KR-102963609-B1 - METHOD OF GPS SIGNAL CONTROL BASED ON LIDAR SENSING

Abstract

A GPS signal control technology based on LiDAR sensing is provided. In one embodiment of the present disclosure, a method performed by an electronic device may be provided. The method may include the steps of acquiring point cloud data from a LiDAR sensor for extracting the internal shape of a tunnel, calculating a change in the internal shape of the tunnel caused by one or more moving bodies moving through the tunnel based on the point cloud data, and controlling a signal of a GPS signal generator located inside the tunnel based on the change.

Inventors

• 김현수

Assignees

• 주식회사 기람테크

Dates

Publication Date

20260513

Application Date

20250917

Claims (5)

1. In a method performed by an electronic device, A step of acquiring point cloud data from a LiDAR sensor for extracting the internal shape of a tunnel; Based on the above point cloud data, a step of calculating a change in the internal shape of the tunnel caused by one or more moving bodies moving through the tunnel; and Based on the above change, the method includes the step of controlling the signal of a GPS signal generator located inside the tunnel, and The step of controlling the above signal is, The method includes the step of controlling at least some of the antenna radiation angle, antenna radiation pattern, and signal strength of the above GPS signal generator, and The step of controlling the signal strength above is, Based on the above change, a step of calculating the reflectance of the GPS signal generated by the GPS signal generator; and Based on the above reflectance, the method includes the step of controlling the signal strength, The above reflectance is, If the internal cross-sectional area of the tunnel is reduced by one or more of the above-mentioned moving bodies, it increases, and The above signal strength is, A method in which the above reflectance decreases as it increases.
2. delete
3. delete
4. In paragraph 1, The above LiDAR sensor is, It includes a 2D LiDAR sensor that acquires point cloud data in the vertical direction of the longitudinal section of the tunnel, and The step of producing the above change is, Based on point cloud data acquired from the 2D LiDAR sensor, the method includes the step of calculating the change in the internal cross-sectional area of the tunnel caused by one or more moving bodies, and The above LiDAR sensor is, Includes a 3D LiDAR sensor, The step of producing the above change is, A method comprising the step of calculating a change in the internal volume of the tunnel caused by one or more moving bodies based on point cloud data obtained from the 3D LiDAR sensor.
5. In paragraph 1, A step of calculating the movement speed and movement direction of one or more moving bodies based on multiple point cloud data acquired sequentially over time; A step of predicting a change in the internal shape of the tunnel after a predetermined time based on the above movement speed and the above movement direction; and A method further comprising the step of preemptively controlling the signal of the GPS signal generator based on the predicted future shape change.

Description

Method of GPS Signal Control Based on LiDAR Sensing The present disclosure relates to GPS signal control technology based on LiDAR sensing. Various technical approaches are being attempted to provide stable navigation within tunnels. In particular, efforts are being made to track vehicle locations and provide navigation services by installing GPS signal generators inside the tunnel. This method is designed to determine the vehicle's location even in environments where it is difficult to receive GPS signals from outside the tunnel. The GPS signal generator plays the role of artificially generating GPS signals inside the tunnel to help the vehicle's navigation system receive them. However, there are limitations to the method of using GPS signal generators. Tunnel interiors are structurally complex, and as the number of vehicles increases, GPS signals may be reflected along multiple paths, leading to the multipath phenomenon. This results in inaccurate measurement of vehicle location information, which can reduce the reliability of the navigation system. In particular, this problem becomes more severe as the vehicle density inside the tunnel increases. To address this, the use of CCTV technology is also being considered. Attempts to track vehicle locations via CCTV are garnering attention as an alternative to overcome the limitations of GPS signals. However, CCTV technology raises privacy concerns as it captures personal information, such as drivers' faces or license plates. Furthermore, inconsistent lighting conditions inside tunnels degrade video quality, making accurate location tracking difficult in some cases. These issues further highlight the need for stable and reliable navigation technology within tunnels. FIG. 1 illustrates an environment in which a management device according to one embodiment of the present disclosure can be applied. FIG. 2 illustrates an electronic device capable of implementing a management device according to one embodiment of the present disclosure. FIGS. 3a to 3c illustrate flowcharts illustrating a method according to one embodiment of the present disclosure. Figure 4 illustrates a flowchart showing the detailed operation of the calculation operation of the change in the internal shape of the tunnel described with reference to Figure 3a. Figure 5 illustrates a flowchart showing the detailed operation of the calculation operation of the amount of change in the internal shape of the tunnel described with reference to Figure 4. Figure 6 illustrates a flowchart showing the detailed operation of the signal strength control operation described with reference to Figure 3a. FIG. 7 illustrates a flowchart showing a method according to one embodiment of the present disclosure. FIG. 8 illustrates a lidar map that may be referenced in various embodiments of the present disclosure. The various embodiments described in this disclosure are illustrative for the purpose of clearly explaining the technical concept of this disclosure and are not intended to limit it to specific embodiments. The technical concept of this disclosure includes various modifications, equivalents, alternatives, and embodiments selectively combined from all or part of each embodiment described in this disclosure. Furthermore, the scope of the technical concept of this disclosure is not limited to the various embodiments presented below or the specific descriptions thereof. Terms used in this disclosure, including technical or scientific terms, may have the meaning generally understood by a person skilled in the art to which this disclosure pertains, unless otherwise defined. Since such terms may be referred to by various other terms depending on technological development, changes, conventions, and the preferences of skilled persons, the scope of the technical concept of this disclosure is not limited by the meaning of the terms used below. Expressions used in this disclosure, such as “comprising,” “may compose,” “possessing,” “possessing,” “having,” and “possessing,” mean that the subject feature (e.g., function, operation, or component, etc.) exists and do not exclude the existence of other additional features. That is, such expressions should be interpreted as open-ended terms implying the possibility of including other embodiments. Singular expressions used in this disclosure may include the meaning of the plural form unless otherwise indicated by the context, and this applies likewise to singular expressions described in the claims. Ordinal expressions used in this disclosure, such as "first," "second," or "first," "second," etc., are used to distinguish one object from another when referring to a plurality of objects of the same kind, unless otherwise indicated in the context, and do not limit the order or importance of the objects. Expressions used in the present disclosure, such as “A, B and C”, “A, B or C”, “at least one of A, B and C”, and “at least one of A, B or C”, may mean each of the listed items or all