JPH0739961B2 - Position detector - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a position detecting device mounted on a moving body such as a vehicle and used to detect the current position of the moving body.

[0002]

2. Description of the Related Art Conventionally, in order to support the driving of a vehicle on an unfamiliar land, a navigation device for displaying the current position of the vehicle on a display device such as a CRT together with a road map around the vehicle is installed in the vehicle. It is installed and used. So-called dead reckoning has been conventionally applied to the detection of the current position of the vehicle in such a navigation device. In this dead-reckoning navigation, for example, the east-west direction component Δx (= ΔL) of the moving distance ΔL is based on the moving distance ΔL of the vehicle in a predetermined time and the moving direction θ at this time.
sin θ) and the north-south direction component Δy (= ΔL cos θ) are calculated. Then, these are converted to the previous position coordinates (Px ′, P
By adding each component of y '), the position coordinates (Px, Py) representing the current position of the vehicle are obtained.

A geomagnetic sensor or a gyroscope for detecting the turning angular velocity of the vehicle is used to detect the moving direction θ of the vehicle. However, since the geomagnetic sensor tries to detect the azimuth of the vehicle by detecting the weak magnetic field of the earth, if the magnetization amount of the vehicle body changes, the output will include a large error. In order to cancel this error, initialization processing of the geomagnetic sensor is generally performed. However, when a vehicle crosses a railroad crossing, a place where power cables are buried, an iron bridge, a highway with a soundproof wall, a valley of a high-rise building, or the like, the amount of magnetization of the vehicle body changes due to the influence of a strong electromagnetic field from the outside.
That is, since the magnetization amount changes even when the vehicle is moving, even if the above initialization processing is performed, an error will occur again during traveling. Therefore, the use of the geomagnetic sensor may cause a large error in detecting the position of the vehicle.

On the other hand, when a gyro is used, the turning angular velocity of the vehicle detected by the gyro is integrated over a predetermined period of time to detect the direction change amount Δθ. A new azimuth θ (= θ ′ + Δθ) is obtained by adding this azimuth change amount Δθ to the previous azimuth θ ′ (hereinafter, this azimuth is referred to as “estimated azimuth”). However, when the estimated heading is detected using this gyro, the output error that the gyro itself has inevitably causes the error to accumulate as the vehicle moves, and eventually the position of the vehicle. There is a problem that an error occurs in the detection of. However, the error of the estimated heading detected based on the gyro output does not increase rapidly as in the case of the geomagnetic sensor, but increases only gradually. Can be said to be highly reliable.

By the way, conventionally, a roadside beacon is arranged in a road traffic network, and a signal representing position information of the installation position of the roadside beacon is radiated from this roadside beacon to a relatively narrow range in the vicinity thereof, and this is radiated. A so-called roadside beacon system is proposed, in which the above-mentioned position information is extracted from the received signal from the antenna attached to the vehicle and the estimated position obtained by dead reckoning based on this position information is corrected to the correct position. Has been done. If this roadside beacon system is adopted, the estimated position can be corrected to a correct value before the position detection error becomes large. As a result, it is possible to favorably support the traveling of the vehicle by the navigation device.

[0006]

However, in the above-mentioned roadside beacon system, the estimated position is corrected, but the error in the estimated bearing detected based on the gyro output, for example, is not corrected. Therefore, the estimated position after the position correction may be detected based on the estimated azimuth including an error. As a result, when the error in the estimated orientation is large, the trajectory of the estimated position may have a sawtooth shape.

On the other hand, assume a case where a vehicle is mounted on a ferry for transportation. In this case, the starting switch of the vehicle is normally turned off. At this time, the navigation device stores the estimated position of the vehicle calculated last and the estimated azimuth obtained by integrating the gyro outputs in the internal storage device. Then, when the start switch of the vehicle is turned on after disembarking from the ferry, detection of the current position of the vehicle is started based on the estimated position and the estimated bearing read from the storage device. In this case, the position of the vehicle after disembarking from the ferry is completely different from the position stored in the storage device, and the orientation of the vehicle is also completely different from the estimated orientation stored in the storage device. It is very likely that the orientation is wrong. In this case, even if the estimated position can be corrected based on the position information from the roadside beacon, the estimated heading cannot be corrected. Unless it is given to the device, subsequent position detection will be performed based on a completely different estimated orientation.

SUMMARY OF THE INVENTION An object of the present invention is to solve the above technical problems and to provide a position detecting device capable of accurately detecting the position of a moving body by using a self-standing position detecting means.

[0009]

A position detecting device according to claim 1 for achieving the above object is mounted on a moving body for use, and is used for a moving distance of the moving body and an estimated azimuth of the moving body. A position detecting device having a self-supporting position detecting means for detecting an estimated position of a moving body based on a receiving means for receiving the position information from a beacon installed at a predetermined position and radiating at least the position information of the installed position. Means for detecting a positional deviation between the position represented by the positional information received by the receiving means and the estimated position by the self-sustaining position detecting means, and the detected positional deviation being equal to or larger than a first predetermined value. The position correcting means for correcting the estimated position in the self-supporting position detecting means to the position represented by the position information received by the receiving means, and the first beam used for correcting the estimated position. The position information from the down, the positional information from the first beacon was received after being received 2
Time point when the position information from the second beacon is received based on the position information from the beacon and the estimated position in the autonomous position detecting means at the time when the position information from the second beacon is received. In the azimuth calculating means for calculating the azimuth of the vehicle and the position correcting means corrects the estimated position of the self-sustaining position detecting means based on the position information from the first beacon, the moving body is moved by a predetermined distance. Before the movement, when the positional deviation detected based on the positional information from the second beacon becomes equal to or more than the first predetermined value, the estimated azimuth in the self-supporting position detecting means is calculated as the azimuth. Azimuth correction means for correcting the azimuth calculated by the means.

According to this structure, when the positional deviation between the estimated position of the self-sustaining position detecting means and the position represented by the position information from the beacon acquired by the receiving means becomes equal to or more than the first predetermined value, the self-sustaining position is detected. The estimated position in the detection means is corrected to the position represented by the position information from the beacon. After this correction, before the moving body moves by a predetermined distance, the positional deviation is again the first
When the value becomes equal to or more than the predetermined value, the estimated azimuth in the self-supporting position detecting means is corrected to the azimuth calculated by the azimuth calculating means.

In the azimuth calculating means, the position information from the first beacon used for correcting the estimated position and the second position information received after the position information from the first beacon are received.
The position of the vehicle at the time when the position information from the second beacon is received is calculated based on the position information from the beacon and the estimated position at the time when the position information from the second beacon is received. That is, the difference between the estimated azimuth and the true vehicle azimuth depends on the estimated position at the time when the position information from the first beacon, the position information from the second beacon, and the position information from the second beacon are acquired. Is calculated, the direction of the vehicle at the time when the position information from the second beacon is acquired can be calculated based on this.

According to the present invention, when the estimated position is corrected and a large displacement again occurs due to the movement of the short distance, it is considered that the estimated azimuth includes a large error. The estimated azimuth of which is low is corrected to the azimuth calculated with high accuracy by the azimuth calculation means. The position detecting device according to claim 2 is a geomagnetic sensor that detects an azimuth of a moving body by detecting an earth magnetic field, and the position deviation is equal to or larger than a second predetermined value that is larger than the first predetermined value. , Regardless of whether the estimated position has been corrected before,
It further comprises means for correcting the estimated azimuth in the self-standing position detection means to the azimuth detected by the geomagnetic sensor.

With this configuration, when an extremely large positional deviation that is equal to or larger than the second predetermined value occurs, the estimated azimuth is irrespective of whether or not the estimated position has been corrected before that. It is corrected to the direction detected by the geomagnetic sensor. Thus, it is attempted to cope with a case where the position detection device cannot detect the transition of the position of the moving body such as a case where the moving body itself is carried by another moving body while the position detecting device is in the inoperative state. . That is, after the moving body itself is carried by another moving body, as immediately after the position detecting device is in the operating state, when the positional deviation between the estimated position and the position represented by the position information from the beacon is extremely large, It is considered that the reliability of the estimated azimuth by the self-supporting position detecting means is deteriorated. Further, if the moving distance is large, it is difficult for the azimuth calculating means to calculate the azimuth. Therefore, in such a case, the estimated azimuth is corrected by the azimuth detected by the geomagnetic sensor, which is considered to have higher reliability.

A position detecting device according to a third aspect of the present invention is used by being mounted on a moving body and used to detect an estimated position of the moving body based on a moving distance of the moving body and an estimated azimuth of the moving body. In the position detecting device having, receiving means for receiving the position information from a beacon installed at a predetermined position and radiating at least the position information of the installed position, a position represented by the position information received by the receiving means, and Means for detecting a positional deviation from the estimated position in the self-sustaining position detecting means, and the estimated position in the self-sustaining position detecting means by the receiving means when the detected positional deviation is equal to or more than a first predetermined value. Position correction means for correcting the position represented by the received position information, a geomagnetic sensor for detecting the azimuth of the moving body by detecting the earth's magnetic field, and the position correction means After the estimated position of the mold position detecting means is corrected based on the position information from one beacon, before the moving body moves by a predetermined distance, the position deviation detected based on the position information from other beacons. Is the first
When the value becomes equal to or more than the predetermined value, the azimuth correcting means for correcting the estimated azimuth in the self-supporting position detecting means to the azimuth detected by the geomagnetic sensor is included.

According to this structure, when the positional deviation between the position detected by the self-sustaining position detecting means and the position represented by the position information from the beacon acquired by the receiving means becomes equal to or more than the first predetermined value, the self-sustaining position is detected. The estimated position in the detection means is corrected to the position represented by the position information from the beacon. After this correction, before the moving body moves by a predetermined distance, the positional deviation is again the first
When the value becomes equal to or more than the predetermined value, the estimated azimuth of the self-supporting position detecting means is corrected to the azimuth detected by the geomagnetic sensor.

That is, it is considered that the estimated azimuth includes a large error when a large positional deviation occurs again due to the movement of a short distance in spite of the correction of the estimated position. Therefore, such an unreliable estimated bearing is
It is decided to correct to the direction detected by the geomagnetic sensor, which is considered to have higher reliability. The position detecting device according to claim 4, wherein when the positional deviation is equal to or larger than a second predetermined value which is larger than the first predetermined value, it is determined whether or not the estimated position has been previously corrected. The present invention is further characterized by further including means for correcting the estimated azimuth in the self-supporting position detecting means to the azimuth detected by the geomagnetic sensor.

With this configuration, it is possible to achieve an operation similar to that of the configuration described in claim 2.

[0018]

Embodiments will be described in detail below with reference to the accompanying drawings showing embodiments. FIG. 1 is a block diagram showing a basic configuration of a navigation device to which a position detecting device according to an embodiment of the present invention is applied. This navigation device is used by being mounted on a vehicle, and an estimated position of the vehicle is calculated by a position detection unit 3 based on each output of a vehicle speed sensor 1 and a gyro 2 that detects a turning angular velocity of the vehicle. The estimated position
The display unit 4 is composed of an RT, a liquid crystal display device and the like, and is displayed together with a road map around it. That is, when the position detection unit 3 gives the position data corresponding to the estimated position to the control unit 5, the control unit 5 causes the vicinity of the estimated position from the map memory 6 configured by a CD-ROM or the like via the memory drive 7. The road map is read out and the read road map and the estimated position are displayed on the display unit 4. 8 is a console provided in association with the display unit 4,
Reference numeral 9 denotes a touch panel provided on the display surface of the display unit 4.

In this embodiment, the vehicle speed sensor 1 and the gyro 2 are
The position detecting unit 3 constitutes a self-standing position detecting unit, and the position detecting unit 3 also functions as a position correcting unit, an azimuth calculating unit, an azimuth correcting unit, and the like. The control unit 5 is installed on the roadside at a predetermined position in the road traffic network,
A receiver 11 that receives a signal from a roadside beacon (not shown) that emits position information and the like indicating the installation position is connected. The control unit 5 extracts the above-mentioned position information from the information received by the receiver 11 and supplies it to the position detection unit 3. The position detector 3 corrects the estimated position based on the position information given by the controller 5. The position detector 3 is further connected to a geomagnetic sensor 12 that detects the direction of the vehicle by detecting the earth's magnetic field.

The position detection in the position detection unit 3 is basically performed by so-called dead reckoning based on the outputs of the vehicle speed sensor 1 and the gyro 2. That is, the position detection unit 3 integrates the output of the vehicle speed sensor 1 over a predetermined time and also integrates the output of the gyro 2 during the predetermined time. As a result, the traveling distance of the vehicle in the above-described predetermined time can be obtained from the integrated value of the vehicle speed sensor 1, and the direction change amount can be obtained from the integrated value of the output of the gyro 2. Therefore, for example, if the correct position and azimuth of the vehicle are input from the console 8 or the touch panel 9 before starting the vehicle, the subsequent change in the position of the vehicle can be estimated. In the following description, the azimuth of the vehicle obtained by integrating the outputs of the gyro 2 is referred to as an “estimated azimuth”.

FIG. 2 is a flow chart for explaining a process for correcting the estimated position and the estimated azimuth in the position detector 3. In step n1, it is determined whether or not the position information from the roadside beacon has been received by the receiver 11, and if not received, the estimated position is calculated in step n5 without correcting the estimated position. On the other hand, when the receiver 11 receives the position information and the position information is given to the position calculation unit 3, the positional deviation Δ between the position represented by the position information and the estimated position is Δ.
Is calculated in step n2.

At step n3, it is judged whether or not the positional deviation Δ is equal to or larger than a predetermined value D2 corresponding to the second predetermined value. Then, the positional deviation Δ is a predetermined value D2 (for example, 1 k
If m or more, the estimated position is corrected to the position represented by the position information from the receiver 11 in step n9. At this time, the estimated orientation is corrected to the detection orientation (geomagnetic orientation) of the geomagnetic sensor 12. This is because when the positional deviation Δ is large, it is considered that the vehicle is moved by deactivating the start switch and deactivating the navigation device, such as when the vehicle is transported by a ferry. That is, when the start switch is turned off, the position detection unit 3 stores an estimated position and an estimated azimuth immediately before the start switch is turned off in a memory (not shown) therein. Therefore, it is considered that the reliability of the geomagnetic sensor 12 is higher because the estimated heading and the actual heading of the vehicle greatly differ when the ship is disembarked from the ferry. The correction of the estimated azimuth in step n9 takes this point into consideration. After the processing of step n9, the process proceeds to step n5.

At step n3, the positional deviation Δ is the predetermined value D2.
When it is determined that the difference is less than the predetermined value, the positional deviation Δ is equal to the predetermined value D1 corresponding to the first predetermined value in step n4.
It is determined whether (for example, 50 m) or more.
The predetermined value D1 is predetermined based on the accuracy of the position information given by the roadside beacon. If the positional deviation Δ is less than the predetermined value D1, the process proceeds to step n5. On the other hand, when the positional deviation Δ is equal to or larger than the predetermined value D1, that is, when D1 ≦ Δ <D2 (1), the estimated position is corrected based on the position information from the roadside beacon in step n10. It is determined whether the position correction count value C corresponding to the number of times is 0.

When the position correction count value C is 0, the process proceeds from step n10 to step n11, and the distance count value DC corresponding to the movement distance of the vehicle after the correction of the estimated position is reset to 0. Next, in step n12, the modified count value C is incremented. Then, in step n13, the estimated position is corrected to the position represented by the position information acquired by the receiver 11. At this time, the estimated orientation is not corrected, and the position detection unit 3 continues to estimate the orientation by integrating the output of the gyro 2 with the previously estimated orientation. The process after step n13 moves to step n5.

In step n5, the previous estimated position or the estimated position corrected by the position information from the roadside beacon, the integrated value of the output of the gyro 1 for a predetermined time, and the integrated value of the output of the vehicle speed sensor 1 for a predetermined time. Based on the value and
The current position of the vehicle is estimated. The position data corresponding to this estimated position is given to the control unit 5. Next, at step n6, the value corresponding to the moving distance of the vehicle is accumulated in the distance count value DC. Then, in step n7, it is determined whether or not the accumulated distance count value DC is equal to or larger than the predetermined value K. The predetermined value K is set to a value corresponding to about several kilometers, for example, in terms of the travel distance of the vehicle. When the distance count value DC has reached the predetermined value K, the process proceeds to step n8 and the position correction count value C is reset to 0. When the distance count value DC has not reached the predetermined value K, and after the position correction count value C has been reset in step n8, the process returns to step n1.

After the estimated position is corrected based on the position information from the roadside beacon in step n13 and before the distance count value DC reaches the predetermined value K, it is calculated based on the position information received from another roadside beacon. Displacement Δ
Becomes equal to or greater than the predetermined value D1, the process proceeds from step n4 to step n10, and then proceeds to step n14. That is, the position correction count value C is not reset in step n8 in the period before the distance count value DC reaches the predetermined value K after the estimated position is corrected based on the position information from the roadside beacon. Therefore, the determination in step n10 becomes negative, and the process proceeds to step n14.

At step n14, the distance count value DC
Is reset, and in step n15, the correct heading of the vehicle is calculated in order to correct the estimated heading. FIG. 3 is a diagram showing an example of a method for calculating the azimuth of the vehicle. In FIG. 3, the curve L1 shows the locus of the true vehicle position, and the curve L2 shows the locus of the estimated position. The estimated position is corrected by the roadside beacon at the point A, and thus the curves L1 and L2 match at the point A. It is assumed that the position information from another roadside beacon is acquired at the point B, and the estimated position at the position detection unit 3 at this time corresponds to the point C. The true vehicle azimuth θA at the point A is the tangential direction of the curve L1 at the point A, and the true vehicle azimuth θ at the point B.
B is the tangential direction of the curve L1 at the point B. Also,
The estimated azimuth θ at the point A is the tangential direction of the curve L2 at the point A.

The position information from the roadside beacon is given as the two-dimensional coordinate position of the installation position, and is acquired by the position detection unit 3 in the form of (X1, Y1) for the point A and (X2, Y2) for the point B. It Also, the estimated point C
If the coordinate position of is (X3, Y3), it is expressed as, for example, X3 = X1 + ΔL sin Δθ (2) Y3 = Y1 + ΔL cos Δθ (3). However, ΔL is the moving distance of the vehicle, and Δθ is the amount of change in the direction of the vehicle.

When the points A and B and the point AC are connected to each other to form ∠CAB, ∠CAB = θ-θA (4) if the traveling distance ΔL of the vehicle is sufficiently short. On the other hand, ∠CAB is obtained from the following equation (5), and the estimated azimuth θ is known. Therefore, the true vehicle azimuth θA at the point A can be obtained from the above equation (4).

[0030]

[Equation 1]

When the true azimuth θA is obtained in this way, the true azimuth θB at the point B is calculated by the following equation (6). θB = θA + Δθ (6) In this case, if the moving distance ΔL of the vehicle is sufficiently short, the azimuth change amount Δθ obtained by calculating the output of the gyro 2 can be detected with sufficiently high accuracy. Therefore, it can be said that the azimuth θB obtained by the equation (6) is an extremely highly reliable azimuth.

When the true azimuth θB at the point B is calculated in this way, next, at step n16, the estimated position is corrected to a position corresponding to the position information from the other roadside beacon (located at the point B). To be done. Along with the correction of the estimated position, the position detection unit 3 corrects the estimated azimuth to the azimuth calculated in step n15 (the azimuth θB obtained by the above equation (6)). In other words, if the position shift becomes large again after the estimated position is corrected despite the short-distance movement, the estimated azimuth is likely to be incorrect. It is supposed that an accurate azimuth is calculated based on the position information from, the position information from the roadside beacon for the current position correction, the estimated position before correction, and the like, and the estimated azimuth is corrected to the calculated accurate azimuth. The process after step n16 proceeds to step n5.

If the positional deviation Δ does not reach the predetermined value D1 by the time the distance count value DC reaches the predetermined value K, the position correction count value C is reset by the processing in steps n7 and n8. When the deviation Δ becomes large, the process moves from step n10 to step n11. That is, when the displacement Δ becomes large due to the movement of a long distance, it is not considered that the estimated heading includes a large error. Therefore, the estimated heading should be adopted as it is because the estimated heading is reliable. I am trying.

As described above, in this embodiment, after the estimated position is corrected by the position information from the roadside beacon,
When a large displacement (a predetermined value D1 or more) occurs again due to the movement of a short distance (a distance shorter than the distance corresponding to the predetermined value K), the estimated azimuth is corrected to the accurate azimuth obtained by the calculation. There is. That is, when the reliability of the estimated azimuth decreases, the estimated azimuth is corrected to the highly reliable azimuth obtained by the calculation, so that the subsequent position detection can be performed satisfactorily. As a result, it is possible to prevent the trajectory of the estimated position from becoming a sawtooth shape due to the correction based on the position information from the roadside beacon as in the related art.

Further, an extremely large positional deviation (predetermined value D2
When the above) occurs, the estimated azimuth is corrected to the geomagnetic azimuth regardless of whether the estimated position has been corrected before that. As a result, even if the vehicle moves with the start switch turned off, such as when moving on a ferry, the estimated heading that is meaningless at the time of starting the vehicle will be more reliable. By correcting the direction, it is possible to accurately estimate the position from the period immediately after starting the vehicle. However, even if this process is omitted, it is possible to correct the estimated azimuth to an accurate azimuth by the processes of steps n14 to n16. However, in this case, it may take a long time to obtain the correct orientation.

FIG. 4 is a flow chart for explaining the process for correcting the estimated position and the estimated azimuth in another embodiment of the present invention. In the description of this embodiment, reference is again made to FIG. 1 above. Further, in FIG. 4, steps in which the same processes as those in FIG. 2 are performed are indicated by the same reference numerals. The most characteristic difference of the present embodiment from the above-mentioned first embodiment is that when the estimated position is corrected by the position information from the roadside beacon, when a large displacement occurs due to a short distance movement, The estimated orientation is corrected to the orientation detected by the geomagnetic sensor 12. That is, the process corresponding to step n15 in FIG. 2 is omitted, and in step n20 subsequent to step n14, the estimated position is corrected based on the position information from the roadside beacon, and the estimated heading is detected by the geomagnetic sensor 12. Is corrected to.

As a result, when the reliability of the estimated heading decreases, the estimated heading is corrected by the heading detected by the geomagnetic sensor 12, which is considered to have higher reliability, so that the subsequent detection of the position of the vehicle can be performed well. You can do it. In addition,
The present invention is not limited to the above embodiments. For example, a so-called map matching method is used for position detection in the position detection unit 3, in which the estimated position is corrected to a position on the road in the vicinity by utilizing the fact that the position of the vehicle is limited to the road. May be done. Further, in the above embodiment, the turning angular velocity of the vehicle is detected by the gyro, but the turning angular velocity can also be detected by detecting the difference between the left and right wheel speeds. Further, as the gyro, various types such as a mechanical gyro, a vibration gyro, and an optical fiber gyro can be applied. Further, in the above example,
Although a vehicle has been described as an example, the present invention can be applied to position detection of another moving body such as an aircraft or a ship. In addition, various design changes can be made without changing the gist of the present invention.

[0038]

According to the position detecting device of the first aspect,
When a large displacement occurs again due to the movement of a short distance in spite of the correction of the estimated position by the self-sustaining position detecting means, the estimated azimuth is corrected to the highly accurate azimuth obtained by the calculation. Thereby, the azimuth can be accurately detected, and the position of the moving body can be satisfactorily detected.

According to the position detecting device of the second aspect, the transition of the position of the moving body in the position detecting device is performed as in the case where the moving body itself is carried by another moving body with the position detecting device in the inoperative state. When it is not possible to detect, the estimated azimuth of the self-standing position detecting means is corrected to the azimuth detected by the geomagnetic sensor. As a result, even when the moving body itself is carried by another moving body, it is possible to correct the estimated azimuth after the carrying to an accurate value and perform the subsequent position detection satisfactorily.

According to the position detecting device of the third aspect, when the estimated position in the self-supporting position detecting means is corrected and a large displacement is again caused by the movement of the short distance, the estimated azimuth is improved. It is corrected to the direction detected by the geomagnetic sensor, which is considered to have high reliability. Thereby, the azimuth can be accurately detected, and the position of the moving body can be satisfactorily detected.

According to the position detecting device of the fourth aspect, it is possible to obtain the same effect as that of the structure of the second aspect.

[Brief description of drawings]

FIG. 1 is a block diagram showing a basic configuration of a navigation device to which a position detection device according to an embodiment of the present invention is applied.

FIG. 2 is a flowchart for explaining a process for correcting an estimated position and an estimated azimuth.

FIG. 3 is a diagram for explaining a method of calculating an azimuth.

FIG. 4 is a flowchart illustrating a process for correcting an estimated position and an estimated azimuth according to another embodiment of the present invention.

[Explanation of symbols]

 1 Vehicle speed sensor 2 Gyro 3 Position detector 11 Receiver 12 Geomagnetic sensor

Claims (4)

[Claims] 1. A position detecting device which is mounted on a moving body and which has a self-standing position detecting means for detecting an estimated position of the moving body based on a moving distance of the moving body and an estimated azimuth of the moving body. A receiving unit that receives the position information from a beacon that is installed in and emits at least the position information of the installation position, a position represented by the position information received by the receiving unit, and an estimation by the self-supporting position detecting unit. A unit for detecting a positional deviation from the position, and a position represented by the positional information received by the receiving unit indicating the estimated position in the self-supporting position detecting unit when the detected positional deviation is equal to or more than a first predetermined value. Position correction means for correcting the position information from the first beacon used for correcting the estimated position, and the position information received after the position information from the first beacon is received. Time point when the position information from the second beacon is received based on the position information from the beacon and the estimated position in the autonomous position detecting means at the time when the position information from the second beacon is received. In the azimuth calculating means for calculating the azimuth of the vehicle and the position correcting means corrects the estimated position of the self-sustaining position detecting means based on the position information from the first beacon, the moving body is moved by a predetermined distance. Before moving, the second
When the positional deviation detected based on the position information from the beacon of becomes equal to or larger than the first predetermined value, the estimated azimuth in the self-supporting position detecting means is corrected to the azimuth calculated by the azimuth calculating means. A position detecting device comprising: 2. A geomagnetic sensor for detecting the azimuth of a moving body by detecting the earth's magnetic field, and the above-mentioned positional deviation being the first
When it is equal to or larger than a second predetermined value larger than the predetermined value of, the estimated azimuth in the self-supporting position detection means is set to the geomagnetic sensor regardless of whether the estimated position has been corrected before that. The position detecting device according to claim 1, further comprising: a unit that corrects the detected azimuth. 3. A predetermined position in a position detecting device, which is mounted on a moving body and has a self-standing position detecting means for detecting an estimated position of the moving body based on a moving distance of the moving body and an estimated azimuth of the moving body. A receiving unit that receives the position information from a beacon that is installed in and emits at least the position information of the installation position, a position represented by the position information received by the receiving unit, and an estimation by the self-supporting position detecting unit. A unit for detecting a positional deviation from the position, and a position represented by the positional information received by the receiving unit indicating the estimated position in the self-supporting position detecting unit when the detected positional deviation is equal to or more than a first predetermined value. Position correction means, a geomagnetic sensor that detects the azimuth of a moving body by detecting the earth's magnetic field, and the estimated position of the self-supporting position detection means by the position correction means. After being corrected based on the position information from the beacon, before the mobile moves by a predetermined distance,
When the displacement detected based on the position information from another beacon becomes equal to or larger than the first predetermined value, the estimated azimuth in the self-supporting position detecting means is corrected to the azimuth detected by the geomagnetic sensor. A position detecting device comprising an azimuth correcting means. 4. When the positional deviation is equal to or larger than a second predetermined value which is larger than the first predetermined value, regardless of whether or not the estimated position has been corrected before then,
4. The position detecting device according to claim 3, further comprising means for correcting an estimated azimuth in the self-supporting position detecting means to a azimuth detected by the geomagnetic sensor.