IT8322205A1 - Navigation system for land vehicles - Google Patents

Navigation system for land vehicles Download PDF

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Publication number
IT8322205A1
IT8322205A1 IT1983A22205A IT2220583A IT8322205A1 IT 8322205 A1 IT8322205 A1 IT 8322205A1 IT 1983A22205 A IT1983A22205 A IT 1983A22205A IT 2220583 A IT2220583 A IT 2220583A IT 8322205 A1 IT8322205 A1 IT 8322205A1
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IT
Italy
Prior art keywords
navigation system
vehicle
curve
fact
position data
Prior art date
Application number
IT1983A22205A
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Italian (it)
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IT1194336B (en
IT8322205A0 (en
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Teldix Gmbh
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Filing date
Publication date
Priority claimed from DE19823227547 external-priority patent/DE3227547A1/en
Application filed by Teldix Gmbh filed Critical Teldix Gmbh
Publication of IT8322205A0 publication Critical patent/IT8322205A0/en
Publication of IT8322205A1 publication Critical patent/IT8322205A1/en
Application granted granted Critical
Publication of IT1194336B publication Critical patent/IT1194336B/en

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Navigation (AREA)
  • Train Traffic Observation, Control, And Security (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Description

DESCRIZIONE DESCRIPTION

Linvenzione ha per oggetto un impianto di navigazione per veicoli terrestri comprenden?. te un sistema di localizzazione nel quale i segnali emessi da almeno un trasmettitore di coordinate o posizione nota, mediante analisi di effetti temporali e/o di sfasamento,vengono utilizzati per la determinazione della posizione del ricevitore disposto in un veicolo, ed un sistema di navigazione autonomo aggiuntivo disposto anch'esso nel veicolo che, mediante un rispettivo trasduttore di misura di minor precisione per la valutazione dello spazio percorso e della direzione di moto,determina continuamente le coordinate locali del veicolo. The invention relates to a navigation system for land vehicles including. t a localization system in which the signals emitted by at least one transmitter of known coordinates or position, by analyzing time effects and / or phase shift, are used to determine the position of the receiver arranged in a vehicle, and a navigation system additional autonomous device also arranged in the vehicle which, by means of a respective measuring transducer of lesser precision for evaluating the distance traveled and the direction of motion, continuously determines the local coordinates of the vehicle.

Il compito alla base della presente inrvenzione consiste nel rendere possibile una correzione affidabile delle coordinate locali illustrate. The task underlying the present invention consists in making possible a reliable correction of the illustrated local coordinates.

Questo compito viene risolto mediante le particolarit? caratterizzanti della rivendicazione 1? This task is solved through the particularities? characterizing features of claim 1?

Con il termine procedimento di localizzazione considerato sopra si intendono tutti i procedimenti iperbolici noti. In particolare tuttavia il procedimento di localizzazione considerato si deve riferire a procedimenti di localizzazione utilizzanti satelliti come supporti di trasmettitori e qui in particolare al procedimento di localizzazione noto sotto il nome di GPS (Global Positioning System). Questo viene descritto dettagliatamente ad esempio nell'opuscolo ?Global Positioning System "-Papera, published in HAVXGATION edito da "The Institute of Navigation" Washington, D.C. Copyright 1980; ad esempio nel paragrafo "GPS Receiver Operation" a pagina 81 e seguenti viene esposto che per questo sistema possono essere utilizzati anche ricevitori semplici ad esempio ricevitori ad un canalej questi ricevono i segnali dai generalmente quattro trasmettitori in modo seriale e li analizzano. The term localization process considered above is understood to mean all known hyperbolic processes. In particular, however, the considered location method must refer to location methods using satellites as supports for transmitters and here in particular to the location method known under the name of GPS (Global Positioning System). This is described in detail for example in the booklet? Global Positioning System "-Papera, published in HAVXGATION published by" The Institute of Navigation "Washington, D.C. Copyright 1980; for example in the paragraph" GPS Receiver Operation "on page 81 and following it is exposed that simple receivers can also be used for this system, for example single-channel receivers; these receive the signals from the generally four transmitters serially and analyze them.

In un perfezionamento dell'invenzione si propone che i dati di localizzazione g?nerati a brevi intervalli di tempo approssiminlo *: l'andamento effettivo di marcia mediante calcolo del valore medio. In an improvement of the invention it is proposed that the location data generated at short time intervals approximate the actual driving trend by calculating the average value.

A tale scopo si offrono diversi metodi, come ad esempio il metodo dei minimi quadrati, il calcolo del valore medio reciproco, del valore medio geometrico od altri. For this purpose, various methods are offered, such as the method of least squares, the calculation of the reciprocal mean value, the geometric mean value or others.

Secondo un ulteriore perfezionamento i punti misurati o i dati di posizione vengono dotati di un fattore di pesatura, ove ad esempio il fattore di pesatura con distanza crescente dei punti misurati dall 'andamento di marcia effettivo presenta una tendenza decrescente ? According to a further refinement, the measured points or the position data are provided with a weighing factor, where for example the weighing factor with increasing distance of the measured points from the actual driving trend shows a decreasing trend?

Dalla correzione delle coordinate locali possono essere compensati gli errori del trasduttore di misura, ad esempio la deriva casuale del pilota automatico od un errore di percorso, cosicch? la posizione determinata dal calcolatore accoppiato riproduce la posizione effettiva con maggiore precisione. From the correction of the local coordinates can be compensated the errors of the transducer, for example the random drift of the autopilot or a path error, so that? the position determined by the coupled calculator reproduces the actual position with greater accuracy.

Come trasduttore di direzione o pilota automatico ? sufficiente ad esempio un corpo di massa inerte secondo la domanda di brevetto tedesca 29 36 774, che, nel caso di rotazioni del veicolo intorno all'asse normale, mantiene la sua direzione iniziale e del quale pu? essere misurata la variazione di percorso mediante un disco codificato .T uttavia ? anche possibile l'analisi dei segnali dei trasduttori di misura del numero di giri sulle ruote articolate di un veicolo, come vengono impiegate ad esempio nei sistemi di regolazione antibloccaggio od antislittamento. la differenza dei segnali per unit? di tempo e riferita alla velocit? rappresenta una misura per la variazione di direzione del veicolo. I segnali determinati per unit? di tempo rappresentano una misura del percorso di moto? Dalle variazioni di direzione e dalla direzione totale determinata dal calcolatore tra le singole posizioni si ottiene la direzione di moto relativa del veicolo, ad esempio verso nord. As a direction transducer or autopilot? for example, a body of inert mass according to German patent application 29 36 774 is sufficient, which, in the case of vehicle rotations around the normal axis, maintains its initial direction and of which it can? path variation be measured by means of an encoded disk. It is also possible to analyze the signals of the transducers for measuring the number of revolutions on the articulated wheels of a vehicle, as used for example in anti-lock or anti-skid control systems. the difference of the signals per unit? of time and referred to the speed? represents a measure for the change in direction of the vehicle. The signals determined per unit? of time represent a measure of the motion path? From the changes in direction and from the total direction determined by the computer between the individual positions, the relative direction of motion of the vehicle is obtained, for example towards north.

L'invenzione verr? chiarita pi?.dettagliatamente qui di seguito sulla "bade di un esempio di realizzazione. In particolare: Will the invention come? clarified in more detail below on the "bade of an example of realization. In particular:

la figura 1 presenta uno schema a "blocchi del dispositivo di navigazione, Figure 1 presents a block diagram of the navigation device,

la figura 2 mostra una rappresentazione di un percorso di moto. Figure 2 shows a representation of a motion path.

Un ricevitore 1 illustrato in figura ? riceve secondo il procedimento multiplex i segnali emessi dagli emettitori, ad esempio da quattro satelliti. Questi segnali vengono trasformati in un decodificatore 2 disposto a valle sulla base degli effetti temporali o di sfasamento e forniti ad un calcolatore 4 come dati di posizione tramite linee di segnale 3. A receiver 1 shown in the figure? according to the multiplex method, it receives the signals emitted by the emitters, for example from four satellites. These signals are transformed in a decoder 2 arranged downstream on the basis of time or phase shift effects and supplied to a computer 4 as position data via signal lines 3.

H calcolatore immagazzina questi dati e calcola dopo intervalli di tempo determinati il valore medio. Per ottenere un?indicazione di posizione continua, sono previsti inoltre un sensore di direzione 7 ed un misuratore di percorso 6 i cui segnali vengono forniti parimenti al calcolatore 4 e mediante i quali viene determinata la posizione attuale con continuit? in base al procedimento di navigazione stimata, e questo valore viene visualizzato su un?unit? di visualizzazione 5, ad esempio mediante un visualizzatore a .cifre o mediante un apparecchio a schede. The calculator stores this data and calculates the average value after certain time intervals. In order to obtain a continuous position indication, a direction sensor 7 and a distance meter 6 are also provided, the signals of which are also supplied to the computer 4 and by means of which the current position is determined with continuity. according to the estimated navigation process, and this value is displayed on a? unit? display 5, for example by means of a digit display or by means of a card apparatus.

L'andamento del tratto percorso, come viene determinato dal sensore di direzione e dal misuratore di percorso, ? illustrato in figura 2 ,con il tratto A-C, Come si nota, sia un misuratore di percorso, sia anche un sensore di.direzione comportano una certa insicurezza di misura dovuta ad errore di deriva, errore di slittamento od altri disturbi e perci? dopo un determinato tratto percorso,il punto indicato C non corrisponde con la posizione effettiva del veicolo. Perci? ? stato previsto di utilizzare i dati di posizione illustrati in figura 2, che giungono la brevi distanze temporali ed il cui valore medio forma il tratto A-B, per la correzione della po The course of the distance traveled, as determined by the direction sensor and the distance meter,? illustrated in figure 2, with the section A-C. As can be seen, both a distance meter and also a direction sensor involve a certain measurement insecurity due to drift error, slip error or other disturbances and therefore? after a certain distance traveled, the point indicated C does not correspond to the actual position of the vehicle. So? ? it has been planned to use the position data illustrated in figure 2, which reach the short time distances and whose average value forms the segment A-B, for the correction of the po

Claims (8)

RIVENDICAZIONI 1. Impianto di navigazione per veicoli terrestri comprendente un sistema di localizzazione nel quale i segnali inviati da almeno un trasmettitore di coordinate o posiziona nota, mediante analisi degli effetti temporali e/o di sfasamento, vengono utilizzati per la determinazione della posizione del ricevitore disposto in un veicolo ed un sistema di navigazione aggiuntivo autonomo, disposto pure sul veicolo, che determina le coordinate di posizione del veicolo mediante un rispettivo trasduttore di misura di minor precisione atto a valutare il percorso effettuato e la direzione di moto, caratterizzato dal fatto che il sistema di localizzazione genera dati di posizione in brevi intervalli di tempo, dal fatto che ? previsto un circuito di calcolo che determina la curva dell'andamento probabile di marcia a partire da pi?. dati di posiziona ricevuti successivamente, e dal fatto che ? previsto un dispositivo di correzione che corregge le coordinate di posizione determinate dal sistema di navigazione autonomo in base a questa curva. 1. Navigation system for land vehicles comprising a localization system in which the signals sent by at least one coordinate transmitter or known position, by analyzing the effects of time and / or phase shift, are used to determine the position of the receiver arranged in a vehicle and an additional autonomous navigation system, also arranged on the vehicle, which determines the position coordinates of the vehicle by means of a respective measuring transducer of lesser precision suitable for evaluating the distance traveled and the direction of motion, characterized in that the system location generates position data in short time intervals, from the fact that? a calculation circuit is foreseen which determines the curve of the probable running trend starting from pi ?. position data received subsequently, and from the fact that? a correction device is provided which corrects the position coordinates determined by the autonomous navigation system on the basis of this curve. 2. Impianto di navigazione secondo la rivendicazione 1, caratterizzato dal fatto che la curva dell'andamento probabile di marcia ? costituita dal valore medio geometrico dei dati di posizione. Navigation system according to claim 1, characterized in that the curve of the probable driving trend? consisting of the geometric mean value of the position data. 3. Impianto di navigazione secondo la rivendicazione 2, caratterizzato dal fatto che la curva viene determinata secondo il metodo dei minimi quadrati. 3. Navigation system according to claim 2, characterized in that the curve is determined according to the least squares method. 4. Impianto di navigazione secondo la rivendicazione 2 o 3, caratterizzato dal fatto che i dati di posizione sono dotati di un fattore di pesatura. Navigation system according to claim 2 or 3, characterized in that the position data is provided with a weighing factor. 5. Impianto di navigazione secondo la rivendicazione 1, caratterizzato dal fatto che gli errori causati dal trasduttore di misura vengono compensati in base alla correzione delle coordinate di posizione del sistema autonomo ? 5. Navigation system according to claim 1, characterized in that the errors caused by the transmitter are compensated for by the position coordinate correction of the autonomous system? 6. Impianto di navigazione secondo la rivendicazione 1 o 2, caratterizzato dal 6. Navigation system according to claim 1 or 2, characterized by fatto che i trasduttori di misura del sistema di fact that the measuring transducers of the system navigazione autonomo sono costituiti da due sensori del numero di giri disposti sulle ruote di autonomous navigation consist of two speed sensors arranged on the wheels of un assale del veicolo, la variazione di direzione del veicolo venendo determinata dalla differenza del numero di giri delle ruote. an axle of the vehicle, the change in direction of the vehicle being determined by the difference in the number of revolutions of the wheels. 7 Impianto di navigazione secondo la rivendicazione 1 o 2, caratterizzato dal fatto che 7 Navigation system according to claim 1 or 2, characterized in that il trasduttore di misura per la determinazione the measuring transducer for determination della direzione di marcia lavora secondo il principio .inerziale. of the direction of travel works according to the inertial principle. 8.Impianto di navigazione secondo una 8.Navigation system according to one delle rivendicazioni precedenti, caratterizzato of the preceding claims, characterized dal fatto che una prima determinazione della direzione del veicolo rispetto ad una direzione di riferimento from the fact that a first determination of the direction of the vehicle with respect to a reference direction avviene mediante una esplorazione grossolana manuale sulla "base di dati noti (ad esempio punti trigonometrici caratteristici). it takes place by means of a rough manual exploration on the "known data base (for example characteristic trigonometric points). 9- Impianto di navigazione secondo la rivendicazione 5, caratterizzato dal fatto che 9- Navigation system according to claim 5, characterized in that mediante la correzione viene determinata la direzione nord. the correction determines the north direction.
IT22205/83A 1982-07-23 1983-07-22 NAVIGATION SYSTEM FOR GROUND VEHICLES IT1194336B (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19823227547 DE3227547A1 (en) 1982-07-23 1982-07-23 Navigation system
DE19833310111 DE3310111A1 (en) 1982-07-23 1983-03-21 NAVIGATION SYSTEM FOR AGRICULTURAL VEHICLES

Publications (3)

Publication Number Publication Date
IT8322205A0 IT8322205A0 (en) 1983-07-22
IT8322205A1 true IT8322205A1 (en) 1985-01-22
IT1194336B IT1194336B (en) 1988-09-14

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IT22205/83A IT1194336B (en) 1982-07-23 1983-07-22 NAVIGATION SYSTEM FOR GROUND VEHICLES

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DE (1) DE3310111A1 (en)
FR (1) FR2532078B1 (en)
GB (1) GB2126040B (en)
IT (1) IT1194336B (en)

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Also Published As

Publication number Publication date
GB2126040A (en) 1984-03-14
GB8319950D0 (en) 1983-08-24
GB2126040B (en) 1987-01-07
DE3310111A1 (en) 1984-09-27
IT1194336B (en) 1988-09-14
IT8322205A0 (en) 1983-07-22
FR2532078A1 (en) 1984-02-24
FR2532078B1 (en) 1985-10-18

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