Electronic device and method for identifying satellite

Abstract

The invention relates to an electronic device and a method for identifying a satellite. The electronic device includes a memory storing computer executable instructions and at least one processor accessing the memory and executing the instructions. The at least one processor, based on receiving a global navigation satellite system (GNSS) signal, filters the received GNSS signal to identify a valid satellite; obtaining a digital map of a predetermined target area around the reference position; identifying candidate satellites from the valid satellites on the basis of coordinates and a digital map obtained by projecting the positions of the valid satellites and the reference positions in a first direction in a 3D space including the positions of the valid satellites and the reference positions; at least one target satellite satisfying a line of sight (LOS) is identified at the reference position based on coordinates obtained by projecting the position of the candidate satellite and the reference position in the second direction and the digital map.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of priority from Korean Patent Application No. 10-2023-0145799 filed in the Korean Intellectual Property Office on October 27, 2023, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present invention relates to an electronic device and a method for identifying a satellite, and more particularly, to a technology for improving position identification performance in a satellite signal shielding phenomenon. Background Art

[0004] Electronic devices can perform various functions in an integrated manner. In particular, portable terminals such as smart phones have been developed to provide users with more convenience while achieving advanced performance. Among the several functions provided by electronic devices, there is a function for identifying the location information of the electronic device and providing the location information to the user.

[0005] Various functions provided by electronic devices require location information. Electronic devices may include positioning devices such as a global positioning system (GPS) to provide location information required for service provision. In this regard, users can obtain location information in a city center with various buildings through electronic devices. However, in the operation of obtaining location information in the city center, the location accuracy may decrease due to the obstruction of satellite signals (e.g., GNSS signals) caused by high-rise buildings, narrow spaces, etc.

[0006] To solve this problem, the problem of satellite signal being blocked can be solved by identifying the shape of surrounding buildings based on three-dimensional light detection and ranging (3D LiDAR), and the problem of satellite signal being blocked can be solved by identifying the shape of surrounding buildings with the help of calibration of SkyView camera. However, the above method has the problem that additional 3D LiDAR sensor and camera sensor are required, and the performance can vary with the performance of the lens.

[0007] In order to solve these problems, it is necessary to develop a technology that can obtain satellite signals by utilizing digital maps. Summary of the invention

[0008] The present invention is dedicated to solving the above-mentioned problems arising in the prior art, while completely retaining the advantages achieved by the prior art.

[0009] One aspect of the present invention provides an electronic device and a method for identifying satellites, which obtain valid satellites by filtering GNSS signals to ensure the validity of satellites used for trilateration of a reference position of a received GNSS signal, thereby minimizing GNSS signal obstruction occurring in a city center by a low-cost GNSS receiver.

[0010] Another aspect of the present invention provides an electronic device and a method for identifying satellites, which obtain candidate satellites based on coordinates and a digital map obtained by projecting the positions of valid satellites and reference positions of received GNSS signals in a first direction to obtain satellites whose GNSS signals are blocked by walls of buildings, thereby re-identifying the GNSS signal blocking phenomenon of the satellites.

[0011] Another aspect of the present invention provides an electronic device and a method for identifying satellites, which obtain satellites that meet the line of sight (LOS) based on coordinates and a digital map obtained by projecting the positions of candidate satellites and a reference position of received GNSS signals in a second direction orthogonal to a first direction, thereby minimizing GNSS signal obstruction that occurs in the city center through a low-cost GNSS receiver and minimizing navigation guidance errors for vehicles traveling in the city center.

[0012] The technical problems solved by the present invention are not limited to the aforementioned problems. According to the following description, those skilled in the art to which the present invention belongs will clearly understand any other technical problems not mentioned herein.

[0013] According to one aspect of the present invention, an electronic device may include a memory storing computer executable instructions and at least one processor accessing the memory and executing the instructions. The instructions may include: based on receiving a global navigation satellite system (GNSS) signal from a plurality of satellites, filtering the received GNSS signal to identify a valid satellite; obtaining a digital map of a predetermined target area around a reference position where the GNSS signal is received; identifying a candidate satellite from the valid satellites based on coordinates obtained by projecting the position and reference position of the valid satellite in a first direction in a three-dimensional (3D) space including the position and reference position of the valid satellite and the digital map; identifying at least one target satellite that meets the line of sight (LOS) at the reference position based on coordinates obtained by projecting the position and reference position of the candidate satellite in a second direction different from the first direction in the 3D space and the digital map.

[0014] In an embodiment, the instructions may include: obtaining a fault signal based on at least one of clock delay, orbit error or noise or any combination thereof of each GNSS signal; obtaining a signal greater than a predetermined signal strength in the GNSS signals other than the fault signal to identify a valid satellite.

[0015] In an embodiment, the instructions may include repeating identifying valid satellites based on a predetermined number of trilateration measurements.

[0016] In an embodiment, the instructions may include obtaining at least one of a road network of the target area, a location of at least one building, a shape of at least one building, a height of at least one building, or terrain information, or any combination thereof, from a digital map.

[0017] In an embodiment, the instructions may include: based on obtaining a digital map of the target area, obtaining from the digital map a first boundary line of at least one building included in the target area associated with a first direction and a second boundary line of at least one building associated with a second direction.

[0018] In an embodiment, the instructions may include: projecting the positions of valid satellites in a first direction to obtain a first satellite coordinate group; projecting a reference position in the first direction to obtain a first reference coordinate; obtaining a satellite corresponding to a first line segment intersecting a first boundary line in a first line segment generated by connecting the first reference coordinate and each coordinate included in the first satellite coordinate group; extracting a satellite corresponding to the first line segment intersecting the first boundary line from the valid satellites, thereby identifying a candidate satellite.

[0019] In an embodiment, the instructions may include: projecting the position of the candidate satellite in a first direction to obtain a candidate satellite group; connecting the first reference coordinate with each coordinate included in the candidate satellite group to generate a candidate line segment; obtaining the distance between each intersection coordinate where the candidate line segment and the first boundary line intersect each other and the first reference coordinate as the candidate distance of each candidate satellite.

[0020] In an embodiment, the instructions may include: selecting any one of the candidate satellites as a temporary satellite for determining a target of LOS; projecting the position of the temporary satellite in the second direction to obtain second satellite coordinates; projecting the reference position in the second direction to obtain second reference coordinates; and obtaining the elevation angle of the temporary satellite based on the second satellite coordinates, the second reference coordinates, and the coordinates corresponding to the foot of perpendicular from the second satellite coordinates to a plane perpendicular to the first direction.

[0021] In an embodiment, the instructions may include: obtaining a first calculated value based on a trigonometric function of a candidate distance and elevation angle of a temporary satellite; identifying at least one intersection coordinate where a second line segment generated by connecting a second reference coordinate and a second satellite coordinate intersects the second boundary line; and obtaining a second calculated value capable of representing the height of a building from a digital map based on a coordinate close to the second reference coordinate in the identified at least one intersection coordinate.

[0022] In an embodiment, the instructions may include identifying the temporary satellite as a target satellite based on the first calculated value and the second calculated value.

[0023] According to another aspect of the present invention, a method for identifying satellites may include: filtering received global navigation satellite system (GNSS) signals based on receiving GNSS signals from multiple satellites to identify valid satellites; obtaining a digital map of a predetermined target area around a reference position where the GNSS signal is received; identifying candidate satellites from valid satellites based on coordinates obtained by projecting the position and reference position of the valid satellite in a first direction in a 3D space including the position and reference position of the valid satellite and the digital map; identifying at least one target satellite that meets a line of sight (LOS) at the reference position based on coordinates obtained by projecting the position and reference position of the candidate satellite in a second direction different from the first direction in the 3D space and the digital map.

[0024] In an embodiment, identifying a valid satellite may include: obtaining a fault signal based on at least one of clock delay, orbit error or noise or any combination thereof of each GNSS signal; and obtaining a signal greater than a predetermined signal strength in the GNSS signals other than the fault signal to identify a valid satellite.

[0025] In an embodiment, identifying a valid satellite may include repeatedly performing identifying a valid satellite based on a predetermined number of trilateration measurements.

[0026] In an embodiment, obtaining a digital map of the target area may include obtaining at least one of a road network of the target area, a location of at least one building, a shape of at least one building, a height of at least one building, or terrain information, or any combination thereof, from the digital map.

[0027] In an embodiment, the method may further include: based on obtaining a digital map of the target area, obtaining from the digital map a first boundary line of at least one building included in the target area associated with the first direction and a second boundary line of at least one building associated with the second direction.

[0028] In an embodiment, the method may further include: projecting the positions of valid satellites in a first direction to obtain a first satellite coordinate group; projecting the reference position in the first direction to obtain a first reference coordinate; obtaining a satellite corresponding to a first line segment intersecting the first boundary line in a first line segment generated by connecting the first reference coordinate and each coordinate included in the first satellite coordinate group; extracting a satellite corresponding to the first line segment intersecting the first boundary line from the valid satellites, thereby identifying a candidate satellite.

[0029] In an embodiment, the method may further include: projecting the position of the candidate satellite in a first direction to obtain a candidate satellite group; connecting the first reference coordinate with each coordinate included in the candidate satellite group to generate a candidate line segment; obtaining the distance between each intersection coordinate where the candidate line segment and the first boundary line intersect each other and the first reference coordinate as the candidate distance of each candidate satellite.

[0030] In an embodiment, the method may further include: selecting any one of the candidate satellites as a temporary satellite for determining the target of LOS; projecting the position of the temporary satellite in the second direction to obtain second satellite coordinates; projecting the reference position in the second direction to obtain second reference coordinates; and obtaining the elevation angle of the temporary satellite based on the second satellite coordinates, the second reference coordinates, and the coordinates corresponding to the foot of a perpendicular from the second satellite coordinates to a plane perpendicular to the first direction.

[0031] In an embodiment, the method may further include: obtaining a first calculated value based on a trigonometric function of a candidate distance and elevation angle of a temporary satellite; identifying at least one intersection coordinate where a second line segment generated by connecting a second reference coordinate and a second satellite coordinate intersects the second boundary line; and obtaining a second calculated value capable of representing the height of a building from a digital map based on a coordinate close to the second reference coordinate in the identified at least one intersection coordinate.

[0032] In an embodiment, the method may further include identifying a temporary satellite as a target satellite based on the first calculated value and the second calculated value. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The above and other objects, features and advantages of the present invention will become more apparent from the following detailed description presented in conjunction with the accompanying drawings, in which:

[0034] Figure 1 is a schematic diagram showing an electronic device according to an embodiment of the present invention;

[0035] Figure 2 is a flowchart for describing a method for identifying a target satellite that meets line of sight (LOS) in an electronic device according to an embodiment of the present invention;

[0036] Figure 3 is a schematic diagram illustrating a global navigation satellite system (GNSS) signal shielding phenomenon in an electronic device according to an embodiment of the present invention;

[0037] Figure 4 is a schematic diagram illustrating a method of obtaining a digital map of a target area in an electronic device according to an embodiment of the present invention;

[0038] Figure 5 is a schematic diagram illustrating a method for identifying a candidate satellite from valid satellites in an electronic device according to an embodiment of the present invention;

[0039] Figure 6 is a schematic diagram illustrating a method for identifying a target satellite from candidate satellites in an electronic device according to an embodiment of the present invention;

[0040] Figure 7 is a schematic diagram showing a detailed method of identifying a target satellite in an electronic device according to an embodiment of the present invention;

[0041] Figure 8 is a flowchart for specifically describing a method for identifying a target satellite that meets LOS in an electronic device according to an embodiment of the present invention;

[0042] Fig. 9 is a schematic diagram showing a computing system related to an electronic device or a method for identifying a satellite according to an embodiment of the present invention.

[0043] Regarding the description of the drawings, the same or similar reference numerals may be used for the same or similar components. DETAILED DESCRIPTION

[0044] Hereinafter, some embodiments of the present invention will be described in detail with reference to the exemplary drawings. When adding reference numerals to the components of each figure, it should be noted that, even if displayed on other figures, the same components are referred to by the same reference numerals. In addition, in order to unnecessarily obscure the gist of the present invention, a detailed description of known features or functions will be excluded. Hereinafter, various embodiments of the present invention may be described with reference to the attached drawings. However, it should be understood that this is not intended to limit the present invention to a specific implementation form, but includes various modifications, equivalents and / or alternatives of the embodiments of the present invention. With regard to the description of the drawings, similar components may be marked with similar reference numerals.

[0045] When describing the components of the exemplary embodiments of the present invention, the terms first, second, A, B, (a), (b), etc. may be used herein. These terms are only used to distinguish one component from another component, without limiting the corresponding components, and have nothing to do with the order or priority of the corresponding components. In addition, unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as the meaning generally understood by the technicians in the field to which the present invention belongs. These terms defined in the commonly used dictionaries should be understood to have the meaning consistent with the contextual meaning in the relevant technical field, and should not be understood to have ideal or overly formalized meanings, unless such a definition is clearly made in this application. For example, the terms used in the present invention, such as, "first", "second", etc., can be used to represent various components, regardless of order and / or priority, and are used to distinguish one component from another component, but do not limit these components. For example, the first user device and the second user device indicate different user devices, regardless of order and / or priority. For example, without departing from the scope of the present invention, the first component can be referred to as the second component, and similarly, the second component can be referred to as the first component.

[0046] In the present invention, the expressions “have”, “may have”, “include” and “comprise”, or “may include” and “may include” indicate the existence of corresponding features (for example, such as numerical values, functions, operations or components of a part), but do not exclude the existence of additional features.

[0047] It should be understood that when a component (e.g., a first component) is referred to as being "(operably or communicatively) coupled to" another component (e.g., a second component) or "coupled / connected to" another component (e.g., the second component), the component may be directly coupled to or directly coupled / connected to the other component, or an intermediate component (e.g., a third component) may exist. Conversely, when a component (e.g., a first component) is referred to as being "directly coupled to" another component (e.g., a second component) or "directly coupled / connected to" another component (e.g., the second component), it should be understood that there is no intermediate component (e.g., a third component).

[0048] As used herein, the expression “configured to” may be used interchangeably with expressions such as “suitable for,” “capable of,” “designed to,” “suitable for,” “manufactured to,” or “capable of,” depending on the circumstances.

[0049] The term "configured to" does not necessarily refer only to "specially designed to" of hardware. On the contrary, the expression "device, which is configured to" may mean that the device is "capable" of running with another device or other components. For example, "a processor, which is configured to perform A, B and C" may refer to a dedicated processor (e.g., an embedded processor) for performing the corresponding operations, or a general-purpose processor (e.g., a central processing unit (CPU) or an application processor) that performs the corresponding operations by executing one or more software programs stored in a storage device. The terms used in the present invention are only used to describe a specific embodiment and are not intended to limit the scope of another embodiment. Unless the context clearly indicates otherwise, a term in the singular form may include a plural form. All terms used herein, including technical terms or scientific terms, may have the same meaning as the meanings generally understood by those skilled in the art described in the present invention. It will be further understood that terms defined and commonly used in dictionaries should also be interpreted as being customary in the relevant art, and should not be interpreted as ideal or overly formalized meanings, unless such definitions are provided in various embodiments of the present invention. In some cases, even if the terms are defined in the specification, they cannot be interpreted as excluding embodiments of the present invention.

[0050] In the present invention, expressions such as "A or B", "at least one of A or / and B", or "one or more of A and / or B", etc. may include any and all combinations of the relevant listed items. For example, the term "A or B", "at least one of A and B", or "at least one of A or B" may represent all of the cases including at least one A (1), the case including at least one B (2), or the case including both at least one A and at least one B (3). In addition, when describing embodiments of the present invention, each of phrases such as "A or B", "at least one of A and B", "at least one of A or B", "A, B or C", "at least one of A, B and C", "at least one of A, B or C", and "at least one of A, B or C, or any combination thereof" may include any or all possible combinations of the items listed together in the corresponding phrase. In particular, phrases such as "at least one of A, B or C, or any combination thereof" may include "A", "B" or "C", or their combinations "AB" or "ABC".

[0051] In the following, reference will be made to Figures 1 to 9 Embodiments of the present invention are described in detail.

[0052] Figure 1 is a schematic diagram illustrating an electronic device according to an embodiment of the present invention.

[0053] The electronic device 100 according to the embodiment may include a processor 110 and a memory 120 including instructions 122 .

[0054] The electronic device 100 may represent a device for identifying a target satellite that meets the line of sight (LOS) based on a digital map. For example, the electronic device 100 may receive a global navigation satellite system (GNSS) signal from a plurality of satellites. The electronic device 100 may filter the received GNSS signal. Specifically, the electronic device 100 may filter the received GNSS signal to identify a valid satellite among the plurality of satellites. The electronic device 100 may use a digital map to identify a candidate satellite among the valid satellites, and may also identify a target satellite among the candidate satellites.

[0055] A digital map may be a database comprising data representing a road between nodes and intersections as a road intersection and representing links between the nodes. Specifically, a link may be divided into a line segment defined by a start node and an end node. These nodes represent a road intersection where at least three links or line segments intersect each other, so that the node may be "real". Alternatively, these nodes may be provided as anchor points for line segments that are not limited by actual nodes at one or both ends, to provide some features of road changes along the road, such as a means for identifying the position of a speed limit change or the shape information of a specific branch of the road, so that the node may be "artificial". Therefore, a digital map may include information about buildings located in the city center based on nodes and links. For example, a digital map may include the boundary line of a building, and may specifically include at least one of the position of a road network, a building, the shape of a building, the height of a building, or terrain information, or any combination thereof.

[0056] LOS can be described as a path in which no external objects (e.g., buildings) exist in the data transmission path between the electronic device 100 and the external electronic device (e.g., a satellite for transmitting GNSS signals). For example, LOS can be defined as a path in which the electronic device 100 and the external electronic device can be connected to each other through a virtual straight line. In contrast, non-line of sight (NLOS) can be a path in which the electronic device 100 and the external electronic device cannot be connected to each other through a virtual straight line, that is, it can be defined as a path in which the electronic device 100 and the external electronic device can be connected to each other through multiple virtual paths. Therefore, for the convenience of description in the specification, an external electronic device that satisfies LOS can be described as an electronic device that can transmit data to the LOS path with the electronic device 100. For example, a target satellite that satisfies LOS can represent a satellite that can transmit data (i.e., transmission of GNSS signals) to the LOS path with the electronic device 100.

[0057] GNSS may be used as a generic term for navigation satellite systems, although they include regional and augmentation systems (ie, not truly "global" systems). For example, GNSS signals may include IS-GPS 800D (September 24, 2013) responsible for describing the mobile wireless signals of the World Navigation Satellite System responsible for Global Positioning System Engineering and Integration - Interface Specification IS-GPS200H (e.g., Sept GPS L1 C / A, L2C and P channels / codes) and GPS L1C channel / code (IS-GPS 800), the signals of the European GNSS (Galileo) Open Service Space Interface Control File (e.g., Galileo OS-SIS-ICD), the signals of the Beidou Navigation Satellite System Space Interface Control File (e.g., Beidou ICD), and the ICD signals in the Quasi-Zenith Satellite System - Interface Specification - Satellite Positioning, Navigation and Timing Service (e.g., IS-QZSS-PNT-001) and Indian Regional Navigation Satellite System - Standard Positioning Service (e.g., ISRO-IRNSS-ICD-SPS-1.1) space.

[0058] The operation of filtering the GNSS signal may include an operation of identifying whether the received signal includes a fault signal and an operation of identifying the strength of the received signal. For example, the electronic device 100 may identify and / or obtain a fault signal based on at least one of the clock delay, orbit error or noise of the GNSS signal or any combination thereof. Herein, when the received GNSS signal includes a fault signal, the electronic device 100 may not be able to utilize the GNSS signal. In addition, the electronic device 100 may identify whether the strength of the GNSS signal is greater than a predetermined strength. Specifically, when the strength of the GNSS signal is greater than 35dB, the electronic device 100 may utilize the GNSS signal to perform an operation of identifying the target satellite. However, for ease of description, the predetermined strength is described as but not limited to 35dB.

[0059] The valid satellite may refer to a satellite to which the above filtering operation is applied among the satellites for data transmission with the electronic device 100. For example, the valid satellite may include a satellite for which there is no fault signal in the GNSS signal for data transmission with the electronic device 100 and the strength of the GNSS signal is greater than 35 dB.

[0060] The candidate satellites may include satellites that do not meet LOS among valid satellites in a space (e.g., a two-dimensional (2D) space) represented by a digital map. For example, the electronic device 100 may represent the position and coordinates of valid satellites on a first plane. The electronic device 100 may identify satellites that do not meet LOS among valid satellites based on the positions of valid satellites represented on the first plane, the reference positions for receiving GNSS signals, and the positions of buildings included in the digital map. Herein, the electronic device 100 may identify satellites that do not meet LOS among valid satellites as candidate satellites. For reference, the first plane may be a plane that can be represented based on a first direction in a three-dimensional (3D) space where the electronic device 100 and valid satellites exist.

[0061] The target satellite may include a satellite that satisfies LOS among the candidate satellites in the space represented by the digital map. For example, the electronic device 100 may represent the position and coordinates of the candidate satellites on the second plane. The electronic device 100 may identify the satellite that satisfies LOS among the candidate satellites based on the position of the candidate satellite represented on the second plane, the reference position for receiving the GNSS signal, and the position of the building included in the digital map. Herein, the electronic device 100 may identify the satellite that satisfies LOS among the candidate satellites as the target satellite. For reference, the second plane may be a plane different from the first plane, and may be a plane that can be represented based on a second direction perpendicular and orthogonal to the first direction in the 3D space where the electronic device 100 and the candidate satellites exist.

[0062] The electronic device 100 can identify the target satellite through the above operation, thereby identifying the satellite whose satellite signal is blocked in the city center where high-rise buildings including narrow roads are located. In addition, in the absence of a LiDAR sensor or a separate camera sensor, the electronic device 100 can quickly identify the satellite whose satellite signal is blocked.

[0063] The processor 110 may execute software and may control at least one other component (e.g., hardware or software component) connected to the processor 110. In addition, the processor 110 may perform various data processing or calculations. For example, the processor 110 may store GNSS signals, reference positions, information of valid satellites, information of candidate satellites, and information of target satellites in the memory 120.

[0064] For reference, the processor 110 may perform all operations performed by the electronic device 100. Therefore, for the convenience of description in the specification, the operations performed by the electronic device 100 are mainly described as operations performed by the processor 110. In addition, for the convenience of description in the specification, the processor 110 is mainly described as, but not limited to, one processor. For example, the electronic device 100 may include at least one processor. Each of the at least one processor may perform all operations related to the operation of identifying the target satellite.

[0065] The memory 120 may temporarily and / or permanently store various data and / or information required to perform the operation of identifying the target satellite. For example, the memory 120 may store GNSS signals, reference positions, information of valid satellites, information of candidate satellites, and information of target satellites.

[0066] Figure 2 is a flowchart for describing a method of identifying a target satellite that meets the line of sight (LOS) in an electronic device according to an embodiment of the present invention.

[0067] In operation 210, an electronic device (eg, Figure 1 The electronic device 100 may filter the received GNSS signals based on the GNSS signals received from multiple satellites to identify valid satellites. For example, the electronic device may obtain a fault signal based on at least one of the clock delay, orbit error or noise of each GNSS signal or any combination thereof, and may obtain a signal greater than a predetermined signal strength in the GNSS signal other than the fault signal, thereby identifying a valid satellite. In addition, the electronic device may repeatedly perform the operation of identifying a valid satellite based on a predetermined number of trilaterations. Specifically, when the number of valid satellites is greater than or equal to at least four, the electronic device may stop the operation of identifying a valid satellite.

[0068] In operation 220, the electronic device may obtain a digital map of a predetermined target area around the reference position where the GNSS signal is received. The electronic device may identify candidate satellites and target satellites from valid satellites through the obtained digital map. In other words, the electronic device may not need a LiDAR sensor and a camera sensor to identify whether a satellite satisfies the LOS, and may only use the boundary line of a building obtained through a digital map to identify whether the satellite satisfies the LOS. To this end, before performing the following operations, the electronic device may obtain a digital map from an external server. For reference, the target area may include all areas between the reference position and a point at a predetermined distance (i.e., a radius). Therefore, the target area may be represented as a circle on a digital map. The following will refer to Figure 4 Give a detailed description related thereto.

[0069] In operation 230, the electronic device may identify a candidate satellite from valid satellites based on coordinates and a digital map obtained by projecting the position and reference position of the valid satellite in a first direction in a 3D space including the position and reference position of the valid satellite. For example, the electronic device may perform a coordinate transformation on the position and reference position of the valid satellite represented in the 3D space. Specifically, the electronic device may set the direction from the position of the valid satellite toward the reference position as the first direction. In other words, the first direction may be the direction from the position of the valid satellite toward the reference position. The electronic device may project the position and reference position of the valid satellite in the 3D space onto a first plane in the first direction to obtain transformed coordinates (e.g., the coordinates of the valid satellite and the coordinates of the reference position). The electronic device may identify a candidate satellite from valid satellites based on the transformed coordinates and the digital map. The following will refer to Figure 5 Give a detailed description related thereto.

[0070] In operation 240, the electronic device may identify at least one target satellite that satisfies the LOS at the reference position based on the coordinates and the digital map obtained by projecting the position and the reference position of the candidate satellite in a 3D space in a second direction different from the first direction. For example, the electronic device may perform a coordinate transformation (e.g., different from the coordinate transformation performed in operation 230) on the position and the reference position of the candidate satellite that can be represented in the 3D space. Specifically, the electronic device may set a direction orthogonal to the first direction from the position of the valid satellite toward the reference position as the second direction. In other words, the second direction may be a direction that is simultaneously toward the position and the reference position of the candidate satellite. The electronic device may project the position and the reference position of the candidate satellite in the 3D space onto a second plane in the second direction to obtain transformed coordinates (e.g., the coordinates of the candidate satellite and the coordinates of the reference position). The electronic device may identify the target satellite from the candidate satellites based on the transformed coordinates and the digital map. The following will refer to Figure 6 Give a detailed description related thereto.

[0071] Figure 3 is a schematic diagram illustrating a global navigation satellite system (GNSS) signal shielding phenomenon in an electronic device according to an embodiment of the present invention.

[0072] The electronic device 310 according to the embodiment may attempt to transmit and receive data with each of the first satellite 320, the second satellite 330, and the third satellite 340. However, the electronic device 310 may not be able to transmit and receive data through a path that can connect with each of the first satellite 320, the second satellite 330, and the third satellite 340 through a virtual straight line.

[0073] The first satellite 320 may transmit and receive data through a path that can be connected with the electronic device 310 through a virtual straight line. In this case, the first satellite 320 may be a satellite that satisfies the LOS with the electronic device 310 as a reference.

[0074] The second satellite 330 may not be able to transmit and receive data through a path that can be connected to the electronic device 310 through a virtual straight line. However, the second satellite 330 may transmit and receive data through a path that can be connected to the electronic device 310 through a virtual plurality of paths. In this case, the second satellite 330 may be a satellite that does not satisfy LOS with respect to the electronic device 310 (i.e., satisfies NLOS).

[0075] The third satellite 340 may not be able to transmit and receive data through a path that can be connected to the electronic device 310 through a virtual straight line and a path that can be connected to the electronic device 310 through virtual multiple paths. Because the buildings in the city center are located in the space between the third satellite 340 and the electronic device 310, the third satellite 340 may not be able to transmit and receive data with the electronic device 310. In this case, the third satellite 340 may be a blocked satellite (i.e., a blocked signal) that does not satisfy LOS and does not satisfy NLOS with respect to the electronic device 310.

[0076] Figure 4 is a schematic diagram illustrating a method of obtaining a digital map of a target area in an electronic device according to an embodiment of the present invention.

[0077] An electronic device according to an embodiment (for example, Figure 1 The electronic device 100 may obtain a digital map of a target area 430 including all targets on a road within a predetermined distance 420 around a reference position 410 receiving a GNSS signal.

[0078] The reference position 410 may be the position of a GNSS receiver that receives GNSS signals, and specifically may be the position of an electronic device. Such a reference position 410 may be located on a road on which a vehicle is traveling, and may be located in a building. Therefore, for the convenience of description in the specification, the reference position 410 is described as the position of a GNSS receiver included in a vehicle located on a road. In addition, as described above with reference to Figure 2 As mentioned above, the reference position 410 may be determined as, but is not particularly limited to, a point where GNSS signals transmitted by at least three satellites interact with each other.

[0079] The digital map of the target area 430 may include all targets on the road around the reference position 410 to the predetermined distance 420. For example, the digital map of the target area 430 may include at least one of a road network, the location of a building, the shape of a building, the height of a building, or terrain information, or any combination thereof. Although described below, the digital map of the target area 430 may be used for operations of identifying candidate satellites and target satellites in an electronic device.

[0080] Based on the digital map of the target area, the electronic device can obtain from the digital map a first boundary line of at least one building included in the target area associated with the first direction and a second boundary line of at least one building associated with the second direction. Specifically, the first boundary line may include a line in contact with the ground of the at least one building. Different from this, the second boundary line may include a line that does not contact the ground of the at least one building. Figure 5 The first boundary line is described in detail. Figure 6 The second boundary line is described in detail.

[0081] Figure 5 is a schematic diagram illustrating a method of identifying a candidate satellite from valid satellites in an electronic device according to an embodiment of the present invention.

[0082] An electronic device according to an embodiment (for example, Figure 1 The electronic device 100) can identify candidate satellites from valid satellites based on coordinates and a digital map obtained by projecting the valid satellites and the reference positions in a first direction in a 3D space including the positions of the valid satellites and the reference positions.

[0083] The electronic device can project the positions of valid satellites that can be represented in 3D space and the reference positions onto the first plane 500 in a first direction to obtain a first satellite coordinate group (for example, including first transformed valid satellite coordinates 520, second transformed valid satellite coordinates 530, and third transformed valid satellite coordinates 540) and first reference coordinates 510 which are the coordinates of the transformed reference position.

[0084] The electronic device may calculate the coordinates of the satellite based on the first satellite coordinate group, the first reference coordinates 510 and the digital map (eg, Figure 4 Specifically, the electronic device may determine whether the first boundary line obtained from the digital map and the line segment connecting the first reference coordinates 510 of the transformed reference position with the transformed valid satellite coordinates intersect each other.

[0085] Specifically, the electronic device may obtain a satellite corresponding to a first line segment intersecting the first boundary line among the first line segments generated by connecting the first reference coordinates 510 and each coordinate included in the first satellite coordinate group. For example, the first line segment generated by connecting the first transformed valid satellite coordinates 520 with the first reference coordinates 510 may be a line segment intersecting the first boundary line. In this case, the satellite corresponding to the first transformed valid satellite coordinates 520 may be extracted by the electronic device. The first line segment generated by connecting the second transformed valid satellite coordinates 530 with the first reference coordinates 510 may be a line segment that does not intersect the first boundary line. In this case, the satellite corresponding to the second transformed valid satellite coordinates 530 may not be extracted by the electronic device. The first line segment generated by connecting the third transformed valid satellite coordinates 540 with the first reference coordinates 510 may be a line segment intersecting the first boundary line. In this case, the satellite corresponding to the third transformed valid satellite coordinates 540 may be extracted by the electronic device.

[0086] The electronic device can extract the satellite corresponding to the first line segment intersecting the first boundary line from the valid satellites, thereby identifying the candidate satellite. Figure 5 As shown, the candidate satellites may include a satellite corresponding to the first transformed valid satellite coordinates 520 and a satellite corresponding to the third transformed valid satellite coordinates 540 .

[0087] The electronic device may obtain a candidate distance for each satellite included in the candidate satellites. Herein, the candidate distance may represent the distance from the reference position before being projected to the first reference coordinate 510 to the first boundary line. For example, the electronic device may project the position of the candidate satellite in the first direction to obtain a candidate satellite group. The electronic device may connect the first reference coordinate 510 with each coordinate included in the candidate satellite group to generate a candidate line segment. The electronic device may obtain the distance between each intersection coordinate where the candidate line segment and the first boundary line intersect with each other and the first reference coordinate 510 as the candidate distance for each candidate satellite. Herein, the obtained candidate distance may be used for the operation of identifying the target satellite, which will be described below.

[0088] Figure 6 is a schematic diagram illustrating a method of identifying a target satellite from candidate satellites in an electronic device according to an embodiment of the present invention.

[0089] An electronic device according to an embodiment (for example, Figure 1 The electronic device 100) can identify at least one target satellite that satisfies the LOS at the reference position based on the coordinates and the digital map obtained by projecting the positions of the candidate satellites and the reference position in the second direction in the 3D space.

[0090] The electronic device may project the position of the candidate satellite that can be represented in the 3D space and the reference position onto the second plane 600 in the second direction to obtain the second satellite coordinates and the second reference coordinates 610 as the coordinates of the transformed reference position. However, the electronic device is not limited thereto. The electronic device may select any one of the candidate satellites as a temporary satellite for determining the target of the LOS. The electronic device may project the position of the temporary satellite in the second direction to obtain the second satellite coordinates, and may project the reference position in the second direction to obtain the second reference coordinates 610. Therefore, for the convenience of description in the specification, an operation of determining whether each satellite included in the candidate satellites can be identified as a target satellite is described.

[0091] The electronic device may select the SV1 satellite 620 from among the candidate satellites as a temporary satellite. The electronic device may obtain the elevation angle of the temporary satellite based on the second satellite coordinates obtained by projecting the position of the temporary satellite in the second direction, the second reference coordinates 610 obtained by projecting the reference position in the second direction, and the coordinates corresponding to the foot of perpendicular from the second satellite coordinates to a plane (e.g., a horizontal plane) perpendicular to the first direction. Specifically, when the temporary satellite is the SV3 satellite 640, the elevation angle of the temporary satellite may be an angle 630.

[0092] The electronic device may obtain a first calculation value based on a trigonometric function of a candidate distance and an elevation angle of the temporary satellite. The first calculation value may be represented by Equation 1 below.

[0093] [Equation 1]

[0094] dist×tan(elevation angle)

[0095] Herein, dist may refer to a candidate distance of a temporary satellite, tan may refer to a trigonometric function, and elevation angle may refer to an elevation angle of the temporary satellite.

[0096] Through the above Equation 1, the electronic device may obtain a value regarding a comparative altitude that may include a candidate distance of the temporary satellite and an elevation angle of the temporary satellite. Herein, the comparative altitude may be a target for comparison with a second calculated value obtained below.

[0097] The electronic device may identify at least one intersection coordinate where the second line segment generated by connecting the second reference coordinate 610 and the second satellite coordinate intersects the second boundary line. For example, the electronic device may obtain a second calculated value capable of representing the height of the building from the digital map based on a coordinate close to the second reference coordinate 610 in the identified at least one intersection coordinate. Figure 7 A method for obtaining the second calculated value is described in detail.

[0098] The electronic device may identify the temporary satellite as the target satellite based on the first calculated value and the second calculated value. A condition for identifying the temporary satellite as the target satellite may be represented by Equation 2 below.

[0099] [Equation 2]

[0100] dist×tan(elevation angle)≥building height

[0101] Herein, dist×tan(elevation angle) may refer to a first calculated value, and building height may refer to a second calculated value.

[0102] The electronic device may identify a temporary satellite satisfying the above equation 2 as a target satellite. Specifically, on a first plane in which the position is projected in a first direction, the temporary satellite may be a satellite determined to be NLOS. However, on a second plane in which the position is projected in a second direction, the temporary satellite may be a satellite that can be re-determined as LOS through equations 1 and 2 above.

[0103] The electronic device can perform the reference based on the following equation 3 Figures 1 to 6 In other words, the following equation 3 may include a target for expressing the operation of the electronic device according to the embodiment by equation. For example, the following equation 3 may be expressed as follows.

[0104] [Equation 3]

[0105] f LOS {f CAND (x LLH ,SV LLH ,f MAP (x LLH ,r))}

[0106] In the following, f MAP (x LLH ,r) may refer to the operation of obtaining a digital map of a predetermined target area around a reference position receiving GNSS signals, f CAND (x LLH ,SV LLH ,f MAP (x LLH ,r)) can refer to the operation of identifying candidate satellites based on the positions of valid satellites, reference positions and digital maps, f LOS May refer to the operation of identifying a target satellite based on the positions of candidate satellites and a reference position and a digital map.

[0107] Figure 7is a schematic diagram illustrating a detailed method of identifying a target satellite in an electronic device according to an embodiment of the present invention.

[0108] An electronic device according to an embodiment (for example, Figure 1 The electronic device 100) can obtain the coordinates of the cross coordinates of the plane 700 perpendicular to the first direction that are closest to the second reference coordinates 710, thereby obtaining a second calculated value.

[0109] The electronic device may identify a second line segment generated by connecting the second reference coordinates 710 and the second satellite coordinates 720 and a second boundary line (ie, Figure 7 The electronic device may obtain the first cross coordinate 730 as a coordinate close to the second reference coordinate 710 among the identified at least one cross coordinate.

[0110] The electronic device may obtain a second calculated value capable of representing the height of the building from the digital map based on the first cross coordinate 730, which is a coordinate close to the second reference coordinate 710. For example, the distance between the second reference coordinate 710 and the coordinate corresponding to the foot of the perpendicular from the first cross coordinate 730 to the plane 700 may be a candidate distance. The distance between the first cross coordinate 730 and the coordinate corresponding to the foot of the perpendicular from the first cross coordinate 730 to the plane 700 may be a second calculated value capable of representing the height of the building. As a result, the electronic device may identify the temporary satellite as the target satellite based on the first calculated value and the second calculated value.

[0111] Figure 8 is a flowchart for specifically describing a method for identifying a target satellite that satisfies LOS in an electronic device according to an embodiment of the present invention.

[0112] At operation 810, an electronic device (eg, Figure 1 The electronic device 100 may receive GNSS signals from multiple satellites. For example, the electronic device may receive GNSS signals from multiple satellites through a GNSS receiver. Herein, the GNSS signal may be received by receiving a reference position of the GNSS signal and a path where the satellites can be connected to each other through multiple virtual paths, and receiving a reference position of the GNSS signal and a path where the satellites can be connected to each other through a virtual straight line.

[0113] At operation 820, the electronic device may filter the received GNSS signal. For example, the electronic device may obtain a fault signal based on at least one of a clock delay, orbit error, or noise of each GNSS signal, or any combination thereof, and may obtain a signal having a signal strength greater than a predetermined signal strength from among the received GNSS signals except for the fault signal, thereby filtering the received GNSS signal.

[0114] In operations 830 and 840, the electronic device may identify valid satellites using the filtered GNSS signals. For example, the electronic device may repeatedly perform the operation of identifying valid satellites based on a predetermined number (eg, 4) of trilateration.

[0115] At operation 850 , the electronic device may obtain positions of valid satellites from a GNSS receiver based on the number of valid satellites being greater than or equal to four.

[0116] At operation 860, the electronic device may obtain a digital map included in the target area around the reference location. Herein, the digital map may include at least one of a road network of the target area, a location of at least one building, a shape of at least one building, a height of at least one building, or terrain information, or any combination thereof.

[0117] In operation 870, the electronic device may determine whether each valid satellite satisfies the LOS. Specifically, the electronic device may identify the candidate satellite from the valid satellites based on the coordinates and the digital map obtained by projecting the position and the reference position of the valid satellite in a first direction in a 3D space including the position and the reference position of the valid satellite. The electronic device may identify at least one target satellite that satisfies the LOS at the reference position based on the coordinates and the digital map obtained by projecting the position and the reference position of the candidate satellite in a second direction different from the first direction in the 3D space.

[0118] Fig. 9 is a schematic diagram showing a computing system related to an electronic device or a method for identifying a satellite according to an embodiment of the present invention.

[0119] refer to Fig. 9 , a computing system 1000 related to an electronic device or a method for identifying a satellite may include at least one processor 1100, a memory 1300, a user interface input device 1400, a user interface output device 1500, a storage device 1600, and a network interface 1700 connected to each other via a bus 1200.

[0120] The processor 1100 may be a central processing unit (CPU) or a semiconductor device that processes instructions stored in the memory 1300 and / or the storage device 1600. The memory 1300 and the storage 1600 may include various types of volatile or non-volatile storage media. For example, the memory 1300 may include a ROM (Read Only Memory) 1310 and a RAM (Random Access Memory) 1320.

[0121] Therefore, the operations of the methods or algorithms described in conjunction with the embodiments disclosed in this specification may be directly implemented using hardware modules, software modules, or a combination of hardware modules and software modules executed by the processor 1100. The software modules may exist in a storage medium (i.e., the memory 1300 and / or the storage device 1600), such as RAM, flash memory, ROM, EPROM, EEPROM, registers, hard disks, removable disks, and CD-ROMs.

[0122] An exemplary storage medium may be coupled to the processor 1100. The processor 1100 may read information from the storage medium and may write information to the storage medium. Alternatively, the storage medium may be integrated with the processor 1100. The processor and the storage medium may exist in an application specific integrated circuit (ASIC). The ASIC may exist in a user terminal. In another case, the processor and the storage medium may exist in a user terminal as separate components.

[0123] As described above, although the present invention has been described with reference to exemplary embodiments and the accompanying drawings, the present invention is not limited thereto, but various modifications and changes may be made by those skilled in the art to which the present invention belongs without departing from the spirit and scope of the present invention as claimed in the appended claims.

[0124] The above-mentioned embodiments can be realized by hardware components, software components and / or a combination of hardware components and software components. For example, the device, method and assembly described in the embodiment can be realized by a general-purpose computer or a special-purpose computer (for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable array (FPGA), a programmable logic unit (PLU), a microprocessor or any device that can execute instructions and respond). The processing unit can execute an operating system (OS) or a software application running on the OS. In addition, the processing unit can access, store, operate, process and generate data in response to the execution of software. It will be understood by those skilled in the art that, although a single processing unit can be shown for ease of understanding, the processing unit may include multiple processing elements and / or multiple types of processing elements. For example, the processing unit may include multiple processors or a processor and a controller. In addition, the processing unit may have different processing configurations, for example, parallel processors.

[0125] Software may include computer programs, codes, instructions, or one or more combinations thereof, and may configure a processing unit to operate in a desired manner, or may command a processing unit independently or collectively. Software and / or data may be permanently or temporarily contained in any type of machine, component, physical device, virtual device, computer storage medium or unit, or transmitted signal waves for interpretation by or provision of instructions or data to a processing unit. Software may be distributed throughout a network of computer systems and may be stored or executed in a distributed manner. Software and data may be recorded in a computer-readable storage medium.

[0126] The method according to the embodiment can be implemented in the form of program instructions, which can be executed by various computer devices and can be recorded in a computer-readable medium. Computer-readable media can include program instructions, data files, data structures, etc., individually or in combination, and the program instructions recorded on the medium can be specially designed and configured for the example, or can be known and available to technicians in the field of computer software. Examples of computer-readable media include magnetic media (e.g., hard disks, floppy disks, and tapes); optical media (e.g., compact disk read-only memory (CD-ROM) disks and digital versatile disks (DVDs)); magneto-optical media (e.g., floppy disks); and hardware devices (e.g., read-only memory (ROM), random access memory (RAM), flash memory, etc.) specially configured to store and execute program instructions. Program instructions include both machine code (e.g., generated by a compiler) and higher-level code executed by a computer using an interpreter.

[0127] The above-mentioned hardware devices may be configured to act as one or more software modules to perform the operations of the embodiments, or vice versa.

[0128] Although the embodiments are described with reference to the limiting figures, it is obvious to those skilled in the art that various changes or modifications may be made to the embodiments according to the above description. For example, even if the above processes and methods are performed in a different order from the above order, and / or the above components (e.g., systems, structures, devices or circuits) are combined or connected in a different form and mode from the above, or replaced or switched with other components or equivalents, appropriate effects can be achieved.

[0129] A description will be given of the effects of the electronic device and the method for identifying a satellite according to an embodiment of the present invention.

[0130] According to at least one embodiment of the present invention, an electronic device can ensure the availability of satellites for trilateration of a reference position for receiving GNSS signals, thereby minimizing GNSS signal obstruction in city centers using a low-cost GNSS receiver.

[0131] In addition, according to at least one embodiment of the present invention, the electronic device can obtain candidate satellites based on coordinates and a digital map obtained by projecting the positions of valid satellites and the reference positions of received GNSS signals in a first direction to obtain satellites whose GNSS signals are blocked by the walls of buildings, thereby identifying the GNSS signal blocking phenomenon of the satellites again.

[0132] In addition, according to at least one embodiment of the present invention, an electronic device can obtain a satellite that meets the line of sight (LOS) based on coordinates and a digital map obtained by projecting the positions of candidate satellites in a second direction orthogonal to the first direction and a reference position of a received GNSS signal, thereby minimizing the GNSS signal obstruction phenomenon that occurs in the city center through a low-cost GNSS receiver, and at the same time minimizing the navigation guidance error of vehicles traveling in the city center.

[0133] Furthermore, various effects directly or indirectly determined by the present invention can be provided.

[0134] Accordingly, other implementations, other embodiments, and equivalents are within the scope of the appended claims.

[0135] Therefore, the embodiments of the present invention are not intended to limit the technical spirit of the present invention, but are provided for illustrative purposes only. The scope of the present invention should be interpreted based on the appended claims, and all technical ideas within the scope equivalent to the claims should be included in the scope of the present invention.

Claims

1. An electronic device, comprising: a memory storing computer executable instructions; as well as At least one processor is configured to access the memory and execute the instructions, wherein when the instructions are executed by the at least one processor, the instructions perform the following steps: Based on receiving GNSS signals from a plurality of satellites, filtering the received GNSS signals to identify valid satellites; obtaining a digital map of a predetermined target area around a reference location where the GNSS signal is received; identifying a candidate satellite from valid satellites based on coordinates obtained by projecting the position and the reference position of the valid satellite in a first direction in a 3D space including the position and the reference position of the valid satellite and the digital map; At least one target satellite satisfying a line of sight is identified at the reference position based on coordinates obtained by projecting positions of candidate satellites and a reference position in the 3D space in a second direction different from the first direction and the digital map.

2. The electronic device according to claim 1, wherein: When the instructions are executed by at least one processor, the instructions further perform the following steps: Obtaining a fault signal based on at least one of a clock delay, an orbit error, or noise of each GNSS signal, or any combination thereof; A signal having a strength greater than a predetermined signal is obtained among the GNSS signals except for the fault signal to identify a valid satellite.

3. The electronic device according to claim 1, wherein: When the instructions are executed by at least one processor, the instructions further perform the following steps: The identification of valid satellites is repeated based on a predetermined number of trilaterations.

4. The electronic device according to claim 1, wherein: When the instructions are executed by at least one processor, the instructions further perform the following steps: At least one of the following items is obtained from the digital map: i) a road network of a predetermined target area; ii) a location of at least one building; iii) a shape of at least one building; iv) a height of at least one building; or v) terrain information; or any combination thereof.

5. The electronic device according to claim 1, wherein: When the instructions are executed by at least one processor, the instructions further perform the following steps: Based on the digital map of the predetermined target area, a first boundary line of at least one building included in the predetermined target area associated with the first direction and a second boundary line of at least one building associated with the second direction are obtained from the digital map.

6. The electronic device according to claim 5, wherein: When the instructions are executed by at least one processor, the instructions further perform the following steps: Projecting the positions of valid satellites in a first direction to obtain a first satellite coordinate set; projecting the reference position in a first direction to obtain a first reference coordinate; obtaining a satellite corresponding to a first line segment intersecting the first boundary line among first line segments generated by connecting the first reference coordinates and each coordinate included in the first satellite coordinate group; A satellite corresponding to a first line segment intersecting the first boundary line is extracted from valid satellites, thereby identifying a candidate satellite.

7. The electronic device according to claim 6, wherein: When the instructions are executed by at least one processor, the instructions further perform the following steps: Projecting the positions of the candidate satellites in a first direction to obtain a set of candidate satellites; connecting the first reference coordinate with each coordinate included in the candidate satellite set to generate a candidate line segment; A distance between each intersection coordinate where the candidate line segment and the first boundary line intersect each other and the first reference coordinate is obtained as a candidate distance of each candidate satellite.

8. The electronic device according to claim 7, wherein: When the instructions are executed by at least one processor, the instructions further perform the following steps: selecting any one of the candidate satellites as a temporary satellite for determining a target of the line of sight; projecting the position of the temporary satellite in a second direction to obtain second satellite coordinates; projecting the reference position in a second direction to obtain a second reference coordinate; An elevation angle of the temporary satellite is obtained based on the second satellite coordinates, the second reference coordinates, and coordinates corresponding to a foot of a perpendicular from the second satellite coordinates to a plane perpendicular to the first direction.

9. The electronic device according to claim 8, wherein: When the instructions are executed by at least one processor, the instructions further perform the following steps: Obtaining a first calculated value based on a trigonometric function of a candidate range and an elevation angle of the temporary satellite; identifying at least one intersection coordinate where a second line segment generated by connecting the second reference coordinate and the second satellite coordinate intersects the second boundary line; Based on the coordinates of the at least one identified intersection coordinate close to the second reference coordinates, a second calculated value capable of representing the height of the building is obtained from the digital map.

10. The electronic device according to claim 9, wherein: When the instructions are executed by at least one processor, the instructions further perform the following steps: Based on the first calculated value and the second calculated value, a temporary satellite is identified as a target satellite.

11. A method for identifying a satellite, the method comprising: Based on receiving GNSS signals from a plurality of satellites, filtering the received GNSS signals to identify valid satellites; obtaining a digital map of a predetermined target area around a reference location where the GNSS signal is received; identifying a candidate satellite from valid satellites based on coordinates obtained by projecting the position and the reference position of the valid satellite in a first direction in a 3D space including the position and the reference position of the valid satellite and the digital map; At least one target satellite satisfying a line of sight is identified at the reference position based on coordinates obtained by projecting positions of candidate satellites and a reference position in the 3D space in a second direction different from the first direction and the digital map.

12. The method according to claim 11, wherein: Identify valid satellites including: Obtaining a fault signal based on at least one of a clock delay, an orbit error, or noise of each GNSS signal, or any combination thereof; A signal having a strength greater than a predetermined signal is obtained among the GNSS signals except for the fault signal to identify a valid satellite.

13. The method according to claim 11, wherein: Identify valid satellites including: Identifying valid satellites is performed repeatedly based on a predetermined number of trilateration measurements.

14. The method according to claim 11, wherein: Obtaining a digital map of the target area includes: At least one of a road network of the target area, a location of at least one building, a shape of at least one building, a height of at least one building, or terrain information, or any combination thereof, is obtained from the digital map.

15. The method according to claim 11, further comprising: Based on obtaining the digital map of the target area, a first boundary line of at least one building included in the target area associated with the first direction and a second boundary line of at least one building associated with the second direction are obtained from the digital map.

16. The method according to claim 15, further comprising: Projecting the positions of valid satellites in a first direction to obtain a first satellite coordinate set; projecting the reference position in a first direction to obtain a first reference coordinate; obtaining a satellite corresponding to a first line segment intersecting the first boundary line among first line segments generated by connecting the first reference coordinates and each coordinate included in the first satellite coordinate group; A satellite corresponding to a first line segment intersecting the first boundary line is extracted from valid satellites, thereby identifying a candidate satellite.

17. The method according to claim 16, further comprising: Projecting the positions of the candidate satellites in a first direction to obtain a set of candidate satellites; connecting the first reference coordinate with each coordinate included in the candidate satellite set to generate a candidate line segment; A distance between each intersection coordinate where the candidate line segment and the first boundary line intersect each other and the first reference coordinate is obtained as a candidate distance of each candidate satellite.

18. The method according to claim 17, further comprising: selecting any one of the candidate satellites as a temporary satellite for determining a target of the line of sight; projecting the position of the temporary satellite in a second direction to obtain second satellite coordinates; projecting the reference position in a second direction to obtain a second reference coordinate; An elevation angle of the temporary satellite is obtained based on the second satellite coordinates, the second reference coordinates, and the coordinates corresponding to the foot of a perpendicular from the second satellite coordinates to a plane perpendicular to the first direction.

19. The method according to claim 18, further comprising: Obtaining a first calculated value based on a trigonometric function of a candidate range and an elevation angle of the temporary satellite; identifying at least one intersection coordinate where a second line segment generated by connecting the second reference coordinate and the second satellite coordinate intersects the second boundary line; Based on the coordinates of the at least one identified intersection coordinate close to the second reference coordinates, a second calculated value capable of representing the height of the building is obtained from the digital map.

20. The method according to claim 19, further comprising: Based on the first calculated value and the second calculated value, a temporary satellite is identified as a target satellite.

Images