JPH10311734A - Hybrid positioning apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain a hybrid positioning apparatus which prevents a GPS output value as hybrid positioning data from being changed largely by a method wherein, when a GPS positioning device is subjected to a trouble, the generation of the trouble is detected, an abnormality value is not output and inertial positioning data is replaced as the GPS output value at a point of time when the trouble is detected. SOLUTION: A GPS positioning device 20 is provided with a satellite- combination-change detecting means 23 which detects a change in the combination of satellites, with a short-break detecting means 24 which detects that radio waves of a satellite cannot be received temporarily and with a data fetch means 25. The satellite-combination-change detecting means 23 and the short- break detecting means 24 monitor reception data which is sent from a GPS receiving device 21, they detect that the combination of satellites is changed and that the radio waves cannot be received temporarily, and they give a stating signal to the data fetch means 25. The data fetch means 25 inputs positioning data which is given from an inertial positioning device 30 at this point of time, and the data is output as positioning data which is output at the next timing of the GPS positioning device 20.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hybrid type positioning device which can be used in a case where a position of a moving body such as a tractor is measured and automatic driving is performed.

[0002]

2. Description of the Related Art As is well known, a GPS positioning device receives and decodes orbit information, time information, and the like of each artificial satellite transmitted by a plurality of artificial satellites to determine the position of a receiving point. It is a positioning system calculated by calculation.
In this GPS positioning system, one receiver independently calculates a position, and in addition to a function of receiving information from a satellite and calculating a position, receives correction data transmitted from a reference station, There is a differential type that corrects the calculated position information.

[0003] Regardless of the type of GPS positioning device,
Since the information sent from the satellite is sent at predetermined time intervals, the position calculation results are output at, for example, one second intervals, and there is a blank time between the position calculation times. For this reason, for example, there is an inconvenience that the speed at which information is updated is insufficient to perform control for automatically driving a moving object, and safe automatic driving cannot be guaranteed.

In order to solve this inconvenience, conventionally,
A hybrid positioning device combining an inertial positioning device using a detector such as a gyro or an acceleration sensor with a GPS positioning device has been considered. According to this hybrid type positioning apparatus, the positioning data output from the GPS positioning apparatus can be interpolated by the positioning data output from the inertial positioning apparatus, and the latest position information can be always obtained.
The advantage that the present invention can be used for automatic driving of a moving body or the like is obtained.

FIG. 7 shows a schematic configuration of a conventional hybrid type positioning apparatus. In the figure, reference numeral 10 denotes the entire hybrid positioning device. The hybrid type positioning device 10 has the G
It is composed of a PS positioning device 20 and an inertial positioning device 30. The GPS positioning device 20 is connected to a GPS receiving device 21, and inputs information of four satellites received by the GPS receiving device 21 to the GPS positioning device 20. The GPS positioning device 20 processes information of four satellites and outputs positioning data to the output terminal 22 at, for example, one second intervals.

The inertial positioning device 30 is connected to, for example, a vibrating gyro 31, an acceleration sensor 32, and the like. Based on positioning data (coordinate position) output from the GPS positioning device 20, a coordinate position indicated by the positioning data is calculated based on the position data. For example, a change in the traveling direction is detected by a detection signal of a gyro, and a change in speed is detected by a detection signal of an acceleration sensor.
The momentary position is calculated and output to the output terminal 33. The interpolation by the inertial positioning device 30 interpolates the output period of the position data of the GPS positioning device 20 at a period of, for example, 1/10.

[0007]

The substantial output of the hybrid positioning apparatus 10 is positioning data output from the inertial positioning apparatus 30 and obtained at an output terminal 33. The position data output to the output terminal 33 is the GPS positioning device 2
It is composed of a data string interpolated between the coordinate positions calculated by 0 and the positioning data calculated by the inertial positioning device 30.

Therefore, if the coordinate position data output by the GPS positioning device 20 fluctuates significantly, the positioning data of the hybrid positioning device 10 also fluctuates significantly following the output value of the GPS positioning device 20. An example in which the output value of the GPS positioning device 20 fluctuates greatly is that 4
If one of the satellites switches to another satellite, or if the radio wave of the satellite being captured is interrupted instantaneously, or if the information sent from the satellite is misread, 8, the value changes greatly as shown by a mark. Due to this change in the value, the output of the inertial positioning device 30, that is, the positioning data of the hybrid positioning device 10 also has a disadvantage that it changes following the position data of the GPS positioning device 20, as shown by the curve B in FIG.

Here, the state of data processing in the GPS positioning device 20 will be described in advance when the position data output from the GPS positioning device 20 changes significantly. Time T shown in FIG.
Assuming that the satellite switching or the instantaneous interruption of the radio wave has occurred at 1, the next output position data D 1 is the previous position data D 1.
It fluctuates more than 0. Immediately after the output of the positioning data D1, the relocation of satellites is completed, and even if the instantaneous interruption is restored, the GPS positioning device 20 calculates the next output value based on the previous output value, and thus fluctuates once. When the value is output, the output value will not be restored. Therefore, as shown in FIG. 8, the next output value D2 has a value close to the output value D1, and thereafter, the output data of the GPS positioning device 20 stabilizes to a value far apart from the original value D0.

The output data of the inertial positioning device 30 is also D1.
The positioning data output after capturing the data approaches the output value D2 of the GPS positioning device 20 and stabilizes at a suddenly changed value. Therefore, in the conventional hybrid type positioning apparatus, if the GPS positioning apparatus outputs an output value which fluctuates greatly even once, it is operated with the fluctuating value included. Therefore, although it is a hybrid type, the GPS positioning device 20
When the coordinate position data output by the controller fluctuates, the position information output by the inertial positioning device 30 following the fluctuation also fluctuates greatly. It is dangerous to use it.

An object of the present invention is constituted by a GPS positioning device and an inertial positioning device. In a hybrid type positioning device, even if the combination of satellites changes or the radio wave from the satellite temporarily stops receiving radio waves, An object of the present invention is to provide a hybrid positioning device in which the output value of the hybrid positioning device does not fluctuate greatly even when information sent from a satellite is misread.

[0012]

According to the first aspect of the present invention, the GP uses the fact that the inertial positioning device has a property of continuously outputting position information with high accuracy for a short time.
When the combination of satellites or the instantaneous interruption of the satellite radio wave occurs in the S positioning device, the positioning data of the inertial positioning device is
The present invention proposes a hybrid-type positioning device to which a configuration in which a positioning data is taken into a PS positioning device and the positioning data is output as an output value of the GPS positioning device is added.

According to the hybrid positioning apparatus proposed in claim 1, even if the combination of satellites is changed and the instantaneous interruption of the satellite radio wave occurs, and the positioning data of the GPS positioning apparatus fluctuates greatly, the changed positioning data can be used. Instead, since the positioning data of the inertial positioning device is output as the positioning data of the GPS positioning device, it is possible to prevent the output of positioning data that fluctuates greatly to, for example, the control system of the automatic driving.

The hybrid type positioning apparatus proposed in claim 2 of the present application is a deviation calculating means for obtaining a deviation between the positioning data output by the GPS positioning apparatus and the inertial positioning apparatus, and a movement of the deviation value output by the deviation calculating means. Moving average calculating means for calculating an average; satellite combination detecting means for detecting that the combination of satellites used in the GPS positioning device has been changed;
The instantaneous interruption detecting means for detecting that the radio wave of the satellite used for positioning by the GPS positioning device is instantaneously interrupted, and the combination change detecting means and the instantaneous interruption detecting means of these satellites are used to change or instantaneously interrupt the combination of the satellites respectively. Every time the occurrence of the error is detected, the moving average value output from the moving average calculating means is added to the position output value of the inertial positioning device, and the addition result is taken into the GPS positioning device and output as the output value of the GPS positioning device. It is characterized in that it is provided with a data fetching means.

According to the hybrid positioning device proposed in claim 2, while the output value of the GPS positioning device outputs an abnormal value due to a change in combination of satellites or an instantaneous interruption of radio waves, the output value is calculated from before. The moving average of the deviation between the position output values of the GPS positioning device and the inertial positioning device is corrected by adding it to the position output value of the inertial positioning device, and the corrected position output value is output as the measured value of the GPS positioning device. The value of the position is almost equal to the value output by the GPS positioning device from before. Therefore, even if the output of the GPS positioning device fluctuates greatly due to a change in the combination of satellites or instantaneous interruption of radio waves, the output value of the hybrid positioning device does not fluctuate at all,
It is possible to prevent a disturbance from being applied to a control system such as automatic steering.

The hybrid positioning device proposed in claim 3 is configured to prevent the output of the GPS positioning device from greatly fluctuating even when the GPS positioning device misreads the information sent from the satellite. A hybrid positioning device is proposed. For this purpose, in the hybrid positioning device proposed in claim 3, both the GPS positioning device and the inertial positioning device are provided with time-series deviation calculating means for obtaining the difference between the previous output value and the current output value. It is detected that the difference between the deviation in the time series direction of the GPS positioning device calculated by the series deviation calculation means and the deviation in the time series direction of the inertial positioning device is larger than a preset value, and by this detection, the output position of the GPS positioning device is detected. Abnormality determining means for determining that the information is an abnormal value; and when the abnormality determining means determines that the information is abnormal, the output data of the inertial positioning device is taken into the GPS positioning device, and the output data is used as the output data of the GPS positioning device. It is characterized in that it is configured to output.

According to the hybrid positioning device proposed in claim 3, even if the GPS positioning device calculates an abnormal value due to misreading information sent from the satellite, it calculates the abnormal value. Can be detected. Therefore, when it is detected that the abnormal value is calculated, the output of the GPS positioning device is replaced with the output value of the inertial positioning device, thereby preventing the output value of the GPS positioning device from largely fluctuating. The advantage that can be obtained is obtained.

The hybrid positioning apparatus proposed in claim 4 has a configuration obtained by adding the moving average calculating means proposed in claim 2 to the configuration of the hybrid positioning apparatus proposed in claim 3. Therefore, according to the hybrid positioning device proposed in claim 4, even when the GPS positioning device changes the combination of satellites, instantaneous interruption of radio waves and misreading information from the satellites, the moving average calculation means calculates all of them. The output value of the inertial positioning device can be corrected based on the moving average of the deviation between the output value of the GPS positioning device and the output value of the inertial positioning device, and output as the output value of the GPS positioning device. Therefore, the output value of the GPS positioning device can maintain the same output value as before even with respect to any failure such as a change in the combination of satellites, an instantaneous interruption of radio waves, or misreading of information from the satellite. Therefore, even if the control system is used for control such as automatic steering, no disturbance is given to the control system, and stable control can be performed.

[0019]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 shows an embodiment of a hybrid positioning device proposed in claim 1 of the present application. Parts corresponding to those in FIG. 7 are denoted by the same reference numerals. The hybrid positioning device proposed in claim 1 of the present invention uses the satellite combination change detecting means 23 for detecting that the combination of satellites has changed in the GPS positioning device 20 and the fact that the radio wave of the satellite is temporarily unreceivable. An instantaneous interruption detecting means 24 and a data acquiring means 25 for detecting are provided, and the combination change detecting means 23 and the instantaneous interruption detecting means 24 of the satellite monitor the received data sent from the GPS receiver 21 and combine the satellites. Is changed, and the reception of the radio wave is temporarily disabled, and an activation signal is given to the data acquisition means 25.

Upon receiving the start signal, the data capturing means 25 captures the positioning data supplied from the inertial positioning device 30 at that time, and transfers the positioning data to the GP.
The data is input to the S positioning device 20 and output as positioning data to be output at the next timing of the GPS positioning device 20. After outputting the positioning data fetched from the inertial positioning device 30 at the next output timing, if the combination of satellites is determined or the instantaneous interruption is resolved, the positioning data output by the GPS positioning device 20 next time has been output previously. The positioning data calculated by the GPS positioning device 20 based on the positioning data (data taken from the inertial positioning device) is output. Then G as before
The PS positioning device 20 repeats the calculation of the difference from the positioning data that has been calculated and output by itself last time, and outputs the value of the difference as the next positioning data.

Note that the combination of satellites or the instantaneous interruption of radio waves
In the case where a fault is received for several cycles of the output timing of the positioning device 20, during that time, the positioning data output by the inertial positioning device 30 is captured by the data capturing unit 25 each time and output as the positioning data of the GPS positioning device 20. Keep doing. FIG. 2 shows that the data acquisition means 25 is an inertial positioning device 30.
The positioning data is captured and output only once, and then G
The situation of the GPS positioning data and the inertial positioning data when the PS positioning device 20 is restored is shown. This shows a situation in which a fault has occurred at time T1, and the positioning data D1 output by the GPS positioning device 20 at the next timing matches the positioning data output by the inertial positioning device 30. In this example, the second positioning data D2 after the occurrence of the failure has been recovered from the failure.
The GPS positioning device 20 calculates the data D2 to be output for the second time based on the value of the positioning data D1 output last time, and repeats this until the next failure occurs. Therefore GP
The S positioning data (A shown in FIG. 2) approaches the inertial measurement data (curve B shown in FIG. 2) after the fault occurrence time T1, and GP
Changes in the positioning data of the S positioning device 20 are determined by the positioning data A and B.
Can be suppressed to ΔU.

FIG. 3 shows an embodiment of the hybrid positioning apparatus proposed in claim 2 of the present invention. In this embodiment, GP
Each time the GPS positioning device 20 outputs the positioning data A, the S positioning device 20 outputs the positioning data A in addition to the configuration in which the satellite combination change detecting device 23, the instantaneous interruption detecting device 24, and the data capturing device 25 are provided. A deviation calculating means 40 for calculating a deviation from the positioning data B of the inertial positioning device 30, and a moving average calculating means 41 for adding a predetermined number of times of the deviation calculated by the deviation calculating means 40 to obtain a moving average. The moving average value is calculated by removing the deviation data N + 1 times before and adding N deviations in conjunction with adding new deviation data this time. By this average value calculation method, a moving average value of N deviations can be obtained.

The moving average value is added to the inertial positioning data B output from the inertial positioning device 20 by the adding means 42 (actually, the difference is obtained), so that the GP before receiving the obstacle is obtained.
The positioning data having the same value as the S positioning data A can be obtained. The positioning data obtained by the adding means 42 is input to the data capturing means 25, and when the fault occurs, the data capturing means 25 captures the addition result of the adding means 42, and the captured data is stored in the positioning device 20 of the GPS positioning device 20. Output as data.

As described above, the positioning data output from the GPS positioning device 20 is obtained by adding the moving average value of the deviation to the inertial positioning data as shown in FIG.
The first GPS positioning data D1 after 1 is the moving average Δ of the deviation from the value of the inertial positioning data B output at that time.
Since the value is obtained by adding V, the value does not greatly change from the value of the GPS positioning data D0 before receiving the obstacle.

FIG. 5 shows an embodiment of the hybrid type positioning apparatus proposed in claim 3 of this application. In this embodiment, G
An abnormal output caused by the PS positioning device 20 misreading the information sent from the satellite is detected, the abnormal output is prevented from being output by the GPS positioning device 20, and the hybrid positioning output fluctuates greatly. This is a case in which the configuration is made to avoid such a situation.

For this purpose, in this embodiment, both the GPS positioning device 20 and the inertial positioning device 30 are provided with time-series deviation calculating means 26 and 34, and the time-series deviation calculating means 26 and 34 An abnormality determining means 43 is provided for detecting that the deviation in the series direction is larger than a set value and determining that the deviation is an abnormal value. Each time the GPS positioning device 20 calculates the positioning data A, the time series deviation calculating means 26 calculates a difference ΔA = D1− between the currently calculated positioning data D1 (not yet output to the output terminal 22) and the previous positioning data D0. D
Calculate 0.

The time series deviation calculating means 34 is provided by the inertial positioning device 3
Each time the positioning data B is calculated at 0, the difference ΔB = E1-E between the currently calculated positioning data E1 and the previous measurement data E0.
Calculate 0. The abnormality determining means 43 calculates | ΔA−ΔB |, and when the calculation result becomes | ΔA−ΔB |> Z which is larger than a predetermined abnormality determination value Z, the data is determined to be abnormal. The data acquisition unit 25 is activated based on the determination result, and the data acquisition unit 25 acquires the positioning data of the inertial positioning device 30.

The data capturing means 25 captures the positioning data of the inertial positioning device 30 output at that time, and outputs the captured positioning data as positioning data of the GPS positioning device 20. Accordingly, the GPS positioning device 20 holds the positioning data calculated this time without outputting it until the abnormality determination unit 43 outputs the determination result. If the abnormality determination unit 43 does not determine that there is an abnormality, the GPS positioning device 20 outputs the calculated positioning data as it is. The data is output to the terminal 22. If the abnormality determination unit 43 determines that the data is abnormal, the data acquisition unit 25 outputs the inertial positioning data acquired. In the inertial positioning device 30, the currently output positioning data is positioning data calculated using the previous GPS positioning data.

According to the embodiment shown in FIG.
If either the positioning device 20 or the inertial positioning device 30 outputs positioning data that is significantly different from the previous time, it is determined that the data is abnormal. Therefore, even if the information sent from the satellite is misread, the abnormality is detected. Can be. In other words, it is possible to detect a failure other than a failure that can be detected by the GPS positioning device 20 such as a change in the combination of satellites or an instantaneous interruption of radio waves. In addition to being able to detect fluctuations in position information, it can also detect abnormalities in positioning data caused by misreading information sent from satellites, and can detect any failure.

FIG. 6 shows an embodiment of the hybrid type positioning apparatus proposed in claim 4 of the present application. In this embodiment, the deviation calculating means 40, the moving average calculating means 41, and the adding means 42 shown in FIG. 3 are added to the configuration shown in FIG. 5, and when the positioning data reaches an abnormal value, the GPS positioning data A and the inertia A case in which a value obtained by moving-averaging the deviation from the positioning data B is added to the inertial positioning data B, and the corrected inertial positioning data is taken into the data acquisition means 25 and is used as the positioning data of the GPS positioning device 20. Show.

[0031]

As described above, according to the present invention, when the GPS positioning device 20 receives a fault, the occurrence of the fault is detected and the inertial positioning is performed at the time of detecting the fault without outputting an abnormal value. Since the data is replaced with the GPS output value, it is possible to prevent the hybrid positioning data from greatly changing.

According to the hybrid positioning apparatus proposed in claims 3 and 4 of the present invention, sudden change of positioning data caused by misreading information from a satellite is also determined by the abnormality determining means 43. Can be detected. Therefore, even when the positioning data becomes abnormal other than the occurrence of the failure, it is possible to prevent the output value from fluctuating.
Therefore, even if the positioning data is used for the steering control of the moving body, it is possible to prevent the positioning data from largely changing suddenly.

[Brief description of the drawings]

FIG. 1 is a block diagram for explaining an embodiment of a hybrid positioning device proposed in claim 1 of the present application.

FIG. 2 is a graph for explaining the operation of FIG. 1;

FIG. 3 is a block diagram for explaining an embodiment of a hybrid positioning device proposed in claim 2 of the present application.

FIG. 4 is a graph for explaining the operation of FIG. 3;

FIG. 5 is a block diagram for explaining an embodiment of the hybrid positioning device proposed in claim 3 of the present application.

FIG. 6 is a block diagram for explaining an embodiment of a hybrid positioning device proposed in claim 4 of the present application.

FIG. 7 is a block diagram for explaining a conventional technique.

FIG. 8 is a graph for explaining the operation of the conventional technique.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Hybrid positioning apparatus 20 GPS positioning apparatus 21 GPS receiving apparatus 22 Output terminal 23 Satellite combination change detecting means 24 Instantaneous interruption detecting means 25 Data capturing means 26 Time series deviation calculating means 30 Inertial positioning apparatus 31 Gyro 32 Acceleration sensor 33 Output Terminal 34 Time series deviation calculation means 40 Deviation calculation means 41 Moving average calculation means 42 Addition means 43 Abnormality judgment means

Claims (4)

[Claims] 1. A. First Embodiment A GPS positioning device that receives and decodes information transmitted by a plurality of artificial satellites and outputs the position of the reception point at predetermined time intervals, and an inertial positioning device that interpolates a blank portion of positioning data output by the GPS positioning device. A hybrid positioning device comprising: B. satellite combination change detecting means for detecting that the combination of satellites used in the GPS positioning device has been changed; D. instantaneous interruption detection means for detecting an instantaneous interruption of radio waves of a satellite used by the GPS positioning device for positioning; Each time these satellite combination change detecting means and instantaneous interruption detecting means detect a satellite combination change or an instantaneous interruption of radio waves, the positioning data of the inertial positioning device is taken into the GPS positioning device and output as an output value of the GPS positioning device. And a data capturing unit for causing the hybrid type positioning device to be added. 2. A. A GPS positioning device that receives and decodes information transmitted by a plurality of artificial satellites and outputs the position of the reception point at predetermined time intervals, and an inertial positioning device that interpolates a blank portion of positioning data output by the GPS positioning device. A hybrid positioning device comprising: B. deviation calculating means for calculating a deviation between the positioning data of the GPS positioning device and the positioning data of the inertial positioning device; D. a moving average calculating means for calculating a moving average of the deviation values output by the deviation calculating means; E. satellite combination change detecting means for detecting that the combination of satellites used in the GPS positioning device has been changed; B. instantaneous interruption detecting means for detecting an instantaneous interruption of a radio wave of a satellite used by the GPS positioning device for positioning; Each time the combination change detecting means of the satellite and the instantaneous interruption detecting means detect the change of the combination of the satellites or the occurrence of the instantaneous interruption, respectively, the moving average value output from the moving average calculating means is determined by the positioning of the inertial positioning device. A hybrid positioning device, comprising: data addition means for adding data to the data, and taking the addition result into the GPS positioning device and outputting the data as an output value. 3. A. A GPS positioning device that receives and decodes information transmitted by a plurality of artificial satellites and outputs the position of the receiving point at predetermined time intervals, and an inertial positioning device that interpolates a blank portion of the position information output by the GPS positioning device. A hybrid positioning device comprising: B. time-series deviation calculating means provided in both the GPS positioning device and the inertial positioning device to calculate a difference between a previous positioning value and a current positioning value; The time series deviation calculating means detects that the difference between the time series direction deviation of the GPS positioning device calculated by the time series deviation calculation means and the inertial positioning device time series direction deviation is larger than a preset value, and D. an abnormality determining means for determining that the positioning data is an abnormal value; When the abnormality determining means determines that the output value of the GPS positioning device is abnormal, the GPS positioning device has a configuration in which data reading means for capturing and outputting the output value of the inertial positioning device is added to the GPS positioning device. A hybrid type positioning device. 4. A. A GPS positioning device that receives and decodes information transmitted by a plurality of artificial satellites and outputs the position of the receiving point at predetermined time intervals, and an inertial positioning device that interpolates a blank portion of the position information output by the GPS positioning device. A hybrid positioning device comprising: B. deviation calculating means for calculating a deviation between the position information of the GPS positioning device and the position information of the inertial positioning device; D. a moving average calculating means for calculating a moving average of the deviation values output by the deviation calculating means; B. a time-series deviation calculating means provided in both the GPS positioning device and the inertial positioning device for calculating a difference between a previous output value and a current output value; The time-series deviation calculating means detects that the difference between the time-series direction deviation of the GPS positioning device and the time-series direction deviation of the inertial positioning device is larger than a preset value, and B. abnormality determining means for detecting that the output value is an abnormal value; When the abnormality determination means detects that the output value of the GPS positioning device is an abnormal value, a value obtained by adding the output value of the inertial positioning device and the calculated value of the moving average calculation means to the GPS positioning device is obtained. And a data capturing means for capturing and outputting as an output value of the GPS positioning device.