내비게이션의 이해

서 동 권 (sdkara@hyundai-mnsoft.com)

연구개발센터, 현대엠엔소프트

2012. 9. 21

Navigation

• Navigation: 항해 혹은 항법

• 항해 (航海): 선박을 해상의 한 장소에서 다른 장소까지 안전하게 이동시키는 기술 및 과학

• 항법 (航法): 항공기 또는 선박을 어느 한 지점으로부터 일정의 다른 지점으로 소정의 시간에 도달할 수 있게 유도하는 방법

내비게이션의 역사

• CNS: Car Navigation System • 미국에서 군사 목적으로 개발한 GPS 가 민간용으로 개

방된 1980년대 후반

• 일본: 1990년

• 미국: 1995년

• 한국: 1997년

• 미국 국방성이 개발한 GPS의 공식 명칭은 NAVSTAR GPS

(NAVigation Satellite Timing And Ranging Global Positioning System) 이었으며, 이후 줄여서 GPS라고 불리게 되었다.

• 1983년 대한항공 여객기가 소련 상공에서 격추된 것을 계기로 미국의 로널드 레이건 대통령이 GPS의 민간 개방을 지시하였고, 첫번째 위성이 1989년에 24번째 위성이 1994년에 발사되었다.

6 Functional Categories in Navigation

• Positioning

• Route Planning

• Route Guidance

• Map Display

• Address Location

• Service and Points-of-Interest (POI)

Positioning

The Positioning function is used to determine location, for example, the latitude and longitude of a road network entity and for Map Matching. Map Matching is the method of determining where the navigation system has moved in the road network based on the navigation system’s previous location and data about the navigation system’s motion from external inputs.

“Positioning” seeks a relative position and orientation of a navigation system to the transportation network with respect to the map data representing the real world. An application may dynamically determine the navigation system’s current position while the navigation system is in motion. Map Matching can continue “in the background” even while other functions are being performed so the navigation system always “knows where it is.” Map Matching algorithms are beyond the scope of this document.

Principle of GPS

Principle of GPS

• GPS 항법의 기본 원리 : 기하학적 삼각법에 의한 위치 결정

• 2차원 평면상의 위치 결정 : 두 위성의 위치 S1과 S2를 알고 사용자의 거리 R1과 R2를 알면 사용자의 위치U는 두 원호 C1과 C2가 만나는 지점으로 결정됨

• 3차원 공간상에서의 위치 결정 : 세 위성의 위치 S1, S2, S3를 알고 그로부터 사용자와의 거리 R1, R2, R3를 알면 각각의 반경을 갖는 세 구면이 만나는 지점이 사용자의 위치로 결정됨

C1 C2

S2 S1

R1 R2

U

Principle of GPS

• 위성의 위치는 위성이 송신하는 항법 데이터 (Almanac, Ephemeris)를 이용하여 계산할 수 있음

• 위성과 사용자간의 거리는 위성 신호가 위성으로부터 사용자에게 도달하는데 걸리는 시간을 측정하여 얻을 수 있음 (Pseudo-range)

• 사용자 시계의 오차를 보정하기 위해 또 하나의 위성이 필요함

• 지구상의 어느 곳에서도 항상 4개 이상의 위성이 고르게 보이도록 위성의 위치를 선정하여야 함

GPS System Concept

Space Segment Satellites provide navigation signal and relay orbital and clock data.

User Segment User tracks satellite signals, downloads data, and computes position, velocity, and time.

Control Segment Ground control tracks satellites and measures and uploads ephemeris and clock data.

Dead Reckoning

Mechanization

Dead Reckoning in Urban Canyon

RED: GPS Only

GREEN: GPS + DR

GPS keeps navigating but jumps off up to a block DR maintains good fidelity

DR in Tunnels

RED: GPS Only

GREEN: GPS + DR

BLUE: DR

GPS only has no nav in 400 meter tunnels DR continues to navigate

DR in Parking Garage

RED: GPS Only

GREEN: GPS + DR

BLUE: DR

GPS loses nav and track fidelity poor DR system continues to navigate with good track

Route Planning

The Route Planning function is used to determine routes from one user-specified location to another.

Navigation applications may calculate routes based on attributes of the transportation network. Applications may allow end-users to specify criteria for the route such as “shortest distance”, “no highways”, etc. As a basic operation, a user indicates a departure position, which could be the navigation system’s current position, and selects a destination (place to go) and possibly one or more waypoints. A suitable route is then calculated. Routing is not limited to automobile transportation only. This function supports routing via any mode represented in the database. This may include rail and water ferries, taxis, and routes only accessible by bicycle or foot. Other forms of public transportation may be considered in the future.

Route Planning – General

• Process of selecting paths in a network that connects Start node and Destination node

• Different routes only differs by definition of ‘cost’ of the link traversing

– Shortest: cost: Distance

– Fastest: cost: Travel time

– Greenest: cost: Fuel consumption

• 네덜란드의 컴퓨터 과학자인Edsger Dijkstra이 1959년 발간한 그래프 탐

색 알고리즘으로 그래프 상의 한 점에 다른 한 점까지의 최단 경로를 찾는 알고리즘이다.

Route Planning – General

• Process of selecting paths in a network that connects Start node and Destination node

• Different routes only differs by definition of ‘cost’ of the link traversing

– Shortest: cost: Distance

– Fastest: cost: Travel time

– Greenest: cost: Fuel consumption

Route Planning – General

• Well known and researched problem in Graph theory

• Dijkstra algorithm - Edsger Dijkstra (1959)

– lowest-cost path, computationally intensive

• A*

– Approximate lowest-cost path, faster

– B*, D*, Bi-directional search

Route Planning – Green Routing

• Each car has different fuel consumption pattern

• Current load influences consumption

• Vehicle fitness influences consumption : properly maintained and adjusted cars use less fuel

– tire pressure; use of Low-Rolling Resistance (LRR) tires;

– regular service with oil and oil filter changes;

– checked worn spark plugs

– dragging brakes

– level of transmission fluid

– …

• Driving style influences consumption

• …

Route Guidance

The Route Guidance function is used to generate instructions for following a route.

The Route Guidance function generates step-by-step instructions for following a route. These instructions may include compass heading, distance, road names, sign text, Landmarks, and still or motion images. These instructions may also include manoeuvre details such as turn angle, merges, and road name changes. Route Guidance may be given using text, voice or graphics.

Route Guidance – Highway

Route Guidance – TBT, Lane Info

Route Guidance – Image

분기모식도 3D교차점확대도

ILS (도시고속도로진입) ILS (JC)

Route Guidance – Image

ILS (일반교차로) ETC

투어맵가이드 휴게소요약맵

구분 음성 리스트 음성파일 (Wav)

고유

[전체: 14,185건]

능촌교차로

덕충IC

광안대로사업단 톨게이트

당진JC

장안휴게소

범용

[전체: 2,055건]

첫번째

교통정보 수집지점

실제 교통규제에 따라 주행하여 주십시오

경로를 이탈하여 새로운 경로로 안내합니다

첫번째 목적지 경로에 승선하였습니다.

다음목적지로 안내를 받으시겠습니까

교통정보가 갱신되었습니다. 경로를 재탐색 합니다.

Route Guidance – Voice

과속카메라 과속방지턱

구간단속 카메라 주의구간(사고다발)

Route Guidance – Safety

Map Display

The Map Display function is used to display a map of a specified geographic area. An application may display maps to the end-user. The application may also accept end-user input that references the map display (such as from a point and click device).

An application may display Points Features, Lines Features, Areas Features, Cartographic Text and Symbols for a specified geographic area. This may include roads, physical features, administrative boundaries, and names for all of these. Text and symbols can be positioned on a display to annotate this map.

The Map Display function provides cartographic data that can be used to display a map of any application-specified arbitrarily-oriented rectangle in the database. The data consists of the following database entities to support a variety of map drawing styles: Cartographic Features, Cartographic Text and Symbols.

Map Display

The application may allow the map to be zoomed in or out. The application may display different levels of detail on a map display based on the zoom level. The application may allow the map to be rotated and scrolled. When scrolling, if detailed data is not available, the application may automatically zoom the map out to a level where data is available. The application may allow the end-user to access additional information by selecting objects on the display. The application may display multiple windows. Generating map images and managing displays are beyond the scope of this function.

To facilitate data access speed, this application groups cartographic data into levels. The higher levels contain only the more significant cartographic features. The set of cartographic data is also selectable by level.

Map Display – Symbol

2D

3D

LOGO

3D 고유심볼

Navi 화면

Map Display

타운블럭 상세면형

로드블럭 등고

Map Display - TPEG

Map Display – 3D

범 례 내 용

3D 고유 건물(솔리드 시티 맵)

스트리트 맵(차선정보, 신호등, 횡단보도, 이정표, 기타 시설물)

일반 건물(베이스 맵 폴리곤 3D 화)

벡터 중앙선, 횡단보도, 도로경계선(베이스 맵 폴리곤, 폴리라인)

Map Display – 3D

A

3D 건물

고유 건물

패턴 건물

B

교통시설물

차선 정보

신호등

횡단보도, 육교

인도,기타시설물

C

도로시설물

교량

터널

고가차도

지하차도

D

정보(TCF)

가로수라인

링크라인

경로라인

E

벡터

중앙선

횡단보도

도로경계선

F

베이스 맵

시가도

항법(수계,단지)

Map Display – 3D

솔리드 시티 맵 (고유 건물 표현) 3D 버추얼 맵 (REAL 3D 안내)

스트리트 맵 (차선 정보 표현) 베이스 맵 (중앙선, 횡단보도, 도로경계선)

A B

C

A

E

F

A

B C

D

E F

• OpenGL (Open Graphics Library)은 1992년Silicon Graphics Inc. (SGI)에서 개발되었으며, CAD, 가상현실, 게임 등의 컴퓨터 그래픽에 사용되는 표준 응용프로그램 인터페이스 (API) 이다. 내비게이션에서는 OpenGL ES (OpenGL for Embedded Systems)라는 OpenGL의 모바일 버전을 이용한다. OpenGL은 소프트웨어로도 구현이 가능하지만 좋은 성능을 내기 위해서는 GPU (Graphics Processing Unit) 라는 별도의 하드웨어 구성 요소가 필요하다.

Address Location

This function is used to access data that is used to determine positions, both on the earth and in the map data representation of the earth.

Address location is the determination of a location based on information describing or naming the location. An application may determine locations based on various types of information. For example, this information can be an address or cross streets. There are also two basic methods of address location:

Geocoding is determining a link or a node, or a polygon or representative point by its address description.

Reverse geocoding is determining an address description of a link or node or representative point or area.

Address Location

End users or applications may not know the complete specification of a location. For example, they may not know the complete address and administrative area, or they may not know whether a street is a “street” or an “avenue.” They may need to search the database based on the information they do know, and examine a set of locations matching their criteria.

Address location may support different entry orders by means of appropriate data structures. Typically, a hierarchichal top-down entry order may be used. However, permutations thereof shall be supported (e.g. street name first).

Address location may support extensions to the search criteria when no match is found. The user may demand an expanded search area (i.e. areas close to the specified place(s) or spelling tolerance for similarly pronounced/written names.

Address Location

새주소: 도로명 주소라고도 한다. 현재의 주소 체계는 일본 강제 점령기에 만들어진 주소 체계로 토지 구획 용도에 맞도록 설계되어 길을 찾는데 적합하지 않다. 2011년 7월 29일부터 기존의 지번주소와 병행 사용되며, 2014년 1월 1일부터는 도로명 주소만 사용될 예정이다.

Service and Points-of-Interest (POI)

The Service and Points-of-Interest (POI) Information Access function provides access to data which is commonly used as origins or destinations for a route and which contains information useful to travellers. Services are single point or area locations that are typically known by name rather than address. Services include traveller-related commercial services such as hotels, restaurants, and gas stations. Services also include locations or points of interest to travellers, such as national parks, monuments, and tourist attractions. Services can be categorized by type (e.g., airport, city center, hotel, etc.) and may carry a variety of other attribute information (e.g. rating, cuisine type, credit cards accepted, etc.).

Typically, third party organizations, such as tourist or motoring organizations, can offer a rich content of traveller information which may be of interest to the user. This type of service information is called Third Party Data (TPD). The amount of service information supplied by Third Parties may vary and may consist of comprehensive service data, including locational aspects and a linkage to the road network. Some TPD may originate from a party which has imposed proprietary restrictions on the use of the data. This is a subset referred to as Branded Third Party Data (BTPD) which imposes additional requirements.

Service and Points-of-Interest (POI)

An application may provide Service data to the end-user. Also, an application may allow the use of Services in Address Location, Route Planning, and Map Display. An application may provide information about Services, including Third Party Data (TPD). The Services may be selectable by types, geographic areas (e.g. rectangle or within distance of a point), places (e.g. Administrative Areas, Districts, Postal Areas), Service attributes, or whether the Service is associated with TPD. Services may be associated with Road Elements or other components of the Transportation Network based on their location. This provides a location on a road element which gives access to a Service.

Additionally, searches for services may be qualified by an application-specified partial or full spelling match to the beginning of the service type, attribute, or name or to any individual word within the type, attribute or name.

Services may be associated with each other. A primary Service is called a parent. A parent Service may have many secondary Services called child Services. A child Service may also have many parent Services. One example of how this relationship is used is in the definition of an Airport Service that has multiple Parking Lots. In this case, the Airport is designated as the parent Service and the Parking Lots are designated as children of that parent.

Service and Points-of-Interest (POI)

A service may be associated with multiple places. For example, the Dallas/Fort Worth Airport is physically located in Arlington and Grapevine. It is also logically associated with Dallas and Fort Worth.

Service and POI Information Access shall support different entry orders by means of appropriate data structures. Typically, a hierarchical top-down entry order may be used. However, permutations thereof shall also be supported e.g. POI brand name first.

Service and POI Information Access shall support extensions to the search criteria when no match was found. The user may demand an expanded search area i.e. areas close to the specified place(s) or spelling tolerance for similarly pronounced/written names.

Service and Points-of-Interest (POI)

Service and Points-of-Interest (POI)

감사합니다.