JP2003057330A - Signal radiation device, position detecting device, position identifying program, and navigation device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce to the utmost vehicle position identification impossibility or a position identification error in a place where a GPS signal is difficult to receive and shorten the time required to identify the present position. SOLUTION: A signal radiation device 1 is composed of a GPS signal re-radiation device 2 and a position data transmitting device 3. The GPS signal re-radiation device 2 receives a GPS signal from a GPS satellite 7, and radiates the received signal inside an indoor parking zone A with a transmission antenna 6. The position data transmitting device 3 radiates latitude/longitude data stored in a memory circuit 8 through a transmission antenna 10. A navigation device 11 mounted on a vehicle B running the indoor parking zone A can identify the present position by receiving the radiated signal.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a signal radiating device, a position detecting device, and a position specifying device which can improve convenience in using a position detecting device which receives a GPS signal transmitted from a GPS satellite and specifies a position. Program and navigation device.

[0002]

For example, a navigation device mounted on a vehicle receives a GPS signal from a GPS satellite and performs calculation based on the GPS signal to determine the current position of the vehicle equipped with the navigation device. Specific processing is being performed. Therefore, for example, in an indoor parking lot such as a multi-storey parking lot, an underground parking lot, or in a tunnel, in a place closed from the sky where GPS signals from GPS satellites cannot be received, the navigation device determines the position of the mounted vehicle. There are some things that cannot be specified. At this time, it may not be possible to accurately display on the display device provided in the navigation device, and the user may not be able to determine the vehicle position.

In recent years, the GPS from the GPS satellite is thus
When a vehicle travels in a place where it cannot receive a signal, the azimuth sensor such as a gyroscope is used to know the azimuth of the traveling direction of the vehicle, and dead reckoning (autonomous navigation) ) Has been used to perform a virtual calculation process to identify a vehicle position. However, since cumulative errors occur in the outputs of the azimuth sensor and the distance sensor, there is a possibility that an erroneous display of the own vehicle position may be finally displayed.

Even if the navigation device can receive GPS signals from GPS satellites, when a vehicle equipped with the navigation device travels, for example, in a high-rise building street, the received GPS signal is a reflected wave due to multipath. In some cases. At this time, even if the navigation device determines the position of the vehicle, the determined position does not always represent an accurate position. Therefore, whether the position identification process by dead-reckoning is correct or the position identification process by GPS signal is correct. It takes a long time to perform the arithmetic processing for verifying whether it is correct, and during that time, the initial image etc. (waiting screen etc.) may remain displayed on the display device, impairing the convenience for the user. There is a situation that

The present invention has been made in view of the above circumstances, and an object of the present invention is to make it possible to minimize position indetermination and position identification error, and further to enable the navigation device to accurately identify the current position. It is an object of the present invention to provide a signal radiating device, a position detecting device, a position specifying program, and a navigation device that can reduce the time required for.

[0006]

According to the signal radiating device of claim 1, the signal generating means generates a signal, and the radiating means radiates the signal to a position where position detection by a GPS signal is difficult. Therefore, for example, the vehicle passing through the radiated position can receive the signal radiated from the radiating means if the position detecting device is mounted, and specify the position based on this signal.

As a result, it becomes possible to specify the position by receiving the above-mentioned signal even in a place where the GPS signal does not reach or where the influence of the reflected wave is large, and the vehicle position cannot be specified or the position can be specified. The error can be eliminated as much as possible.

Further, since the position detecting device can receive the signal radiated from the radiating means, when the position detecting device is installed in, for example, a high-rise building street, the influence of the reflected wave is reduced, and the calculation for verification is performed. Since the frequency becomes low or the verification calculation processing time becomes short, the time required for the position detection device to accurately identify the current position of the vehicle can be shortened.

According to the signal radiating device of the second aspect, in the signal radiating device of the first aspect, the G means is provided by the receiving means.
Since the PS signal is received and the PS signal is radiated to the radiation position corresponding to the installation position of the receiving means, the position detection device can receive the GPS signal as it is at the reception position to identify the position, The configuration can be simple and practical.

Further, according to the signal radiating device of claim 3, in the signal radiating device of claim 1 or 2,
Since the radiating means radiates the position data stored in the storage means to a position where it is difficult to specify the position, it is not necessary to perform arithmetic processing for specifying the position as in the case of receiving a GPS signal, and the position detecting device Can locate quickly.

According to the signal radiating device of the fourth aspect, since the signal radiating device is installed so as to set the radiating position at at least two positions through which the position detecting device passes, each GPS is provided for each radiating position. The signals or the position data represent different positions, and the traveling direction can be derived by specifying at least two positions in the position detecting device.

According to the position detecting device of the fifth aspect, the position specifying means, when receiving the signal generated by the signal generating means according to any one of the first to fourth aspects, specifies the position by the signal. In this case, when the position detecting device receives the signal generated from the GPS signal, the position can be specified, and the position cannot be specified and the position specifying error can be minimized. Further, when the position detection device receives a signal based on the position data stored in the storage means, the position is specified based on the position data. At this time, the GP is used.
The position can be quickly identified as compared with the one that identifies the position based on the S signal.

According to the signal radiating device of the seventh aspect, the receiving means receives the GPS signal from the GPS satellite, and the radiating means receives the GPS signal from the GPS satellite in a predetermined area where the GPS signal cannot reach directly. The signal based on the GPS signal is emitted. Thereby, for example, in the position detection device that passes through the predetermined area, it is possible to prevent the position unidentification and the position identification error from occurring.

According to the position detecting device and the navigation device of the ninth or tenth aspect, when the position specifying means receives a signal radiated from the signal radiating device of the seventh or eighth aspect, the position specifying means determines the position based on the signal. To do
It is possible to eliminate the unidentifiable position and the position identification error as much as possible.

[0015]

BEST MODE FOR CARRYING OUT THE INVENTION (First Embodiment) The present invention will be described below.
A first embodiment when applied to a signal radiation device installed in an indoor parking lot A and a navigation device for a vehicle will be described with reference to FIGS. 1 to 3.

FIG. 1 schematically shows the installation position and electrical configuration of the signal radiating device 1. The signal radiation device 1 is
It is composed of a GPS signal re-radiating device 2 and a position data transmitting device 3. In addition, in order to make the explanation easy to understand in FIG. 1, the signal radiation device 1 is compared with a vehicle, a GPS satellite, or the like.
Is exaggeratedly shown including the electrical configuration.

GP which also functions as a signal radiating device by itself
The S signal re-radiating device 2 includes a receiving antenna 4 as receiving means and a high frequency amplifier 5 connected to the receiving antenna 4.
And a transmitting antenna 6 as a radiation means connected to the high frequency amplifier 5.

The receiving antenna 4 is provided outside the ceiling of the indoor parking lot A so as to have directivity in the direction of the GPS satellites 7. The receiving antenna 4 is matched with the GPS radio wave band (about 1.5 GHz, 2 GHz). It is configured to receive (generate) GPS signals from at least three or more GPS satellites 7 and output them to the high frequency amplifier 5. The high frequency amplifier 5 is connected to a power source (not shown), amplifies the GPS signal with a gain of about 5 dB to 10 dB in the GPS radio wave band, and outputs it to the transmitting antenna 6.

The transmitting antenna 6 is composed of an antenna matched to the GPS radio wave band similarly to the receiving antenna 4, and is located at the receiving position corresponding to the radiation position of the receiving antenna 4.
It is configured to radiate the amplified GPS signal as a "signal" in the present invention.

On the other hand, the position data transmitter 3 which also functions as a signal radiating device by itself is connected to the memory circuit 8 as memory means, the transmitter circuit 9 connected to the memory circuit 8 and the transmitter circuit 9. And a transmitting antenna 10 as a radiation means.

The memory circuit 8 stores latitude / longitude data (corresponding to position data or "signal" in the present invention) corresponding to the radiation position of the transmitting antenna 10. Transmission circuit 9
Is configured to read this latitude / longitude data from the storage circuit 8 and radiate it via the transmitting antenna 10 within a limited range centered on the receiving position.

The receiving antenna 4 and the memory circuit 8 form the signal generating means 24 in the present invention.

FIG. 2 schematically shows the entire electrical configuration of the navigation device 11 mounted on the vehicle B traveling in the indoor parking lot A. A navigation device 11 as a position detection device includes a control circuit 12 that performs overall control operation.
(Corresponding to the position specifying means of the present invention), a position detector 13 connected to the control circuit 12, and a map data input device 1
4, external memory 15, display device 16, operation switch group 1
7, a voice output device 18, a remote controller sensor 20 for detecting a signal from the remote controller 19, and the like.

The control circuit 12 is mainly composed of a microcomputer, and includes a CPU, ROM, RA.
It is provided with an M, an I / O interface and a bus connecting these (not shown). Of these,
The ROM stores programs for route guidance, map display, various information searches, map matching, etc.
The AM temporarily stores processing data when the program is executed, road map data obtained from the map data input device 14, and the like.

The position detector 13 can receive a GPS signal from a gyroscope 21 for detecting a relative azimuth, a distance sensor 22 for detecting a traveling distance of a vehicle, and a GPS satellite, and also has latitude / longitude data ( The receiver 23 is capable of receiving (corresponding to the position data in the present invention). The position detector 13 may be combined with a geomagnetic sensor for detecting the absolute azimuth,
It may be configured by combining a rotation sensor of a steering wheel, a wheel sensor that detects the rotation of each tire, and the like.

The map data input device 14 is, for example, a CD-R.
It is for reading map data from a large-capacity information recording medium (not shown) such as OM or DVD-ROM. In this case, the information recording medium stores various types of map drawing data, map matching data, and the like. A hard disk, a magneto-optical disk, a large-capacity memory card, or the like can be used as the information recording medium.

The external memory 15 is composed of a PC card, a flash memory card, etc., and stores, for example, program software for accommodating information recording media of other standards, and saves or recalls specific data. It is provided to do.

The display device 16 includes, for example, a color liquid crystal display for displaying a map screen according to the program of the control circuit 12, and is installed near the driver's seat of the vehicle. The operation switch group 17 is composed of mechanical switches arranged around the display device 16 and touch switches formed on the color liquid crystal display of the display device 16, and controls the operation input of various data and setting items. It is configured to output to 12.

The voice output device 18 is provided with a voice synthesis circuit, an amplifier, a speaker, etc., and can generate an arbitrary voice output according to the voice information from the control circuit 12.

Then, the control circuit 12 has a function of executing a map matching process for positioning the current position on the map.
It is configured so that the navigation function of the vehicle according to the guide route can be realized.

The operation of the above-mentioned structure will be described below, focusing on the part related to the present invention. GPS signal re-radiation device 2
At the input side of the high-frequency amplifier 5, the GPS signal constantly radiated by the GPS satellite 7 is received by the receiving antenna 4 at about -1.
The high frequency amplifier 5 receives the received GPS signal at about 30 dBm and amplifies the received GPS signal by, for example, about 10 dB.

The power amplified to −120 dBm to −125 dBm including the loss of the receiving antenna 4 and the transmitting antenna 6 is used as a GPS signal and is transmitted from the transmitting antenna 6 connected to the output of the high frequency amplifier 5 to the radiation position of the receiving antenna 4. Radiation is carried out to a corresponding limited range (for example, a range within a circle having a radius of about 10 m on the traveling road in the indoor parking lot A, which corresponds to a predetermined region in the present invention). In addition, the transmission circuit 9 of the position data transmission device 3 uses the latitude and
The longitude data is read and radiated to a limited range (for example, a range within a circle having a radius of a traveling road of about 10 m in the indoor parking lot A) via the transmitting antenna 10.

FIG. 3 is a flow chart showing the operation of the navigation device 11 mounted on the vehicle B. When the vehicle B travels within a limited range where the above-mentioned GPS signals and latitude / longitude data are radiated, the navigation device 1
The No. 1 receiver 23 receives the GPS signal or the latitude / longitude data signal and outputs it to the control circuit 12. The control circuit 12 determines whether or not the signal has been received (step S1). When receiving the signal (step S1: Yes), the control circuit 12 next determines whether or not the signal is a GPS signal (step S2). The control circuit 12 is GP
If the S signal has been received, the latitude and longitude are calculated (step S3), the current position (current position) of the vehicle B is specified, and the specified position is displayed on the display device 16 (step S4). ), After which the process returns to step S1 and the above process is repeated.

Further, the control circuit 12 returns N in step S2.
In the case of o, it is determined whether or not the received signal indicates latitude / longitude data (step S5). In the case of Yes, the process proceeds to step S4 and the received signal is GPS.
Since the data is almost the same as the result of calculating the signal,
The current position (current position) of the vehicle B is specified, and the display device 16
The specified position is displayed inside and the process returns to step S1.

When a vehicle equipped with a car navigation device that does not support position identification by receiving signals of latitude / longitude data travels at the position where the vehicle B travels in this indoor parking lot, GPS signal The position of the vehicle is specified by receiving the GPS signal radiated from the radiation device 2 and calculating based on the GPS signal. That is, it is possible to support a conventional navigation device that receives a GPS signal and specifies the position.

According to the first embodiment described above, the transmitting antenna 6 is provided inside the indoor parking lot A where it is difficult to identify the position by the GPS signal of the GPS satellite 7, and the transmitting antenna 7 is provided.
However, since the GPS signal amplified by the high frequency amplifier 5 is radiated, the navigation device 11
Just like a place where GPS signals can be received, GPS
The position of the vehicle can be specified by the signal. Also,
Since the transmission antenna 10 radiates the latitude / longitude data stored in the storage circuit 8 to a position where position identification is difficult, the navigation device 11 receives the latitude / longitude data and calculates for position identification. The position can be directly specified without any processing.

Therefore, the amplified GPS signal or the latitude / longitude data arrives even inside the indoor parking lot A, and the vehicle position cannot be specified and the position specifying error can be minimized. Further, when the position is specified by the latitude / longitude data, the calculation process for specifying the position by the GPS signal is omitted, and the time required until the navigation device accurately specifies the current position can be shortened.

For example, even if the navigation device mounted on the vehicle is of a type that cannot receive position data, the position can be specified by receiving GPS signals. Can be specified.

Further, since the GPS signal re-radiating device 2 has a very simple structure of only the receiving antenna 4, the high frequency amplifier 5 and the transmitting antenna 6, the installation cost can be minimized.

The receiving antenna 4 receives the G signal from the GPS satellite 7.
The transmitting antenna 6 receives the PS signal and the received GPS
Since the signal obtained by amplifying the signal is radiated to a predetermined area where the GPS signal cannot directly reach, it is possible to prevent the position specification error or the position specification error from occurring in the navigation device 11 passing through this predetermined area. .

When the control circuit 12 receives the signal radiated from the signal radiating device 1, the control circuit 12 specifies the position according to the program in the built-in ROM based on this signal, so that the position cannot be specified or the position specifying error is minimized. It can be lost.

(Second Embodiment) FIG. 4 shows a second embodiment of the present invention. Hereinafter, parts different from the first embodiment will be described. FIG. 4 is a layout example of four (plural) signal radiation devices 1 included in the signal radiation system 30 installed in an indoor parking lot and a range where GPS signals and latitude / longitude data reach (receivable range on the vehicle B side). ) And are shown schematically. The signal radiation system 30 is composed of, for example, four signal radiation devices 1. The receiving antennas 4 constituting the signal radiating device 1 are different in the position provided in the horizontal direction for each signal radiating device 1, and the aperture plane having the directivity is directed toward the GPS satellites 7, for example, about 30 m each. They are located at intervals of several tens of meters.

Further, the transmitting antennas 6 are respectively located immediately below the respective receiving antennas 4, and the high frequency amplifier 5 is arranged so as to be interposed between the receiving antenna 4 and the transmitting antenna 6. A position signal by GPS radio waves is radiated from the transmitting antenna 6 to a limited range below the transmitting antenna 6 as shown in the figure.

The operation of the above configuration will be described with reference to an embodiment in which the vehicle B travels inside the indoor parking lot A. The vehicle B is equipped with a navigation device 11.

A GPS signal is transmitted from the GPS satellite 7,
The signal is received by each receiving antenna 4. These GPS signals are amplified by the respective high frequency amplifiers 5,
Radiation is performed from the transmitting antenna 6 to a limited range immediately below. In addition, the position data transmitting device 3 of the signal radiating device 1
Radiates the latitude / longitude data to a limited range immediately below the same as in the first embodiment.

When the vehicle B travels in the indoor parking lot A, the navigation device 11 mounted on the vehicle B is operated by the GP.
The S signal is received, the current position of the vehicle B is specified based on this GPS signal, and the current position is displayed on the display device 16. At this time, the control circuit 12 stores the present position in the built-in RAM. When the vehicle B further travels in the indoor parking lot A in the direction of the arrow C shown in the figure, the GPS signal is intermittently received. The control circuit 12 can surely obtain the traveling direction of the vehicle by comparing the stored position with the position calculated based on the GPS signal.

According to the second embodiment as described above, the navigation device 11 is used when the indoor parking lot A has a large facility area.
Since the signal radiating device 1 is installed at each of four places where the vehicle on which the vehicle is mounted passes, the navigation device 11 mounted on the vehicle B can display the traveling direction of the vehicle on the display device 16.

It is desirable that the signal radiating device 1 is installed in at least two locations on the straight running path in the indoor parking lot A. Accordingly, the navigation device 11 can accurately notify the traveling direction of the vehicle B.

(Third Embodiment) FIG. 5 shows a third embodiment. The difference from the first embodiment is that the position data transmitter 3 is installed in a traffic signal in a high-rise building street. The vehicle B traveling on the road is equipped with a navigation device 11 (not shown). It is expected that it will be difficult to identify the position by the navigation device 11 mounted on the vehicle B, such as a traffic light in a high-rise building as shown in FIG. It is installed at a point.

At this time, since the transmitting antenna 10 of the position data transmitting device 3 radiates the latitude / longitude data stored in the storage circuit 8 to a position where position identification is difficult, the car navigation device 11 receives the data. The machine 23 receives the latitude / longitude data, and the control circuit 12 receives the latitude / longitude data.
The location is specified by the longitude data. As a result, conventional G
Even in a place such as a high-rise building street where the influence of the reflected wave of the PS signal is great, the latitude / longitude data arrives, so that the vehicle position cannot be specified and the position specifying error can be minimized.

In the navigation device 11,
When receiving the signals radiated from the signal radiating devices 2 and 3,
Since the influence of reflected waves due to multipath decreases, the frequency of calculation for verification becomes low, or the verification calculation processing time becomes short, the time required for the navigation device 11 to accurately identify the current position of the vehicle is reduced. It can be shortened.

(Other Embodiments) The present invention is not limited to the above embodiments, and the following modifications and expansions are possible. In the above embodiment, the navigation device 11 is specifically shown as a navigation device mounted on a vehicle, but may be applied to a portable navigation device or a mobile terminal for position detection.

In the above embodiment, the receiving antenna 4 is constructed so as to be installed on the ceiling of the indoor parking lot A.
If the radiation position (reception position, predetermined area) can be set appropriately, it may be installed on the side wall. Further, although the transmission antenna 6 and the transmission antenna 10 are separately provided in the signal radiating device 1, the signal radiating devices 2 and 3 may be integrally switched.

In the signal radiating system 30, a plurality of signal radiating devices 1 are installed, but either the GPS signal re-radiating device 2 or the position data transmitting device 3 may be installed in plural for reasons of installation environment or cost. It may be installed, or these may be combined and installed according to the application. That is, for example, the transmitting antenna 6 of the signal radiation device 1 and the receiving antenna 4 corresponding to the planned installation location
If there is no place where the antenna can be installed, it can be dealt with by installing the position data transmitter 3 at the place where the transmitting antenna 6 is to be installed. Therefore, it is possible to construct a system that can flexibly cope with the situation.

In the above embodiment, the position data transmitting device 3 is configured to radiate the latitude / longitude data, but it also includes the altitude (height) data corresponding to the position radiated by the transmitting antenna 6 in advance. You may make it radiate. The position data may be based on olmanac data or the like.

In the above embodiment, after it is determined that the GPS signal is not received, it is determined whether or not the latitude / longitude data is received.
The operation may be changed so as to determine whether or not the GPS signal is received after determining that the longitude data is not received. That is, if latitude / longitude data is received at this time, it is not necessary to determine whether or not a GPS signal is received, and it is not necessary to perform latitude / longitude calculation processing. Since the processing is omitted, the navigation device 11 can quickly identify the position.

In the above embodiment, the invention is applied to the inside of the indoor parking lot A, but the GP from the GPS satellites in the multi-story parking lot, the underground parking lot, the tunnel, the underpass, the valley of the building, etc.
It may be applied to a place indicating a space where the S signal can be blocked. The second embodiment is particularly effective in a multi-storey parking lot because many vehicles turn.

In the second embodiment, in the navigation device 11, the signal radiating device 1 is installed at an interval of about 30 m and installed in the indoor parking lot A so as to be able to receive intermittently. However, for example, it is installed at an interval of about 20 m. By doing so, it may be configured to be able to receive continuously.

[Brief description of drawings]

FIG. 1 is a conceptual diagram showing an arrangement state of a signal radiating device according to a first embodiment of the present invention.

FIG. 2 is an electrical configuration diagram of the navigation device.

FIG. 3 is a flowchart showing the operation of the navigation device.

FIG. 4 is a view corresponding to FIG. 1 showing a second embodiment of the present invention.

FIG. 5 is a view corresponding to FIG. 1 showing a third embodiment of the present invention.

[Explanation of symbols]

1 is a signal radiation device, 2 is a GPS signal re-radiation device (signal radiation device), 3 is a position data transmission device (signal radiation device),
4 is a receiving antenna (signal generating means, receiving means), 6 is a transmitting antenna (radiating means), 8 is a memory circuit (signal generating means, memory means), 10 is a transmitting antenna (radiating means), 1
1 is a navigation device (position detecting device), 12 is a control circuit (position specifying means), 23 is a receiver, 24 is a signal generating means, and 30 is a signal radiation system.

   ─────────────────────────────────────────────────── ─── Continued front page    F term (reference) 2F029 AA02 AA07 AB01 AB07 AC14                       AC18 AD01                 5H180 AA01 AA21 BB04 BB13 CC12                       FF04 FF05 FF25 FF27 FF33                 5J062 AA08 BB01 BB05 CC07 DD11                       FF01 FF04 FF05 GG01 GG02                       HH00 HH07

Claims (10)

[Claims] 1. A signal generating means for generating a signal receivable by a position detecting device that receives a GPS signal transmitted from a GPS satellite and specifies a position, and within a region where position determination by the position detecting device becomes difficult. And a radiating unit that radiates the signal generated by the signal generating unit from a predetermined radiating position. 2. The GPS signal transmitted from the GPS satellite at a reception position corresponding to the radiation position.
The signal radiating device according to claim 1, further comprising receiving means for generating the signal by receiving the signal. 3. The signal radiating device according to claim 1, wherein the signal generation unit has a storage unit that stores the signal of the radiation target as position data corresponding to the radiation position. . 4. The movement direction can be specified by setting the radiation positions in at least two locations within an area where it is difficult to identify the position by the position detection device, and passing the radiation positions through the position detection device. The signal radiating device according to any one of claims 1 to 3, wherein the signal radiating device is configured so as to be capable. 5. A position detecting device comprising position specifying means for receiving a GPS signal transmitted from a GPS satellite and specifying a position, wherein the position specifying means is the signal according to any one of claims 1 to 4. A position detection device characterized in that, when the signal generated by the generation means is received, the position is specified by the signal. 6. A position detecting device that receives a GPS signal transmitted from a GPS satellite to identify a position, and whether or not the signal generated by the signal generating means according to claim 1 is received. And a procedure for determining the position by the signal when the signal is received. 7. Receiving means for receiving a GPS signal from a GPS satellite, and a signal based on the GPS signal received by the receiving means,
A signal radiating device, comprising: a radiating unit that radiates a predetermined area to which a GPS signal from the GPS satellite cannot directly reach. 8. The predetermined area where the GPS signal from the GPS satellite cannot reach directly is a GPS signal from the GPS satellite in a facility, a multi-storey parking lot, an underground parking lot, a tunnel, an underpass, a valley of a building, or the like. The signal radiating device according to claim 7, wherein the signal radiating device refers to a space in which can be blocked. 9. A position detecting device comprising a position specifying means for receiving a GPS signal from a GPS satellite and specifying a position, wherein the position specifying means radiates from the signal radiating device according to claim 7. A position detecting device, characterized in that when the received signal is received, the position is specified based on the signal. 10. A navigation device comprising a GPS receiver for receiving a GPS signal from a GPS satellite to identify a position, wherein the GPS receiver is radiated from the signal radiating device according to claim 7. A navigation device having a function of specifying a position based on the received signal.