JP2618051B2 - Navigation system for moving objects - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a navigation device for a mobile object, and more particularly, to a mobile object in which satellite positioning data such as GPS type data and independent data are used together. In a navigation system for a vehicle, the azimuth of the moving object is calculated by using the GPS azimuth data in a straight line, so that the initial set angle error of the azimuth sensor incorporated in the device is accurately corrected. The present invention relates to a body navigation device.

[Prior art] In order to transmit or receive radio waves from a plurality of artificial satellites to various moving objects such as ships, airplanes, automobiles, etc., to confirm or determine the current position, moving speed, and the like, It has been noted that GPS positioning devices are useful. here,
A GPS positioning device is a global positioning system (Global Positi
Oning System) receives radio waves from a plurality of satellites belonging to an oning system, so that the current position of the moving object can be known.

As is conventionally known, a positioning operation performed using such a GPS positioning device is usually performed by receiving radio waves from three or more artificial satellites. The radio waves from the plurality of artificial satellites are simultaneously received on the mobile object side, and the difference in accuracy between the clock device provided on the plurality of artificial satellites and the clock device provided on the mobile object side. After the necessary correction processing for the time lag based on the above is performed, the current position of the moving body is displayed on an appropriate display means. At this time, the necessary map information is superimposed on the information on the current position and displayed on the display means.

Further, as a navigation device for the above-mentioned various moving bodies, a so-called self-supporting type is conventionally known. This self-contained navigation device is described above.
Unlike a GPS navigation device, it is possible to know its current location based only on the data it has acquired without relying on external data such as radio waves from artificial satellites. is there.

FIG. 4 is a block diagram showing a conventional device of this type. In FIG. 4, (3) is an antenna for receiving satellite radio waves, and the output side of this antenna (3) is connected to a receiver (4). (1) is a mileage sensor,
(2) azimuth sensors, which are connected to a position detecting device (5) together with an output side of a receiver (4). The output side of the position detection device (5) is connected to a data processing device (6), and a map data storage device (7) and a display device (8) are connected to the data processing device (6). It is connected.

Next, the operation will be described. An operator of a moving body such as a vehicle activates the above-described navigation apparatus for a moving body by, for example, pressing a start key on a key input unit (not shown). Next, either the GPS navigation function or the self-contained navigation function is selected according to the reception status of the GPS satellite signal.
Now, for example, if the former function is selected, the current position and moving direction of the moving object are confirmed or determined only by the satellite radio wave received by the antenna (3). On the other hand, for example, when the reception state of GPS satellite radio waves is poor due to the presence of various obstacles such as mountains and high-rise buildings, and the GPS navigation function cannot be selected, the autonomous navigation function is selected and the mileage is selected. Based on only the data acquired from the sensor (1) and the direction sensor (2), the current position and the moving direction of the user are confirmed and determined. By the way, such a conventional device has a self-contained navigation function.
Since the GPS navigation function is independent of each other, if the initial setting of the azimuth sensor incorporated in the device includes an error, the azimuth output during subsequent independent running of the moving object always includes the error. As a result, the reliability of the detection accuracy of the current position of the moving object may be reduced.

[Problem to be Solved by the Invention] Since the conventional device has the above-described configuration and operates, the self-contained navigation function and the GP
When the navigation function is independent from each other and the error is included in the initial setting of the azimuth sensor incorporated in the device, the error is always included in the azimuth output when the mobile unit is running independently thereafter. As a result, there has been a problem that the reliability of the detection accuracy of the current position of the moving object may be reduced.

The present invention has been made in order to solve the above-described problems, and calculates the azimuth of the moving object by using GPS moving azimuth data during straight running, thereby providing an azimuth sensor incorporated in the device. It is an object of the present invention to provide a navigation apparatus for a mobile body that is capable of accurately correcting an initial setting angle error.

[Means for Solving the Problems] A navigation apparatus for a mobile object according to the present invention includes a GPS signal reception means such as a satellite positioning signal; a self-sustained signal reception means including a direction sensor; A display device configured to superimpose and display a map related to the current position; a map data storage device configured to store predetermined map data; and A data processing device for selectively outputting GPS data or self-contained data; the data processing device includes a GP when the mobile body travels straight.
An averaging / comparing device for calculating the direction of the moving object using the S moving direction data is provided, and a GPS data storage device and a self-contained data storage device are connected to the data processing device, The azimuth error of the azimuth sensor is corrected based on the difference between the average value of the moving azimuth data obtained by satellite positioning during straight running and the self-sustained azimuth data obtained by the azimuth sensor.

[Operation] In the present invention, the azimuth of the mobile object is calculated using the GPS azimuth data during straight running, so that the initially set angle error of the azimuth sensor incorporated in the device can be accurately corrected. it can.

Embodiment An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram illustrating an embodiment of the present invention. In FIG. 1, (3) is an antenna for receiving satellite radio waves, and the output side of this antenna (3) is connected to a receiver (4). (1) is a mileage sensor,
(2) azimuth sensors, which are connected to a position detecting device (5) together with an output side of a receiver (4). The output side of the position detecting device (5) is connected to a data processing device (61) including an averaging / comparing device (62), a GPS data storage device (63), and a self-contained data storage device. A device (64), a map data storage device (7) and a display device (8) are connected to the data processing section (61).

FIG. 2 is a graph for explaining the above embodiment. In FIG. 2, for example, it is assumed that a point O in the first quadrant of the rectangular coordinate system composed of the X axis and the Y axis represents the current position of the moving body at a predetermined time. θ ₁
The vector line segment starting from (● point) represents GPS movement direction data at several points in time. By averaging these data, the average GP from the starting point 0 is calculated.
The S movement azimuth is shown as a vector line segment (22). A vector line segment starting from α ₁ (point X) is
It represents the independent traveling azimuth data at several points in time, and by averaging these data, the average independent traveling azimuth from the starting point 0 is shown as a vector line segment (23). Now, assuming that a line segment (21) parallel to the X axis from the starting point 0 is the base line, the angle formed by the line segment (21) and the line segment (22) is θ _G , and the line segment (21) and the line segment ( 23) is α _F , and the angle formed by the line segment (22) and the line segment (23) is Δα.

FIG. 3 is a flowchart for explaining the above embodiment.

Next, the operation of the above embodiment shown in FIG. 1 will be described with reference to FIGS. 2 and 3 as appropriate. An operator of a moving body such as a vehicle activates the above-described embodiment apparatus by pressing a start key on a key input unit (not shown), and inputs an initial set value of the direction sensor (2). (S30). Next, the number of GPS location data (i)
Is set (S31), and subsequently, the positioning data is appropriately imported (S32). Subsequently, it is determined whether the number of pulses (Pulse) representing the vehicle speed exceeds a certain value (Ps) (S33A), and the result of the determination is YES.
Is satisfied, the moving body is in a running state. Then, it is determined whether or not the difference between the outputs (for example, α ₁ and α _i-1 ) of the azimuth sensor (2) at adjacent sampling points is equal to or less than a predetermined value β (S3).
3B) When the result of the determination is YES, the moving body is in a straight running state. Next, it is determined whether or not the GPS positioning has been performed (S33C). If the result of the determination is YES, it is further determined whether or not PDOP <3 (S33D). If the result of this determination is YES, θ _i = θ _GPS is set (S35) while changing the set number (i) of GPS position data (S34). Further, in the subsequent step (S36), it is determined whether or not the number (i) of the GPS position data is equal to or more than a predetermined number (n). If the result of this determination is NO, the process returns to step (S32) and another different data input is made. On the other hand, when the result of the determination is YES, the angle α _F is calculated in step (S37A), and the angle α _F is calculated in step (S37).
In B), the angle θ _G is calculated. In the next step (S38), the difference Δα between the angle alpha _F and the angle theta _G is calculated. Then, in the step (S39) following this, the setting initial value is changed, and the process returns to the step (S31).

Although the above embodiment has been described in connection with the case where the GPS technology is applied, it is also effective in the case where other satellite positioning technologies are applied. Further, as the azimuth sensor used in the above embodiment, an angular velocity sensor such as a gyro that outputs a so-called relative azimuth can be considered, but other geomagnetic sensors may be used. However, when this geomagnetic sensor is used, a so-called declination error (a deviation between the north direction and the geomagnetic direction) corresponds to the initial setting error.

[Effects of the Invention] As described above, the navigation apparatus for a mobile object according to the present invention includes a means for receiving a GPS signal such as a satellite positioning signal; a means for receiving a self-contained signal including a direction sensor; A display device configured to superimpose and display a position and a map related to the current position; a map data storage device configured to store predetermined map data;
Also, it processes the various signals and data described above, and
A data processor for selectively outputting S data or self-contained data;
An averaging / comparing device for calculating the azimuth of the moving object using the GPS moving azimuth data when the moving object moves straight ahead is provided, and the data processing device includes a GPS data storage device and a self-contained data storage device. Is used to calculate the azimuth of the moving object using GPS moving azimuth data when traveling straight ahead, thereby accurately correcting the initial setting angle error of the azimuth sensor incorporated in the device. The effect that can be performed is produced.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating an embodiment of the present invention,
FIG. 2 is a graph for explaining the above embodiment, and FIG.
The figure is a flowchart for explaining the above embodiment,
FIG. 4 is a block diagram showing a conventional example. (1) is a mileage sensor, (2) is a direction sensor, (3) is an antenna, (4) is a receiver, (5) is a position detection device, (61) is a data processing device, and (62) is an average / (63) GPS data storage device, (64) freestanding data storage device, (7) map data storage device, (8) display device. In the drawings, the same reference numerals indicate the same or corresponding parts.

Claims (1)

(57) [Claims] 1. A receiving device for receiving a satellite positioning signal, a receiving device for a self-contained signal including an azimuth sensor, a display device configured to superimpose and display a current position of a moving object and a map related to the current position, And a data processing device that processes the various signals and data and selectively outputs corresponding satellite positioning data or self-contained data. A navigation device for a mobile object, wherein the data processing device is provided with an averaging / comparing device for calculating the azimuth of the mobile object using movement azimuth data obtained by satellite positioning when the mobile object travels straight, A satellite positioning data storage device and a self-contained data storage device are connected to the data processing device, and the moving method based on satellite positioning when the mobile body travels straight is described. Mobile navigation system being characterized in that so as to correct the azimuth error of the azimuth sensor based on a difference freestanding traveling azimuth data average value of data and by the azimuth sensor.