JPH03110415A - On-vehicle havigation aids - Google Patents

Abstract

PURPOSE:To accurately correct the zero-point drift on an azimuth sensor by canceling the offset of an azimuth sensor as an angular speed sensor when it is judged that a vehicle travels straight. CONSTITUTION:The output side of a position detecting device 5 is connected to a data processor 61 including a straight travel judgement device 62 and a GPS data storage device 63, a self-sustaining type data storage device 64, a map data storage device 7, and a display device 8 are connected to the proces sor 61. Assuming that the current position of the vehicle is, for example, a coordinate point P1(X1,Y1) based upon GPS position measurement, it is decided whether or not the vehicle travels straight according to the deviation angle of the azimuth sensor 2 as the angular speed sensor, and when it is decided that the vehicle travels straight, the necessary offset cancellation for the azimuth sensor 2 is performed. Thus, the zero-point drift of the azimuth sensor is accu rately corrected.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a vehicle-mounted navigator device, and particularly to a vehicle-mounted navigator device that uses satellite positioning data such as GPS type data and independent data in combination. In a type navigator device, when it is determined that the vehicle is traveling in a straight line, the zero point drift of the azimuth sensor as the angular velocity sensor incorporated in the device is eliminated by applying offset cancellation to the azimuth sensor as the angular velocity sensor. The present invention relates to a vehicle-mounted navigator device that is adapted to accurately correct the situation.

[Prior Art] Radio waves are transmitted from multiple artificial satellites to various types of moving objects such as ships, aircraft, and automobiles in order to confirm or determine their current positions, moving speeds, etc. The usefulness of GPS positioning devices has been gaining attention. here,
GPS positioning device is the Global Positioning System (Globa)
It is designed to receive radio waves from a plurality of artificial satellites belonging to the I-Positioning System, and to know the current position of a mobile object.

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

Additionally, so-called self-supporting navigator devices for various types of moving objects such as the above-mentioned vehicles have been known. This self-contained navigator device is based on the above-mentioned GP
Unlike the S Navigator device, it is designed to be able to determine its current location based solely on the data it has acquired, without relying on external data such as radio waves from artificial satellites. be.

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

Next, its operation will be explained. The operator of the vehicle starts the above-mentioned vehicle-mounted navigator device by, for example, pressing a start key on a keypad (not shown). Then, depending on the quality of reception of the GPS satellite signal, Either the GPS navigation function or the autonomous navigation function is selected. For example, if the former function is selected, the antenna (3
) The vehicle's current position and direction of movement can be confirmed or determined only by satellite radio waves received by the satellite.

On the other hand, for example, the reception of GPS satellite radio waves is poor due to the presence of various obstacles such as mountains and high-rise buildings.
When it is not possible to select the navigation function, the independent navigation function is selected and the system can check your current position and direction of movement based solely on the data obtained from the mileage sensor (1) and direction sensor (2). A decision will be made. By the way, in such conventional devices, since the self-contained navigation function and the GPS navigation function are independent of each other, the azimuth sensor built into the device contains errors due to zero point drift and temperature effects. When the current position of the vehicle is detected, the reliability of the detection accuracy of the vehicle's current position becomes correspondingly low.

[Problem to be solved by the invention] Since the conventional device has the configuration and operates as described above, it is necessary to have an independent navigation function and a GP.
If the S navigation function and the S navigation function are independent of each other and the azimuth sensor built into the device contains errors due to zero point drift or temperature effects, the reliability of the detection accuracy of the vehicle's current position will decrease accordingly. There was a problem that it could happen.

This invention was made to solve the above-mentioned problems, and when it is determined that the vehicle is traveling in a straight line, the azimuth sensor as an angular velocity sensor is offset and cancelled. An object of the present invention is to obtain a vehicle-mounted navigator device that can accurately correct the zero point drift of an azimuth sensor as the angular velocity sensor.

[Means for Solving the Problems] A vehicle-mounted navigator device according to the present invention includes means for accepting a satellite positioning signal such as a GPS signal; means for accepting a self-supporting signal including an azimuth sensor as an angular velocity sensor;
A display device that displays the current position of the vehicle and a map related to the current position in a superimposed manner; A map data storage device that stores predetermined map data; and a data processing MAW for processing and selectively outputting corresponding satellite positioning data length or self-contained data;
A straight-line travel determining device is provided for determining whether the vehicle is traveling in a straight line, and a satellite positioning data storage device and a self-contained data storage device are connected to the data processing device.

[Operation] In the present invention, when it is determined that the vehicle is traveling in a straight line, offset cancellation is applied to the azimuth sensor as an angular velocity sensor.

[Example] Hereinafter, an example of the present invention will be described with reference to the drawings. 1st
The figure is a block diagram illustrating an embodiment of the present invention. In Fig. 1, (3) is an antenna for receiving satellite radio waves, and the output side of this antenna (3) is the receiver (
4) is connected to.

(1) is a mileage sensor, (2) is an azimuth sensor as an angular velocity sensor, and these are connected to the position detection device (5) together with the output side of the receiver (4). The output side of this position detection device (5) is connected to a data processing device (61) including a straight-line running determination device (62), a long GPS data storage device (63), and an independent data storage device (63). Memory bag! (64), map data storage device (7)
and a display bag W (8) are connected to the data processing section (61).

FIG. 2 is an explanatory diagram of the operation in the above embodiment. FIG. 2 shows, for example, the G P of the vehicle at a certain point in time in the first quadrant of the orthogonal coordinates consisting of the
Current position P, (X, ,Y, ), P based on S positioning
=(X2.Y2), P*(Xz, Ys) h<PA indicates htecolor. Further, vl, v2, ■ are traveling direction data based on GPS positioning at the three current positions. Also, due to vectors P1→P2 and P2→P,
Current position i P, (X,, Y,) O and P2 (X2, Y
It can also represent the running direction in 2).

Now, if the current position of the vehicle is, for example, the coordinate point P, (X,, Y,) based on GPS positioning, the vehicle's A determination is made as to whether or not the vehicle is traveling straight ahead. When it is determined that the vehicle is traveling straight, the azimuth sensor (2) as the angular velocity sensor
) with the required offset/cancellation. In this way, it is possible to accurately correct the zero point drift of the orientation sensor (2) as the angular velocity sensor.

It should be noted that although the above embodiment has been described for the case where GPS technology is applied, it is also effective when other satellite positioning technologies are applied. Furthermore, although an angular velocity sensor such as an optical fiber gyro that outputs a so-called relative azimuth may be used as the azimuth sensor used in the above embodiment, other geomagnetic sensors may also be used.

[Effects of the Invention] As explained above, the vehicle-mounted navigator device according to the present invention includes means for accepting satellite positioning signals such as GPS signals; means for accepting stand-alone signals including an azimuth sensor as an angular velocity sensor; A display device that displays the current position of the vehicle and a map related to the current position in a superimposed manner; A map data storage device that stores predetermined map data; and a data processing device for processing and selectively outputting corresponding satellite positioning data or self-contained data; the data processing device is provided with a straight-line travel determining device for determining whether the vehicle is traveling in a straight line; Furthermore, a satellite positioning data storage device and a self-contained data storage device are connected to the data processing device, and when it is determined that the vehicle is traveling in a straight line, the azimuth sensor as an angular velocity sensor is connected to the data processing device. By applying offset cancellation,
The effect is that the zero point drift of the azimuth sensor as the angular velocity sensor incorporated in the device can be accurately corrected.

[Brief explanation of drawings]

FIG. 1 is a block diagram illustrating an embodiment of the present invention;
FIG. 2 is an explanatory diagram of the operation in the above embodiment, and FIG.
FIG. 1 is a block diagram showing a conventional vehicle-mounted navigator device. (1 is a mileage sensor, (2 is a direction sensor, (3 is an antenna, (4 is a receiver, (5 is a position detection device, (61 is a data processing device, (62 is a straight running judgment device, (63 is a GPS Data storage device, (64) is an independent data storage device, (7) is a map data storage device, and (8) is a display device. In the figures, the same reference numerals indicate the same or corresponding parts.

Claims (1)

[Claims] (1) Satellite positioning signal receiving means; Self-supporting signal receiving means including an azimuth sensor as an angular velocity sensor; A display device configured to display the current position of the vehicle and a map related to the current position in a superimposed manner; A map data storage device configured to store predetermined map data; and a data processing device that processes the various signals and data and selectively outputs corresponding satellite positioning data or self-contained data. A vehicle-mounted navigator device, wherein the data processing device is provided with a straight-line travel determination device for determining whether the vehicle is traveling in a straight line, and the data processing device includes a satellite positioning data storage device and a self-contained data storage device. A vehicle-mounted navigator device, characterized in that when the device is connected and it is determined that the vehicle is traveling in a straight line, offset cancellation is applied to the azimuth sensor as the angular velocity sensor.