Method and Apparatus for Correcting the Accuracy of Navigation Data for Unmanned Aerial Vehicle-Mounted Synthetic Aperture Radar for Processing Real-Time Image

Abstract

A method for correcting navigation data accuracy for a synthetic aperture radar mounted on an unmanned aerial vehicle for real-time image processing and an apparatus for the same are disclosed. A method for correcting the accuracy of navigation data in a navigation data accuracy correction device according to an embodiment of the present invention, wherein the navigation data accuracy correction method may include: a navigation data acquisition step of acquiring navigation data from a navigation sensor device; a time delay measurement step of calculating time measurement information by measuring the reception time of the navigation data and a time delay caused by communication; a navigation data correction step of correcting the navigation data based on the time measurement information; and a navigation usage data generation step of generating navigation usage data based on the corrected navigation data.

Description

Technology Field

[0001] The present invention relates to a method for correcting navigation data accuracy for a synthetic aperture radar mounted on an unmanned aerial vehicle for real-time image processing, and an apparatus for the same. Background Technology

[0002] The content described in this section merely provides background information regarding embodiments of the present invention and does not constitute prior art.

[0003] In fields utilizing navigation data, there are cases where the user's usage cycle is longer than the measurement cycle of the navigation sensor. Consequently, purchasing high-cycle navigation sensors leads to a sharp increase in costs, along with corresponding increases in size, weight, and power consumption.

[0004] Conventionally, as a technique to improve the accuracy of inertial navigation data, methods are used to reduce errors by applying filtering techniques such as Kalman filters and GHK filters to the raw data after acquiring navigation data, or to compensate for errors by combining image information and rotation information acquired by mounting multiple inertial navigation sensors or additional sensors such as cameras and angular acceleration measuring devices with the inertial navigation data.

[0005] However, conventional technology cannot overcome the time error of the acquired raw inertial navigation data, resulting in a significant discrepancy with the actual measured value at that point in time. In other words, there is a problem in that the reliability of the inertial navigation data itself is not improved, even though it is only smoothed to make it easier for the user by generating composite navigation data through filtering or additional sensors. The problem to be solved

[0006] The main objective of the present invention is to provide a method for correcting navigation data accuracy for a synthetic aperture radar mounted on an unmanned aerial vehicle for real-time image processing, which acquires navigation data from a navigation sensor device, calculates time measurement information related to the acquired navigation data, and corrects the navigation data based on the time measurement information to generate navigation usage data, and an apparatus for the same. means of solving the problem

[0007] According to one aspect of the present invention, in a method for correcting the accuracy of navigation data in a navigation data accuracy correction device for achieving the above objective, the navigation data accuracy correction method may include: a navigation data acquisition step of acquiring navigation data from a navigation sensor device; a time delay measurement step of calculating time measurement information by measuring the reception time of the navigation data and a time delay caused by communication; a navigation data correction step of correcting the navigation data based on the time measurement information; and a navigation usage data generation step of generating navigation usage data based on the corrected navigation data.

[0008] In addition, according to another aspect of the present invention, a navigation data accuracy correction device for achieving the above objective, the navigation data accuracy correction device may include: a navigation data acquisition unit that acquires navigation data from a navigation sensor device; a time delay measurement unit that calculates time measurement information by measuring the reception time of the navigation data and a time delay caused by communication; a navigation data correction unit that corrects the navigation data based on the time measurement information; and a navigation usage data generation unit that generates navigation usage data based on the corrected navigation data. Effects of the invention

[0009] As explained above, the present invention has the effect of generating and utilizing navigation information that matches the period desired by the user based on low-period navigation information obtained from a navigation sensor.

[0010] In addition, the present invention can reduce navigation errors such as position, attitude, and speed by mitigating time errors caused by asynchronous operations and communication time, thereby enabling the utilization of navigation information appropriate to the time of SW operation.

[0011] In addition, while methods that compensate using conventional post-processing techniques (interpolation, filter, etc.) result in a minimum error of a certain level or higher, the present invention has the effect of reducing the time error to less than the operating cycle of the FPGA and CPU when processing in real time. Brief explanation of the drawing

[0012] FIG. 1 is a block diagram schematically showing a micro-compact synthetic aperture radar system according to an embodiment of the present invention. FIG. 2 is a block diagram schematically showing a navigation data accuracy correction device according to an embodiment of the present invention. FIG. 3 is a diagram illustrating a navigation data accuracy correction operation according to an embodiment of the present invention. FIG. 4 is a flowchart illustrating a method for correcting navigation data accuracy according to an embodiment of the present invention. FIGS. 5 and 6 are illustrative diagrams for explaining navigation data accuracy correction operation according to an embodiment of the present invention. Specific details for implementing the invention

[0013] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In describing the present invention, if it is determined that a detailed description of related known configurations or functions may obscure the essence of the present invention, such detailed description will be omitted. Furthermore, while preferred embodiments of the present invention will be described below, the technical concept of the present invention is not limited or restricted thereto and can be modified and implemented in various ways by those skilled in the art. Hereinafter, with reference to the drawings, a method for correcting navigation data accuracy for a synthetic aperture radar mounted on an unmanned aerial vehicle for real-time image processing and an apparatus for the same will be described in detail.

[0014] The present invention is applicable to all fields utilizing inertial navigation data. For example, it is applicable to fields that control the operation of all means of transportation, such as vehicles, ships, and aircraft, by acquiring real-time position, attitude, and speed, as well as fields related to equipment that utilizes navigation information mounted on mobile platforms, such as cameras, sensors, and measuring instruments (e.g., distance measuring equipment, equipment that maps acquired data onto a map).

[0015] FIG. 1 is a block diagram schematically showing a micro-compact synthetic aperture radar system according to an embodiment of the present invention.

[0016] The micro-synthetic aperture radar system (10) according to the present embodiment includes an antenna device (100), a gimbal device (200), a navigation sensor device (300), an RF transceiver device (400), and a control device (500). The micro-synthetic aperture radar system (10) of FIG. 1 is according to one embodiment, and not all blocks shown in FIG. 1 are essential components, and some blocks included in the micro-synthetic aperture radar system (10) in other embodiments may be added, changed, or deleted.

[0017] The micro-synthetic aperture radar system (10) refers to a synthetic aperture radar system mounted on a small unmanned aerial vehicle. Here, a synthetic aperture radar (SAR) generally refers to a radar capable of acquiring high-resolution precision images of the ground by utilizing the relative change characteristics of the Doppler frequency detected in the reflected and received signal, which is mounted on an airplane or satellite and moves while radiating a beam to the ground multiple times.

[0018] In addition, small unmanned aerial vehicles may be drones, but are not necessarily limited to this, and may be various types of unmanned aerial vehicles developed to be smaller than a certain size.

[0019] Below, each component included in the ultra-small synthetic aperture radar system (10) will be described.

[0020] The antenna device (100) is connected to the gimbal device (200) and emits a radar pulse to receive a radar reflection signal (reflected wave) from a target.

[0021] The antenna device (100) can be implemented in a form including a feed section, a radiating section patch, a parasitic patch, a shielding wall, etc.

[0022] The required specifications of the antenna device (100) are preferably designed such that, based on SRR / SFR, the weight is 0.1 to 0.3 kg, the operating frequency is X-band (X-band: frequency band of 6.2 to 10.9 GHz), the polarization is HH, VV, HV, VH, the antenna gain is 15 dBi or more, and the side lobe level is -20 dB or less, but are not necessarily limited thereto.

[0023] The gimbal device (200) is provided to be mounted on a small unmanned mobile vehicle. The gimbal device (50) may include an azimuth assembly, an elevation assembly, a dustproof assembly, etc.

[0024] The required specifications of the gimbal device (200) are preferably such that, based on PDR, the weight is 0.2 to 0.5 kg, the driving method is 2-axis driving, the azimuth angle is within -130 to 130 degrees, and the elevation angle is within 0 to 85 degrees, and it may include a monitoring unit and a control unit to perform self-fault diagnosis.

[0025] The navigation sensor device (300) is a device that senses navigation data regarding the position, attitude, speed, and time information of a small unmanned aerial vehicle.

[0026] The navigation sensor device (300) may include a Global Positioning System (GPS) module, an Inertial Measurement Unit (IMU) module including an acceleration sensor, a gyroscope, a magnetometer, etc., a housing, etc.

[0027] The navigation sensor device (300) can transmit the sensed navigation data to an RF transceiver (400), a control device (500), etc.

[0028] The RF transceiver (400) calculates the detection distance of a pre-set area of ​​interest based on the SAR reception signal of the radar reflection signal, extracts the area of ​​interest signal based on the detection distance, and stores the generated packet data.

[0029] Additionally, the RF transceiver (400) acquires navigation data and corrects the acquired navigation data to generate navigation usage data. Here, the generated navigation usage data can be included in the packet data and stored together.

[0030] The RF transceiver device (400) according to the present embodiment includes an RF transmission module (410), an RF reception module (420), a signal processing control module (430), and a storage module (440).

[0031] The RF transmission module (410) generates a SAR transmission signal so that a radar signal is output through the antenna device (100). Here, the SAR transmission signal refers to a signal for the pulse waveform of the radar signal.

[0032] The RF receiving module (420) acquires a SAR receiving signal of a radar reflection signal received through the antenna device (100) based on a SAR transmission signal, and processes the SAR receiving signal. Here, the SAR receiving signal refers to a signal for a pulse waveform within the radar reflection signal.

[0033] The RF transmitting module (410) and the RF receiving module (420) can be implemented as a single transmitting and receiving device. For example, the transmitting and receiving device is an RF transmitting and receiving device and may include an RF module, a digital module, a power module, and a housing. The specifications required for the transmitting and receiving device are preferably designed to have a weight of 0.5 to 1.5 kg based on SRR / SFR, an operating frequency X-band, a transmitting power of 1 W or more, a pulse width of 45 µs or more, a receiving IF center frequency of 1.25 MHz or more, a receiving IF bandwidth of 200 MHz or more, and a receiving dynamic range of 60 dB or more, but are not necessarily limited thereto.

[0034] The signal processing control module (430) calculates the detection distance to the region of interest based on the signal-processed SAR received signal, and extracts the region of interest signal based on the detection distance to generate packet data.

[0035] Additionally, the signal processing control module (430) acquires navigation data from the navigation sensor device (300), calculates time measurement information related to the acquired navigation data, and corrects the navigation data based on the time measurement information to generate navigation usage data. Here, the generated navigation usage data can be included in the packet data and stored together.

[0036] The storage module (440) stores the generated packet data. Here, the packet data includes navigation data and a region of interest signal. Here, the region of interest signal may be in a compressed form, and the packet data may include the region of interest signal time-synchronized with the navigation data.

[0037] A detailed description of the RF transceiver device (400) is provided in FIGS. 2 and FIGS. 3.

[0038] The control device (500) controls the overall operation of the micro-synthetic aperture radar system (10).

[0039] The control device (500) can perform synchronization of navigation data and packet data or control of interlocking with a ground device. Additionally, the control device (500) can control timing signals and power, etc., for synchronization of the RF transceiver (400). Here, the navigation data includes position, attitude, speed, and time information, etc., and the packet data includes navigation data and a region of interest signal. The packet data may include a region of interest signal time-synchronized with the navigation data.

[0040] The control device (500) can be linked with the control of operation (e.g., attitude control, etc.) of an unmanned small aircraft equipped with a micro-synthetic aperture radar system (10).

[0041] FIG. 2 is a block diagram schematically showing a navigation data accuracy correction device according to an embodiment of the present invention.

[0042] The signal processing control module (430) according to the present embodiment includes a navigation data acquisition unit (432), a time delay measurement unit (434), a navigation data correction unit (436), and a navigation usage data generation unit (438). The signal processing control module (430) of FIG. 2 is according to one embodiment, and not all blocks shown in FIG. 2 are essential components, and some blocks included in the signal processing control module (430) in other embodiments may be added, changed, or deleted.

[0043] Meanwhile, the signal processing control module (430) may be implemented as a navigation data accuracy correction device. The navigation data accuracy correction device may be included within the RF transceiver (400), but is not necessarily limited thereto, and may be a separate device that interacts with the RF transceiver (400).

[0044] The navigation data accuracy correction device acquires navigation data from a navigation sensor device, calculates time measurement information related to the acquired navigation data, and corrects the navigation data based on the time measurement information to generate navigation usage data.

[0045] Below, each component of the navigation data accuracy correction device will be described.

[0046] The navigation data acquisition unit (432) acquires navigation data from the navigation sensor device (300).

[0047] The navigation data acquisition unit (432) transmits a first trigger signal to a navigation sensor device and can acquire navigation data corresponding to the first trigger signal.

[0048] Meanwhile, the navigation data acquisition unit (432) can acquire navigation data at a preset navigation reception period corresponding to the first trigger signal. Here, the first trigger signal may be a signal synchronized with a PPS (Pulse Per Second Signal) signal received from a GPS (Global Positioning System).

[0049] The time delay measuring unit (434) measures the reception time of navigation data and the time delay caused by communication to calculate time measurement information.

[0050] The time delay measuring unit (434) can measure the time delay by comparing the measurement time included in the navigation data with the reception time when the navigation data was received.

[0051] Additionally, the time delay measuring unit (434) can calculate time measurement information including the transmission time of the first trigger signal transmitted to the navigation sensor device (300) and the second trigger signal transmitted for correction of navigation data, and the reception time of the PPS signal received from the GPS.

[0052] The navigation data correction unit (436) performs the operation of correcting navigation data based on time measurement information.

[0053] The navigation data correction unit (436) can correct the navigation data by receiving a second trigger signal synchronized with the PPS signal. Here, the second trigger signal is transmitted from a field-programmable gate array (FPGA), and the navigation data can be corrected by a central processing unit (CPU) that receives the second trigger signal.

[0054] The navigation data correction unit (436) corrects the navigation data using the time measurement of the second trigger signal and the time measurement of the navigation data. In other words, the navigation data correction unit (436) can correct the navigation data by calculating the difference between the time measurement of the second trigger signal and the time measurement of the navigation data. Meanwhile, if a previous correction value of the navigation data exists, the navigation data correction unit (436) can correct the navigation data by additionally using the previous correction value.

[0055] The navigation data correction unit (436) can calculate the time measurement value of the second trigger signal using the time value (dt3) between the time of the previous second trigger signal and the time of the current second trigger signal.

[0056] Additionally, the navigation data correction unit (436) can calculate the time measurement value at which the navigation data is measured using the time value (dt1) between the time when the navigation data is received and the time when the navigation data is read to be corrected, and the time value (dt2) between the time when the navigation data is read to be corrected and the time when the second trigger signal is received.

[0057] The navigation usage data generation unit (438) generates navigation usage data based on the corrected navigation data.

[0058] The navigation usage data generation unit (438) generates navigation usage data based on the time measurement of the second trigger signal, the time measurement of the navigation data measured, and the navigation data corrected based on the previous correction value.

[0059] The navigation usage data generation unit (438) can output navigation usage data to be stored at a preset period or upon request. Here, it is preferable that the navigation usage data be output to and stored in the storage module (440), but it is not necessarily limited thereto.

[0060] FIG. 3 is a diagram illustrating a navigation data accuracy correction operation according to an embodiment of the present invention.

[0061] The signal processing control module (430) operates in conjunction with the inertial sensor device (300), GPS, storage module (440), etc. The signal processing control module (430) may include an FPGA and a CPU.

[0062] In the operation cycle, the CPU operations that process user data must be handled based on a Non-OS (Operating System).

[0063] Conventional technology primarily deals with methods to supplement previously acquired data through filters, employing techniques that merge or filter data obtained from multiple inertial navigation systems or separate sensors. Accordingly, the present invention proposes an approach different from conventional technology to provide a fundamental improvement in performance.

[0064] The result of the present invention, which has time accuracy that is incomparable to the collection and processing operations of OS-based navigation data such as Windows and Linux, can be derived through the time synchronization technique of FIG. 5 and the time interpolation method of FIG. 6.

[0065] The operating error of general OS-based software is known to be about 1 ms, and under the assumption that the operating cycle of the FPGA of the present invention is 10 ns, the arithmetic error is reduced to the level of 1 / 100000.

[0066] The performance of a 100 MHz oscillator that must be used to have an operating period of 10 ns is typical, and the purchase cost is low. If a higher period oscillator is applied for high precision, the performance of the present invention can also be improved linearly.

[0067] It is desirable that the operations of the present invention, such as the collection of navigation data, measurement of communication time, and issuance of operation triggers, all converge to an error within one cycle of the FPGA.

[0068] The navigation data accuracy correction operation for the signal processing control module (430) will be described in detail in FIGS. 5 and FIGS. 6.

[0069] FIG. 4 is a flowchart illustrating a method for correcting navigation data accuracy according to an embodiment of the present invention.

[0070] The signal processing control module (430) performs time measurement and acquisition of navigation data (inertial navigation data) (S410, S420).

[0071] The signal processing control module (430) acquires navigation data from the navigation sensor device (300). Here, the navigation data may be acquired at a preset navigation reception period, but is not necessarily limited thereto.

[0072] The signal processing control module (430) can measure the time delay.

[0073] The signal processing control module (430) measures the time value at which navigation data is received and the delay caused by communication. Here, the measurement can be performed through an FPGA.

[0074] In the time delay measurement step, the signal processing control module (430) has an operating cycle of the FPGA faster than the collection cycle of the navigation sensor or the usage cycle of the user, and while the Windows-based CPU time measurement generally has a measurement error of more than 1 ms, the method using the FPGA can achieve precise time measurement in nanosecond (ns) units.

[0075] The signal processing control module (430) performs time correction of the navigation data (S430).

[0076] The signal processing control module (430) corrects the navigation data on the time axis based on the measured time value.

[0077] The signal processing control module (430) generates navigation usage data based on the corrected navigation data (S440).

[0078] The signal processing control module (430) can generate navigation usage data with a higher period than the navigation reception period.

[0079] Meanwhile, the signal processing control module (430) can perform an operation to compensate for the constraints on the acquisition cycle of the navigation sensor by generating virtual navigation data for the intervals where navigation data is not received during the step of generating navigation usage data.

[0080] Although FIG. 4 describes each step as being executed sequentially, it is not necessarily limited to this. In other words, since it is possible to modify and execute the steps described in FIG. 4 or to execute one or more steps in parallel, FIG. 4 is not limited to a chronological order.

[0081] The navigation data accuracy correction method according to the present embodiment described in FIG. 4 may be implemented as an application (or program) and recorded on a recording medium readable by a terminal device (or computer). The recording medium on which the application (or program) for implementing the navigation data accuracy correction method according to the present embodiment is recorded and which is readable by a terminal device (or computer) includes all types of recording devices or media in which data that can be read by a computing system is stored.

[0082] FIGS. 5 and 6 are illustrative diagrams for explaining navigation data accuracy correction operation according to an embodiment of the present invention.

[0083] FIG. 5 is an illustrative diagram for explaining time synchronization operation according to an embodiment of the present invention, and FIG. 6 is an illustrative diagram for explaining time interpolation operation according to an embodiment of the present invention.

[0084] Referring to FIG. 5, the operation of the FPGA in the time axis is shown. In FIG. 5, a high-period FPGA generates trigger signals (a first trigger signal and a second trigger signal) that induce the operation of the CPU and the data collection operation of the navigation sensor device (300), and resynchronization by the PPS signal is visually represented.

[0085] The entity responsible for synchronization between the navigation sensor device (300) and the CPU is the FPGA with the fastest operation cycle and processing speed, and the synchronization operation is performed by an operation trigger (first trigger signal) issued by the FPGA.

[0086] The PPS signal is a 1 Hz period synchronization signal received from GPS and is generally a highly reliable signal. The FPGA resynchronizes the time value every 1 second when the PPS signal is collected by compensating for the FPGA's accumulated error based on the PPS signal.

[0087] The reason for the accumulation of time errors between PPS signals is that the period of the operation trigger signal issuance and the period of the reference clock used for the operation of the FPGA are not exactly divided, and the operating characteristics of the reference clock element itself also vary depending on the supplied power and external environment (temperature, humidity, etc.).

[0088] The accuracy of the operation trigger signal has a jitter tendency within 10 ns when the FPGA operation cycle is 100 MHz. Here, communication delays in the operation trigger signal are not taken into account. This is because the signal itself to be transmitted to the navigation sensor device (300) and CPU, which are operated by the operation trigger signal, is transmitted in a very short time in an interrupt manner rather than as a flow of packetized data.

[0089] Figure 6 illustrates the operation of storing navigation data or generating navigation usage data, which is usage data for use by the user.

[0090] In the present invention, navigation usage data can be generated according to the period desired by the user, and in FIG. 6, 1 KHz is used as an example.

[0091] Since the present invention aims to improve the performance of acquired navigation data, it generates navigation usage data by applying a first-order interpolation method without any filters or techniques. Therefore, the present invention has high utility as it can be combined with other conventional filters or techniques.

[0092] Referring to FIG. 6, dt1 represents the time value from the start of receiving navigation data received from the navigation sensor device (300) to the time when the navigation data is read by the CPU, and dt2 represents the time value from the time when the navigation data is read by the CPU to the time when the next CPU operation trigger signal is transmitted. Additionally, dt3 represents the time value from the time when the previous CPU operation trigger signal was transmitted to the time when the current CPU operation trigger signal is transmitted.

[0093] The times when the time values ​​of dt1, dt2, and dt3 are updated are as follows.

[0094] - dt1: Perform update before reading from CPU after receiving navigation data

[0095] - dt2 and dt3: Updates are performed before each CPU trigger signal is applied

[0096] Here, in the case of dt2, if there is no reception of navigation data prior to that point in time, the value of dt2 is set to 0 so that the SW of the CPU generating navigation usage data recognizes that there is no reception of navigation data and can generate interpolated data.

[0097] The signal processing control module (430) performs an operation to correct navigation data based on the time measurement value of FIG. 5. The formula for generating navigation usage data through the correction operation can be defined as [Equation 1].

[0098]

[0099] (① Current value, ② Accumulation of past displacement amount, ③ Compensation for reception time - usage time, ④ Previous value( , ))

[0100] Term ① of [Mathematical Formula 1] refers to corrected navigation usage data.

[0101] Term ② of [Equation 1] refers to the process of reflecting the measured time value of the CPU trigger signal (second trigger signal) generated in the FPGA. Although CPU operation with a 1 KHz cycle is intended, an error of up to 1 ms can occur when the CPU itself synchronizes without synchronization of the trigger signal; therefore, by performing synchronization by the FPGA, the effect of reducing the error time can be obtained.

[0102] Term ③ of [Mathematical Equation 1] is a process of correcting the value to the point in time when actual navigation data is generated, and a first-order interpolation technique is applied, which can reduce the error on the time axis.

[0103] For example, navigation usage data for the 1ms time point (if there is an inertial navigation information update) It is generated as follows.

[0104] In addition, the navigation usage data for the 2ms time point (in the case of no inertial navigation information update) It is generated as follows.

[0105] In addition, the navigation usage data for the 3ms time point (in the case of no inertial navigation information update) It is generated as follows.

[0106] In addition, the navigation usage data for the 4ms time point (if there is an inertial navigation information update) It is generated as follows.

[0107] Meanwhile, in the case where no navigation data is received in a predetermined interval (e.g., at the 2 ms point in Fig. 6), an operation to correct the navigation data may be performed by reflecting the time of two CPU trigger signals rather than a value considering the time of one CPU trigger signal. Through this process, the period of the navigation data used by the user can be arbitrarily increased compared to the reception period of the navigation data.

[0108] The foregoing description is merely an illustrative explanation of the technical concept of the embodiments of the present invention, and those skilled in the art to which the embodiments of the present invention pertain will be able to make various modifications and variations within the scope that does not deviate from the essential characteristics of the embodiments of the present invention. Accordingly, the embodiments of the present invention are intended to explain, not limit, the technical concept of the embodiments of the present invention, and the scope of the technical concept of the embodiments of the present invention is not limited by these embodiments. The scope of protection of the embodiments of the present invention shall be interpreted by the claims below, and all technical concepts within an equivalent scope shall be interpreted as being included within the scope of rights of the embodiments of the present invention. Explanation of the symbols

[0109] 10: Micro-sized Synthetic Aperture Radar System 100: Antenna device 200: Sizzling machine 300: Navigation sensor device 400: RF transceiver 500: Control unit

Claims

Claim 1 A method for correcting the accuracy of navigation data in a navigation data accuracy correction device comprises: a navigation data acquisition step of transmitting a first trigger signal to a navigation sensor device and acquiring the navigation data corresponding to the first trigger signal from the navigation sensor device; a time delay measurement step of measuring a time delay caused by communication by comparing the measurement time included in the navigation data with the reception time at which the navigation data is received, and calculating time measurement information including the measurement result of the time delay; and a navigation data correction step of correcting the navigation data based on the time measurement information.The method includes a navigation usage data generation step for generating navigation usage data based on corrected navigation data, wherein the navigation data correction step receives a second trigger signal synchronized with a PPS signal, calculates a time measurement value of the navigation data measured using a time value (dt1) between the time of receiving the navigation data and the time of reading the navigation data for correction, and a time value (dt2) between the time of reading the navigation data for correction and the time of receiving the second trigger signal, corrects the navigation data by additionally using the previous correction value if a previous correction value of the navigation data exists, calculates a time measurement value of the second trigger signal using a time value (dt3) between the time of the previous second trigger signal and the time of the current second trigger signal, and corrects the navigation data by calculating the difference between the time measurement value of the second trigger signal and the time measurement value of the navigation data measured. The navigation usage data generation step, based on the time measurement value of the second trigger signal, the time measurement value of the navigation data measured, and the previous correction value, the navigation usage data A method for correcting navigation data accuracy, characterized by generating, but outputting, such that the navigation usage data is stored according to a preset period or request, and generating the navigation usage data having a period higher than the navigation reception period. Claim 2 delete Claim 3 A method for correcting navigation data accuracy according to claim 1, wherein the first trigger signal is a signal synchronized with a PPS (Pulse Per Second Signal) signal received from a GPS (Global Positioning System). Claim 4 delete Claim 5 A method for correcting navigation data accuracy according to claim 1, wherein the time measurement information comprises a time value obtained by measuring the transmission time of a first trigger signal transmitted to a navigation sensor device and a second trigger signal transmitted for correction of the navigation data, and the reception time of a PPS signal received from GPS. Claim 6 delete Claim 7 delete Claim 8 delete Claim 9 delete Claim 10 delete Claim 11 delete Claim 12 delete Claim 13 A navigation data accuracy correction device comprises: a navigation data acquisition unit that transmits a first trigger signal to a navigation sensor device and acquires navigation data corresponding to the first trigger signal from the navigation sensor device; a time delay measurement unit that measures a time delay caused by communication by comparing a measurement time included in the navigation data with a reception time at which the navigation data is received, and calculates time measurement information including the measurement result of the time delay; and a navigation data correction unit that corrects the navigation data based on the time measurement information. The navigation usage data generation unit generates navigation usage data based on corrected navigation data, wherein the navigation data correction unit receives a second trigger signal synchronized with a PPS signal, calculates a time measurement value of the navigation data using a time value (dt1) between the time of receiving the navigation data and the time of reading the navigation data for correction, and a time value (dt2) between the time of reading the navigation data for correction and the time of receiving the second trigger signal, corrects the navigation data by additionally using the previous correction value if a previous correction value of the navigation data exists, calculates a time measurement value of the second trigger signal using a time value (dt3) between the time of the previous second trigger signal and the time of the current second trigger signal, and corrects the navigation data by calculating the difference between the time measurement value of the second trigger signal and the time measurement value of the navigation data. The navigation usage data generation unit generates the navigation usage data based on the navigation data corrected based on the time measurement value of the second trigger signal, the time measurement value of the navigation data, and the previous correction value. A navigation data accuracy correction device characterized by generating, but outputting, such that the navigation usage data is stored according to a preset period or request, and generating the navigation usage data having a period higher than the navigation reception period.

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