JPH0390815A - Navigation system for moving body - Google Patents

Abstract

PURPOSE:To accurately correct the initial set angle error of an azimuth sensor incorporated in the system by using movement azimuth data of a global position measurement system (GPS) at the time of traveling straightly to calculate the azimuth of the moving body. CONSTITUTION:The output side of an antenna 3 is connected to a receiver 4 and a travel distance sensor 1 and the azimuth sensor 2 are connected to a position detecting device 5 together with the output side of the receiver 4. The output side of the device 5 is connected to a data processor 61 including a comparing device 62 and a GPS data storage device 63, a self-supporting data storage device 64, a map data storage device 7, and a display device 8 are connected to the processor 61. Then the azimuth of the moving body is calculated by using the GPS movement azimuth data at the time of traveling straightly to accurately correct the initial set angle error of the sensor 2 incorporated in the system.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a navigation device for a mobile body, and particularly to a navigation device for a mobile body in which satellite positioning data such as GPS type data and self-contained data are used together. In a navigation device for a car, the azimuth of the moving body is calculated using GPS movement azimuth data when traveling in a straight line, thereby accurately correcting the initial setting angle error of the azimuth sensor built into the device. The present invention relates to a body navigation device.

"Conventional technology" Radio waves are transmitted from multiple satellites to mobile objects such as ships, aircraft, automobiles, etc. in order to confirm or determine their current positions, moving speeds, etc. , the usefulness of GPS positioning devices has been attracting attention.Here,
What is a GPS positioning device?

Global Positioning System
This system is designed to receive radio waves from a plurality of artificial satellites belonging to the ing 5ystea+) 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.

Also, so-called self-supporting navigation devices have been known for the various types of moving objects described above. This self-contained navigation device is based on the G
Unlike PS navigation devices, it is designed to be able to determine its current location based solely on the data it acquires, without relying on external data such as radio waves from artificial satellites. be.

FIG. 4 is a block diagram showing a conventional device of this type. In Fig. 4, (3) is an antenna for receiving satellite radio waves, and the output side of this antenna (3) is the receiver (
4) is connected to. (■) is the mileage sensor, (2
) are orientation sensors which, together with the output of the receiver (4), are connected to the position detection device (5). The output side of this position detection device (5) is connected to a data processing device (6), and the map data storage device (7> and display device (8) are connected to the data processing device (6).
6).

Next, its operation will be explained. An operator of a moving object such as a vehicle starts the above-described navigation device for a moving object by, for example, pressing a start key on a key power section (not shown).

Next, depending on the reception condition of the GPS satellite signal, the G
PS navigation function or independent navigation a
One of the functions is selected. For example, if the former R function is selected, the current position and direction of movement of the moving object can be determined by only the satellite radio waves received by the antenna (3).
i? It will be approved or decided. on the other hand,
For example, when the reception of GPS satellite radio waves is poor due to the presence of various obstacles such as mountains or high-rise buildings, and the GPS navigation function cannot be selected, the independent navigation function is selected and the mileage sensor ( L
) and the direction sensor (2), the user's current position and direction of movement will be confirmed and determined based only on the data acquired from the direction sensor (2). By the way, in such conventional devices, the self-contained navigation function and the GPS navigation function are independent of each other, so if there is an error in the initial setting of the direction sensor built into the device, The error is always included in the azimuth output when the mobile body runs independently thereafter, and the reliability of the detection accuracy of the current position of the mobile body may become low.

[Problems to be Solved by the Invention] Since the conventional device has the configuration and operates as described above, it is difficult to solve the problem with GP, such as an independent navigation function.
If the S navigation and R functions are independent of each other, and an error is included in the initial setting of the azimuth sensor built into the device, that error will always be included in the azimuth output from then on when the moving object runs autonomously. Therefore, there is a problem in that the reliability of the detection accuracy of the current fα position of the moving object may become low.

This invention was made to solve the above problems, and by calculating the direction of the moving object using GPS movement direction data when traveling in a straight line, the direction sensor incorporated in the device can be used. It is an object of the present invention to obtain a navigation Ha for a moving object that accurately corrects an initial setting angle error.

Means for Solving the Problems 1 A navigation device for a mobile body according to the present invention includes means for accepting a GPS signal such as a satellite positioning signal; means for accepting a self-supporting signal including an azimuth sensor; A display device configured to superimpose and display a map related to the current location; a map data storage device configured to store predetermined map data; and a map data storage device configured to store predetermined map data; a data processing device that selectively outputs GPS data or independent data; the data processing device calculates the direction of the moving object using GPS movement direction data when the moving object runs on a 1σ line; An averaging/comparison device is provided for determining the data, and a GPS data storage device and a self-contained data storage device are connected to the data processing device.

[Function] In this invention, the initial setting angle error of the direction sensor built into the device is accurately corrected by calculating the direction of the moving object using GPS movement direction data when traveling in a straight line. I can do it.

[Embodiment 1] Hereinafter, an embodiment 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 a direction sensor,
These, together with the output of the receiver (4), are connected to a position detection device (5).The output of this (Nl detection device (5)) includes an averaging and comparison device W (62). is connected to the data processing device (61), and
PS data storage device (63), independent data storage device (
64), map data storage device (7) and display device (8)
) is connected to the data processing section (61).

FIG. 2 is a graph diagram for explaining the above embodiment. In FIG. 2, for example, a point O in the first quadrant of the orthogonal coordinates consisting of the X-axis and the Y-axis represents the current fα position of the moving body at a certain predetermined time. θI
The vector line segment whose starting point is (point) represents the GPS movement direction fα data at each point in time, and by averaging these data, the average GPS movement direction from the starting point O can be calculated. is shown as a vector line segment (22). In addition, the vector line segment starting from 5α, (point The running direction is the vector line segment (2
3). Now, assuming that the line segment (21) parallel to the X-axis from the starting point 0 is 'X-ray', the line segment (21)
and line segment (22), the 8 angle is θ. , the angle between line segment (21) and line segment (23) is α1, and line segment (2
2) and the line segment (23) is assumed to be Δα.

In addition, FIG. 3 is a flowchart diagram for explaining the embodiment described in -h.

Next, regarding the operation of the above embodiment shown in FIG.
The explanation will be given with reference to the figures and FIG. 3 as appropriate. The operator of a moving body such as a vehicle starts the above-mentioned embodiment device by pressing the star 1 key on the key manpower section (not shown), and inputs the initial setting value of the direction sensor (2). (S30).

Next, set the number (i) of GPS position data (S
31), following this, positioning data is imported as appropriate (S32). Following this, a pulse (P
It is determined whether the number of pulses (pulse) exceeds a certain value (Ps) <S33^>, and the result of the determination is YES.
When this happens, the moving object is considered to be in a running state. Then, it is determined whether the difference between the outputs of the orientation sensor (2) (for example, α1 and α, -1) at mutually adjacent sampling points is less than or equal to a predetermined value β (
S33B>, when the result of the determination is YES, it is determined that the moving object is in a straight-line running state. Next, it is determined whether or not GPS positioning is being performed (
S33C) If the result of the determination is YES, it is further determined whether PIIIOP<3 (S33D>).And.

If the result of this determination is YES, the set number of GPS position data (i) is changed (<534).
, θ1=θa (S35), and further, in the following step (S36), G P S Ii!
7a It is determined whether the number (i) of data is a certain predetermined number (I, where n>1). The result of this judgment is NO
If so, the process returns to step (S32) and different data is input. On the other hand, when the result of the determination is YES, the angle α is calculated in step (S378), and the angle α is calculated in step (S378).
37B), the angle θ. is calculated.

In the next step (S38), the angle α and the angle θ are
. Which difference Δα is calculated. In the subsequent step (S39), the initial setting value is changed, and the process returns to step (S31).

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 a 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.

However, when this geomagnetic sensor is used, the so-called declination error (difference between the north direction and the geomagnetic direction) corresponds to the initial setting error.

[As described in the detailed description of the invention, the navigation device for a mobile body according to the present invention includes: a means for accepting a GPS signal such as a satellite positioning signal; a means for accepting a self-supporting signal including an azimuth sensor; A display device configured to superimpose and display the peephole position and a map related to the current position; a map data storage device configured to store predetermined map data; and a process for processing the various signals and data. and a data processing device that selectively outputs corresponding GPS data or independent data; the data processing device includes a data processing device that selectively outputs corresponding GPS data or independent data; An average/comparison device is provided for calculating the azimuth of By calculating the orientation of the moving body using

[Brief explanation of drawings]

FIG. 1 is a block diagram illustrating an embodiment of the present invention;
Fig. 2 is a graph diagram for explaining the above embodiment;
The figure is a flowchart diagram for explaining the above embodiment,
FIG. 4 is a block diagram showing a conventional example. (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 an average/comparison device) , (63 is a GPS data storage device, (64 is an independent data storage device, (7 is a map data storage device, (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 a direction sensor; Display device configured to superimpose and display the current position of the moving object and a map related to the current position; a predetermined map A mobile object comprising: a map data storage device configured to store data; and a data processing device that processes the various signals and data and selectively outputs corresponding satellite positioning data or self-contained data. The data processing device is provided with an average/comparison device for calculating the direction of the moving object using movement direction data obtained by satellite positioning when the moving object is traveling in a straight line, and the data A navigation for a mobile object, characterized in that a satellite positioning data storage device and a self-contained data storage device are connected to the processing device, and the initial setting angle error of the orientation sensor can be corrected. Device.