JPS6279312A - Navigation apparatus - Google Patents

Abstract

PURPOSE:To intuitively identify a running position, by providing a recording means for preliminarily recording the actual view seen from more than one point and a reading display means for reading the image showing the actual view corresponding to the present position from said recording means to display the same. CONSTITUTION:CPU1 calculates the picture of the actual view (actual view No.) on the basis of a spot number and forward/rearward discriminating data to output the same to a video disk unit 5. CPU 1 selects the picture of the road map corresponding to the present position calculated by a position measuring device 4 and the reduced scale ratio indicated by a key-in unit 7 or directly indicstes said picture on the basis of a map number when the map number is already known. CPU1 digitalizes the image signal outputted from the video disk unit 5 to write the same in a road map displaying memory 10. By this method, the information of the corresponding road map is read from the video disk unit and, further, the display position of the present place marker in the map is calculated.

Description

Detailed Description of the Invention (AlTechnical Field This invention relates to a navigation device that displays position data obtained by a positioning device such as a GPS receiver, a Loran receiver, or a Detsuka receiver as a current position on a map or nautical chart. Regarding improvements.

(b) Prior art and its disadvantages Conventional navigation devices are equipped with a recording means for recording a map or nautical chart, and display the current position along with the map or chart based on the position data sent from the positioning device. It is something.

Such conventional navigation devices can confirm the direction and distance from the current position to the destination by comparing it with the map or chart display, but they cannot grasp the relationship between the actual surroundings and the map or chart display. Hateful. Particularly with car navigation systems, you have to always understand the relationship between the actual scene and the road map to know where to turn right.

I can't decide whether to turn left or go straight.

Furthermore, when navigating in autumn waters, navigation systems for ships may not be able to navigate safely with only the display of Fig. 6 and own ship's position due to the accuracy of the positioning system. An object of the present invention is to provide a navigation device that displays one's own position together with a map or nautical chart in order to understand one's own position, and also displays an actual view of the surroundings from that position (d1 structure of the invention) In summary, the present invention provides a current position measuring means for measuring a current position, and an apparatus for marking and displaying the current position together with a map or a nautical chart based on the current position information obtained by the current position measuring means. A recording means for pre-recording the direction of travel or the surrounding actual view as seen from that point for each point, and a readout display means for reading out and displaying an image representing the actual view corresponding to the current position or the vicinity of the current position from the recording means. It is characterized by having been established.

With this configuration, for example, if it is used as a navigation device for automobiles, it will be possible to intuitively understand the driving position of the own troops by displaying the road map and current location, and the destination (buildings, etc.) can be determined from the actual display of the current location. 6th anniversary of
The route to the destination is easy to recognize (right turn, left turn,
It becomes easier to judge whether to go straight (such as going straight). In addition, if it is applied to a marine navigation system, by displaying both the nautical chart and the actual view from the own ship's position, the relationship between the nautical chart and the actual view becomes clear.
Particularly when navigating in narrow waters, by comparing the displayed view with the actual view, safe navigation can be achieved even in bad weather such as in dense fog.

(e) Embodiment of Automotive Navigation Device> FIG. 1 shows an example of a display of an automobile navigation device that is an embodiment of the present invention. The lower half of the display section is the road map display section,
A so-called north-up display is performed, with north pointing upwards, and the current position of the own army is displayed using a marker. The upper half of the display section is a real scene display section, which displays the real scene as seen from the current location in the direction of travel (in the direction of the arrow in the road map display section in the figure). On this actual scene display section, target numbers are displayed for buildings, etc., which serve as landmarks, and by manually inputting a predetermined target number, the operator can determine the position of the corresponding target on the road map display section. Display as a target marker. The operator can check the driving route, such as turning right, turning left, or going straight, by comparing the displayed contents with the actual scene.

FIG. 2 is a block diagram of a control section of such an automobile navigation system. The overall control is performed by program control of a CPU consisting of a microprocessor. ROM
2 is a memory in which the control program is written in advance, R;
AM3 is a memory used as a working area when executing the program. Positioning device 4 is GPS
Absolute coordinates of current position (f9 degrees 1 longitude) by receiver etc.
It is a device that calculates Crt, J at a predetermined time.
Interrupts and outputs current position information. C.P.
LJ uses this current position 11!2+9 in interrupt processing.
”c Load.

As shown in FIG. 3, the video disc device 5 records, as still images, actual scenes seen forward and rearward from a plurality of points on a predetermined main road. In addition, along with this still image, as shown in FIG. 1, the target number of a landmark such as a building and the absolute coordinates (latitude, longitude) of the target number are recorded as attached information. The CPU obtains a screen of the actual scene (actual scene number) based on the point number and front/back distinction data, and outputs it to the video disk device. The video disk device accesses the corresponding trunk based on this information and displays a still image on the display section 6. Furthermore, the video disk device displays multiple road maps within a predetermined range and their attached information, including the absolute coordinates of each point number, the absolute coordinates and scale of a reference point (for example, the center of the screen), and the multiple road maps. Information representing the context of each case is recorded. The CPU selects a screen representing a road map corresponding to the current position determined by the positioning device and the scale specified by the key human power device 7, or directly specifies the map number when the map number is already known. CP[J digitizes the video signal output from the video disk device and writes it into the road map display memory 10. That is, the video signal output from the video disk device is digitized by the sample bold circuit 8 and the A/D converter 9, and written to the address of the memory 10 corresponding to the position to be displayed on the display section 13. The display control section 11 selects the address of the display memory 10 in synchronization with the raster scan of the display section 13, and the signal output from the display memory 10 is converted into a video signal by the display signal generation circuit 12, which is then displayed on the display section. 13 is displayed. The CPU writes corresponding figures to the display positions of the current location marker and designated target marker on the road map written in the display memory 10, thereby producing a display as shown in FIG. 1. .

Note that the compass 14 is composed of a magnetic compass, a gyro compass, or the like, and measures the direction.

FIGS. 4(A) and 4(B) are flowcharts showing the processing procedure of CPIJ. First, load the key,
If the operated key is a scale rate key, one of the predetermined scale rates is read out and set (n 10
-n 12-n 14). Once a new scale factor has been set, the track on the video disc that records the road map corresponding to the new scale factor is accessed, and the digitized information of the video is stored in the display memory (VRA).
M) 4.1 Write and further calculate the display position of the current location marker to be displayed on the road map. This can be determined from the relationship between the already determined absolute coordinates (latitude and longitude) of the current location, the newly read scale ratio of the road map, and the absolute coordinates of the reference point. A current location marker is written in the VRAM address corresponding to the display position determined in this manner <nl6-·n18-n20). Furthermore, the display position of the target marker is found in the same way, and the target marker is written in the VRAM (n22-"n24). Note that if the target number is not specified, the above process is ignored. Operation If the specified key is the target number key, the absolute coordinates of the specified number are determined from the information attached to the video signal of the actual scene in the video disk device (n2G-n28).In this way, A display position on the road map-F corresponding to the coordinates of the obtained target object is obtained, and the target object marker is stored in the display memory (n22-n24).

If the operated key is another key, processing corresponding to that key is performed (n30).

FIG. 4(B) shows the procedure of interrupt processing performed based on an interrupt signal generated from the positioning device. First, read the absolute coordinates of the current position from the positioning device. Next, a point number is extracted from the coordinates representing this current position and input into the buffer PN. As mentioned above, in a video disk device, the point number of the point closest to the current location is extracted from the information representing the correspondence between multiple point numbers and their coordinates attached to each video information of each road map. It is processing. Next, the display position of the current location marker to be displayed on the road map display section is calculated, and the display of the current location marker is updated (n44-n4
6→n48). Next, compare the newly established point number PN and the previous point number ~υPN', and if the point number is larger, turn the flag FF representing the direction of travel seven steps n52), and the new point number is the same as the previous point number. If the point number is lower than , reset the FF (n54). The point number PN is saved in the buffer PN' for the next comparison, and the flag FF representing the point number PN and the direction of travel, that is, forward/backward, is set! The actual scene number on the video disk device is calculated based on the actual scene number, the corresponding still image is accessed, and the actual scene is displayed on the display unit 6 (n 56-n
58 = n GO). Furthermore, the data attached to the still image (attached t+'? Q-indicating the relationship between the target number and its absolute coordinates) is read (n62).

As described above, the current location marker is sequentially moved and displayed as the car travels, but when the current location marker reaches outside the display range of the road map or near the display periphery, this is determined and the road map is updated. . This calculates the map number of the next road map connected to the currently displayed road map, reads the information of the corresponding road map from the video disk device, and further calculates the display position of the current location marker on that map (n 64 = n 6 G - n 68).

Note that the above example was a method of comparing current position data with previous position data and detecting the direction of travel from the change in position, but as shown in Figure 2, using a compass, It is also possible to determine the direction of travel of the vehicle and distinguish the direction of travel based on this data. In this case, specifically, for example, the determination is made by providing data indicating which direction is forward or backward at each point numbered point.

Ship Navigation Device> FIG. 5 is a diagram showing a display example of a ship navigation device to which the present invention is applied. The circular area in the center of the display device is a nautical chart display section that is displayed in a north-up manner, and the surrounding area is an actual view display section. Further, on the right side is an area for displaying data regarding the designated target. As is clear from the figure, in the chart display section,
The actual view when looking at the surroundings from the center is displayed on the actual view display section. On the chart display section, a ship marker representing the current position of the ship and markers representing mountain peaks and lighthouses are displayed. In addition, in the actual view display section, target numbers are displayed at the positions where targets such as mountain peaks and lighthouses can actually be seen. By specifying the target number, the operator displays a mark indicating that the target is the designated target on the chart display section. Furthermore, data regarding the target (target name, height, distance from own ship, direction from own ship) is displayed in a graphical manner.

The display information in the actual scene display section is obtained as follows. 6(A) and 6(B) are explanatory schematic diagrams. First, as shown in FIG. 6(A), from a certain point to the surrounding 36
An actual view at 0 degrees is taken as a so-called panoramic photograph, and its coordinates are transformed into a disk shape as shown in FIG. 6(B). In other words, a panoramic photograph is recorded in advance on the video disk device as an expanded image as shown in FIG. The coordinates of each pixel are converted so that each pixel corresponds to the radius, and the result is written into the display memory (VRAM).

FIGS. 7(A) and 7(B) are flowchart 1 representing the processing procedure. The block diagram of the control section that performs this process is basically the same as that shown in FIG.
In the figure, the display section 6 is not used in this case.

As shown in Figure 7 (A), the key is first read, and if the generated key is a target number key, the target data corresponding to that number is read from the video disk device, and the own ship position is read. The distance i'X411 and direction from to the target are determined. As shown in Figure 2, the own ship's target direction is determined by the own ship's bow force (
Measure based on y. Furthermore, the position to be displayed on the chart display section is calculated using the designated target as a designated target marker. A designated target marker is placed in the display memory VRAM corresponding to 1l-1 at the position thus determined, and data regarding the designated target is written in the VRAM for display.

The positioning device interrupts the CPU at predetermined fixed time intervals. FIG. 7 (+3) shows the procedure for the interrupt 2 processing. First, the absolute coordinates of the own ship's position are read, and it is determined whether the screen is to be updated based on whether the own ship's position has moved a predetermined distance z1 from the actual view point (center) of the nautical chart display section (n90 -n92). Until the distance traveled by your ship's position reaches the distance required to update the screen,
The display position of the own ship's marker is calculated, and the display of the own ship's marker is updated (nl12-nl14). If your ship's position moves more than a predetermined distance, first update the chart number so that the chart where your ship's position is closest to the center of the chart is displayed, and then display the chart information corresponding to that number as a video. Read from disk device and write to VRAM (n 9.
4-”n 96).Subsequently, the actual scene data corresponding to that /@ diagram is read from the video disk device, the coordinates of each point are converted, and written to the VRAM.As a result, a new actual scene is displayed on the actual scene display section. Furthermore, calculate the own ship marker display position, write the own ship marker to VRAM, calculate the display position of the designated target marker that has already been designated, and write the designated target marker to the corresponding V RAM address. .

As described above, the nautical chart and the mark representing the position of the own ship are displayed on the nautical chart display section, and the actual view as seen from the own ship position or the vicinity of the own ship position is displayed around the mark. Furthermore, the actual scene display section also displays the target object number, and by designating a predetermined target number, a marker of the specified target object is displayed on the diagram 716.

Although not shown in the embodiment, it is also possible to configure an aviation navigation device in a similar manner.

[Brief explanation of drawings]

FIG. 1 is a diagram showing an example of a display by an automobile navigation device which is an embodiment of the present invention, and FIG.
Figure 3 is a diagram showing the relationship between the road map and point numbers, and Figures 4 (A) and (B) are C
A flowchart showing the processing procedure of the PU, FIG. 5 is a display example of a marine navigation device according to another embodiment of the present invention, and FIGS. A diagram explaining the method of creating display data, FIG. 7(A),
(B) is a flowchart showing the processing procedure of the CPU in the same device. Figure 1 Figure 3 Figure 4 (A) Figure 4 (B) 5th leap o th*FljfK Figure 7 (A) 7th flash (B) Interjection

Claims (1)

[Claims] (1) A recording means for recording a map or a nautical chart, a current position measuring means for measuring the current position, a reading means for reading information on the map or the nautical chart from the recording means, and information read by the reading means; In a navigation device having a mark display means for displaying a mark of the current position together with a map or a nautical chart based on the current position information obtained by the current position measuring means, for each of a plurality of points, the traveling direction as seen from that point is determined. A navigation device comprising a recording means for recording in advance an actual view of or around the current position, and a reading display means for reading and displaying an image representing the actual view corresponding to the current position or the vicinity of the current position from the recording means. .