JPH08313280A - Navigation apparatus - Google Patents

Abstract

PURPOSE: To provide a navigation apparatus which eliminates a complicate mounting work adapted to kinds of vehicles and has a highly accurate speed detection function. CONSTITUTION: A stop detection means 13 detects when a vehicle stops. While the vehicle stops, offsets of an acceleration sensor 5 detecting a running acceleration and an angular velocity sensor 2 are operated. When the vehicle runs, the offsets of the sensors are corrected by an acceleration offset-correcting/ processing part 7 and an angular velocity offset-correcting/processing part 3 respectively. At the same time, a speed offset is corrected by a speed offset- correcting/processing part 9. In this manner, while the offsets of the horizontal acceleration sensor 5 and angular velocity sensor 2 and the speed offset are corrected, the position of the vehicle is detected based on output signals of a GPS receiver 1 detecting the absolute position of the vehicle, the angular velocity sensor 2 and acceleration sensor 5.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a navigation device which detects the current position and the traveling direction of a vehicle and displays it on a map.

[0002]

2. Description of the Related Art Navigation devices, for example, accurately measure the vehicle position and traveling direction of an automobile, mark the current position on a map, and display information according to a user's request on a display to drive the vehicle. It is drawing attention as a system that reduces the driving burden on the driver.

FIG. 5 is a block diagram showing a configuration of a conventional navigation device. An angular velocity sensor 2 for detecting an angular velocity of a vehicle is connected to an angular velocity offset correction processing unit 3 for correcting an angular velocity offset, and an angular velocity offset correction process is performed. The section 3 includes an angular velocity integrator 4 for integrating angular velocity data.
Is connected, and the angular velocity integrator 4 is connected to a position detecting unit 14 that calculates the current position and traveling direction of the vehicle. The position detecting unit 14 includes a GPS that detects the absolute position and azimuth of the vehicle.
The receiver 1 is connected.

On the other hand, a counter 22 for counting the pulses generated by the rotation of the wheel 21 is connected to the wheel 21 of the vehicle, and the counter 22 detects a vehicle stop determination means 13 for determining the vehicle stop. The vehicle speed detector 23 is connected to the vehicle speed detector 23. The vehicle speed integrator 24 is connected to the vehicle speed detector 23. The vehicle speed integrator 24 is connected to the position detector 14
Is connected. The vehicle stop determination means 13 is connected to each speed offset correction processing section 3.

In this conventional navigation device, the GP
The absolute velocity data and azimuth data of the vehicle detected by the S receiver 1 are input to the position detection unit 14, and the angular velocity data detected by the angular velocity sensor 2 is operated by the angular velocity offset correction processing unit 3 which is activated when the vehicle stop determination unit 13 determines that the vehicle is stopped. Then, with the offset removed, it is integrated by the angular velocity integrator 4,
The velocity data is input to the position detector 14. Also,
The vehicle speed detection unit 2 uses the pulse generated by the rotation of the wheels 21.
The traveling distance data obtained by integrating the traveling speed data detected in 3 by the vehicle speed integrator 24 is input to the position detection unit 14.

The position detecting section 14 uses the absolute position data and azimuth data from the GPS receiver 1, the speed data from the angular velocity integrator 4, and the traveling distance data from the vehicle speed integrator 24 to determine the vehicle position and the traveling direction. Is calculated.

Although the positioning error of the GPS receiver 1 is extremely small, positioning cannot be performed in the shadow of buildings, tunnels, forests and the like. In such a case, the vehicle position and traveling direction are calculated by the output signals of other sensors. are doing. However, since the output value of the sensor cannot accurately detect the vehicle position due to the influence of the temperature change and the accumulated error, it is determined that the vehicle is stopped when the pulse from the wheel 21 is not detected, and the angular velocity sensor 2 is stopped while the vehicle is stopped. Is detected by the angular velocity offset correction processing unit 3, and the detected offset value is removed from the output value during traveling to improve the detection accuracy.

In this way, by using the GPS receiver 1 and the angular velocity sensor 2 together, regardless of road conditions,
The vehicle position can always be detected accurately.

[0009]

However, in the above-mentioned conventional navigation device, it is difficult to attach the signal line for detecting the pulse from the wheel 21, and it is necessary to carry out the work at a specialty store, and further, the manufacture of the vehicle. There was a problem of the difference in the number of pulses depending on the manufacturer and vehicle type, and the occurrence of errors due to tire replacement.

The present invention has been made in view of the current state of the navigation device of this type as described above, and an object thereof is to eliminate the need for complicated installation work corresponding to the vehicle type,
It is to provide a navigation device having a highly accurate speed detection function.

[0011]

In order to achieve the above object, the invention according to claim 1 is a GPS receiver for detecting an absolute position of a vehicle, an angular velocity sensor for detecting an azimuth of the vehicle, and a front and rear of the vehicle. A horizontal acceleration sensor that is mounted in a vertical direction and detects a running acceleration; a vertical acceleration sensor that is mounted in a vertical direction of the vehicle and detects vertical acceleration of the vehicle; and the GPS receiver, the angular velocity sensor, and the horizontal acceleration sensor. Position detecting means for detecting the position of the vehicle based on the output signal, detecting the stop of the vehicle based on the output signal of the vertical acceleration sensor and the output signal of the angular velocity sensor, the horizontal acceleration sensor and Correction control means for calculating the offset of the angular velocity sensor and correcting the offset of these sensors when the vehicle is traveling. It is intended.

[0012] Similarly, in order to achieve the above object, the invention according to claim 2 is attached to a GPS receiver for detecting the absolute position of the vehicle, an angular velocity sensor for detecting the azimuth of the vehicle, and the longitudinal direction of the vehicle. A horizontal acceleration sensor for detecting a running acceleration; a position detecting means for detecting a position of the vehicle based on output signals of the GPS receiver, the angular velocity sensor and the horizontal acceleration sensor; and a horizontal acceleration sensor when the vehicle is stopped. The stop of the vehicle is detected by the change of the output signal,
The start of the vehicle is detected by the change in the output signal of the horizontal acceleration sensor when the vehicle starts, and the offset of the horizontal acceleration sensor and the angular velocity sensor is calculated during the time from the stop of the vehicle to the start of the vehicle. It has a correction control means for correcting the offset of the sensor.

Similarly, to achieve the above object, the invention according to claim 3 is mounted to a GPS receiver for detecting the absolute position of the vehicle, an angular velocity sensor for detecting the azimuth of the vehicle, and a longitudinal direction of the vehicle. A horizontal acceleration sensor for detecting a running acceleration; a position detecting means for detecting a position of the vehicle based on output signals of the GPS receiver, the angular velocity sensor and the horizontal acceleration sensor; and a horizontal acceleration sensor when the vehicle is stopped. The stop of the vehicle is detected by the change of the output signal,
While the output signals of the horizontal acceleration sensor and the angular velocity sensor change within a predetermined threshold after the vehicle is stopped, the offsets of the horizontal acceleration sensor and the angular velocity sensor are calculated, and the offsets of these sensors are calculated when the vehicle is running. And a correction control means for correcting.

Similarly, in order to achieve the above object, the invention according to claim 4 is mounted on the navigation device according to claim 1 in the left-right direction of the vehicle and detects the acceleration in the left-right direction of the vehicle. Acceleration sensor, determine the stop of the vehicle based on the output signal of the vertical acceleration sensor,
When the output signal of the lateral acceleration sensor is detected during the determination of the vehicle, it is determined that the vehicle is on the turntable, and a prohibition unit that prohibits the offset calculation process is provided.

[0015]

According to the first aspect of the present invention, the output signal of the vertical acceleration sensor mounted in the vertical direction of the vehicle and detecting the vertical acceleration of the vehicle by the correction control means, and the angular velocity sensor for detecting the azimuth of the vehicle. Based on the output signal, the stop of the vehicle is detected, and while the vehicle is stopped, the offsets of the horizontal acceleration sensor and the angular velocity sensor, which are mounted in the front-rear direction of the vehicle and detect the traveling acceleration, are calculated. The offset is corrected.

In this way, with the offsets of the horizontal acceleration sensor and the angular velocity sensor corrected, the GPS receiver for detecting the absolute position of the vehicle and the angular velocity sensor for detecting the azimuth of the vehicle by the position detecting means. Then, the position of the vehicle is detected based on the output signal of the horizontal acceleration sensor.

According to the second aspect of the invention, the correction control means detects the stop of the vehicle by the change in the output signal of the horizontal acceleration sensor mounted in the front-rear direction of the vehicle for detecting the traveling acceleration when the vehicle is stopped. The start of the vehicle is detected by the change in the output signal of the horizontal acceleration sensor at the time of starting, and the offset of the horizontal acceleration sensor and the angular velocity sensor that detects the direction of the vehicle is calculated during the time from the stop of the vehicle to the start of the vehicle. The offsets of these sensors are corrected.

In this way, with the offsets of the horizontal acceleration sensor and the angular velocity sensor corrected, the GPS receiver for detecting the absolute position of the vehicle and the angular velocity sensor for detecting the azimuth of the vehicle by the position detecting means. Then, the position of the vehicle is detected based on the output signal of the horizontal acceleration sensor.

According to the third aspect of the present invention, the stop of the vehicle is detected by the correction control means based on the output signal of the horizontal acceleration sensor mounted in the front-rear direction of the vehicle for detecting the traveling acceleration when the vehicle is stopped, The offsets of the horizontal acceleration sensor and the angular velocity sensor are calculated while the changes in the output signals of the horizontal acceleration sensor and the angular velocity sensor are within the predetermined threshold values after the vehicle is stopped, and the offsets of these sensors are corrected when the vehicle is running. .

In this manner, the GPS receiver for detecting the absolute position of the vehicle and the angular velocity sensor for detecting the azimuth of the vehicle are detected by the position detecting means while the offsets of the horizontal acceleration sensor and the angular velocity sensor are corrected. Then, the position of the vehicle is detected based on the output signal of the horizontal acceleration sensor.

According to the invention of claim 4, in addition to the operation of the invention of claim 1, the lateral acceleration of the vehicle is detected by the lateral acceleration sensor mounted in the lateral direction of the vehicle, and the inhibiting means is operated by the prohibiting means. When it is determined that the vehicle is stopped based on the output signal of the vertical acceleration sensor and the output signal of the lateral acceleration sensor is detected during the determination of the vehicle, it is determined that the vehicle is on the turntable, and the offset calculation process is performed. prohibited.

[0022]

【Example】

(Embodiment 1) Embodiment 1 of the present invention will be described with reference to FIG.

FIG. 1 is a block diagram showing the structure of this embodiment. In FIG. 1, the GPS receiver 1 detects the current absolute position and azimuth of the vehicle, and the obtained absolute position data and azimuth data are input to a position detector 14 connected to the GPS receiver 1.

Amplitude detection means 12 is connected to the acceleration sensor 11 mounted in the vertical direction of the vehicle, and the amplitude detection means 12 determines that the amplitude of the acceleration data of the vertical acceleration of the vehicle is less than a predetermined value. It is input to the vehicle stop determination means 13 connected to the detection means 12.

On the other hand, the angular velocity sensor 2 has an amplitude detecting means 15
Is connected, and data in which the amplitude of the current angular velocity data of the vehicle is equal to or less than a predetermined value is input to the vehicle stop determination means 13 connected to the amplitude detection means 15. In the vehicle stop determination means 13, the input amplitude detection means 12 is used. The stop state of the vehicle is determined based on the acceleration data and the angular velocity data from the amplitude detection means 15. When the vehicle stop state is determined, a stop signal is output from the stop determination means 13.

Further, the angular velocity data detected by the angular velocity sensor 2 is connected to the angular velocity sensor 2 and is sent to the angular velocity offset correction processing section 3 which operates when the stop of the vehicle is confirmed and the stop signal is inputted from the stop determination means 13. The angular velocity integrator 4 connected to the angular velocity offset correction processing unit 3 in the state in which the angular velocity offset is removed is input, and the obtained vehicle velocity data is input to the position detection unit 14.

Further, the acceleration data from the acceleration sensor 5 mounted in the front-rear direction of the vehicle is AD-converted by the AD converter 6, connected to the AD converter 6, and input from the stop determination means 13 which confirms the stop of the vehicle. Is input to the acceleration offset correction processing unit 7 which operates with a stop signal, and is input to the acceleration integrator 8 connected to the acceleration offset correction processing unit 7 in a state where the offset is removed,
The velocity data is obtained by integration.

The speed data thus obtained is connected to the acceleration integrator 8 and is input to the speed offset correction processing unit 9 which operates by the stop signal input from the stop determination means 13 which confirms the stop of the vehicle. In the state where the offset is removed, it is input to the speed integrator 10 connected to the speed offset correction processing unit 9, and the traveled distance data obtained by the integration is input to the position detection unit 14.

Then, the position detecting unit 14 detects the current absolute position data and azimuth data of the vehicle from the GPS receiver 1, the current azimuth data of the vehicle from the angular velocity integrator 4, and the vehicle azimuth data from the velocity integrator 10. The current position and traveling direction of the vehicle are calculated based on the current traveling distance data.

Here, the amplitude detecting means 12 detects the output signal of the acceleration sensor 11 by measuring the AC component obtained by passing it through a high pass filter or detecting the peak, and the output amplitude is a predetermined value. If the amplitude value detected by the amplitude detecting means 15 from the angular velocity sensor 2 is less than or equal to a predetermined value, it is determined that the vehicle has stopped. When the vehicle is stopped, the acceleration offset correction processing unit 7 obtains the acceleration offset value, and the speed offset correction processing unit 9 obtains the speed offset value. The correction is performed so that the distance obtained by the second-order integration of the acceleration becomes zero. .

At the same time, the angular velocity offset correction processing unit 3 obtains an offset value of the angular velocity and corrects it so that the azimuth obtained by integrating the angular velocity becomes zero. Further, each offset correction value detected when the vehicle is stopped is removed from the sensor output value when the vehicle is traveling.

As described above, according to the present embodiment, the stop of the vehicle is determined by the change in the output signals of the acceleration sensor and each speed sensor mounted in the vertical direction of the vehicle.
It is possible to detect whether the vehicle is traveling at a constant speed and the vehicle is stopped, and to eliminate the erroneous determination of the vehicle stop and the erroneous correction of the offset to improve the correction accuracy.

(Second Embodiment) A second embodiment of the present invention will be described with reference to FIG.

FIG. 2 is a block diagram showing the structure of this embodiment. In the present embodiment, as shown in FIG. 2, the acceleration sensor 11 and the amplitude detecting means 15 are removed from the first embodiment already described with reference to FIG. 1, and the amplitude detecting means 12 is provided at the output terminal of the acceleration sensor 5. It is configured to be connected.

In this embodiment, the output of the acceleration sensor 5 is
The acceleration value in the negative direction is detected by deceleration of the vehicle, and the acceleration value becomes 0 at the moment when the vehicle is stopped. Therefore, the stop of the vehicle is determined based on this change amount. Also, contrary to the stop judgment,
The output of the acceleration sensor 5 due to the acceleration of the vehicle is 0 when the vehicle is stopped.
When the acceleration value in the plus direction is detected by a predetermined amount, it is determined that the vehicle is traveling.

As described above, the acceleration offset correction processing unit 7 obtains the acceleration offset value, and the speed offset correction processing unit 9 obtains the speed offset value from the time when the vehicle is stopped to the time when the vehicle is detected. Correction is performed so that the distance obtained by the second-order integral of is 0.
At the same time, the angular velocity offset correction processing unit 3 obtains an angular velocity offset value and corrects it so that the azimuth obtained by integrating the angular velocity becomes zero. Further, each offset correction value detected when the vehicle is stopped is removed from the sensor output value when the vehicle is traveling.

As described above, according to the present embodiment, the construction is simplified, and the determination of the stop and the start is made based on the output fluctuation characteristics of the acceleration sensor 5 mounted in the longitudinal direction of the vehicle on the moment of the stop and the start of the vehicle. And the offset can be corrected.

(Third Embodiment) A third embodiment of the present invention will be described with reference to FIG.

FIG. 3 is a block diagram showing the configuration of this embodiment. In this embodiment, as shown in FIG. 3, the acceleration sensor 11 is removed from the first embodiment which has already been described with reference to FIG. 1, and the output terminal of the acceleration sensor 5 is replaced by the amplitude detecting means 12.
It is connected to.

In this embodiment, the output of the acceleration sensor 5 is
The acceleration value in the negative direction is detected by the deceleration of the vehicle, and the acceleration value changes to 0 at the moment when the vehicle stops. Therefore, the stop of the vehicle is determined based on the amount of change. After detecting a stop,
The amplitude value detected by the amplitude detection means 12 of the output of the acceleration sensor 5, and the amplitude detection means 15 of the output of the angular velocity sensor 2.
While the detected amplitude value is within the predetermined threshold,
The acceleration offset correction processing unit 7 obtains the acceleration offset value, and the velocity offset correction processing unit 9 obtains the velocity offset value. The velocity offset value is corrected so that the distance obtained by the second integral of the acceleration becomes zero. At the same time, the angular velocity offset correction processing unit 3 obtains an offset value of the angular velocity and corrects it so that the azimuth obtained by integrating the angular velocity becomes zero. Further, each offset correction value detected when the vehicle is stopped is removed from the sensor output value when the vehicle is traveling.

As described above, according to the present embodiment, the structure is simplified, and the acceleration sensor 5 determines whether the vehicle is stopped based on the instantaneous output fluctuation characteristic that occurs when the vehicle is stopped, and the output fluctuations of the acceleration sensor and each speed sensor are used to stop the vehicle. It becomes possible to detect the offset while detecting the inside.

[Fourth Embodiment] A fourth embodiment of the present invention will be described with reference to FIG.

FIG. 4 is a block diagram showing the configuration of this embodiment. In the present embodiment, as shown in FIG. 4, the amplitude detecting means 15 is removed from the first embodiment already described with reference to FIG. 1, and it is newly mounted in the left-right direction of the vehicle to detect the left-right acceleration. Acceleration sensor 16, amplitude detection means 17 connected to the output terminal of the acceleration sensor 16, and rotary table determination means 18 connected to the amplitude detection means 17.
Is provided, and the output terminal of the turntable determination means 18 is connected to the vehicle stop determination means 13.

In this embodiment, the amplitude detection means 12 detects the output amplitude of the acceleration sensor 11 mounted in the vertical direction of the vehicle, and the vehicle stop determination means 13 determines that the vehicle has stopped when the amplitude is below a predetermined value. If the output amplitude value detected by the amplitude detecting means 17 of the acceleration sensor 16 mounted in the vehicle left-right direction during the vehicle stop determination is equal to or more than a predetermined value, the rotating table determining means 18 moves the vehicle on the rotating table. Each offset detection process is prohibited until it is determined that the vehicle is in the following position and the next start is detected.

When it is determined that the vehicle is stopped and the vehicle is not on the turntable, the acceleration offset correction processing unit 7 obtains the acceleration offset value, and the speed offset correction processing unit 9 obtains the speed offset value. The correction is performed so that the distance obtained by the second-order integration of the acceleration becomes zero. At the same time, the angular velocity offset correction processing unit 3 obtains an angular velocity offset value and corrects it so that the azimuth obtained by integrating the angular velocity becomes zero. Further, each offset correction value detected when the vehicle is stopped is removed from the sensor output value when the vehicle is traveling.

As described above, according to the present embodiment, it is determined whether the vehicle is stopped by the change in the output of the acceleration sensor 11 mounted in the vertical direction of the vehicle, and the output of the acceleration sensor 16 mounted in the lateral direction of the vehicle is determined during the vehicle stop determination. Due to the change, it is determined that the vehicle is on the turntable, erroneous correction of offset due to erroneous determination of vehicle stop is prevented, and highly accurate offset detection is possible.

[0047]

According to the first aspect of the present invention, the correction control means detects the output signal of the vertical acceleration sensor mounted in the vertical direction of the vehicle for detecting the vertical acceleration of the vehicle and the azimuth of the vehicle. A vehicle stop is detected based on the output signal of the angular velocity sensor, and while the vehicle is stopped, it is mounted in the front-rear direction of the vehicle, and the offsets of the horizontal acceleration sensor and the angular velocity sensor that detect the traveling acceleration are calculated. In the state where the offset of the sensor is corrected and the offsets of the horizontal acceleration sensor and the angular velocity sensor are corrected, a GPS receiver for detecting the absolute position of the vehicle by the position detecting means, an angular velocity sensor for detecting the azimuth of the vehicle, Also, since the position of the vehicle is detected based on the output signal of the horizontal acceleration sensor, it becomes possible to detect the position of the vehicle with high accuracy. To the horizontal acceleration sensor and a vertical acceleration sensor of the non-contact assembly independently of the model, it is possible to configure the device with low manufacturing cost.

According to the second aspect of the present invention, the correction control means detects the stop of the vehicle by the change of the output signal of the horizontal acceleration sensor mounted in the front-rear direction of the vehicle for detecting the traveling acceleration when the vehicle is stopped. The start of the vehicle is detected by the change in the output signal of the horizontal acceleration sensor when the vehicle starts, and the offset of the horizontal acceleration sensor and the angular velocity sensor that detects the direction of the vehicle is calculated during the time from the stop of the vehicle to the start of the vehicle. At times, the offsets of these sensors are corrected, and the offsets of the horizontal acceleration sensor and the angular velocity sensor are corrected.
Since the position of the vehicle is detected based on the output signals of the GPS receiver that detects the absolute position of the vehicle, the angular velocity sensor that detects the direction of the vehicle, and the horizontal acceleration sensor, it is possible to detect the position of the vehicle with high accuracy. In addition, the non-contact horizontal acceleration sensor can be assembled independently of the vehicle type, and the device can be configured more easily at low manufacturing cost.

According to the third aspect of the present invention, the stop of the vehicle is detected by the correction control means based on the output signal of the horizontal acceleration sensor which is mounted in the front-rear direction of the vehicle and detects the traveling acceleration when the vehicle is stopped. While the changes in the output signals of the horizontal acceleration sensor and the angular velocity sensor are within a predetermined threshold after the vehicle is stopped, the offsets of the horizontal acceleration sensor and the angular velocity sensor are calculated, and the offsets of these sensors are corrected when the vehicle is running. With the offsets of the horizontal acceleration sensor and the angular velocity sensor corrected, a GPS receiver for detecting the absolute position of the vehicle by the position detecting means, an angular velocity sensor for detecting the azimuth of the vehicle, and outputs of the horizontal acceleration sensor. Since the position of the vehicle is detected based on the signal, it is possible to detect the position of the vehicle with higher accuracy, and at the same time, contactless horizontal The degree sensor assembly independent of the vehicle type, it is possible to configure the device with low manufacturing cost more easily.

According to the invention of claim 4, in addition to the effect obtained by the invention of claim 1, the lateral acceleration of the vehicle is detected by the lateral acceleration sensor mounted in the lateral direction of the vehicle, and the inhibition is prohibited. By means of the means, it is determined that the vehicle is stopped based on the output signal of the vertical acceleration sensor, and when the output signal of the lateral acceleration sensor is detected during the determination of the vehicle, it is determined that the vehicle is on the turntable, and the offset calculation is performed. Since the processing is prohibited, more accurate position detection of the vehicle can be performed while avoiding erroneous determination that the vehicle is stopped.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of a first embodiment of the present invention.

2 is a block diagram showing the configuration of Embodiment 2 of the present invention. FIG.

FIG. 3 is a block diagram showing a configuration of a third embodiment of the present invention.

FIG. 4 is a block diagram showing a configuration of a third embodiment of the present invention.

FIG. 5 is a block diagram showing the configuration of a conventional navigation device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 GPS receiver 2 Angular velocity sensor 3 Angular velocity offset correction processing unit 7 Acceleration offset correction processing unit 9 Velocity offset correction processing unit 11 Acceleration sensor 13 Vehicle stop determination means 14 Position detection portion 16 Acceleration sensor 18 Rotation table determination means

Claims (4)

[Claims] 1. A GPS receiver for detecting the absolute position of the vehicle, an angular velocity sensor for detecting the azimuth of the vehicle, a horizontal acceleration sensor mounted in the front-rear direction of the vehicle for detecting traveling acceleration, and a vertical acceleration sensor for detecting the traveling acceleration of the vehicle. A vertical acceleration sensor attached to detect vertical acceleration of the vehicle;
Position detection means for detecting the position of the vehicle based on the output signals of the receiver, the angular velocity sensor and the horizontal acceleration sensor, and the stop of the vehicle based on the output signal of the vertical acceleration sensor and the output signal of the angular velocity sensor However, the navigation device further comprises correction control means for calculating offsets of the horizontal acceleration sensor and the angular velocity sensor while the vehicle is stopped and correcting offsets of these sensors when the vehicle is traveling. 2. A GPS receiver for detecting the absolute position of the vehicle, an angular velocity sensor for detecting the azimuth of the vehicle, a horizontal acceleration sensor mounted in the front-rear direction of the vehicle for detecting running acceleration, and the GPS receiver. Position detection means for detecting the position of the vehicle based on the output signals of the angular velocity sensor and the horizontal acceleration sensor, and a stop of the vehicle is detected by a change in the output signal of the horizontal acceleration sensor when the vehicle is stopped, and when the vehicle starts. The start of the vehicle is detected by the change of the output signal of the horizontal acceleration sensor, the offset of the horizontal acceleration sensor and the angular velocity sensor is calculated during the time from the stop of the vehicle to the start of the vehicle, and the offset of these sensors is set when the vehicle is running. A navigation device, comprising: a correction control unit for correcting. 3. A GPS receiver for detecting the absolute position of the vehicle, an angular velocity sensor for detecting the azimuth of the vehicle, a horizontal acceleration sensor mounted in the front-rear direction of the vehicle for detecting traveling acceleration, and the GPS receiver. Position detection means for detecting the position of the vehicle based on the output signals of the angular velocity sensor and the horizontal acceleration sensor, and the stop of the vehicle is detected by the change of the output signal of the horizontal acceleration sensor when the vehicle is stopped. A correction for calculating the offsets of the horizontal acceleration sensor and the angular velocity sensor while the changes in the output signals of the horizontal acceleration sensor and the angular velocity sensor are within a predetermined threshold value, and correcting the offsets of these sensors when the vehicle is traveling. A navigation device having a control means. 4. The navigation device according to claim 1, wherein the lateral acceleration sensor is mounted in the lateral direction of the vehicle and detects the lateral acceleration of the vehicle; and the vehicle based on the output signal of the vertical acceleration sensor. When it is determined that the vehicle is stopped and the output signal of the lateral acceleration sensor is detected during the vehicle determination, it is determined that the vehicle is on the turntable, and a prohibition unit that prohibits the offset calculation process is provided. Navigation device.