FR2532078A1 - NAVIGATION INSTALLATION FOR LAND VEHICLES - Google Patents
NAVIGATION INSTALLATION FOR LAND VEHICLES Download PDFInfo
- Publication number
- FR2532078A1 FR2532078A1 FR8312243A FR8312243A FR2532078A1 FR 2532078 A1 FR2532078 A1 FR 2532078A1 FR 8312243 A FR8312243 A FR 8312243A FR 8312243 A FR8312243 A FR 8312243A FR 2532078 A1 FR2532078 A1 FR 2532078A1
- Authority
- FR
- France
- Prior art keywords
- navigation
- vehicle
- installation according
- navigation installation
- curve
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
Abstract
L'INVENTION CONCERNE UNE INSTALLATION DE NAVIGATION POUR VEHICULES. LES SIGNAUX PRODUITS PAR DES SATELLITES D'APRES LE "SYSTEME DE POSITIONNEMENT GLOBAL" ET RECUS PAR UN RECEPTEUR 1 SONT TRAITES ET ON ETABLIT UNE VALEUR MOYENNE. UN DETECTEUR DE DIRECTION 7 ET UN DISPOSITIF DE MESURE DE DISTANCE 6 PRODUISENT DES SIGNAUX RESPECTIFS QUI SONT APPLIQUES A UN CALCULATEUR 4 QUI DETERMINE ALORS AU MOYEN DU PROCEDE DE NAVIGATION COMBINEE LA POSITION DU VEHICULE ET QUI LA TRANSMET A UN DISPOSITIF D'AFFICHAGE 5. POUR LA CORRECTION DE LA POSITION DE VEHICULE AFFICHEE, CELLE-CI EST COMPAREE A INTERVALLES DE TEMPS DETERMINES A LA MOYENNE DES SIGNAUX RECUS EN PROVENANCE DU RECEPTEUR 1. APPLICATION A LA NAVIGATION AUTONOME DE VEHICULES TERRESTRES.THE INVENTION RELATES TO A NAVIGATION INSTALLATION FOR VEHICLES. THE SIGNALS GENERATED BY SATELLITES ACCORDING TO THE "GLOBAL POSITIONING SYSTEM" AND RECEIVED BY A RECEIVER 1 ARE PROCESSED AND AN AVERAGE VALUE IS ESTABLISHED. A DIRECTION DETECTOR 7 AND A DISTANCE MEASURING DEVICE 6 PRODUCE RESPECTIVE SIGNALS WHICH ARE APPLIED TO A COMPUTER 4 WHICH THEN DETERMINES BY MEANS OF THE COMBINED NAVIGATION PROCESS THE POSITION OF THE VEHICLE AND TRANSMITS IT TO A DISPLAY DEVICE 5. FOR THE CORRECTION OF THE POSITION OF THE VEHICLE DISPLAYED, IT IS COMPARED AT TIME INTERVALS DETERMINED TO THE AVERAGE OF SIGNALS RECEIVED FROM THE RECEIVER 1. APPLICATION TO AUTONOMOUS NAVIGATION OF LAND VEHICLES.
Description
La présente invention concerne une installa-The present invention relates to an installation
tion de navigation pour véhicules terrestres, contenant un système de repérage, dans lequel les signaux émis par au moins un émetteur de position connue sont exploités par analyse des effets fonction d'un temps de parcours et/ou navigation system for land vehicles, containing a tracking system, in which the signals transmitted by at least one transmitter of known position are exploited by analyzing the effects according to a travel time and / or
d'une phase pour la détermination de la position du récep- phase for the determination of the position of the
teur disposé dans un véhicule, ainsi qu'un système de navi- placed in a vehicle, as well as a navigation system
gation autonome additionnel disposé en outre dans le véhi- addition to the vehicle
cule et qui établit de façon continue, au moyen de capteurs respectifs de valeurs de mesure de plus faible précision de la distance parcourue et de la direction de marche, and which establishes continuously, by means of respective sensors measuring values of lower precision of the distance traveled and the direction of travel,
les coordonnées de position du véhicule. the position coordinates of the vehicle.
Le problème qui est à la base de la présente invention consiste à permettre une correction satisfaisante The problem underlying the present invention is to allow a satisfactory correction
des coordonnées de position indiquées. position coordinates indicated.
Ce problème est résolu selon l'invention en This problem is solved according to the invention in
ce que le système de repérage produit à de courts inter- the tracking system produces at short intervals between
valles de temps des données de position, en ce qu'il est time values of position data, in that it is
prévu un circuit calculateur qui établit, à partir de plu- provided a calculator circuit which establishes, from several
sieurs données de position obtenues successivement, la courbe du parcours vraisemblable de déplacement et en ce qu'il est prévu un dispositif de corection qui corrige à the position data obtained successively, the curve of the probable travel path and in that a correction device is provided which corrects
l'aide de cette courbe les coordonnées de position obte- using this curve the position coordinates obtained
nues par le système de navigation autonome. naked by the autonomous navigation system.
Dans le procédé de repérage indiqué ci-dessus rentrent tous les procédés hyperboliques connus Notamment cependant le procédé de repérage précité englobe des procédés de repérage utilisant des satellites comme supports d'émetteurs, et notamment à cet égard le procédé de repérage connu sous la désignation GPS (Système de positionnement global) Celui-ci a été décrit expressément, par exemple dans l'article intitulé "Global Positioning System" publié dans la brochure NAVIGATION éditée par "The Institute of Navigation", Washington, D C, édition In the identification method indicated above, all the known hyperbolic methods are included. However, the above-mentioned identification method includes tracking methods using satellites as transmitter supports, and in this respect in particular the tracking method known as GPS. (Global positioning system) This has been expressly described, for example in the article entitled "Global Positioning System" published in the NAVIGATION brochure published by "The Institute of Navigation", Washington, DC, edition
1980 Par exemple dans le chapitre "Fonctionnement du récep- 1980 For example in the chapter "Operation of the receiver
teur GPS, page 81 et suivantes, on précise que, dans ce système, on peut utiliser également de simples récepteurs, par exemple des récepteurs à un seul canal; ceux-ci reçoivent en série et traitent les signaux des émetteurs, GPS, page 81 et seq., it is specified that in this system, it is also possible to use simple receivers, for example single-channel receivers; these receive in series and process the signals of the transmitters,
en général au nombre de quatre.usually four in number.
Dans un mode de réalisation de l'invention, il est proposé que les données de position produites à de courts intervalles de temps soient rapprochées du parcours In one embodiment of the invention, it is proposed that the position data produced at short time intervals be approximated to the course
réel de déplacement par établissement de moyenne. real displacement by averaging.
A cet égard, on dispose de plusieurs méthodes, comme par exemple la méthode des plus petits carrés, l'établissement de la valeur moyenne réciproque, de la valeur moyenne géométrique, etc Selon un autre mode de réalisation, les points de mesure ou les données de position sont pourvus d'un facteur de pondération, auquel cas par exemple le facteur de pondération présente une tendance décroissante à mesure que l'espacement des points de mesure par rapport In this respect, several methods are available, such as, for example, the smallest squares method, the establishment of the reciprocal average value, the geometric mean value, etc. According to another embodiment, the measurement points or the data the weighting factor shows a decreasing trend as the spacing of the measuring points relative
au trajet réel augmente.to the actual path increases.
A partir de la correction des coordonnées de position, les erreurs des capteurs de valeurs de mesure, par exemple la dérive du capteur de trajectoire en fonction d'un accident ou une erreur de distance, sont compensées, de sorte que la position déterminée par le From the correction of the position coordinates, the errors of the measurement value sensors, for example the drift of the trajectory sensor according to an accident or a distance error, are compensated, so that the position determined by the
calcul concorde avec une grande précision avec la posi- calculation is very precise with the posi-
tion réelle.tion.
Comme capteur de direction ou comme capteur de trajectoire, il suffit par exemple d'utiliser un corps lourd à inertie, conformément à la demande de brevet As a direction sensor or as a trajectory sensor, it suffices, for example, to use a heavy body with inertia, according to the patent application.
allemand DE-OS-2 936 774 qui conserve son orientation ini- DE-OS-2 936 774 which retains its original orientation
tiale lors de mouvement de rotation du véhicule autour de son axe vertical et sur lequel la modification de trajectoire peut être détectée à l'aide d'un dispositif de codage Cependant, il est possible de traiter les signaux fournis par des capteurs de vitesse de rotation placés sur les roues directrices d'un véhicule, comme par exemple dans des systèmes de régulation anti-blocage La différence enregistrée entre les signaux par unité de temps et en fonction de la vitesse fournit une mesure de changement de direction du véhicule Les signaux obtenus par unité de temps représentent une mesure de la distance parcourue A partir des changements de direction et de la direction globale établie par le calculateur entre les during rotation of the vehicle around its vertical axis and on which the path change can be detected by means of a coding device However, it is possible to process the signals provided by rotational speed sensors placed on the steering wheels of a vehicle, such as in anti-lock control systems The recorded difference between the signals per unit of time and as a function of speed provides a measure of change of direction of the vehicle The signals obtained by unit of time represents a measure of the distance traveled from the changes in direction and the overall direction established by the calculator between
différentes positions, on obtient la direction correspon- different positions, the corresponding direction is
dante de marche du véhicule, par exemple vers le Nord. the vehicle, eg to the north.
D'autres caractéristiques et avantages de l'invention seront mis en évidence dans la suite 'de la Other features and advantages of the invention will be highlighted in the following 'of the
description, donnée à titre d'exemples non limitatifs, description, given by way of non-limiting examples,
en référence aux dessins annexes dans lesquels: with reference to the accompanying drawings in which:
la figure 1 est un schéma-bloc de I'ins- Figure 1 is a block diagram of the in-
tallation de navigation selon l'invention; la figure 2 est un enregistrement d'un navigation system according to the invention; Figure 2 is a record of a
trajet de déplacement.traveling distance.
Un récepteur 1 représenté sur la figure 1 reçoit dans un processus de multiplexage les signaux A receiver 1 shown in FIG. 1 receives in a multiplexing process the signals
émis par des émetteurs, par exemple par quatre satellites. emitted by transmitters, for example by four satellites.
Ces signaux sont convertis dans un décodeur 2 branché à la suite, en fonction d'influences conditionnées par un temps de parcours ou une phase, et ils sont appliqués sous la forme de données de position à un calculateur 4 par l'intermédiaire d'un conducteur de transmission 3 Le calculateur mémorise ces données et il établit à chaque fois une valeur moyenne au bout d'intervalles de temps déterminés Pour obtenir une indication continue de These signals are converted into a decoder 2 connected subsequently, according to influences conditioned by a travel time or a phase, and they are applied in the form of position data to a computer 4 via a transmission conductor 3 The calculator stores this data and establishes an average value each time after determined time intervals For a continuous indication of
position, il est en outre prévu un détecteur de direc- position, a direction detector is also
tion 7 et un dispositif de mesure de distance 6, dont les signaux sont également appliqués au calculateur 4 et à partit desquels, d'après le procédé de navigation combinée, on détermine constamment la position réelle et on l'affiche sur une unité d'affichage 5, par exemple à l'aide d'un 7 and a distance measuring device 6, the signals of which are also applied to the computer 4 and from which, according to the combined navigation method, the actual position is constantly determined and displayed on a control unit. display 5, for example using a
indicateur numérique ou bien au moyen d'un appareil à- digital indicator or by means of a device
cartes Le profil de la trajectoire de déplacement, maps The profile of the trajectory of movement,
qui est établie par le détecteur de direction et le dis- which is established by the direction detector and the dis-
positif de mesure de distance, est représenté sur la figure 2 par la courbe A-C On voit qu'aussi bien un dispositif de mesure de distance qu'un détecteur de direc tion présentent une certaine imprécision de mesure, causée par des erreurs dues a l A dérive, des erreurs dues au glissement ou d'autres perturbations et que par conséquent, au bout d'une trajectoire déterminée, le point C affiché ne coincide pas avec la position réelle du véhicule Il The distance measurement positive is shown in FIG. 2 by the curve AC. It can be seen that both a distance measuring device and a direction detector have a certain inaccuracy of measurement, caused by errors due to drifting. , errors due to sliding or other disturbances and therefore, at the end of a determined trajectory, the point C displayed does not coincide with the actual position of the vehicle Il
est par conséquent prévu d'utiliser les données de posi- It is therefore planned to use the posi-
tion représentées sur la f 9 ure 2, qui arrivent à de courts intervalles de temps et dont la valeur moyenne définit la courbé A-B, pour la correction de la position indiquée A cet effet, on introduit dans le dispositif indicateur la différence entre les coordonnées des points C-B, c'est-à-dire que, pour le parcours suivant, le point 2, which arrive at short time intervals and whose mean value defines the curved AB, for the correction of the indicated position. For this purpose, the difference between the coordinates of the CB points, that is, for the next run, the point
de départ est le repère B, qui coïncide également essen- starting point is B, which also coincides
tiellement avec la position réelle. really with the actual position.
Claims (9)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19823227547 DE3227547A1 (en) | 1982-07-23 | 1982-07-23 | Navigation system |
DE19833310111 DE3310111A1 (en) | 1982-07-23 | 1983-03-21 | NAVIGATION SYSTEM FOR AGRICULTURAL VEHICLES |
Publications (2)
Publication Number | Publication Date |
---|---|
FR2532078A1 true FR2532078A1 (en) | 1984-02-24 |
FR2532078B1 FR2532078B1 (en) | 1985-10-18 |
Family
ID=25803249
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
FR8312243A Expired FR2532078B1 (en) | 1982-07-23 | 1983-07-25 | NAVIGATION FACILITY FOR LAND VEHICLES |
Country Status (4)
Country | Link |
---|---|
DE (1) | DE3310111A1 (en) |
FR (1) | FR2532078B1 (en) |
GB (1) | GB2126040B (en) |
IT (1) | IT1194336B (en) |
Cited By (1)
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FR2684213A1 (en) * | 1991-11-26 | 1993-05-28 | Renault | Process and device for locating a land vehicle by coupling dead-reckoning navigational information and location information picked up by radio |
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US5619212A (en) * | 1982-03-01 | 1997-04-08 | Western Atlas International, Inc. | System for determining position from suppressed carrier radio waves |
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EP0219680A1 (en) * | 1985-09-17 | 1987-04-29 | Siemens Aktiengesellschaft | Vehicle navigation device |
DE3633557C2 (en) * | 1985-10-25 | 1994-03-24 | Volkswagen Ag | Method for determining the position of means of transport, in particular land vehicles |
DE3912707C1 (en) * | 1989-04-18 | 1990-11-29 | Nukem Gmbh, 6450 Hanau, De | |
DE3925831A1 (en) * | 1989-08-04 | 1991-02-07 | Bosch Gmbh Robert | MOTOR VEHICLE CONTROL OR CONTROL SYSTEM |
JP2536190B2 (en) * | 1989-10-24 | 1996-09-18 | 三菱電機株式会社 | Navigation device for mobile |
WO1991009375A1 (en) | 1989-12-11 | 1991-06-27 | Caterpillar Inc. | Integrated vehicle positioning and navigation system, apparatus and method |
US5610815A (en) * | 1989-12-11 | 1997-03-11 | Caterpillar Inc. | Integrated vehicle positioning and navigation system, apparatus and method |
US5390125A (en) * | 1990-02-05 | 1995-02-14 | Caterpillar Inc. | Vehicle position determination system and method |
KR940009235B1 (en) * | 1990-09-12 | 1994-10-01 | 미쯔비시 덴끼 가부시끼가이샤 | On-board vehicle position detector |
JP2664800B2 (en) * | 1990-09-19 | 1997-10-22 | 三菱電機株式会社 | Vehicle navigation system |
EP0527558B1 (en) * | 1991-07-09 | 1995-11-15 | Pioneer Electronic Corporation | GPS navigation system with local speed direction sensing and PDOP accuracy evaluation |
JP3267310B2 (en) * | 1991-07-10 | 2002-03-18 | パイオニア株式会社 | GPS navigation device |
JP2961966B2 (en) * | 1991-07-15 | 1999-10-12 | 松下電器産業株式会社 | Vehicle position and orientation calculation device |
JPH0526680A (en) * | 1991-07-23 | 1993-02-02 | Pioneer Electron Corp | Gps navigation device |
JPH0579846A (en) * | 1991-09-19 | 1993-03-30 | Matsushita Electric Ind Co Ltd | Vehicle position calculator |
DE4134790A1 (en) * | 1991-10-22 | 1993-04-29 | Dietrich Gerhard Ellsaesser | Autonomous forestry system delivering small dia. tree trunks - combines micro-orientation system involving marked trees and macro-orientation system using GPS for navigation of small tracked vehicle |
US10361802B1 (en) | 1999-02-01 | 2019-07-23 | Blanding Hovenweep, Llc | Adaptive pattern recognition based control system and method |
US8352400B2 (en) | 1991-12-23 | 2013-01-08 | Hoffberg Steven M | Adaptive pattern recognition based controller apparatus and method and human-factored interface therefore |
US5606506A (en) * | 1993-04-05 | 1997-02-25 | Caterpillar Inc. | Method and apparatus for improving the accuracy of position estimates in a satellite based navigation system using velocity data from an inertial reference unit |
ZA944283B (en) * | 1993-06-21 | 1995-02-10 | Armament Dev Authority | Gps-aided dead reckoning navigation |
DE4424412A1 (en) * | 1994-07-12 | 1996-01-18 | Esg Elektroniksystem Und Logis | Radio telecommunication system with satellite navigation for both mobile telephony and VHF radio reception |
DE4427392A1 (en) * | 1994-08-03 | 1996-02-08 | Wolfgang Neifer | Road use charge levying apparatus |
US7268700B1 (en) | 1998-01-27 | 2007-09-11 | Hoffberg Steven M | Mobile communication device |
DE19856187A1 (en) * | 1998-12-05 | 2000-06-15 | Alcatel Sa | Satellite-based map matching process |
US7904187B2 (en) | 1999-02-01 | 2011-03-08 | Hoffberg Steven M | Internet appliance system and method |
US8364136B2 (en) | 1999-02-01 | 2013-01-29 | Steven M Hoffberg | Mobile system, a method of operating mobile system and a non-transitory computer readable medium for a programmable control of a mobile system |
DE10021373A1 (en) | 2000-05-02 | 2001-11-08 | Siemens Ag | Positioning method and navigation device |
DE10063585A1 (en) * | 2000-12-20 | 2002-07-11 | Volkswagen Ag | Method for recognizing carriageway-related local information during the use of navigation systems in motor vehicles evaluates patterns for a motor vehicle's vibration arising from driving through local conditions |
DE10346596B4 (en) * | 2003-10-07 | 2016-02-25 | Locanis Ag | Method and device for detecting the position of a vehicle in a predetermined area, in particular a storage facility, and warehouse management method and system |
DE102013015705B4 (en) * | 2013-09-20 | 2019-12-05 | Audi Ag | Method for determining a current position of a motor vehicle in a geodetic coordinate system and motor vehicle |
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EP0061674A2 (en) * | 1981-03-28 | 1982-10-06 | Nissan Motor Co., Ltd. | Guidance method and system for an automotive vehicle |
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DE2827715C2 (en) * | 1978-06-23 | 1983-12-08 | Siemens AG, 1000 Berlin und 8000 München | Procedure for determining the location of area-bound land vehicles |
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-
1983
- 1983-03-21 DE DE19833310111 patent/DE3310111A1/en not_active Ceased
- 1983-07-22 IT IT22205/83A patent/IT1194336B/en active
- 1983-07-25 FR FR8312243A patent/FR2532078B1/en not_active Expired
- 1983-07-25 GB GB08319950A patent/GB2126040B/en not_active Expired
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US3630079A (en) * | 1969-03-27 | 1971-12-28 | Texas Instruments Inc | Navigation method and apparatus utilizing multiple sensors |
US4106022A (en) * | 1972-05-15 | 1978-08-08 | University College Of North Wales | Radio position-determining system |
DE2936774A1 (en) * | 1979-09-12 | 1981-04-02 | Licentia Patent-Verwaltungs-Gmbh, 6000 Frankfurt | ARRANGEMENT FOR ORIENTING ON RIDES BY LAND VEHICLE |
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Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2684213A1 (en) * | 1991-11-26 | 1993-05-28 | Renault | Process and device for locating a land vehicle by coupling dead-reckoning navigational information and location information picked up by radio |
EP0554633A2 (en) * | 1991-11-26 | 1993-08-11 | Regie Nationale Des Usines Renault S.A. | Localisation of a land vehicle combining dead reckoning and radio navigation |
EP0554633A3 (en) * | 1991-11-26 | 1993-10-20 | Renault | Localisation of a land vehicle combining dead reckoning and radio navigation |
Also Published As
Publication number | Publication date |
---|---|
IT8322205A1 (en) | 1985-01-22 |
FR2532078B1 (en) | 1985-10-18 |
DE3310111A1 (en) | 1984-09-27 |
GB2126040B (en) | 1987-01-07 |
IT1194336B (en) | 1988-09-14 |
GB8319950D0 (en) | 1983-08-24 |
IT8322205A0 (en) | 1983-07-22 |
GB2126040A (en) | 1984-03-14 |
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