JPH06258416A - Device for measuring position of mobile body - Google Patents
Device for measuring position of mobile bodyInfo
- Publication number
- JPH06258416A JPH06258416A JP4650693A JP4650693A JPH06258416A JP H06258416 A JPH06258416 A JP H06258416A JP 4650693 A JP4650693 A JP 4650693A JP 4650693 A JP4650693 A JP 4650693A JP H06258416 A JPH06258416 A JP H06258416A
- Authority
- JP
- Japan
- Prior art keywords
- moving
- mobile body
- detector
- moving body
- detecting means
- 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.)
- Pending
Links
Landscapes
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
Description
【0001】[0001]
【産業上の利用分野】この発明は、移動体の現在位置を
高精度で測定するための位置測定装置に関するものであ
る。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a position measuring device for measuring the current position of a moving body with high accuracy.
【0002】[0002]
【従来の技術】例えば、自動車や船舶等の移動体がある
特定の進路上を移動する場合、その移動体の現在位置や
進行方位を簡単に測定する方法としては、従来電波によ
る方法として公知のLORANやOMEGA等が実用に
供されているが、これらはいずれも移動体上の複数点位
置に各基準局を必要とし、大形,複雑化傾向を伴うた
め、例えば特開昭56−11063号公報やGPS(衛
星航法としてのGlobal Positioning Syotem)等のような
移動体の位置検出装置のみを用いたり、また速度のベク
トルを時間で積分したりすることにより、移動体の現在
位置を求めていた。2. Description of the Related Art For example, when a moving body such as an automobile or a ship moves on a specific course, a method of easily measuring the current position and traveling direction of the moving body is known as a method using radio waves. Although LORAN, OMEGA and the like have been put to practical use, all of them require reference stations at a plurality of points on the moving body, and they are large and complicated, so that they are disclosed in, for example, JP-A-56-11063. The current position of the moving body has been obtained by using only a position detecting device for the moving body such as GPS or Global Positioning Syotem (GPS as satellite navigation) or by integrating the velocity vector over time.
【0003】[0003]
【発明が解決しようとする課題】しかしながら、従来の
この種の位置検出装置は、一般的に位置の検出精度が低
く、また速度のベクトルを時間で積分する方法は、誤差
が蓄積して長時間の位置測定ができないという問題点が
あった。However, the conventional position detecting device of this type generally has a low position detecting accuracy, and the method of integrating the velocity vector with time has a long time due to error accumulation. However, there was a problem that the position could not be measured.
【0004】この発明は、以上のような局面にかんがみ
てなされたもので、構成が比較的簡単で、しかも移動体
の現在位置を高精度に測定し得る手段の提供を目的とし
ている。The present invention has been made in view of the above circumstances, and an object thereof is to provide a means having a relatively simple structure and capable of measuring the current position of a moving body with high accuracy.
【0005】[0005]
【課題を解決するための手段】このため、本発明におい
ては、この種の移動体の位置測定装置を、移動体に配設
されたその位置検出手段と、その移動速度ベクトル検出
手段と、これら各検出手段よりの出力位置情報及び速度
ベクトル情報より現在位置を算出するための演算手段と
を有するよう構成し、またさらに、前記移動速度ベクト
ル検出手段は、進行方位測定手段と速度の絶対値測定手
段とより成るよう構成することにより、前記目的を達成
しようとするものである。Therefore, in the present invention, a position measuring device for a moving body of this type is provided with a position detecting means arranged on the moving body, a moving speed vector detecting means, and a moving speed vector detecting means. The moving speed vector detecting means is configured to have a calculating means for calculating the current position from output position information and speed vector information from each detecting means, and further, the moving speed vector detecting means is a traveling azimuth measuring means and an absolute speed value measurement. It is intended to achieve the above-mentioned object by being configured so as to include means.
【0006】[0006]
【作用】以上のような本発明の装置構成により、対象と
する移動体の各時点での位置を良好な精度で求めること
ができ、またその測定誤差が蓄積することがない。With the apparatus configuration of the present invention as described above, the position of the target moving body at each time point can be obtained with good accuracy, and the measurement error does not accumulate.
【0007】[0007]
【実施例】以下に、この発明を実施例に基づいて説明す
る。図1にこの発明に係るこの種の現在位置測定装置の
一実施例の概略構成ブロック図を示す。図1において
は、対象とする移動体11が自動車の場合としてその外
形を表わしている。EXAMPLES The present invention will be described below based on examples. FIG. 1 shows a schematic block diagram of an embodiment of this type of present position measuring apparatus according to the present invention. In FIG. 1, the outer shape of the target moving body 11 is shown as an automobile.
【0008】(構成)図1において、12は、自動車1
1に搭載された前記GPS等の位置検出装置、13はそ
のアンテナ、14は例えば磁気コンパス等の方位検出装
置、15はロータリエンコーダ等の移動速度絶対値検出
装置、16は演算装置としてのCPUである。ここにお
いて、方位/速度検出装置14/15は、移動速度ベク
トル測定装置として機能し、それぞれの信号処理回路
や、CPU16のインタフェース回路等をも含むものと
する。(Structure) In FIG. 1, 12 is an automobile 1.
The position detecting device such as the GPS mounted on the device 1, 13 is its antenna, 14 is an azimuth detecting device such as a magnetic compass, 15 is a moving speed absolute value detecting device such as a rotary encoder, and 16 is a CPU as a computing device. is there. Here, the azimuth / speed detecting device 14/15 functions as a moving speed vector measuring device, and includes respective signal processing circuits, an interface circuit of the CPU 16, and the like.
【0009】[0009]
【数1】 [Equation 1]
【0010】[0010]
【発明の効果】以上説明したように、本発明によれば、
移動体の位置測定装置を、位置検出手段と、速度ベクト
ル検出手段と、これらの出力情報より現在位置を算出す
るよう構成したため、比較的簡単な構成で移動体の現在
位置を高精度で測定し得る。As described above, according to the present invention,
Since the position measuring device of the moving body is configured to calculate the current position from the position detecting means, the velocity vector detecting means, and the output information from these, the current position of the moving body can be measured with high accuracy with a relatively simple structure. obtain.
【図1】 一実施例の概略構成ブロック図FIG. 1 is a schematic block diagram of an embodiment.
【図2】 CPU演算ブロック図[Figure 2] CPU operation block diagram
【図3】 xによる出力スペクトル図FIG. 3 is an output spectrum diagram by x.
【図4】 vによる出力スペクトル図FIG. 4 is an output spectrum diagram by v.
11 移動体(自動車) 12 位置検出装置(GPS) 14 方位検出装置(磁気コンパス)(移動速度ベクト
ル検出手段) 15 速度絶対値検出装置(ロータリエンコーダ)(移
動速度ベクトル検出手段) 16 演算装置(CPU)11 Moving Object (Automobile) 12 Position Detecting Device (GPS) 14 Direction Detecting Device (Magnetic Compass) (Moving Speed Vector Detecting Device) 15 Absolute Speed Value Detecting Device (Rotary Encoder) (Moving Speed Vector Detecting Device) 16 Computing Device (CPU )
Claims (2)
と、その移動速度ベクトル検出手段と、これら各検出手
段よりの出力位置情報及び速度ベクトル情報より現在位
置を算出するための演算手段とを有することを特徴とす
る移動体の位置測定装置。1. A position detecting means arranged on a moving body, a moving speed vector detecting means thereof, and a calculating means for calculating a current position from output position information and speed vector information from these detecting means. A position measuring device for a mobile body, comprising:
方位測定手段と速度の絶対値測定手段とより成ることを
特徴とする請求項1記載の移動体の位置測定装置。2. The position measuring device for a moving body according to claim 1, wherein the moving velocity vector detecting means comprises a traveling direction measuring means and an absolute velocity value measuring means.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP4650693A JPH06258416A (en) | 1993-03-08 | 1993-03-08 | Device for measuring position of mobile body |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP4650693A JPH06258416A (en) | 1993-03-08 | 1993-03-08 | Device for measuring position of mobile body |
Publications (1)
Publication Number | Publication Date |
---|---|
JPH06258416A true JPH06258416A (en) | 1994-09-16 |
Family
ID=12749140
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP4650693A Pending JPH06258416A (en) | 1993-03-08 | 1993-03-08 | Device for measuring position of mobile body |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH06258416A (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20040098802A (en) * | 2003-05-16 | 2004-11-26 | (주) 넥스모어시스템즈 | A GPS receiver with a electrical compass to provide a direction for PNS |
CN104670773A (en) * | 2015-01-07 | 2015-06-03 | 南京音飞储存设备股份有限公司 | Shuttle vehicle automatic walking position measuring method |
-
1993
- 1993-03-08 JP JP4650693A patent/JPH06258416A/en active Pending
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20040098802A (en) * | 2003-05-16 | 2004-11-26 | (주) 넥스모어시스템즈 | A GPS receiver with a electrical compass to provide a direction for PNS |
CN104670773A (en) * | 2015-01-07 | 2015-06-03 | 南京音飞储存设备股份有限公司 | Shuttle vehicle automatic walking position measuring method |
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