KR19980028621A - Automatic calibration method of geomagnetic sensor of car navigation system - Google Patents

Automatic calibration method of geomagnetic sensor of car navigation system Download PDF

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Publication number
KR19980028621A
KR19980028621A KR1019960047745A KR19960047745A KR19980028621A KR 19980028621 A KR19980028621 A KR 19980028621A KR 1019960047745 A KR1019960047745 A KR 1019960047745A KR 19960047745 A KR19960047745 A KR 19960047745A KR 19980028621 A KR19980028621 A KR 19980028621A
Authority
KR
South Korea
Prior art keywords
vehicle
sensor
geomagnetism
geomagnetic sensor
navigation system
Prior art date
Application number
KR1019960047745A
Other languages
Korean (ko)
Inventor
고태윤
Original Assignee
오상수
만도기계 주식회사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 오상수, 만도기계 주식회사 filed Critical 오상수
Priority to KR1019960047745A priority Critical patent/KR19980028621A/en
Publication of KR19980028621A publication Critical patent/KR19980028621A/en

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
    • G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle

Abstract

The present invention relates to a geomagnetic sensor for a vehicle navigation system, and more particularly, it relates to a geomagnetic sensor for a vehicle navigation system, which can easily set a reference value for each azimuth without an initial reset operation when a geomagnetic sensor is mounted, The present invention relates to a method of automatically calibrating a geomagnetic sensor.

In order to accomplish the above object, the present invention provides a GPS receiver that receives a radio wave from a plurality of GPS satellites and calculates a longitude and a latitude of a point where the car is located, A vehicle navigation system comprising: a geomagnetism sensor for detecting a direction of a vehicle; a geomagnetism sensor for detecting a direction of a vehicle; a geomagnetism sensor for detecting a direction of the geomagnetism sensor; Receiving a detection signal of the geomagnetism sensor with respect to all directions after traveling for a predetermined time after the sensor is mounted at a predetermined position of the vehicle, Receiving the position information of the own vehicle received from the GPS receiver, Calculating a traveling direction (?) Of the vehicle with respect to the northward direction if it is determined that the vehicle is traveling over a predetermined distance; calculating a traveling direction (?) Of the vehicle in the north- And calculating a detection error (?) Of the geomagnetism sensor by comparing the direction (? 1 ) and correcting the detected error (?).

Description

Automatic calibration method of geomagnetic sensor of car navigation system

The present invention relates to a geomagnetic sensor for a vehicle navigation system, and more particularly, it relates to a geomagnetic sensor for a vehicle navigation system, which can easily set a reference value for each azimuth without an initial reset operation when a geomagnetic sensor is mounted, The present invention relates to a method of automatically calibrating a geomagnetic sensor.

In general, a radio navigation system used in an aircraft, a ship, etc. receives a radio wave from two or more radio wave sources and obtains the current position by obtaining the distance from the radio wave source by the arrival time difference and phase difference of the radio wave, I was able to sail the ocean safely. Therefore, in recent years, navigation systems for automobiles have been rapidly developed and are being widely used so that a car having the same movement can be judged as to where on the map it is currently traveling.

The car navigation system (CNS) reads the road map data stored in the CD-ROM database on the CRT screen installed in the center of the front seat of the vehicle, The most important issue is to understand the current bearing of the car.

Therefore, in the navigation system for a car (CNS), various sensors are mounted on a vehicle for detecting the traveling direction, and one of them is a geomagnetic sensor, which is a ring-shaped permalloy magnetic body, And a configuration in which the excitation coil 2 wound around the outer periphery of the core 1 and the X coils 3 and Y coils 4 serving as detection coils are wound orthogonally to each other in the radial direction of the core 1 .

As shown in FIG. 2 (A), when an alternating current is applied to the exciting coil 2 to excite the exciting coil 2, magnetic force lines And the core 1 is in the shape of a ring, irritation is impossible. Since the electromotive force is generated according to the changes of the magnetic fluxes in the X and Y coils 3 and 3 and 4 of the Y coil 4, the magnetic force lines are opposite to each other in the directions 1 and 2, 3 and 4, And the output of the Y coil 4 are eliminated. When a magnetic field is applied from the outside in a direction parallel to the Y coil 4, a maximum voltage is generated in the X coil 3, and an external magnetic field is generated as indicated by a single point arrow in the 45 ° direction as shown in FIG. A half peak voltage is generated in the X-coil 3 and the Y-coil 4, respectively.

The direction of the geomagnetism to the vehicle body can be detected by measuring the magnitude of the output voltage of the X coil 3 and the Y coil 4 by installing the X coil 3 in the front and rear direction of the vehicle body in the center of the loop, By detecting the direction of the geomagnetism, the traveling direction of the vehicle can be detected.

In order to obtain a sensor value for an absolute angle which is initially set to the north, the geomagnetic sensor is provided with a reset switch on the main body or geomagnetic sensor, and the X coils of the geomagnetic sensor are arranged in the front- , And then position it so that the vehicle body is pointing in the north-right direction indicated by the compass board. Thereafter, the reset switch is pressed, the vehicle is rotated 360 degrees, the output value of each sensor is obtained, and the reference value for each direction is determined. However, if the X-coil of the geomagnetic sensor is not oriented so that the front-back direction of the vehicle and the geographical sensor are oriented toward the north-right direction, it is difficult to set an accurate reference value for each direction. Also, There is a problem that the reference value is erroneously set and an error of judging the traveling direction of the vehicle is generated.

SUMMARY OF THE INVENTION Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art, and it is an object of the present invention to provide an apparatus and method for estimating an output of a geomagnetism sensor, The present invention provides a method of automatically calibrating a geomagnetic sensor of a car navigation system.

1 is a diagram showing a configuration of a general geomagnetic sensor.

2 (a) and 2 (b) are views for explaining the operation of the geomagnetic sensor shown in FIG.

3 is a control block diagram showing a schematic configuration of a vehicle navigation system according to the present invention.

4 (a) and 4 (b) are views for explaining a method of automatically correcting a geomagnetic sensor of a car navigation system according to the present invention.

DESCRIPTION OF THE REFERENCE NUMERALS

1 ... core, 2 ... excitation coil,

3 ... X coils, 4 ... Y coils,

10 ... vehicle navigation control section, 11 ... map storage control section,

12 ... map data storage unit, 13 ... GPS receiver,

14 ... GPS antenna, 15 ... GPS satellite,

16 ... key input section, 17 ... display control section,

18 ... temporary data storage, 19 .. indicator,

20 ... geomagnetic sensor

In order to achieve the above object, a method of automatically calibrating a geomagnetism sensor of a vehicle navigation system according to the present invention includes a GPS receiver for calculating the longitude and latitude of a spot where a vehicle is located by receiving radio waves from a plurality of GPS satellites, A geomagnetism sensor for detecting a traveling direction of the vehicle by a geomagnetism to compensate for an error with respect to the positional information; and a controller for matching the traveling direction of the vehicle position and the vehicle detected by the GPS receiver and the geomagnetism sensor, The method comprising the steps of: mounting the geomagnetism sensor at a predetermined position of the vehicle and traveling for a predetermined time to receive a detection signal of the geomagnetism sensor with respect to all directions; Receiving data on the current position of the vehicle through the GPS receiver when completed, Calculating a traveling direction (?) Of the vehicle with respect to the north-north direction when it is determined that the vehicle is traveling on the straight road over a predetermined distance based on the position information of the vehicle received from the GPS receiver, And calculating a detection error? Of the geomagnetism sensor by comparing the traveling direction? Of the geomagnetism sensor with the traveling direction? 1 of the vehicle detected by the geomagnetism sensor, and correcting the detected error.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a configuration and operation effects according to preferred embodiments of the present invention will be described in detail.

3 shows a general configuration of a car navigation system equipped with a geomagnetic sensor. As shown in FIG. 3, the GPS receiver 13 receives the radio waves simultaneously from three different global positioning system (GPS) satellites 15 and calculates the longitude and latitude of the spot, and stores the road map data A map data storing unit 12 for storing the map data stored in the map data storing unit 12, and a vehicle navigation unit 12 for processing the longitude and latitude data received by the GPS receiver 13, A geomagnetism sensor 20 for detecting a traveling direction of a car with respect to an absolute angle in a north-north direction to compensate for an error in the positional information of the own vehicle received from the GPS receiver 13; 15) and the road map data provided from the map data storage unit (12), corrects the position of the vehicle on the road with the highest correlation, calculates the vehicle navigation system A display 18 for visually displaying an optimum road map to a current position and a destination of the vehicle and a display control unit 18 for controlling the display of the display unit 18 under the control of the vehicle navigation control unit 10. [ A display control unit 17 for controlling the driving of the display unit 18 and a temporary data storage unit 18 for temporarily storing the map data in which the present car is located so that the display data can be displayed on the display unit 18 by the display control unit 17. [ And a key input unit 16 for selecting a desired portion map and setting an initial point on which the car is currently positioned on the displayed map and a direction to be moved.

At this time, the map data in the car navigation system according to the present invention is stored in a map data storage unit 12, which is preferably implemented as a compact disc ROM (CD-ROM) The geographical information required for road running and road management is digitized (digitized) by two-dimensional coordinate values of (x, y) and stored.

A method of automatically correcting the geomagnetic sensor of the car navigation system according to the present invention will now be described.

First, when the vehicle starts traveling and power is applied to the car navigation system, information on the longitude and latitude of the vehicle is received through the plurality of GPS receivers 13 to determine the current position of the vehicle. At this time, the vehicle navigation control unit 10 receives the road map from the map data storage unit 12 through the map storage control unit 11 and displays the road map in which the present vehicle is present in the temporary data storage unit 18 of the display controller 17 . Also, the display controller 17 aligns the current position of the vehicle on the road map stored in the temporary data storage 18, and displays it on the screen of the display 19. [ Accordingly, the driver travels based on the map screen displayed on the screen of the display device 19. At this time, the geomagnetism sensor 20 receives power from the vehicle at the same time as the vehicle travels, The vehicle navigation control unit 10 continuously receives the sensing signal from the geomagnetism sensor 20 for a predetermined period of time and sets a reference value of the sensor output for each direction. That is, when a predetermined block is rotated while the vehicle is running, or when the interchange or the like is operated to rotate, the sensor output for each direction of the geomagnetic sensor can be easily obtained.

Therefore, as shown in Figs. 4 (a) and 4 (b), when the vehicle is traveling on a straight road of a predetermined distance or more The vehicle navigation control unit 10 receives the information about the position of the vehicle a plurality of times by the GPS receiver 13 and determines the traveling direction of the vehicle in the northward direction. At this time, the traveling direction of the vehicle detected by the GPS receiver 13 is a direction having a difference of? With respect to the north direction, and the installation position and direction of the X coil (the X coil has a detection error of? Assuming that the traveling direction of the vehicle detected by the geomagnetism sensor 20 is θ 1 , the detection error ψ of the geomagnetic sensor 20 with respect to the north-north direction is ψ = θ - θ 1 (See Fig. 4 (b)).

At this time, the vehicle navigation control unit 10 corrects the detection error? Of the geomagnetic sensor 20 determined as described above, so that accurate determination of the traveling direction of the vehicle can be performed. The correction of such a geomagnetic sensor is repeatedly carried out every predetermined period during running of the vehicle.

As described above, according to the automatic correction method of the geomagnetism sensor of the car navigation system according to the present invention, a separate initial reset operation is unnecessary when the geomagnetic sensor is initially installed in the vehicle, and the installation position or the installation angle of the geomagnetic sensor is changed The detection error of the geomagnetism sensor is automatically corrected if the vehicle travels a certain distance. Therefore, there is an advantage that it is possible to easily cope with the change of the installation position of the geomagnetism sensor.

Claims (2)

A GPS receiver for calculating a longitude and a latitude of a spot where the vehicle is located by receiving radio waves from a plurality of GPS satellites; a geomagnetic sensor for detecting a traveling direction of the vehicle by the geomagnetism to compensate an error of the position information of the vehicle received from the GPS receiver; A vehicle navigation system, comprising: a sensor; a GPS receiver and a geomagnetism sensor, wherein a traveling direction of a vehicle position and a vehicle is detected on a road map data and displayed on a display screen, Receiving the geomagnetism sensor sensing signal for all directions by driving the geomagnetic sensor at a predetermined position of the vehicle, Receiving data related to a current position of the vehicle through the GPS receiver when the detection of each bearing is completed in the sensing step, Calculating a traveling direction (?) Of the vehicle in the north-south direction based on the position information of the vehicle received from the GPS receiver when it is determined that the vehicle is traveling on the straight road over a predetermined distance; The detection error (?) Of the geomagnetic sensor is calculated by comparing the traveling direction (?) Of the vehicle with respect to the north direction calculated in the above step and the traveling direction (? 1 ) of the vehicle detected by the geomagnetism sensor, Wherein the geomagnetism sensor is automatically calibrated in the vehicle navigation system. The geomagnetism sensor according to claim 1, wherein the detection error (ψ) of the geomagnetism sensor is determined by a traveling direction (θ 1 ) of the vehicle calculated on the basis of the position information of the vehicle received from the GPS receiver, ) Of the geomagnetic sensor (1).
KR1019960047745A 1996-10-23 1996-10-23 Automatic calibration method of geomagnetic sensor of car navigation system KR19980028621A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1019960047745A KR19980028621A (en) 1996-10-23 1996-10-23 Automatic calibration method of geomagnetic sensor of car navigation system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1019960047745A KR19980028621A (en) 1996-10-23 1996-10-23 Automatic calibration method of geomagnetic sensor of car navigation system

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100872835B1 (en) * 2007-08-30 2008-12-09 콘티넨탈 오토모티브 일렉트로닉스 주식회사 Apparatus for outputing the driving direction of a vehicle
WO2009061059A1 (en) * 2007-11-09 2009-05-14 Thinkware Systems Corporation Method for calibrating terrestrial magnetism sensor and apparatus thereof
KR101120204B1 (en) * 2004-03-31 2012-03-16 교세라 가부시키가이샤 Mobile communication terminal and correction method of error of terrestrial magnetism sensor
KR101478182B1 (en) * 2008-02-26 2015-01-02 삼성전자주식회사 Apparatus and method for correcting direction of pedestrian migration
KR101531182B1 (en) * 2013-11-13 2015-06-24 에스케이 텔레콤주식회사 Method And Apparatus for Correcting Error Of Geomagnetic Sensor

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101120204B1 (en) * 2004-03-31 2012-03-16 교세라 가부시키가이샤 Mobile communication terminal and correction method of error of terrestrial magnetism sensor
US8155884B2 (en) 2004-03-31 2012-04-10 Kyocera Corporation Bearing display apparatus and bearing display method
KR100872835B1 (en) * 2007-08-30 2008-12-09 콘티넨탈 오토모티브 일렉트로닉스 주식회사 Apparatus for outputing the driving direction of a vehicle
WO2009061059A1 (en) * 2007-11-09 2009-05-14 Thinkware Systems Corporation Method for calibrating terrestrial magnetism sensor and apparatus thereof
KR101478182B1 (en) * 2008-02-26 2015-01-02 삼성전자주식회사 Apparatus and method for correcting direction of pedestrian migration
KR101531182B1 (en) * 2013-11-13 2015-06-24 에스케이 텔레콤주식회사 Method And Apparatus for Correcting Error Of Geomagnetic Sensor

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