JPH10141968A - Navigation device for moving body, current position deciding method thereof, and medium in which current position deciding program is stored - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain position of a moving body with precision even when parallel roads are normal roads, and an elevated road or tunnel and a normal road are lying on top of the other. SOLUTION: Based on the running distance obtained from a running distance detection part 101 and the travelling azimuth obtained from a travelling azimuth detection part 102, a moving body's estimated position is calculated with an estimated position calculation part 103. Based on the estimated position of the moving body, a road data stored in a map storage part 104, and such road attributes as tunnel data and elevation data, a correlation degree of moving body's estimated position is calculated with a pattern correlation degree calculation means 105. For example, with a travelling road discrimination means 106, possibility of running on the road in tunnel is obtained based on GPS's position measurement state. When a possibility of the fact that a car is running on the road in tunnel is high, the correlation degree of estimated position of each in-tunnel road is weighted by a correlation degree estimating part 107, and such current position as with highest correlation degree is outputted from a current position outputting part 108.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a navigation apparatus for a moving body for detecting a current position of the moving body. In more detail, it is difficult to determine which road is running, such as a parallel running road or a vertically overlapping road. The present invention relates to a navigation device for a mobile object that can be detected well.

[0002]

2. Description of the Related Art Conventionally, it has not been possible to determine which road is running on a nearby road, the current position of a moving object cannot be specified by map matching, and the current position of the moving object is accurately detected. I couldn't do that. In order to solve this problem, Japanese Patent Application Laid-Open No. 3-154818 proposes the following position detecting device.

FIG. 14 is a block diagram showing a conventional position detecting device disclosed in Japanese Patent Application Laid-Open No. 3-154818. The conventional position detecting device will be described with reference to FIG. First, the traveling distance obtained by the traveling distance detecting means 1401 and the traveling direction obtained by the traveling azimuth detecting means 1402 are integrated by the estimated position computing means 1403, whereby the position of the moving body is estimated and calculated. Then, the degree of correlation between the pattern of each road stored in the map storage means 1404 and the travel locus pattern based on the calculated estimated position is calculated by the degree of correlation calculation means 14.
05 is calculated.

[0004] Further, the vehicle speed is detected by vehicle speed detecting means 1406, and the map storage means 1 is provided by toll road determining means 1407.
When the distance from the tollgate position stored in 404 is equal to or less than a predetermined value and the vehicle speed is equal to or less than the predetermined value, it is determined that there is a high possibility that the vehicle is traveling on a toll road. Based on the degree of this possibility, the correlation evaluation unit 1408 evaluates the correlation of the road to be high or low, selects a driving road, and corrects the estimated position on the selected driving road. The output unit 1409 outputs the position.

[0005]

Since the conventional position detecting device is constructed as described above, it is determined based on the distance from the tollgate and the vehicle speed. Or on a toll road with no toll booth nearby, or when traveling at low speed with little change in vehicle speed due to traffic congestion, etc. In some cases, it was determined that the vehicle was running on a highway even if the driver was not on the road or was running on a general road.

As described above, in the conventional position detecting device as described above, it is not possible to determine a parallel running road,
In some cases, an erroneous determination is made, and the position of the moving object cannot be accurately detected.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problems, and has as its object to accurately determine a traveling road and accurately determine the position of a moving body. .

[0008]

According to the present invention, there is provided a navigation apparatus for a moving object, comprising: an estimated position calculating means for calculating an estimated position of the moving object; and a GP for receiving a radio wave from a GPS satellite.
S receiving means, traveling road determining means for determining the road form of the road on which the moving object is traveling from the reception state of the GPS receiving means, and the current road form and estimated position determined by the traveling road determining means. It is provided with a current position determining means for determining a position.

[0009] Further, an estimated position calculating means for calculating an estimated position of the moving object, a GPS receiving means for receiving a radio wave from a GPS satellite, and a road form of the road on which the moving object travels from the receiving state of the GPS receiving means. A traveling road determining means for determining a current position based on a degree of correlation between each point and the estimated position from among a plurality of points on the road near the estimated position; The degree of correlation is determined based on the road form determined by the determination means.

[0010] The receiving state of the GPS receiving means is the elevation angle of the receiving GPS satellite.

The receiving state of the GPS receiving means is G
The radio wave from the PS satellite can be received or cannot be received.

[0012] The traveling road determining means determines the road form of the road from the continuation time of the predetermined receiving state of the GPS receiving means.

According to the present invention, there is provided a method for determining a current position of a navigation apparatus for a mobile object, comprising: a traveling road determining step of determining a road configuration of a traveling road from a reception state of a GPS receiving means; It includes a current position determination step of determining that the current position exists on a road that is a road having the determined road form and is a road near the estimated position.

[0014] In the medium storing the program according to the present invention, the stored program determines the road form of the road on which the vehicle is traveling from the reception state of the GPS receiving means, and is the road having the determined road form. In addition, the computer is configured to perform a process of determining that the current position is present on a road near the estimated position.

[0015]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below. Embodiment 1 FIG. FIG. 1 is a block diagram showing a navigation apparatus for a mobile unit according to the first embodiment.
FIG. 4 is an explanatory diagram showing an example of a road, and FIGS.
FIG. 6 and FIG. 7 are explanatory diagrams showing the positioning state of FIG.
FIG. 5 is an explanatory diagram briefly explaining a positional relationship with a PS satellite,
FIG. 8 is a block diagram showing a hardware configuration.
10 is a flowchart showing the overall operation, FIG. 10 is a flowchart showing a traveling road determination operation, FIG. 11 is a flowchart showing a correlation evaluation operation, and FIG. 12 is a diagram showing a change in correlation. FIG. 13 is an explanatory diagram showing a display example of the display screen.

In these figures, reference numeral 101 denotes a traveling distance detecting unit which detects the traveling distance of a moving body by measuring the number of revolutions of wheels, for example. 102 is a traveling direction detecting unit,
The traveling direction of the moving body is detected using a geomagnetic sensor, a gyro sensor, or the like. Reference numeral 103 denotes an estimated position calculation unit as estimated position calculation means. The estimated position calculation unit 103 estimates the last time based on the travel distance detected by the travel distance detection unit 101 from the previous time and the change in the heading direction detected by the heading detection unit 102 from the previous time. An integration operation is performed on the position, and a result of the estimation is calculated as an estimated position of the new moving object.

Reference numeral 104 denotes a map storage unit which preliminarily stores road data in which a road is approximated by a polygonal line and the polygonal line is coordinate data and data indicating a connection of coordinates, and information indicating a position of a tunnel and information indicating an elevated road. And the like, indicating the road form. Further, the map storage unit 104 may reproduce a storage medium in which information is stored, or may import necessary information from an external information source through communication.

Numeral 105 is a pattern correlation degree calculating means, assuming that the estimated position exists on each road within a predetermined range including the estimated position, and determining a past current position trajectory, that is, a running trajectory pattern, and an estimated position. The degree of correlation with the road pattern of each road assumed to be present is calculated. Here, the predetermined range including the estimated position may be determined based on predetermined conditions, and may be, for example, an error range determined by the accumulated error and the map error by the integration in the estimated position calculation unit 103 described above. Alternatively, the distance may be within a certain distance from the estimated position.

Reference numeral 106 denotes a traveling road determination unit which determines the type of the traveling road (for example, a road in a tunnel or a road under an elevated road) from information such as GPS data received by a GPS receiving unit 109 (described later). Then, the degree of correlation for each road is determined.

The traveling road determining means 106 includes, for example,
The running distance detected by the running distance detecting unit 101 is integrated, and when the integrated running distance reaches a predetermined distance, the GPS
A predetermined number of the latest GPS data is sampled using the receiver, and if all the sampled GPS data are not positioned (ie, if the radio wave from the GPS satellite cannot be received), the vehicle travels on the road in the tunnel. It is determined that there is a high possibility that the vehicle is performing (high correlation), and if there is any sampled GPS data that can be located, it is determined that there is a high possibility that the vehicle is traveling on a road other than the road in the tunnel. Is what you do.

For example, if the elevation angles of all GPS satellites capable of receiving radio waves among the sampled GPS data are all equal to or less than a predetermined angle, it is determined that there is a high possibility that the vehicle is traveling on an elevated road. Among the sampled GPS data, if any of the GPS satellites capable of receiving radio waves among the GPS satellites capable of receiving radio waves has an elevation angle equal to or greater than a predetermined angle, it is determined that there is a high possibility that the vehicle is traveling on an elevated road.

Numeral 107 denotes a correlation degree evaluation means as a current position determination means, which is based on the correlation degree determined by the pattern correlation degree calculation means 105 and the traveling road determination means 106 from the estimated position calculated by the estimated position calculation unit. The estimated position having the highest correlation is determined as the current position.
For example, the correlation degree of each road calculated by the pattern correlation degree calculation means 105 is added to the correlation degree by the traveling road determination means 106 to calculate an integrated correlation degree. It is determined as a position.

Here, when the vehicle is traveling on a road as shown in FIG. 2, the pattern correlation degree calculating means 105 determines that it is highly probable that the vehicle is traveling on a road in a tunnel. , The degree of correlation of the estimated position of the road in the tunnel is higher than the degree of correlation of the estimated position of other roads,
When the traveling road determination unit 106 determines that there is a high possibility that the vehicle is traveling on a road other than the road in the tunnel, the correlation between the estimated positions of the roads other than the road in the tunnel is higher than the correlation between the estimated positions of the roads in the tunnel. When the traveling road determination unit 106 determines that there is a high possibility that the vehicle is traveling on a road other than the elevated road, the correlation between the estimated position of the road other than the elevated road and the correlation of the estimated position of the other road is evaluated. We rate higher than degree.

Reference numeral 108 denotes a current position output unit which outputs the estimated position determined to have the highest correlation by the correlation evaluation unit 107 as the current position. The current position output unit may be a display device that numerically displays the current position, or a display device that displays the current position on a map. Further, a line for outputting the current position data or an output device for communication may be used.

Reference numeral 109 denotes GPS receiving means for receiving GPS radio waves by a GPS antenna and performing GPS positioning. At this time, in GPS positioning, the received GP
Not all S satellites are used,
Several GPS satellites are selected (sampled) from the received GPS satellites such that the satellite arrangement (DOP value) is the best combination. That is,
A GPS satellite is selected (sampled) from the received GPS satellites, and information from this GPS satellite is used as GPS data for GPS positioning or traveling road determination.

Next, Embodiment 1 will be described with reference to FIGS.
Will be described in detail. First, FIG. 2 and FIG. 3 are explanatory diagrams illustrating an example of a road configuration. In FIG.
The road that continues from the point 201 to the point 202 is a road without a tunnel, and the road that continues from the entrance of the road in the tunnel at the point 204 to the point 203 is a road in the tunnel. FIG.
In FIG. 7, the road following the point 301 to the point 302 is a road other than an elevated road (here, a road other than the elevated road, but as shown in FIG. Any road may be used as long as the road is obstructed, for example, a road adjacent to an elevated road or a road below the elevated road), and a road extending from the entrance of the elevated road at the point 304 to the point 303 is an elevated road. It is.

Next, FIG. 4 shows a route from the point 201 to the point 202 in FIG.
FIG. 14 is an explanatory diagram showing a change in a reception state due to traveling, with a horizontal axis indicating a traveling position and a vertical axis indicating positioning and non-positioning of GPS data on a route reaching a point 203 via a tunnel entrance in a tunnel. In FIG. 4, a black circle row 401 and a white circle row 404 correspond to the GPS receiving unit 1 every predetermined distance 402.
09 indicates whether the GPS data can be sampled (positioning can be performed) or the GPS data cannot be sampled (non-positioning).

First, when the vehicle travels from the point 201 to the point 203 via the tunnel entrance at the point 204, as shown by a black circle in FIG. 3, sampling can be performed until the vehicle passes through the tunnel entrance at the point 204. GPS data that has been
The S positioning shifts from the positioning enabled state to the positioning disabled state.
Also, when traveling from point 201 to point 202,
As shown by the white circles in FIG. 3, the GPS positioning continues the positioning state.

This means that, as shown in FIG. 6 described later, the radio wave 602 of the satellite 601 is transmitted to the ceiling or wall 60 of the tunnel.
3 moving body 604 running on the tunnel road
On the other hand, positioning is performed because the radio wave 602 of the satellite 601 reaches the moving object 605 traveling on a road other than the road in the tunnel. This feature is used to distinguish between "road in tunnel" and "road running parallel to road in tunnel".

FIG. 5 shows the traveling position on the abscissa of the route from the point 301 to the point 302 in FIG. 3 and the route of the elevated road from the point 301 to the point 303 via the point 304 at the entrance of the elevated road. In the case where the sampled GPS data has a low elevation angle on the vertical axis (GPS with a high elevation angle)
FIG. 7 is an explanatory diagram showing a change in a reception state due to traveling indicating whether or not data cannot be received).

In FIG. 5, black circles 501 and white circles 504 indicate that the GPS data sampled at predetermined distances has a low elevation angle (all of the sampled GPS data have a low elevation angle) or not (a high elevation angle is included in the sampled GPS data). ). Point 3
When the vehicle travels from 01 to point 302, as shown in a black circle 501 in FIG.
PS data cannot be received, and only GPS data with a low elevation angle can be received. Then, the satellite constellation used for GPS positioning also shifts to a low elevation angle.

Also, from the point 301 to the elevated road entrance 304
When the vehicle travels to the point 303 after passing through, as shown by the white circle in FIG. 5, the satellite constellation used for GPS positioning continues in a state where the elevation is not low. This is because, as shown in FIG. 7, the radio wave 702 of the satellite 701 having a high elevation angle
The satellite 70 used for positioning does not reach the moving object 704 traveling under or below the elevated road because of being shielded by 3
6, 707, and 708 all have a low elevation angle, while the radio wave 702 of the satellite 701 with a high elevation angle reaches the moving object 705 traveling on the elevated road. Here, this feature is used to distinguish between an "elevated road" and a "road parallel to an elevated road".

Here, the judgment is made based on the elevation angle of the GPS satellite to be sampled.
In the positioning, in order to preferentially sample a high-elevation angle GPS satellite, if the sampled GPS satellite is a low-elevation angle, it is determined that the high-elevation angle GPS satellite is not included in all the received GPS satellites, This simplifies the processing. Therefore, the elevation angle may be determined for the entire received GPS satellite.

FIG. 8 is a diagram showing a hardware configuration of the present invention. In this figure, reference numeral 801 denotes a traveling distance detection unit 1
The vehicle speed sensor as 01, 802 is the heading detection unit 10
Reference numeral 803 denotes a direction sensor such as a geomagnetic sensor or a gyro sensor. Reference numeral 803 denotes a GPS receiver serving as GPS receiving means 109. The CPU 805 which obtains signals from these sensors via the I / F circuit 804 outputs road data and tunnel data. A memory 806 such as a CD player or a non-volatile memory serving as a map storage unit 104 in which data of roads and elevated roads is stored in advance, and an estimated position calculation unit 103, a pattern correlation degree calculation unit 105, Means 10
6 and the respective processes corresponding to the current position output unit 108 are performed. A display device 807 displays an output result of the current position output unit 108. Further, the processing performed by the CPU 805 may be read by a reading device such as a CD player or a memory card reading device from a medium such as a CD or a memory card in which part or all of the processing performed by the CPU 805 is stored, and the processing may be performed by the CPU 805.

Next, the operation will be described with reference to the flowchart of FIG. First, in a process 901, the traveling distance is detected by the vehicle speed sensor 801. In a process 902, the traveling direction of the moving body is detected by the direction sensor 802. In processing 903, the processing 90
A vector determined by the traveling distance detected in step 1 and the traveling direction detected in step 902 is integrated to determine the current estimated position. In a process 904, the error range is calculated by estimating the accumulated error of the traveling distance and the traveling direction and the error of the map.

In the process 905, all the road data within the error range is read out, and in the process 906, the degree of correlation between the running pattern based on the past estimated position and each road pattern is calculated. The calculation of the degree of correlation may be, for example, the reciprocal of a value obtained by integrating the square of the azimuth difference between the distances in the evaluation section between the graphs having distance on the horizontal axis and azimuth on the vertical axis. In the process 907, the GP
The S data is evaluated to determine the traveling road. This processing 907 will be described later in detail with reference to FIG.

In the process 908, the estimated position having the highest correlation than the road data of the estimated position is determined as the current position based on the traveling road determination result in the process 907 and the pattern correlation degree calculation result in the process 906. This processing 9
08 will be described later in detail with reference to FIG. In step 909, the estimated position corresponding to the highest correlation is output as the current position.

FIG. 10 shows a process 907 for determining the traveling road in FIG.
5 is a detailed flowchart of the first embodiment. First, step 1001
In step 1002, it is determined whether the accumulated traveling distance is equal to or greater than a predetermined traveling distance, for example, 50 m. When the accumulated traveling distance is less than the predetermined traveling distance, the process returns to the return. If the accumulated mileage is equal to or greater than a predetermined mileage, the accumulated mileage is cleared in step 1003, and the oldest GPS data is discarded from a predetermined number of buffers, for example, 10 buffers, and is randomly selected. Store the latest GPS data in the buffer.

G stored in the buffer in step 1004
If all the PSs are not positioned, it is determined in step 1005 that there is a high possibility that the vehicle is traveling in a tunnel. On the other hand, if all the GPSs stored in the buffer in step 1004 are not non-positioning, the process proceeds to step 1006. Step 10
In step 06, if the GPS stored in the buffer is all positioning, the process proceeds to step 1007; otherwise, the process returns to the return.

In step 1007, the elevation angle of a predetermined number of all the GPS data stored in the buffer that has been positioned, for example, three for two-dimensional positioning, and four for three-dimensional positioning, is a predetermined angle, for example, 30 degrees or less. Step 1 if
In step 008, it is determined that there is a high possibility that the vehicle is traveling on a road other than the elevated road. Otherwise, in step 1009, it is determined that there is a high possibility that the vehicle is traveling on a road other than the road in the tunnel or on the elevated road.

FIG. 11 is a detailed flowchart of the correlation evaluation process 908 in FIG. First, if there is a high possibility that the vehicle is traveling in a tunnel in step 1101, step 1
Go to step 102, otherwise go to step 1104. In step 1102, if there are a plurality of estimated positions, and the road corresponding to each estimated position is divided into a road in the tunnel and a road other than the road in the tunnel, that is, a road running parallel to the road in the tunnel, the flow proceeds to step 1103. A predetermined weight (e.g., 1.
2) Multiply

On the other hand, if the road corresponding to each estimated position is not divided into a road inside the tunnel and a road other than the road inside the tunnel in step 1102, the process returns to the return. If it is determined in step 1104 that there is a high possibility that the vehicle is traveling on a road other than the road in the tunnel, the process proceeds to step 1105. Otherwise, the process proceeds to step 1106. In step 1105, if there are a plurality of estimated positions, and the road corresponding to each estimated position is divided into a road in the tunnel and a road other than the road in the tunnel, that is, a road running parallel to the road in the tunnel, the road in the tunnel is determined in step 1106. A predetermined weight is applied to the degree of correlation between the estimated positions of roads other than roads, that is, roads running in parallel with the road in the tunnel.

On the other hand, if the road corresponding to each estimated position is not divided into a road inside the tunnel and a road other than the road inside the tunnel in step 1105, the process returns to the return. Finally, in step 1106, if there is a high possibility that the vehicle is traveling on a road other than an elevated road, the process proceeds to step 1107,
Otherwise return to return. If there are a plurality of estimated positions in step 1107 and the road corresponding to each estimated position is divided into an elevated road and a road other than the elevated road, that is, a road other than the elevated road in step 1108 if it is divided into a road running parallel to the elevated road. That is, a predetermined weight is applied to the degree of correlation between the estimated positions of the roads running in parallel with the elevated road. On the other hand, if the road corresponding to each estimated position is not divided into an elevated road and a road other than the elevated road in step 1105, the process returns to the return.

FIG. 12 shows an example of the transition of the degree of correlation when the vehicle travels on the road in the tunnel as shown in FIG. First, from the point 201 shown in FIG.
When the vehicle has traveled to, the estimated position is one and the degree of correlation is 1.
Although the transition is from 201 to 1202, when passing through the point 204, the estimated position becomes two and the degree of correlation is also divided into two from 1202. Here, when it is determined that there is a high possibility that the vehicle is traveling on the road in the tunnel, the correlation is given a predetermined weight in 1203 to the correlation of the estimated position of the road in the tunnel. 120
4, the degree of correlation 1205 of the estimated position of the road in the tunnel is evaluated higher.

For this reason, as shown in FIG. 13, the display device such as a monitor determines that the vehicle is traveling on the road in tunnel 1301 on the road in tunnel 1301 and on the road 1302 running parallel to the road in the tunnel. , The current position 1303 of the road in the tunnel having the highest degree of correlation is correctly displayed.

In the embodiment, the GPS positioning such as two-dimensional positioning or three-dimensional positioning is performed, and the traveling road is determined after the positioning. However, since the GPS positioning may take a long time, the GPS positioning may take time. After receiving GPS radio waves,
The process of determining the traveling road may be performed based on the reception result, and the GPS positioning may be performed using the GPS data received thereafter. Further, fuzzy inference may be applied to each determination process according to the gist of the present invention.

In the embodiment, the present position estimation by dead reckoning navigation has been described. However, the present invention may be used for current position estimation by GPS satellite navigation, and the present invention is applied to hybrid navigation combining dead reckoning navigation and GPS satellite navigation. May be used.

Further, in the embodiment, the pattern matching is performed by the pattern correlation degree calculating means. However, only the traveling road determination by the traveling road determining means may be performed without performing the pattern matching.

Further, in the embodiment, the traveling road determining means determines the form of the traveling road from the reception state of the GPS radio wave, determines the degree of correlation, and determines the current position by the degree of correlation evaluating means. However, the reception state of the GPS radio wave may be estimated based on the determined road form at the current position, and may be compared with the received GPS radio wave state to determine whether the current position is accurate.

Further, in the embodiment, the case of a tunnel road or an underpass road has been described as a road form. However, other road forms such as a cut-through road having a form that affects the reception of GPS radio waves may be used. It may be used to determine the current position, or if there is a road affected by a building or the like, the influence may be used as a road form. For example, GPS from the road because there are tall buildings on the side of the road
When the receivable range is narrowed and the elevation angle of the receiving GPS satellite changes, a road configuration having a tall building on the road side may be used to distinguish the road from other roads.

In the embodiment, the estimated position calculating unit 103 which calculates the estimated position based on the outputs from the heading detecting unit 102 and the traveling distance detecting unit 101 has been described as the estimated position calculating means. The estimated position may be calculated using the means 109.

Further, in the above embodiment, based on the road form of the road on which the vehicle is traveling and other conditions,
When the current position is determined, the correlation is used to simplify the calculation. However, the current position may be determined based on the traveling road form without using the correlation.

Further, the navigation device in the embodiment provides a guess for calculating a guessed position by integrating a relative movement amount of a moving body from the mileage detecting unit, the traveling direction detecting unit, and the traveling direction and the traveling distance. A position calculation unit, a map storage unit storing road data, a tunnel section, and an elevated section; a correlation degree calculation unit for calculating a degree of correlation between each road within a predetermined range and an estimated position; When it is continuing, it is determined that there is a high possibility that the vehicle is traveling on the road in the tunnel, and when the GPS is continuing positioning, it is determined that there is a high possibility that the vehicle is traveling on a road other than the road in the tunnel. Traveling road determining means for determining that there is a high possibility that the vehicle is traveling on a road other than an elevated road when the GPS satellite arrangement used for the vehicle continues to have a low elevation angle; Correlation degree to other A correlation evaluating means appreciates than the correlation of the road, in which and an estimated position output unit for outputting the estimated position corresponding to the highest correlation.

Further, according to the embodiment, when the GPS continues to perform the non-positioning, the traveling road determination means determines that there is a high possibility that the vehicle is traveling on the road in the tunnel, and the GPS continues the positioning. When it is determined that there is a high possibility that the vehicle is traveling on a road other than the road in the tunnel by the traveling road determination means, and when the GPS satellite arrangement used for positioning continues to have a low elevation angle, the traveling road determination means Since it is determined that there is a high possibility that the vehicle is traveling on a road other than an elevated road, if the parallel roads are both general roads, toll roads with no nearby toll gates, or changes in vehicle speed during congestion, Even when the vehicle is traveling at a very low speed, it is possible to distinguish which road the vehicle is traveling on.

According to the embodiment, when evaluating the degree of correlation between the traveling locus pattern and the road pattern, the GP
If S continues non-positioning, it is determined that there is a high possibility that the vehicle is traveling on the road in the tunnel, and the correlation degree of the estimated position of each road in the tunnel is weighted. On the other hand, if the GPS continues positioning, it is determined that there is a high possibility that the vehicle is traveling on a road other than the road in the tunnel, and the correlation degree of the estimated position of the road other than the road in each tunnel is weighted. If the GPS continues positioning and the satellite used for positioning continues to have a low elevation angle, it is determined that there is a high possibility that the vehicle is traveling on a road other than the elevated road, and the estimated position of the road other than each elevated road is determined. Weight the degree of correlation. Therefore, even in a case where it is difficult to distinguish between roads that are running in parallel using a pattern on a plane, it is possible to distinguish which road the vehicle is traveling on. The device can be realized.

[0056]

According to the present invention, the navigation apparatus for a moving object determines the road form of the road on which the moving object is traveling from the reception state of the GPS receiving means, and thereby the estimated position calculated by the estimated position calculating means. , An accurate current position suitable for the actual road form can be determined.

Further, when the current position is determined from a plurality of points on the road near the estimated position based on the degree of correlation between each point and the estimated position, the road configuration determined by the traveling road determination means is determined. The degree of correlation is determined based on
The current position can be determined more accurately.

The GP received by the GPS receiving means is
Since the road configuration in which the vehicle is traveling is determined from the elevation angle of the S satellite, the road configuration can be easily determined.

Further, since the type of the road on which the vehicle is traveling is determined according to whether the radio wave from the GPS satellite is receivable or non-receivable, the road type can be easily determined.

Further, since the road form of the road is determined from the continuation time of the predetermined reception state of the GPS receiving means, the determination can be made according to the continuation state of the actual road form of the road.

According to the present invention, there is provided a method for determining a current position of a navigation apparatus for a mobile unit, which determines that the current position is present on a road which is a road in the form of the road determined in the traveling road determination step and which is a road near the estimated position. Since the current position determination step is performed, an accurate current position on the road that matches the actual road form can be determined.

In the medium storing the program according to the present invention, the stored program determines the road form of the road on which the vehicle is traveling from the reception state of the GPS receiving means, and determines the road form of the determined road form. In addition, since the computer performs a process of determining that the current position is present on the road near the estimated position, the program stored in this medium is used to determine the exact current position that matches the actual road form. Can be determined.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a navigation device for a mobile object according to Embodiment 1 of the present invention.

FIG. 2 is an explanatory diagram illustrating an example of a road according to the first embodiment of the present invention.

FIG. 3 is an explanatory diagram illustrating an example of a road according to the first embodiment of the present invention.

FIG. 4 is an explanatory diagram showing a GPS positioning state according to Embodiment 1 of the present invention.

FIG. 5 is an explanatory diagram showing a GPS positioning state according to Embodiment 1 of the present invention.

FIG. 6 shows a vehicle and a GP according to the first embodiment of the present invention.
It is explanatory drawing which shows the positional relationship with S satellite.

FIG. 7 shows a vehicle and a GP according to Embodiment 1 of the present invention.
It is explanatory drawing which shows the positional relationship with S satellite.

FIG. 8 is a block diagram illustrating a hardware configuration of the navigation apparatus for a mobile object according to the first embodiment of the present invention.

FIG. 9 is a flowchart showing an operation according to the first embodiment of the present invention.

FIG. 10 is a flowchart showing a traveling road determination operation according to Embodiment 1 of the present invention.

FIG. 11 is a flowchart showing a correlation evaluation operation according to Embodiment 1 of the present invention;

FIG. 12 is a diagram showing a change in the degree of correlation according to the first embodiment of the present invention.

FIG. 13 is an explanatory diagram illustrating a display example of a display screen according to Embodiment 1 of the present invention.

FIG. 14 is a configuration diagram showing a conventional position detection device.

[Explanation of symbols]

103 estimated position calculation unit, 106 running road determination means, 107 correlation degree evaluation means, 109 GPS reception means

Claims (7)

[Claims] An estimated position calculating means for calculating an estimated position of a moving object, a GPS receiving means for receiving a radio wave from a GPS satellite, a road form of a road on which the moving object is traveling from a receiving state of the GPS receiving means. A navigation device for a mobile object, comprising: a traveling road determination unit for determining; and a current position determination unit for determining a current position based on the road form determined by the traveling road determination unit and the estimated position. 2. An estimated position calculating means for calculating an estimated position of a moving object; a GPS receiving means for receiving a radio wave from a GPS satellite; A traveling road determining means for determining, and a current position determining means for determining a current position based on the degree of correlation between each point and the estimated position from among a plurality of points on the road near the estimated position, The navigation device for a moving object, wherein the degree of correlation is determined based on a road form determined by the traveling road determination unit. 3. The navigation apparatus for a mobile object according to claim 1, wherein the reception state of the GPS receiving means is an elevation angle of a receiving GPS satellite. 4. The receiving state of the GPS receiving means is a GPS state.
3. The mobile navigation device according to claim 1, wherein a radio wave from a satellite can be received or cannot be received. 5. The moving vehicle according to claim 1, wherein the traveling road determination unit determines a road configuration of the road based on a duration of a predetermined reception state of the GPS reception unit. Body navigation device. 6. A method for determining a current position of a navigation apparatus for a mobile object, comprising: an estimated position calculating means for calculating an estimated position of the moving object; and a GPS receiving means for receiving radio waves from GPS satellites. A traveling road determination step of determining the road configuration of the road on which the vehicle is traveling from the reception state of the means; and a road having the road configuration determined by the traveling road determination process and a road near the estimated position. A current position determining method for a navigation device for a mobile object, comprising a current position determining step of determining that a current position exists. 7. A medium storing a program for performing all or a part of a current position determination process of a mobile navigation device by a computer, wherein the program is a road running from a reception state of GPS reception means. Characterized by causing a computer to perform a process of determining that the current position exists on a road that is a road having the determined road shape and a road near the estimated position. A medium that stores a program.