JPH01308916A - Position read out device of navigation system - Google Patents

Abstract

PURPOSE:To intuitively read the distance from the position of the origin of a scale plate or from the mark point thereof by a decimal numeral by inputting the latitude and longitude of the position corresponding to the origin of coordinates of the scale plate, the scale-down of a map; and the angle of rotation of a coordinates axis. CONSTITUTION:A transparent planar scale plate to which meshes crossing each other at a right angle of equal intervals and X- and Y-coordinates scales due to a decimal numeral are applied is allowed to cover a commercial map made by the Mercator projection to be fixed thereto. By inputting the latitude and longitude of the position corresponding to the origin of coordinates of the scale plate, the scale-down of the map and the angle of rotation of a coordinates axis, the latitude and longitude of the present position are obtained from a navigation system and converted to X- and Y-coordinates value at each time when obtained from said navigation system and the present position is read out in such a state that said position is changed over to latitude and longitude or X- and Y-coordinates values.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a display of current position information obtained from a navigation device.

[Conventional technology]

Current position information in Loran C navigation, GPS navigation, etc. is generally displayed using latitude and longitude.

[Problems to be solved by the present invention]

When trying to determine the current location while driving using an onboard navigation device, the commonly used latitude and longitude display is to enlarge a commercially available map and intuitively determine the current location from the displayed data. is difficult. If you want to be able to determine the position intuitively, you can draw information such as roads on a display using a CRT display, etc., and when the current position is obtained, the current position will be displayed on the map display of the CRT. However, it is cumbersome, such as having to place a CRT display in a small car interior and making it difficult to obtain information that can be replaced depending on the location of the vehicle.

The present invention utilizes a map based on the Mercator projection that is generally available on the market, and creates meshes at equal intervals that are orthogonal to each other.
By stacking and fixing scale plates with X and Y coordinate scales in decimal notation so that the latitude and longitude axes match the X and Y pongee, the position information on the map can be displayed in latitude and
X in addition to longitude.

After making it readable as a Y coordinate value, each time position information is obtained from a navigation device in terms of latitude and longitude (LT, LG), the Nichibaku is converted to (x, y) coordinate values and displayed. This makes it possible to intuitively read the origin of the scale plate and the distance from the marker point to the current location on the map using decimal numbers.

[Means to solve the problem]

The display device of the present invention includes the following means.

(a) Commercially available maps created using the Mercator projection (
or nautical charts), in whole or in part.

Spread out the area that includes the area where your vehicle (or your ship) is going to travel on a flat surface (plane or cylindrical surface), place it tightly on top of it, and draw meshes at evenly spaced perpendicular angles and X in decimal notation. , while covering the map with a transparent planar scale plate with Y-coordinate markings, place it parallel to the perpendicular X and Y axes and the longitude and latitude axes, or intentionally rotate it by a constant angle A. means for fixing it in place.

(b) The latitude and longitude (LTφ, LG
φ), the scale of the map (1/K) or its inverse (K), the scale factor of the scale plate (S), and the rotation angle of the coordinates (A).

(c) Latitude and longitude of the current position P obtained from the navigation device (
LT, LG) data into (X, Y) coordinate values.

(d) Display the current position P in latitude and longitude (LT, LG).
) or (X, Y) coordinate values.

(e) Sign position data such as waypoints and target points should be expressed using X, Y coordinate values (Xw
, Yw).

[For production]

A commercially available map created using the Mercator projection has evenly spaced orthogonal meshes and X in decimal.

Navigation can be performed by fixing a transparent planar scale plate with a Y-coordinate graduation on top, and inputting the latitude and longitude of the position corresponding to the coordinate origin of the scale plate, the scale of the map, and the rotation angle of the coordinate axes. Every time the latitude and longitude of the current location is obtained from the device, it is converted into X and Y coordinate values, and the current location is displayed by switching between latitude and longitude or X and Y coordinate values.

〔Example〕

Embodiments of the present invention will be described below with reference to the drawings.

Figure 1 shows an example of a scale plate; in reality,
Similar scale plates are available in various sizes depending on the purpose and size of the map. In the example of the scale plate here, the length and width are equal, but the length and width may be different if necessary.

The longitude and latitude coordinate axes of the map are superimposed and fixed on the required part of a commercially available map created using the Mercator projection in a state parallel to the X and Y axes of the scale plate, respectively. The case where they are intentionally rotated by a constant angle A and overlapped without being parallel will be described later.

Although the coordinate values in Figure 1 are expressed in decimal numbers, there is no need to be particular about decimal numbers, so it is possible to change one or both of the X and Y coordinate values to hexadecimal numbers or characters such as alphabets. Needless to say.

Figure 4 is an example of a road map, etc., with coarse, evenly spaced scales, Figure 5 is an example of a portable transparent window with fine scales that include the unit squares of the coarse scale, and Figure 6 is the location coordinates of known points. A 70-chart is shown in which the latitude and longitude (LTφ, LGφ) of the position coordinate origin are calculated from the input (Xk, Yk) and the longitude and latitude (LG, LT) obtained from the navigation device.

FIG. 2 shows an example of the configuration of this device, and FIG. 3 shows a 70-ch F of the operation performed by the arithmetic control section of this device.

In Figure 2, 1 is a navigation device that outputs latitude and longitude data (LT, LG) of the current position P at short time intervals, 2 is a navigation device that outputs latitude and longitude data (LT, LG) of the current position P, and 2 is a navigation device that outputs latitude and longitude data from 1, a calculation completion flag, and a scale.
Plate X, Y pongee origin (φ.

The latitude and longitude of position 0 (LTφ, LGφ) on the map corresponding to φ), map scale (1/K), and coordinate rotation angle (
A) is an input port for reading the input from the board 3, 4 is an arithmetic control unit that performs the operation shown in the chart 70 in FIG. 3, and 5 is the input port (X
, Y) is a position indicator for displaying coordinate values or latitude and longitude (LT, LG) input from the navigation device 1.

In Figure 3, Pl indicates the latitude and longitude (
LTφ, LGφ), the reciprocal of the scale, the scale factor S of the scale plate, and the coordinate rotation angle A are input from the keyboard. LTφ.

Instead of inputting LGφ, LTφ and LGφ may be calculated by reading (X, Y) on the scale board corresponding to the current position (LT, LG) (which only needs to be input once). .

In P2, the navigation device 1 monitors the flag that appears when the calculation of the current position is completed, and when the flag is raised, moves to the next process of P3, and calculates the latitude and longitude (LT, LG) of the current position P.
) is read from the navigation device 1 via the input port 2, and the process moves to the next P4.

In P4, in Mercator projection maps, the latitude pitch is proportional to 1/cos (latitude), and the longitude pitch is proportional to longitude, so use the following conversion formula to convert latitude and longitude (LT, LG). Convert to (X, Y) coordinate values.

=S:? (log(Lan(early ten ÷))−log(t
in (Hayaju', ト)) Suki ML surface distance per radian of longitude above, S is the scale factor of the scale plate, and K is the reciprocal of the map scale.

If the X and Y coordinate axes are intentionally rotated by a constant angle A with respect to the latitude and longitude coordinate axes, the above X.

An operation for rotating the Y coordinate by A is added.

In P5, the calculation completion flag is reset in preparation for inputting the next current position data, and then the process returns to P2.

P6 and P7 are the (X, Y) coordinate values of the current position P, or the latitude and longitude (LT
, LG).

FIG. 4 shows an example of a road map with coarsely spaced scales.

In this example, coordinate symbols are assigned to the horizontal axis from left to right in ascending order of A, B, and C, and coordinate symbols are assigned to the vertical axis from top to bottom in ascending order of Aoi. 40
It is a square of mmX 40 m+e.

Figure 5 is an example of a portable transparent window with a fine scale that includes the unit squares of the coarse scale in Figure 4, and is attached to a string with a hook at the end for convenient portability.

The scale is 40 m x 4 to include the map shown in Figure 4.
At 0 mm, there are thick scale lines every 10 mm and fine scale lines every 21.

The numbers written outside the frame of the transparent window are reversed on the inside and outside, so that it can be used regardless of the ascending order of the coordinate symbols of the map you are trying to use, both vertically and horizontally. be.

When using the map shown in Figure 4, the inner scale numbers correspond to both the horizontal and vertical axes.

In our example, the coordinate values of the user position are, for example, E
26. A18 etc. is displayed, and by looking at the location display, the user can intuitively check the exact current location on the map using the map in NIJ 4 and the scale window in Figure 5.

To obtain the position coordinate value, divide the coordinate value at the display coordinates by the unit scale width (40III11 in Figure 4) and calculate the quotient and remainder.
If the quotient 0.1.2... is converted into A, B, C... or mallow, tsu... and the remainder is displayed as a decimal number, it will become a display value such as E26gI18.

It is easy to create the necessary conversion table in software by inputting the correspondence between coordinate symbols and 0.1.2... and whether the coordinate origin is on the top, bottom, left or right using a keyboard, etc. It is.

FIG. 6 shows the location coordinate values of the point (for example, [E26
．． (Xk, Y
k) and the longitude and latitude output values (LG, LT) obtained at that time from a navigation device such as GPS, the position coordinate origin (in this example, E○○.

A 70-chart of the part for calculating the longitude and latitude (LG○, LT○) of I○O) is shown.

In the figure, at P6, the position coordinate origin (LG○).

Assign the longitude and latitude output values (LG, LT) from the navigation device at that location to LT○).

By doing so, the position coordinate values become (○, ○) at that place, which should originally be (Xk, Yk), so the error (ΔXIΔY) in the position coordinate values at that time becomes
is the opposite sign value of (Xk, Yk) itself.

P7 is a corresponding process.

In P8, the longitude and latitude correction amounts (ΔLG, ΔLT) of the position coordinate origin are calculated to correct the position coordinate error.

1 here is Y mentioned in P4 of Figure 3 above.

In P9, which is a constant corresponding to S-ML/K in the calculation formula for X, the longitude and latitude (LGO, LTO) of the position coordinate origin are corrected based on (ΔLG, ΔLT), and this
From the above (LG, LT) and the latitude coordinates (Q, LTO),
X, Y) and perform the calculation in the next PIO.

The calculation here is Y as described in P4 of Figure 3 above.

This is done using exactly the same formula as the calculation formula for X.

In Pll, the calculated position coordinate values (X, Y) and the actual values (
Xk, Yk), that is, the position coordinate value error (ΔX
, ΔY), and in the next PI3, the absolute value of the error (1ΔX
1,1ΔYl) is smaller than the error tolerance ε. If it is larger than ε, the process returns to P8 and repeats the same process.

In PI3, when the error is smaller than ε, the longitude and latitude (LGO, LTO) of the position coordinate origin are correct values within the allowable error range, so end the calculation here, and at this time (LGO, LTO) as the correct longitude and latitude of the origin of the position coordinates.

If the subsequent position display value obtained by this (LGQ, LTO) is accompanied by a minute dispersion error (δX, δY), then (LGO, LTQ) is set to [7T/, -(7T/,), What is necessary is to correct eO3 (LTO).

Here, TT and TT are algebraic average values of multiple values of δX and δY.

If the above origin determination procedure is performed while the robot is stationary at a known point for a while, determine the number of times to average the values of δX and δY, and perform the above correction on (LGO, LTO). It would be good to have a function like this.

Also, in case (LGO, LTO) is known,
Needless to say, it would be better to have a function to directly input the value.

For later data organization, etc., it is necessary to be able to read (LGO, LTO).

If the transparent window with scale shown in Figure 5 has the function of emitting light at the intersection of the signal input corresponding to the vertical and horizontal scale lines and the scale line corresponding to the m-horizontal signal with the signal input, it will correspond to the vertical and horizontal scale values. By providing a pair of signal inputs with
The user's location can be displayed simply by placing the transparent window on the square indicated by .

By using an electroluminescent board made of a transparent material or by connecting one side of two poles of minute light emitting diodes arranged in a rectangle vertically and vertically, it is possible to create a transparent window that emits light at the intersections of vertical and horizontal scale lines. .

〔Effect of the invention〕

It is possible to use commercially available maps created using the Mercator projection, and it is also possible to display the current location in decimal numbers, which makes it easy to intuitively locate the location.
If you use a combination of methods such as stacking the map and scale plate in a transparent acrylic paper case, or using the acrylic paper case itself as a scale plate, you can create a very effective car-mounted or portable version. Acts as a position indicator.

[Brief explanation of the drawing]

The drawings show embodiments; FIG. 1 is a plan view of a specific example of a scale plate used in the present invention, FIG. 2 is a block diagram showing a configuration example of the present invention, and FIG. 3 is a calculation control diagram of FIG. 2. Figure 4 is an example of a road map with coarse, evenly spaced scales; Figure 5 is an example of a portable transparent window with fine scales that include unit squares of coarse scale;
The figure is a flowchart of the part that calculates the origin of position coordinates. 1...Navigation device 2...Input port 3...Keyboard 4...Arithmetic control unit 5...Position indicator

Claims (1)

[Claims] 1) In a position indicator of a navigation device that can calculate and output the latitude and longitude of the current position P at short time intervals, a. Using the whole or a part of it, spread the part including the area where the own vehicle (or own ship) is going to drive (or where the person carrying it is going) onto a flat surface (plane or cylindrical surface), On top of that, place 10 orthogonal evenly spaced meshes in close contact with each other.
Either place the longitude and latitude axes parallel to the orthogonal X and Y axes along with the map while covering the transparent planar scale plate with X and Y coordinate scales in base numbers, hexadecimal numbers, characters, etc. or a means for fixing it while intentionally rotating it by a fixed angle A, b. The latitude and longitude (LTφ, LGφ) on the map of the portion corresponding to the origin of the X and Y axes of the scale plate mentioned above; Map scale (1/K) or its reciprocal (K), scale factor of scale plate (S), and rotation angle of coordinates (A)
c. The latitude and longitude of the current position P obtained from the navigation device (LT,
LG) A means for converting data into (X, Y) coordinate values; d. Displaying the current position P in latitude and longitude (LT, LG);
(X, Y) coordinate values, it is possible to intuitively determine the current position of the own vehicle (or own ship) by using easily available maps (or nautical charts). A position indicator characterized in that it can also display coordinate values in easy-to-read decimal numbers or the like that allow positioning at other locations. 2) In a device that uses the position indicator described in item 1) above, sign position data such as waypoints and target points are expressed not in latitude and longitude (LTW, LGW) but in X, Y coordinate values (X_w,
A position indicator characterized in that it is equipped with a means for providing sign data (Y_w), thereby making it possible to easily read and input sign data from a map + scale plate. 3) In the position indicator described in item 1) above, instead of the means described in item a above, a mesh applied to the scale plate and a A position indicator characterized by using a means for adding the equivalent of scale numbers in base numbers, etc., using a line type and character type that are completely different from those used for displaying latitude and longitude. 4) In the position indicator described in item 1) above, the latitude and longitude (LTφ, LGφ) of the X, Y coordinate origin (φ, φ) and the scale factor (
Instead of inputting the received current position (
(LT, LG) by providing means for reading the corresponding (X, Y) values from the values on the scale plate or reading the same again at a different current position and inputting the values. From the values of (LG) and (X, Y), (LTφ, L
Gφ) and the scale factor of the scale plate (
A position indicator characterized by calculating S). 5) In a device using the position indicator described in items 1) to 4) above, when using a road map etc. on which coarse evenly spaced scales are drawn, the position indicator is surrounded by vertical and horizontal unit scales of coarse evenly spaced scales. Prepare a portable transparent window with a fine scale that covers the area corresponding to the square, and calculate the composite value of the coordinate symbol on the coarse scale on the map and the coordinate value on the fine scale on the transparent window (for example, [E26, A18], etc.), thereby displaying an accurate current position in a value that is easy to intuitively read from a map. 6) In a device that uses the position indicator described in items 1) to 5) above, when the user is at a known location that can be confirmed on the map, the coordinate values (Xk, Yk) of that point on the map
using the transparent window scale described in section 5) above (for example, [
E26, A18], etc.) and input the value, the coordinate origin ( For example, the latitude and longitude ([Eφφ, iφφ])
LTφ, LGφ) and uses the calculated values as reference values for subsequent position coordinate calculations. 7) In the position indicator described in 5) above, there is a means for setting the type of rough coordinate symbols and whether the coordinate symbols are in ascending or descending order from top to bottom or left to right, depending on the map to be used. A position indicator comprising: 8) In the position indicator described in items 1) to 7) above,
) A position characterized by using a transparent window having a function of emitting light at the intersection of the signal input corresponding to the vertical and horizontal scale lines of the transparent window with scales and the scale line corresponding to the vertical and horizontal signals with the signal input. display.