JPH06147910A - Total function type navigation device - Google Patents

Abstract

PURPOSE:To provide an information concerning location, velocity and attitude contunuously and accurately without interrupting location function even when distance measuring radio waves are missing in a location measuring system where a satellite such as an NAVSTAR/GPS is utilized for a distance measuring radio wave source. CONSTITUTION:The title device consists of a range changing rate measuring means 100, a velocity absolute value measuring means 101, an appropriation estimated velocity vector revision means 102, an attitude angle measuring means 110, an appropriation estimated attitude angle revision means 111, an artifitial range measuring means 120, and an appropriation estimated location vector revision means 121.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention provides highly accurate measurement of the position, speed and moving direction when measuring the position of a moving body such as an automobile or a ship by receiving distance measurement radio waves transmitted by GPS satellites or the like. Not only is it possible, but even if a building, a tree, etc. interferes with the reception of range finding radio waves, or if a moving object enters a tunnel and cannot receive range finding radio waves at all, the position, speed, and movement will continue. The present invention relates to a full-function navigation device that is capable of measuring a direction (azimuth angle and vertical angle).

[0002]

2. Description of the Related Art As a navigation device for automobiles, ships, etc., the most popular device already used in various fields is a GPS receiver. This is to continuously measure the position of a moving body by using the arrival time difference of a plurality of distance measurement radio waves.
Uses GPS satellites. In addition, research and development have also been conducted for many years on dead reckoning devices for automobiles that use a direction sensor and a vehicle speed sensor such as a gyro and a magnetic compass. Above all, the combination with the map matching navigation using the road pattern incorporated in the digital map data is effective for suppressing the increasing position error only by the above-mentioned sensor, and is partially put into practical use.

First, a GPS receiver can perform positioning continuously throughout the world, and can perform positioning with relatively high accuracy without using other sensors together. But,
Positioning is frequently interrupted in urban areas with many buildings that impede reception of distance measurement radio waves, and positioning is impossible at all in tunnels where distance measurement radio waves cannot be received. In addition, dead-reckoning, which also uses map matching navigation, usually enables continuous navigation even in urban areas and tunnels, but detailed map information is indispensable to maintain positioning accuracy. A sufficient self-positioning function cannot be achieved in the missing areas. Furthermore, it is difficult for the conventional relatively inexpensive navigation device to obtain good heading information, and thus the dead reckoning accuracy is limited. Therefore, for practical use, the degree of dependence on the above-mentioned map matching method increases, and more detailed map information becomes indispensable. This complicates the operation of the device and makes it difficult to reduce the price of the device.
Also, with this method, once the current position is lost, it is difficult to restore the navigation function.

[0004]

Therefore, the problems to be solved by the conventional techniques can be summarized as follows. That is, the conventional GPS receiver can perform continuous positioning with relatively high accuracy, but cannot perform positioning when the ranging radio waves from the required number of satellites cannot be received. Further, in the conventional dead reckoning device, unlike the GPS receiver, it is completely unaffected by the radio wave reception environment, but without precise road data, the current position may be lost and navigation may become impossible. In addition, GPS is used to supplement these problems.
It is possible to use a receiver and a dead reckoning device together,
In this case, not only a fundamental solution to the above-mentioned problems relating to the direction information and the map matching in the dead reckoning device cannot be obtained, but also the entire device becomes expensive.

The present invention has been made by paying attention to the problems of the prior art, and an object thereof is to provide continuous and highly accurate positioning information in any operating environment. At the same time, it is an object of the present invention to provide high-quality speed and moving direction information that is indispensable for maneuvering a moving body, without increasing the size or cost of the device.

[0006]

[MEANS FOR SOLVING THE PROBLEMS] A full-featured navigation device for achieving the above-mentioned object includes a distance measurement radio wave source and a receiver which are calculated from arrival time differences of distance measurement radio waves from a plurality of distance measurement radio wave sources. In a positioning method for measuring the position of the receiver using a pseudo range, a range change rate measuring means for measuring a range change rate corresponding to a time change rate of the pseudo range, and a speed of a mobile body equipped with the receiver. Of the absolute value of the velocity, that is, the absolute velocity value measuring means for measuring the absolute velocity value, and if the measurement of the range change rate is normal and the number of measurements is sufficient, the range change rate and the absolute value of the speed are optimal. When the optimum estimated velocity vector is updated by combining and the range change rate is abnormally measured or the number of measurements is insufficient, it is calculated from the absolute velocity value and the optimum estimated azimuth angle and optimum estimated pitch angle described later. An optimal estimated velocity vector updating means that uses a degree vector as an optimal estimated velocity vector; and an attitude angle measuring means that measures the attitude azimuth angle of the mobile body equipped with the receiver or the temporal change rate of the attitude azimuth angle and the attitude pitch angle. , The optimum estimated azimuth is calculated by optimal combination of the moving azimuth calculated from the components of the optimum estimated speed vector and the posture azimuth according to the characteristics of the optimum estimated speed vector update, and the optimum estimation is performed. Optimum estimated posture angle updating means for calculating an optimal estimated pitch angle by optimal combination of the movement pitch angle calculated from the component of the velocity vector and the posture pitch angle, a pseudo range measuring means for measuring the pseudo range, and The optimum estimation position is determined by the optimum combination of the pseudo range and the optimum estimation speed vector, depending on whether the pseudo range measurement is normal or abnormal and the number of measurements. It is equipped with an optimum estimated position vector updating means for updating a vector, and the position, speed and moving posture angle of the moving body equipped with the receiver are continuously maintained even when the distance measurement radio wave cannot be received temporarily. It is characterized by performing accurate and highly accurate measurement.

[0007]

The position vector and velocity vector of the moving body are measured from the propagation time difference and the temporal change rate of the distance measurement radio waves from the satellites such as GPS satellites that serve as the distance measurement radio wave source. The posture angle of the moving body is calculated from the velocity vector. When the posture angle is not normally measured, the posture angle is updated using the posture variation angle measured by the azimuth sensor, the tilt sensor, or the like of the moving body, and this is output as the optimum estimated posture angle. Also, the estimated position vector is updated using the above velocity vector, but if the velocity vector is not measured normally, the estimated position vector is updated using the speed measured by the speedometer of the moving body and the posture angle. At the same time, the velocity vector calculated by the optimal synthesis is output as the optimal estimated velocity vector. The estimated position vector is optimally combined with the above position vector,
This updates the estimated position vector and outputs it as the optimum estimated position vector.

[0008]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows a configuration of means included in the embodiment, and FIGS. 2, 3, and 4 show calculation processing contents performed by these means. The range change rate measuring means 100 measures the distance measurement radio wave source from the frequency shift of the distance measurement radio wave.
It is a means to measure the time change rate of the range between receivers,
Odorally, it is a tracking circuit for distance measurement radio frequency. The absolute velocity value measuring means 101 is a means for measuring the moving speed of the receiver, and is specifically a vehicle speed sensor such as a tachometer. The range change rates and absolute velocity values for a plurality of ranging radio wave sources measured by the two measuring means are input to the optimum estimated speed vector updating means 102, and the optimum estimated speed vector υ is updated by the optimum speed vector processing logic 200. . At this time, a covariance matrix composed of a unit vector in the direction connecting the ranging radio wave source and the receiver, an optimum estimated azimuth angle ψ and an optimum estimated pitch angle θ, which will be described later, and a standard deviation of the measurement error is used. Further, the decision logic 201 decides whether or not the speed calculation based on the range change rate is good, and the least square velocity estimation logic 202 is applied when the range change rate measurement condition is sufficient, and the decision logic 203 is applied when the range change rate measurement condition is insufficient. The attitude angle measuring means 110 is a means for measuring the azimuth angle and the pitch angle of the receiver, or the time rate of change thereof, and is specifically a gyro, a magnetic sensor, an inclination sensor, or the like. The posture azimuth angle and the posture pitch angle measured by the measuring unit 110, and the optimum estimated velocity vector updated by the optimum estimated velocity vector updating unit 102 are input to the optimum estimated posture angle updating unit 111, and the optimum estimated azimuth angle ψ is entered.
And the optimum estimated pitch angle θ, the optimum attitude angle processing logic 300
To update by. First, in the determination logic 301, it is determined whether or not the moving azimuth angle and the moving pitch angle can be accurately calculated from the velocity vector of the moving body, and if the calculation is possible, the incremental computable logic 302 calculates the moving attitude angle increments Δψ1 and Δθ1. To do. Further, the sensor posture angle increment calculation logic 304 calculates increments Δψ2 and Δθ2 of the posture azimuth angle and posture pitch angle of the moving body from the measured values of the posture sensor. Further, the posture angle increment calculation logic 302 calculates the optimum synthesis coefficients KA and KB according to the accuracy of the posture angle increment calculated by the processing logics 302 and 304, but if the determination result is not The uncomputable logic 303 sets the above synthesis coefficients KA and KB to 1. The optimum attitude angle update logic 305 updates the optimum estimated azimuth angle ψ and the optimum estimated pitch angle θ by the calculated two types of angle increments. The pseudo range measuring means 120 is a means for measuring the pseudo range between the distance measurement radio wave source and the receiver from the arrival time difference of the distance measurement radio waves, and is specifically an electric circuit included in an ordinary GPS receiver. Calculated from the product of the difference between the pseudo range measured by the measuring means 120 and the pseudo range obtained using the latest position information, and the optimum estimated speed vector υ output from the optimum estimated speed vector updating means 102 and the elapsed time. The calculated moving distance and the estimated value of the range deviation which is the difference between the pseudo range and the actual range are input to the optimum estimated position vector updating means 121, and the optimum estimated position vector r is updated by the optimum position vector processing logic 400. To do.
First, the determination logic 401 determines whether or not the moving body position vector can be accurately calculated from the measured pseudo range, and if it can be calculated, the least square position vector increment estimation logic 402 is used to calculate the position vector increment Δr. . If it cannot be calculated, the position vector increment Δr is calculated from the optimum estimated posture angles ψ and θ and the absolute velocity value using the confirmation logic 403. The optimum position vector update logic 404 updates the optimum estimated position vector r by adding the position vector increment Δr to the optimum estimated position vector r. With the above measuring means and processing, it is possible to optimally estimate the velocity, attitude and position of the receiver.

[0009]

In the conventional GPS receiver, when the received radio wave is cut off or the number of received signals is reduced, the positioning function is stopped or the positioning accuracy is significantly deteriorated. In addition, it is general that the measurement of the posture angle depends on other sensors. Therefore, it is unsuitable for operation in the city area, and it is difficult to provide accurate azimuth information for driving a vehicle. However, according to the present invention, in addition to the conventional GPS receiver,
For example, the use of vehicle speed data of automobiles and the application of gyros and magnetic sensors that measure variations in azimuth have made it possible to implement a high-performance, full-function navigation device that conventional GPS receivers do not have.

[0010]

[Brief description of drawings]

FIG. 1 is an explanatory diagram showing main means constituting the full-function navigation device according to an embodiment of the present invention and their relations.

FIG. 2 is an explanatory diagram showing a processing logic necessary for calculating an optimum velocity vector and its flow in a full-function navigation device according to an embodiment of the present invention.

FIG. 3 is an explanatory diagram showing a processing logic necessary for calculating an optimum attitude angle and its flow in a full-function navigation device according to an embodiment of the present invention.

FIG. 4 is an explanatory diagram showing a processing logic necessary for calculating an optimum position vector and its flow in a full-function navigation device according to an embodiment of the present invention.

[0011]

[Explanation of symbols]

100 ... Range change rate measuring means, 101 ... Velocity absolute value measuring means, 102 ... Optimal estimated velocity vector updating means, 11
0 ... Attitude angle measuring means, 111 ... Optimal estimated attitude angle updating means, 120 ... Pseudo range measuring means, 121 ... Optimal estimated position vector updating means, 200 ... Optimal speed vector processing logic, 201 ... Judgment logic, 202 ... Least square speed Estimation logic 203 ... Confirmation logic 300 ... Optimal posture angle processing logic 301 ... Judgment logic 302 ... Posture angle increment calculation logic 303 ... Increment calculation impossible logic 304 ... Sensor posture angle increment calculation logic 305
... Optimal posture angle update logic, 400 ... Optimal position vector processing logic, 401 ... Judgment logic, 402 ... Least square position vector increment estimation logic, 403 ... Confirmation logic, 404 ... Optimal position vector update logic.

Claims (6)

[Claims] 1. A positioning method for measuring the position of the receiver using a pseudo range between the ranging radio source and the receiver, which is calculated by the arrival time difference of the ranging radio waves from a plurality of ranging radio sources. Range change rate measuring means for measuring the range change rate corresponding to the time change rate of the pseudo range, the magnitude of the speed of the moving body mounting the receiver, that is, the speed absolute value measuring means for measuring the speed absolute value, When the measurement of the range change rate is normal and the number of measurements is sufficient, the optimum estimated speed vector is updated by the optimal combination of the range change rate and the absolute speed value, and the range change rate measurement is abnormal. Alternatively, if the number of measurements is insufficient, the optimum estimated velocity vector whose optimum estimated velocity vector is a velocity vector calculated from the absolute velocity value and the optimum estimated azimuth angle and optimum estimated pitch angle described later. Updating means, an attitude angle measuring means for measuring the attitude azimuth or attitude azimuth temporal change rate and attitude pitch angle of the mobile body equipped with the receiver, and according to the characteristics of the optimum estimated velocity vector update, The optimum estimated azimuth is calculated by optimal combination of the moving azimuth calculated from the component of the optimum estimated speed vector and the posture azimuth, and the movement pitch angle calculated from the component of the optimum estimated speed vector and the Optimal estimated attitude angle updating means for calculating an optimal estimated pitch angle by optimal composition with the attitude pitch angle, pseudo range measuring means for measuring the pseudo range, and normal, abnormal and number of measurements of the pseudo range. Accordingly, the optimum estimation that updates the optimum estimated position vector by the optimum combination of the movement amount obtained by multiplying the pseudo range and the optimum estimated velocity vector by the elapsed time. It is equipped with a position vector updating means, and continuously and highly accurately measures the position, speed and moving attitude angle of the moving body equipped with the receiver even when the distance measurement radio wave cannot be received temporarily. A full-featured navigation device characterized by: 2. The receiver of the receiver is optimally combined with the range change rate obtained from the distance measuring radio wave source of claim 1 and the absolute velocity value and attitude angle data obtained by some other means. A moving body velocity measuring device having a function of optimally measuring a velocity vector. 3. A moving azimuth angle, a moving pitch angle calculated from the optimum estimated velocity vector of claim 1, and a posture azimuth angle, a posture pitch angle or a posture azimuth angle, a posture pitch angle obtained by some other means. A mobile body posture measuring apparatus having a function of reducing an error between the azimuth angle and the pitch angle of the receiver by optimal combination with the change amount of 4. The optimum of the pseudo range of claim 1 and the moving distance of the moving body obtained by multiplying the elapsed time by the velocity vector calculated from the absolute velocity value and attitude angle obtained by some other means. A mobile body position measuring device having a function of optimally measuring the position vector of the receiver by various combinations. 5. In the implementation of claim 1, claim 2, claim 3 and claim 4, it further comprises the ability of inference and learning by artificial intelligence, and achieves an optimum navigation function. Characteristic full-function navigation device. 6. Claim 1, claim 2, claim 3, claim 4
And an automatic navigation system for a mobile body, which has a function of automatically steering the mobile body by linking the full-function navigation device according to claim 5 with the control means and various measuring means of the mobile body. .