Positioning device and positioning method

Abstract

A positioning device according to one embodiment of the present invention includes a communication unit that receives a location information message including location information of the external device from an external device, a first positioning unit that generates first positioning information including at least one of GNSS (Global Navigation Satellite System) coordinate information and distance information to the external device, and a second positioning unit that generates second positioning information using the location information message of the external device and the first positioning information, wherein the location information message is a broadcast message, and the location information of the external device includes RTK (Real Time Kinematics) positioning information obtained by correcting the GNSS coordinates of the external device with an RTK correction signal.

Description

[Technical field]

[0001] The present invention relates to a positioning device and a positioning method, and more particularly to a positioning device and a positioning method that utilize V2X (Vehicle to everything) communication. [Background technology]

[0002] As information and communication technology and automotive technology develop, interest in autonomous vehicles is growing. In general, autonomous vehicles are cars that are equipped with advanced driver assistance system (ADAS) technology using sensors such as cameras, radar, and lidar, route search technology, and V2X (Vehicle to Everything) communication technology, and can acquire and recognize information about the surrounding environment and navigate to their destination by themselves.

[0003] More precise positioning accuracy is required for the commercialization of autonomous vehicles. The positioning devices installed in autonomous vehicles can perform positioning based on Global Navigation Satellite Systems (GNSS), but there is a problem that the error range is large.

[0004] To solve these problems, the positioning device installed in the autonomous vehicle can be equipped with a high-precision positioning client; however, the high-precision positioning client is expensive, which may be a major factor in delaying the commercialization of autonomous vehicles. Summary of the Invention [Problem to be solved by the invention]

[0005] The technical problem to be solved by the present invention is to provide a positioning device and a positioning method capable of performing highly accurate positioning. [Means for solving the problem]

[0006] A positioning device according to one embodiment of the present invention includes a communication unit that receives a location information message including location information of the external device from an external device, a first positioning unit that generates first positioning information including at least one of GNSS (Global Navigation Satellite System) coordinate information and distance information to the external device, and a second positioning unit that generates second positioning information using the location information message of the external device and the first positioning information, wherein the location information message is a broadcast message, and the location information of the external device includes RTK (Real Time Kinematics) positioning information obtained by correcting the GNSS coordinates of the external device with an RTK correction signal.

[0007] The communication unit may be a V2X communication module.

[0008] The communication unit may be a C-V2X module supporting cellular-based vehicle-to-thing communication, a Dedicated Short Range Communication (DSRC) module supporting Wireless Access in Vehicular Environments (WAVE)-based vehicle-to-thing communication, or a hybrid module supporting both C-V2X and WAVE.

[0009] The first positioning information may further include azimuth angle information of a moving object on which the positioning device is mounted.

[0010] The positioning device may not include an RTK client.

[0011] The external device is mounted on a first moving body, the positioning device is mounted on a second moving body, the location information message further includes at least one of identification information of the first moving body, speed information of the first moving body, and generation time information of the location information, and the second positioning unit can further generate the second positioning information by using at least one of the identification information of the first moving body, the speed information of the first moving body, the generation time information of the location information, and the speed information of the second moving body.

[0012] The communication unit may transmit the location information message to another external device mounted on a third mobile object.

[0013] The second positioning unit generates a positioning information message including at least one of the second positioning information, identification information of the second moving body, speed information of the second moving body, and generation time information of the second positioning information, and the communication unit can transmit the positioning information message to another external device mounted on a third moving body.

[0014] The third mobile station may not include an RTK client.

[0015] The first moving body may be a leading vehicle among a plurality of vehicles traveling in a crowd, the second moving body may be a vehicle following the first moving body, and the third moving body may be a vehicle following the second moving body.

[0016] The external device may be a roadside base station.

[0017] The first positioning unit may include at least one of a lidar sensor and a radar sensor that detects the distance to the external device.

[0018] A positioning method of a positioning system according to one embodiment of the present invention includes a step in which a first device transmits a position information message including RTK positioning information in which the GNSS (Global Navigation Satellite System) coordinates of the first device are corrected with an RTK (Real Time Kinematics) correction signal, a step in which a second device receives the position information message from the first device, a step in which the second device generates first positioning information including at least one of the GNSS coordinate information of the second device and distance information from the first device, and a step in which the second device generates second positioning information of the second device using the position information message and the first positioning information.

[0019] The second device may further include transmitting the location information message to a third device.

[0020] The second device may further include generating a positioning information message including second positioning information of the second device, and transmitting the positioning information message to a third device.

[0021] The first device is mounted on a first moving body, the second device is mounted on a second moving body, and the third device is mounted on a third moving body, the first device stores identification information of the second moving body and identification information of the third moving body in advance, the second device stores identification information of the first moving body and identification information of the third moving body in advance, and the third device stores identification information of the first moving body and identification information of the second moving body in advance, and the first moving body, the second moving body and the third moving body can move together at intervals of within a predetermined distance. Effect of the Invention

[0022] According to an embodiment of the present invention, it is possible to provide high-precision positioning, for example, positioning accuracy of 10 cm or less. A positioning device according to an embodiment of the present invention can provide high-precision positioning in real time without an expensive client.

[0023] According to an embodiment of the present invention, highly accurate positioning can be performed using information received from other vehicles traveling within a predetermined distance. [Brief description of the drawings]

[0024] [Figure 1] 1 is a conceptual diagram of a positioning system according to an embodiment of the present invention;

[0025] [Diagram 2] 1 is a block diagram of a positioning system according to an embodiment of the present invention.

[0026] [Diagram 3] 2 is a block diagram of a positioning device included in a positioning system according to an embodiment of the present invention.

[0027] [Figure 4-5] FIG. 13 is a conceptual diagram of a positioning system according to another embodiment of the present invention.

[0028] [Figure 6] FIG. 4 is a block diagram of a positioning system according to another embodiment of the present invention.

[0029] [Figure 7-8] 4 is a flowchart illustrating a positioning method of a positioning system according to another embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0030] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0031] However, the technical concept of the present invention is not limited to the embodiments described but may be embodied in various different forms, and one or more of the components of the embodiments may be selectively combined or substituted within the scope of the technical concept of the present invention.

[0032] Furthermore, terms (including technical and scientific terms) used in the embodiments of the present invention may be interpreted in a manner that is commonly understood by a person having ordinary knowledge in the technical field to which the present invention belongs, unless otherwise clearly defined and described, and commonly used terms, such as terms defined in a dictionary, may be interpreted in light of the contextual meaning of the relevant art.

[0033] Furthermore, the terms used in the embodiments of the present invention are intended to describe the embodiments and are not intended to limit the present invention.

[0034] In this specification, the singular can include the plural unless otherwise specified in the context, and when referring to "A and (and) at least one (or more) of B and C," it can include one or more of all possible combinations of A, B, and C.

[0035] Additionally, terms such as first, second, A, B, (a), (b), etc. may be used to describe components of embodiments of the present invention.

[0036] Such terms are merely used to distinguish a component from other components, and are not intended to limit the nature, order, or sequence of the components.

[0037] Furthermore, when a component is described as being "coupled," "coupled," or "connected" to another component, it includes not only cases where the component is directly coupled, coupled, or connected to the other component, but also cases where the component is "coupled," "coupled," or "connected" by yet another component between the component and the other component.

[0038] In addition, when described as being formed or disposed "above or below" each component, "above" or "below" includes not only the case where two components are in direct contact with each other, but also the case where one or more other components are formed or disposed between the two components. In addition, when described as "above or below," it can include not only the upper direction but also the lower direction based on one component.

[0039] Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. Regardless of the reference numerals, the same or corresponding elements will be given the same reference numerals, and redundant description thereof will be omitted.

[0040] FIG. 1 is a conceptual diagram of a positioning system according to one embodiment of the present invention, FIG. 2 is a block diagram of a positioning system according to one embodiment of the present invention, and FIG. 3 is a block diagram of a positioning device included in the positioning system according to one embodiment of the present invention.

[0041] 1 to 3, a positioning system according to an embodiment of the present invention includes a positioning device 100 and an external device 200. The positioning device 100 and the external device 200 perform V2X (Vehicle to Everything) communication, and the positioning device 100 performs positioning using a communication result with the external device 200. As illustrated in FIG 1, the positioning device 100 is mounted on a moving object V such as a vehicle to perform positioning of the moving object, and the external device 200 may be a Road Side Unit (RSU).

[0042] The external device 200 obtains GNSS coordinate information of the external device 200 using a signal received from a Global Navigation Satellite System (GNSS, 10). The GNSS coordinate information may include latitude information, longitude information, and altitude information. To this end, the external device 200 may include a GNSS receiver for receiving the GNSS signal. In general, the error range of the GNSS coordinate information may be several tens of centimeters or several meters due to distortion caused by the GNSS signal passing through the atmosphere and distortion caused by multiple paths between the GNSS 10 and the external device 200.

[0043] The external device 200 according to the embodiment of the present invention corrects an error in the GNSS coordinate information to obtain location information of the external device 200, and generates a location information message including the location information of the external device 200.

[0044] To this end, the external device 200 is equipped with an RTK (Real Time Kinematics) client and receives an RTK correction signal from an RTK reference station 20. The RTK reference station 20 is a base station that already knows precise position values ​​such as latitude, longitude, and altitude, and may be, for example, a satellite reference point. The RTK reference station 20 is installed in advance in an area where distortion of a GNSS signal can be minimized, and generates and transmits an RTK correction signal from which distortion has been removed in real time. The RTK correction signal may be generated by a virtual reference station (VRS) technique, a Flachen-Correktur-parameter (FKP) technique, or the like. The RTK reference station 20 has its own precise position information measured in advance, and generates an RTK correction signal by calculating an error included in the position information generated from the GNSS signal based on the position information generated from the GNSS signal and the precise position information measured in advance. The RTK correction signal is configured in the Radio Technical Commission for Maritime (RTCM) format and can be transmitted using various wireless communication methods such as Networked Transport of RTCM via Internet Protocol (NTRIP) or Digital Multimedia Broadcasting (DMB).

[0045] When the RTK reference station 20 transmits an RTK correction signal, an external device 200 located near the RTK reference station 20 and equipped with an RTK (Real Time Kinematics) client receives the RTK correction signal.

[0046] The external device 200 generates position information by correcting the GNSS coordinates with the RTK correction signal. In this specification, the position information corrected by the GNSS coordinates with the RTK correction signal may be referred to as RTK positioning information. The RTK positioning information has a higher accuracy than the GNSS coordinates, and the error range may be within a few centimeters.

[0047] According to an embodiment of the present invention, the external device 200 generates and broadcasts a location information message in real time, and the positioning device 100 performs positioning using the location information message received from the external device 200 .

[0048] Referring to FIG. 3, a positioning device 100 according to an embodiment of the present invention includes a communication unit 110, a first positioning unit 120 and a second positioning unit .

[0049] Since the positioning device 100 may be mounted on a moving object V such as a vehicle, the communication unit 110 may be a V2X communication module. The V2X communication module may be a C-V2X module supporting cellular-based vehicle-object communication, a Dedicated Short Range Communication (DSRC) module supporting Wireless Access in Vehicular Environments (WAVE)-based vehicle-object communication, or a hybrid module supporting both C-V2X and WAVE. The V2X communication module is capable of not only V2V communication supporting vehicle-vehicle communication, but also V2I communication supporting vehicle-infrastructure communication.

[0050] The communication unit 110 receives the location information message broadcast by the external device 200. Since the communication unit 110 is a V2X communication module, it can receive the location information message from the external device 200 regardless of the type of the external device 200.

[0051] According to an embodiment of the present invention, the first positioning unit 120 of the positioning device 100 generates first positioning information, and the second positioning unit 130 generates second positioning information.

[0052] Here, the first positioning information may be GNSS coordinate information of the positioning device 100. To this end, the first positioning unit 120 may be a GNSS receiver. Alternatively, the first positioning information may be distance information between the positioning device 100 and the external device 200. To this end, the first positioning unit 120 may be a radar sensor or a lidar sensor. The radar sensor or the lidar sensor may measure the distance between the positioning device 100 and the external device 200 based on the time it takes for light output from a light source to be reflected by the external device 200 and then return. Alternatively, the first positioning information may include both the GNSS coordinate information and distance information between the positioning device 100 and the external device 200. Alternatively, the first positioning information may further include azimuth angle information of the moving object V on which the positioning device 100 is mounted.

[0053] The second positioning information is generated using the position information message of the external device 200 and the first positioning information.

[0054] When the first positioning information is the GNSS coordinate information of the positioning device 100, the second positioning unit 130 may generate the second positioning information of the positioning device 100 using the position information of the external device 200 included in the position information message of the external device 200 and the GNSS coordinate information of the positioning device 100. For this purpose, the position information message of the external device 200 may include the GNSS coordinate of the external device 200 together with the RTK positioning information in which the GNSS coordinate of the external device 200 is corrected with an RTK correction signal. Accordingly, the second positioning unit 130 may estimate an error in the GNSS signal using the RTK positioning information and the GNSS coordinate of the external device 200 received from the external device 200, and remove the estimated GNSS signal error from the first positioning information, which is the GNSS coordinate information of the positioning device 100, thereby obtaining the second positioning information that is more accurate than the first positioning information.

[0055] When the first positioning information is distance information between the positioning device 100 and the external device 200, the second positioning unit 130 may generate the second positioning information of the positioning device 100 using the position information of the external device 200 included in the position information message of the external device 200 and the distance information between the positioning device 100 and the external device 200. The position information of the external device 200 included in the position information message of the external device 200 is RTK positioning information in which the GNSS coordinates are corrected with an RTK correction signal, and is therefore high-precision position information with an error range of within a few centimeters. When the second positioning information of the positioning device 100 is generated using distance information between the positioning device 100 and the external device 200 based on the position information of the external device 200, which is high-precision position information, more precise positioning information than the GNSS coordinates of the positioning device 100 can be obtained.

[0056] When the positioning device 100 or a moving body on which the positioning device 100 is mounted includes a radar sensor or a lidar sensor, the first positioning information may be distance information between the positioning device 100 and the external device 200. When the positioning device 100 or a moving body on which the positioning device 100 is mounted does not include a radar sensor or a lidar sensor, the first positioning information may be GNSS coordinates of the positioning device 100. Accordingly, the positioning device 100 according to the embodiment of the present invention may be applied to positioning of not only a moving body including a radar sensor or a lidar sensor, but also a moving body not including a radar sensor or a lidar sensor.

[0057] According to an embodiment of the present invention, as shown in Fig. 1, the external device 200 may be a roadside base station RSU. If the roadside base station RSU includes an RTK client together with a GNSS receiver and a V2X communication module, the roadside base station RSU can generate and broadcast a location information message according to an embodiment of the present invention in real time, and a moving object such as a vehicle passing around the roadside base station RSU can perform high-precision positioning using the location information message received from the roadside base station RSU.

[0058] According to another embodiment of the present invention, the external device 200 may be a moving object such as a vehicle.

[0059] 4 and 5 are conceptual diagrams of a positioning system according to another embodiment of the present invention, FIG. 6 is a block diagram of a positioning system according to another embodiment of the present invention, and FIGS. 7 and 8 are flowcharts relating to a positioning method of the positioning system according to another embodiment of the present invention.

[0060] 4 to 6, a positioning system 20 according to another embodiment of the present invention includes a first device 300 and a second device 400. The first device 300 and the second device 400 may be mounted on a first moving body and a second moving body, respectively. The first device 300 and the second device 400 may be positioning devices mounted on autonomous vehicles, respectively, and the first device 300 and the second device 400 may perform Vehicle to Everything (V2X) communication.

[0061] Here, the first device 300 is a positioning device including an RTK client and capable of autonomously performing high-precision positioning, and the second device 400 is a positioning device not including an RTK client. Among the contents described with reference to Figures 1 to 3, the description of the external device 200 may apply to the description of the first device 300, and the description of the positioning device 100 may apply to the description of the second device 400. For ease of explanation, duplicated descriptions of the same contents as those described with reference to Figures 1 to 3 will be omitted.

[0062] The first device 300 acquires GNSS coordinate information of the first device 300 using a signal received from the GNSS 10, corrects the GNSS coordinate information using an RTK correction signal received from the RTK reference station 20, and generates location information, which is RTK positioning information. The first device 300 broadcasts a location information message including the location information, and the second device 400 around the first device 300 receives the location information message broadcast from the first device 300.

[0063] As shown in FIG. 4, when the second device 400 includes a radar sensor or a lidar sensor, the second device 400 generates first positioning information, which is distance information between the first device 300 and the second device 400, and generates second positioning information that is more precise than the first positioning information using the location information message of the first device 300 and the distance information between the first device 300 and the second device 400, which is the first positioning information.

[0064] As shown in FIG. 5, if the second device 400 does not include a radar sensor or a lidar sensor, the second device 400 generates first positioning information, which is the GNSS coordinates of the second device 400, and generates second positioning information, which is more precise than the first positioning information, using the location information message of the first device 300 and the GNSS coordinates of the second device 400, which is the first positioning information.

[0065] On the other hand, when the first device 300 is mounted on a first moving body, the location information message transmitted by the first device 300 may further include identification information of the first moving body V1, and the second device 400 may further use the identification information of the first moving body V1 to generate second positioning information.

[0066] For example, the identification information of the first moving body V1 may include the vehicle number of the first moving body V1. Since the vehicle number of the first moving body V1 can be recognized externally, the second device 400 can determine that the device that transmitted the location information message is the first device 300 by comparing the identification information of the first moving body V1 included in the location information message with the vehicle number of the first moving body V1 recognized by the second device 400. Alternatively, the identification information of the first moving body V1 may further include information regarding the type, color, size, shape, etc. of the first moving body V1.

[0067] Meanwhile, when the first device 300 and the second device 400 are all moving bodies, the position of the first device 300 may change in real time as the position information of the first device 300 is generated, and the position of the second device 400 may change in real time as the second device 400 generates the second positioning information. Accordingly, the position information message transmitted by the first device 300 may further include at least one of the speed information of the first moving body V1 and the generation time information of the position information, and the second device 400 may generate the second positioning information by further using at least one of the speed information of the first moving body V1, the generation time information of the position information, and the speed information of the second moving body V2. As a result, real-time positioning reflecting the position change due to the movement of the first device 300 and the second device 400 is possible.

[0068] This allows the second device 400 to perform high-precision positioning without being equipped with an expensive RTK client.

[0069] Meanwhile, the second device 400 may transmit the location information message received from the first device 300 to the third device 500 mounted on the third moving body V3 around the second moving body V2. Alternatively, the second device 400 may generate a positioning information message for the second device 400 using the location information message received from the first device 300, and transmit the positioning information message of the second device 400 to the third device 500 mounted on the third moving body V3 around the second moving body V2. In this way, the third device 500, which cannot directly receive the location information message of the first device 300 transmitted by the first device 300 and does not have an RTK client, can also perform high-precision positioning. The positioning method of the positioning system according to the embodiment of the present invention may also be applied to crowd driving. Crowd driving refers to a group of autonomous vehicles moving together.

[0070] More specifically, referring to FIGS. 7 to 8, the first device 300 transmits a position information message including RTK positioning information in which the GNSS coordinates of the first device 300 are corrected with an RTK correction signal (S700, S800).

[0071] Meanwhile, the second device 400 generates first positioning information (S710, S810) and receives a location information message from the first device 300 (S720, S820). As described above, if the second device 400 includes a radar sensor or a lidar sensor, the first positioning information may include distance information between the first device 300 and the second device 400, and if the second device 400 does not include a radar sensor or a lidar sensor, the first positioning information may include GNSS coordinate information of the second device 400.

[0072] The second device 400 generates second positioning information of the second device 400 using the first positioning information generated in steps S710 and S810 and the location information message of the first device 300 received in steps S720 and S820 (S730 and S830). The second positioning information may be more accurate than the first positioning information. For example, the second positioning information may be positioning information having an error range of 10 cm or less.

[0073] Meanwhile, when a plurality of autonomous vehicles are traveling in a crowd, the location information message transmitted by the first device 300 mounted on the first moving body V1, which is the leading vehicle, can be received by the second device 400 mounted on the second moving body V2 following the first moving body V1, but the third device 500 mounted on the third moving body V3 following the second moving body V2 may not be able to receive the message due to the distance from the first device 300 or communication failure caused by the second device 400. According to an embodiment of the present invention, the second device 400 may act as a relay between the first device 300 and the third device 500.

[0074] For this, referring to FIG. 7, the third device 500 generates the first positioning information (S740). Here, the description of the first positioning information may be the same as the description of the first positioning information generated by the second device 400 in step S710. If the third device 500 includes a radar sensor or a lidar sensor, the first positioning information may include distance information between the second device 400 and the third device 500. For this, the third device 500 may store identification information of the second moving body V2 in advance and generate the first positioning information using distance information between the second moving body V2 and a moving body corresponding to the identification information stored in advance among the moving bodies running within a recognizable range. Since the third device 500 is mounted on the third moving body V3 and its position changes in real time, the third device 500 may periodically generate the first positioning information.

[0075] Meanwhile, the second device 400 transmits the location information message received from the first device 300 to the third device 500 (S750). At this time, the second device 400 may further transmit distance information between the first device 300 and the second device 400 to the third device 500 together with the location information message received from the first device 300.

[0076] Accordingly, the third device 500 generates second positioning information, which is more accurate than the first positioning information, by using the first positioning information generated in step S740 and the location information message received in step S750 (S760).

[0077] 8, the third device 500 generates the first positioning information (S840). Here, the description of the first positioning information may be the same as the description of the first positioning information generated by the second device 400 in step S810. If the third device 500 includes a radar sensor or a lidar sensor, the first positioning information may include distance information between the second device 400 and the third device 500. To this end, the third device 500 may store identification information of the second moving body V2 in advance and generate the first positioning information using distance information between the second moving body V2 and a moving body corresponding to the previously stored identification information among the moving bodies running within a recognizable range. Since the third device 500 is mounted on the third moving body V3 and its position changes in real time, the third device 500 may periodically generate the first positioning information.

[0078] Meanwhile, the second device 400 generates a positioning information message using the second positioning information generated in step S830 (S850) and transmits the positioning information message to the third device 500 (S860). Here, the positioning information message may further include at least one of identification information of the second moving body V2, speed information of the second moving body V2, and generation time information of the second positioning information together with the second positioning information generated by the second device 400 in step S830.

[0079] The third device 500 generates second positioning information, which is more accurate than the first positioning information, by using the first positioning information generated in step S840 and the positioning information message received in step S860 (S870). If the positioning information message includes the identification information of the second moving body V2, the third device 500 can determine that the device that transmitted the positioning information message is the second device 400 by comparing the identification information of the second moving body V2 included in the positioning information message with the identification information of the second moving body V2 recognized by the third device 500. If the positioning information message further includes at least one of the speed information of the second moving body V2 and the generation time information of the second positioning information, real-time positioning reflecting the position change due to the movement of the second device 400 and the third device 500 is possible.

[0080] Meanwhile, when the first moving body V1 equipped with the first device 300, the second moving body V2 equipped with the second device 400, and the third moving body V3 equipped with the third device 500 are moving in a crowd, the first device 300, the second device 400, and the third device 500 each store identification information of the moving body moving in a crowd in advance, and the first moving body V1, the second moving body V2, and the third moving body V3 can move together at a certain interval within a predetermined distance. This can minimize the data included in the location information message or the positioning information message between the first device 300, the second device 400, and the third device 500, and can minimize the amount of calculations in the first device 300, the second device 400, and the third device 500.

[0081] As such, according to an embodiment of the present invention, even if only some of the vehicles are equipped with RTK clients during crowd driving, other vehicles traveling together can perform positioning with high accuracy.

[0082] The term "module" used in this embodiment means software or hardware components such as a field-programmable gate array (FPGA) or an ASIC, and the "module" performs a certain function. However, the "module" is not limited to software or hardware. The "module" may be configured to reside on an addressable storage medium and to execute one or more processors. Thus, by way of example, the "module" includes components such as software components, object-oriented software components, class components, and task components, as well as processes, functions, attributes, procedures, subroutines, program code segments, drivers, firmware, microcode, circuits, data, databases, data structures, tables, arrays, and variables. The components and functions provided in the "module" may be combined into a smaller number of components and "modules" or further separated into additional components and "modules". Moreover, the components and "modules" may be embodied to execute one or more CPUs in a device or a security multimedia card.

[0083] Although the present invention has been described above with reference to preferred embodiments, it will be understood by those skilled in the art that various modifications and variations of the present invention may be made without departing from the spirit and scope of the present invention as set forth in the following claims.

Claims

1. A communication unit that receives a location information message including location information of the external device from the external device; a first positioning unit that generates first positioning information including at least one of GNSS (Global Navigation Satellite System) coordinate information and distance information to the external device; a second positioning unit that generates second positioning information by using the location information message of the external device and the first positioning information; the location information message is a broadcast message, The positioning device, wherein the position information of the external device includes RTK (Real Time Kinematics) positioning information obtained by correcting the GNSS coordinates of the external device with an RTK correction signal.

2. The external device is mounted on a first moving body, The positioning device is mounted on a second moving body, The location information message further includes at least one of identification information of the first moving object, speed information of the first moving object, and generation time information of the location information; The positioning device according to claim 1 , wherein the second positioning unit generates the second positioning information by further utilizing at least one of identification information of the first moving body, speed information of the first moving body, generation time information of the position information, and speed information of the second moving body.

3. The positioning device according to claim 2 , wherein the communication unit transmits the location information message to another external device mounted on a third moving object.

4. the second positioning unit generates a positioning information message including at least one of the second positioning information, identification information of the second moving object, speed information of the second moving object, and generation time information of the second positioning information; The positioning device according to claim 2 , wherein the communication unit transmits the positioning information message to another external device mounted on a third moving body.

5. The positioning device according to claim 1 , wherein the external device is a roadside base station.

6. The positioning device according to claim 1 , wherein the first positioning unit includes at least one of a lidar sensor and a radar sensor that detects a distance to the external device.

7. In a positioning method of a positioning system, The first device transmits a location information message including real-time kinematics (RTK) positioning information obtained by correcting a Global Navigation Satellite System (GNSS) coordinate of the first device with an RTK correction signal; a second device receiving the location information message from the first device; generating first positioning information including at least one of GNSS coordinate information of the second device and distance information between the second device and the first device; The second device generates second positioning information of the second device using the location information message and the first positioning information.

8. The method of claim 7 , further comprising the step of the second device transmitting the location information message to a third device.

9. generating a positioning information message including second positioning information of the second device; The method of claim 7 , further comprising transmitting the positioning information message to a third device.

10. the first device is mounted on a first moving body, the second device is mounted on a second moving body, and the third device is mounted on a third moving body; The first device stores identification information of the second moving body and identification information of the third moving body in advance; The second device stores identification information of the first moving body and identification information of the third moving body in advance; The third device stores identification information of the first moving body and identification information of the second moving body in advance; 10. The positioning method according to claim 8, wherein the first moving body, the second moving body and the third moving body move together at intervals within a predetermined distance.

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