JPS5942410A - Self-position calculating method - Google Patents

Abstract

PURPOSE:To confirm a self-position by only a measured angle, by selecting in advance three target spots whose position is known, deriving an azimuth of said three target spots seen from the self-position, and calculating the self-position by trigonometry basing on the obtained azimuth. CONSTITUTION:A point O, a point A and a point B show three points whose position on the map is definite. A point P shows a present spot of a running car of a moving radar. From this present spot P, angles theta1, theta2 between the point O, and the point A and the point B are measured by a telescope. Subsequently, when a circumscribed circle of DELTAOPA and DELTAOPB is considered, the center angle against a chord OA and a chord OB is two times of a measured angle. Accordingly, when positions of the point O, the point A and the point B are already known, the center coordinate of the circumscribed circle is calculated and an equation is led.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method of calculating self-position only by angle measurement.

Conventionally, for example, when confirming the self-position of a mobile radar device, azimuth information from a magnet and distance 11+1 information from an odometer, a tape measure, etc. are required, which requires a great deal of time and manpower. In addition, the magnet was subject to the earth's magnetic field, and the odometer had an error, making it impossible to accurately confirm its position.

The present invention provides a method for determining the self-position using only side angles by applying geometric theorems, which can solve the errors caused by magnets and the time loss of using a tape measure. be.

By applying the present invention to a mobile radar device,
Determine your location from a conventional magnet, odometer, 2 tape measures 82.
By changing from the previous method of measuring only the angles of three known points on the map, it is possible to easily and accurately calculate one's own position.

Next, embodiments of the present invention will be described with reference to the drawings.

Point 0, point A, and point B shown in the figure represent three points whose positions are clearly defined, such as the top of a mountain or a hearth on a map. Further, point P represents the current location of the vehicle on the mobile radar. This current: 0 by telescope from 1ltt+5 points
Angle θl of point A and point B Nj.

By measuring θ2, each known point 0 point, A point, B
The self-position relative to a point can be clearly expressed. This is xy with IA of the three known points on Map 5 as the origin.
By assuming a plane and considering a circumscribed circle as shown in the figure, the self-position is expressed in xy coordinates.

As shown in the figure, considering the circumscribed circles of ΔOPA and ΔOPB, the central angles for chords OA and OB are twice the measured angles. Therefore 0 points.

If the digits (or coordinates) of points A and B are known,
The center coordinates of each circumscribed circle are calculated, and each equation is derived. The equation for circle 0' is also calculated as op=4sin(θ+θ2)/s using the law of sine if the self-position P point coincides with 0 point or A point or is on the extension thereof.
inθ2 (2) Furthermore, when θ1-90°, the center point of the circle O' coincides with the center point of OA. Therefore, the equation of circle 0' is 1 (x - 1l)'' y2 = (1!□)2...
・・・・・・・・・・・・(3)2 Next, consider the equation for circle 0′ in the same way as formula (1) was derived, and if self-position point P coincides with point 0 or point B. Or, if it is an extension of that, use the law of sine, o'p=ll 5
in(θ+θ1)/Sinθ1 ・・・・・・・・・
......(5) To summarize the above, 1 θl lolO0, θ1←90°, in the case of 02~0° (1
) and equation (3) for Xt Y, the coordinates of the self-position P can be found.

2. When θ1-0° The self-position P can be found from equation (2).

3. In the case of θ1-90 Self-position P is determined from equation (3).

4.0220° Self-position P is determined from equation (5).

As explained above, the present invention accurately determines the self-position by selecting three locations whose locations are clearly defined on a map, such as the summit of a mountain or a lighthouse, and measuring the angle # from the self-position using a telescope. This system can be used to confirm the user's location at the same time, and has the advantage that it requires less manpower, takes less time, and can be confirmed more accurately than the nodding method used in conventional mobile radar equipment. In addition, if a method is adopted in which the computer solves the equations described above and simply scans the measured angle and immediately outputs the self-position as an output, an even greater effect can be achieved in terms of the amount of human time required.

[Brief explanation of drawings]

The figure is a diagram showing the principle of the self-position calculation method according to the present invention.

Claims (1)

[Claims] The method is characterized in that three target points whose positions are known in advance are selected, the azimuth angles of the three target points as seen from the self-position are determined, and the self-position is calculated by trigonometry based on the obtained azimuth angles. Self-location calculation method.