JP2002206934A - Navigation system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To detect a moving amount between plurally layered roads, and to detect an acurate position of a vehicle. SOLUTION: This navigation system 100 is provided with a GPS receiver 101 for calculating positional information of the vehicle by a GPS signal, a vertical-directional-speed calculating part 102 for calculating a vertical directional speed based on a velocity vector calculated by the GPS receiver 101, a vertical-directional-moving-amount calculating part 103 for integrating the vertical directional speed to calculate a vertical-directional moving amount, and a vehicle-moving amount calculating part 104 for integrating a size of the velocity vector calculated by the GPS receiver 101 to calculate a vehicle moving amount. The traveling road is determined based on the vertical- directional moving amount and a horizontal-directional moving amount of the vehicle.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a navigation apparatus which is mounted on a moving body such as a vehicle, detects a current position, a moving direction, a moving distance, and the like of the moving body and displays the detected position on a display together with a map. The present invention relates to a navigation device that detects a height difference at a body position.

[0002]

2. Description of the Related Art At present, as a positioning device for a moving body such as an automobile, a position mark indicating the position of the moving body is displayed superimposed on a point on a map including the current position of the moving body. There is known a so-called navigation device that performs route guidance to a destination by using a GPS (Global Positioning) that receives positioning information from a satellite and calculates the position of the own vehicle.
System) There is a GPS type navigation device using navigation.

A conventional GPS type navigation device detects the traveling direction of a vehicle using a sensor such as an integrated gyro output or a terrestrial magnetism sensor, and detects the moving speed of the vehicle using means such as counting of vehicle speed pulses. Then, the traveling trajectory of the vehicle is determined by comprehensively judging the signal from the GPS satellite, and the vehicle position is corrected so that the traveling trajectory matches the road shape, and the position of the own vehicle is corrected. It is designed to be displayed on the screen, overlapping the map. Specifically, a speed vector is calculated based on the detected azimuth and vehicle speed, added to the current position to calculate the vehicle position, and the vehicle position is corrected based on the positioning information of the GPS receiver.

However, in such a conventional navigation device, when traveling on a plurality of adjacent roads (hereinafter, referred to as multi-layer roads) that are three-dimensionally overlapped with a difference in height, for example, when traveling on a general road, When traveling on a road with an elevated road above, it was not possible to determine whether the vehicle was traveling on an upper road or a lower road. For this reason, recently, a navigation device for detecting a vertical movement of a vehicle has been proposed and put into practical use. FIG. 15 shows a typical example of this navigation device.

[0005] The navigation device 10 shown in FIG.
A GPS receiver 1 that receives positioning information transmitted from the S satellite and calculates position information such as a position and a speed vector, an azimuth detecting unit 2 that detects a traveling direction of a vehicle, and a vehicle speed detection that detects a speed of the vehicle. Unit 3, a vertical movement detection unit 4 for detecting the vertical movement of the vehicle, and a three-dimensional structure having a height difference when the vertical movement detection unit 4 detects that the vehicle has moved in the vertical direction. A multi-layer road determination unit 5 that determines a road (hereinafter, referred to as a traveling road) traveling from among a plurality of adjacent multi-layer roads that overlap, a map data unit 6 that records the shape of the road, A traveling locus calculating unit 7 for comprehensively judging the outputs of the GPS receiver 1, the bearing detecting unit 2, and the vehicle speed detecting unit 3 to calculate the traveling locus of the vehicle; and so that the traveling locus matches the road shape, and The travel path on which the vehicle is traveling is determined by the multi-layer road determination unit 5. A map matching unit 8 that corrects the position of the own vehicle so as to match the result, and a display unit 9 that displays the position of the own vehicle on a screen based on the result calculated by the map matching unit 8 is superimposed on a map. ing.

The vertical movement detecting section 4 has a sensor for detecting the vertical movement, and detects the vertical movement of the vehicle. As this sensor, a gyro for detecting a change in pitch angle or an acceleration sensor for detecting vertical acceleration is generally used.

When the vertical movement detecting unit 4 detects that the vehicle has moved in the vertical direction, for example, the multi-layer road determination unit 5 determines that the vehicle has moved downward in the case where the vehicle has moved downward. It is determined that the vehicle has descended on the road of the upper layer, and when the vehicle has moved upward, it is determined that the vehicle has climbed the road of the upper layer.

As a method of detecting the vertical movement, as described in Japanese Patent Application Laid-Open No. Hei 10-253373, an acceleration sensor for obtaining the acceleration in the traveling direction is provided, and the gravitational acceleration calculated by the vehicle speed pulse is provided. The inclination angle of the road on which the vehicle is traveling may be determined by comparing the acceleration having no influence of the vehicle with the acceleration having the influence of the gravitational acceleration calculated by the acceleration sensor.

In the case of this method, when the vertical movement detecting section 4 detects that the vehicle has moved in the vertical direction, the multi-layer road judging section 5 moves down the multi-layer road when the vehicle moves downward. It is determined that the vehicle has descended on the upper layer road, and when the vehicle has moved upward, it is determined that the vehicle has climbed the upper layer road.

By detecting the vertical movement of the vehicle in this way, the position of the vehicle can be accurately displayed even when the vehicle is traveling on a multi-layered road.

[0011]

However, in such a car navigation system for judging a multi-layered road, it is necessary to add a new sensor to detect a vertical movement, so There is a problem that the cost, size, and power consumption of the navigation device increase.

The present invention has been made in order to solve such a problem, and detects a movement of a vehicle between multiple layers without adding a new sensor for detecting a vertical movement. To provide a navigation device for detecting an accurate position of the vehicle.

[0013]

In order to achieve the above object, a navigation device according to the present invention comprises a receiving means for receiving a GPS signal for measuring an absolute position of a moving object, and a GPS signal received by the receiving means. A recognizing unit that calculates the positioning information of the moving body based on the signal and recognizes the current position of the moving body, wherein the vertical position of the moving body is determined based on the positioning information received by the receiving unit. A vertical speed calculating means for calculating a direction speed, and a vertical moving amount calculating means for calculating a vertical moving amount of the moving body by integrating the vertical speed calculated by the vertical speed calculating means. The moving body recognized by the recognition means based on the vertical movement amount calculated by the vertical movement amount calculation means And correcting means for correcting the current position,
There is provided a notifying unit for notifying the current position of the moving object corrected by the correcting unit.

With this configuration, the vertical speed of the moving object can be calculated based on the positioning information calculated by the recognition means without newly adding a sensor for detecting the vertical movement. Since the vertical movement amount can be calculated by integrating the velocities, the current position of the moving body including the presence or absence of the vertical movement can be accurately notified.

The navigation apparatus according to the present invention has a configuration in which the vertical movement amount calculating means calculates the vertical movement amount only when the vehicle speed is equal to or higher than a predetermined vehicle speed.

With this configuration, the vertical movement amount is not calculated except when the vehicle speed is equal to or higher than a predetermined vehicle speed. Therefore, the occurrence of the error in the vertical movement amount due to the positioning error is suppressed, and the accurate vertical movement amount is reduced. Can be calculated.

Also, in the navigation device according to the present invention, the vertical speed calculating means may determine the vertical direction based on at least an elevation angle in the traveling direction of the moving object included in the positioning information and vehicle speed information output by the moving object. It has a configuration for calculating the speed.

With this configuration, it is possible to calculate the vertical movement amount of the moving body based on the elevation angle of the moving body in the traveling direction and the vehicle speed output by the moving body. Therefore, it is possible to reduce the dependency of the GPS signal on the detection of the position of the moving object, so that even in an urban area where there are many multipaths where the positioning accuracy by the GPS signal is deteriorated, the presence / absence of the movement in the vertical direction is accurately included. The current position of the moving object can be accurately notified.

The navigation apparatus according to the present invention further comprises a horizontal movement amount calculating means for calculating a horizontal movement amount of the moving body, and a shape information of a multi-layered road in which a plurality of traveling roads are three-dimensionally overlapped. Map data obtaining means for obtaining map data having the map data, and determining a traveling path of the moving body in the map data based on the horizontal movement amount and the vertical movement amount of the moving body. Is provided.

With this configuration, when the moving body is traveling on a multi-layered road, the traveling path on which the moving body is traveling is determined based on the calculated moving amounts of the moving body in the horizontal and vertical directions. Therefore, the current position of the moving object including the presence / absence of the vertical movement can be accurately notified.

Further, the navigation apparatus according to the present invention has a configuration in which the horizontal movement amount calculating means calculates based on absolute position information of the moving body.

According to this configuration, the horizontal speed of the moving body can also be calculated based on the GPS signal. Therefore, a sensor for detecting the movement of the moving body in the traveling direction can be calculated without adding a new sensor. Since the amount of movement and the amount of movement in the horizontal direction can be calculated, the current position of the moving object including the presence or absence of movement in the vertical direction can be accurately notified.

The navigation apparatus according to the present invention has a configuration in which the horizontal movement amount calculating means calculates the horizontal speed in a vector manner.

With this configuration, the moving amount of the moving body in the water direction can be calculated in a vector manner, so that the moving body can be accurately calculated.
It is possible to accurately notify the current position of the moving object including the presence / absence of vertical movement.

Further, the navigation apparatus according to the present invention has a configuration in which the horizontal movement amount calculating means calculates based on vehicle speed information detected by the moving body itself.

With this configuration, the amount of movement of the moving body in the horizontal direction can be calculated based on the vehicle speed detected by the moving body itself, and the dependence of the GPS signal on the position detection of the moving body can be reduced. Even in an urban area where there are many multipaths in which the positioning accuracy by the GPS signal is deteriorated, the current position of the moving object including the presence or absence of the vertical movement can be accurately notified.

[0027] The navigation apparatus of the present invention further comprises a detecting means for detecting that the multi-layered road is present near the current position of the moving body, and the judging means uses the detecting means to detect the current position of the moving body. The configuration is such that the determination of the traveling path is made only when it is detected that the multi-layer road is present near the position.

With this configuration, the determining means determines the traveling path only when the moving body has a multi-layered road near the current position, so that it is determined whether the moving body has moved vertically on the multi-layered road. The erroneous determination in the determination can be reduced, and the current position of the moving object including the presence / absence of the vertical movement can be accurately notified.

Further, the navigation device of the present invention has a traveling locus calculating means for calculating a traveling locus of the moving body based on the GPS signal, and the traveling locus calculating means includes:
The traveling locus including the vertical direction of the moving body is calculated based on the vertical moving amount of the moving body calculated by the vertical moving amount calculating means, and the notifying means calculates the current position of the moving body. It has a configuration for notifying the position and the traveling locus.

With this configuration, it is possible to calculate a three-dimensional traveling trajectory including the vertical direction of the moving body, so that the current position of the moving body can be obtained with high accuracy, and whether or not the moving body moves in the vertical direction can be determined. The running locus of the moving object including the moving object can be accurately notified.

[0031]

Embodiments of the present invention will be described below with reference to the drawings.

[First Embodiment] FIGS. 1 to 6 are diagrams showing a first embodiment of a navigation device according to the present invention, and are block diagrams showing the configuration of the first embodiment.

As shown in FIG. 1, the navigation device 10
0 is a GPS receiver 101 that receives positioning information transmitted from a GPS satellite and calculates position information such as a position and a speed vector, and calculates a vertical speed based on the speed vector calculated by the GPS receiver 101. Vertical speed calculation unit 102
And a vertical movement amount calculation unit 103 that calculates the vertical movement amount by integrating the vertical speed calculated by the vertical speed calculation unit 102, and integrates the magnitude of the speed vector calculated by the GPS receiver 101. A vehicle movement amount calculation unit 104 that calculates a vehicle movement amount, and a plurality of three-dimensionally overlapping vehicles having height differences when the vertical movement amount calculation unit 103 detects that the vehicle has moved in the vertical direction. A multi-layer road determination unit 105 that determines a traveling road traveling from among the adjacent multi-layer roads,
A map data section 106 for recording the shape of the road;
A travel locus calculation unit 107 that calculates the travel locus of the vehicle from the positioning result of the receiver 101, and a travel route on which the own vehicle is traveling so that the travel locus matches the road shape, and a multi-layer road determination unit.
A map matching unit that corrects the position of the own vehicle so as to match the determination result of 105; a display unit 109 that displays the position of the own vehicle on the map based on the result calculated by the map matching unit 108; It has.

The vertical speed calculation section 102 is a GPS receiver 1
The vertical speed of the own vehicle is calculated based on the speed vector of the own vehicle calculated in step 01, and the calculated vertical speed is output to the vertical movement amount calculation unit 103.

For example, the method of calculating the vertical speed is GP
When the S receiver 101 outputs the speed, the azimuth angle, and the elevation angle of the own vehicle, the following equation is obtained: vertical speed = speed × sin (elevation angle) (Equation 1). However, this is the case where the GPS receiver 101 has calculated the speed, azimuth angle and elevation angle of the vehicle, and if the GPS receiver 101 has output in a different format such as the output of the coordinate axes XYZ, this is not the case. Absent.

Here, the speed refers to a speed having no direction component, and the speed vector refers to a speed and a direction.

In the present embodiment, the velocity vector is not a two-dimensional vector having a horizontal direction, but a velocity vector shown in FIG.
FIG. 3 shows a three-dimensional vector having a vertical direction. The azimuth angle and the elevation angle are defined as the angles shown in FIGS.

The vertical movement amount calculator 103 calculates the vertical movement amount by integrating the vertical speed calculated by the vertical speed calculation unit 102, and calculates the calculated vertical movement amount. The output is output to the multi-layer road determination unit 105.

The vertical movement amount calculator 103 calculates the vertical movement amount as follows. Vertical movement amount = GPS positioning data output interval (time) × ΣVertical speed (2)

The vehicle movement amount calculation unit 104 includes a GPS receiver 101
Calculates the amount of movement of the vehicle in the horizontal direction (hereinafter referred to as the vehicle movement amount) by integrating the magnitudes of the calculated speed vectors, and uses the calculated vehicle movement amount as a multi-layer road determination unit.
Output to 105.

The vehicle moving amount calculating section 104 calculates the vehicle moving amount as follows. Vehicle movement amount = GPS positioning data output interval (time) × Σ velocity vector size (Equation 3)

For example, when the GPS receiver 101 moves 1 m / s to the north
ec, 1 m / sec to the east, and 1 m / sec to the south, the speed information is output at 1 second intervals. The vehicle movement amount is obtained by integrating the speed vector magnitude, and the vehicle movement amount = 1m + 1m + 1m = 3m. -(Equation 4)

The multi-layer road determination section 105 receives a vertical movement amount and a vehicle movement amount, and determines a multi-layer road based on the vertical movement amount and the vehicle movement amount. It has become.

The multi-layer road judging section 105 determines whether the vehicle moves vertically by a certain amount or more when the vehicle movement amount changes by a certain amount or more (in FIG. 3, the direction away from the earth is positive). It is determined that the layered road has descended to the lower layer road or has climbed to the upper layer road.

Specifically, as shown in FIGS. 4 and 5, a change in the vertical movement amount when the vehicle movement amount becomes a constant value (Am) is calculated, and this vertical movement amount is calculated in advance. The judgment is made by comparing with a set value (threshold value). As shown in FIG. 4, when the amount of vertical movement increases, the amount of vertical movement becomes the threshold value (Bm).
If it becomes larger, it is judged that it has climbed the upper layer road,
Conversely, as shown in FIG. 5, when the amount of vertical movement decreases, the amount of vertical movement becomes the threshold value (Cm).
If it becomes larger, it is determined that the vehicle has descended on a lower layer road.

The traveling locus calculation unit 107 includes a GPS receiver 101
As a result of the positioning, specifically, the vehicle position and the speed vector are input, and the traveling locus of the vehicle is calculated based on the input vehicle position and the speed vector. The calculated traveling locus is output to the map matching unit 108.

As a method of calculating the traveling locus, for example, a method of calculating the traveling locus by connecting the calculated vehicle position x shown in FIG. 6A, and integrating the velocity vector v shown in FIG. 6B Trajectory calculation method, or a method using both of them. However, in this embodiment,
The method of calculating the traveling locus is not limited to the above.

Next, the operation of this embodiment will be described.

First, the GPS receiver 101 receives a signal from a GPS satellite, calculates positioning information of a position and a speed vector, and calculates a vertical speed calculating unit 102 and a vehicle moving amount calculating unit 104.
And to the travel locus calculation unit 107.

Next, the vertical speed calculating unit 102
While calculating the vertical speed from the speed vector calculated by the S receiver 101, the vertical movement amount calculation unit 103 calculates the vertical movement amount by integrating the vertical speed based on the vertical speed, Output to the multi-layer road determination unit 105. Further, the vehicle movement amount calculation unit 104 calculates the vehicle movement amount by integrating the magnitudes of the speed vectors calculated by the GPS receiver 101, and outputs the vehicle movement amount to the multi-layer road determination unit 105.

Next, the multi-layer road judging section 105 determines whether the vehicle has moved downward by a certain amount or more when the vehicle moving amount has changed by a certain amount or more based on the input vehicle moving amount and the vertical direction moving amount. Determines that the vehicle has descended on a lower layer road on a multi-layer road or has moved upward by a predetermined amount or more, and has determined that the vehicle has climbed an upper layer road. Output to

On the other hand, traveling trajectory calculation section 107 calculates the traveling trajectory of the vehicle based on the vehicle position and the speed vector input from GPS receiver 101, and outputs the calculated traveling trajectory to map matching section.

Next, the map matching unit 108 stores the determination result of the multi-layer road, the road shape data from the map data unit 106, and the travel locus of the vehicle calculated from the positioning result of the GPS receiver 101 in the travel locus calculation unit 107. The input vehicle position is corrected so that the traveling locus matches the road shape and the traveling path on which the own vehicle travels matches the determination result of the multi-layer road determination unit 105.

Finally, the position of the own vehicle is displayed on the display unit 109 on the screen based on the result of the map matching, overlapping the map.

As described above, according to the present embodiment, the positioning information transmitted from the GPS satellites can be received, and the position information such as the position and the speed vector can be calculated. And the vertical movement amount can be calculated based on the vertical speed. That is, when the vehicle is traveling on a multilayer road by the multilayer road determination unit 105, the traveling road on which the vehicle is traveling is determined based on the calculated amount of movement of the vehicle in the horizontal direction and the vertical direction. Therefore, the current position of the vehicle including the presence or absence of the vertical movement can be accurately displayed on the display unit 109.

As a result, the vertical movement of the vehicle can be detected without adding a new sensor for detecting the vertical movement.

[Second Embodiment] FIGS. 7 and 8 are diagrams showing a second embodiment of the navigation device according to the present invention, and FIG. 7 is a block diagram showing the configuration of the second embodiment.

Note that the present embodiment is characterized in that the vehicle movement amount calculation unit of the first embodiment calculates the vehicle movement amount in a vector manner to increase the calculation accuracy. Since the configuration is the same as that of the first embodiment, the same members are denoted by the same reference numerals and the description is omitted.

As shown in FIG. 7, the navigation device 20
0 is a GPS receiver 101 that receives positioning information transmitted from a GPS satellite and calculates position information such as a position and a speed vector, and calculates a vertical speed based on the speed vector calculated by the GPS receiver 101. Vertical speed calculation unit 102
And a vertical movement amount calculation unit 103 that calculates the vertical movement amount by integrating the vertical speed calculated by the vertical speed calculation unit 102, and integrates the magnitude of the speed vector calculated by the GPS receiver 101. A vehicle travel distance calculation unit 110 that calculates the vehicle travel distance, and a vertical travel distance calculation unit 103, when detecting that the vehicle has moved in the vertical direction, the traveling road traveling from the multi-layer road. Multi-layer road determination unit 105
A map data section 106 for recording the shape of the road;
A traveling locus calculation unit 107 for calculating a traveling locus of the vehicle from the positioning result of the PS receiver 101; and a multi-layered road judging unit which determines that the traveling locus matches the road shape and that the own vehicle is traveling. A map matching unit that corrects the position of the own vehicle so as to match the determination result of 105; a display unit 109 that displays the position of the own vehicle on the map based on the result calculated by the map matching unit 108; It has.

As in the first embodiment, the vehicle movement amount calculating section 110 calculates the vehicle movement amount by integrating the magnitudes of the velocity vectors calculated by the GPS receiver 101. The amount of vehicle movement is output to the multi-layer road determination unit 105.

In the vehicle movement amount calculating section 110, the vehicle movement amount is calculated by the calculation shown in (Equation 3), as in the first embodiment. In the first embodiment, for example, As shown in FIG. 8, the GPS receiver 101
1m / sec to the north, 1m / sec to the east, 1m / sec to the south
Assuming that the speed information of sec is output at intervals of one second, the magnitude of the speed vector is loaded, and the vehicle movement amount becomes 3 m as shown in (Equation 4). And the movement amount is calculated as 1 m.

Even if the vehicle is stationary, the GPS receiver 101 may output a speed of about 1 m / sec due to an error, and the direction serving as a reference for calculation is randomly output in east, west, north and south. You. If such an error occurs, in the first embodiment, the vehicle may travel 3 m in spite of the fact that the vehicle is actually stopped, but in the present embodiment, the vehicle travels 1 m closer to the actual value. ,
The calculation accuracy of the vehicle movement amount is increased.

When the magnitude of the speed is integrated,
Since the magnitude of the speed is always “0” or a positive value,
In the calculation method according to the first embodiment, the error increases but does not decrease, and the error accumulates. On the other hand, in the present embodiment, the error can be canceled, such as returning to the north and returning to the south, so that the calculation accuracy of the vehicle movement amount can be increased.

As described above, according to the present embodiment, in addition to the effects of the first embodiment, the vehicle movement amount calculating section 110
Then, since the speed vector calculated by the GPS receiver 101 can be integrated in a vector manner to calculate the vehicle movement amount,
When the vehicle movement amount is calculated by integrating the magnitudes of the vectors, the accuracy of calculating the vehicle movement amount is low because errors are accumulated especially at low speed traveling. As a result, the error component of the speed vector is canceled, so that the calculation accuracy of the vehicle movement amount can be improved.

[Third Embodiment] FIG. 9 is a diagram showing a third embodiment of the navigation device according to the present invention.
FIG. 9 is a block diagram illustrating a configuration of a third embodiment.

The present embodiment differs from the first embodiment in that the vehicle movement amount calculation unit of the first embodiment calculates the vehicle movement amount by integrating the magnitude of the speed vector calculated by the GPS receiver. It is characterized in that the vehicle movement amount is calculated based on the output of the vehicle or the vehicle speed detected by the vehicle speed pulse, etc., and the other configuration is the same as that of the first embodiment. The description is omitted.

As shown in FIG. 9, the navigation device 30
0 is a GPS receiver 101 that receives positioning information transmitted from a GPS satellite and calculates position information such as a position and a speed vector, and calculates a vertical speed based on the speed vector calculated by the GPS receiver 101. Vertical speed calculation unit 102
A vertical movement amount calculation unit 103 that calculates the vertical movement amount by integrating the vertical speed calculated by the vertical speed calculation unit 102; and a vehicle speed detection unit 111 that detects the vehicle speed of the vehicle.
And a vehicle movement amount calculation unit 112 that calculates the vehicle movement amount by integrating the vehicle speed detected by the vehicle speed detection unit 111, and a vertical movement amount calculation unit 103 that detects that the vehicle has moved in the vertical direction. A multi-layer road determination unit 105 for determining a traveling road from among multi-layer roads, a map data unit 106 for recording the shape of the road, and a traveling locus of the vehicle based on a positioning result of the GPS receiver 101. Travel locus calculation unit 107 for calculating
And a map matching unit that corrects the position of the own vehicle so that the traveling locus matches the road shape and that the traveling route on which the own vehicle is traveling matches the determination result of the multi-layered road determination unit 105.
And a display unit 109 for displaying the position of the own vehicle on the screen on the screen based on the result calculated by the map matching unit 108.

The vehicle speed detecting section 111 detects the vehicle speed of the own vehicle by, for example, integrating the output of the acceleration sensor or detecting a vehicle speed pulse. It is output to the calculation unit 112.

The vehicle moving amount calculating unit 112 receives the vehicle speed of the own vehicle detected by the vehicle speed detecting unit 11 and calculates the vehicle moving amount based on the input vehicle speed. The moving amount is output to the multi-layer road determination unit 105.

The vehicle movement amount calculation section 112 calculates the vehicle movement amount as follows. Vehicle travel distance = vehicle speed calculation interval (time) x vehicle speed ... (Equation 5)

Next, the operation of the present embodiment will be described.

First, the GPS receiver 101 receives a signal from a GPS satellite, calculates positioning information of a position and a speed vector, and calculates a vertical speed calculating unit 102 and a traveling trajectory calculating unit 1.
Output to 07.

Next, the vertical speed calculation unit 102
While calculating the vertical speed from the speed vector calculated by the S receiver 101, the vertical movement amount calculation unit 103 calculates the vertical movement amount by integrating the vertical speed based on the vertical speed. Output to the multi-layer road determination unit 105.

The vehicle speed detecting section 111 detects the vehicle speed of the own vehicle at regular time intervals, and outputs the detected vehicle speed to the vehicle moving amount calculating section 112. The vehicle moving amount calculating section 112 detects the vehicle speed based on the input vehicle speed. To calculate the vehicle movement amount, and outputs the calculated vehicle movement amount to the multi-layer road determination unit 105.

Next, based on the input vertical movement amount and vehicle movement, the multi-layered road determination section 105 determines whether the vehicle has moved downward by a certain amount or more when the vehicle movement amount has changed by a certain amount or more. Determines that the vehicle has descended on a lower layer road on a multi-layer road or has moved upward by a predetermined amount or more, and has determined that the vehicle has climbed an upper layer road. Output to

On the other hand, traveling trajectory calculation section 107 calculates the traveling trajectory of the vehicle based on the vehicle position and the speed vector input from GPS receiver 101, and outputs the calculated traveling trajectory to map matching section 108.

Next, the map matching unit 108 stores the determination result of the multi-layer road, the road shape data from the map data unit 106, and the travel locus of the vehicle calculated from the positioning result of the GPS receiver 101 in the travel locus calculation unit 107. The input vehicle position is corrected so that the traveling locus matches the road shape and the traveling path on which the own vehicle travels matches the determination result of the multi-layer road determination unit 105.

Finally, the position of the own vehicle is displayed on the display unit 109 on the screen based on the result of the map matching, superimposed on the map.

As described above, according to the present embodiment, in addition to the effects of the first embodiment, the amount of horizontal movement of the vehicle can be calculated based on the vehicle speed detected by the vehicle speed detection unit 111. , Since the dependency of the vehicle position information received by the GPS receiver 101 can be reduced.
Even in an urban area where there are many multipaths where the positioning accuracy due to the PS signal is deteriorated, the current position of the vehicle including the presence / absence of vertical movement can be accurately displayed on the display unit 109.

[Fourth Embodiment] FIG. 10 is a view showing a fourth embodiment of the navigation device according to the present invention.
FIG. 14 is a block diagram illustrating a configuration of a fourth embodiment.

In the present embodiment, the vertical speed calculation unit of the first embodiment uses the G
A point at which the vertical speed is calculated based on the azimuth and elevation of the GPS receiver and the speed detected by the vehicle speed detection unit, instead of performing the calculation based on the speed, azimuth, and elevation of the own vehicle calculated by the PS receiver. Since the other configuration is the same as that of the first embodiment, the same members are denoted by the same reference numerals and description thereof will be omitted. Further, the vehicle speed detecting section of the present embodiment has the same configuration as the vehicle speed detecting section of the third embodiment.

As shown in FIG. 10, the navigation device 40
0 is a GPS receiver 101 that receives positioning information transmitted from a GPS satellite and calculates position information such as a position and a speed vector, a vehicle speed detector 111 that detects a vehicle speed of the vehicle, and a vehicle speed detector 111 that detects the vehicle speed. A vertical speed calculation unit 113 that calculates a vertical speed based on the obtained vehicle speed and the azimuth and elevation angle of the vehicle calculated by the GPS receiver 101, and integrates the vertical speed calculated by the vertical speed calculation unit 113 Vertical movement amount calculation unit 103 for calculating the vertical movement amount
And a vehicle movement amount calculation unit 104 that calculates the vehicle movement amount by integrating the magnitude of the speed vector calculated by the GPS receiver 101.
And a multi-layer road determination unit 105 that determines a traveling road traveling from among the multi-layer roads when the vertical movement amount calculation unit 103 detects that the vehicle has moved in the vertical direction; Map data section 106 for recording GPS data and GPS receiver 1
The traveling locus calculation unit 107 that computes the traveling locus of the vehicle from the positioning result of 01, and the multi-layered road judging unit 105 determines that the traveling locus matches the road shape and the road shape on which the vehicle is traveling. A map matching unit that corrects the position of the own vehicle so as to match the result; and a display unit 109 that displays the position of the own vehicle on the screen based on the result calculated by the map matching unit and overlaps the map with the map. I have.

The vehicle speed detecting section 111 detects the vehicle speed of the own vehicle by, for example, integrating the output of the acceleration sensor or detecting the vehicle speed pulse, as in the third embodiment. The vehicle speed of the own vehicle is output to the vehicle movement amount calculating unit 112.

The vertical speed calculation unit 113 is a GPS receiver 1
The vertical speed of the own vehicle is calculated based on the azimuth and elevation angle of the own vehicle input from 01 and the speed of the own vehicle calculated by the vehicle speed detection unit 111, and the calculated vertical speed is calculated as the vertical speed. The data is output to the direction movement amount calculation unit 103.

As for the method of calculating the vertical speed, the vertical speed is calculated by using the equation shown in (Equation 1) as in the first embodiment.

Next, the operation of this embodiment will be described.

First, the GPS receiver 101 receives a signal from a GPS satellite, calculates positioning information of a position and a speed vector, and calculates a vertical speed calculating unit 113 and a vehicle moving amount calculating unit 104.
And to the travel locus calculation unit 107.

Next, the vehicle speed detector 111 detects the vehicle speed of the own vehicle and outputs the detected vehicle speed to the vertical speed calculator 113.

Next, the vertical speed calculation unit 113 outputs the GP
The vertical speed is calculated based on the azimuth and elevation of the own vehicle calculated by the S receiver 101 and the speed detected by the vehicle speed detection unit 111, and the vertical movement amount calculation unit 103 calculates the vertical speed based on the vertical speed. The vertical speed is integrated to calculate a vertical movement amount and output to the multi-layer road determination unit 105. Further, the vehicle movement amount calculation unit 104 calculates the vehicle movement amount by integrating the magnitudes of the speed vectors calculated by the GPS receiver 101, and outputs the vehicle movement amount to the multi-layer road determination unit 105.

Next, the multi-layered road judging section 105 determines whether the vehicle has moved downward by a certain amount or more when the vehicle moving amount has changed by a certain amount or more based on the input vertical moving amount and the vehicle moving amount. Determines that the vehicle has descended on a lower layer road on a multi-layer road or has moved upward by a predetermined amount or more, and has determined that the vehicle has climbed an upper layer road. Output to

On the other hand, traveling trajectory calculation section 107 calculates the traveling trajectory of the vehicle based on the vehicle position and the speed vector input from GPS receiver 101, and outputs the calculated traveling trajectory to map matching section.

Next, the map matching unit 108 stores the determination result of the multi-layer road, the road shape data from the map data unit 106, and the traveling locus of the vehicle calculated from the positioning result of the GPS receiver 101 in the traveling locus calculating unit 107. The input vehicle position is corrected so that the traveling locus matches the road shape and the traveling path on which the own vehicle travels matches the determination result of the multi-layer road determination unit 105.

Finally, the position of the own vehicle is displayed on the screen on the display unit 109 so as to be superimposed on the map based on the result of the map matching.

As described above, according to the present embodiment, in addition to the effects of the first embodiment, only the elevation angle in the traveling direction of the vehicle is recognized by the GPS signal, and the elevation angle and the vehicle speed detection unit are recognized.
The vertical movement amount of the vehicle can be calculated based on the vehicle speed detected by 111. Therefore, since the dependency of the GPS signal on the position detection of the vehicle can be reduced, even in an urban area where there are many multipaths in which the positioning accuracy by the GPS signal is deteriorated, the vehicle including the presence or absence of the movement in the vertical direction can be accurately detected. Can be accurately displayed on the display unit 109.

In the present embodiment, the vehicle movement amount is calculated by integrating the magnitude of the velocity vector calculated by the GPS receiver in the vehicle movement amount calculation unit.
Similarly to the third embodiment, the vehicle movement amount may be calculated based on the vehicle speed detected by the vehicle speed detection unit described above.

[Fifth Embodiment] FIG. 11 is a diagram showing a fifth embodiment of the navigation device according to the present invention.
FIG. 14 is a block diagram illustrating a configuration of a fifth embodiment.

Note that the present embodiment is characterized in that the vertical movement amount calculation section of the first embodiment calculates the vertical movement amount only when the vehicle speed calculated by the GPS receiver is equal to or higher than a certain value. Since other configurations are the same as those of the first embodiment, the same members are denoted by the same reference numerals and description thereof is omitted.

As shown in FIG. 11, the navigation device 50
0 is a GPS receiver 101 that receives positioning information transmitted from a GPS satellite and calculates position information such as a position and a speed vector, and calculates a vertical speed based on the speed vector calculated by the GPS receiver 101. Vertical speed calculation unit 102
A vertical movement amount calculation unit 114 that calculates the vertical movement amount by integrating the vertical speed calculated by the vertical speed calculation unit 102 only when the vehicle speed calculated by the GPS receiver 101 is equal to or higher than a certain value; In addition, the vehicle movement amount calculation unit 104 that calculates the vehicle movement amount by integrating the magnitude of the speed vector calculated by the GPS receiver 101 and the vertical movement amount calculation unit 114 detect that the vehicle has moved in the vertical direction. Sometimes, a multi-layer road determination unit 105 that determines a traveling road traveling from among multi-layer roads, a map data unit 106 that records the shape of the road, and a vehicle A travel locus calculation unit 107 for calculating a travel locus, and an autonomous vehicle such that the travel locus matches the road shape and the traveling route on which the vehicle is traveling coincide with the determination result of the multi-layered road determination unit 105. Map matching unit 108 that corrects the car position Overlaid with the map the position of the vehicle based on the result calculated by the map matching unit 108 and a display unit 109 for displaying on the screen.

The vertical movement amount calculator 114 receives the vertical speed output from the vertical speed calculator 102 and constantly monitors the speed output from the GPS receiver 101. The vertical movement amount is calculated as shown in (Expression 2) based on the input vertical speed only when the speed is equal to or higher than a certain value. In addition, the vertical movement amount calculation unit 114 outputs the calculated vertical movement amount to the multi-layer road determination unit 105.

As described above, according to the present embodiment, in addition to the effects of the first embodiment, the vertical movement amount is not calculated except when the vehicle speed is equal to or higher than a predetermined vehicle speed. The occurrence of an error in the vertical movement amount due to the above can be suppressed, and the accurate vertical movement amount can be calculated.

In the present embodiment, the vertical movement amount calculation unit constantly monitors the speed of the vehicle output from the GPS receiver, and when the speed becomes equal to or higher than a certain speed, the movement amount is calculated. Although the calculation is performed, the speed may always be calculated by the vertical speed calculation unit, and the vertical speed calculation unit may be operated when the speed indicates a constant value.

In the present embodiment, the vertical speed calculator calculates the vertical speed based on the positioning information of the GPS receiver. However, as in the fourth embodiment, the vertical speed calculator calculates the vertical speed. A vehicle speed detector is provided for detecting the speed of the vehicle based on output or vehicle speed pulse.
The vertical direction speed may be calculated based on the azimuth and elevation angles input from the receiver and the speed detected by the vehicle speed detection unit.

In the present embodiment, the vehicle movement amount is calculated by integrating the speed vector calculated by the GPS receiver in the vehicle movement amount calculation unit.
Similarly to the third embodiment, the vehicle movement amount may be calculated based on the vehicle speed detected by the vehicle speed detection unit described above.

[Sixth Embodiment] FIG. 12 is a view showing a sixth embodiment of the navigation device according to the present invention.
FIG. 16 is a block diagram illustrating a configuration of a sixth embodiment.

Note that the present embodiment differs from the fifth embodiment in that the vertical movement amount is calculated only when the vehicle speed calculated by the GPS receiver is equal to or higher than a certain value. It is characterized in that it is detected by the output of an acceleration sensor or a vehicle speed pulse, and the amount of vertical movement is calculated only when the detected vehicle speed is equal to or higher than a certain value. The other configuration is the same as that of the fifth embodiment. For,
The same members are denoted by the same reference numerals and description thereof will be omitted. Also,
The vehicle speed detector of the present embodiment has the same configuration as the vehicle speed detector of the third embodiment.

As shown in FIG. 12, the navigation device 60
0 is a GPS receiver 101 that receives positioning information transmitted from a GPS satellite and calculates position information such as a position and a speed vector, and calculates a vertical speed based on the speed vector calculated by the GPS receiver 101. Vertical speed calculation unit 102
And a vehicle speed detection unit 111 for detecting the vehicle speed of the vehicle, and a vertical movement by integrating the vertical speed calculated by the vertical speed calculation unit 102 only when the vehicle speed calculated by the vehicle speed detection unit 111 is a certain value or more. A vertical movement amount calculation unit 115 for calculating the amount, a vehicle movement amount calculation unit 104 for calculating the vehicle movement amount by integrating the magnitude of the velocity vector calculated by the GPS receiver 101, and a vertical movement amount calculation unit 103 When detecting that the vehicle has moved in the vertical direction in, a multi-layer road determination unit 105 that determines the traveling road traveling from among the multi-layer road,
A map data section 106 for recording the shape of the road;
A travel locus calculation unit 107 that calculates the travel locus of the vehicle from the positioning result of the receiver 101, and a travel route on which the own vehicle is traveling so that the travel locus matches the road shape, and a multi-layer road determination unit.
A map matching unit that corrects the position of the own vehicle so as to match the determination result of 105; a display unit 109 that displays the position of the own vehicle on the map based on the result calculated by the map matching unit 108; It has.

The vertical movement amount calculation unit 115 receives the vertical speed output from the vertical speed calculation unit 102 and constantly monitors the speed output from the vehicle speed detection unit 111. , Based on the input vertical speed only when the speed is equal to or higher than a certain value (Equation 2)
The vertical movement amount is calculated as shown in FIG. In addition, the vertical movement amount calculation unit 114 outputs the calculated vertical movement amount to the multi-layer road determination unit 105.

As described above, according to the present embodiment, in addition to the effects of the first embodiment, similar to the fifth embodiment,
Since the vertical movement amount is not calculated except when the vehicle speed is equal to or higher than a predetermined vehicle speed, it is possible to suppress the occurrence of the error in the vertical movement amount due to the positioning error and to calculate the accurate vertical movement amount. .

Further, in the present embodiment, the amount of movement of the vehicle in the horizontal direction can be calculated based on the vehicle speed detected by the vehicle speed detection unit 111, and the degree of dependence of the vehicle position information received by the GPS receiver 101 can be calculated. Therefore, the present position of the vehicle including the presence / absence of vertical movement is accurately displayed on the display unit 109 even in an urban area where there are many multipaths where the positioning accuracy by the GPS signal is deteriorated. be able to.

In the present embodiment, the vertical movement amount calculation unit constantly monitors the speed of the own vehicle output from the vehicle speed detection unit, and when the speed becomes equal to or higher than a certain speed,
Although the movement amount is calculated, the speed may always be calculated by the vertical speed calculation unit, and the vertical speed calculation unit may be operated when the speed indicates a constant value.

In the present embodiment, the vertical speed calculator calculates the vertical speed based on the positioning information of the GPS receiver. However, as in the fourth embodiment, the vertical speed calculator calculates the vertical speed. The speed of the own vehicle detected by the vehicle is input to the vertical speed detector, and the vertical speed detector detects G
The vertical speed may be calculated based on the azimuth and elevation angles input from the PS receiver and the speed detected by the vehicle speed detection unit.

In this embodiment, the vehicle movement amount is calculated by integrating the speed vector calculated by the GPS receiver in the vehicle movement amount calculation unit.
Similarly to the third embodiment, the vehicle movement amount may be calculated based on the vehicle speed detected by the vehicle speed detection unit described above.

[Seventh Embodiment] FIG. 13 is a diagram showing a seventh embodiment of the navigation device according to the present invention.
FIG. 19 is a block diagram illustrating a configuration of a seventh embodiment.

The present embodiment is characterized in that, in the first embodiment, the multi-layer road determination is performed only when there is a road connecting between the multi-layer roads in the map data near the current vehicle position. Are the same as in the first embodiment, the same members are assigned the same reference numerals, and description thereof is omitted.

As shown in FIG. 13, the navigation device 70
0 is a GPS receiver 101 that receives positioning information transmitted from a GPS satellite and calculates position information such as a position and a speed vector, and calculates a vertical speed based on the speed vector calculated by the GPS receiver 101. Vertical speed calculation unit 102
And a vertical movement amount calculation unit 103 that calculates the vertical movement amount by integrating the vertical speed calculated by the vertical speed calculation unit 102, and integrates the magnitude of the speed vector calculated by the GPS receiver 101. And a map data section for recording information on the shape of the road and on the traveling road that moves up and down between the multi-layer roads
116, a multi-layer road determination unit 117 that determines whether or not the vehicle has moved between the multi-layer roads only when there is a road connecting between the multi-layer roads in the map data near the current vehicle position; Travel locus calculation unit that calculates the travel locus of the vehicle from the positioning result
107, so that the traveling locus and the road shape match, and
A map matching unit 108 that corrects the position of the vehicle so that the traveling road on which the vehicle travels matches the determination result of the multilayer road determination unit 117, and a map matching unit 108 based on the result calculated by the map matching unit 108. And a display unit 109 for displaying the position on the screen by superimposing the position on the map.

[0116] The map data section 116 records information on the shape of the road and the traveling road that moves up and down between the multilayered roads.
The road shape data is output to the map matching unit 108 and the display unit 109, and the information of the traveling road that moves up and down between the multilayer roads is output to the multilayer road determination unit 117.

The multi-layer road determination section 117 receives a vertical movement amount and a vehicle movement amount, and determines a multi-layer road based on the vertical movement amount and the vehicle movement amount. It has become.

Further, the multi-layer road determination section 117 determines the current vehicle position after correction from the map matching section 108 and the map data near this vehicle position from the map data section 116, specifically, the map data near this vehicle. Information on the traveling road that moves up and down between the multi-layer roads is input, and the determination of the multi-layer road is performed only when there is a road connecting between the multi-layer roads in the map data near the current vehicle position, The result of this determination is output to the map matching unit 119.

In the present embodiment, the same method as in the first embodiment is employed for the determination of the multi-layer road.

Next, the operation of the present embodiment will be described.

First, the GPS receiver 101 receives a signal from a GPS satellite, calculates positioning information of a position and a speed vector, and calculates a vertical speed calculating unit 102 and a vehicle moving amount calculating unit 104.
And to the travel locus calculation unit 107.

Next, the vertical speed calculation unit 102 outputs the GP
While calculating the vertical speed from the speed vector calculated by the S receiver 101, the vertical movement amount calculation unit 103 calculates the vertical movement amount by integrating the vertical speed based on the vertical speed. Output to the multi-layer road determination unit 117. Further, vehicle movement amount calculation section 104 calculates the vehicle movement amount by integrating the magnitudes of the speed vectors calculated by GPS receiver 101, and outputs the calculated vehicle movement amount to multi-layer road determination section 117.

On the other hand, traveling trajectory calculating section 107 calculates the traveling trajectory of the vehicle based on the vehicle position and the speed vector input from GPS receiver 101, and outputs the calculated traveling trajectory to map matching section.

Next, the map matching unit 108 corrects the position of the own vehicle based on the traveling locus inputted from the traveling locus calculating unit 107, and determines the corrected position of the own vehicle as the multi-layered road determining unit 11.
Output to 7.

Next, the multi-layered road determination unit 117 receives the map data near the current vehicle position of the vehicle from the map data unit 116, and also inputs the vertical movement amount and the vehicle movement amount. Based on the own vehicle position, the vertical movement amount, and the vehicle movement amount, the determination of the multi-layer road is performed only when there is a road connecting between the multi-layer roads near the vehicle position of the own vehicle. Output to

Next, the map matching unit 108 determines the result of the multi-layered road, the road shape data input from the map data unit 116 and the travel trajectory calculation unit 107 in the GPS receiver 1.
The traveling locus of the vehicle calculated from the positioning result of 01 is input, and the traveling route on which the own vehicle is traveling matches the determination result of the multilayered road determining unit 117 so that the traveling locus matches the road shape. To correct the position of the vehicle.

Finally, the position of the own vehicle is displayed on the display 109 on the screen based on the result of the map matching.

As described above, according to the present embodiment, in addition to the effects of the first embodiment, the multi-layer road determination section 117 runs only when the vehicle has a multi-layer road near the current position. Since the determination of the road is performed, it is possible to reduce erroneous determination in determining whether the vehicle has moved vertically on the multi-layer road, and to accurately determine the current position of the vehicle including the presence or absence of the vertical movement. It can be accurately displayed on the display unit 109.

In this embodiment, the vertical speed calculation unit calculates the vertical speed based on the positioning information of the GPS receiver. However, as in the fourth embodiment, the vehicle speed detection unit calculates the vertical speed. May be provided, and the vertical direction speed may be calculated based on the azimuth and elevation angles input from the GPS receiver and the speed detected by the vehicle speed detection unit.

In the present embodiment, the vehicle movement amount is calculated by integrating the speed vector calculated by the GPS receiver in the vehicle movement amount calculation unit.
Similarly to the third embodiment, the vehicle movement amount may be calculated based on the vehicle speed detected by the vehicle speed detection unit described above.

In this embodiment, the vertical movement amount calculating section may calculate the vertical movement amount only when the vehicle speed calculated by the GPS receiver is equal to or higher than a predetermined value.

In this case, the vertical movement amount calculation unit calculates the fifth movement amount.
The vehicle speed based on the positioning data may be directly received from the GPS receiver as in the embodiment, or the vehicle speed may be received from the vehicle speed detection unit described above as in the sixth embodiment.

[Eighth Embodiment] FIG. 14 is a diagram showing an eighth embodiment of the navigation device according to the present invention.
FIG. 19 is a block diagram illustrating a configuration of an eighth embodiment.

Note that the present embodiment is different from the first embodiment in that the map data in the map data section is added with information on a traveling road that moves up and down between multi-layer roads, It is characterized by the fact that the vertical trajectory is calculated instead of the trajectory, and that the map matching corrects the vehicle position so that the vertical trajectory matches the vertical trajectory as well as the horizontal direction. Since this embodiment is the same as the embodiment, the same members are denoted by the same reference numerals and description thereof will be omitted.

As shown in FIG. 14, the navigation device 80
0 is a GPS receiver 101 that receives positioning information transmitted from a GPS satellite and calculates position information such as a position and a speed vector, and calculates a vertical speed based on the speed vector calculated by the GPS receiver 101. Vertical speed calculation unit 102
And a vertical movement amount calculation unit 103 that calculates the vertical movement amount by integrating the vertical speed calculated by the vertical speed calculation unit 102, and integrates the magnitude of the speed vector calculated by the GPS receiver 101. The vehicle travel distance calculation unit 104 that calculates the vehicle travel distance, and the vertical travel distance calculation unit 103 detects the travel of the vehicle in the vertical direction when detecting that the vehicle has moved in the vertical direction. Multi-layer road judgment unit 105
A map data section 116 for recording the shape of the road;
A traveling locus calculation unit 118 that calculates the traveling locus of the vehicle including the vertical direction from the positioning result of the PS receiver 101, and a traveling route on which the own vehicle is traveling so that the traveling locus matches the road shape. A map matching unit 119 that corrects the vehicle position including the vertical direction so as to match the determination result of the multilayer road determination unit 105, and a position of the vehicle is overlapped with the map based on the result calculated by the map matching unit 119. And a display unit 109 for displaying on the screen.

The traveling trajectory calculation unit 118 receives the positioning data input from the GPS receiver 101 and the vertical movement amount calculated by the vertical movement amount calculation unit 103. The trajectory not only in the horizontal direction but also in the vertical direction is calculated based on the vertical movement amount. Further, the traveling locus calculation unit 118 outputs the traveling locus to the map matching unit 119.

The running locus including the vertical direction calculated by the running locus calculating section 118 is calculated by, for example, adding the vertical direction component (z) to the calculation method of the first embodiment. However, the method of calculating the traveling locus is not limited to the above.

Even in the map matching unit 119, similarly to the travel locus calculation unit 118, the own vehicle position is corrected so that not only the horizontal but also the vertical locus matches the road shape, and the travel locus and the road shape are corrected. Matching is performed.

The map matching unit 119 obtains, for example, data of a road shape in the vicinity where the current position of the own vehicle is detected, searches for a road having the most similar travel locus and road shape, and obtains the data by this search. The position of the own vehicle is corrected on the set road. However, the method of map matching is not limited to this.

As described above, according to the present embodiment, in addition to the effects of the first embodiment, a three-dimensional running trajectory including the vertical direction of the vehicle can be calculated. The position can be obtained, and the traveling locus of the vehicle including the presence or absence of the vertical movement can be accurately displayed on the display unit 109.

In the present embodiment, the vertical speed calculating section calculates the vertical speed based on the positioning information of the GPS receiver. However, as in the fourth embodiment, the vehicle speed detecting section calculates the vertical speed. , And the vertical speed calculation unit
The vertical speed may be calculated based on the azimuth and elevation angles input from the PS receiver and the speed detected by the vehicle speed detection unit.

In this embodiment, the vehicle movement amount is calculated in the vehicle movement amount calculating section by integrating the magnitudes of the velocity vectors calculated by the GPS receiver.
Similarly to the third embodiment, the vehicle movement amount may be calculated based on the vehicle speed detected by the vehicle speed detection unit described above.

Further, in the present embodiment, the vertical movement amount calculating section may calculate the vertical movement amount only when the vehicle speed calculated by the GPS receiver is equal to or higher than a certain value.

In this case, as in the fifth embodiment, the vertical movement amount calculating section may directly receive the vehicle speed based on the positioning data from the GPS receiver 101, or as in the sixth embodiment. Alternatively, the vehicle speed may be received from the above-described vehicle speed detection unit.

In this embodiment, as in the seventh embodiment, the multi-layer road determination may be performed only when there is a road connecting between the multi-layer roads in the map data near the current vehicle position.

[0146] In this case, the map data section records the shape of the road and the information on the traveling road that moves up and down between the multi-layered roads. In addition to outputting information on a traveling path that moves up and down between the multi-layer roads to the multi-layer road determination unit, the amount of vertical movement and the amount of vehicle movement are input to the multi-layer road determination unit. The multi-layer road is determined based on the vertical movement amount and the vehicle movement amount. Therefore, the multi-layer road determination unit is configured to receive the information on the traveling road that moves up and down between the multi-layer roads output from the map data unit and the current vehicle position from the map matching unit, Only when there is a road connecting the multiple roads in the map data near the current vehicle position, the determination of the multilayer road is performed, and the result of this determination is output to the map matching unit.

[0147]

The navigation apparatus according to the present invention can calculate the vertical speed of the vehicle based on the GPS signal received by the receiving means without newly adding a sensor for detecting the vertical movement. Since the vertical movement amount can be calculated by integrating the direction speeds, the current position of the vehicle including the presence or absence of the vertical movement can be accurately notified.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of a first embodiment of a navigation device according to the present invention.

FIG. 2 is a diagram for explaining a velocity vector (horizontal direction) and an azimuth in the first embodiment.

FIG. 3 is a diagram for explaining a velocity vector (vertical direction) and an azimuth in the first embodiment.

FIG. 4 is a graph showing multi-layer road determination when the vertical movement amount and the vehicle movement amount in the first embodiment are upward (positive in the vertical direction).

FIG. 5 is a graph showing a multi-layer road determination when the vertical movement amount and the vehicle movement amount are down (negative in the vertical direction) in the first embodiment.

FIG. 6 is a diagram illustrating an example of a calculation method for calculating a traveling locus of a vehicle according to the first embodiment.

FIG. 7 is a block diagram showing a configuration of a second embodiment of the navigation device according to the present invention.

FIG. 8 is a view for explaining vector calculation of a horizontal movement amount of a vehicle in the second embodiment.

FIG. 9 is a block diagram showing a configuration of a third embodiment of the navigation device according to the present invention.

FIG. 10 is a block diagram illustrating a configuration of a fourth embodiment of the navigation device according to the present invention.

FIG. 11 is a block diagram showing a configuration of a fifth embodiment of the navigation device according to the present invention.

FIG. 12 is a block diagram illustrating a configuration of a sixth embodiment of the navigation device according to the present invention.

FIG. 13 is a block diagram showing a configuration of a seventh embodiment of the navigation device according to the present invention.

FIG. 14 is a block diagram showing a configuration of an eighth embodiment of the navigation device according to the present invention.

FIG. 15 is a block diagram showing a configuration of a conventional navigation device.

[Explanation of symbols]

100, 200, 300, 400, 500, 600, 700, 800 Navigation device 101 GPS receiver (receiving means, recognizing means) 102 Vertical speed calculating section (vertical speed calculating means) 103, 113, 114, 115 Vertical direction Moving amount calculating unit (vertical moving amount calculating unit) 104, 110, 112 Vehicle moving amount calculating unit (horizontal moving amount calculating unit) 106, 116 Map data unit (map data obtaining unit) 105, 117 Multi-layer road determining unit (Determining means, detecting means) 107, 118 Travel locus calculation section (travel locus calculation means) 108, 119 Map matching section (correction means) 109 Display section (notification means) 111 Vehicle speed detection section

Claims (9)

[Claims] 1. A GP for measuring an absolute position of a moving body.
A navigation device comprising: receiving means for receiving an S signal; and recognition means for calculating positioning information of the moving body based on the GPS signal received by the receiving means and recognizing a current position of the moving body. A vertical speed calculating unit that calculates a vertical speed of the moving object based on the positioning information received by the receiving unit; and the moving by integrating the vertical speed calculated by the vertical speed calculating unit. Vertical movement amount calculation means for calculating the vertical movement amount of the body; and a current position of the moving body recognized by the recognition means based on the vertical movement amount calculated by the vertical movement amount calculation means. And a notifying unit for notifying a current position of the moving body corrected by the correcting unit. Navigation device and butterflies. 2. The navigation device according to claim 1, wherein the vertical movement amount calculating means calculates the vertical movement amount only when the vehicle speed is equal to or higher than a predetermined vehicle speed. 3. The vertical speed calculation means calculates a vertical speed based on at least an elevation angle in a traveling direction of the moving object included in the positioning information and vehicle speed information output by the moving object. The navigation device according to claim 1 or 2, wherein 4. A horizontal movement amount calculating means for calculating a horizontal movement amount of the moving body, and a map for obtaining map data having shape information of a multi-layered road in which a plurality of traveling roads are three-dimensionally overlapped. Data acquisition means, and a determination means for determining a traveling path of the moving body in the map data based on the horizontal movement amount and the vertical movement amount of the moving body is provided. The navigation device according to claim 1. 5. The navigation device according to claim 4, wherein the horizontal movement amount calculating means calculates the moving amount based on absolute position information of the moving body. 6. The navigation device according to claim 5, wherein the horizontal movement amount calculating means calculates the horizontal speed in a vector manner. 7. The navigation device according to claim 4, wherein the horizontal movement amount calculating means calculates the moving amount based on vehicle speed information detected by the moving body. 8. A detecting means for detecting that the multilayered road is present near a current position of the moving body, wherein the determining means detects the multilayered road near the current position of the moving body by the detecting means. 5. The method according to claim 4, wherein the determination of the traveling path is performed only when it is detected that there is a road.
The navigation device according to any one of claims 1 to 7. 9. A moving trajectory calculating means for calculating a running trajectory of the moving body based on the GPS signal, wherein the running trajectory calculating means calculates the moving trajectory of the moving body by the vertical movement amount calculating means. The travel locus including the vertical direction of the moving body is calculated based on a vertical movement amount, and the notifying unit notifies the current position and the running locus of the moving body. The navigation device according to any one of claims 1 to 8.