JP2000127974A - Travelling body on track position management system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To precisely calculate relative distance from a position of a travelling body detected by GPS to a target. SOLUTION: A self position of a travelling body is compensated by compensation data input from a GPS compensation information input part 4, and a target position of a target on a track specified by a path specification part 6 of track map information held in a track map hold part 5 is specified in a target specification part 7. A self position of the travelling body from a GPS receive part 2 is checked with track map information memorized in the track map hold part 5 and is compensated to a position on a path based on the information specified in the path specification part 6 in a control part 8, and a track distance from the obtained self compensation position to the target position specified by the target specification part 7 is calculated.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a GPS (Global Positioning System) for determining a relative position between a moving object traveling on a track and a target.
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an on-orbit moving object position management system managed by using a Positioning System, and more particularly to an on-orbit moving object position management system suitable for controlling a railcar.

[0002]

2. Description of the Related Art In a system in which a moving body travels on a track, particularly in a transportation system such as a railway, a new traffic, a monorail, and a car on a highway, other moving bodies such as a preceding train or a vehicle. It is important to know the relative distance to a target such as a target, an obstacle, and a stop target. If the relative distance to the target can be known, it is possible to stop correctly at the stop target or stop without colliding with the preceding moving object or obstacle based on the acceleration / deceleration performance of the moving object. This ensures safe operation of trains and vehicles.
As described above, in the on-orbit mobile system, the relative distance on the orbit from the mobile to the target is very important data, and its accuracy greatly affects the performance of the system.

However, conventionally, it is very difficult to know information on the relative distance to the target, and in many cases,
It was left to human judgment. Therefore, in such a case, the occurrence of human misjudgment could not be completely excluded.

In order to know the relative distance, various position detection systems have been developed. For example, the relative distance based on the measurement start point can be obtained from the rotation speed and the wheel diameter of the wheels of the moving body. In this method, since only the travel distance based on the result of running can be known, distance information from the measurement start point to the target point is necessary to know the distance from the moving body to the target point where the target is located. In addition, errors due to slipping or sliding of the wheels are inevitable, and the errors accumulate as the traveling distance increases.

[0005] On the other hand, there is a method of detecting the presence of a moving object by ground equipment. For example, a track circuit utilizing the fact that a signal sent to the track by the axle of a railway vehicle is short-circuited,
A transponder or loop coil is used to receive the signal generated by the moving object at the ground equipment or to detect that the moving object has passed a specific point by modulating the signal generated by the ground equipment by passing through the moving object. There is a system that was.
In these systems, the passage of a specific point can be detected with high accuracy, but it is practically impossible to install the equipment on the entire trajectory of the moving object equipped with the equipment. You can't tell if you're there. Therefore, the position of the moving object can be detected only discretely, and it is difficult to perform accurate control.

On the other hand, for example, Japanese Patent Laid-Open No.
As disclosed in Japanese Patent Application Publication No. 3 (Kokai) No. 3 (1999), there is also known a system for detecting a relative position between moving objects by using GPS for the moving objects. Such an on-orbit mobile object position management system determines the position of a mobile object based on signals from a plurality of GPS satellites. Therefore, in the position detection method using the GPS, no error is accumulated, and the position of the moving body can be continuously detected at an arbitrary position. However, when the position is measured by this GPS, there is generally a possibility that an error having a maximum radius of about 100 m is included.

[0007]

Since the conventional on-orbit moving object position management system is configured as described above, when a method of obtaining a relative position from the rotation speed and the wheel diameter of the moving object is used, In addition to the need for distance information from the measurement start point to the target point, errors accumulate according to the distance traveled, and systems using transponders and loop coils cannot continuously detect the position of the moving object and use GPS. When used, not only may there be an error with a maximum radius of about 100 m, but also the linear distance between the moving object and the target can be known, but it is actually effective along the trajectory to control the moving object. Because the orbital distance indicates a long road, the difference between the orbital distance and the straight-line distance in a curved section with a large curvature becomes large, making it difficult to know the orbital distance with high accuracy. There was.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problems, and is an on-orbit mobile unit capable of accurately calculating a relative distance from a position of a mobile unit detected by GPS to a target point. The purpose is to obtain a location management system.

[0009]

An on-orbit mobile object position management system according to the present invention corrects a self-position of the mobile object based on radio waves of a GPS satellite using correction data input from a GPS correction information input unit. Then, in the orbital map information held in the orbital map holding unit, the position of the target object for calculating the orbital distance from the moving body on the orbit where the moving body specified by the route specifying unit is present. The designation is performed by the target designating section, and the control section stores the self-position of the moving body sent from the GPS receiving section in the orbit map holding section based on the information designated by the route specifying section. By correcting the orbital map information to the position on the route, and calculating the orbital distance from the obtained self-corrected position to the target specified by the target specifying unit, the moving object on the track can Orbital distance to It is obtained so as to detect.

In the on-orbit moving object position management system according to the present invention, the target designating section designates the orbital distance from the self-corrected position of the moving object to the target, and the control section sends the orbital distance from the GPS receiving section. Based on the information specified by the route specifying unit, the self-position of the moving object comes to the track map information stored in the track map holding unit, and is corrected to a position on the route. By calculating the position of the target located at the orbital distance specified by the target specifying unit from the self-correction position, the position of the target at a specified orbital distance from the moving object on the orbit is detected. It is like that.

An on-orbit moving object position management system according to the present invention includes a radio transmitting unit for transmitting information indicating a self-correcting position, and a self-correcting position of the moving object transmitted from a radio transmitting unit of another moving object. And a wireless receiving unit that receives the information indicating the target and transfers the information to the target designating unit, and detects the orbital distance from the self-correction position of itself to another moving body.

[0012] The on-orbit mobile object position management system according to the present invention is configured such that a route designating section estimates a route currently being traveled from a self-position of the mobile object.

[0013] The on-orbit moving object position management system according to the present invention is such that the route designating section estimates a route currently being traveled from the running schedule and the current time of the moving object.

An on-orbit moving object position management system according to the present invention includes a display unit and visually displays at least one of a self-correcting position of the moving object, a trajectory distance to a target, and a position of the target. It is intended to be displayed.

An on-orbit moving object position management system according to the present invention includes a moving object control unit to control the speed of a moving object based on the detected orbital distance to a target and the performance of the moving object. It was done.

The on-orbit moving object position management system according to the present invention includes a sound generating unit, and based on a comparison result between a detected orbital distance to a target and a predetermined distance set in advance, a predetermined alarm sound. Is generated.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below. Embodiment 1 FIG. FIG. 1 is a block diagram showing an on-orbit mobile position management system according to Embodiment 1 of the present invention.
1 shows a configuration of a system mounted on a moving body moving on an orbit. In addition, in recent years, this on-orbit moving object position management system has been significantly improved in accuracy.
In this system, the position of a moving object is detected by a relative GPS (Regional GPS) method, the corrected position of the moving object is corrected to a position on the orbit, and the position of the moving object on the orbit is managed.

In the figure, 1 is a GPS receiving antenna for receiving radio waves from GPS satellites, and 2 is this GPS receiving antenna.
This is a GPS receiving unit that detects the position of the moving object based on the radio wave received by the receiving antenna 1. Reference numeral 3 denotes position correction data (GPS correction information) based on radio waves from GPS satellites.
Is a GPS correction information receiving antenna that receives the GPS correction information received by the GPS correction information receiving antenna 3.
This is a GPS correction information input unit that inputs S correction information to the GPS receiving unit 2. Reference numeral 5 denotes a track map holding unit that stores the shape of a trajectory on which the moving body can travel, and 6 denotes a route specification that specifies a route on the track map stored in the track map holding unit 5 where the moving body exists. Reference numeral 7 denotes a target designating unit for designating the position of a target for calculating the orbital distance from the moving object on the orbit. Numeral 8 corrects the self-position of the moving body sent from the GPS receiving unit 2 by comparing it with the orbit map information of the orbit map holding unit 5 based on the information from the route specifying unit 6 and corrects the target position. Is a control unit that calculates the trajectory distance to the position of the target specified in.

Next, the position detection operation by DGPS will be described. In FIG. 1, a GPS receiving unit 2 receives a radio wave from a GPS satellite received by a GPS receiving antenna 1, and receives a GP signal via a GPS correction information input unit 4.
GPS received by S correction information receiving antenna 3
Also receives correction information. By performing processing according to the DGPS method from these pieces of information, information such as the reception time and the self-position (latitude, longitude, and altitude) of the moving object is periodically detected and output to the control unit 8. In addition, as the GPS correction information, a unique GPS correction information transmitting unit that measures an accurate position is prepared, and the GPS correction information transmitting unit prepares the GPS correction information.
Even if the positioning result by S is compared with the accurate position and the error component is transmitted as GPS correction information, the Japan Coast Guard uses a medium-wave beacon, and the satellite positioning information center uses FM multiplex broadcasting. You may use the information that is managed and transmitted. By correcting the self-position of the moving object using the GPS correction signal, the error having a maximum radius of about 100 m is reduced to 10 m or less.

In order to approximate the shapes of all the orbits on which the moving object can travel with a set of links, the orbit map holding unit 5 at least stores the position information (latitude,
(Longitude, altitude), and a track map expressed as a database including route information indicating connection relationships of nodes on which the mobile body can travel, and distance information between nodes.

The route designating unit 6 comprises an input device such as a keyboard, for example, and designates a route in which a moving object currently exists from data held as a track map in the track map holding unit 5. It serves to input it to the control unit 8. Similarly, the target designating unit 7 also includes an input device such as a keyboard, and sets the position of a target, such as ground equipment or another moving body, for which the user wants to know the orbital distance from the moving body. Serves to input.

Further, the control unit 8 controls the mobile unit detected by the DGPS method based on the information sent from the GPS receiving unit 2, the orbit map holding unit 5, the route specifying unit 6, and the target specifying unit 7. The self-corrected position is calculated by correcting the self-position on the track. Next, based on the result of the calculation, the trajectory distance to the target is calculated based on the position of the target input from the target specifying unit 7.

Next, the operation will be described. Here, FIG.
3 is a flowchart showing a flow of an overall operation of the on-orbit moving object position management system in the first embodiment, FIG. 3 is a flowchart showing a flow of a position correction process, and FIG. 5 is a flowchart showing a flow of a orbit distance calculation process. is there.
The overall control is executed by the control unit 8.

First, in step ST1 of FIG. 2, the control unit 8 corrects the self-position to a self-correction position which is a position on the orbit, based on the self-position input from the GPS receiving unit 2. Subsequently, in step ST2, it is determined whether or not the calculation of the orbital distance is necessary.
At T3, the orbital distance is calculated. If the calculation of the orbital distance is unnecessary, step ST3 is skipped.
Further, in step ST4, it is determined whether or not the calculation of the position of the target is necessary. If necessary, the position of the target is calculated in step ST5. If unnecessary, step ST5 is similarly skipped. Then, after outputting those calculation results in step ST6, the process returns to step ST1 again, and repeats the calculation based on the input from the GPS receiver 2. In the first embodiment, the target specifying unit 7
The step ST5 is skipped because the trajectory distance to the target is calculated by designating the position of the target from.

Next, the operation of steps ST1 and ST3 shown in FIG. 2 will be described in detail. In step ST1, the self-position is corrected to a position on the trajectory. As shown in detail in FIG. 3, the position correction process is performed first in step S
At T11, the information of the own position is read from the GPS receiver 2. Next, in step ST12, the route specifying unit 6
Read the route specified by. Next, the process proceeds to step ST13, in the link set included in the route, the link whose perpendicular from the self-position of the moving object is the shortest and the leg of the perpendicular is on the link is held in the track map holding unit 5. Search from the orbital map, and if there is such a link, use it as a correction link. Subsequently, in step ST14, the presence or absence of a correction link is determined.
In 5, the coordinates of the foot of the perpendicular from the self-position to the correction link are set as the self-correction position. If there is no correction link,
In step ST16, a nearest node (correction node) is searched from the link set included in the route, and the position is set as a self-correction position.

Hereinafter, a specific processing example of the position correction will be described with reference to FIG. Here, nodes Ra, Rb,
In a moving object that is known to travel on a path on a track composed of Rc, the correct position at a certain time is P
In this example, a case is shown in which the position information by GPS is obtained as Pb and the self-correction position Pc on the trajectory of the moving body is obtained.

In this case, the route specifying unit 6
It is specified that the moving object exists on the route composed of a, Rb, and Rc, and the link set to be searched is the link Ra-R
b, Rb-Rc. If the position information by GPS is the position of Pb shown in FIG.
From position Pb to link Ra-Rb and link Rb-Rc
When a perpendicular is drawn to both of them, the link Rb-R
The perpendicular to c is shorter than the perpendicular to links Ra-Rb. However, since the perpendicular foot to the link Rb-Rc is not on the link Rb-Rc, the link Ra-Rb
Is the correction link, and the foot perpendicular to the correction link Ra-Rb is the self-correction position Pc.

Next, the position information of the moving object by GPS becomes the position of Pb in FIG. 4B, and it is specified that the moving object exists on the route constituted by the nodes Ra, Rb and Rc. Is set, the link set to be searched is the link Ra
-Rb or Rb-Rc. In this case,
Even if a perpendicular is drawn to the links Ra-Rb and Rb-Rc, neither leg is on the link, and there is no correction link. Therefore, nodes Ra and R on the route
Calculate the linear distance from b, Rc to GPS position Pb,
A correction node Rb, which is a node having the shortest linear distance, is searched for and is set as a self-correction position Pc.

After that, the process proceeds to step ST3 shown in FIG.
Then, the orbital distance is calculated. In the processing of the orbital distance calculation, as shown in detail in FIG. 5, first, the position of the target is input in step ST21. Next, in step ST22, the relationship between the position of the target and the position information in the trajectory map is searched, and if it matches the position of the node,
The node is set as a target node and a target correction position.
Otherwise, a correction link or a correction node is searched for in the same procedure as in step ST1 of FIG. 2, and is set as a target link or a target node, respectively. The position corrected on the trajectory from the position of the target is the target correction position.

Next, in step ST23, the presence or absence of a target link is determined. As a result, if there is a target link, the process proceeds to step ST24; otherwise, the process proceeds to step ST25. In step ST24, it is further determined whether there is a correction link. As a result, if there is a correction link, step S
Proceed to T26, otherwise proceed to step ST27. Similarly, in step ST25, the presence / absence of a correction link is determined. As a result, if there is a correction link, the process proceeds to step ST28; otherwise, the process proceeds to step ST29.

In step ST26, since both the target link and the correction link exist, it is further checked whether the target link and the correction link indicate the same link. If the result is the same, the process proceeds to step ST3.
Advance to 0. If the target link and the correction link are the same,
Since the target correction position and the self-correction position exist in the same link, in this step ST30, a straight-line distance between the target correction position and the self-correction position is calculated, and the calculated distance is output as the trajectory distance L. When step ST30 ends, the series of orbit distance calculation processing ends.

On the other hand, if the result of determination in step ST 26 is that both links are not the same, the flow proceeds to step ST 31. In this case, since the target correction position and the self-correction position do not exist in the same link, the linear distance Lt from the position of the node (target node) closer to the correction link among the nodes forming the target link to the target correction position , And a linear distance Lo from the position of the node (correction node) on the side closer to the target link among the nodes forming the correction link to the self-correction position. When the process of step ST31 ends, the process proceeds to step ST32.

If the result of determination in step ST24 is that the process has proceeded to step ST27, no correction link exists, and the target link and correction node do exist. Therefore, in this step ST27, the straight distance Lt from the position of the target node, which is the node closer to the correction node among the nodes forming the target link, to the target correction position is calculated. At this time, since the correction node and the self-correction position match, the linear distance Lo between them is set to “0”. When the process of step ST27 ends, the process proceeds to step ST32.

Further, as a result of the determination in step ST25, when the process proceeds to step ST28, the target link does not exist, and the target node and the correction link exist. Therefore, in this step ST28, a straight distance Lo from the position of the correction node, which is the node closer to the target node among the nodes forming the correction link, to the self-correction position is calculated. At this time, since the target node and the target correction position coincide with each other, the linear distance Lt between them is set to “0”. When the process of step ST28 ends, the process proceeds to step ST32.

If the process proceeds to step ST29 as determined in step ST25, neither the target link nor the correction link exists, and the target node and the correction node exist. Therefore, this step ST29
Then, the linear distance Lt between the target node and the target correction position,
Also, both the straight line distance Lo between the correction node and the self-correction position are set to “0”. When the process of step ST29 ends, the process proceeds to step ST32.

Next, in step ST32, a total Ln of link lengths existing between the target node or the target link and the correction node or the correction link is obtained from the orbit map. Next, in step ST33, the linear distance Lt between the target node and the target correction position and the linear distance Lo between the correction node and the self-correction position are added to the total Ln of the link lengths. Is output as the orbital distance L up to this point, and the calculation processing of this orbital distance L is terminated.

Hereinafter, a specific processing example of the orbit distance calculation will be described with reference to FIG. Here, nodes Ra, R
The self-correction position of the moving body that is known to travel on the path on the trajectory constituted by b, Rc, Rd, and Re is Pc
, The case where the trajectory distance L to the target correction position Pd (for example, a known target position where the traffic light is located) is obtained is illustrated.

In the example shown in FIG. 6, the self-correction position Pc is
Since it is located on the link Ra-Rb, the correction link is
This link is Ra-Rb. Further, the target correction position Pb
Is located on the link Rd-Re, the target link
Is the link Rd-Re. This correction link Ra-
Of the nodes Ra and Rb at both ends of Rb, the target link Rd−
The node Rb closer to Re is selected and corrected.
From the correction node Rb to the self-correction position Pc.
Of the straight line Lo at is obtained. Also, the target link Rd-R
correction link Ra-R among the nodes Rd and Re at both ends of e.
b, selects a node Rd closer to b, and sets this as a target node.
From the target node Rd to the target correction position Pd.
Is calculated. Further, the correction node Rb
Link Rb-R existing between the target node Rd
link length L of c and Rc-Rd ₁, L₂And sum
The total length obtained by adding the linear distances Lo and Lt to the above is:
The required orbital distance L is obtained.

As described above, according to the first embodiment, the position of the moving object obtained by GPS is subjected to DGPS processing,
Furthermore, since the position on the orbit is corrected using altitude information in addition to the latitude and longitude information, errors in the self-position of the moving object including errors due to GPS are reduced, and the designated target on the orbit is reduced. Since it is possible to calculate the orbital distance to the target with high accuracy, the position of the moving object can be obtained with higher accuracy than the conventional on-orbit moving object position management system, and the position of the target from the self-correction position can be obtained. Since the distance along the trajectory is calculated, not only can a high-accuracy trajectory distance L, which cannot be obtained by the conventional on-orbit mobile position management system, be obtained, but also the correction to the above-mentioned trajectory position The processing of (1) utilizes the feature that the moving body cannot exist at a position other than the orbit and the path to move is determined in advance, so that the processing can be easily performed.

Embodiment 2 In the first embodiment, the position of the target is specified, and based on the position,
Although the method of calculating the orbital distance from the self-correction position of the moving object to the target is described, conversely, the orbital distance to the target may be specified and the position of the target may be obtained. Thus, the same effect as in the first embodiment can be obtained.

That is, the target specifying unit 7 specifies the trajectory distance L from the self-correction position of the moving body to the target. The control unit 8 receives the DGPS's own position of the mobile unit from the GPS receiving unit 2 and compares the own position with the orbit map information held in the orbit map holding unit 5 based on the information from the route designation unit 6. By calculating the position of the target using the obtained self-correction position and the trajectory distance L specified by the target specifying unit 7, an arbitrary trajectory distance L from the moving object on the trajectory is calculated. The position of a distant target is detected.

As described above, in the second embodiment, since the position of the target is determined by specifying the trajectory distance to the target, step ST3 shown in FIG. 2 is skipped. When the process proceeds to step ST5, the position of the target is calculated. This target position calculation process calculates the position of the target object that is separated from the self-correction position by the trajectory distance L. FIG. 7 shows the details of the flow of the process.

First, in step ST41, the trajectory distance L to the position of the target to be obtained and the information on the up or down direction are input. Next, in step ST42, it is determined whether or not there is a correction link obtained in the position correction process in step ST1 of FIG.
If not, the process proceeds to step ST44. Step S
At T43, of the nodes constituting the correction link,
The linear distance Lo from the position of the node Na on the up or down side to the self-correction position according to the direction information input in step ST41 is calculated, and the process proceeds to step ST45. When the process proceeds to step ST44,
Since there is no correction node, the straight line distance Lo is set to "0", and the process proceeds to step ST45.

In step ST45, in step ST41
Then, the magnitude of the orbital distance L input by the above and the linear distance Lo are compared. As a result, if the straight line distance Lo between the node Na and the self-correction position is equal to or longer than the trajectory distance L, the process proceeds to step ST46, and if smaller than the trajectory distance L, the process proceeds to step ST47. When the process proceeds to step ST46, if the linear distance Lo is equal to or longer than the trajectory distance L, the position of the target exists on the correction link. Therefore,
In step ST46, the position of the target is calculated from the positional relationship between the position of the node Na and the self-correction position by the proportional distribution of the linear distance Lo and the trajectory distance L between the node Na and the self-correction position. The series of target position calculation processing ends.

On the other hand, in step ST47, the orbital distance L
And the difference between the straight line distance Lo from the node Na to the self-correction position is calculated, and this value is newly set as the orbital distance L. Also,
In this step ST47, based on the direction information input in step ST41, a link adjacent on the up or down side is searched from the track map, and this is set as a target link, and the link length Ln of the target link is obtained.

Next, in step ST48, the link length Ln of the link of interest and the length of the trajectory distance L are compared.
As a result, if the link length Ln of the link of interest is smaller than the trajectory distance L, the process proceeds to step ST49, where the difference between the trajectory distance L and the link length Ln of the link of interest is calculated, and the value is newly set as the trajectory distance L. . Further, in this step ST49, based on the direction information input in step ST41, a link adjacent to the up or down side is searched from the track map and is set as a new link of interest, and the link of this new link of interest is set. After obtaining the length Ln, the process returns to step ST48. Hereinafter, this process is repeated until it is detected in step ST48 that the link length Ln of the link of interest has become equal to or longer than the trajectory distance L.

When the link length Ln of the link of interest is equal to or longer than the trajectory distance L, the processing proceeds from step ST48 to step ST48.
Proceed to 46. If the link length Ln of the link of interest is equal to or longer than the trajectory distance L, the target exists on the link of interest. In this step ST46, the link length of the link of interest is determined from the positional relationship between the nodes at both ends of the link of interest. The position of the target is calculated based on the proportional distribution of Ln and the orbital distance L, output, and the series of target position calculation processing is terminated.

Hereinafter, a specific processing example of the target position calculation will be described with reference to FIG. Here, nodes Ra, R
The self-correction position of the moving body that is known to travel on the path on the trajectory constituted by b, Rc, Rd, and Re is Pc
, The orbit distance L from the self-correction position Pc
This example illustrates a case where position information of a target position Pd which is a point separated only in the upward direction is obtained.

In the example shown in FIG. 8, since the self-correction position Pc is located on the link Ra-Rb, the correction link is the link Ra-Rb. This correction link Ra-R
of the nodes Ra and Rb at both ends of the node b
b (corresponding to the above-mentioned node Na), and this node Rb
From the orbital distance L to the self-correction position Pc. Next, the links Rb-Rc and Rc-Rd on the upstream side are sequentially set as links of interest, and the link length Ln of the link of interest is successively subtracted from the remaining track distance L. In the illustrated example, the case where this manner linked Rd-Re is set as the target link, because the link length L ₃ is longer than the track distance L, the target position Pd nodes at both ends of the link Rd-Re It is determined that it is between Rd and Re.

Therefore, the position information of this node Rd is (I
d, Kd, Hd) and the position information of the node Re is (Ie, K
e, He), the position information (Ip, Kp, Hp) of the target position Pd can be obtained by proportional distribution using the following equation. Here, the Id, Ie, and Ip are the latitude information, Kd, Ke, and Kp are the longitude information, Hd,
He and Hp are altitude information.

Ip = Id + (Ie-Id) * L / Lde Kp = Kd + (Ke-Kd) * L / Lde Hp = Hd + (He-Hd) * L / Lde where Lde in the above equation is the link Rd- Re is the link length, in the illustrated example is L _3.

Embodiment 3 FIG. In the first embodiment, the position of the target is input from the input device such as a keyboard in the target specifying unit 7. However, the position of the target is transmitted by using the position information transmitted from another moving body by wireless or the like. Is also good. FIG. 9 is a block diagram showing such an on-orbit moving object position management system according to Embodiment 3 of the present invention.
Corresponding parts are denoted by the same reference numerals as in FIG. 1, and description thereof is omitted.

In the figure, reference numeral 9 denotes an orbit stored in the orbit map holding unit 5 based on the information from the route designation unit 6 by the control unit 8 based on the position of the mobile unit sent from the GPS receiving unit 2. A wireless transmission unit that transmits information indicating the self-corrected position that has been corrected and compared with the map information, and 10 is an antenna that transmits information indicating the self-corrected position by radio waves. 11 is an antenna 10 of another moving body traveling on a track.
An antenna 12 receives the information indicating the self-correction position of the other moving object, which is transmitted as a radio wave from the antenna 11, and receives the information indicating the self-correction position of the other moving object, which is received by the antenna 11. And a wireless receiving unit to be passed by the target specifying unit 7.

The target specifying unit 7 does not specify a target for calculating a trajectory distance from the moving object, based on information input from an input device such as a keyboard.
The point that the target is specified using the information indicating the self-correction position of the other moving object received from the wireless receiving unit 12 is different from that of the first embodiment denoted by the same reference numeral in FIG. ing.

Next, the operation will be described. For each moving object on the orbit, the wireless transmission unit 9 transmits information indicating the self-corrected position from the antenna 10. The mobile unit that detects the orbital distance to another mobile unit transmits the information indicating the self-corrected position of the mobile unit transmitted from the antenna 10 by the wireless transmission unit 9 of the other mobile unit via the antenna 11 to the wireless reception unit. 12 and passes it to the target designating section 7. In the goal designation section 7,
The target is specified using the information received from the wireless receiving unit 12 and indicating the self-correction position of the other moving object. After that, the control unit 8 executes the same processing as in the first embodiment to execute the processing from the self-corrected position obtained by correcting the self-position using the DGPS method to the position of the target specified by the target specifying unit 7. The orbital distance is calculated, and the orbital distance from the self-correction position to another moving body is detected.

As described above, according to the third embodiment,
Since the information on the self-corrected position of the moving object wirelessly transmitted from another moving object is specified as the position of the target and the orbital distance to the target is calculated, other traveling on the orbit is calculated. The effect that the track distance to the moving object can be detected is obtained.

Embodiment 4 FIG. In the first embodiment, the travel route is specified by the route specifying unit 6 from an input device such as a keyboard.
The current traveling route may be estimated from the self-position of the moving body obtained from the receiving unit 2 or the like, and may be designated as the traveling route where the moving body exists. Alternatively, a route that is currently traveling may be estimated from the travel schedule and the current time of the moving body that are planned in advance, and may be designated as a traveling route where the moving body exists.

By doing so, it is possible to eliminate the necessity of manually inputting travel route information from an input device such as a keyboard when the travel route is designated by the route designation section 6.

Embodiment 5 FIG. Calculated self-correction position,
It is also possible to send information on the orbital distance or the position of the target to the display unit to visually display the information. FIG.
Is a block diagram showing such an on-orbit mobile object position management system according to Embodiment 5 of the present invention, and the corresponding parts are denoted by the same reference numerals as in FIG. 1 and description thereof is omitted. In the figure, reference numeral 13 denotes a display unit for visually displaying information such as the self-correction position of the moving body, the trajectory distance from the self-correction position of the moving body to the target, or the position of the target.

Next, the operation will be described. Target designation part 7
When the target for which the orbital distance from the moving object is calculated is designated, the control unit 8 specifies the own position of the moving object detected by the GPS receiving unit 2 by the route designation unit 6. Based on the obtained information, corrects it by comparing it with the orbital map information held by the orbital map holding unit 5, and calculates the orbital distance from the obtained self-corrected position to the position of the target specified by the target specifying unit 7. calculate. Then, the self-correction position, the trajectory distance from the self-correction position to the target, and the like are visually displayed on the display unit 13. The driver grasps the positional relationship between the self-correction position and the target by referring to the display on the display unit 13.

When the orbital distance from the self-correction position to the target is specified by the target specifying unit 7, the control unit 8 determines the self-position of the moving object detected by the GPS receiving unit 2 as a route. Based on the information specified by the specifying unit 6, it is corrected by comparing it with the orbital map information held by the orbital map holding unit 5, and the obtained self-corrected position is shifted to the orbital distance specified by the target specifying unit 7. Calculate the position of the located target. Then, the self-correction position, the position of the target, and the like are visually displayed on the display unit 13. The driver grasps the positional relationship between the self-correction position and the target by referring to the display on the display unit 13.

As described above, according to the fifth embodiment,
Since the display unit 13 visually displays at least one of the self-correction position of the moving object, the orbital distance from the self-correction position of the moving object to the target, and the position of the target, the driver can By referring to these displays, the positional relationship between the self-correction position and the target can be easily grasped, and the effect of assisting the driver in safe driving can be obtained.

Embodiment 6 FIG. The self-correction position of the moving object
If the vehicle is too close to a target such as another moving object or a ground facility, the speed of the moving object can be controlled by applying an emergency brake or the like. FIG. 11 is a block diagram showing such an on-orbit moving object position management system according to Embodiment 6 of the present invention, and the corresponding parts are denoted by the same reference numerals as in FIG. 1 and description thereof is omitted. In the figure, 14 is based on the orbital distance from the self-correction position of the moving body to the target and the performance of the moving body, and performs speed control such as applying an emergency brake when the moving body comes too close to the target. It is a moving body control unit that performs.

Next, the operation will be described. The control unit 8 is G
The self-position of the moving object detected by the PS receiving unit 2 is compared with the orbit map information held by the orbit map holding unit 5 based on the information designated by the route designation unit 6 and corrected to correct the self-corrected position. Get. Next, the trajectory distance from the self-correction position to the target specified by the target specifying unit 7 is calculated, and the calculated trajectory is transferred to the mobile control unit 14. In the mobile control unit 14,
The speed of the traveling moving body is controlled based on the orbital distance to the position of the target and the performance of the moving body such as the braking performance. That is, the moving body is decelerated when the self-correction position approaches the position of the target to some extent or more, and when too close, the emergency braking is applied to stop the moving body.

As described above, according to the sixth embodiment,
Since the traveling speed of the moving object is controlled based on the orbital distance from the self-corrected position of the moving object to the target and the performance of the moving object, there is a danger of the moving object coming too close to the target. In some cases, for example, an emergency brake can be applied to the moving body to stop the moving body, so that there is an effect that the moving body can be operated more safely.

Embodiment 7 The self-correction position of the moving object
When a vehicle approaches a target such as another moving object or a ground facility to a certain extent or more, a warning sound can be generated to notify the driver of the alarm. FIG. 12 is a block diagram showing such an on-orbit moving object position management system according to the seventh embodiment of the present invention. The corresponding parts are denoted by the same reference numerals as in FIG. 1 and description thereof is omitted. In the figure, 15
Is the trajectory distance from the self-correction position of the moving object to the target,
A sound generation unit that compares a predetermined distance that is set in advance and generates a predetermined warning sound when the orbital distance falls below the predetermined distance.

Next, the operation will be described. The control unit 8 is G
The self-position of the moving object detected by the PS receiving unit 2 is compared with the orbit map information held by the orbit map holding unit 5 based on the information designated by the route designation unit 6 and corrected to correct the self-corrected position. Get. Next, the trajectory distance from the self-corrected position to the position of the target specified by the target specifying unit 7 is calculated,
It is transferred to the sound generator 15. The sound generating unit 15 compares the trajectory distance to the position of the target with a predetermined distance set in advance, and when the received trajectory distance falls below a predetermined distance,
Generates a predetermined alarm sound. The driver operates the sound generator 15.
Is heard to know that the self-correction position of the moving object has approached the target.

As described above, according to the seventh embodiment,
When the self-correction position of the moving body is approached by a predetermined distance or more, a warning sound is generated from the sound generation unit 15, so that when the moving body approaches the target object automatically, Since the warning sound is generated, an effect that the driver can assist safe driving is obtained.

[0069]

As described above, according to the present invention, the GP
The position of the moving object obtained in S is corrected by the correction data from the GPS correction information input unit, and the position of the target on the orbit specified by the orbit map information is specified by the target specifying unit. Based on the information specified by the route designating unit, the self-position of the moving object is compared with the orbital map information held by the orbital map holding unit, and corrected to a position on the route. Since the configuration is such that the orbital distance to the target is calculated, errors in the self-position of the moving object including errors due to GPS are reduced, and the orbital distance to the target on the orbit can be calculated with high accuracy. There is an effect that an on-orbit moving object position management system that can obtain the position of the moving object with high accuracy can be obtained.

According to the present invention, the trajectory distance from the self-correction position of the moving object to the target is specified by the target specifying unit,
Based on the information specified by the route specification unit, the self-position of the moving object is compared with the orbital map information held by the orbital map holding unit and corrected to a position on the route, and specified from the self-corrected position Is configured to calculate the position of the target located at the determined trajectory distance, the error of the self-position of the moving object including the error due to GPS is reduced, and the trajectory designated from the self-correction position of the moving object is reduced. This makes it possible to calculate the position of a target object that is separated by a distance with high accuracy, and to obtain an on-orbit moving object position management system that can obtain the position of the moving object with high accuracy.

According to the present invention, the information on the self-correction position of the moving object transmitted by the radio transmitting unit of the other moving object is received by the radio receiving unit and passed to the target designating unit, and is transmitted to the target designating unit. Since the configuration is such that the orbital distance to the target is calculated by specifying the position, the orbital distance to another moving object running on the orbit can be detected.

According to the present invention, since the route designating unit estimates the route currently being traveled from the self-position of the moving object, the route designating unit designates a traveling route by using a keyboard or the like. This has the effect of eliminating the need to manually input travel route information from the input device.

According to the present invention, the route designating section is configured to estimate the currently traveling route from the traveling schedule of the moving body and the current time. This has the effect of eliminating the need to manually input travel route information from an input device such as a keyboard.

According to the present invention, at least one of the self-correction position of the moving object, the trajectory distance from the self-correction position of the moving object to the target, and the position of the target is visually displayed on the display unit. As a result, the driver who refers to those displays can easily grasp the positional relationship between the self-correction position and the target, and can position the on-orbit mobile body to assist the driver in safe driving. There is an effect that a management system can be obtained.

According to this invention, the moving body control section controls the traveling speed of the moving body based on the orbital distance from the self-corrected position of the moving body to the target and the performance of the moving body. Therefore, when the moving body comes too close to the target, for example, the moving body can be stopped by applying an emergency brake, so that the moving body can be operated more safely.

According to the present invention, when the detected trajectory distance to the target object is smaller than a predetermined distance, a predetermined warning sound is generated from the sound generating unit. When the body is too close to the target, an alarm sound is automatically generated, so that an on-orbit mobile body position management system capable of assisting the driver in safe driving can be obtained.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an on-orbit moving object position management system according to Embodiments 1 and 2 of the present invention.

FIG. 2 is a flowchart showing a flow of an operation of the system according to the first and second embodiments.

FIG. 3 is a flowchart showing a flow of a position correction process according to the first embodiment.

FIG. 4 is an explanatory diagram for describing position correction processing according to the first embodiment;

FIG. 5 is a flowchart showing a flow of a track distance calculation process according to the first embodiment.

FIG. 6 is an explanatory diagram illustrating a process of calculating a trajectory distance according to the first embodiment;

FIG. 7 is a flowchart illustrating a flow of a target position calculation process according to the second embodiment of the present invention.

FIG. 8 is an explanatory diagram illustrating a process of calculating a target position according to the second embodiment.

FIG. 9 is a block diagram showing an on-orbit moving object position management system according to Embodiment 3 of the present invention.

FIG. 10 is a block diagram showing an on-orbit moving object position management system according to Embodiment 5 of the present invention.

FIG. 11 is a block diagram showing an on-orbit moving object position management system according to Embodiment 6 of the present invention.

FIG. 12 is a block diagram showing an on-orbit moving object position management system according to a seventh embodiment of the present invention.

[Explanation of symbols]

2 GPS receiving section, 4 GPS correction information input section, 5 orbit map holding section, 6 route specifying section, 7 target specifying section, 8
Control unit, 9 wireless transmission unit, 12 wireless reception unit, 13 display unit, 14 mobile unit control unit, 15 sound generation unit.

Claims (8)

[Claims] 1. A GP for detecting a self-position of a moving object traveling on an orbit based on a radio wave received from a GPS satellite.
An S receiving unit; a GPS correction information input unit for inputting position correction data based on radio waves of the GPS satellites to the GPS receiving unit; and an orbital map storing orbital map information including a shape of an orbitable path of the mobile object. A map holding unit, of orbital map information held in the orbital map holding unit,
A route designating unit that designates a route where the moving object is located; a target designating unit that designates a target on the orbit for calculating a trajectory distance from the moving object; Based on the information specified by the route specifying unit,
The orbital map information stored in the orbital map holding unit is compared with the position on the route to correct the position, and the orbital distance from the obtained self-corrected position to the target specified by the target specifying unit is calculated. An on-orbit mobile position management system including a control unit. 2. A GP for detecting a self-position of a moving object traveling in orbit based on a radio wave received from a GPS satellite.
An S receiving unit; a GPS correction information input unit for inputting position correction data based on radio waves of the GPS satellites to the GPS receiving unit; and an orbital map storing orbital map information including a shape of an orbitable path of the mobile object. A map holding unit, a route designating unit that designates a route where the moving body is present among the orbital map information held in the orbital map holding unit, and rides the self-position of the moving body on the orbit. A target specifying unit that specifies the orbital distance from the self-corrected position corrected as described above to the target, and the self-position of the moving object sent from the GPS receiving unit to the information specified by the route specifying unit. On the basis of,
The orbital map information stored in the orbital map holding unit is compared with the position on the route to correct the position of the target located at the orbital distance specified by the target specifying unit from the obtained self-corrected position. An on-orbit mobile object position management system comprising a control unit for calculating a position. 3. A wireless transmission unit for transmitting information indicating a self-correction position of a moving object, and receiving information indicating a self-correction position of the other moving object transmitted from the wireless transmission unit by another moving object. A wireless receiving unit that passes the information to the target designating unit, and the target designating unit designates, as the position of the target, information indicating the self-correction position of the other mobile object received from the wireless receiving unit. The on-orbit mobile object position management system according to claim 1, wherein: 4. The trajectory according to claim 1, wherein the route designating unit estimates a route currently traveling from the self-position of the moving body. Upper mobile location management system. 5. The method according to claim 1, wherein the route designating unit estimates a route currently traveling from the traveling schedule and the current time of the moving body.
The on-orbit mobile object position management system according to any one of the above items. 6. A display unit for visually displaying at least one of the self-correction position of the moving body, the trajectory distance from the self-correction position of the moving body to the position of the target, or the position of the target. Claims 1 to 5 characterized in that
The on-orbit mobile object position management system according to any one of the above items. 7. A moving body control unit for controlling a speed of the moving body based on a trajectory distance from a self-correction position of the moving body to a position of a target and a performance of the moving body. The on-orbit moving object position management system according to claim 1 or any one of claims 3 to 5. 8. A trajectory distance from the self-correction position of the moving body to the position of the target is compared with a predetermined distance set in advance, and when the trajectory distance falls below the predetermined distance, a predetermined warning is issued. The on-orbit moving object position management system according to any one of claims 1 to 3, further comprising a sound generation unit that generates a sound.