JP4667226B2 - Moving state detection device - Google Patents

Description

The present invention relates to a moving state detection apparatus that detects the state of a moving body using a global navigation satellite system (GNSS) such as GPS and an acceleration sensor.

Conventionally, a GPS / IMU integrated device combining GPS and IMU (angular velocity sensor and acceleration sensor) has been developed as a device for calculating the position, velocity, and attitude angle (roll, pitch, and azimuth) of a moving body. Calculations in this GPS / IMU integrated device require observed values of position, velocity, and attitude angle. Among these observation values, the observation values of position and velocity can be obtained from GPS. Of the posture angles, the observed values of roll and pitch can be obtained from gravity (detected by the acceleration sensor). However, it is not easy to obtain the observation value of the orientation, which is another parameter of the attitude angle.

For example, an expensive angular velocity sensor is required for a method that uses high-precision RLG (Ring Laser Gyro) or FOG (Fiber Optic Gyro) as an angular velocity sensor, detects the earth's rotation at rest, and uses this to calculate the direction. Therefore, it is not practical in terms of cost. Further, in the method of calculating the course direction of the moving body using the speed information of the moving body obtained by GNSS such as GPS and regarding the course direction as the direction (hereinafter referred to as direction detection by GPS), the moving body There is a problem that the direction is erroneously detected when retreating. In addition, the method using a magnetic sensor has a problem in that it tends to be affected by magnetic disturbance and the azimuth error becomes large. In addition, the method of detecting the azimuth from the positional relationship between the antennas by fixedly installing a plurality of GPS antennas on the moving body can accurately detect the azimuth, but it is carried out depending on the cost and installation location. There are cases where it is not possible.

As described above, it is difficult to obtain the amount of observation of the azimuth of the moving body, but among these techniques, the technique of detecting the azimuth using the speed information obtained by the GPS positioning device is the simplest and low cost. It is considered that the direction can be detected.

By the way, the name “locator device” of the invention of Patent Document 1 discloses a technique for determining whether a vehicle has moved forward or backward. As shown in FIG. 5 of Patent Document 1, Patent Document 1 focuses on the difference between the output signal of the acceleration sensor and the output signal at the time of stopping, and if the difference is a positive value, the moving body moves forward. If it is a negative value, it is determined that the moving body is moving backward. For this reason, if this method is used, it is possible to expect an effect that can solve the above-mentioned drawback of detecting the direction by the GPS, that is, the erroneous detection of the direction when the moving body moves backward.
Japanese Patent Laid-Open No. 09-287962

However, since Patent Document 1 determines whether the vehicle is moving forward or backward according to the difference between the output signal of the acceleration sensor and the output signal at the time of stopping, no problem occurs when the vehicle is accelerated. Problems arise. That is, when the vehicle decelerates, the acceleration becomes a negative value even though the vehicle is moving forward, and the determination of the moving body moving forward or backward is erroneous. Therefore, the technique of this Patent Document 1 can make an accurate determination only immediately after the moving body starts. If the moving body makes a forward / backward determination while moving, the moving body decelerates temporarily. In such a case, the determination is wrong.

In particular, when performing azimuth detection using GPS, radio waves from satellites may be blocked by obstacles such as buildings and tunnels, which necessitates re-detection of azimuth after receiving radio waves again. At this time, since the moving body is running, the technique of Patent Document 1 cannot accurately determine forward and backward. For this reason, even if the technique of Patent Document 1 is used, the above-described drawback of the direction detection by GPS cannot be sufficiently solved.

Furthermore, although the method disclosed in Patent Document 1 can be used at a traveling speed of an automobile or the like, there is a risk of erroneous determination due to a noise component of the acceleration sensor at a speed of walking or a cultivator. Therefore, sufficient reliability for practical use cannot be obtained in these applications.

The present invention has been made in view of the above problems, and an object thereof is to provide a moving state detection device that can always accurately determine the moving state of a moving body regardless of acceleration and deceleration of the moving body. And

Moreover, it aims at providing the movement state detection apparatus which can detect the azimuth | direction of a moving body correctly from the speed information of the moving body obtained by GNSS, such as GPS.

In order to solve the above-described problems, the present invention provides a speed calculation unit that calculates a moving body speed, an acceleration sensor that detects motion acceleration in the traveling direction of the moving body, and a moving state determination that determines forward and backward movement of the moving body. And the moving state determination unit determines whether the moving body is moving forward or backward based on a value obtained by integrating the motion acceleration of the moving body for a unit time and a difference in the magnitude of the moving body speed in the unit time. It is characterized by that. Thereby, it is possible to always accurately determine the moving state of the moving body regardless of the acceleration and deceleration of the moving body.

The moving state determination unit determines whether the moving body is moving forward or backward based on the sign of the product of the value obtained by integrating the movement acceleration of the moving body for a unit time and the difference in the magnitude of the moving body speed in the unit time. A method for determining forward and backward, and a value obtained by integrating the motion acceleration of the moving body for a unit time and a difference in the magnitude of the moving body speed in the unit time are respectively compared with a predetermined threshold, and based on the comparison result There is a method for determining whether the moving body is moving forward or backward.

The present invention further includes a stationary determination unit that determines whether or not the moving body is moving from the magnitude of the moving body speed, and the determination unit determines that the moving body is moving by the stationary determination unit. It is characterized in that the forward / backward movement of the moving body is determined only when it is done.

Further, the present invention receives a positioning signal from a satellite, calculates a course direction of the moving body based on the received positioning signal, and if the determination result of the moving state determination unit is forward, the calculated course direction Is provided as an azimuth, and if the determination result is a reverse, a azimuth detecting unit having a direction opposite to the calculated course direction is provided. Thereby, it becomes possible to detect an accurate moving body direction from the velocity information of the moving body obtained by GNSS such as GPS using the determination result of the moving body moving forward and backward.

According to the present invention, the acceleration of the moving object is determined by determining whether the moving object is moving forward or backward using the difference between the value obtained by integrating the motion acceleration of the moving object for a unit time and the magnitude of the GPS speed in the unit time. Regardless of deceleration, the moving state of the moving body can always be accurately determined. Moreover, it becomes possible to detect an accurate moving body direction from the speed information of the moving body obtained by GNSS such as GPS using the determination result.

(Embodiment 1)

Hereinafter, a moving state detection apparatus according to Embodiment 1 of the present invention will be described with reference to the drawings.
FIG. 1 is a block diagram showing a configuration of a movement state detection device according to Embodiment 1 of the present invention, and FIG. 2 is a block diagram showing a configuration of a movement state determination unit of the movement state detection device according to Embodiment 1 of the present invention. It is.

In FIG. 1, the movement state detection apparatus according to the first embodiment of the present invention includes a GPS antenna 1, a GPS receiver 2, an acceleration sensor 3, an angular velocity sensor 4, a stationary determination unit 5, and a movement state determination unit 6. And an azimuth detector 7.

The GPS antenna 1 is a receiving unit that receives a positioning signal transmitted from a satellite. In the embodiment of the present invention, GPS will be described as an example. However, the radio wave received by the antenna is not limited to a positioning signal transmitted from a GPS satellite, but a GLONASS satellite, a GALILEO satellite, a quasi-zenith satellite, or the like. Any positioning signal transmitted from the positioning satellite may be used, and the present invention can be similarly applied to other GNSS systems.

The GPS receiver 2 is an arithmetic processing unit that calculates the position and speed of the moving body based on the positioning signal received by the receiving unit 1. The moving body speed obtained by the GPS receiver 2 is vector information relating to the speed of the moving body, and includes the magnitude and direction of the moving body speed. In the following description, the moving body speed obtained by the GPS receiver 2 is appropriately expressed as a GPS speed.

The acceleration sensor 3 is for detecting the motion acceleration in the traveling direction of the moving body. Here, the acceleration is positive when the vehicle is accelerated in the forward direction, negative when the vehicle is decelerated, and negative when the vehicle is accelerated in the backward direction. The case where the vehicle is decelerated is detected as a positive acceleration value.

The angular velocity sensor 4 is for detecting an angular velocity with respect to the traveling direction of the moving body. The angular velocity information detected here is used for azimuth tracking by the azimuth detecting unit 7 described later when the moving body rotates or when the GPS antenna 1 cannot receive a positioning signal from the satellite. Therefore, the angular velocity sensor 4 can be omitted when such a function is not required.

The stationary determination unit 5 determines whether the moving body is moving based on the magnitude of the moving body speed. The magnitude of the moving body speed used by the stationary determination unit 5 can use speed information of the moving body detected by various known techniques. For example, the GPS speed calculated by the GPS receiver 2 described above can be used. In addition to the magnitude of, the integrated value of the acceleration sensor output, the magnitude of the moving body speed obtained from the wheel speed sensor, and the like can be used. In addition, when the moving state detection device is incorporated in the GPS / IMU integration device, the stationary determination unit 5 takes advantage of the GPS / IMU integration to remove the acceleration bias value included in the acceleration sensor output. Body speed can be acquired. Therefore, in such a GPS / IMU integrated device, an accurate moving body obtained by using the GPS speed while receiving signals from the satellite, and integrating the acceleration sensor output otherwise. It may be preferable to use speed.
Here, the description will be made assuming that the GPS speed calculated by the GPS receiver 2 is given to the stationary determination unit 5.

The moving state determination unit 6 is an arithmetic processing unit that determines whether the moving body is in a stopped, forward, or backward state. As illustrated in FIG. 2, the moving state determination unit 6a includes an acceleration integration unit 21, The speed difference unit 22, the integration unit 23, and the determination unit 24 are included.

The acceleration integration unit 21 calculates an integral value per unit time (for example, 0.2 seconds) of the motion acceleration output from the acceleration sensor 3.

The speed difference unit 22 is a difference in magnitude of the moving body speed from the start to the end of the unit time (for example, 0.2 seconds) for which the acceleration integration unit 21 calculates the integral value, that is, (the moving body speed at the end time). )-(Moving body speed at start time) is calculated. In addition, the moving body speed used by the speed difference unit 22 can use the speed information of the moving body detected by various known techniques in the same manner as the moving body speed used by the stationary determination unit 5, for example, In addition to the magnitude of the GPS speed calculated by the GPS receiver 2, the integrated value of the acceleration sensor output, the magnitude of the moving body speed obtained from the wheel speed sensor, the speed information obtained from the GPS / IMU integration device, and the like are used. Can do.
In the following description, it is assumed that the GPS speed calculated by the GPS receiver 2 is given to the speed difference unit 22.

The integration unit 23 calculates the product of the output result of the acceleration integration unit 21 and the output result of the speed difference unit 22. The determination unit 24 determines whether or not the moving body is stopped from the output of the stationary determination unit 5, and determines forward and backward movement of the moving body from the product sign obtained by the integrating unit 23.

FIG. 3 is an explanatory diagram for explaining the forward / backward determination process of the moving body in the movement state determination unit 6. In FIG. 3, the left side shows signs of values output from the acceleration integration unit 21, the speed difference unit 22, and the integration unit 23 when the moving body accelerates and decelerates while moving forward, and the right side shows the moving body. Indicates signs of values output from the acceleration integration unit 21, the speed difference unit 22, and the integration unit 23 when the vehicle accelerates or decelerates during reverse.

As shown in FIG. 3, when the moving body is accelerating forward, the “integration value of motion acceleration” output from the acceleration integration unit 21 and the “GPS speed time” output from the speed difference unit 22. Both “difference” are positive values. Therefore, the integrated value output from the integrating unit 23 is a positive value. Further, when the moving body is decelerating in the forward direction, the “integration value of motion acceleration” output from the acceleration integration unit 21 and the “time difference of GPS speed” output from the speed difference unit 22 are both negative. It becomes the value of. Therefore, the integrated value output from the integrating unit 23 is a positive value. That is, while the moving body is moving forward, the product of “integrated value of motion acceleration” and “time difference of GPS speed” is always a positive value.

On the other hand, when the moving body is accelerating backward, the “integration value of motion acceleration” output from the acceleration integration unit 21 is a negative value, but “GPS” output from the speed difference unit 22 The “time difference in speed” is a positive value. Therefore, the integrated value output from the integrating unit 23 is a negative value. When the moving body is decelerating backward, the “integrated value of motion acceleration” output from the acceleration integration unit 21 is a positive value, but the “GPS speed” output from the speed difference unit 22 The “time difference” is a negative value. Therefore, the integrated value output from the integrating unit 23 is a negative value. That is, while the moving body is moving backward, the product of “integrated value of motion acceleration” and “time difference of GPS speed” is always a negative value.

Thus, the forward and backward movement of the moving body can be determined by looking at the sign of the product of “integrated value of motion acceleration” and “time difference of GPS speed”.

The direction detection unit 7 calculates the course direction from the GPS speed information calculated by the GPS receiver 2, and if the determination result of the moving state determination unit 6 is forward, the calculated path direction is set as the direction. On the other hand, if the determination result is backward, the direction opposite to the calculated course direction is set as the direction. If the determination result is stationary, it is assumed that the orientation has not changed. The azimuth detecting unit 7 receives the output from the angular velocity sensor 4 and, based on the detected angular velocity information, when the moving body rotates or when the GPS antenna 1 cannot receive a positioning signal from the satellite. Follow.

Next, the operation of the present invention will be described.
A positioning signal from the satellite received by the GPS antenna 1 is output to the GPS receiver 2. In the GPS receiver 2, arithmetic processing is performed using the received positioning signal, and the GPS speed is calculated. The calculated GPS speed is output to the stillness determination unit shift 5, the moving state determination unit 6, and the azimuth detection unit 7, respectively. In addition, when the stationary determination part shift 5 and the moving state determination part 6 use moving body speeds other than GPS speed, the magnitude | size of moving body speed is acquired from another speed calculation part.

The stationary determination unit 5 determines whether or not the moving body is moving based on the acquired moving body speed.

FIG. 4 is a flowchart for explaining the processing content of the stillness determination unit 5.
As shown in FIG. 4, the stillness determination unit 5 first determines whether or not the GPS speed can be calculated (step S <b> 101). When the reception status of the radio wave by the GPS antenna 1 is poor and a signal from the satellite cannot be received, the GPS speed cannot be calculated by the GPS receiver 2. In such a case, the stillness determination flag is not determined (step S106). When the speed difference unit 22 uses a moving body speed calculated by another method in addition to the GPS speed, or when using a moving body speed other than the GPS speed, the moving body speed is obtained by another method. If it is not possible to obtain the moving body speed, the stationary determination flag is not determined (step S106).

Next, when the stationary determination unit 5 acquires the GPS speed (step S102), the stationary determination unit 5 determines whether or not the acquired moving body speed is smaller than a predetermined threshold (hereinafter referred to as a first threshold). (Step S103). As a result of the determination, if the magnitude of the acquired GPS speed is smaller than the first threshold, it is determined that the moving body is stopped and the stillness determination flag is turned ON (step S104). On the other hand, if the magnitude of the GPS speed is greater than or equal to the first threshold, it is determined that the moving body is moving and the stillness determination flag is turned OFF (step S105).

Note that the determination in step S102 performed by the stationary determination unit 5 is for removing the influence of the detected speed error of the moving body speed, and the first threshold value used here is the range of the speed error at rest. Is set to a value that does not exceed the value, for example, 0.01 m / s.

The movement state determination unit 6 receives the GPS speed calculated by the GPS receiver 1 and the movement acceleration of the moving body detected by the acceleration sensor 2 and the stationary determination flag determined by the stationary determination unit 5 to move. Determine whether the body is in a stopped, forward, or backward state. Hereinafter, processing contents performed by the acceleration integration unit 21, the speed difference unit 22, the integration unit 23, and the determination unit 24 of the moving state determination unit 6a will be described in detail with reference to FIG.

FIG. 5 is a flowchart for explaining the processing contents of the movement state determination unit.
First, the determination unit 24 determines whether or not the GPS speed can be calculated (step S201).

When the reception status of the radio wave by the GPS antenna 1 is poor and a signal from the satellite cannot be received, the GPS speed cannot be calculated by the GPS receiver 2. In such a case, the state of the moving body is undecided (step S213). When the speed difference unit 22 uses a moving body speed calculated by another method in addition to the GPS speed, or when using a moving body speed other than the GPS speed, the moving body speed is obtained by another method. If it is not possible to obtain the moving body speed, the state of the moving body may be determined as undecided (step S213).

Next, the acceleration integration unit 21 and the speed difference unit 22 operate. The acceleration integration unit 21 calculates an integral value per unit time of the motion acceleration output from the acceleration sensor 3 (step S202), and outputs the calculated “integration value of the motion acceleration” to the integration unit 23. On the other hand, the speed difference unit 22 calculates a difference in the magnitude of the GPS speed from the start time to the end time of the unit time for which the acceleration integration unit 21 has calculated the integral value (step S203). The “time difference” is output to the integrating unit 23.

Next, a product of “integrated value of motion acceleration” and “time difference of GPS speed” for each corresponding time is calculated by the integrating unit 23 (step S204). The calculation result is output to the determination unit 24.

In the determination unit 24, processing from step S205 to step S213 is performed. First, the determination unit 24 determines whether the moving body is stopped based on the stillness determination flag output from the stillness determination unit 5 (step S205). At this time, if the stillness determination flag is ON, it is determined that the moving body is stopped, and a message to that effect is output to the bearing detection unit 7 (step S206).

On the other hand, if the stationary determination flag is not ON, it is determined whether or not the moving object has been determined to move forward or backward in the previous determination (step S207). That is, if there is no error in the previous forward / reverse determination, a stop state is always included once when the state of the moving body changes from forward to backward, or from backward to forward, so the previous determination is forward or Even if the reverse determination is maintained, no error occurs in the determination of the state of the moving object. Therefore, in this determination step, in order to reduce the processing load of the determination unit 24, the previous determination result is maintained when the forward and backward movements of the moving body have been determined in the previous determination.

If the result of determination in step S207 has already been determined, the previous determination is maintained (step S208). Of course, the processing of step S207 and step S208 may not be performed, and the forward and backward movements of the moving body may be determined every time when the moving body is not stopped. Further, the forward / reverse determination may be confirmed when the forward / reverse determination continues continuously for a predetermined number of times (for example, 5 times).

Next, the determination unit 24 determines whether the product of the “integration value of motion acceleration” calculated by the integration unit 23 and the “time difference in GPS speed” is equal to or greater than a predetermined threshold (hereinafter referred to as a second threshold). It is determined whether or not (step S209). As a result of the determination, when the product calculated by the integrating unit 23 is equal to or greater than the second threshold value, it is determined that the moving body is moving forward (step S210).

If the product calculated by the integration unit 23 is smaller than the second threshold value, a value obtained by multiplying the product calculated by the integration unit 23 by minus 1 is compared with the second threshold value (step S211). As a result of the comparison, when the value obtained by multiplying the product calculated by the integration unit 23 by minus 1 is equal to or larger than the second threshold value, it is determined that the moving body is moving backward (step S212). On the other hand, when the value obtained by multiplying the product calculated by the integrating unit 23 by minus 1 is smaller than the second threshold value, it is determined that the moving direction of the moving body cannot be determined and is determined to be undecided (step S213).

The second threshold value used in the determination unit 24 is for removing the influence of observation errors and the like, and the product of the “integral value of motion acceleration” and the “time difference of GPS speed” at rest. A value that does not exceed the value, that is, a value that does not exceed the product of the noise component of “integrated value of motion acceleration” and “time difference of GPS speed” (for example, 0.02 (m / s) ² ) is set.

The determination result of the movement state obtained by the movement state determination unit 6 in this way is output to the direction detection unit 7.

The azimuth detecting unit 7 detects the azimuth of the moving body based on any of the determination results of stopping, moving forward, and moving backward of the moving body, except when the determination result of the moving state determining unit 6 is not yet determined. That is, the course direction is calculated from the GPS speed information calculated by the GPS receiver 2, and the direction detection unit 7 sets the calculated direction as the direction if the determination result of the moving state determination unit 6 is forward. On the other hand, if the determination result is backward, the direction opposite to the calculated course direction is set as the direction. If the determination result is stationary, it is assumed that the orientation has not changed. Further, when the mobile body rotates or when the GPS antenna 1 cannot receive a positioning signal from the satellite, the azimuth detector 7 receives an output from the angular velocity sensor 4 and azimuth based on the detected angular velocity information. Follow.

By the way, the GPS speed obtained by the GPS receiver 2 is vector information related to the speed of the moving body as described above, and includes information related to the direction of the moving body speed. However, this direction information has a drawback that an accurate direction cannot be obtained when the moving body speed is low. Therefore, when the moving body speed is low, an error may occur in the direction detection result by the direction detection unit 7 using the GPS speed.

Therefore, a determination step shown in step S311 of FIG. 6 is added to the processing of the determination unit 24 of the movement state determination unit 6 described with reference to FIG. 5, and the GPS speed is equal to or higher than a predetermined threshold (third threshold). Only the forward and backward movements of the moving body may be determined. In other cases, it may be determined that the moving direction of the moving body cannot be determined and that the determination is undecided. Thereby, the azimuth detecting unit 7 detects the azimuth only when a predetermined GPS speed is obtained, and outputs the azimuth detection result, thereby enabling more accurate azimuth detection. Note that the third threshold value used in the determination unit 24 is set to a value (for example, 0.5 m / s) that does not exceed the speed at the time of walking, for example, the direction information can be accurately obtained from the GPS speed.

As described above, according to the moving state detection apparatus according to the first embodiment of the present invention, the moving body moves forward and backward based on the sign of the product of “integrated value of motion acceleration” and “time difference of GPS speed”. By determining, the moving state of the moving body can always be accurately determined regardless of the acceleration and deceleration of the moving body. Moreover, it becomes possible to detect an accurate moving body direction from the speed information of the moving body obtained by GNSS such as GPS using the determination result.

(Embodiment 2)
Next, a moving state detection apparatus according to Embodiment 2 of the present invention will be described. The movement state detection apparatus according to the second embodiment of the present invention is obtained by adding an addition unit 31 to the movement state determination unit 6a shown in FIG. 2, and the other parts are the same as those in the first embodiment. The description is omitted here.

FIG. 7 is a block diagram showing a configuration of a movement state determination unit of the movement state detection device according to Embodiment 2 of the present invention. In addition, the same code | symbol is attached | subjected about the same component as FIG. 2 mentioned above, and description is abbreviate | omitted here.

The adding unit 31 performs cumulative addition until the magnitude of the solution obtained by the integrating unit 23 becomes equal to or greater than a predetermined threshold (second threshold).

FIG. 8 is a flowchart showing the processing contents of the movement state determination unit 6b. In addition, the same code | symbol is attached | subjected about the process content similar to the process step shown in the said FIG. 5 or FIG. 6, and description is abbreviate | omitted here.

In the second embodiment of the present invention, after the process of step S204, the adding unit 31 adds the currently calculated product size to the stored value stored in the memory in the adding unit 31. Is performed (step S401). And the process after step S205 shown in FIG. 5 or FIG. 6 is performed using the value after this addition process (step S402).

That is, even if the process of step S402 is a case where the product of “integrated value of motion acceleration” and “time difference of GPS speed” for one time is smaller than the second threshold shown in FIG. 5 and FIG. When the cumulative addition value of the product of the batch exceeds the second threshold value, the forward / backward determination of the moving body is performed using the value. Thereby, for example, in the case where the product value of the same sign is obtained continuously, the moving body is judged to move forward and backward even if the obtained product value is small, It is possible to determine whether the moving body is moving forward or backward at a frequency.

Next, the adding unit 31 determines whether the determination unit 24 is “stop”, “forward”, or “reverse” by the processing after step S205 shown in FIG. 5 or 6 (step S402). It is determined whether or not (step S403). As a result of the determination, when the determination unit 24 determines any one of “stop”, “forward”, and “reverse”, the holding value held by the addition unit 31 is cleared (reset to zero) (step 0). S404). Thereby, it is possible to prevent the product value of “integrated value of motion acceleration” and “time difference of GPS speed” from being cumulatively added infinitely. On the other hand, when the determination unit 24 cannot determine any of “stop”, “forward”, or “reverse”, that is, when the determination unit 24 determines “not determined”, step S401 is performed. Then, the addition result after the addition unit 31 performs the addition process is updated as a holding value held by the addition unit 31 (step S405).

As described above, according to the moving state detection device of the second embodiment of the present invention, the accumulating unit until the moving state determining unit 6 determines that the solution obtained by the accumulating unit 23 is equal to or larger than the second threshold. An adder 31 that cumulatively adds the solutions of 23 is provided, and the determination unit 24 determines the state of the moving object from the sign of the solution of the adder 31 when the solution of the adder 31 becomes equal to or greater than the second threshold. As a result, it is possible to prevent erroneous determination due to the influence of observation errors and the like, and to determine the movement state more frequently.

(Embodiment 3)
Next, a moving state detection apparatus according to Embodiment 3 of the present invention will be described. In the moving state detection apparatus according to Embodiment 3 of the present invention, in the moving state determination unit 6 shown in FIG. 2, the determination unit 41 does not use the product of “integral value of motion acceleration” and “time difference of GPS speed”. This determines whether the moving body is moving forward or backward.

FIG. 9 is a block diagram showing a configuration of a movement state determination unit of the movement state detection device according to the third embodiment of the present invention. The same components as those of the movement state determination unit 6a shown in FIG. 2 are denoted by the same reference numerals, and the description thereof is omitted here.

The determination unit 41 determines whether or not the moving body is stopped from the output of the stillness determination unit 5, and is output from the “integration value of motion acceleration” output from the acceleration integration unit 21 and the speed difference unit 22. The “time difference in GPS speed” is compared with at least one threshold value, and the forward / backward movement of the moving body is determined from the comparison result.

Hereinafter, an example of the determination process performed by the determination unit 41 will be described with reference to FIG.
FIG. 10 is a flowchart showing the processing contents of the movement state determination unit 6c. In addition, the same code | symbol is attached | subjected about the process content similar to the process step shown in the said FIG. 5, and description is abbreviate | omitted here.

The determination unit 41 determines whether or not a predetermined condition 1 or condition 2 is satisfied in order to determine whether the moving body is moving forward or backward (steps S501 and S502).

なお、表中に示された第４の閾値、第５の閾値は加速度センサ３の観測誤差やＧＰＳ速度の誤差等を考慮して予め設定される所定の値であり、例えば、「運動加速度の積分値」と「ＧＰＳ速度の時間差分」を算出する単位時間を０．２秒とする場合に、第４の閾値を０．１ｍ／ｓ、第５の閾値を０．２ｍ／ｓ程度に設定する。 Conditions 1 and 2 are set as shown in Table 1 below, for example.

The fourth threshold value and the fifth threshold value shown in the table are predetermined values that are set in advance in consideration of the observation error of the acceleration sensor 3, the error of the GPS speed, and the like. When the unit time for calculating “integrated value” and “GPS speed time difference” is 0.2 seconds, the fourth threshold value is set to 0.1 m / s and the fifth threshold value is set to about 0.2 m / s. To do.

This makes it possible to determine whether the moving body is moving forward or backward without using the product of “integrated value of motion acceleration” and “time difference between GPS speeds”, as well as a threshold value for determining moving body forward and backward. Can be set for each “integral value of motion acceleration” and “time difference of GPS speed”, so that more accurate determination processing can be performed by removing error factors such as observation errors.

In the third embodiment of the present invention, the processing content performed by the determination unit 41 by modifying the processing content in FIG. 5 has been described. However, as shown in FIG. 11, the processing in step S301 in FIG. The state of the moving body may be determined only when a GPS speed above a certain level is obtained.

Also in the third embodiment of the present invention, an adder is further provided as in the second embodiment described above, and the cumulative addition value of each of “integral value of motion acceleration” and “time difference of GPS speed” is set to a predetermined value. These threshold values may be compared with each other.

As described above, according to the moving state detection apparatus of the third embodiment of the present invention, the “integration value of motion acceleration” output from the acceleration integration unit 21 and the “GPS speed time” output from the speed difference unit 22. "Difference" is compared with at least one threshold value, and the forward / backward movement of the moving body is determined from the comparison result, so that the moving state of the moving body is always accurately determined regardless of whether the moving body is accelerated or decelerated. Can be determined. Moreover, it becomes possible to detect an accurate moving body direction from the speed information of the moving body obtained by GNSS such as GPS using the determination result.

The first and second embodiments described above are examples of the best embodiment, and various modifications can be made without departing from the spirit of the present invention. The present invention is not limited to the above-described embodiments. Absent.

The block diagram which shows the structure of the movement state detection apparatus by Embodiment 1 of this invention. The block diagram which shows the structure of the movement state determination part of the movement state detection apparatus by Embodiment 1 of this invention. Explanatory drawing for demonstrating the forward / backward determination process of the moving body in the movement state determination part of the movement state detection apparatus by Embodiment 1 of this invention. The flowchart for demonstrating the processing content of the stillness determination part of the movement state detection apparatus by Embodiment 1 of this invention. The flowchart for demonstrating the processing content of the movement state determination part of the movement state detection apparatus by Embodiment 1 of this invention. The flowchart for demonstrating the other processing content of the movement state determination part of the movement state detection apparatus by Embodiment 1 of this invention. The block diagram which shows the structure of the movement state determination part of the movement state detection apparatus by Embodiment 2 of this invention. The flowchart for demonstrating the processing content of the movement state determination part of the movement state detection apparatus by Embodiment 2 of this invention. The block diagram which shows the structure of the movement state determination part of the movement state detection apparatus by Embodiment 3 of this invention. The flowchart for demonstrating the processing content of the movement state determination part of the movement state detection apparatus by Embodiment 3 of this invention. The flowchart for demonstrating the other processing content of the movement state determination part of the movement state detection apparatus by Embodiment 3 of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 GPS antenna 2 GPS receiver 3 Acceleration sensor 4 Angular velocity sensor 5 Stillness determination part 6 Movement state determination part 7 Direction detection part 21 Acceleration integration part 22 Speed difference part 23 Accumulation part 24, 41 Determination part 31 Addition part

Claims (8)

At least one receiving unit for receiving a positioning signal transmitted from a satellite;
A speed calculator for calculating the moving body speed;
An acceleration sensor for detecting motion acceleration in the traveling direction of the moving body;
A moving state determination unit for determining forward and backward movement of the moving body;
Based on the positioning signal received by the receiving unit, the path direction of the moving body is calculated. If the determination result of the moving state determination unit is forward, the calculated path direction is regarded as the direction. An azimuth detection unit having a direction opposite to the calculated course direction as a direction,
The moving state determining unit includes an acceleration integrating unit that calculates an integral value of the detected motion acceleration in unit time, and a magnitude of the moving body speed from the start to the end of the unit time based on the calculated moving body speed. A speed difference unit that calculates a difference in height; and a determination unit that determines whether the moving body is moving forward or backward based on an output result of the acceleration integration unit and an output result of the speed difference unit. State detection device. The movement state detection apparatus according to claim 1,
The azimuth detecting unit outputs the azimuth of the moving body only when the moving body speed calculated by the speed detecting unit is equal to or greater than a predetermined threshold. A speed calculator for calculating the moving body speed;
An acceleration sensor for detecting motion acceleration in the traveling direction of the moving body;
A moving state determination unit that determines whether the moving body is moving forward or backward,
The moving state determining unit includes an acceleration integrating unit that calculates an integral value of the detected motion acceleration in unit time, and a magnitude of the moving body speed from the start to the end of the unit time based on the calculated moving body speed. A speed difference unit that calculates a difference in height; and a determination unit that determines whether the moving body is moving forward or backward based on an output result of the acceleration integration unit and an output result of the speed difference unit. State detection device. A speed calculator for calculating the moving body speed;
An acceleration sensor for detecting motion acceleration in the traveling direction of the moving body;
A moving state determination unit that determines whether the moving body is moving forward or backward,
The moving state determining unit includes an acceleration integrating unit that calculates an integral value of the detected motion acceleration in unit time, and a magnitude of the moving body speed from the start to the end of the unit time based on the calculated moving body speed. A moving body based on a speed difference unit that calculates a difference in height, an integration unit that calculates a product of the product from an output result of the acceleration integration unit and an output result of the speed difference unit, and a product sign obtained by the integration unit And a determination unit that determines whether the vehicle is moving forward or backward. A speed calculator for calculating the moving body speed;
An acceleration sensor for detecting motion acceleration in the traveling direction of the moving body;
A moving state determination unit that determines whether the moving body is moving forward or backward,
The moving state determination unit includes an acceleration integration unit that calculates an integral value of the detected motion acceleration in a unit time, and a magnitude of the moving body speed from the start to the end of the unit time based on the calculated moving body speed. A speed difference unit that calculates a difference in height, an output result of the acceleration integration unit, and an output result of the speed difference unit, each of which is compared with at least one threshold value, and a determination that determines whether the moving body is moving forward or backward based on the comparison result And a moving state detecting device. In the movement state detection apparatus in any one of Claim 1 to 5,
A stationary determination unit for determining whether or not the moving body is moving from the size of the moving body speed,
The determination unit is configured to determine whether the moving body is moving forward or backward when the stationary determination unit determines that the moving body is moving. In the movement state detection apparatus according to claim 4 or 5,
The determination unit performs the state determination of the moving body when the magnitude of the product obtained by the integration unit, or the output results of the acceleration integration unit and the speed difference unit is equal to or greater than a predetermined threshold. A moving state detection device. In the movement state detection apparatus according to claim 7,
The moving state determination unit is the product obtained by the integration unit until the magnitude of the product obtained by the integration unit, or the magnitude of the output result of the acceleration integration unit and the speed difference unit is equal to or greater than a predetermined threshold, Alternatively, an addition unit that cumulatively adds the output results of the acceleration integration unit and the speed difference unit,
The determination unit is configured to determine a state of a moving body using the cumulative addition value when an output result of the addition unit is equal to or greater than the predetermined threshold.

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