KR100542714B1 - Overpass / underground road discrimination device using 3 axis geomagnetic sensor and its control method - Google Patents

Abstract

The present invention relates to an elevated road / underground road discrimination apparatus using a three-axis geomagnetic sensor and a control method thereof, and in particular, a second GPS receiver 100 for receiving coordinate data and visual data of a GPS satellite; A three-axis geomagnetic sensor 200 for outputting digital phase difference data and altitude change data; A phase discriminator 300 which detects yaw angle data and pitch angle data after inputting digital phase difference data and altitude change data; A second vehicle speed sensor 400 for measuring a moving distance of the vehicle; A second CD-ROM 500 in which map data is stored; When the current position of the vehicle is calculated and pitch angle data is input through the 3-axis geomagnetic sensor 200, the vehicle calculates whether the current position of the vehicle is an elevated road or an underground road using three-dimensional information based on the pitch angle data. A second microcomputer 600 matching the current location of the vehicle with the displayed map data; And a second LCD display panel 700 which displays the current position of the vehicle. The present invention is equipped with a three-axis geomagnetic sensor that outputs a digital signal after detecting a change in altitude of the vehicle. When a vehicle enters an overpass or an underground road, it detects this and accurately matches the current location of the vehicle with map data. Therefore, the A / D converter is not required for the hardware configuration, and the hardware configuration is simplified and the manufacturing cost is increased. There is a decreasing effect.

Description

Overpass / underground road discrimination device using 3 axis geomagnetic sensor and its control method

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle navigation apparatus, and in particular, by mounting a three-axis geomagnetic sensor that detects a change in the vehicle's altitude and outputs it as a digital signal to determine whether the vehicle has entered an overpass or an underground road. Accordingly, the present invention relates to an overpass / underground road discrimination apparatus using a three-axis geomagnetic sensor and a method of controlling the same, capable of matching the exact position of a vehicle to map data.

As is well known, the Global Positioning System (GPS) is used to orbit the earth twice a day at an altitude of 20,183 km, and transmits a signal about the current position and a time when the coordinate signal is transmitted. A total of 18 GPS satellites, each of which are three on six orbits (24 if including a spare satellite for each orbit), are spaced at equal intervals, and then a signal received from the GPS satellites is received using a GPS receiver. It is a device that can detect the position where the GPS receiver exists by processing, and it is a device that detects the position of itself by detecting the signal transmitted from three or more GPS satellites by using the GPS receiver composed of GPS antenna and GPS receiver circuit. (3 or more GPS satellite signals are required for 3D positioning).

As shown in FIG. 1, a conventional three-axis gyro sensor using an elevated road / underground road determination device includes a GPS antenna and a GPS receiving circuit, and includes a first GPS for receiving coordinate data and visual data of a GPS satellite transmitted from a GPS satellite. A receiver 10; 3-axis Angular sensor that outputs analog yaw data after detecting the direction of travel of the vehicle and outputs analog pitch angle data when the vehicle enters overpass or underpass. 20); An analog / digital converter (A / D), which is connected to the signal output terminal of the triaxial angular sensor 20 and converts an analog signal into a digital signal and then outputs the analog signal; A first vehicle speed sensor 40 for detecting a rotation speed of the wheel and measuring a moving distance of the vehicle; A first CD-ROM (COMPACT DISK READ ONLY MEMORY) 50 in which map data is stored; The first GPS receiver 10 is connected to signal outputs of the first GPS receiver 10, the A / D converter 30, the first vehicle speed sensor 40, and the first CD-ROM 50. The GPS signal received through the digital yaw angle data output from the A / D converter 30 and the moving distance data of the vehicle output from the first vehicle speed sensor 40 are input and calculated to calculate the current position of the vehicle. If the pitch angle data is input through the three-axis angular sensor 20, using the three-dimensional information by the pitch angle data, calculates whether the current position of the vehicle is an elevated road or an underground road, The first microcomputer 60 reading the map data stored in the first CD-ROM 50, matching the current position of the vehicle to the map data, and outputting a display control signal for displaying the current position of the vehicle. and; A first crystal display (LCD) connected to a signal output terminal of the first microcomputer 60 to display a current position of the vehicle by a display control signal output from the first microcomputer 60; It is configured to include a display panel 70.

That is, referring to FIG. 1, an operation process of an apparatus for determining an elevated road / underground road using a conventional three-axis gyro sensor will be described with reference to FIG. 1 when the coordinate data and the visual data are received through the first GPS receiver 10. The GPS receiver 10 outputs the received coordinate data and the visual data to the first microcomputer 60.

On the other hand, the three-axis angular sensor 20 detects the moving direction of the vehicle and outputs the analog yaw angle data to the A / D conversion unit 30, the analog pitch angle when the vehicle enters the overpass or underground road The data is output to the A / D converter 30.

In addition, the A / D converter 30 inputs the analog yaw angle data and the analog pitch angle data output from the three-axis angular sensor 20, converts them into digital signals, and then converts them into digital signals to the first microcomputer 60. Output

The first vehicle speed sensor 40 detects the number of revolutions of the wheel, measures the moving distance of the vehicle, and outputs the moving distance data of the vehicle to the first microcomputer 60.

On the other hand, since the first microcomputer 60 does not travel on the overpass or underpass, when only yaw angle data is input through the three-axis angular sensor 20, the first microcomputer 60 receives the first GPS receiver 10. The GPS position and the digital yaw angle data output from the A / D converter 30 and the moving distance data of the vehicle output from the first vehicle speed sensor 40 are input and calculated to calculate the current position of the vehicle. Calculate.

In this case, the first microcomputer 60 reads the map data stored in the first CD-ROM 50, displays the map data on the first LCD display panel 70, and then calculates the calculated current position of the vehicle. Match the map data.

However, when the yaw angle data and the pitch angle data are input through the three-axis angular sensor 20, the first microcomputer 60 operates on the elevated roadway and the underground road. Calculate whether the current location of the vehicle is an overpass or an underground road.

In addition, the first microcomputer 60 matches the current position of the vehicle to the overpass and the underpass of the map data being displayed through the first LCD display panel 70.

However, since the output signal of the three-axis gyro sensor is an analog signal, the conventional three-axis gyro sensor as described above requires an A / D converter for converting it into a digital signal. Not only is the configuration complicated, there is a problem that the manufacturing cost due to the mounting of the A / D converter increases.

The present invention is to solve the above conventional problems, by mounting a three-axis geomagnetic sensor that outputs a digital signal after detecting the altitude change of the vehicle, when the vehicle enters the overpass or underground road, An object of the present invention is to provide a high-altitude / underground road discrimination apparatus using a three-axis geomagnetic sensor and a control method thereof to accurately match a current position of a vehicle to map data displayed on an LCD display panel.

In order to achieve the above object, an elevated road / underground road determination device using the 3-axis geomagnetic sensor according to the present invention comprises a GPS antenna and a GPS receiver circuit, and receives coordinate data and visual data of a GPS satellite transmitted from a GPS satellite. With 2 GPS receivers; A three-axis geomagnetic sensor that detects phase difference and altitude change of the vehicle and outputs digital phase difference data and altitude change data; A phase discriminator connected to a signal output terminal of the three-axis geomagnetic sensor and inputting digital phase difference data and altitude change data output from the three-axis geomagnetic sensor, and detecting yaw angle data and pitch angle data; A second vehicle speed sensor for detecting a rotation speed of the wheel and measuring a moving distance of the vehicle; A second CD-ROM in which map data is stored; GPS signals received through the second GPS receiver and digital yaw angle data output from the phase discriminator connected to the signal output terminals of the second GPS receiver, the phase discriminator, the second vehicle speed sensor, and the second CD-ROM. And calculating the current position of the vehicle by inputting and calculating moving distance data of the vehicle output from the second vehicle speed sensor, and when pitch angle data is input through the three-axis geomagnetic sensor, Using the dimensional information, the vehicle calculates whether the current location of the vehicle is an elevated road or an underground road, reads out map data stored in the second CD-ROM, matches the current location of the vehicle to the map data, and then A second microcomputer for outputting a display control signal for displaying a current position of the second microcomputer; And a second LCD display panel connected to the signal output terminal of the second microcomputer to display the current position of the vehicle by the display control signal output from the second microcomputer.

In addition, the control method of the elevated road / underground road determination apparatus using the three-axis geomagnetic sensor, the calculation step (S1) for calculating the phase difference value and the altitude change value of the vehicle; After the calculating step (S1), by comparing the set reference level value, the calculated phase difference value and the altitude change value, the altitude value comparison step of determining whether the calculated phase difference value and the altitude change value is greater than the set reference level value ( S2); After the altitude comparison step (S2), if the calculated phase difference value and the altitude change value are larger than the set reference level value, the map data is read from the second CD-ROM and an overpass or an underground road exist at the current position. An elevated roadway / underground road presence judging step (S3) for determining whether to perform; After the overpass / underground road existence judging step (S3), if there is an overpass or an underground road in the map data read from the second CD-ROM, the overpass / underground road that calculates whether the road currently being operated is an overpass or an underground road Furnace calculation step (S4); After the overpass / underground road presence determination step (S3), when there is no overpass or underground road in the map data read from the second CD-ROM, or after the overpass / underground road calculation step (S4), the current vehicle Characterized in that it comprises a vehicle location matching step (S5) to match the location of the map data.

Hereinafter, the above-described contents will be described in detail through an embodiment according to the present invention.

As shown in FIG. 2, the second GPS receiver 100 includes a GPS antenna and a GPS receiver circuit, and receives coordinate data and visual data of the GPS satellites transmitted from the GPS satellites. 200 detects the phase difference and the altitude change of the vehicle, and outputs the digital phase difference data and the altitude change data to the phase discriminator 300.

In addition, the phase discriminator 300 detects yaw angle data and pitch angle data after inputting the digital phase difference data and the altitude change data output from the three-axis geomagnetic sensor 200, and the second vehicle speed sensor 400. ) Detects the number of revolutions of the wheel, measures the moving distance of the vehicle, and the second CD-ROM 500 stores map data.

Meanwhile, the second microcomputer 600 outputs the GPS signal received through the second GPS receiver 100, the digital yaw angle data output from the phase discriminator 300, and the second vehicle speed sensor 400. Calculate the current position of the vehicle by inputting and calculating the moving distance data of the vehicle, and when the pitch angle data is input through the three-axis geomagnetic sensor 200, the three-dimensional information is used by the pitch angle data. Calculates whether the current location of the vehicle is an elevated road or an underground road, reads out map data stored in the second CD-ROM 500, matches the current location of the vehicle to the map data, and then The display control signal for displaying the position is output to the second LCD display panel 700, and the second LCD display panel 700 is the current position of the vehicle by the display control signal output from the second microcomputer 600. To The present embodiment is constructed by displaying.

Hereinafter, an operation process of an elevated / underground road determination apparatus using the three-axis geomagnetic sensor configured as described above will be described with reference to FIGS. 2, 3, and 4.

First, the second GPS receiver 100 includes a GPS antenna and a GPS receiving circuit, and receives coordinate data and time data of the GPS satellites transmitted from the GPS satellites and outputs the coordinate data to the second microcomputer 600.

In addition, the second vehicle speed sensor 400 detects the rotation speed of the wheel, measures the moving distance of the vehicle, and outputs the measured moving distance of the vehicle to the second microcomputer 600.

On the other hand, the three-axis geomagnetic sensor 200 detects the phase difference and the altitude change of the vehicle, and outputs the digital phase difference data and the altitude change data to the phase discriminator 300.

In addition, the phase discriminator 300 inputs the digital phase difference data and the altitude change data output from the three-axis geomagnetic sensor 200, detects yaw angle data and pitch angle data, and then detects the second microcomputer ( 600).

At this time, the second microcomputer 600 inputs the yaw angle data and the pitch angle data output from the phase discriminator 300, and the angle shifted from the X axis to the Z axis as shown in the graph shown in FIG. By using this, the phase difference value and the altitude change value are calculated (S1), and the calculated phase difference value and the altitude change value are compared with the set reference level value (S2).

For example, when the reference level value set in the second microcomputer 600 is 30 °, it is determined whether the calculated phase difference value and the altitude change value are greater than or less than 30 °.

On the other hand, the second microcomputer 600 compares the calculated phase difference value and the altitude change value with the set reference level value (S2), when the calculated phase difference value and the altitude change value are smaller than the reference level value, Determining that it is a gentle general road, the GPS signal received through the second GPS receiver 100 and the yaw angle data output from the phase discriminator 300 and the vehicle output from the second vehicle speed sensor 400 are determined. After calculating the moving distance data, the current position of the vehicle is calculated.

The second microcomputer 600 displays map data stored in the second CD-ROM 500 on the second LCD display panel 700 and matches the current location of the vehicle to the displayed map data. (S5).

In addition, the second microcomputer 600 compares the calculated phase difference value and the altitude change value with the set reference level value (S2), and when the calculated phase difference value and the altitude change value are larger than the reference level value, 2 reads the map data stored in the CD-ROM 500, and determines whether there is an overpass or an underground road at the point where the current vehicle proceeds from the read map data (S3).

On the other hand, the second microcomputer 600 determines that the slope is high when there is no overpass or underground road at the point where the current vehicle proceeds in the map data read from the second CD-ROM 500, The current vehicle position is matched with the map data displayed on the second LCD display panel 700 (S5).

However, if there is an overpass or an underground road at the point where the current vehicle proceeds in the map data read out from the second CD-ROM 500, the second microcomputer 600 determines whether the current road is an overpass or an underpass. The rosin is determined (S4).

In addition, when the second microcomputer 600 determines that the road on which the vehicle is currently traveling is overpass (S4), the second microcomputer 600 displays the current position of the vehicle at the overpass point in the map data displayed through the second LCD display panel 700. Match (S5).

On the other hand, when the second microcomputer 600 determines that the road currently traveling by the vehicle is an underground road (S4), the current of the vehicle is located at the underground road point in the map data displayed through the second LCD display panel 700. Match the position (S5).

As described above, the present invention uses a three-axis geomagnetic sensor and a control method of the overpass / underground road using a three-axis geomagnetic sensor, and detects a change in the vehicle altitude and outputs a digital signal to the three-axis geomagnetic sensor. When entering the underground road, it detects this and accurately matches the current location of the vehicle with the map data. Therefore, the A / D converter is not required when the hardware is configured, so the hardware configuration is simplified and the manufacturing cost is reduced. have.

1 is a functional block diagram showing the configuration of a high road / underground road discrimination apparatus using a conventional three-axis gyro sensor,

Figure 2 is a functional block diagram showing the configuration of an elevated road / underground road determination apparatus using a three-axis geomagnetic sensor according to an embodiment of the present invention,

3 is a control flowchart illustrating an operation process of an elevated / underground road discrimination apparatus using the 3-axis geomagnetic sensor according to FIG. 2;

FIG. 4 is a graph illustrating an altitude discrimination method using the three axes of the microcomputer in the elevated / underground road discrimination apparatus using the three-axis geomagnetic sensor according to FIG. 2.

<Explanation of symbols for the main parts of the drawings>

10: first GPS receiver 20: 3-axis angular sensor

30: A / D converter 40: the first vehicle speed sensor

50: first CD-ROM 60: first microcomputer

70: LCD display panel 100: second GPS receiver

200: 3-axis geomagnetic sensor 300: phase discriminator

400: second vehicle speed sensor 500: second CD-ROM

600: second microcomputer 700: second LCD display panel

Claims (2)

A second GPS receiver comprising a GPS antenna and a GPS receiver circuit for receiving coordinate data and visual data of the GPS satellites transmitted from the GPS satellites; A three-axis geomagnetic sensor that detects phase difference and altitude change of the vehicle and outputs digital phase difference data and altitude change data; A phase discriminator connected to a signal output terminal of the three-axis geomagnetic sensor and inputting digital phase difference data and altitude change data output from the three-axis geomagnetic sensor, and detecting yaw angle data and pitch angle data; A second vehicle speed sensor for detecting a rotation speed of the wheel and measuring a moving distance of the vehicle; A second CD-ROM in which map data is stored; GPS signals received through the second GPS receiver and digital yaw angle data output from the phase discriminator connected to the signal output terminals of the second GPS receiver, the phase discriminator, the second vehicle speed sensor, and the second CD-ROM. And calculating the current position of the vehicle by inputting and calculating moving distance data of the vehicle output from the second vehicle speed sensor, and when pitch angle data is input through the three-axis geomagnetic sensor, Using the dimensional information, the vehicle calculates whether the current location of the vehicle is an elevated road or an underground road, reads out map data stored in the second CD-ROM, matches the current location of the vehicle to the map data, and then A second microcomputer for outputting a display control signal for displaying a current position of the second microcomputer; And a second LCD display panel connected to the signal output terminal of the second microcomputer to display the current position of the vehicle by the display control signal output from the second microcomputer. Overpass / underground discrimination device. Calculating a phase difference value and an altitude change value of the vehicle (S1); After the calculating step (S1), by comparing the set reference level value, the calculated phase difference value and the altitude change value, the altitude value comparison step of determining whether the calculated phase difference value and the altitude change value is greater than the set reference level value ( S2); After the altitude comparison step (S2), if the calculated phase difference value and the altitude change value are larger than the set reference level value, the map data is read from the second CD-ROM and an overpass or an underground road exist at the current position. An elevated roadway / underground road presence judging step (S3) for determining whether to perform; After the overpass / underground road existence judging step (S3), if there is an overpass or an underground road in the map data read from the second CD-ROM, the overpass / underground road that calculates whether the road currently being operated is an overpass or an underground road Furnace calculation step (S4); After the overpass / underground road presence determination step (S3), when there is no overpass or underground road in the map data read from the second CD-ROM, or after the overpass / underground road calculation step (S4), the current vehicle Control method of the overpass / underground road determination apparatus using a three-axis geomagnetic sensor, characterized in that it comprises a vehicle position matching step (S5) for matching the position of the map data.