JPH0949737A - Navigation signal outputting method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accurately detect a position at low cost by obtaining a terrestrial angular velocity correction signal based on the data of a pair of GPS antennas and correcting an accelerometer and a gyro. SOLUTION: The signals 2a, 3a of GPS antennas 2, 3 are respectively input to position measuring units 4, 5, and the position measurement signals 4a, 5a from the units 4, 5 are input to a true bearing speed calculator 6 to obtain a true azimuth signal 6a and a speed output 6b. The signal 6a is calculated by a position calculator 7 to obtain a terrestrial angular velocity correction signal 7a. The output 6b is input to a subtracter 10. The signal 12a of the accelerometer 12 of an inertial navigation apparatus 11 is input to a coordinate converter 14, and the signal 13a of a gyro 13 is input to a subtracter 15. The output 14a of the converter 14 is input to the subtracter 10 as the signal 16a of a speed calculator 16. The operations of the accelerometer 12 and the gyro 13 are corrected by the sensor correction signal 20a obtained by a Karman filter 20 based on the signal 10a of the output.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a navigation signal output method, and more particularly to a novel improvement for obtaining an inexpensive and highly accurate device using a GPS navigation device and an inertial navigation device as a hybrid structure.

[0002]

2. Description of the Related Art Conventionally used navigation signal output methods of this kind include an inertial navigation device using a high precision gyro and an accelerometer, a GPS navigation device using a GPS signal obtained by a GPS antenna, and a VOR. The radio navigation device using the was used alone.

[0003]

Since the conventional navigation signal output method is configured as described above, there are the following problems. That is, the inertial navigation device using a high-accuracy gyro and accelerometer is limited in accuracy because the gyro and accelerometer are extremely expensive and only the inertial device is used. Further, since the configuration using only the GPS navigation device has only the GPS detection data, the price is relatively low, but the function is simple, and it is impossible to output the acceleration and angular velocity data. It was Also,
In the case of a radio navigation device, since it has a configuration using a VOR, it is expensive and its accuracy is limited.

The present invention has been made to solve the above problems, and in particular, a navigation signal using a GPS navigation device and an inertial navigation device as a hybrid structure to obtain an inexpensive and highly accurate device. The purpose is to provide an output method.

[0005]

A navigation signal output method according to the present invention is a true method using each position measurement signal obtained by a pair of GPS antennas provided on a linear axis at a constant distance from each other. Computes azimuth signal and speed output,
By a method of performing a position calculation using the true azimuth angle signal to obtain an earth angular velocity correction signal which is a position signal, and correcting the accelerometer and the gyro by using the velocity signal obtained based on the velocity signal. is there. Therefore,
Since the GPS navigation device using the GPS antenna and the inertial navigation device using the accelerometer and the gyro are used as a hybrid configuration, the GP obtained from each GPS antenna is used.
It is possible to obtain a true azimuth angle signal and a velocity output by measuring the position with the S signal, and to correct the accelerometer and gyro accuracy using this velocity output, so that each navigation device does not have to be an expensive system. Highly accurate data can be obtained.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A preferred embodiment of a navigation signal output method according to the present invention will be described in detail below with reference to the drawings. 1 shows a configuration of a navigation device, which is provided at both ends of a moving body 50 such as a ship or an airplane whose entire shape is a longitudinal shape, separated from each other by a constant distance D on a straight axis A. A pair of GPS antennas 2 and 3 are provided, and the GPS signal 2 of each GPS antenna 2 and 3 is provided.
As shown in FIG. 1, a and 3a are input to the first and second position measuring units 4 and 5 having an error processing function, and the error-processed position measurement signals from the position measuring units 4 and 5 are input. Four
The a and 5a are input to the true azimuth velocity calculation unit 6, and the true azimuth angle signal 6a and the velocity output 6b are obtained.

The true azimuth angle signal 6a is input to the position calculation section 7 to perform position calculation, and an earth angular velocity correction signal 7a which is a position signal is obtained. The speed output 6b is input to the first subtractor 10. Next, the acceleration signal 12a from the accelerometer 12 provided in the inertial navigation device 11 is input to the coordinate conversion unit 14, and the gyro signal 1 from the gyro 13 is input.
3a is input to the second subtractor 15, and the coordinate conversion unit 14
The output 14a is input to the first subtractor 10 as a speed calculation signal 16a via the speed calculator 16. The velocity signal 10a subtracted by the first subtractor 10 is input to a known Kalman filter 20, and the velocity signal 1
The sensor correction signal 20a obtained from the Kalman filter 20 based on 0a is the accelerometer 12 and the gyro 1 described above.
3 and the sensor correction signal 20a is used to correct the operation of the accelerometer 12 and the gyro 13, as is well known. The output 15a obtained by the second subtractor 15 is input to a well-known matrix generator 21, which outputs the posture angle signal 21a of the moving body 50 and the posture angle signal 21a. It is input to the coordinate conversion unit 14.

The configuration of the GPS navigation device 30 shown in FIG. 1 excluding the antennas 2 and 3 and the inertial navigation device 11 described above.
1 is built in the navigation device 31 of FIG. 1, and when the navigation device 31 reaches the position as shown in FIG.
₀ is the true azimuth angle 6a indicating the direction of the head of the moving body 50 such as a ship or an aircraft, and Y is the amount of deviation shifted by the same. Therefore, the true azimuth angle 6a is obtained by taking the average value of the position signals 4a and 5a, and the earth angular velocity correction signal 7a which is the position signal is the true azimuth angle signal 6a.
And a subtraction output 10a of the first subtractor 10 are obtained as a difference by subtraction, and become a signal indicating the position of the moving body 50 in FIG. 3, for example. In the present invention, even if there is no signal from the GPS navigation device 30, the navigation signal from the inertial navigation device 11 can be output from the gyro 13 and the accelerometer 12.

[0009]

Since the navigation signal output method according to the present invention is configured as described above, the following effects can be obtained. That is, since the inertial navigation device is corrected using the true azimuth angle and the velocity output from the GPS navigation device, it is necessary to use a high-accuracy true azimuth signal even if the accelerometer and the gyro are not so accurate. With this, highly accurate position detection can be performed.

[Brief description of drawings]

FIG. 1 is a calculation block diagram showing a navigation signal output method according to the present invention.

FIG. 2 is an explanatory diagram showing a moving body.

FIG. 3 is an explanatory diagram showing an example of a position of a moving body.

[Explanation of symbols]

 A Linear axis D Interval 2,3 GPS antenna 4a, 5a Position measurement signal 6a True azimuth signal 6b Speed output 7a Earth angular velocity correction signal (position signal) 10a Speed signal 12 Accelerometer 13 Gyro

Claims (1)

[Claims] 1. A pair of GPS antennas (2, 3) provided on a straight axis (A) and spaced apart from each other by a constant distance (D).
Using each position measurement signal obtained in (4a, 5a) to calculate the true azimuth signal (6a) and speed output (6b), the true azimuth signal (6
By calculating the position using the a) to obtain the earth angular velocity correction signal (7a), which is a position signal, and by using the velocity signal (10a) obtained based on the velocity output (6b), the accelerometer (12 ) And a gyro (13) are corrected, The navigation signal output method characterized by the above-mentioned.