JP2843906B2 - Inertial navigation system for vehicles - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an inertial navigation system which is mounted on a vehicle such as a caterpillar vehicle in which left and right wheels are independently driven, and detects elevation and position. The present invention relates to an inertial navigation system for a vehicle which is economical by using only one odometer for detection.

[0002]

2. Description of the Related Art In the case of an ordinary wheeled vehicle, an odometer is attached to a propeller shaft to detect an average rotation speed of left and right wheels, and a speed of the center of the vehicle can be obtained by multiplying the average rotation speed by a scale factor. . However, in the case of a caterpillar vehicle, since the left and right caterpillars are driven independently, odometers are attached to the left and right wheels, the rotational speeds of the left and right wheels are detected, and the speed of the center of the vehicle is obtained using the average value thereof. .

FIG. 3A shows a left caterpillar 9 on the left and right sides of a vehicle body.
_L, caterpillar vehicles having a right caterpillar 9 _R indicates a trajectory of the left, right wheel and the vehicle center in the case of right turning. L _O
The vehicle center line, L _L and L _R are each left wheel or right wheel center line. FIG. 3B shows a state in which the rotation of the right wheel of the caterpillar vehicle is stopped and only the left wheel is rotated to make a right turn (such a turn is called a pivot turn).
A conventional vehicle inertial navigation system will be described with reference to FIG.
Odometer 1 _L attached to the left and right wheels respectively
From 1 _R , the rotation speeds n _L and n _R (rpm) of the wheels are input to the average value calculation unit 3 of the inertial navigation device (hereinafter referred to as INS) calculation unit 10, and the average rotation speed n = (n _L + n _R ) / 2 is calculated and input to the traveling speed calculation unit 4. Travel speed calculator 4
In the table, the input average rotation speed n and the wheel circumference L _t (k
The vehicle speed V V = n × L _t × 60 = n × ξ (km / Hr) (1) is obtained from m), and is input to the minute speed calculator 5.の = L _t × 60 (2) in the above equation is called the scale factor of the odometer.

The gyro 2 detects a rotational angular velocity ωθ around the pitch axis and a rotational angular velocity ωψ around the azimuth axis, and inputs them to the pitch angle calculator 6 and the azimuth calculator 7 of the INS calculation unit 10, respectively. The pitch angle calculation unit 6 integrates the input rotational angular velocity ωθ about the pitch axis, calculates a pitch angle θθ = ∫ωθdt + θ ₀ (radian) (3), and inputs the result to the minute speed calculation unit 5. Θ _{0 in the} above equation is the initial value of the pitch angle, that is, the pitch angle at the starting point. On the other hand, the azimuth angle calculation unit 7 integrates the input rotational angular velocity ωψ around the azimuth axis, calculates an azimuth angle ψ ψ = ∫ωψdt + ψ ₀ (4), and inputs it to the minute speed calculation unit 5. Ψ _{0 in the} above equation is the initial value of the azimuth, that is, the azimuth at the starting point.

[0005] The minute speed calculator 5 uses the vehicle pitch angle θ (radian) input from the pitch angle calculator 6 to calculate the horizontal speed V _H and the vertical speed V _V from the running speed V as shown in FIG.
Is calculated. _{That, V H = V cosθ (5} ) V V = V sinθ (6) velocity component calculating unit 5 with the azimuth angle ψ of the vehicle inputted from the azimuth calculation section 7, the horizontal velocity V as shown in FIG. 6 _{From H} , an eastern horizontal speed V _HE and a north horizontal speed V _HN are calculated. _{That, V HE = V H sinψ (} 7) V HN = V H cosψ (8) These calculated vertical velocity V _V, east horizontal velocity V _HE, north horizontal velocity V _HN than a rate calculating unit 5 elevation,
The altitude L with respect to the starting point of the vehicle, which is input to the position calculator 8
_V , east (horizontal) position L _HE , north (horizontal) position L _HN
Is calculated by the following equation and output to the outside. L _HE = ∫V _HE dt (9) L _HN = ∫V _HN dt (10) L _V = ∫L _V dt (11)

[0006]

As described above, in the case of a caterpillar vehicle, since the left and right caterpillars are driven independently of each other, the odometers 1 _L , 1 _L , _1R was attached, left and right rotation speeds n _L and n _R were detected, and averaged. For this reason, the odometer is 1 compared to the inertial navigation system for general vehicles.
There was a problem that an extra unit was required and the cost was increased accordingly.

An object of the present invention is to provide an inertial navigation system for a vehicle which is economical and uses only one odometer, similarly to a general vehicle, in an inertial navigation system such as a caterpillar vehicle.

[0008]

SUMMARY OF THE INVENTION An inertial navigation device for a vehicle according to the present invention comprises an odometer, a gyro unit, and an inertial navigation device operation unit. The inertial navigation device operation unit includes a traveling speed calculation unit, A speed correction value calculating unit, a traveling speed correcting unit, a pitch angle calculating unit, an azimuth calculating unit, a minute speed calculating unit, an altitude, a vehicle inertial navigation device including an altitude and a position calculating unit, The gyro unit detects a rotational angular velocity ωθ around the pitch axis of the vehicle and inputs the rotational angular velocity ωθ to the pitch angle calculator, and detects a rotational angular velocity ωψ around the azimuth axis of the vehicle to detect the rotational angular velocity ωψ. And the odometer outputs the rotation speed n _{L of the} left wheel or the right wheel.
Or by detecting the n _R is intended to be input to the speed calculation portion, the travel speed calculating part, the left wheel by multiplying the scale factor to the rotational speed n _L or n _R of the inputted left wheel or the right wheel or calculate the traveling velocity V _L or V _R of the right wheel is intended to be input to the speed correcting section, the speed correction value calculation unit, the orientation axis of the rotational angular velocity ωψ inputted from the gyro unit, Multiplying the distance L between the center line of the vehicle and the center line of the left wheel or the right wheel, and inputting a speed correction value ωψL to the traveling speed correction unit, wherein the traveling speed correction unit _L or V _R and the traveling speed of more vehicle center and the speed correction value ωψL V = V _L -ωψL or V
= Are those by calculating V _R + ωψL be input to the velocity component calculating unit, wherein the pitch angle calculator integrates the pitch axis of the rotational angular velocity ωθ vehicle entered calculate the pitch angle θ of the vehicle The azimuth angle calculation unit calculates the azimuth angle 車 両 of the vehicle by integrating the input rotational angular speed ωψ around the azimuth axis of the vehicle, and inputs the azimuth angle calculation unit. The minute speed calculation unit calculates the eastern horizontal speed V _HE and the northern horizontal speed V _{HE of the} vehicle based on the input pitch angle θ, azimuth angle ψ, and traveling speed V.
_HN and the vertical speed V _V are calculated and input to the altitude / position calculator. The altitude / position calculator calculates the input eastern horizontal speed V _HE , north horizontal speed V _HN and vertical It is characterized in that an altitude L _V , an east position L _HE , or a north position L _HN with respect to the starting point of the vehicle is calculated and output from the speed V _V.

[0009]

In the vehicle inertial navigation system according to the present invention, the rotational speed n _L or n _{R of} the left or right wheel detected by the odometer is used.
There is input to the running speed calculating unit, is multiplied by the scale factor, the traveling velocity V _L or V _R of the left wheel or the right wheel are calculated. On the other hand, the rotational angular velocities ωθ and ωψ around the pitch axis and the azimuth axis of the vehicle detected by the gyro unit are input to the pitch angle calculation unit and the azimuth angle calculation unit, respectively, and the pitch angle θ and the azimuth angle ψ are calculated. (The L distance between the vehicle center line and the left wheel or right wheel) OmegapusaiL at a speed correction value calculating unit calculates the traveling speed corrector in calculation speed V = V _L -ωψL or V = V _R + ωψL the vehicle center Is done. Then, the minute speed calculator calculates the east and north horizontal speeds V _HE , V _HN , and the vertical speed V _{V of the} vehicle from θ, ψ, V, and further calculates the altitude,
The position calculator 8 calculates the altitude L _V and the east and north directions L _HE , L _HN with respect to the starting point of the vehicle, and outputs them to the outside.

As described above, in the vehicle inertial navigation system of the present invention, the speed V at the center of the vehicle can be easily obtained by using one odometer for detecting the rotational speed of either the left or right wheel. The mechanism can be simplified, and the odometer 1 is compared with the conventional inertial navigation device such as a caterpillar vehicle.
It can be economical for just one car.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the vehicle inertial navigation system according to the present invention will be described below with reference to the drawings.

In FIG. 1, portions corresponding to those in FIG. 4 are denoted by the same reference numerals, and redundant description is omitted. In the present invention, only one odometer is provided. That is, in the embodiment of FIG. 1, the vehicle equipped with the INS is a caterpillar vehicle having a left caterpillar 9 _L and a right caterpillar 9 _R on the left and right sides of the vehicle body, as shown in FIG. The speed n _L or n _R (rpm) is detected and input to the running speed calculation unit 4 in the INS calculation unit 10 mounted on the vehicle body, and the running speed V _L or the right wheel running speed V _L or V _R is inputted to the running speed correction unit 11.

On the other hand, a speed correction value calculation unit 12 is provided in the INS calculation unit 10, and a rotational angular velocity (turning angular velocity) ωψ about an azimuth axis input from the gyro unit 2 is applied to the center line of the left or right wheel shown in FIG. A speed correction value ΔV = ωψL (12) is calculated by multiplying the distance L between the vehicle center line L ₀ and _LL or _LR, and is input to the traveling speed correction unit 11 (
No matter where the gyro unit 2 is mounted on the vehicle body, the detected angular velocities ωψ and ωθ do not change. ).

[0014] running speed of the vehicle center in the vehicle speed correcting section _{11 V = V L -ΔV = V} L -ωψL (13) or calculates the _{V = V R + ΔV = V} R + ωψL (14), a rate calculation Input to section 5.

The other operation of the apparatus shown in FIG. 1 is the same as that of the conventional example, and the description is omitted.

In the above description, the vehicle is a caterpillar vehicle. However, it is apparent that the present invention is not limited to this case, but can be widely applied to other vehicles. It will be apparent to those skilled in the art that various modifications and changes can be made within the scope.

[0017]

As described above, according to the vehicle inertial navigation system of the present invention, the speed V at the center of the vehicle can be easily determined by using one odometer for detecting the rotation speed of either the left or right wheel. Can be sought. Therefore, the cost can be reduced by one odometer as compared with the conventional inertial navigation device such as a caterpillar vehicle.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an embodiment of a vehicle inertial navigation device according to the present invention.

Figure 2 is an explanatory diagram for the right wheel speed V _R of the caterpillar vehicle, a running speed V of the left wheel speed V _L and the vehicle center will be described.

FIG. 3A is an explanatory diagram illustrating a turning track of a caterpillar vehicle, and FIG. 3B is an explanatory diagram illustrating a pivot turning of the caterpillar vehicle.

FIG. 4 is a block diagram of a conventional caterpillar inertial navigation device.

FIG. 5 is an explanatory diagram showing a correspondence between a running speed V, a horizontal speed _{VH, a} vertical speed _VV, and a pitch angle θ.

FIG. 6 is an explanatory diagram showing the correspondence between the horizontal speed V _H , the east horizontal speed V _HE, and the north horizontal speed V _HN and the azimuth ψ.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Odometer 2 Gyro part 4 Travel speed calculation part 5 Minute speed calculation part 6 Pitch angle calculation part 7 Azimuth angle calculation part 8 Altitude and position calculation part 9 _L , 9 _R caterpillar 10 INS calculation part 11 Travel speed correction part 12 Speed correction value Calculation section

Continuation of front page (58) Field surveyed (Int.Cl. ⁶ , DB name) G01C 21/00 G01C 21/16

Claims (1)

(57) [Claims] 1. An odometer, a gyro unit, and an inertial navigation device operation unit, wherein the inertial navigation device operation unit includes a traveling speed calculation unit, a speed correction value calculation unit, a traveling speed correction unit, a pitch An inertial navigation device for a vehicle including an angle calculation unit, an azimuth calculation unit, a minute speed calculation unit, an altitude and a position calculation unit, wherein the gyro unit includes a rotation angular velocity ω about a pitch axis of the vehicle.
θ is input to the pitch angle calculation unit, and the rotational angular velocity ωψ around the azimuth axis of the vehicle is detected and input to the azimuth angle calculation unit and the speed correction value calculation unit. Or right wheel rotation speed n _L or n _R
Is detected and input to the traveling speed calculation unit.The traveling speed calculation unit multiplies the input rotation speed n _L or n _R of the left or right wheel by a scale factor to calculate the left or right wheel speed. the travel speed V _L or V _R is calculated and is intended to be input to the speed correcting section, the speed correction value calculation unit, the orientation axis of the rotational angular velocity ωψ inputted from the gyro unit, a vehicle center line Is multiplied by the distance L between the center line of the left wheel and the right wheel, and the speed correction value ωψL
The is intended to be input to the speed correcting unit, the running speed correction unit, travel speed of more vehicle center said the traveling velocity V _L or V _R is inputted, the speed correction value ωψL and
Are those V = V _L -ωψL or by calculating V = V _R + ωψL be input to the velocity component calculating unit, wherein the pitch angle calculator integrates the pitch axis of the rotational angular velocity ωθ the entered vehicle To calculate the pitch angle θ of the vehicle, and input it to the minute speed calculation unit. The vehicle speed is calculated and input to the minute speed calculating unit. The minute speed calculating unit calculates the vehicle's eastern horizontal speed V _HE , north direction based on the input pitch angle θ, azimuth angle ψ, and running speed V. A horizontal speed V _HN and a vertical speed V _V are calculated and input to the altitude / position calculator. The altitude / position calculator calculates the input eastern horizontal speed V _HE , northern horizontal speed V altitude L _V than _HN and vertical velocity V _V to the starting point of the vehicle, Direction position L _HE, or vehicle inertial navigation system, characterized in that is to output the calculated north direction position L _HN.