WO2006067968A1 - 進行方向測定装置 - Google Patents
進行方向測定装置 Download PDFInfo
- Publication number
- WO2006067968A1 WO2006067968A1 PCT/JP2005/022458 JP2005022458W WO2006067968A1 WO 2006067968 A1 WO2006067968 A1 WO 2006067968A1 JP 2005022458 W JP2005022458 W JP 2005022458W WO 2006067968 A1 WO2006067968 A1 WO 2006067968A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- traveling direction
- correction value
- calculated
- calculation unit
- antenna
- Prior art date
Links
Classifications
-
- 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
- G01S19/53—Determining attitude
-
- 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
- G01S19/52—Determining velocity
Definitions
- the present invention relates to a traveling direction measuring device that measures the traveling direction of a moving body.
- a traveling direction measuring device using a geomagnetic sensor or a gyro sensor has been generally used.
- a geomagnetic sensor When a geomagnetic sensor is used, a general traveling direction measuring device can measure the traveling direction of an automobile in an absolute direction.
- the geomagnetic sensor since the geomagnetic sensor is easily affected by the magnetostriction of the car body itself, which frequently uses metal, or the disturbance of the surrounding magnetic field caused by, for example, a railroad crossing or power line, the geomagnetic sensor was used.
- the traveling direction measuring device has a drawback that it cannot detect an accurate direction.
- a gyro sensor when a gyro sensor is used, a general traveling direction measuring device cannot determine the traveling direction of an automobile in absolute direction, but only measures the direction relative to the direction at a certain point in time. There is another drawback that cannot be done.
- GPS Global Positioning Systern
- the satellite power is also observed by measuring the frequency shift due to the Doppler effect of the carrier wave received by the GPS antenna.
- GPS Global Positioning Systern
- Another example of such a traveling direction measuring device has a drawback that the traveling direction cannot be measured when the automobile is stopped or when the automobile is moving at a low speed.
- the antenna arrangement direction indicating the direction of viewing one of the two GPS antennas and the other is parallel to the front direction of the automobile.
- two GPS antennas and a main antenna are installed in a car, and each antenna determines the difference in distance from the satellite to each antenna based on the time difference of the carrier waves received by the same satellite force. It is known to measure the absolute azimuth of the difference in propagation distance and to determine the directional direction of the main antenna. For example, see JP-A-7-131228).
- the present invention has been made to solve the above-described conventional problems, and provides a traveling direction measuring device capable of accurately measuring the traveling direction of a moving body such as an automobile that is not limited in terms of antenna installation.
- the purpose is to provide.
- a traveling direction measuring apparatus is directed to a traveling direction measuring apparatus that is installed on a mobile body and connected to two antennas that receive signals from a satellite.
- the traveling direction measuring device includes an antenna azimuth measuring unit that measures the antenna arrangement direction indicating the orientation of one of the two antennas based on the signal received by each antenna, and the position received by each antenna. Based on the obtained signal, the speed calculation unit for calculating the speed margin of the moving object, and the direction of the speed vector when the magnitude of the speed vector calculated by the speed calculation unit is greater than or equal to a predetermined value.
- a correction value calculation unit that calculates an angle formed by the antenna arrangement direction as a correction value
- a traveling direction calculation unit that calculates the traveling direction of the moving object using the correction value calculated by the correction value calculation unit and the antenna arrangement direction. ing.
- the advancing direction calculation unit sets the direction of the velocity vector as the traveling direction of the moving object.
- the traveling direction calculation unit is calculated by the antenna arrangement direction measured by the antenna direction measurement unit and the correction value calculation unit. The traveling direction of the moving body is calculated using the corrected value.
- the correction value calculation unit When the magnitude of the speed vector calculated by the speed calculation unit is greater than or equal to a predetermined value The correction value calculation unit newly calculates a correction value when the calculated correction value already exists, and corrects the existing correction value based on the newly calculated correction value.
- the present invention provides a traveling direction measuring device capable of accurately measuring the traveling direction of a moving body such as an automobile that is not limited in terms of installation of an antenna.
- FIG. 1 is a view of an automobile provided with a traveling direction measuring device 11 according to an embodiment of the present invention as viewed from above.
- FIG. 2 is a block diagram of traveling direction measuring apparatus 11 according to the embodiment of the present invention.
- FIG. 3 is a diagram for explaining the calculation of the velocity vector of each satellite.
- FIG. 4 is a diagram for explaining calculation of a speed vector of an automobile.
- FIG. 1 is a view of an automobile provided with the traveling direction measuring device 11 as viewed from above.
- a car 11 is provided with GPS antennas 12 and 13.
- the installation positions of the antennas 12 and 13 are preferably positions where the satellite force can also receive signals, such as on the dashboard or bonnet.
- These antennas 12 and 13 receive a signal composed of a carrier from a GPS artificial satellite (hereinafter referred to as a satellite).
- a satellite a GPS artificial satellite
- an arrow 14 indicates the traveling direction of the automobile 10 to be measured by the traveling direction measuring device 11, and an arrow 15 indicates an antenna arrangement direction (hereinafter referred to as an arrangement direction) indicating an orientation when the antenna 13 is viewed from the antenna 12. ").
- the angle ⁇ is an angle formed by the traveling direction 14 and the arrangement direction 15 and is used as a correction value for measuring the traveling direction 14 of the automobile 10.
- FIG. 2 is a block diagram of travel direction measuring apparatus 11 according to the embodiment of the present invention.
- a traveling direction measuring device 11 is connected to the antennas 12 and 13 described above, and an antenna orientation measuring unit 21 that measures the arrangement direction 15 using signals received by the antenna 12 and the antenna 13, respectively.
- a speed calculation unit 22 that calculates the speed vector of the automobile 10 using the signals received by the antenna 12 and the antenna 13, respectively, and a correction value calculation that calculates the angle ⁇ as a correction value using the arrangement direction 15 and the speed vector.
- Unit 23 a traveling direction calculation unit 24 that calculates traveling direction 14 using speed vector, correction value, and arrangement direction 15; a display unit that notifies the user of traveling direction 14 and Z or a speaker; and notification unit 25 And is configured.
- the traveling direction measuring device 11 is configured using, for example, a computer having a processor and a memory.
- the antenna azimuth measuring unit 21, the velocity calculating unit 22, the correction value calculating unit 23, and the traveling direction calculating unit 24 may be implemented by a module of a program executed by a processor, etc. It may be constituted by.
- the antenna azimuth measuring unit 21 measures the positions of the antenna 12 and the antenna 13 based on the signals that the antennas 12 and 13 also receive the satellite force, respectively. Measure the array direction 15 representing the viewing direction. Also, distribution Row direction 15 is measured as an absolute bearing. In addition, the accuracy of positioning deteriorates due to the multipath generated between the satellite and the antenna and / or the influence of the ionosphere existing between the satellite and the antenna, and also due to the error of the clock. The position measured by the antenna orientation measuring unit 21 includes an error.
- the position measured by GPS is generally determined from signals transmitted from a plurality of satellites. If the combination of satellites received by each antenna is different, an error occurs in the relative positional relationship between the calculated antennas 12 and 13, but if the combination of satellites received is the same, the calculated antennas 12 and 13 There is no error in the relative positional relationship, and the absolute orientation is measured accurately.
- antenna azimuth measuring unit 21 uses a combination of satellites from which antenna 12 and antenna 13 receive signals in order to further improve the accuracy of the calculated relative positional relationship between antennas 12 and 13. Measure the array direction 15 in the same way.
- the speed calculation unit 22 calculates the speed vector of the automobile 10 based on the signals received by the antenna 12 and the antenna 13, respectively. By the way, since the satellite orbits the earth, the carrier wave received by the antenna 12 and the antenna 13 undergoes a frequency shift due to the Doppler effect regardless of whether the antenna is moving or stopped. The speed calculation unit 22 can calculate the speed vector using the frequency shift due to the Doppler effect.
- FIG. 3 is a diagram for explaining the calculation of the velocity vector of each satellite.
- the velocity vectors of satellites 1 to 4 are represented as V1 to V4, and the unit vectors that connect the positions of the observer (that is, the car) 10 and the positions of satellite 1 to satellite 4 are S1 to S4.
- the velocity vector of observer 10 is expressed as V.
- the velocity vectors V1 to V4 are also known, and the position of the observer 10 is obtained by positioning, so the unit vectors S1 to S4 are also known. .
- the frequency of the carrier wave received from satellite i is known and is expressed as frequency f. If the frequency shift due to the Doppler effect generated in the carrier wave received from satellite i is Afi, the frequency error inside the receiver is ⁇ f, and the speed of light is c, the relationship given by equation (2) holds.
- Equation (3) The unknowns in equation (3) are the three components included in the velocity vector V of the observer 10 and the frequency error ⁇ f inside the receiver, for a total of four. For this reason, if four satellites with frequency deviations ⁇ f 1 to ⁇ f4 are observed and applied to equation (3), an equation consisting of four equations (3) can be obtained. Then, frequency error ⁇ f and velocity vector V are calculated.
- the velocity calculation unit 22 observes the frequency shift due to the Doppler effect based on the signals received by the antenna 12 and the antenna 13, respectively, and velocity vectors corresponding to the antenna 12 and the antenna 13 respectively. By calculating V, the speed vector of car 10 is calculated.
- the speed calculation unit 22 calculates the average of the speed vector V 12 corresponding to the antenna 12 and the speed vector V 13 corresponding to the antenna 13 and also the force. Calculated as 10 velocity vectors V11.
- equation (4) is used to calculate the average.
- the speed calculation unit 22 calculates the speed vector V 11 with a small error. Therefore, the speed calculation unit 22 sets the speed vector as the traveling direction 14 when the calculated speed vector V11 is greater than or equal to a predetermined value.
- the speed equal to or higher than the predetermined value is that the error of the absolute direction of the speed vector calculated by the frequency shift due to the Doppler effect at that speed determines the position of the antenna 12 and the antenna 13. It is the speed when it is smaller than the measured error of 15 in the direction of alignment.
- the traveling direction calculation unit 24 receives the speed vector V11 of the automobile 10 from the speed calculation unit 22, and when the magnitude of the speed vector V11 calculated by the speed calculation unit 22 is equal to or greater than a predetermined value, the automobile 10 It is assumed that the vehicle is moving forward at a speed equal to or higher than a predetermined value, and the traveling direction calculation unit 24 outputs the direction of the velocity vector V11 when the traveling speed is equal to or higher than the predetermined value as the traveling direction 14 to the notification unit 25.
- the correction value calculation unit 23 receives the arrangement direction 15 measured by the antenna orientation measurement unit 21 and the speed vector V 11 of the automobile 10 from the speed calculation unit 22, and the magnitude of the vector V 11 calculated by the speed calculation unit 22.
- An angle ⁇ formed by the traveling direction 14 representing the direction of the velocity vector V11 when the distance is equal to or greater than the predetermined value and the arrangement direction 15 measured by the antenna orientation measuring unit 21 is calculated and held as a correction value.
- the correction value calculation unit 23 corrects and holds the existing correction value so as to approach the newly calculated correction value.
- the correction value calculation unit 23 newly calculates an existing correction value. You may update to a correction value.
- the speed calculation unit 22 stops the power of the automobile 10 while the automobile 10 is moving at a speed that does not exceed the predetermined value. It is assumed that In such a case, the traveling direction calculation unit 24 calculates the traveling direction 14 using the correction value calculated by the correction value calculation unit 23 and the subtraction value in the arrangement direction 15, and the calculated traveling direction 14 is sent to the notification unit 25. Output.
- the antenna orientation measurement unit 21 measures the arrangement direction 15, and the correction value calculation unit 23 The correction value for correcting the angle ⁇ between the measured arrangement direction 15 and the traveling direction 14 is corrected, and the traveling direction calculation unit 24 outputs the direction of the velocity vector V11 as the traveling direction 14 to the notification unit 25.
- the antenna direction measuring unit 21 measures the arrangement direction 15 and the traveling direction calculating unit 24 is measured. The traveling direction 14 is calculated using the correction value corrected at the arrangement direction 15 and the time point tl, and the calculated traveling direction 14 is output to the notification unit 25.
- the notification unit 25 displays the traveling direction 14 calculated by the traveling direction calculation unit 24 via a display and notifies the user.
- the notification unit 25 is not limited to the display of the traveling direction 14, but may notify the traveling direction 14 by voice through a speaker.
- the traveling direction 14 calculated by the traveling direction calculation unit 2 4 is not limited to notifying the user, but for example, various operations such as a matching operation for correcting the position of the car 10 performed by the force navigation system. You may use it.
- the traveling direction measuring device 11 is not limited to the force described with respect to the example connected to the antennas 12 and 13, and may include the antennas 12 and 13.
- the traveling direction measurement device 11 calculates a correction value when the magnitude of the velocity vector V11 is equal to or greater than a predetermined value, and calculates the calculated correction.
- the traveling direction 14 of the car 10 is calculated using the value and the arrangement direction 15. This makes it possible to accurately measure the advancing direction 14 with no restrictions regarding the installation of the antenna 12 and the antenna 13.
- the antennas 12 and 13 receive the same combination of satellites for receiving signals, the relative positional relationship error between the antennas 12 and 13 becomes very small. Therefore, the arrangement direction 15 can be measured with high accuracy.
- the traveling direction measuring device 11 moves the automobile 10 at a speed equal to or higher than a predetermined value in order to calculate the correction value. In addition, there is no need to move it, and even when the installation position of the antenna 12 or 13 is deviated, it is possible to cope with a newly calculated correction value.
- the traveling direction measuring device 11 sets the direction of the speed vector V11 as the traveling direction of the automobile 10, and the magnitude of the speed vector is predetermined. If the value does not exceed the value, the traveling direction 14 is calculated using the correction value and the arrangement direction 15. Therefore, the traveling direction 14 can be calculated with high accuracy regardless of the speed at which the automobile 10 is moving. it can.
- the traveling direction calculation device is a device that measures the traveling direction of the moving body, and accurately measures the traveling direction of the moving body that is not limited in terms of antenna installation.
- it is useful as a navigation system or the like in a moving body such as an automobile or an airplane.
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006548786A JPWO2006067968A1 (ja) | 2004-12-20 | 2005-12-07 | 進行方向測定装置 |
EP05814600A EP1837675A4 (en) | 2004-12-20 | 2005-12-07 | DEVICE FOR MEASURING ADVANCE STEERING |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004367662 | 2004-12-20 | ||
JP2004-367662 | 2004-12-20 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2006067968A1 true WO2006067968A1 (ja) | 2006-06-29 |
Family
ID=36601571
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2005/022458 WO2006067968A1 (ja) | 2004-12-20 | 2005-12-07 | 進行方向測定装置 |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP1837675A4 (ja) |
JP (1) | JPWO2006067968A1 (ja) |
CN (1) | CN101084454A (ja) |
WO (1) | WO2006067968A1 (ja) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2008032434A (ja) * | 2006-07-26 | 2008-02-14 | Denso Corp | 車両の方向特定方法,および,車両方向特定装置。 |
JP2014202571A (ja) * | 2013-04-04 | 2014-10-27 | 古野電気株式会社 | 移動体情報算出装置、移動体情報取得装置、移動体、移動体情報算出方法、移動体情報取得方法、移動体情報算出プログラム、および移動体情報取得プログラム |
JP2015148501A (ja) * | 2014-02-06 | 2015-08-20 | 株式会社デンソー | 方位推定装置 |
JP2017527791A (ja) * | 2014-12-18 | 2017-09-21 | 三菱電機株式会社 | 車両をナビゲートするためのナビゲーションシステムおよび方法 |
WO2021193269A1 (ja) * | 2020-03-26 | 2021-09-30 | 日立建機株式会社 | 作業車両 |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2971857A1 (fr) * | 2011-02-17 | 2012-08-24 | Thales Sa | Procede et systeme de determination des parametres de navigation d'un aeronef |
CN103136984B (zh) * | 2011-11-25 | 2014-07-30 | 王恩惠 | 基于gps的驾驶考试系统 |
Citations (4)
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JP2001281321A (ja) * | 2000-03-29 | 2001-10-10 | Yokogawa Denshikiki Co Ltd | Gps方位測定装置 |
US20020165669A1 (en) * | 2001-02-28 | 2002-11-07 | Enpoint, L.L.C. | Attitude measurement using a single GPS receiver with two closely-spaced antennas |
JP2004045385A (ja) * | 2002-05-16 | 2004-02-12 | Furuno Electric Co Ltd | 移動体の姿勢検出装置 |
JP2005043212A (ja) * | 2003-07-22 | 2005-02-17 | Furuno Electric Co Ltd | キャリア位相整数値バイアス決定方法、方位・姿勢計測方法および装置 |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
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US6292132B1 (en) * | 1999-08-13 | 2001-09-18 | Daimlerchrysler Ag | System and method for improved accuracy in locating and maintaining positions using GPS |
US6671587B2 (en) * | 2002-02-05 | 2003-12-30 | Ford Motor Company | Vehicle dynamics measuring apparatus and method using multiple GPS antennas |
GB2391732B (en) * | 2002-05-16 | 2005-09-07 | Furuno Electric Co | Attitude sensing apparatus for determining the attitude of a mobile unit |
-
2005
- 2005-12-07 JP JP2006548786A patent/JPWO2006067968A1/ja active Pending
- 2005-12-07 WO PCT/JP2005/022458 patent/WO2006067968A1/ja active Application Filing
- 2005-12-07 EP EP05814600A patent/EP1837675A4/en not_active Withdrawn
- 2005-12-07 CN CNA2005800436880A patent/CN101084454A/zh not_active Withdrawn
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2001281321A (ja) * | 2000-03-29 | 2001-10-10 | Yokogawa Denshikiki Co Ltd | Gps方位測定装置 |
US20020165669A1 (en) * | 2001-02-28 | 2002-11-07 | Enpoint, L.L.C. | Attitude measurement using a single GPS receiver with two closely-spaced antennas |
JP2004045385A (ja) * | 2002-05-16 | 2004-02-12 | Furuno Electric Co Ltd | 移動体の姿勢検出装置 |
JP2005043212A (ja) * | 2003-07-22 | 2005-02-17 | Furuno Electric Co Ltd | キャリア位相整数値バイアス決定方法、方位・姿勢計測方法および装置 |
Non-Patent Citations (3)
Title |
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See also references of EP1837675A4 * |
SINPO HONG: "Car Tests for the Estimation of GPS/INS Alignment Error", ION GPS/GNSS 2003, 2003, pages 957 - 967, XP002996359 * |
STEPHEN SCOTT-YOUNG: "An Intelligent Navigation Aid for Land Mobile Applications using Augmented Reality Technologies", ION GPS/GNSS 2003, 2003, pages 2371 - 2380, XP002996360 * |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2008032434A (ja) * | 2006-07-26 | 2008-02-14 | Denso Corp | 車両の方向特定方法,および,車両方向特定装置。 |
JP2014202571A (ja) * | 2013-04-04 | 2014-10-27 | 古野電気株式会社 | 移動体情報算出装置、移動体情報取得装置、移動体、移動体情報算出方法、移動体情報取得方法、移動体情報算出プログラム、および移動体情報取得プログラム |
JP2015148501A (ja) * | 2014-02-06 | 2015-08-20 | 株式会社デンソー | 方位推定装置 |
JP2017527791A (ja) * | 2014-12-18 | 2017-09-21 | 三菱電機株式会社 | 車両をナビゲートするためのナビゲーションシステムおよび方法 |
WO2021193269A1 (ja) * | 2020-03-26 | 2021-09-30 | 日立建機株式会社 | 作業車両 |
JP2021156678A (ja) * | 2020-03-26 | 2021-10-07 | 日立建機株式会社 | 作業車両 |
Also Published As
Publication number | Publication date |
---|---|
EP1837675A4 (en) | 2008-06-18 |
EP1837675A1 (en) | 2007-09-26 |
JPWO2006067968A1 (ja) | 2008-06-12 |
CN101084454A (zh) | 2007-12-05 |
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