JPS6111611A - Hybrid navigating device - Google Patents

Abstract

PURPOSE:To take high-precision position measurement by taking hybrid position measurement in two stages, i.e. by optimization based upon position measurement information and optimization based upon the statistical probability combination of pieces of position measurement information of plural devices, and utilizing an error distribution. CONSTITUTION:An azimuth signal and a ship speed signal inputted from a gyro 3 and a speed log 4 are processed by a data filtering processor 130 and a ship speed data processor 140 and a ship estimation processor 160 calculates an estimated position. A video signal inputted from a radar 5 is compared with a geography, etc., stored in a hydrographic map data base by a ship position determination processor 150, thereby deciding the ship position where the both are coincident with each other. An optimization ship position determining device 112 combine data of individual position measuring devices which are preprocessed by a time series data filtering processor 111 to determine position data close to the real position, thus estimating the position with high precision.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a navigation device, and particularly to an hybrid navigation device suitable for use in navigation of a moving vehicle such as an aircraft or a ship.

, [Conventional technology] Conventional positioning equipment (NNSS navigation equipment, Loran navigation equipment).

Omega navigation equipment, etc.) have been used individually.

Recently, navigation devices that combine these devices have appeared, but some only select the most accurate data from among the ship position information output from multiple devices (switching selection method for ship position information), and others simply Only methods that take the average value have been proposed.

[Problem that the invention attempts to solve]

By the way, positioning is the most basic requirement for navigation, and in order to save manpower and navigate in narrow waters, higher accuracy than current positioning devices is required. However, there is a problem in that position estimation is not performed optimally from information obtained from individual positioning devices.

The present invention attempts to solve such problems, and aims to provide a more accurate hybrid navigation device that can perform optimal hybrid positioning all over the world and in all seasons.

[Means for solving problems]

For this reason, the hybrid navigation device of the present invention uses a plurality of positioning devices that measure the position of a vehicle, and compiles a database of error distributions of positioning data obtained by these positioning devices based on season, region, and positioning method. a positioning accuracy database stored in the positioning accuracy database; a plurality of filtering processing devices that perform time-series data filtering based on error distribution information from the positioning accuracy database for each positioning data obtained by the plurality of positioning devices; and these filtering processing devices. and an optimization position determination device that optimizes and determines the position of the vehicle by minimum variance estimation based on the error distribution information from the positioning accuracy database regarding the positioning data output from the It is a feature.

[Effect]

According to the above-described hybrid navigation device of the present invention, each filtering processing device performs time-series data filtering on each positioning data obtained from a plurality of positioning devices, and then integrates the plurality of positioning data. , the position of the vehicle is determined by the minimum variance estimation.

When performing the above-mentioned time-series data filtering and minimum variance estimation, the positioning accuracy database provides information on the error distribution of positioning data based on season, region, and positioning method. can be done.

〔Example〕

Hereinafter, a hybrid navigation device applied to a ship as an embodiment of the present invention will be explained with reference to the drawings. Fig. 1 is a block diagram showing the functions of the hybrid navigation device according to the present invention, and Fig. 2 is a device configuration of the device. A block diagram showing
FIG. 3 is a graph showing minimum variance estimation.

First, the equipment configuration and functional configuration will be explained.

As shown in FIG. 2, in the equipment configuration example of the hybrid navigation device 1 according to the present invention, the
1 includes a plurality of positioning devices, namely NN5S positioning device 2a.
.

GPS (Global Positioning)
System: Global positioning system) Positioning device 2b, a
Run C (A) positioning device 2cl Omega positioning device 2d, Detsuka positioning device 2e ship position information, and gyro compass 3. Speed log 4. Heading information, ship speed information, and radar information are input from the radar 5, respectively.

Here, the NN5S positioning device 2a averages 90 minutes to 1
Since positioning can only be done once every 20 minutes, the ship's position during that time can be determined using gyro compass 3. A signal is input from the speed log 4 and interpolated by ship position estimation calculation (de-reconning).

As shown in FIG. 1, in the functional configuration example of the hybrid positioning device 11, 12a and 12b represent an NN5S positioning satellite and a GPS positioning satellite, respectively, and 12c and 12d.

12e indicates Loran C (A,) Station, Omega Station, and Detsuka Stage Tan, respectively.

From now on, NN5S, GPS, o run C (A) with subscripts a-e.
.

It shall represent Omega and Detsuka.

GP and S will be explained as representative examples of the above positioning systems.

The GPS positioning device ff2b includes a non-differential processing device 42b and a differential processing device 5.
2b.

When radio waves are received from the GPS positioning satellite 12b, ship position information (position data) is calculated by the men-differential processing device 42b. On the other hand, the radio waves transmitted by the GPS positioning satellite 12b are also received by the ground station 22b, and the position data calculated from the signal and the error information of the true position are transmitted to the GPS positioning device 2b.
sent to.

The differential processing device 52b corrects the position data calculated by the differential processing device 42b based on this information.

Switcher 2b takes into account error information (needs to add and subtract)
Examples of conditions that are not taken into consideration include the absence of a ground station, the radio waves transmitted from the ground station cannot reach, and the GPS positioning device 2b not being equipped with the differential processing device 52b. Further, reference numeral 62b indicates an adder/subtractor for error information.

The Loran C(A) positioning device 2c+Omega positioning device 2d, Detsuka positioning device 2e, and NN5S positioning device 2a also calculate position data using the same method as the GPS positioning device 2b. These position data are input to the hybrid positioning device j1 with information added as to whether or not the men-differential method is adopted.

On the other hand, the hybrid positioning device 11 includes a gyro compass 3. A direction signal, a ship speed signal, and a radar video are input from the speed log 41 and the radar 5, respectively.

The hybrid positioning device 11 includes a time series data filtering processing device 111. Optimized ship position determination device 1121 as an optimized position determination device; positioning accuracy database 113;
It is composed of a nautical chart information database 114 and a printer (display device) 115.

In the time series data filtering processing device 111, GP
S filtering processing device 120b, Loran C(A) filtering processing device 120c, Omega filtering processing device 120d, Detsuka filtering processing device 12
The position data input from each of the positioning devices 2a to 2e is individually smoothed by the 0e and NN5S filtering processing devices 120a.

Also, gyro compass 3. The direction signal and ship speed signal inputted from the speed log 4 are processed by the direction data filtering processing device 130. The ship speed data is applied to the filtering processing device 140, and the estimated position is calculated by the ship position estimation processing device 160.

On the other hand, the video signal input from the radar 5 is processed by the radar ship position determination processing device 150 and the nautical chart information database 114.
The ship's position is compared with the terrain and targets built into the system, and the ship's position is determined at the position where both agree.

Methods for filtering processing include methods such as Kalman filtering and α-β tracking, and smoothing parameters are optimized depending on the situation based on time difference information stored in the positioning accuracy database 113.

The optimized ship position determination device 112 combines the ship position data of each positioning device that has been preprocessed by the time-series data filtering processing device 111 to determine position data close to the true position. Error information in the positioning accuracy database 113 is also used in determining the optimized ship position.

The positioning accuracy database 113 stores error information of various sensors, and error information for each region of the positioning device, each season, and for each case, such as whether or not a differential method is applied.

Note that in FIG. 1, numerals 22a, 22c to 22e all indicate ground stations, and 42a and 42c to 42e all indicate mendifferential processing devices, 52a and 52c.
- 52e are all differential processing devices, 62
a.

62c to 62e are all adders and subtracters, 72a, 72c to
72e indicates a switch.

The hybrid navigation device of the present invention is configured as described above, and data processing by the hybrid positioning device 11 is performed as follows.

Regarding filtering methods for time series data, as mentioned above, there are Kalman filters and Mu-β tracking, but since filtering is performed that is adapted to the region, season, whether or not the differential method is applied, etc., the accuracy of the results is much higher. improves.

As shown in FIG.
, the ship position is determined by minimum variance estimation. In the figure, the distribution of each positioning data is shown as a one-dimensional distribution for convenience of explanation.

Symbols i 22 a to 122 g indicate probability distributions of respective position data processed by the time-series data filtering processing device 111 . (Here, the subscript a-
g is a: NN5S, b: GPS, c: LORAN
C(A).

d: ○MEGA, e: DECCA, f: RADARFI
X.

g: Supports ship position estimation. ) Each position data is yi (i=a−gL standard deviation is σ
Assuming that i (i=a-g) follows the distribution or normal distribution, the standard deviation of the estimation result is the minimum (the accuracy of the data is maximum)
When we calculate the position Ω (optimized estimated ship position), we get:

Also, the variance is -L2=17(Σ(1/σi)...(2
)i.

Here, the above-mentioned standard deviation σi is stored in the positioning accuracy database 113. Further, in the above-mentioned FIG. 3, XO indicates the true position, and 1218 to 121g indicate whether or not each of the position data subjected to the filtering process can be used.

In this way, the obtained optimized position locator order and standard deviation σ. is output to the flinter (display device) 115,
Accurate ship position estimation can be performed.

In reality, two-dimensional positioning is used for ships and three-dimensional positioning is used for aircraft, but if the error distribution is uniform in all directions, equations (1) and (2) hold true as they are.

〔Effect of the invention〕

As described in detail above, according to the hybrid navigation device of the present invention, the process of hybrid positioning is performed by combining optimization of positioning information of individual devices (filtering of time series data) and probabilistic statistical combination of positioning information of multiple devices. Optimization was carried out in two stages, and further divided by region for each device.

By incorporating the seasonal error distribution as a database and using this for optimization at each stage, it is possible to use it all over the world.

This enables optimal hybrid positioning in all seasons.
In all cases, the advantage is that more accurate position estimation is possible.

[Brief explanation of drawings]

1 to 3 show a hybrid navigation device applied to a ship as an embodiment of the present invention. FIG. 1 is a block diagram showing the functions of the hybrid navigation device according to the present invention, and FIG.
The figure is a block diagram showing the equipment configuration of the device, and Figure 3 is a graph showing minimum variance estimation. 1...Hybrid navigation device, 2a...NNS! J1 place device, 2b... GPS positioning device, 2c... Loran C (A
) Positioning device, 2d... Omega positioning device, 2e... Detsuka positioning device t1.3... Gyro compass, 4φφ speed log, 5... Radar, 11... Hybrid positioning device, 12a... NN5S positioning satellite, 12b- -GPS positioning satellite, 12c... Loran C (A) station, 12d
...Omega Station, 12e...Decka Station, etc., 22a-22e...Ground station, 42a-42e...Mental differential processing device, 52a-52e...Differential processing device, 62a-62e...Error information adder/subtractor, ? 2a-72e...Switch, 111.
- Time series data filtering processing device, 112... Optimization ship position determination device as an optimization position determination device, 113
...Positioning accuracy database, 114...Nautical chart information database, 115...Printer (display device), 120a...
・NN5S filtering processing device, 120b...GP
S filtering processing device, 120c... Loran C (A
) Filtering processing device, 120d... Omega filtering processing device, 120e... Detsuka filter link processing device, 121a to 121g... Symbol indicating whether positioning data can be used, 122a to 122g... Probability distribution of positioning data, 130. - Orientation data filtering processing device, 140...Ship speed data filtering processing device, 1
50... Radar ship position determination processing device, 160... Ship position estimation processing device.

Claims (1)

[Claims] A plurality of positioning devices that measure the position of a vehicle, a positioning accuracy database that stores the error distribution of positioning data obtained by these positioning devices as a database based on season, region, and positioning method, and the plurality of positioning devices mentioned above. a plurality of filtering processing devices that perform time-series data filtering based on error distribution information from the positioning accuracy database for each positioning data obtained by;
and an optimization position determination device that optimizes and determines the position of the vehicle based on the error distribution information from the positioning accuracy database using minimum variance estimation for the positioning data output from these filtering processing devices. A hybrid navigation device characterized by: