JPH03138516A - Navigation device for traveling body - Google Patents

Navigation device for traveling body

Info

Publication number
JPH03138516A
JPH03138516A JP1277547A JP27754789A JPH03138516A JP H03138516 A JPH03138516 A JP H03138516A JP 1277547 A JP1277547 A JP 1277547A JP 27754789 A JP27754789 A JP 27754789A JP H03138516 A JPH03138516 A JP H03138516A
Authority
JP
Japan
Prior art keywords
satellite navigation
moving object
traveling body
satellite
display
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP1277547A
Other languages
Japanese (ja)
Other versions
JP2689000B2 (en
Inventor
Haruto Yano
矢野　治人
Yoshiaki Hirasa
美明 平佐
Toshimichi Tokunaga
徳永　利道
Yuuichi Fudewaki
雄一 筆脇
Katsuro Hayamizu
勝朗 速水
Osamu Shimizu
修 清水
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mazda Motor Corp
Mitsubishi Electric Corp
Original Assignee
Mazda Motor Corp
Mitsubishi Electric Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mazda Motor Corp, Mitsubishi Electric Corp filed Critical Mazda Motor Corp
Priority to JP1277547A priority Critical patent/JP2689000B2/en
Priority to KR1019900017029A priority patent/KR910008428A/en
Priority to DE4033831A priority patent/DE4033831A1/en
Publication of JPH03138516A publication Critical patent/JPH03138516A/en
Application granted granted Critical
Publication of JP2689000B2 publication Critical patent/JP2689000B2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram
    • G09B29/10—Map spot or coordinate position indicators; Map reading aids
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram
    • G09B29/10—Map spot or coordinate position indicators; Map reading aids
    • G09B29/106—Map spot or coordinate position indicators; Map reading aids using electronic means

Abstract

PURPOSE:To make an operator judge whether or not the display of the position of a traveling body which is displayed at present is accurate one by satellite navigation by displaying that the measurement of position by the satellite navigation is utilized on a display means in such a case. CONSTITUTION:When reception is actually performed, a signal is transmitted from a satellite navigation reception part 8 to the display means 6 through a signal line 13 and displayed on the screen of the means 6. When the reception part 8 receives the signals from three or more satellites, a position measuring means 1 measures the position of the traveling body through a control means 2 by the satellite navigation based on the signals by inputting the initial position, etc., of the traveling body from an operation means 3, and the position of the traveling body by self-contained navigation is corrected based on the position of the traveling body by the satellite navigation to enhance positional accuracy. The position information of the traveling body is transmitted from the means 1 to the means 2, which reads out map information stored in a map information storage means 7 so as to display the position of the moving body.

Description

【発明の詳細な説明】 〔産業上の利用分野〕 この発明は、自動車などの移動体の現在位置などを表示
する移動体用ナビゲーション装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION [Industrial Field of Application] The present invention relates to a navigation device for a mobile body, such as a car, that displays the current position of the mobile body.

〔従来の技術〕[Conventional technology]

従来の移動体用ナビゲーション装置は、３個以上の人工
衛星から距離データ信号及び各衛星の位置データ信号を
受信して移動体の位置を測定する衛星航法（ＧＰＳ）と
移動体に搭載された方位センサ及び距離センサからのデ
ータにより移動体の位置を測定する自立航法を併用した
ハイブリ・ノド式位置計測手段と、この計測手段により
計測された移動体の現在位置を地図と共に表示する表示
手段を有している。Conventional navigation devices for mobile bodies use satellite navigation (GPS), which measures the position of a mobile body by receiving distance data signals from three or more artificial satellites and position data signals of each satellite, and a azimuth system mounted on the mobile body. It has a hybrid-node position measuring means that uses autonomous navigation to measure the position of a moving object using data from sensors and distance sensors, and a display means that displays the current position of the moving object measured by this measuring means together with a map. are doing.

上記した従来装置においては、基本的には自立航法によ
り測定された移動体の位置を衛星航法により測定された
移動体の位置により修正していたが、衛星からの信号は
受信不能の場合もあり、また受信可能であってもあえて
衛星航法を用いない場合もあり、このような場合には自
立航法のみによって移動体の位置を測定していた。In the conventional device described above, the position of the moving object measured by autonomous navigation is basically corrected by the position of the moving object measured by satellite navigation, but there are cases where the signal from the satellite cannot be received. In addition, there are cases in which satellite navigation is not used even if reception is possible, and in such cases, the position of a moving object is measured only by autonomous navigation.

〔発明が解決しようとする課題〕[Problem to be solved by the invention]

しかしながら、上記した従来装置においては、現在表示
されている移動体の位置が衛星航法により修正されたも
のであるか否か即ち精度の高いものであるか否かを判断
することができなかった。However, in the above-mentioned conventional device, it was not possible to determine whether the currently displayed position of the moving object was corrected by satellite navigation, that is, whether it was highly accurate.

又、衛星からの信号を受信する受信部などが正常である
か否かも判断することができなかった。Furthermore, it was not possible to determine whether or not the receiving section that receives signals from the satellite was in good working order.

この発明は上記のような課題を解決するために成された
ものであり、移動体の表示位置が精度の高いものである
か否かあるいは受信部などが正常に動作しているか否か
を容易に判断することができる移動体用ナビゲーション
装置を得ることを目的とする。This invention was made in order to solve the above-mentioned problems, and it is possible to easily check whether the display position of a moving object is highly accurate or whether the receiving section is operating normally. An object of the present invention is to obtain a navigation device for a mobile body that can make a judgment based on the following information.

〔課題を解決するための手段〕[Means to solve the problem]

この発明に係る移動体用ナビゲーション装置は、地図と
移動体の位置を表示すると共に位置計測に衛星航法手段
を使用したことを表示する表示手段を設けたものである
。The navigation device for a mobile object according to the present invention is provided with a display means for displaying a map and the position of the mobile object and for displaying that a satellite navigation means is used for position measurement.

〔作　用〕 この発明における表示手段は、地図と移動体の位置を表
示すると共に、衛星航法手段を用いた場合にはこれを表
示する。[Operation] The display means in the present invention displays the map and the position of the moving object, and also displays this when satellite navigation means are used.

〔実施例〕〔Example〕

以下、この発明の実施例を図面とともに説明する。１は
自動車などの移動体の位置を自立航法及び衛星航法によ
り検出すると共に自立航法による位置を衛星航法による
位置により修正するハイブリッド式位置計測手段、２は
制御手段、３は操作手段、４は移動体の進行方向を検出
する方位センサ、５は移動体の移動距離を検出する距離
センサ、６は移動体の位置などを表示する表示手段、７
は地図情報を記憶する地図情報記憶手段、８は各衛星か
らの距離データ信号及び各衛星の位置データ信号を受信
するＧＰＳ受信部、９はＧＰＳアンテナ、１０〜１２は
アンド回路、１３〜１８は信号線である。Embodiments of the present invention will be described below with reference to the drawings. 1 is a hybrid position measuring means that detects the position of a moving object such as a car by self-contained navigation and satellite navigation, and corrects the position according to self-contained navigation by the position according to satellite navigation; 2 is a control means; 3 is an operating means; 4 is a movement means. A direction sensor that detects the moving direction of the body; 5 a distance sensor that detects the moving distance of the moving body; 6 a display means that displays the position of the moving body; 7
8 is a GPS receiving unit that receives distance data signals from each satellite and position data signals of each satellite; 9 is a GPS antenna; 10 to 12 are AND circuits; 13 to 18 are It is a signal line.

次に、動作について第２図のフローチャートを用いて説
明する。まず、ステップ３０では移動体の位置計測を行
う。この場合、方位センサ４は移動体の進行方向を検出
し、方位データとしてハイブリッド式位置計測手段１に
入力する。又、距離センサ５は移動体の速度を検知して
移動距離データとして位置検出手段１に入力する。位置
検出手段１はこれらのデータから移動体の推測位置を計
算する。一方、ＧＰＳ受信部８はＧＰＳアンテナ９を介
して各衛星から距離データ信号及び各衛星の位置データ
信号を受信する。実際に受信が行われると信号線１３を
介して受信部８から表示手段６に信号が送られ、第３図
に示す表示手段６の表示面にマーク１９として表示され
る。ここで、操作手段３より移動体の初期位置、日付、
時刻を人力すると制御手段２を介して位置計測手段１は
、受信部８が３個以上の衛星からの信号を受信している
場合には該信号に基づいて衛星航法により移動体の位置
を測定し、この衛星航法による移動体の位置によって自
立航法による移動体の位置を修正して位置精度を高める
。移動体の位置情報は位置計測手段１から制御手段２に
送られ、ステップ３１では制御手段２は地図情報記憶手
段７に記憶された地図情報を読み出し、第３図に示すよ
うに表示すると共に、移動体の位置を表示する。２５は
道路を示し、２６は移動体の位置を示す。ステップ３２
では衛星航法による位置修正を行ったか否かを判定し、
行った場合にはステップ３３で位置計測手段１から衛星
航法の使用信号がアンド回路１０〜１２に出力される。Next, the operation will be explained using the flowchart shown in FIG. First, in step 30, the position of the moving object is measured. In this case, the orientation sensor 4 detects the traveling direction of the moving object and inputs it to the hybrid position measuring means 1 as orientation data. Further, the distance sensor 5 detects the speed of the moving object and inputs it to the position detection means 1 as moving distance data. The position detection means 1 calculates the estimated position of the moving object from these data. On the other hand, the GPS receiving unit 8 receives distance data signals and position data signals of each satellite from each satellite via a GPS antenna 9. When reception is actually performed, a signal is sent from the receiving section 8 to the display means 6 via the signal line 13, and is displayed as a mark 19 on the display surface of the display means 6 shown in FIG. Here, from the operating means 3, the initial position of the mobile object, the date,
When the time is manually set, the position measuring means 1, via the control means 2, measures the position of the moving body by satellite navigation based on the signals if the receiving section 8 is receiving signals from three or more satellites. Then, based on the position of the mobile object determined by satellite navigation, the position of the mobile object determined by autonomous navigation is corrected to improve position accuracy. The position information of the moving body is sent from the position measuring means 1 to the control means 2, and in step 31, the control means 2 reads out the map information stored in the map information storage means 7 and displays it as shown in FIG. Display the position of a moving object. 25 indicates a road, and 26 indicates the position of a moving object. Step 32
Then, determine whether or not the position has been corrected by satellite navigation.
If so, in step 33 the position measuring means 1 outputs a signal used for satellite navigation to the AND circuits 10-12.

従って、受信部８から信号線１４〜１８に受信衛星の数
に応じて出力される信号はすべて表示手段６に送られ、
受信衛星の数だけマーク２０〜２４が表示される。一方
、受信衛星の数が２個以下で衛星航法を使用できない場
合、あるいは受信衛星の数が３個以上あっても衛星航法
を使用しない場合にはステ・ノブ３４では位置計測手段
１から衛星航法の使用信号がアンド回路１０〜１２に出
力されないので、いずれにせよ受信衛星数は２個までし
か表示されない。従って、運転者は受信衛星の表示マー
クが２個以下の場合には衛星航法は用いられなかったと
判断し、表示マークが３個以上の場合には衛星航法が用
いられたと判断する。このような動作は繰り返し行われ
る。Therefore, all the signals outputted from the receiving section 8 to the signal lines 14 to 18 according to the number of receiving satellites are sent to the display means 6,
Marks 20 to 24 are displayed as many as the number of receiving satellites. On the other hand, if the number of receiving satellites is 2 or less and satellite navigation cannot be used, or if the number of receiving satellites is 3 or more but satellite navigation is not used, the steering knob 34 uses the satellite navigation from the position measuring means 1. Since the used signals are not output to the AND circuits 10 to 12, the number of received satellites is only displayed up to two in any case. Therefore, the driver determines that satellite navigation was not used when there are two or less display marks of the receiving satellite, and determines that satellite navigation was used when there are three or more display marks. Such operations are repeated.

〔発明の効果〕〔Effect of the invention〕

以」二のようにこの発明によれば、衛星航法による位置
計測が用いられた場合にはその旨が表示手段に表示され
るので、運転者は現在表示されている移動体の位置表示
が衛星航法による正確なものであるか否かを判断するこ
とができ、また衛星航法の使用を望んでも長い期間使用
されないことにより受信部などの故障を検知することが
できる。As described above, according to the present invention, when position measurement by satellite navigation is used, this is displayed on the display means, so the driver can confirm that the currently displayed position of the moving object is based on the satellite navigation. It is possible to judge whether the satellite navigation is accurate or not, and even if satellite navigation is desired to be used, it is possible to detect a malfunction in the receiving section or the like if it is not used for a long period of time.

【図面の簡単な説明】[Brief explanation of the drawing]

第１図はこの発明装置の構成図、第２図はこの発明装置
の動作を示すフローチャート、第３図はこの発明による
表示手段の表示画面の例を示す図である。 １・・・ハイブリッド式位置計測手段、２・・・制御手
段、３・・・操作手段、４・・・方位センサ、５・・・
距離センサ、６・・・表示手段、７・・・地図情報記憶
手段、８・・・ＧＰＳ受信部、１０〜１２・・・アンド
回路、１９・・・ＧＰＳ受信中であることを示すマーク
、２０〜２４・・・受信衛星数を示すマーク、２５・・
・道路、２６・・・移動体の位置。 第２ 図 第１ １０〜１２ ：アンド回路 第３FIG. 1 is a block diagram of the apparatus of the present invention, FIG. 2 is a flowchart showing the operation of the apparatus of the invention, and FIG. 3 is a diagram showing an example of a display screen of the display means according to the invention. DESCRIPTION OF SYMBOLS 1... Hybrid position measuring means, 2... Control means, 3... Operating means, 4... Orientation sensor, 5...
Distance sensor, 6...Display means, 7...Map information storage means, 8...GPS receiver, 10-12...AND circuit, 19...Mark indicating that GPS is being received. 20-24... Mark indicating the number of receiving satellites, 25...
-Road, 26...Position of the moving object. Figure 2 10-12: AND circuit 3rd

Claims (1)

【特許請求の範囲】[Claims] 　移動体に搭載され、移動体の進行方位を検出する方位
センサと、移動体に搭載され、移動体の移動距離を検出
する距離センサと、方位センサの出力及び距離センサの
出力から移動体の位置を測定する自立航法手段と、各衛
星から距離データ信号及び各衛星の位置データ信号を受
信する受信部と、３個以上の衛星からの上記各信号に基
づいて移動体の位置を測定する衛星航法手段と、自立航
法手段により測定された移動体の位置を衛星航法手段に
より測定された移動体の位置により修正する手段と、地
図と移動体の位置を表示すると共に位置計測に衛星航法
手段を使用したことを表示する表示手段を備えたことを
特徴とする移動体用ナビゲーション装置。A direction sensor mounted on a moving object detects the moving direction of the moving object; a distance sensor mounted on the moving object detects the moving distance of the moving object; and the position of the moving object is determined from the output of the direction sensor and the output of the distance sensor. a receiving unit that receives a distance data signal and a position data signal of each satellite from each satellite; and a satellite navigation system that measures the position of a moving object based on the above-mentioned signals from three or more satellites. means for correcting the position of the moving object measured by the self-contained navigation means with the position of the moving object measured by the satellite navigation means; displaying the map and the position of the moving object and using the satellite navigation means for position measurement; 1. A navigation device for a mobile object, comprising a display means for displaying what has been done.
JP1277547A 1989-10-24 1989-10-24 Navigation system for moving objects Expired - Lifetime JP2689000B2 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP1277547A JP2689000B2 (en) 1989-10-24 1989-10-24 Navigation system for moving objects
KR1019900017029A KR910008428A (en) 1989-10-24 1990-10-24 Navigating device for moving object
DE4033831A DE4033831A1 (en) 1989-10-24 1990-10-24 Navigation system esp. for motor vehicle - has independent system with correction derived from satellite system when signals received from three or more satellites

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP1277547A JP2689000B2 (en) 1989-10-24 1989-10-24 Navigation system for moving objects

Publications (2)

Publication Number Publication Date
JPH03138516A true JPH03138516A (en) 1991-06-12
JP2689000B2 JP2689000B2 (en) 1997-12-10

Family

ID=17585059

Family Applications (1)

Application Number Title Priority Date Filing Date
JP1277547A Expired - Lifetime JP2689000B2 (en) 1989-10-24 1989-10-24 Navigation system for moving objects

Country Status (3)

Country Link
JP (1) JP2689000B2 (en)
KR (1) KR910008428A (en)
DE (1) DE4033831A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08304524A (en) * 1996-06-12 1996-11-22 Sony Corp Gps receiver

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DE4203865C2 (en) * 1991-08-30 1997-11-27 Erich Matouschek Alarm and signaling system for vehicles
DE4134790A1 (en) * 1991-10-22 1993-04-29 Dietrich Gerhard Ellsaesser Autonomous forestry system delivering small dia. tree trunks - combines micro-orientation system involving marked trees and macro-orientation system using GPS for navigation of small tracked vehicle
DE4204164C2 (en) * 1992-02-13 1994-09-08 Deutsche Aerospace Position and mission data device for flight navigation and flight data processing with GPS supported display
DE4345274C5 (en) * 1993-03-03 2004-02-05 Klaschka, Rüdiger navigation device
DE4314569A1 (en) * 1993-05-05 1994-11-10 Kloeckner Humboldt Deutz Ag Agriculture machine, especially self-propelled large-bale press
DE9319564U1 (en) * 1993-12-20 1995-04-20 Esg Elektroniksystem Und Logis Loading location system based on a satellite navigation system
KR100208804B1 (en) * 1996-10-31 1999-07-15 윤종용 Navigation system for use in mobile objects and processing method thereof
DE19856184A1 (en) * 1998-12-05 2000-06-08 Alcatel Sa Method for determining in-vehicle whether the vehicle is on one of several predetermined roads
FI20085432A0 (en) 2008-05-09 2008-05-09 Polar Electro Oy data Transfer

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JPS6262912U (en) * 1985-10-12 1987-04-18
JPS6367887U (en) * 1986-10-20 1988-05-07

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JPS61137009A (en) * 1984-12-07 1986-06-24 Nissan Motor Co Ltd Position measuring apparatus for vehicle
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JPH083524B2 (en) * 1987-03-13 1996-01-17 日本無線株式会社 GPS navigation device

Patent Citations (2)

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Publication number Priority date Publication date Assignee Title
JPS6262912U (en) * 1985-10-12 1987-04-18
JPS6367887U (en) * 1986-10-20 1988-05-07

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08304524A (en) * 1996-06-12 1996-11-22 Sony Corp Gps receiver

Also Published As

Publication number Publication date
DE4033831A1 (en) 1991-04-25
KR910008428A (en) 1991-05-31
JP2689000B2 (en) 1997-12-10

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