KR100212252B1 - Car navigation system with removable mobile mode and conrtol method thereof - Google Patents

Abstract

The present invention relates to a removable vehicle navigation apparatus and a control method thereof. In particular, the apparatus of the present invention calculates its position using navigation technology and displays the calculated position on a map to confirm the position of the vehicle. In the vehicle, the control panel is detachably installed, generates a plurality of operation key signals, inputs display data and displays the data on the LCD panel, and is detachably installed on the vehicle. The GPS receiver processes the received GPS signal and, when separated, performs a portable position identification mode by combining with the operation panel unit, and is installed in the vehicle and combined with the vehicle's azimuth sensor and distance sensor to input detection signals of these sensors. And a master processing unit including a master central processing unit for providing bearing information and distance information of the vehicle, and detachably installed on the vehicle. When the vehicle is mounted, it is combined with the master processor, GPS receiver, CD player, and operation panel to perform input / output interface, and when the vehicle is separated, it is combined with the CD player and operation panel to perform CD playback mode. And a slave processing unit including a slave central processing unit.

Therefore, in the present invention, it is possible to use the portable GPS device or the CD playback device at the time of separation of the vehicle by modularizing the remaining parts except the master processing unit to be detachable to the vehicle.

Description

Vehicle navigation system with removable mobile mode and its control method

The present invention relates to a removable vehicle navigation apparatus and a control method thereof, and in particular, when the vehicle is mounted on the vehicle, the position of the vehicle is displayed by combining with the position information of the vehicle, and when the vehicle is separated from the vehicle, it is used as a portable GPS receiver or a portable AV device. The present invention relates to a removable vehicle navigation apparatus and a control method thereof.

Conventional car navigation systems include dead-reckoning navigation, propagation navigation using a GPS (Global Positioning System) receiver, a map matching method, and the like.

The dead reckoning is configured by using a sensor such as a speedometer for measuring a travel distance, a gyro and a geomagnetic sensor, which are sensors for measuring a driving direction of a car.

The radionavigation receives orbit information times of satellites transmitted from four or more satellites, calculates the distance between each satellite and the reception point at the arrival time of the radio wave, and finds the position of the reception point in the positional relationship.

The map matching method obtains a driving pattern from information data received from a sensor, compares the pattern of the road, and corrects the position by comparing the topographical data of the map with its trajectory by correcting the position on the road where the car is driving. .

The automobile navigation system is a system that calculates its position using one or more of the above-described navigation methods, and displays it on a map of a display to confirm the driver's position.

1 is a diagram showing the overall configuration of a conventional vehicle navigation system, in which function keys (SW1 to SW5) and LCDs such as navigation 9, air conditioner 10, TV 11, audio 12, CD 13, and the like are displayed. (Liquid Crystal Display) indicator (1), graphics controller (2), central processor unit (3), TV tuner (14), audio tuner (15), CD deck (16), CD-ROM ( 17), GPS antenna 18, GPS receiver 19, azimuth sensor 20, distance sensor 21 and respective mouths Output interface circuits 4 to 6, RAM (Ramdon Access Memory) 7, and ROM (Read Only Memory) 22.

Next, the operation of the navigation apparatus for a moving object constructed as described in FIG. 1 will be described with reference to the flowcharts shown in FIGS. 2 (a) to 2 (d). First, as shown in FIG. 2 (a), when the power is turned on by driving the key switch (ON) in operation of the vehicle (step 101), the electric system of each unit is operated by receiving power supply from the onboard battery. . At this time, when the central processing unit 3 for control shown in FIG. 1 is powered on, it is operated by a stabilized power supply, and initialization is performed in step 102 of the flowchart shown in FIG. The arithmetic processing displayed in the routine is repeated in a cycle of several tens of msec. Next, function key processing is performed in step 103, and then input processing of a touch switch which is a function key is performed in step 104. At this time, in step 105, when the user presses the function keys SW1, SW4, SW2 such as the navigation device 9, the audio 12, or the air conditioner 10, the process proceeds to step 106, and the respective modes. Touching the area of the switch pattern installed on the display screen can operate the selected device to the desired setting. The process then proceeds to step 107, where the central processing unit 3 executes arithmetic processing and the like of the current position.

2 (b) is a flow chart showing the step of obtaining the route information to the current position by the distance sensor, first started in step 201, the driving distance of the vehicle is detected by the distance sensor in step 202, Next, in step 203, a pulse signal is received from the distance sensor, and an assignment operation for the current position is performed at predetermined time intervals. Thereafter, in step 204, the current position data and the driving trajectory data from which the calculation is obtained are sequentially stored in the temporary storage RAM. As a result, when the vehicle starts to travel, route information such as a travel distance to the current position, a travel trajectory, and the like can be obtained.

Therefore, when the vehicle is driven, a pulse signal is output from the distance sensor 21 of FIG. 1 according to the flowchart of FIG. 2 (c), and the pulse signal passes through the input / output interface 6 and then the interrupter 3A. It is given to the central processing unit 3 via (step 301). Then, the number N of pulses is added by the central processing unit 3, and the travel distance to the present is obtained (step 302).

FIG. 2 (d) is a flowchart involving driving of a vehicle. First, a timer is assigned at step 401, and when the allocation process routine is started, at step 402, at a predetermined time, for example, at 1 second intervals. Read the pulse number N from the vehicle speed sensor. Next, in step 403, the number N of pulses at this time and the unit travel distance d are multiplied to determine the travel distance D for each fixed time. Next, in step 404, the orientation from the orientation sensor 20 Read Then, in step 405, the orientation And the position on the two-dimensional coordinates of the vehicle at the traveling distance D by the following equation.

X = D * COS , Y = D * SIN

Then, in step 406, the current position (X, Y) of the vehicle is obtained from the calculated coordinates (X, Y) and the coordinates (X0, Y0) of the starting point by the following equation.

X _{n + 1} X _n + X, Y _{n + 1} Y _n + Y

Thereby, while the traveling distance D to the present position which changes every time is obtained, latitude and longitude are determined every fixed time, and the present position (X, Y) can be known. The data is sent to the temporary storage RAM 7 shown in FIG. 1 and sequentially stored. However, in the RAM 7, data of the current position (X, Y) is recorded, while the old data is gradually erased. In so-called infinite ways. Moreover, even if driving of a vehicle is stopped and a key switch is turned off, data of the present position (X, Y) and the traveling distance D can be hold | maintained. In step 407, the count of the pulse number N is cleared. Subsequently, proceeding to step 408, arithmetic processing for receiving GPS signals from the GPS receiver 19 in FIG. 1 and performing GPS processing is executed.

As a result, since the absolute value of latitude and longitude is determined every fixed time, for example, every second, the travel route information can be corrected.

In the above-described conventional technique, the key switch is turned on at the start of driving of a vehicle to turn on the power, the central processing unit is turned on, the function key is processed, and the user presses a function key such as a navigation device, audio, or air conditioner. In this case, when the area of the switch pattern installed on the display screen of each mode is touched, the selected device operates. However, due to the integrated control of the peripheral device and the module, it is impossible to separate and control a specific device, there was a problem that can not be used to separate the peripheral device of the automatic navigation system from the vehicle and portable.

SUMMARY OF THE INVENTION An object of the present invention is to provide a removable vehicle navigation apparatus and a control method thereof, which can be used as an automatic navigation system when mounted on a vehicle and used as a portable GPS receiver or AV device when detached from a vehicle. have.

1 is an overall configuration diagram of a conventional vehicle navigation apparatus.

2 (a) to 2 (d) are flow charts for explaining the system operation of the conventional vehicle navigation apparatus.

3 is a view showing the configuration of a removable vehicle navigation apparatus according to the present invention.

4 is a view showing an example of a portable GPS system according to the present invention.

5 (a) is a flow chart of the entire operation processing of the main routine of the control unit of the vehicle navigation system of the present invention.

5 (b) is a flowchart of the main routine of the portable mode of the present invention.

5 (c) is a flowchart of the main routine of the GPS portable mode of the present invention.

* Explanation of symbols for main parts of the drawings

100: operation panel 200: GPS receiver

300: master processing unit 400: slave processing unit

500: AV device part 30: LCD display

31 35: function key 36: slave central processing unit

37: TV Tuner 38: Audio Tuner

39: CD deck 40: antenna

41: GPS receiver 42: power supply

43 46: input / output interface circuit 47, 48: function keys

49: master central processing unit 50, 51: input and output interface circuit

52: Romans 53: Ram

54: direction sensor 55: distance sensor

56: graphic controller

In order to achieve the above object, the device of the present invention calculates its own location using navigation technology, and displays the location on a map, the vehicle navigation device for confirming the location of the vehicle, detachably installed on the vehicle, A control panel unit for generating a plurality of operation key signals, inputting display data, and displaying the displayed data on the LCD panel, and detachably installed in the vehicle, and processing the GPS signal received through the GPS antenna when the vehicle is mounted on the vehicle; In the case, the GPS receiver unit which is combined with the operation panel unit to perform a portable position identification mode, and installed in the vehicle, coupled with the vehicle's orientation sensor and distance sensor input the detection signal of these sensors to input the direction information and distance of the vehicle A master processing unit including a master central processing unit for providing information, and detachably installed on the vehicle, Slave central processing unit is coupled to the master processing unit, GPS receiver, CD playback unit and the operation panel unit to perform the vehicle navigation mode, and when the vehicle is separated, combined with the CD playback unit and the operation panel unit to perform the CD playback mode It characterized in that it comprises a slave processing unit including a.

The slave processor includes a first interface unit for interfacing with the GPS receiver, a second interface unit for interfacing with the operation panel unit, a third interface unit for interfacing with the master processor, and a CD player and interfacing. A fourth interface part to be processed, a first power supply part charged by a DC voltage provided from a vehicle battery when the vehicle is mounted, and an operation voltage of each part when the vehicle is separated, and first to fourth interface parts, When the vehicle is mounted, the master processing unit, the GPS receiver, the CD playback unit and the operation panel unit are coupled to perform an input / output interface, and when the vehicle is separated, the CD playback unit and the operation panel unit are coupled to the CD playback mode. Contains the slave central processing unit to perform.

The master processor is connected to a fifth interface for processing interfacing with a direction sensor and a distance sensor installed in a vehicle, a sixth interface for processing navigation and air conditioner mode selection keys and interfacing to the fifth and sixth interfacing parts. And a master central processing unit for inputting detection signals provided from the azimuth sensor and the distance sensor in response to a key signal of the navigation mode selection key to provide the azimuth information and the distance information of the vehicle to the slave processing unit.

The GPS receiver includes a GPS receiver circuit unit for processing a GPS signal received through a GPS antenna, a seventh interface unit for interfacing with the operation panel unit, and a direct current provided from a vehicle battery through the slave processor when the vehicle is mounted. A second power supply unit charged with a voltage and providing an operating voltage of each unit when the vehicle is separated, and connected to the GPS receiving circuit unit and the seventh interfacing unit, and when the vehicle is mounted, based on the GPS data provided from the GPS receiving circuit unit. And a GPS central processing unit which calculates a current position and provides a calculated result to the slave processing unit, and displays the current Wi-Fi on the LCD panel of the combined operation panel unit based on the calculated result when the vehicle is separated.

The first method of the present invention comprises the steps of: initializing the system at power-on; checking whether there is an interrupt request in the master processing section; setting a vehicle disconnect mode if there is no interrupt request from the master processing section; And setting the vehicle separation mode, controlling the CD player in response to key input of the operation panel, displaying display data provided from the CD player on the LCD panel of the control panel, and setting the vehicle mounting mode. In response to the key input of the operation panel unit, the vehicle position is determined by the current position information provided from the GPS receiver and the azimuth and distance information provided from the master processing unit, and the position of the vehicle determined on the map provided from the CD playback unit. Superimposing the positions and displaying them on the LCD panel of the operation panel unit; It is characterized by.

The second method of the present invention comprises the steps of initializing the system at power-on, checking whether there is a data transmission request from the slave processing unit, setting the vehicle separation mode if there is no data transmission request from the slave processing unit, and mounting the vehicle if there is a request. In the step of setting the mode, and in the vehicle separation mode setting, the GPS signal is received in response to the key input of the operation panel unit, the received GPS signal is processed, the current position is determined, and the determined current position is displayed on the LCD panel of the operation panel unit. And displaying a GPS signal and processing the received GPS signal to determine a current position and providing the determined current position information to a slave processor in response to a data request of the slave processor. It is characterized by including.

Hereinafter, with reference to the accompanying drawings will be described in more detail the present invention.

The overall configuration of the present invention will be described with reference to FIGS. 3 (a) to 3 (c). 3 shows the overall configuration of a vehicle navigation system according to the present invention. The system of FIG. 3 largely includes an operation panel unit 100, a GPS receiver 200, a master processor 300, a slave processor 400, and an AV device unit 500.

The operation panel unit 100 is detachably mounted to a vehicle, the LCD display 30, the TV button 31 for operating the switch SW11, the audio button 32 for operating the switch SW12, and the switch. CD button 33 for operating SW13, GPS button 34 for operating switch SW14, and power button 35 for operating switch SW15.

The GPS receiver 200 is detachably mounted to a vehicle and includes an antenna 40 and a GPS receiver 41.

The master processor 300 is fixedly installed in the vehicle, the navigation device button 47 for operating the switch (SW16), the air conditioner button 48 for operating the switch (SW17), the master central processing unit (49), Detect and detect the geomagnetism by separating the input / output interface circuits 50 and 51, the ROM 52A, the RAM 53A, and the flux gate type geomagnetic detector fixed to the vehicle into the vehicle's traveling direction component and its vertical component. A distance sensor 55 for outputting a pulse signal proportional to the number of revolutions of the wheel using an azimuth sensor 54 for outputting a signal as a vehicle traveling azimuth angle and a vehicle speed sensor for detecting the rotation of the wheel by an electronic pickup or a lead switch, etc. It includes.

The master central processing unit 49 includes a current position detection program that can obtain the current position data by the orientation sensor 54 and the distance sensor 55 and at the same time obtain the trajectory data of the driving.

The slave processing unit 400 is detachably mounted to a vehicle, and includes input / output interface circuits 43 to 46, RAM 53B and 53C, ROM 52B, power supply 42, graphic controller 56, and slave center. A processing device 36. The slave processor 400 operates by receiving a stabilized power supply from a battery of a vehicle through a constant voltage circuit to control various devices. Here, the input / output interface circuit 43 interfaces data input / output between the slave central processing unit 36 and the GPS receiver 41. The input / output interface circuit 44 interfaces the switching signals of the switches SW11 to SW14 included in the operation panel unit 100 and provides them to the slave central processing unit 36. The input / output interface circuit 45 is connected to video and audio equipment such as a TV tuner 37, an audio tuner 38, and a CD deck 39 of the AV device 500, so as to input / output signals to and from the slave central processing unit 36. Interface. The input / output interfacing circuit 46 interfaces data input / output between the slave central processing unit 36 and the master central processing unit 49.

The CD deck 39 is provided with a CD-ROM 39A which is a map storage means, and provides various map information and leading data. The slave central processing unit 36 controls the operation of the video and audio equipment in accordance with the selection operation of the function switches SW11 to SW14, and simultaneously reads map information and the like from the CD-ROM 39A to control the LCD 35. Displayed on the screen, the graphics controller stores the information in the RAM 53C. In addition, the GPS signals are received from the GPS receiver 41 through the interrupts 36A and 36B, pulse signals from the distance sensor 55 of the master processing unit 300, and digital signals of X and Y components are received from the azimuth sensor 54. The arithmetic processing is executed to determine the current position of the travel trajectory, which is the travel route information, and output the display signal. In addition, the current position is stored every predetermined time, and the driving trajectory which is the driving route information is obtained. In the RAM 53B, in addition to additional information such as a map number and scale type, pattern data for displaying the operation keys for driving the various devices on the LCD display 35 as a touch switch is stored.

The temporary storage RAM 53B, which is a temporary storage means, temporarily stores and reads data read from the CD-ROM 39A while the slave central processing unit 36 performs arithmetic processing. Power is always backed up. On the LCD display 35, which is a display means, a map, a driving route, a current location, and the like of a specific area are displayed in color by an image signal and a synchronization signal. The ROM 52B stores a program for driving the slave CPU 36 and is responsible for controlling each module.

Therefore, when fixed to the vehicle and used, the detachable operation panel unit 100, the GPS processing unit 200, the slave processing unit 400, and the AV device 500 are mounted on the vehicle and combined with the master processing unit 300.

The operation panel 100, the GPS processing unit 200, the slave processing unit 400, and the AV device 500, which can be separated from the vehicle, are all combined and can be used as a portable GPS system indicating a location on a map.

In addition, when the operation panel unit 100, the slave processing unit 400, and the AV device 500 are combined, it is possible to use the portable AV device.

4 shows a diagram of a portable GPS system. The portable GPS system is achieved by separating the GPS processing unit 100 and the operation panel unit 200 from the vehicle and combining them. The GPS receiver 41 includes a high frequency receiver 41a, a reverse spectrum spreader 41b, a RAM 41c, a ROM 41d, a GPS central processing unit 41e, and a power supply unit for processing signals received from the antenna 40. 41f, input / output interface sections 41g, 41h. Therefore, the interface of the input / output signal between the operation panel unit 100 and the GPS central processing unit 41e is made through the input / output interface unit 41g.

Next, the operation of the automobile navigation system of the present invention will be described with reference to the flowcharts of FIGS. 5 (a) to 5 (c).

First, referring to FIG. 5 (a), when power is supplied from the on-board battery of the vehicle (step 501), the electric system of each unit is operated, and the central processing unit 49 and the slave of the master processing unit 300 are operated. The central processing unit 36 of the processing unit 400 and the central processing unit 41e of the GPS of the GPS receiver are powered on, operated by a stabilized power supply, and initialization is performed (step 502).

Next, in step 503, the master CPU 49 sends a signal to the input / output interface circuit 46 and then sends a signal to the slave CPU 36. The interrupt IRT2 36B of the slave CPU 36 is received. Check to see if the signal is coming from. Then, in step 504, the response of the signal can be received. Wait for time Next, in step 505, it is checked whether there is a response, and if there is no response, it is used in the portable mode as in step 506 and the operation ends (step 507).

On the other hand, if there is a response, function key processing is performed in step 508, and then input processing of the touch switch is performed in step 509. FIG. Next, it is determined whether it is a fixed mode key or a portable mode key (step 510), and when a portable mode key is input (step 511), a function key (e.g., TV 31, audio 32, or CD 33) is used. SW11, SW12, SW13 are operated (step 512). Next, the slave central processing unit 36 processes the signal of the function key (step 513) and causes it to be displayed on the LCD (step 514).

On the other hand, in the fixed mode, the function keys SW16 and SW17 such as the navigation device 47 and the air conditioner 48 are operated (step 516). The function key calculates and processes the current position (step 517), processes the signal calculated by the master central processing unit 49, and transmits the signal of the processed content to the interrupt IRT1 36A of the slave central processing unit 36. Is sent (step 518). The slave central processing unit 36 that has received the signal then processes a signal of the received content (step 519).

Thereafter, map data is read from the CD-ROM to execute the contents of the master CPU 49 (step 520). Next, the read data is displayed and processed (step 521).

Next, FIG. 5 (b) is a flow chart of the portable mode. When the master processor 300 is powered on by receiving power from the on-board battery, operation is performed by the stabilized power supply (step 601), and initialization is performed as shown. (Step 602), the slave central processing unit 36 checks whether there is a signal of the interrupt IRT1 36A (step 603), and the master central processing unit 49 determines the interrupt IRT1 36A of the slave central processing unit 36. Determine whether there is a response (step 604). If there is a response, use the fixed mode (step 605) and complete the operation (step 606).

On the other hand, if there is no response, the power mode is switched to the portable mode and the power key is turned on to receive power from the battery of the portable mode (step 607). Then, the slave central processing unit 36 in the portable mode is put in the portable mode, and initialization is executed again (step 608). At this time, the slave CPU 36 checks the signal of the interrupt IRT2 36B (step 609) and determines whether to use the GPS portable mode (step 610). At this time, the slave central processing unit 36 checks the signal of the interrupt IRT2 36B (step 609), and if there is no response, indicates that it is using the GPS portable mode (step 611), and completes the operation (step 612). ).

On the other hand, if there is a response, in the portable mode, the function keys SW11 to SW14 are processed in step 613 as in the fixed mode, and then input processing of the touch switch is performed in step 614. At this time, in step 615, it is checked which function key and operation 616 of the function keys such as TV 31, audio 32, CD 33, GPS 34, and the like. The instruction processing of this operation is performed by the slave central processing unit 36 (step 617).

5 (c) is a flowchart of the GPS portable mode, in which the slave central processing unit 36 is powered on in operation 701 by receiving power of the portable mode, and is operated by a stabilized power supply, and the slave central processing unit 36 ) Is initialized (step 702), the slave CPU checks if there is a signal of the interrupt IRT (step 703), and also determines whether there is a response in step 704, and if there is a response, the slave CPU In connection with 36, the portable mode or the fixed mode is used (step 705). On the other hand, if there is no response, the GPS portable mode is used. On the other hand, if there is a response, the LCD display 35 is connected to the GPS receiver 41 to turn on the power key by receiving power from its own battery as in the portable mode (step 707).

Thereafter, the central processing unit of the GPS processing unit 200 is initialized again in the portable mode of the GPS (step 708), the key input of the GPS is processed (step 709), and the current position such as longitude, latitude, and altitude thereof. The GPS central processing unit calculates and processes the calculation (step 710). The contents are then processed by the LCD display (step 711).

As described above, the present invention is used as a vehicle auto-navigation device when mounted on the vehicle, when the portable mode is separated from the vehicle can be conveniently used regardless of the place, in particular, the GPS device can be used as a portable Combining portable AV equipment has the advantage that it can be conveniently used for entertainment and leisure activities.

Claims (6)

A vehicle navigation apparatus which calculates its own position using navigation technology and displays the position on a map to confirm the position of the vehicle, wherein the vehicle navigation apparatus is detachably installed on the vehicle, generates a plurality of operation key signals, and displays data. An operation panel unit for inputting and displaying the LCD panel; A GPS receiver which is detachably installed in the vehicle, processes the GPS signal received through the GPS antenna when mounted in the vehicle, and performs a portable position identification mode in combination with the operation panel unit when the vehicle is detached; A master processor installed in the vehicle and including a master central processing unit coupled to the vehicle's orientation sensor and the distance sensor to input detection signals of the sensors to provide the vehicle's bearing information and distance information; The vehicle is detachably installed and coupled to the master processor, the GPS receiver, the CD player, and the operation panel to be connected to the input / output interface to perform the vehicle navigation mode, and the CD player and the operation panel to separate the vehicle. And a slave processing unit including a slave central processing unit coupled to perform a CD play mode. The apparatus of claim 1, wherein the slave processing unit comprises: a first interface unit for interfacing with the GPS receiver; A second interface unit for interfacing with the operation panel unit; A third interface unit for interfacing with the master processor; A fourth interface for interfacing with the CD player; A first power supply unit charged with a DC voltage provided from a vehicle battery when the vehicle is mounted and providing an operating voltage of each unit when the vehicle is separated; and connected to the first to fourth interfacing units, and when the vehicle is mounted, the master processing unit And a slave central processing unit coupled to the GPS receiver, the CD player, and the operation panel to perform the I / O interface, and when the vehicle is separated, is coupled to the CD player and the operation panel to perform the CD playback mode. Removable vehicle navigation apparatus characterized in that it comprises. The apparatus of claim 1, wherein the master processor comprises: a fifth interface configured to process interfacing with an orientation sensor and a distance sensor installed in a vehicle; A sixth interfacing unit for processing navigation and air conditioning mode selection keys and interfacing; And a detection signal provided from the azimuth sensor and the distance sensor in response to a key signal of the navigation mode selection key, connected to the fifth and sixth interfacing parts to provide the azimuth and distance information of the vehicle to the slave processor. Removable vehicle navigation apparatus comprising a master central processing unit to provide. The GPS receiver of claim 1, wherein the GPS receiver comprises: a GPS receiver circuit unit configured to process a GPS signal received through a GPS antenna; A seventh interface unit which processes the interface with the operation panel unit; A second power supply unit charged with a DC voltage provided from the vehicle battery through the slave processing unit when the vehicle is mounted, and providing an operation voltage of each unit when the vehicle is separated; And a GPS receiver circuit unit and a seventh interface unit, and when the vehicle is mounted, calculates a current position based on the GPS data provided from the GPS receiver circuit unit, and provides the calculated result to the slave processor. And a GPS central processing unit for displaying the current epithelium on the LCD panel coupled to the control panel unit based on the calculated result. Initializing the system at power on; Checking whether there is an interrupt request of the master processing unit; Setting a vehicle disconnection mode if there is no interrupt request of the master processing unit, and setting a vehicle mounting mode if there is a request; Controlling the CD player in response to a key input of the operation panel unit when the vehicle separation mode is set, and displaying display data provided from the CD player on the LCD panel of the operation panel unit; And when the vehicle mounting mode is set, determine the position of the vehicle based on the current position information provided from the GPS receiver and the azimuth and distance information provided from the master processor in response to a key input of the operation panel unit, and on the map provided from the CD playback unit. And superimposing the position of the vehicle determined on the display panel on the LCD panel of the operation panel unit. Initializing the system at power on; Checking whether there is a data transmission request of the slave processing unit; Setting a vehicle disconnection mode if there is no data transmission request from the slave processor, and setting a vehicle mounting mode if a request is made; Receiving a GPS signal in response to a key input of the operation panel unit when the vehicle separation mode is set, determining the current position by processing the received GPS signal and displaying the determined current position on the LCD panel of the operation panel unit; And determining the current position by receiving the GPS signal and processing the received GPS signal when the vehicle mounting mode is set, and providing the determined current position information to the slave processing unit in response to a data request of the slave processing unit. Vehicle detachment and mounting mode control method of the removable vehicle navigation apparatus.