KR20040031871A - Navigation guidance for car and method for car navigation guidance using the same - Google Patents

Abstract

PURPOSE: A car navigation guide system and a car navigation guide method by using the same are provided to improve the accuracy of the car navigation by adding gyro scale factor. CONSTITUTION: A car navigation guide system includes a path search server, a communication server, a global positioning system(GPS) satellite and a path guide/deviation determination unit. The path search server supplies a geometry information and a traffic information. The communication server supplies the information to the car navigation system from the path search server. The global positioning system(GPS) satellite supplies the information of the car position. And, the path guide/deviation determination unit is provided with a search path receiving unit, a car position information receiving unit, a geometry information supplying unit, a car drive information extracting unit and a path guide/deviation determining unit.

Description

Vehicle navigation guidance system and vehicle navigation guidance method using the same {NAVIGATION GUIDANCE FOR CAR AND METHOD FOR CAR NAVIGATION GUIDANCE USING THE SAME}

The present invention relates to a vehicle navigation guidance system and a vehicle navigation guidance method, and more particularly to a vehicle navigation guidance system and a vehicle navigation guidance method that can increase the accuracy of vehicle navigation guidance without adding a separate guidance equipment to the vehicle. It is about.

In general, a typical navigation system displays the current position of a moving object calculated using information received from a global positioning system (GPS) on a map displayed on a display screen.

In addition, the navigation system displays various information necessary for driving, such as displaying the moving direction of the moving object, the distance to the destination to be traveled, the current moving speed of the moving object, the path set before the driver, the optimum path to the destination, and the like. To provide.

The navigation system (or GPS positioning device) for inducing vehicle driving is currently widely used in various moving objects such as ships, aircrafts, automobiles, etc. to determine the current position and moving speed of the moving object or to determine the moving path. .

In particular, the navigation system receives and calculates a radio wave indicating latitude, longitude, altitude, etc. from a plurality of satellites belonging to the GPS to display the map information including the current location to the driver. Hear the sound.

1 is a view showing a vehicle navigation system using a GPS that is commonly used.

As shown in FIG. 1, in general, a navigation system for location tracking displays a road map data portion 1 recorded on a CD ROM or the like on a display portion 5, and a signal and sensor portion 11 obtained from a GPS receiver 7. In this way, the signal obtained from the above is calculated in a hybrid type to display the current position of the vehicle as a bright point on the display unit 5.

The GPS receiver 7 and the CPU 3 provide the latitude and longitude of the vehicle by measuring the arrival time of the radio wave emitted from the satellite 9 and calculating the distance from the satellite.

However, since it is impossible to receive radio waves in a building forest or a tunnel in a large city, other sensors other than the GPS method may be used to measure the current position of the vehicle. As such a sensor, an angular sensor for measuring the traveling direction of the vehicle and a wheel rotation sensor for measuring the travel distance are used. By integrating the angular velocity of the vehicle body obtained from the angular sensor, the traveling direction of the vehicle is obtained.

The CPU 3 obtains the traveling direction θ of the vehicle by integrating the angular velocity obtained from the angular sensor, receives the moving distance of the vehicle from the wheel rotation sensor, and calculates the position coordinates (X, Y) of the vehicle. The result is displayed on the display unit.

The CPU 3 measures the characteristic error ΔG of the sensor for a predetermined time after the start of the vehicle and starts the vehicle, and corrects the angular velocity of the sensor by using the measured characteristic error ΔG.

In general, when the vehicle is started, the vehicle warms up for some time, so the vehicle remains stationary. In this stop state, the angular velocity detected by the sensor should be 0. If the detected angular velocity is not zero, define this value as the characteristic error (ΔG), and subtract this value from the angular velocity of the sensor to be detected later. The measured value is corrected.

In the vehicle navigation correction method using the sensor, it is determined whether the vehicle is driving, and then the position of the vehicle is calculated by a hybrid method with respect to the driving vehicle.

In general, a hybrid method applied when driving a vehicle includes a dead reckoning (DR) method based on a traveling direction (θ) that integrates an angular velocity of a sensor and a traveling distance of a ranging sensor and a distance from a satellite. The GPS system is mixed to calculate the location of the vehicle, and matched with the road map displayed on the display unit 5 to display the coordinates.

In addition to the vehicle location tracking using the GPS as well as the independent navigation system that can determine the location and distance to move within the vehicle itself, the independent navigation system is a reference according to the driving using the driving angle and speed of the vehicle Since the relative position of the vehicle is calculated with respect to the point, the accuracy of the input is an important data for determining the position of the self-supporting navigation apparatus.

Important devices for inputting the self-supporting navigation device to determine the driving angle and speed of the vehicle are the gyro and the speed signal, among which the signals generated from the gyro affected by the temperature characteristics and geometric characteristics are It greatly affects the precision of the self-supporting navigation apparatus.

Coefficients used in the gyro include a gyro nominal voltage, a gyro scale factor, and a gyro temperature characteristics.

In order to correct the gyro coefficients described above, the gyro nominal voltage and the gyro scale factor are corrected with a Kalman filter to correct the Gyro output. At this time, the method for the correction has a disadvantage of performing a gradual correction under the assumption that there is no sudden estimation error for the gyro (Gyro) output.

In order to make up for this drawback, the patent application of the Korean Patent Application to correct the nominal voltage of the gyro using the method of offsetting the accumulated error through filtering and the average of the gyro output measured at the time of stopping the vehicle using zero speed correction. Proposed 1997-0026015.

In addition, the US patent US 6374190 B2 proposes a method of performing a recording for subsequent correction by reflecting a gyro value according to temperature characteristics in addition to the method using zero speed correction in this patent application.

The Korean patent and the US patent presented above have the advantage of correcting the accumulated error to an accurate value.

However, since all of the patents proposed above can correct the cumulative error in the stationary state, the gyro operation characteristics are changed in the state in which the vehicle is actually moving, causing a lot of errors in the navigation guidance of the vehicle.

In other words, by correcting the gyro characteristics in the stationary state to apply a precise input value to the self-supporting navigation device to perform a more precise position tracking, the output value of the gyro during the movement fluctuates causing an error.

In addition, since there is no correction for the information on the gyro scale factor of the rotation direction among the gyro coefficient values for precise navigation measurement, there is a limit to implement a more accurate vehicle navigation system.

Therefore, when the gyro is mounted on a vehicle and used, it is necessary to consider all of the fact that the output value of the gyro is greatly affected by the movement of the vehicle, but in the past, the error width is increased because the characteristic change of the gyro is not considered. It became.

According to the present invention, a vehicle navigation induction device for driving a vehicle is driven to calibrate a gyro nominal voltage and a scale factor by using a GPS satellite, a value output from a gyro sensor, and an output value of a speedometer to induce more accurate vehicle navigation. An object of the present invention is to provide a vehicle navigation guidance system and a vehicle navigation guidance method using the same.

1 is a view showing a vehicle navigation system using a GPS generally used.

Figure 2 is a block diagram showing the structure of a vehicle navigation guidance system in accordance with the present invention.

3 is a system for obtaining a gyro output value of an autonomous navigation apparatus of a vehicle navigation guidance system according to the present invention.

4 and 5 is a flow chart for explaining a gyro nominal voltage correction method according to the gyro dynamic characteristics according to the present invention.

6 is a flowchart illustrating a gyro scale factor correction method according to the present invention.

* Description of the symbols for the main parts of the drawings *

20: vehicle navigation guidance device 21: route guidance / departure determination unit

22: search path receiving unit 23: path search unit

24: geographic information supply unit 25: vehicle location information receiving unit

26: vehicle driving information extraction unit 31: route search server

33: communication server 35: GPS satellite

In order to achieve the above object, the vehicle navigation guidance system according to the present invention,

A long distance search server for supplying geographic information and traffic information;

A communication server for supplying information to the vehicle navigation guidance apparatus from the remote path search server;

GPS satellites that provide information about the location of the vehicle; And

A search path receiving unit for receiving geographic information and traffic information from the communication server, a vehicle location information receiving unit for receiving location information of the vehicle from the GPS satellites, a geographic information supply unit and a vehicle path searching unit which are built in the vehicle; And a vehicle guide information extracting unit periodically extracting vehicle driving information from the vehicle location information receiving unit, and a route guide for guiding a vehicle using the search path receiving unit, the vehicle location information receiving unit, a geographic information supply unit, and a vehicle path searching unit. A vehicle navigation guidance device composed of a deviation determination unit; Characterized in that it comprises a.

In addition, the GPS receiver for receiving location information of the vehicle from the GPS satellites;

A gyro sensor unit configured to output information about a driving angle and a speed of the vehicle;

A speed sensor unit supplying speed information of a moving vehicle;

A driver unit for processing data supplied from the GPS receiver, a gyro sensor unit, and a speed sensor unit;

DR for measuring the travel direction and travel distance integrating the angular velocity and speed of the gyro sensor unit and the speed sensor unit processed by the driver unit;

A first Kalman filter correcting a speed error in the information processed in the DR;

A summer for determining position information by using a difference between a corrected error supplied from the first Kalman filter and an error compensation value supplied from the DR; And

A second Kalman filter for correcting a position using information of the summer and information received from the GPS receiver; Characterized in that it comprises a.

The first Kalman filter and the second Kalman filter may be configured to correct gyro nominal voltage coefficients and gyro scale factor coefficient information of the gyro sensor unit.

In addition, the vehicle navigation guidance method according to another embodiment of the present invention,

Initializing a gyro nominal voltage of the vehicle navigation guidance device;

Determining whether the vehicle is stationary or moving;

Checking the goodness of a reception state from a GPS satellite when it is determined that the vehicle is in a driving state;

Determining whether the change in the direction angle of the GPS is less than or equal to the critical angle when the GPS reception state is good;

If the direction angle transition is less than or equal to a threshold angle, determining that driving is straight and storing the time of the driving state and the gyro nominal voltage at this time;

Modifying an average value of the stored gyro nominal voltage to a high speed gyro nominal voltage when the driving state time is greater than a designated high speed driving state time; And

And modifying the nominal voltage according to the high speed and the low speed based on the modified gyro nominal voltage and filtering the Knman filter of the independent navigation apparatus.

Here, when the vehicle is in a stopped state, the stop time and the gyro nominal voltage value at this time are stored. When the stop state is greater than a designated low speed time interval, the average value of the stored nominal voltage is gyro. It is characterized by the correction to the nominal voltage.

If the GPS satellite reception condition is not good, immediately modifying the nominal voltage according to the high speed and the low speed of the vehicle based on the modified gyro nominal voltage and filtering the Kalman filter of the independent navigation apparatus. When the direction angle transition of the GPS is greater than the critical angle, the vehicle is determined to be in a straight line and a curved line, and the vehicle driving speed is based on the modified gyro nominal voltage. It is characterized by going to the step of filtering by the Kalman filter of the autonomous navigation device by modifying.

In addition, when the driving state time is smaller than the designated high speed driving state time, the vehicle driving speed is modified based on the modified gyro nominal voltage according to the high speed and the low speed, and filtering by the Kalman filter of the independent navigation apparatus. If the stop time is less than the designated low speed time interval, the vehicle driving speed is modified based on the modified gyro nominal voltage according to the high speed and the low speed, and thus the Kalman filter of the independent navigation apparatus Characterized in that it goes to the filtering step.

In addition, the vehicle navigation guidance method according to another embodiment of the present invention.

Initializing a gyro scale factor value of the vehicle navigation guidance apparatus;

Confirming a goodness of the reception state from the GPS satellite and the speed of the vehicle;

Determining whether the direction angle of the GPS is greater than zero when the GPS reception state and the vehicle speed are good;

Updating a gyro scale factor value in a right direction when the direction angle change of the GPS is greater than zero;

Filtering at a Kalman filter in a self-supporting navigation apparatus using the updated gyro scale factor;

Storing the corrected gyro scale factor value Sf _{N +} in the right direction;

Determining whether the corrected gyro scale factor value and the left gyro scale factor value (Sf _N− ) when the previously corrected GPS direction angle trend is greater than zero are equal to each other; And

When the gyro scale factor values of the right and left directions are the same as those of the one-way gyro scale factor value Sf _{N + l−} , which is obtained when the GPS satellite reception state and the vehicle speed state are poor, Storing the gyro scale factor value as a correction value; Characterized in that it comprises a.

Here, when the GPS reception state and the vehicle speed are not good, the average of the scale factor value in one direction is updated, and the updated gyro scale factor value is filtered by the Kalman filter in the independent navigation apparatus. When the GPS reception state and the speed of the vehicle are good and the direction angle of the GPS is less than 0, the gyro scale factor value of the left direction is updated.

In addition, the updated gyro scale factor value of the updated left direction is filtered and stored in the Kalman filter in the autonomous navigation apparatus, and the gyro scale factor values of the right and left directions are gyro scale factor values (Sf _{N + l−).} In other cases, the gyro scale factor value is set as the gyro scale factor value in one direction.

According to the present invention, the coefficient characteristics such as the nominal voltage and the scale factor of the gyro are independently corrected according to the moving state of the vehicle, and then applied to the autonomous navigation apparatus of the vehicle so as to be similar to the actual physical gyro characteristics. There is an advantage that can lead to precise navigation.

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

2 is a block diagram showing the structure of a vehicle navigation guidance system according to the present invention.

As shown in FIG. 2, a vehicle navigation guidance system that induces vehicle navigation using a GPS satellite and an autonomous navigation device in a vehicle. The GPS satellite receives the position signal to obtain additional information necessary for the position and navigation of the vehicle, and uses the output of a gyro or a speedometer to guide the self-supporting navigation.

The vehicle navigation guidance system is configured to obtain the position, geographic information, and driving information of a moving vehicle by the GPS satellite 35 and the vehicle navigation guidance device 20 including self-supported navigation in the vehicle.

That is, the geographical information and the traffic information are supplied from the far path search server 31 for the far path search around the moving vehicle. The long distance search server 31 transmits traffic information and geographical information to a communication server 33 for providing geographic information and traffic information to the vehicle navigation guidance apparatus 20, and the communication server 33 is authorized. The received traffic information and geographic information are transmitted to the search path receiving unit 22 of the vehicle navigation guidance apparatus 20.

In addition, the vehicle position information receiving unit 25 of the vehicle navigation guidance apparatus 20 receives an information signal for knowing the current position from the GPS satellite 35 to obtain the position information of the moving vehicle.

Induce driving of a moving vehicle by using traffic information, geographic information, and location information received from the GPS satellite 35 in the vehicle location information receiving unit 25 received by the search path receiving unit 22. do.

The information received by the search path receiving unit 22 and the vehicle location information receiving unit 25 is transmitted to the path guide / departure determining unit 21 in the vehicle navigation guidance apparatus 20, so that the moving vehicle can move forward. While determining the route to be moved, it is determined whether the moving route is frequently departed.

In addition, the route guidance / departure determination unit 21 periodically receives information from the route search unit 23 that detects a route in the vehicle itself, and the route search unit 23 itself includes road network or traffic map information. The information is obtained from the geographic information supply unit 24 which stores.

The geographic information supplier 24 applies the route search unit 23 to prevent the vehicle from leaving the route using the road network information and the traffic map information stored therein, and the route search unit 23 The location information received by the vehicle location information receiver 25 is also transmitted to the route guide / departure determination unit 21, and compared with the information applied from the search path receiver 22 and the vehicle location information receiver 25. To guide the vehicle in motion or to avoid leaving the route.

The vehicle information extracting unit 25 extracts the position information of the current vehicle transmitted from the vehicle search unit 25 to the route search unit 23 to guide the moving vehicle.

3 is a system for obtaining a gyro output value of the autonomous navigation apparatus of the vehicle navigation guidance system according to the present invention.

As shown in FIG. 3, a GPS receiver 41 receiving a vehicle position information signal from a GPS satellite, and a gyro nominal voltage, a gyro scale factor, and a gyro temperature characteristic coefficient for obtaining information about an angle and a speed of the vehicle Information received from the gyro sensor unit 43 for measuring the value, the speed sensor unit 45 for measuring the speed of the vehicle, and the GPS receiver 41, the gyro sensor unit 43 and the speed sensor unit 45 Dead Reckoning (DR) for calculating the information obtained from the driver 47 for correcting the error of the signals and the gyro sensor 43 and the speed sensor 45 passing through the driver 47. 49) and a first Kalman filter 51 for integrating a gyro angular velocity in the DR 49 to filter speed direction information by filtering a traveling direction and distance measurement values of the vehicle, and in the first Kalman filter 51. Positive which corrected speed error And a position error using a summer 53 for summing the values calculated by the DR 49, information obtained by the summer 53, and current position information from the GPS receiver 41. It consists of a second Kalman filter 55 to correct.

The DR 49 is an uneven side position measuring device, which is used to determine the traveling direction of the vehicle and the moving distance of the vehicle by integrating processing based on information such as angular velocity and speed obtained from the gyro sensor 43 and the speed sensor 45. Get information about

A method of canceling the cumulative error by filtering the first and second Kalman filters 51 and 55 in the self-supporting navigation device in the vehicle navigation induction device is given by the following equation.

By using the above-described formula, the gyro nominal voltage according to the dynamic characteristics of the gyro can be calculated.

When the moving vehicle is traveling at low speed, the gyro nominal voltage (ν <V _Threshold ) is initialized to the most appropriate value. If the previous nominal voltage value is stored, the value is used. When the vehicle is in the stopped state for more than a predetermined time interval (T _{Low Speed} ), the zero speed of the stopped state is corrected and corrected to the average value calculated by the above formula.

Then, if the vehicle continues to run at a low speed, the reliability of the position information received from the GPS satellites is low, and thus no correction is made.

In addition, when the moving vehicle is traveling at a high speed, the gyro nominal voltage (ν <V _Threshold ) is set as an initial value of the nominal voltage for low speed driving, and if the previous nominal voltage value is stored. Use

Then, it is determined whether or not the signal state received from the GPS satellite is good or not, and in the same manner as the zero speed correction method when the GPS direction angle trend is maintained within a critical angle for a predetermined time interval (T _{High Speed} ) or more. Correct the nominal voltage.

In addition, since the information received from the GPS satellites in the high speed driving state has a higher reliability of the position information than the low speed driving state, the GPS position information is used for the gyro nominal voltage correction.

When the gyro nominal voltage is corrected as described above, an error may occur when the vehicle continuously runs in a direction that is actually gently inclined according to the range of the critical tolerance angle of GPS for reflecting dynamic characteristics.

In addition, when low-speed and high-speed nominal voltage correction methods are separately applied, a method of periodically averaging the nominal voltage to suppress the malfunction of switching is applied.

In addition, a method of applying a gyro scale factor, which has not been considered in the prior art, among the gyro coefficient values is as follows.

The gyro scale factor basically adjusts the vehicle navigation by separating the scale factor in each direction so that an independent scale factor may be applied to bidirectional rotation of the vehicle.

First, to manage the bidirectional gyro scale factor (Sf _{N +} , Sf _N- ), separate the scale factor used to calibrate the existing gyro scale factor. Average the factor values. The scale factor difference between the low speed drive and the high speed drive is kept within the allowable range.

Also, updates for each direction should be reflected according to the driving speed of the GPS satellites and the vehicle, and maintain the existing method of applying to one gyro scale factor when the driving speed is low. If good, use the GPS direction angle trend.

If the threshold error is exceeded, the gyro is determined to be a cumulative error by performing a malfunction out of the normal state due to a fatal problem on the device or by outputting an abnormal reference value from the GPS, and averaging the accumulated difference over the corresponding period. . The criteria for the high speed driving are used as the same criteria as the criteria applied to the above-mentioned nominal voltage calculation.

And the driving state determination is to determine the high speed / low speed based on the speed maintained for the predetermined time before rotation. In addition, when moving from low speed to high speed, the corresponding gyro scale factor is equally applied to both directions, and when moving from high speed to low speed, the gyro scale factors in each direction are averaged and corrected by the same gyro scale factor.

4 and 5 are flowcharts illustrating a gyro nominal voltage correction method according to a gyro dynamic characteristic according to the present invention.

As shown in FIG. 4, when the vehicle navigation guidance apparatus of the driving vehicle is operated, first, the gyro nominal voltage value is initialized among the gyro coefficient values (S411). Therefore, the previously stored gyro nominal voltage value is loaded (S411), or the gyro nominal voltage filter value corrected according to low speed driving and high speed driving from the outside is used as the initial gyro nominal voltage value of the vehicle navigation guidance device. (C).

Then, it is determined whether the vehicle is in a stopped state or a driving state (S412), and when the vehicle is in a driving state, the reception state of the information on the current position from the GPS satellite is checked (S413). In addition, it is determined whether the state of the location information received from the GPS satellites is good and the vehicle's moving speed judgment is good (S414). If it is determined that the GPS direction angle is equal to or smaller than the critical angle of the GPS, (S415).

If it is determined that the location information received from the GPS satellites is not good, it proceeds to B loop to correct the gyro nominal voltage.

If the information received from the GPS satellites is good and it is determined that the direction angle of the GPS is greater than the GPS threshold angle (S416), this indicates that the vehicle is moving straight along without leaving sideways along the path.

However, when the GPS direction angle change is larger than the GPS threshold angle, it is generally determined that the vehicle alternates the straight line and the curve, and the correction is performed in the B loop to correct the gyro nominal voltage.

When the direction angle change of the GPS satellite is smaller than the critical angle, the vehicle is traveling in a straight line. In this case, the vehicle navigation guidance apparatus measures the time that it is going straight and stores the gyro nominal voltage value at this time.

When the state of the vehicle traveling in a straight line is greater than the predetermined time interval T _{High Speed at high speed} , the average value of the stored gyro nominal voltage is corrected to the gyro nominal voltage (S418).

When the state of the vehicle traveling in a straight line is less than a predetermined time interval (T _{High Speed} ) during high speed driving, the stored gyro nominal voltage is returned to the B loop to correct the gyro nominal voltage.

In addition, as a result of confirming the vehicle stop state (S412), when the vehicle is in the stationary state, the time T in the stationary state is measured, and the gyro nominal voltage value at that time is stored (S421).

If the time T in the standstill state is greater than the specified time interval (T _{Low Speed} ) (S422), the average value of the stored nominal voltage is obtained and corrected by the low speed gyro nominal voltage (S423). If it is smaller than the interval (T _{Low Speed} ), it should be corrected in B loop to correct the gyro nominal voltage.

If the vehicle navigation guidance device is stopped and the vehicle navigation guidance device is not operated as in A, the gyro nominal voltage at the operation stops is stored, and then the vehicle navigation guidance device is stopped and then operated again. When using the initial gyro nominal voltage value is used (S401).

As shown in FIG. 5, when the position information state received from the GPS satellite in the driving vehicle is poor, even if the GPS direction angle transition is good even if it is smaller than the GPS threshold angle, even if it is larger than the threshold angle, the travel time is a specified interval time. If it is less than (T _{High Speed} ), it is applied to B loop to correct the nominal voltage when it is less than the stop designation interval time (T _{Low Speed} ) in the stop state.

The driving speed of the vehicle is determined to correct the gyro nominal voltage (S501), and when the driving speed of the vehicle is low (S502) and high speed (S503), the gyro nominal voltage is corrected.

If the vehicle driving speed is low, the gyro output is corrected to a low speed gyro nominal voltage. If the vehicle is running at high speed, a high speed gyro nominal voltage is applied to the gyro output and then applied to the Kalman filter of the autonomous navigation device to correct it. .

6 is a flowchart illustrating a gyro scale factor correction method according to the present invention.

As shown in FIG. 6, in order to correct the gyro scale factor value according to the rotation direction of the vehicle, the existing gyro scale factor value is loaded (S601), and the current position information signal state and speed of the vehicle received from the GPS satellites. It is determined whether the state is good (S602).

When the speed of the vehicle and the reception state from the GPS satellites are good, it is determined whether the direction angle of the GPS satellites is greater than 0 ° (S603). If the vehicle is larger than 0 °, the gyro scale factor Sf _{N +} in the right direction described in FIG. To update (S607), the filter is performed using a Kalman filter to calibrate the autonomous navigation apparatus (S608). Then, the filtered gyro scale factor Sf _{N +} value of the right direction is stored (S609).

In the present invention, the gyro scale factor value in the right direction is denoted by Sf _{N +} , the gyro scale factor value in the left direction is denoted by Sf _N- , and Sf _{N + l-} is denoted by the gyro scale factor value in one direction.

When the direction angle of the GPS satellite is not larger than 0 °, the left side is updated with the gyro scale factor Sf _N- in the left direction (S604), and the filter is performed using a Kalman filter to correct the autonomous navigation apparatus (S605). . Then, the filtered gyro scale factor Sf _N− value of the left direction is stored (S606).

In addition, when the reception state of the current position information from the GPS satellite and the vehicle speed state is not good, the one-way gyro scale factor Sf _{N + l-} is updated (S610), and the Kalman filter of the independent navigation device performs filtering. After (S611), the gyro scale factor Sf _{N + l−} value of the one direction is stored (S612).

It is determined whether the gyro scale factor Sf _{N + l− in} the one direction has the same value (balance) as the gyro scale factor value in the right or left direction, and in the same case, the same value is corrected in one direction. Stored as a factor value (S620, S622).

If the gyro scale factor Sf _{N + l− in} the one direction is not equal to the gyro scale factor value in the right or left direction (unbalance), the scale factor is set as an average of the one side scale factor values. To be stored and corrected (S621, S622).

Therefore, in the present invention, first, the gyro nominal voltage of the vehicle driving at low speed and zero speed correction at the stop state can be corrected to the average value calculated. Second, the GPS satellite reception of the gyro nominal voltage at the high speed driving state is performed. Is good, and when the direction angle transition is within the critical angle, it is corrected by the same method.

However, the reliability criterion for the input uses a known fact. That is, the error of the speed meter is relatively insignificant, and in general, the assumption that the GPS position error is small when the vehicle travels at high speed when the satellite condition is good is used.

In addition, due to the physical characteristics of the gyro mechanism reflects the variation of the gyro scale factor, which varies depending on the rotation direction as follows.

First, the bidirectional gyro scale factor was separated from the scale factor used to calibrate the existing gyro scale factor, and the bidirectional scale factor was averaged when the scale factor integration application was needed.

Secondly, the update of each direction is to maintain the existing method of applying to one gyro scale factor when the vehicle is running at low speed according to the GPS satellite and the driving speed of the vehicle. GPS direction angle trend and critical angle were used.

It is a method configured to accurately estimate the gyro scale factor by using the above method, and the GPS satellite reception state and the speed of the vehicle to determine the output and validity of the GPS satellite which is considered a valid criterion for calibrating the gyro scale factor. Use

In the present invention, the gyro nominal voltage correction method applied in the existing vehicle stop state is reflected in the characteristic variation while driving in a hybrid method, so as to model close to the drift of the actual gyro nominal voltage, so that accurate vehicle navigation It was.

As described in detail above, the present invention has an effect of improving the precision for inducing a vehicle by adding a gyro scale factor which is conventionally omitted from the gyro coefficients for vehicle navigation guidance.

In addition, by using the input of GPS and speedometer for independent navigation, it is possible to manufacture a reliable vehicle navigation guidance device without additional equipment installation.

In addition, by applying the gyro nominal voltage used during the movement of the vehicle has the effect of minimizing the error range for the movement of the vehicle.

The present invention is not limited to the above-described embodiments, and various changes can be made by those skilled in the art without departing from the gist of the present invention as claimed in the following claims.

Claims (16)

A long distance search server for supplying geographic information and traffic information; A communication server for supplying information to the vehicle navigation guidance apparatus from the remote path search server; GPS satellites that provide information about the location of the vehicle; And A search path receiving unit for receiving geographic information and traffic information from the communication server, a vehicle location information receiving unit for receiving location information of the vehicle from the GPS satellites, a geographic information supply unit and a vehicle path searching unit which are built in the vehicle; And a vehicle guide information extracting unit periodically extracting vehicle driving information from the vehicle location information receiving unit, and a route guide for guiding a vehicle using the search path receiving unit, the vehicle location information receiving unit, a geographic information supply unit, and a vehicle path searching unit. A vehicle navigation guidance device composed of a deviation determination unit; Vehicle navigation guidance system comprising a. A GPS receiver for receiving location information of the vehicle from a GPS satellite; A gyro sensor unit configured to output information about a driving angle and a speed of the vehicle; A speed sensor unit supplying speed information of a moving vehicle; A driver unit for processing data supplied from the GPS receiver, a gyro sensor unit, and a speed sensor unit; DR for measuring a travel direction and a travel distance integrating the angular velocity and speed of the gyro sensor unit and the speed sensor unit processed by the driver unit; A first Kalman filter correcting a speed error in the information processed in the DR; A summer for determining position information by using a difference between a corrected error supplied from the first Kalman filter and an error compensation value supplied from the DR; And A second Kalman filter for correcting a position using information of the summer and information received from the GPS receiver; Vehicle navigation guidance system comprising a. The method of claim 2, And the first Kalman filter and the second Kalman filter correct gyro nominal voltage coefficients and gyro scale factor coefficient information in the gyro sensor unit. Initializing a gyro nominal voltage of the vehicle navigation guidance device; Determining whether the vehicle is stationary or moving; Checking the goodness of a reception state from a GPS satellite when it is determined that the vehicle is in a driving state; Determining whether the direction angle of the GPS is less than or equal to the threshold angle when the GPS reception state is good; If the direction angle transition is less than or equal to a threshold angle, determining that driving is straight and storing the time of the driving state and the gyro nominal voltage at this time; Modifying an average value of the stored gyro nominal voltage to a high speed gyro nominal voltage when the driving state time is greater than a designated high speed driving state time; And Modifying the nominal voltage according to the high speed and the low speed of the vehicle driving speed based on the modified gyro nominal voltage and filtering the Kalman filter of the independent navigation apparatus; Vehicle navigation guidance method comprising a. The method of claim 4, wherein If the vehicle is in a stopped state, the vehicle navigation guidance method characterized in that the time of the stop state and the gyro nominal voltage value at this time is stored. The method according to claim 4 or 5, And if the time of the stop state is greater than a designated low-speed state time interval, correcting an average value of the stored nominal voltage to a gyro nominal voltage. The method of claim 4, wherein If the GPS satellite reception condition is not good, the vehicle traveling speed is immediately modified based on the modified gyro nominal voltage according to the high speed and the low speed, and the filtering is performed by the Kalman filter of the independent navigation device. Vehicle navigation method, characterized in that going. The method of claim 4, wherein When the direction angle change of the GPS is larger than the critical angle, it is determined that both linear driving and curved driving are performed. Based on the modified gyro nominal voltage, the vehicle driving speed is corrected according to the high speed and the low speed. Vehicle navigation guidance method comprising the step of filtering by the Kalman filter of the independent navigation device. The method of claim 4, wherein When the driving state time is less than the designated high speed driving state time, the vehicle driving speed is modified based on the modified gyro nominal voltage according to the high speed and the low speed, and the filtering is performed by the Kalman filter of the independent navigation apparatus. Vehicle navigation guidance method characterized in that the passing. The method of claim 6, If the stop time is less than the designated low-speed time interval, the vehicle driving speed is modified based on the modified gyro nominal voltage according to the high speed and the low speed to filter by the Kalman filter of the autonomous navigation device. Vehicle navigation method, characterized in that going to. Initializing a gyro scale factor value of the vehicle navigation guidance device; Confirming a goodness of the reception state from the GPS satellite and the speed of the vehicle; Determining whether the direction angle of the GPS is greater than zero when the GPS reception state and the vehicle speed are good; Updating the gyro scale factor value in the right direction when the direction angle change of the GPS is greater than zero; Filtering at a Kalman filter in a self-supporting navigation device using the updated gyro scale factor; Storing the corrected gyro scale factor value Sf _{N +} in the right direction; Determining whether the corrected gyro scale factor value and the left gyro scale factor value (Sf _N− ) when the previously corrected GPS direction angle trend is greater than zero are equal to each other; And When the gyro scale factor values of the right and left directions are the same as those of the one-way gyro scale factor value Sf _{N + l−} , which is obtained when the GPS satellite reception state and the vehicle speed state are poor, Storing the gyro scale factor value as a correction value; Vehicle navigation guidance method comprising a. The method of claim 11, If the GPS reception state and the vehicle speed is not good, the vehicle navigation guidance method characterized in that for updating the average of the scale factor value in one direction. The method of claim 12, And update and update the updated one-way gyro scale factor value in a Kalman filter in a self-supporting navigation apparatus. The method of claim 11, And when the GPS reception state and the vehicle speed are good and the direction angle of the GPS is less than 0, updating the left gyro scale factor value. The method of claim 14, And update and update the updated gyro scale factor value in the Kalman filter in the independent navigation apparatus. The method of claim 11, When the gyro scale factor values in the right and left directions are different from the gyro scale factor values Sf _{N + l−} in the one direction, the gyro scale factor values are set as the gyro scale factor values in the one direction. Vehicle navigation guidance method.