JP2008058096A - Travel position detector - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a travel position detection system for detecting the grounded position of a mobile unit with high precision. <P>SOLUTION: The travel position detector 10 includes a GPS position positioning processing section 12 for calculating "GPS position data" indicating the position of the detector body at regular time intervals on the basis of GPS data received from a GPS radio wave receiving antenna 11, an inclination sensor 15 for detecting the inclination data of the detector body with respect to a road surface, an autonomous position positioning processing section 17 for calculating "autonomous position data" indicating the position of the detector body at regular time intervals by determining moving distance from the previous position data until "new GPS position data" is calculated after "the previous GPS position data" is calculated, and a grounded position calculation section 18 for calculating the grounded position data of the mobile unit 5 by correcting the position data for the inclination of the road surface. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a traveling position detection device for detecting a ground contact position of a moving body with high accuracy.

  In recent years, a moving body monitoring system for monitoring a traveling position of a moving body such as a car, a motorcycle, or a human has been constructed.

  Specifically, a traveling position detection device that receives radio waves from a GPS satellite is mounted on a moving body, and “position data” of the device body is obtained based on the radio waves received from the GPS satellite. This position data is transmitted to the radio base station via the communication means, thereby constructing a mobile monitoring system.

  By the way, although the GPS positioning using the radio wave of the GPS satellite has an advantage that the position of the moving body can be measured with high accuracy, there is a problem that the positioning can be performed only several times per second. For this reason, as the moving body moves at a high speed, the distance between the measured positions is increased. As a result, it becomes difficult to capture the trajectory of the moving object with high accuracy.

  There is also a problem that the position of the moving body cannot be measured in a place where radio waves from GPS satellites do not reach.

To solve these problems, there is a method of interpolating position data by obtaining a trajectory of a moving body between positions obtained by GPS positioning by autonomous positioning (see, for example, Patent Document 1).
Japanese Patent Laid-Open No. 9-126895

  However, in the method described above, autonomous positioning is performed using an accelerometer and an angular velocity meter. For this reason, when the moving body travels in an inclined place, or when the moving body travels at an incline, the measurement axis of the acceleration sensor is inclined, and an accurate amount of movement cannot be calculated.

  In addition, when the moving body is a motorcycle or the like, the vehicle body tilts when turning on the road, so that the wheel may be grounded even if the vehicle body protrudes from the road. Therefore, in order to confirm whether or not the motorcycle is traveling on the road surface, it may be preferable to be able to measure the ground contact position data of the motorcycle wheel rather than the position data of the traveling position detection device.

  This invention is made | formed in view of the said situation, and it aims at providing the driving | running | working position detection apparatus for detecting the contact position of a mobile body with high precision.

  In order to solve the above-mentioned problems, the present invention is a traveling position detection device that is mounted on a moving body and detects the traveling position of the moving body, and is a GPS radio wave receiving antenna that receives GPS satellite data from a GPS satellite. GPS position positioning means for calculating GPS position data indicating the position of the apparatus main body at regular intervals based on GPS satellite data received by the GPS radio wave receiving antenna, and the previous GPS position data is calculated by the GPS position positioning means. Until the new GPS position data is calculated until the new GPS position data is calculated, the autonomous position positioning means for calculating the autonomous position data indicating the position of the apparatus main body at regular intervals by obtaining the moving distance from the previous GPS position data, and the device A tilt sensor for detecting tilt data with respect to the road surface of the main body and a tilt sensor for the previous GPS position data and autonomous position data. Correcting the inclination of the road surface by motor, providing the ground position calculating means for calculating a ground position data of the moving body, the traveling position detecting device that includes a storage means for storing the ground position data.

  ADVANTAGE OF THE INVENTION According to this invention, the driving | running | working position detection apparatus for detecting the contact position of a mobile body with high precision can be provided.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

<First Embodiment>
(1-1. Configuration)
FIG. 1 is a schematic diagram showing a configuration of a traveling position detection apparatus 10 according to the first embodiment of the present invention. In the present embodiment, a motorcycle is taken as an example of the moving body 5. In addition, since a plurality of GPS satellites 7A to 7D transmit GPS satellite data toward the earth, the traveling position detection device 10 can use a GPS (Global Positioning System). The number of satellites is merely an example and is not limited to four.

  The traveling position detection device 10 is mounted on the moving body 5 and detects the traveling position of the moving body 5. Here, the traveling position detection device 10 includes a GPS radio wave receiving antenna 11 and a GPS position positioning processing unit 12, a three-dimensional acceleration sensor 13, a magnetic sensor 14, an inclination sensor 15, an acceleration correcting unit 16, an autonomous position positioning processing unit 17, and a grounding. A position calculation unit 18 and a database 19 are provided.

  The GPS radio wave receiving antenna 11 is an antenna for receiving GPS satellite data transmitted from the GPS satellites 7A to 7D. The “GPS satellite data” includes information indicating time, speed, height, azimuth, latitude and longitude. The received GPS satellite data is sent to the GPS positioning processing unit 12.

  The GPS position measurement processing unit 12 calculates “GPS position data” indicating the position of the traveling position detection device 10 at regular intervals based on the GPS satellite data received by the GPS radio wave receiving antenna 11. More specifically, the GPS position data is calculated by converting the latitude and longitude data included in the GPS satellite data into position data of two-dimensional coordinates composed of the X axis and the Y axis. The GPS position measurement processing unit 12 sends the obtained GPS position data to the autonomous position measurement processing unit 17 and the ground contact position calculation unit 18.

  The three-dimensional acceleration sensor 13 detects “acceleration data” indicating the three-dimensional acceleration of the apparatus main body. The detected acceleration data is sent to the acceleration correction unit 16.

  The magnetic sensor 14 is for detecting “azimuth angle data” indicating the traveling direction of the apparatus main body. The detected azimuth angle data is sent to the autonomous position measurement processing unit 17.

  The inclination sensor 15 is for detecting “inclination data” indicating the inclination of the apparatus main body with respect to the road surface R. For example, a rotary encoder can be used. In addition to the rotary encoder, other sensors may be used as long as they can measure the rotation angle. The tilt sensor 15 sends the detected tilt data to the acceleration correction unit 16 and the ground position calculation unit 18.

  The acceleration correcting unit 16 corrects the three-dimensional acceleration data based on the inclination data detected by the inclination sensor 15 and calculates “corrected acceleration data”.

  For example, as shown in FIG. 2, when the moving body 5 travels on an inclined road such as a bank, the measurement axis of the three-dimensional acceleration sensor 13 is inclined in accordance with the inclination of the moving body 5. However, what is measured is the acceleration in the X-axis, Y-axis, and Z-axis directions with reference to the three-dimensional acceleration sensor 13 installed in the apparatus main body. Therefore, when position measurement is performed using this value, the position and deviation in the display system of latitude and longitude used in GPS positioning will occur (see FIG. 3). Therefore, the acceleration correction unit 16 calculates corrected acceleration data in which this deviation is corrected. Specifically, the acceleration correction unit 16 converts the acceleration data detected by the acceleration sensor 13 into coordinates in a GPS positioning display format based on the inclination data of the moving body 5 obtained from the inclination sensor 15. This means that the measurement axis of the three-dimensional acceleration sensor 13 is virtually corrected as shown in FIG. That is, when the inclination sensor 15 detects the inclination of the angle θ, the measurement axis corrected by the angle θ is set.

  By obtaining such corrected acceleration data, positioning errors can be suppressed even when traveling on an inclined road or when traveling on a curve. Further, when traveling on a road with ups and downs, positioning errors can be suppressed by correcting the X-axis direction. Similarly, correction in the Z direction is also possible. Here, as an example, the acceleration data is corrected using the inclination data of the inclination sensor 15, but the acceleration data may be corrected using the inclination data of the moving body 5 obtained from other sensors.

  The autonomous position measurement processing unit 17 is configured to perform “autonomous position determination” based on the GPS position data received from the GPS position measurement processing unit 12, the azimuth angle data received from the magnetic sensor 14, and the corrected acceleration data received from the acceleration correction unit 16. Data ”is calculated, and the calculated autonomous position data is sent to the ground contact position calculation unit 18.

  Specifically, the movement distance from the previous position data is corrected until the “new GPS position data” is calculated after the “previous GPS position data” is calculated by the GPS position measurement processing unit 12. “Autonomous position data” that indicates a new position of the apparatus main body by adding the moving distance to the previous position data (GPS position data or autonomous position data described later) along the direction indicated by the azimuth angle data. Is calculated at regular intervals. Thereby, the locus of the autonomous position data (cross mark in FIG. 5B) can be supplemented to the locus of the GPS position data (marked in FIG. 5A), and the position of the moving body 5 can be accurately detected. Can be requested.

  The contact position calculation unit 18 corrects the inclination of the road surface R with the inclination data with respect to the GPS position data and the autonomous position data, and calculates “contact position data” indicating the contact position of the moving body 5. The calculated ground position data is sent to the database 19.

  The ground contact position data is calculated when the moving body 5 such as a motorcycle travels in an inclined place, or when the motorcycle tilts the vehicle body and turns a curve, the GPS position data measured by the GPS and the actual traveling position are calculated. This is because an error occurs between the two. Supplementally, in GPS positioning, data of latitude and longitude of a vertically downward position of the apparatus main body is measured. However, when the mobile body 5 travels on an inclined place or travels a curve, as shown in FIG. 6, the measurement position by GPS positioning (the installation position of the apparatus main body in the mobile body 5) and the mobile body 5. There is a deviation from the position where the (motorcycle tire) is actually in contact with the ground (the deviation of the distance T in FIG. 6 occurs). Therefore, the grounding position of the mobile body 5 (motorcycle tire) is obtained from the tilt data from the tilt sensor 15 and the data indicating the installation position of the apparatus main body in the mobile body 5, and the grounding position is regarded as the position of the mobile body 5. Thus, the position of the moving body 5 can be accurately detected even in an inclined place.

  The database 19 stores “contact position data” sent from the contact position calculation unit 18 in association with the calculation time.

(1-2. Operation)
Next, operation | movement of the driving | running | working position detection apparatus 10 which concerns on this embodiment is demonstrated using the flowchart of FIG.

  First, when the traveling position detection device 10 is turned on (main unit power ON), the GPS radio wave receiving antenna 11 starts receiving GPS satellite data (steps S1 and S2).

  When the GPS radio wave receiving antenna 11 receives GPS satellite data, each of the three-dimensional acceleration sensor 13, the magnetic sensor 14, and the tilt sensor 15 starts data measurement (steps S2-Yes, S3).

  Here, the position data is calculated for each preset calculation cycle. Therefore, when the time during which the position data is calculated is divided by the calculation cycle, the number of calculations is i, and the time corresponding to the position data can be obtained from the number of calculations i. The initial calculation number i is set to 1 for convenience (step S4).

  Next, when the GPS radio wave receiving antenna 11 receives “latest GPS satellite data” in step S5, GPS position data is calculated as position data indicating the position of the apparatus body (step S5-Yes). Specifically, latitude / longitude data is extracted from the GPS satellite data by the GPS positioning processing unit 12 (step S6). The latitude / longitude data is converted into coordinate data of two-dimensional coordinates composed of the X axis and the Y axis (step S7). Thereby, GPS position data is obtained.

  On the other hand, when the latest GPS sanitary data is not received in step S5, autonomous position data is calculated as the position data of the apparatus body (step S5-No). Specifically, first, acceleration data is detected by the three-dimensional acceleration sensor 13 (step S8). The detected acceleration data is corrected to corrected acceleration data by the acceleration correction unit 16. Then, the moving distance of the moving body 5 is calculated based on the corrected acceleration data (step S9). Further, the azimuth angle data is detected by the magnetic sensor 14, and the moving direction of the moving body 5 is obtained (step S10). Next, using the previous position data as a base point, a position separated by a moving distance in the moving direction of the moving body 5 is obtained as autonomous position data (step S11).

  Subsequently, the inclination of the road surface R based on the inclination data is corrected with respect to the GPS position data or the autonomous position data, and the contact position calculation unit 18 calculates the contact position data of the moving body 5 (step S12).

  Next, the calculated ground position data is stored in the database 19 as current position data (steps S13 and S14).

  Then, the processing from step S5 to step S14 as described above is repeated until the power of the apparatus main body is turned off (main body power supply OFF) (step S15-No). At this time, the calculation count i is incremented by 1 (step S16).

(1-3. Effect)
As described above, the traveling position detection apparatus 10 according to the present embodiment calculates the “GPS position data” indicating the position of the apparatus main body at regular intervals based on the GPS data received by the GPS radio wave receiving antenna 11. Position measurement processing unit 12, inclination sensor 15 for detecting inclination data with respect to the road surface of the apparatus main body, and the time from when "previous GPS position data" is calculated until "new GPS position data" is calculated An autonomous position measurement processing unit 17 that calculates the “autonomous position data” indicating the position of the apparatus body by obtaining a moving distance from the previous position data, and correcting the inclination of the road surface with respect to the position data The configuration including the ground contact position calculation unit 18 that calculates the ground contact position data of the mobile body 5 can detect the ground contact position of the mobile body 5 with high accuracy regardless of the slope of the road surface. Kill.

  That is, the traveling position detection device 10 performs main positioning by GPS positioning, and when positioning in an environment where GPS satellites cannot be captured or when interpolating GPS positioning, based on acceleration data, azimuth angle data, and inclination data, The travel distance, travel direction, and tilt angle are obtained, and autonomous positioning is performed based on this information.

  Note that if the three-dimensional acceleration sensor 13, the magnetic sensor 14, and the tilt sensor 15 cannot obtain measurement data or measure inappropriate data, the autonomous position data may include an error. Even in such a case, since the base point of the autonomous positioning data is rewritten every time GPS position data is calculated in the traveling position detection device 10, every time GPS positioning is performed even if an error occurs in autonomous positioning, That error will be cleared. It is also possible to install a position data notification device that emits position data on the road or on the road side, and clear the error of the autonomous position data based on the position data received from the position data notification device.

  In addition, although a motorcycle runs with a posture perpendicular to the road surface on a straight line, when turning a curve, the motorcycle is bent with a large tilt. Therefore, if acceleration data is measured using the three-dimensional acceleration sensor 13, measurement is performed with the measurement axis tilted, and an error occurs when obtaining latitude and longitude data. An error also occurs when driving on a sloped place. On the other hand, since the traveling position detection apparatus 10 according to the present embodiment includes the acceleration correction unit 16, it is possible to perform accurate position measurement regardless of the traveling area and vehicle type.

(Modification)
Note that the GPS radio wave receiving antenna 11 may be a combination of a plurality of planar antennas having different inclination angles with respect to the road surface.

  For example, a general GPS radio wave receiving antenna 11 has a planar shape as shown in FIG. Therefore, when the moving body 5 travels in an inclined place or when the vehicle body is inclined and passes through a corner, the GPS radio wave receiving antenna 11 is also inclined in the direction of the inclination angle. Then, as shown in FIG. 8B, the elevation angle becomes high, and the GPS satellite data (7C in FIG. 8) that has been captured so far may be lost. As a result, the positioning accuracy decreases or becomes impossible.

  In response to such a situation, as shown in FIG. 9, if a plurality of planar antennas having different inclination angles with respect to the road surface are combined as the GPS radio wave receiving antenna 11, That antenna will face the zenith. Therefore, the GPS satellite being captured (7C in FIG. 9B) is not lost. In addition, since it is possible that positioning accuracy will fall if the radio wave from a GPS satellite with a low elevation angle is used, the antenna to be used is selected based on the tilt data from the tilt sensor 14. Note that the number and arrangement of antennas shown in FIG. 9 are merely examples, and it goes without saying that the number and arrangement of antennas may be combined in accordance with the position measurement target and the surrounding environment.

  Further, as shown in FIG. 10, the GPS radio wave receiving antenna 11 may have an arch shape. This makes it easier to receive radio waves from GPS satellites, and the same effect can be obtained. That is, even when the GPS radio wave receiving antenna 11 is tilted, GPS satellites in the zenith direction can be prevented from being lost (see FIG. 10B). The shape of the antenna may be a dome shape (hemisphere). Furthermore, the shape of the antenna may be other than a dome shape or an arch shape as long as the GPS satellite is not lost when the antenna is tilted.

  Further, as the inclination sensor 15, an optical measurement device 20 that detects inclination data of the moving body 5 and the road surface using light may be used. Specifically, as shown in FIG. 11, an optical measurement device 20 including a plurality of irradiation units 21 </ b> A to 21 </ b> K that irradiates lasers in the visible region or infrared region is installed on the moving body 5, and reflected light from the road surface. Irradiating portion (21I in FIG. 11B) is detected with the shortest reflection time until detecting. Here, since the irradiation units 21A to 21K irradiate the road surface with light at every preset angle, the inclination data of the moving body 5 is calculated by obtaining the angle corresponding to the irradiation unit with the shortest reflection time. To do. Moreover, the movement distance of all the irradiation parts 21A-21K is calculated using an image sensor etc. Thereby, the inclination and the moving distance can be measured. It should be noted that adjustment is performed by increasing the number of irradiation units 21 when performing detailed measurement, and decreasing the number of irradiation units 21 when performing rough measurement such as right or left. Further, even electromagnetic waves other than infrared rays and visible rays can be used as an inclination sensor as long as the reflection time can be measured and interference with the surroundings does not occur.

  Further, when the moving body 5 is a vehicle such as a car or a motorcycle, it is provided in the casing 30 of the traveling position detection device 10 so as to be orthogonal to the traveling direction of the moving body 5 as shown in the concept of FIG. And the rotating shaft 32 provided along the traveling direction of the moving body 5 so as to penetrate the support 31, the GPS radio wave receiving antenna 11 is provided at the upper end 31 U of the support 31, and the support By adopting a structure in which a heavy object 33 heavier than the GPS radio wave receiving antenna 11 is provided at the lower end 31L of the 31, the GPS radio wave receiving antenna 11 and the like can always be directed in the zenith direction. That is, even if the moving body 5 is tilted, the heavy object 33 such as a battery is subjected to gravity and is stabilized below. Therefore, as shown in the concept of FIG. It will turn to the direction.

  For example, when GPS positioning is performed on the traveling position of a motorcycle, if the vehicle body is tilted to the left or right, the arrangement of captured GPS satellites may change, and positioning accuracy may be reduced. On the other hand, in the configuration shown in FIG. 12, by fixing the rotating shaft to the housing 30 using the vibration-proofing spring 34, the heavy object 33 continues to maintain the direction of gravity even when the vehicle body is tilted. The GPS radio wave receiving antenna 11 can be directed to the zenith direction. As a result, a decrease in the accuracy of GPS positioning can be avoided.

  In addition, here, as an example, a configuration in which the GPS radio wave reception antenna 11 is directed toward the zenith direction is described. Needless to say, it can be installed in the station.

  Note that if the rotation angle of the support 31 is obtained by the rotary encoder 35, the inclination data of the moving body 5 can be obtained.

  When a motorcycle or the like travels on a sharp curve, a large centrifugal force acts on the heavy object 33. Therefore, in order to suppress the influence, it is preferable to adjust the rotation shaft 32 by attaching a stopper for limiting the rotation.

<Second Embodiment>
FIG. 14 is a schematic diagram showing the configuration of a traveling position detection device 10S according to the second embodiment of the present invention. In addition, the same code | symbol is attached | subjected to the part same as the already demonstrated part, and the overlapping description is abbreviate | omitted. In addition, the following description is also omitted in the following embodiments.

  The traveling position detection device 10S according to the second embodiment of the present invention further includes a wireless communication unit 40 and a setting change unit 41 in the traveling position detection device 10 according to the first embodiment.

  The wireless communication unit 40 performs data communication with the nearby wireless base station 50 and has a function of transmitting the ground position data stored in the database 19. Note that wireless communication is realized by a method such as wireless LAN, specific low power, Bluetooth (registered trademark), ZigBee, and infrared communication. Further, the data format for communication may include not only position data but also speed data and time data obtained when performing GPS positioning and autonomous positioning.

  The setting change unit 41 changes a calculation cycle for calculating GPS position data and autonomous position data. Specifically, when a setting change command for various sensors is received from the radio base station 50, the measurement cycle of the various sensors is changed and the output data format is changed. In addition, setting change can also be performed for every vehicle by designating ID for identifying each vehicle.

  The radio base station 50 includes a communication unit 51 and a monitoring processing unit 52, and receives position data from the traveling position detection device 10 to detect the position of the moving body 5. In the monitoring processing unit 52, a command for changing the calculation cycle of GPS position data or autonomous position data is set as necessary.

  As described above, since the traveling position detection device 10S according to the present embodiment includes the wireless communication unit 40, the position data acquired by GPS positioning or autonomous positioning is transmitted to the adjacent wireless base station 50 by wireless communication. can do.

  Supplementally, the traveling position detection device 10S according to the present embodiment transmits position data to the radio base station 50 in the traveling position detection device 10 according to the first embodiment until the power of the apparatus main body is turned off. (Refer to step T15 in FIG. 15).

  For this reason, if the traveling position detection device 10S according to the present embodiment is used, it is possible to construct a moving body monitoring system capable of monitoring the moving body 5 in real time.

<Third Embodiment>
FIG. 16 is a schematic diagram showing a configuration of a traveling position detection apparatus 10T according to the third embodiment of the present invention.

  The travel position detection device 10T according to the present embodiment includes a reference data storage unit 60, an inclination data comparison unit 61, an acceleration data comparison unit 62, and an abnormality determination unit 63, in addition to the travel position detection device 10S according to the second embodiment. It has more.

  The reference data storage unit 60 is a memory that stores preset “reference tilt data”, “reference acceleration data”, and “abnormal time data”.

  The inclination data comparison unit 61 is for inspecting abnormality of inclination data, and compares the inclination data detected by the inclination sensor 15 with the reference inclination data stored in advance in the reference data storage unit 60. As a result of the comparison, if the inclination data indicates a value larger than the reference inclination data, an “inclination error signal” is sent to the acceleration data comparison unit 62.

  The acceleration data comparison unit 62 is for inspecting the abnormality of the acceleration data, and when receiving the tilt error signal from the tilt data comparison unit 61, the acceleration data detected by the acceleration sensor 13 and a preset reference Compare acceleration data. As a result of the comparison, if the acceleration data shows a value larger than the reference acceleration data, an “acceleration error signal” is sent to the abnormality determination unit 63.

  The abnormality determination unit 63 is for determining an abnormality of the moving body 5. Specifically, the time when the acceleration error signal is sent from the acceleration data comparison unit 62 (that is, the time when the acceleration data exceeds the reference acceleration data) is measured, and the measured time is the reference data storage unit 60. If it is longer than the abnormal time data stored in advance, it is determined that an abnormality has occurred in the moving body 5. If it is determined that an abnormality has occurred, an “error signal” is transmitted to the neighboring radio base station 50 via the radio communication unit.

  In particular, when the moving body 5 is a human being, a rapid change in roll pitch (inclination data) is unlikely to occur, and the value hardly changes greatly. Therefore, if a sudden roll pitch change occurs, it can be determined that the person is likely to have fallen.

  With the above-described configuration, the traveling position detection device 10T according to the present embodiment performs primary detection when the roll pitch changes greatly within a certain period of time and when the acceleration sensor 13 is suddenly accelerated. Moreover, it is measured as secondary detection whether the value detected by primary detection is continuing. If the value remains changed for a long time in the secondary detection, it is determined that there is a high possibility that the moving body 5 such as a human has fallen, and position data is calculated by GPS positioning. Then, the position data is transmitted to the neighboring radio base station 50 using the radio communication unit 20.

  That is, it is possible to detect human movements and falls using acceleration data obtained from the acceleration sensor 13, azimuth angle data measured by the magnetic sensor 14, and roll pitch (tilt data) measured by the tilt sensor 15.

  Note that GPS positioning is always performed, and when the moving body 5 enters a building, the position data of the entrance of the building is transmitted to the radio base station 50. In addition, when position detection in a building is performed, since GPS positioning cannot be performed, position detection by autonomous positioning is performed. In addition, if a wireless communication device that receives autonomous position data from the traveling position detection device 10T is installed in each room in the building, it is possible to determine which room a person is in from the identification number of the wireless communication device. It is.

<Others>
Note that the present invention is not limited to the above-described embodiment as it is, and can be embodied by modifying the constituent elements without departing from the scope of the invention in the implementation stage. In addition, various inventions can be formed by appropriately combining a plurality of components disclosed in the embodiment. For example, some components may be deleted from all the components shown in the embodiment. Furthermore, you may combine a component suitably in different embodiment.

It is a schematic diagram which shows the structure of the traveling position detection apparatus 10 which concerns on the 1st Embodiment of this invention. It is a figure which shows the concept of the moving body 5 which drive | works the inclined surface based on the embodiment. It is a figure for demonstrating the measurement error of the GPS position data of the moving body 5 which drive | works the inclined surface based on the embodiment. It is a figure for demonstrating correction of the measurement axis of the three-dimensional acceleration sensor 13 which concerns on the same embodiment. It is a figure for demonstrating the locus | trajectory of GPS position data and autonomous position data which concern on the embodiment. It is a figure for demonstrating the shift | offset | difference of the installation position of the traveling position detection apparatus 10 which concerns on the embodiment, and the earthing | grounding position of the mobile body 5. FIG. It is a flowchart for demonstrating operation | movement of the traveling position detection apparatus 10 which concerns on the embodiment. It is a figure for demonstrating the general GPS radio wave receiving antenna. It is a figure which shows the concept at the time of using what combined the several planar antenna as the GPS electromagnetic wave receiving antenna 11 which concerns on the embodiment. It is a figure which shows the concept at the time of using an arch-shaped thing as the GPS electromagnetic wave receiving antenna 11 concerning the embodiment. It is a figure which shows the concept when the optical measuring device 20 is used as the inclination sensor 15 which concerns on the embodiment. It is a figure for demonstrating that the GPS electromagnetic wave receiving antenna 11 concerning the embodiment faces a zenith direction. It is a figure for demonstrating that the GPS electromagnetic wave receiving antenna 11 concerning the embodiment faces a zenith direction. It is a schematic diagram which shows the structure of the traveling position detection apparatus 10S which concerns on the 2nd Embodiment of this invention. It is a flowchart for demonstrating operation | movement of the traveling position detection apparatus 10S which concerns on the same embodiment. It is a schematic diagram which shows the structure of the traveling position detection apparatus 10T which concerns on the 3rd Embodiment of this invention.

Explanation of symbols

5 ... moving body, 7A-7D ... GPS satellite,
10 · 10S · 10T ... Traveling position detection device, 11 ... GPS radio wave receiving antenna,
12 ... GPS positioning processing unit, 13 ... 3D acceleration sensor, 14 ... magnetic sensor,
15 ... Inclination sensor, 16 ... Acceleration correction unit, 17 ... Autonomous position measurement processing unit,
18 ... ground contact position calculation unit, 19 ... database,
DESCRIPTION OF SYMBOLS 20 ... Optical measuring device, 21A-21K ... Irradiation part 30 ... Housing | casing, 31 ... Support body, 32 ... Rotating shaft, 33 ... Heavy article, 34 ... Prevention Diversion spring,
40 ... wireless communication unit, 41 ... setting change unit,
50 ... Radio base station, 51 ... Communication unit, 52 ... Monitoring processing unit,
60 ... reference data storage unit, 61 ... tilt data comparison unit, 62 ... acceleration data comparison unit,
63: An abnormality determination unit.

Claims (13)

A travel position detection device mounted on a mobile body for detecting the travel position of the mobile body,
A GPS radio wave receiving antenna for receiving GPS satellite data from a GPS satellite;
GPS position measuring means for calculating GPS position data indicating the position of the apparatus main body at regular intervals based on GPS satellite data received by the GPS radio wave receiving antenna;
Autonomous position data indicating the position of the main body of the apparatus by obtaining the moving distance from the previous GPS position data until the new GPS position data is calculated after the previous GPS position data is calculated by the GPS position measuring means. Autonomous positioning means for calculating the frequency at regular intervals;
An inclination sensor for detecting inclination data with respect to the road surface of the apparatus body;
A ground contact position calculation unit that corrects a slope of a road surface by the tilt data with respect to the previous GPS position data and the autonomous position data, and calculates the ground contact position data of the moving body;
A traveling position detection apparatus comprising: storage means for storing the ground contact position data. In the traveling position detection device according to claim 1,
The autonomous positioning means is:
A three-dimensional acceleration sensor for detecting acceleration data of the apparatus body;
A magnetic sensor for detecting the azimuth data of the device body;
Acceleration correcting means for correcting the measurement axis of the three-dimensional acceleration sensor based on the tilt data and calculating corrected acceleration data;
A traveling position detection apparatus comprising: means for calculating autonomous position data based on the corrected acceleration data, the azimuth angle data, and the previous GPS position data. In the traveling position detection device according to claim 1 or 2,
A traveling position detection apparatus further comprising means for transmitting the grounding position data to a nearby wireless base station using wireless communication. In the traveling position detection device according to any one of claims 1 to 3,
The GPS radio wave receiving antenna is a traveling position detection device comprising a combination of a plurality of planar antennas having different inclination angles with respect to the road surface. The travel position detection device according to any one of claims 1 to 4,
The GPS radio wave receiving antenna has a dome shape. The travel position detection device according to any one of claims 1 to 4,
The GPS radio wave receiving antenna has an arch shape. In the traveling position detection device according to any one of claims 1 to 6,
A travel position characterized by further comprising a setting change means for changing a calculation cycle in which the GPS position measurement means calculates GPS position data and a calculation cycle in which the autonomous position measurement means calculates autonomous position data. Detection device. In the traveling position detection device according to claim 7,
The setting change unit changes the setting of the calculation cycle by external wireless communication. The travel position detection device according to any one of claims 1 to 8,
The tilt sensor is
A plurality of irradiation means for irradiating the road surface with light at each preset angle;
A traveling position detection device comprising: means for obtaining inclination data between the moving body and the road surface by detecting reflected light from the road surface. The travel position detection device according to any one of claims 1 to 9,
A support body provided orthogonal to the traveling direction of the mobile body, and the GPS radio wave receiving antenna provided at the upper end;
A rotating shaft provided along the traveling direction of the movable body so as to penetrate the support body;
A traveling position detection device comprising: a heavy object heavier than the GPS radio wave receiving antenna provided at a lower end of the support. In the traveling position detection device according to claim 10,
The heavy position is a battery of the moving body. In the traveling position detection device according to claim 10 or 11,
The said inclination sensor detects inclination data using a rotary encoder, The traveling position detection apparatus characterized by the above-mentioned. The travel position detection device according to any one of claims 1 to 12,
Means for storing preset reference inclination data, reference acceleration data, and abnormal time data;
Means for comparing the tilt data detected by the tilt sensor with the reference tilt data;
Means for comparing the acceleration data detected by the acceleration sensor with the reference acceleration data if the inclination data is greater than the reference inclination data;
Means for obtaining measurement time data indicating a time during which the acceleration data exceeds the reference acceleration data;
A traveling position detecting device comprising: means for determining that an abnormality has occurred in the moving body and transmitting an error signal when the measured time data is longer than the abnormal time data.

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