KR20080063677A - Navigation system and an operating method thereof - Google Patents

Abstract

A navigation system and an operating method thereof are provided to install an accelerometer at a steering wheel and obtain the angular velocity of an automobile using a predetermined formula. A method of operating a navigation system includes the steps of: measuring an acceleration value output from an accelerometer installed at a steering wheel(S501); converting analog signal of the measured acceleration into digital acceleration signal to send the digital acceleration signal(S502,S503); receiving the digital acceleration signal(S504); and calculating and converting the acceleration value into an angular acceleration and an angular velocity of the steering wheel, and converting the angular velocity into an angular velocity of the vehicle(S505).

Description

Navigation system and an operating method

1 is a block diagram of a general navigation terminal 120 each configuration is separately

FIG. 2 is an embodiment in which an accelerometer 202 configured to measure acceleration in a steering wheel / handle 201 that is a direction control device is configured.

3 is a block diagram showing a direction controller 301 configured with an accelerometer, and a navigation 302 that receives / processes / operates a signal output from the direction controller 301.

4 is a diagram illustrating obtaining a rotation angle of a moving object using the received digital acceleration value.

5 is a flow chart showing obtaining a rotation angle of a moving object according to the present invention.

The present invention relates to the operation of a navigation system for locating a position, and relates to an apparatus and a method for obtaining a value corresponding to an angular velocity of a moving object using an accelerometer.

In general, the vehicle navigation apparatus performs dead reckoning to determine a position. The DR (Dead Reckoning) method is a speed sensor (odometer) or a gyro when the GPS navigation signal is not covered by a terrain or a high-rise building during position measurement by a GPS satellite signal, or when the position expression is incorrect. It is a system that corrects the position by using a sensor (gyroscope) and ABS wheel sensor.

In the present invention, a vehicle will be described as an example of a moving body.

In addition, the present invention will be described as a steering wheel (Handle) as an example of the direction control device.

Hereinafter, the related art and related art will be described.

In general, navigation using DR consists of a combination of Accelerometer + Gyroscope or Odometer + Gyroscope. Accelerometers and odometers measure acceleration / speed while Gyro measures angular velocity.

In order to know the current position with the sensors, the measured value is integrated for unit time to find the moving direction and distance, and the calculated moving direction and distance are added to the position at the current point to calculate the position of the mobile chain vehicle at every unit time. do.

In general, however, gyroscopes are more expensive than accelerometers. In addition, because the gyroscope is built into the navigation, the positioning error increases when the user moves the set by hand.

The present invention proposes to obtain an angle of rotation of the vehicle by configuring an accelerometer on the handle of the vehicle or the handle remote controller.

The present invention proposes to construct an accelerometer on a steering wheel (handle) for adjusting the direction of the vehicle, and to obtain the rotational angular velocity of the vehicle by using a predetermined equation.

In order to achieve the above object, a navigation system according to the present invention comprises a control unit for controlling the operation and operation of the system; A memory unit for storing map information and operation information; A receiver; A calculation unit for deriving a value corresponding to the angular velocity of the moving object by using the acceleration value of the direction control device of the moving object received by the receiving unit; And an output unit.

In one embodiment, the receiver receives the acceleration value calculated from the acclerometer configured at a predetermined position of the steering wheel, which is a direction control device of the moving object, in a digital form.

In addition, the step of measuring the acceleration value of the direction controller to obtain a rotation angle of the moving body of the present invention; Converting the measured analog acceleration value into digital; And transmitting the digital value.

In another aspect, the present invention comprises the steps of receiving an acceleration value in a digital form; Calculating the received acceleration value and converting the received acceleration value into angular acceleration and / or angular velocity of the direction controller; And converting the angular velocity of the direction controller into the angular velocity of the moving body.

In one embodiment, the received acceleration "a" is divided by the radius "r" of the rudder to obtain the angular acceleration "A" of the rudder.

In one embodiment, the angular velocity "B" of the rudder is obtained by multiplying each acceleration "A" of the rudder by the sampling time "T" of the rudder acceleration "a".

In one embodiment, the angular velocity "B" of the rudder is multiplied by the moving angle constant "Cw" per revolution of the rudder and the moving object angular velocity "W" is multiplied by the sampling time "T" of the rudder accelerator "a". Find the angular velocity "B" of the direction controller.

Hereinafter, a navigation system and an operation method thereof according to the present invention will be described in detail with reference to the accompanying drawings.

1 is a diagram illustrating a general navigation terminal 120 in which each component is separately configured.

Referring to FIG. 1, the GPS receiver 102 receives location data transmitted by one or more GPS satellites 100 from an antenna, which is a receiving unit, and transmits the received location data to the controller 110 to receive a navigation service.

The sensor unit 104 includes a velocity sensor, a gyro sensor, an accelerometer, an odometer, and the like, respectively, such as speed / rotation angle / acceleration and moving distance of the vehicle. It detects and delivers to the control unit 110.

The key input unit 106 is a user interface that receives various key signals from a user or sets a driving route.

In addition, the key input unit 106 includes various function keys, a touch screen, a jog dial type search means, and the like, and is provided for menu search and selection.

The map data storage unit 108 stores map data and other additional information data.

The controller 110 controls the overall operation of the navigation system. To this end, the controller 110 determines the current position of the moving object using the received signal of the GPS receiver 102, and matches the determined current position of the moving object with the map data stored in the storage 108.

When the user inputs a starting point and a destination through the key input unit 106, the controller 110 searches for a driving route from the current position of the moving object to the destination by referring to the map data stored in the storage unit 108. The searched travel route is then displayed on the display unit 114 via the display driver 112 in an electronic map.

In addition, the control unit is configured to receive a key signal input from a function key or a jog dial input through the key input unit 106 to be displayed on the display unit 113. The display unit 114 is a display means having an On Screen Display (OSD) function, for example, a liquid crystal display device.

In addition, the memory 111, which is a kind of storage unit, stores programs and various data for allowing the system to operate normally.

In addition, the driving path of the moving object is guided while outputting the guide voice to the speaker 118 through the voice guide unit 116.

In addition, the calculation unit calculates position information, angular velocity, and / or rotation angle values using the received information.

The navigation system as described above receives GPS satellite signals from a plurality of GPS satellites 100 disposed on the earth, and tracks the driving trajectory by grasping the current position and driving direction of the vehicle. And it is a service that provides the vehicle user with the shortest distance route to reach the destination through the driving route from the starting point.

Such a navigation system additionally includes a TV reception function, a radio function, a telephone function, and an information storage function, so that menus should be provided for convenient selection of various functions. To this end, the menu form implemented on the screen of the display unit 114 is preferably implemented in a form that matches the key of the key input unit 106.

To this end, the user inputs the jog dial type menu searching means on the key input unit 106, and configures the jog dial type menu indicating means on the screen to arrange the menus along the dial radius of the indicating means. Intuitively rotating the menu retrieval means makes it possible to retrieve menus within a radius indicated by the cursor of the menu support means.

In addition, the explanation related to GPS is explained in detail.

GPS is a device that receives a specific signal from GPS satellites, analyzes the satellite signals, and displays the position (latitude value, longitude value) for the GPS signal, and is often called a GPS module (GPS receiver).

Plug the GPS antenna into the GPS module, power on (5V-12V) and connect to a computer to output the current location on the computer screen.

In the GPS module, the CPU, ROM, RAM, etc. are designed as if the computer is reduced.

In the above, the CPU calculates the location information. In the ROM, a program for calculating the location information is embedded, and the RAM contains simple information such as the most recent location information.

If you turn off the GPS for a long time and then turn it on again, the position will be displayed after a long time, like the computer's booting process, it will POST the GPS receiver, run programs in the ROM, and then analyze the signal. The location information is written to RAM and finally the location is output.

There is a wide variety of data that can be received from GPS signals.

For example, as data for representation on a two-dimensional map, latitude value, longitude value, speed, direction of movement, and the like.

In addition, since GPS used in aircraft is a three-dimensional space, it accurately represents altitude.

Devices such as navigation and unmanned choppers display the current location on the map with the location information output from the GPS module (navigation), or pre-entered unmanned camera chopper locations (latitude, longitude values, etc.) Compared with the latitude and longitude values received by the GPS module, a message indicating a danger or a speed is output.

Radio waves from GPS satellites have a high frequency band, which leads to high linearity and low transmittance, so the GPS antenna must always be able to see the sky.

FIG. 2 is an embodiment in which an accelerometer 202 capable of measuring acceleration is configured on a steering wheel / handle 201 that is a direction control device.

As shown in the figure, the purpose of the configuration is to remove the expensive gyroscope used for measuring the rotation angle of the vehicle in the vehicle DR navigation and to attach the accelerometer to the steering wheel or steering wheel remote control to measure the vehicle rotation angle. .

In general, the rotation angle of the steering wheel (also called steering wheel) is converted into the rotation angle of the moving wheel again, and the rotation angle of the wheel can be referred to as the rotation angle of the vehicle which is the moving chain. Thus, the role of the gyroscope is replaced by the accelerometer, which can reduce the cost of navigation products.

      In addition, the accelerometer is mounted inside or outside the steering wheel in a predetermined position, or inside the steering wheel remote control, and the derived values, such as acceleration values, are transmitted to the navigation via the IR sensor of the remote control or other wired or wireless communication.

3 is a block diagram illustrating a direction controller 301 configured with an accelerometer, and a navigation 302 that receives / processes / operates a signal output from the direction controller 301.

As shown in the figure, when the steering wheel of the direction control device configured with an accelerometer is operated, the acceleration can be measured.

At this time, the analog acceleration value output from the accelerometer 301a is digitally output through the converter 301b, which is converted into a wired / wireless line through the transmitter 301c.

The output analog acceleration value is output as a digital signal through a sampling / quantization / coding process.

In the sampling process, signal components are extracted from the analog signal at periodic time intervals. When the frequency is 60 Hz, the sampling process samples 60 times per second.

On the other hand, the digital acceleration value output from the transmitter 301c of the direction adjusting device is received by the receiver 302a of the navigation 302 and input to the calculator 302b.

Therefore, the rotational angular velocity of the moving body corresponding to the output value angular velocity of the gyroscope can be obtained based on the calculation in the calculating unit.

4 is a diagram illustrating obtaining a rotation angle of a moving object using the received digital acceleration value.

The variables in the figures and in each equation are defined as follows.

 "a" is a sampled steering wheel acceleration of the acceleration output from the accelerometer 301a. "A" is the steering wheel angular acceleration, "B" is the angular velocity, "r" is preset to the steering wheel radius, "T" is the sampling time, "Cw" is the moving object rotation angle constant per revolution of the steering wheel, "W" is the moving object angular velocity, which corresponds to the Gyro output value.

Each value can be obtained using the variables defined above.

A = a / r

B = A * T

W = B * Cw

5 is a flow chart showing obtaining a rotation angle of a moving body according to the present invention.

The acceleration value output from the accelerometer 202 configured on the steering wheel (201 in FIG. 2) is measured. (S 501).

The measured analog acceleration value is converted to digital by the ADC 301b through sampling and transmitted (S502 and S503).

The process is transmitted through a wired / wireless device (not shown) configured on the accelerometer 202 and the steering wheel, and the wired / wireless device may be configured in various ways, and a transmission method may also be used in various ways. will be. Since this is not a specific matter of the present invention, it will not be described in detail, but it is obvious to those skilled in the art.

Hereinafter, a process of obtaining the rotation angle of the moving object in the navigation 302 using the transmitted digital value will be described.

Receive the acceleration value in digital form. (S 504).

Using the above-mentioned equation, the received acceleration value is calculated and converted into angular acceleration and angular velocity of the direction controller, and the angular velocity is converted into the rotational angular velocity of the moving body. (S 505).

As one embodiment, the received acceleration "a" may be divided by the radius "r" of the rudder to obtain the angular acceleration "A" of the rudder.

Further, as an embodiment, the angular velocity "B" of the rudder is obtained by multiplying each acceleration "A" of the rudder by the sampling time "T" of the rudder acceleration "a".

Further, as an embodiment, the angular velocity "B" of the rudder is obtained by multiplying each acceleration "A" of the rudder by the sampling time "T" of the rudder acceleration "a".

In addition, as an embodiment, the angular velocity "B" of the rudder is multiplied by the moving angle constant "Cw" per revolution of the rudder to obtain the moving object angular velocity "W" and the sampling time "T" of the rudder accelerator "a". Multiply to get the angular velocity "B" of the rudder.

On the other hand, when the acceleration value from the accelerometer attached to the steering wheel (integral) is integrated twice during the unit time, the distance traveled by the accelerometer is calculated, and the trajectory of the accelerometer moved during the unit time is the circle of the handle. Draw the circumference and divide the circumference by the radius of the handle to get the angle of rotation.

The rotation angle of the handle is converted back to the rotation angle of the wheel and the rotation angle of the wheel may be referred to as the rotation angle of the vehicle. Therefore, the role of the gyroscope is replaced by the accelerometer, which can reduce the cost of navigation products.

As described above, in the navigation system and its operation method according to an embodiment of the present invention, an accelerometer is configured on a steering wheel (handle) portion for adjusting the direction of the moving chain vehicle, and the derived acceleration value is determined using a predetermined equation. By calculating the rotational angular velocity of the vehicle, the role of the gyroscope is replaced by the accelerometer, which can reduce the cost of navigation products.

As mentioned above, preferred embodiments of the present invention described above are disclosed for the purpose of illustration, and those skilled in the art can improve other various embodiments within the spirit and technical scope of the present invention disclosed in the appended claims below. Changes, substitutions or additions will be possible.

According to the present invention, by calculating the angular velocity of the moving body by using the acceleration value of the moving body derived by configuring the accelerometer in the direction control device, there is no need to configure a Gyroscope, it is excellent in cost reduction effect.

Claims (7)

In the system utilizing the position and acceleration information of the moving object, A control unit for controlling operation and operation of the system; A memory unit for storing map information and operation information; A receiver; A calculation unit for deriving a value corresponding to the angular velocity of the moving object by using the acceleration value of the direction control device of the moving object received by the receiving unit; And Navigation device comprising a; output unit. The method of claim 1. The receiving unit is a navigation device, characterized in that for receiving the acceleration value calculated from the acclerometer configured at a predetermined position of the steering wheel, the direction control device of the moving object in a digital form. Measuring an acceleration value of the rudder; Converting the measured analog acceleration value into digital; And And transmitting the digital value. Receiving an acceleration value in digital form;       Calculating the received acceleration value and converting the received acceleration value into angular acceleration and / or angular velocity of the direction controller; And       And converting the angular velocity of the direction controller into the angular velocity of the moving object. 5. The navigation operation method according to claim 4, wherein each acceleration "A" of the rudder is obtained by dividing the received acceleration "a" by the radius "r" of the rudder. The navigation operation method according to claim 5, wherein the angular velocity "B" of the directional regulator is obtained by multiplying each acceleration "A" of the directional regulator by a sampling time "T" of the directional regulator acceleration "a". 7. The angular velocity " B " of the rudder is multiplied by the moving angle constant " Cw " per revolution of the rudder to multiply the moving object angular velocity " W " by the sampling time " T " Navigation characterized by obtaining the angular velocity "B" of the rudder.

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