Method and system for generating location information in GNSS signal-shaded region

Abstract

Provided is a method for generating location information in a GNSS signal-shaded region. The method comprises the steps of: on the basis of measurement results for a stationary or moving object, which is located in a GNSS signal-shaded region, by using a certain positioning technique, generating first location information on the basis of a region relative coordinate system corresponding to the GNSS signal-shaded region; obtaining regional location information according to the region relative coordinate system and regional GNSS information on a GNSS coordinate system, which matches the regional location information; on the basis of matching results of the regional location information with the regional GNSS information, converting the first location information into second location information, which is a virtual GNSS location value that is continuous with a global satellite coordinate system GNSS; and providing the converted second location information.

Description

Method and system for generating location information in GNSS signal shadow areas

[0001] The present invention relates to a method and system for generating location information in a GNSS signal shadow area.

[0002] The Global Navigation Satellite System (GNSS) is a satellite navigation system that provides global positioning services. It tracks location using signals transmitted by satellites deployed above the Earth to receivers, and provides location information based on these signals. GNSS encompasses not only the United States' Global Positioning System (GPS), but also various other satellite navigation systems developed by various countries, including Russia's GLONASS, Europe's Galileo, and China's BeiDou.

[0003] While GNSS can provide the highest accuracy when objects are located outdoors, accuracy issues can arise when used indoors. Specifically, GNSS receivers may not be able to receive satellite signals in areas where signals are blocked, such as inside buildings or basements. Furthermore, indoor location tracking accuracy can be reduced due to signal reflections from buildings, furniture, and other structures. Furthermore, indoor signals transmitted from satellites can take longer to penetrate obstacles and reach the receiver, further reducing accuracy.

[0004] Other indoor positioning technologies have been developed to address these challenges in indoor GNSS shadow areas. For example, indoor location can be measured using wireless communication technologies such as Wi-Fi, Bluetooth, or RFID. These technologies typically utilize devices such as access points or beacons installed inside buildings to measure location.

[0005] Additionally, indoor positioning technology can utilize camera footage. Typically, cameras capture images of objects or scenes, and image processing can be used to extract object location information.

[0006] In this way, in indoor environments, various positioning technologies can be used to provide current location information of objects, but there is a problem in that the information is based on individual building relative coordinate systems (hereinafter referred to as local relative coordinate systems) rather than GNSS information.

[0007] Ultimately, when it is necessary to receive the objective location of a vehicle in a GNSS signal shadow area such as a parking lot, location information expressed in GNSS coordinates must be provided. However, in the case of a GNSS signal shadow area, GNSS positioning is impossible, which limits the acquisition and continuous use of objective location information.

[0008] The problem to be solved by the present invention is to provide a method and system for generating location information in a GNSS signal shadow area, which can generate and provide virtual GNSS information of an object based on location information based on a local relative coordinate system generated according to a non-GNSS positioning technique even in areas where GNSS information cannot be obtained, such as indoor parking lots, tunnels, forests of buildings, exhibition halls, shopping malls, etc.

[0009] However, the problems to be solved by the present invention are not limited to the problems described above, and other problems may exist.

[0010] According to a first aspect of the present invention for solving the above-described problem, a method for generating location information in a GNSS signal shadow area includes the steps of: generating first location information based on a local relative coordinate system corresponding to a GNSS signal shadow area based on a result measured through a predetermined positioning technique for a stationary or moving object located in the GNSS signal shadow area; obtaining local location information according to the local relative coordinate system and local GNSS information on a GNSS coordinate system matching the local location information; converting the first location information into second location information which is a virtual GNSS location value continuous with a global satellite coordinate system GNSS based on a matching result of the local location information and the local GNSS information; and providing the converted second location information.

[0011] In some embodiments of the present invention, the step of generating first position information based on the local relative coordinate system may generate first position information of the local relative coordinate system of the stationary or moving object based on image or sensing data acquired through a camera or a predetermined sensor installed in the GNSS signal shadow area.

[0012] Some embodiments of the present invention may further include a step of creating a map database by mapping local location information corresponding to the GNSS signal shadow area and GNSS information corresponding to the local location information.

[0013] In some embodiments of the present invention, the step of converting the first location information into second location information which is a virtual GNSS location value that is continuous with the Earth satellite coordinate system GNSS may include the step of performing rotation transformation and scale transformation on the first location information based on a matching result between a plurality of coordinate values ​​included in the local location information according to the local relative coordinate system and a plurality of GNSS values ​​included in the local GNSS information on the GNSS coordinate system.

[0014] In some embodiments of the present invention, the step of converting the first location information into second location information which is a virtual GNSS location value that is continuous with the Earth satellite coordinate system GNSS may include the step of converting the first location information into the second location information through an approximation by applying a finite element method or a finite difference method to the first location information when at least one of the cases is true: when the total area of ​​the GNSS signal shadow area has an area exceeding a preset threshold; and when the shape of the GNSS signal shadow area does not satisfy a preset curvature condition.

[0015] In some embodiments of the present invention, the step of providing the converted second location information may provide the converted second location information by applying the approximation when the maximum error between the result without applying the approximation and the actual location that may occur exceeds a preset technical requirement level value.

[0016] In addition, a system for generating location information in a GNSS signal shadow area according to a second aspect of the present invention includes a memory storing a program for generating location information for a stationary or moving object located in a GNSS signal shadow area, and a processor for generating first location information based on a local relative coordinate system corresponding to the GNSS signal shadow area based on a result measured through a predetermined location positioning technique for the stationary or moving object by executing the program stored in the memory, and obtaining local location information according to the local relative coordinate system and local GNSS information on a GNSS coordinate system matching the local location information, and then converting the first location information into second location information which is a virtual GNSS location value continuous with a global satellite coordinate system GNSS based on a matching result of the local location information and the local GNSS information, and then providing the converted second location information.

[0017] In addition, a computer program according to another aspect of the present invention is coupled with a computer as hardware and executes a method for generating location information in a GNSS signal shadow area, and is stored in a computer-readable recording medium.

[0018] Other specific details of the present invention are included in the detailed description and drawings.

[0019] According to the present invention described above, GNSS information, which was only provided outdoors, can be converted into virtual GNSS values ​​and provided even in GNSS signal shadow areas where GNSS signals are not received, thereby providing an advantage in providing continuous GNSS-based services.

[0020] This continuous provision of GNSS information enables a variety of services, including location-based advertising, safety management, indoor navigation, and indoor location tracking. This means users can conveniently utilize GNSS-based location-based services even inside buildings. Businesses and organizations can manage and utilize indoor movement paths and location information based on GNSS, integrating it with outdoor maps, enabling more efficient management and safety management.

[0021] The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description below.

[0022] FIG. 1 is a flowchart of a method for generating location information in a GNSS signal shadow area according to one embodiment of the present invention.

[0023] FIG. 2 is a diagram for explaining the content of generating first location information in a GNSS signal shadow area in one embodiment of the present invention.

[0024] FIG. 3 is a diagram illustrating an example of building GNSS information on a GNSS coordinate system in one embodiment of the present invention.

[0025] FIG. 4 is a drawing for explaining the conversion of first location information into second location information in one embodiment of the present invention.

[0026] FIG. 5 is a drawing for explaining the application of approximation to second location information according to predetermined conditions in one embodiment of the present invention.

[0027] Figure 6 is a block diagram of a location information generation system according to one embodiment of the present invention.

[0028] The advantages and features of the present invention, and the methods for achieving them, will become clearer with reference to the embodiments described in detail below together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below and may be implemented in various different forms. These embodiments are provided solely to ensure that the disclosure of the present invention is complete and to fully inform those skilled in the art of the scope of the present invention, and the present invention is defined solely by the scope of the claims.

[0029] The terminology used herein is for the purpose of describing embodiments only and is not intended to limit the present invention. In this specification, the singular also includes the plural unless specifically stated otherwise. As used herein, the terms "comprises" and / or "comprising" do not exclude the presence or addition of one or more other components in addition to the mentioned components. Like reference numerals refer to like components throughout the specification, and "and / or" includes each and any combination of one or more of the mentioned components. Although "first", "second", etc. are used to describe various components, these components are not limited by these terms. These terms are only used to distinguish one component from another. Therefore, it should be understood that a first component mentioned below may also be a second component within the technical spirit of the present invention.

[0030] Unless otherwise defined, all terms (including technical and scientific terms) used herein may be used in their common sense to those skilled in the art to which the present invention pertains. Furthermore, terms defined in commonly used dictionaries are not to be interpreted ideally or excessively unless explicitly and specifically defined otherwise.

[0031] Hereinafter, a method for generating location information in a GNSS signal shadow area according to one embodiment of the present invention will be described with reference to FIGS. 1 to 6.

[0032] FIG. 1 is a flowchart of a method for generating location information in a GNSS signal shadow area according to one embodiment of the present invention. It should be understood that each step illustrated in FIG. 1 is performed by a location information generation system (100) in a GNSS signal shadow area, which will be described later, but is not necessarily limited thereto.

[0033] First, based on the results measured using a predetermined positioning technique for a stationary or moving object located in a GNSS signal shadow area, first position information based on a local relative coordinate system corresponding to the GNSS signal shadow area is generated (S110). Here, the GNSS signal shadow area may be, for example, an indoor space of a building, but is not necessarily limited thereto.

[0034] FIG. 2 is a diagram for explaining the content of generating first location information in a GNSS signal shadow area in one embodiment of the present invention.

[0035] In one embodiment, the present invention can generate first position information (x1, y1, z) based on a local relative coordinate system of a stationary or moving object based on image or sensing data acquired by a camera or a predetermined positioning sensor installed in a GNSS signal shadow area.

[0036] Here, when the location information of an object located in a GNSS signal shadow area is expressed in a local relative coordinate system using a camera, for example, alignment between real space and an image can be performed through camera calibration, and after the object is identified from the captured image or video, the coordinates in 3D real space can be calculated from the 2D location of the object in the image. Thereafter, the location information of the object can be expressed as first location information expressed in a local relative coordinate system.

[0037] In addition, when using a positioning sensor, the location of an object located in a GNSS signal shadow area can be measured using various positioning sensors such as a Bluetooth beacon, an ultrasonic sensor, or a laser sensor. For example, when using a Bluetooth beacon, when the positioning sensor receives the signal from the beacon, the location of the object can be measured by analyzing the strength of the received signal, and in the case of ultrasonic or laser, the distance to the object can be calculated based on the time it takes for the signal to be reflected from the object and return, and this can be used to measure the location of the object.

[0038] In this way, the positioning technique of an object located in a GNSS signal shadow area in the present invention is not limited to any one, and the first position information generated through the positioning technique can be converted into second position information, which is a virtual GNSS position value, so that continuous GNSS information can be displayed even when entering a GNSS signal shadow area outdoors.

[0039] Next, local location information according to the local relative coordinate system and local GNSS information on the GNSS coordinate system matching it are acquired (S120).

[0040] FIG. 3 is a diagram illustrating an example of building GNSS information on a GNSS coordinate system in one embodiment of the present invention.

[0041] In one embodiment, the local location information may include a plurality of coordinate values ​​expressed in a local relative coordinate system. Preferably, the local location information is intended to match a virtual GNSS value with a plurality of GNSS values ​​included in the local GNSS information, so the plurality of coordinate values ​​according to the local location information may be coordinate values ​​measured at a location where a GNSS signal is received.

[0042] When multiple coordinate values ​​are acquired based on local location information, GNSS values ​​[(Lat1, Long1), (Lat2, Long2)] based on local GNSS information matching the coordinate values ​​are acquired. In this case, the description of the present invention only exemplifies latitude and longitude dimensions as coordinate values, but this is only an example and altitude information may be included.

[0043] In this way, by obtaining GNSS values ​​according to local GNSS information that match the coordinate values ​​according to local location information, a map database can be created and managed by mapping local location information corresponding to a GNSS signal shadow area and local GNSS information corresponding to the local location information.

[0044] Next, based on the matching result of the local location information and the building GNSS information, the first location information in the GNSS signal shadow area is converted into second location information, which is a virtual GNSS location value that is continuous with the global satellite coordinate system GNSS (S130), and the converted second location information is provided (S140).

[0045] FIG. 4 is a drawing for explaining the conversion of first location information into second location information in one embodiment of the present invention.

[0046] In one embodiment, the present invention performs rotation and scale transformation on first location information based on a matching result between a plurality of coordinate values ​​included in local location information according to a local relative coordinate system and a plurality of GNSS values ​​included in local GNSS information on a GNSS coordinate system.

[0047] Here, rotation transformation is a transformation operation performed to correspond local location information and local GNSS information. That is, if local location information is [(a, b), (c, d)] and local GNSS information is [(Lat1, Long1), (Lat2, Long2)], this is a transformation operation to correspond local location information and local GNSS information, respectively.

[0048] While local location information is expressed in a local relative coordinate system, GNSS-based local GNSS information is expressed in the Earth's coordinate system. Therefore, rotation transformation is required to map local location information to local GNSS information.

[0049] In addition, scale transformation is a transformation operation performed to correct the distance difference between the local location information and the local GNSS information. The local location information is expressed in the local relative coordinate system, and the distance information obtained through the corresponding coordinate values ​​[(a, b), (c, d)] and the distance information obtained through the local GNSS information [(Lat1, Long1), (Lat2, Long2)] are respectively corresponding but multiply proportional, so a scale transformation (Scaling) is required to correspond them. At this time, of course, the scale transformation can also be applied to the z-axis coordinate value (z) of the first location information.

[0050] Here, if the area in question is a building, the z-coordinate value can correspond to discontinuous floor information on the drawing or the height (altitude) of the corresponding floor through actual measurement. That is, discontinuous values ​​such as floor information can be calculated by considering the structure of a GNSS signal shadow area such as a building. To this end, one embodiment of the present invention can collect the internal structure of the building in advance using methods such as architectural drawings and scan information of the interior of the building, and extract the height of each floor.

[0051] For example, floor information may be provided as discrete values ​​such as 1st floor, 2nd floor, 3rd floor, and the interfloor spacing may be provided as having the same or different predetermined heights (e.g., 20 m). As another example, the floor information may be a value expressed based on the measured elevation above sea level on architectural drawings, etc. (2nd floor = 620 m). In this case, if there is a step difference within the same floor, multiple zones may be grouped and provided with a representative value measured for each group (e.g., 1st zone of 2nd floor (619 m), 2nd zone of 2nd floor (622 m)). As another example, the floor information may be expressed by applying an interfloor spacing (20 m) having a predetermined height based on the measured elevation above sea level (600 m) for the 1st floor of the building above.

[0052] Through this rotation and scale transformation process, the local location information and the local GNSS information can be matched, and as a result, the first location information (x1, y1, z) can be converted to the second location information (x1, y1, z), which is a virtual GNSS value. lat , y long , z altitude ) can be converted to. At this time, Z, which is the z-axis value of the second location information altitude The floor information (Z) may be provided as the same as the floor information, or may be provided as a value expressed based on the measured altitude above sea level, or may be provided as a height value that combines the altitude above sea level and the distance between floors. For example, if the floor information is provided as a two-story, Z altitude It can be expressed as 620m by adding 20m of inter-floor distance information to the 600m above sea level for the first floor, or it can be provided as the second floor when displayed to the user or system, but the detailed information that it is 620m can also be provided.

[0053] Meanwhile, the first location information can be converted into the second location information by performing a size transformation according to Equation 1 below and a rotation transformation according to Equation 2. When applying the size transformation according to Equation 1, the size transformation ratio in the x-axis direction for the first location information, S Xand S, which is the scale transformation ratio in the y-axis direction. Y By applying the rotation transformation according to Equation 2, the second position information can be obtained as a result of enlargement or reduction. In addition, when applying the rotation transformation according to Equation 2, the second position information can be obtained by rotating the first position information counterclockwise by θ. For reference, Equation 2 shows counterclockwise rotation. Meanwhile, in the description of the present invention, the size transformation and the rotation transformation are described separately, but this is for the convenience of explanation, and it is of course possible to transform them simultaneously through a single equation.

[0054] [Formula 1]

[0055]

[0056] [Formula 2]

[0057]

[0058] The second location information converted in this way is provided to the server or user terminal that requires it, allowing the receiver to receive continuous location information expressed as GNSS information. In other words, it is possible to continuously track an object's location using GNSS-based location information even when the object moves from outdoors to indoors (or vice versa).

[0059] FIG. 5 is a drawing for explaining the application of approximation to second location information according to predetermined conditions in one embodiment of the present invention.

[0060] In one embodiment, when generating second location information, the present invention can convert the first location information into second location information through approximation using the finite element method or the finite difference method, if the total area of ​​the GNSS signal shadow area exceeds a preset threshold.

[0061] For example, if a building's area is small, the Earth's curvature can be ignored. However, if the building has a large area, such as a large shopping mall, the Earth's curvature can affect the accuracy of the location information by simply matching the first location information with the second location information. To address this issue, one embodiment of the present invention requires providing location information that takes into account factors such as the building's size and area.

[0062] In addition, in one embodiment of the present invention, when the shape of a GNSS signal shadow area does not satisfy a preset curvature condition, the first location information can be converted into second location information through approximation using a finite element method or a finite difference method.

[0063] In other words, if the exterior of a building is composed of curves rather than straight lines, it is necessary to approximate them using a set of nearest points. To achieve this, the present invention can apply approximation methods such as the finite element method or the finite difference method. By approximating the exterior of a building to an angular shape or straight line through the approximation process, subsequent processing such as rotation and scale transformations can be performed more accurately.

[0064] Meanwhile, one embodiment of the present invention can provide second location information converted by applying approximation when the maximum error that can occur between an actual location and a result obtained by using positioning technology without applying approximation exceeds a technology requirement level set by a user or administrator, thereby further reducing the error and providing more accurate location information.

[0065] In other words, when an approximation such as the finite element method or finite difference method must be applied due to reasons such as the shape or area of ​​a building, in order to minimize the error in the location information provided to the user, the maximum error between the result without the approximation applied and the actual location that can occur is checked, and if the maximum error exceeds the technical requirement level, the result with the approximation applied is provided, thereby providing more accurate location information.

[0066] Meanwhile, in one embodiment of the present invention, the first location information, local location information, and local GNSS information of an object according to positioning in a GNSS signal shadow area are all described as being performed by a location information system, but this is not necessarily limited thereto.

[0067] For example, if the object is a vehicle, local location information and local GNSS information can be provided by the vehicle. That is, when the vehicle moves from outdoors to indoors (or vice versa), GNSS values ​​for each location at a specific point (point 1 and point 2) can be provided by the vehicle.

[0068] Accordingly, the location information system can convert the first location information of the vehicle according to the indoor positioning technique into second location information and provide it through the local location information and local GNSS information corresponding to the first point and the second point.

[0069] In another embodiment, the present invention can determine a maximum error for comparison with a technical requirement level value based on data collected over a predetermined time period (e.g., one week or one month).

[0070] For example, in the first time interval, the default values ​​and technical requirement level values ​​are applied, and the first maximum error between the first result (result without approximation applied) and the second result (actual location) for the object collected during the first time interval is calculated. Then, the first maximum error can be applied when providing the second location information of the object during the second time interval. Similarly, the second maximum error between the first result and the second result for the object collected during the second time interval can be calculated and applied when providing the second location information of the object during the third time interval.

[0071] As another example, in the first time interval, the default value and technical requirement level value may be applied, and during the second time interval, the first maximum error may be applied to provide second location information. Thereafter, when the second maximum error in the second time interval is calculated, the first maximum error and the second maximum error are compared, and if the comparison result exceeds the preset first threshold, the average error value for the object in the first time interval and the average error value for the object in the second time interval are calculated. If each error average value is less than the preset second threshold, there is a possibility that one of the first and second maximum errors is an outlier, and therefore, the maximum error that is more consistent with the previously applied default value may be applied to the next time interval, which is the third time interval.

[0072] In contrast, the first maximum error and the second maximum error are compared, and if the comparison result is less than or equal to the preset first threshold, the second maximum error with the latest value can be applied to the next time interval, that is, the third time interval.

[0073] In this way, one embodiment of the present invention can provide more accurate location information by removing values ​​that are likely to be outliers according to a time interval.

[0074] Meanwhile, in the above description, steps S110 to S140 may be further divided into additional steps or combined into fewer steps, depending on the implementation of the present invention. Furthermore, some steps may be omitted as needed, and the order of steps may be changed. Furthermore, even if other omitted details are present, the contents of FIGS. 1 to 5 may also be applied to the location information generation system (100) of FIG. 6, which will be described later.

[0075] Figure 6 is a block diagram of a location information generation system (100) according to one embodiment of the present invention.

[0076] A location information generation system (100) according to one embodiment of the present invention includes a communication module (110), a memory (120), and a processor (130).

[0077] The communication module (110) transmits and receives data with user terminals, management servers, etc., and also transmits and receives data with cameras or positioning sensors for positioning in GNSS signal shadow areas. Such a communication module (110) may include both a wired communication module and a wireless communication module. The wired communication module may be implemented with a power line communication device, a telephone line communication device, a cable home (MoCA), Ethernet, IEEE1294, an integrated wired home network, and an RS-485 control device. In addition, the wireless communication module may be implemented with a wireless LAN (WLAN), Bluetooth, HDR WPAN, UWB, ZigBee, Impulse Radio, 60GHz WPAN, Binary-CDMA, wireless USB technology, and wireless HDMI technology.

[0078] A program for generating location information for a stationary or moving object located in a GNSS signal shadow area is stored in the memory (120), and the processor (130) executes the program stored in the memory (120).

[0079] Here, memory (120) refers to a general term for non-volatile storage devices and volatile storage devices that maintain stored information even when power is not supplied. For example, memory (120) may include NAND flash memory such as a compact flash (CF) card, an SD (secure digital) card, a memory stick, a solid-state drive (SSD), and a micro SD card, magnetic computer storage devices such as a hard disk drive (HDD), and optical disc drives such as a CD-ROM and a DVD-ROM.

[0080] The processor (130) generates first location information based on a local relative coordinate system based on a result measured through a predetermined positioning technique for a stationary or moving object. Then, the processor (130) obtains local location information according to the local relative coordinate system and local GNSS information on a GNSS coordinate system matching the local location information, and then, based on a matching result of the local location information and the local GNSS information, converts the first location information into second location information, which is a virtual GNSS location value that is continuous with the global satellite coordinate system GNSS, and then provides the converted second location information.

[0081] The method for generating location information in a GNSS signal shadow area according to one embodiment of the present invention described above can be implemented as a program (or application) to be executed in conjunction with a computer as hardware and stored in a medium.

[0082] The above-described program may include codes coded in a computer language, such as C, C++, JAVA, Ruby, or machine language, that can be read by the processor (CPU) of the computer through the device interface of the computer, so that the computer reads the program and executes the methods implemented as a program. Such codes may include functional codes related to functions that define functions necessary to execute the methods, and may include control codes related to execution procedures necessary for the processor of the computer to execute the functions according to a predetermined procedure. In addition, such codes may further include memory reference-related codes regarding which location (address address) of the internal or external memory of the computer should reference additional information or media necessary for the processor of the computer to execute the functions. In addition, if the processor of the computer needs to communicate with any other computer or server located remotely in order to execute the functions, the code may further include communication-related code regarding how to communicate with any other computer or server located remotely using the communication module of the computer, and what information or media to send and receive during communication.

[0083] The above storage medium refers to a medium that stores data semi-permanently and can be read by a device, rather than a medium that stores data for a short period of time, such as a register, cache, or memory. Specifically, examples of the storage medium include, but are not limited to, ROM, RAM, CD-ROM, magnetic tape, floppy disk, and optical data storage device. That is, the program can be stored in various recording media on various servers that the computer can access or in various recording media on the user's computer. In addition, the medium can be distributed across network-connected computer systems, so that computer-readable code can be stored in a distributed manner.

[0084] The foregoing description of the present invention is for illustrative purposes only, and those skilled in the art will readily appreciate that the present invention can be readily modified into other specific forms without altering the technical spirit or essential characteristics of the present invention. Therefore, the embodiments described above should be understood as illustrative in all respects and not restrictive. For example, each component described as a single entity may be implemented in a distributed manner, and similarly, components described as distributed may be implemented in a combined manner.

[0085] The scope of the present invention is indicated by the claims described below rather than the detailed description above, and all changes or modifications derived from the meaning and scope of the claims and their equivalent concepts should be interpreted as being included in the scope of the present invention.

Claims

1. In a method performed by a computer, A step of generating first position information based on a local relative coordinate system corresponding to a GNSS signal shadow area based on a result measured using a predetermined positioning technique for a stationary or moving object located in a GNSS signal shadow area; A step of obtaining local location information according to the local relative coordinate system and local GNSS information on a GNSS coordinate system matching therewith; A step of converting the first location information into second location information, which is a virtual GNSS location value that is continuous with the global satellite coordinate system GNSS, based on the matching result of the local location information and the local GNSS information; and comprising a step of providing the converted second location information; Method for generating position information in GNSS signal shadow areas.

2. In paragraph 1, The step of generating first location information based on the above local relative coordinate system is: Generating first position information of the local relative coordinate system of the stationary or moving object based on image or sensing data acquired through a camera or a predetermined sensor installed in the GNSS signal shadow area. Method for generating position information in GNSS signal shadow areas.

3. In paragraph 1, Further comprising a step of creating a map database by mapping local location information corresponding to the GNSS signal shadow area and GNSS information corresponding to the local location information. Method for generating position information in GNSS signal shadow areas.

4. In paragraph 1, The step of converting the above first location information into second location information which is a virtual GNSS location value that is continuous with the Earth satellite coordinate system GNSS is as follows: A step of performing rotation and scale transformation on the first location information based on a matching result between a plurality of coordinate values ​​included in the local location information according to the local relative coordinate system and a plurality of GNSS values ​​included in the local GNSS information on the GNSS coordinate system, Method for generating position information in GNSS signal shadow areas.

5. In paragraph 1, The step of converting the above first location information into second location information which is a virtual GNSS location value that is continuous with the Earth satellite coordinate system GNSS is as follows: A step of converting the first location information into the second location information through an approximation using the finite element method or the finite difference method, when at least one of the cases where the total area of ​​the GNSS signal shadow area has an area exceeding a preset threshold and the shape of the GNSS signal shadow area does not satisfy a preset curvature condition is applicable. Method for generating position information in GNSS signal shadow areas.

6. In paragraph 5, The step of providing the converted second location information is: If the maximum error between the result without applying the above approximation and the actual position that can occur exceeds a preset technical requirement level value, the second position information is provided by applying the above approximation. Method for generating position information in GNSS signal shadow areas.

7. Memory storing a program for generating location information for stationary or moving objects located in GNSS signal shadow areas; and By executing the program stored in the above memory, first position information based on a local relative coordinate system corresponding to the GNSS signal shadow area is generated based on a result measured through a predetermined positioning technique for the stationary or moving object, After obtaining local location information according to the local relative coordinate system and local GNSS information on a GNSS coordinate system matching therewith, a processor is included that converts the first location information into second location information, which is a virtual GNSS location value that is continuous with the global satellite coordinate system GNSS, based on the matching result of the local location information and the local GNSS information, and then provides the converted second location information. A system for generating position information in GNSS signal shadow areas.

Images