JP2008151731A - Navigation device and method of controlling the same - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a navigation device useful as a portable navigation device carried by a person and also as a car-mounted navigation system set in a car, and having high manipulability, and to provide a method of controlling the same. <P>SOLUTION: The navigation device includes a first detection means 14 for detecting the acceleration of a mobile body, a second detection means 16 for detecting the running direction of the mobile body, a third detection means 18 for detecting the three dimensional position of the mobile body, a position calculation means 20 for estimating the position of the mobile body based on outputs from the first, second and third means 14, 16 and 18, and a collation means for determining the current position of the mobile body by collation of the position of the mobile body estimated by the position detection means 20 with a map. The position calculation means 20 includes a mode selection means for selecting an appropriate position estimation way based on a moving way of the mobile body. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a navigation device and a navigation device control method.

  There is known a GPS navigation device that receives GPS signals transmitted from a plurality of satellites and calculates a current position by GPS navigation. This GPS navigation device includes a portable type and an in-vehicle type.

  The in-vehicle navigation device receives a signal radio wave from a satellite, performs positioning by GPS navigation, and detects a current position, a traveling direction, a traveling speed, and the like. The in-vehicle navigation device calculates a travel locus of the vehicle based on the vehicle speed pulse counted from the vehicle speed sensor and the traveling direction detected from the direction sensor, and the travel locus and the road stored in the in-vehicle navigation device. Map matching is performed by comparing with map data, and the current location of the vehicle is detected by so-called self-contained navigation. That is, the vehicle-mounted navigation device performs route guidance by GPS navigation and self-contained navigation.

  On the other hand, a portable navigation device receives a signal radio wave from a satellite, performs positioning by GPS navigation, and detects a current position and the like. However, since this portable navigation device does not include a vehicle speed sensor, a direction sensor, or the like, route guidance cannot be performed by the self-contained navigation like the vehicle-mounted navigation device described above. In general, a portable navigation device does not have road map data, so the current position cannot be displayed on the road map, and the current position detected by a satellite positioning system using a GPS satellite or the like is a numerical value of longitude and latitude. Is displayed on the display device.

  With the miniaturization of GPS receivers, it has been proposed to be used for the purpose of determining the walking distance of humans and the movement distance during walking (for example, see Patent Document 1).

Japanese Patent Laid-Open No. 10-325736

  However, satellite navigation using a satellite positioning system (GNSS) using GPS satellites or the like may not provide sufficient positioning performance in a multipath environment or an environment where satellite signals cannot be received. On the other hand, autonomous navigation using inertial sensors integrates the measured angular velocity, acceleration, etc. to obtain the position and azimuth, so the accuracy in a short time is good, but the measurement position error May increase over time.

  The present invention has been made paying attention to such conventional problems, and the purpose of the present invention is both as a portable navigation device carried by a human being, or as a vehicle-mounted navigation device carried in a vehicle. It is an object of the present invention to provide a navigation device with good operability that can be used sufficiently effectively and a method for controlling the navigation device.

  (1) A navigation device according to the present invention includes first detection means for detecting acceleration of a moving body, second detection means for detecting a traveling direction of the moving body, and first detection means for detecting a three-dimensional position of the moving body. 3 detecting means, position calculating means for estimating the position of the moving object from the outputs of the first, second and third detecting means, and the position of the moving object estimated by the position calculating means and the map are collated. Collating means for obtaining the current position of the moving body, and the position calculating means includes a mode selecting means, and the mode selecting means is adapted to determine whether the moving body is appropriate from the moving method of the moving body. Select a location estimation method.

  According to the present invention, by selecting an appropriate position estimation method of the moving object by the mode selection means, both a portable navigation device while being carried by a human and a vehicle-mounted navigation device brought into the vehicle both A navigation device with good operability that can be used sufficiently effectively can be provided.

  (2) In this navigation apparatus, the mode selection means may be a portable mode in which the moving body is a legged animal and the navigation is carried by the legged animal, and the moving body is a vehicle, and is brought into the vehicle. If the movement method selected by the mode selection means is the portable mode, the first detection means detects the movement distance of the legged animal from the number of steps. When the movement method selected by the mode selection means is the in-vehicle mode, the first detection means may detect the movement distance of the vehicle from acceleration.

  (3) In this navigation device, the first detection unit and the collation unit are configured to be detachable. When the first detection unit and the collation unit are coupled, the mode selection unit selects the in-vehicle mode. When the first detection unit and the collation unit are separated, the mode selection unit may select the portable mode.

  (4) In this navigation device, the mode selection means selects the portable mode or the in-vehicle mode from an acceleration signal in a vertical direction that intersects the traveling direction of the moving body detected by the first detection means. May be.

  (5) In this navigation device, the first detection means may be fixed to a hip part of the legged animal in the portable mode, and fixed in the vehicle in the in-vehicle mode.

  (6) In the navigation apparatus control method according to the present invention, the acceleration of the moving body is detected by the first detecting means, the traveling direction of the moving body is detected by the second detecting means, and the three-dimensional of the moving body is detected. Detecting the position by the third detecting means, estimating the position of the moving body from the outputs of the first, second and third detecting means by the position calculating means, and estimating by the position calculating means Collating the position of the mobile object with a map and obtaining the current position of the mobile object with a verification means, wherein the position calculation means includes mode selection means, and the mode selection means includes the mobile object An appropriate position estimation method for the moving object is selected from the moving methods.

  According to the present invention, by selecting an appropriate position estimation method of the moving object by the mode selection means, both a portable navigation device while being carried by a human and a vehicle-mounted navigation device brought into the vehicle both It is possible to provide a method for controlling a navigation device that can be used sufficiently effectively and has good operability.

  (7) In the control method of the navigation device, the mode selection means includes a portable mode in which the moving body is a legged animal, and the legged animal carries while navigating; the moving body is a vehicle; Including a choice of a movement method with a vehicle-mounted mode for carrying in and navigating in, and when the movement method selected by the mode selection means is the portable mode, the first detection means calculates the movement distance of the legged animal from the number of steps. When the movement method selected by the mode selection means is the in-vehicle mode, the first detection means may detect the movement distance of the vehicle from acceleration.

  (8) In this navigation device control method, the first detection unit and the collation unit are configured to be detachable, and the mode selection unit is mounted on the vehicle when the first detection unit and the collation unit are coupled. When the mode is selected and the first detection unit and the collation unit are separated, the mode selection unit may select the portable mode.

  (9) In the control method of the navigation device, the mode selection unit may be configured to use the portable mode or the in-vehicle mode based on a vertical acceleration signal that intersects the traveling direction of the moving body detected by the first detection unit. May be selected.

  (10) In this navigation device control method, the first detection means may be fixed to a hip region of the legged animal in the portable mode, and fixed in the vehicle in the in-vehicle mode.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
(First embodiment)
FIG. 1 is a block diagram showing a navigation device according to the first embodiment of the present invention. The navigation device 2 according to the present embodiment includes a position detection unit 10 and a display unit 12. The position detection unit 10 and the display unit 12 are detachable.

  The position detector 10 includes a first sensor signal detector 14 as a first detector, a second sensor signal detector 16 as a second detector, a position detector 18 as a third detector, and a position calculation. Control means 20 as means and communication means 22 are provided.

  The first sensor signal detection means 14 detects the acceleration of the moving body. The first sensor signal detecting means 14 detects a change in a vertical movement when a person carrying the person stands or sits down, a horizontal movement or a rotational movement when walking, as a moving body. And an acceleration sensor for detecting the acceleration of three axes orthogonal to each other in the coordinate system.

  The second sensor signal detection means 16 detects the traveling direction of the moving body. The second sensor signal detection means 16 detects the turning angular velocity of the moving body using a gyroscope, and detects the turning angle of the moving body, that is, the traveling direction (traveling direction) based on the turning angular velocity. A gyroscope for detecting an angular velocity around each axis orthogonal to the acceleration sensor;

  The position detection means 18 detects the three-dimensional position of the moving body. The position detection means 18 receives a GPS signal transmitted from a GPS satellite through an antenna (not shown).

  The control means 20 estimates the position of the moving body from the outputs of the first and second sensor signal detection means 14, 16 and the position detection means 18. The control unit 20 samples the detection signals transmitted from the first and second sensor signal detection units 14 and 16 and the position detection unit 18 at a predetermined timing, and position information (position, velocity and direction) of the moving body. Corner). The control means 20 outputs these position information to the communication means 22. The control means 20 comprises a CPU (Central Processing Unit), ROM (Read Only Memory), and RAM (Random Access Memory). The control means 20 further includes an EEPROM (Electrically Erasable Programmable Read-Only Memory), a DSP (Digital Signal Processor), and the like.

  The communication unit 22 includes an interface unit corresponding to a predetermined data communication method between the position detection unit 10 and the display unit 12, a demodulation unit that demodulates data received from the display unit 12 and transmits the data to the control unit 20. A modulation unit that modulates data to be transmitted to the display unit 12 and converts the data into a format corresponding to a predetermined communication protocol. The communication means 22 may be either wired or wireless.

  Here, the detail of the control means 20 is demonstrated.

  FIG. 2 is a diagram showing details of the control means according to the first embodiment of the present invention. As shown in FIG. 2, the control unit 20 includes a mode selection unit 24, a portable autonomous navigation 26, an in-vehicle autonomous navigation 28, a positioning calculation 30, and a Kalman filter 32.

  The mode selection unit 24 selects an appropriate detection method of the moving distance of the moving body according to the type of the moving body. Examples of the moving body include a legged animal and a vehicle. In the following description, a human is exemplified as a legged animal and an automobile is exemplified as a vehicle. The mode selection means 24 automatically selects a plurality of modes. For example, the mode selection unit 24 automatically selects a portable mode and a vehicle-mounted mode. The mode selection means 24 includes portable mode options for navigation while being carried by a person. The mode selection means 24 includes options for a vehicle-mounted mode that is brought into the vehicle and navigated. In the portable mode, the acceleration output from the first sensor signal detection unit 14 and the angular velocity output from the second sensor signal detection unit 16 are sent to the portable autonomous navigation 26. In the in-vehicle mode, the acceleration output from the first sensor signal detection unit 14 and the angular velocity output from the second sensor signal detection unit 16 are sent to the in-vehicle autonomous navigation 28.

  The portable autonomous navigation 26 detects the number of steps that the pedestrian walks from the power spectrum distribution in the frequency domain obtained by Fourier transforming the vertical acceleration that is the detected walking vibration. The portable autonomous navigation 26 calculates the walking distance from the detected number of steps and a preset step 34 of the person. The portable autonomous navigation 26 calculates the azimuth angle by integrating the detected angular velocity. The portable autonomous navigation 26 outputs the calculated azimuth and the position and speed obtained from the calculated walking distance to the Kalman filter 32.

  The vehicle-mounted autonomous navigation 28 integrates the detected acceleration into the speed and further integrates the speed to obtain the moving distance. The vehicle-mounted autonomous navigation 28 obtains the azimuth angle by integrating the angular velocity. The in-vehicle autonomous navigation 28 outputs the calculated azimuth angle and the position and speed obtained from the calculated moving distance to the Kalman filter 32.

  The positioning calculation 30 converts the observation data of the position detection means 18 into position, speed, and azimuth information and outputs the information to the Kalman filter 32.

  The Kalman filter 32 corrects the position, speed, and azimuth output from the portable autonomous navigation 26 or the vehicle-mounted autonomous navigation 28 using the position, speed, and azimuth information output from the positioning calculation 30. The Kalman filter 32 calculates position information by weighting a plurality of pieces of position information obtained by combining the currently calculated position information (position, speed, azimuth) and past position information read from a memory (not shown) with Kalmangen. And output. The Kalman filter 32 may be another filter as long as it has the above filter function.

  Next, the display unit 12 shown in FIG. 1 will be described.

  The display unit 12 includes a communication unit 36, a storage unit 38, a control unit 40 as a collating unit, and a display unit 42.

  The communication unit 36 includes an interface unit corresponding to a predetermined data communication method between the position detection unit 10 and the display unit 12, and a demodulation unit that demodulates data received from the position detection unit 10 and transmits the data to the control unit 40. And a modulation unit that modulates data to be transmitted to the position detection unit 10 and converts the data into a format corresponding to a predetermined communication protocol. The communication means 36 may be either wired or wireless.

  The storage means 38 stores, for example, a predetermined range of map data.

  The control means 40 converts map data in a predetermined range including the current position extracted from the storage means 38 based on the input position information into video data and audio data (guidance guidance etc.) and outputs it to the display means 42. . The control means 40 superimposes the corrected position for specifying its own position on the map stored in the storage means 38 and displays it on the display means 42. The control means 40 may collate the GPS positioning data with the road map data stored in the CD-ROM. The control means 40 is composed of a CPU, ROM, RAM, EEPROM, DSP and the like.

  The display means 42 displays a map in a predetermined range. The display means 42 may be a liquid crystal, electronic paper, sound, or a projector. The display means 42 displays a map and displays the position of the positioning result superimposed on the map. The display means 42 displays the current position calculated by the control means 40 in longitude and latitude.

  The navigation device according to the present embodiment is configured as described above, and the control method thereof will be described below.

  FIG. 3 is a diagram showing a flow of mode selection means according to the first embodiment of the present invention. In this embodiment, a method for controlling a navigation device in a portable mode and a vehicle-mounted mode will be described. This process is a process executed by the mode selection unit 24 simultaneously with the activation of the navigation device 2. When this process is started, the mode selection unit 24 first determines whether the position detection unit 10 and the display unit 12 are in a combined state (step S100). The control means 20 includes a mode selection means 24, and the mode selection means 24 selects an appropriate detection method of position information according to a person or a car. When the position detection unit 10 and the display unit 12 are in the combined state, the mode selection unit 24 proceeds to step S110. If the position detection unit 10 and the display unit 12 are in the separated state, the mode selection unit 24 proceeds to step S120.

  Next, the on-vehicle mode is applied (step S110). The mode selection unit 24 selects the on-vehicle mode when the position detection unit 10 and the display unit 12 are coupled. The position detection unit 10 is fixed in the automobile in the in-vehicle mode.

  Next, the portable mode is applied (step S120). The mode selection unit 24 selects the portable mode when the position detection unit 10 and the display unit 12 are separated. The position detection unit 10 is fixed to a part of a person's waist in the portable mode.

  Thereafter, the position detection means 18 detects the three-dimensional position of a person or a car. Next, the position information of the person or the car is estimated by the control means 20 from the outputs of the first and second sensor signal detection means 14, 16 and the position detection means 18. Next, the position information of the person or car estimated by the control means 20 is sent to the control means 40 via the communication means 22 and 36 and collated with the map to display the current position of the person or car on the display unit 12.

  As described above, by providing the mode selection means 24, it is possible to automatically detect whether it is portable or in-vehicle from the state (combination / separation) between the position detection unit 10 and the display unit 12. Mode or in-vehicle mode can be switched automatically.

(Modification)
FIG. 4 is a block diagram showing a navigation device according to a modification of the first embodiment of the present invention. The navigation device 4 according to the present embodiment includes a position detection unit 50 and a display unit 52. The position detection unit 50 and the display unit 52 are configured to be detachable.

  The position detection unit 50 includes first sensor signal detection means 14, second sensor signal detection means 16, control means 54 as position calculation means, and communication means 22.

  The control means 54 includes a mode selection means 24, a portable autonomous navigation 26, and an in-vehicle autonomous navigation 28. The control unit 54 may not have the function as the position calculation unit, but may have the function in the control unit 56. In that case, the mode selection means 24, the portable autonomous navigation 26, and the in-vehicle autonomous navigation 28 are included in the control means 56.

  The display unit 52 includes communication means 36, storage means 38, position detection means 18, control means 56 as position calculation means and collation means, and display means 42. The control means 56 includes a positioning calculation 30 and a Kalman filter 32. The control means 56 may include a mode selection means 24, a portable autonomous navigation 26, and an in-vehicle autonomous navigation 28.

  In the portable mode, in order to make the device that a person always carries as light as possible, the position detection unit 18 is separated and the position detection unit 50 including the first and second sensor signal detection units 14 and 16 is placed on a person's waist or the like. The position detecting means 18 can be integrated with the display unit 52.

  According to the present embodiment, by selecting an appropriate position estimation method for a moving body, both a portable navigation device carried by a human and a vehicle-mounted navigation device carried in a vehicle are both sufficiently effective. It is possible to provide a navigation device with good operability that can be used for the above.

(Second Embodiment)
FIG. 5 is a block diagram showing a navigation device according to the second embodiment of the present invention. The navigation device 6 according to the present embodiment includes a position detection unit 58 and a display unit 12. The position detection unit 58 and the display unit 12 are configured to be detachable.

  The position detection unit 58 includes first sensor signal detection means 14, second sensor signal detection means 16, position detection means 18, control means 60 as position calculation means, and communication means 22.

  The control means 60 includes a mode selection means 62, a portable autonomous navigation 26, an in-vehicle autonomous navigation 28, a positioning calculation 30, a Kalman filter 32, and a stride 34.

  The mode selection means 62 selects the portable mode or the in-vehicle mode from the acceleration signal in the vertical direction intersecting the traveling direction of the person or vehicle detected by the first sensor signal detection means 14.

Here, details of the mode selection means 62 will be described.
(Portable mode)
FIG. 6 shows an acceleration pattern (A) in the vertical direction orthogonal to the moving method of the moving body detected by the first sensor signal detection means during walking according to the second embodiment of the present invention and its power spectrum distribution ( It is a figure which shows B). A portable mode used for portable navigation will be described. The output signals detected by the first and second sensor signal detection means 14 and 16 and the position detection means 18 are sent to the mode selection means 62. As shown in FIG. 6, walking vibration is detected from the vertical acceleration pattern detected by the first sensor signal detection means 14. When a person walks while carrying, the detected acceleration signal in the vertical direction shows a sine wave pattern, and a peak is seen in the range of 0.5 Hz to 2 Hz from the power spectrum distribution. The number of steps a person walks is detected from the power spectrum distribution in the frequency domain by Fourier transform. The speed and position are calculated from the detected number of steps and a preset step length 34 of the person. On the other hand, the angular velocity is detected by the second sensor signal detecting means 16 and the detected angular velocity is integrated to calculate the azimuth angle. Further, the position, velocity, and azimuth angle are corrected by the Kalman filter 32 using the information on the position, velocity, and azimuth angle observed by the position detection means 18. Then, the corrected position, speed, and azimuth angle are sent to the display unit 12 via the communication means 22 and 36. The position is obtained by the control means 40 of the display unit 12 and displayed on the display means 42 to identify its own position on the map. In order to reduce the detection error, the position detector 58 including the first and second sensor signal detectors 14 and 16 and the position detector 18 is fixed to a part such as a human waist.

(Automotive mode)
FIG. 7 shows an acceleration pattern (A) in the vertical direction perpendicular to the traveling direction of the moving body detected by the first sensor signal detecting means when mounted on the vehicle according to the second embodiment of the present invention and its power spectrum distribution ( It is a figure which shows B). FIG. 8 is a diagram showing an acceleration signal in the traveling direction detected by the first sensor signal detecting means when mounted on the vehicle according to the second embodiment of the present invention. An in-vehicle mode used for in-vehicle navigation will be described. The output signals detected by the first and second sensor signal detection means 14 and 16 and the position detection means 18 are sent to the mode selection means 62. As shown in FIG. 7, from the power spectrum distribution of the acceleration signal in the vertical direction detected by the first sensor signal detecting means 14, the vehicle running vibration in which only white noise is seen is detected in addition to the DC component. When traveling in an automobile, the acceleration in the traveling direction as shown in FIG. 8 is integrated into the speed, and the speed is further integrated to obtain the moving distance, and the speed and position are calculated. On the other hand, the angular velocity is detected by the second sensor signal detecting means 16 and the detected angular velocity is integrated to calculate the azimuth angle. Further, the position, velocity, and azimuth angle are corrected by the Kalman filter 32 using the information on the position, velocity, and azimuth angle observed by the position detection means 18. Then, the corrected position, speed, and azimuth angle are sent to the display unit 12 via the communication means 22 and 36. The position is obtained by the control means 40 of the display unit 12 and displayed on the display means 42 to identify its own position on the map. The position detector 10 including the first and second sensor signal detectors 14 and 16 and the position detector 18 is fixed in the vehicle.

  Accordingly, it is possible to automatically detect the portable mode or the in-vehicle mode from the detected vertical acceleration signal pattern and power spectrum distribution. The contents described in the first embodiment can be applied to other configurations.

  The navigation device according to the present embodiment is configured as described above, and the navigation method will be described below.

  FIG. 9 is a diagram showing a flow of mode selection means according to the second embodiment of the present invention. FIG. 10 is a diagram showing a comparison of vertical acceleration signals detected by the first sensor signal detection means when stationary (A) and when traveling (B) according to the second embodiment of the present invention. In this embodiment, a method for controlling a navigation device in a portable mode and a vehicle-mounted mode will be described. First, vertical acceleration is detected by the first sensor signal detector 14 of the position detector 58 (step S200).

  Next, a dispersion value of acceleration is obtained by the mode selection means 62 of the control means 60 (step S210).

  Next, the mode selection means 62 of the control means 60 compares the variance value with the threshold value (step S220). Since the variance of the vertical acceleration value at the time of movement shown in FIG. 10 (B) is obviously larger than the variance of the vertical acceleration value at the time of stationary shown in FIG. 10 (A), both variance values should be compared with a threshold value. Thus, when the variance value is larger than the threshold value, it can be determined that it is in a moving state, and otherwise it is in a stationary state. When the variance value is larger than the threshold value, the process proceeds to step S240. Otherwise, the process proceeds to step S230.

  Next, the mode selection means 62 of the control means 60 determines that it is in a stationary state (step S230), and the process ends.

  Next, it is determined by the mode selection means 62 of the control means 60 that it is in the moving state (step S240).

  Next, the acceleration pattern and power spectrum analysis is performed by the mode selection means 62 of the control means 60 (step S250).

  Next, it is determined whether the peak is detected by the mode selection means 62 of the control means 60 (step S260).

  If a peak is detected, the process proceeds to step S270 and the portable mode is selected (step S270).

  When the peak cannot be detected, the process proceeds to step S280, and the in-vehicle mode is selected (step S280).

  As described above, by providing the mode selection means 62, it is possible to automatically detect whether it is portable or in-vehicle from the detected acceleration signal pattern and power spectrum distribution in the vertical direction. It is possible to automatically switch between in-vehicle mode.

  According to the present embodiment, by selecting an appropriate position estimation method for a moving body, both a portable navigation device carried by a human and a vehicle-mounted navigation device carried in a vehicle are both sufficiently effective. It is possible to provide a navigation device with good operability that can be used for the above.

1 is a block diagram showing a navigation device according to a first embodiment of the present invention. It is a figure which shows the detail of the control means which concerns on the 1st Embodiment of this invention. It is a figure which shows the flow of the mode selection means which concerns on the 1st Embodiment of this invention. It is a block diagram which shows the navigation apparatus which concerns on the modification of the 1st Embodiment of this invention. It is a block diagram which shows the navigation apparatus which concerns on the 2nd Embodiment of this invention. The acceleration pattern (A) of the up-down direction orthogonal to the advancing direction of the moving body detected by the 1st sensor signal detection means at the time of walking which concerns on the 2nd Embodiment of this invention, and its power spectrum distribution (B) are shown. FIG. The acceleration pattern (A) of the up-down direction orthogonal to the advancing direction of the moving body detected by the 1st sensor signal detection means at the time of vehicle mounting concerning the 2nd Embodiment of this invention, and its power spectrum distribution (B) are shown. FIG. It is a figure which shows the acceleration signal of the advancing direction of the moving body detected by the 1st sensor signal detection means at the time of vehicle mounting concerning the 2nd Embodiment of this invention. It is a figure which shows the flow of the mode selection means which concerns on the 2nd Embodiment of this invention. It is a figure which shows the vertical acceleration signal comparison detected by the 1st sensor signal detection means at the time of stillness and driving | running | working which concerns on the 2nd Embodiment of this invention.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 2 ... Navigation apparatus 4 ... Navigation apparatus 6 ... Navigation apparatus 10 ... Position detection part 12 ... Display part 14 ... 1st sensor signal detection means (1st detection means) 16 ... 2nd sensor signal detection means (2nd detection means) 18 ... Position detection means (third detection means) 20 ... Control means (position calculation means) 22 ... Communication means 24 ... Mode selection means 26 ... Portable autonomous navigation 28 ... In-vehicle autonomous navigation 30 ... Positioning calculation 32 ... Kalman filter 34 ... Stride 36 ... Communication means 38 ... Storage means 40 ... Control means (collation means) 42 ... Display means 50 ... Position detection section 52 ... Display section 54 ... Control means 56 ... Control means 58 ... Position detection section 60 ... Control means 62 ... Mode selection means.

Claims (10)

First detection means for detecting acceleration of the moving body;
Second detection means for detecting a traveling direction of the moving body;
Third detection means for detecting a three-dimensional position of the moving body;
Position calculating means for estimating the position of the moving body from outputs of the first, second and third detecting means;
Collating means for collating the position of the moving body estimated by the position calculating means with a map to obtain the current position of the moving body;
Have
The position calculation means includes mode selection means,
The navigation apparatus characterized in that the mode selection means selects an appropriate position estimation method of the moving body from the moving method of the moving body. The navigation device according to claim 1, wherein
The mode selection means includes: a portable mode in which the moving body is a legged animal and the navigation is carried by the legged animal; and an in-vehicle mode in which the moving body is a vehicle and is carried into the vehicle for navigation. Including options for moving,
When the movement method selected by the mode selection means is the portable mode, the first detection means detects the movement distance of the legged animal from the number of steps,
When the movement method selected by the mode selection means is the in-vehicle mode, the first detection means detects the movement distance of the vehicle from acceleration. The navigation device according to claim 2, wherein
The first detection means and the verification means are configured to be detachable,
In the combined state of the first detection means and the verification means, the mode selection means selects the vehicle-mounted mode,
The navigation device according to claim 1, wherein the mode selection means selects the portable mode when the first detection means and the collation means are separated. The navigation device according to claim 2, wherein
The navigation apparatus characterized in that the mode selection means selects the portable mode or the in-vehicle mode from an acceleration signal in a vertical direction that intersects the traveling direction of the moving body detected by the first detection means. The navigation device according to any one of claims 2 to 4,
The navigation device according to claim 1, wherein the first detection means is fixed to a hip region of the legged animal in the portable mode and is fixed in the vehicle in the in-vehicle mode. Detecting the acceleration of the moving body by the first detecting means;
Detecting the traveling direction of the moving body with a second detection means;
Detecting a three-dimensional position of the moving body with a third detecting means;
Estimating the position of the moving body from the outputs of the first, second and third detecting means by a position calculating means; and
Collating the position of the moving object estimated by the position calculating means with a map to obtain the current position of the moving object by a comparing means;
Have
The position calculation means includes mode selection means,
The mode selection means selects a suitable position estimation method of the moving body from the moving method of the moving body. The navigation device control method according to claim 6,
The mode selection means includes: a portable mode in which the moving body is a legged animal and the navigation is carried by the legged animal; and an in-vehicle mode in which the moving body is a vehicle and is carried into the vehicle for navigation. Including options for moving,
When the movement method selected by the mode selection means is the portable mode, the first detection means detects the movement distance of the legged animal from the number of steps,
When the movement method selected by the mode selection means is the in-vehicle mode, the first detection means detects the movement distance of the vehicle from acceleration. In the control method of the navigation device according to claim 7,
The first detection means and the verification means are configured to be detachable,
In the combined state of the first detection means and the verification means, the mode selection means selects the vehicle-mounted mode,
The navigation apparatus control method according to claim 1, wherein the mode selection means selects the portable mode when the first detection means and the collation means are separated. In the control method of the navigation device according to claim 7,
The mode selection unit selects the portable mode or the in-vehicle mode from an acceleration signal in a vertical direction that intersects the traveling direction of the moving body detected by the first detection unit. Control method. In the control method of the navigation device according to any one of claims 7 to 9,
The navigation apparatus control method according to claim 1, wherein the first detection means is fixed to a hip part of the legged animal in the portable mode and fixed in the vehicle in the in-vehicle mode.

Images