JP3380404B2 - Movement detection device - Google Patents

Description

Detailed Description of the Invention

[0001]

TECHNICAL FIELD The present invention relates to a GPS (Global P
radio signal from the satellite,
The present invention relates to navigation technology for detecting the position and traveling direction of a moving body such as a vehicle or a person, and in particular, performs autonomous navigation with high accuracy even in a place where it is difficult to receive radio waves from GPS satellites, such as in a tunnel, a high-rise building street, or under an elevated bridge. The present invention relates to a movement detection device that can perform.

[0002]

2. Description of the Related Art Conventionally, movement detection is performed by combining a movement amount sensor for detecting the movement amount of a moving body and a GPS signal received from a GPS satellite to detect and display the current position and speed of the moving body in real time. The device is known. This type of movement detection device is used, for example, as a sensor unit for position information or the like in a car navigation system.

A conventional movement detecting device used in a car navigation system is, for example, a GP from a GPS satellite.
A GPS antenna and a GPS receiver for receiving the S signal, a tire rotation detector as an example of a movement amount sensor, an absolute position of the vehicle based on the GPS signal sent from the GPS receiver,
Calculation of absolute speed and absolute azimuth, calculation of the relative speed and distance traveled by the vehicle based on the tire rotation speed measured by the rotation detector, and correction of absolute position based on the calculation results It has equipment. The car navigation system stores map information in advance and is configured to display the calculation result information of the calculation device in an overlapping manner on the map.

In the movement detecting device having such a configuration, the GP
When the absolute position of the vehicle is obtained based on the S signal and the vehicle speed and distance traveled can be obtained from the number of tire rotations measured by the rotation detector. Therefore, only GPS or only the rotation detector is used. Rather, there is an advantage that the movement information of the vehicle is correctly detected.

[0005]

However, in the conventional movement detecting device, for example, in a valley of a building, in a tunnel,
Alternatively, in a place where GPS signals cannot be received, such as in a forest, only the movement amount sensor functions, so that the accuracy of movement information relatively decreases. Further, in the case of a car navigation system, when the tire runs idle while the vehicle is running or when the movement amount sensor idles at the contact portion of the tire, the measurement result of the movement amount sensor differs from the actual movement information. Moreover, the user may not be able to recognize the occurrence of the above situation. Therefore, the operation reliability of the movement detection device may be reduced.

Further, when the movement detecting device is used in a car navigation system, the standard of the signal used for the rotation detector which is the movement amount sensor is not provided as the standard of all vehicles. For example, if the shape and size of the tire or the attachment site are different, the measurement results will be different. Therefore, when introducing the system, it is essential to modify the vehicle according to the signal standard of the rotation detector, or to calibrate the rotation detector for each vehicle,
There was a problem that the system introduction cost could not be reduced.

The present invention solves the above problems and provides an improved movement capable of correctly acquiring information such as the position, speed, azimuth and the like of the moving body regardless of the type or moving state of the moving body. It is an object of the present invention to provide a detection device.

[0008]

In order to solve the above problems, the present invention generates first movement information including a change component of an absolute position, an absolute velocity and an absolute azimuth of a moving body based on a GPS signal. GPS calculation means, an inertial sensor for detecting an acceleration generated in the traveling direction of the moving body and an angular velocity generated around an axis having a certain angle of inclination with respect to the traveling direction,
Means for generating second movement information including change components of the relative position, relative velocity, and relative azimuth of the moving body from the acceleration and the angular velocity measured by the inertial sensor, and the first and second movement information, respectively. And a calculation control unit that corrects the information based on the above information to generate actual movement information including the actual position, the actual speed, and the actual azimuth of the moving body, and configures the movement detection device.

The calculation control means holds, for example, calculation result information generated when the GPS signal is normally received, and uses the held calculation result information when the GPS signal cannot be received. It is configured to calculate actual movement information of the moving body. Further, centrifugal force correction means for correcting the influence of centrifugal force on the actual velocity based on the actual velocity and angular velocity data, the difference between the absolute velocity and the relative velocity, and the absolute azimuth angle and the relative azimuth angle. And a correction means for respectively correcting the relative velocity and the relative azimuth angle on the basis of the calculated error amounts.

The calculation control means also includes a speed calculation processing section, an azimuth calculation processing section, and a position calculation processing section. (1) The speed calculation processing section has the following elements. (1-1) means for calculating a first motion acceleration from a change in the combined speed obtained by filter combining the absolute speed and the relative speed, (1-2) subtracting the first motion acceleration from acceleration data Means for calculating the first gravitational acceleration, (1
-3) A means for converting angular information obtained by integrating angular velocity data into a second gravitational acceleration, and (1-4) a third gravitational acceleration obtained by synthesizing the first and second gravitational accelerations as a reference inclination angle. Means for converting to a fourth gravitational acceleration based on (1-5)
A means for calculating an error value between the first gravitational acceleration and the fourth gravitational acceleration, (1-6) correcting the second gravitational acceleration with the error value, and subtracting the corrected gravitational acceleration from the acceleration data to obtain a second value. A means for calculating an actual acceleration by calculating the exercise acceleration and integrating the second exercise acceleration. The filter composition of the absolute speed and the relative speed, and the filter composition of the first and second gravitational accelerations are composition of values that have passed through two kinds of filters having different bands.

(2) Further, the azimuth angle calculation processing section has the following elements. (2-1) Means for calculating a combined relative azimuth by filter-synthesizing the change amount of the absolute azimuth per unit time and the relative azimuth, (2-2) the absolute azimuth that is sequentially updated, and A first real azimuth obtained by adding the combined relative azimuth based on the relative azimuth and the absolute azimuth, and a second real azimuth obtained by adding the relative azimuth and the real azimuth. A means for selectively outputting one of the corners. In addition,
The filter synthesis of the change amount of the absolute azimuth angle per unit time and the relative azimuth angle is a synthesis of values passed through two types of filters having different bands.

(3) The position calculation processing section has the following elements. (3-1) Means for integrating the actual speed to calculate a moving distance, and calculating a latitude displacement value and a longitude displacement value based on the moving distance and the actual azimuth angle, (3-2) sequentially updated Means for generating an actual position by correcting the absolute position according to the latitude displacement value and the longitude displacement value in the unupdated period.

[0013]

DETAILED DESCRIPTION OF THE INVENTION Embodiments of the present invention will be described in detail below with reference to the drawings. FIG. 1 is a block configuration diagram showing an embodiment of a movement detection device of the present invention. This movement detecting device converts a GPS signal caught by the GPS antenna 1 into serial digital data that can be used for autonomous navigation such as position information such as latitude and longitude and information indicating absolute speed and absolute azimuth. In addition to the GPS receiver 2 that outputs the data, the calculation control unit 3, the inertial sensor 5, the backup memory 6 backed up by the constant power supply, and the data output unit 7.

The arithmetic control unit 3 receives the serial data from the GPS receiver 2 and converts it into parallel data, the digital reception unit 31 receives the analog data from the inertial sensor 5, and the analog data is digitalized. Analog / digital converter (A / D)
The conversion unit 33, the noise removal processing unit 34 for removing the noise component of the digital data, and the arithmetic processing unit 4 for computing the actual velocity, the actual azimuth angle, and the actual position of the moving body. The digital receiving unit 31 has a GPS monitoring unit 31a that determines whether or not the GPS signal is normally received by determining whether or not the status signal included in the GPS signal is present or whether or not the GPS signal is updated. There is. The monitoring result of the GPS monitoring unit 31a is sent to the arithmetic processing units 41, 42, 43.

The inertial sensor 5 measures the acceleration and the angular velocity generated on the three-dimensional axes (X, Y, Z axes) set for the moving body, and includes, for example, three accelerometers 51a to 51a.
51c, three angular velocimeters 52a to 52c, and an amplification unit 53 that amplifies the measurement results of these. In addition,
It is preferable that these instruments are arranged on three axes that are exactly orthogonal to each other, but if they are not exactly orthogonal to each other or if the mobile body is set to have three axes oblique to each other, the measured values are appropriate. It can be corrected to the correct value with various parameters. Further, since it is sufficient to measure the acceleration generated in the traveling direction of the moving body and the angular velocity generated around the axis having a certain inclination angle with respect to the traveling direction, there are at least one accelerometer and at least two angular velocity meters. do it.

The measurement result amplified by the amplification section 53 is converted into a digital signal of a format suitable for the calculation processing in the calculation processing section 4 by the A / D conversion section 33 after passing through the analog receiving section 32, and then the noise is generated. The removal processing unit 34 removes noise components, and the noise components are sequentially stored in the backup memory 6 in a freely updateable manner.

The arithmetic processing unit 4 included in the arithmetic control unit 3 is a programmed digital processor and reads out data stored in the backup memory 6 at a predetermined timing to detect the actual speed, actual azimuth angle, and actual speed of the moving body. The position information is calculated, and the calculation processing result is appropriately stored in the backup memory 6. For the sake of convenience, speed calculation is performed by the speed calculation processing unit 41 having the configuration shown in FIG. 2, azimuth calculation is performed by the azimuth calculation processing unit 42 having the configuration shown in FIG. 3, and position calculation is performed by the position shown in FIG. The arithmetic processing unit 43 is configured to be in charge. The data output unit 18 outputs the output information of the arithmetic control unit 3 to a display device or a post-processing unit.

Next, the operation of each part in the case of calculating the actual velocity, the actual azimuth angle, and the actual position of the moving body in the movement detecting device will be concretely described. As a premise, as shown in FIG. 5, the moving direction of the moving body is defined by the X axis, the direction orthogonal to the moving direction on the plane including the moving direction of the moving body is defined by the Y axis, and the X axis and the Y axis. The direction perpendicular to the plane described is the Z axis.

(1) Actual velocity of moving body When the moving body is moving in a certain direction, the accelerometers 51a ...
The acceleration data measured by 51c is shown in FIG.
As shown in (a) and (b), the gravitational acceleration g (= A / sin) caused by the posture angle (tilt angle from the reference axis) of the moving body.
θ) and the motion acceleration EX (= B / cos θ) due to the actual speed of the moving body in the traveling direction are included. Therefore, the acceleration data at this time is a combined value of the acceleration data A (= g · sin θ) shown in FIG. 6A and the acceleration data B (= EX · cos θ) shown in FIG. 6B. In this case, the speed of the moving body viewed from the X axis is calculated by the accelerometer 51a.
It is possible to calculate by extracting only the motion acceleration EX from the acceleration data (A + B) which is the output information of ~ 51c. In this case, the angular velocity data, which is the output information of the angular velocity meter, is mainly the inclination angle (θ) for eliminating the gravitational acceleration.
Used to determine.

The operation of the speed calculation processing section 41 based on this principle will be described with reference to FIG. For convenience, only the X axis will be described, but the same applies to the Y and Z axes. First, the error value ε is obtained when the GPS signal can be normally received. Now, the absolute velocity in the traveling direction (X-axis direction) based on the GPS signal is VGX, the acceleration data in the X-axis direction measured by the accelerometer 51a is AX, the angular velocity data around the Y-axis measured by the angular velocity meter 52b is q, and the horizontal plane. The angle of inclination of the X axis with respect to is defined as θ.

As shown in FIG. 7, the speed calculation processing unit 41 first reads the acceleration data AX stored in the backup memory 6 after waiting a certain delay time determined to match the phase with the GPS signal. (S101), the inclination angle θ of the X axis with respect to the horizontal direction is obtained (S102).
Further, the gravitational acceleration β having a high frequency (short cycle) is calculated. The tilt angle θ can be obtained by performing constant integration of the angular velocity q about the Y axis in the integration circuit 41a for each cycle Δt. The gravitational acceleration β can be obtained by calculating the inclination angle θ by the sin function circuit 41b (the gravitational acceleration of the earth is g = 1). After that, the motion acceleration EX in the X-axis direction is calculated from the acceleration data AX and the inclination angle θ (S10).
3). This motion acceleration EX can be obtained by calculating the following formula 1 from FIGS. 6 (a) and 6 (b).

[0022]

## EQU1 ## EX = (AX-sin θ) ÷ cos θ

The speed calculation processing section 41 determines the motion acceleration E
The relative speed VX obtained by constant integration of X by the integrating circuit 41c in the integrating circuit 41c at every cycle Δt and the absolute speed VGX calculated based on the GPS signal are combined by the combining filter 41d (S104, S105). That is, the absolute speed VGX calculated from the GPS signal is updated every unit time, for example, every second, but is supplemented by the relative speed VX until the next update. Then, the velocity change of the low frequency (long period) component adopts the absolute velocity VGX, and the velocity change of the high frequency (short period) component adopts the relative velocity VX.
Each is synthesized through a low-pass filter and a high-pass filter to generate a synthetic speed. The synthesized velocity thus synthesized is differentiated by the period Δt to calculate the correct motion acceleration EGX considering GPS (S10).
6).

Next, as shown in FIG. 8, the motion acceleration EG
By subtracting X from the acceleration data AX by the subtractor 41f, the gravity acceleration α of the low frequency (long cycle) is calculated (S201), and the gravity acceleration β of the high frequency (short cycle) is acquired (S202). Each gravitational acceleration α,
β is synthesized by the synthesis filter 41g to obtain the synthetic gravitational acceleration ax about the X axis (S203). This combined gravity acceleration ax is converted into, for example, an Euler coordinate system by the attitude angle conversion unit 41hg, and the attitude angle of the X axis with respect to the reference axis, that is, the tilt angle (here, θx) is calculated.

Further, as shown in FIG. 9, the inclination angle θ
The gravitational acceleration βx is calculated by passing x through the sin function circuit 41i (S301), and the gravitational acceleration βx and the gravitational acceleration α are input to the subtractor 41j to take the difference between them. Then, this difference is stored in the backup memory 6 as an error value ε (= α-βx) (S302). The calculation of the above error value can be performed in the Y-axis direction and the Z-axis direction by the same method.

Next, the procedure for calculating the actual speed when no GPS signal is obtained will be described with reference to FIG. The procedure for calculating the actual speed in the X-axis direction will be described.
The actual speed in the axial direction is the same as that in the X-axis direction.

In the velocity calculation processing unit 41, the angular velocity q about the Y axis measured by the inertial sensor 5 is read from the backup memory 6 at the above timing (S401), and this is integrated by the integrating circuit 41k to move in the horizontal direction of the X axis. An inclination angle θ with respect to is calculated (S402). Furthermore, this inclination angle θ
Gravitational acceleration β = sin through the sin function circuit 41l
Convert to θ (S403). Then, the gravitational acceleration β and the error value ε are subtracted from the acceleration data AX in the X axis direction through the adders / subtractors 41m and 41n to calculate the motion acceleration Exoff in the X axis direction (S404). Is integrated by the integrating circuit 41o to obtain the actual speed Vm (S405).

As the actual speed when the GPS signal is normally received, the absolute speed VGX calculated by the GPS receiver 2 may be used as it is as the actual speed Vm, or as described above. It may be calculated by integrating the correct motion acceleration EGX thus obtained. FIG. 2 shows an example of the former. When the GPS signal cannot be received normally, the output information of the integrating circuit 41o is switched. This switching is performed by the digital receiving unit 3
This is performed based on the monitoring result of the GPS monitoring unit 31a.

(2) Azimuth angle of mobile unit Next, the operation of the azimuth angle calculation processing unit 42 will be described with reference to FIG. When the GPS signal is normally received, the azimuth angle calculation processing unit 42 detects, with the change detection unit 42a, a change component of the absolute azimuth angle ψG (angle with respect to the earth axis) calculated based on the GPS signal per unit time. To do. This absolute azimuth angle ψG is the unit time during which GPS signals can be received,
For example, it is updated every 1 second. On the other hand, the azimuth angle ψI as the change amount from the previous time is calculated based on the acceleration data and the angular velocity data measured by the inertial sensor 5. Then, for the absolute azimuth angle ψG, the current absolute azimuth angle calculated at the n-th time is ψG (n), and the previous absolute azimuth angle is ψG.
(N−1), the difference is ΔψG = ψG (n) −ψG
When (n-1), the low frequency (long cycle) is Δψ
G and a high frequency (short cycle) are combined as ψI through the synthesizing filter 42b, and the relative azimuth ψ obtained thereby is added to the current absolute azimuth ψG by the adder 41c, and the real azimuth represented by the following formula is obtained. Output the angle ψm.

[0030]

## EQU00002 ## .psi.m = .psi.Gn + .psi. On the other hand, when the GPS signal cannot be received, the azimuth angle calculation processing unit 42 outputs the actual azimuth angle .psi.m given by the following equation.

[0031]

## EQU3 ## ψm = ψm + ψI

That is, the current real azimuth angle ψm is obtained by adding the sequentially updated relative azimuth angle ψI to the previous real azimuth angle ψm.

(3) Position of Moving Body Next, the operation of the position calculation processing section 43 will be described with reference to FIG. When the GPS signal is normally received, the position calculation processing unit 43 calculates the moving distance D by integrating the actual speed Vm with the cycle Δt in the integrating circuit 43a.
And the above-mentioned azimuth angle ψm as sin function circuits 43b and cos.
Input to the function circuit 43c. On the other hand, the positional information including the latitude LOG and the longitude LAT updated from the GPS signal every unit time (1 second) is input to the latitude correction unit 43d and the longitude correction unit 43e, respectively. Latitude correction unit 43d and longitude correction unit 4
3e makes a correction based on the azimuth angle ψm and the movement distance D until the next update is performed. That is, the present latitude LOG (n), longitude LAT (n), and the radius of the earth are R
Then, the previous latitude LOG (n-1) and longitude LAT
The calculation is performed using (n-1) as in the following equation.

[0034]

[Equation 4] LOG (n) = LOG (n-1) + (D × cosψm) ÷ {2πR × cos (LOG (n-1))} LAT (n) = LAT (n-1) + (D × sin ψm) ÷ {2πR × cos (LOG (n-1))}

Even when the GPS signal cannot be normally received, the moving distance D and the azimuth angle ψm are calculated as described above, so that the previous latitude and longitude are changed to the current latitude LOG.
(N) and longitude LAT (n) can be calculated. The calculated latitude and longitude are sequentially stored in the backup memory 6.

As described above, according to this embodiment, it is possible to obtain the information on the velocity Vm of the moving body, the positions LOTn and LATn, and the azimuth angle ψm from the backup memory 6 at any time. Also, any information can be selectively extracted from these pieces of information according to the purpose. Further, the backup memory 6 can read and use the previous data even if the power is turned off.

[0037]

EXAMPLE Next, an example in which the movement detecting device of the present invention is used in a car navigation system for visualizing the movement information of the own vehicle by calculating vehicle speed data and azimuth angle data as in the conventional device will be described. To do.

FIG. 11 is an explanatory view showing a mounting state of the movement detecting device in the vehicle. This movement detection device uses GPS
An antenna 1, a GPS receiver 2, an arithmetic control unit 30,
The inertial sensor unit 50 and the velocity data and the azimuth angle data calculated by the arithmetic control unit 30 are output to, for example, the car navigation system 60 installed in the driver's seat.

The GPS antenna 1 catches a GPS signal transmitted from a GPS satellite (not shown) including a constant orbit signal and a signal transmission time signal. G caught
The PS signal is transmitted to the GPS receiver 2 via the antenna code. The GPS receiver 2 includes a receiver 21, a positioning calculator 22, and a digital I / F 23.
The GPS signal caught by the S antenna 1 is sampled every unit time, for example, every second, and absolute information including the absolute velocity and absolute azimuth of the vehicle is calculated from the change in the position per unit time, and this is digital I / It is configured to output to the arithmetic control unit 30 via F23. In addition,
The digital I / F 23 is, for example, an RS232C interface.

Generally, the positioning accuracy of GPS (positional accuracy) is low in the CA mode, which is open to the private sector.
Although having an error of about 0 m, the GPS receiver 2 can improve the accuracy of the absolute speed and the absolute azimuth by calculating the position from the relative accuracy for each unit time.

The inertial sensor 50, as shown in FIG.
It has one accelerometer 51 and two angular velocity meters 52a and 52b. The accelerometer 51 is based on, for example, a semiconductor process, is fixed on a horizontal axis (X-axis) in the same direction as the traveling direction of the vehicle on a substrate 53 that is horizontally arranged in the housing of the inertial sensor 50, and the vehicle travels. It is provided so as to detect the acceleration in the direction (forward direction, backward direction). The angular velocimeters 52a and 52b are, for example, vibrating gyroscopes, and the first angular velocimeter (referred to as a pitch measuring gyro)
52a is fixed on the substrate 53 so as to detect an angular velocity about a horizontal axis (Y axis) orthogonal to the horizontal axis (X axis) of the accelerometer 51. In addition, the second angular velocity meter 52b (referred to as an azimuth measuring gyro) 52b is fixed on the substrate 53 so as to detect an angular velocity about a vertical axis (Z axis) orthogonal to the X axis. The detected acceleration data and angular velocity data are output to the arithmetic control unit 30 via the cable.

The arithmetic control unit 30 includes a digital I / F 35,
It is configured to include an analog I / F 36, an external I / F 37, a CPU 38, and a memory 39. Digital I / F35
Is for receiving digital data from the GPS receiver 2. The analog I / F 36 processes analog data (acceleration data, angular velocity data) output from the inertial sensor 50 at high speed, and includes an amplifier and an AD converter that digitizes the amplified signal.

The CPU 38 is a digital processor,
The angular velocity data and the acceleration data converted into digital signals by the analog I / F 36 (AD converter) are arithmetically processed according to a predetermined program stored in the memory 39, and the velocity arithmetic processing unit 41 and the azimuth angle arithmetic processing unit described above are processed. Four
2 and the function as the position calculation processing unit 43 are realized.
When the GPS receiver 2 normally receives the GPS signal, the absolute velocity and absolute azimuth input through the digital I / F 35, and the acceleration data and the angular velocity data obtained from the inertial sensor 50 are used. The relative velocity and the relative azimuth angle calculated based on the above are corrected by mutual information to calculate the highly accurate actual velocity and the actual azimuth angle. Regarding the actual speed, the absolute speed can be directly used as the actual speed.

On the other hand, when the GPS receiver 2 does not normally receive the GPS signal, that is, when the vehicle enters the tunnel and cannot receive the radio wave from the GPS star, the GPS signal is received.
The relative speed and relative azimuth corrected and calculated when the signal is normally received are calculated as the actual speed and the actual azimuth. The external I / F 37 is provided so as to output various data obtained by calculation by the CPU 38 in accordance with the connected navigation system 60.

Next, a specific operation of the movement detecting device according to this embodiment will be described with reference to FIG. The CPU 38 inputs the acceleration data measured by the accelerometer 51 from the inertial sensor 50 and the angular velocity data from the first angular velocity meter 52a for pitch measurement to the noise removal processing unit 38a, where noise components such as temperature drift are removed. After that, it is input to the relative speed calculation processing unit 38b. The relative speed calculation processing unit 38b
After calculating the relative speed (VX, VY, VZ), it is sent to the reference speed calculation processing unit 38c. Speed calculation data from the GPS receiver 2, that is, absolute speed (VGX, VGY, VGZ) is also input to the reference calculation unit 38c.

As shown in FIG. 15, the unit time (1
The absolute position calculated every second includes an error ΔP, but the absolute position (P1, P2, P2 + ΔP, P2 + ΔP, P3 + ΔP ... P3
..), the error ΔP is canceled out, so that the accuracy can be improved. This is expressed by the following formula.

[0047]

[Equation 5] VGX (VGY, VGZ) = (P2 + △ P)-(P1 + △ P) = P2-P1

On the other hand, the angular velocity data around the Z-axis obtained by the second angular velocity meter 52b for azimuth measurement is used as the noise removal processing unit 38g.
After removing the noise, the relative azimuth angle calculation processing unit 38h calculates the relative azimuth angle ψI and sends it to the reference azimuth angle calculation unit 38i. The relative azimuth angle φI calculated by this is the rotation angle of the vehicle around the Z axis.
In the reference azimuth calculation processing unit 38i, the azimuth calculation data from the GPS receiver 2, that is, the absolute azimuth ψG.
Has also been entered. As shown in FIG. 16, the unit time (1
Since the absolute position P calculated for each second includes the error ΔP, it is based on the absolute position P measured for each unit time like P1 + ΔP, P2 + ΔP, P3 + ΔP. The calculated absolute azimuth angle ψG is given by the following equation.

[0049]

[Equation 6] ψG = arctan (((P2 + △ P) y- (P1 + △ P) y) ÷ ((P2 + △ P) x- (P1 + △ P) x)     = Arctan ((P2y-P1y) ÷ (P2x-P1x))

Since the error ΔP is canceled out in this way,
It is possible to obtain a highly accurate absolute azimuth angle ψG. In addition,
(P2 + ΔP) y is the Y-direction component of P2 + ΔP, (P2 +
ΔP) x represents the X-direction component of P2 + ΔP. This corresponds to the latitude and longitude on the map.

The reference speed calculation processing 38c corrects the relative speed and the absolute speed calculated as described above,
The result is output as the actual speed Vm from the vehicle speed output unit 38d to the car navigation system 60. Further, the reference azimuth angle calculation processing unit 38i corrects the relative azimuth angle and the absolute azimuth angle to obtain the real azimuth angle ψm, and the azimuth angle output processing unit 3i.
Output from 8j to the car navigation system 60.

The correction method performed by the reference speed calculation processing unit 38c and the reference azimuth angle calculation processing unit 38i is as follows.
As explained above. That is, when the GPS signal can be normally received, the relative velocity calculation processing 38b is performed based on the absolute velocity calculated by the GPS receiver 2 based on the GPS signal as the low frequency component and the data from the inertial sensor 50 as the high frequency component. And the relative speed calculated by the above are subjected to filter synthesis. Further, similarly to a general gyroscope, the first and second angular velocity meters 52a and 52b have a peculiar problem that the angular velocity data as the measurement result drifts. The accuracy of the relative speed generated by the reference speed calculation processing unit 38c is corrected so as to eliminate the influence.

For example, as shown in FIG. 17, GPS
When the signal can be normally received, the error feedback processing unit 38e compares the relative speed averaged by the time average processing unit 38q with the absolute speed averaged by the time average processing unit 38p, It is assumed that the difference is due to the drift of the first angular velocity meter (pitch measurement gyro) 52a. Then, the offset estimation processing unit 38r estimates the offset drift of the first gyro 52a,
The relative velocity accuracy is corrected by canceling the above drift with the estimated offset.

A similar correction is made for the azimuth angle.
That is, when the GPS signal can be normally received, the absolute azimuth calculated as the low frequency component based on the GPS signal and the relative azimuth calculated by the relative azimuth calculation processing unit 38h as the high frequency component based on the angular velocity data. The angle is combined with the filter to generate a more accurate real azimuth angle ψm.

When a GPS signal can be received, the drift correction processing unit 38k compares the time-averaged relative azimuth angle with the time-averaged absolute azimuth angle and determines the difference between them as the second angular velocity. Total (azimuth measurement gyro) 52
It is assumed that this is due to the drift of b. Then, the drift of this offset is estimated, and the estimated offset is canceled to correct the relative azimuth angle.

When the vehicle changes its traveling direction, a centrifugal force is generated and the vehicle tilts outward, so that the inertial sensor 50 also tilts. When the vehicle speed is slow, this inclination is small, and therefore the influence of the centrifugal force on the inertial sensor 50 is relatively small.
When the vehicle speed is high, the inclination becomes large, so that the influence of the centrifugal force on the inertial sensor 50 cannot be ignored. Therefore, the influence of the centrifugal force is verified from the relationship between the actual velocity generated by the reference velocity calculation processing unit 38c and the angular velocity data measured by the second accelerometer 52b, and the angular velocity data and the accelerometer 51 by the first angular velocity meter 51a are verified. It is preferable to provide a centrifugal force correction processing unit 38 for removing the influence of the centrifugal force from the acceleration data according to (3) between the relative velocity calculation processing unit 38b and the relative azimuth angle calculation processing unit 38h. With this configuration, the relative speed from which the influence of the centrifugal force is removed is sent to the reference speed calculation processing unit 38c, so that the accuracy of the actual speed is further increased. In addition,
The process is simplified if the effect of centrifugal force between the actual velocity and the angular velocity data obtained by the second gyro is preliminarily obtained by an experiment and a table is created, and the centrifugal force is corrected with reference to this table. And speeding up.

As described above, in the case of a slow change of the vehicle, the absolute speed and absolute azimuth are adopted as the low frequency components, and in the case of the fast change of the vehicle, the relative speed and the relative azimuth angle are adopted. By adopting it, it becomes possible to output highly accurate actual speed and actual azimuth.

Further, since the correction information for obtaining the correct speed and azimuth can be generated during the normal reception of the GPS signal, even if the GPS signal cannot be received, the actual speed and the real azimuth with high accuracy can be obtained. It becomes possible to calculate.

Further, since it is not necessary to detect the speed from the tire of the vehicle as in the conventional case, it is not necessary to provide the vehicle with a special structure in constructing the car navigation system. Therefore, there are no restrictions on handling the car navigation, and the car navigation can be dramatically expanded. The present embodiment can be applied not only to the vehicle but also to other moving bodies.

[0060]

As is apparent from the above description, according to the present invention, the relative movement information calculated from the absolute movement information of the moving body and the measurement value of the inertial sensor when the GPS signal is normally received. When the GPS signal cannot be received due to the generation of the difference information with the relative position information, the relative position information is corrected using this difference information to generate the actual movement information.
There is a unique effect that the actual speed and the actual azimuth can be accurately calculated regardless of the reception state of the S signal. In addition, the inertial sensor can acquire acceleration data and angular velocity data just by placing it on the moving body without requiring information from the moving body (for example, a vehicle speed pulse signal). There is also an effect that it is not necessary to apply. Furthermore, since it is possible to remove the influence of centrifugal force generated in the moving body and the drift of the inertial sensor, there is an effect that more accurate measurement can be performed, and thereby, the movement information of the moving body can be generated more accurately. You can

[Brief description of drawings]

FIG. 1 is a block configuration diagram of a movement detection device according to an embodiment of the present invention.

FIG. 2 is a functional block diagram of a speed calculation processing unit.

FIG. 3 is a functional block diagram of an azimuth calculation processing unit.

FIG. 4 is a functional block diagram of a position calculation processing unit.

FIG. 5 is a diagram showing a relationship between three axial directions orthogonal to each other and a traveling direction of a moving body.

6 (a) and 6 (b) are explanatory views showing the relationship between the motion acceleration and the gravitational acceleration included in the acceleration data.

FIG. 7 is an explanatory diagram of a procedure for generating a correct motion acceleration considering the influence of GPS signals.

FIG. 8 is an explanatory diagram showing a procedure for synthesizing two types of gravitational acceleration.

FIG. 9 is an explanatory diagram showing a process of calculating an error value in the reference axis direction.

FIG. 10 is an explanatory diagram of a procedure for calculating an actual speed when a GPS signal cannot be obtained.

FIG. 11 is an explanatory view of a usage state of the movement detection device according to the embodiment of the present invention.

FIG. 12 is a block configuration diagram of a movement detection device according to the present embodiment.

FIG. 13 is an internal perspective view showing a configuration example of the inertial sensor according to the present embodiment.

FIG. 14 is a functional block configuration diagram of an arithmetic control unit in the present embodiment.

FIG. 15 is a diagram for explaining the absolute position calculation process in the present embodiment.

FIG. 16 is a diagram for explaining a process of calculating an absolute azimuth angle in the present embodiment.

FIG. 17 is a diagram for explaining the content of correction processing in the present embodiment.

[Explanation of symbols]

1 GPS antenna 2 GPS receiver 3,30 Operation controller 4 Processing unit 5,50 Inertial sensor 6 backup memory 41 Speed calculation processing unit 42 Azimuth calculation processing unit 43 Position calculation processing unit

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Claims (9)

(57) [Claims] 1. A GPS calculation means for generating first movement information including a change component of an absolute position, an absolute velocity, and an absolute azimuth angle of a mobile body based on a GPS signal, and an acceleration generated in a traveling direction of the mobile body, An inertial sensor that detects an angular velocity generated around an axis having a certain inclination angle with respect to the traveling direction, and a relative position, a relative velocity, and a relative azimuth of the moving body based on the acceleration and the angular velocity measured by the inertial sensor. Means for generating the second movement information including the change component of the moving body, and the actual movement information including the actual position, the actual velocity, and the actual azimuth of the moving body by correcting the first and second movement information by mutual information. a movement detecting device comprising and a calculation control means for generating by calculation, the arithmetic control means, said absolute speed and said relative velocity obtained by filter synthesis
A means for calculating the first motion acceleration from the change in the composite speed, a first gravity by subtracting the first motion acceleration from the acceleration data.
The second gravitational acceleration is used for calculating the acceleration, and the angle information obtained by integrating the angular velocity data.
Means for converting to a third weight obtained by filtering and combining the first and second gravitational accelerations.
Convert force acceleration to fourth gravitational acceleration based on the standard inclination angle
Means for calculating an error value between the first gravitational acceleration and the fourth gravitational acceleration
Means and the second gravitational acceleration are corrected by the error value, and the corrected weight is corrected.
Second motion acceleration by subtracting force acceleration from acceleration data
Is calculated, and this second motion acceleration is integrated to obtain the actual
Speed calculation processing unit having means for calculating the velocity, the include
A movement detecting device comprising: 2. The filter composition of the absolute speed and the relative speed and the filter composition of the first and second gravitational accelerations are composition of values passed through two types of filters having different bands. The movement detection device according to claim 1, wherein 3. Absolute position of a moving body based on GPS signals
Position, absolute speed, and absolute First shift including the change component of the opposite azimuth
GPS calculation means for generating motion information, For the acceleration and the traveling direction of the moving body
Detects angular velocity generated around an axis with a certain tilt angle
Inertia sensor, From the acceleration and angular velocity measured by the inertial sensor,
Change component of relative position, relative velocity, and relative azimuth of moving body
Means for generating second movement information including Correction of the first and second movement information by mutual information
And includes the actual position, actual velocity, and actual azimuth of the moving body.
And a calculation control means for generating actual movement information by calculation.
A movement detection device consisting of The arithmetic control means, Changes in the absolute azimuth per unit time and the relative azimuth
Means for calculating a combined relative azimuth by filter combining with and
as well as, Based on the absolute azimuth and the relative azimuth that are sequentially updated,
By summing the combined relative azimuth and the absolute azimuth
The obtained first actual azimuth, the relative azimuth, and the actual azimuth
Either one of the 2nd real azimuth obtained by summing with the angle
An azimuth calculation processing unit having means for selectively outputting
Characterized in that it comprises Movement detection device. 4. A filter synthesis of the relative azimuth and variation per unit of the absolute azimuth time, characterized in that it is a synthesis of the values that have passed through the two different kinds of filters band, according to claim 3 The movement detection device described. 5. Absolute position of a moving body based on GPS signals
Position, absolute velocity, and first shift including absolute azimuth change component
GPS calculation means for generating motion information, For the acceleration and the traveling direction of the moving body
Detects angular velocity generated around an axis with a certain tilt angle
Inertia sensor, From the acceleration and angular velocity measured by the inertial sensor,
Change component of relative position, relative velocity, and relative azimuth of moving body
Means for generating second movement information including Correction of the first and second movement information by mutual information
And includes the actual position, actual velocity, and actual azimuth of the moving body.
Calculation control means for generating actual movement information by calculation And
A movement detection device consisting of The arithmetic control means, In addition to calculating the moving distance by integrating the actual speed,
Latitude displacement value and
Means for calculating a longitude displacement value, and The absolute position that is sequentially updated
Generates the actual position by correcting with the degree displacement value and the longitude displacement value.
A position calculation processing unit having means for Characterized in that it comprises Movement detection device. Wherein said arithmetic control means holds the operation result information generated when normally receiving the GPS signal, if the GPS signal is not received with an operation result information the holding The movement detecting device according to claim 1, 3 or 5 , wherein the movement detecting device is configured to calculate actual movement information of the moving body. Wherein said arithmetic control unit, said characterized in that it has a centrifugal force correction means for correcting the influence of centrifugal force for said actual speed based on the actual speed and the angular velocity data, according to claim 1, 3 or 5. The movement detection device according to item 5 . Wherein said arithmetic control unit, the absolute speed and said relative speed difference and the error amount due to drift of the inertia sensor from a difference of the absolute azimuth and the relative azimuth calculated respectively, was calculated The movement detecting device according to claim 1 , further comprising a correcting unit that corrects the relative speed and the relative azimuth based on each error amount. 9. The calculation control means calculates a moving distance by integrating the actual speed, and calculates a latitude displacement value and a longitude displacement value based on the moving distance and the actual azimuth angle, and characterized by comprising the sequential position arithmetic processing unit having means for generating an actual position is corrected by the latitudinal displacement value and longitude displacement value said absolute position on the non-updated time to be updated, include, claim The movement detection device according to 1 or 3 .