JP2002174531A - Moving azimuth calculating apparatus, moving azimuth calculating method, and recording medium storing moving azimuth calculating program - Google Patents

Abstract

(57) [Summary] [PROBLEMS] An excellent moving azimuth calculation device that can eliminate the need for a distance sensor and can perform sensitivity correction by determining the inclination angle of a moving object without limiting the installation position of the sensor. And a recording medium storing a moving direction calculating method and a moving direction calculating program. SOLUTION: The output sensitivity error of the yaw direction angular velocity detecting means 3 caused by the inclination in the pitch direction is corrected using a sensitivity correction coefficient calculated based on the output of the pitch direction angular velocity detecting means 4.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

TECHNICAL FIELD The present invention relates to an automobile, an aircraft,
The gyro sensor is suitable for application to a navigation device mounted on a moving body such as a ship, and when a tilt angle in the pitch direction or the roll direction of the moving body is present when calculating the azimuth change amount of the moving body. The present invention relates to a moving azimuth calculating device, a moving azimuth calculating method, and a recording medium on which a moving azimuth calculating program is recorded, which can correct a decrease in output sensitivity of the azimuth detecting means.

[0002]

2. Description of the Related Art Conventionally, as a positioning device for a moving body such as an automobile, an aircraft or a ship, the current position of the moving body is displayed by adding a mark indicating the position of the moving body to a point on a map. A so-called navigation device that performs route guidance to a destination is known, and this navigation device uses a gyro sensor as an azimuth detecting unit for detecting an azimuth of a moving object.

The gyro sensor has a low sensitivity when the gyro sensor is inclined with respect to a horizontal plane, so that an error occurs with respect to an actual azimuth change amount. The tilt angle with respect to the horizontal plane is calculated by using the outputs of the three-axis acceleration sensor, and the output of the horizontal angular velocity sensor is corrected (for example, Japanese Patent Laid-Open No. 9-4297 discloses such a conventional example).
No. 9).

Further, recently, Japanese Patent Application Laid-Open No.
As disclosed in Japanese Unexamined Patent Publication No. 73-73, a sensor for detecting an inclination angle has been generally used by using a technique for performing three-dimensional map matching.

[0005] Specifically, this map matching compares the outputs of the acceleration sensor and the distance sensor.
As the distance sensor, a vehicle speed pulse counter that measures the number of pulses generated according to the number of rotations of the wheel is provided, and the distance is calculated by multiplying the counter value by the distance per pulse.

[0006]

However, in such a conventional apparatus for calculating a moving azimuth, a distance sensor for detecting an inclination angle in a pitch direction is required. When an error occurs in the distance to be detected, there is a problem that the inclination angle of the vehicle is erroneously calculated due to the error.

In addition, when a sensitivity error due to the inclination in the roll direction is corrected, the influence of the acceleration generated in the lateral direction at the time of turning differs depending on the installation position of the acceleration sensor on the moving body, so that the installation position of the acceleration sensor is limited. There was a problem that was.

The present invention has been made to solve the above-mentioned conventional problems, and can eliminate the need for a distance sensor, and obtain the inclination angle of a moving body without limiting the installation position of the sensor to perform sensitivity correction. An object of the present invention is to provide an excellent moving azimuth calculating apparatus, a moving azimuth calculating method, and a recording medium on which a moving azimuth calculating program can be recorded.

[0009]

According to a first aspect of the present invention, there is provided a moving azimuth calculating apparatus for calculating the azimuth of a moving body, the yaw direction detecting the angular velocity of the moving body in the yaw direction. Direction angular velocity detecting means, pitch direction angular velocity detecting means for detecting the angular velocity of the moving body in the pitch direction, and the pitch direction angular velocity caused by the pitch correction using a sensitivity correction coefficient calculated based on the output of the pitch direction angular velocity detecting means. A sensitivity correction unit for correcting an output sensitivity error of the yaw direction angular velocity detection unit.

With this configuration, when the road is inclined, the output sensitivity error due to the inclination in the pitch direction can be corrected without using a distance sensor, and a more accurate moving direction can be obtained. .

According to a second aspect of the present invention, there is provided a moving azimuth calculating apparatus for calculating the azimuth of a moving body, comprising: a yaw direction angular velocity detecting means for detecting an angular velocity of the moving body in a yaw direction; A roll direction angular velocity detecting means for detecting an angular velocity in the roll direction of the moving body, and a yaw direction angular velocity detecting means generated by a roll direction inclination using a sensitivity correction coefficient calculated based on an output of the roll direction angular velocity detecting means. A sensitivity correction means for correcting an output sensitivity error.

With this configuration, when the road is inclined, the output sensitivity error due to the inclination in the roll direction can be corrected without limiting the installation position of the sensor. Obtainable.

According to a third aspect of the present invention, there is provided a moving azimuth calculating apparatus for calculating the azimuth of a moving body, comprising: a yaw direction angular velocity detecting means for detecting a yaw angular velocity of the moving body; Output information of the yaw direction angular velocity detecting means caused by the tilt of the moving body using the tilt correction information calculated based on the tilt information recorded in the tilt information recording means. And a sensitivity correction unit for correcting an error.

With such a configuration, the distance sensor can be eliminated, and the output sensitivity error due to the inclination can be corrected without limiting the installation position of the sensor, thereby obtaining a more accurate moving direction. Can be.

According to a fourth aspect of the present invention, there is provided a moving azimuth calculating method for calculating the azimuth of a moving body, the method comprising the steps of: detecting a yaw angular velocity of the moving body; A pitch direction angular velocity detecting step of detecting an angular velocity of the moving body in a pitch direction, and a yaw direction angular velocity detecting step caused by a pitch direction inclination using a sensitivity correction coefficient calculated based on a detection result of the pitch direction angular velocity detecting step. And a sensitivity correction step of correcting the output sensitivity error of the detection result in the above.

According to such a method, the output sensitivity error due to the inclination in the pitch direction can be corrected without using a distance sensor, and a more accurate moving direction can be obtained.

According to a fifth aspect of the present invention, there is provided a moving azimuth calculating method for calculating the azimuth of a moving body, the method comprising the steps of: detecting a yaw direction angular velocity of the moving body; Using a roll direction sensitivity detection step of detecting the angular velocity in the roll direction, and a sensitivity correction coefficient calculated based on the detection result of the roll direction angular velocity detection step,
And a sensitivity correcting step of correcting an output sensitivity error of a detection result in the yaw direction angular velocity detecting step caused by the inclination in the roll direction.

According to such a method, the output sensitivity error due to the inclination in the roll direction can be corrected without limiting the installation position of the sensor, and the moving direction can be accurately obtained.

According to a sixth aspect of the present invention, there is provided a moving azimuth calculating method, comprising: a yaw direction angular velocity detecting step of detecting a yaw angular velocity of a moving body; An inclination information recording step of recording the inclination information, and a sensitivity correction coefficient calculated based on the inclination information recorded in the inclination information recording step, and an output sensitivity calculated based on a detection result of the yaw direction angular velocity correction step. And a sensitivity correction step of correcting an error.

According to such a method, the distance sensor can be eliminated, and the output sensitivity error due to the inclination can be corrected without limiting the installation position of the sensor, thereby obtaining a more accurate moving direction. Can be.

According to a seventh aspect of the present invention, there is provided a recording medium in which an azimuth calculation program for executing correction of an output sensitivity error according to any one of claims 1 to 3 is recorded.

With such a configuration, it is possible to correct an output sensitivity error due to the inclination in the pitch direction or the roll direction without using a distance sensor.

[0023]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The following is an explanation based on an embodiment of the present invention.

FIGS. 1 to 4 show a first embodiment of a moving azimuth calculating apparatus, a moving azimuth calculating method and a recording medium on which a moving azimuth calculating program according to the present invention is recorded. The example which applied to the navigation apparatus is shown.

First, the configuration will be described. In FIG. 1, a navigation device 1 includes a positioning detection unit 2, a yaw direction angular velocity detection unit 3, a pitch direction angular velocity detection unit 4, a sensitivity correction unit 5, a control unit 6, a map recording unit 7, and a display unit 8.
Consists of

The positioning detecting means 2 is composed of a GPS receiver or the like, and receives an electric wave from an artificial satellite to detect an absolute position of a vehicle (moving body).

The yaw direction angular velocity detecting means 3 comprises a gyro sensor for detecting the angular velocity of the vehicle in the yaw direction.

The pitch direction angular velocity detecting means 4 comprises a gyro sensor for detecting the angular velocity of the vehicle in the pitch direction.

Further, as these gyro sensors,
There are an optical fiber gyro, a piezoelectric vibrating gyroscope, a crystal vibrating gyroscope, a semiconductor gyro, and the like. The angular velocity of the vehicle can be obtained by passing the output of these gyro sensors through an A / D converter or the like.

Further, the pitch direction angular velocity detecting means 4 detects the angular velocity in the pitch direction due to a change in the inclination of the road or a change in the attitude caused when the vehicle is accelerated or decelerated.

The sensitivity correction means 5 calculates a sensitivity correction coefficient using the inclination angle of the vehicle obtained by the angular velocity in the pitch direction of the vehicle detected by the pitch direction angular velocity detection means 4, and the output sensitivity of the yaw direction angular velocity detection means 3. Is corrected based on an azimuth calculation program recorded on a recording medium such as a CD-ROM.

The map recording means 7 is a CD-ROM or DVD
-It is constituted by a recording medium such as a ROM, and is constituted by recording road information on this recording medium.

The control means 6 comprises a yaw direction angular velocity detecting means 3 corrected by the positioning detecting means 2 and the sensitivity correcting means 5.
The vehicle position and direction are calculated from the output of the vehicle, and are compared with the road information of the map recording means 7 to calculate the vehicle position and direction on the map, and are constituted by a CPU, a ROM, a RAM, and the like.

The display means 8 is a liquid crystal display or an LED.
The current position of the vehicle is displayed.

Next, a method of calculating a moving direction will be described with reference to FIG.

In FIG. 2, it is assumed that a vehicle 11 travels on a road 10 having a slope having an inclination angle θ.
Is calculated by integrating the angular velocity of the vehicle in the pitch direction detected by the angular velocity detector 4 in the pitch direction. Here, assuming that the output of the yaw direction angular velocity detecting means 3 is ω, the horizontal angular velocity ω ′ of the vehicle 11 is expressed by the following equation.

Ω ′ = ω / cos θ ...

From this equation, the sensitivity correction means 5 adds 1 to the output ω of the yaw direction angular velocity detection means 3 as a sensitivity correction coefficient.
By multiplying by / cos θ, the angular velocity ω ′ of the vehicle 11 in the horizontal direction is obtained.

Next, an azimuth calculation method will be described with reference to the flowcharts of FIGS. This processing is executed by a moving direction calculation program recorded on a recording medium.

In FIG. 3, first, the yaw direction angular velocity detecting means 3 detects the angular velocity of the vehicle 11 in the yaw direction, and the pitch direction angular velocity detecting means 4 detects the angular velocity of the vehicle 11 in the pitch direction. Input to the sensitivity correction means 5 (step S1, yaw direction angular velocity detecting step, pitch direction angular velocity detecting step).

Next, the angular velocity in the pitch direction of the vehicle 11 input in step S1 is integrated to calculate the inclination angle θ of the vehicle 11. That is, it is determined whether or not the inclination angle θ exists (step S2). If the inclination angle θ is zero, the process of step S4 is performed, and if not, the process of step S3 is performed.

In step S3, a sensitivity correction coefficient 1 / cos θ is obtained from the inclination angle θ of the vehicle 11 calculated in step S1 (sensitivity correction step), and the angular velocity in the yaw direction of the vehicle 11 input in step S1 is multiplied. Calculate the horizontal angular velocity of 11.

In step S4, if the inclination angle θ of the vehicle 11 is zero, the angular velocity in the yaw direction of the vehicle 11 input in step S1 is used. If not, the angular velocity in the horizontal direction of the vehicle 11 calculated in step S3 is used. The azimuth of the vehicle 11 is calculated by integration.

Next, the procedure for calculating the position of the vehicle will be described with reference to the flowchart of FIG.

In FIG. 4, first, the absolute position of the vehicle 11 calculated by the positioning detecting means 2 and the yaw direction angular velocity detecting means 3
The angular velocity in the yaw direction of the vehicle 11 detected in step (1), the angular velocity in the pitch direction of the vehicle 11 detected by the pitch direction angular velocity detecting means 4, and the like are input (step S11).

Next, the azimuth in the horizontal direction is calculated from the angular velocity in the yaw direction and the pitch direction of the vehicle 11 input in step S11 according to the azimuth calculation procedure obtained in the flow of FIG. 3 (step S12).

Next, the absolute position of the vehicle 11 input in step S11, the azimuth of the vehicle 11 calculated in step 12, the road information and the like recorded in the map recording means 7 are compared, and the position of the vehicle 11 on the map is compared. And the azimuth (step S1)
3). Next, the position and the azimuth of the vehicle 11 calculated in step S13 are displayed by the display means 8, and the current processing is ended.

As described above, in this embodiment, the output sensitivity error of the yaw direction angular velocity detecting means 3 caused by the inclination in the pitch direction is corrected using the sensitivity correction coefficient calculated based on the output of the pitch direction angular velocity detecting means 4. Because
Without using a distance sensor, an accurate vehicle direction can be displayed even when a road such as a slope is inclined. In the present embodiment, the absolute position is detected by the positioning detecting means 2. However, the relative position and the relative direction are obtained by the distance sensor and the direction sensor, and the own vehicle position and the direction are calculated by adding these. It may be configured.

FIG. 5 is a diagram showing a second embodiment of a moving azimuth calculating apparatus, a moving azimuth calculating method and a recording medium for recording a moving azimuth calculating program according to the present invention. The same numbers are assigned and the description is omitted.

In the present embodiment, as shown in FIG.
A roll direction angular velocity detecting means 21 is provided in place of the pitch direction angular velocity detecting means of the embodiment. The roll direction angular velocity detecting means 21 is a gyro sensor that detects the angular velocity of the vehicle 11 in the roll direction.

The roll direction angular velocity detecting means 21 detects a change in angular velocity caused by a bank angle of the road, a change in the attitude of the roll direction when the vehicle 11 turns, and the like.

The sensitivity correction means 5 calculates a sensitivity correction coefficient using the inclination angle of the vehicle 11 obtained by the roll direction angular velocity of the vehicle 11 detected by the roll direction angular velocity detection means 21, and detects the yaw direction angular velocity. The output sensitivity of the angular velocity detected by the means 11 is corrected.

The procedure of the moving azimuth calculation processing of this embodiment is as follows.
It can be performed in the same procedure as the processing procedure of the first embodiment shown in FIG. That is, a roll direction angular velocity detection step is added instead of the pitch direction angular velocity detection step of the first embodiment, and in the sensitivity correction step, the roll direction angular velocity is calculated using the sensitivity correction coefficient calculated based on the output of the roll direction angular velocity detection means 21. The output sensitivity error of the yaw direction angular velocity detecting means 3 caused by the inclination is corrected.

As described above, in the present embodiment, the output sensitivity error of the yaw direction angular velocity detecting means 3 caused by the inclination in the roll direction is corrected using the sensitivity correction coefficient calculated based on the output of the roll direction angular velocity detecting means 21. Because
The position of the gyro sensor is not limited, and an accurate vehicle orientation can be displayed even when traveling on a banked road or when the suspension is expanded and contracted to cause an inclination angle in the roll direction.

In the apparatus configuration of the present embodiment, the configuration having only the roll direction angular velocity detecting means 21 has been described. However, the yaw direction caused by the inclination in the roll direction and the pitch direction can be obtained by adding the pitch direction angular velocity detecting means. May be corrected simultaneously.

FIGS. 6 and 7 are diagrams showing a third embodiment of a moving azimuth calculating apparatus, a moving azimuth calculating method and a recording medium in which a moving azimuth calculating program according to the present invention is recorded.
The same components as those of the embodiment are denoted by the same reference numerals, and description thereof is omitted.

In the present embodiment, as shown in FIG. 6, a new angular velocity detector is not used for the sensitivity correction of the yaw direction angular velocity detector, and the inclination information recording means 31 for recording the inclination information of the road is provided. It is a characteristic.

As the tilt information recording means 31, a DVD-R
A method of embedding in map information provided by an OM or a CD-ROM, a method of embedding information in which position information and inclination information are written together in an external recording medium or a program, or obtaining information from an external information server by communication A method or the like is used.

The sensitivity correction means 5 calculates a sensitivity correction coefficient using the inclination angle of the road obtained from the inclination information recorded in the inclination information recording means 31, and corrects the output sensitivity of the yaw direction angular velocity detection means 3.

FIG. 7 is a flowchart showing a moving azimuth calculation procedure in this embodiment.

In FIG. 7, first, the absolute position of the vehicle 11 calculated by the positioning detecting means 2, the yaw direction angular velocity of the vehicle 11 detected by the yaw direction angular velocity detecting means 3, and the like are input (step S21).

Next, the inclination angle θ of the road on which the vehicle 11 is currently running is acquired from the absolute position of the vehicle 11 input in step S21 and the inclination information recorded in the inclination information recording means 31 (step S22). Next, it is determined whether or not there is an inclination angle (step S23).
Proceed to the process at 25, and if not zero, proceed to the process at step S24.

In step 24, a sensitivity correction coefficient 1 / cos θ is obtained from the road inclination angle θ obtained in step S22, and is multiplied by the yaw direction angular velocity of the vehicle 11 inputted in step S21, thereby obtaining the horizontal correction of the vehicle 11 in the horizontal direction. Calculate the angular velocity.

In step S25, the inclination angle θ of the road is determined.
Is zero, the angular velocity in the yaw direction of the vehicle 11 input in step S21, and if not zero, the vehicle speed obtained in step S22
The azimuth of the vehicle 11 is calculated by integrating the horizontal angular velocities of the eleventh direction.

Next, the absolute position of the vehicle 11 input in step 21 and the direction of the vehicle 11 calculated in step S25 are compared with the road information recorded in the map recording means 7, and the position of the vehicle 11 on the map is compared. And the azimuth (step S2
6).

Next, the display means 8 executes step S26.
The position and orientation of the vehicle 11 calculated in are displayed, and the current process ends.

As described above, in this embodiment, the inclination information recording means 31 for recording the inclination information of the road is provided, and the sensitivity correction coefficient calculated based on the inclination information recorded in the inclination information recording means 31 is used. Since the output sensitivity error of the yaw direction angular velocity detecting means 3 caused by the inclination of the vehicle is corrected, the distance sensor can be made unnecessary, and the output sensitivity error due to the inclination can be corrected without limiting the installation position of the sensor. And a more accurate moving direction can be obtained.

[0068]

According to the present invention, it is possible to correct the output sensitivity error of the angular velocity in the yaw direction caused by the inclination of the road. Further, since an acceleration sensor is not used as the inclination angle detecting means, a distance sensor is not required, and there is no influence of a distance sensor error.

[Brief description of the drawings]

FIG. 1 is a diagram showing a first embodiment of a moving azimuth calculating device, a moving azimuth calculating method, and a recording medium on which a moving azimuth calculating program is recorded according to the present invention, wherein the moving azimuth calculating device is applied to a navigation device of a vehicle. Block diagram of time

FIG. 2 is an explanatory diagram of a moving direction calculation method according to the first embodiment.

FIG. 3 is a flowchart showing a direction calculation procedure according to the first embodiment;

FIG. 4 is a flowchart illustrating a moving azimuth calculation procedure according to the first embodiment;

FIG. 5 is a diagram showing a second embodiment of a moving azimuth calculating device, a moving azimuth calculating method, and a recording medium recording a moving azimuth calculating program according to the present invention, wherein the moving azimuth calculating device is applied to a navigation device of a vehicle. Block diagram of time

FIG. 6 is a diagram showing a third embodiment of a moving azimuth calculating device, a moving azimuth calculating method, and a recording medium on which a moving azimuth calculating program is recorded according to the present invention, wherein the moving azimuth calculating device is applied to a navigation device of a vehicle. Block diagram of time

FIG. 7 is a flowchart showing a moving azimuth calculation procedure according to the third embodiment;

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 navigation device 2 positioning detection means 3 yaw direction angular velocity detection means 4 pitch direction angular velocity detection means 5 sensitivity correction means 6 map recording means 7 control means 8 display means 10 road 11 vehicle 21 roll direction angular velocity detection means 31 inclination information recording means

Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat II (reference) G01S 5/14 G01S 5/14 (72) Inventor Hiroki Ota 4-3-1 Tsunashima Higashi, Kohoku-ku, Yokohama-shi, Kanagawa Prefecture Matsushita F term (reference) in Communication Industry Co., Ltd. 2C032 HB02 HB22 HC08 HD03 2F105 AA02 AA03 BB07 5J062 AA05 BB01 BB02 BB03 CC07 FF04 HH05

Claims (7)

[Claims] 1. An apparatus for calculating an orientation of a moving object,
Yaw direction angular velocity detecting means for detecting the yaw direction angular velocity of the moving body, pitch direction angular velocity detecting means for detecting the pitch direction angular velocity of the moving body, and sensitivity calculated based on the output of the pitch direction angular velocity detecting means. A moving direction calculating device, comprising: a correcting means for correcting an output sensitivity error of the yaw direction angular velocity detecting means caused by a tilt in a pitch direction using a correcting coefficient. 2. An apparatus for calculating an orientation of a moving body,
A yaw direction angular velocity detecting means for detecting an angular velocity of the moving body in a yaw direction; a roll direction angular velocity detecting means for detecting a rolling direction angular velocity of the moving body; and a sensitivity calculated based on an output of the roll direction angular velocity detecting means. A moving direction calculating device, comprising: a correcting means for correcting an output sensitivity error of the yaw direction angular velocity detecting means caused by the inclination in the roll direction by using a correcting coefficient. 3. An apparatus for calculating an orientation of a moving body,
Yaw direction angular velocity detecting means for detecting the yaw direction angular velocity of the moving body, inclination information recording means for recording road inclination information, and a sensitivity correction coefficient calculated based on the inclination information recorded in the inclination information recording means And a sensitivity correcting means for correcting an output sensitivity error of the yaw direction angular velocity detecting means caused by the inclination of the moving object by using the moving direction calculating apparatus. 4. A method for calculating an azimuth of a moving body, comprising: a yaw direction angular velocity detecting step of detecting a yaw angular velocity of the moving body; and a pitch direction angular velocity detecting step of detecting a pitch direction angular velocity of the moving body. A sensitivity correction step of correcting an output sensitivity error of the detection result in the yaw direction angular velocity detection step caused by the pitch direction inclination using a sensitivity correction coefficient calculated based on the detection result in the pitch direction angular velocity detection step. A moving azimuth calculation method, characterized in that: 5. A method for calculating a bearing of a moving object, comprising:
A yaw direction angular velocity detecting step of detecting the yaw direction angular velocity of the moving body, a roll direction sensitivity detecting step of detecting a roll direction angular velocity, and a sensitivity correction coefficient calculated based on the detection result of the roll direction angular velocity detecting step. And a sensitivity correcting step of correcting an output sensitivity error of a detection result in the yaw direction angular velocity detecting step caused by the inclination in the roll direction. 6. A method for calculating an orientation of a moving object, comprising:
A yaw direction angular velocity detecting step of detecting the angular velocity of the moving body in the yaw direction, an inclination information recording step of recording inclination information of the road, and a sensitivity correction coefficient calculated based on the inclination information recorded in the inclination information recording step. And a sensitivity correction step of correcting an output sensitivity error calculated based on a detection result of the yaw direction angular velocity correction step. 7. A recording medium on which an azimuth calculation program for executing correction of an output sensitivity error according to claim 1 is recorded.