JPH03209170A - Direction detector - Google Patents

Abstract

PURPOSE:To perform accurate correction even in the middle of running by discriminating it with the output of a turning angular speed sensor that a moving body is not turned at present and obtaining the offset value to correct the output and obtaining the angular speed of the moving body to obtain the present estimated direction. CONSTITUTION:This device consists of a wheel speed sensor 41, a terrestrial magnetism sensor 42, a gyro 43, a road map memory 2, and a locator 1 or the like, and the locator 1 calculates the estimated direction by the output of the sensor 42 and obtains the present position by this output and data of the sensor 41 to store them in a memory 3 and discriminates non-turning of the moving body in accordance with the output of the gyro 43 and obtains the offset by this data. When it is discriminated that the moving body is not turned at present whether it is run or stopped, the offset is obtained based on this data to correct the output of a turning angle sensor, and the direction of the moving body is calculated by this value. Thus, the direction of the moving body is accurately detected.

Description

[Detailed description of the invention] Industrial application field> The present invention relates to an azimuth detection device that corrects the offset of a turning angular velocity sensor (for example, an optical fiber gyro, a mechanical gyro, a vibration gyro, a gas rate gyro). .

Conventional technology> Conventionally, vehicles traveling at any point on a road transportation network, aircraft navigating air routes, ships navigating sea routes, etc. (hereinafter referred to as "driving" of vehicles, "navigation" of The device is equipped with a turning angular velocity sensor and a processing device that performs the necessary processing on the output signal from the turning angular velocity sensor as a device for detecting the direction of the ship ("cruising" is referred to as "driving"), and is equipped with a turning angular velocity sensor and a processing device that performs necessary processing on the output signal from the turning angular velocity sensor. The amount of change in direction that occurs as the vehicle travels (
It has been proposed to obtain current orientation data of a vehicle, etc. using angular velocity) Δθ.

The method employed in this device is to calculate the current orientation θ of a vehicle, etc. as θ100+Δθ based on angular velocity data Δθ. θ0 is the direction determined at the previous sampling point.

Based on this azimuth data θ and the traveling distance data Δ of the vehicle etc. which is separately obtained, the east-west direction component ΔX of Δ
Δ no x cos θ) and north-south direction component Δy (- ΔJX
sin θ) and the previous vehicle position data (PX', Py
) by adding the current vehicle position data (P
x, Py), the above-mentioned direction detection device is used for detecting the position of a vehicle or the like.

Note that in reality, the output of the turning angular velocity sensor is a digital value, which is A/D converted by an A/D converter.
The turning angle is determined by feeding the signal to a computer and reading out the digital value by the computer.

Furthermore, some systems use a geomagnetic azimuth sensor to determine the absolute azimuth, and compare it with azimuth data obtained from the output of the turning angular velocity sensor to obtain more reliable azimuth data.

However, turning angular velocity sensors tend to generate some output (offset) due to the influence of temperature and humidity, regardless of whether the moving object is running or stopped. Since this offset output has the property of accumulating, a direction that deviates from the actual running direction will be detected.

Claims (1)

[Scope of Claims] 1. An azimuth detection device that captures azimuth data obtained from the output of a turning angular velocity sensor and determines the current estimated azimuth of a moving object from that value and past estimated azimuths, comprising: a turning angular velocity sensor; A determining means that determines that the moving body is not turning based on the output Δθ of the angular velocity sensor; and an offset correction means that calculates an offset value Ω_Δ_■ based on the angular velocity data during non-turning and corrects the output of the turning angular velocity sensor. and azimuth determining means for determining the angular velocity of the moving object from the corrected output of the turning angular velocity sensor output from the offset correcting means, and determining the current estimated azimuth θ of the moving object based on this. Detection device.