirectional satellite signals from the reconstructed directional satellite signals 620a, 620b, 620c, and 620d. Since the acquired satellite signals are the same as existing GNSS satellite signals, the client device 130 can receive and process the satellite signals using an existing GNSS module.

[0109] Next, in step S706, the client device 130 can acquire position information from the satellite signal. The client device 130 can acquire position information from the satellite signal using an existing GNSS module and GNSS signal processing algorithm.

[0110] Figure 8 is a flowchart showing the operation of a reference receiver according to one embodiment of this disclosure, which acts as an RTK (Real-Time Kinematic) base station.

[0111] According to one embodiment of the present disclosure, the reference receiver 110 can function as an RTK base station. RTK is a technology that corrects signals received from GNSS satellites in real time to provide highly accurate positional information. RTK can be used primarily in application areas where centimeter-level accuracy is required. According to one embodiment of the present disclosure, the reference receiver 110 can correspond to an RTK base station, and the client device 130 can correspond to an RTK rover station.

[0112] Referring to Figure 8, the reference receiver 110 can calculate the satellite signal error by RTK in step S802. The reference receiver 110 receives the reference satellite signal and analyzes the error of the reference satellite signal. The RTK satellite signal error analysis can compare the actual position information of the reference receiver 110 with the position information calculated from the received reference satellite signal and analyze the error according to the comparison result. Since the reference receiver 110 is installed in a predetermined position and its position is already known, the reference receiver 110 can calculate satellite signal error data by comparing the position information calculated from the reference satellite signal with the actual position information of the reference receiver 110.

[0113] Next, in step S804, the reference receiver 110 can transmit the calculated satellite signal error data to the first repeater device 120a. Also, in step S806, the reference receiver 110 can transmit the calculated satellite signal error data to the second repeater device 120b.

[0114] In step S808, the first repeater device 120a can correct the directional satellite signal received by the first repeater device 120a based on the satellite signal error data received from the reference receiver 110. Similarly, in step S810, the second repeater device 120b can correct the directional satellite signal received by the second repeater device 120b based on the satellite signal error data received from the reference receiver 110. Although Figure 8 shows the operation of only two repeater devices, the reference receiver 110 transmits satellite signal error data to all repeater devices 120 included in the GNSS signal output device 100, and the repeater devices 120 can correct the satellite signal error based on the satellite signal error.

[0115] The first repeater device 120a and the second repeater device 120b can correct satellite signal errors by combining satellite signal error data received from the reference receiver 110 with the directional satellite signal. The satellite signal error data may include satellite orbit correction data, satellite clock correction data, ionospheric and tropospheric correction data, etc. The first repeater device 120a and the second repeater device 120b can correct the directional satellite signal using satellite orbit errors, satellite clock errors, or atmospheric errors included in the satellite signal error data. Furthermore, the first repeater device 120a and the second repeater device 120b can correct the directional satellite signal based on the accurate position and time information of the satellite included in the satellite signal error data. In addition, the first repeater device 120a and the second repeater device 120b can remove signal delays caused by atmospheric refraction from the directional satellite signal using the satellite signal error data.

[0116] The reference receiver 110 can generate satellite signal error data in real time using the real-time reference satellite signal and transmit the satellite signal error data to the first repeater device 120a and the second repeater device 120b. The first repeater device 120a and the second repeater device 120b can correct the real-time directional satellite signal using the real-time satellite signal error data.

[0117] According to one embodiment of the present disclosure, the GNSS signal output system 100 has the effect of improving the accuracy of position information acquired by satellite signals by performing satellite signal correction by RTK.

[0118] Furthermore, according to one embodiment of the present disclosure, the reference receiver 110 can transmit satellite signal error data to the client device 130. The client device 130 can correct the position information calculated using the satellite signal error data.

[0119] On the other hand, the disclosed embodiments may be embodied in the form of a computer-readable recording medium that stores computer-executable instructions and data. The instructions may be stored in the form of program code, which, when executed by a processor, can generate a predetermined program module and perform a predetermined operation. Furthermore, when executed by a processor, the instructions can perform a predetermined operation of the disclosed embodiments.

[0120] A device-readable storage medium may be provided in the form of a non-transitory storage medium. Here, "non-transitory storage medium" simply means a tangible device that does not contain signals (e.g., electromagnetic waves), and this term does not distinguish between cases where data is stored semi-permanently and cases where it is stored temporarily. For example, a "non-transitory storage medium" may include a buffer in which data is temporarily stored.

[0121] According to one embodiment, the methods of the various embodiments disclosed herein may be provided in a computer program product. A computer program product can be traded as a commodity between a seller and a buyer. A computer program product may be distributed in the form of a device-readable storage medium (e.g., compact disc read-only memory (CD-ROM)), or online (e.g., downloaded or uploaded) via an application store or directly between two user devices (e.g., smartphones). In the case of online distribution, at least a portion of the computer program product (e.g., a downloadable app) may be at least temporarily stored or temporarily generated in a device-readable storage medium such as the memory of a manufacturer's server, an application store server, or an intermediary server.

[0122] As described above, embodiments disclosed with reference to the attached drawings have been explained. Those with ordinary skill in the art to which the present invention pertains will understand that the present invention can be carried out in forms different from those disclosed without altering the technical idea or essential features of the invention. The disclosed embodiments are illustrative and should not be construed as restrictive.

Claims

1. In a GNSS signal output device, A reference receiver positioned within the GNSS shadowing area and receiving reference satellite signals in a 360° range, The system includes a plurality of repeater devices positioned within the GNSS shadowing area, which receive directional satellite signals at a receiving angle of less than 360° and radiate the received directional satellite signals. The aforementioned multiple repeater devices are arranged spaced apart from each other and have different receiving angles, and the sum of the receiving angles of each of the multiple repeater devices covers a range of 360°. Each of the plurality of repeater devices is a GNSS signal output device that adjusts the range of the receiving angle based on the reference satellite signal received by the reference receiver.

2. For each of the aforementioned multiple repeater devices, a specified reception angle range is set within a 360° angle range. Each of the aforementioned multiple repeater devices is: The GNSS signal output device according to claim 1, wherein the receiving angle of the repeater device is adjusted so that the satellite signal in the specified receiving angle range of the repeater device matches the directional satellite signal received by the repeater device in the reference satellite signal.

3. The plurality of repeater devices are arranged radially with respect to the reference receiver. The GNSS signal output device according to claim 1, wherein each of the plurality of repeater devices has a receiving angle corresponding to the direction in which the repeater device is positioned relative to the reference receiver.

4. The aforementioned plurality of repeater devices include four repeater devices, The GNSS signal output device according to claim 1, wherein each of the plurality of repeater devices has a receiving angle of 90°.

5. Each of the aforementioned multiple repeater devices is: A directional antenna that receives satellite signals at a limited reception angle, Includes an antenna driver that changes the receiving angle of the directional antenna, The GNSS signal output device according to claim 1, wherein the antenna driver controls the directional antenna to receive the satellite signal at the reception angle set by the repeater device.

6. The GNSS signal output device according to claim 1, wherein the reference receiver and the plurality of repeater devices are powered via an Ethernet cable using the Power of Ethernet (PoE) method.

7. The aforementioned reference receiver corresponds to a Real-Time Kinetic (RTK) base station and calculates the error of the received satellite signal. The reference receiver transmits the calculated error of the satellite signal to each of the plurality of repeater devices. The GNSS signal output device according to claim 1, wherein the plurality of repeater devices correct the directional satellite signal based on the received satellite signal error and then emit the directional satellite signal.

8. Multiple directional satellite signals emitted from each of the multiple repeater devices are received by client devices within the GNSS shadowing area. The GNSS signal output device according to claim 1, wherein the client device reconstructs the plurality of directional satellite signals to obtain a satellite signal.

9. The aforementioned GNSS shaded area corresponds to the underside of the elevated road, The GNSS signal output device according to claim 1, wherein the reference receiver and the plurality of repeater devices are installed in a structure beneath the elevated road.

10. The GNSS signal output device according to claim 1, wherein each of the plurality of repeater devices includes a directional output module that radiates the directional satellite signal to a target area within the GNSS shadowing area.

11. The plurality of repeater devices are arranged radially with respect to the reference receiver. The GNSS signal output device according to claim 10, wherein the target region is a region including the radial center.

12. In a control method for a GNSS signal output device, The GNSS signal output device is, A reference receiver placed within the GNSS shadowing area, This includes a plurality of repeater devices arranged within the GNSS shadowing area, The aforementioned multiple repeater devices are arranged spaced apart from each other and have different receiving angles, and the sum of the receiving angles of each of the multiple repeater devices covers a range of 360°. The control method for the GNSS signal output device is as follows: The steps include: the reference receiver receiving a reference satellite signal within a 360° range; Each of the aforementioned repeater devices receives a directional satellite signal at a receiving angle within an angular range of less than 360°, Each of the plurality of repeater devices adjusts the range of the receiving angle based on the reference satellite signal received by the reference receiver, A method for controlling a GNSS signal output device, comprising the step of each of the plurality of repeater devices emitting the received directional satellite signal.

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