Apparatus for detecting location of movable body in navigation system and method thereof
First Claim
1. An apparatus for detecting location of a movable body in a navigation system, the apparatus comprising:
- a map data detector for detecting a width of a road, road linear information, and map information of a region corresponding to a location information in an external digital map storage on the basis of location information of the movable body, said location information being transmitted by sensors sensing location coordinates and traveling direction information of the movable body;
a memory for storing said width of the road, road linear information, and map information detected from the map data detector;
a filter for computing an optimum location information of the movable body including the width of a road and the road linear information included in said map information on the basis of the location coordinates and traveling direction information of the movable body transmitted by said sensors; and
a map-matching unit for receiving the optimum location information of the movable body from the filter and correcting the optimum location information by matching the optimum location information and the map information stored in the memory.
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Accused Products
Abstract
A method and an apparatus for detecting location of a movable body in a navigation system comprising a map data detector for detecting map information of a region corresponding to location information from an external digital map storage on the basis of the location information of the movable body transmitted from sensors sensing the location and traveling information of the movable body; a memory for storing the map information detected from the map data detector; a filter for computing an optimum location of the movable body including road error included in the map information on the basis of the location and traveling information of the movable body transmitted from the sensors; and a map-matching unit for receiving the optimum location information of the movable body from the filter and correcting the optimum location information by matching the optimum location information and the map information stored in the memory. The method and apparatus can apply a constraint to the location of the movable body by computing the location of the movable body including a width of road, in comparison with a case using only direction of road as a measured value. Further, the method and apparatus increases accuracy of location determination of the movable body by performing real-time correction of the sensor information including error whenever the sensor information is inputted, using the constraint model including the map information.
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Citations
11 Claims
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1. An apparatus for detecting location of a movable body in a navigation system, the apparatus comprising:
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a map data detector for detecting a width of a road, road linear information, and map information of a region corresponding to a location information in an external digital map storage on the basis of location information of the movable body, said location information being transmitted by sensors sensing location coordinates and traveling direction information of the movable body;
a memory for storing said width of the road, road linear information, and map information detected from the map data detector;
a filter for computing an optimum location information of the movable body including the width of a road and the road linear information included in said map information on the basis of the location coordinates and traveling direction information of the movable body transmitted by said sensors; and
a map-matching unit for receiving the optimum location information of the movable body from the filter and correcting the optimum location information by matching the optimum location information and the map information stored in the memory. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method for detecting a location of a movable body in a navigation system, the method comprising the steps of:
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1) detecting and storing map information corresponding to location information in response to location coordinates and traveling direction information of the movable body transmitted by sensors sensing a location coordinates and traveling direction information of the movable body, and initializing a GPS/DR filter model;
2) computing first location information of the movable body on the basis of the GPS/DR filter model;
3) matching said first location information with said stored map information and extracting road linear information for where the movable body is located on the basis of said first location information and said matched map information;
4) initializing a map constraint filter model on the basis of said traveling direction information of the movable body sensed by said sensors and said road linear information extracted in step (3);
5) computing second location information of the movable body including a road error on the basis of a map-limited filter;
6) computing optimum location information of the movable body on the basis of said first location information of the movable body computed in step (2) and said second location information of the movable body computed in step (5);
7) generating filter correction data for correcting a state and an error of the GPS/DR filter model and the map constraint filter model on the basis of said computed optimum location information; and
8) correcting the state and error of the GPS/DR filter model and the map constraint filter model by means of said filter correction data. - View Dependent Claims (11)
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Specification