JP2001264405A - Method for detecting three-dimensional position and angle of movable body and device therefor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method for detecting the three-dimensional position and angle of a movable body, and a device therefor. SOLUTION: The incidence direction and angle of a satellite in a movable body are detected by an azimuth directional antenna 9 and an elevation angle directional antenna 17. The three-dimensional position of the satellite in a relative coordinate system is calculated by a relative coordinate value calculation circuit 7 based on these data. Subsequently, rotational vector that converts the relative coordinate system to the absolute coordinate system is calculated from the relative coordinate value of the satellite and the known absolute coordinate value by a rotational vector operating circuit 8, and the three-dimensional position information and the three-dimensional angle information (six-dimensional information) of the movable body are calculated. Therefore the six-dimensional information of the movable body can be detected without requiring an expensive reference station and data transmitting equipment.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

[0001] The present invention relates to a moving object such as a vehicle.
The present invention relates to a method for detecting a three-dimensional angle of a moving body at a three-dimensional position and a point thereof, and a detection device for implementing the method.

[0002]

2. Description of the Related Art Autonomous running and automatic work of vehicles such as uncultivated tilling of fields and compaction of embankment on lands,
A GPS receiver for a mobile object is mounted on a mobile object such as a vehicle and receives radio waves transmitted from a plurality of radio wave transmitting devices, for example, GPS satellites. There is known a technique of detecting a three-dimensional position in an orthogonal coordinate system having three orthogonal axes fixed to a coordinate system (i.e., a coordinate axis) and controlling the traveling of a moving body based on the position information. However, since it is not possible to know which direction the moving body is facing only from the position information of the moving body, it is inevitable that the direction of the course specified in advance is not known. Therefore, in addition to the position information, the posture of the moving body at that point, that is, angle information such as an azimuth angle, an elevation angle, and an inclination angle is required. In the following, one angle such as the azimuth of the moving object is defined as a one-dimensional angle, and two angles obtained by adding an elevation angle to the two-dimensional angle are added to a two-dimensional angle.
The three angles are three-dimensional angles.

[0003] As a conventional technique for specifying the position information and the angle information of the moving body, there is known a technique disclosed in Japanese Patent Application Laid-Open No. H11-231038. This involves combining an omni-directional antenna and a directional antenna, performing GPS positioning with the omni-directional antenna to specify the position of the mobile object, and then specifying the position of the mobile object and a specific GPS satellite (satellite T). )
By calculating the absolute azimuth of the satellite T viewed from the moving object, the radio wave transmitted from the satellite T is received by the directional antenna having directivity in the azimuth direction. By measuring the strength, the relative azimuth of the satellite T viewed from the mobile is detected, and the azimuth in the absolute coordinate system of the mobile, that is, the direction of the mobile, is calculated from the absolute azimuth and the relative azimuth. are doing.

However, Japanese Patent Application Laid-Open No.
According to the technology described in Japanese Patent Application Laid-Open No. 8 (1999) -1995, the detected angle information of the moving body is only azimuth angle information, that is, a one-dimensional angle, and detects two-dimensional and three-dimensional angles such as a pitch angle and a roll angle. Not something. Therefore, when traveling on a steep slope or a rugged road surface, a measurement error may increase. This will be described with reference to FIG. FIG.
FIG. 7 is an explanatory diagram relating to a measurement error of a relative azimuth angle of a satellite T with respect to a moving object C. If the traveling direction (X-axis) of the moving object C is selected as the specific direction, the relative azimuth in the state shown in FIG.
The angle α between the X axis and the straight line OP connecting the projection P on the Y plane and the center O of the moving object is obtained. If the moving object C is tilted by β at the same point, the relative azimuth angle becomes as shown in FIG. As shown, satellite T
Is detected as an angle α ′ between a straight line OP ′ connecting the projection P ′ onto the XY ′ plane and the center O of the moving object and the X axis,
An error (α′−α) occurs. Therefore, in order to obtain more accurate angle information, it is necessary to detect a two-dimensional angle obtained by adding an elevation angle and the like in addition to the relative azimuth angle, and a three-dimensional angle obtained by adding a tilt angle and the like.

[0005] As means for detecting the two-dimensional or three-dimensional angle, a GPS is provided at two or three different points of the moving body.
A receiver is installed and positioning is performed.
A method of calculating a three-dimensional angle or a three-dimensional angle is known. However, in such a method of detecting the angle information of the moving object from the position information of the plurality of GPS receivers, each GPS
It is necessary to specify the position of the receiver with positioning accuracy on the order of several cm. Because, the installation interval of the GPS receivers installed on the moving object is at most several meters, and if the positioning error is several tens cm, the error included in the angle information is too large,
This is because practicality is lost. For this reason, the same GPS positioning is performed at the reference station provided at the specific position, and the data is transmitted to the mobile unit to correct the positioning data of the mobile unit, thereby ensuring the positioning accuracy of the order of a few cm error. I have. In this case, however, not only three or four GPS receivers of, for example, several million yen are required, but also a reference station and
Data transmission equipment for transmitting the correction data obtained by the reference station to the mobile unit is also required, and the system cost becomes very high.

[0006]

SUMMARY OF THE INVENTION In view of the above problems, the present invention provides a detection method and a detection apparatus capable of detecting a three-dimensional angle at a point in addition to a three-dimensional position of a moving body at low cost. With the goal.

[0007]

According to a first aspect of the present invention, there is provided a detection method for transmitting a signal transmitted from at least three radio wave transmitting devices whose three-dimensional positions in an absolute coordinate system are known. A method for detecting a three-dimensional position and a three-dimensional angle of a moving body by receiving the radio wave transmitted by the moving body, the incident direction and the incident angle of the radio wave transmitted from each of the radio wave transmitting devices in the moving body. After calculating the three-dimensional position of each radio wave transmitting device in the relative coordinate system with the moving body as the origin based on the incident direction and the incident angle, the three-dimensional position of each radio wave transmitting device in the absolute coordinate system is calculated. A three-dimensional position of the moving body in the absolute coordinate system and a direction of the moving body are calculated from the position information and the three-dimensional position information in the relative coordinate system.

According to a second aspect of the present invention, the mobile device receives a radio wave transmitted from at least three radio wave transmitting devices whose three-dimensional positions in the absolute coordinate system are known. A detecting device for detecting a three-dimensional position and a three-dimensional angle of the moving object, an incident direction detecting means for detecting an incident direction of each of the radio waves on the moving object; Incident angle detecting means for detecting an incident angle, relative coordinate value calculating means for calculating a three-dimensional position of each radio wave transmitting device in a relative coordinate system having a moving body as an origin based on the incident direction and the incident angle; Rotation vector calculating means for calculating the direction cosine of the relative coordinates of each axis in the absolute coordinate system.

Further, according to a third aspect of the present invention, in addition to the configuration of the second aspect, the incident direction detecting means includes a receiver capable of receiving a radio wave transmitted from a radio wave transmitting device; A shield plate is provided rotatably around the receiver and shields an incoming radio wave from a specific direction, and has a directivity control unit that turns and moves the shield plate to shield and release the radio wave. It is characterized by the following.

The structure of the invention described in claim 4 is the same as that of claim 2
Or In addition to the configuration described in 3, the incident angle detecting means comprises: a receiver capable of receiving a radio wave transmitted from a radio wave transmitting device; and a receiver spirally from a position at the same level or lower than the receiver. Rotation within the rotation reaches above the receiver,
It is characterized by having a shielding band for shielding the radio wave, and directivity control means for rotating the shielding band with respect to the center axis of the receiver to shield and release the radio wave. Here, the incident direction of the radio wave refers to a direction vector obtained by projecting the incident vector of the radio wave onto the running surface of the moving body, and gives the azimuth of the radio wave transmitting device viewed from the moving body. Further, the incident angle of the radio wave means an angle between an incident vector and the running surface, and gives an elevation angle of the radio wave transmitting device with respect to the moving body.

[0011]

BEST MODE FOR CARRYING OUT THE INVENTION The following is a description of a mobile unit according to the present invention.
A three-dimensional position and three-dimensional angle detection device (hereinafter referred to as a six-dimensional information detection device) will be described with reference to the drawings. FIG.
1 is a schematic explanatory diagram of a six-dimensional information detection device 1 according to the present invention. Here, for the sake of convenience, a relative coordinate system (x, y, z) with the moving body as the origin and three orthogonal axes fixed to the moving body as coordinate axes
Is selected. Also, an absolute coordinate system (X, Y, Z) having the origin at the center of the earth is given.

[0012] The six-dimensional information detecting device 1 is provided with a 26
24 GPS satellites in orbit of 000km
(Hereinafter simply referred to as a satellite)
A satellite selection circuit 2 for selecting a base satellite, and a selected satellite
Direction detection to detect the incident direction θ of radio waves transmitted from
Output means 3 and an incident angle for detecting the incident angle φ of each radio wave described above.
Each of the signals output by the detecting means 4 and the absolute coordinate value output circuit 5
The distance between each satellite based on the satellite's position information (X, Y, Z)
An inter-satellite distance calculation circuit 6 for calculating the separation L;
Direction and angle of incidence of radio waves from
From the distance L, the three-dimensional position of the satellite in the relative coordinate system
A relative coordinate value calculation circuit 7 for calculating (x, y, z);
To compare the relative and absolute coordinate values of each satellite
Therefore, the three-dimensional position of the relative coordinate origin in the absolute coordinate system
Position, that is, the three-dimensional position (X _C, Y_C, Z_C),
And the relative cosine of the direction cosine in the absolute coordinate system,
That is, the three-dimensional angle (λ_x, Μ_x, Ν_x), (Λ_y, Μ
_y, Ν_y), (Λ_z, Μ_z, Ν_zRotation vector to calculate)
And an arithmetic circuit 8. And rotation vector performance
The six-dimensional information calculated by the arithmetic circuit 8 is transferred to the moving object control device.
And a six-dimensional information output circuit 20 for outputting the information to the
You.

FIG. 2 shows the incident direction detecting means 3 in FIG.
FIG. 4 is an explanatory diagram of the incident angle detecting means 4. The incident direction detecting means 3 includes an azimuth directional antenna 9 having directivity in an azimuth direction, a reception level sensor 10a for detecting the intensity of a radio wave received by the azimuth directional antenna 9, and a reception level sensor 10a. A directivity control circuit 11a for controlling the directivity of the directional antenna 9 based on the sensed radio field intensity information.
And an incident direction output circuit 12 that receives the output of the directivity control circuit 11a and outputs the incident direction of the radio wave to the relative coordinate value calculation circuit 7.

An azimuthally directional antenna 9 has a GPS receiver (hereinafter simply referred to as a receiver) which can receive a radio wave transmitted from an arbitrary direction at the center of the flat ground plane 13a.
14a are installed, and four shielding plates 15, 15,... Which are wide in the elevation direction and narrow in the azimuth direction are provided on the outer edge of the ground plane so as to be rotatable and movable. I have. The back surface of the shield plate (receiver side) is covered with a radio wave absorbing material to prevent reflection and disturbance of radio waves. Further, a driving means 16a for independently rotating the shielding plates 15, 15,... Is provided at the outer edge of the ground plane.

A reception level sensor 10a is connected to the receiver 14a so that the attenuation of the intensity of radio waves from a designated satellite can be sensed. The receiving level sensor 10a has driving means 1 based on the information of the radio wave intensity.
The directivity control circuit 11a for controlling the control circuit 6a is connected. Further, the incident direction output circuit 12 that determines the incident direction θ of the radio wave from the designated satellite based on the rotation angle information of the shielding plates 15, 15,.
It is connected to the directivity control circuit 11a. 2 shows only three shielding plates 15, 15,... For convenience of explanation.

On the other hand, the incident angle detecting means 4 comprises an elevation directional antenna 17 having directivity in the elevation direction, a reception level sensor 10b for detecting the intensity of the radio wave received by the elevation directional antenna 17, and a reception level sensor. A directivity control circuit 11b for controlling the directivity of the elevation directional antenna 17 based on the radio wave intensity information sensed by the device 10b, and an output of the directivity control circuit 11b, and the incident angle φ of the radio wave is relatively determined. And an incident angle output circuit 19 for outputting to the coordinate value calculation circuit 7.

The elevation directional antenna 17 has a receiver 14b capable of receiving radio waves transmitted from an arbitrary direction at the center of the flat ground plane 13b, and corresponds to the same level position as the receiver. A shielding band 18 that shields radio waves from the outer edge of the ground plane and spirally makes one turn to reach above the receiver 14b is provided rotatably along the outer edge of the ground plane. The back of the shielding band (receiver side) is covered with radio wave absorbing material,
Prevents disturbance. Driving means 1 for rotating the ground plane 13b about the center axis of the receiver as the center of rotation;
6b is provided at the base end of the ground plane. The elevation directional antenna 17 is installed above the moving object C, and can correspond to the satellite designated by the satellite selection circuit 2 in a time-division manner, that is, it can correspond to each satellite in a predetermined time sequence.

A reception level sensor 10b is connected to the receiver 14b so that the attenuation of radio wave intensity from a designated satellite can be detected. The reception level sensor 10b is connected to a directivity control circuit 11b that controls the driving unit 16b based on the information on the radio wave intensity. Further, from the rotation angle information of the shielding band 18 and the information of the incident direction of the radio wave detected by the incident direction detecting means 3, the incident angle φ of the radio wave from the designated satellite is determined,
An incident angle output circuit 19 for outputting the incident angle φ to the relative coordinate value calculating means 7 is connected to the directivity control circuit 11b.

FIG. 3 is a flow chart of the six-dimensional information calculation in the six-dimensional information detecting device 1 according to the present invention.
Hereinafter, the operation of the six-dimensional information detecting device 1 will be described with reference to FIG.
It will be described according to. First, in the detection step P1, four satellites T _i (i = 1, 2, 2) selected from the 24 satellites
3-dimensional position in the absolute coordinate system of the _{3,4) (X i, Y i} ,
And Z _i), the incident direction of the radio wave transmitted from a satellite T _i theta _i
And the incident angle φ _i are detected, and the next relative coordinate value calculation step P2 is performed.
At the three-dimensional position in the relative coordinate system of the satellite T _i on the basis of these data _{(x i, y i, z} i) is calculated, and by the coordinate conversion step P3 followed, the computed satellite T _i By comparing the relative coordinate values (x _i , y _i , z _i ) with the absolute coordinate values (X _i , Y _i , Z _i ) which are known information, the moving object C is obtained.
Three-dimensional position (X _C , Y _C , Z _C ) in the absolute coordinate system of
And three-dimensional angles (λ _x , μ _x , ν _x ), (λ _y , μ _y ,
ν _y ) and (λ _z , μ _z , ν _z ) are calculated. The following describes each step.

In step 1 (hereinafter abbreviated as S1 or the like) of the detection process P1, the satellite selection circuit 2 selects one of the 24 satellites based on the rough position information of the work point of the moving object C. Four satellites having a phase difference of about 90 degrees in the azimuthal direction are selected outside the vicinity of the moving object C and the vicinity of the horizon. Next, in S2, the absolute coordinate value output circuit 5 outputs the absolute coordinate values (X _i , Y _i , Z _i ) of the selected four satellites T _{i to} the inter-satellite distance calculation circuit 6, and in S3, The absolute coordinate value (X
_i , Y _i , Z _i ), the inter-satellite distance calculation circuit 6 calculates each inter-satellite distance L _{ii + 1} according to the following equation (Equation 1).
And outputs it to the relative coordinate value calculation circuit 7.

L _{ii + 1} ² = (X _{i + 1} −X _i ) ² + (Y _{i + 1} −Y _i )
² + (Z _{i + 1} -Z _i ) ²

Each of the above-mentioned inter-satellite distances L_{ii + 1}At the same time as
At S4, the selected four satellites T _iOrientation oriented to
The four shielding plates 15, 15,...
The satellite T_iReception of radio waves transmitted from
The reception level sensor 10a detects the minimum value of the signal strength,
Determine at 5 whether or not the reception strength has increased from the minimum value
I do. If the reception strength has increased, the reception strength is increased at S6.
Rotate the shielding plates 15, 15, ... in the direction of attenuation.
You. In other words, the designated satellite T_iAnd the receiver 14a
Directivity control so that the shielding plates 15, 15
The circuit 11a controls the driving means 16. And the reception strength
When the degree becomes the minimum, in S7, the shielding plate 15 at that time is
A and the x-axis connecting the center of the base of the receiver and the center of the receiver 14a
Angle θ _iFrom the input direction output circuit 12
Output to the arithmetic circuit 7.

On the other hand, at S8, it causes time division corresponding elevation directional antenna 17 with respect to the satellite T _i of four which is the selected, detecting the minimum value of the reception intensity of the radio wave transmitted from a satellite T _i Then, in S9, it is determined whether or not the reception strength has increased from the minimum value. If the reception strength increases, S
At 10, the elevation angle directional antenna 17 is rotated in a direction in which the reception intensity is attenuated. In other words, the directivity control circuit 11b controls the driving means 16b so that the shield band 18 always blocks the designated satellite T _i and the receiver 14b. And
If the reception intensity becomes minimum at S11, and the rotation angle of the elevation directional antenna 17 at that time, the detection result of the incident direction theta _i of the signals transmitted from the satellite T _i detected by the S7 From this, the incident angle output circuit 19 calculates the incident angle φ _{i of the} satellite and outputs it to the relative coordinate value calculation circuit 7. Here, since the shielding band 18 is formed so as to make a single helical turn from the same level position as the receiver 14b to reach above the receiver 14b, an elevation angle for shielding the specific incident angle of the radio wave is provided. The rotation angle of the directional antenna 17 is uniquely determined. If the shape of the shielding band 18 is approximated by a function in advance and input to the incident angle output circuit 19, the incident angle φ of the radio wave can be easily calculated.

[0023] In the subsequent relative coordinate value calculating step P2 first, before the incident direction theta _i and the incident angle phi _i of the satellite T _i detected in step P1, satellite T _i of direction cosine in the relative coordinate system (lambda _i, mu _i , v _i ) are determined as follows.

[Number 2] _{λ i = cosφ i cosθ i μ} i = cosφ i sinθ i ν i = sinφ i

[0024] Then, the direction cosine (λ _i of the satellite T _i,
μ _i , ν _i ) and the inter-satellite distance L _{ii + 1} calculated in S3
Using the data, relative coordinate values of the satellite _{T i (x i, y i} ,
z _i ) is calculated as follows. If the distance between the moving object C and the satellite T _i is d _i , the following equation is established. here,
The description will be limited to three (i = 1, 2, 3).

Equation 3] _{^{d 1 2 + d 2 2 -2α}} 12 d 1 d 2 -L 12 2 = 0 d 2 2 + d 3 2 -2α 23 d 2 d 3 -L 23 2 = 0 d 3 2 + d 1 2 -2α ^{_{31 d 3 d 1 -L 31 2}} = 0 α ii + 1 = λ i λ i + 1 + μ i μ i + 1 + ν i ν i + 1 Then, the relative coordinates of the satellite _{T i (x i, y i} , z _i ) is calculated by the following equation.

(X _i , y _i , z _i ) = d _i (λ _i , μ _i , v _i ) Using the above relation, the relative coordinate value calculation circuit 7 is executed at S12.
Solves three unknowns d _i (i = 1, 2, 3) by applying a numerical calculation method to the three equations of [Equation 3], and rejects the surplus solution. Furthermore, the same calculation in S13 executed, including (i = 4), further reject the excess solution improve the accuracy of the true solution d _i. That is, the satellite T _1, T _2, T ₄ sets, satellite T _1, T _3, T ₄ set, from a set of satellites T _2, T _3, T ₄ overlap distance d _i between each satellite operation Then, by averaging these, the error included in the direction cosine (λ _i , μ _i , ν _i ) of each satellite is stochastically reduced. The relative coordinate values of the satellite in S14 calculates _{(x i, y i, z} i) the following [equation 4].

Subsequently, in the relative coordinate value calculation step P2,
Satellite T_iRelative coordinate value (x_i, Y_i, Z_i) And known
Satellite T_iAbsolute coordinate value (X_i, Y_i, Z_i)
(I = 1, 2, 3), and the relative coordinate origin, that is,
The three-dimensional position (X _C, Y_C, Z_C), And relative seat
The direction cosine of the axis in the absolute coordinate system,
Three-dimensional angle (λ_x, Μ_x, Ν_x), (Λ_y, Μ_y, Ν_y),
(Λ_z, Μ_z, Ν_z), The rotation vector operation circuit 8
Is calculated as follows.

[0026]

(Equation 5) Using a rotating vector R to the relative coordinates of the satellite T _i at _{S15 (x i, y i,} z i) and the absolute coordinate values (X _i,
Y _i , Z _i )

(Equation 6)

The numerical calculation method is applied to λ _x ² + μ _x ² + ν _x ² = 1 λ _y ² + μ _y ² + ν _y ² = 1 λ _z ² + μ _z ² + ν _z ² = 1, and the relative coordinate of each axis is The direction cosine (λ _x , μ _x , ν _x ), (λ _y , μ _y ,
ν _y ) and (λ _z , μ _z , ν _z ) are calculated two by two, and then the surplus solution is rejected under orthogonal conditions of the coordinate axes, and the rotation vector R is calculated. C three-dimensional angles (λ _x , μ _x , ν _x ), (λ _y , μ _y , ν _y ), (λ _z ,
μ _z , ν _z ). Finally, in S17, the three-dimensional position (X _C , Y _C , Z _C ) of the moving object C is calculated from [Equation 6].

The three-dimensional position information and the three-dimensional angle information (six-dimensional information) of the moving body C calculated as described above are output to the moving body control device 21 by the six-dimensional information output circuit 20, and the moving body C The traveling is controlled (S18). When the moving object C moves, the incident direction and the incident angle of the radio wave are detected again (S4), and the six-dimensional information is similarly calculated.

Here, the following experiment was conducted to evaluate the measurement error of the incident direction detecting means 3 and the incident angle detecting means 4 used in the detecting step P1. The shield plate 15 installed on the directional antenna 9 shown in FIG. 2 shields radio waves from the satellite by changing the distance l from the receiver 14a and the plate width w, and the radio wave is received by the reception level sensor 10a. The intensity attenuation was measured. The results were averaged to obtain experimental data shown in FIG. The horizontal axis of the graph is the distance l [cm] from the receiver 14a, and the vertical axis is the attenuation [dB] of the received radio wave.
From this, it can be seen that even when the width of the shielding plate 15 is set to 1 cm and the distance 1 from the receiver 14a is set to 15 cm to shield radio waves, attenuation of about 10 dB is recorded on average. Therefore, if a sensor capable of detecting this level of intensity attenuation is used, it is possible to control the shield plate 15 to always rotate and move in the satellite direction even if the plate width w of the shield plate 15 is 1 cm. For example, when the reception intensity of the radio wave sensed by the reception level sensor 10a is increased by 10 dB on average from the minimum value, the shield plate 15 is rotated left or right to select a direction in which the reception intensity is attenuated. Control method. In this case, an angle δ formed by a straight line a connecting the center of the receiver and the center of the base end of the shield plate 15 shown in FIG. 2 and a straight line b connecting the center of the receiver and the satellite is a measurement error. Assuming that the intensity of the received radio wave increases by 10 dB from the minimum value at the moment when the shielding plate 15 is displaced from the satellite and the radio wave directly enters the receiver 14a, the maximum value δ _MAX of the measurement error in the incident direction θ is:

## EQU8 ## It can be approximated as tan (δ _MAX ) ≒ w / (2 · l). Therefore, in this case, the measurement error δ in the incident direction can be suppressed to about 2 degrees.

Regarding the measurement error in the radio wave incident angle detecting means 4, the width of the shield band 18 is w ', the inclination angle of the shield band is α, and the distance between the radio wave shield point and the receiver is l'. For example, the maximum value ε _MAX of the measurement error of the incident angle φ is

## EQU9 ## tan (ε _MAX ) ≒ w ′ / (2 · l′ cosα) can be approximated. Therefore, also in this case, if α = about 30 degrees, the measurement error ε of the incident angle can be suppressed to about 2 to 4 degrees.

Then, the incident direction θ _i including the above error δ
And the direction cosines (λ _i , μ _i , ν _i ) of the satellite T _i derived from the angle of incidence φ _i including the error ε also have errors.
As described above, by applying (i = 4) in S13 to repeatedly calculate the direction cosine of each satellite and averaging them, the error can be stochastically reduced. Note that the shift in the incident direction and angle of the radio wave due to the difference in the installation positions of the azimuth directional antenna 9 and the elevation directional antenna 17 is on the order of negligible considering the distance between the moving object C and the satellite T.

By the way, four GPS receivers are mounted on a mobile body,
Regarding measurement errors when using a conventional device that performs GPS positioning with one device installed at the reference station and calculates the three-dimensional angle of the mobile object from the position information, the installation interval of each receiver installed on the mobile object is as follows: Since the distance is at most 1 to 3 m, even if the positioning accuracy is on the order of several cm, the calculated angle information includes a measurement error of 1 to 3 °. Then, the above 6
It can be said that the dimensional information detecting device 1 has measurement accuracy comparable to that of a conventional detecting device that corrects angle information by transmitting data from a reference station.

As described in detail above, according to the six-dimensional information detecting device 1, the mobile object C is controlled by the directional antenna 9 as the incident direction detecting means, the reception level sensor 10a, and the directivity control circuit 11a. , The elevation angle directional antenna 17 as the incident angle detecting means, the reception level sensor 10b, and the directivity control circuit 11b detect the satellite incident angle on the moving object C, and Based on the data on the direction and the angle of incidence, a relative coordinate value calculation circuit 7 calculates a three-dimensional position of the satellite in the relative coordinate system, and calculates a rotation vector calculation circuit 8 from the relative coordinate values and the known absolute coordinate values. By calculating the rotation vector R for converting the relative coordinate system to the absolute coordinate system, the three-dimensional position information and the three-dimensional angle information (six-dimensional information) of the moving object C are calculated. Since the calculation can be without requiring expensive reference station and data transmission equipment, it detects all six-dimensional information of the mobile C. Moreover, since it is not necessary to correct the data detected by the mobile unit C from outside such as a reference station, the time required for data processing is short, and the six-dimensional information is calculated almost in real time. Therefore, the moving body C can be controlled more accurately even on a work road surface with severe ups and downs. In addition, the elevation directional antenna 17 has a simple configuration in which a spiral shielding band 18 is attached to the outer edge of the ground plane of a normal omnidirectional antenna, and can be formed easily at low cost.

It should be noted that the six-dimensional information detecting apparatus of the present invention is not limited to the above-described embodiment, but includes a radio wave transmitting device, a satellite selecting circuit, an incident direction detecting means, an incident angle detecting means, a relative coordinate value calculating means. , Rotation vector calculation means, etc., can be changed as appropriate without departing from the spirit of the present invention. For example, the radio wave transmitting device is not limited to the GPS satellite of the embodiment, but may be any device such as a geostationary satellite as long as its three-dimensional position at each time is known. Further, in the above embodiment, the incident direction detecting means is located at the center of the ground plane.
A configuration has been described in which a PS receiver is installed and four shielding plates are installed on the outer edge to control the radio waves independently, thereby detecting the direction of radio wave incidence. Azimuthally directional antenna, which can be fixed to the base and the base end of the ground plane can be rotated in the azimuth direction. Further, instead of the shielding plate, a hemispherical dome provided with a slit in the elevation angle direction from the lower edge may be placed over the receiver, and the direction in which the radio wave reception level becomes higher may be used as the radio wave incident direction. Further, in the above embodiment, in the incident angle detecting means, one elevation directional antenna is used for each satellite in a time-division manner. However, four elevation directional antennas are installed on a moving body, and one satellite is installed. A configuration in which one elevation directional antenna corresponds to FIG. In this way, the elevation angle of each satellite can be detected in real time, and more accurate six-dimensional information can be obtained. Also,
In the embodiment, the helical shielding band is attached to the outer edge of the antenna, and the elevation directional antenna in which the base end is rotatable has been described. However, a dome having a similar spiral slit from the lower end is ground plane. It is also conceivable to adopt a configuration in which the direction in which the reception level of the radio wave becomes higher is set as the incident angle of the radio wave.

In addition to the above directional antennas,
One or more omnidirectional antennas are mounted on a mobile object to perform normal GPS positioning, and the obtained distance information from a satellite is used to improve the measurement accuracy of six-dimensional information. In addition, instead of separately providing the directional antenna and the omnidirectional antenna, it is also possible to adopt a configuration in which the directional and omnidirectionality of one receiver is switched by software.

Further, in the above embodiment, the calculation process using information from four satellites has been described. However, if information from more satellites is used, the measurement accuracy can be further improved. In addition, it goes without saying that the six-dimensional information detecting device of the present invention can be installed on any moving body such as a tractor and a compactor, and the arrangement of the receiver is arbitrary.

[0036]

According to the three-dimensional position and three-dimensional angle detection method of the present invention, all of the three-dimensional position and three-dimensional angle of the moving object are detected. Further, since no reference station or data transmission equipment is required, the three-dimensional position and the three-dimensional angle can be detected at low cost.

According to the three-dimensional position and three-dimensional angle detecting device of the present invention, all of the three-dimensional position and three-dimensional angle of the moving object can be obtained without using an expensive reference station or data transmission equipment. Can be detected. Further, since it is not necessary to correct the data detected by the mobile unit from the outside such as a reference station, the time required for data processing is short, and the three-dimensional position and the three-dimensional angle are calculated almost in real time. This makes it possible to more accurately control the moving body even on a work road surface with undulations.

According to the third aspect of the present invention, a plurality of shielding plates are provided around the receiver and independently controlled so that the direction of incidence of radio waves from a plurality of radio wave transmitting devices can be controlled by one receiver. Is detected, the number of receivers can be reduced in addition to the effect of claim 2, which leads to a reduction in the cost of the apparatus.

According to the fourth aspect of the present invention, the angle of incidence of a radio wave from a radio wave transmitting device can be easily detected at low cost.

[Brief description of the drawings]

FIG. 1 is a schematic explanatory diagram of a three-dimensional position and three-dimensional angle detection device of a moving object according to the present invention.

FIG. 2 is an explanatory diagram of an incident direction detecting unit and an incident angle detecting unit in FIG.

FIG. 3 is a flowchart of a three-dimensional position and three-dimensional angle calculation in the three-dimensional position and three-dimensional angle detection device according to the present invention.

FIG. 4 shows an experimental result obtained by shielding a radio wave from a satellite using the receiver and the shield plate shown in FIG. 2 and changing a distance and a plate width from the receiver, and measuring an attenuation of the received radio wave. It is a graph which shows an average value.

FIG. 5 is an explanatory diagram relating to a measurement error in a conventional method of measuring the azimuth of a satellite.

[Explanation of symbols]

1. 6-dimensional information detection device 2. Satellite selection circuit 3.
.Incident direction detecting means, 4... Incident angle detecting means, 5... Absolute coordinate value output circuit, 6.
Relative coordinate value calculation circuit, 8 ... rotation vector calculation circuit, 9
..Azimuth directional antennas, 10a, 10b reception level detectors, 11a, 11b directional control circuits, 12.
-Incident direction output circuit, 13a, 13b-Ground plane, 14a, 14b-GPS receiver, 15-Shielding plate, 16a, 16b-Driving means, 17-Elevation directional antenna, 18-Shielding band , 19..incident angle output circuit,
20..6-dimensional information output circuit, 21..mobile unit control device, C..mobile unit, T..satellite.

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 5J021 AA02 AA13 BA01 DA03 EA03 EA04 FA20 FA25 GA07 HA01 HA07 HA10 JA10 5J062 AA01 AA11 BB01 CC07 CC14 DD22 GG02

Claims (4)

[Claims] 1. A three-dimensional position and a three-dimensional angle of a moving body are detected by the moving body receiving radio waves transmitted from at least three radio wave transmitting devices whose three-dimensional positions in an absolute coordinate system are known. A detection method, comprising detecting an incident direction and an incident angle of a radio wave transmitted from each of the radio wave transmitting devices in the moving body, and based on the incident direction and the incident angle, a relative coordinate system having a moving body as an origin. After calculating the three-dimensional position of each radio wave transmitting device in the above, the three-dimensional position information of the moving body in the absolute coordinate system is obtained from the three-dimensional position information of each radio wave transmitting device in the absolute coordinate system and the three-dimensional position information in the relative coordinate system. A method for detecting a three-dimensional position and a three-dimensional angle of a moving body, wherein the method calculates a three-dimensional position and a direction of the moving body. 2. The three-dimensional position and three-dimensional angle of a mobile object are detected by the mobile object receiving radio waves transmitted from at least three radio wave transmitting devices whose three-dimensional positions in the absolute coordinate system are known. A detection device, an incident direction detecting means for detecting an incident direction of each radio wave on the moving body, an incident angle detecting means for detecting an incident angle of each radio wave on the moving body, the incident direction and the incident angle A relative coordinate value calculating means for calculating a three-dimensional position of each radio wave transmitting device in a relative coordinate system having a moving body as an origin, and a rotation vector for calculating a direction cosine of each relative coordinate axis in an absolute coordinate system Calculating means for calculating a three-dimensional angle of the moving object from the obtained direction cosine, thereby detecting a three-dimensional position and a three-dimensional angle of the moving object. 3. An incident direction detecting means is provided for a receiver capable of receiving a radio wave transmitted from a radio wave transmitting device, and is rotatably movable around the receiver to shield an incident radio wave from a specific direction. The three-dimensional position and the three-dimensional angle of the moving body according to claim 2, further comprising: a shielding plate; and a directivity control unit that rotates and moves the shielding plate to shield and release radio waves. Detection device. 4. An incident angle detecting means, comprising: a receiver capable of receiving a radio wave transmitted from a radio wave transmitting device; and a helical rotation within one rotation from a position at or below the same level as the receiver. Claims: It has a shielding band reaching the upper part of a receiver for shielding a radio wave, and directivity control means for rotating the shielding band with respect to a center axis of the receiver to shield and release the radio wave. Item 3. The three-dimensional position and three-dimensional angle detection device for a moving object according to item 2 or 3.